version: 66.09
glider: 167
mission: 8
dive: 436
start: 9 16 111 0 19 56
data:
$ID,167
$MISSION,8
$DIVE,436
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,576.20972
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-135442.7
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,150911,050536,1955.677,12120.712,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.3
$GPS2,150911,050536,1955.677,12120.712,901,99.0,901,-2.3
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,139.7,184124,-15.3,-9.706
$D_GRID,3037
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,104,0.00,0.00,-82.25,0.000,2,0.000,0.000,107,1945,2771,0,0,0,0,0,0
$GC,108,-0.62,-194.6,5.2,-7.9,12,138,10.23,2.03,-15.10,0.000,4,0.229,0.046,2584,3271,3635,0,0,0,0,0,0
$GC,335,-0.62,-194.6,68.4,-22.9,51,342,0.00,1.98,0.00,0.000,6,0.000,0.017,2584,1857,3636,0,0,0,0,0,0
$GC,478,-0.62,-194.6,98.5,-24.4,76,487,0.00,1.98,0.00,0.000,4,0.000,0.028,2584,505,3636,0,0,0,0,0,0
$GC,556,-0.62,-194.6,115.4,-18.0,89,564,0.00,1.90,0.00,0.000,6,0.000,0.019,2575,1848,3636,0,0,0,0,0,0
$GC,701,-0.62,-194.6,138.9,-15.1,114,709,0.00,2.08,0.00,0.000,4,0.000,0.031,2566,3253,3636,0,0,0,0,0,0
$GC,885,-0.62,-194.6,168.4,-15.1,147,892,0.12,1.80,0.00,0.000,6,0.151,0.016,2600,1918,3636,0,0,0,0,0,0
$GC,1030,-0.62,-194.6,185.1,-10.2,172,1038,0.00,2.00,0.00,0.000,4,0.000,0.026,2600,538,3636,0,0,0,0,0,0
$GC,1063,-0.62,-194.6,189.1,-11.2,177,1071,0.00,2.00,0.00,0.000,6,0.000,0.020,2600,1939,3636,0,0,0,0,0,0
$GC,1202,-0.62,-194.6,204.7,-10.7,198,1205,0.00,2.05,0.00,0.000,4,0.000,0.026,2600,533,3636,0,0,0,0,0,0
$GC,1241,-0.62,-194.6,209.0,-10.7,201,1249,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1864,3636,0,0,0,0,0,0
$GC,1567,-0.62,-194.6,246.4,-12.0,232,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1864,3634,0,0,0,0,0,0
$GC,1892,-0.62,-194.6,279.2,-9.7,262,1895,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,3252,3632,0,0,0,0,0,0
$GC,1941,-0.62,-194.6,284.3,-8.7,266,1948,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1859,3632,0,0,0,0,0,0
$GC,2266,-0.62,-194.6,315.7,-10.2,297,2270,0.00,1.95,0.00,0.000,4,0.000,0.027,2599,510,3629,0,0,0,0,0,0
$GC,2290,-0.62,-194.6,318.2,-10.3,299,2293,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1841,3629,0,0,0,0,0,0
$GC,2621,-0.62,-194.6,352.9,-9.7,330,2625,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,3265,3626,0,0,0,0,0,0
$GC,2674,-0.62,-194.6,357.8,-9.1,334,2679,0.00,2.00,0.00,0.000,6,0.000,0.018,2600,1854,3625,0,0,0,0,0,0
$GC,3006,-0.62,-194.6,387.6,-10.1,365,3010,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,3260,3623,0,0,0,0,0,0
$GC,3050,-0.62,-194.6,392.7,-10.4,368,3057,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1854,3622,0,0,0,0,0,0
$GC,3383,-0.62,-194.6,425.6,-9.7,399,3387,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,3260,3620,0,0,0,0,0,0
$GC,3434,-0.62,-194.6,431.1,-9.2,403,3438,0.00,1.95,0.00,0.000,6,0.000,0.019,2600,1879,3619,0,0,0,0,0,0
$GC,3769,-0.62,-194.6,458.3,-7.9,434,3773,0.00,2.00,0.00,0.000,4,0.000,0.029,2600,507,3615,0,0,0,0,0,0
$GC,3815,-0.62,-194.6,462.1,-7.5,438,3819,0.00,1.98,0.00,0.000,6,0.000,0.021,2599,1874,3615,0,0,0,0,0,0
$GC,4147,-0.62,-194.6,486.1,-7.6,469,4151,0.00,2.10,0.00,0.000,4,0.000,0.037,2600,3261,3612,0,0,0,0,0,0
$GC,4220,-0.62,-194.6,491.9,-7.8,475,4227,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1909,3611,0,0,0,0,0,0
$GC,4549,-0.62,-194.6,519.4,-8.0,496,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1909,3609,0,0,0,0,0,0
$GC,4860,-0.62,-194.6,542.0,-6.9,511,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1909,3606,0,0,0,0,0,0
$GC,5168,-0.62,-194.6,557.7,-4.1,526,5172,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,507,3603,0,0,0,0,0,0
$GC,5202,-0.62,-194.6,559.4,-4.1,527,5206,0.00,2.05,0.00,0.000,6,0.000,0.022,2600,1902,3603,0,0,0,0,0,0
$GC,5525,-0.62,-194.6,570.4,-3.2,543,5530,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3266,3601,0,0,0,0,0,0
$GC,5553,-0.62,-194.6,571.6,-3.4,544,5556,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1908,3601,0,0,0,0,0,0
$GC,5882,-0.62,-194.6,589.6,-6.8,560,5886,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3267,3598,0,0,0,0,0,0
$GC,5929,-0.62,-194.6,593.3,-7.6,562,5933,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1922,3598,0,0,0,0,0,0
$GC,6263,-0.62,-194.6,623.2,-9.2,578,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1921,3596,0,0,0,0,0,0
$GC,6574,-0.62,-194.6,651.4,-8.5,593,6578,0.00,2.08,0.00,0.000,4,0.000,0.036,2600,3269,3594,0,0,0,0,0,0
$GC,6606,-0.62,-194.6,654.0,-7.9,594,6609,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1929,3594,0,0,0,0,0,0
$GC,6929,-0.62,-194.6,675.5,-6.3,610,6933,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3271,3592,0,0,0,0,0,0
$GC,6987,-0.62,-194.6,678.9,-6.0,612,6990,0.00,1.85,0.00,0.000,6,0.000,0.019,2599,1970,3592,0,0,0,0,0,0
$GC,7309,-0.62,-194.6,696.1,-5.3,628,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1969,3591,0,0,0,0,0,0
$GC,7620,-0.62,-194.6,711.1,-4.5,643,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1969,3589,0,0,0,0,0,0
$GC,7928,-0.62,-194.6,726.3,-5.2,658,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1969,3588,0,0,0,0,0,0
$GC,8236,-0.62,-194.6,745.6,-6.3,673,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1968,3586,0,0,0,0,0,0
$GC,8547,-0.62,-194.6,766.5,-6.5,688,8552,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3262,3585,0,0,0,0,0,0
$GC,8603,-0.62,-194.6,770.2,-6.2,690,8606,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1963,3585,0,0,0,0,0,0
$GC,8925,-0.62,-194.6,788.8,-5.6,706,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1962,3584,0,0,0,0,0,0
$GC,9236,-0.62,-194.6,805.6,-5.6,721,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1962,3584,0,0,0,0,0,0
$GC,9543,-0.62,-194.6,825.9,-7.0,736,9547,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3264,3583,0,0,0,0,0,0
$GC,9584,-0.62,-194.6,828.8,-7.2,737,9591,0.00,1.85,0.00,0.000,6,0.000,0.022,2599,1978,3583,0,0,0,0,0,0
$GC,9900,-0.62,-194.6,850.3,-6.6,753,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1977,3582,0,0,0,0,0,0
$GC,10209,-0.62,-194.6,866.8,-4.7,768,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1977,3581,0,0,0,0,0,0
$GC,10520,-0.62,-194.6,883.7,-6.1,783,10525,0.00,2.00,0.00,0.000,4,0.000,0.040,2600,3260,3580,0,0,0,0,0,0
$GC,10544,-0.62,-194.6,885.4,-6.5,784,10547,0.00,1.83,0.00,0.000,6,0.000,0.022,2600,1989,3581,0,0,0,0,0,0
$GC,10877,-0.62,-194.6,903.8,-5.4,800,10881,0.00,1.98,0.00,0.000,4,0.000,0.041,2600,3268,3579,0,0,0,0,0,0
$GC,10926,-0.62,-194.6,906.4,-5.4,802,10930,0.00,1.83,0.00,0.000,6,0.000,0.022,2600,1988,3579,0,0,0,0,0,0
$GC,11259,-0.62,-194.6,926.1,-6.1,818,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1987,3579,0,0,0,0,0,0
$STATE,11421,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11421,begin apogee
$GC,11430,-0.20,0.0,936.7,6.4,826,11591,0.38,0.00,156.52,1.362,4,0.116,0.000,2727,2074,2841,0,0,0,0,0,0
$STATE,11592,end apogee,CONTROL_FINISHED_OK
$STATE,11592,begin climb
$GC,11597,0.62,194.6,942.2,0.0,833,11776,0.80,2.25,171.40,1.311,4,0.085,0.041,2995,3468,2045,0,0,0,0,0,0
$GC,11927,0.62,194.6,907.7,13.7,848,11934,0.00,2.08,0.00,0.000,6,0.000,0.021,3005,2086,2036,0,0,0,0,0,0
$GC,12243,0.62,194.6,866.9,12.7,864,12247,0.00,2.10,0.00,0.000,4,0.000,0.037,3005,3468,2034,0,0,0,0,0,0
$GC,12427,0.62,194.6,843.4,12.3,872,12431,0.00,2.10,0.00,0.000,6,0.000,0.022,3015,2034,2033,0,0,0,0,0,0
$GC,12749,0.62,194.6,805.6,12.0,888,12752,0.00,2.00,0.00,0.000,4,0.000,0.034,3023,691,2032,0,0,0,0,0,0
$GC,12789,0.62,194.6,800.6,12.5,889,12796,0.00,2.00,0.00,0.000,6,0.000,0.024,3022,2043,2032,0,0,0,0,0,0
$GC,13105,0.62,194.6,762.7,11.7,905,13109,0.00,2.20,0.00,0.000,4,0.000,0.039,3023,3467,2031,0,0,0,0,0,0
$GC,13151,0.62,194.6,757.0,12.5,907,13156,0.08,2.08,0.00,0.000,6,0.148,0.021,3007,2060,2031,0,0,0,0,0,0
$GC,13488,0.62,194.6,719.8,11.6,923,13492,0.00,2.05,0.00,0.000,4,0.000,0.033,3016,685,2031,0,0,0,0,0,0
$GC,13571,0.62,194.6,709.5,11.7,926,13579,0.00,2.00,0.00,0.000,6,0.000,0.024,3016,2043,2031,0,0,0,0,0,0
$GC,13889,0.62,194.6,672.0,11.8,942,13894,0.00,2.17,0.00,0.000,4,0.000,0.039,3015,3459,2031,0,0,0,0,0,0
$GC,13990,0.62,194.6,659.3,12.3,946,13994,0.00,2.00,0.00,0.000,6,0.000,0.020,3024,2074,2030,0,0,0,0,0,0
$GC,14311,0.62,194.6,620.3,14.1,962,14315,0.00,2.05,0.00,0.000,4,0.000,0.032,3034,695,2030,0,0,0,0,0,0
$GC,14429,0.62,194.6,601.5,15.8,967,14434,0.12,1.98,0.00,0.000,6,0.155,0.024,3001,2031,2030,0,0,0,0,0,0
$GC,14751,0.62,194.6,559.7,11.9,983,14755,0.00,2.17,0.00,0.000,4,0.000,0.039,3000,3463,2029,0,0,0,0,0,0
$GC,14862,0.62,194.6,544.6,13.9,988,14866,0.00,2.03,0.00,0.000,6,0.000,0.021,3007,2071,2029,0,0,0,0,0,0
$GC,15195,0.62,194.6,499.7,13.7,1004,15199,0.00,2.05,0.00,0.000,4,0.000,0.034,3017,694,2029,0,0,0,0,0,0
$GC,15293,0.62,194.6,487.6,12.5,1012,15300,0.00,2.03,0.00,0.000,6,0.000,0.024,3017,2062,2029,0,0,0,0,0,0
$GC,15619,0.62,194.6,448.1,12.7,1043,15620,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2062,2028,0,0,0,0,0,0
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$STATE,19833,end climb,SURFACE_DEPTH_REACHED
$STATE,19833,begin surface coast
$FINISH,0.8,1.009199
$STATE,19876,end surface coast,CONTROL_FINISHED_OK
$STATE,19876,begin surface
$SM_CCo,19896,26.92,0.354,1,0,489,576.21
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$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,40.39
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,27.30
$XPDR_PINGS,47
$24V_AH,22.9,82.761
$10V_AH,9.7,69.905
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.050,161.950,615.750,26.925,0.000,163.947,28.902,0.000,11.750,0.000,901.486,3974.306,11820.320,727.767,4071.089,840.952,0.000,2299.766,0.000,3200.648,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,74.970,1361.700,354.195,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1077.312,1203.807,638.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323984
$DATA_FILE_SIZE,93275,1582
$CAP_FILE_SIZE,198860,0
$CFSIZE,260165632,98205696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.494,339.8,1
$GPS,160911,055330,1958.509,12120.452,37,0.9,43,-2.3