version: 66.09
glider: 167
mission: 8
dive: 441
start: 9 17 111 6 48 57
data:
$ID,167
$MISSION,8
$DIVE,441
$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,-141761.3
$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,72
$R_STBD_OVSHOOT,54
$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
$GPS1,170911,062305,2002.373,12117.768,37,1.8,41,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.9
$GPS2,170911,062305,2002.373,12117.768,901,99.0,901,-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,195.9,197389,-15.3,-9.706
$D_GRID,3498
$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,-194.6,0.0,0.0,0,117,0.00,0.00,-95.18,0.000,2,0.000,0.000,109,1808,3163,0,0,0,0,0,0
$GC,122,-0.62,-194.6,6.5,-12.9,14,146,10.35,2.28,-7.32,0.000,4,0.232,0.046,2584,3280,3636,0,0,0,0,0,0
$GC,217,-0.62,-194.6,45.5,-29.6,29,224,0.00,2.03,0.00,0.000,6,0.000,0.019,2584,1875,3638,0,0,0,0,0,0
$GC,365,-0.62,-194.6,79.3,-20.0,54,373,0.00,2.12,0.00,0.000,4,0.000,0.031,2574,3275,3637,0,0,0,0,0,0
$GC,434,-0.62,-194.6,94.6,-20.1,65,441,0.00,1.90,0.00,0.000,6,0.000,0.017,2574,1921,3638,0,0,0,0,0,0
$GC,577,-0.62,-194.6,120.7,-17.6,90,584,0.00,2.08,0.00,0.000,4,0.000,0.028,2574,501,3637,0,0,0,0,0,0
$GC,677,-0.62,-194.6,138.3,-16.2,107,687,0.12,1.95,0.00,0.000,6,0.163,0.021,2600,1869,3638,0,0,0,0,0,0
$GC,824,-0.62,-194.6,161.5,-16.7,132,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1870,3638,0,0,0,0,0,0
$GC,972,-0.62,-194.6,185.2,-15.7,157,979,0.00,2.03,0.00,0.000,4,0.000,0.028,2600,476,3638,0,0,0,0,0,0
$GC,994,-0.62,-194.6,188.6,-15.1,160,1003,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1852,3638,0,0,0,0,0,0
$GC,1136,-0.62,-194.6,211.1,-16.9,179,1140,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3271,3638,0,0,0,0,0,0
$GC,1155,-0.62,-194.6,213.9,-16.5,180,1159,0.00,2.00,0.00,0.000,6,0.000,0.018,2600,1839,3637,0,0,0,0,0,0
$GC,1486,-0.62,-194.6,251.2,-10.5,211,1490,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,3267,3636,0,0,0,0,0,0
$GC,1532,-0.62,-194.6,256.2,-11.0,214,1539,0.00,2.00,0.00,0.000,6,0.000,0.024,2600,1868,3636,0,0,0,0,0,0
$GC,1858,-0.62,-194.6,290.8,-10.7,245,1861,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,3262,3635,0,0,0,0,0,0
$GC,1910,-0.62,-194.6,295.3,-8.4,249,1917,0.00,1.98,0.00,0.000,6,0.000,0.018,2599,1886,3635,0,0,0,0,0,0
$GC,2237,-0.62,-194.6,326.3,-11.6,280,2241,0.00,2.00,0.00,0.000,4,0.000,0.028,2600,506,3633,0,0,0,0,0,0
$GC,2321,-0.62,-194.6,337.7,-13.3,287,2327,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1845,3632,0,0,0,0,0,0
$GC,2647,-0.62,-194.6,369.4,-8.0,318,2651,0.00,2.12,0.00,0.000,4,0.000,0.035,2600,3273,3630,0,0,0,0,0,0
$GC,2781,-0.62,-194.6,376.2,-4.5,329,2785,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1861,3629,0,0,0,0,0,0
$GC,3112,-0.62,-194.6,395.3,-6.1,360,3117,0.00,2.00,0.00,0.000,4,0.000,0.030,2600,507,3626,0,0,0,0,0,0
$GC,3192,-0.62,-194.6,402.3,-9.8,367,3197,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1828,3625,0,0,0,0,0,0
$GC,3523,-0.62,-194.6,437.6,-11.2,398,3527,0.00,2.15,0.00,0.000,4,0.000,0.037,2600,3266,3623,0,0,0,0,0,0
$GC,3668,-0.62,-194.6,452.0,-10.2,410,3673,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1889,3622,0,0,0,0,0,0
$GC,4000,-0.62,-194.6,484.0,-7.6,441,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1889,3618,0,0,0,0,0,0
$GC,4330,-0.62,-194.6,502.5,-5.6,470,4333,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,499,3615,0,0,0,0,0,0
$GC,4363,-0.62,-194.6,504.9,-5.8,471,4367,0.00,2.00,0.00,0.000,6,0.000,0.023,2599,1864,3615,0,0,0,0,0,0
$GC,4686,-0.62,-194.6,524.1,-6.0,487,4691,0.00,2.12,0.00,0.000,4,0.000,0.036,2600,3268,3613,0,0,0,0,0,0
$GC,4755,-0.62,-194.6,527.9,-5.4,490,4759,0.00,1.95,0.00,0.000,6,0.000,0.019,2600,1882,3612,0,0,0,0,0,0
$GC,5090,-0.62,-194.6,547.0,-6.1,506,5094,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,507,3610,0,0,0,0,0,0
$GC,5129,-0.62,-194.6,550.0,-6.4,507,5136,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1876,3609,0,0,0,0,0,0
$GC,5445,-0.62,-194.6,569.4,-6.0,523,5449,0.00,2.10,0.00,0.000,4,0.000,0.037,2599,3271,3607,0,0,0,0,0,0
$GC,5519,-0.62,-194.6,573.9,-6.0,526,5523,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1895,3606,0,0,0,0,0,0
$GC,5841,-0.62,-194.6,595.6,-7.2,542,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1895,3604,0,0,0,0,0,0
$GC,6150,-0.62,-194.6,620.6,-8.2,557,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1895,3602,0,0,0,0,0,0
$GC,6461,-0.62,-194.6,644.7,-7.5,572,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1895,3600,0,0,0,0,0,0
$GC,6768,-0.62,-194.6,669.8,-8.5,587,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1895,3599,0,0,0,0,0,0
$GC,7079,-0.62,-194.6,696.8,-8.4,602,7084,0.00,2.10,0.00,0.000,4,0.000,0.033,2600,502,3597,0,0,0,0,0,0
$GC,7125,-0.62,-194.6,701.0,-8.9,604,7130,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1910,3597,0,0,0,0,0,0
$GC,7458,-0.62,-194.6,724.8,-6.7,620,7461,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3267,3594,0,0,0,0,0,0
$GC,7523,-0.62,-194.6,728.7,-6.3,622,7530,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1916,3594,0,0,0,0,0,0
$GC,7839,-0.62,-194.6,746.2,-5.5,638,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1916,3593,0,0,0,0,0,0
$GC,8151,-0.62,-194.6,762.6,-5.3,653,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1916,3592,0,0,0,0,0,0
$GC,8458,-0.62,-194.6,779.1,-5.2,668,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1916,3591,0,0,0,0,0,0
$GC,8767,-0.62,-194.6,797.3,-5.9,683,8771,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,507,3589,0,0,0,0,0,0
$GC,8796,-0.62,-194.6,798.9,-5.7,684,8799,0.00,2.08,0.00,0.000,6,0.000,0.024,2599,1922,3589,0,0,0,0,0,0
$GC,9118,-0.62,-194.6,816.4,-5.3,700,9122,0.00,2.08,0.00,0.000,4,0.000,0.040,2600,3269,3588,0,0,0,0,0,0
$GC,9178,-0.62,-194.6,819.3,-5.2,702,9185,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1941,3588,0,0,0,0,0,0
$GC,9496,-0.62,-194.6,831.3,-3.5,718,9500,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3267,3587,0,0,0,0,0,0
$GC,9542,-0.62,-194.6,832.8,-3.3,720,9546,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1957,3587,0,0,0,0,0,0
$GC,9878,-0.62,-194.6,843.4,-3.3,736,9882,0.00,2.15,0.00,0.000,4,0.000,0.032,2600,503,3585,0,0,0,0,0,0
$GC,9918,-0.62,-194.6,845.0,-3.4,738,9922,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1935,3585,0,0,0,0,0,0
$GC,10252,-0.62,-194.6,858.1,-4.2,754,10256,0.00,2.03,0.00,0.000,4,0.000,0.039,2600,3269,3585,0,0,0,0,0,0
$GC,10315,-0.62,-194.6,860.8,-4.0,756,10323,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1941,3584,0,0,0,0,0,0
$GC,10631,-0.62,-194.6,875.5,-5.0,772,10636,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,520,3584,0,0,0,0,0,0
$GC,10658,-0.62,-194.6,877.1,-4.9,773,10662,0.00,2.10,0.00,0.000,6,0.000,0.024,2599,1952,3584,0,0,0,0,0,0
$GC,10989,-0.62,-194.6,894.4,-5.2,789,10993,0.00,2.00,0.00,0.000,4,0.000,0.039,2599,3269,3583,0,0,0,0,0,0
$GC,11019,-0.62,-194.6,895.9,-5.2,790,11023,0.00,1.85,0.00,0.000,6,0.000,0.020,2599,1959,3582,0,0,0,0,0,0
$GC,11348,-0.62,-194.6,908.7,-3.4,806,11352,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,508,3582,0,0,0,0,0,0
$GC,11382,-0.62,-194.6,910.2,-3.4,807,11388,0.00,2.12,0.00,0.000,6,0.000,0.025,2599,1949,3582,0,0,0,0,0,0
$STATE,11408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11408,begin apogee
$GC,11414,-0.20,0.0,911.2,3.6,809,11576,0.40,0.00,157.25,1.341,4,0.116,0.000,2735,2094,2839,0,0,0,0,0,0
$STATE,11577,end apogee,CONTROL_FINISHED_OK
$STATE,11577,begin climb
$GC,11580,0.62,194.6,912.3,0.0,816,11755,0.75,0.00,169.82,1.289,6,0.081,0.000,2996,2094,2045,0,0,0,0,0,0
$GC,12065,0.62,194.6,853.1,13.6,839,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2094,2033,0,0,0,0,0,0
$GC,12376,0.62,194.6,815.5,11.5,854,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2094,2031,0,0,0,0,0,0
$GC,12685,0.65,216.7,785.8,9.0,869,12705,0.00,0.00,18.75,1.190,6,0.000,0.000,2996,2094,1956,0,0,0,0,0,0
$GC,13014,0.66,229.4,755.2,9.3,885,13036,0.00,2.17,12.38,1.134,4,0.000,0.032,3005,708,1903,0,0,0,0,0,0
$GC,13071,0.70,254.9,749.9,8.9,887,13106,0.00,2.00,24.70,1.187,6,0.000,0.024,3005,2061,1797,0,0,0,0,0,0
$GC,13414,0.70,256.6,717.5,9.6,904,13418,0.00,2.17,0.00,0.000,4,0.000,0.039,3005,3467,1791,0,0,0,0,0,0
$GC,13443,0.71,264.4,714.6,9.4,905,13460,0.00,2.03,8.90,1.054,6,0.000,0.021,3012,2070,1760,0,0,0,0,0,0
$GC,13775,0.71,264.4,680.2,11.0,921,13778,0.00,2.05,0.00,0.000,4,0.000,0.032,3022,695,1757,0,0,0,0,0,0
$GC,13876,0.71,264.4,666.9,14.0,925,13880,0.00,1.95,0.00,0.000,6,0.000,0.024,3023,2002,1756,0,0,0,0,0,0
$GC,14198,0.71,264.4,620.5,14.3,941,14202,0.00,2.22,0.00,0.000,4,0.000,0.038,3023,3467,1755,0,0,0,0,0,0
$GC,14278,0.71,264.4,608.1,15.3,944,14286,0.00,2.08,0.00,0.000,6,0.000,0.021,3031,2053,1755,0,0,0,0,0,0
$GC,14594,0.71,264.4,558.3,15.7,960,14599,0.00,2.05,0.00,0.000,4,0.000,0.034,3040,692,1755,0,0,0,0,0,0
$GC,14684,0.71,264.4,545.1,14.1,964,14689,0.00,1.95,0.00,0.000,6,0.000,0.024,3040,1992,1755,0,0,0,0,0,0
$GC,15008,0.71,264.4,497.6,14.9,980,15012,0.00,2.22,0.00,0.000,4,0.000,0.037,3040,3472,1755,0,0,0,0,0,0
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$STATE,19344,end climb,SURFACE_DEPTH_REACHED
$STATE,19344,begin surface coast
$FINISH,0.8,0.997262
$STATE,19377,end surface coast,CONTROL_FINISHED_OK
$STATE,19377,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,41.53
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,27.30
$XPDR_PINGS,38
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$10V_AH,9.8,70.749
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,1046.107,1155.298,651.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90211,1539
$CAP_FILE_SIZE,199677,0
$CFSIZE,260165632,97517568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,2.988,199.3,1
$GPS,170911,062305,2002.373,12117.768,901,99.0,901,-2.3