version: 66.09
glider: 167
mission: 8
dive: 443
start: 9 17 111 18 51 26
data:
$ID,167
$MISSION,8
$DIVE,443
$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,-144468.66
$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,82
$R_STBD_OVSHOOT,56
$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
$GPS1,170911,182537,2004.233,12113.345,36,0.9,36,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.0
$GPS2,170911,182537,2004.233,12113.345,901,99.0,901,-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,104.5,204434,-15.3,-9.706
$D_GRID,3378
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-96.38,0.000,2,0.000,0.000,108,1838,3201,0,0,0,0,0,0
$GC,123,-0.62,-194.6,6.1,-11.6,14,147,10.35,2.22,-6.75,0.000,4,0.231,0.046,2583,3283,3636,0,0,0,0,0,0
$GC,318,-0.62,-194.6,68.7,-22.4,48,326,0.00,2.05,0.00,0.000,6,0.000,0.027,2583,1877,3637,0,0,0,0,0,0
$GC,463,-0.62,-194.6,97.2,-17.5,73,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1877,3637,0,0,0,0,0,0
$GC,602,-0.62,-194.6,118.2,-15.0,98,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1877,3638,0,0,0,0,0,0
$GC,746,-0.62,-194.6,137.2,-13.1,123,752,0.00,2.05,0.00,0.000,4,0.000,0.029,2574,3278,3638,0,0,0,0,0,0
$GC,915,-0.62,-194.6,165.8,-18.4,153,923,0.00,1.90,0.00,0.000,6,0.000,0.016,2574,1909,3638,0,0,0,0,0,0
$GC,1060,-0.62,-194.6,194.0,-19.4,178,1068,0.00,2.05,0.00,0.000,4,0.000,0.029,2574,511,3638,0,0,0,0,0,0
$GC,1119,-0.62,-194.6,206.0,-18.3,186,1124,0.00,1.98,0.00,0.000,6,0.000,0.020,2570,1873,3638,0,0,0,0,0,0
$GC,1452,-0.62,-194.6,261.2,-16.7,217,1456,0.00,2.05,0.00,0.000,4,0.000,0.032,2561,3267,3637,0,0,0,0,0,0
$GC,1487,-0.62,-194.6,266.6,-14.1,220,1491,0.12,1.98,0.00,0.000,6,0.152,0.017,2594,1842,3636,0,0,0,0,0,0
$GC,1815,-0.62,-194.6,296.0,-8.5,250,1819,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,3271,3635,0,0,0,0,0,0
$GC,1912,-0.62,-194.6,303.0,-6.7,258,1917,0.00,1.98,0.00,0.000,6,0.000,0.017,2588,1874,3635,0,0,0,0,0,0
$GC,2245,-0.62,-194.6,329.5,-7.6,289,2248,0.00,1.98,0.00,0.000,4,0.000,0.028,2588,509,3634,0,0,0,0,0,0
$GC,2340,-0.62,-194.6,338.6,-9.6,297,2347,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1824,3633,0,0,0,0,0,0
$GC,2666,-0.62,-194.6,369.2,-10.1,328,2670,0.00,2.15,0.00,0.000,4,0.000,0.034,2587,3269,3630,0,0,0,0,0,0
$GC,2732,-0.62,-194.6,375.4,-9.1,333,2740,0.00,2.03,0.00,0.000,6,0.000,0.018,2587,1832,3630,0,0,0,0,0,0
$GC,3060,-0.62,-194.6,403.0,-7.8,364,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1832,3627,0,0,0,0,0,0
$GC,3387,-0.62,-194.6,433.2,-11.2,395,3391,0.00,1.95,0.00,0.000,4,0.000,0.029,2587,495,3623,0,0,0,0,0,0
$GC,3436,-0.62,-194.6,439.3,-11.8,399,3443,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1844,3623,0,0,0,0,0,0
$GC,3762,-0.62,-194.6,473.1,-9.8,430,3766,0.00,2.12,0.00,0.000,4,0.000,0.036,2587,3261,3620,0,0,0,0,0,0
$GC,3814,-0.62,-194.6,477.8,-8.9,434,3818,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1872,3619,0,0,0,0,0,0
$GC,4146,-0.62,-194.6,507.8,-9.5,461,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1871,3617,0,0,0,0,0,0
$GC,4451,-0.62,-194.6,536.6,-9.2,476,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1871,3615,0,0,0,0,0,0
$GC,4762,-0.62,-194.6,564.0,-8.3,491,4766,0.00,2.12,0.00,0.000,4,0.000,0.036,2587,3269,3612,0,0,0,0,0,0
$GC,4807,-0.62,-194.6,567.1,-6.6,493,4811,0.00,2.00,0.00,0.000,6,0.000,0.019,2588,1871,3612,0,0,0,0,0,0
$GC,5137,-0.62,-194.6,593.5,-8.2,509,5140,0.00,2.00,0.00,0.000,4,0.000,0.031,2587,501,3609,0,0,0,0,0,0
$GC,5171,-0.62,-194.6,596.5,-8.3,510,5175,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1865,3608,0,0,0,0,0,0
$GC,5493,-0.62,-194.6,618.0,-6.7,526,5497,0.00,2.12,0.00,0.000,4,0.000,0.037,2587,3272,3606,0,0,0,0,0,0
$GC,5567,-0.62,-194.6,622.9,-6.6,529,5571,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1870,3606,0,0,0,0,0,0
$GC,5889,-0.62,-194.6,649.1,-8.4,545,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1869,3604,0,0,0,0,0,0
$GC,6198,-0.62,-194.6,672.9,-7.4,560,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1870,3602,0,0,0,0,0,0
$GC,6509,-0.62,-194.6,695.8,-7.4,575,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1870,3600,0,0,0,0,0,0
$GC,6817,-0.62,-194.6,712.0,-4.1,590,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1870,3599,0,0,0,0,0,0
$GC,7127,-0.62,-194.6,721.0,-2.6,605,7132,0.00,2.15,0.00,0.000,4,0.000,0.037,2587,3258,3598,0,0,0,0,0,0
$GC,7160,-0.62,-194.6,721.9,-2.4,606,7164,0.00,1.98,0.00,0.000,6,0.000,0.021,2588,1889,3598,0,0,0,0,0,0
$GC,7483,-0.62,-194.6,733.8,-4.5,622,7486,0.00,2.10,0.00,0.000,4,0.000,0.038,2587,3263,3596,0,0,0,0,0,0
$GC,7529,-0.62,-194.6,736.2,-4.7,624,7533,0.00,1.98,0.00,0.000,6,0.000,0.021,2588,1898,3596,0,0,0,0,0,0
$GC,7856,-0.62,-194.6,755.7,-6.0,640,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1897,3594,0,0,0,0,0,0
$GC,8165,-0.62,-194.6,773.5,-5.8,655,8170,0.00,2.12,0.00,0.000,4,0.000,0.038,2587,3266,3593,0,0,0,0,0,0
$GC,8239,-0.62,-194.6,777.8,-5.8,658,8242,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1895,3593,0,0,0,0,0,0
$GC,8568,-0.62,-194.6,796.6,-5.8,674,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1895,3592,0,0,0,0,0,0
$GC,8878,-0.62,-194.6,815.0,-5.8,689,8882,0.00,2.10,0.00,0.000,4,0.000,0.037,2587,3263,3591,0,0,0,0,0,0
$GC,8929,-0.62,-194.6,818.0,-5.4,691,8933,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1911,3591,0,0,0,0,0,0
$GC,9251,-0.62,-194.6,834.5,-5.1,707,9256,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,502,3590,0,0,0,0,0,0
$GC,9286,-0.62,-194.6,836.4,-5.1,708,9290,0.00,2.08,0.00,0.000,6,0.000,0.024,2587,1902,3590,0,0,0,0,0,0
$GC,9608,-0.62,-194.6,853.8,-5.4,724,9612,0.00,2.08,0.00,0.000,4,0.000,0.040,2587,3274,3589,0,0,0,0,0,0
$GC,9676,-0.62,-194.6,857.2,-4.9,727,9681,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1929,3588,0,0,0,0,0,0
$GC,10003,-0.62,-194.6,874.6,-5.7,743,10007,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,500,3588,0,0,0,0,0,0
$GC,10053,-0.62,-194.6,878.1,-6.7,745,10057,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1915,3587,0,0,0,0,0,0
$GC,10377,-0.62,-194.6,900.1,-7.4,761,10382,0.00,2.10,0.00,0.000,4,0.000,0.041,2587,3270,3586,0,0,0,0,0,0
$GC,10438,-0.62,-194.6,904.9,-7.3,763,10445,0.00,1.92,0.00,0.000,6,0.000,0.019,2587,1929,3586,0,0,0,0,0,0
$GC,10756,-0.62,-194.6,929.2,-7.9,779,10760,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,496,3585,0,0,0,0,0,0
$GC,10796,-0.62,-194.6,932.8,-8.1,781,10800,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1929,3585,0,0,0,0,0,0
$GC,11125,-0.62,-194.6,960.1,-8.7,797,11128,0.00,2.05,0.00,0.000,4,0.000,0.040,2587,3270,3584,0,0,0,0,0,0
$GC,11195,-0.62,-194.6,966.1,-8.3,800,11199,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1938,3583,0,0,0,0,0,0
$STATE,11422,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11422,begin apogee
$GC,11429,-0.20,0.0,984.7,7.9,811,11593,0.43,0.00,159.43,1.394,4,0.117,0.000,2729,2075,2839,0,0,0,0,0,0
$STATE,11594,end apogee,CONTROL_FINISHED_OK
$STATE,11594,begin climb
$GC,11596,0.62,194.6,991.5,0.0,818,11776,0.77,0.00,173.82,1.346,6,0.081,0.000,2998,2075,2045,0,0,0,0,0,0
$GC,12099,0.62,194.6,935.4,13.8,842,12103,0.00,2.12,0.00,0.000,4,0.000,0.040,2998,3471,2034,0,0,0,0,0,0
$GC,12151,0.62,194.6,927.2,15.8,844,12155,0.00,2.03,0.00,0.000,6,0.000,0.021,3007,2091,2032,0,0,0,0,0,0
$GC,12472,0.62,194.6,879.8,14.2,860,12477,0.00,2.10,0.00,0.000,4,0.000,0.031,3016,697,2032,0,0,0,0,0,0
$GC,12568,0.62,194.6,866.2,14.1,864,12573,0.00,2.03,0.00,0.000,6,0.000,0.024,3016,2041,2032,0,0,0,0,0,0
$GC,12895,0.62,194.6,818.6,14.9,880,12899,0.00,2.17,0.00,0.000,4,0.000,0.040,3016,3466,2031,0,0,0,0,0,0
$GC,12989,0.62,194.6,803.0,16.3,884,12993,0.00,2.05,0.00,0.000,6,0.000,0.021,3023,2064,2029,0,0,0,0,0,0
$GC,13313,0.62,194.6,752.0,15.6,900,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2064,2030,0,0,0,0,0,0
$GC,13620,0.62,194.6,705.3,15.0,915,13625,0.00,2.05,0.00,0.000,4,0.000,0.032,3034,698,2029,0,0,0,0,0,0
$GC,13643,0.62,194.6,702.0,15.0,916,13648,0.12,2.00,0.00,0.000,6,0.154,0.024,2999,2057,2029,0,0,0,0,0,0
$GC,13972,0.62,194.6,665.3,10.0,932,13976,0.00,2.12,0.00,0.000,4,0.000,0.041,2999,3455,2029,0,0,0,0,0,0
$GC,14043,0.62,194.6,657.7,10.4,935,14048,0.00,2.08,0.00,0.000,6,0.000,0.021,3006,2043,2029,0,0,0,0,0,0
$GC,14367,0.67,237.6,629.8,8.3,951,14410,0.00,2.05,36.10,1.154,4,0.000,0.031,3016,695,1871,0,0,0,0,0,0
$GC,14483,0.71,270.1,619.8,8.6,956,14522,0.00,2.03,30.33,1.121,6,0.000,0.024,3016,2042,1735,0,0,0,0,0,0
$GC,14832,0.71,270.1,585.6,10.8,973,14836,0.00,2.17,0.00,0.000,4,0.000,0.040,3016,3474,1730,0,0,0,0,0,0
$GC,14876,0.71,270.1,579.4,13.5,975,14880,0.00,2.10,0.00,0.000,6,0.000,0.021,3020,2043,1729,0,0,0,0,0,0
$GC,15205,0.71,270.1,535.7,13.6,991,15208,0.00,2.03,0.00,0.000,4,0.000,0.033,3026,689,1727,0,0,0,0,0,0
$GC,15277,0.71,270.1,525.2,13.5,994,15281,0.00,1.98,0.00,0.000,6,0.000,0.024,3026,2002,1727,0,0,0,0,0,0
$GC,15602,0.71,270.1,478.6,14.2,1016,15606,0.00,2.25,0.00,0.000,4,0.000,0.039,3026,3472,1727,0,0,0,0,0,0
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$STATE,19560,end climb,SURFACE_DEPTH_REACHED
$STATE,19560,begin surface coast
$FINISH,0.9,0.997281
$STATE,19588,end surface coast,CONTROL_FINISHED_OK
$STATE,19588,begin surface
$SM_CCo,19665,0.00,0.000,0,0,485,577.44
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$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,42.04
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.10
$XPDR_PINGS,41
$24V_AH,22.6,84.168
$10V_AH,9.8,71.083
$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
$DEVICE_SECS,20.225,177.350,652.275,0.000,0.000,163.895,41.156,0.000,10.250,0.000,901.585,3832.983,11779.140,729.147,4010.573,820.169,0.000,2307.288,0.000,3105.966,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.292,1135.002,608.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324008
$DATA_FILE_SIZE,86984,1520
$CAP_FILE_SIZE,201181,0
$CFSIZE,260165632,97251328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.429,105.2,1
$GPS,170911,182537,2004.233,12113.345,901,99.0,901,-2.3