version: 66.09
glider: 167
mission: 8
dive: 45
start: 6 19 111 19 12 53
data:
$ID,167
$MISSION,8
$DIVE,45
$N_DIVES,55
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,400
$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,-56440.504
$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,2805
$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,79
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,190611,190437,2017.880,12419.482,26,1.0,27,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.6
$GPS2,190611,191231,2017.919,12419.467,13,1.4,30,-2.6
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,176.6,5485,-17.0,-11.000
$D_GRID,5000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.67,-194.6,0.0,0.0,0,97,0.00,0.00,-77.57,0.000,2,0.000,0.000,109,1842,3251,0,0,0,0,0,0
$GC,101,-0.67,-194.6,6.1,-10.3,10,125,9.65,0.00,-6.05,0.000,6,0.232,0.000,2578,1842,3635,0,0,0,0,0,0
$GC,192,-0.67,-194.6,43.9,-31.9,25,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1842,3636,0,0,0,0,0,0
$GC,268,-0.67,-194.6,64.4,-26.8,38,277,0.00,2.15,0.00,0.000,4,0.000,0.031,2568,3272,3636,0,0,0,0,0,0
$GC,305,-0.67,-194.6,74.0,-26.2,43,313,0.00,2.03,0.00,0.000,6,0.000,0.018,2568,1872,3636,0,0,0,0,0,0
$GC,382,-0.67,-194.6,94.5,-26.6,56,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1872,3636,0,0,0,0,0,0
$GC,460,-0.67,-194.6,116.0,-25.9,69,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1871,3637,0,0,0,0,0,0
$GC,540,-0.67,-194.6,134.1,-22.8,82,548,0.00,2.03,0.00,0.000,4,0.000,0.030,2569,496,3637,0,0,0,0,0,0
$GC,620,-0.67,-194.6,152.2,-21.5,96,629,0.00,2.00,0.00,0.000,6,0.000,0.019,2561,1874,3638,0,0,0,0,0,0
$GC,696,-0.67,-194.6,167.2,-20.3,109,705,0.10,2.08,0.00,0.000,4,0.199,0.031,2575,3265,3638,0,0,0,0,0,0
$GC,753,-0.67,-194.6,178.4,-19.1,118,762,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,1869,3638,0,0,0,0,0,0
$GC,831,-0.67,-194.6,195.5,-21.7,131,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1868,3638,0,0,0,0,0,0
$GC,907,-0.67,-194.6,211.8,-21.8,144,916,0.00,2.00,0.00,0.000,4,0.000,0.029,2575,501,3638,0,0,0,0,0,0
$GC,948,-0.67,-194.6,220.6,-21.7,150,957,0.00,2.00,0.00,0.000,6,0.000,0.021,2567,1886,3638,0,0,0,0,0,0
$GC,1025,-0.67,-194.6,236.8,-22.5,163,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1886,3638,0,0,0,0,0,0
$GC,1106,-0.67,-194.6,255.5,-22.6,175,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1886,3638,0,0,0,0,0,0
$GC,1426,-0.67,-194.6,316.8,-16.1,205,1430,0.00,2.03,0.00,0.000,4,0.000,0.031,2560,3261,3638,0,0,0,0,0,0
$GC,1437,-0.67,-194.6,319.2,-15.9,206,1442,0.10,1.95,0.00,0.000,6,0.177,0.018,2584,1860,3638,0,0,0,0,0,0
$GC,1768,-0.67,-194.6,360.8,-12.0,237,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1859,3638,0,0,0,0,0,0
$GC,2090,-0.67,-194.6,401.0,-12.2,267,2093,0.00,1.92,0.00,0.000,4,0.000,0.031,2584,510,3636,0,0,0,0,0,0
$GC,2107,-0.67,-194.6,403.6,-12.0,268,2115,0.00,1.95,0.00,0.000,6,0.000,0.021,2584,1877,3636,0,0,0,0,0,0
$GC,2432,-0.67,-194.6,442.5,-12.0,299,2437,0.00,2.05,0.00,0.000,4,0.000,0.034,2583,3262,3634,0,0,0,0,0,0
$GC,2488,-0.67,-194.6,449.0,-11.3,304,2492,0.00,1.92,0.00,0.000,6,0.000,0.019,2583,1879,3634,0,0,0,0,0,0
$GC,2822,-0.67,-194.6,484.2,-9.8,335,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1879,3633,0,0,0,0,0,0
$GC,3150,-0.67,-194.6,515.4,-9.6,366,3154,0.00,2.00,0.00,0.000,4,0.000,0.031,2583,498,3630,0,0,0,0,0,0
$GC,3185,-0.67,-194.6,519.1,-9.9,369,3189,0.00,1.98,0.00,0.000,6,0.000,0.021,2577,1881,3630,0,0,0,0,0,0
$GC,3516,-0.67,-194.6,557.4,-12.1,400,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1881,3628,0,0,0,0,0,0
$GC,3840,-0.67,-194.6,594.3,-10.3,430,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1881,3626,0,0,0,0,0,0
$GC,4171,-0.67,-194.6,625.2,-8.9,449,4174,0.00,2.03,0.00,0.000,4,0.000,0.037,2575,3264,3623,0,0,0,0,0,0
$GC,4218,-0.67,-194.6,629.4,-8.5,451,4222,0.00,1.95,0.00,0.000,6,0.000,0.020,2574,1872,3623,0,0,0,0,0,0
$GC,4555,-0.67,-194.6,660.1,-9.3,467,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1872,3620,0,0,0,0,0,0
$GC,4862,-0.67,-194.6,689.3,-9.2,482,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1872,3618,0,0,0,0,0,0
$GC,5170,-0.67,-194.6,716.8,-8.9,497,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1872,3616,0,0,0,0,0,0
$GC,5479,-0.67,-194.6,744.9,-9.2,512,5483,0.00,2.05,0.00,0.000,4,0.000,0.037,2574,3259,3613,0,0,0,0,0,0
$GC,5530,-0.67,-194.6,749.6,-9.0,514,5535,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1880,3613,0,0,0,0,0,0
$GC,5857,-0.67,-194.6,777.8,-8.2,530,5860,0.00,2.03,0.00,0.000,4,0.000,0.032,2574,491,3610,0,0,0,0,0,0
$GC,5926,-0.67,-194.6,783.6,-8.4,533,5930,0.00,1.98,0.00,0.000,6,0.000,0.024,2574,1869,3610,0,0,0,0,0,0
$GC,6263,-0.67,-194.6,808.5,-7.6,549,6267,0.00,2.08,0.00,0.000,4,0.000,0.038,2574,3265,3608,0,0,0,0,0,0
$GC,6349,-0.67,-194.6,815.5,-7.8,552,6357,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1870,3607,0,0,0,0,0,0
$GC,6666,-0.67,-194.6,842.0,-8.5,568,6670,0.00,2.00,0.00,0.000,4,0.000,0.034,2574,487,3606,0,0,0,0,0,0
$GC,6699,-0.67,-194.6,845.3,-8.5,569,6702,0.00,2.03,0.00,0.000,6,0.000,0.024,2574,1883,3605,0,0,0,0,0,0
$GC,7023,-0.67,-194.6,874.6,-9.3,585,7027,0.00,2.08,0.00,0.000,4,0.000,0.040,2574,3274,3603,0,0,0,0,0,0
$GC,7074,-0.67,-194.6,879.7,-9.1,587,7078,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1863,3603,0,0,0,0,0,0
$GC,7399,-0.67,-194.6,910.6,-9.6,603,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1864,3602,0,0,0,0,0,0
$GC,7707,-0.67,-194.6,939.1,-8.9,618,7711,0.00,2.12,0.00,0.000,4,0.000,0.038,2574,3275,3600,0,0,0,0,0,0
$GC,7774,-0.67,-194.6,945.1,-8.6,621,7779,0.00,2.03,0.00,0.000,6,0.000,0.022,2574,1879,3600,0,0,0,0,0,0
$GC,8102,-0.67,-194.6,972.0,-8.0,637,8105,0.00,2.05,0.00,0.000,4,0.000,0.034,2574,481,3598,0,0,0,0,0,0
$GC,8136,-0.67,-194.6,975.0,-8.2,638,8140,0.00,2.03,0.00,0.000,6,0.000,0.025,2574,1883,3598,0,0,0,0,0,0
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8340,-0.20,0.0,990.9,7.9,648,8497,0.47,0.00,150.57,1.398,6,0.129,0.000,2733,2083,2838,0,0,0,0,0,0
$STATE,8498,end apogee,CONTROL_FINISHED_OK
$STATE,8498,begin climb
$GC,8500,0.67,194.6,995.8,0.0,655,8670,0.80,2.28,162.07,1.344,4,0.079,0.040,3012,3465,2043,0,0,0,0,0,0
$GC,8731,0.67,194.6,971.0,16.0,666,8735,0.00,2.12,0.00,0.000,6,0.000,0.023,3021,2086,2037,0,0,0,0,0,0
$GC,9060,0.67,194.6,921.3,15.0,682,9064,0.00,2.12,0.00,0.000,4,0.000,0.035,3031,684,2033,0,0,0,0,0,0
$GC,9116,0.67,194.6,912.8,14.3,684,9123,0.00,2.08,0.00,0.000,6,0.000,0.026,3031,2069,2033,0,0,0,0,0,0
$GC,9433,0.67,194.6,868.5,14.0,700,9437,0.00,2.15,0.00,0.000,4,0.000,0.041,3031,3476,2032,0,0,0,0,0,0
$GC,9520,0.67,194.6,855.6,15.2,704,9525,0.00,2.08,0.00,0.000,6,0.000,0.023,3040,2069,2031,0,0,0,0,0,0
$GC,9848,0.67,194.6,810.2,13.5,720,9851,0.00,2.08,0.00,0.000,4,0.000,0.035,3051,682,2030,0,0,0,0,0,0
$GC,9931,0.67,194.6,798.7,13.1,723,9939,0.12,2.08,0.00,0.000,6,0.170,0.025,3019,2082,2030,0,0,0,0,0,0
$GC,10250,0.67,194.6,761.8,11.4,739,10254,0.00,2.10,0.00,0.000,4,0.000,0.041,3018,3469,2029,0,0,0,0,0,0
$GC,10316,0.67,194.6,752.9,12.7,742,10320,0.00,2.05,0.00,0.000,6,0.000,0.024,3026,2067,2028,0,0,0,0,0,0
$GC,10645,0.67,194.6,713.5,12.1,758,10648,0.00,2.03,0.00,0.000,4,0.000,0.036,3036,687,2028,0,0,0,0,0,0
$GC,10695,0.67,194.6,707.0,12.2,760,10699,0.00,2.08,0.00,0.000,6,0.000,0.026,3037,2085,2028,0,0,0,0,0,0
$GC,11022,0.67,194.6,665.0,13.3,776,11026,0.00,2.10,0.00,0.000,4,0.000,0.041,3037,3478,2027,0,0,0,0,0,0
$GC,11117,0.67,194.6,651.0,14.8,780,11121,0.00,2.03,0.00,0.000,6,0.000,0.023,3046,2077,2027,0,0,0,0,0,0
$GC,11440,0.67,194.6,605.2,14.2,796,11444,0.00,2.05,0.00,0.000,4,0.000,0.035,3057,685,2027,0,0,0,0,0,0
$GC,11523,0.67,194.6,593.7,14.0,801,11528,0.12,2.03,0.00,0.000,6,0.165,0.025,3024,2079,2027,0,0,0,0,0,0
$GC,11848,0.67,194.6,551.7,12.5,831,11852,0.00,2.05,0.00,0.000,4,0.000,0.033,3032,690,2026,0,0,0,0,0,0
$GC,11895,0.67,194.6,546.1,12.4,835,11898,0.00,2.03,0.00,0.000,6,0.000,0.024,3032,2078,2026,0,0,0,0,0,0
$GC,12226,0.70,221.5,510.0,10.0,866,12248,0.00,0.00,20.02,1.048,6,0.000,0.000,3032,2078,1935,0,0,0,0,0,0
$GC,12564,0.70,225.6,476.4,10.8,898,12576,0.00,2.15,4.50,0.739,4,0.000,0.041,3032,3478,1919,0,0,0,0,0,0
$GC,12626,0.70,225.6,468.3,13.0,903,12633,0.00,2.05,0.00,0.000,6,0.000,0.021,3041,2060,1918,0,0,0,0,0,0
$GC,12951,0.70,225.6,427.4,12.5,934,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2060,1917,0,0,0,0,0,0
$GC,13271,0.70,225.6,385.6,13.2,964,13275,0.00,2.03,0.00,0.000,4,0.000,0.035,3051,690,1917,0,0,0,0,0,0
$GC,13299,0.70,225.6,381.5,13.6,966,13306,0.00,2.05,0.00,0.000,6,0.000,0.024,3051,2083,1917,0,0,0,0,0,0
$GC,13625,0.70,225.6,339.4,13.0,997,13629,0.00,2.10,0.00,0.000,4,0.000,0.039,3051,3469,1917,0,0,0,0,0,0
$GC,13697,0.70,225.6,328.7,14.9,1003,13704,0.00,2.03,0.00,0.000,6,0.000,0.021,3060,2063,1918,0,0,0,0,0,0
$GC,14022,0.72,236.8,288.2,10.6,1034,14040,0.00,2.08,11.18,0.796,4,0.000,0.034,3071,687,1872,0,0,0,0,0,0
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$STATE,16557,end climb,SURFACE_DEPTH_REACHED
$STATE,16557,begin surface coast
$FINISH,0.7,1.021797
$STATE,16585,end surface coast,CONTROL_FINISHED_OK
$STATE,16585,begin surface
$SM_CCo,16667,0.00,0.000,0,0,1112,423.63
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$IRIDIUM_FIX,2011.07,12417.73,190611,141443
$TT8_MAMPS,0.027713,0.027713
$HUMID,31.09
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.10
$XPDR_PINGS,0
$24V_AH,23.9,9.541
$10V_AH,10.3,7.596
$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,19.500,163.850,500.875,0.000,0.000,29.467,41.096,225.974,0.000,0.000,31.447,3604.651,8788.582,650.783,3276.346,799.957,0.000,2134.117,0.000,3236.797,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,52.785,1397.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,973.075,1676.958,1433.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329928
$DATA_FILE_SIZE,80217,1432
$CAP_FILE_SIZE,189222,0
$CFSIZE,260165632,138067968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,128.3,1
$GPS,190611,235200,2014.707,12420.432,36,0.9,42,-2.5