version: 66.09
glider: 167
mission: 8
dive: 91
start: 6 30 111 6 21 11
data:
$ID,167
$MISSION,8
$DIVE,91
$N_DIVES,105
$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,400
$T_MISSION,440
$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,150
$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,4
$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,-56501.273
$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,75
$R_STBD_OVSHOOT,47
$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
$GPS1,300611,061124,1838.157,12426.489,38,1.3,39,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.0
$GPS2,300611,062049,1838.219,12426.369,11,1.4,16,-2.2
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,163.7,90589,-15.4,-8.250
$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,15,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,97,0.00,0.00,-77.10,0.000,2,0.000,0.000,111,1878,3099,0,0,0,0,0,0
$GC,100,-0.56,-146.0,5.9,-11.2,10,124,9.77,2.05,-5.65,0.000,4,0.230,0.035,2616,475,3437,0,0,0,0,0,0
$GC,189,-0.56,-146.0,41.9,-32.2,24,197,0.00,2.08,0.00,0.000,6,0.000,0.020,2608,1890,3439,0,0,0,0,0,0
$GC,266,-0.56,-146.0,63.6,-28.5,37,273,0.00,2.05,0.00,0.000,4,0.000,0.031,2598,3266,3439,0,0,0,0,0,0
$GC,328,-0.56,-146.0,78.9,-23.9,47,337,0.00,1.92,0.00,0.000,6,0.000,0.017,2597,1921,3439,0,0,0,0,0,0
$GC,409,-0.56,-146.0,101.7,-28.2,60,416,0.00,2.10,0.00,0.000,4,0.000,0.029,2598,494,3439,0,0,0,0,0,0
$GC,546,-0.56,-146.0,131.8,-18.9,85,554,0.00,1.92,0.00,0.000,6,0.000,0.019,2589,1830,3440,0,0,0,0,0,0
$GC,622,-0.56,-146.0,144.5,-17.1,98,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1830,3440,0,0,0,0,0,0
$GC,698,-0.56,-146.0,157.8,-15.4,111,708,0.00,2.12,0.00,0.000,4,0.000,0.031,2579,3264,3440,0,0,0,0,0,0
$GC,778,-0.56,-146.0,171.9,-19.9,124,786,0.10,2.15,0.00,0.000,6,0.156,0.018,2610,1750,3440,0,0,0,0,0,0
$GC,855,-0.56,-146.0,184.4,-15.0,137,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1750,3441,0,0,0,0,0,0
$GC,931,-0.56,-146.0,195.8,-14.0,150,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1750,3441,0,0,0,0,0,0
$GC,1006,-0.56,-146.0,206.5,-14.2,159,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1750,3441,0,0,0,0,0,0
$GC,1328,-0.56,-146.0,248.9,-12.1,189,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1750,3441,0,0,0,0,0,0
$GC,1655,-0.56,-146.0,285.8,-10.1,220,1659,0.00,2.22,0.00,0.000,4,0.000,0.029,2602,3268,3440,0,0,0,0,0,0
$GC,1799,-0.56,-146.0,300.5,-10.1,232,1803,0.00,2.15,0.00,0.000,6,0.000,0.018,2602,1753,3440,0,0,0,0,0,0
$GC,2124,-0.56,-146.0,334.0,-9.9,262,2129,0.00,2.25,0.00,0.000,4,0.000,0.031,2601,3261,3438,0,0,0,0,0,0
$GC,2238,-0.56,-146.0,344.8,-9.2,272,2241,0.00,2.05,0.00,0.000,6,0.000,0.018,2601,1811,3437,0,0,0,0,0,0
$GC,2570,-0.56,-146.0,376.3,-9.0,303,2573,0.00,1.88,0.00,0.000,4,0.000,0.031,2600,503,3436,0,0,0,0,0,0
$GC,2664,-0.56,-146.0,385.3,-9.2,311,2672,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1781,3436,0,0,0,0,0,0
$GC,2992,-0.56,-146.0,413.2,-8.2,342,2996,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,3261,3434,0,0,0,0,0,0
$GC,3110,-0.56,-146.0,423.0,-8.4,352,3115,0.00,2.08,0.00,0.000,6,0.000,0.019,2600,1815,3433,0,0,0,0,0,0
$GC,3442,-0.56,-146.0,453.9,-9.3,383,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1815,3431,0,0,0,0,0,0
$GC,3761,-0.56,-146.0,479.7,-7.9,413,3765,0.00,1.92,0.00,0.000,4,0.000,0.033,2600,507,3429,0,0,0,0,0,0
$GC,3879,-0.56,-146.0,489.5,-7.9,423,3887,0.00,1.88,0.00,0.000,6,0.000,0.022,2600,1799,3428,0,0,0,0,0,0
$GC,4211,-0.56,-146.0,513.1,-6.9,446,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1800,3426,0,0,0,0,0,0
$GC,4520,-0.56,-146.0,535.6,-7.8,461,4524,0.00,2.12,0.00,0.000,4,0.000,0.036,2600,3254,3423,0,0,0,0,0,0
$GC,4564,-0.56,-146.0,539.2,-7.8,463,4568,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1841,3423,0,0,0,0,0,0
$GC,4892,-0.56,-146.0,564.5,-7.7,479,4896,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3255,3421,0,0,0,0,0,0
$GC,4913,-0.56,-146.0,565.9,-7.9,480,4917,0.00,2.05,0.00,0.000,6,0.000,0.021,2599,1815,3421,0,0,0,0,0,0
$GC,5242,-0.56,-146.0,589.8,-7.1,496,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1814,3419,0,0,0,0,0,0
$GC,5552,-0.56,-146.0,609.8,-6.1,511,5555,0.00,2.12,0.00,0.000,4,0.000,0.035,2600,3254,3417,0,0,0,0,0,0
$GC,5608,-0.56,-146.0,613.6,-6.3,513,5615,0.00,2.08,0.00,0.000,6,0.000,0.022,2599,1816,3416,0,0,0,0,0,0
$GC,5925,-0.56,-146.0,633.3,-6.3,529,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1816,3414,0,0,0,0,0,0
$GC,6236,-0.56,-146.0,652.4,-6.2,544,6241,0.00,2.17,0.00,0.000,4,0.000,0.036,2600,3252,3412,0,0,0,0,0,0
$GC,6308,-0.56,-146.0,657.0,-6.1,547,6312,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1852,3412,0,0,0,0,0,0
$GC,6636,-0.56,-146.0,679.5,-7.1,563,6640,0.00,2.10,0.00,0.000,4,0.000,0.035,2600,3259,3409,0,0,0,0,0,0
$GC,6700,-0.56,-146.0,683.9,-7.0,566,6704,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1874,3409,0,0,0,0,0,0
$GC,7033,-0.56,-146.0,706.1,-6.3,582,7036,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,489,3407,0,0,0,0,0,0
$GC,7061,-0.56,-146.0,707.9,-6.0,583,7065,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1872,3407,0,0,0,0,0,0
$GC,7388,-0.56,-146.0,727.4,-6.0,599,7392,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3265,3405,0,0,0,0,0,0
$GC,7438,-0.56,-146.0,730.5,-6.0,601,7443,0.00,2.03,0.00,0.000,6,0.000,0.021,2599,1867,3405,0,0,0,0,0,0
$GC,7761,-0.56,-146.0,749.7,-6.1,617,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1866,3404,0,0,0,0,0,0
$GC,8070,-0.56,-146.0,768.3,-5.9,632,8073,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,487,3402,0,0,0,0,0,0
$GC,8116,-0.56,-146.0,771.4,-5.9,634,8119,0.00,1.98,0.00,0.000,6,0.000,0.023,2599,1850,3401,0,0,0,0,0,0
$GC,8450,-0.56,-146.0,792.8,-6.7,650,8454,0.00,2.10,0.00,0.000,4,0.000,0.037,2599,3271,3400,0,0,0,0,0,0
$GC,8513,-0.56,-146.0,797.2,-6.8,653,8518,0.00,2.05,0.00,0.000,6,0.000,0.021,2599,1859,3400,0,0,0,0,0,0
$GC,8847,-0.56,-146.0,820.8,-6.9,669,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1859,3399,0,0,0,0,0,0
$GC,9156,-0.56,-146.0,841.5,-6.5,684,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1859,3397,0,0,0,0,0,0
$GC,9466,-0.56,-146.0,861.8,-6.5,699,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1859,3396,0,0,0,0,0,0
$GC,9774,-0.56,-146.0,880.8,-5.8,714,9777,0.00,2.03,0.00,0.000,4,0.000,0.034,2599,484,3395,0,0,0,0,0,0
$GC,9812,-0.56,-146.0,883.5,-5.9,715,9820,0.00,2.00,0.00,0.000,6,0.000,0.023,2599,1871,3395,0,0,0,0,0,0
$GC,10130,-0.56,-146.0,901.5,-5.5,731,10135,0.00,2.12,0.00,0.000,4,0.000,0.039,2599,3272,3394,0,0,0,0,0,0
$GC,10221,-0.56,-146.0,906.5,-5.4,735,10226,0.00,2.00,0.00,0.000,6,0.000,0.022,2599,1897,3394,0,0,0,0,0,0
$GC,10555,-0.56,-146.0,923.5,-5.2,751,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1897,3394,0,0,0,0,0,0
$GC,10863,-0.56,-146.0,939.9,-5.4,766,10867,0.00,2.05,0.00,0.000,4,0.000,0.037,2599,3271,3392,0,0,0,0,0,0
$GC,10921,-0.56,-146.0,942.9,-5.4,768,10925,0.00,1.92,0.00,0.000,6,0.000,0.021,2599,1917,3392,0,0,0,0,0,0
$GC,11244,-0.56,-146.0,959.6,-5.1,784,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1916,3392,0,0,0,0,0,0
$GC,11552,-0.56,-146.0,975.8,-5.3,799,11553,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1916,3390,0,0,0,0,0,0
$STATE,11817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11818,begin apogee
$GC,11826,-0.20,0.0,990.9,5.7,812,11942,0.38,0.00,110.60,1.416,4,0.125,0.000,2727,2073,2839,0,0,0,0,0,0
$STATE,11943,end apogee,CONTROL_FINISHED_OK
$STATE,11943,begin climb
$GC,11946,0.56,146.0,993.5,0.0,817,12080,0.70,2.30,123.40,1.366,4,0.081,0.041,2980,3469,2241,0,0,0,0,0,0
$GC,12275,0.56,146.0,959.8,12.3,832,12280,0.00,2.12,0.00,0.000,6,0.000,0.023,2985,2089,2231,0,0,0,0,0,0
$GC,12598,0.56,146.0,924.7,10.9,848,12602,0.00,2.15,0.00,0.000,4,0.000,0.037,2985,3474,2229,0,0,0,0,0,0
$GC,12796,0.56,146.0,900.8,11.8,857,12800,0.00,2.15,0.00,0.000,6,0.000,0.022,2993,2018,2228,0,0,0,0,0,0
$GC,13124,0.56,146.0,862.9,11.7,873,13128,0.00,1.98,0.00,0.000,4,0.000,0.035,3004,682,2227,0,0,0,0,0,0
$GC,13197,0.56,146.0,853.8,12.5,876,13201,0.00,1.98,0.00,0.000,6,0.000,0.024,3004,1996,2227,0,0,0,0,0,0
$GC,13527,0.56,146.0,812.1,12.8,892,13531,0.00,2.25,0.00,0.000,4,0.000,0.040,3004,3476,2226,0,0,0,0,0,0
$GC,13581,0.56,146.0,803.9,14.1,894,13589,0.12,2.15,0.00,0.000,6,0.174,0.022,2982,2000,2226,0,0,0,0,0,0
$GC,13899,0.56,146.0,768.2,11.0,910,13904,0.00,1.98,0.00,0.000,4,0.000,0.035,2990,685,2225,0,0,0,0,0,0
$GC,13982,0.56,146.0,758.8,10.8,913,13989,0.00,1.95,0.00,0.000,6,0.000,0.024,2989,1994,2225,0,0,0,0,0,0
$GC,14298,0.56,146.0,723.9,11.1,929,14303,0.00,2.25,0.00,0.000,4,0.000,0.040,2990,3466,2224,0,0,0,0,0,0
$GC,14337,0.56,146.0,719.1,11.9,930,14345,0.00,2.15,0.00,0.000,6,0.000,0.024,2999,1991,2224,0,0,0,0,0,0
$GC,14653,0.56,146.0,682.5,11.3,946,14657,0.00,1.92,0.00,0.000,4,0.000,0.037,3009,680,2224,0,0,0,0,0,0
$GC,14722,0.56,146.0,674.6,11.5,949,14726,0.00,1.95,0.00,0.000,6,0.000,0.024,3009,1990,2224,0,0,0,0,0,0
$GC,15055,0.56,146.0,636.7,11.1,965,15059,0.00,2.25,0.00,0.000,4,0.000,0.040,3009,3479,2223,0,0,0,0,0,0
$GC,15133,0.56,146.0,626.8,12.4,968,15141,0.12,2.20,0.00,0.000,6,0.174,0.022,2987,1977,2223,0,0,0,0,0,0
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$STATE,22113,end climb,SURFACE_DEPTH_REACHED
$STATE,22114,begin surface coast
$FINISH,2.1,1.021372
$STATE,22121,end surface coast,CONTROL_FINISHED_OK
$STATE,22121,begin surface
$SM_CCo,22202,0.00,0.000,0,0,868,483.49
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$TT8_MAMPS,0.027713,0.027713
$HUMID,31.05
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,29.70
$XPDR_PINGS,10
$24V_AH,23.9,17.793
$10V_AH,10.2,15.642
$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
$DEVICE_SECS,19.650,211.275,512.050,0.000,0.000,27.633,16.431,311.372,2.500,0.000,17.186,4407.877,12648.970,666.478,4027.783,988.156,0.000,2468.164,0.000,3977.457,0.000,0.545,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.774,1331.224,1581.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329884
$DATA_FILE_SIZE,100221,1729
$CAP_FILE_SIZE,236063,0
$CFSIZE,260165632,133468160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,275.3,1
$GPS,300611,123230,1835.901,12425.748,39,1.0,39,-2.2