version: 66.09
glider: 167
mission: 8
dive: 126
start: 7 9 111 10 13 44
data:
$ID,167
$MISSION,8
$DIVE,126
$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,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,-3
$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,-56545.41
$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,91
$R_STBD_OVSHOOT,70
$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
$GPS1,090711,100300,1757.143,12413.270,38,2.0,38,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.9
$GPS2,090711,101322,1757.045,12413.327,14,3.5,33,-2.0
$SPEED_LIMITS,0.143,0.244
$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,281.1,215053,-15.4,-8.250
$D_GRID,4918
$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,-0.56,-146.0,0.0,0.0,0,94,0.00,0.00,-72.55,0.000,2,0.000,0.000,108,1962,3133,0,0,0,0,0,0
$GC,97,-0.56,-146.0,6.3,-12.0,10,121,9.95,2.17,-4.85,0.000,4,0.233,0.040,2618,488,3437,0,0,0,0,0,0
$GC,224,-0.56,-146.0,54.7,-28.4,32,234,0.00,2.03,0.00,0.000,6,0.000,0.021,2610,1868,3439,0,0,0,0,0,0
$GC,302,-0.56,-146.0,75.2,-23.4,45,310,0.00,2.08,0.00,0.000,4,0.000,0.030,2600,3261,3438,0,0,0,0,0,0
$GC,361,-0.56,-146.0,88.6,-23.2,54,369,0.00,1.73,0.00,0.000,6,0.000,0.017,2600,2031,3439,0,0,0,0,0,0
$GC,439,-0.56,-146.0,104.7,-20.2,67,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2028,3439,0,0,0,0,0,0
$GC,514,-0.56,-146.0,120.0,-19.9,80,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2028,3439,0,0,0,0,0,0
$GC,590,-0.56,-146.0,136.6,-22.1,93,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2028,3439,0,0,0,0,0,0
$GC,665,-0.56,-146.0,151.4,-18.8,106,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2028,3439,0,0,0,0,0,0
$GC,740,-0.56,-146.0,164.3,-16.7,119,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2028,3439,0,0,0,0,0,0
$GC,816,-0.56,-146.0,176.9,-15.9,132,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2028,3440,0,0,0,0,0,0
$GC,892,-0.56,-146.0,189.1,-16.0,145,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2028,3439,0,0,0,0,0,0
$GC,964,-0.56,-146.0,200.4,-15.5,158,968,0.00,2.20,0.00,0.000,4,0.000,0.027,2600,505,3440,0,0,0,0,0,0
$GC,994,-0.56,-146.0,204.8,-14.5,160,998,0.00,2.33,0.00,0.000,6,0.000,0.020,2589,2118,3440,0,0,0,0,0,0
$GC,1319,-0.56,-146.0,248.6,-12.1,190,1323,0.00,2.35,0.00,0.000,4,0.000,0.025,2589,497,3440,0,0,0,0,0,0
$GC,1406,-0.56,-146.0,259.4,-12.7,197,1411,0.10,2.30,0.00,0.000,6,0.176,0.021,2612,2094,3440,0,0,0,0,0,0
$GC,1734,-0.56,-146.0,294.2,-11.0,227,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2095,3439,0,0,0,0,0,0
$GC,2062,-0.56,-146.0,329.9,-10.3,258,2066,0.00,1.67,0.00,0.000,4,0.000,0.032,2605,3270,3438,0,0,0,0,0,0
$GC,2157,-0.56,-146.0,339.3,-9.2,266,2164,0.00,1.62,0.00,0.000,6,0.000,0.018,2605,2086,3438,0,0,0,0,0,0
$GC,2484,-0.56,-146.0,367.4,-8.4,297,2488,0.00,2.30,0.00,0.000,4,0.000,0.029,2605,494,3436,0,0,0,0,0,0
$GC,2682,-0.56,-146.0,386.6,-9.6,314,2686,0.00,2.25,0.00,0.000,6,0.000,0.021,2603,2054,3435,0,0,0,0,0,0
$GC,3008,-0.56,-146.0,415.7,-9.1,344,3012,0.00,2.28,0.00,0.000,4,0.000,0.029,2604,500,3432,0,0,0,0,0,0
$GC,3108,-0.56,-146.0,425.2,-9.4,352,3116,0.00,2.17,0.00,0.000,6,0.000,0.022,2603,2006,3432,0,0,0,0,0,0
$GC,3433,-0.56,-146.0,452.0,-8.4,383,3437,0.00,1.83,0.00,0.000,4,0.000,0.035,2600,3267,3430,0,0,0,0,0,0
$GC,3561,-0.56,-146.0,463.2,-8.7,394,3568,0.00,1.73,0.00,0.000,6,0.000,0.018,2600,2039,3429,0,0,0,0,0,0
$GC,3887,-0.56,-146.0,490.2,-8.1,425,3892,0.00,2.20,0.00,0.000,4,0.000,0.030,2600,505,3427,0,0,0,0,0,0
$GC,4112,-0.56,-146.0,511.0,-9.4,439,4116,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1989,3425,0,0,0,0,0,0
$GC,4433,-0.56,-146.0,537.8,-8.4,455,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1989,3422,0,0,0,0,0,0
$GC,4742,-0.56,-146.0,564.1,-8.4,470,4746,0.00,1.90,0.00,0.000,4,0.000,0.037,2600,3274,3420,0,0,0,0,0,0
$GC,4782,-0.56,-146.0,567.4,-8.3,471,4789,0.00,1.80,0.00,0.000,6,0.000,0.020,2600,1993,3420,0,0,0,0,0,0
$GC,5099,-0.56,-146.0,592.1,-7.8,487,5103,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,500,3418,0,0,0,0,0,0
$GC,5247,-0.56,-146.0,604.6,-8.3,493,5251,0.00,2.15,0.00,0.000,6,0.000,0.023,2601,1974,3417,0,0,0,0,0,0
$GC,5563,-0.56,-146.0,627.7,-7.2,508,5567,0.00,2.17,0.00,0.000,4,0.000,0.030,2600,495,3414,0,0,0,0,0,0
$GC,5591,-0.56,-146.0,629.8,-7.3,509,5595,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1973,3414,0,0,0,0,0,0
$GC,5909,-0.56,-146.0,651.2,-6.7,524,5912,0.00,1.90,0.00,0.000,4,0.000,0.036,2600,3271,3413,0,0,0,0,0,0
$GC,6015,-0.56,-146.0,658.0,-6.0,528,6022,0.00,1.77,0.00,0.000,6,0.000,0.019,2600,2010,3411,0,0,0,0,0,0
$GC,6332,-0.56,-146.0,677.7,-6.3,544,6337,0.00,2.22,0.00,0.000,4,0.000,0.032,2600,510,3409,0,0,0,0,0,0
$GC,6404,-0.56,-146.0,683.2,-7.5,547,6408,0.00,2.17,0.00,0.000,6,0.000,0.023,2601,1999,3409,0,0,0,0,0,0
$GC,6726,-0.56,-146.0,705.6,-7.2,563,6731,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,510,3408,0,0,0,0,0,0
$GC,6755,-0.56,-146.0,707.8,-7.3,564,6759,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1983,3407,0,0,0,0,0,0
$GC,7077,-0.56,-146.0,730.1,-6.7,580,7081,0.00,1.90,0.00,0.000,4,0.000,0.038,2600,3262,3406,0,0,0,0,0,0
$GC,7113,-0.56,-146.0,732.4,-6.6,581,7116,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,2004,3405,0,0,0,0,0,0
$GC,7435,-0.56,-146.0,752.1,-5.9,597,7439,0.00,2.20,0.00,0.000,4,0.000,0.032,2600,505,3404,0,0,0,0,0,0
$GC,7525,-0.56,-146.0,758.2,-6.9,601,7529,0.00,2.15,0.00,0.000,6,0.000,0.024,2600,1975,3403,0,0,0,0,0,0
$GC,7855,-0.56,-146.0,777.6,-6.2,617,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1975,3402,0,0,0,0,0,0
$GC,8161,-0.56,-146.0,796.8,-6.2,632,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1975,3400,0,0,0,0,0,0
$GC,8472,-0.56,-146.0,816.9,-6.5,647,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1975,3399,0,0,0,0,0,0
$GC,8780,-0.56,-146.0,836.1,-6.0,662,8784,0.00,1.92,0.00,0.000,4,0.000,0.038,2600,3265,3398,0,0,0,0,0,0
$GC,8813,-0.56,-146.0,838.2,-5.9,663,8817,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,1975,3397,0,0,0,0,0,0
$GC,9137,-0.56,-146.0,857.0,-6.1,679,9141,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,511,3396,0,0,0,0,0,0
$GC,9209,-0.56,-146.0,862.3,-7.1,682,9212,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1965,3396,0,0,0,0,0,0
$GC,9538,-0.56,-146.0,883.5,-6.7,698,9542,0.00,1.92,0.00,0.000,4,0.000,0.040,2600,3265,3395,0,0,0,0,0,0
$GC,9655,-0.56,-146.0,891.5,-6.6,703,9659,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,2014,3395,0,0,0,0,0,0
$GC,9983,-0.56,-146.0,912.3,-6.2,719,9987,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,501,3394,0,0,0,0,0,0
$GC,10047,-0.56,-146.0,916.6,-6.9,722,10051,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,2002,3393,0,0,0,0,0,0
$GC,10375,-0.56,-146.0,937.2,-6.3,738,10379,0.00,1.90,0.00,0.000,4,0.000,0.040,2600,3271,3393,0,0,0,0,0,0
$GC,10423,-0.56,-146.0,940.1,-6.1,740,10426,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,2002,3392,0,0,0,0,0,0
$GC,10756,-0.56,-146.0,959.5,-5.5,756,10761,0.00,2.22,0.00,0.000,4,0.000,0.032,2600,508,3392,0,0,0,0,0,0
$GC,10794,-0.56,-146.0,961.9,-5.3,757,10802,0.00,2.17,0.00,0.000,6,0.000,0.024,2600,1993,3392,0,0,0,0,0,0
$GC,11113,-0.56,-146.0,977.7,-5.0,773,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1993,3392,0,0,0,0,0,0
$STATE,11397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11398,begin apogee
$GC,11404,-0.20,0.0,990.8,4.5,787,11522,0.38,0.00,111.53,1.417,4,0.124,0.000,2727,2073,2839,0,0,0,0,0,0
$STATE,11523,end apogee,CONTROL_FINISHED_OK
$STATE,11523,begin climb
$GC,11526,0.56,146.0,991.2,0.0,792,11660,0.68,2.20,124.40,1.362,4,0.080,0.031,2979,708,2241,0,0,0,0,0,0
$GC,11857,0.56,146.0,955.0,12.5,807,11861,0.00,2.10,0.00,0.000,6,0.000,0.024,2979,2074,2232,0,0,0,0,0,0
$GC,12174,0.56,146.0,916.2,12.2,822,12178,0.00,2.15,0.00,0.000,4,0.000,0.039,2979,3472,2228,0,0,0,0,0,0
$GC,12431,0.56,146.0,881.7,12.9,833,12439,0.00,2.05,0.00,0.000,6,0.000,0.021,2987,2094,2226,0,0,0,0,0,0
$GC,12750,0.56,146.0,846.0,10.8,849,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2094,2225,0,0,0,0,0,0
$GC,13057,0.56,146.0,814.2,10.1,864,13060,0.00,2.08,0.00,0.000,4,0.000,0.034,2998,692,2225,0,0,0,0,0,0
$GC,13153,0.56,146.0,803.9,10.8,868,13156,0.00,2.05,0.00,0.000,6,0.000,0.024,2997,2065,2225,0,0,0,0,0,0
$GC,13480,0.56,146.0,765.9,12.0,884,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2065,2224,0,0,0,0,0,0
$GC,13789,0.56,146.0,728.1,12.3,899,13794,0.00,2.15,0.00,0.000,4,0.000,0.040,2998,3470,2223,0,0,0,0,0,0
$GC,13836,0.56,146.0,722.2,13.2,901,13841,0.00,2.10,0.00,0.000,6,0.000,0.022,3007,2053,2223,0,0,0,0,0,0
$GC,14169,0.56,146.0,682.5,11.3,917,14173,0.00,2.03,0.00,0.000,4,0.000,0.034,3017,685,2223,0,0,0,0,0,0
$GC,14286,0.56,146.0,669.5,11.3,922,14291,0.12,1.95,0.00,0.000,6,0.163,0.024,2985,2017,2223,0,0,0,0,0,0
$GC,14613,0.56,146.0,636.4,10.4,938,14617,0.00,2.20,0.00,0.000,4,0.000,0.039,2985,3475,2222,0,0,0,0,0,0
$GC,14748,0.56,146.0,620.5,12.1,944,14752,0.00,2.10,0.00,0.000,6,0.000,0.021,2993,2036,2222,0,0,0,0,0,0
$GC,15070,0.56,146.0,585.9,10.5,960,15074,0.00,2.00,0.00,0.000,4,0.000,0.035,3003,679,2222,0,0,0,0,0,0
$GC,15153,0.56,146.0,576.8,10.4,963,15161,0.00,1.92,0.00,0.000,6,0.000,0.024,3003,1977,2221,0,0,0,0,0,0
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$GC,18378,0.58,160.7,281.9,7.9,1224,18390,0.00,0.00,10.07,0.798,6,0.000,0.000,3000,1950,2183,0,0,0,0,0,0
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$STATE,21656,end climb,SURFACE_DEPTH_REACHED
$STATE,21656,begin surface coast
$FINISH,0.8,1.021201
$STATE,21706,end surface coast,CONTROL_FINISHED_OK
$STATE,21706,begin surface
$SM_CCo,21724,4.25,0.065,0,0,1208,400.08
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$TT8_MAMPS,0.029211,0.029211
$HUMID,32.04
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,29.10
$XPDR_PINGS,8
$24V_AH,23.7,23.532
$10V_AH,10.2,22.119
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,330484
$DATA_FILE_SIZE,96944,1690
$CAP_FILE_SIZE,237528,0
$CFSIZE,260165632,129540096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,113.7,1
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