version: 66.09
glider: 167
mission: 8
dive: 222
start: 7 28 111 5 8 58
data:
$ID,167
$MISSION,8
$DIVE,222
$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,280
$T_MISSION,340
$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,225
$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,-56666.355
$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,78
$R_STBD_OVSHOOT,67
$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
$GPS1,280711,050038,1902.403,12227.945,35,2.0,37,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-64.8
$GPS2,280711,050836,1902.608,12227.937,17,1.1,27,-2.2
$SPEED_LIMITS,0.204,0.330
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,77.0,236407,-17.0,-11.786
$D_GRID,1812
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.69,-219.0,0.0,0.0,0,118,0.00,0.00,-93.97,0.000,2,0.000,0.000,109,1818,3147,0,0,0,0,0,0
$GC,121,-0.69,-219.0,6.3,-11.7,13,147,10.05,2.22,-9.27,0.000,4,0.238,0.041,2554,3280,3736,0,0,0,0,0,0
$GC,212,-0.69,-219.0,45.6,-35.7,28,220,0.00,2.05,0.00,0.000,6,0.000,0.022,2555,1878,3737,0,0,0,0,0,0
$GC,288,-0.69,-219.0,72.3,-28.3,41,298,0.00,2.05,0.00,0.000,4,0.000,0.026,2554,484,3738,0,0,0,0,0,0
$GC,314,-0.69,-219.0,79.1,-26.2,44,322,0.00,1.88,0.00,0.000,6,0.000,0.019,2548,1779,3738,0,0,0,0,0,0
$GC,389,-0.69,-219.0,98.8,-27.2,57,397,0.00,2.22,0.00,0.000,4,0.000,0.031,2537,3263,3738,0,0,0,0,0,0
$GC,448,-0.69,-219.0,114.5,-26.9,67,458,0.10,1.98,0.00,0.000,6,0.166,0.017,2566,1867,3738,0,0,0,0,0,0
$GC,525,-0.69,-219.0,134.5,-25.1,80,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1866,3738,0,0,0,0,0,0
$GC,600,-0.69,-219.0,151.7,-22.0,93,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1866,3739,0,0,0,0,0,0
$GC,677,-0.69,-219.0,167.6,-20.2,106,686,0.00,2.10,0.00,0.000,4,0.000,0.031,2561,3263,3739,0,0,0,0,0,0
$GC,716,-0.69,-219.0,175.3,-18.2,112,727,0.00,1.83,0.00,0.000,6,0.000,0.018,2560,1972,3740,0,0,0,0,0,0
$GC,794,-0.69,-219.0,190.5,-18.3,125,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1970,3739,0,0,0,0,0,0
$GC,869,-0.69,-219.0,204.9,-18.9,136,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1969,3739,0,0,0,0,0,0
$GC,1189,-0.69,-219.0,259.9,-16.6,166,1193,0.00,1.92,0.00,0.000,4,0.000,0.033,2554,3268,3740,0,0,0,0,0,0
$GC,1286,-0.69,-219.0,275.1,-13.4,174,1295,0.00,1.65,0.00,0.000,6,0.000,0.017,2554,2061,3740,0,0,0,0,0,0
$GC,1611,-0.69,-219.0,327.3,-16.4,205,1615,0.00,1.83,0.00,0.000,4,0.000,0.034,2548,3269,3739,0,0,0,0,0,0
$GC,1649,-0.69,-219.0,333.8,-16.3,208,1656,0.00,1.55,0.00,0.000,6,0.000,0.017,2548,2148,3739,0,0,0,0,0,0
$GC,1975,-0.69,-219.0,385.2,-15.8,239,1979,0.00,2.35,0.00,0.000,4,0.000,0.028,2548,513,3737,0,0,0,0,0,0
$GC,2082,-0.69,-219.0,400.5,-13.6,248,2086,0.00,2.28,0.00,0.000,6,0.000,0.022,2547,2076,3736,0,0,0,0,0,0
$GC,2410,-0.69,-219.0,448.9,-15.2,278,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2076,3733,0,0,0,0,0,0
$GC,2738,-0.69,-219.0,493.3,-12.7,309,2742,0.00,1.77,0.00,0.000,4,0.000,0.037,2548,3262,3731,0,0,0,0,0,0
$GC,2822,-0.69,-219.0,503.3,-11.2,315,2828,0.00,1.70,0.00,0.000,6,0.000,0.019,2547,2042,3730,0,0,0,0,0,0
$GC,3138,-0.69,-219.0,542.4,-12.7,331,3142,0.00,1.88,0.00,0.000,4,0.000,0.037,2547,3256,3727,0,0,0,0,0,0
$GC,3171,-0.69,-219.0,546.8,-13.1,332,3175,0.00,1.65,0.00,0.000,6,0.000,0.021,2547,2063,3726,0,0,0,0,0,0
$GC,3494,-0.69,-219.0,584.3,-11.6,348,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2059,3724,0,0,0,0,0,0
$GC,3803,-0.69,-219.0,621.5,-12.1,363,3807,0.00,2.28,0.00,0.000,4,0.000,0.029,2547,509,3721,0,0,0,0,0,0
$GC,3881,-0.69,-219.0,631.7,-12.5,366,3888,0.00,2.25,0.00,0.000,6,0.000,0.023,2547,2044,3720,0,0,0,0,0,0
$GC,4198,-0.69,-219.0,669.9,-11.9,382,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2044,3717,0,0,0,0,0,0
$GC,4508,-0.69,-219.0,705.1,-10.9,397,4512,0.00,1.80,0.00,0.000,4,0.000,0.037,2547,3265,3715,0,0,0,0,0,0
$GC,4558,-0.69,-219.0,710.6,-10.4,399,4562,0.00,1.73,0.00,0.000,6,0.000,0.020,2547,2060,3715,0,0,0,0,0,0
$GC,4886,-0.69,-219.0,743.5,-10.1,415,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2057,3711,0,0,0,0,0,0
$GC,5197,-0.69,-219.0,776.4,-10.8,430,5201,0.00,2.28,0.00,0.000,4,0.000,0.029,2548,510,3709,0,0,0,0,0,0
$GC,5230,-0.69,-219.0,780.3,-10.7,431,5236,0.00,2.20,0.00,0.000,6,0.000,0.023,2547,2008,3709,0,0,0,0,0,0
$GC,5546,-0.69,-219.0,813.4,-10.1,447,5550,0.00,1.85,0.00,0.000,4,0.000,0.040,2547,3256,3706,0,0,0,0,0,0
$GC,5597,-0.69,-219.0,818.5,-9.9,449,5601,0.00,1.70,0.00,0.000,6,0.000,0.020,2547,2040,3706,0,0,0,0,0,0
$GC,5926,-0.69,-219.0,851.0,-10.4,465,5930,0.00,2.22,0.00,0.000,4,0.000,0.028,2547,521,3703,0,0,0,0,0,0
$GC,5947,-0.69,-219.0,853.7,-10.5,466,5951,0.00,2.22,0.00,0.000,6,0.000,0.024,2547,2027,3703,0,0,0,0,0,0
$GC,6272,-0.69,-219.0,886.9,-10.4,482,6275,0.00,1.85,0.00,0.000,4,0.000,0.040,2547,3256,3701,0,0,0,0,0,0
$GC,6388,-0.69,-219.0,899.1,-9.3,487,6392,0.00,1.65,0.00,0.000,6,0.000,0.020,2547,2081,3700,0,0,0,0,0,0
$GC,6718,-0.69,-219.0,933.1,-10.5,503,6722,0.00,2.28,0.00,0.000,4,0.000,0.030,2547,521,3699,0,0,0,0,0,0
$GC,6768,-0.69,-219.0,938.8,-10.8,505,6772,0.00,2.28,0.00,0.000,6,0.000,0.025,2547,2050,3698,0,0,0,0,0,0
$GC,7086,-0.69,-219.0,970.8,-9.5,520,7090,0.00,1.83,0.00,0.000,4,0.000,0.041,2547,3258,3697,0,0,0,0,0,0
$GC,7181,-0.69,-219.0,979.8,-8.7,524,7185,0.00,1.65,0.00,0.000,6,0.000,0.020,2547,2108,3696,0,0,0,0,0,0
$STATE,7301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7301,begin apogee
$GC,7307,-0.20,0.0,990.0,8.5,530,7487,0.55,0.00,173.05,1.387,4,0.126,0.000,2727,2103,2839,0,0,0,0,0,0
$STATE,7487,end apogee,CONTROL_FINISHED_OK
$STATE,7488,begin climb
$GC,7490,0.69,219.0,994.7,0.0,538,7687,0.82,2.25,189.18,1.321,4,0.079,0.040,3024,3446,1946,0,0,0,0,0,0
$GC,7828,0.69,219.0,949.7,15.8,553,7832,0.00,2.05,0.00,0.000,6,0.000,0.021,3033,2115,1938,0,0,0,0,0,0
$GC,8150,0.69,219.0,898.5,15.8,569,8153,0.00,2.05,0.00,0.000,4,0.000,0.036,3033,3455,1936,0,0,0,0,0,0
$GC,8261,0.69,219.0,879.8,16.6,574,8265,0.00,2.15,0.00,0.000,6,0.000,0.021,3043,2004,1935,0,0,0,0,0,0
$GC,8591,0.69,219.0,829.8,15.2,590,8595,0.00,1.98,0.00,0.000,4,0.000,0.033,3053,681,1934,0,0,0,0,0,0
$GC,8663,0.69,219.0,817.6,15.7,593,8668,0.00,1.90,0.00,0.000,6,0.000,0.023,3053,1954,1934,0,0,0,0,0,0
$GC,8992,0.69,219.0,767.8,15.5,609,8996,0.00,2.25,0.00,0.000,4,0.000,0.037,3053,3454,1933,0,0,0,0,0,0
$GC,9046,0.69,219.0,757.9,17.6,611,9054,0.15,2.12,0.00,0.000,6,0.171,0.021,3023,2004,1933,0,0,0,0,0,0
$GC,9363,0.69,219.0,713.3,13.9,627,9368,0.00,1.98,0.00,0.000,4,0.000,0.033,3032,688,1932,0,0,0,0,0,0
$GC,9458,0.69,219.0,700.4,13.4,631,9463,0.00,1.88,0.00,0.000,6,0.000,0.023,3032,1943,1932,0,0,0,0,0,0
$GC,9786,0.69,219.0,654.6,14.1,647,9790,0.00,2.30,0.00,0.000,4,0.000,0.037,3031,3455,1932,0,0,0,0,0,0
$GC,9918,0.69,219.0,633.3,16.5,653,9921,0.00,2.08,0.00,0.000,6,0.000,0.021,3041,2021,1931,0,0,0,0,0,0
$GC,10245,0.69,219.0,582.6,15.5,669,10248,0.00,2.00,0.00,0.000,4,0.000,0.034,3051,673,1931,0,0,0,0,0,0
$GC,10368,0.69,219.0,563.6,15.1,674,10372,0.00,1.90,0.00,0.000,6,0.000,0.023,3051,1977,1931,0,0,0,0,0,0
$GC,10690,0.69,219.0,514.3,14.9,690,10694,0.00,2.25,0.00,0.000,4,0.000,0.037,3051,3466,1930,0,0,0,0,0,0
$GC,10711,0.69,219.0,510.6,15.5,691,10716,0.12,2.15,0.00,0.000,6,0.175,0.021,3029,1994,1930,0,0,0,0,0,0
$GC,11035,0.69,219.0,468.0,11.9,718,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1994,1930,0,0,0,0,0,0
$GC,11359,0.73,246.1,432.1,10.8,748,11386,0.00,2.00,21.85,0.994,4,0.000,0.032,3037,682,1834,0,0,0,0,0,0
$GC,11408,0.78,285.6,426.2,10.4,752,11449,0.00,2.00,34.12,0.986,6,0.000,0.022,3037,2033,1673,0,0,0,0,0,0
$GC,11768,0.78,285.6,384.0,12.5,786,11772,0.00,2.05,0.00,0.000,4,0.000,0.031,3046,681,1667,0,0,0,0,0,0
$GC,11837,0.78,285.6,375.2,12.5,792,11841,0.00,1.95,0.00,0.000,6,0.000,0.021,3046,1980,1666,0,0,0,0,0,0
$GC,12167,0.78,285.6,329.6,14.0,823,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1980,1665,0,0,0,0,0,0
$GC,12489,0.78,285.6,287.6,12.4,853,12493,0.00,1.92,0.00,0.000,4,0.000,0.031,3054,675,1664,0,0,0,0,0,0
$GC,12548,0.78,285.6,279.8,12.4,858,12552,0.00,1.95,0.00,0.000,6,0.000,0.021,3054,2012,1664,0,0,0,0,0,0
$GC,12883,0.84,333.8,241.6,10.0,889,12931,0.00,2.28,38.15,0.828,4,0.000,0.036,3055,3466,1477,0,0,0,0,0,0
$GC,13007,0.84,333.8,227.2,12.3,899,13014,0.00,2.10,0.00,0.000,6,0.000,0.019,3064,2057,1473,0,0,0,0,0,0
$GC,13338,0.84,333.8,184.1,13.6,940,13346,0.00,2.05,0.00,0.000,4,0.000,0.031,3074,689,1471,0,0,0,0,0,0
$GC,13519,0.84,333.8,160.5,12.4,972,13527,0.00,1.90,0.00,0.000,6,0.000,0.020,3075,1980,1471,0,0,0,0,0,0
$GC,13594,0.84,333.8,151.4,12.1,985,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1980,1471,0,0,0,0,0,0
$GC,13670,0.84,333.8,142.1,12.3,998,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1980,1471,0,0,0,0,0,0
$GC,13744,0.84,333.8,133.0,12.2,1011,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1980,1471,0,0,0,0,0,0
$GC,13816,0.84,333.8,124.2,12.0,1024,13824,0.00,1.92,0.00,0.000,4,0.000,0.029,3081,690,1471,0,0,0,0,0,0
$GC,13846,0.84,333.8,120.9,12.1,1028,13854,0.00,1.85,0.00,0.000,6,0.000,0.019,3081,1963,1471,0,0,0,0,0,0
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$GC,14652,1.11,556.0,30.8,12.0,1156,14659,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1991,570,0,0,0,0,0,0
$GC,14728,1.11,556.0,20.7,14.0,1169,14736,0.00,1.98,0.00,0.000,4,0.000,0.028,3187,685,568,0,0,0,0,0,0
$GC,14756,1.11,556.0,16.7,13.9,1173,14765,0.08,1.90,0.00,0.000,6,0.108,0.017,3158,1998,569,0,0,0,0,0,0
$GC,14833,1.17,604.2,8.5,10.0,1186,14856,0.00,0.00,15.40,0.545,6,0.000,0.000,3158,1998,490,0,0,0,0,0,0
$STATE,14888,end climb,SURFACE_DEPTH_REACHED
$STATE,14888,begin surface coast
$FINISH,0.8,1.013135
$STATE,14921,end surface coast,CONTROL_FINISHED_OK
$STATE,14921,begin surface
$SM_CCo,15001,0.00,0.000,0,0,487,576.95
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$IRIDIUM_FIX,1853.26,12226.17,280711,000000
$TT8_MAMPS,0.028462,0.028462
$HUMID,35.78
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,28.20
$XPDR_PINGS,23
$24V_AH,23.0,38.723
$10V_AH,10.1,36.432
$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
$DEVICE_SECS,19.850,144.900,651.100,0.000,0.000,25.854,44.235,230.084,5.750,0.000,28.571,2994.463,8083.440,716.730,2934.537,730.416,0.000,2086.999,0.000,2846.453,0.000,0.544,0.000
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$MEM,324080
$DATA_FILE_SIZE,70175,1201
$CAP_FILE_SIZE,168860,0
$CFSIZE,260165632,120938496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,325.7,1
$GPS,280711,092006,1904.056,12229.633,29,1.3,30,-2.2