version: 66.09
glider: 167
mission: 8
dive: 246
start: 8 2 111 15 28 16
data:
$ID,167
$MISSION,8
$DIVE,246
$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,-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,-56696.645
$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,63
$R_STBD_OVSHOOT,63
$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
$GPS1,020811,151937,1914.912,12306.863,30,1.1,31,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.4
$GPS2,020811,152750,1914.941,12306.761,11,1.5,11,-2.2
$SPEED_LIMITS,0.168,0.293
$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,74.8,169015,-15.3,-9.706
$D_GRID,4667
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-92.88,0.000,2,0.000,0.000,111,1897,3103,0,0,0,0,0,0
$GC,116,-0.62,-194.6,5.8,-9.9,12,142,10.20,2.15,-8.73,0.000,4,0.239,0.038,2598,459,3636,0,0,0,0,0,0
$GC,233,-0.62,-194.6,46.9,-30.3,31,242,0.00,2.08,0.00,0.000,6,0.000,0.021,2590,1868,3637,0,0,0,0,0,0
$GC,312,-0.62,-194.6,67.6,-22.9,44,321,0.00,2.10,0.00,0.000,4,0.000,0.034,2581,3267,3637,0,0,0,0,0,0
$GC,393,-0.62,-194.6,86.6,-22.6,57,402,0.00,1.80,0.00,0.000,6,0.000,0.017,2581,1982,3638,0,0,0,0,0,0
$GC,472,-0.62,-194.6,103.3,-21.1,70,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1979,3638,0,0,0,0,0,0
$GC,551,-0.62,-194.6,120.8,-21.4,83,560,0.00,2.20,0.00,0.000,4,0.000,0.026,2581,477,3638,0,0,0,0,0,0
$GC,580,-0.62,-194.6,127.0,-21.5,87,589,0.00,2.38,0.00,0.000,6,0.000,0.024,2572,2083,3639,0,0,0,0,0,0
$GC,659,-0.62,-194.6,143.5,-21.0,100,668,0.00,1.80,0.00,0.000,4,0.000,0.034,2563,3276,3639,0,0,0,0,0,0
$GC,699,-0.62,-194.6,153.0,-23.1,106,709,0.10,1.65,0.00,0.000,6,0.159,0.018,2594,2047,3639,0,0,0,0,0,0
$GC,780,-0.62,-194.6,167.7,-15.0,119,789,0.00,2.30,0.00,0.000,4,0.000,0.027,2594,473,3639,0,0,0,0,0,0
$GC,828,-0.62,-194.6,173.8,-12.8,126,837,0.00,2.38,0.00,0.000,6,0.000,0.021,2587,2092,3639,0,0,0,0,0,0
$GC,905,-0.62,-194.6,184.5,-14.1,139,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2093,3638,0,0,0,0,0,0
$GC,981,-0.62,-194.6,195.7,-14.2,152,989,0.00,2.40,0.00,0.000,4,0.000,0.034,2588,469,3639,0,0,0,0,0,0
$GC,1009,-0.62,-194.6,199.7,-14.6,156,1017,0.00,2.28,0.00,0.000,6,0.000,0.021,2587,2024,3639,0,0,0,0,0,0
$GC,1083,-0.62,-194.6,210.8,-15.4,163,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2024,3639,0,0,0,0,0,0
$GC,1410,-0.62,-194.6,261.2,-16.6,194,1413,0.00,1.88,0.00,0.000,4,0.000,0.035,2587,3282,3638,0,0,0,0,0,0
$GC,1483,-0.62,-194.6,271.6,-13.6,200,1491,0.00,1.85,0.00,0.000,6,0.000,0.017,2587,1957,3639,0,0,0,0,0,0
$GC,1809,-0.62,-194.6,316.7,-13.8,231,1814,0.00,2.17,0.00,0.000,4,0.000,0.030,2586,477,3637,0,0,0,0,0,0
$GC,1876,-0.62,-194.6,325.6,-12.2,237,1880,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1954,3637,0,0,0,0,0,0
$GC,2203,-0.62,-194.6,361.7,-9.7,267,2206,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3280,3635,0,0,0,0,0,0
$GC,2241,-0.62,-194.6,365.6,-9.3,270,2249,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1920,3635,0,0,0,0,0,0
$GC,2567,-0.62,-194.6,396.9,-10.6,301,2571,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,511,3633,0,0,0,0,0,0
$GC,2591,-0.62,-194.6,399.4,-10.3,303,2596,0.00,2.20,0.00,0.000,6,0.000,0.021,2587,2010,3633,0,0,0,0,0,0
$GC,2922,-0.62,-194.6,435.5,-11.1,334,2925,0.00,1.88,0.00,0.000,4,0.000,0.035,2587,3281,3631,0,0,0,0,0,0
$GC,2971,-0.62,-194.6,440.9,-10.2,338,2979,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,2011,3630,0,0,0,0,0,0
$GC,3298,-0.62,-194.6,471.5,-9.1,369,3301,0.00,1.85,0.00,0.000,4,0.000,0.033,2587,3273,3628,0,0,0,0,0,0
$GC,3355,-0.62,-194.6,476.3,-8.2,374,3359,0.00,1.70,0.00,0.000,6,0.000,0.019,2587,2043,3627,0,0,0,0,0,0
$GC,3700,-0.62,-194.6,506.5,-9.8,403,3704,0.00,2.25,0.00,0.000,4,0.000,0.029,2587,502,3625,0,0,0,0,0,0
$GC,3847,-0.62,-194.6,522.9,-10.6,409,3853,0.00,2.20,0.00,0.000,6,0.000,0.022,2587,2011,3624,0,0,0,0,0,0
$GC,4164,-0.62,-194.6,556.7,-10.3,425,4169,0.00,1.90,0.00,0.000,4,0.000,0.037,2587,3274,3622,0,0,0,0,0,0
$GC,4235,-0.62,-194.6,564.1,-9.9,428,4239,0.00,1.75,0.00,0.000,6,0.000,0.019,2587,2030,3621,0,0,0,0,0,0
$GC,4563,-0.62,-194.6,595.6,-9.6,444,4568,0.00,2.25,0.00,0.000,4,0.000,0.030,2586,510,3619,0,0,0,0,0,0
$GC,4610,-0.62,-194.6,600.2,-10.2,446,4615,0.00,2.25,0.00,0.000,6,0.000,0.024,2587,2031,3619,0,0,0,0,0,0
$GC,4942,-0.62,-194.6,629.6,-8.2,462,4946,0.00,1.85,0.00,0.000,4,0.000,0.037,2587,3273,3616,0,0,0,0,0,0
$GC,4992,-0.62,-194.6,633.7,-7.6,464,4996,0.00,1.73,0.00,0.000,6,0.000,0.019,2587,2023,3616,0,0,0,0,0,0
$GC,5322,-0.62,-194.6,655.8,-6.6,480,5326,0.00,2.22,0.00,0.000,4,0.000,0.029,2587,504,3613,0,0,0,0,0,0
$GC,5371,-0.62,-194.6,659.9,-7.7,482,5376,0.00,2.25,0.00,0.000,6,0.000,0.023,2587,2035,3613,0,0,0,0,0,0
$GC,5689,-0.62,-194.6,685.2,-8.9,497,5693,0.00,1.83,0.00,0.000,4,0.000,0.038,2587,3271,3611,0,0,0,0,0,0
$GC,5747,-0.62,-194.6,690.5,-8.9,499,5751,0.00,1.75,0.00,0.000,6,0.000,0.019,2587,2020,3610,0,0,0,0,0,0
$GC,6070,-0.62,-194.6,719.8,-9.0,515,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2019,3608,0,0,0,0,0,0
$GC,6380,-0.62,-194.6,745.3,-7.9,530,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2019,3606,0,0,0,0,0,0
$GC,6688,-0.62,-194.6,768.4,-7.4,545,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2019,3604,0,0,0,0,0,0
$GC,6997,-0.62,-194.6,790.6,-6.9,560,7002,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3267,3602,0,0,0,0,0,0
$GC,7031,-0.62,-194.6,792.7,-7.0,561,7035,0.00,1.73,0.00,0.000,6,0.000,0.019,2587,2021,3602,0,0,0,0,0,0
$GC,7354,-0.62,-194.6,814.8,-6.9,577,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2021,3600,0,0,0,0,0,0
$GC,7664,-0.62,-194.6,838.0,-7.8,592,7668,0.00,1.88,0.00,0.000,4,0.000,0.037,2587,3268,3599,0,0,0,0,0,0
$GC,7714,-0.62,-194.6,842.2,-7.8,594,7718,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2040,3599,0,0,0,0,0,0
$GC,8042,-0.62,-194.6,868.8,-8.2,610,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2039,3598,0,0,0,0,0,0
$GC,8353,-0.62,-194.6,893.3,-7.6,625,8357,0.00,2.28,0.00,0.000,4,0.000,0.030,2587,517,3596,0,0,0,0,0,0
$GC,8391,-0.62,-194.6,896.8,-7.2,626,8401,0.00,2.33,0.00,0.000,6,0.000,0.024,2587,2066,3596,0,0,0,0,0,0
$GC,8707,-0.62,-194.6,917.2,-5.8,642,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2066,3594,0,0,0,0,0,0
$GC,9018,-0.62,-194.6,932.7,-4.6,657,9022,0.00,2.33,0.00,0.000,4,0.000,0.029,2587,510,3593,0,0,0,0,0,0
$GC,9051,-0.62,-194.6,934.5,-4.7,658,9058,0.00,2.30,0.00,0.000,6,0.000,0.024,2587,2060,3593,0,0,0,0,0,0
$GC,9369,-0.62,-194.6,948.0,-4.2,674,9372,0.00,1.80,0.00,0.000,4,0.000,0.040,2587,3267,3592,0,0,0,0,0,0
$GC,9407,-0.62,-194.6,949.8,-4.2,675,9414,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2031,3591,0,0,0,0,0,0
$GC,9724,-0.62,-194.6,965.0,-5.4,691,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2031,3591,0,0,0,0,0,0
$GC,10034,-0.62,-194.6,983.6,-6.3,706,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2031,3590,0,0,0,0,0,0
$STATE,10134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10134,begin apogee
$GC,10140,-0.20,0.0,990.4,6.5,711,10298,0.43,0.00,153.65,1.395,4,0.116,0.000,2730,2028,2839,0,0,0,0,0,0
$STATE,10299,end apogee,CONTROL_FINISHED_OK
$STATE,10299,begin climb
$GC,10303,0.62,194.6,995.4,0.0,718,10481,0.80,2.35,169.98,1.341,4,0.082,0.040,2996,3462,2045,0,0,0,0,0,0
$GC,10654,0.62,194.6,955.6,14.0,734,10661,0.00,2.08,0.00,0.000,6,0.000,0.021,3006,2101,2036,0,0,0,0,0,0
$GC,10972,0.62,194.6,915.1,12.7,750,10977,0.00,2.15,0.00,0.000,4,0.000,0.037,3006,3462,2033,0,0,0,0,0,0
$GC,11111,0.62,194.6,895.9,13.4,756,11116,0.00,2.15,0.00,0.000,6,0.000,0.021,3015,2032,2032,0,0,0,0,0,0
$GC,11439,0.62,194.6,855.2,12.6,772,11442,0.00,2.03,0.00,0.000,4,0.000,0.034,3024,681,2031,0,0,0,0,0,0
$GC,11534,0.62,194.6,843.2,12.5,776,11538,0.00,1.98,0.00,0.000,6,0.000,0.024,3024,2009,2031,0,0,0,0,0,0
$GC,11862,0.62,194.6,802.2,12.9,792,11867,0.00,2.22,0.00,0.000,4,0.000,0.038,3024,3458,2030,0,0,0,0,0,0
$GC,11901,0.62,194.6,796.5,14.6,793,11909,0.12,2.10,0.00,0.000,6,0.173,0.021,3001,2019,2030,0,0,0,0,0,0
$GC,12217,0.62,194.6,756.8,12.8,809,12221,0.00,1.98,0.00,0.000,4,0.000,0.033,3009,676,2029,0,0,0,0,0,0
$GC,12319,0.62,194.6,743.6,12.9,813,12323,0.00,1.90,0.00,0.000,6,0.000,0.023,3009,1977,2030,0,0,0,0,0,0
$GC,12641,0.62,194.6,700.7,13.3,829,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1977,2030,0,0,0,0,0,0
$GC,12950,0.62,194.6,662.7,11.8,844,12955,0.00,2.28,0.00,0.000,4,0.000,0.038,3009,3462,2029,0,0,0,0,0,0
$GC,12978,0.62,194.6,659.1,11.9,845,12982,0.00,2.17,0.00,0.000,6,0.000,0.021,3017,1976,2029,0,0,0,0,0,0
$GC,13301,0.62,194.6,620.4,11.9,861,13305,0.00,1.90,0.00,0.000,4,0.000,0.033,3028,676,2029,0,0,0,0,0,0
$GC,13370,0.62,194.6,612.0,12.1,864,13373,0.00,1.88,0.00,0.000,6,0.000,0.022,3028,1966,2029,0,0,0,0,0,0
$GC,13705,0.62,194.6,572.4,11.6,880,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1966,2028,0,0,0,0,0,0
$GC,14012,0.62,194.6,535.3,12.4,895,14016,0.00,2.28,0.00,0.000,4,0.000,0.037,3028,3468,2028,0,0,0,0,0,0
$GC,14067,0.62,194.6,527.8,14.0,897,14074,0.12,2.22,0.00,0.000,6,0.171,0.021,3004,1959,2028,0,0,0,0,0,0
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$STATE,19181,end climb,SURFACE_DEPTH_REACHED
$STATE,19181,begin surface coast
$FINISH,0.8,0.997184
$STATE,19209,end surface coast,CONTROL_FINISHED_OK
$STATE,19209,begin surface
$SM_CCo,19290,0.00,0.000,0,0,879,480.79
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$IRIDIUM_FIX,1906.95,12241.23,020811,090922
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.46
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,27.70
$XPDR_PINGS,39
$24V_AH,22.8,43.643
$10V_AH,9.9,40.334
$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,19.700,208.450,567.425,0.000,0.000,22.628,18.137,276.709,9.750,0.000,12.634,3788.590,10831.015,721.958,3513.716,907.844,0.000,2360.693,0.000,3470.769,0.000,0.543,0.000
$DEVICE_MAMPS,238.680,39.780,1395.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1019.207,1136.536,1407.864,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329648
$DATA_FILE_SIZE,86900,1502
$CAP_FILE_SIZE,211273,0
$CFSIZE,260165632,118464512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,276.6,1
$GPS,020811,205107,1915.897,12308.047,41,1.6,42,-2.2