version: 66.09
glider: 167
mission: 8
dive: 319
start: 8 19 111 3 54 57
data:
$ID,167
$MISSION,8
$DIVE,319
$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,-56792.203
$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,67
$R_STBD_OVSHOOT,93
$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
$GPS1,190811,034637,1929.305,12419.002,36,1.4,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.2
$GPS2,190811,035434,1929.398,12418.928,12,2.1,31,-2.4
$SPEED_LIMITS,0.168,0.293
$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,154.0,186253,-15.3,-9.706
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-95.03,0.000,2,0.000,0.000,110,1917,3173,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.1,-10.5,13,148,10.00,2.12,-7.40,0.000,4,0.230,0.035,2594,464,3635,0,0,0,0,0,0
$GC,192,-0.62,-194.6,35.7,-29.3,24,200,0.00,2.03,0.00,0.000,6,0.000,0.021,2586,1843,3637,0,0,0,0,0,0
$GC,269,-0.62,-194.6,53.0,-21.3,37,277,0.00,2.12,0.00,0.000,4,0.000,0.032,2576,3267,3637,0,0,0,0,0,0
$GC,331,-0.62,-194.6,66.8,-22.2,47,339,0.00,1.85,0.00,0.000,6,0.000,0.018,2575,1967,3638,0,0,0,0,0,0
$GC,411,-0.62,-194.6,82.1,-19.9,60,419,0.00,2.17,0.00,0.000,4,0.000,0.027,2576,481,3638,0,0,0,0,0,0
$GC,456,-0.62,-194.6,92.4,-22.8,67,465,0.08,2.17,0.00,0.000,6,0.148,0.021,2592,1974,3637,0,0,0,0,0,0
$GC,535,-0.62,-194.6,107.2,-19.5,80,543,0.00,1.92,0.00,0.000,4,0.000,0.032,2587,3272,3638,0,0,0,0,0,0
$GC,568,-0.62,-194.6,113.9,-19.5,85,577,0.00,1.73,0.00,0.000,6,0.000,0.017,2587,2026,3638,0,0,0,0,0,0
$GC,646,-0.62,-194.6,128.6,-19.5,98,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2026,3638,0,0,0,0,0,0
$GC,720,-0.62,-194.6,143.2,-19.8,111,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2026,3638,0,0,0,0,0,0
$GC,796,-0.62,-194.6,157.3,-18.4,124,803,0.00,2.25,0.00,0.000,4,0.000,0.028,2587,490,3638,0,0,0,0,0,0
$GC,824,-0.62,-194.6,162.2,-18.3,128,832,0.00,2.35,0.00,0.000,6,0.000,0.022,2584,2091,3638,0,0,0,0,0,0
$GC,900,-0.62,-194.6,176.1,-17.9,141,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2091,3638,0,0,0,0,0,0
$GC,973,-0.62,-194.6,189.1,-18.1,154,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2091,3638,0,0,0,0,0,0
$GC,1048,-0.62,-194.6,201.9,-16.6,166,1052,0.00,2.35,0.00,0.000,4,0.000,0.025,2584,475,3638,0,0,0,0,0,0
$GC,1068,-0.62,-194.6,205.2,-16.8,167,1072,0.00,2.30,0.00,0.000,6,0.000,0.020,2574,2086,3638,0,0,0,0,0,0
$GC,1394,-0.62,-194.6,259.7,-16.5,197,1399,0.00,2.35,0.00,0.000,4,0.000,0.027,2574,474,3638,0,0,0,0,0,0
$GC,1462,-0.62,-194.6,271.1,-16.0,202,1471,0.00,2.33,0.00,0.000,6,0.000,0.021,2573,2061,3638,0,0,0,0,0,0
$GC,1787,-0.62,-194.6,321.7,-15.2,233,1792,0.00,2.30,0.00,0.000,4,0.000,0.026,2573,481,3637,0,0,0,0,0,0
$GC,1822,-0.62,-194.6,327.1,-15.7,235,1829,0.00,2.20,0.00,0.000,6,0.000,0.021,2573,2019,3637,0,0,0,0,0,0
$GC,2147,-0.62,-194.6,375.0,-14.6,266,2152,0.00,2.25,0.00,0.000,4,0.000,0.026,2573,477,3635,0,0,0,0,0,0
$GC,2170,-0.62,-194.6,378.5,-14.6,267,2177,0.00,2.22,0.00,0.000,6,0.000,0.021,2570,2018,3634,0,0,0,0,0,0
$GC,2496,-0.62,-194.6,425.0,-13.4,298,2499,0.00,1.83,0.00,0.000,4,0.000,0.033,2562,3282,3634,0,0,0,0,0,0
$GC,2518,-0.62,-194.6,428.1,-13.0,300,2524,0.10,1.85,0.00,0.000,6,0.129,0.018,2596,1952,3634,0,0,0,0,0,0
$GC,2850,-0.62,-194.6,458.5,-8.6,331,2854,0.00,2.12,0.00,0.000,4,0.000,0.029,2596,470,3632,0,0,0,0,0,0
$GC,2924,-0.62,-194.6,464.8,-8.5,337,2928,0.00,2.20,0.00,0.000,6,0.000,0.021,2596,1997,3632,0,0,0,0,0,0
$GC,3252,-0.62,-194.6,493.6,-9.2,367,3256,0.00,1.85,0.00,0.000,4,0.000,0.034,2596,3273,3630,0,0,0,0,0,0
$GC,3290,-0.62,-194.6,497.1,-9.1,370,3293,0.00,1.83,0.00,0.000,6,0.000,0.018,2596,1953,3630,0,0,0,0,0,0
$GC,3614,-0.62,-194.6,528.1,-9.4,387,3618,0.00,1.98,0.00,0.000,4,0.000,0.033,2596,3281,3629,0,0,0,0,0,0
$GC,3750,-0.62,-194.6,540.6,-8.6,393,3754,0.00,1.77,0.00,0.000,6,0.000,0.019,2596,2003,3627,0,0,0,0,0,0
$GC,4086,-0.62,-194.6,564.6,-7.0,409,4090,0.00,2.20,0.00,0.000,4,0.000,0.029,2596,475,3625,0,0,0,0,0,0
$GC,4203,-0.62,-194.6,574.4,-8.4,414,4207,0.00,2.25,0.00,0.000,6,0.000,0.021,2596,2022,3625,0,0,0,0,0,0
$GC,4521,-0.62,-194.6,601.5,-8.8,429,4526,0.00,1.88,0.00,0.000,4,0.000,0.035,2596,3272,3623,0,0,0,0,0,0
$GC,4544,-0.62,-194.6,603.8,-9.1,430,4548,0.00,1.83,0.00,0.000,6,0.000,0.018,2596,1962,3622,0,0,0,0,0,0
$GC,4878,-0.62,-194.6,628.2,-6.7,446,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1961,3620,0,0,0,0,0,0
$GC,5189,-0.62,-194.6,648.0,-6.3,461,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1961,3618,0,0,0,0,0,0
$GC,5496,-0.62,-194.6,668.1,-6.6,476,5500,0.00,2.17,0.00,0.000,4,0.000,0.031,2596,487,3616,0,0,0,0,0,0
$GC,5519,-0.62,-194.6,669.7,-6.6,477,5524,0.00,2.22,0.00,0.000,6,0.000,0.021,2596,2027,3616,0,0,0,0,0,0
$GC,5843,-0.62,-194.6,692.8,-7.3,493,5847,0.00,1.85,0.00,0.000,4,0.000,0.037,2596,3268,3613,0,0,0,0,0,0
$GC,5893,-0.62,-194.6,696.8,-7.4,495,5897,0.00,1.77,0.00,0.000,6,0.000,0.018,2596,1989,3613,0,0,0,0,0,0
$GC,6223,-0.62,-194.6,721.8,-7.8,511,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1989,3611,0,0,0,0,0,0
$GC,6530,-0.62,-194.6,744.9,-7.2,526,6533,0.00,1.92,0.00,0.000,4,0.000,0.037,2596,3275,3608,0,0,0,0,0,0
$GC,6558,-0.62,-194.6,747.0,-7.0,527,6561,0.00,1.77,0.00,0.000,6,0.000,0.019,2596,2009,3608,0,0,0,0,0,0
$GC,6887,-0.62,-194.6,768.9,-6.8,543,6891,0.00,1.90,0.00,0.000,4,0.000,0.038,2596,3270,3606,0,0,0,0,0,0
$GC,6971,-0.62,-194.6,774.9,-6.7,546,6979,0.00,1.70,0.00,0.000,6,0.000,0.020,2596,2057,3605,0,0,0,0,0,0
$GC,7289,-0.62,-194.6,798.0,-7.6,562,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2056,3603,0,0,0,0,0,0
$GC,7596,-0.62,-194.6,820.7,-7.3,577,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2056,3602,0,0,0,0,0,0
$GC,7906,-0.62,-194.6,839.6,-5.8,592,7911,0.00,1.88,0.00,0.000,4,0.000,0.040,2596,3267,3599,0,0,0,0,0,0
$GC,7940,-0.62,-194.6,841.5,-5.9,593,7944,0.00,1.70,0.00,0.000,6,0.000,0.021,2596,2060,3599,0,0,0,0,0,0
$GC,8263,-0.62,-194.6,860.9,-6.4,609,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2057,3598,0,0,0,0,0,0
$GC,8572,-0.62,-194.6,882.8,-7.4,624,8576,0.00,2.33,0.00,0.000,4,0.000,0.030,2596,486,3597,0,0,0,0,0,0
$GC,8623,-0.62,-194.6,886.9,-8.1,626,8627,0.00,2.35,0.00,0.000,6,0.000,0.024,2596,2083,3596,0,0,0,0,0,0
$GC,8939,-0.62,-194.6,910.7,-7.5,641,8943,0.00,1.77,0.00,0.000,4,0.000,0.041,2596,3273,3596,0,0,0,0,0,0
$GC,8990,-0.62,-194.6,914.6,-7.5,643,8995,0.00,1.73,0.00,0.000,6,0.000,0.022,2596,2081,3595,0,0,0,0,0,0
$GC,9318,-0.62,-194.6,936.6,-6.4,659,9322,0.00,1.80,0.00,0.000,4,0.000,0.041,2596,3267,3593,0,0,0,0,0,0
$GC,9357,-0.62,-194.6,938.9,-6.3,660,9364,0.00,1.67,0.00,0.000,6,0.000,0.021,2596,2091,3593,0,0,0,0,0,0
$GC,9675,-0.62,-194.6,956.0,-5.1,676,9678,0.00,1.77,0.00,0.000,4,0.000,0.040,2596,3265,3592,0,0,0,0,0,0
$GC,9702,-0.62,-194.6,957.6,-5.0,677,9706,0.00,1.65,0.00,0.000,6,0.000,0.020,2596,2114,3592,0,0,0,0,0,0
$GC,10030,-0.62,-194.6,973.0,-4.7,693,10034,0.00,2.42,0.00,0.000,4,0.000,0.030,2596,478,3591,0,0,0,0,0,0
$GC,10058,-0.62,-194.6,974.5,-4.6,694,10063,0.00,2.45,0.00,0.000,6,0.000,0.024,2596,2139,3590,0,0,0,0,0,0
$STATE,10351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10351,begin apogee
$GC,10357,-0.20,0.0,990.1,5.5,708,10520,0.40,0.00,155.95,1.394,4,0.114,0.000,2732,2139,2838,0,0,0,0,0,0
$STATE,10520,end apogee,CONTROL_FINISHED_OK
$STATE,10520,begin climb
$GC,10523,0.62,194.6,995.2,0.0,715,10704,0.80,2.15,170.35,1.340,4,0.081,0.040,3001,3461,2044,0,0,0,0,0,0
$GC,10843,0.62,194.6,962.1,13.0,730,10847,0.00,2.08,0.00,0.000,6,0.000,0.021,3010,2067,2036,0,0,0,0,0,0
$GC,11173,0.62,194.6,921.6,12.2,746,11177,0.00,2.17,0.00,0.000,4,0.000,0.037,3010,3475,2034,0,0,0,0,0,0
$GC,11335,0.62,194.6,899.6,13.5,753,11339,0.00,2.15,0.00,0.000,6,0.000,0.021,3016,2000,2032,0,0,0,0,0,0
$GC,11660,0.62,194.6,858.0,13.4,769,11664,0.00,1.95,0.00,0.000,4,0.000,0.034,3020,687,2032,0,0,0,0,0,0
$GC,11788,0.62,194.6,839.6,13.7,774,11796,0.00,1.90,0.00,0.000,6,0.000,0.023,3020,1957,2032,0,0,0,0,0,0
$GC,12106,0.62,194.6,796.2,13.6,790,12110,0.00,2.28,0.00,0.000,4,0.000,0.038,3020,3470,2031,0,0,0,0,0,0
$GC,12191,0.62,194.6,783.9,14.5,794,12195,0.00,2.17,0.00,0.000,6,0.000,0.021,3030,1983,2030,0,0,0,0,0,0
$GC,12520,0.62,194.6,739.4,13.1,810,12523,0.00,1.90,0.00,0.000,4,0.000,0.034,3039,684,2030,0,0,0,0,0,0
$GC,12603,0.62,194.6,728.5,12.4,813,12611,0.08,1.90,0.00,0.000,6,0.130,0.024,2998,1967,2030,0,0,0,0,0,0
$GC,12920,0.63,203.0,697.1,9.4,829,12931,0.00,2.30,6.22,0.974,4,0.000,0.037,2998,3469,2010,0,0,0,0,0,0
$GC,12989,0.63,203.0,690.2,10.2,832,12993,0.00,2.12,0.00,0.000,6,0.000,0.021,3005,2000,2009,0,0,0,0,0,0
$GC,13311,0.64,212.4,660.4,9.4,848,13327,0.00,1.98,9.65,1.059,4,0.000,0.033,3014,697,1973,0,0,0,0,0,0
$GC,13380,0.64,212.4,653.6,10.1,851,13384,0.00,1.92,0.00,0.000,6,0.000,0.023,3014,2002,1972,0,0,0,0,0,0
$GC,13713,0.64,212.4,615.0,12.3,867,13717,0.00,2.22,0.00,0.000,4,0.000,0.037,3014,3468,1971,0,0,0,0,0,0
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$STATE,18954,end climb,SURFACE_DEPTH_REACHED
$STATE,18954,begin surface coast
$FINISH,0.8,1.009981
$STATE,18982,end surface coast,CONTROL_FINISHED_OK
$STATE,18982,begin surface
$SM_CCo,19061,0.00,0.000,0,0,478,579.15
$SM_GC,1.68,7.85,0.00,0.00,0.037,0.000,0.000,115,1990,478,-8.30,3.25,579.15,0,0,0,0,0,0
$IRIDIUM_FIX,1925.22,12414.38,180811,222202
$TT8_MAMPS,0.028462,0.028462
$HUMID,37.47
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.20
$XPDR_PINGS,67
$24V_AH,22.8,59.142
$10V_AH,9.8,52.112
$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,20.000,203.100,640.825,0.000,0.000,27.120,19.847,230.573,16.750,0.000,32.903,3672.000,10785.057,778.012,3406.749,872.061,0.000,2386.176,0.000,3349.392,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,70.380,1393.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.958,1097.562,1323.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329656
$DATA_FILE_SIZE,83663,1438
$CAP_FILE_SIZE,210608,0
$CFSIZE,260165632,111144960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,294.9,1
$GPS,190811,091400,1927.318,12419.313,37,1.0,43,-2.4