version: 66.09
glider: 167
mission: 8
dive: 372
start: 8 31 111 14 20 6
data:
$ID,167
$MISSION,8
$DIVE,372
$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,-3
$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,-58674.559
$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,60
$R_STBD_OVSHOOT,62
$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
$GPS1,310811,141125,1753.402,12410.819,40,1.2,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-66.5
$GPS2,310811,141943,1753.442,12410.812,11,1.5,11,-2.0
$SPEED_LIMITS,0.168,0.293
$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,313.1,212946,-15.3,-9.706
$D_GRID,4786
$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,-194.6,0.0,0.0,0,121,0.00,0.00,-97.07,0.000,2,0.000,0.000,110,1965,3233,0,0,0,0,0,0
$GC,124,-0.62,-194.6,6.7,-12.3,14,148,10.27,2.20,-6.35,0.000,4,0.236,0.035,2597,455,3636,0,0,0,0,0,0
$GC,257,-0.62,-194.6,56.0,-27.6,35,264,0.00,2.05,0.00,0.000,6,0.000,0.022,2589,1872,3637,0,0,0,0,0,0
$GC,399,-0.62,-194.6,94.0,-25.2,60,407,0.00,2.10,0.00,0.000,4,0.000,0.034,2589,470,3637,0,0,0,0,0,0
$GC,457,-0.62,-194.6,105.8,-18.2,69,464,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1879,3637,0,0,0,0,0,0
$GC,601,-0.62,-194.6,131.1,-17.0,94,608,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3289,3638,0,0,0,0,0,0
$GC,668,-0.62,-194.6,142.5,-17.6,105,674,0.00,2.03,0.00,0.000,6,0.000,0.016,2587,1841,3638,0,0,0,0,0,0
$GC,813,-0.62,-194.6,166.3,-17.1,130,822,0.00,1.95,0.00,0.000,4,0.000,0.028,2587,508,3638,0,0,0,0,0,0
$GC,836,-0.62,-194.6,170.8,-17.9,133,844,0.00,1.98,0.00,0.000,6,0.000,0.021,2581,1871,3638,0,0,0,0,0,0
$GC,981,-0.62,-194.6,197.8,-16.6,158,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1871,3638,0,0,0,0,0,0
$GC,1124,-0.62,-194.6,221.7,-16.9,172,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1871,3638,0,0,0,0,0,0
$GC,1443,-0.62,-194.6,270.1,-16.3,202,1447,0.00,2.05,0.00,0.000,4,0.000,0.033,2574,3260,3638,0,0,0,0,0,0
$GC,1582,-0.62,-194.6,289.8,-13.0,214,1589,0.00,2.03,0.00,0.000,6,0.000,0.017,2574,1821,3638,0,0,0,0,0,0
$GC,1909,-0.62,-194.6,329.3,-11.4,245,1913,0.00,2.15,0.00,0.000,4,0.000,0.031,2575,3270,3637,0,0,0,0,0,0
$GC,1966,-0.62,-194.6,336.1,-11.2,249,1972,0.00,1.95,0.00,0.000,6,0.000,0.017,2574,1872,3636,0,0,0,0,0,0
$GC,2293,-0.62,-194.6,375.9,-12.1,280,2297,0.00,1.98,0.00,0.000,4,0.000,0.029,2574,511,3635,0,0,0,0,0,0
$GC,2375,-0.62,-194.6,385.9,-12.3,287,2380,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,1869,3634,0,0,0,0,0,0
$GC,2706,-0.62,-194.6,423.6,-10.9,318,2709,0.00,2.05,0.00,0.000,4,0.000,0.034,2574,3262,3632,0,0,0,0,0,0
$GC,2821,-0.62,-194.6,434.5,-9.2,328,2826,0.00,1.92,0.00,0.000,6,0.000,0.018,2574,1907,3631,0,0,0,0,0,0
$GC,3151,-0.62,-194.6,466.1,-9.8,359,3155,0.00,2.05,0.00,0.000,4,0.000,0.030,2574,508,3630,0,0,0,0,0,0
$GC,3199,-0.62,-194.6,470.5,-9.6,363,3203,0.00,2.05,0.00,0.000,6,0.000,0.021,2575,1918,3629,0,0,0,0,0,0
$GC,3531,-0.62,-194.6,500.9,-10.0,394,3535,0.00,1.98,0.00,0.000,4,0.000,0.036,2574,3262,3627,0,0,0,0,0,0
$GC,3649,-0.62,-194.6,512.2,-9.2,399,3653,0.00,1.85,0.00,0.000,6,0.000,0.019,2574,1946,3626,0,0,0,0,0,0
$GC,3978,-0.62,-194.6,543.4,-9.6,415,3982,0.00,2.10,0.00,0.000,4,0.000,0.031,2574,513,3623,0,0,0,0,0,0
$GC,4027,-0.62,-194.6,548.8,-10.4,417,4031,0.00,2.08,0.00,0.000,6,0.000,0.021,2574,1947,3623,0,0,0,0,0,0
$GC,4352,-0.62,-194.6,578.8,-9.7,433,4355,0.00,1.98,0.00,0.000,4,0.000,0.036,2574,3270,3620,0,0,0,0,0,0
$GC,4430,-0.62,-194.6,586.4,-8.8,436,4434,0.00,1.85,0.00,0.000,6,0.000,0.018,2574,1954,3620,0,0,0,0,0,0
$GC,4753,-0.62,-194.6,613.6,-8.2,452,4757,0.00,2.12,0.00,0.000,4,0.000,0.030,2574,508,3618,0,0,0,0,0,0
$GC,4804,-0.62,-194.6,618.3,-8.9,454,4808,0.00,2.15,0.00,0.000,6,0.000,0.023,2574,1956,3617,0,0,0,0,0,0
$GC,5125,-0.62,-194.6,644.2,-8.0,470,5128,0.00,1.95,0.00,0.000,4,0.000,0.037,2574,3270,3614,0,0,0,0,0,0
$GC,5201,-0.62,-194.6,650.4,-8.2,473,5204,0.00,1.85,0.00,0.000,6,0.000,0.019,2574,1961,3614,0,0,0,0,0,0
$GC,5529,-0.62,-194.6,677.5,-8.3,489,5533,0.00,2.15,0.00,0.000,4,0.000,0.031,2574,506,3611,0,0,0,0,0,0
$GC,5574,-0.62,-194.6,681.6,-9.2,491,5578,0.00,2.12,0.00,0.000,6,0.000,0.023,2574,1952,3611,0,0,0,0,0,0
$GC,5897,-0.62,-194.6,707.1,-7.7,507,5901,0.00,1.95,0.00,0.000,4,0.000,0.037,2573,3265,3608,0,0,0,0,0,0
$GC,5957,-0.62,-194.6,711.9,-7.6,509,5964,0.00,1.83,0.00,0.000,6,0.000,0.020,2574,1978,3608,0,0,0,0,0,0
$GC,6276,-0.62,-194.6,737.2,-8.3,525,6281,0.00,2.17,0.00,0.000,4,0.000,0.031,2574,520,3605,0,0,0,0,0,0
$GC,6348,-0.62,-194.6,744.0,-9.1,528,6352,0.00,2.12,0.00,0.000,6,0.000,0.024,2574,1963,3606,0,0,0,0,0,0
$GC,6671,-0.62,-194.6,770.0,-8.2,544,6676,0.00,1.98,0.00,0.000,4,0.000,0.040,2574,3256,3603,0,0,0,0,0,0
$GC,6772,-0.62,-194.6,778.2,-7.9,548,6776,0.00,1.80,0.00,0.000,6,0.000,0.020,2574,1990,3603,0,0,0,0,0,0
$GC,7096,-0.62,-194.6,803.2,-7.6,564,7100,0.00,2.20,0.00,0.000,4,0.000,0.032,2574,507,3601,0,0,0,0,0,0
$GC,7159,-0.62,-194.6,808.2,-8.3,567,7163,0.00,2.15,0.00,0.000,6,0.000,0.023,2574,1966,3600,0,0,0,0,0,0
$GC,7486,-0.62,-194.6,830.2,-6.6,583,7490,0.00,1.98,0.00,0.000,4,0.000,0.040,2574,3268,3599,0,0,0,0,0,0
$GC,7521,-0.62,-194.6,832.5,-6.4,584,7525,0.00,1.83,0.00,0.000,6,0.000,0.021,2574,1995,3599,0,0,0,0,0,0
$GC,7845,-0.62,-194.6,854.0,-7.1,600,7849,0.00,2.20,0.00,0.000,4,0.000,0.031,2574,510,3598,0,0,0,0,0,0
$GC,7894,-0.62,-194.6,858.0,-8.0,602,7898,0.00,2.17,0.00,0.000,6,0.000,0.023,2574,1982,3598,0,0,0,0,0,0
$GC,8212,-0.62,-194.6,881.1,-7.2,617,8216,0.00,1.92,0.00,0.000,4,0.000,0.039,2574,3267,3596,0,0,0,0,0,0
$GC,8268,-0.62,-194.6,885.3,-7.1,619,8273,0.00,1.83,0.00,0.000,6,0.000,0.020,2574,1999,3595,0,0,0,0,0,0
$GC,8591,-0.62,-194.6,908.7,-7.5,635,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1998,3594,0,0,0,0,0,0
$GC,8899,-0.62,-194.6,932.2,-7.7,650,8902,0.00,1.95,0.00,0.000,4,0.000,0.039,2574,3268,3592,0,0,0,0,0,0
$GC,8938,-0.62,-194.6,935.4,-7.4,651,8944,0.00,1.80,0.00,0.000,6,0.000,0.020,2574,2002,3592,0,0,0,0,0,0
$GC,9255,-0.62,-194.6,958.3,-7.1,667,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2002,3592,0,0,0,0,0,0
$GC,9563,-0.62,-194.6,979.5,-6.7,682,9568,0.00,2.22,0.00,0.000,4,0.000,0.030,2574,520,3591,0,0,0,0,0,0
$GC,9590,-0.62,-194.6,981.7,-6.8,683,9594,0.00,2.17,0.00,0.000,6,0.000,0.024,2574,1985,3591,0,0,0,0,0,0
$STATE,9724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9724,begin apogee
$GC,9732,-0.20,0.0,990.8,6.8,690,9896,0.47,0.00,159.30,1.390,4,0.122,0.000,2730,2067,2839,0,0,0,0,0,0
$STATE,9897,end apogee,CONTROL_FINISHED_OK
$STATE,9897,begin climb
$GC,9901,0.62,194.6,995.7,0.0,697,10085,0.75,2.20,173.77,1.336,4,0.078,0.031,3000,715,2045,0,0,0,0,0,0
$GC,10257,0.62,194.6,959.4,12.2,713,10261,0.00,2.05,0.00,0.000,6,0.000,0.024,3000,2075,2035,0,0,0,0,0,0
$GC,10581,0.62,194.6,920.1,12.3,729,10586,0.00,2.08,0.00,0.000,4,0.000,0.032,3006,721,2030,0,0,0,0,0,0
$GC,10815,0.62,194.6,890.6,12.6,739,10819,0.00,2.03,0.00,0.000,6,0.000,0.024,3006,2070,2029,0,0,0,0,0,0
$GC,11140,0.62,194.6,849.3,12.6,755,11144,0.00,2.15,0.00,0.000,4,0.000,0.038,3006,3477,2027,0,0,0,0,0,0
$GC,11181,0.62,194.6,843.4,13.8,757,11184,0.00,2.00,0.00,0.000,6,0.000,0.021,3015,2102,2026,0,0,0,0,0,0
$GC,11513,0.62,194.6,802.5,11.8,773,11518,0.00,2.12,0.00,0.000,4,0.000,0.034,3025,701,2026,0,0,0,0,0,0
$GC,11620,0.62,194.6,789.4,12.2,777,11627,0.00,1.95,0.00,0.000,6,0.000,0.024,3025,2023,2026,0,0,0,0,0,0
$GC,11936,0.62,194.6,748.6,13.1,793,11940,0.00,2.20,0.00,0.000,4,0.000,0.038,3025,3471,2026,0,0,0,0,0,0
$GC,12003,0.62,194.6,739.6,14.9,796,12008,0.12,2.08,0.00,0.000,6,0.165,0.021,3002,2047,2025,0,0,0,0,0,0
$GC,12330,0.62,194.6,703.8,10.2,812,12333,0.00,2.00,0.00,0.000,4,0.000,0.033,3011,688,2025,0,0,0,0,0,0
$GC,12415,0.62,194.6,695.1,10.1,815,12422,0.00,2.00,0.00,0.000,6,0.000,0.024,3010,2041,2025,0,0,0,0,0,0
$GC,12731,0.62,194.6,663.4,10.1,831,12736,0.00,2.17,0.00,0.000,4,0.000,0.039,3011,3459,2025,0,0,0,0,0,0
$GC,12781,0.62,194.6,657.3,12.3,833,12785,0.00,2.03,0.00,0.000,6,0.000,0.021,3020,2071,2024,0,0,0,0,0,0
$GC,13110,0.62,194.6,621.0,10.9,849,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2070,2024,0,0,0,0,0,0
$GC,13418,0.62,194.6,585.7,11.5,864,13421,0.00,2.05,0.00,0.000,4,0.000,0.033,3030,686,2024,0,0,0,0,0,0
$GC,13490,0.62,194.6,576.9,11.7,867,13494,0.00,2.08,0.00,0.000,6,0.000,0.024,3030,2081,2024,0,0,0,0,0,0
$GC,13820,0.62,194.6,539.3,10.8,883,13824,0.00,2.15,0.00,0.000,4,0.000,0.039,3030,3472,2024,0,0,0,0,0,0
$GC,13897,0.62,194.6,530.0,11.5,886,13902,0.15,2.00,0.00,0.000,6,0.159,0.021,2999,2093,2023,0,0,0,0,0,0
$GC,14222,0.65,219.2,502.6,8.9,902,14246,0.00,2.17,19.02,1.027,4,0.000,0.033,3007,689,1945,0,0,0,0,0,0
$GC,14306,0.65,219.2,494.5,9.8,907,14310,0.00,2.12,0.00,0.000,6,0.000,0.023,3007,2114,1943,0,0,0,0,0,0
$GC,14632,0.68,244.5,463.8,8.9,937,14660,0.00,2.08,23.58,1.000,4,0.000,0.037,3007,3469,1841,0,0,0,0,0,0
$GC,14688,0.70,255.9,458.5,9.3,941,14708,0.00,2.03,11.27,0.921,6,0.000,0.020,3015,2095,1794,0,0,0,0,0,0
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$STATE,19239,end climb,SURFACE_DEPTH_REACHED
$STATE,19239,begin surface coast
$FINISH,0.7,1.008653
$STATE,19264,end surface coast,CONTROL_FINISHED_OK
$STATE,19264,begin surface
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$IRIDIUM_FIX,1747.37,12412.19,310811,080840
$TT8_MAMPS,0.028462,0.028462
$HUMID,37.71
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.60
$XPDR_PINGS,45
$24V_AH,22.7,70.132
$10V_AH,9.8,59.421
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,1025.057,1122.412,610.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330256
$DATA_FILE_SIZE,86920,1511
$CAP_FILE_SIZE,207448,0
$CFSIZE,260165632,105914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,254.8,1
$GPS,310811,194337,1755.041,12408.129,31,1.0,32,-2.0