version: 66.09
glider: 167
mission: 8
dive: 81
start: 6 27 111 16 2 18
data:
$ID,167
$MISSION,8
$DIVE,81
$N_DIVES,90
$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,-6
$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,-56488.691
$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,77
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,270611,155236,1901.202,12425.924,31,1.0,31,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-68.7
$GPS2,270611,160156,1901.245,12425.940,16,1.5,16,-2.3
$SPEED_LIMITS,0.143,0.244
$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,173.6,132909,-15.4,-8.250
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,99,0.00,0.00,-78.72,0.000,2,0.000,0.000,111,1903,3312,0,0,0,0,0,0
$GC,101,-0.56,-146.0,6.4,-11.3,10,118,9.85,2.12,-1.92,0.000,4,0.232,0.039,2618,474,3437,0,0,0,0,0,0
$GC,143,-0.56,-146.0,30.5,-57.5,16,151,0.00,2.10,0.00,0.000,6,0.000,0.021,2610,1890,3439,0,0,0,0,0,0
$GC,285,-0.56,-146.0,76.7,-31.3,41,294,0.00,2.05,0.00,0.000,4,0.000,0.030,2600,3267,3439,0,0,0,0,0,0
$GC,310,-0.56,-146.0,84.6,-29.9,44,318,0.00,2.00,0.00,0.000,6,0.000,0.018,2600,1869,3439,0,0,0,0,0,0
$GC,455,-0.56,-146.0,117.0,-20.9,69,464,0.00,2.00,0.00,0.000,4,0.000,0.028,2600,497,3439,0,0,0,0,0,0
$GC,477,-0.56,-146.0,122.2,-21.4,72,484,0.00,2.03,0.00,0.000,6,0.000,0.021,2590,1889,3440,0,0,0,0,0,0
$GC,622,-0.56,-146.0,148.8,-17.3,97,630,0.00,2.05,0.00,0.000,4,0.000,0.032,2582,3271,3440,0,0,0,0,0,0
$GC,818,-0.56,-146.0,190.5,-21.0,131,828,0.10,2.00,0.00,0.000,6,0.155,0.018,2613,1854,3440,0,0,0,0,0,0
$GC,961,-0.56,-146.0,213.9,-14.8,148,964,0.00,1.95,0.00,0.000,4,0.000,0.028,2613,495,3440,0,0,0,0,0,0
$GC,1021,-0.56,-146.0,223.4,-14.9,153,1029,0.00,1.98,0.00,0.000,6,0.000,0.019,2607,1878,3441,0,0,0,0,0,0
$GC,1348,-0.56,-146.0,264.7,-10.3,184,1352,0.00,2.03,0.00,0.000,4,0.000,0.031,2601,3257,3440,0,0,0,0,0,0
$GC,1370,-0.56,-146.0,267.3,-10.7,186,1375,0.00,1.95,0.00,0.000,6,0.000,0.018,2601,1881,3440,0,0,0,0,0,0
$GC,1701,-0.56,-146.0,306.0,-11.5,217,1705,0.00,1.98,0.00,0.000,4,0.000,0.029,2601,491,3440,0,0,0,0,0,0
$GC,1730,-0.56,-146.0,309.6,-11.6,219,1737,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1879,3440,0,0,0,0,0,0
$GC,2056,-0.56,-146.0,345.0,-10.3,250,2060,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,3267,3439,0,0,0,0,0,0
$GC,2238,-0.56,-146.0,361.8,-9.2,266,2242,0.00,1.92,0.00,0.000,6,0.000,0.018,2600,1877,3438,0,0,0,0,0,0
$GC,2568,-0.56,-146.0,392.3,-8.8,297,2572,0.00,2.00,0.00,0.000,4,0.000,0.031,2601,490,3436,0,0,0,0,0,0
$GC,2664,-0.56,-146.0,401.1,-9.3,305,2672,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1871,3435,0,0,0,0,0,0
$GC,2989,-0.56,-146.0,428.7,-9.1,336,2993,0.00,2.05,0.00,0.000,4,0.000,0.034,2601,3267,3434,0,0,0,0,0,0
$GC,3084,-0.56,-146.0,437.5,-9.2,344,3091,0.00,1.95,0.00,0.000,6,0.000,0.019,2600,1869,3433,0,0,0,0,0,0
$GC,3409,-0.56,-146.0,468.1,-9.3,375,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1869,3431,0,0,0,0,0,0
$GC,3733,-0.56,-146.0,495.6,-8.6,405,3737,0.00,2.00,0.00,0.000,4,0.000,0.032,2601,491,3428,0,0,0,0,0,0
$GC,3783,-0.56,-146.0,500.9,-9.6,409,3787,0.00,1.98,0.00,0.000,6,0.000,0.022,2600,1877,3428,0,0,0,0,0,0
$GC,4113,-0.56,-146.0,527.0,-7.7,425,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1877,3426,0,0,0,0,0,0
$GC,4420,-0.56,-146.0,552.1,-8.3,440,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1878,3424,0,0,0,0,0,0
$GC,4729,-0.56,-146.0,578.4,-8.4,455,4733,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3270,3422,0,0,0,0,0,0
$GC,4769,-0.56,-146.0,581.8,-8.1,456,4776,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1862,3422,0,0,0,0,0,0
$GC,5086,-0.56,-146.0,606.3,-7.4,472,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1861,3420,0,0,0,0,0,0
$GC,5395,-0.56,-146.0,627.3,-6.7,487,5399,0.00,2.10,0.00,0.000,4,0.000,0.035,2600,3271,3417,0,0,0,0,0,0
$GC,5452,-0.56,-146.0,631.1,-6.7,489,5460,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1865,3417,0,0,0,0,0,0
$GC,5770,-0.56,-146.0,652.5,-6.6,505,5774,0.00,2.00,0.00,0.000,4,0.000,0.033,2600,494,3415,0,0,0,0,0,0
$GC,5857,-0.56,-146.0,658.9,-7.5,508,5864,0.00,1.98,0.00,0.000,6,0.000,0.023,2600,1877,3415,0,0,0,0,0,0
$GC,6174,-0.56,-146.0,680.5,-6.9,524,6178,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3273,3413,0,0,0,0,0,0
$GC,6252,-0.56,-146.0,686.1,-6.8,527,6256,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1873,3412,0,0,0,0,0,0
$GC,6577,-0.56,-146.0,707.5,-6.3,543,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1873,3410,0,0,0,0,0,0
$GC,6883,-0.56,-146.0,724.5,-4.9,558,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1873,3408,0,0,0,0,0,0
$GC,7193,-0.56,-146.0,738.6,-4.6,573,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1873,3406,0,0,0,0,0,0
$GC,7501,-0.56,-146.0,753.4,-4.9,588,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1872,3404,0,0,0,0,0,0
$GC,7813,-0.56,-146.0,769.4,-5.3,603,7817,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,492,3403,0,0,0,0,0,0
$GC,7864,-0.56,-146.0,772.6,-5.7,605,7868,0.00,2.00,0.00,0.000,6,0.000,0.023,2601,1884,3403,0,0,0,0,0,0
$GC,8193,-0.56,-146.0,792.6,-6.5,621,8197,0.00,2.08,0.00,0.000,4,0.000,0.037,2601,3274,3401,0,0,0,0,0,0
$GC,8289,-0.56,-146.0,799.5,-6.9,625,8293,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1880,3401,0,0,0,0,0,0
$GC,8614,-0.56,-146.0,823.5,-7.7,641,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1879,3399,0,0,0,0,0,0
$GC,8921,-0.56,-146.0,846.8,-7.5,656,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1879,3399,0,0,0,0,0,0
$GC,9231,-0.56,-146.0,869.2,-7.5,671,9235,0.00,2.05,0.00,0.000,4,0.000,0.034,2601,487,3397,0,0,0,0,0,0
$GC,9281,-0.56,-146.0,873.3,-7.9,673,9286,0.00,2.05,0.00,0.000,6,0.000,0.024,2600,1875,3397,0,0,0,0,0,0
$GC,9610,-0.56,-146.0,895.2,-6.4,689,9614,0.00,2.08,0.00,0.000,4,0.000,0.039,2600,3275,3396,0,0,0,0,0,0
$GC,9673,-0.56,-146.0,899.0,-5.9,692,9677,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1867,3396,0,0,0,0,0,0
$GC,10009,-0.56,-146.0,916.7,-5.0,708,10013,0.00,2.10,0.00,0.000,4,0.000,0.037,2600,3274,3395,0,0,0,0,0,0
$GC,10045,-0.56,-146.0,918.6,-5.1,709,10053,0.00,2.03,0.00,0.000,6,0.000,0.021,2601,1865,3395,0,0,0,0,0,0
$GC,10361,-0.56,-146.0,934.4,-4.8,725,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1865,3394,0,0,0,0,0,0
$GC,10671,-0.56,-146.0,949.5,-5.0,740,10675,0.00,2.12,0.00,0.000,4,0.000,0.038,2600,3270,3393,0,0,0,0,0,0
$GC,10716,-0.56,-146.0,951.8,-5.0,742,10721,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1879,3393,0,0,0,0,0,0
$GC,11044,-0.56,-146.0,967.5,-5.0,758,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1879,3392,0,0,0,0,0,0
$GC,11353,-0.56,-146.0,982.8,-5.0,773,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1879,3390,0,0,0,0,0,0
$STATE,11515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11515,begin apogee
$GC,11521,-0.20,0.0,991.1,4.9,781,11642,0.38,0.00,110.85,1.421,6,0.125,0.000,2729,2089,2838,0,0,0,0,0,0
$STATE,11643,end apogee,CONTROL_FINISHED_OK
$STATE,11643,begin climb
$GC,11646,0.56,146.0,992.6,0.0,786,11778,0.70,0.00,123.95,1.368,6,0.080,0.000,2975,2089,2242,0,0,0,0,0,0
$GC,12087,0.56,146.0,947.4,11.2,808,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2089,2231,0,0,0,0,0,0
$GC,12397,0.56,146.0,912.3,11.3,823,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2089,2229,0,0,0,0,0,0
$GC,12706,0.56,146.0,877.2,11.2,838,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2089,2228,0,0,0,0,0,0
$GC,13015,0.56,146.0,842.9,11.3,853,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2089,2227,0,0,0,0,0,0
$GC,13327,0.56,146.0,806.9,11.7,868,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2090,2226,0,0,0,0,0,0
$GC,13633,0.56,146.0,771.3,11.3,883,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2089,2226,0,0,0,0,0,0
$GC,13943,0.56,146.0,738.5,10.6,898,13947,0.00,2.10,0.00,0.000,4,0.000,0.036,2983,694,2225,0,0,0,0,0,0
$GC,14044,0.56,146.0,727.2,11.2,902,14051,0.00,2.05,0.00,0.000,6,0.000,0.024,2983,2082,2225,0,0,0,0,0,0
$GC,14360,0.56,146.0,693.4,10.7,918,14364,0.00,2.10,0.00,0.000,4,0.000,0.041,2983,3472,2225,0,0,0,0,0,0
$GC,14394,0.56,146.0,689.1,11.9,919,14401,0.00,2.03,0.00,0.000,6,0.000,0.023,2991,2077,2224,0,0,0,0,0,0
$GC,14710,0.56,146.0,654.1,10.8,935,14714,0.00,2.08,0.00,0.000,4,0.000,0.036,2999,682,2224,0,0,0,0,0,0
$GC,14823,0.56,146.0,641.9,10.8,940,14827,0.00,2.05,0.00,0.000,6,0.000,0.024,2999,2085,2224,0,0,0,0,0,0
$GC,15160,0.56,146.0,606.9,10.4,956,15161,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2085,2224,0,0,0,0,0,0
$GC,15465,0.56,146.0,574.6,10.6,971,15469,0.00,2.10,0.00,0.000,4,0.000,0.040,2999,3473,2223,0,0,0,0,0,0
$GC,15561,0.56,146.0,563.6,11.3,975,15565,0.00,2.03,0.00,0.000,6,0.000,0.022,3008,2071,2223,0,0,0,0,0,0
$GC,15889,0.56,146.0,531.0,9.4,991,15892,0.00,2.05,0.00,0.000,4,0.000,0.034,3019,682,2223,0,0,0,0,0,0
$GC,15969,0.56,146.0,523.8,9.0,994,15974,0.12,2.05,0.00,0.000,6,0.161,0.024,2986,2084,2222,0,0,0,0,0,0
$GC,16287,0.56,146.0,496.3,9.2,1010,16288,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2084,2223,0,0,0,0,0,0
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$STATE,21984,end climb,SURFACE_DEPTH_REACHED
$STATE,21984,begin surface coast
$FINISH,0.7,1.009146
$STATE,22022,end surface coast,CONTROL_FINISHED_OK
$STATE,22022,begin surface
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$IRIDIUM_FIX,1857.82,12424.41,270611,090943
$TT8_MAMPS,0.028462,0.028462
$HUMID,31.09
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,29.50
$XPDR_PINGS,9
$24V_AH,23.9,16.147
$10V_AH,10.3,13.803
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.125,163.725,485.725,0.000,0.000,23.612,39.737,285.743,2.250,0.000,17.036,4362.041,12853.565,630.405,3828.273,959.679,0.000,2270.210,0.000,3814.496,0.000,0.544,0.000
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$SENSOR_SECS,1176.343,2029.891,1591.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329864
$DATA_FILE_SIZE,96920,1725
$CAP_FILE_SIZE,211311,0
$CFSIZE,260165632,134578176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,321.9,1
$GPS,270611,221200,1858.819,12425.885,37,1.1,43,-2.3