version: 66.09
glider: 167
mission: 8
dive: 119
start: 7 7 111 14 6 26
data:
$ID,167
$MISSION,8
$DIVE,119
$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,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,-3
$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,-56536.602
$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,74
$R_STBD_OVSHOOT,66
$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
$GPS1,070711,135107,1754.216,12422.236,33,1.4,34,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.9
$GPS2,070711,140604,1754.000,12422.433,10,99.0,29,-2.0
$SPEED_LIMITS,0.143,0.244
$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,289.2,231996,-15.4,-8.250
$D_GRID,4584
$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,-146.0,0.0,0.0,0,85,0.00,0.00,-64.75,0.000,2,0.000,0.000,107,1936,3075,0,0,0,0,0,0
$GC,88,-0.56,-146.0,5.2,-6.9,8,112,9.85,2.15,-5.97,0.000,4,0.230,0.037,2616,463,3437,0,0,0,0,0,0
$GC,222,-0.56,-146.0,53.2,-28.0,30,231,0.00,2.05,0.00,0.000,6,0.000,0.018,2608,1880,3437,0,0,0,0,0,0
$GC,300,-0.56,-146.0,72.8,-22.4,43,308,0.00,2.05,0.00,0.000,4,0.000,0.029,2598,3265,3438,0,0,0,0,0,0
$GC,341,-0.56,-146.0,82.5,-23.7,49,349,0.00,1.80,0.00,0.000,6,0.000,0.017,2598,1986,3437,0,0,0,0,0,0
$GC,418,-0.56,-146.0,96.9,-19.3,62,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1984,3438,0,0,0,0,0,0
$GC,495,-0.56,-146.0,113.9,-20.8,75,503,0.00,2.20,0.00,0.000,4,0.000,0.028,2598,484,3438,0,0,0,0,0,0
$GC,524,-0.56,-146.0,119.1,-18.9,79,531,0.00,2.22,0.00,0.000,6,0.000,0.019,2587,2015,3438,0,0,0,0,0,0
$GC,600,-0.56,-146.0,132.2,-20.3,92,610,0.10,1.85,0.00,0.000,4,0.198,0.031,2603,3258,3438,0,0,0,0,0,0
$GC,635,-0.56,-146.0,138.9,-18.8,97,643,0.00,1.80,0.00,0.000,6,0.000,0.018,2603,1970,3438,0,0,0,0,0,0
$GC,712,-0.56,-146.0,151.8,-17.3,110,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1969,3439,0,0,0,0,0,0
$GC,791,-0.56,-146.0,165.4,-16.3,123,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1969,3439,0,0,0,0,0,0
$GC,866,-0.56,-146.0,177.1,-14.8,136,874,0.00,2.17,0.00,0.000,4,0.000,0.029,2603,481,3439,0,0,0,0,0,0
$GC,941,-0.56,-146.0,188.1,-13.9,149,949,0.00,2.17,0.00,0.000,6,0.000,0.021,2600,1981,3439,0,0,0,0,0,0
$GC,1016,-0.56,-146.0,199.0,-15.5,162,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1981,3439,0,0,0,0,0,0
$GC,1087,-0.56,-146.0,210.0,-14.8,169,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1981,3439,0,0,0,0,0,0
$GC,1410,-0.56,-146.0,251.4,-12.2,199,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1981,3439,0,0,0,0,0,0
$GC,1741,-0.56,-146.0,289.6,-10.6,230,1744,0.00,1.88,0.00,0.000,4,0.000,0.033,2600,3267,3438,0,0,0,0,0,0
$GC,1754,-0.56,-146.0,291.6,-10.7,231,1759,0.00,1.90,0.00,0.000,6,0.000,0.018,2600,1914,3438,0,0,0,0,0,0
$GC,2085,-0.56,-146.0,326.4,-9.9,262,2088,0.00,2.03,0.00,0.000,4,0.000,0.030,2600,511,3437,0,0,0,0,0,0
$GC,2119,-0.56,-146.0,330.2,-11.1,265,2123,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1907,3437,0,0,0,0,0,0
$GC,2450,-0.56,-146.0,362.7,-9.5,296,2454,0.00,2.00,0.00,0.000,4,0.000,0.033,2600,3273,3435,0,0,0,0,0,0
$GC,2499,-0.56,-146.0,367.7,-9.9,300,2506,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1927,3434,0,0,0,0,0,0
$GC,2828,-0.56,-146.0,397.5,-8.7,331,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1926,3432,0,0,0,0,0,0
$GC,3154,-0.56,-146.0,425.2,-8.4,362,3158,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,519,3430,0,0,0,0,0,0
$GC,3233,-0.56,-146.0,432.4,-9.1,369,3237,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1926,3429,0,0,0,0,0,0
$GC,3565,-0.56,-146.0,455.8,-6.9,400,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1926,3427,0,0,0,0,0,0
$GC,3886,-0.56,-146.0,479.5,-8.0,430,3890,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,520,3425,0,0,0,0,0,0
$GC,3958,-0.56,-146.0,486.3,-8.8,436,3965,0.00,2.00,0.00,0.000,6,0.000,0.021,2599,1886,3424,0,0,0,0,0,0
$GC,4282,-0.56,-146.0,512.2,-8.0,460,4286,0.00,2.05,0.00,0.000,4,0.000,0.035,2599,3260,3422,0,0,0,0,0,0
$GC,4399,-0.56,-146.0,521.0,-7.0,465,4403,0.00,1.88,0.00,0.000,6,0.000,0.020,2599,1936,3421,0,0,0,0,0,0
$GC,4727,-0.56,-146.0,543.7,-6.9,481,4732,0.00,2.10,0.00,0.000,4,0.000,0.032,2599,517,3418,0,0,0,0,0,0
$GC,4779,-0.56,-146.0,547.7,-7.7,483,4783,0.00,2.00,0.00,0.000,6,0.000,0.022,2599,1900,3418,0,0,0,0,0,0
$GC,5107,-0.56,-146.0,572.8,-7.7,499,5110,0.00,2.03,0.00,0.000,4,0.000,0.036,2599,3267,3416,0,0,0,0,0,0
$GC,5192,-0.56,-146.0,579.4,-7.7,502,5200,0.00,1.90,0.00,0.000,6,0.000,0.020,2599,1929,3416,0,0,0,0,0,0
$GC,5508,-0.56,-146.0,602.2,-7.2,518,5513,0.00,2.10,0.00,0.000,4,0.000,0.033,2599,511,3414,0,0,0,0,0,0
$GC,5569,-0.56,-146.0,607.1,-8.1,520,5576,0.00,2.00,0.00,0.000,6,0.000,0.021,2590,1894,3413,0,0,0,0,0,0
$GC,5887,-0.56,-146.0,631.8,-7.9,536,5890,0.00,2.03,0.00,0.000,4,0.000,0.036,2588,3272,3411,0,0,0,0,0,0
$GC,5958,-0.56,-146.0,637.6,-7.6,539,5962,0.00,1.90,0.00,0.000,6,0.000,0.021,2588,1944,3411,0,0,0,0,0,0
$GC,6288,-0.56,-146.0,661.6,-7.3,555,6293,0.10,2.12,0.00,0.000,4,0.172,0.033,2614,510,3409,0,0,0,0,0,0
$GC,6354,-0.56,-146.0,666.5,-7.1,558,6358,0.00,2.00,0.00,0.000,6,0.000,0.023,2614,1888,3408,0,0,0,0,0,0
$GC,6682,-0.56,-146.0,687.8,-6.9,574,6686,0.00,2.03,0.00,0.000,4,0.000,0.037,2615,3264,3406,0,0,0,0,0,0
$GC,6783,-0.56,-146.0,695.0,-7.1,578,6788,0.00,1.90,0.00,0.000,6,0.000,0.020,2614,1949,3406,0,0,0,0,0,0
$GC,7106,-0.56,-146.0,715.3,-5.8,594,7110,0.00,1.98,0.00,0.000,4,0.000,0.035,2614,3267,3404,0,0,0,0,0,0
$GC,7140,-0.56,-146.0,717.1,-5.6,595,7144,0.00,1.88,0.00,0.000,6,0.000,0.020,2614,1953,3404,0,0,0,0,0,0
$GC,7462,-0.56,-146.0,731.6,-4.6,611,7466,0.00,2.12,0.00,0.000,4,0.000,0.033,2614,508,3402,0,0,0,0,0,0
$GC,7529,-0.56,-146.0,735.6,-6.1,614,7533,0.00,2.05,0.00,0.000,6,0.000,0.023,2614,1913,3402,0,0,0,0,0,0
$GC,7857,-0.56,-146.0,754.4,-6.0,630,7861,0.00,2.03,0.00,0.000,4,0.000,0.037,2614,3270,3400,0,0,0,0,0,0
$GC,7906,-0.56,-146.0,757.5,-6.2,632,7910,0.00,1.92,0.00,0.000,6,0.000,0.021,2614,1925,3399,0,0,0,0,0,0
$GC,8236,-0.56,-146.0,777.0,-6.1,648,8240,0.00,2.10,0.00,0.000,4,0.000,0.034,2614,498,3398,0,0,0,0,0,0
$GC,8280,-0.56,-146.0,780.2,-6.7,650,8284,0.00,2.05,0.00,0.000,6,0.000,0.024,2614,1901,3398,0,0,0,0,0,0
$GC,8609,-0.56,-146.0,800.6,-6.2,666,8612,0.00,2.05,0.00,0.000,4,0.000,0.037,2614,3273,3397,0,0,0,0,0,0
$GC,8692,-0.56,-146.0,805.6,-5.8,669,8699,0.00,1.95,0.00,0.000,6,0.000,0.021,2614,1917,3396,0,0,0,0,0,0
$GC,9009,-0.56,-146.0,821.7,-4.8,685,9013,0.00,2.12,0.00,0.000,4,0.000,0.035,2613,497,3395,0,0,0,0,0,0
$GC,9037,-0.56,-146.0,823.2,-4.7,686,9041,0.00,2.10,0.00,0.000,6,0.000,0.024,2614,1930,3395,0,0,0,0,0,0
$GC,9365,-0.56,-146.0,839.0,-4.9,702,9369,0.00,2.00,0.00,0.000,4,0.000,0.037,2613,3270,3394,0,0,0,0,0,0
$GC,9426,-0.56,-146.0,842.4,-5.0,704,9433,0.00,1.92,0.00,0.000,6,0.000,0.020,2614,1924,3394,0,0,0,0,0,0
$GC,9744,-0.56,-146.0,859.2,-5.4,720,9748,0.00,2.12,0.00,0.000,4,0.000,0.034,2614,504,3393,0,0,0,0,0,0
$GC,9789,-0.56,-146.0,862.2,-5.7,722,9794,0.00,2.10,0.00,0.000,6,0.000,0.024,2613,1923,3393,0,0,0,0,0,0
$GC,10123,-0.56,-146.0,881.8,-5.9,738,10127,0.00,2.03,0.00,0.000,4,0.000,0.038,2614,3277,3392,0,0,0,0,0,0
$GC,10202,-0.56,-146.0,886.7,-6.1,741,10205,0.00,1.90,0.00,0.000,6,0.000,0.021,2614,1951,3392,0,0,0,0,0,0
$GC,10524,-0.56,-146.0,905.9,-5.9,757,10528,0.00,2.15,0.00,0.000,4,0.000,0.034,2614,497,3391,0,0,0,0,0,0
$GC,10575,-0.56,-146.0,909.2,-6.4,759,10580,0.00,2.15,0.00,0.000,6,0.000,0.025,2613,1944,3391,0,0,0,0,0,0
$GC,10897,-0.56,-146.0,928.4,-5.9,775,10901,0.00,2.00,0.00,0.000,4,0.000,0.039,2614,3275,3390,0,0,0,0,0,0
$GC,10960,-0.56,-146.0,931.9,-5.6,777,10966,0.00,1.90,0.00,0.000,6,0.000,0.021,2614,1947,3390,0,0,0,0,0,0
$GC,11276,-0.56,-146.0,948.9,-5.4,793,11281,0.00,2.17,0.00,0.000,4,0.000,0.034,2614,496,3388,0,0,0,0,0,0
$GC,11322,-0.56,-146.0,951.5,-5.5,795,11327,0.00,2.17,0.00,0.000,6,0.000,0.025,2614,1955,3388,0,0,0,0,0,0
$GC,11657,-0.56,-146.0,967.4,-4.4,811,11661,0.00,1.98,0.00,0.000,4,0.000,0.039,2613,3273,3388,0,0,0,0,0,0
$GC,11735,-0.56,-146.0,971.5,-5.0,814,11739,0.00,1.88,0.00,0.000,6,0.000,0.021,2613,1960,3387,0,0,0,0,0,0
$GC,12059,-0.56,-146.0,985.7,-4.2,830,12063,0.00,2.17,0.00,0.000,4,0.000,0.035,2613,496,3386,0,0,0,0,0,0
$GC,12091,-0.56,-146.0,987.3,-4.1,831,12098,0.00,2.17,0.00,0.000,6,0.000,0.025,2613,1970,3386,0,0,0,0,0,0
$STATE,12158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12158,begin apogee
$GC,12164,-0.20,0.0,990.1,4.0,835,12284,0.35,0.00,111.22,1.417,4,0.119,0.000,2733,2094,2838,0,0,0,0,0,0
$STATE,12285,end apogee,CONTROL_FINISHED_OK
$STATE,12285,begin climb
$GC,12287,0.56,146.0,990.9,0.0,840,12421,0.70,0.00,124.18,1.363,6,0.078,0.000,2981,2095,2241,0,0,0,0,0,0
$GC,12738,0.56,146.0,939.1,12.7,862,12742,0.00,2.12,0.00,0.000,4,0.000,0.038,2981,3465,2231,0,0,0,0,0,0
$GC,12772,0.56,146.0,934.4,12.7,863,12779,0.00,2.05,0.00,0.000,6,0.000,0.022,2988,2097,2230,0,0,0,0,0,0
$GC,13090,0.56,146.0,895.5,12.1,879,13094,0.00,2.15,0.00,0.000,4,0.000,0.036,2999,682,2228,0,0,0,0,0,0
$GC,13167,0.56,146.0,885.9,12.3,882,13175,0.00,2.08,0.00,0.000,6,0.000,0.025,2999,2064,2228,0,0,0,0,0,0
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$STATE,22189,end climb,SURFACE_DEPTH_REACHED
$STATE,22189,begin surface coast
$FINISH,0.7,1.021502
$STATE,22222,end surface coast,CONTROL_FINISHED_OK
$STATE,22222,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.72
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,29.10
$XPDR_PINGS,14
$24V_AH,23.7,22.377
$10V_AH,10.2,20.818
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330472
$DATA_FILE_SIZE,100227,1721
$CAP_FILE_SIZE,251561,0
$CFSIZE,260165632,130318336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 67.8,1
$GPS,070711,201924,1755.117,12420.370,39,1.0,39,-2.0