version: 66.09
glider: 167
mission: 8
dive: 146
start: 7 14 111 18 25 58
data:
$ID,167
$MISSION,8
$DIVE,146
$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,-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,-56570.578
$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,70
$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
$GPS1,140711,180636,1804.317,12352.646,41,1.2,41,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.2
$GPS2,140711,182536,1804.026,12353.079,13,1.5,29,-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,281.7,177272,-15.4,-8.250
$D_GRID,4447
$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,-146.0,0.0,0.0,0,101,0.00,0.00,-81.18,0.000,2,0.000,0.000,111,1817,3174,0,0,0,0,0,0
$GC,106,-0.56,-146.0,6.2,-10.7,10,129,9.75,2.15,-4.10,0.000,4,0.226,0.032,2603,3286,3436,0,0,0,0,0,0
$GC,198,-0.56,-146.0,41.6,-25.0,25,206,0.00,2.05,0.00,0.000,6,0.000,0.018,2603,1866,3438,0,0,0,0,0,0
$GC,277,-0.56,-146.0,59.4,-23.2,38,285,0.00,2.03,0.00,0.000,4,0.000,0.029,2603,490,3438,0,0,0,0,0,0
$GC,330,-0.56,-146.0,71.5,-23.0,46,338,0.00,1.92,0.00,0.000,6,0.000,0.021,2594,1816,3438,0,0,0,0,0,0
$GC,409,-0.56,-146.0,90.8,-23.8,59,417,0.00,2.15,0.00,0.000,4,0.000,0.031,2584,3260,3438,0,0,0,0,0,0
$GC,477,-0.56,-146.0,104.2,-21.3,70,485,0.08,1.85,0.00,0.000,6,0.158,0.017,2607,1942,3438,0,0,0,0,0,0
$GC,556,-0.56,-146.0,119.4,-17.8,83,564,0.00,2.12,0.00,0.000,4,0.000,0.028,2607,490,3438,0,0,0,0,0,0
$GC,609,-0.56,-146.0,129.4,-18.4,92,618,0.00,2.05,0.00,0.000,6,0.000,0.020,2600,1903,3439,0,0,0,0,0,0
$GC,685,-0.56,-146.0,142.9,-18.1,105,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1903,3438,0,0,0,0,0,0
$GC,760,-0.56,-146.0,156.9,-16.9,118,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1903,3439,0,0,0,0,0,0
$GC,836,-0.56,-146.0,169.5,-17.7,131,844,0.00,2.03,0.00,0.000,4,0.000,0.031,2591,3274,3439,0,0,0,0,0,0
$GC,886,-0.56,-146.0,178.0,-15.8,139,894,0.00,1.98,0.00,0.000,6,0.000,0.018,2591,1881,3438,0,0,0,0,0,0
$GC,963,-0.56,-146.0,189.6,-15.3,152,972,0.00,2.00,0.00,0.000,4,0.000,0.028,2591,502,3438,0,0,0,0,0,0
$GC,1028,-0.56,-146.0,200.0,-15.9,163,1035,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1841,3439,0,0,0,0,0,0
$GC,1353,-0.56,-146.0,245.4,-12.6,194,1358,0.10,2.10,0.00,0.000,4,0.190,0.031,2603,3272,3438,0,0,0,0,0,0
$GC,1450,-0.56,-146.0,255.8,-10.1,202,1453,0.00,2.00,0.00,0.000,6,0.000,0.017,2603,1838,3438,0,0,0,0,0,0
$GC,1782,-0.56,-146.0,292.2,-11.7,233,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1836,3437,0,0,0,0,0,0
$GC,2100,-0.56,-146.0,324.1,-9.5,263,2105,0.00,2.12,0.00,0.000,4,0.000,0.031,2601,3264,3435,0,0,0,0,0,0
$GC,2195,-0.56,-146.0,332.6,-8.6,271,2202,0.00,2.03,0.00,0.000,6,0.000,0.018,2601,1819,3435,0,0,0,0,0,0
$GC,2521,-0.56,-146.0,360.0,-8.6,302,2525,0.00,1.90,0.00,0.000,4,0.000,0.030,2601,500,3433,0,0,0,0,0,0
$GC,2546,-0.56,-146.0,362.2,-8.9,304,2551,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1823,3433,0,0,0,0,0,0
$GC,2877,-0.56,-146.0,392.3,-9.0,335,2881,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,3271,3431,0,0,0,0,0,0
$GC,3086,-0.56,-146.0,410.6,-8.5,353,3090,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1880,3429,0,0,0,0,0,0
$GC,3419,-0.56,-146.0,437.3,-7.9,384,3424,0.00,2.00,0.00,0.000,4,0.000,0.030,2600,513,3427,0,0,0,0,0,0
$GC,3543,-0.56,-146.0,448.9,-9.2,395,3547,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1848,3426,0,0,0,0,0,0
$GC,3873,-0.56,-146.0,474.9,-7.7,426,3877,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3270,3423,0,0,0,0,0,0
$GC,3991,-0.56,-146.0,484.3,-7.8,436,3995,0.00,1.98,0.00,0.000,6,0.000,0.019,2600,1869,3423,0,0,0,0,0,0
$GC,4322,-0.56,-146.0,510.4,-7.8,461,4326,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,493,3420,0,0,0,0,0,0
$GC,4439,-0.56,-146.0,520.7,-8.3,466,4443,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1836,3420,0,0,0,0,0,0
$GC,4769,-0.56,-146.0,544.6,-7.2,482,4773,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3274,3417,0,0,0,0,0,0
$GC,4923,-0.56,-146.0,555.8,-7.4,489,4927,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1899,3416,0,0,0,0,0,0
$GC,5259,-0.56,-146.0,581.1,-7.6,505,5263,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,497,3413,0,0,0,0,0,0
$GC,5337,-0.56,-146.0,587.6,-8.0,508,5342,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1879,3413,0,0,0,0,0,0
$GC,5659,-0.56,-146.0,609.1,-6.5,524,5663,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3263,3411,0,0,0,0,0,0
$GC,5729,-0.56,-146.0,613.4,-6.4,527,5733,0.00,1.95,0.00,0.000,6,0.000,0.019,2599,1906,3410,0,0,0,0,0,0
$GC,6061,-0.56,-146.0,636.2,-7.3,543,6065,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,507,3408,0,0,0,0,0,0
$GC,6154,-0.56,-146.0,643.5,-7.9,547,6158,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1883,3407,0,0,0,0,0,0
$GC,6488,-0.56,-146.0,666.1,-6.3,563,6491,0.00,2.03,0.00,0.000,4,0.000,0.035,2600,3264,3405,0,0,0,0,0,0
$GC,6658,-0.56,-146.0,676.3,-5.9,570,6662,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1954,3404,0,0,0,0,0,0
$GC,6979,-0.56,-146.0,695.0,-5.9,586,6983,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,506,3402,0,0,0,0,0,0
$GC,7080,-0.56,-146.0,701.9,-7.0,590,7087,0.00,2.10,0.00,0.000,6,0.000,0.023,2599,1947,3402,0,0,0,0,0,0
$GC,7396,-0.56,-146.0,722.9,-6.9,606,7401,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3260,3400,0,0,0,0,0,0
$GC,7436,-0.56,-146.0,725.7,-7.1,607,7443,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1951,3400,0,0,0,0,0,0
$GC,7754,-0.56,-146.0,746.8,-6.7,623,7758,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,504,3398,0,0,0,0,0,0
$GC,7782,-0.56,-146.0,749.1,-6.9,624,7786,0.00,2.17,0.00,0.000,6,0.000,0.023,2599,1972,3398,0,0,0,0,0,0
$GC,8103,-0.56,-146.0,769.9,-6.6,640,8107,0.00,1.90,0.00,0.000,4,0.000,0.037,2600,3266,3397,0,0,0,0,0,0
$GC,8188,-0.56,-146.0,775.8,-7.0,643,8194,0.00,1.80,0.00,0.000,6,0.000,0.020,2599,1991,3396,0,0,0,0,0,0
$GC,8504,-0.56,-146.0,796.7,-6.6,659,8508,0.00,2.20,0.00,0.000,4,0.000,0.031,2599,492,3395,0,0,0,0,0,0
$GC,8583,-0.56,-146.0,802.6,-7.5,662,8590,0.00,2.17,0.00,0.000,6,0.000,0.022,2599,1982,3394,0,0,0,0,0,0
$GC,8899,-0.56,-146.0,823.2,-6.3,678,8903,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3271,3394,0,0,0,0,0,0
$GC,8927,-0.56,-146.0,825.0,-6.2,679,8931,0.00,1.85,0.00,0.000,6,0.000,0.020,2599,1963,3394,0,0,0,0,0,0
$GC,9256,-0.56,-146.0,843.8,-5.7,695,9261,0.00,2.17,0.00,0.000,4,0.000,0.031,2599,503,3393,0,0,0,0,0,0
$GC,9327,-0.56,-146.0,848.6,-6.7,698,9331,0.00,2.15,0.00,0.000,6,0.000,0.023,2599,1971,3392,0,0,0,0,0,0
$GC,9657,-0.56,-146.0,866.2,-5.1,714,9661,0.00,1.92,0.00,0.000,4,0.000,0.037,2599,3266,3391,0,0,0,0,0,0
$GC,9712,-0.56,-146.0,869.3,-5.1,716,9716,0.00,1.85,0.00,0.000,6,0.000,0.020,2599,1965,3391,0,0,0,0,0,0
$GC,10035,-0.56,-146.0,885.9,-5.0,732,10039,0.00,2.17,0.00,0.000,4,0.000,0.032,2599,508,3390,0,0,0,0,0,0
$GC,10091,-0.56,-146.0,889.4,-6.0,734,10094,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1959,3389,0,0,0,0,0,0
$GC,10413,-0.56,-146.0,907.1,-5.8,750,10416,0.00,1.95,0.00,0.000,4,0.000,0.038,2599,3264,3388,0,0,0,0,0,0
$GC,10453,-0.56,-146.0,909.5,-5.7,751,10459,0.00,1.88,0.00,0.000,6,0.000,0.019,2599,1940,3389,0,0,0,0,0,0
$GC,10769,-0.56,-146.0,928.4,-6.0,767,10774,0.00,2.15,0.00,0.000,4,0.000,0.032,2599,501,3388,0,0,0,0,0,0
$GC,10796,-0.56,-146.0,930.2,-6.0,768,10800,0.00,2.12,0.00,0.000,6,0.000,0.022,2599,1956,3388,0,0,0,0,0,0
$GC,11126,-0.56,-146.0,950.1,-6.2,784,11129,0.00,1.98,0.00,0.000,4,0.000,0.038,2599,3274,3387,0,0,0,0,0,0
$GC,11176,-0.56,-146.0,953.4,-6.0,786,11179,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1970,3387,0,0,0,0,0,0
$GC,11505,-0.56,-146.0,973.3,-6.0,802,11510,0.00,2.17,0.00,0.000,4,0.000,0.031,2599,510,3386,0,0,0,0,0,0
$GC,11574,-0.56,-146.0,977.8,-6.5,805,11578,0.00,2.12,0.00,0.000,6,0.000,0.022,2599,1964,3386,0,0,0,0,0,0
$STATE,11781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11781,begin apogee
$GC,11787,-0.20,0.0,990.1,5.8,815,11906,0.38,0.00,111.57,1.411,4,0.123,0.000,2727,2092,2839,0,0,0,0,0,0
$STATE,11907,end apogee,CONTROL_FINISHED_OK
$STATE,11907,begin climb
$GC,11909,0.56,146.0,992.3,0.0,820,12048,0.75,2.20,124.72,1.362,4,0.083,0.031,2980,700,2241,0,0,0,0,0,0
$GC,12255,0.56,146.0,958.8,11.1,836,12260,0.00,2.10,0.00,0.000,6,0.000,0.023,2980,2072,2232,0,0,0,0,0,0
$GC,12584,0.56,146.0,921.8,11.5,852,12588,0.00,2.08,0.00,0.000,4,0.000,0.031,2987,700,2228,0,0,0,0,0,0
$GC,12842,0.56,146.0,891.8,11.7,863,12848,0.00,2.08,0.00,0.000,6,0.000,0.024,2987,2087,2227,0,0,0,0,0,0
$GC,13158,0.56,146.0,854.9,11.8,879,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2087,2226,0,0,0,0,0,0
$GC,13468,0.56,146.0,818.5,12.1,894,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2087,2225,0,0,0,0,0,0
$GC,13778,0.56,146.0,780.5,12.2,909,13782,0.00,2.10,0.00,0.000,4,0.000,0.038,2987,3474,2224,0,0,0,0,0,0
$GC,13810,0.56,146.0,775.9,12.8,910,13817,0.00,2.03,0.00,0.000,6,0.000,0.021,2995,2086,2224,0,0,0,0,0,0
$GC,14127,0.56,146.0,738.1,11.8,926,14130,0.00,2.08,0.00,0.000,4,0.000,0.033,3005,692,2224,0,0,0,0,0,0
$GC,14151,0.56,146.0,735.2,11.6,927,14155,0.00,2.08,0.00,0.000,6,0.000,0.024,3006,2094,2224,0,0,0,0,0,0
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$STATE,22134,end climb,SURFACE_DEPTH_REACHED
$STATE,22134,begin surface coast
$FINISH,0.7,1.018505
$STATE,22178,end surface coast,CONTROL_FINISHED_OK
$STATE,22181,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,33.10
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,28.50
$XPDR_PINGS,11
$24V_AH,23.7,26.983
$10V_AH,10.2,25.900
$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,329884
$DATA_FILE_SIZE,100290,1741
$CAP_FILE_SIZE,255240,0
$CFSIZE,260165632,127201280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 85.4,1
$GPS,150711,003806,1804.697,12352.236,29,1.1,29,-2.0