version: 66.09
glider: 167
mission: 8
dive: 161
start: 7 18 111 18 11 9
data:
$ID,167
$MISSION,8
$DIVE,161
$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,-56589.555
$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,76
$R_STBD_OVSHOOT,80
$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
$GPS1,180711,175936,1812.612,12332.588,24,2.0,24,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.5
$GPS2,180711,181046,1812.469,12332.762,13,99.0,32,-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,241.7,138694,-15.4,-8.250
$D_GRID,4962
$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,-81.07,0.000,2,0.000,0.000,111,1884,3011,0,0,0,0,0,0
$GC,105,-0.56,-146.0,5.6,-9.9,11,132,9.85,2.08,-7.03,0.000,4,0.227,0.037,2615,473,3437,0,0,0,0,0,0
$GC,206,-0.56,-146.0,45.8,-30.2,27,215,0.00,2.03,0.00,0.000,6,0.000,0.021,2608,1855,3439,0,0,0,0,0,0
$GC,283,-0.56,-146.0,67.1,-27.2,40,291,0.00,2.10,0.00,0.000,4,0.000,0.031,2597,3261,3438,0,0,0,0,0,0
$GC,376,-0.56,-146.0,89.0,-20.7,55,384,0.00,2.20,0.00,0.000,6,0.000,0.018,2597,1744,3439,0,0,0,0,0,0
$GC,453,-0.56,-146.0,105.5,-20.9,68,460,0.00,1.83,0.00,0.000,4,0.000,0.028,2597,488,3439,0,0,0,0,0,0
$GC,484,-0.56,-146.0,112.6,-22.5,73,493,0.00,1.65,0.00,0.000,6,0.000,0.018,2590,1654,3439,0,0,0,0,0,0
$GC,561,-0.56,-146.0,127.5,-20.1,86,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1654,3439,0,0,0,0,0,0
$GC,638,-0.56,-146.0,143.8,-21.4,99,647,0.00,2.40,0.00,0.000,4,0.000,0.031,2578,3260,3439,0,0,0,0,0,0
$GC,770,-0.56,-146.0,173.0,-21.2,122,779,0.10,2.35,0.00,0.000,6,0.149,0.018,2610,1634,3439,0,0,0,0,0,0
$GC,849,-0.56,-146.0,185.7,-15.4,135,857,0.00,2.45,0.00,0.000,4,0.000,0.029,2601,3267,3440,0,0,0,0,0,0
$GC,871,-0.56,-146.0,189.2,-14.7,138,880,0.00,2.17,0.00,0.000,6,0.000,0.018,2601,1751,3439,0,0,0,0,0,0
$GC,948,-0.56,-146.0,200.7,-14.0,151,952,0.00,1.83,0.00,0.000,4,0.000,0.029,2601,477,3439,0,0,0,0,0,0
$GC,974,-0.56,-146.0,204.1,-13.5,153,978,0.00,1.73,0.00,0.000,6,0.000,0.019,2595,1711,3439,0,0,0,0,0,0
$GC,1305,-0.56,-146.0,250.4,-14.2,184,1309,0.00,2.30,0.00,0.000,4,0.000,0.031,2588,3274,3440,0,0,0,0,0,0
$GC,1462,-0.56,-146.0,267.7,-10.3,197,1467,0.10,2.20,0.00,0.000,6,0.163,0.018,2613,1715,3439,0,0,0,0,0,0
$GC,1790,-0.56,-146.0,299.6,-9.7,227,1794,0.00,2.30,0.00,0.000,4,0.000,0.029,2605,3272,3438,0,0,0,0,0,0
$GC,1822,-0.56,-146.0,303.2,-10.0,229,1830,0.00,2.17,0.00,0.000,6,0.000,0.018,2605,1736,3438,0,0,0,0,0,0
$GC,2148,-0.56,-146.0,335.2,-9.1,260,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1736,3436,0,0,0,0,0,0
$GC,2470,-0.56,-146.0,363.5,-8.9,290,2474,0.00,1.80,0.00,0.000,4,0.000,0.030,2605,480,3434,0,0,0,0,0,0
$GC,2483,-0.56,-146.0,364.9,-8.7,291,2486,0.00,1.80,0.00,0.000,6,0.000,0.019,2603,1758,3434,0,0,0,0,0,0
$GC,2814,-0.56,-146.0,390.2,-8.3,322,2818,0.00,2.22,0.00,0.000,4,0.000,0.034,2603,3265,3432,0,0,0,0,0,0
$GC,3034,-0.56,-146.0,408.1,-8.1,341,3038,0.00,2.08,0.00,0.000,6,0.000,0.018,2603,1812,3431,0,0,0,0,0,0
$GC,3364,-0.56,-146.0,436.0,-8.7,372,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1812,3428,0,0,0,0,0,0
$GC,3686,-0.56,-146.0,462.9,-8.4,402,3690,0.00,2.17,0.00,0.000,4,0.000,0.032,2602,3272,3426,0,0,0,0,0,0
$GC,3821,-0.56,-146.0,474.4,-8.1,413,3829,0.00,2.05,0.00,0.000,6,0.000,0.018,2602,1841,3425,0,0,0,0,0,0
$GC,4157,-0.56,-146.0,502.2,-7.9,444,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1841,3423,0,0,0,0,0,0
$GC,4466,-0.56,-146.0,525.0,-7.4,459,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1841,3421,0,0,0,0,0,0
$GC,4776,-0.56,-146.0,548.6,-7.5,474,4780,0.00,2.10,0.00,0.000,4,0.000,0.034,2602,3263,3419,0,0,0,0,0,0
$GC,4855,-0.56,-146.0,554.4,-7.3,477,4863,0.00,2.00,0.00,0.000,6,0.000,0.019,2602,1852,3418,0,0,0,0,0,0
$GC,5171,-0.56,-146.0,577.3,-7.2,493,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1852,3415,0,0,0,0,0,0
$GC,5482,-0.56,-146.0,598.6,-6.8,508,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1852,3414,0,0,0,0,0,0
$GC,5790,-0.56,-146.0,619.5,-6.9,523,5794,0.00,2.12,0.00,0.000,4,0.000,0.034,2602,3258,3412,0,0,0,0,0,0
$GC,5906,-0.56,-146.0,628.2,-7.6,528,5910,0.00,2.00,0.00,0.000,6,0.000,0.020,2602,1854,3412,0,0,0,0,0,0
$GC,6235,-0.56,-146.0,650.1,-6.1,544,6239,0.00,2.12,0.00,0.000,4,0.000,0.034,2602,3258,3409,0,0,0,0,0,0
$GC,6307,-0.56,-146.0,654.4,-5.7,547,6311,0.00,1.95,0.00,0.000,6,0.000,0.020,2602,1886,3409,0,0,0,0,0,0
$GC,6636,-0.56,-146.0,671.3,-4.9,563,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1885,3407,0,0,0,0,0,0
$GC,6944,-0.56,-146.0,688.0,-5.7,578,6948,0.00,2.08,0.00,0.000,4,0.000,0.035,2601,3268,3406,0,0,0,0,0,0
$GC,7009,-0.56,-146.0,691.9,-6.1,581,7013,0.00,1.92,0.00,0.000,6,0.000,0.020,2601,1930,3405,0,0,0,0,0,0
$GC,7341,-0.56,-146.0,712.2,-5.9,597,7345,0.00,2.10,0.00,0.000,4,0.000,0.031,2601,500,3404,0,0,0,0,0,0
$GC,7419,-0.56,-146.0,717.8,-7.1,600,7426,0.00,2.05,0.00,0.000,6,0.000,0.023,2601,1905,3403,0,0,0,0,0,0
$GC,7737,-0.56,-146.0,737.8,-6.5,616,7740,0.00,2.03,0.00,0.000,4,0.000,0.037,2601,3272,3401,0,0,0,0,0,0
$GC,7795,-0.56,-146.0,741.7,-6.6,618,7798,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1941,3401,0,0,0,0,0,0
$GC,8119,-0.56,-146.0,762.9,-6.6,634,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1941,3399,0,0,0,0,0,0
$GC,8426,-0.56,-146.0,782.7,-6.4,649,8430,0.00,2.12,0.00,0.000,4,0.000,0.032,2601,499,3398,0,0,0,0,0,0
$GC,8454,-0.56,-146.0,784.8,-6.5,650,8458,0.00,2.10,0.00,0.000,6,0.000,0.022,2601,1937,3398,0,0,0,0,0,0
$GC,8778,-0.56,-146.0,806.5,-6.7,666,8781,0.00,2.00,0.00,0.000,4,0.000,0.038,2601,3271,3397,0,0,0,0,0,0
$GC,8886,-0.56,-146.0,813.4,-6.0,670,8892,0.00,1.88,0.00,0.000,6,0.000,0.021,2601,1955,3397,0,0,0,0,0,0
$GC,9204,-0.56,-146.0,830.9,-5.4,686,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1954,3395,0,0,0,0,0,0
$GC,9511,-0.56,-146.0,848.2,-6.0,701,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1954,3395,0,0,0,0,0,0
$GC,9821,-0.56,-146.0,870.1,-7.5,716,9825,0.00,2.15,0.00,0.000,4,0.000,0.032,2601,500,3394,0,0,0,0,0,0
$GC,9885,-0.56,-146.0,875.2,-8.4,719,9889,0.00,2.17,0.00,0.000,6,0.000,0.024,2601,1976,3394,0,0,0,0,0,0
$GC,10213,-0.56,-146.0,898.4,-6.8,735,10216,0.00,1.92,0.00,0.000,4,0.000,0.038,2601,3274,3393,0,0,0,0,0,0
$GC,10305,-0.56,-146.0,904.0,-6.2,739,10309,0.00,1.80,0.00,0.000,6,0.000,0.021,2601,2009,3392,0,0,0,0,0,0
$GC,10639,-0.56,-146.0,921.4,-5.0,755,10643,0.00,2.20,0.00,0.000,4,0.000,0.032,2600,506,3391,0,0,0,0,0,0
$GC,10748,-0.56,-146.0,927.9,-6.2,760,10752,0.00,2.20,0.00,0.000,6,0.000,0.024,2601,1980,3391,0,0,0,0,0,0
$GC,11080,-0.56,-146.0,945.5,-5.1,776,11084,0.00,1.92,0.00,0.000,4,0.000,0.040,2601,3273,3390,0,0,0,0,0,0
$GC,11136,-0.56,-146.0,948.5,-5.1,778,11139,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,1991,3390,0,0,0,0,0,0
$GC,11461,-0.56,-146.0,963.7,-4.7,794,11465,0.00,2.20,0.00,0.000,4,0.000,0.031,2601,501,3389,0,0,0,0,0,0
$GC,11501,-0.56,-146.0,965.9,-4.7,796,11505,0.00,2.17,0.00,0.000,6,0.000,0.023,2601,1979,3388,0,0,0,0,0,0
$GC,11830,-0.56,-146.0,981.4,-4.8,812,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1978,3388,0,0,0,0,0,0
$STATE,12011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12011,begin apogee
$GC,12017,-0.20,0.0,990.7,5.0,821,12137,0.38,0.00,112.12,1.410,4,0.125,0.000,2728,2086,2838,0,0,0,0,0,0
$STATE,12138,end apogee,CONTROL_FINISHED_OK
$STATE,12138,begin climb
$GC,12141,0.56,146.0,992.6,0.0,826,12273,0.70,0.00,125.28,1.361,6,0.080,0.000,2974,2086,2241,0,0,0,0,0,0
$GC,12591,0.56,146.0,949.2,10.8,848,12595,0.00,2.15,0.00,0.000,4,0.000,0.034,2982,697,2231,0,0,0,0,0,0
$GC,12663,0.56,146.0,941.0,10.7,851,12668,0.00,2.10,0.00,0.000,6,0.000,0.024,2982,2061,2231,0,0,0,0,0,0
$GC,12984,0.56,146.0,905.7,11.0,867,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2061,2228,0,0,0,0,0,0
$GC,13295,0.56,146.0,871.4,11.0,882,13299,0.00,2.15,0.00,0.000,4,0.000,0.039,2982,3469,2227,0,0,0,0,0,0
$GC,13339,0.56,146.0,865.6,12.5,884,13344,0.00,2.08,0.00,0.000,6,0.000,0.021,2991,2061,2226,0,0,0,0,0,0
$GC,13669,0.56,146.0,828.6,11.3,900,13672,0.00,2.03,0.00,0.000,4,0.000,0.034,3002,692,2226,0,0,0,0,0,0
$GC,13747,0.56,146.0,819.2,11.4,903,13752,0.00,2.05,0.00,0.000,6,0.000,0.024,3002,2049,2226,0,0,0,0,0,0
$GC,14068,0.56,146.0,782.6,11.7,919,14072,0.00,2.15,0.00,0.000,4,0.000,0.039,3002,3468,2226,0,0,0,0,0,0
$GC,14163,0.56,146.0,770.3,13.3,923,14167,0.00,2.05,0.00,0.000,6,0.000,0.021,3010,2067,2225,0,0,0,0,0,0
$GC,14485,0.56,146.0,730.6,12.3,939,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2064,2225,0,0,0,0,0,0
$GC,14796,0.56,146.0,694.2,11.5,954,14801,0.00,2.05,0.00,0.000,4,0.000,0.034,3019,700,2224,0,0,0,0,0,0
$GC,14918,0.56,146.0,680.3,11.1,959,14923,0.12,2.05,0.00,0.000,6,0.160,0.023,2987,2089,2224,0,0,0,0,0,0
$GC,15241,0.56,146.0,648.3,10.1,975,15246,0.00,2.10,0.00,0.000,4,0.000,0.038,2987,3462,2224,0,0,0,0,0,0
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$STATE,22216,end climb,SURFACE_DEPTH_REACHED
$STATE,22216,begin surface coast
$FINISH,0.9,1.004400
$STATE,22248,end surface coast,CONTROL_FINISHED_OK
$STATE,22248,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,33.14
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.60
$XPDR_PINGS,23
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$10V_AH,10.1,28.711
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329916
$DATA_FILE_SIZE,100204,1711
$CAP_FILE_SIZE,240341,0
$CFSIZE,260165632,125489152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142, 30.6,1
$GPS,190711,002430,1812.822,12331.085,38,1.6,38,-2.0