version: 66.09
glider: 167
mission: 8
dive: 165
start: 7 19 111 19 47 25
data:
$ID,167
$MISSION,8
$DIVE,165
$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,-56594.586
$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,67
$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
$GPS1,190711,193501,1814.826,12323.729,40,1.0,40,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.0
$GPS2,190711,194701,1814.756,12323.749,16,1.4,16,-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,261.5,122310,-15.4,-8.250
$D_GRID,4117
$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,17,-0.56,-146.0,0.0,0.0,0,103,0.00,0.00,-82.88,0.000,2,0.000,0.000,110,1873,3179,0,0,0,0,0,0
$GC,107,-0.56,-146.0,6.7,-12.4,11,131,9.93,2.05,-3.95,0.000,4,0.230,0.038,2616,476,3439,0,0,0,0,0,0
$GC,263,-0.56,-146.0,60.5,-23.9,37,271,0.00,2.05,0.00,0.000,6,0.000,0.021,2608,1869,3440,0,0,0,0,0,0
$GC,339,-0.56,-146.0,77.9,-22.9,50,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1869,3440,0,0,0,0,0,0
$GC,417,-0.56,-146.0,95.4,-20.8,63,425,0.00,2.05,0.00,0.000,4,0.000,0.025,2608,480,3441,0,0,0,0,0,0
$GC,440,-0.56,-146.0,99.8,-19.2,66,449,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1776,3441,0,0,0,0,0,0
$GC,518,-0.56,-146.0,113.0,-17.3,79,525,0.00,2.22,0.00,0.000,4,0.000,0.031,2589,3268,3441,0,0,0,0,0,0
$GC,590,-0.56,-146.0,127.5,-20.8,91,598,0.00,2.10,0.00,0.000,6,0.000,0.026,2589,1794,3441,0,0,0,0,0,0
$GC,664,-0.56,-146.0,142.6,-18.3,104,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1793,3441,0,0,0,0,0,0
$GC,740,-0.56,-146.0,156.2,-17.3,117,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1793,3441,0,0,0,0,0,0
$GC,815,-0.56,-146.0,168.9,-17.6,130,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1793,3442,0,0,0,0,0,0
$GC,890,-0.56,-146.0,182.3,-17.2,143,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1793,3442,0,0,0,0,0,0
$GC,962,-0.56,-146.0,193.4,-16.1,156,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1793,3441,0,0,0,0,0,0
$GC,1036,-0.56,-146.0,204.9,-14.5,166,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1793,3441,0,0,0,0,0,0
$GC,1354,-0.56,-146.0,246.3,-11.8,196,1358,0.00,2.17,0.00,0.000,4,0.000,0.030,2582,3273,3441,0,0,0,0,0,0
$GC,1377,-0.56,-146.0,249.4,-12.2,197,1384,0.12,2.10,0.00,0.000,6,0.158,0.018,2615,1763,3442,0,0,0,0,0,0
$GC,1702,-0.56,-146.0,279.5,-9.5,228,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1762,3440,0,0,0,0,0,0
$GC,2024,-0.56,-146.0,311.9,-10.7,258,2028,0.00,2.20,0.00,0.000,4,0.000,0.030,2611,3273,3438,0,0,0,0,0,0
$GC,2231,-0.56,-146.0,333.3,-9.6,276,2235,0.00,2.08,0.00,0.000,6,0.000,0.018,2610,1805,3438,0,0,0,0,0,0
$GC,2563,-0.56,-146.0,359.2,-7.3,307,2566,0.00,1.90,0.00,0.000,4,0.000,0.029,2610,477,3435,0,0,0,0,0,0
$GC,2591,-0.56,-146.0,361.5,-7.5,309,2598,0.00,1.95,0.00,0.000,6,0.000,0.020,2609,1849,3435,0,0,0,0,0,0
$GC,2917,-0.56,-146.0,384.5,-7.9,340,2921,0.00,2.08,0.00,0.000,4,0.000,0.033,2600,3259,3433,0,0,0,0,0,0
$GC,3000,-0.56,-146.0,391.4,-8.0,347,3007,0.00,2.00,0.00,0.000,6,0.000,0.018,2601,1835,3433,0,0,0,0,0,0
$GC,3326,-0.56,-146.0,420.4,-9.1,378,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1834,3430,0,0,0,0,0,0
$GC,3646,-0.56,-146.0,447.8,-8.0,408,3650,0.00,2.12,0.00,0.000,4,0.000,0.031,2601,3268,3428,0,0,0,0,0,0
$GC,3711,-0.56,-146.0,453.0,-7.9,413,3715,0.00,2.05,0.00,0.000,6,0.000,0.018,2600,1816,3428,0,0,0,0,0,0
$GC,4042,-0.56,-146.0,477.7,-7.2,444,4047,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,3260,3426,0,0,0,0,0,0
$GC,4128,-0.56,-146.0,484.1,-7.8,451,4135,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1855,3425,0,0,0,0,0,0
$GC,4452,-0.56,-146.0,510.0,-7.8,476,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1855,3423,0,0,0,0,0,0
$GC,4761,-0.56,-146.0,532.8,-7.2,491,4766,0.00,1.98,0.00,0.000,4,0.000,0.030,2601,513,3421,0,0,0,0,0,0
$GC,4816,-0.56,-146.0,537.5,-8.2,493,4820,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1869,3421,0,0,0,0,0,0
$GC,5138,-0.56,-146.0,561.0,-7.3,509,5142,0.00,2.08,0.00,0.000,4,0.000,0.035,2600,3266,3418,0,0,0,0,0,0
$GC,5240,-0.56,-146.0,568.4,-7.0,513,5245,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1920,3418,0,0,0,0,0,0
$GC,5563,-0.56,-146.0,591.8,-7.2,529,5566,0.00,2.05,0.00,0.000,4,0.000,0.030,2600,515,3416,0,0,0,0,0,0
$GC,5589,-0.56,-146.0,593.6,-7.3,530,5593,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1915,3416,0,0,0,0,0,0
$GC,5921,-0.56,-146.0,617.1,-7.0,546,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1915,3414,0,0,0,0,0,0
$GC,6231,-0.56,-146.0,638.7,-7.0,561,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1915,3412,0,0,0,0,0,0
$GC,6541,-0.56,-146.0,659.5,-6.6,576,6545,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3262,3410,0,0,0,0,0,0
$GC,6677,-0.56,-146.0,668.5,-6.5,582,6681,0.00,1.95,0.00,0.000,6,0.000,0.019,2600,1884,3409,0,0,0,0,0,0
$GC,7011,-0.56,-146.0,691.7,-7.1,598,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1884,3407,0,0,0,0,0,0
$GC,7320,-0.56,-146.0,711.6,-6.2,613,7323,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,504,3406,0,0,0,0,0,0
$GC,7366,-0.56,-146.0,714.8,-6.4,615,7370,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1864,3405,0,0,0,0,0,0
$GC,7701,-0.56,-146.0,735.0,-6.1,631,7704,0.00,2.10,0.00,0.000,4,0.000,0.037,2600,3268,3404,0,0,0,0,0,0
$GC,7842,-0.56,-146.0,744.3,-6.4,637,7846,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1908,3403,0,0,0,0,0,0
$GC,8166,-0.56,-146.0,765.6,-6.8,653,8170,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,512,3401,0,0,0,0,0,0
$GC,8234,-0.56,-146.0,771.1,-8.3,656,8237,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1905,3401,0,0,0,0,0,0
$GC,8568,-0.56,-146.0,795.4,-7.3,672,8573,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3261,3400,0,0,0,0,0,0
$GC,8669,-0.56,-146.0,802.7,-6.7,676,8673,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1956,3399,0,0,0,0,0,0
$GC,8993,-0.56,-146.0,822.5,-5.7,692,8997,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,513,3398,0,0,0,0,0,0
$GC,9064,-0.56,-146.0,827.3,-6.5,695,9067,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1950,3398,0,0,0,0,0,0
$GC,9386,-0.56,-146.0,843.6,-5.1,711,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1950,3396,0,0,0,0,0,0
$GC,9696,-0.56,-146.0,861.2,-6.1,726,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1950,3396,0,0,0,0,0,0
$GC,10005,-0.56,-146.0,881.4,-6.6,741,10009,0.00,2.00,0.00,0.000,4,0.000,0.038,2600,3267,3394,0,0,0,0,0,0
$GC,10098,-0.56,-146.0,887.4,-6.5,745,10102,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1964,3394,0,0,0,0,0,0
$GC,10431,-0.56,-146.0,907.9,-5.9,761,10435,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,506,3393,0,0,0,0,0,0
$GC,10463,-0.56,-146.0,910.1,-6.0,762,10470,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1958,3393,0,0,0,0,0,0
$GC,10781,-0.56,-146.0,928.8,-6.0,778,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1959,3392,0,0,0,0,0,0
$GC,11090,-0.56,-146.0,949.1,-6.8,793,11094,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3258,3392,0,0,0,0,0,0
$GC,11137,-0.56,-146.0,952.1,-6.7,795,11142,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1940,3391,0,0,0,0,0,0
$GC,11470,-0.56,-146.0,973.0,-6.1,811,11474,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,503,3390,0,0,0,0,0,0
$GC,11492,-0.56,-146.0,974.5,-5.9,812,11495,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1949,3391,0,0,0,0,0,0
$STATE,11796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11796,begin apogee
$GC,11803,-0.20,0.0,991.1,5.4,827,11921,0.38,0.00,112.28,1.414,4,0.125,0.000,2727,2084,2839,0,0,0,0,0,0
$STATE,11922,end apogee,CONTROL_FINISHED_OK
$STATE,11922,begin climb
$GC,11927,0.56,146.0,993.0,0.0,832,12060,0.73,0.00,125.10,1.363,6,0.079,0.000,2981,2083,2242,0,0,0,0,0,0
$GC,12377,0.56,146.0,947.5,11.2,854,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2084,2231,0,0,0,0,0,0
$GC,12688,0.56,146.0,912.4,11.3,869,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2084,2228,0,0,0,0,0,0
$GC,12995,0.56,146.0,876.8,10.9,884,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2084,2227,0,0,0,0,0,0
$GC,13306,0.56,146.0,842.7,11.1,899,13309,0.00,2.08,0.00,0.000,4,0.000,0.038,2981,3449,2227,0,0,0,0,0,0
$GC,13360,0.56,146.0,835.4,12.5,901,13364,0.00,1.95,0.00,0.000,6,0.000,0.021,2990,2120,2227,0,0,0,0,0,0
$GC,13684,0.56,146.0,797.1,11.7,917,13688,0.00,2.12,0.00,0.000,4,0.000,0.033,2995,691,2226,0,0,0,0,0,0
$GC,13808,0.56,146.0,782.1,11.7,922,13815,0.00,2.05,0.00,0.000,6,0.000,0.023,2996,2059,2225,0,0,0,0,0,0
$GC,14124,0.56,146.0,746.3,11.3,938,14128,0.00,2.12,0.00,0.000,4,0.000,0.038,2996,3466,2225,0,0,0,0,0,0
$GC,14150,0.56,146.0,742.9,11.5,939,14155,0.00,2.08,0.00,0.000,6,0.000,0.021,3005,2041,2225,0,0,0,0,0,0
$GC,14474,0.56,146.0,706.4,11.3,955,14477,0.00,1.98,0.00,0.000,4,0.000,0.032,3015,690,2224,0,0,0,0,0,0
$GC,14573,0.56,146.0,694.7,11.2,959,14578,0.08,1.98,0.00,0.000,6,0.143,0.023,2982,2026,2224,0,0,0,0,0,0
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$GC,15204,0.56,146.0,638.9,8.8,990,15208,0.00,2.15,0.00,0.000,4,0.000,0.037,2982,3453,2224,0,0,0,0,0,0
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$STATE,22152,end climb,SURFACE_DEPTH_REACHED
$STATE,22152,begin surface coast
$FINISH,0.8,0.996481
$STATE,22181,end surface coast,CONTROL_FINISHED_OK
$STATE,22181,begin surface
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$HUMID,32.98
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$TCM_TEMP,29.00
$XPDR_PINGS,20
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$10V_AH,10.1,29.464
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329888
$DATA_FILE_SIZE,100284,1747
$CAP_FILE_SIZE,232547,0
$CFSIZE,260165632,125038592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,  1.5,1
$GPS,200711,015936,1815.491,12320.945,35,1.0,35,-2.0