version: 66.09
glider: 167
mission: 8
dive: 182
start: 7 24 111 9 1 55
data:
$ID,167
$MISSION,8
$DIVE,182
$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,-5
$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,-56615.965
$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,69
$R_STBD_OVSHOOT,78
$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
$GPS1,240711,085124,1830.623,12226.185,40,1.3,40,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.0
$GPS2,240711,090132,1830.880,12226.114,15,1.5,15,-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,259.8,17175,-15.4,-8.250
$D_GRID,845
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-87.30,0.000,2,0.000,0.000,120,1904,3006,0,0,0,0,0,0
$GC,111,-0.56,-146.0,6.2,-10.6,11,136,10.50,2.15,-6.88,0.000,4,0.248,0.037,2610,463,3438,0,0,0,0,0,0
$GC,293,-0.56,-146.0,67.6,-26.1,43,301,0.00,2.05,0.00,0.000,6,0.000,0.019,2603,1872,3440,0,0,0,0,0,0
$GC,368,-0.56,-146.0,81.8,-17.4,56,377,0.00,2.08,0.00,0.000,4,0.000,0.030,2592,3267,3440,0,0,0,0,0,0
$GC,393,-0.56,-146.0,86.6,-18.3,59,401,0.00,2.00,0.00,0.000,6,0.000,0.018,2592,1876,3440,0,0,0,0,0,0
$GC,472,-0.56,-146.0,103.2,-22.4,72,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1875,3440,0,0,0,0,0,0
$GC,550,-0.56,-146.0,118.9,-19.6,85,558,0.00,2.10,0.00,0.000,4,0.000,0.029,2585,3265,3441,0,0,0,0,0,0
$GC,567,-0.56,-146.0,122.4,-19.7,87,576,0.08,1.95,0.00,0.000,6,0.155,0.018,2608,1881,3441,0,0,0,0,0,0
$GC,645,-0.56,-146.0,135.1,-16.0,100,652,0.00,2.00,0.00,0.000,4,0.000,0.028,2608,517,3441,0,0,0,0,0,0
$GC,665,-0.56,-146.0,138.3,-15.3,103,673,0.00,2.05,0.00,0.000,6,0.000,0.020,2600,1931,3441,0,0,0,0,0,0
$GC,743,-0.56,-146.0,151.0,-17.7,116,751,0.00,1.98,0.00,0.000,4,0.000,0.032,2593,3261,3441,0,0,0,0,0,0
$GC,787,-0.56,-146.0,158.9,-16.0,123,796,0.00,1.83,0.00,0.000,6,0.000,0.018,2593,1969,3441,0,0,0,0,0,0
$GC,864,-0.56,-146.0,168.3,-12.1,136,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1968,3441,0,0,0,0,0,0
$GC,938,-0.56,-146.0,177.4,-13.1,149,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1968,3441,0,0,0,0,0,0
$GC,1014,-0.56,-146.0,188.9,-15.4,162,1022,0.00,1.92,0.00,0.000,4,0.000,0.031,2588,3256,3441,0,0,0,0,0,0
$GC,1069,-0.56,-146.0,197.0,-13.9,171,1080,0.00,1.67,0.00,0.000,6,0.000,0.017,2587,2050,3441,0,0,0,0,0,0
$GC,1148,-0.56,-146.0,208.2,-14.5,179,1152,0.10,2.22,0.00,0.000,4,0.174,0.028,2613,520,3441,0,0,0,0,0,0
$GC,1212,-0.56,-146.0,217.6,-12.8,184,1221,0.00,2.10,0.00,0.000,6,0.000,0.020,2606,1977,3441,0,0,0,0,0,0
$GC,1543,-0.56,-146.0,247.4,-8.7,215,1547,0.00,2.12,0.00,0.000,4,0.000,0.026,2606,516,3441,0,0,0,0,0,0
$GC,1639,-0.56,-146.0,256.4,-9.7,223,1643,0.00,2.10,0.00,0.000,6,0.000,0.020,2603,1986,3441,0,0,0,0,0,0
$GC,1969,-0.56,-146.0,286.9,-9.9,253,1972,0.00,1.88,0.00,0.000,4,0.000,0.034,2600,3267,3439,0,0,0,0,0,0
$GC,2061,-0.56,-146.0,296.4,-9.1,261,2069,0.00,1.75,0.00,0.000,6,0.000,0.018,2600,2006,3438,0,0,0,0,0,0
$GC,2389,-0.56,-146.0,326.7,-9.3,292,2393,0.00,2.15,0.00,0.000,4,0.000,0.028,2600,518,3436,0,0,0,0,0,0
$GC,2554,-0.56,-146.0,341.8,-9.2,306,2557,0.00,2.08,0.00,0.000,6,0.000,0.021,2600,1960,3434,0,0,0,0,0,0
$GC,2885,-0.56,-146.0,367.5,-7.5,337,2889,0.00,1.92,0.00,0.000,4,0.000,0.034,2600,3267,3432,0,0,0,0,0,0
$GC,2913,-0.56,-146.0,369.8,-7.6,339,2920,0.00,1.83,0.00,0.000,6,0.000,0.018,2600,1957,3431,0,0,0,0,0,0
$GC,3241,-0.56,-146.0,393.8,-7.5,370,3245,0.00,2.10,0.00,0.000,4,0.000,0.030,2601,515,3429,0,0,0,0,0,0
$GC,3303,-0.56,-146.0,399.4,-8.7,375,3307,0.00,2.08,0.00,0.000,6,0.000,0.021,2600,1950,3429,0,0,0,0,0,0
$GC,3637,-0.56,-146.0,426.4,-8.3,406,3641,0.00,1.95,0.00,0.000,4,0.000,0.035,2600,3254,3425,0,0,0,0,0,0
$GC,3795,-0.56,-146.0,439.7,-8.3,420,3799,0.00,1.75,0.00,0.000,6,0.000,0.020,2600,2010,3424,0,0,0,0,0,0
$GC,4126,-0.56,-146.0,467.7,-7.9,451,4130,0.00,2.17,0.00,0.000,4,0.000,0.030,2600,521,3422,0,0,0,0,0,0
$GC,4222,-0.56,-146.0,476.4,-9.1,459,4226,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1970,3421,0,0,0,0,0,0
$GC,4557,-0.56,-146.0,503.9,-8.3,488,4562,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3253,3418,0,0,0,0,0,0
$GC,4662,-0.56,-146.0,511.7,-7.0,492,4669,0.00,1.67,0.00,0.000,6,0.000,0.020,2601,2046,3418,0,0,0,0,0,0
$GC,4980,-0.56,-146.0,531.5,-6.3,508,4984,0.00,2.22,0.00,0.000,4,0.000,0.029,2600,524,3416,0,0,0,0,0,0
$GC,5045,-0.56,-146.0,536.2,-7.5,511,5049,0.00,2.15,0.00,0.000,6,0.000,0.023,2600,2000,3415,0,0,0,0,0,0
$GC,5373,-0.56,-146.0,562.3,-7.9,527,5377,0.00,1.88,0.00,0.000,4,0.000,0.037,2600,3263,3413,0,0,0,0,0,0
$GC,5413,-0.56,-146.0,565.4,-7.9,528,5420,0.00,1.73,0.00,0.000,6,0.000,0.020,2600,2025,3413,0,0,0,0,0,0
$GC,5729,-0.56,-146.0,587.9,-7.0,544,5734,0.00,2.22,0.00,0.000,4,0.000,0.030,2600,524,3411,0,0,0,0,0,0
$GC,5762,-0.56,-146.0,590.6,-7.1,545,5766,0.00,2.15,0.00,0.000,6,0.000,0.023,2600,1998,3411,0,0,0,0,0,0
$GC,6080,-0.56,-146.0,614.4,-7.7,560,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1998,3408,0,0,0,0,0,0
$GC,6388,-0.56,-146.0,637.1,-7.4,575,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1998,3407,0,0,0,0,0,0
$GC,6699,-0.56,-146.0,660.7,-7.8,590,6704,0.00,1.90,0.00,0.000,4,0.000,0.038,2600,3254,3405,0,0,0,0,0,0
$GC,6727,-0.56,-146.0,663.1,-7.7,591,6731,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,2000,3405,0,0,0,0,0,0
$GC,7056,-0.56,-146.0,684.5,-6.3,607,7060,0.00,2.17,0.00,0.000,4,0.000,0.029,2600,517,3403,0,0,0,0,0,0
$GC,7143,-0.56,-146.0,690.8,-7.6,611,7146,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1953,3403,0,0,0,0,0,0
$GC,7480,-0.56,-146.0,713.5,-7.4,627,7484,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3256,3401,0,0,0,0,0,0
$GC,7650,-0.56,-146.0,726.2,-7.1,634,7655,0.00,1.77,0.00,0.000,6,0.000,0.021,2600,2019,3399,0,0,0,0,0,0
$GC,7972,-0.56,-146.0,747.6,-6.4,650,7976,0.00,2.20,0.00,0.000,4,0.000,0.030,2600,524,3398,0,0,0,0,0,0
$GC,8007,-0.56,-146.0,750.0,-6.4,651,8014,0.00,2.15,0.00,0.000,6,0.000,0.024,2600,1986,3398,0,0,0,0,0,0
$GC,8323,-0.56,-146.0,771.4,-6.9,667,8327,0.00,1.90,0.00,0.000,4,0.000,0.039,2600,3264,3397,0,0,0,0,0,0
$GC,8386,-0.56,-146.0,775.8,-7.0,669,8394,0.00,1.75,0.00,0.000,6,0.000,0.020,2600,2023,3397,0,0,0,0,0,0
$GC,8704,-0.56,-146.0,789.9,-3.0,685,8708,0.00,1.85,0.00,0.000,4,0.000,0.039,2600,3254,3396,0,0,0,0,0,0
$GC,8720,-0.56,-146.0,789.9,-2.9,685,8728,0.00,1.73,0.00,0.000,6,0.000,0.021,2600,2031,3396,0,0,0,0,0,0
$GC,9037,-0.56,-146.0,790.4,-1.0,701,9041,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,517,3395,0,0,0,0,0,0
$STATE,9177,end dive,NO_VERTICAL_VELOCITY
$STATE,9177,begin apogee
$GC,9185,-0.20,0.0,790.7,0.0,707,9303,0.38,0.00,110.07,1.261,4,0.097,0.000,2735,2065,2838,0,0,0,0,0,0
$STATE,9304,end apogee,CONTROL_FINISHED_OK
$STATE,9304,begin climb
$GC,9306,0.56,146.0,790.4,0.0,712,9436,0.70,2.25,121.25,1.214,4,0.072,0.039,2980,3472,2243,0,0,0,0,0,0
$GC,9560,0.56,146.0,769.2,11.6,724,9564,0.00,2.08,0.00,0.000,6,0.000,0.020,2989,2105,2233,0,0,0,0,0,0
$GC,9882,0.56,146.0,732.7,11.6,740,9887,0.00,2.15,0.00,0.000,4,0.000,0.033,2997,698,2231,0,0,0,0,0,0
$GC,9996,0.56,146.0,719.1,12.1,745,10000,0.00,2.00,0.00,0.000,6,0.000,0.024,2998,2040,2230,0,0,0,0,0,0
$GC,10329,0.56,146.0,682.3,10.8,761,10333,0.00,2.20,0.00,0.000,4,0.000,0.038,2998,3466,2228,0,0,0,0,0,0
$GC,10388,0.56,146.0,675.1,12.2,763,10396,0.00,2.12,0.00,0.000,6,0.000,0.021,3007,2019,2227,0,0,0,0,0,0
$GC,10706,0.56,146.0,641.2,10.8,779,10710,0.00,1.98,0.00,0.000,4,0.000,0.033,3017,690,2226,0,0,0,0,0,0
$GC,10762,0.56,146.0,634.4,11.4,781,10767,0.10,1.98,0.00,0.000,6,0.140,0.023,2985,2025,2226,0,0,0,0,0,0
$GC,11084,0.56,146.0,602.7,10.1,797,11087,0.00,2.00,0.00,0.000,4,0.000,0.031,2991,688,2226,0,0,0,0,0,0
$GC,11145,0.56,146.0,596.0,10.9,799,11152,0.00,1.90,0.00,0.000,6,0.000,0.022,2991,1964,2226,0,0,0,0,0,0
$GC,11461,0.56,146.0,563.0,10.7,815,11466,0.00,2.28,0.00,0.000,4,0.000,0.038,2991,3449,2225,0,0,0,0,0,0
$GC,11545,0.56,146.0,552.5,12.5,818,11552,0.00,2.12,0.00,0.000,6,0.000,0.021,3001,1992,2225,0,0,0,0,0,0
$GC,11862,0.56,146.0,516.0,11.0,834,11866,0.00,1.95,0.00,0.000,4,0.000,0.034,3011,697,2225,0,0,0,0,0,0
$GC,11964,0.56,146.0,504.8,10.2,838,11967,0.00,1.92,0.00,0.000,6,0.000,0.022,3011,2012,2225,0,0,0,0,0,0
$GC,12293,0.56,146.0,468.7,11.1,867,12297,0.00,2.17,0.00,0.000,4,0.000,0.038,3011,3453,2224,0,0,0,0,0,0
$GC,12351,0.56,146.0,461.7,12.7,871,12359,0.12,2.05,0.00,0.000,6,0.167,0.020,2987,2040,2224,0,0,0,0,0,0
$GC,12677,0.56,146.0,430.3,8.5,902,12681,0.00,1.98,0.00,0.000,4,0.000,0.033,2995,694,2224,0,0,0,0,0,0
$GC,12826,0.56,146.0,417.7,8.7,915,12830,0.00,1.85,0.00,0.000,6,0.000,0.021,2995,1973,2224,0,0,0,0,0,0
$GC,13157,0.56,146.0,390.6,8.5,946,13162,0.00,2.25,0.00,0.000,4,0.000,0.037,2995,3449,2224,0,0,0,0,0,0
$GC,13199,0.56,146.0,387.1,8.3,949,13207,0.00,2.12,0.00,0.000,6,0.000,0.020,3005,1982,2223,0,0,0,0,0,0
$GC,13524,0.56,146.0,355.8,10.0,980,13528,0.00,1.90,0.00,0.000,4,0.000,0.032,3015,693,2223,0,0,0,0,0,0
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$STATE,17697,end climb,SURFACE_DEPTH_REACHED
$STATE,17697,begin surface coast
$FINISH,0.9,1.003760
$STATE,17730,end surface coast,CONTROL_FINISHED_OK
$STATE,17730,begin surface
$SM_CCo,17810,0.00,0.000,0,0,631,541.38
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$TT8_MAMPS,0.027713,0.027713
$HUMID,34.05
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.70
$XPDR_PINGS,26
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$10V_AH,10.1,32.652
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.400,194.175,551.425,0.000,0.000,30.357,24.354,329.681,6.500,0.000,16.066,3891.197,9051.178,707.647,3774.203,962.877,0.000,2388.105,0.000,3673.245,0.000,0.542,0.000
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$SENSOR_SECS,1041.651,1225.908,1651.488,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324140
$DATA_FILE_SIZE,90372,1534
$CAP_FILE_SIZE,213821,0
$CFSIZE,260165632,123109376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,332.2,1
$GPS,240711,140007,1832.038,12223.074,42,1.0,43,-2.0