version: 66.09
glider: 167
mission: 8
dive: 217
start: 7 27 111 5 41 38
data:
$ID,167
$MISSION,8
$DIVE,217
$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,280
$T_MISSION,340
$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,225
$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,8
$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,-56660.066
$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,73
$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
$GPS1,270711,053306,1855.349,12220.856,37,1.8,43,-2.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-54.6
$GPS2,270711,054116,1855.601,12220.729,15,99.0,34,-2.1
$SPEED_LIMITS,0.204,0.330
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,76.1,254107,-17.0,-11.786
$D_GRID,1737
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.69,-219.0,0.0,0.0,0,110,0.00,0.00,-87.25,0.000,2,0.000,0.000,108,1921,3204,0,0,0,0,0,0
$GC,114,-0.69,-219.0,6.3,-10.6,11,139,10.02,2.05,-8.32,0.000,4,0.236,0.039,2560,3285,3736,0,0,0,0,0,0
$GC,189,-0.69,-219.0,42.4,-35.2,23,197,0.00,2.05,0.00,0.000,6,0.000,0.018,2560,1882,3738,0,0,0,0,0,0
$GC,264,-0.69,-219.0,69.7,-32.7,36,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1880,3737,0,0,0,0,0,0
$GC,340,-0.69,-219.0,95.1,-32.4,49,349,0.00,2.10,0.00,0.000,4,0.000,0.031,2549,3268,3738,0,0,0,0,0,0
$GC,394,-0.69,-219.0,110.7,-25.9,58,402,0.00,2.05,0.00,0.000,6,0.000,0.022,2549,1852,3738,0,0,0,0,0,0
$GC,470,-0.69,-219.0,131.6,-30.7,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1852,3739,0,0,0,0,0,0
$GC,545,-0.69,-219.0,150.7,-24.1,84,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1851,3739,0,0,0,0,0,0
$GC,618,-0.69,-219.0,169.9,-25.3,97,626,0.00,2.12,0.00,0.000,4,0.000,0.031,2545,3261,3739,0,0,0,0,0,0
$GC,672,-0.69,-219.0,181.9,-22.0,106,680,0.00,1.77,0.00,0.000,6,0.000,0.017,2545,2007,3740,0,0,0,0,0,0
$GC,751,-0.69,-219.0,198.2,-19.1,119,760,0.10,2.22,0.00,0.000,4,0.193,0.028,2568,485,3740,0,0,0,0,0,0
$GC,782,-0.69,-219.0,204.6,-18.6,122,791,0.00,2.17,0.00,0.000,6,0.000,0.021,2561,1968,3740,0,0,0,0,0,0
$GC,1112,-0.69,-219.0,260.4,-16.2,153,1117,0.00,1.92,0.00,0.000,4,0.000,0.035,2560,3256,3741,0,0,0,0,0,0
$GC,1189,-0.69,-219.0,273.7,-15.4,160,1192,0.00,1.77,0.00,0.000,6,0.000,0.018,2560,1966,3740,0,0,0,0,0,0
$GC,1519,-0.69,-219.0,324.7,-14.3,191,1523,0.00,1.92,0.00,0.000,4,0.000,0.034,2560,3261,3739,0,0,0,0,0,0
$GC,1565,-0.69,-219.0,331.3,-14.8,195,1569,0.00,1.80,0.00,0.000,6,0.000,0.018,2560,1961,3739,0,0,0,0,0,0
$GC,1897,-0.69,-219.0,377.9,-12.2,226,1901,0.00,1.95,0.00,0.000,4,0.000,0.035,2560,3266,3737,0,0,0,0,0,0
$GC,1932,-0.69,-219.0,382.3,-12.5,229,1935,0.00,1.75,0.00,0.000,6,0.000,0.018,2560,1997,3737,0,0,0,0,0,0
$GC,2265,-0.69,-219.0,423.5,-12.8,260,2269,0.00,1.95,0.00,0.000,4,0.000,0.035,2561,3264,3734,0,0,0,0,0,0
$GC,2314,-0.69,-219.0,430.1,-12.1,264,2321,0.00,1.77,0.00,0.000,6,0.000,0.018,2560,2004,3734,0,0,0,0,0,0
$GC,2640,-0.69,-219.0,467.2,-11.4,295,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2003,3731,0,0,0,0,0,0
$GC,2971,-0.69,-219.0,506.1,-12.4,324,2975,0.00,1.95,0.00,0.000,4,0.000,0.037,2560,3264,3728,0,0,0,0,0,0
$GC,3017,-0.69,-219.0,511.8,-11.7,326,3022,0.00,1.77,0.00,0.000,6,0.000,0.020,2560,2014,3727,0,0,0,0,0,0
$GC,3352,-0.69,-219.0,549.4,-11.0,342,3356,0.00,2.22,0.00,0.000,4,0.000,0.029,2561,488,3724,0,0,0,0,0,0
$GC,3407,-0.69,-219.0,556.0,-11.1,344,3414,0.00,2.22,0.00,0.000,6,0.000,0.022,2560,2017,3724,0,0,0,0,0,0
$GC,3724,-0.69,-219.0,591.5,-11.1,360,3727,0.00,1.85,0.00,0.000,4,0.000,0.037,2561,3260,3721,0,0,0,0,0,0
$GC,3842,-0.69,-219.0,604.3,-10.5,365,3847,0.00,1.75,0.00,0.000,6,0.000,0.020,2560,2038,3720,0,0,0,0,0,0
$GC,4169,-0.69,-219.0,636.9,-9.8,381,4173,0.00,1.85,0.00,0.000,4,0.000,0.037,2560,3260,3717,0,0,0,0,0,0
$GC,4209,-0.69,-219.0,641.1,-10.5,382,4215,0.00,1.70,0.00,0.000,6,0.000,0.020,2561,2028,3716,0,0,0,0,0,0
$GC,4526,-0.69,-219.0,673.8,-10.6,398,4530,0.00,2.25,0.00,0.000,4,0.000,0.030,2560,494,3714,0,0,0,0,0,0
$GC,4553,-0.69,-219.0,677.1,-10.6,399,4557,0.00,2.28,0.00,0.000,6,0.000,0.024,2560,2051,3714,0,0,0,0,0,0
$GC,4871,-0.69,-219.0,709.2,-9.8,414,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2051,3711,0,0,0,0,0,0
$GC,5179,-0.69,-219.0,738.0,-8.9,429,5183,0.00,1.83,0.00,0.000,4,0.000,0.040,2561,3252,3708,0,0,0,0,0,0
$GC,5230,-0.69,-219.0,742.3,-8.3,431,5234,0.00,1.67,0.00,0.000,6,0.000,0.020,2560,2047,3709,0,0,0,0,0,0
$GC,5557,-0.69,-219.0,769.8,-8.3,447,5562,0.00,2.28,0.00,0.000,4,0.000,0.029,2560,500,3706,0,0,0,0,0,0
$GC,5602,-0.69,-219.0,773.8,-8.8,449,5606,0.00,2.30,0.00,0.000,6,0.000,0.024,2560,2053,3705,0,0,0,0,0,0
$GC,5926,-0.69,-219.0,800.3,-8.6,465,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2053,3703,0,0,0,0,0,0
$GC,6233,-0.69,-219.0,829.5,-9.4,480,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2053,3701,0,0,0,0,0,0
$GC,6544,-0.69,-219.0,856.8,-8.5,495,6548,0.00,2.33,0.00,0.000,4,0.000,0.029,2560,493,3699,0,0,0,0,0,0
$GC,6571,-0.69,-219.0,859.4,-8.4,496,6575,0.00,2.30,0.00,0.000,6,0.000,0.024,2561,2045,3699,0,0,0,0,0,0
$GC,6888,-0.69,-219.0,885.0,-7.8,511,6891,0.00,1.80,0.00,0.000,4,0.000,0.040,2560,3256,3698,0,0,0,0,0,0
$GC,6939,-0.69,-219.0,888.9,-7.4,513,6944,0.00,1.70,0.00,0.000,6,0.000,0.020,2560,2071,3697,0,0,0,0,0,0
$GC,7266,-0.69,-219.0,913.4,-7.1,529,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2069,3696,0,0,0,0,0,0
$GC,7575,-0.69,-219.0,933.7,-6.7,544,7579,0.00,1.80,0.00,0.000,4,0.000,0.038,2560,3257,3694,0,0,0,0,0,0
$GC,7604,-0.69,-219.0,936.2,-6.9,545,7608,0.00,1.67,0.00,0.000,6,0.000,0.020,2560,2069,3694,0,0,0,0,0,0
$GC,7932,-0.69,-219.0,961.0,-8.0,561,7937,0.00,1.85,0.00,0.000,4,0.000,0.041,2560,3255,3693,0,0,0,0,0,0
$GC,7965,-0.69,-219.0,963.8,-8.3,562,7968,0.00,1.65,0.00,0.000,6,0.000,0.020,2560,2105,3692,0,0,0,0,0,0
$STATE,8285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8286,begin apogee
$GC,8293,-0.20,0.0,990.8,8.1,578,8473,0.52,0.00,172.88,1.384,4,0.123,0.000,2732,2100,2838,0,0,0,0,0,0
$STATE,8473,end apogee,CONTROL_FINISHED_OK
$STATE,8474,begin climb
$GC,8477,0.69,219.0,996.3,0.0,586,8673,0.82,0.00,190.05,1.326,6,0.076,0.000,3019,2100,1945,0,0,0,0,0,0
$GC,8984,0.69,219.0,934.1,14.2,610,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2100,1936,0,0,0,0,0,0
$GC,9292,0.69,219.0,890.3,14.1,625,9297,0.00,2.15,0.00,0.000,4,0.000,0.032,3028,695,1934,0,0,0,0,0,0
$GC,9317,0.69,219.0,887.0,14.0,626,9321,0.00,2.05,0.00,0.000,6,0.000,0.023,3028,2061,1934,0,0,0,0,0,0
$GC,9645,0.69,219.0,841.5,13.7,642,9649,0.00,2.15,0.00,0.000,4,0.000,0.038,3028,3468,1933,0,0,0,0,0,0
$GC,9663,0.69,219.0,838.6,14.1,643,9667,0.00,2.08,0.00,0.000,6,0.000,0.021,3037,2061,1932,0,0,0,0,0,0
$GC,9992,0.69,219.0,790.0,14.5,659,9995,0.00,2.03,0.00,0.000,4,0.000,0.034,3048,694,1932,0,0,0,0,0,0
$GC,10092,0.69,219.0,774.7,14.7,663,10096,0.00,2.00,0.00,0.000,6,0.000,0.024,3047,2030,1932,0,0,0,0,0,0
$GC,10415,0.69,219.0,726.8,14.9,679,10420,0.00,2.20,0.00,0.000,4,0.000,0.039,3048,3460,1931,0,0,0,0,0,0
$GC,10447,0.69,219.0,721.2,15.7,680,10452,0.12,2.08,0.00,0.000,6,0.177,0.021,3026,2027,1930,0,0,0,0,0,0
$GC,10769,0.69,219.0,679.7,13.2,696,10773,0.00,2.00,0.00,0.000,4,0.000,0.032,3034,685,1930,0,0,0,0,0,0
$GC,10871,0.69,219.0,665.2,14.3,700,10875,0.00,1.92,0.00,0.000,6,0.000,0.023,3034,2006,1930,0,0,0,0,0,0
$GC,11193,0.69,219.0,618.1,14.9,716,11197,0.00,2.20,0.00,0.000,4,0.000,0.038,3034,3468,1930,0,0,0,0,0,0
$GC,11335,0.69,219.0,595.8,15.7,722,11339,0.00,2.12,0.00,0.000,6,0.000,0.021,3044,2038,1929,0,0,0,0,0,0
$GC,11656,0.69,219.0,546.3,15.2,738,11660,0.00,2.03,0.00,0.000,4,0.000,0.034,3054,681,1929,0,0,0,0,0,0
$GC,11733,0.69,219.0,534.8,14.3,741,11737,0.00,1.92,0.00,0.000,6,0.000,0.023,3054,1974,1930,0,0,0,0,0,0
$GC,12059,0.69,219.0,488.8,14.2,760,12063,0.00,2.28,0.00,0.000,4,0.000,0.037,3053,3461,1930,0,0,0,0,0,0
$GC,12098,0.69,219.0,482.5,15.8,763,12106,0.15,2.17,0.00,0.000,6,0.171,0.021,3023,1970,1929,0,0,0,0,0,0
$GC,12424,0.69,219.0,441.3,12.8,794,12428,0.00,1.88,0.00,0.000,4,0.000,0.033,3031,687,1929,0,0,0,0,0,0
$GC,12541,0.69,219.0,425.8,12.9,804,12548,0.00,1.83,0.00,0.000,6,0.000,0.021,3031,1923,1929,0,0,0,0,0,0
$GC,12867,0.69,219.0,382.4,13.0,835,12871,0.00,2.33,0.00,0.000,4,0.000,0.037,3031,3470,1929,0,0,0,0,0,0
$GC,12922,0.69,219.0,374.6,13.8,839,12932,0.00,2.28,0.00,0.000,6,0.000,0.021,3039,1920,1928,0,0,0,0,0,0
$GC,13249,0.71,234.7,334.4,11.2,870,13268,0.00,0.00,12.02,0.877,6,0.000,0.000,3040,1921,1881,0,0,0,0,0,0
$GC,13587,0.73,248.8,295.2,11.3,902,13605,0.00,1.83,13.32,0.847,4,0.000,0.032,3049,688,1824,0,0,0,0,0,0
$GC,13644,0.73,251.3,289.1,11.7,906,13647,0.00,1.85,0.00,0.000,6,0.000,0.021,3049,1948,1823,0,0,0,0,0,0
$GC,13977,0.77,284.0,250.2,10.6,937,14014,0.00,2.33,30.10,0.834,4,0.000,0.034,3049,3469,1679,0,0,0,0,0,0
$GC,14087,0.77,284.0,236.1,12.6,946,14095,0.00,2.30,0.00,0.000,6,0.000,0.020,3059,1943,1676,0,0,0,0,0,0
$GC,14417,0.78,286.0,195.6,11.7,980,14425,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1943,1674,0,0,0,0,0,0
$GC,14492,0.80,304.6,187.0,11.1,993,14515,0.00,2.33,16.88,0.750,4,0.000,0.032,3059,3466,1597,0,0,0,0,0,0
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$STATE,16037,end climb,SURFACE_DEPTH_REACHED
$STATE,16037,begin surface coast
$FINISH,1.0,1.008038
$STATE,16054,end surface coast,CONTROL_FINISHED_OK
$STATE,16054,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,35.66
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,28.20
$XPDR_PINGS,18
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$10V_AH,10.1,35.744
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.775,162.225,663.675,0.000,0.000,29.886,23.869,251.528,4.500,0.000,36.647,3112.419,9095.250,715.435,2925.477,755.224,0.000,2123.731,0.000,2832.836,0.000,0.543,0.000
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$SENSOR_SECS,843.911,975.369,1146.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324084
$DATA_FILE_SIZE,73630,1244
$CAP_FILE_SIZE,178350,0
$CFSIZE,260165632,121380864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,328.3,1
$GPS,270711,101136,1857.323,12222.771,27,1.4,28,-2.1