version: 66.09
glider: 167
mission: 8
dive: 248
start: 8 3 111 2 21 33
data:
$ID,167
$MISSION,8
$DIVE,248
$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,340
$T_MISSION,380
$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,200
$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,-56699.164
$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,68
$R_STBD_OVSHOOT,62
$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
$GPS1,030811,021207,1916.728,12308.301,25,1.3,26,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-66.9
$GPS2,030811,022107,1916.679,12308.153,36,1.2,36,-2.3
$SPEED_LIMITS,0.168,0.293
$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,82.3,165076,-15.3,-9.706
$D_GRID,4663
$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,-0.62,-194.6,0.0,0.0,0,114,0.00,0.00,-94.00,0.000,2,0.000,0.000,110,1896,3283,0,0,0,0,0,0
$GC,117,-0.62,-194.6,6.3,-10.5,12,142,10.10,2.08,-5.47,0.000,4,0.236,0.036,2602,458,3635,0,0,0,0,0,0
$GC,253,-0.62,-194.6,58.7,-26.7,35,261,0.00,2.08,0.00,0.000,6,0.000,0.020,2595,1881,3637,0,0,0,0,0,0
$GC,330,-0.62,-194.6,78.7,-20.9,48,337,0.00,2.08,0.00,0.000,4,0.000,0.024,2595,477,3637,0,0,0,0,0,0
$GC,354,-0.62,-194.6,83.8,-21.1,51,361,0.00,1.92,0.00,0.000,6,0.000,0.025,2587,1789,3637,0,0,0,0,0,0
$GC,435,-0.62,-194.6,97.9,-18.5,64,442,0.00,2.20,0.00,0.000,4,0.000,0.032,2577,3260,3637,0,0,0,0,0,0
$GC,486,-0.62,-194.6,109.1,-21.7,72,494,0.00,2.08,0.00,0.000,6,0.000,0.018,2577,1810,3638,0,0,0,0,0,0
$GC,562,-0.62,-194.6,123.4,-17.8,85,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1810,3638,0,0,0,0,0,0
$GC,634,-0.62,-194.6,138.4,-21.9,98,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1810,3638,0,0,0,0,0,0
$GC,710,-0.62,-194.6,150.8,-15.9,111,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1810,3639,0,0,0,0,0,0
$GC,787,-0.62,-194.6,164.2,-17.4,124,795,0.00,2.17,0.00,0.000,4,0.000,0.030,2567,3265,3639,0,0,0,0,0,0
$GC,831,-0.62,-194.6,171.8,-18.0,131,840,0.08,1.92,0.00,0.000,6,0.154,0.017,2592,1887,3639,0,0,0,0,0,0
$GC,909,-0.62,-194.6,183.2,-13.3,144,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1887,3639,0,0,0,0,0,0
$GC,986,-0.62,-194.6,195.6,-16.3,157,995,0.00,2.00,0.00,0.000,4,0.000,0.027,2592,517,3639,0,0,0,0,0,0
$GC,1024,-0.62,-194.6,202.1,-16.1,162,1029,0.00,2.10,0.00,0.000,6,0.000,0.021,2588,1956,3639,0,0,0,0,0,0
$GC,1357,-0.62,-194.6,249.5,-13.0,193,1361,0.00,1.90,0.00,0.000,4,0.000,0.034,2587,3266,3639,0,0,0,0,0,0
$GC,1405,-0.62,-194.6,256.1,-13.7,197,1410,0.00,1.75,0.00,0.000,6,0.000,0.017,2587,2008,3638,0,0,0,0,0,0
$GC,1735,-0.62,-194.6,300.8,-13.4,228,1740,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,517,3637,0,0,0,0,0,0
$GC,1792,-0.62,-194.6,308.3,-12.9,233,1796,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,2010,3637,0,0,0,0,0,0
$GC,2118,-0.62,-194.6,348.6,-11.5,263,2121,0.00,1.88,0.00,0.000,4,0.000,0.035,2587,3271,3635,0,0,0,0,0,0
$GC,2178,-0.62,-194.6,355.0,-10.0,268,2185,0.00,1.73,0.00,0.000,6,0.000,0.018,2587,2023,3635,0,0,0,0,0,0
$GC,2504,-0.62,-194.6,391.6,-12.0,299,2509,0.00,2.20,0.00,0.000,4,0.000,0.028,2587,520,3633,0,0,0,0,0,0
$GC,2628,-0.62,-194.6,406.1,-11.2,310,2632,0.00,2.12,0.00,0.000,6,0.000,0.021,2586,1973,3632,0,0,0,0,0,0
$GC,2958,-0.62,-194.6,444.8,-11.8,341,2962,0.00,1.88,0.00,0.000,4,0.000,0.034,2586,3264,3630,0,0,0,0,0,0
$GC,3060,-0.62,-194.6,456.4,-11.4,350,3064,0.00,1.73,0.00,0.000,6,0.000,0.018,2586,2014,3630,0,0,0,0,0,0
$GC,3391,-0.62,-194.6,494.5,-10.7,381,3395,0.00,2.17,0.00,0.000,4,0.000,0.028,2586,517,3627,0,0,0,0,0,0
$GC,3462,-0.62,-194.6,502.5,-11.0,386,3466,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,2012,3627,0,0,0,0,0,0
$GC,3784,-0.62,-194.6,531.8,-7.9,402,3788,0.00,2.20,0.00,0.000,4,0.000,0.028,2586,518,3625,0,0,0,0,0,0
$GC,3825,-0.62,-194.6,535.2,-8.3,404,3829,0.00,2.12,0.00,0.000,6,0.000,0.021,2586,1997,3625,0,0,0,0,0,0
$GC,4153,-0.62,-194.6,562.4,-8.8,420,4156,0.00,1.88,0.00,0.000,4,0.000,0.036,2586,3263,3622,0,0,0,0,0,0
$GC,4246,-0.62,-194.6,570.1,-8.4,424,4249,0.00,1.70,0.00,0.000,6,0.000,0.019,2586,2017,3621,0,0,0,0,0,0
$GC,4579,-0.62,-194.6,599.9,-8.7,440,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2016,3619,0,0,0,0,0,0
$GC,4889,-0.62,-194.6,627.8,-9.2,455,4892,0.00,1.88,0.00,0.000,4,0.000,0.036,2586,3263,3616,0,0,0,0,0,0
$GC,4927,-0.62,-194.6,631.3,-9.1,456,4934,0.00,1.67,0.00,0.000,6,0.000,0.020,2586,2059,3616,0,0,0,0,0,0
$GC,5244,-0.62,-194.6,655.8,-7.7,472,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2058,3614,0,0,0,0,0,0
$GC,5555,-0.62,-194.6,678.2,-7.3,487,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2057,3612,0,0,0,0,0,0
$GC,5862,-0.62,-194.6,699.1,-6.4,502,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2057,3609,0,0,0,0,0,0
$GC,6171,-0.62,-194.6,718.0,-6.2,517,6176,0.00,1.85,0.00,0.000,4,0.000,0.037,2586,3263,3607,0,0,0,0,0,0
$GC,6219,-0.62,-194.6,720.9,-6.4,519,6224,0.00,1.73,0.00,0.000,6,0.000,0.021,2586,2051,3607,0,0,0,0,0,0
$GC,6553,-0.62,-194.6,745.5,-7.7,535,6556,0.00,1.83,0.00,0.000,4,0.000,0.037,2587,3268,3604,0,0,0,0,0,0
$GC,6580,-0.62,-194.6,747.9,-7.9,536,6584,0.00,1.70,0.00,0.000,6,0.000,0.021,2586,2054,3604,0,0,0,0,0,0
$GC,6909,-0.62,-194.6,774.0,-7.8,552,6913,0.00,2.25,0.00,0.000,4,0.000,0.030,2586,526,3603,0,0,0,0,0,0
$GC,6937,-0.62,-194.6,776.6,-8.0,553,6941,0.00,2.22,0.00,0.000,6,0.000,0.024,2586,2048,3602,0,0,0,0,0,0
$GC,7255,-0.62,-194.6,800.5,-7.6,568,7258,0.00,1.80,0.00,0.000,4,0.000,0.039,2586,3263,3600,0,0,0,0,0,0
$GC,7301,-0.62,-194.6,804.2,-7.5,570,7306,0.00,1.67,0.00,0.000,6,0.000,0.021,2586,2098,3600,0,0,0,0,0,0
$GC,7633,-0.62,-194.6,828.5,-7.3,586,7638,0.00,2.33,0.00,0.000,4,0.000,0.031,2586,526,3598,0,0,0,0,0,0
$GC,7684,-0.62,-194.6,832.4,-7.8,588,7689,0.00,2.30,0.00,0.000,6,0.000,0.024,2586,2063,3598,0,0,0,0,0,0
$GC,8006,-0.62,-194.6,855.0,-6.9,604,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2063,3596,0,0,0,0,0,0
$GC,8315,-0.62,-194.6,875.9,-6.6,619,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2063,3595,0,0,0,0,0,0
$GC,8626,-0.62,-194.6,895.3,-6.3,634,8630,0.00,2.30,0.00,0.000,4,0.000,0.031,2586,526,3594,0,0,0,0,0,0
$GC,8688,-0.62,-194.6,899.7,-7.1,637,8693,0.00,2.28,0.00,0.000,6,0.000,0.024,2586,2046,3594,0,0,0,0,0,0
$GC,9023,-0.62,-194.6,920.4,-6.2,653,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2046,3593,0,0,0,0,0,0
$GC,9330,-0.62,-194.6,939.4,-6.0,668,9334,0.00,1.80,0.00,0.000,4,0.000,0.040,2586,3256,3591,0,0,0,0,0,0
$GC,9364,-0.62,-194.6,941.5,-6.0,669,9367,0.00,1.65,0.00,0.000,6,0.000,0.020,2586,2077,3591,0,0,0,0,0,0
$GC,9687,-0.62,-194.6,960.2,-5.8,685,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2075,3590,0,0,0,0,0,0
$GC,9995,-0.62,-194.6,979.1,-6.2,700,10000,0.00,2.33,0.00,0.000,4,0.000,0.031,2586,530,3589,0,0,0,0,0,0
$GC,10041,-0.62,-194.6,982.5,-6.8,702,10045,0.00,2.25,0.00,0.000,6,0.000,0.024,2586,2032,3589,0,0,0,0,0,0
$STATE,10164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10164,begin apogee
$GC,10172,-0.20,0.0,990.8,6.5,708,10330,0.43,0.00,153.68,1.405,4,0.122,0.000,2728,2032,2839,0,0,0,0,0,0
$STATE,10331,end apogee,CONTROL_FINISHED_OK
$STATE,10331,begin climb
$GC,10335,0.62,194.6,995.9,0.0,715,10512,0.82,2.30,170.02,1.346,4,0.083,0.039,3003,3452,2045,0,0,0,0,0,0
$GC,10670,0.62,194.6,959.1,12.9,731,10674,0.00,2.05,0.00,0.000,6,0.000,0.021,3012,2109,2036,0,0,0,0,0,0
$GC,11002,0.62,194.6,919.1,12.0,747,11007,0.00,2.10,0.00,0.000,4,0.000,0.037,3012,3447,2033,0,0,0,0,0,0
$GC,11126,0.62,194.6,903.0,13.1,752,11130,0.00,2.12,0.00,0.000,6,0.000,0.022,3021,2017,2033,0,0,0,0,0,0
$GC,11442,0.62,194.6,864.0,12.2,767,11446,0.00,2.00,0.00,0.000,4,0.000,0.034,3032,680,2032,0,0,0,0,0,0
$GC,11561,0.62,194.6,849.5,12.0,772,11565,0.12,1.90,0.00,0.000,6,0.155,0.024,2998,1976,2031,0,0,0,0,0,0
$GC,11887,0.62,194.6,812.7,11.6,788,11891,0.00,2.28,0.00,0.000,4,0.000,0.038,2998,3465,2030,0,0,0,0,0,0
$GC,11933,0.62,194.6,806.5,13.9,790,11937,0.00,2.20,0.00,0.000,6,0.000,0.022,3006,1991,2030,0,0,0,0,0,0
$GC,12259,0.62,194.6,763.3,13.1,806,12263,0.00,1.92,0.00,0.000,4,0.000,0.035,3016,684,2030,0,0,0,0,0,0
$GC,12292,0.62,194.6,758.8,12.9,807,12296,0.00,1.92,0.00,0.000,6,0.000,0.024,3016,1970,2030,0,0,0,0,0,0
$GC,12616,0.62,194.6,717.8,12.5,823,12620,0.00,2.25,0.00,0.000,4,0.000,0.038,3016,3461,2029,0,0,0,0,0,0
$GC,12716,0.62,194.6,704.1,13.3,827,12723,0.00,2.10,0.00,0.000,6,0.000,0.021,3026,2037,2029,0,0,0,0,0,0
$GC,13034,0.62,194.6,664.3,12.5,843,13038,0.00,2.03,0.00,0.000,4,0.000,0.035,3035,679,2029,0,0,0,0,0,0
$GC,13119,0.62,194.6,653.3,12.5,846,13126,0.12,1.92,0.00,0.000,6,0.152,0.023,3001,1984,2029,0,0,0,0,0,0
$GC,13435,0.62,194.6,615.9,12.7,862,13439,0.00,2.25,0.00,0.000,4,0.000,0.038,3001,3461,2028,0,0,0,0,0,0
$GC,13463,0.62,194.6,612.1,13.4,863,13467,0.00,2.15,0.00,0.000,6,0.000,0.021,3009,1992,2028,0,0,0,0,0,0
$GC,13779,0.62,194.6,571.9,12.3,878,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1992,2028,0,0,0,0,0,0
$GC,14089,0.62,194.9,539.4,9.7,893,14093,0.00,1.95,0.00,0.000,4,0.000,0.034,3018,681,2028,0,0,0,0,0,0
$GC,14163,0.65,217.8,532.4,8.9,896,14186,0.00,1.95,18.10,1.063,6,0.000,0.023,3019,2023,1950,0,0,0,0,0,0
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$STATE,19107,end climb,SURFACE_DEPTH_REACHED
$STATE,19107,begin surface coast
$FINISH,0.8,0.999277
$STATE,19145,end surface coast,CONTROL_FINISHED_OK
$STATE,19145,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,36.06
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,28.50
$XPDR_PINGS,41
$24V_AH,22.8,44.047
$10V_AH,9.9,40.656
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.175,187.725,607.275,0.000,0.000,28.449,19.486,289.676,10.250,0.000,37.841,3711.323,10942.598,721.257,3484.778,882.793,0.000,2335.090,0.000,3381.648,0.000,0.543,0.000
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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,329652
$DATA_FILE_SIZE,86881,1467
$CAP_FILE_SIZE,207011,0
$CFSIZE,260165632,118267904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,303.8,1
$GPS,030811,074307,1918.177,12309.332,31,1.0,32,-2.3