version: 66.09
glider: 167
mission: 8
dive: 435
start: 9 15 111 18 11 18
data:
$ID,167
$MISSION,8
$DIVE,435
$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,-5
$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,576.20972
$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,-133637.73
$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,86
$R_STBD_OVSHOOT,60
$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
$GPS1,150911,050536,1955.677,12120.712,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-67.0
$GPS2,150911,050536,1955.677,12120.712,901,99.0,901,-2.3
$SPEED_LIMITS,0.168,0.293
$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,182.9,184124,-15.3,-9.706
$D_GRID,3037
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-95.20,0.000,2,0.000,0.000,108,1865,3147,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.2,-12.0,14,145,10.18,2.17,-8.05,0.000,4,0.227,0.044,2581,3282,3635,0,0,0,0,0,0
$GC,229,-0.62,-194.6,43.7,-23.5,31,236,0.00,1.98,0.00,0.000,6,0.000,0.018,2581,1872,3636,0,0,0,0,0,0
$GC,374,-0.62,-194.6,75.6,-20.9,56,384,0.00,2.03,0.00,0.000,4,0.000,0.028,2581,482,3636,0,0,0,0,0,0
$GC,422,-0.62,-194.6,84.6,-19.3,63,429,0.00,1.98,0.00,0.000,6,0.000,0.020,2574,1879,3636,0,0,0,0,0,0
$GC,565,-0.62,-194.6,107.2,-16.4,88,575,0.00,2.05,0.00,0.000,4,0.000,0.032,2566,3267,3636,0,0,0,0,0,0
$GC,624,-0.62,-194.6,117.0,-17.1,97,632,0.08,1.92,0.00,0.000,6,0.150,0.017,2591,1892,3636,0,0,0,0,0,0
$GC,773,-0.62,-194.6,139.4,-15.9,122,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1892,3636,0,0,0,0,0,0
$GC,918,-0.62,-194.6,161.6,-14.8,147,924,0.00,2.03,0.00,0.000,4,0.000,0.031,2587,3267,3636,0,0,0,0,0,0
$GC,981,-0.62,-194.6,171.2,-13.8,158,988,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1960,3636,0,0,0,0,0,0
$GC,1130,-0.62,-194.6,189.8,-13.5,183,1137,0.00,2.10,0.00,0.000,4,0.000,0.027,2588,498,3636,0,0,0,0,0,0
$GC,1181,-0.62,-194.6,196.5,-12.8,191,1188,0.00,2.15,0.00,0.000,6,0.000,0.020,2587,2005,3636,0,0,0,0,0,0
$GC,1323,-0.62,-194.6,212.0,-10.7,207,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2005,3635,0,0,0,0,0,0
$GC,1647,-0.62,-194.6,247.7,-11.9,237,1651,0.00,1.85,0.00,0.000,4,0.000,0.035,2587,3265,3633,0,0,0,0,0,0
$GC,1739,-0.62,-194.6,259.4,-10.4,245,1743,0.00,1.65,0.00,0.000,6,0.000,0.017,2587,2036,3633,0,0,0,0,0,0
$GC,2071,-0.62,-194.6,292.1,-11.0,276,2075,0.00,2.20,0.00,0.000,4,0.000,0.026,2587,506,3631,0,0,0,0,0,0
$GC,2140,-0.62,-194.6,298.9,-9.5,281,2147,0.00,2.28,0.00,0.000,6,0.000,0.021,2587,2079,3630,0,0,0,0,0,0
$GC,2465,-0.62,-194.6,332.8,-11.4,312,2469,0.00,1.73,0.00,0.000,4,0.000,0.036,2587,3266,3628,0,0,0,0,0,0
$GC,2488,-0.62,-194.6,335.7,-11.6,314,2492,0.00,1.67,0.00,0.000,6,0.000,0.018,2587,2037,3628,0,0,0,0,0,0
$GC,2820,-0.62,-194.6,369.4,-8.7,345,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2037,3625,0,0,0,0,0,0
$GC,3144,-0.62,-194.6,393.4,-8.4,375,3148,0.00,2.20,0.00,0.000,4,0.000,0.029,2587,511,3623,0,0,0,0,0,0
$GC,3173,-0.62,-194.6,396.6,-8.7,377,3178,0.00,2.30,0.00,0.000,6,0.000,0.022,2587,2069,3622,0,0,0,0,0,0
$GC,3504,-0.62,-194.6,427.3,-9.6,408,3508,0.00,2.30,0.00,0.000,4,0.000,0.028,2587,507,3619,0,0,0,0,0,0
$GC,3559,-0.62,-194.6,432.8,-9.7,412,3567,0.00,2.30,0.00,0.000,6,0.000,0.021,2587,2082,3619,0,0,0,0,0,0
$GC,3885,-0.62,-194.6,461.9,-10.1,443,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2082,3616,0,0,0,0,0,0
$GC,4206,-0.62,-194.6,489.6,-8.0,473,4210,0.00,2.30,0.00,0.000,4,0.000,0.028,2587,515,3613,0,0,0,0,0,0
$GC,4269,-0.62,-194.6,494.7,-7.8,478,4274,0.00,2.30,0.00,0.000,6,0.000,0.023,2587,2065,3612,0,0,0,0,0,0
$GC,4593,-0.62,-194.6,521.5,-9.2,497,4597,0.00,2.30,0.00,0.000,4,0.000,0.029,2587,511,3609,0,0,0,0,0,0
$GC,4667,-0.62,-194.6,528.5,-9.3,500,4672,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2033,3609,0,0,0,0,0,0
$GC,4984,-0.62,-194.6,556.8,-8.6,515,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2033,3607,0,0,0,0,0,0
$GC,5293,-0.62,-194.6,578.7,-6.1,530,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2033,3604,0,0,0,0,0,0
$GC,5605,-0.62,-194.6,598.8,-6.3,545,5608,0.00,1.83,0.00,0.000,4,0.000,0.038,2587,3269,3602,0,0,0,0,0,0
$GC,5629,-0.62,-194.6,600.5,-6.7,546,5632,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2040,3602,0,0,0,0,0,0
$GC,5964,-0.62,-194.6,626.6,-8.4,562,5968,0.00,2.28,0.00,0.000,4,0.000,0.030,2587,511,3600,0,0,0,0,0,0
$GC,6009,-0.62,-194.6,630.6,-8.2,564,6014,0.00,2.25,0.00,0.000,6,0.000,0.022,2587,2029,3599,0,0,0,0,0,0
$GC,6342,-0.62,-194.6,658.8,-8.2,580,6346,0.00,1.85,0.00,0.000,4,0.000,0.038,2588,3265,3598,0,0,0,0,0,0
$GC,6377,-0.62,-194.6,661.6,-8.0,581,6381,0.00,1.67,0.00,0.000,6,0.000,0.019,2587,2042,3598,0,0,0,0,0,0
$GC,6699,-0.62,-194.6,689.6,-8.8,597,6704,0.00,2.28,0.00,0.000,4,0.000,0.029,2587,509,3596,0,0,0,0,0,0
$GC,6738,-0.62,-194.6,693.3,-9.2,598,6745,0.00,2.28,0.00,0.000,6,0.000,0.023,2587,2040,3596,0,0,0,0,0,0
$GC,7056,-0.62,-194.6,717.8,-7.0,614,7060,0.00,2.28,0.00,0.000,4,0.000,0.029,2587,509,3593,0,0,0,0,0,0
$GC,7085,-0.62,-194.6,719.8,-6.7,615,7089,0.00,2.25,0.00,0.000,6,0.000,0.023,2587,2036,3593,0,0,0,0,0,0
$GC,7403,-0.62,-194.6,736.7,-4.9,630,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2036,3592,0,0,0,0,0,0
$GC,7712,-0.62,-194.6,750.3,-4.6,645,7715,0.00,1.83,0.00,0.000,4,0.000,0.040,2587,3263,3591,0,0,0,0,0,0
$GC,7740,-0.62,-194.6,751.7,-4.4,646,7744,0.00,1.73,0.00,0.000,6,0.000,0.021,2587,2042,3591,0,0,0,0,0,0
$GC,8069,-0.62,-194.6,774.4,-8.2,662,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2041,3589,0,0,0,0,0,0
$GC,8377,-0.62,-194.6,800.4,-8.5,677,8382,0.00,1.88,0.00,0.000,4,0.000,0.039,2587,3257,3588,0,0,0,0,0,0
$GC,8410,-0.62,-194.6,803.6,-7.7,678,8414,0.00,1.65,0.00,0.000,6,0.000,0.019,2587,2056,3588,0,0,0,0,0,0
$GC,8734,-0.62,-194.6,836.9,-10.6,694,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2052,3586,0,0,0,0,0,0
$GC,9042,-0.62,-194.6,861.8,-7.1,709,9046,0.00,1.83,0.00,0.000,4,0.000,0.041,2587,3260,3585,0,0,0,0,0,0
$GC,9075,-0.62,-194.6,864.2,-6.9,710,9079,0.00,1.67,0.00,0.000,6,0.000,0.020,2587,2070,3585,0,0,0,0,0,0
$GC,9398,-0.62,-194.6,883.2,-5.7,726,9403,0.00,2.30,0.00,0.000,4,0.000,0.030,2587,517,3584,0,0,0,0,0,0
$GC,9454,-0.62,-194.6,887.7,-7.8,728,9462,0.00,2.30,0.00,0.000,6,0.000,0.024,2587,2066,3583,0,0,0,0,0,0
$GC,9772,-0.62,-194.6,910.4,-7.5,744,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2066,3582,0,0,0,0,0,0
$GC,10080,-0.62,-194.6,935.9,-8.6,759,10084,0.00,2.33,0.00,0.000,4,0.000,0.029,2587,512,3581,0,0,0,0,0,0
$GC,10135,-0.62,-194.6,941.3,-9.4,761,10142,0.00,2.28,0.00,0.000,6,0.000,0.024,2587,2056,3581,0,0,0,0,0,0
$GC,10454,-0.62,-194.6,969.3,-8.7,777,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2056,3581,0,0,0,0,0,0
$STATE,10717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10717,begin apogee
$GC,10722,-0.20,0.0,991.0,7.3,790,10887,0.43,0.00,159.48,1.396,4,0.121,0.000,2729,2056,2839,0,0,0,0,0,0
$STATE,10888,end apogee,CONTROL_FINISHED_OK
$STATE,10888,begin climb
$GC,10890,0.62,194.6,996.4,0.0,797,11074,0.80,2.28,172.12,1.344,4,0.083,0.041,2997,3467,2043,0,0,0,0,0,0
$GC,11214,0.62,194.6,959.0,14.2,812,11218,0.00,2.03,0.00,0.000,6,0.000,0.021,3006,2086,2035,0,0,0,0,0,0
$GC,11544,0.62,194.6,911.5,14.5,828,11548,0.00,2.12,0.00,0.000,4,0.000,0.037,3007,3471,2033,0,0,0,0,0,0
$GC,11774,0.62,194.6,876.7,13.9,838,11778,0.00,2.10,0.00,0.000,6,0.000,0.023,3015,2042,2032,0,0,0,0,0,0
$GC,12091,0.62,194.6,833.3,12.4,853,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2041,2031,0,0,0,0,0,0
$GC,12399,0.62,194.6,793.4,13.5,868,12403,0.00,2.17,0.00,0.000,4,0.000,0.038,3015,3461,2030,0,0,0,0,0,0
$GC,12466,0.62,194.6,784.6,13.2,871,12470,0.00,2.05,0.00,0.000,6,0.000,0.021,3025,2050,2030,0,0,0,0,0,0
$GC,12794,0.62,194.6,746.9,11.8,887,12798,0.00,2.00,0.00,0.000,4,0.000,0.032,3035,695,2029,0,0,0,0,0,0
$GC,12832,0.62,194.6,742.7,10.4,888,12840,0.12,1.98,0.00,0.000,6,0.154,0.024,3001,2056,2029,0,0,0,0,0,0
$GC,13150,0.62,194.6,711.5,11.3,904,13155,0.00,2.15,0.00,0.000,4,0.000,0.040,3001,3450,2029,0,0,0,0,0,0
$GC,13256,0.62,194.6,698.3,12.3,908,13263,0.00,2.03,0.00,0.000,6,0.000,0.021,3008,2058,2029,0,0,0,0,0,0
$GC,13574,0.62,194.6,663.8,11.3,924,13577,0.00,2.03,0.00,0.000,4,0.000,0.033,3018,692,2028,0,0,0,0,0,0
$GC,13673,0.62,194.6,651.0,12.8,928,13677,0.00,1.95,0.00,0.000,6,0.000,0.024,3018,2022,2028,0,0,0,0,0,0
$GC,13997,0.62,194.6,604.9,14.9,944,14001,0.00,2.17,0.00,0.000,4,0.000,0.039,3018,3457,2028,0,0,0,0,0,0
$GC,14053,0.62,194.6,595.7,15.6,946,14061,0.00,2.08,0.00,0.000,6,0.000,0.020,3028,2026,2028,0,0,0,0,0,0
$GC,14369,0.62,194.6,548.6,14.6,962,14370,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2026,2028,0,0,0,0,0,0
$GC,14680,0.62,194.6,507.3,12.8,977,14685,0.00,2.00,0.00,0.000,4,0.000,0.033,3038,692,2028,0,0,0,0,0,0
$GC,14707,0.62,194.6,503.3,12.7,978,14711,0.12,2.00,0.00,0.000,6,0.150,0.023,3003,2066,2027,0,0,0,0,0,0
$GC,15034,0.62,194.6,467.6,10.7,1007,15035,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2066,2028,0,0,0,0,0,0
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$STATE,19559,end climb,SURFACE_DEPTH_REACHED
$STATE,19559,begin surface coast
$FINISH,0.9,1.009010
$STATE,19603,end surface coast,CONTROL_FINISHED_OK
$STATE,19603,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,43.62
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.90
$XPDR_PINGS,51
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$10V_AH,9.8,69.723
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,1075.732,1190.895,670.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323984
$DATA_FILE_SIZE,93615,1581
$CAP_FILE_SIZE,201443,0
$CFSIZE,260165632,98332672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,177.5,1
$GPS,150911,050536,1955.677,12120.712,901,99.0,901,-2.3