version: 66.09
glider: 167
mission: 8
dive: 437
start: 9 16 111 6 19 27
data:
$ID,167
$MISSION,8
$DIVE,437
$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,-136345.83
$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,113
$R_STBD_OVSHOOT,76
$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
$GPS1,160911,055330,1958.509,12120.452,37,0.9,43,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-67.0
$GPS2,160911,055330,1958.509,12120.452,901,99.0,901,-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,169.9,188826,-15.3,-9.706
$D_GRID,3407
$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,19,-0.62,-194.6,0.0,0.0,0,106,0.00,0.00,-83.85,0.000,2,0.000,0.000,109,1832,2832,0,0,0,0,0,0
$GC,109,-0.62,-194.6,5.7,-10.4,12,139,10.35,2.20,-13.62,0.000,4,0.234,0.047,2581,3255,3636,0,0,0,0,0,0
$GC,397,-0.62,-194.6,90.3,-14.0,61,404,0.00,1.90,0.00,0.000,6,0.000,0.018,2581,1902,3637,0,0,0,0,0,0
$GC,543,-0.62,-194.6,112.9,-15.1,86,551,0.00,2.05,0.00,0.000,4,0.000,0.028,2581,500,3637,0,0,0,0,0,0
$GC,602,-0.62,-194.6,123.2,-16.4,96,611,0.00,1.83,0.00,0.000,6,0.000,0.020,2574,1768,3637,0,0,0,0,0,0
$GC,751,-0.62,-194.6,149.0,-18.3,121,758,0.00,2.20,0.00,0.000,4,0.000,0.031,2564,3265,3637,0,0,0,0,0,0
$GC,812,-0.62,-194.6,160.0,-18.0,131,819,0.12,2.03,0.00,0.000,6,0.167,0.017,2596,1812,3637,0,0,0,0,0,0
$GC,960,-0.62,-194.6,181.0,-12.9,156,968,0.00,1.92,0.00,0.000,4,0.000,0.028,2596,493,3637,0,0,0,0,0,0
$GC,1006,-0.62,-194.6,187.4,-13.9,163,1013,0.00,1.75,0.00,0.000,6,0.000,0.019,2591,1725,3637,0,0,0,0,0,0
$GC,1150,-0.62,-194.6,209.6,-17.3,184,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1725,3637,0,0,0,0,0,0
$GC,1475,-0.62,-194.6,256.6,-12.8,214,1479,0.00,2.28,0.00,0.000,4,0.000,0.032,2587,3262,3636,0,0,0,0,0,0
$GC,1620,-0.62,-194.6,274.2,-11.2,226,1628,0.00,2.10,0.00,0.000,6,0.000,0.018,2587,1772,3636,0,0,0,0,0,0
$GC,1945,-0.62,-194.6,318.3,-11.2,257,1950,0.00,1.88,0.00,0.000,4,0.000,0.030,2587,495,3634,0,0,0,0,0,0
$GC,2014,-0.62,-194.6,325.2,-10.3,263,2018,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,1741,3634,0,0,0,0,0,0
$GC,2345,-0.62,-194.6,353.0,-7.8,294,2349,0.00,2.25,0.00,0.000,4,0.000,0.034,2588,3255,3631,0,0,0,0,0,0
$GC,2481,-0.62,-194.6,361.1,-5.3,305,2488,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1793,3630,0,0,0,0,0,0
$GC,2807,-0.62,-194.6,388.2,-10.1,336,2811,0.00,2.20,0.00,0.000,4,0.000,0.034,2587,3261,3627,0,0,0,0,0,0
$GC,2873,-0.62,-194.6,394.7,-9.3,341,2881,0.00,2.05,0.00,0.000,6,0.000,0.019,2587,1838,3627,0,0,0,0,0,0
$GC,3199,-0.62,-194.6,424.9,-8.5,372,3203,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,3252,3624,0,0,0,0,0,0
$GC,3254,-0.62,-194.6,429.7,-8.3,376,3262,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1861,3623,0,0,0,0,0,0
$GC,3581,-0.62,-194.6,450.4,-6.3,407,3584,0.00,2.00,0.00,0.000,4,0.000,0.031,2587,492,3621,0,0,0,0,0,0
$GC,3649,-0.62,-194.6,455.7,-8.0,413,3652,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1824,3620,0,0,0,0,0,0
$GC,3980,-0.62,-194.6,486.7,-10.6,444,3984,0.00,2.12,0.00,0.000,4,0.000,0.037,2587,3252,3616,0,0,0,0,0,0
$GC,4021,-0.62,-194.6,491.1,-10.7,447,4024,0.00,2.03,0.00,0.000,6,0.000,0.019,2587,1839,3616,0,0,0,0,0,0
$GC,4357,-0.62,-194.6,529.5,-11.2,467,4361,0.00,1.98,0.00,0.000,4,0.000,0.031,2587,497,3613,0,0,0,0,0,0
$GC,4395,-0.62,-194.6,534.3,-11.3,468,4402,0.00,1.92,0.00,0.000,6,0.000,0.022,2587,1805,3612,0,0,0,0,0,0
$GC,4712,-0.62,-194.6,562.4,-7.6,484,4717,0.00,2.20,0.00,0.000,4,0.000,0.037,2587,3252,3610,0,0,0,0,0,0
$GC,4797,-0.62,-194.6,568.6,-7.1,487,4805,0.00,2.05,0.00,0.000,6,0.000,0.020,2587,1845,3609,0,0,0,0,0,0
$GC,5115,-0.62,-194.6,588.1,-5.7,503,5119,0.00,2.10,0.00,0.000,4,0.000,0.035,2587,3250,3607,0,0,0,0,0,0
$GC,5179,-0.62,-194.6,591.3,-5.3,506,5183,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1852,3607,0,0,0,0,0,0
$GC,5513,-0.62,-194.6,611.8,-6.5,522,5516,0.00,2.00,0.00,0.000,4,0.000,0.031,2587,495,3604,0,0,0,0,0,0
$GC,5552,-0.62,-194.6,614.7,-6.7,523,5558,0.00,1.95,0.00,0.000,6,0.000,0.022,2587,1838,3603,0,0,0,0,0,0
$GC,5870,-0.62,-194.6,634.5,-6.2,539,5874,0.00,2.15,0.00,0.000,4,0.000,0.036,2587,3267,3602,0,0,0,0,0,0
$GC,5970,-0.62,-194.6,641.4,-6.7,543,5978,0.00,2.00,0.00,0.000,6,0.000,0.020,2587,1888,3601,0,0,0,0,0,0
$GC,6289,-0.62,-194.6,667.0,-8.3,559,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1887,3599,0,0,0,0,0,0
$GC,6598,-0.62,-194.6,688.6,-6.8,574,6601,0.00,2.05,0.00,0.000,4,0.000,0.032,2588,508,3597,0,0,0,0,0,0
$GC,6647,-0.62,-194.6,693.1,-8.5,576,6651,0.00,2.05,0.00,0.000,6,0.000,0.024,2587,1897,3596,0,0,0,0,0,0
$GC,6977,-0.62,-194.6,715.4,-6.0,592,6981,0.00,2.08,0.00,0.000,4,0.000,0.038,2587,3266,3595,0,0,0,0,0,0
$GC,7078,-0.62,-194.6,721.4,-6.1,596,7082,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1923,3595,0,0,0,0,0,0
$GC,7401,-0.62,-194.6,743.6,-6.9,612,7405,0.00,2.05,0.00,0.000,4,0.000,0.035,2587,3270,3593,0,0,0,0,0,0
$GC,7440,-0.62,-194.6,746.4,-6.8,613,7447,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1955,3593,0,0,0,0,0,0
$GC,7756,-0.62,-194.6,767.5,-6.9,629,7761,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,509,3592,0,0,0,0,0,0
$GC,7791,-0.62,-194.6,770.1,-6.9,630,7795,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1960,3591,0,0,0,0,0,0
$GC,8107,-0.62,-194.6,793.8,-7.4,645,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1961,3590,0,0,0,0,0,0
$GC,8418,-0.62,-194.6,816.6,-7.3,660,8423,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3265,3588,0,0,0,0,0,0
$GC,8490,-0.62,-194.6,822.1,-7.3,663,8494,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1953,3588,0,0,0,0,0,0
$GC,8820,-0.62,-194.6,843.5,-6.6,679,8823,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,507,3588,0,0,0,0,0,0
$GC,8866,-0.62,-194.6,847.0,-6.7,681,8870,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1959,3587,0,0,0,0,0,0
$GC,9188,-0.62,-194.6,868.9,-6.5,697,9191,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3274,3586,0,0,0,0,0,0
$GC,9228,-0.62,-194.6,871.4,-6.1,698,9236,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1964,3586,0,0,0,0,0,0
$GC,9545,-0.62,-194.6,889.9,-5.6,714,9550,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,508,3585,0,0,0,0,0,0
$GC,9636,-0.62,-194.6,896.3,-7.3,718,9640,0.00,2.15,0.00,0.000,6,0.000,0.024,2588,1941,3585,0,0,0,0,0,0
$GC,9970,-0.62,-194.6,917.9,-6.8,734,9974,0.00,2.03,0.00,0.000,4,0.000,0.041,2587,3266,3584,0,0,0,0,0,0
$GC,10025,-0.62,-194.6,921.2,-6.3,736,10030,0.00,1.90,0.00,0.000,6,0.000,0.022,2587,1969,3584,0,0,0,0,0,0
$GC,10349,-0.62,-194.6,942.8,-7.8,752,10352,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3268,3583,0,0,0,0,0,0
$GC,10399,-0.62,-194.6,946.2,-5.2,754,10402,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1978,3583,0,0,0,0,0,0
$GC,10727,-0.62,-194.6,968.0,-5.1,770,10730,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3276,3582,0,0,0,0,0,0
$GC,10778,-0.62,-194.6,971.0,-6.0,772,10782,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2039,3582,0,0,0,0,0,0
$STATE,11021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11021,begin apogee
$GC,11026,-0.20,0.0,991.2,9.0,784,11191,0.43,0.00,158.95,1.400,4,0.113,0.000,2730,2033,2838,0,0,0,0,0,0
$STATE,11191,end apogee,CONTROL_FINISHED_OK
$STATE,11191,begin climb
$GC,11194,0.62,194.6,998.2,0.0,791,11376,0.80,2.10,173.55,1.352,4,0.083,0.032,2997,706,2045,0,0,0,0,0,0
$GC,11535,0.62,194.6,965.1,12.2,807,11539,0.00,2.08,0.00,0.000,6,0.000,0.025,2997,2075,2035,0,0,0,0,0,0
$GC,11869,0.62,194.6,923.3,14.7,823,11874,0.00,2.15,0.00,0.000,4,0.000,0.039,2997,3468,2030,0,0,0,0,0,0
$GC,12081,0.62,194.6,890.6,14.3,832,12085,0.00,2.05,0.00,0.000,6,0.000,0.022,3006,2062,2027,0,0,0,0,0,0
$GC,12405,0.62,194.6,847.8,13.0,848,12408,0.00,2.08,0.00,0.000,4,0.000,0.035,3017,679,2026,0,0,0,0,0,0
$GC,12496,0.62,194.6,836.3,12.1,852,12499,0.00,2.00,0.00,0.000,6,0.000,0.026,3017,2012,2026,0,0,0,0,0,0
$GC,12830,0.62,194.6,798.0,10.7,868,12834,0.00,2.22,0.00,0.000,4,0.000,0.039,3016,3470,2025,0,0,0,0,0,0
$GC,12908,0.62,194.6,788.0,12.2,871,12915,0.00,2.08,0.00,0.000,6,0.000,0.021,3027,2035,2025,0,0,0,0,0,0
$GC,13226,0.62,194.6,751.3,11.0,887,13230,0.00,2.03,0.00,0.000,4,0.000,0.035,3035,682,2025,0,0,0,0,0,0
$GC,13276,0.62,194.6,745.3,11.2,889,13281,0.12,2.03,0.00,0.000,6,0.156,0.025,3001,2063,2025,0,0,0,0,0,0
$GC,13607,0.65,220.5,716.3,8.8,905,13633,0.00,2.20,20.65,1.189,4,0.000,0.038,3001,3464,1939,0,0,0,0,0,0
$GC,13701,0.65,220.5,706.1,11.5,909,13705,0.00,2.05,0.00,0.000,6,0.000,0.021,3008,2064,1936,0,0,0,0,0,0
$GC,14029,0.65,220.5,667.1,12.2,925,14034,0.00,2.08,0.00,0.000,4,0.000,0.034,3018,692,1935,0,0,0,0,0,0
$GC,14114,0.65,220.5,656.4,12.4,928,14121,0.00,1.98,0.00,0.000,6,0.000,0.025,3018,2023,1935,0,0,0,0,0,0
$GC,14430,0.65,220.5,615.9,12.5,944,14434,0.00,2.20,0.00,0.000,4,0.000,0.038,3018,3456,1934,0,0,0,0,0,0
$GC,14467,0.65,220.5,610.7,13.5,945,14474,0.00,2.10,0.00,0.000,6,0.000,0.021,3028,2035,1934,0,0,0,0,0,0
$GC,14786,0.65,220.5,565.9,14.6,961,14790,0.00,2.03,0.00,0.000,4,0.000,0.035,3037,682,1934,0,0,0,0,0,0
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$STATE,19774,end climb,SURFACE_DEPTH_REACHED
$STATE,19774,begin surface coast
$FINISH,1.1,1.020511
$STATE,19802,end surface coast,CONTROL_FINISHED_OK
$STATE,19802,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,41.41
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.30
$XPDR_PINGS,41
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$10V_AH,9.8,70.066
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,1052.402,1153.041,622.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90146,1548
$CAP_FILE_SIZE,209892,0
$CFSIZE,260165632,98054144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.067,173.6,1
$GPS,160911,055330,1958.509,12120.452,901,99.0,901,-2.3