version: 66.09
glider: 167
mission: 8
dive: 234
start: 7 30 111 21 43 37
data:
$ID,167
$MISSION,8
$DIVE,234
$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,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,-56681.457
$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,96
$R_STBD_OVSHOOT,74
$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
$GPS1,300711,213055,1908.015,12246.836,38,1.1,39,-2.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.4
$GPS2,300711,214314,1908.029,12246.650,12,1.4,12,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,SDOG
$TGT_LATLONG,1910.550,12302.760
$TGT_RADIUS,5000.000
$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,103.0,28564,-15.3,-9.706
$D_GRID,4285
$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,-0.62,-194.6,0.0,0.0,0,111,0.00,0.00,-87.47,0.000,2,0.000,0.000,111,1887,2890,0,0,0,0,0,0
$GC,114,-0.62,-194.6,5.0,-7.2,12,146,9.98,2.05,-12.85,0.000,4,0.230,0.039,2594,511,3634,0,0,0,0,0,0
$GC,178,-0.62,-194.6,29.0,-34.7,21,186,0.00,1.98,0.00,0.000,6,0.000,0.019,2587,1862,3634,0,0,0,0,0,0
$GC,254,-0.62,-194.6,48.1,-23.5,34,262,0.00,2.10,0.00,0.000,4,0.000,0.032,2576,3263,3634,0,0,0,0,0,0
$GC,296,-0.62,-194.6,58.7,-25.2,40,304,0.00,1.95,0.00,0.000,6,0.000,0.018,2576,1901,3634,0,0,0,0,0,0
$GC,374,-0.62,-194.6,76.6,-24.0,53,382,0.00,2.08,0.00,0.000,4,0.000,0.028,2577,488,3635,0,0,0,0,0,0
$GC,407,-0.62,-194.6,84.4,-22.9,58,418,0.08,1.92,0.00,0.000,6,0.168,0.020,2591,1818,3634,0,0,0,0,0,0
$GC,486,-0.62,-194.6,100.8,-20.6,71,494,0.00,1.95,0.00,0.000,4,0.000,0.025,2591,492,3634,0,0,0,0,0,0
$GC,520,-0.62,-194.6,107.7,-20.3,76,529,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,1722,3635,0,0,0,0,0,0
$GC,598,-0.62,-194.6,124.3,-20.8,89,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1722,3635,0,0,0,0,0,0
$GC,674,-0.62,-194.6,139.0,-19.0,102,683,0.00,2.30,0.00,0.000,4,0.000,0.031,2577,3264,3635,0,0,0,0,0,0
$GC,747,-0.62,-194.6,153.0,-17.9,114,758,0.00,2.00,0.00,0.000,6,0.000,0.017,2576,1854,3635,0,0,0,0,0,0
$GC,829,-0.62,-194.6,167.5,-17.9,127,837,0.00,1.98,0.00,0.000,4,0.000,0.028,2576,498,3635,0,0,0,0,0,0
$GC,862,-0.62,-194.6,174.0,-18.2,132,871,0.00,1.85,0.00,0.000,6,0.000,0.021,2574,1777,3635,0,0,0,0,0,0
$GC,938,-0.62,-194.6,188.4,-18.8,145,946,0.00,2.20,0.00,0.000,4,0.000,0.031,2564,3260,3635,0,0,0,0,0,0
$GC,994,-0.62,-194.6,198.4,-18.1,154,1004,0.10,1.92,0.00,0.000,6,0.146,0.017,2596,1879,3635,0,0,0,0,0,0
$GC,1067,-0.62,-194.6,211.0,-16.8,161,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1878,3635,0,0,0,0,0,0
$GC,1396,-0.62,-194.6,258.1,-12.8,192,1399,0.00,1.95,0.00,0.000,4,0.000,0.027,2596,519,3635,0,0,0,0,0,0
$GC,1446,-0.62,-194.6,265.3,-13.8,196,1454,0.00,1.90,0.00,0.000,6,0.000,0.019,2589,1841,3635,0,0,0,0,0,0
$GC,1772,-0.62,-194.6,308.1,-12.6,227,1776,0.00,2.10,0.00,0.000,4,0.000,0.032,2587,3270,3634,0,0,0,0,0,0
$GC,1841,-0.62,-194.6,315.7,-10.7,232,1848,0.00,1.95,0.00,0.000,6,0.000,0.017,2587,1867,3634,0,0,0,0,0,0
$GC,2167,-0.62,-194.6,350.9,-10.7,263,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1866,3632,0,0,0,0,0,0
$GC,2490,-0.62,-194.6,384.1,-11.6,293,2494,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,3260,3630,0,0,0,0,0,0
$GC,2593,-0.62,-194.6,395.5,-10.6,302,2596,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1899,3629,0,0,0,0,0,0
$GC,2924,-0.62,-194.6,433.5,-12.0,333,2927,0.00,2.00,0.00,0.000,4,0.000,0.028,2587,507,3627,0,0,0,0,0,0
$GC,2992,-0.62,-194.6,441.6,-11.9,339,2997,0.00,1.98,0.00,0.000,6,0.000,0.021,2588,1862,3626,0,0,0,0,0,0
$GC,3323,-0.62,-194.6,475.2,-9.6,370,3327,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3264,3624,0,0,0,0,0,0
$GC,3352,-0.62,-194.6,477.8,-9.4,372,3356,0.00,1.98,0.00,0.000,6,0.000,0.018,2587,1855,3623,0,0,0,0,0,0
$GC,3694,-0.62,-194.6,510.4,-9.8,399,3698,0.00,2.10,0.00,0.000,4,0.000,0.033,2587,3264,3620,0,0,0,0,0,0
$GC,3783,-0.62,-194.6,518.7,-8.6,403,3787,0.00,1.98,0.00,0.000,6,0.000,0.018,2587,1864,3620,0,0,0,0,0,0
$GC,4113,-0.62,-194.6,547.5,-8.4,419,4117,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,3264,3618,0,0,0,0,0,0
$GC,4173,-0.62,-194.6,552.5,-7.8,421,4180,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1882,3617,0,0,0,0,0,0
$GC,4490,-0.62,-194.6,575.6,-7.2,437,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1881,3615,0,0,0,0,0,0
$GC,4799,-0.62,-194.6,597.2,-6.7,452,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1881,3612,0,0,0,0,0,0
$GC,5109,-0.62,-194.6,618.1,-7.0,467,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1881,3609,0,0,0,0,0,0
$GC,5418,-0.62,-194.6,642.9,-8.6,482,5421,0.00,2.08,0.00,0.000,4,0.000,0.035,2587,3270,3608,0,0,0,0,0,0
$GC,5505,-0.62,-194.6,650.0,-8.0,486,5508,0.00,1.98,0.00,0.000,6,0.000,0.019,2587,1879,3607,0,0,0,0,0,0
$GC,5838,-0.62,-194.6,678.1,-8.5,502,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1878,3604,0,0,0,0,0,0
$GC,6148,-0.62,-194.6,701.4,-7.3,517,6152,0.00,2.03,0.00,0.000,4,0.000,0.030,2587,501,3602,0,0,0,0,0,0
$GC,6177,-0.62,-194.6,703.7,-7.3,518,6181,0.00,2.03,0.00,0.000,6,0.000,0.022,2587,1887,3602,0,0,0,0,0,0
$GC,6504,-0.62,-194.6,729.7,-8.6,534,6508,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3263,3600,0,0,0,0,0,0
$GC,6670,-0.62,-194.6,743.8,-8.2,541,6673,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1927,3599,0,0,0,0,0,0
$GC,6997,-0.62,-194.6,769.6,-7.3,557,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1926,3597,0,0,0,0,0,0
$GC,7307,-0.62,-194.6,790.3,-6.3,572,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1926,3595,0,0,0,0,0,0
$GC,7616,-0.62,-194.6,808.2,-5.8,587,7621,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,500,3594,0,0,0,0,0,0
$GC,7656,-0.62,-194.6,810.7,-5.8,588,7663,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1960,3593,0,0,0,0,0,0
$GC,7973,-0.62,-194.6,829.8,-6.0,604,7976,0.00,1.98,0.00,0.000,4,0.000,0.038,2587,3270,3593,0,0,0,0,0,0
$GC,8006,-0.62,-194.6,831.7,-5.8,605,8010,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1952,3592,0,0,0,0,0,0
$GC,8329,-0.62,-194.6,850.2,-5.7,621,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1951,3590,0,0,0,0,0,0
$GC,8637,-0.62,-194.6,870.0,-6.7,636,8641,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3265,3589,0,0,0,0,0,0
$GC,8676,-0.62,-194.6,872.9,-6.7,637,8683,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1962,3589,0,0,0,0,0,0
$GC,8994,-0.62,-194.6,895.7,-7.6,653,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1962,3588,0,0,0,0,0,0
$GC,9302,-0.62,-194.6,918.7,-7.5,668,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1962,3587,0,0,0,0,0,0
$GC,9613,-0.62,-194.6,941.5,-7.4,683,9617,0.00,2.00,0.00,0.000,4,0.000,0.038,2587,3256,3585,0,0,0,0,0,0
$GC,9713,-0.62,-194.6,949.0,-7.3,687,9716,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1976,3585,0,0,0,0,0,0
$GC,10035,-0.62,-194.6,970.9,-6.7,703,10039,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,510,3584,0,0,0,0,0,0
$GC,10064,-0.62,-194.6,973.1,-6.7,704,10068,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1989,3584,0,0,0,0,0,0
$STATE,10337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10337,begin apogee
$GC,10343,-0.20,0.0,990.8,6.4,717,10501,0.43,0.00,152.48,1.397,4,0.119,0.000,2730,2067,2839,0,0,0,0,0,0
$STATE,10502,end apogee,CONTROL_FINISHED_OK
$STATE,10502,begin climb
$GC,10505,0.62,194.6,995.2,0.0,724,10679,0.77,0.00,169.35,1.340,6,0.077,0.000,2999,2067,2045,0,0,0,0,0,0
$GC,10993,0.62,194.6,943.3,12.3,747,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2067,2033,0,0,0,0,0,0
$GC,11302,0.62,194.6,905.3,12.2,762,11306,0.00,2.15,0.00,0.000,4,0.000,0.038,2999,3469,2031,0,0,0,0,0,0
$GC,11335,0.62,194.6,900.6,13.5,763,11342,0.00,2.08,0.00,0.000,6,0.000,0.021,3007,2066,2030,0,0,0,0,0,0
$GC,11652,0.62,194.6,859.7,13.0,779,11655,0.00,2.05,0.00,0.000,4,0.000,0.032,3017,695,2029,0,0,0,0,0,0
$GC,11703,0.62,194.6,852.9,13.1,781,11707,0.00,2.03,0.00,0.000,6,0.000,0.023,3017,2051,2029,0,0,0,0,0,0
$GC,12031,0.62,194.6,810.4,12.7,797,12035,0.00,2.15,0.00,0.000,4,0.000,0.038,3017,3466,2029,0,0,0,0,0,0
$GC,12094,0.62,194.6,801.7,13.7,800,12098,0.00,2.05,0.00,0.000,6,0.000,0.021,3027,2072,2029,0,0,0,0,0,0
$GC,12428,0.62,194.6,758.9,12.9,816,12432,0.00,2.05,0.00,0.000,4,0.000,0.033,3037,681,2028,0,0,0,0,0,0
$GC,12518,0.62,194.6,746.8,13.2,820,12523,0.12,1.98,0.00,0.000,6,0.157,0.024,3004,2018,2028,0,0,0,0,0,0
$GC,12846,0.62,194.6,705.8,12.8,836,12851,0.00,2.22,0.00,0.000,4,0.000,0.038,3004,3468,2027,0,0,0,0,0,0
$GC,12884,0.62,194.6,700.0,14.6,837,12891,0.00,2.15,0.00,0.000,6,0.000,0.021,3011,2015,2027,0,0,0,0,0,0
$GC,13203,0.62,194.6,654.5,14.8,853,13207,0.00,1.98,0.00,0.000,4,0.000,0.034,3021,688,2027,0,0,0,0,0,0
$GC,13377,0.62,194.6,628.1,14.9,860,13383,0.00,1.83,0.00,0.000,6,0.000,0.023,3022,1928,2027,0,0,0,0,0,0
$GC,13693,0.62,194.6,582.8,13.9,876,13697,0.00,2.35,0.00,0.000,4,0.000,0.037,3021,3476,2027,0,0,0,0,0,0
$GC,13760,0.62,194.6,572.9,14.6,879,13765,0.08,2.28,0.00,0.000,6,0.152,0.021,3007,1946,2027,0,0,0,0,0,0
$GC,14088,0.62,194.6,536.5,10.2,895,14092,0.00,1.88,0.00,0.000,4,0.000,0.034,3015,685,2026,0,0,0,0,0,0
$GC,14173,0.62,194.6,527.7,10.0,898,14180,0.00,1.88,0.00,0.000,6,0.000,0.022,3015,1962,2026,0,0,0,0,0,0
$GC,14490,0.62,194.6,495.1,10.3,916,14494,0.00,2.30,0.00,0.000,4,0.000,0.038,3015,3477,2026,0,0,0,0,0,0
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$STATE,19423,end climb,SURFACE_DEPTH_REACHED
$STATE,19423,begin surface coast
$FINISH,0.8,1.021144
$STATE,19460,end surface coast,CONTROL_FINISHED_OK
$STATE,19461,begin surface
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$XPDR_PINGS,38
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$10V_AH,10.0,38.388
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323812
$DATA_FILE_SIZE,90214,1520
$CAP_FILE_SIZE,216448,0
$CFSIZE,260165632,119664640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,319.2,1
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