version: 66.09
glider: 167
mission: 8
dive: 235
start: 7 31 111 3 19 40
data:
$ID,167
$MISSION,8
$DIVE,235
$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,-56682.711
$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,54
$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
$GPS1,310711,031031,1908.681,12248.175,36,1.4,37,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.1
$GPS2,310711,031914,1908.733,12248.126,10,1.5,10,-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,117.1,25818,-15.3,-9.706
$D_GRID,4569
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-194.6,0.0,0.0,0,105,0.00,0.00,-85.18,0.000,2,0.000,0.000,111,1954,3035,0,0,0,0,0,0
$GC,108,-0.62,-194.6,5.7,-9.5,11,133,9.98,2.25,-9.85,0.000,4,0.230,0.041,2593,465,3635,0,0,0,0,0,0
$GC,167,-0.62,-194.6,31.6,-36.7,20,175,0.00,2.10,0.00,0.000,6,0.000,0.028,2586,1880,3637,0,0,0,0,0,0
$GC,248,-0.62,-194.6,54.6,-32.6,33,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1880,3637,0,0,0,0,0,0
$GC,328,-0.62,-194.6,74.5,-23.1,46,335,0.00,2.08,0.00,0.000,4,0.000,0.031,2575,3274,3638,0,0,0,0,0,0
$GC,343,-0.62,-194.6,78.9,-24.0,48,350,0.00,2.28,0.00,0.000,6,0.000,0.018,2575,1714,3637,0,0,0,0,0,0
$GC,419,-0.62,-194.6,96.0,-21.1,61,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1714,3638,0,0,0,0,0,0
$GC,496,-0.62,-194.6,113.9,-22.7,74,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1713,3638,0,0,0,0,0,0
$GC,569,-0.62,-194.6,129.8,-20.3,87,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1713,3638,0,0,0,0,0,0
$GC,644,-0.62,-194.6,145.1,-21.8,100,652,0.00,2.35,0.00,0.000,4,0.000,0.030,2566,3274,3638,0,0,0,0,0,0
$GC,705,-0.62,-194.6,157.2,-18.5,110,713,0.08,2.17,0.00,0.000,6,0.157,0.021,2589,1760,3638,0,0,0,0,0,0
$GC,784,-0.62,-194.6,172.0,-19.0,123,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1760,3638,0,0,0,0,0,0
$GC,860,-0.62,-194.6,185.2,-17.6,136,869,0.00,2.28,0.00,0.000,4,0.000,0.030,2587,3276,3638,0,0,0,0,0,0
$GC,877,-0.62,-194.6,188.2,-16.3,138,886,0.00,2.08,0.00,0.000,6,0.000,0.018,2587,1819,3638,0,0,0,0,0,0
$GC,953,-0.62,-194.6,200.2,-15.5,151,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1818,3638,0,0,0,0,0,0
$GC,1273,-0.62,-194.6,248.1,-14.6,181,1277,0.00,2.15,0.00,0.000,4,0.000,0.031,2578,3274,3638,0,0,0,0,0,0
$GC,1306,-0.62,-194.6,253.5,-14.0,183,1313,0.00,2.05,0.00,0.000,6,0.000,0.018,2578,1819,3638,0,0,0,0,0,0
$GC,1632,-0.62,-194.6,299.6,-13.3,214,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1819,3638,0,0,0,0,0,0
$GC,1954,-0.62,-194.6,340.7,-12.6,244,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1819,3636,0,0,0,0,0,0
$GC,2282,-0.62,-194.6,377.5,-11.0,275,2286,0.00,2.15,0.00,0.000,4,0.000,0.032,2574,3279,3634,0,0,0,0,0,0
$GC,2355,-0.62,-194.6,385.9,-10.6,281,2359,0.00,2.05,0.00,0.000,6,0.000,0.018,2574,1814,3634,0,0,0,0,0,0
$GC,2680,-0.62,-194.6,424.6,-11.6,311,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1814,3632,0,0,0,0,0,0
$GC,3002,-0.62,-194.6,459.3,-10.4,341,3006,0.00,2.15,0.00,0.000,4,0.000,0.033,2573,3270,3630,0,0,0,0,0,0
$GC,3031,-0.62,-194.6,462.6,-10.1,343,3036,0.00,2.05,0.00,0.000,6,0.000,0.018,2573,1832,3629,0,0,0,0,0,0
$GC,3362,-0.62,-194.6,496.0,-10.0,374,3366,0.00,2.12,0.00,0.000,4,0.000,0.033,2570,3270,3627,0,0,0,0,0,0
$GC,3429,-0.62,-194.6,502.4,-9.0,379,3433,0.00,1.98,0.00,0.000,6,0.000,0.018,2570,1866,3626,0,0,0,0,0,0
$GC,3758,-0.62,-194.6,535.0,-9.8,395,3762,0.00,2.10,0.00,0.000,4,0.000,0.034,2570,3269,3624,0,0,0,0,0,0
$GC,3790,-0.62,-194.6,538.6,-10.0,396,3797,0.00,1.98,0.00,0.000,6,0.000,0.018,2570,1886,3624,0,0,0,0,0,0
$GC,4108,-0.62,-194.6,570.9,-10.4,412,4113,0.00,2.10,0.00,0.000,4,0.000,0.035,2570,3267,3621,0,0,0,0,0,0
$GC,4146,-0.62,-194.6,574.9,-9.8,413,4154,0.00,1.95,0.00,0.000,6,0.000,0.018,2570,1897,3620,0,0,0,0,0,0
$GC,4462,-0.62,-194.6,603.7,-9.0,429,4466,0.00,2.03,0.00,0.000,4,0.000,0.029,2570,511,3618,0,0,0,0,0,0
$GC,4492,-0.62,-194.6,606.4,-9.0,430,4496,0.00,2.03,0.00,0.000,6,0.000,0.021,2570,1908,3618,0,0,0,0,0,0
$GC,4820,-0.62,-194.6,631.6,-7.0,446,4824,0.00,2.00,0.00,0.000,4,0.000,0.036,2570,3264,3615,0,0,0,0,0,0
$GC,4950,-0.62,-194.6,640.0,-6.4,451,4957,0.00,1.88,0.00,0.000,6,0.000,0.019,2570,1931,3614,0,0,0,0,0,0
$GC,5267,-0.62,-194.6,662.5,-7.5,467,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1930,3612,0,0,0,0,0,0
$GC,5576,-0.62,-194.6,686.7,-7.9,482,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1930,3610,0,0,0,0,0,0
$GC,5886,-0.62,-194.6,712.5,-8.6,497,5891,0.00,2.05,0.00,0.000,4,0.000,0.037,2570,3265,3607,0,0,0,0,0,0
$GC,5919,-0.62,-194.6,715.6,-8.6,498,5923,0.00,1.85,0.00,0.000,6,0.000,0.019,2570,1953,3607,0,0,0,0,0,0
$GC,6242,-0.62,-194.6,743.3,-9.1,514,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1952,3605,0,0,0,0,0,0
$GC,6552,-0.62,-194.6,771.6,-9.0,529,6556,0.00,2.12,0.00,0.000,4,0.000,0.030,2570,509,3603,0,0,0,0,0,0
$GC,6597,-0.62,-194.6,776.2,-9.7,531,6601,0.00,2.15,0.00,0.000,6,0.000,0.023,2571,1972,3603,0,0,0,0,0,0
$GC,6920,-0.62,-194.6,805.3,-9.3,547,6923,0.00,1.92,0.00,0.000,4,0.000,0.038,2570,3268,3600,0,0,0,0,0,0
$GC,7028,-0.62,-194.6,815.3,-9.1,551,7035,0.00,1.77,0.00,0.000,6,0.000,0.020,2570,2012,3600,0,0,0,0,0,0
$GC,7345,-0.62,-194.6,845.3,-9.5,567,7348,0.00,1.90,0.00,0.000,4,0.000,0.038,2570,3262,3599,0,0,0,0,0,0
$GC,7402,-0.62,-194.6,850.7,-9.3,569,7407,0.00,1.77,0.00,0.000,6,0.000,0.021,2570,2028,3599,0,0,0,0,0,0
$GC,7723,-0.62,-194.6,881.3,-9.5,585,7727,0.00,1.88,0.00,0.000,4,0.000,0.040,2570,3267,3597,0,0,0,0,0,0
$GC,7786,-0.62,-194.6,887.2,-9.2,587,7793,0.00,1.70,0.00,0.000,6,0.000,0.020,2570,2055,3597,0,0,0,0,0,0
$GC,8103,-0.62,-194.6,916.8,-9.7,603,8107,0.00,2.30,0.00,0.000,4,0.000,0.030,2570,514,3595,0,0,0,0,0,0
$GC,8163,-0.62,-194.6,923.1,-10.4,605,8171,0.00,2.25,0.00,0.000,6,0.000,0.024,2570,2041,3595,0,0,0,0,0,0
$GC,8481,-0.62,-194.6,952.9,-9.3,621,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2041,3594,0,0,0,0,0,0
$GC,8789,-0.62,-194.6,981.4,-9.1,636,8794,0.00,1.88,0.00,0.000,4,0.000,0.041,2570,3263,3592,0,0,0,0,0,0
$GC,8835,-0.62,-194.6,985.4,-8.7,638,8840,0.00,1.75,0.00,0.000,6,0.000,0.021,2570,2041,3592,0,0,0,0,0,0
$STATE,8897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8897,begin apogee
$GC,8904,-0.20,0.0,990.9,8.3,641,9063,0.47,0.00,153.48,1.392,4,0.122,0.000,2727,2036,2838,0,0,0,0,0,0
$STATE,9064,end apogee,CONTROL_FINISHED_OK
$STATE,9064,begin climb
$GC,9068,0.62,194.6,997.0,0.0,648,9245,0.75,2.12,168.88,1.338,4,0.078,0.031,3000,717,2045,0,0,0,0,0,0
$GC,9397,0.62,194.6,965.0,12.0,662,9404,0.00,2.10,0.00,0.000,6,0.000,0.023,3000,2073,2036,0,0,0,0,0,0
$GC,9713,0.62,194.6,926.9,12.2,678,9717,0.00,2.05,0.00,0.000,4,0.000,0.031,3005,718,2031,0,0,0,0,0,0
$GC,9940,0.62,194.6,899.7,11.8,688,9944,0.00,2.08,0.00,0.000,6,0.000,0.024,3006,2098,2030,0,0,0,0,0,0
$GC,10267,0.62,194.6,860.3,12.2,704,10271,0.00,2.10,0.00,0.000,4,0.000,0.038,3006,3478,2028,0,0,0,0,0,0
$GC,10339,0.62,194.6,850.3,14.2,707,10343,0.00,1.98,0.00,0.000,6,0.000,0.021,3015,2125,2027,0,0,0,0,0,0
$GC,10661,0.62,194.6,806.9,13.6,723,10665,0.00,2.12,0.00,0.000,4,0.000,0.033,3025,697,2027,0,0,0,0,0,0
$GC,10717,0.62,194.6,799.5,13.3,725,10725,0.00,2.05,0.00,0.000,6,0.000,0.024,3025,2094,2027,0,0,0,0,0,0
$GC,11033,0.62,194.6,757.4,13.4,741,11037,0.00,2.10,0.00,0.000,4,0.000,0.031,3033,691,2027,0,0,0,0,0,0
$GC,11077,0.62,194.6,751.3,13.1,743,11081,0.12,2.05,0.00,0.000,6,0.155,0.024,2999,2084,2027,0,0,0,0,0,0
$GC,11405,0.62,194.6,715.1,10.7,759,11406,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2084,2026,0,0,0,0,0,0
$GC,11713,0.62,194.6,681.3,11.1,774,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2084,2026,0,0,0,0,0,0
$GC,12022,0.62,194.6,646.5,11.2,789,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2084,2025,0,0,0,0,0,0
$GC,12333,0.62,194.6,611.8,11.2,804,12338,0.00,2.10,0.00,0.000,4,0.000,0.031,3007,698,2025,0,0,0,0,0,0
$GC,12383,0.62,194.6,605.8,11.7,806,12387,0.00,2.03,0.00,0.000,6,0.000,0.022,3006,2070,2025,0,0,0,0,0,0
$GC,12712,0.62,194.6,570.0,10.6,822,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2071,2025,0,0,0,0,0,0
$GC,13019,0.62,194.6,536.9,10.5,837,13023,0.00,2.12,0.00,0.000,4,0.000,0.037,3007,3472,2024,0,0,0,0,0,0
$GC,13059,0.62,194.6,532.4,11.7,839,13063,0.00,2.03,0.00,0.000,6,0.000,0.021,3016,2077,2024,0,0,0,0,0,0
$GC,13383,0.62,194.6,497.7,10.4,855,13386,0.00,2.05,0.00,0.000,4,0.000,0.033,3026,695,2024,0,0,0,0,0,0
$GC,13421,0.62,194.6,493.3,10.6,858,13428,0.00,2.05,0.00,0.000,6,0.000,0.021,3026,2089,2024,0,0,0,0,0,0
$GC,13747,0.62,194.6,456.9,11.8,889,13751,0.00,2.08,0.00,0.000,4,0.000,0.031,3034,687,2024,0,0,0,0,0,0
$GC,13781,0.62,194.6,452.7,12.0,891,13788,0.12,2.03,0.00,0.000,6,0.151,0.022,3000,2070,2024,0,0,0,0,0,0
$GC,14108,0.62,194.6,419.3,10.1,922,14113,0.00,2.08,0.00,0.000,4,0.000,0.030,3007,692,2024,0,0,0,0,0,0
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$STATE,18342,end climb,SURFACE_DEPTH_REACHED
$STATE,18342,begin surface coast
$FINISH,1.4,1.021029
$STATE,18350,end surface coast,CONTROL_FINISHED_OK
$STATE,18350,begin surface
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$TT8_MAMPS,0.028462,0.028462
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$INTERNAL_PRESSURE,9.25817
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$XPDR_PINGS,39
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$10V_AH,10.0,38.548
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,83692,1449
$CAP_FILE_SIZE,204507,0
$CFSIZE,260165632,119582720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,347.5,1
$GPS,310711,082807,1907.954,12250.484,37,1.3,38,-2.2