version: 66.09
glider: 167
mission: 8
dive: 301
start: 8 15 111 2 29 47
data:
$ID,167
$MISSION,8
$DIVE,301
$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,-56766.457
$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,68
$R_STBD_OVSHOOT,47
$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
$GPS1,150811,022107,2007.009,12420.363,31,0.9,32,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.3
$GPS2,150811,022924,2006.985,12420.336,11,2.0,16,-2.5
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,199.9,255010,-15.3,-9.706
$D_GRID,5000
$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,-194.6,0.0,0.0,0,115,0.00,0.00,-91.65,0.000,2,0.000,0.000,110,1919,3059,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.7,-10.5,13,145,10.07,2.17,-9.65,0.000,4,0.232,0.038,2592,461,3637,0,0,0,0,0,0
$GC,210,-0.62,-194.6,38.1,-26.8,27,219,0.00,2.10,0.00,0.000,6,0.000,0.023,2585,1887,3638,0,0,0,0,0,0
$GC,292,-0.62,-194.6,57.6,-22.6,40,300,0.00,2.08,0.00,0.000,4,0.000,0.032,2574,3276,3638,0,0,0,0,0,0
$GC,326,-0.62,-194.6,65.4,-19.8,45,335,0.00,2.05,0.00,0.000,6,0.000,0.018,2574,1844,3638,0,0,0,0,0,0
$GC,403,-0.62,-194.6,82.1,-22.2,58,411,0.00,2.15,0.00,0.000,4,0.000,0.030,2565,3279,3638,0,0,0,0,0,0
$GC,422,-0.62,-194.6,85.6,-21.4,60,430,0.10,1.98,0.00,0.000,6,0.155,0.018,2596,1886,3639,0,0,0,0,0,0
$GC,499,-0.62,-194.6,99.1,-17.0,73,507,0.00,2.03,0.00,0.000,4,0.000,0.028,2595,502,3639,0,0,0,0,0,0
$GC,563,-0.62,-194.6,109.5,-15.8,84,570,0.00,1.98,0.00,0.000,6,0.000,0.021,2588,1859,3639,0,0,0,0,0,0
$GC,638,-0.62,-194.6,122.4,-16.9,97,647,0.00,2.10,0.00,0.000,4,0.000,0.032,2581,3272,3639,0,0,0,0,0,0
$GC,694,-0.62,-194.6,132.7,-18.3,106,702,0.00,1.88,0.00,0.000,6,0.000,0.022,2581,1954,3639,0,0,0,0,0,0
$GC,772,-0.62,-194.6,146.2,-18.1,119,781,0.00,2.10,0.00,0.000,4,0.000,0.028,2581,514,3639,0,0,0,0,0,0
$GC,795,-0.62,-194.6,150.6,-18.4,122,803,0.00,2.15,0.00,0.000,6,0.000,0.021,2573,1984,3640,0,0,0,0,0,0
$GC,871,-0.62,-194.6,165.9,-19.6,135,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1984,3640,0,0,0,0,0,0
$GC,945,-0.62,-194.6,180.7,-20.7,148,953,0.00,2.17,0.00,0.000,4,0.000,0.034,2573,512,3640,0,0,0,0,0,0
$GC,967,-0.62,-194.6,185.4,-21.0,151,977,0.08,2.20,0.00,0.000,6,0.148,0.021,2592,2023,3640,0,0,0,0,0,0
$GC,1046,-0.62,-194.6,199.8,-17.7,164,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2023,3640,0,0,0,0,0,0
$GC,1117,-0.62,-194.6,212.3,-16.7,171,1121,0.00,2.20,0.00,0.000,4,0.000,0.025,2592,509,3640,0,0,0,0,0,0
$GC,1147,-0.62,-194.6,217.1,-16.6,173,1151,0.00,2.15,0.00,0.000,6,0.000,0.020,2587,2008,3640,0,0,0,0,0,0
$GC,1473,-0.62,-194.6,261.8,-12.5,203,1476,0.00,1.88,0.00,0.000,4,0.000,0.034,2587,3275,3639,0,0,0,0,0,0
$GC,1507,-0.62,-194.6,265.9,-11.5,206,1511,0.00,1.75,0.00,0.000,6,0.000,0.018,2587,1994,3639,0,0,0,0,0,0
$GC,1838,-0.62,-194.6,310.1,-15.3,237,1843,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,505,3638,0,0,0,0,0,0
$GC,1865,-0.62,-194.6,314.4,-15.3,239,1873,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,2019,3638,0,0,0,0,0,0
$GC,2191,-0.62,-194.6,360.6,-12.9,270,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2019,3637,0,0,0,0,0,0
$GC,2512,-0.62,-194.6,396.4,-9.2,300,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2019,3636,0,0,0,0,0,0
$GC,2843,-0.62,-194.6,426.8,-10.5,331,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2019,3633,0,0,0,0,0,0
$GC,3170,-0.62,-194.6,463.7,-11.6,362,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2020,3632,0,0,0,0,0,0
$GC,3500,-0.62,-194.6,503.0,-12.6,392,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2019,3631,0,0,0,0,0,0
$GC,3806,-0.62,-194.6,536.9,-9.7,407,3811,0.00,2.25,0.00,0.000,4,0.000,0.028,2587,505,3628,0,0,0,0,0,0
$GC,3876,-0.62,-194.6,543.4,-9.4,410,3880,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,2009,3628,0,0,0,0,0,0
$GC,4203,-0.62,-194.6,569.4,-7.3,426,4208,0.00,1.90,0.00,0.000,4,0.000,0.037,2587,3260,3625,0,0,0,0,0,0
$GC,4258,-0.62,-194.6,573.4,-7.1,428,4261,0.00,1.73,0.00,0.000,6,0.000,0.019,2587,1998,3625,0,0,0,0,0,0
$GC,4582,-0.62,-194.6,598.3,-8.3,444,4586,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,504,3623,0,0,0,0,0,0
$GC,4659,-0.62,-194.6,605.5,-8.7,447,4667,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1984,3622,0,0,0,0,0,0
$GC,4977,-0.62,-194.6,633.6,-8.9,463,4981,0.00,2.15,0.00,0.000,4,0.000,0.028,2587,510,3620,0,0,0,0,0,0
$GC,5018,-0.62,-194.6,637.3,-8.5,465,5022,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1954,3620,0,0,0,0,0,0
$GC,5352,-0.62,-194.6,662.6,-7.7,481,5355,0.00,1.95,0.00,0.000,4,0.000,0.036,2587,3264,3617,0,0,0,0,0,0
$GC,5467,-0.62,-194.6,670.7,-6.7,486,5471,0.00,1.75,0.00,0.000,6,0.000,0.018,2587,1985,3616,0,0,0,0,0,0
$GC,5800,-0.62,-194.6,696.8,-7.8,502,5804,0.00,2.15,0.00,0.000,4,0.000,0.029,2587,504,3614,0,0,0,0,0,0
$GC,5864,-0.62,-194.6,701.9,-8.3,505,5869,0.00,2.17,0.00,0.000,6,0.000,0.022,2587,1975,3613,0,0,0,0,0,0
$GC,6197,-0.62,-194.6,727.0,-7.5,521,6201,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3264,3611,0,0,0,0,0,0
$GC,6276,-0.62,-194.6,732.5,-6.7,524,6279,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1980,3610,0,0,0,0,0,0
$GC,6598,-0.62,-194.6,758.9,-8.6,540,6602,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,503,3608,0,0,0,0,0,0
$GC,6643,-0.62,-194.6,763.2,-9.3,542,6647,0.00,2.17,0.00,0.000,6,0.000,0.023,2587,1983,3607,0,0,0,0,0,0
$GC,6968,-0.62,-194.6,792.5,-8.9,558,6971,0.00,1.92,0.00,0.000,4,0.000,0.039,2587,3263,3605,0,0,0,0,0,0
$GC,7006,-0.62,-194.6,796.0,-8.1,559,7014,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,1986,3605,0,0,0,0,0,0
$GC,7324,-0.62,-194.6,817.4,-6.0,575,7328,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3270,3603,0,0,0,0,0,0
$GC,7362,-0.62,-194.6,819.6,-5.8,576,7369,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,2004,3604,0,0,0,0,0,0
$GC,7679,-0.62,-194.6,835.2,-4.6,592,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2005,3601,0,0,0,0,0,0
$GC,7990,-0.62,-194.6,851.4,-5.7,607,7994,0.00,1.92,0.00,0.000,4,0.000,0.039,2587,3250,3600,0,0,0,0,0,0
$GC,8027,-0.62,-194.6,853.9,-5.9,608,8035,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2025,3599,0,0,0,0,0,0
$GC,8345,-0.62,-194.6,875.0,-7.0,624,8348,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3267,3598,0,0,0,0,0,0
$GC,8424,-0.62,-194.6,880.8,-7.2,627,8429,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2064,3598,0,0,0,0,0,0
$GC,8746,-0.62,-194.6,905.4,-8.1,643,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2062,3596,0,0,0,0,0,0
$GC,9056,-0.62,-194.6,931.9,-8.8,658,9060,0.00,1.83,0.00,0.000,4,0.000,0.039,2587,3258,3595,0,0,0,0,0,0
$GC,9117,-0.62,-194.6,937.2,-8.3,660,9124,0.00,1.73,0.00,0.000,6,0.000,0.019,2587,2057,3594,0,0,0,0,0,0
$GC,9434,-0.62,-194.6,959.9,-6.4,676,9438,0.00,2.28,0.00,0.000,4,0.000,0.031,2587,508,3593,0,0,0,0,0,0
$GC,9480,-0.62,-194.6,963.2,-6.6,678,9484,0.00,2.28,0.00,0.000,6,0.000,0.024,2587,2041,3593,0,0,0,0,0,0
$GC,9801,-0.62,-194.6,980.0,-5.1,694,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2041,3591,0,0,0,0,0,0
$STATE,10005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10006,begin apogee
$GC,10013,-0.20,0.0,990.2,5.1,704,10173,0.43,0.00,155.07,1.393,4,0.115,0.000,2731,2041,2839,0,0,0,0,0,0
$STATE,10174,end apogee,CONTROL_FINISHED_OK
$STATE,10174,begin climb
$GC,10176,0.62,194.6,992.9,0.0,711,10357,0.80,2.15,170.23,1.336,4,0.081,0.031,3000,705,2044,0,0,0,0,0,0
$GC,10504,0.62,194.6,958.1,12.3,726,10509,0.00,2.10,0.00,0.000,6,0.000,0.024,2999,2061,2036,0,0,0,0,0,0
$GC,10825,0.62,194.6,920.2,11.0,742,10829,0.00,2.05,0.00,0.000,4,0.000,0.031,3002,710,2030,0,0,0,0,0,0
$GC,11016,0.63,198.7,901.0,9.6,750,11019,0.00,2.08,0.00,0.000,6,0.000,0.024,3002,2095,2030,0,0,0,0,0,0
$GC,11337,0.63,198.7,869.6,10.0,766,11341,0.00,2.08,0.00,0.000,4,0.000,0.039,3002,3476,2027,0,0,0,0,0,0
$GC,11405,0.63,198.7,861.7,11.6,769,11409,0.00,1.95,0.00,0.000,6,0.000,0.020,3009,2125,2026,0,0,0,0,0,0
$GC,11733,0.63,198.7,821.5,12.8,785,11737,0.00,2.12,0.00,0.000,4,0.000,0.033,3018,711,2026,0,0,0,0,0,0
$GC,11838,0.63,198.7,807.1,13.7,789,11845,0.00,2.03,0.00,0.000,6,0.000,0.024,3019,2088,2026,0,0,0,0,0,0
$GC,12156,0.63,198.7,764.3,13.5,805,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2087,2026,0,0,0,0,0,0
$GC,12463,0.63,198.7,724.5,12.6,820,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2087,2025,0,0,0,0,0,0
$GC,12774,0.63,198.7,685.8,12.3,835,12778,0.00,2.08,0.00,0.000,4,0.000,0.040,3019,3471,2025,0,0,0,0,0,0
$GC,12829,0.63,198.7,678.3,13.0,837,12836,0.00,2.05,0.00,0.000,6,0.000,0.020,3028,2074,2024,0,0,0,0,0,0
$GC,13148,0.63,198.7,641.2,11.8,853,13152,0.00,2.05,0.00,0.000,4,0.000,0.033,3039,694,2024,0,0,0,0,0,0
$GC,13196,0.63,198.7,634.9,12.8,855,13201,0.12,2.00,0.00,0.000,6,0.146,0.024,3004,2061,2024,0,0,0,0,0,0
$GC,13526,0.63,198.7,601.8,9.8,871,13530,0.00,2.05,0.00,0.000,4,0.000,0.031,3010,692,2024,0,0,0,0,0,0
$GC,13595,0.64,212.4,595.2,9.2,874,13617,0.00,1.90,13.50,1.065,6,0.000,0.022,3010,1998,1970,0,0,0,0,0,0
$GC,13931,0.64,212.4,559.5,11.1,890,13935,0.00,2.22,0.00,0.000,4,0.000,0.037,3010,3465,1968,0,0,0,0,0,0
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$STATE,19047,end climb,SURFACE_DEPTH_REACHED
$STATE,19047,begin surface coast
$FINISH,0.9,0.996538
$STATE,19075,end surface coast,CONTROL_FINISHED_OK
$STATE,19076,begin surface
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$HUMID,36.76
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.20
$XPDR_PINGS,74
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$10V_AH,9.8,49.232
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.750,199.750,632.900,0.000,0.000,25.567,45.849,227.293,18.500,0.000,16.844,3727.687,10754.023,764.298,3491.611,891.487,0.000,2396.258,0.000,3425.767,0.000,0.543,0.000
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$MEM,329648
$DATA_FILE_SIZE,86996,1472
$CAP_FILE_SIZE,209722,0
$CFSIZE,260165632,112922624
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 41.2,1
$GPS,150811,075025,2004.953,12419.835,41,1.1,42,-2.5