version: 66.09
glider: 167
mission: 8
dive: 325
start: 8 20 111 12 28 42
data:
$ID,167
$MISSION,8
$DIVE,325
$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,-56799.754
$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,61
$R_STBD_OVSHOOT,63
$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
$GPS1,200811,122031,1917.515,12418.446,39,1.2,40,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-67.6
$GPS2,200811,122818,1917.582,12418.364,11,1.7,15,-2.3
$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,145.9,164833,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,106,0.00,0.00,-83.68,0.000,2,0.000,0.000,111,2001,2843,0,0,0,0,0,0
$GC,110,-0.62,-194.6,5.0,-7.5,12,140,9.93,2.30,-14.12,0.000,4,0.227,0.037,2594,464,3635,0,0,0,0,0,0
$GC,198,-0.62,-194.6,33.0,-26.5,26,207,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1864,3636,0,0,0,0,0,0
$GC,346,-0.62,-194.6,67.5,-21.1,51,353,0.00,2.08,0.00,0.000,4,0.000,0.031,2576,3279,3636,0,0,0,0,0,0
$GC,397,-0.62,-194.6,78.5,-19.1,59,404,0.00,1.98,0.00,0.000,6,0.000,0.021,2576,1899,3636,0,0,0,0,0,0
$GC,542,-0.62,-194.6,109.5,-20.6,84,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1898,3637,0,0,0,0,0,0
$GC,685,-0.62,-194.6,136.2,-17.9,109,692,0.00,2.03,0.00,0.000,4,0.000,0.030,2567,3276,3637,0,0,0,0,0,0
$GC,716,-0.62,-194.6,142.0,-18.6,114,725,0.08,1.95,0.00,0.000,6,0.156,0.018,2591,1894,3637,0,0,0,0,0,0
$GC,867,-0.62,-194.6,165.8,-16.6,139,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1894,3638,0,0,0,0,0,0
$GC,1011,-0.62,-194.6,192.7,-18.7,164,1019,0.00,2.00,0.00,0.000,4,0.000,0.028,2591,520,3638,0,0,0,0,0,0
$GC,1057,-0.62,-194.6,200.9,-18.1,171,1064,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1854,3638,0,0,0,0,0,0
$GC,1382,-0.62,-194.6,260.1,-17.8,202,1386,0.00,2.08,0.00,0.000,4,0.000,0.032,2577,3265,3637,0,0,0,0,0,0
$GC,1429,-0.62,-194.6,267.4,-15.9,206,1433,0.00,1.95,0.00,0.000,6,0.000,0.017,2577,1874,3637,0,0,0,0,0,0
$GC,1760,-0.62,-194.6,311.5,-12.1,237,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1873,3636,0,0,0,0,0,0
$GC,2082,-0.62,-194.6,351.0,-13.8,267,2087,0.00,2.00,0.00,0.000,4,0.000,0.028,2577,504,3635,0,0,0,0,0,0
$GC,2105,-0.62,-194.6,355.0,-14.7,269,2109,0.00,1.95,0.00,0.000,6,0.000,0.021,2571,1869,3635,0,0,0,0,0,0
$GC,2437,-0.62,-194.6,410.5,-16.9,300,2441,0.00,2.03,0.00,0.000,4,0.000,0.032,2561,3262,3634,0,0,0,0,0,0
$GC,2517,-0.62,-194.6,423.0,-14.8,307,2522,0.12,1.92,0.00,0.000,6,0.153,0.017,2596,1870,3634,0,0,0,0,0,0
$GC,2850,-0.62,-194.6,454.8,-7.3,338,2853,0.00,1.95,0.00,0.000,4,0.000,0.029,2596,520,3632,0,0,0,0,0,0
$GC,2918,-0.62,-194.6,458.9,-5.8,344,2922,0.00,1.90,0.00,0.000,6,0.000,0.021,2596,1852,3632,0,0,0,0,0,0
$GC,3250,-0.62,-194.6,477.4,-7.6,375,3255,0.00,2.10,0.00,0.000,4,0.000,0.034,2596,3259,3630,0,0,0,0,0,0
$GC,3318,-0.62,-194.6,482.9,-8.0,381,3321,0.00,1.95,0.00,0.000,6,0.000,0.019,2596,1871,3629,0,0,0,0,0,0
$GC,3648,-0.62,-194.6,515.5,-9.9,405,3652,0.00,2.05,0.00,0.000,4,0.000,0.032,2589,3268,3627,0,0,0,0,0,0
$GC,3715,-0.62,-194.6,522.2,-8.9,408,3720,0.00,1.95,0.00,0.000,6,0.000,0.018,2589,1891,3626,0,0,0,0,0,0
$GC,4042,-0.62,-194.6,549.2,-7.4,424,4045,0.00,2.03,0.00,0.000,4,0.000,0.030,2589,507,3624,0,0,0,0,0,0
$GC,4157,-0.62,-194.6,555.4,-5.3,429,4161,0.00,1.95,0.00,0.000,6,0.000,0.021,2588,1844,3623,0,0,0,0,0,0
$GC,4489,-0.62,-194.6,575.4,-6.8,445,4493,0.00,2.10,0.00,0.000,4,0.000,0.035,2588,3270,3621,0,0,0,0,0,0
$GC,4558,-0.62,-194.6,580.4,-7.2,448,4562,0.00,1.98,0.00,0.000,6,0.000,0.018,2588,1871,3620,0,0,0,0,0,0
$GC,4886,-0.62,-194.6,609.5,-9.3,464,4890,0.00,2.08,0.00,0.000,4,0.000,0.034,2588,3268,3618,0,0,0,0,0,0
$GC,4930,-0.62,-194.6,613.4,-8.5,466,4933,0.00,1.95,0.00,0.000,6,0.000,0.019,2588,1887,3618,0,0,0,0,0,0
$GC,5260,-0.62,-194.6,643.2,-9.6,482,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1887,3615,0,0,0,0,0,0
$GC,5567,-0.62,-194.6,672.4,-8.9,497,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1887,3613,0,0,0,0,0,0
$GC,5877,-0.62,-194.6,696.5,-7.2,512,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1887,3610,0,0,0,0,0,0
$GC,6186,-0.62,-194.6,716.3,-6.3,527,6189,0.00,2.05,0.00,0.000,4,0.000,0.035,2588,3256,3609,0,0,0,0,0,0
$GC,6232,-0.62,-194.6,719.0,-6.0,529,6236,0.00,1.92,0.00,0.000,6,0.000,0.021,2588,1913,3608,0,0,0,0,0,0
$GC,6566,-0.62,-194.6,741.0,-7.4,545,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1912,3606,0,0,0,0,0,0
$GC,6874,-0.62,-194.6,766.5,-8.7,560,6878,0.00,2.08,0.00,0.000,4,0.000,0.031,2588,511,3604,0,0,0,0,0,0
$GC,6902,-0.62,-194.6,769.2,-8.8,561,6906,0.00,2.08,0.00,0.000,6,0.000,0.023,2588,1919,3604,0,0,0,0,0,0
$GC,7230,-0.62,-194.6,798.3,-8.7,577,7233,0.00,2.05,0.00,0.000,4,0.000,0.039,2588,3275,3602,0,0,0,0,0,0
$GC,7277,-0.62,-194.6,802.4,-8.7,579,7280,0.00,1.92,0.00,0.000,6,0.000,0.021,2588,1929,3601,0,0,0,0,0,0
$GC,7613,-0.62,-194.6,828.0,-7.5,595,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1929,3600,0,0,0,0,0,0
$GC,7919,-0.62,-194.6,849.7,-6.6,610,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1929,3598,0,0,0,0,0,0
$GC,8228,-0.62,-194.6,869.5,-6.4,625,8232,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,504,3596,0,0,0,0,0,0
$GC,8254,-0.62,-194.6,871.1,-6.6,626,8258,0.00,2.15,0.00,0.000,6,0.000,0.024,2588,1962,3596,0,0,0,0,0,0
$GC,8576,-0.62,-194.6,892.0,-6.2,642,8579,0.00,1.95,0.00,0.000,4,0.000,0.040,2588,3267,3594,0,0,0,0,0,0
$GC,8669,-0.62,-194.6,897.2,-5.5,646,8672,0.00,1.83,0.00,0.000,6,0.000,0.019,2588,1975,3594,0,0,0,0,0,0
$GC,9002,-0.62,-194.6,912.6,-4.0,662,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1975,3593,0,0,0,0,0,0
$GC,9311,-0.62,-194.6,923.5,-3.5,677,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1975,3592,0,0,0,0,0,0
$GC,9622,-0.62,-194.6,937.0,-5.0,692,9626,0.00,1.95,0.00,0.000,4,0.000,0.038,2587,3267,3591,0,0,0,0,0,0
$GC,9694,-0.62,-194.6,940.9,-5.5,695,9697,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1974,3590,0,0,0,0,0,0
$GC,10029,-0.62,-194.6,963.8,-7.5,711,10033,0.00,1.95,0.00,0.000,4,0.000,0.037,2588,3267,3588,0,0,0,0,0,0
$GC,10098,-0.62,-194.6,969.3,-7.8,714,10101,0.00,1.77,0.00,0.000,6,0.000,0.020,2588,2003,3589,0,0,0,0,0,0
$STATE,10348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10348,begin apogee
$GC,10357,-0.20,0.0,990.2,8.4,726,10519,0.43,0.00,156.73,1.396,4,0.112,0.000,2732,2070,2838,0,0,0,0,0,0
$STATE,10520,end apogee,CONTROL_FINISHED_OK
$STATE,10520,begin climb
$GC,10522,0.62,194.6,999.3,0.0,733,10703,0.75,0.00,171.80,1.346,6,0.078,0.000,2995,2070,2043,0,0,0,0,0,0
$GC,11014,0.62,194.6,958.2,10.3,757,11018,0.00,2.15,0.00,0.000,4,0.000,0.038,2995,3470,2033,0,0,0,0,0,0
$GC,11049,0.62,194.6,954.2,10.9,758,11057,0.00,2.03,0.00,0.000,6,0.000,0.021,2997,2114,2032,0,0,0,0,0,0
$GC,11365,0.62,194.6,918.5,11.5,774,11369,0.00,2.12,0.00,0.000,4,0.000,0.031,3007,686,2031,0,0,0,0,0,0
$GC,11497,0.62,194.6,903.1,12.0,780,11501,0.00,2.03,0.00,0.000,6,0.000,0.023,3007,2058,2031,0,0,0,0,0,0
$GC,11830,0.62,194.6,862.5,11.9,796,11833,0.00,2.12,0.00,0.000,4,0.000,0.039,3008,3461,2030,0,0,0,0,0,0
$GC,11870,0.62,194.6,857.4,12.4,798,11874,0.00,2.08,0.00,0.000,6,0.000,0.021,3015,2038,2029,0,0,0,0,0,0
$GC,12204,0.62,194.6,819.5,11.0,814,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2032,2029,0,0,0,0,0,0
$GC,12512,0.62,194.6,786.2,10.8,829,12516,0.00,2.00,0.00,0.000,4,0.000,0.034,3025,684,2028,0,0,0,0,0,0
$GC,12660,0.62,194.6,769.9,11.3,835,12664,0.00,1.95,0.00,0.000,6,0.000,0.023,3025,2004,2028,0,0,0,0,0,0
$GC,12983,0.62,194.6,729.6,13.3,851,12987,0.00,2.20,0.00,0.000,4,0.000,0.037,3025,3460,2028,0,0,0,0,0,0
$GC,13026,0.62,194.6,723.6,14.6,853,13030,0.12,2.12,0.00,0.000,6,0.173,0.021,3000,1997,2027,0,0,0,0,0,0
$GC,13353,0.62,194.6,682.4,12.7,869,13356,0.00,1.95,0.00,0.000,4,0.000,0.032,3009,678,2027,0,0,0,0,0,0
$GC,13443,0.62,194.6,671.1,12.4,873,13447,0.00,1.90,0.00,0.000,6,0.000,0.022,3009,1974,2027,0,0,0,0,0,0
$GC,13778,0.62,194.6,635.6,9.9,889,13782,0.00,2.25,0.00,0.000,4,0.000,0.037,3009,3464,2026,0,0,0,0,0,0
$GC,13827,0.62,194.6,630.1,10.8,891,13831,0.00,2.15,0.00,0.000,6,0.000,0.021,3016,1989,2026,0,0,0,0,0,0
$GC,14152,0.65,216.3,600.4,9.0,907,14175,0.00,2.03,16.98,1.092,4,0.000,0.034,3026,676,1956,0,0,0,0,0,0
$GC,14271,0.68,241.8,589.7,8.9,912,14302,0.00,1.92,23.60,1.091,6,0.000,0.022,3026,1959,1853,0,0,0,0,0,0
$GC,14619,0.68,241.8,552.5,11.8,929,14622,0.00,1.90,0.00,0.000,4,0.000,0.031,3034,680,1848,0,0,0,0,0,0
$GC,14665,0.68,241.8,546.6,12.8,931,14669,0.00,1.88,0.00,0.000,6,0.000,0.022,3034,1950,1848,0,0,0,0,0,0
$GC,15000,0.68,241.8,501.3,13.3,947,15005,0.00,2.33,0.00,0.000,4,0.000,0.037,3034,3467,1846,0,0,0,0,0,0
$GC,15140,0.68,241.8,482.0,12.9,958,15147,0.00,2.12,0.00,0.000,6,0.000,0.020,3043,2007,1845,0,0,0,0,0,0
$GC,15465,0.68,241.8,445.6,10.9,989,15468,0.00,1.95,0.00,0.000,4,0.000,0.033,3054,686,1845,0,0,0,0,0,0
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$STATE,19908,end climb,SURFACE_DEPTH_REACHED
$STATE,19908,begin surface coast
$FINISH,0.9,1.018483
$STATE,19939,end surface coast,CONTROL_FINISHED_OK
$STATE,19939,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,36.13
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.60
$XPDR_PINGS,38
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$10V_AH,9.8,52.916
$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,329680
$DATA_FILE_SIZE,90111,1553
$CAP_FILE_SIZE,206851,0
$CFSIZE,260165632,110575616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,283.9,1
$GPS,200811,180336,1915.392,12418.484,36,0.8,37,-2.3