version: 66.09
glider: 167
mission: 8
dive: 329
start: 8 21 111 10 46 45
data:
$ID,167
$MISSION,8
$DIVE,329
$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,-56804.777
$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,72
$R_STBD_OVSHOOT,58
$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
$GPS1,210811,103737,1909.271,12418.733,30,1.0,31,-2.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.0
$GPS2,210811,104622,1909.393,12418.651,12,99.0,31,-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,141.7,149834,-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,-194.6,0.0,0.0,0,103,0.00,0.00,-79.55,0.000,2,0.000,0.000,110,1994,2916,0,0,0,0,0,0
$GC,106,-0.62,-194.6,5.5,-9.5,12,137,9.98,2.22,-12.15,0.000,4,0.228,0.046,2600,473,3636,0,0,0,0,0,0
$GC,182,-0.62,-194.6,36.1,-30.9,24,191,0.00,2.05,0.00,0.000,6,0.000,0.021,2592,1878,3637,0,0,0,0,0,0
$GC,326,-0.62,-194.6,71.9,-26.7,49,333,0.00,2.03,0.00,0.000,4,0.000,0.031,2582,3273,3638,0,0,0,0,0,0
$GC,343,-0.62,-194.6,77.0,-27.6,51,351,0.00,1.98,0.00,0.000,6,0.000,0.021,2582,1890,3638,0,0,0,0,0,0
$GC,486,-0.62,-194.6,109.7,-22.2,76,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1890,3639,0,0,0,0,0,0
$GC,627,-0.62,-194.6,139.0,-18.7,101,634,0.00,2.03,0.00,0.000,4,0.000,0.030,2574,3276,3639,0,0,0,0,0,0
$GC,669,-0.62,-194.6,147.6,-19.2,108,678,0.00,1.83,0.00,0.000,6,0.000,0.017,2574,1975,3638,0,0,0,0,0,0
$GC,811,-0.62,-194.6,172.8,-17.0,133,819,0.00,2.12,0.00,0.000,4,0.000,0.027,2574,499,3639,0,0,0,0,0,0
$GC,872,-0.62,-194.6,183.2,-15.9,143,879,0.12,2.03,0.00,0.000,6,0.168,0.020,2599,1917,3639,0,0,0,0,0,0
$GC,1022,-0.62,-194.6,202.6,-12.0,167,1026,0.00,1.98,0.00,0.000,4,0.000,0.032,2591,3270,3639,0,0,0,0,0,0
$GC,1071,-0.62,-194.6,209.0,-11.5,171,1078,0.00,1.88,0.00,0.000,6,0.000,0.017,2591,1934,3639,0,0,0,0,0,0
$GC,1397,-0.62,-194.6,256.6,-17.2,202,1401,0.00,2.08,0.00,0.000,4,0.000,0.028,2591,504,3638,0,0,0,0,0,0
$GC,1432,-0.62,-194.6,263.0,-18.2,205,1436,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1942,3638,0,0,0,0,0,0
$GC,1761,-0.62,-194.6,319.5,-16.4,235,1765,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3266,3637,0,0,0,0,0,0
$GC,1810,-0.62,-194.6,327.5,-14.1,239,1817,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1941,3637,0,0,0,0,0,0
$GC,2136,-0.62,-194.6,366.1,-11.1,270,2141,0.00,2.10,0.00,0.000,4,0.000,0.028,2587,505,3636,0,0,0,0,0,0
$GC,2187,-0.62,-194.6,371.9,-11.3,274,2194,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1912,3635,0,0,0,0,0,0
$GC,2512,-0.62,-194.6,413.6,-14.7,305,2516,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3267,3634,0,0,0,0,0,0
$GC,2565,-0.62,-194.6,420.7,-13.8,309,2573,0.00,1.85,0.00,0.000,6,0.000,0.017,2587,1936,3634,0,0,0,0,0,0
$GC,2890,-0.62,-194.6,460.8,-10.4,340,2894,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3276,3632,0,0,0,0,0,0
$GC,2918,-0.62,-194.6,463.6,-9.7,342,2925,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1935,3632,0,0,0,0,0,0
$GC,3244,-0.62,-194.6,489.8,-7.4,373,3247,0.00,2.08,0.00,0.000,4,0.000,0.028,2587,512,3630,0,0,0,0,0,0
$GC,3290,-0.62,-194.6,493.7,-8.3,377,3295,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1925,3631,0,0,0,0,0,0
$GC,3615,-0.62,-194.6,524.9,-10.4,396,3618,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3273,3628,0,0,0,0,0,0
$GC,3664,-0.62,-194.6,530.4,-10.1,398,3667,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1954,3628,0,0,0,0,0,0
$GC,3993,-0.62,-194.6,564.6,-10.4,414,3997,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3271,3625,0,0,0,0,0,0
$GC,4043,-0.62,-194.6,569.4,-8.8,416,4047,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1968,3625,0,0,0,0,0,0
$GC,4371,-0.62,-194.6,594.4,-6.4,432,4376,0.00,2.15,0.00,0.000,4,0.000,0.028,2587,510,3623,0,0,0,0,0,0
$GC,4441,-0.62,-194.6,598.5,-6.1,435,4445,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1973,3623,0,0,0,0,0,0
$GC,4775,-0.62,-194.6,619.6,-6.7,451,4779,0.00,1.90,0.00,0.000,4,0.000,0.037,2587,3263,3620,0,0,0,0,0,0
$GC,4832,-0.62,-194.6,623.6,-6.7,453,4836,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1975,3619,0,0,0,0,0,0
$GC,5154,-0.62,-194.6,649.9,-8.8,469,5159,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,504,3617,0,0,0,0,0,0
$GC,5187,-0.62,-194.6,653.2,-9.5,470,5191,0.00,2.15,0.00,0.000,6,0.000,0.022,2587,1976,3616,0,0,0,0,0,0
$GC,5505,-0.62,-194.6,680.1,-8.3,485,5510,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3261,3614,0,0,0,0,0,0
$GC,5600,-0.62,-194.6,687.8,-7.7,489,5604,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1984,3613,0,0,0,0,0,0
$GC,5928,-0.62,-194.6,714.7,-8.4,505,5932,0.00,2.17,0.00,0.000,4,0.000,0.029,2587,503,3611,0,0,0,0,0,0
$GC,6006,-0.62,-194.6,721.9,-8.7,508,6013,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1950,3610,0,0,0,0,0,0
$GC,6323,-0.62,-194.6,747.0,-7.9,524,6326,0.00,1.95,0.00,0.000,4,0.000,0.038,2587,3262,3608,0,0,0,0,0,0
$GC,6374,-0.62,-194.6,750.8,-7.2,526,6379,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1979,3608,0,0,0,0,0,0
$GC,6702,-0.62,-194.6,774.1,-6.9,542,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1978,3606,0,0,0,0,0,0
$GC,7012,-0.62,-194.6,792.5,-5.8,557,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1977,3604,0,0,0,0,0,0
$GC,7322,-0.62,-194.6,811.2,-6.3,572,7326,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,505,3602,0,0,0,0,0,0
$GC,7350,-0.62,-194.6,813.5,-6.5,573,7354,0.00,2.17,0.00,0.000,6,0.000,0.024,2588,1976,3601,0,0,0,0,0,0
$GC,7668,-0.62,-194.6,837.1,-7.9,588,7672,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,509,3600,0,0,0,0,0,0
$GC,7696,-0.62,-194.6,839.7,-8.0,589,7700,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1968,3599,0,0,0,0,0,0
$GC,8012,-0.62,-194.6,863.7,-7.5,604,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1968,3598,0,0,0,0,0,0
$GC,8323,-0.62,-194.6,885.0,-6.7,619,8327,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3270,3597,0,0,0,0,0,0
$GC,8385,-0.62,-194.6,889.2,-6.5,621,8393,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1978,3596,0,0,0,0,0,0
$GC,8704,-0.62,-194.6,911.3,-7.4,637,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1978,3595,0,0,0,0,0,0
$GC,9011,-0.62,-194.6,935.0,-7.8,652,9015,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3267,3593,0,0,0,0,0,0
$GC,9044,-0.62,-194.6,937.6,-7.8,653,9048,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1998,3593,0,0,0,0,0,0
$GC,9368,-0.62,-194.6,960.1,-6.6,669,9373,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,514,3591,0,0,0,0,0,0
$GC,9423,-0.62,-194.6,964.1,-7.0,671,9427,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1968,3592,0,0,0,0,0,0
$GC,9740,-0.62,-194.6,981.1,-5.1,686,9744,0.00,1.95,0.00,0.000,4,0.000,0.042,2587,3261,3591,0,0,0,0,0,0
$GC,9788,-0.62,-194.6,983.4,-5.1,688,9792,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1976,3591,0,0,0,0,0,0
$STATE,9933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9933,begin apogee
$GC,9939,-0.20,0.0,990.6,5.0,695,10103,0.43,0.00,157.15,1.391,4,0.110,0.000,2732,2101,2838,0,0,0,0,0,0
$STATE,10104,end apogee,CONTROL_FINISHED_OK
$STATE,10104,begin climb
$GC,10106,0.62,194.6,994.5,0.0,702,10287,0.80,2.17,171.40,1.337,4,0.081,0.041,3001,3436,2044,0,0,0,0,0,0
$GC,10427,0.62,194.6,959.9,12.7,717,10431,0.00,2.03,0.00,0.000,6,0.000,0.021,3010,2091,2035,0,0,0,0,0,0
$GC,10757,0.62,194.6,922.5,11.1,733,10761,0.00,2.08,0.00,0.000,4,0.000,0.037,3010,3436,2034,0,0,0,0,0,0
$GC,10969,0.62,194.6,896.4,12.2,742,10977,0.00,2.10,0.00,0.000,6,0.000,0.022,3016,2032,2032,0,0,0,0,0,0
$GC,11287,0.62,194.6,860.1,11.4,758,11291,0.00,2.03,0.00,0.000,4,0.000,0.035,3019,681,2032,0,0,0,0,0,0
$GC,11410,0.62,194.6,846.6,11.0,763,11413,0.00,1.88,0.00,0.000,6,0.000,0.024,3019,1949,2032,0,0,0,0,0,0
$GC,11733,0.62,194.6,808.7,12.2,779,11737,0.00,2.28,0.00,0.000,4,0.000,0.040,3019,3445,2031,0,0,0,0,0,0
$GC,11765,0.62,194.6,803.9,13.7,780,11772,0.00,2.15,0.00,0.000,6,0.000,0.021,3029,1980,2030,0,0,0,0,0,0
$GC,12083,0.62,194.6,761.5,13.3,796,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1980,2030,0,0,0,0,0,0
$GC,12391,0.62,194.6,720.6,13.3,811,12395,0.00,1.95,0.00,0.000,4,0.000,0.033,3038,679,2029,0,0,0,0,0,0
$GC,12441,0.62,194.6,714.1,12.6,813,12445,0.12,1.92,0.00,0.000,6,0.148,0.024,3004,1985,2029,0,0,0,0,0,0
$GC,12769,0.63,202.0,680.4,9.5,829,12776,0.00,0.00,5.07,0.893,6,0.000,0.000,3004,1985,2015,0,0,0,0,0,0
$GC,13077,0.65,217.8,651.8,9.2,844,13100,0.00,2.22,15.55,1.121,4,0.000,0.037,3004,3442,1950,0,0,0,0,0,0
$GC,13163,0.65,217.8,643.3,10.1,847,13170,0.00,2.17,0.00,0.000,6,0.000,0.022,3011,1974,1948,0,0,0,0,0,0
$GC,13479,0.65,217.8,610.8,10.7,863,13483,0.00,1.92,0.00,0.000,4,0.000,0.033,3021,679,1946,0,0,0,0,0,0
$GC,13579,0.65,217.8,599.9,10.9,867,13583,0.00,1.83,0.00,0.000,6,0.000,0.023,3021,1906,1946,0,0,0,0,0,0
$GC,13904,0.65,217.8,565.6,9.9,883,13908,0.00,2.30,0.00,0.000,4,0.000,0.037,3021,3437,1946,0,0,0,0,0,0
$GC,13998,0.65,217.8,555.8,9.8,887,14002,0.00,2.20,0.00,0.000,6,0.000,0.021,3030,1943,1945,0,0,0,0,0,0
$GC,14322,0.68,244.3,528.3,8.8,903,14348,0.00,0.00,24.17,1.054,6,0.000,0.000,3030,1944,1843,0,0,0,0,0,0
$GC,14651,0.68,244.3,491.5,12.5,922,14654,0.00,1.88,0.00,0.000,4,0.000,0.034,3038,670,1838,0,0,0,0,0,0
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$STATE,19345,end climb,SURFACE_DEPTH_REACHED
$STATE,19345,begin surface coast
$FINISH,1.0,1.021032
$STATE,19392,end surface coast,CONTROL_FINISHED_OK
$STATE,19392,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,37.04
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.50
$XPDR_PINGS,37
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$10V_AH,9.8,53.456
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,1021.092,1114.971,610.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,329660
$DATA_FILE_SIZE,86801,1507
$CAP_FILE_SIZE,205165,0
$CFSIZE,260165632,110182400
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,272.4,1
$GPS,210811,161237,1907.326,12419.017,42,1.2,43,-2.3