version: 66.09
glider: 167
mission: 8
dive: 369
start: 8 30 111 20 57 26
data:
$ID,167
$MISSION,8
$DIVE,369
$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,-3
$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,-58670.785
$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,60
$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
$GPS1,300811,204506,1751.052,12420.101,38,1.3,39,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.0
$GPS2,300811,205702,1751.017,12420.146,14,1.3,14,-2.0
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,301.7,229904,-15.3,-9.706
$D_GRID,4221
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,111,0.00,0.00,-90.28,0.000,2,0.000,0.000,109,1930,3187,0,0,0,0,0,0
$GC,114,-0.62,-194.6,6.0,-11.8,13,137,10.27,2.17,-7.07,0.000,4,0.236,0.038,2600,475,3637,0,0,0,0,0,0
$GC,244,-0.62,-194.6,54.9,-26.7,35,252,0.00,2.05,0.00,0.000,6,0.000,0.021,2592,1888,3638,0,0,0,0,0,0
$GC,385,-0.62,-194.6,92.8,-23.3,60,394,0.00,2.05,0.00,0.000,4,0.000,0.032,2581,3263,3638,0,0,0,0,0,0
$GC,425,-0.62,-194.6,102.2,-24.4,66,433,0.00,1.88,0.00,0.000,6,0.000,0.018,2581,1949,3638,0,0,0,0,0,0
$GC,567,-0.62,-194.6,131.3,-19.4,91,575,0.00,2.12,0.00,0.000,4,0.000,0.028,2581,479,3638,0,0,0,0,0,0
$GC,666,-0.62,-194.6,149.4,-18.4,108,676,0.00,2.20,0.00,0.000,6,0.000,0.021,2574,1983,3639,0,0,0,0,0,0
$GC,811,-0.62,-194.6,176.0,-18.9,133,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1984,3639,0,0,0,0,0,0
$GC,950,-0.62,-194.6,200.6,-19.0,158,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1984,3639,0,0,0,0,0,0
$GC,1271,-0.62,-194.6,252.0,-14.2,188,1275,0.00,2.20,0.00,0.000,4,0.000,0.027,2575,474,3639,0,0,0,0,0,0
$GC,1314,-0.62,-194.6,259.4,-14.9,191,1322,0.00,2.22,0.00,0.000,6,0.000,0.022,2574,2017,3640,0,0,0,0,0,0
$GC,1640,-0.62,-194.6,304.5,-13.0,222,1644,0.00,1.83,0.00,0.000,4,0.000,0.034,2574,3279,3638,0,0,0,0,0,0
$GC,1719,-0.62,-194.6,314.6,-12.9,229,1723,0.00,1.75,0.00,0.000,6,0.000,0.018,2574,2005,3638,0,0,0,0,0,0
$GC,2051,-0.62,-194.6,358.2,-12.0,260,2055,0.00,2.20,0.00,0.000,4,0.000,0.029,2574,488,3636,0,0,0,0,0,0
$GC,2210,-0.62,-194.6,378.8,-12.7,273,2217,0.00,2.25,0.00,0.000,6,0.000,0.022,2573,2038,3635,0,0,0,0,0,0
$GC,2536,-0.62,-194.6,417.6,-11.8,304,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2038,3634,0,0,0,0,0,0
$GC,2857,-0.62,-194.6,450.8,-10.1,334,2861,0.00,1.80,0.00,0.000,4,0.000,0.035,2570,3274,3631,0,0,0,0,0,0
$GC,2940,-0.62,-194.6,460.6,-10.5,341,2947,0.00,1.83,0.00,0.000,6,0.000,0.018,2570,1985,3631,0,0,0,0,0,0
$GC,3268,-0.62,-194.6,494.5,-10.1,372,3273,0.00,2.20,0.00,0.000,4,0.000,0.030,2570,494,3629,0,0,0,0,0,0
$GC,3447,-0.62,-194.6,514.0,-10.3,383,3453,0.10,2.22,0.00,0.000,6,0.133,0.021,2595,2009,3627,0,0,0,0,0,0
$GC,3784,-0.62,-194.6,539.4,-6.9,399,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2009,3625,0,0,0,0,0,0
$GC,4090,-0.62,-194.6,561.5,-7.2,414,4094,0.00,1.85,0.00,0.000,4,0.000,0.036,2595,3269,3623,0,0,0,0,0,0
$GC,4196,-0.62,-194.6,569.4,-7.2,418,4203,0.00,1.80,0.00,0.000,6,0.000,0.018,2595,1995,3621,0,0,0,0,0,0
$GC,4514,-0.62,-194.6,593.6,-8.0,434,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1995,3619,0,0,0,0,0,0
$GC,4822,-0.62,-194.6,617.9,-7.7,449,4825,0.00,1.92,0.00,0.000,4,0.000,0.036,2595,3269,3618,0,0,0,0,0,0
$GC,4885,-0.62,-194.6,622.7,-7.6,451,4893,0.00,1.80,0.00,0.000,6,0.000,0.019,2595,1997,3616,0,0,0,0,0,0
$GC,5201,-0.62,-194.6,644.9,-6.9,467,5205,0.00,1.92,0.00,0.000,4,0.000,0.036,2595,3270,3614,0,0,0,0,0,0
$GC,5229,-0.62,-194.6,646.8,-6.9,468,5233,0.00,1.75,0.00,0.000,6,0.000,0.019,2595,2013,3613,0,0,0,0,0,0
$GC,5559,-0.62,-194.6,668.6,-6.5,484,5563,0.00,2.25,0.00,0.000,4,0.000,0.029,2595,480,3611,0,0,0,0,0,0
$GC,5603,-0.62,-194.6,672.0,-6.7,486,5607,0.00,2.33,0.00,0.000,6,0.000,0.022,2595,2058,3611,0,0,0,0,0,0
$GC,5927,-0.62,-194.6,693.8,-6.9,502,5930,0.00,1.83,0.00,0.000,4,0.000,0.039,2595,3273,3608,0,0,0,0,0,0
$GC,5961,-0.62,-194.6,696.4,-7.1,503,5964,0.00,1.75,0.00,0.000,6,0.000,0.021,2595,2035,3608,0,0,0,0,0,0
$GC,6283,-0.62,-194.6,719.1,-7.0,519,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2033,3606,0,0,0,0,0,0
$GC,6594,-0.62,-194.6,739.3,-6.2,534,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2033,3605,0,0,0,0,0,0
$GC,6901,-0.62,-194.6,757.6,-6.0,549,6906,0.00,1.90,0.00,0.000,4,0.000,0.039,2595,3262,3602,0,0,0,0,0,0
$GC,6934,-0.62,-194.6,759.6,-6.0,550,6938,0.00,1.73,0.00,0.000,6,0.000,0.021,2595,2041,3602,0,0,0,0,0,0
$GC,7258,-0.62,-194.6,779.8,-6.5,566,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2040,3600,0,0,0,0,0,0
$GC,7565,-0.62,-194.6,800.5,-6.8,581,7569,0.00,1.88,0.00,0.000,4,0.000,0.038,2595,3269,3599,0,0,0,0,0,0
$GC,7615,-0.62,-194.6,804.0,-6.7,583,7619,0.00,1.70,0.00,0.000,6,0.000,0.020,2595,2059,3599,0,0,0,0,0,0
$GC,7946,-0.62,-194.6,824.6,-5.9,599,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2057,3597,0,0,0,0,0,0
$GC,8253,-0.62,-194.6,840.9,-5.0,614,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2056,3596,0,0,0,0,0,0
$GC,8564,-0.62,-194.6,856.9,-5.1,629,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2056,3595,0,0,0,0,0,0
$GC,8871,-0.62,-194.6,872.6,-5.2,644,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2056,3593,0,0,0,0,0,0
$GC,9180,-0.62,-194.6,888.5,-5.0,659,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2056,3592,0,0,0,0,0,0
$GC,9491,-0.62,-194.6,904.7,-5.5,674,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2056,3591,0,0,0,0,0,0
$GC,9799,-0.62,-194.6,922.0,-5.6,689,9802,0.00,1.85,0.00,0.000,4,0.000,0.041,2595,3261,3590,0,0,0,0,0,0
$GC,9837,-0.62,-194.6,924.4,-5.7,690,9844,0.00,1.67,0.00,0.000,6,0.000,0.022,2594,2090,3590,0,0,0,0,0,0
$GC,10155,-0.62,-194.6,942.2,-5.5,706,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2089,3589,0,0,0,0,0,0
$GC,10463,-0.62,-194.6,959.4,-5.4,721,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2089,3588,0,0,0,0,0,0
$GC,10774,-0.62,-194.6,974.9,-4.8,736,10779,0.00,2.40,0.00,0.000,4,0.000,0.031,2595,497,3587,0,0,0,0,0,0
$GC,10801,-0.62,-194.6,976.6,-4.9,737,10806,0.00,2.40,0.00,0.000,6,0.000,0.024,2595,2099,3587,0,0,0,0,0,0
$STATE,11079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11079,begin apogee
$GC,11085,-0.20,0.0,990.9,5.2,751,11252,0.40,0.00,158.93,1.391,4,0.118,0.000,2730,2100,2838,0,0,0,0,0,0
$STATE,11253,end apogee,CONTROL_FINISHED_OK
$STATE,11253,begin climb
$GC,11255,0.62,194.6,995.8,0.0,758,11439,0.80,2.25,174.15,1.341,4,0.080,0.030,2999,687,2044,0,0,0,0,0,0
$GC,11534,0.62,194.6,971.0,11.1,771,11539,0.00,2.15,0.00,0.000,6,0.000,0.024,2999,2059,2037,0,0,0,0,0,0
$GC,11857,0.62,194.6,934.4,11.3,787,11861,0.00,2.08,0.00,0.000,4,0.000,0.031,3005,696,2030,0,0,0,0,0,0
$GC,12016,0.62,194.6,916.0,11.7,794,12020,0.00,2.12,0.00,0.000,6,0.000,0.024,3006,2108,2030,0,0,0,0,0,0
$GC,12346,0.62,194.6,876.3,12.2,810,12349,0.00,2.08,0.00,0.000,4,0.000,0.040,3006,3468,2028,0,0,0,0,0,0
$GC,12379,0.62,194.6,871.5,13.3,811,12383,0.00,1.98,0.00,0.000,6,0.000,0.021,3013,2116,2027,0,0,0,0,0,0
$GC,12703,0.62,194.6,831.0,12.6,827,12707,0.00,2.10,0.00,0.000,4,0.000,0.033,3024,690,2026,0,0,0,0,0,0
$GC,12767,0.62,194.6,822.7,13.1,830,12771,0.00,2.12,0.00,0.000,6,0.000,0.024,3024,2113,2026,0,0,0,0,0,0
$GC,13094,0.62,194.6,780.2,12.7,846,13097,0.00,2.08,0.00,0.000,4,0.000,0.040,3024,3476,2026,0,0,0,0,0,0
$GC,13119,0.62,194.6,777.2,12.6,847,13123,0.00,2.00,0.00,0.000,6,0.000,0.021,3030,2108,2026,0,0,0,0,0,0
$GC,13452,0.62,194.6,734.2,12.7,863,13457,0.00,2.12,0.00,0.000,4,0.000,0.034,3040,697,2026,0,0,0,0,0,0
$GC,13484,0.62,194.6,730.0,12.3,864,13489,0.15,2.08,0.00,0.000,6,0.142,0.024,2998,2095,2026,0,0,0,0,0,0
$GC,13809,0.62,194.6,698.1,10.0,880,13813,0.00,2.10,0.00,0.000,4,0.000,0.039,2998,3475,2025,0,0,0,0,0,0
$GC,13886,0.62,194.6,689.0,11.2,883,13895,0.00,1.98,0.00,0.000,6,0.000,0.021,3004,2129,2025,0,0,0,0,0,0
$GC,14205,0.62,194.6,655.8,10.6,899,14209,0.00,2.15,0.00,0.000,4,0.000,0.034,3015,687,2024,0,0,0,0,0,0
$GC,14293,0.62,194.6,645.7,10.9,903,14297,0.00,2.12,0.00,0.000,6,0.000,0.024,3015,2113,2024,0,0,0,0,0,0
$GC,14621,0.62,194.6,606.8,12.1,919,14626,0.00,2.08,0.00,0.000,4,0.000,0.039,3014,3465,2024,0,0,0,0,0,0
$GC,14690,0.62,194.6,598.2,13.0,922,14694,0.00,1.92,0.00,0.000,6,0.000,0.021,3023,2135,2024,0,0,0,0,0,0
$GC,15024,0.62,194.6,557.9,12.0,938,15028,0.00,2.15,0.00,0.000,4,0.000,0.033,3034,689,2024,0,0,0,0,0,0
$GC,15103,0.62,194.6,548.2,12.2,941,15111,0.12,2.03,0.00,0.000,6,0.150,0.024,3000,2073,2024,0,0,0,0,0,0
$GC,15419,0.63,199.2,517.4,9.6,957,15423,0.00,2.12,0.00,0.000,4,0.000,0.038,2999,3471,2024,0,0,0,0,0,0
$GC,15510,0.63,199.2,507.5,11.3,961,15514,0.00,2.00,0.00,0.000,6,0.000,0.021,3007,2097,2024,0,0,0,0,0,0
$GC,15834,0.63,199.2,475.2,9.9,988,15838,0.00,2.08,0.00,0.000,4,0.000,0.032,3016,686,2023,0,0,0,0,0,0
$GC,15933,0.63,199.2,465.4,10.1,996,15937,0.00,2.08,0.00,0.000,6,0.000,0.023,3017,2088,2024,0,0,0,0,0,0
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$STATE,20573,end climb,SURFACE_DEPTH_REACHED
$STATE,20573,begin surface coast
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$STATE,20597,end surface coast,CONTROL_FINISHED_OK
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$TCM_TEMP,26.70
$XPDR_PINGS,58
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$10V_AH,9.8,59.006
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$FG_AHR_10Vo,0.000
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$MEM,330268
$DATA_FILE_SIZE,90187,1570
$CAP_FILE_SIZE,206856,0
$CFSIZE,260165632,106213376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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