version: 66.09
glider: 167
mission: 8
dive: 371
start: 8 31 111 8 32 32
data:
$ID,167
$MISSION,8
$DIVE,371
$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,-58673.301
$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,52
$R_STBD_OVSHOOT,79
$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
$GPS1,310811,082406,1753.172,12414.097,36,0.9,36,-2.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.6
$GPS2,310811,083208,1753.193,12414.063,15,1.2,15,-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,297.4,218494,-15.3,-9.706
$D_GRID,4771
$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,-194.6,0.0,0.0,0,115,0.00,0.00,-91.93,0.000,2,0.000,0.000,109,1887,3011,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.2,-7.9,13,148,10.38,2.12,-10.65,0.000,4,0.238,0.039,2594,465,3636,0,0,0,0,0,0
$GC,212,-0.62,-194.6,39.2,-28.3,28,220,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1854,3637,0,0,0,0,0,0
$GC,355,-0.62,-194.6,81.2,-23.9,53,362,0.00,2.10,0.00,0.000,4,0.000,0.032,2576,3274,3637,0,0,0,0,0,0
$GC,439,-0.62,-194.6,99.3,-20.2,67,447,0.00,1.80,0.00,0.000,6,0.000,0.018,2576,2005,3638,0,0,0,0,0,0
$GC,583,-0.62,-194.6,126.6,-18.3,92,592,0.00,2.25,0.00,0.000,4,0.000,0.029,2576,474,3638,0,0,0,0,0,0
$GC,655,-0.62,-194.6,141.6,-18.9,104,664,0.00,2.15,0.00,0.000,6,0.000,0.022,2570,1936,3638,0,0,0,0,0,0
$GC,801,-0.62,-194.6,168.3,-19.3,129,808,0.00,1.98,0.00,0.000,4,0.000,0.034,2561,3279,3639,0,0,0,0,0,0
$GC,860,-0.62,-194.6,179.9,-18.5,139,869,0.10,1.85,0.00,0.000,6,0.145,0.018,2592,1957,3639,0,0,0,0,0,0
$GC,1011,-0.62,-194.6,205.5,-16.7,162,1015,0.00,2.17,0.00,0.000,4,0.000,0.029,2592,458,3639,0,0,0,0,0,0
$GC,1052,-0.62,-194.6,213.1,-15.9,165,1056,0.00,2.25,0.00,0.000,6,0.000,0.021,2588,2010,3639,0,0,0,0,0,0
$GC,1377,-0.62,-194.6,260.3,-12.9,195,1381,0.00,1.85,0.00,0.000,4,0.000,0.034,2587,3282,3639,0,0,0,0,0,0
$GC,1473,-0.62,-194.6,273.3,-13.7,203,1481,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,2008,3638,0,0,0,0,0,0
$GC,1798,-0.62,-194.6,317.3,-13.0,234,1803,0.00,2.25,0.00,0.000,4,0.000,0.029,2587,475,3637,0,0,0,0,0,0
$GC,1959,-0.62,-194.6,336.6,-11.9,248,1963,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2011,3637,0,0,0,0,0,0
$GC,2288,-0.62,-194.6,375.6,-11.8,278,2292,0.00,1.85,0.00,0.000,4,0.000,0.034,2587,3274,3635,0,0,0,0,0,0
$GC,2312,-0.62,-194.6,379.0,-11.9,280,2317,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1964,3635,0,0,0,0,0,0
$GC,2642,-0.62,-194.6,416.3,-11.2,311,2646,0.00,2.17,0.00,0.000,4,0.000,0.030,2586,470,3633,0,0,0,0,0,0
$GC,2744,-0.62,-194.6,427.7,-11.0,319,2753,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,1959,3633,0,0,0,0,0,0
$GC,3070,-0.62,-194.6,461.6,-9.6,350,3073,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3277,3631,0,0,0,0,0,0
$GC,3154,-0.62,-194.6,469.0,-8.4,357,3161,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1926,3630,0,0,0,0,0,0
$GC,3483,-0.62,-194.6,497.2,-9.5,388,3487,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,460,3628,0,0,0,0,0,0
$GC,3570,-0.62,-194.6,505.8,-9.7,393,3574,0.00,2.15,0.00,0.000,6,0.000,0.022,2587,1939,3628,0,0,0,0,0,0
$GC,3897,-0.62,-194.6,537.0,-9.3,409,3901,0.00,1.98,0.00,0.000,4,0.000,0.036,2587,3281,3625,0,0,0,0,0,0
$GC,3972,-0.62,-194.6,543.5,-8.3,412,3975,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1896,3625,0,0,0,0,0,0
$GC,4300,-0.62,-194.6,569.4,-6.7,428,4304,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,502,3623,0,0,0,0,0,0
$GC,4415,-0.62,-194.6,578.1,-8.0,433,4419,0.00,2.03,0.00,0.000,6,0.000,0.023,2587,1892,3622,0,0,0,0,0,0
$GC,4748,-0.62,-194.6,601.1,-6.8,449,4753,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3264,3619,0,0,0,0,0,0
$GC,4855,-0.62,-194.6,608.0,-6.3,453,4862,0.00,1.92,0.00,0.000,6,0.000,0.019,2587,1910,3619,0,0,0,0,0,0
$GC,5171,-0.62,-194.6,629.8,-7.3,469,5175,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,505,3616,0,0,0,0,0,0
$GC,5249,-0.62,-194.6,636.5,-8.4,472,5256,0.00,2.05,0.00,0.000,6,0.000,0.024,2587,1902,3615,0,0,0,0,0,0
$GC,5567,-0.62,-194.6,661.8,-8.2,488,5571,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3268,3613,0,0,0,0,0,0
$GC,5606,-0.62,-194.6,665.4,-8.0,489,5613,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1905,3612,0,0,0,0,0,0
$GC,5924,-0.62,-194.6,689.0,-7.4,505,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1905,3610,0,0,0,0,0,0
$GC,6232,-0.62,-194.6,711.6,-7.3,520,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1904,3609,0,0,0,0,0,0
$GC,6541,-0.62,-194.6,732.3,-6.7,535,6546,0.00,2.10,0.00,0.000,4,0.000,0.037,2587,3268,3607,0,0,0,0,0,0
$GC,6603,-0.62,-194.6,736.3,-6.4,537,6610,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1941,3607,0,0,0,0,0,0
$GC,6920,-0.62,-194.6,757.2,-6.7,553,6924,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,504,3604,0,0,0,0,0,0
$GC,6970,-0.62,-194.6,761.2,-7.6,555,6975,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1910,3604,0,0,0,0,0,0
$GC,7293,-0.62,-194.6,782.1,-6.4,571,7297,0.00,2.05,0.00,0.000,4,0.000,0.038,2587,3269,3602,0,0,0,0,0,0
$GC,7371,-0.62,-194.6,787.3,-6.3,574,7375,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1926,3602,0,0,0,0,0,0
$GC,7695,-0.62,-194.6,806.0,-5.5,590,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1926,3600,0,0,0,0,0,0
$GC,8002,-0.62,-194.6,823.3,-5.6,605,8007,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,509,3598,0,0,0,0,0,0
$GC,8031,-0.62,-194.6,825.3,-5.8,606,8035,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1948,3598,0,0,0,0,0,0
$GC,8355,-0.62,-194.6,842.7,-5.1,622,8359,0.00,1.98,0.00,0.000,4,0.000,0.038,2587,3269,3597,0,0,0,0,0,0
$GC,8440,-0.62,-194.6,846.7,-4.5,625,8447,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1974,3596,0,0,0,0,0,0
$GC,8758,-0.62,-194.6,860.6,-4.4,641,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1973,3595,0,0,0,0,0,0
$GC,9066,-0.62,-194.6,877.2,-5.8,656,9070,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,495,3594,0,0,0,0,0,0
$GC,9099,-0.62,-194.6,879.8,-6.0,657,9106,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1978,3594,0,0,0,0,0,0
$GC,9417,-0.62,-194.6,900.4,-6.7,673,9422,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3265,3593,0,0,0,0,0,0
$GC,9487,-0.62,-194.6,905.2,-6.8,676,9490,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1970,3593,0,0,0,0,0,0
$GC,9822,-0.62,-194.6,927.1,-6.5,692,9826,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,497,3591,0,0,0,0,0,0
$GC,9856,-0.62,-194.6,929.8,-6.5,693,9862,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,1993,3592,0,0,0,0,0,0
$GC,10172,-0.62,-194.6,950.5,-6.6,709,10176,0.00,1.95,0.00,0.000,4,0.000,0.040,2587,3276,3590,0,0,0,0,0,0
$GC,10220,-0.62,-194.6,953.5,-6.6,711,10224,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1969,3590,0,0,0,0,0,0
$GC,10553,-0.62,-194.6,975.0,-6.5,727,10557,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,497,3589,0,0,0,0,0,0
$GC,10586,-0.62,-194.6,977.3,-6.6,728,10593,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1973,3589,0,0,0,0,0,0
$STATE,10818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10818,begin apogee
$GC,10826,-0.20,0.0,991.2,5.8,740,10990,0.43,0.00,159.43,1.395,4,0.120,0.000,2729,2098,2839,0,0,0,0,0,0
$STATE,10991,end apogee,CONTROL_FINISHED_OK
$STATE,10991,begin climb
$GC,10995,0.62,194.6,994.4,0.0,747,11177,0.75,2.28,174.25,1.339,4,0.078,0.032,3000,705,2045,0,0,0,0,0,0
$GC,11318,0.62,194.6,959.0,12.8,762,11323,0.00,2.10,0.00,0.000,6,0.000,0.025,3000,2054,2035,0,0,0,0,0,0
$GC,11652,0.62,194.6,915.9,12.6,778,11655,0.00,2.03,0.00,0.000,4,0.000,0.034,3008,708,2030,0,0,0,0,0,0
$GC,11861,0.62,194.6,889.9,12.1,787,11864,0.00,2.05,0.00,0.000,6,0.000,0.026,3008,2079,2030,0,0,0,0,0,0
$GC,12189,0.62,194.6,851.1,11.6,803,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2079,2028,0,0,0,0,0,0
$GC,12497,0.62,194.6,816.6,11.1,818,12501,0.00,2.12,0.00,0.000,4,0.000,0.040,3008,3477,2027,0,0,0,0,0,0
$GC,12518,0.62,194.6,814.0,11.1,819,12522,0.00,2.05,0.00,0.000,6,0.000,0.021,3017,2072,2026,0,0,0,0,0,0
$GC,12847,0.62,194.6,777.3,11.2,835,12852,0.00,2.08,0.00,0.000,4,0.000,0.035,3027,698,2026,0,0,0,0,0,0
$GC,12937,0.62,194.6,766.5,11.7,839,12942,0.00,2.03,0.00,0.000,6,0.000,0.026,3027,2035,2026,0,0,0,0,0,0
$GC,13271,0.62,194.6,724.9,12.8,855,13275,0.00,2.20,0.00,0.000,4,0.000,0.039,3027,3481,2026,0,0,0,0,0,0
$GC,13298,0.62,194.6,720.9,12.9,856,13302,0.00,2.12,0.00,0.000,6,0.000,0.021,3029,2042,2026,0,0,0,0,0,0
$GC,13620,0.62,194.6,678.7,13.4,872,13624,0.00,2.03,0.00,0.000,4,0.000,0.035,3040,682,2025,0,0,0,0,0,0
$GC,13677,0.62,194.6,671.0,13.2,874,13683,0.10,2.00,0.00,0.000,6,0.135,0.025,3006,2016,2025,0,0,0,0,0,0
$GC,13999,0.62,194.6,635.0,11.0,890,14003,0.00,2.20,0.00,0.000,4,0.000,0.039,3006,3472,2025,0,0,0,0,0,0
$GC,14048,0.62,194.6,629.0,12.0,892,14052,0.00,2.15,0.00,0.000,6,0.000,0.021,3014,2003,2024,0,0,0,0,0,0
$GC,14372,0.62,194.6,592.8,11.4,908,14377,0.00,2.00,0.00,0.000,4,0.000,0.036,3025,681,2024,0,0,0,0,0,0
$GC,14444,0.62,194.6,583.7,12.5,911,14448,0.00,1.95,0.00,0.000,6,0.000,0.024,3024,1975,2024,0,0,0,0,0,0
$GC,14774,0.62,194.6,544.3,11.4,927,14778,0.00,2.28,0.00,0.000,4,0.000,0.037,3024,3474,2024,0,0,0,0,0,0
$GC,14914,0.62,194.6,525.8,13.1,933,14918,0.00,2.12,0.00,0.000,6,0.000,0.021,3030,2022,2024,0,0,0,0,0,0
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$GC,17508,0.68,239.5,263.3,9.6,1163,17513,0.00,1.92,0.00,0.000,4,0.000,0.034,3034,681,1869,0,0,0,0,0,0
$GC,17603,0.69,248.3,254.2,9.4,1171,17622,0.00,1.95,11.27,0.762,6,0.000,0.022,3034,2009,1825,0,0,0,0,0,0
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$GC,18050,0.70,257.0,212.0,10.9,1212,18054,0.00,2.10,0.00,0.000,6,0.000,0.019,3043,2012,1789,0,0,0,0,0,0
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$STATE,20155,end climb,SURFACE_DEPTH_REACHED
$STATE,20155,begin surface coast
$FINISH,0.9,1.021651
$STATE,20173,end surface coast,CONTROL_FINISHED_OK
$STATE,20173,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,37.87
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,27.40
$XPDR_PINGS,47
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$10V_AH,9.8,59.284
$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,330232
$DATA_FILE_SIZE,90417,1562
$CAP_FILE_SIZE,214716,0
$CFSIZE,260165632,106004480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,221.0,1
$GPS,310811,141125,1753.402,12410.819,40,1.2,41,-2.0