version: 66.09
glider: 167
mission: 8
dive: 376
start: 9 1 111 13 12 57
data:
$ID,167
$MISSION,8
$DIVE,376
$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,-58679.684
$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,62
$R_STBD_OVSHOOT,66
$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
$GPS1,010911,130107,1757.632,12358.811,29,1.5,29,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.8
$GPS2,010911,131231,1757.533,12358.740,11,1.8,16,-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,307.1,190436,-15.3,-9.706
$D_GRID,4790
$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,-194.6,0.0,0.0,0,116,0.00,0.00,-95.53,0.000,2,0.000,0.000,108,1866,3149,0,0,0,0,0,0
$GC,119,-0.62,-194.6,6.3,-12.1,14,143,10.23,2.10,-7.90,0.000,4,0.234,0.041,2595,466,3635,0,0,0,0,0,0
$GC,184,-0.62,-194.6,34.4,-33.7,24,193,0.00,2.05,0.00,0.000,6,0.000,0.021,2588,1860,3637,0,0,0,0,0,0
$GC,332,-0.62,-194.6,73.4,-21.7,49,339,0.00,2.10,0.00,0.000,4,0.000,0.031,2578,3284,3637,0,0,0,0,0,0
$GC,418,-0.62,-194.6,91.7,-22.6,63,425,0.00,1.73,0.00,0.000,6,0.000,0.017,2577,2033,3637,0,0,0,0,0,0
$GC,563,-0.62,-194.6,121.2,-19.4,88,572,0.00,2.28,0.00,0.000,4,0.000,0.026,2578,475,3638,0,0,0,0,0,0
$GC,600,-0.62,-194.6,128.1,-19.8,93,606,0.00,2.35,0.00,0.000,6,0.000,0.022,2574,2088,3638,0,0,0,0,0,0
$GC,742,-0.62,-194.6,156.0,-20.5,118,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2088,3638,0,0,0,0,0,0
$GC,887,-0.62,-194.6,183.5,-18.8,143,894,0.00,2.38,0.00,0.000,4,0.000,0.026,2573,466,3638,0,0,0,0,0,0
$GC,949,-0.62,-194.6,193.8,-16.9,153,957,0.12,2.22,0.00,0.000,6,0.166,0.023,2598,2012,3639,0,0,0,0,0,0
$GC,1087,-0.62,-194.6,215.1,-15.3,169,1091,0.00,1.88,0.00,0.000,4,0.000,0.033,2591,3278,3638,0,0,0,0,0,0
$GC,1147,-0.62,-194.6,224.5,-14.6,174,1154,0.00,1.83,0.00,0.000,6,0.000,0.018,2591,1971,3638,0,0,0,0,0,0
$GC,1474,-0.62,-194.6,268.8,-13.4,205,1478,0.00,2.17,0.00,0.000,4,0.000,0.028,2591,465,3638,0,0,0,0,0,0
$GC,1526,-0.62,-194.6,275.4,-12.6,209,1530,0.00,2.22,0.00,0.000,6,0.000,0.021,2588,2008,3638,0,0,0,0,0,0
$GC,1851,-0.62,-194.6,314.6,-11.0,239,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2008,3636,0,0,0,0,0,0
$GC,2172,-0.62,-194.6,353.5,-12.5,269,2175,0.00,1.85,0.00,0.000,4,0.000,0.034,2587,3278,3634,0,0,0,0,0,0
$GC,2189,-0.62,-194.6,355.9,-12.5,270,2196,0.00,1.85,0.00,0.000,6,0.000,0.018,2588,1944,3635,0,0,0,0,0,0
$GC,2515,-0.62,-194.6,392.2,-10.6,301,2519,0.00,2.12,0.00,0.000,4,0.000,0.028,2588,477,3633,0,0,0,0,0,0
$GC,2547,-0.62,-194.6,395.7,-10.0,303,2554,0.00,2.20,0.00,0.000,6,0.000,0.021,2588,2000,3633,0,0,0,0,0,0
$GC,2874,-0.62,-194.6,425.0,-8.9,334,2878,0.00,2.22,0.00,0.000,4,0.000,0.027,2587,477,3631,0,0,0,0,0,0
$GC,2907,-0.62,-194.6,428.2,-9.0,336,2915,0.00,2.22,0.00,0.000,6,0.000,0.021,2587,2013,3631,0,0,0,0,0,0
$GC,3233,-0.62,-194.6,456.7,-8.9,367,3237,0.00,1.85,0.00,0.000,4,0.000,0.036,2587,3276,3629,0,0,0,0,0,0
$GC,3347,-0.62,-194.6,466.2,-8.3,377,3350,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,2006,3628,0,0,0,0,0,0
$GC,3678,-0.62,-194.6,492.1,-7.7,408,3683,0.00,2.25,0.00,0.000,4,0.000,0.029,2587,481,3625,0,0,0,0,0,0
$GC,3727,-0.62,-194.6,496.6,-9.0,412,3735,0.00,2.25,0.00,0.000,6,0.000,0.021,2587,2027,3625,0,0,0,0,0,0
$GC,4046,-0.62,-194.6,523.4,-8.6,430,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2027,3623,0,0,0,0,0,0
$GC,4354,-0.62,-194.6,549.2,-8.1,445,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2027,3621,0,0,0,0,0,0
$GC,4665,-0.62,-194.6,571.4,-7.0,460,4669,0.00,1.88,0.00,0.000,4,0.000,0.038,2587,3265,3618,0,0,0,0,0,0
$GC,4693,-0.62,-194.6,573.5,-6.9,461,4696,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,1993,3618,0,0,0,0,0,0
$GC,5021,-0.62,-194.6,596.0,-6.9,477,5026,0.00,2.22,0.00,0.000,4,0.000,0.028,2587,473,3615,0,0,0,0,0,0
$GC,5046,-0.62,-194.6,598.0,-7.1,478,5050,0.00,2.38,0.00,0.000,6,0.000,0.022,2587,2070,3615,0,0,0,0,0,0
$GC,5373,-0.62,-194.6,624.4,-8.6,494,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2070,3612,0,0,0,0,0,0
$GC,5682,-0.62,-194.6,652.2,-9.3,509,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2070,3610,0,0,0,0,0,0
$GC,5993,-0.62,-194.6,679.3,-8.3,524,5997,0.00,2.38,0.00,0.000,4,0.000,0.028,2587,474,3607,0,0,0,0,0,0
$GC,6033,-0.62,-194.6,683.0,-8.4,526,6037,0.00,2.33,0.00,0.000,6,0.000,0.023,2587,2050,3607,0,0,0,0,0,0
$GC,6362,-0.62,-194.6,708.4,-7.6,542,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2050,3606,0,0,0,0,0,0
$GC,6670,-0.62,-194.6,732.8,-7.9,557,6674,0.00,1.85,0.00,0.000,4,0.000,0.040,2587,3260,3603,0,0,0,0,0,0
$GC,6725,-0.62,-194.6,737.3,-7.8,559,6728,0.00,1.83,0.00,0.000,6,0.000,0.019,2588,1972,3603,0,0,0,0,0,0
$GC,7048,-0.62,-194.6,761.2,-7.1,575,7052,0.00,2.20,0.00,0.000,4,0.000,0.030,2587,480,3600,0,0,0,0,0,0
$GC,7093,-0.62,-194.6,765.0,-7.7,577,7098,0.00,2.28,0.00,0.000,6,0.000,0.024,2587,2000,3600,0,0,0,0,0,0
$GC,7423,-0.62,-194.6,787.0,-6.7,593,7426,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3268,3599,0,0,0,0,0,0
$GC,7506,-0.62,-194.6,792.8,-6.9,596,7514,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1997,3599,0,0,0,0,0,0
$GC,7822,-0.62,-194.6,815.3,-7.4,612,7826,0.00,1.95,0.00,0.000,4,0.000,0.039,2587,3268,3597,0,0,0,0,0,0
$GC,7852,-0.62,-194.6,817.5,-7.3,613,7855,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1998,3597,0,0,0,0,0,0
$GC,8180,-0.62,-194.6,842.4,-7.7,629,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1998,3595,0,0,0,0,0,0
$GC,8489,-0.62,-194.6,865.0,-6.9,644,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1998,3594,0,0,0,0,0,0
$GC,8800,-0.62,-194.6,884.8,-6.2,659,8804,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3264,3593,0,0,0,0,0,0
$GC,8838,-0.62,-194.6,887.7,-6.5,660,8846,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,2015,3592,0,0,0,0,0,0
$GC,9156,-0.62,-194.6,908.8,-7.0,676,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2014,3591,0,0,0,0,0,0
$GC,9463,-0.62,-194.6,931.5,-7.2,691,9467,0.00,1.92,0.00,0.000,4,0.000,0.040,2587,3264,3590,0,0,0,0,0,0
$GC,9513,-0.62,-194.6,935.2,-7.0,693,9517,0.00,1.77,0.00,0.000,6,0.000,0.021,2588,2014,3590,0,0,0,0,0,0
$GC,9844,-0.62,-194.6,956.3,-6.1,709,9847,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3265,3589,0,0,0,0,0,0
$GC,9878,-0.62,-194.6,958.6,-6.2,710,9882,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2030,3589,0,0,0,0,0,0
$GC,10200,-0.62,-194.6,976.5,-5.3,726,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2028,3588,0,0,0,0,0,0
$STATE,10486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10486,begin apogee
$GC,10493,-0.20,0.0,990.6,4.7,740,10658,0.43,0.00,159.07,1.391,4,0.116,0.000,2730,2025,2838,0,0,0,0,0,0
$STATE,10659,end apogee,CONTROL_FINISHED_OK
$STATE,10659,begin climb
$GC,10663,0.62,194.6,993.2,0.0,747,10845,0.77,0.00,173.05,1.336,6,0.080,0.000,2998,2025,2043,0,0,0,0,0,0
$GC,11156,0.62,194.6,937.7,12.6,771,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2025,2033,0,0,0,0,0,0
$GC,11463,0.62,194.6,901.1,11.5,786,11467,0.00,2.22,0.00,0.000,4,0.000,0.040,2998,3466,2030,0,0,0,0,0,0
$GC,11499,0.62,194.6,896.8,12.2,787,11506,0.00,2.08,0.00,0.000,6,0.000,0.021,3004,2057,2030,0,0,0,0,0,0
$GC,11815,0.62,194.6,858.7,12.0,803,11818,0.00,2.05,0.00,0.000,4,0.000,0.035,3006,690,2030,0,0,0,0,0,0
$GC,11892,0.62,194.6,849.3,11.8,806,11896,0.00,2.00,0.00,0.000,6,0.000,0.024,3006,2038,2029,0,0,0,0,0,0
$GC,12215,0.62,194.6,811.7,11.2,822,12219,0.00,2.20,0.00,0.000,4,0.000,0.040,3006,3477,2028,0,0,0,0,0,0
$GC,12258,0.62,194.6,806.1,12.3,824,12262,0.00,2.08,0.00,0.000,6,0.000,0.021,3008,2057,2028,0,0,0,0,0,0
$GC,12589,0.62,194.6,771.8,10.0,840,12592,0.00,2.03,0.00,0.000,4,0.000,0.033,3019,692,2028,0,0,0,0,0,0
$GC,12638,0.62,194.6,766.5,9.9,842,12642,0.00,2.00,0.00,0.000,6,0.000,0.024,3018,2047,2028,0,0,0,0,0,0
$GC,12966,0.62,194.6,732.2,11.4,858,12971,0.00,2.17,0.00,0.000,4,0.000,0.040,3019,3461,2027,0,0,0,0,0,0
$GC,13036,0.62,194.6,723.3,13.5,861,13040,0.00,2.05,0.00,0.000,6,0.000,0.021,3028,2056,2027,0,0,0,0,0,0
$GC,13370,0.62,194.6,678.6,13.7,877,13374,0.00,2.03,0.00,0.000,4,0.000,0.033,3037,686,2026,0,0,0,0,0,0
$GC,13453,0.62,194.6,666.6,13.8,880,13462,0.10,2.00,0.00,0.000,6,0.130,0.024,3004,2026,2027,0,0,0,0,0,0
$GC,13772,0.62,194.6,632.3,10.5,896,13776,0.00,2.17,0.00,0.000,4,0.000,0.040,3004,3458,2026,0,0,0,0,0,0
$GC,13889,0.62,194.6,618.3,11.8,901,13894,0.00,2.05,0.00,0.000,6,0.000,0.021,3010,2070,2026,0,0,0,0,0,0
$GC,14213,0.62,194.6,584.0,10.3,917,14216,0.00,2.05,0.00,0.000,4,0.000,0.032,3021,693,2025,0,0,0,0,0,0
$GC,14307,0.62,194.6,573.7,10.3,921,14311,0.00,2.03,0.00,0.000,6,0.000,0.024,3021,2063,2025,0,0,0,0,0,0
$GC,14637,0.62,194.6,539.1,10.9,937,14641,0.00,2.17,0.00,0.000,4,0.000,0.040,3020,3465,2025,0,0,0,0,0,0
$GC,14682,0.62,194.6,533.4,12.1,939,14687,0.00,2.10,0.00,0.000,6,0.000,0.021,3030,2046,2025,0,0,0,0,0,0
$GC,15004,0.62,194.6,497.7,11.0,955,15008,0.00,2.03,0.00,0.000,4,0.000,0.033,3040,686,2025,0,0,0,0,0,0
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$GC,16316,0.71,268.5,373.0,11.5,1075,16323,0.00,2.12,0.00,0.000,6,0.000,0.021,3021,2011,1740,0,0,0,0,0,0
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$GC,17127,0.72,273.9,287.9,10.9,1150,17131,0.00,2.12,0.00,0.000,6,0.000,0.019,3041,1997,1720,0,0,0,0,0,0
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$STATE,20043,end climb,SURFACE_DEPTH_REACHED
$STATE,20043,begin surface coast
$FINISH,0.9,1.021568
$STATE,20082,end surface coast,CONTROL_FINISHED_OK
$STATE,20082,begin surface
$SM_CCo,20159,0.00,0.000,0,0,521,568.61
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$IRIDIUM_FIX,1751.90,12402.15,010911,070742
$TT8_MAMPS,0.028462,0.028462
$HUMID,37.63
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,29.40
$XPDR_PINGS,44
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$10V_AH,9.8,59.974
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.825,180.425,648.325,0.000,0.000,105.587,36.159,236.442,11.000,0.000,17.423,3946.291,11991.890,727.061,3333.474,823.875,0.000,2316.195,0.000,3177.254,0.000,0.543,0.000
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$MEM,330232
$DATA_FILE_SIZE,90175,1579
$CAP_FILE_SIZE,207695,0
$CFSIZE,260165632,105508864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,258.4,1
$GPS,010911,185007,1759.191,12355.400,33,1.4,33,-2.0