version: 66.09
glider: 167
mission: 8
dive: 384
start: 9 3 111 11 38 24
data:
$ID,167
$MISSION,8
$DIVE,384
$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,-58689.762
$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,67
$R_STBD_OVSHOOT,51
$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
$GPS1,030911,112936,1807.446,12332.955,36,1.2,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.3
$GPS2,030911,113801,1807.447,12332.855,15,1.2,32,-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,294.1,141489,-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,-194.6,0.0,0.0,0,115,0.00,0.00,-90.93,0.000,2,0.000,0.000,113,1937,3039,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.2,-7.6,13,148,10.25,2.05,-10.07,0.000,4,0.234,0.046,2585,3281,3636,0,0,0,0,0,0
$GC,250,-0.62,-194.6,50.3,-24.7,35,259,0.00,2.05,0.00,0.000,6,0.000,0.018,2585,1859,3637,0,0,0,0,0,0
$GC,392,-0.62,-194.6,83.7,-20.3,60,401,0.00,2.00,0.00,0.000,4,0.000,0.029,2586,497,3637,0,0,0,0,0,0
$GC,421,-0.62,-194.6,89.2,-18.8,64,429,0.00,2.08,0.00,0.000,6,0.000,0.021,2575,1918,3637,0,0,0,0,0,0
$GC,564,-0.62,-194.6,117.1,-19.5,89,570,0.00,2.00,0.00,0.000,4,0.000,0.034,2567,3272,3638,0,0,0,0,0,0
$GC,590,-0.62,-194.6,123.2,-20.6,93,598,0.08,1.95,0.00,0.000,6,0.155,0.018,2591,1888,3638,0,0,0,0,0,0
$GC,736,-0.62,-194.6,150.0,-18.5,118,744,0.00,2.03,0.00,0.000,4,0.000,0.028,2591,508,3638,0,0,0,0,0,0
$GC,775,-0.62,-194.6,158.0,-18.3,124,783,0.00,2.05,0.00,0.000,6,0.000,0.021,2588,1906,3638,0,0,0,0,0,0
$GC,918,-0.62,-194.6,179.8,-14.6,149,925,0.00,2.03,0.00,0.000,4,0.000,0.034,2588,3280,3638,0,0,0,0,0,0
$GC,945,-0.62,-194.6,184.0,-14.9,153,952,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1934,3638,0,0,0,0,0,0
$GC,1090,-0.62,-194.6,204.9,-13.9,176,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1933,3638,0,0,0,0,0,0
$GC,1412,-0.62,-194.6,248.3,-13.3,206,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1933,3638,0,0,0,0,0,0
$GC,1741,-0.62,-194.6,290.5,-12.0,237,1744,0.00,1.98,0.00,0.000,4,0.000,0.033,2588,3273,3637,0,0,0,0,0,0
$GC,1812,-0.62,-194.6,299.1,-11.9,243,1816,0.00,1.85,0.00,0.000,6,0.000,0.018,2588,1955,3637,0,0,0,0,0,0
$GC,2143,-0.62,-194.6,338.4,-11.8,274,2147,0.00,2.08,0.00,0.000,4,0.000,0.028,2587,512,3635,0,0,0,0,0,0
$GC,2318,-0.62,-194.6,359.1,-12.2,289,2322,0.00,2.05,0.00,0.000,6,0.000,0.022,2588,1904,3634,0,0,0,0,0,0
$GC,2648,-0.62,-194.6,395.5,-10.3,320,2652,0.00,2.05,0.00,0.000,4,0.000,0.028,2588,516,3633,0,0,0,0,0,0
$GC,2677,-0.62,-194.6,398.6,-10.4,322,2684,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1890,3633,0,0,0,0,0,0
$GC,3003,-0.62,-194.6,430.9,-10.3,353,3006,0.00,2.05,0.00,0.000,4,0.000,0.035,2587,3267,3631,0,0,0,0,0,0
$GC,3145,-0.62,-194.6,444.4,-9.4,365,3152,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1949,3630,0,0,0,0,0,0
$GC,3472,-0.62,-194.6,474.5,-8.7,396,3476,0.00,2.10,0.00,0.000,4,0.000,0.029,2587,511,3628,0,0,0,0,0,0
$GC,3526,-0.62,-194.6,479.4,-9.3,400,3531,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1938,3628,0,0,0,0,0,0
$GC,3869,-0.62,-194.6,507.2,-7.8,428,3873,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3276,3625,0,0,0,0,0,0
$GC,3932,-0.62,-194.6,512.0,-7.3,430,3938,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1955,3625,0,0,0,0,0,0
$GC,4248,-0.62,-194.6,535.4,-7.7,446,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1955,3623,0,0,0,0,0,0
$GC,4559,-0.62,-194.6,562.5,-9.3,461,4563,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,513,3620,0,0,0,0,0,0
$GC,4624,-0.62,-194.6,569.0,-9.9,464,4628,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1979,3620,0,0,0,0,0,0
$GC,4953,-0.62,-194.6,599.5,-9.1,480,4957,0.00,1.90,0.00,0.000,4,0.000,0.037,2587,3267,3617,0,0,0,0,0,0
$GC,5038,-0.62,-194.6,606.8,-8.1,483,5047,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,2006,3616,0,0,0,0,0,0
$GC,5355,-0.62,-194.6,629.6,-6.5,499,5359,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,517,3614,0,0,0,0,0,0
$GC,5427,-0.62,-194.6,634.9,-7.2,502,5432,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1975,3614,0,0,0,0,0,0
$GC,5748,-0.62,-194.6,657.4,-7.3,518,5752,0.00,1.92,0.00,0.000,4,0.000,0.036,2587,3274,3611,0,0,0,0,0,0
$GC,5870,-0.62,-194.6,666.6,-7.4,523,5874,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,2023,3610,0,0,0,0,0,0
$GC,6194,-0.62,-194.6,690.4,-7.4,539,6198,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,518,3609,0,0,0,0,0,0
$GC,6249,-0.62,-194.6,695.1,-8.2,541,6256,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,2010,3608,0,0,0,0,0,0
$GC,6568,-0.62,-194.6,718.6,-7.7,557,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2010,3606,0,0,0,0,0,0
$GC,6875,-0.62,-194.6,742.3,-7.5,572,6879,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3269,3604,0,0,0,0,0,0
$GC,6946,-0.62,-194.6,747.3,-7.3,575,6951,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,2033,3604,0,0,0,0,0,0
$GC,7280,-0.62,-194.6,771.2,-7.0,591,7284,0.00,2.25,0.00,0.000,4,0.000,0.033,2587,521,3602,0,0,0,0,0,0
$GC,7370,-0.62,-194.6,778.0,-7.5,595,7374,0.00,2.20,0.00,0.000,6,0.000,0.025,2587,2007,3601,0,0,0,0,0,0
$GC,7694,-0.62,-194.6,799.1,-6.6,611,7698,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3263,3600,0,0,0,0,0,0
$GC,7744,-0.62,-194.6,802.5,-6.4,613,7747,0.00,1.75,0.00,0.000,6,0.000,0.022,2587,2042,3600,0,0,0,0,0,0
$GC,8072,-0.62,-194.6,823.7,-6.7,629,8077,0.00,2.30,0.00,0.000,4,0.000,0.032,2587,513,3598,0,0,0,0,0,0
$GC,8142,-0.62,-194.6,829.0,-7.8,632,8147,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,2018,3598,0,0,0,0,0,0
$GC,8472,-0.62,-194.6,854.2,-7.8,648,8475,0.00,1.88,0.00,0.000,4,0.000,0.039,2587,3263,3596,0,0,0,0,0,0
$GC,8513,-0.62,-194.6,857.4,-7.9,649,8520,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2030,3595,0,0,0,0,0,0
$GC,8830,-0.62,-194.6,881.7,-7.7,665,8834,0.00,2.25,0.00,0.000,4,0.000,0.032,2587,521,3594,0,0,0,0,0,0
$GC,8870,-0.62,-194.6,885.0,-7.8,667,8874,0.00,2.22,0.00,0.000,6,0.000,0.026,2587,2014,3594,0,0,0,0,0,0
$GC,9200,-0.62,-194.6,909.2,-7.1,683,9204,0.00,1.90,0.00,0.000,4,0.000,0.041,2587,3265,3593,0,0,0,0,0,0
$GC,9262,-0.62,-194.6,913.8,-6.9,685,9268,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2037,3593,0,0,0,0,0,0
$GC,9580,-0.62,-194.6,934.1,-6.2,701,9585,0.00,2.30,0.00,0.000,4,0.000,0.033,2587,518,3592,0,0,0,0,0,0
$GC,9618,-0.62,-194.6,936.9,-6.2,702,9626,0.00,2.25,0.00,0.000,6,0.000,0.024,2587,2016,3592,0,0,0,0,0,0
$GC,9935,-0.62,-194.6,955.2,-5.7,718,9938,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3269,3591,0,0,0,0,0,0
$GC,9965,-0.62,-194.6,956.8,-5.6,719,9969,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,2026,3590,0,0,0,0,0,0
$GC,10292,-0.62,-194.6,973.9,-5.2,735,10296,0.00,2.25,0.00,0.000,4,0.000,0.033,2587,522,3589,0,0,0,0,0,0
$GC,10347,-0.62,-194.6,977.4,-6.1,737,10354,0.00,2.20,0.00,0.000,6,0.000,0.026,2587,1998,3589,0,0,0,0,0,0
$STATE,10599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10599,begin apogee
$GC,10605,-0.20,0.0,990.8,5.3,750,10770,0.43,0.00,159.95,1.390,4,0.121,0.000,2729,2080,2839,0,0,0,0,0,0
$STATE,10770,end apogee,CONTROL_FINISHED_OK
$STATE,10771,begin climb
$GC,10775,0.62,194.6,994.5,0.0,757,10954,0.77,0.00,173.98,1.334,6,0.080,0.000,2998,2080,2045,0,0,0,0,0,0
$GC,11270,0.62,194.6,940.5,12.0,781,11274,0.00,2.05,0.00,0.000,4,0.000,0.034,3007,725,2034,0,0,0,0,0,0
$GC,11343,0.62,194.6,931.4,12.0,784,11348,0.00,2.00,0.00,0.000,6,0.000,0.024,3007,2037,2034,0,0,0,0,0,0
$GC,11672,0.62,194.6,892.3,11.8,800,11676,0.00,2.20,0.00,0.000,4,0.000,0.038,3007,3483,2031,0,0,0,0,0,0
$GC,11726,0.62,194.6,884.9,12.6,802,11734,0.00,2.03,0.00,0.000,6,0.000,0.021,3016,2097,2031,0,0,0,0,0,0
$GC,12043,0.62,194.6,846.0,12.2,818,12048,0.00,2.12,0.00,0.000,4,0.000,0.035,3026,698,2031,0,0,0,0,0,0
$GC,12150,0.62,194.6,832.5,12.6,822,12157,0.00,2.00,0.00,0.000,6,0.000,0.025,3026,2043,2031,0,0,0,0,0,0
$GC,12466,0.62,194.6,791.7,13.0,838,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2043,2030,0,0,0,0,0,0
$GC,12777,0.62,194.6,752.7,12.3,853,12780,0.00,2.05,0.00,0.000,4,0.000,0.033,3035,687,2029,0,0,0,0,0,0
$GC,12809,0.62,194.6,748.2,12.4,854,12814,0.12,2.03,0.00,0.000,6,0.153,0.024,3001,2056,2029,0,0,0,0,0,0
$GC,13131,0.62,194.6,713.9,10.8,870,13136,0.00,2.15,0.00,0.000,4,0.000,0.039,3001,3449,2029,0,0,0,0,0,0
$GC,13155,0.62,194.6,711.1,10.9,871,13159,0.00,2.12,0.00,0.000,6,0.000,0.021,3008,2002,2029,0,0,0,0,0,0
$GC,13483,0.62,194.6,673.6,11.6,887,13487,0.00,1.95,0.00,0.000,4,0.000,0.034,3018,693,2028,0,0,0,0,0,0
$GC,13533,0.62,194.6,667.4,12.0,889,13537,0.00,1.90,0.00,0.000,6,0.000,0.024,3018,1963,2028,0,0,0,0,0,0
$GC,13862,0.62,194.6,628.3,11.7,905,13867,0.00,2.30,0.00,0.000,4,0.000,0.038,3018,3461,2028,0,0,0,0,0,0
$GC,14015,0.62,194.6,607.2,14.0,911,14023,0.00,2.12,0.00,0.000,6,0.000,0.021,3028,2007,2027,0,0,0,0,0,0
$GC,14333,0.62,194.6,566.1,12.9,927,14337,0.00,1.95,0.00,0.000,4,0.000,0.035,3038,685,2027,0,0,0,0,0,0
$GC,14360,0.62,194.6,562.1,12.4,928,14364,0.12,2.00,0.00,0.000,6,0.151,0.024,3004,2041,2027,0,0,0,0,0,0
$GC,14691,0.62,195.1,529.2,9.7,944,14695,0.00,2.17,0.00,0.000,4,0.000,0.038,3004,3462,2027,0,0,0,0,0,0
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$STATE,19894,end climb,SURFACE_DEPTH_REACHED
$STATE,19894,begin surface coast
$FINISH,0.8,1.021439
$STATE,19928,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.028462,0.028462
$HUMID,37.39
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$TCM_TEMP,28.60
$XPDR_PINGS,50
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$10V_AH,9.8,61.098
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329676
$DATA_FILE_SIZE,90171,1571
$CAP_FILE_SIZE,215055,0
$CFSIZE,260165632,104681472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,219.0,1
$GPS,030911,171307,1808.348,12329.789,35,1.1,36,-2.0