version: 66.09
glider: 167
mission: 8
dive: 394
start: 9 5 111 23 48 12
data:
$ID,167
$MISSION,8
$DIVE,394
$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,576.20972
$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,-66823.516
$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,103
$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
$GPS1,040911,220906,1813.430,12313.849,901,99.0,901,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.7
$GPS2,040911,220906,1813.430,12313.849,901,99.0,901,-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,292.7,106321,-15.3,-9.706
$D_GRID,3821
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-95.82,0.000,2,0.000,0.000,112,1844,3215,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.7,-13.0,14,145,10.10,2.17,-6.65,0.000,4,0.229,0.042,2581,3280,3636,0,0,0,0,0,0
$GC,195,-0.62,-194.6,38.6,-34.8,25,202,0.00,1.95,0.00,0.000,6,0.000,0.018,2581,1887,3637,0,0,0,0,0,0
$GC,340,-0.62,-194.6,78.9,-24.1,50,348,0.00,2.08,0.00,0.000,4,0.000,0.031,2573,3273,3637,0,0,0,0,0,0
$GC,387,-0.62,-194.6,87.6,-18.7,57,394,0.00,1.77,0.00,0.000,6,0.000,0.017,2573,1999,3637,0,0,0,0,0,0
$GC,529,-0.62,-194.6,117.4,-19.0,82,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1999,3637,0,0,0,0,0,0
$GC,675,-0.62,-194.6,144.6,-20.5,107,685,0.00,1.88,0.00,0.000,4,0.000,0.031,2564,3275,3637,0,0,0,0,0,0
$GC,715,-0.62,-194.6,152.6,-19.7,113,722,0.12,1.67,0.00,0.000,6,0.161,0.017,2596,2036,3637,0,0,0,0,0,0
$GC,860,-0.62,-194.6,175.2,-15.1,138,868,0.00,2.22,0.00,0.000,4,0.000,0.027,2596,504,3637,0,0,0,0,0,0
$GC,939,-0.62,-194.6,187.3,-14.7,151,946,0.00,2.20,0.00,0.000,6,0.000,0.020,2588,2039,3637,0,0,0,0,0,0
$GC,1080,-0.62,-194.6,208.3,-14.7,171,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2039,3637,0,0,0,0,0,0
$GC,1402,-0.62,-194.6,253.7,-14.1,201,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2039,3636,0,0,0,0,0,0
$GC,1729,-0.62,-194.6,298.9,-13.0,232,1733,0.00,2.25,0.00,0.000,4,0.000,0.026,2588,496,3634,0,0,0,0,0,0
$GC,1771,-0.62,-194.6,304.4,-12.8,235,1775,0.00,2.25,0.00,0.000,6,0.000,0.021,2588,2057,3634,0,0,0,0,0,0
$GC,2100,-0.62,-194.6,339.7,-7.7,265,2104,0.00,2.28,0.00,0.000,4,0.000,0.027,2587,497,3632,0,0,0,0,0,0
$GC,2131,-0.62,-194.6,342.3,-7.9,267,2136,0.00,2.20,0.00,0.000,6,0.000,0.021,2587,2008,3632,0,0,0,0,0,0
$GC,2461,-0.62,-194.6,374.3,-11.3,298,2465,0.00,1.85,0.00,0.000,4,0.000,0.034,2587,3271,3629,0,0,0,0,0,0
$GC,2569,-0.62,-194.6,385.5,-10.0,307,2576,0.00,1.73,0.00,0.000,6,0.000,0.018,2587,2029,3629,0,0,0,0,0,0
$GC,2895,-0.62,-194.6,417.2,-9.5,338,2899,0.00,2.22,0.00,0.000,4,0.000,0.028,2588,497,3626,0,0,0,0,0,0
$GC,2996,-0.62,-194.6,428.0,-11.0,346,3003,0.00,2.28,0.00,0.000,6,0.000,0.021,2588,2062,3625,0,0,0,0,0,0
$GC,3324,-0.62,-194.6,459.3,-9.6,377,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2062,3622,0,0,0,0,0,0
$GC,3654,-0.62,-194.6,484.8,-7.3,408,3658,0.00,2.30,0.00,0.000,4,0.000,0.028,2588,503,3620,0,0,0,0,0,0
$GC,3730,-0.62,-194.6,491.2,-7.8,414,3737,0.00,2.22,0.00,0.000,6,0.000,0.021,2587,2032,3619,0,0,0,0,0,0
$GC,4062,-0.62,-194.6,516.8,-8.4,436,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2033,3617,0,0,0,0,0,0
$GC,4370,-0.62,-194.6,543.1,-8.5,451,4375,0.00,1.85,0.00,0.000,4,0.000,0.037,2587,3263,3614,0,0,0,0,0,0
$GC,4420,-0.62,-194.6,547.1,-7.7,453,4424,0.00,1.75,0.00,0.000,6,0.000,0.019,2587,2014,3613,0,0,0,0,0,0
$GC,4750,-0.62,-194.6,573.6,-8.5,469,4754,0.00,2.20,0.00,0.000,4,0.000,0.028,2587,508,3611,0,0,0,0,0,0
$GC,4806,-0.62,-194.6,579.0,-9.3,471,4813,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,2010,3610,0,0,0,0,0,0
$GC,5125,-0.62,-194.6,604.4,-7.6,487,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2011,3608,0,0,0,0,0,0
$GC,5432,-0.62,-194.6,626.9,-7.2,502,5435,0.00,1.88,0.00,0.000,4,0.000,0.037,2587,3267,3605,0,0,0,0,0,0
$GC,5465,-0.62,-194.6,629.5,-7.3,503,5468,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1998,3605,0,0,0,0,0,0
$GC,5789,-0.62,-194.6,653.8,-8.0,519,5793,0.00,2.20,0.00,0.000,4,0.000,0.029,2587,497,3602,0,0,0,0,0,0
$GC,5878,-0.62,-194.6,662.5,-9.5,523,5882,0.00,2.17,0.00,0.000,6,0.000,0.022,2587,1981,3601,0,0,0,0,0,0
$GC,6202,-0.62,-194.6,688.8,-7.6,539,6206,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3267,3599,0,0,0,0,0,0
$GC,6241,-0.62,-194.6,691.8,-7.1,540,6249,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1974,3599,0,0,0,0,0,0
$GC,6557,-0.62,-194.6,710.2,-5.4,556,6561,0.00,2.15,0.00,0.000,4,0.000,0.029,2587,510,3597,0,0,0,0,0,0
$GC,6608,-0.62,-194.6,713.3,-6.0,558,6613,0.00,2.17,0.00,0.000,6,0.000,0.022,2587,1973,3597,0,0,0,0,0,0
$GC,6930,-0.62,-194.6,733.1,-6.3,574,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1973,3595,0,0,0,0,0,0
$GC,7240,-0.62,-194.6,754.9,-7.6,589,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1973,3593,0,0,0,0,0,0
$GC,7550,-0.62,-194.6,779.4,-8.1,604,7554,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3269,3592,0,0,0,0,0,0
$GC,7605,-0.62,-194.6,783.7,-7.5,606,7608,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1967,3592,0,0,0,0,0,0
$GC,7929,-0.62,-194.6,804.2,-5.8,622,7933,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,510,3590,0,0,0,0,0,0
$GC,7969,-0.62,-194.6,807.0,-6.0,624,7973,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1974,3589,0,0,0,0,0,0
$GC,8298,-0.62,-194.6,826.3,-6.0,640,8303,0.00,1.98,0.00,0.000,4,0.000,0.038,2587,3266,3588,0,0,0,0,0,0
$GC,8355,-0.62,-194.6,829.6,-6.1,642,8359,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1970,3588,0,0,0,0,0,0
$GC,8677,-0.62,-194.6,849.2,-6.2,658,8681,0.00,2.17,0.00,0.000,4,0.000,0.030,2587,498,3586,0,0,0,0,0,0
$GC,8744,-0.62,-194.6,854.1,-7.4,661,8748,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1946,3586,0,0,0,0,0,0
$GC,9073,-0.62,-194.6,877.3,-7.5,677,9077,0.00,2.03,0.00,0.000,4,0.000,0.039,2587,3268,3584,0,0,0,0,0,0
$GC,9141,-0.62,-194.6,882.3,-7.4,680,9145,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1953,3584,0,0,0,0,0,0
$GC,9476,-0.62,-194.6,906.7,-7.1,696,9481,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,514,3583,0,0,0,0,0,0
$GC,9537,-0.62,-194.6,911.9,-8.4,698,9543,0.00,2.08,0.00,0.000,6,0.000,0.022,2587,1927,3583,0,0,0,0,0,0
$GC,9855,-0.62,-194.6,935.2,-7.2,714,9858,0.00,2.03,0.00,0.000,4,0.000,0.038,2587,3266,3582,0,0,0,0,0,0
$GC,9933,-0.62,-194.6,940.9,-7.1,717,9937,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1935,3582,0,0,0,0,0,0
$GC,10255,-0.62,-194.6,962.0,-6.5,733,10260,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,503,3581,0,0,0,0,0,0
$GC,10290,-0.62,-194.6,964.5,-6.5,734,10294,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1937,3581,0,0,0,0,0,0
$GC,10612,-0.62,-194.6,985.1,-6.2,750,10616,0.00,2.03,0.00,0.000,4,0.000,0.041,2587,3267,3580,0,0,0,0,0,0
$GC,10668,-0.62,-194.6,988.6,-5.9,752,10672,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1944,3580,0,0,0,0,0,0
$STATE,10699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10699,begin apogee
$GC,10705,-0.20,0.0,990.4,5.6,754,10869,0.43,0.00,158.05,1.387,4,0.114,0.000,2730,2087,2838,0,0,0,0,0,0
$STATE,10869,end apogee,CONTROL_FINISHED_OK
$STATE,10869,begin climb
$GC,10874,0.62,194.6,994.5,0.0,761,11052,0.75,0.00,172.02,1.335,6,0.080,0.000,2993,2087,2044,0,0,0,0,0,0
$GC,11363,0.62,194.6,945.3,10.8,785,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2087,2034,0,0,0,0,0,0
$GC,11670,0.62,194.6,911.7,11.0,800,11674,0.00,2.08,0.00,0.000,4,0.000,0.033,2997,714,2031,0,0,0,0,0,0
$GC,11711,0.62,194.6,907.2,10.5,801,11718,0.00,2.00,0.00,0.000,6,0.000,0.024,2997,2053,2031,0,0,0,0,0,0
$GC,12027,0.62,194.6,871.5,11.1,817,12031,0.00,2.15,0.00,0.000,4,0.000,0.039,2997,3468,2031,0,0,0,0,0,0
$GC,12071,0.62,194.6,866.1,11.7,819,12076,0.00,2.00,0.00,0.000,6,0.000,0.021,3007,2096,2030,0,0,0,0,0,0
$GC,12402,0.62,194.6,829.1,11.7,835,12406,0.00,2.08,0.00,0.000,4,0.000,0.033,3016,695,2029,0,0,0,0,0,0
$GC,12480,0.62,194.6,819.3,12.3,838,12485,0.00,2.05,0.00,0.000,6,0.000,0.024,3016,2057,2029,0,0,0,0,0,0
$GC,12803,0.62,194.6,780.8,11.6,854,12807,0.00,2.15,0.00,0.000,4,0.000,0.040,3016,3472,2029,0,0,0,0,0,0
$GC,12852,0.62,194.6,773.9,13.0,856,12856,0.00,2.05,0.00,0.000,6,0.000,0.021,3026,2063,2029,0,0,0,0,0,0
$GC,13174,0.62,194.6,734.6,12.2,872,13179,0.00,2.08,0.00,0.000,4,0.000,0.034,3035,689,2028,0,0,0,0,0,0
$GC,13276,0.62,194.6,721.7,12.5,876,13281,0.12,1.95,0.00,0.000,6,0.153,0.024,3001,2020,2029,0,0,0,0,0,0
$GC,13598,0.62,194.6,686.1,10.8,892,13602,0.00,2.20,0.00,0.000,4,0.000,0.038,3001,3470,2028,0,0,0,0,0,0
$GC,13649,0.62,194.6,679.9,11.9,894,13654,0.00,2.15,0.00,0.000,6,0.000,0.021,3009,2018,2027,0,0,0,0,0,0
$GC,13970,0.62,194.6,643.6,11.0,910,13974,0.00,1.98,0.00,0.000,4,0.000,0.034,3019,690,2028,0,0,0,0,0,0
$GC,14084,0.62,194.6,630.7,11.6,915,14088,0.00,1.92,0.00,0.000,6,0.000,0.024,3018,1995,2027,0,0,0,0,0,0
$GC,14419,0.62,194.6,592.0,11.7,931,14423,0.00,2.25,0.00,0.000,4,0.000,0.038,3019,3472,2027,0,0,0,0,0,0
$GC,14459,0.62,194.6,586.6,13.1,933,14463,0.00,2.17,0.00,0.000,6,0.000,0.021,3029,1987,2027,0,0,0,0,0,0
$GC,14787,0.62,194.6,544.7,13.1,949,14792,0.00,1.95,0.00,0.000,4,0.000,0.034,3039,690,2027,0,0,0,0,0,0
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$STATE,20121,end climb,SURFACE_DEPTH_REACHED
$STATE,20121,begin surface coast
$FINISH,0.9,1.019237
$STATE,20149,end surface coast,CONTROL_FINISHED_OK
$STATE,20149,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,39.40
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,26.70
$XPDR_PINGS,50
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$10V_AH,9.8,62.693
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.375,179.850,639.750,8.875,0.000,163.941,29.615,0.000,12.500,0.000,901.551,3970.174,12025.460,737.485,4089.108,852.434,0.000,2355.482,0.000,3226.491,0.000,0.544,0.000
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$MEM,329748
$DATA_FILE_SIZE,90198,1578
$CAP_FILE_SIZE,207734,0
$CFSIZE,260165632,103481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,291.6,1
$GPS,040911,220906,1813.430,12313.849,901,99.0,901,-2.0