version: 66.09
glider: 167
mission: 8
dive: 429
start: 9 14 111 4 52 59
data:
$ID,167
$MISSION,8
$DIVE,429
$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,-5
$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,-125515.92
$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,57
$R_STBD_OVSHOOT,47
$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
$GPS1,130911,154707,1950.442,12119.195,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.4
$GPS2,130911,154707,1950.442,12119.195,901,99.0,901,-2.3
$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,118.0,177472,-15.3,-9.706
$D_GRID,2123
$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,16,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,114,0.00,0.00,-92.18,0.000,2,0.000,0.000,108,1973,3043,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.1,-7.5,13,147,10.20,2.25,-9.98,0.000,4,0.229,0.041,2600,464,3636,0,0,0,0,0,0
$GC,219,-0.62,-194.6,39.9,-25.4,29,227,0.00,2.08,0.00,0.000,6,0.000,0.022,2592,1908,3637,0,0,0,0,0,0
$GC,364,-0.62,-194.6,77.2,-19.8,54,373,0.00,2.03,0.00,0.000,4,0.000,0.032,2582,3275,3636,0,0,0,0,0,0
$GC,445,-0.62,-194.6,90.7,-16.1,67,452,0.00,2.10,0.00,0.000,6,0.000,0.018,2582,1788,3637,0,0,0,0,0,0
$GC,588,-0.62,-194.6,113.1,-15.9,92,596,0.00,2.22,0.00,0.000,4,0.000,0.030,2573,3274,3637,0,0,0,0,0,0
$GC,623,-0.62,-194.6,118.4,-16.4,97,630,0.00,2.03,0.00,0.000,6,0.000,0.017,2573,1835,3637,0,0,0,0,0,0
$GC,770,-0.62,-194.6,145.7,-17.9,122,780,0.00,1.95,0.00,0.000,4,0.000,0.028,2573,502,3637,0,0,0,0,0,0
$GC,838,-0.62,-194.6,157.5,-15.1,133,845,0.00,1.92,0.00,0.000,6,0.000,0.021,2570,1848,3637,0,0,0,0,0,0
$GC,983,-0.62,-194.6,176.0,-12.2,158,993,0.10,2.00,0.00,0.000,4,0.178,0.024,2596,488,3637,0,0,0,0,0,0
$GC,1009,-0.62,-194.6,178.6,-9.9,161,1019,0.00,1.85,0.00,0.000,6,0.000,0.017,2589,1822,3637,0,0,0,0,0,0
$GC,1158,-0.62,-194.6,195.1,-13.7,186,1167,0.00,2.15,0.00,0.000,4,0.000,0.034,2587,3258,3636,0,0,0,0,0,0
$GC,1193,-0.62,-194.6,199.1,-11.3,191,1199,0.00,2.08,0.00,0.000,6,0.000,0.018,2587,1793,3636,0,0,0,0,0,0
$GC,1327,-0.62,-194.6,215.5,-13.3,204,1332,0.00,1.90,0.00,0.000,4,0.000,0.029,2588,491,3636,0,0,0,0,0,0
$GC,1369,-0.62,-194.6,221.1,-14.0,207,1375,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1780,3635,0,0,0,0,0,0
$GC,1694,-0.62,-194.6,259.1,-8.9,238,1698,0.00,2.17,0.00,0.000,4,0.000,0.033,2587,3263,3634,0,0,0,0,0,0
$GC,1873,-0.62,-194.6,273.7,-7.7,253,1880,0.00,2.08,0.00,0.000,6,0.000,0.017,2588,1792,3633,0,0,0,0,0,0
$GC,2199,-0.62,-194.6,306.1,-10.6,284,2202,0.00,1.88,0.00,0.000,4,0.000,0.029,2588,495,3631,0,0,0,0,0,0
$GC,2228,-0.62,-194.6,309.2,-10.7,286,2235,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1780,3631,0,0,0,0,0,0
$GC,2555,-0.62,-194.6,342.7,-10.8,317,2559,0.00,2.17,0.00,0.000,4,0.000,0.034,2587,3262,3628,0,0,0,0,0,0
$GC,2642,-0.62,-194.6,352.0,-10.4,324,2646,0.00,2.08,0.00,0.000,6,0.000,0.018,2587,1782,3627,0,0,0,0,0,0
$GC,2968,-0.62,-194.6,386.5,-10.1,354,2972,0.00,2.22,0.00,0.000,4,0.000,0.032,2587,3267,3624,0,0,0,0,0,0
$GC,3054,-0.62,-194.6,393.9,-8.3,361,3058,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1821,3623,0,0,0,0,0,0
$GC,3388,-0.62,-194.6,423.1,-9.0,392,3392,0.00,1.92,0.00,0.000,4,0.000,0.030,2587,494,3620,0,0,0,0,0,0
$GC,3473,-0.62,-194.6,430.6,-8.9,399,3477,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1807,3620,0,0,0,0,0,0
$GC,3804,-0.62,-194.6,458.6,-9.1,430,3808,0.00,2.17,0.00,0.000,4,0.000,0.035,2587,3263,3616,0,0,0,0,0,0
$GC,3994,-0.62,-194.6,475.3,-8.7,446,4002,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1856,3614,0,0,0,0,0,0
$GC,4332,-0.62,-194.6,506.4,-9.3,475,4336,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,3267,3612,0,0,0,0,0,0
$GC,4381,-0.62,-194.6,511.4,-9.3,477,4385,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1888,3611,0,0,0,0,0,0
$GC,4704,-0.62,-194.6,542.8,-9.8,493,4707,0.00,2.08,0.00,0.000,4,0.000,0.035,2587,3259,3609,0,0,0,0,0,0
$GC,4761,-0.62,-194.6,548.4,-9.5,495,4765,0.00,1.92,0.00,0.000,6,0.000,0.021,2587,1916,3608,0,0,0,0,0,0
$GC,5084,-0.62,-194.6,578.8,-9.7,511,5089,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,510,3606,0,0,0,0,0,0
$GC,5122,-0.62,-194.6,582.7,-9.3,512,5130,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1899,3606,0,0,0,0,0,0
$GC,5440,-0.62,-194.6,607.5,-7.0,528,5444,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3260,3603,0,0,0,0,0,0
$GC,5473,-0.62,-194.6,610.0,-7.2,529,5477,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1898,3603,0,0,0,0,0,0
$GC,5797,-0.62,-194.6,631.4,-6.3,545,5800,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3265,3600,0,0,0,0,0,0
$GC,5844,-0.62,-194.6,634.3,-6.0,547,5847,0.00,1.95,0.00,0.000,6,0.000,0.019,2588,1899,3600,0,0,0,0,0,0
$GC,6177,-0.62,-194.6,658.6,-7.6,563,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1898,3598,0,0,0,0,0,0
$GC,6488,-0.62,-194.6,682.2,-7.6,578,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1898,3597,0,0,0,0,0,0
$GC,6795,-0.62,-194.6,705.2,-7.1,593,6799,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,514,3595,0,0,0,0,0,0
$GC,6845,-0.62,-194.6,709.6,-8.2,595,6849,0.00,2.03,0.00,0.000,6,0.000,0.023,2587,1883,3594,0,0,0,0,0,0
$GC,7176,-0.62,-194.6,736.3,-8.1,611,7180,0.00,2.05,0.00,0.000,4,0.000,0.030,2587,514,3593,0,0,0,0,0,0
$GC,7210,-0.62,-194.6,739.0,-7.5,612,7214,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1872,3592,0,0,0,0,0,0
$GC,7535,-0.62,-194.6,763.1,-7.7,628,7539,0.00,2.10,0.00,0.000,4,0.000,0.039,2588,3269,3591,0,0,0,0,0,0
$GC,7690,-0.62,-194.6,773.6,-6.8,635,7694,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1897,3590,0,0,0,0,0,0
$GC,8026,-0.62,-194.6,793.5,-7.0,651,8030,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3268,3589,0,0,0,0,0,0
$GC,8089,-0.62,-194.6,798.3,-8.0,654,8093,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1910,3589,0,0,0,0,0,0
$GC,8424,-0.62,-194.6,818.3,-5.0,670,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1910,3587,0,0,0,0,0,0
$GC,8731,-0.62,-194.6,838.5,-6.7,685,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1908,3585,0,0,0,0,0,0
$GC,9040,-0.62,-194.6,857.0,-6.0,700,9045,0.00,2.10,0.00,0.000,4,0.000,0.040,2587,3259,3584,0,0,0,0,0,0
$GC,9093,-0.62,-194.6,859.5,-5.6,702,9097,0.00,1.95,0.00,0.000,6,0.000,0.022,2587,1914,3584,0,0,0,0,0,0
$GC,9420,-0.62,-194.6,877.3,-6.2,718,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1914,3583,0,0,0,0,0,0
$GC,9729,-0.62,-194.6,896.3,-4.8,733,9733,0.00,2.05,0.00,0.000,4,0.000,0.040,2587,3261,3582,0,0,0,0,0,0
$GC,9770,-0.62,-194.6,897.1,-4.5,734,9778,0.00,1.95,0.00,0.000,6,0.000,0.023,2587,1922,3583,0,0,0,0,0,0
$GC,10086,-0.62,-194.6,909.0,-4.4,750,10091,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,498,3581,0,0,0,0,0,0
$GC,10132,-0.62,-194.6,911.8,-5.2,752,10137,0.00,2.10,0.00,0.000,6,0.000,0.023,2587,1902,3581,0,0,0,0,0,0
$GC,10467,-0.62,-194.6,936.0,-7.3,768,10471,0.00,2.08,0.00,0.000,4,0.000,0.039,2587,3265,3581,0,0,0,0,0,0
$GC,10506,-0.62,-194.6,939.0,-7.0,769,10513,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1899,3581,0,0,0,0,0,0
$GC,10824,-0.62,-194.6,958.9,-5.5,785,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1898,3580,0,0,0,0,0,0
$GC,11131,-0.62,-194.6,976.3,-5.9,800,11136,0.00,2.12,0.00,0.000,4,0.000,0.037,2587,3268,3579,0,0,0,0,0,0
$GC,11159,-0.62,-194.6,978.2,-6.1,801,11162,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1912,3579,0,0,0,0,0,0
$STATE,11361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11361,begin apogee
$GC,11369,-0.20,0.0,990.9,6.4,811,11533,0.43,0.00,158.98,1.399,4,0.116,0.000,2729,2081,2840,0,0,0,0,0,0
$STATE,11534,end apogee,CONTROL_FINISHED_OK
$STATE,11534,begin climb
$GC,11538,0.62,194.6,996.6,0.0,818,11717,0.77,0.00,173.82,1.349,6,0.080,0.000,2998,2081,2045,0,0,0,0,0,0
$GC,12027,0.62,194.6,941.6,13.9,842,12031,0.00,2.15,0.00,0.000,4,0.000,0.040,2999,3478,2034,0,0,0,0,0,0
$GC,12076,0.62,194.6,933.9,14.8,844,12080,0.00,2.03,0.00,0.000,6,0.000,0.021,3007,2105,2032,0,0,0,0,0,0
$GC,12399,0.62,194.6,888.1,14.5,860,12404,0.00,2.12,0.00,0.000,4,0.000,0.034,3018,698,2031,0,0,0,0,0,0
$GC,12516,0.62,194.6,871.3,12.5,865,12520,0.00,2.03,0.00,0.000,6,0.000,0.024,3018,2051,2031,0,0,0,0,0,0
$GC,12845,0.62,194.6,828.3,13.6,881,12850,0.00,2.17,0.00,0.000,4,0.000,0.040,3018,3465,2030,0,0,0,0,0,0
$GC,12922,0.62,194.6,816.8,15.1,884,12926,0.00,2.03,0.00,0.000,6,0.000,0.021,3028,2079,2029,0,0,0,0,0,0
$GC,13245,0.62,194.6,773.2,13.7,900,13249,0.00,2.10,0.00,0.000,4,0.000,0.034,3037,688,2029,0,0,0,0,0,0
$GC,13340,0.62,194.6,760.0,13.3,904,13346,0.10,2.05,0.00,0.000,6,0.133,0.024,3003,2057,2028,0,0,0,0,0,0
$GC,13669,0.62,194.6,720.9,12.7,920,13673,0.00,2.15,0.00,0.000,4,0.000,0.040,3004,3467,2029,0,0,0,0,0,0
$GC,13737,0.62,194.6,711.4,14.3,923,13742,0.00,2.10,0.00,0.000,6,0.000,0.022,3011,2057,2028,0,0,0,0,0,0
$GC,14064,0.62,194.6,672.3,11.5,939,14067,0.00,2.05,0.00,0.000,4,0.000,0.034,3021,683,2028,0,0,0,0,0,0
$GC,14237,0.62,194.6,650.5,12.8,946,14244,0.00,1.95,0.00,0.000,6,0.000,0.024,3021,1990,2028,0,0,0,0,0,0
$GC,14553,0.62,194.6,608.6,13.1,962,14557,0.00,2.22,0.00,0.000,4,0.000,0.038,3021,3464,2028,0,0,0,0,0,0
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$STATE,20377,end climb,SURFACE_DEPTH_REACHED
$STATE,20377,begin surface coast
$FINISH,0.8,1.021547
$STATE,20415,end surface coast,CONTROL_FINISHED_OK
$STATE,20415,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,40.47
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,61
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$10V_AH,9.8,68.674
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323984
$DATA_FILE_SIZE,93501,1618
$CAP_FILE_SIZE,215840,0
$CFSIZE,260165632,99151872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.598,344.7,1
$GPS,140911,103631,1955.378,12119.866,38,1.0,39,-2.3