version: 66.09
glider: 167
mission: 8
dive: 446
start: 9 18 111 12 45 25
data:
$ID,167
$MISSION,8
$DIVE,446
$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,-148983.67
$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,79
$R_STBD_OVSHOOT,84
$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
$GPS1,180911,004600,2007.900,12115.639,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.0
$GPS2,180911,004600,2007.900,12115.639,901,99.0,901,-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,172.7,208085,-15.3,-9.706
$D_GRID,3325
$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,-194.6,0.0,0.0,0,114,0.00,0.00,-91.43,0.000,2,0.000,0.000,110,1915,3040,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.4,-9.6,13,146,10.20,2.12,-10.10,0.000,4,0.228,0.041,2591,478,3634,0,0,0,0,0,0
$GC,253,-0.62,-194.6,45.2,-23.2,36,261,0.00,2.00,0.00,0.000,6,0.000,0.022,2583,1846,3635,0,0,0,0,0,0
$GC,398,-0.62,-194.6,74.8,-20.9,61,405,0.00,1.98,0.00,0.000,4,0.000,0.026,2583,486,3635,0,0,0,0,0,0
$GC,445,-0.62,-194.6,84.6,-18.3,69,452,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1867,3635,0,0,0,0,0,0
$GC,583,-0.62,-194.6,107.4,-16.6,94,592,0.00,2.08,0.00,0.000,4,0.000,0.031,2566,3269,3635,0,0,0,0,0,0
$GC,612,-0.62,-194.6,111.9,-16.6,98,620,0.08,2.03,0.00,0.000,6,0.139,0.017,2591,1830,3635,0,0,0,0,0,0
$GC,758,-0.62,-194.6,132.5,-15.6,123,766,0.00,1.92,0.00,0.000,4,0.000,0.028,2591,511,3636,0,0,0,0,0,0
$GC,839,-0.62,-194.6,142.5,-11.9,137,846,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1938,3635,0,0,0,0,0,0
$GC,982,-0.62,-194.6,161.8,-13.9,162,989,0.00,1.98,0.00,0.000,4,0.000,0.033,2587,3269,3635,0,0,0,0,0,0
$GC,1071,-0.62,-194.6,173.7,-13.3,177,1078,0.00,1.77,0.00,0.000,6,0.000,0.016,2587,1959,3635,0,0,0,0,0,0
$GC,1213,-0.62,-194.6,193.4,-13.5,202,1221,0.00,1.95,0.00,0.000,4,0.000,0.031,2587,3264,3635,0,0,0,0,0,0
$GC,1246,-0.62,-194.6,197.9,-13.1,207,1254,0.00,1.65,0.00,0.000,6,0.000,0.017,2587,2034,3635,0,0,0,0,0,0
$GC,1389,-0.62,-194.6,214.8,-10.9,221,1393,0.00,2.20,0.00,0.000,4,0.000,0.027,2587,510,3634,0,0,0,0,0,0
$GC,1444,-0.62,-194.6,221.3,-11.4,225,1451,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,1993,3634,0,0,0,0,0,0
$GC,1771,-0.62,-194.6,255.1,-10.0,256,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1993,3632,0,0,0,0,0,0
$GC,2092,-0.62,-194.6,284.8,-9.0,286,2096,0.00,2.17,0.00,0.000,4,0.000,0.027,2587,511,3629,0,0,0,0,0,0
$GC,2181,-0.62,-194.6,293.1,-9.1,293,2188,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1980,3629,0,0,0,0,0,0
$GC,2507,-0.62,-194.6,320.0,-7.7,324,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1980,3626,0,0,0,0,0,0
$GC,2829,-0.62,-194.6,348.5,-9.5,354,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1980,3622,0,0,0,0,0,0
$GC,3156,-0.62,-194.6,382.1,-8.7,385,3161,0.00,1.92,0.00,0.000,4,0.000,0.036,2586,3261,3619,0,0,0,0,0,0
$GC,3179,-0.62,-194.6,384.2,-8.3,387,3183,0.00,1.80,0.00,0.000,6,0.000,0.018,2586,1959,3619,0,0,0,0,0,0
$GC,3511,-0.62,-194.6,413.3,-9.4,418,3515,0.00,2.12,0.00,0.000,4,0.000,0.030,2586,507,3616,0,0,0,0,0,0
$GC,3655,-0.62,-194.6,427.4,-10.2,430,3659,0.00,2.05,0.00,0.000,6,0.000,0.022,2586,1921,3615,0,0,0,0,0,0
$GC,3986,-0.62,-194.6,458.4,-9.5,461,3990,0.00,2.00,0.00,0.000,4,0.000,0.037,2586,3263,3611,0,0,0,0,0,0
$GC,4078,-0.62,-194.6,467.0,-9.4,469,4082,0.00,1.85,0.00,0.000,6,0.000,0.020,2586,1941,3610,0,0,0,0,0,0
$GC,4410,-0.62,-194.6,498.5,-9.6,500,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1941,3608,0,0,0,0,0,0
$GC,4723,-0.62,-194.6,527.2,-8.3,516,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1939,3605,0,0,0,0,0,0
$GC,5029,-0.62,-194.6,550.3,-6.7,531,5032,0.00,2.03,0.00,0.000,4,0.000,0.037,2586,3273,3602,0,0,0,0,0,0
$GC,5101,-0.62,-194.6,554.8,-6.0,534,5106,0.00,1.92,0.00,0.000,6,0.000,0.020,2586,1944,3602,0,0,0,0,0,0
$GC,5430,-0.62,-194.6,582.1,-9.6,550,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1944,3600,0,0,0,0,0,0
$GC,5737,-0.62,-194.6,610.9,-9.1,565,5741,0.00,2.10,0.00,0.000,4,0.000,0.031,2586,517,3598,0,0,0,0,0,0
$GC,5781,-0.62,-194.6,615.5,-10.5,567,5786,0.00,2.00,0.00,0.000,6,0.000,0.023,2586,1904,3597,0,0,0,0,0,0
$GC,6112,-0.62,-194.6,643.5,-8.0,583,6115,0.00,2.05,0.00,0.000,4,0.000,0.037,2586,3265,3595,0,0,0,0,0,0
$GC,6191,-0.62,-194.6,649.1,-6.9,586,6194,0.00,1.88,0.00,0.000,6,0.000,0.020,2586,1935,3595,0,0,0,0,0,0
$GC,6514,-0.62,-194.6,665.0,-3.6,602,6518,0.00,2.00,0.00,0.000,4,0.000,0.037,2584,3266,3593,0,0,0,0,0,0
$GC,6565,-0.62,-194.6,666.5,-3.1,604,6568,0.00,1.85,0.00,0.000,6,0.000,0.021,2584,1961,3593,0,0,0,0,0,0
$GC,6895,-0.62,-194.6,678.0,-4.1,620,6899,0.00,2.15,0.00,0.000,4,0.000,0.031,2584,509,3592,0,0,0,0,0,0
$GC,7003,-0.62,-194.6,684.0,-5.7,625,7007,0.00,2.10,0.00,0.000,6,0.000,0.024,2585,1931,3590,0,0,0,0,0,0
$GC,7337,-0.62,-194.6,708.1,-8.4,641,7340,0.00,2.00,0.00,0.000,4,0.000,0.038,2584,3269,3589,0,0,0,0,0,0
$GC,7394,-0.62,-194.6,713.3,-8.8,643,7398,0.00,1.88,0.00,0.000,6,0.000,0.019,2584,1940,3589,0,0,0,0,0,0
$GC,7716,-0.62,-194.6,745.3,-10.3,659,7720,0.00,2.12,0.00,0.000,4,0.000,0.032,2584,522,3587,0,0,0,0,0,0
$GC,7747,-0.62,-194.6,748.8,-10.2,660,7751,0.00,2.10,0.00,0.000,6,0.000,0.024,2584,1944,3587,0,0,0,0,0,0
$GC,8074,-0.62,-194.6,780.3,-9.6,676,8077,0.00,2.00,0.00,0.000,4,0.000,0.040,2584,3264,3586,0,0,0,0,0,0
$GC,8152,-0.62,-194.6,787.6,-8.6,679,8157,0.00,1.88,0.00,0.000,6,0.000,0.021,2584,1978,3585,0,0,0,0,0,0
$GC,8475,-0.62,-194.6,813.5,-7.7,695,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1978,3584,0,0,0,0,0,0
$GC,8783,-0.62,-194.6,833.2,-5.8,710,8787,0.00,2.17,0.00,0.000,4,0.000,0.031,2584,515,3583,0,0,0,0,0,0
$GC,8815,-0.62,-194.6,835.3,-5.9,711,8823,0.00,2.15,0.00,0.000,6,0.000,0.024,2584,1964,3583,0,0,0,0,0,0
$GC,9133,-0.62,-194.6,852.3,-5.5,727,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1964,3582,0,0,0,0,0,0
$GC,9441,-0.62,-194.6,869.5,-5.9,742,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1964,3581,0,0,0,0,0,0
$GC,9752,-0.62,-194.6,886.6,-5.3,757,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1964,3581,0,0,0,0,0,0
$GC,10060,-0.62,-194.6,902.8,-5.3,772,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1964,3580,0,0,0,0,0,0
$GC,10369,-0.62,-194.6,920.5,-5.9,787,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1964,3579,0,0,0,0,0,0
$GC,10680,-0.62,-194.6,941.8,-7.0,802,10684,0.00,2.00,0.00,0.000,4,0.000,0.041,2584,3259,3578,0,0,0,0,0,0
$GC,10735,-0.62,-194.6,946.0,-7.2,804,10738,0.00,1.83,0.00,0.000,6,0.000,0.021,2584,1977,3578,0,0,0,0,0,0
$GC,11059,-0.62,-194.6,969.4,-7.5,820,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1977,3577,0,0,0,0,0,0
$STATE,11342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11343,begin apogee
$GC,11349,-0.20,0.0,990.4,7.3,834,11513,0.43,0.00,158.40,1.400,4,0.119,0.000,2726,2091,2837,0,0,0,0,0,0
$STATE,11514,end apogee,CONTROL_FINISHED_OK
$STATE,11514,begin climb
$GC,11516,0.62,194.6,996.8,0.0,841,11698,0.82,2.20,172.85,1.349,4,0.086,0.041,3001,3447,2044,0,0,0,0,0,0
$GC,11820,0.62,194.6,967.2,13.1,855,11828,0.00,2.03,0.00,0.000,6,0.000,0.022,3010,2083,2036,0,0,0,0,0,0
$GC,12137,0.62,194.6,929.3,11.9,871,12142,0.00,2.12,0.00,0.000,4,0.000,0.038,3010,3442,2032,0,0,0,0,0,0
$GC,12354,0.62,194.6,899.8,13.7,880,12362,0.00,2.05,0.00,0.000,6,0.000,0.022,3015,2054,2032,0,0,0,0,0,0
$GC,12673,0.62,194.6,857.5,13.7,896,12677,0.00,2.08,0.00,0.000,4,0.000,0.034,3021,681,2031,0,0,0,0,0,0
$GC,12744,0.62,194.6,847.5,13.4,899,12748,0.00,2.00,0.00,0.000,6,0.000,0.024,3021,2043,2031,0,0,0,0,0,0
$GC,13073,0.62,194.6,804.8,12.7,915,13077,0.00,2.17,0.00,0.000,4,0.000,0.040,3021,3468,2030,0,0,0,0,0,0
$GC,13215,0.62,194.6,785.2,13.3,921,13219,0.00,2.00,0.00,0.000,6,0.000,0.022,3031,2090,2029,0,0,0,0,0,0
$GC,13537,0.62,194.6,742.3,13.1,937,13541,0.00,2.12,0.00,0.000,4,0.000,0.038,3031,3466,2029,0,0,0,0,0,0
$GC,13565,0.62,194.6,738.2,14.4,938,13570,0.15,2.00,0.00,0.000,6,0.164,0.021,2999,2078,2029,0,0,0,0,0,0
$GC,13881,0.62,194.6,702.6,11.1,953,13885,0.00,2.05,0.00,0.000,4,0.000,0.033,3008,704,2029,0,0,0,0,0,0
$GC,13961,0.62,194.6,693.3,11.6,956,13965,0.00,2.00,0.00,0.000,6,0.000,0.024,3008,2064,2029,0,0,0,0,0,0
$GC,14282,0.62,194.6,655.1,11.7,972,14287,0.00,2.08,0.00,0.000,4,0.000,0.031,3016,698,2029,0,0,0,0,0,0
$GC,14315,0.62,194.6,651.0,11.9,973,14319,0.00,1.95,0.00,0.000,6,0.000,0.024,3016,2035,2029,0,0,0,0,0,0
$GC,14639,0.62,194.6,616.7,10.1,989,14643,0.00,2.17,0.00,0.000,4,0.000,0.040,3016,3461,2028,0,0,0,0,0,0
$GC,14770,0.62,194.6,599.4,13.2,995,14774,0.00,2.05,0.00,0.000,6,0.000,0.021,3026,2057,2028,0,0,0,0,0,0
$GC,15105,0.62,194.6,558.2,11.9,1011,15109,0.00,2.03,0.00,0.000,4,0.000,0.033,3035,683,2028,0,0,0,0,0,0
$GC,15144,0.62,194.6,553.4,11.4,1012,15152,0.12,2.00,0.00,0.000,6,0.148,0.024,3001,2045,2028,0,0,0,0,0,0
$GC,15460,0.62,194.6,523.1,9.9,1028,15465,0.00,2.17,0.00,0.000,4,0.000,0.039,3001,3457,2028,0,0,0,0,0,0
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$STATE,20574,end climb,SURFACE_DEPTH_REACHED
$STATE,20574,begin surface coast
$FINISH,1.5,1.021131
$STATE,20589,end surface coast,CONTROL_FINISHED_OK
$STATE,20589,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,41.17
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$TCM_TEMP,27.80
$XPDR_PINGS,52
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$10V_AH,9.7,71.616
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324008
$DATA_FILE_SIZE,93488,1635
$CAP_FILE_SIZE,210704,0
$CFSIZE,260165632,96845824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.683,293.4,1
$GPS,180911,183106,2008.225,12108.633,30,0.9,31,-2.3