version: 66.09
glider: 167
mission: 8
dive: 111
start: 7 5 111 11 32 41
data:
$ID,167
$MISSION,8
$DIVE,111
$N_DIVES,125
$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,400
$T_MISSION,440
$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,150
$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,4
$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,-56526.531
$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,68
$R_STBD_OVSHOOT,68
$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
$GPS1,050711,112306,1752.920,12434.508,37,0.9,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.5
$GPS2,050711,113220,1752.871,12434.580,13,1.0,13,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,186.7,5369,-15.4,-8.250
$D_GRID,4326
$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,-0.56,-146.0,0.0,0.0,0,83,0.00,0.00,-63.08,0.000,2,0.000,0.000,111,1883,2994,0,0,0,0,0,0
$GC,86,-0.56,-146.0,5.2,-7.8,8,111,9.88,2.12,-7.50,0.000,4,0.231,0.044,2600,3266,3438,0,0,0,0,0,0
$GC,136,-0.56,-146.0,25.6,-39.7,15,144,0.00,2.05,0.00,0.000,6,0.000,0.018,2600,1866,3440,0,0,0,0,0,0
$GC,214,-0.56,-146.0,50.0,-30.8,28,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1865,3440,0,0,0,0,0,0
$GC,291,-0.56,-146.0,72.9,-28.2,41,299,0.00,2.05,0.00,0.000,4,0.000,0.028,2599,473,3441,0,0,0,0,0,0
$GC,324,-0.56,-146.0,81.2,-25.4,46,334,0.00,1.98,0.00,0.000,6,0.000,0.020,2591,1833,3441,0,0,0,0,0,0
$GC,403,-0.56,-146.0,99.2,-23.8,59,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1833,3441,0,0,0,0,0,0
$GC,478,-0.56,-146.0,115.8,-21.1,72,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1834,3441,0,0,0,0,0,0
$GC,553,-0.56,-146.0,131.4,-19.8,85,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1833,3441,0,0,0,0,0,0
$GC,627,-0.56,-146.0,145.8,-18.1,98,636,0.00,2.12,0.00,0.000,4,0.000,0.031,2580,3265,3441,0,0,0,0,0,0
$GC,687,-0.56,-146.0,157.6,-19.9,108,696,0.10,2.12,0.00,0.000,6,0.153,0.018,2611,1772,3441,0,0,0,0,0,0
$GC,768,-0.56,-146.0,169.8,-14.1,121,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1771,3441,0,0,0,0,0,0
$GC,844,-0.56,-146.0,180.8,-13.2,134,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1771,3441,0,0,0,0,0,0
$GC,918,-0.56,-146.0,191.3,-13.6,147,926,0.00,1.88,0.00,0.000,4,0.000,0.030,2611,486,3442,0,0,0,0,0,0
$GC,944,-0.56,-146.0,195.2,-14.5,151,952,0.00,1.90,0.00,0.000,6,0.000,0.020,2604,1810,3441,0,0,0,0,0,0
$GC,1025,-0.56,-146.0,206.3,-13.7,161,1029,0.00,2.15,0.00,0.000,4,0.000,0.032,2600,3264,3442,0,0,0,0,0,0
$GC,1101,-0.56,-146.0,216.0,-12.6,167,1105,0.00,1.90,0.00,0.000,6,0.000,0.018,2600,1903,3442,0,0,0,0,0,0
$GC,1431,-0.56,-146.0,259.6,-12.4,198,1436,0.00,2.05,0.00,0.000,4,0.000,0.029,2600,498,3442,0,0,0,0,0,0
$GC,1469,-0.56,-146.0,264.7,-13.0,201,1476,0.00,2.03,0.00,0.000,6,0.000,0.020,2593,1904,3442,0,0,0,0,0,0
$GC,1794,-0.56,-146.0,302.0,-11.0,232,1798,0.00,2.00,0.00,0.000,4,0.000,0.032,2587,3263,3441,0,0,0,0,0,0
$GC,1866,-0.56,-146.0,310.6,-11.0,238,1874,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1966,3441,0,0,0,0,0,0
$GC,2194,-0.56,-146.0,348.3,-11.5,269,2199,0.10,2.12,0.00,0.000,4,0.174,0.028,2613,505,3439,0,0,0,0,0,0
$GC,2339,-0.56,-146.0,364.6,-10.9,281,2346,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1896,3438,0,0,0,0,0,0
$GC,2665,-0.56,-146.0,394.7,-8.8,312,2669,0.00,2.00,0.00,0.000,4,0.000,0.034,2612,3264,3437,0,0,0,0,0,0
$GC,2790,-0.56,-146.0,404.3,-7.5,323,2793,0.00,1.83,0.00,0.000,6,0.000,0.018,2612,1939,3436,0,0,0,0,0,0
$GC,3121,-0.56,-146.0,429.3,-7.6,354,3124,0.00,2.08,0.00,0.000,4,0.000,0.031,2612,511,3434,0,0,0,0,0,0
$GC,3193,-0.56,-146.0,435.6,-8.6,360,3200,0.00,2.03,0.00,0.000,6,0.000,0.021,2612,1938,3433,0,0,0,0,0,0
$GC,3520,-0.56,-146.0,463.8,-9.0,391,3523,0.00,1.98,0.00,0.000,4,0.000,0.034,2604,3274,3432,0,0,0,0,0,0
$GC,3614,-0.56,-146.0,472.5,-8.8,399,3621,0.00,1.85,0.00,0.000,6,0.000,0.019,2603,1967,3431,0,0,0,0,0,0
$GC,3940,-0.56,-146.0,499.3,-8.0,430,3944,0.00,2.12,0.00,0.000,4,0.000,0.030,2604,506,3429,0,0,0,0,0,0
$GC,4012,-0.56,-146.0,505.6,-8.5,433,4017,0.00,2.08,0.00,0.000,6,0.000,0.021,2603,1933,3428,0,0,0,0,0,0
$GC,4336,-0.56,-146.0,529.8,-7.5,449,4339,0.00,1.92,0.00,0.000,4,0.000,0.034,2600,3262,3426,0,0,0,0,0,0
$GC,4366,-0.56,-146.0,532.1,-7.5,450,4369,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1938,3426,0,0,0,0,0,0
$GC,4693,-0.56,-146.0,557.6,-7.7,466,4697,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,497,3424,0,0,0,0,0,0
$GC,4757,-0.56,-146.0,562.9,-8.4,469,4761,0.00,2.03,0.00,0.000,6,0.000,0.022,2601,1918,3424,0,0,0,0,0,0
$GC,5090,-0.56,-146.0,587.4,-7.2,485,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1918,3422,0,0,0,0,0,0
$GC,5399,-0.56,-146.0,611.4,-8.2,500,5404,0.00,2.03,0.00,0.000,4,0.000,0.036,2601,3268,3420,0,0,0,0,0,0
$GC,5456,-0.56,-146.0,616.1,-8.2,502,5460,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1922,3419,0,0,0,0,0,0
$GC,5778,-0.56,-146.0,642.2,-7.8,518,5781,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,510,3417,0,0,0,0,0,0
$GC,5818,-0.56,-146.0,645.9,-8.2,519,5824,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1918,3417,0,0,0,0,0,0
$GC,6135,-0.56,-146.0,669.4,-7.0,535,6139,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3265,3415,0,0,0,0,0,0
$GC,6203,-0.56,-146.0,673.8,-6.4,538,6207,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1934,3415,0,0,0,0,0,0
$GC,6537,-0.56,-146.0,694.5,-6.4,554,6542,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,506,3412,0,0,0,0,0,0
$GC,6652,-0.56,-146.0,702.6,-7.2,559,6656,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,1899,3411,0,0,0,0,0,0
$GC,6987,-0.56,-146.0,723.0,-5.9,575,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1900,3410,0,0,0,0,0,0
$GC,7294,-0.56,-146.0,742.4,-6.4,590,7299,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3261,3408,0,0,0,0,0,0
$GC,7418,-0.56,-146.0,750.7,-6.6,595,7422,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1909,3408,0,0,0,0,0,0
$GC,7740,-0.56,-146.0,771.5,-6.4,611,7745,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,500,3406,0,0,0,0,0,0
$GC,7763,-0.56,-146.0,773.1,-6.3,612,7767,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1926,3406,0,0,0,0,0,0
$GC,8098,-0.56,-146.0,793.2,-5.7,628,8102,0.00,2.00,0.00,0.000,4,0.000,0.038,2600,3269,3404,0,0,0,0,0,0
$GC,8183,-0.56,-146.0,798.2,-5.7,631,8189,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1932,3404,0,0,0,0,0,0
$GC,8501,-0.56,-146.0,814.1,-4.8,647,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1931,3403,0,0,0,0,0,0
$GC,8808,-0.56,-146.0,828.3,-4.5,662,8812,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,505,3402,0,0,0,0,0,0
$GC,8841,-0.56,-146.0,829.9,-4.6,663,8847,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1943,3401,0,0,0,0,0,0
$GC,9159,-0.56,-146.0,844.1,-4.6,679,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1943,3400,0,0,0,0,0,0
$GC,9466,-0.56,-146.0,859.8,-5.5,694,9470,0.00,1.98,0.00,0.000,4,0.000,0.039,2600,3267,3399,0,0,0,0,0,0
$GC,9524,-0.56,-146.0,863.1,-5.6,696,9528,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1963,3399,0,0,0,0,0,0
$GC,9848,-0.56,-146.0,883.8,-6.9,712,9852,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,506,3398,0,0,0,0,0,0
$GC,9897,-0.56,-146.0,887.9,-8.3,714,9901,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1956,3397,0,0,0,0,0,0
$GC,10222,-0.56,-146.0,910.5,-7.0,730,10226,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3275,3397,0,0,0,0,0,0
$GC,10277,-0.56,-146.0,914.5,-6.5,732,10281,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1959,3397,0,0,0,0,0,0
$GC,10599,-0.56,-146.0,935.4,-6.4,748,10604,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,504,3396,0,0,0,0,0,0
$GC,10702,-0.56,-146.0,942.8,-7.4,752,10705,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1937,3395,0,0,0,0,0,0
$GC,11024,-0.56,-146.0,962.3,-5.7,768,11027,0.00,2.00,0.00,0.000,4,0.000,0.039,2600,3269,3395,0,0,0,0,0,0
$GC,11064,-0.56,-146.0,964.7,-5.8,769,11070,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1954,3395,0,0,0,0,0,0
$GC,11380,-0.56,-146.0,982.8,-5.6,785,11385,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,499,3394,0,0,0,0,0,0
$GC,11413,-0.56,-146.0,984.9,-5.8,786,11416,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1934,3394,0,0,0,0,0,0
$STATE,11506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11506,begin apogee
$GC,11513,-0.20,0.0,990.5,5.9,791,11631,0.38,0.00,111.68,1.416,4,0.123,0.000,2729,2096,2839,0,0,0,0,0,0
$STATE,11632,end apogee,CONTROL_FINISHED_OK
$STATE,11632,begin climb
$GC,11636,0.56,146.0,992.8,0.0,796,11766,0.70,0.00,123.40,1.364,6,0.079,0.000,2977,2096,2242,0,0,0,0,0,0
$GC,12075,0.56,146.0,949.3,11.1,817,12080,0.00,2.17,0.00,0.000,4,0.000,0.033,2985,700,2231,0,0,0,0,0,0
$GC,12123,0.56,146.0,944.1,11.6,819,12127,0.00,2.05,0.00,0.000,6,0.000,0.024,2984,2042,2231,0,0,0,0,0,0
$GC,12455,0.56,146.0,906.3,11.5,835,12460,0.00,2.17,0.00,0.000,4,0.000,0.038,2985,3470,2229,0,0,0,0,0,0
$GC,12506,0.56,146.0,899.7,12.8,837,12510,0.00,2.00,0.00,0.000,6,0.000,0.022,2992,2117,2228,0,0,0,0,0,0
$GC,12829,0.56,146.0,860.4,12.4,853,12833,0.00,2.15,0.00,0.000,4,0.000,0.034,3003,685,2227,0,0,0,0,0,0
$GC,12924,0.56,146.0,847.8,13.1,857,12928,0.00,2.08,0.00,0.000,6,0.000,0.024,3004,2091,2227,0,0,0,0,0,0
$GC,13247,0.56,146.0,805.7,13.2,873,13251,0.00,2.12,0.00,0.000,4,0.000,0.033,3011,676,2227,0,0,0,0,0,0
$GC,13291,0.56,146.0,799.4,13.6,875,13296,0.00,2.08,0.00,0.000,6,0.000,0.024,3010,2074,2226,0,0,0,0,0,0
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$STATE,21658,end climb,SURFACE_DEPTH_REACHED
$STATE,21658,begin surface coast
$FINISH,0.8,0.997446
$STATE,21686,end surface coast,CONTROL_FINISHED_OK
$STATE,21686,begin surface
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$HUMID,32.20
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,28.70
$XPDR_PINGS,10
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$10V_AH,10.2,19.332
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329864
$DATA_FILE_SIZE,96868,1679
$CAP_FILE_SIZE,239172,0
$CFSIZE,260165632,131239936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 41.5,1
$GPS,050711,173636,1750.364,12434.412,33,0.8,33,-2.0