version: 66.09
glider: 167
mission: 8
dive: 238
start: 7 31 111 19 47 52
data:
$ID,167
$MISSION,8
$DIVE,238
$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,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,-56686.48
$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,64
$R_STBD_OVSHOOT,98
$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
$GPS1,310711,193907,1908.665,12254.765,36,1.1,36,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.4
$GPS2,310711,194726,1908.493,12254.751,19,1.5,19,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,SDOG
$TGT_LATLONG,1910.550,12302.760
$TGT_RADIUS,5000.000
$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,88.6,14518,-15.3,-9.706
$D_GRID,4647
$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,-0.62,-194.6,0.0,0.0,0,115,0.00,0.00,-94.15,0.000,2,0.000,0.000,112,1899,3151,0,0,0,0,0,0
$GC,118,-0.62,-194.6,6.3,-11.5,13,144,9.95,2.00,-7.62,0.000,4,0.230,0.044,2578,3249,3635,0,0,0,0,0,0
$GC,153,-0.62,-194.6,26.0,-45.6,17,160,0.00,2.03,0.00,0.000,6,0.000,0.019,2581,1861,3636,0,0,0,0,0,0
$GC,227,-0.62,-194.6,53.2,-32.4,30,235,0.00,2.03,0.00,0.000,4,0.000,0.028,2581,487,3636,0,0,0,0,0,0
$GC,257,-0.62,-194.6,62.2,-30.2,34,265,0.00,1.83,0.00,0.000,6,0.000,0.021,2575,1744,3637,0,0,0,0,0,0
$GC,334,-0.62,-194.6,82.7,-28.0,47,342,0.00,1.88,0.00,0.000,4,0.000,0.028,2575,484,3637,0,0,0,0,0,0
$GC,417,-0.62,-194.6,103.7,-23.0,61,424,0.00,1.45,0.00,0.000,6,0.000,0.019,2568,1519,3637,0,0,0,0,0,0
$GC,491,-0.62,-194.6,120.7,-22.9,74,500,0.12,2.58,0.00,0.000,4,0.196,0.030,2587,3223,3637,0,0,0,0,0,0
$GC,525,-0.62,-194.6,128.5,-23.5,79,535,0.00,2.30,0.00,0.000,6,0.000,0.018,2587,1654,3637,0,0,0,0,0,0
$GC,603,-0.62,-194.6,143.6,-18.8,92,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1654,3637,0,0,0,0,0,0
$GC,677,-0.62,-194.6,158.5,-20.0,105,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1654,3637,0,0,0,0,0,0
$GC,753,-0.62,-194.6,172.5,-18.8,118,761,0.00,2.38,0.00,0.000,4,0.000,0.030,2579,3233,3637,0,0,0,0,0,0
$GC,776,-0.62,-194.6,176.6,-18.0,121,783,0.00,2.25,0.00,0.000,6,0.000,0.022,2578,1700,3638,0,0,0,0,0,0
$GC,850,-0.62,-194.6,191.0,-18.9,134,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1700,3637,0,0,0,0,0,0
$GC,925,-0.62,-194.6,204.3,-17.7,145,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1700,3638,0,0,0,0,0,0
$GC,1245,-0.62,-194.6,258.7,-16.4,175,1249,0.00,2.28,0.00,0.000,4,0.000,0.030,2572,3234,3638,0,0,0,0,0,0
$GC,1375,-0.62,-194.6,277.6,-13.3,186,1379,0.00,2.15,0.00,0.000,6,0.000,0.018,2572,1725,3637,0,0,0,0,0,0
$GC,1701,-0.62,-194.6,324.0,-14.6,216,1705,0.00,2.22,0.00,0.000,4,0.000,0.029,2564,3233,3637,0,0,0,0,0,0
$GC,1811,-0.62,-194.6,338.8,-13.3,225,1819,0.12,2.05,0.00,0.000,6,0.155,0.018,2598,1773,3636,0,0,0,0,0,0
$GC,2138,-0.62,-194.6,375.3,-10.8,256,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1773,3635,0,0,0,0,0,0
$GC,2457,-0.62,-194.6,409.0,-10.1,286,2461,0.00,2.17,0.00,0.000,4,0.000,0.031,2590,3242,3633,0,0,0,0,0,0
$GC,2521,-0.62,-194.6,415.2,-9.6,291,2524,0.00,2.08,0.00,0.000,6,0.000,0.018,2590,1764,3632,0,0,0,0,0,0
$GC,2846,-0.62,-194.6,447.9,-9.7,321,2850,0.00,2.17,0.00,0.000,4,0.000,0.031,2588,3230,3630,0,0,0,0,0,0
$GC,2995,-0.62,-194.6,461.3,-8.9,333,3002,0.00,1.98,0.00,0.000,6,0.000,0.019,2588,1821,3629,0,0,0,0,0,0
$GC,3323,-0.62,-194.6,493.0,-10.1,364,3328,0.00,2.12,0.00,0.000,4,0.000,0.033,2588,3229,3626,0,0,0,0,0,0
$GC,3357,-0.62,-194.6,496.6,-10.0,367,3362,0.00,2.00,0.00,0.000,6,0.000,0.019,2588,1837,3626,0,0,0,0,0,0
$GC,3690,-0.62,-194.6,529.7,-9.7,385,3694,0.00,2.05,0.00,0.000,4,0.000,0.034,2588,3229,3623,0,0,0,0,0,0
$GC,3713,-0.62,-194.6,531.9,-9.6,386,3717,0.00,1.92,0.00,0.000,6,0.000,0.019,2588,1867,3623,0,0,0,0,0,0
$GC,4040,-0.62,-194.6,561.7,-8.7,402,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1867,3621,0,0,0,0,0,0
$GC,4350,-0.62,-194.6,587.6,-8.4,417,4354,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3231,3619,0,0,0,0,0,0
$GC,4401,-0.62,-194.6,591.7,-7.8,419,4405,0.00,1.90,0.00,0.000,6,0.000,0.020,2588,1894,3618,0,0,0,0,0,0
$GC,4729,-0.62,-194.6,615.5,-7.1,435,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1894,3615,0,0,0,0,0,0
$GC,5040,-0.62,-194.6,636.7,-6.7,450,5043,0.00,2.00,0.00,0.000,4,0.000,0.034,2588,3228,3613,0,0,0,0,0,0
$GC,5113,-0.62,-194.6,641.7,-6.3,453,5117,0.00,1.90,0.00,0.000,6,0.000,0.021,2588,1899,3612,0,0,0,0,0,0
$GC,5440,-0.62,-194.6,665.3,-7.6,469,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1898,3610,0,0,0,0,0,0
$GC,5751,-0.62,-194.6,691.3,-8.8,484,5756,0.00,2.03,0.00,0.000,4,0.000,0.034,2588,3227,3608,0,0,0,0,0,0
$GC,5835,-0.62,-194.6,698.9,-8.7,487,5843,0.00,1.90,0.00,0.000,6,0.000,0.020,2588,1894,3607,0,0,0,0,0,0
$GC,6152,-0.62,-194.6,725.9,-8.5,503,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1893,3606,0,0,0,0,0,0
$GC,6460,-0.62,-194.6,752.3,-8.4,518,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1893,3604,0,0,0,0,0,0
$GC,6769,-0.62,-194.6,776.3,-7.4,533,6774,0.00,2.03,0.00,0.000,4,0.000,0.036,2588,3218,3601,0,0,0,0,0,0
$GC,6826,-0.62,-194.6,780.4,-7.2,535,6830,0.00,1.85,0.00,0.000,6,0.000,0.021,2588,1925,3601,0,0,0,0,0,0
$GC,7148,-0.62,-194.6,801.6,-6.3,551,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1925,3599,0,0,0,0,0,0
$GC,7457,-0.62,-194.6,820.3,-6.1,566,7461,0.00,1.98,0.00,0.000,4,0.000,0.036,2588,3230,3598,0,0,0,0,0,0
$GC,7506,-0.62,-194.6,823.3,-6.3,568,7511,0.00,1.88,0.00,0.000,6,0.000,0.020,2588,1932,3598,0,0,0,0,0,0
$GC,7840,-0.62,-194.6,845.5,-6.9,584,7844,0.00,2.12,0.00,0.000,4,0.000,0.031,2588,497,3596,0,0,0,0,0,0
$GC,7874,-0.62,-194.6,848.2,-6.9,585,7881,0.00,2.05,0.00,0.000,6,0.000,0.023,2587,1895,3596,0,0,0,0,0,0
$GC,8191,-0.62,-194.6,870.3,-6.9,601,8195,0.00,2.10,0.00,0.000,4,0.000,0.039,2588,3267,3595,0,0,0,0,0,0
$GC,8307,-0.62,-194.6,878.3,-6.8,606,8311,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1955,3594,0,0,0,0,0,0
$GC,8636,-0.62,-194.6,900.2,-6.7,622,8641,0.00,2.17,0.00,0.000,4,0.000,0.032,2588,507,3592,0,0,0,0,0,0
$GC,8687,-0.62,-194.6,904.0,-7.0,624,8690,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1931,3592,0,0,0,0,0,0
$GC,9016,-0.62,-194.6,926.2,-6.8,640,9020,0.00,2.03,0.00,0.000,4,0.000,0.038,2588,3270,3591,0,0,0,0,0,0
$GC,9100,-0.62,-194.6,932.1,-6.7,643,9108,0.00,1.88,0.00,0.000,6,0.000,0.020,2588,1957,3591,0,0,0,0,0,0
$GC,9416,-0.62,-194.6,953.4,-6.7,659,9421,0.00,2.17,0.00,0.000,4,0.000,0.033,2587,511,3590,0,0,0,0,0,0
$GC,9473,-0.62,-194.6,957.5,-7.4,661,9477,0.00,2.15,0.00,0.000,6,0.000,0.024,2588,1965,3590,0,0,0,0,0,0
$GC,9790,-0.62,-194.6,978.3,-6.4,676,9793,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3266,3589,0,0,0,0,0,0
$GC,9852,-0.62,-194.6,982.3,-6.5,678,9859,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1976,3589,0,0,0,0,0,0
$STATE,9980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9980,begin apogee
$GC,9987,-0.20,0.0,990.5,6.3,685,10146,0.43,0.00,153.30,1.395,4,0.116,0.000,2730,2096,2838,0,0,0,0,0,0
$STATE,10147,end apogee,CONTROL_FINISHED_OK
$STATE,10147,begin climb
$GC,10149,0.62,194.6,994.8,0.0,692,10327,0.75,2.22,169.32,1.336,4,0.079,0.040,3003,3438,2045,0,0,0,0,0,0
$GC,10500,0.62,194.6,950.8,14.7,707,10507,0.00,2.05,0.00,0.000,6,0.000,0.021,3012,2092,2036,0,0,0,0,0,0
$GC,10818,0.62,194.6,904.4,14.5,723,10822,0.00,2.12,0.00,0.000,4,0.000,0.037,3012,3443,2033,0,0,0,0,0,0
$GC,11007,0.62,194.6,873.9,15.7,731,11012,0.00,2.10,0.00,0.000,6,0.000,0.022,3022,2045,2033,0,0,0,0,0,0
$GC,11330,0.62,194.6,827.8,13.8,747,11333,0.00,2.05,0.00,0.000,4,0.000,0.034,3032,679,2031,0,0,0,0,0,0
$GC,11398,0.62,194.6,818.2,13.7,750,11403,0.08,1.98,0.00,0.000,6,0.135,0.024,3006,1990,2031,0,0,0,0,0,0
$GC,11733,0.62,194.6,775.9,12.6,766,11737,0.00,2.20,0.00,0.000,4,0.000,0.037,3006,3449,2031,0,0,0,0,0,0
$GC,11818,0.62,194.6,763.8,14.2,770,11822,0.00,2.05,0.00,0.000,6,0.000,0.021,3014,2051,2030,0,0,0,0,0,0
$GC,12152,0.62,194.6,718.7,13.6,786,12156,0.00,2.00,0.00,0.000,4,0.000,0.034,3024,690,2030,0,0,0,0,0,0
$GC,12248,0.62,194.6,705.3,13.6,790,12251,0.00,1.88,0.00,0.000,6,0.000,0.023,3024,1972,2030,0,0,0,0,0,0
$GC,12575,0.62,194.6,661.8,12.9,806,12579,0.00,2.20,0.00,0.000,4,0.000,0.037,3025,3440,2030,0,0,0,0,0,0
$GC,12685,0.62,194.6,646.3,14.5,811,12690,0.12,2.05,0.00,0.000,6,0.173,0.021,3000,2043,2029,0,0,0,0,0,0
$GC,13013,0.62,194.6,609.9,10.5,827,13017,0.00,2.03,0.00,0.000,4,0.000,0.034,3009,687,2029,0,0,0,0,0,0
$GC,13076,0.62,194.6,603.0,10.4,829,13084,0.00,1.98,0.00,0.000,6,0.000,0.023,3009,2023,2029,0,0,0,0,0,0
$GC,13392,0.62,194.6,568.7,10.5,845,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2023,2029,0,0,0,0,0,0
$GC,13702,0.62,194.6,535.7,10.4,860,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2023,2029,0,0,0,0,0,0
$GC,14013,0.62,194.6,502.0,11.5,875,14016,0.00,2.03,0.00,0.000,4,0.000,0.032,3017,678,2028,0,0,0,0,0,0
$GC,14051,0.62,194.6,497.1,11.7,877,14059,0.00,1.95,0.00,0.000,6,0.000,0.023,3017,1984,2029,0,0,0,0,0,0
$GC,14379,0.62,194.6,457.6,12.1,908,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1984,2028,0,0,0,0,0,0
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$STATE,18925,end climb,SURFACE_DEPTH_REACHED
$STATE,18925,begin surface coast
$FINISH,0.9,1.016001
$STATE,18966,end surface coast,CONTROL_FINISHED_OK
$STATE,18966,begin surface
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$HUMID,35.58
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,28.30
$XPDR_PINGS,35
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$10V_AH,10.0,39.036
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323884
$DATA_FILE_SIZE,86703,1477
$CAP_FILE_SIZE,207758,0
$CFSIZE,260165632,119271424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,294.3,1
$GPS,010811,010637,1909.213,12255.784,42,1.3,43,-2.2