version: 66.09
glider: 167
mission: 8
dive: 249
start: 8 3 111 7 52 4
data:
$ID,167
$MISSION,8
$DIVE,249
$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,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,-56700.422
$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,65
$R_STBD_OVSHOOT,67
$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
$GPS1,030811,074307,1918.177,12309.332,31,1.0,32,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.3
$GPS2,030811,075138,1918.151,12309.193,14,1.3,14,-2.3
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,87.8,161929,-15.3,-9.706
$D_GRID,4652
$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,-194.6,0.0,0.0,0,110,0.00,0.00,-90.30,0.000,2,0.000,0.000,110,1970,3124,0,0,0,0,0,0
$GC,113,-0.62,-194.6,5.9,-10.7,12,138,10.15,2.25,-8.32,0.000,4,0.236,0.037,2602,468,3636,0,0,0,0,0,0
$GC,256,-0.62,-194.6,55.6,-22.2,36,263,0.00,2.05,0.00,0.000,6,0.000,0.021,2595,1863,3638,0,0,0,0,0,0
$GC,332,-0.62,-194.6,74.5,-22.7,49,340,0.00,2.10,0.00,0.000,4,0.000,0.032,2584,3268,3638,0,0,0,0,0,0
$GC,368,-0.62,-194.6,81.8,-20.3,54,376,0.00,2.08,0.00,0.000,6,0.000,0.017,2584,1821,3638,0,0,0,0,0,0
$GC,447,-0.62,-194.6,99.3,-23.5,67,456,0.00,1.98,0.00,0.000,4,0.000,0.028,2584,475,3638,0,0,0,0,0,0
$GC,514,-0.62,-194.6,114.7,-21.9,78,522,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,1840,3639,0,0,0,0,0,0
$GC,591,-0.62,-194.6,130.5,-21.8,91,598,0.00,2.12,0.00,0.000,4,0.000,0.032,2565,3266,3639,0,0,0,0,0,0
$GC,637,-0.62,-194.6,139.6,-19.6,98,647,0.10,1.98,0.00,0.000,6,0.149,0.018,2596,1861,3639,0,0,0,0,0,0
$GC,714,-0.62,-194.6,153.1,-15.9,111,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1861,3640,0,0,0,0,0,0
$GC,790,-0.62,-194.6,164.5,-13.9,124,798,0.00,2.10,0.00,0.000,4,0.000,0.029,2589,3270,3640,0,0,0,0,0,0
$GC,825,-0.62,-194.6,169.4,-14.6,129,835,0.00,1.85,0.00,0.000,6,0.000,0.017,2589,1952,3640,0,0,0,0,0,0
$GC,904,-0.62,-194.6,181.6,-15.5,142,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1951,3640,0,0,0,0,0,0
$GC,981,-0.62,-194.6,193.8,-15.5,155,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1952,3640,0,0,0,0,0,0
$GC,1058,-0.62,-194.6,205.8,-15.8,165,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1952,3640,0,0,0,0,0,0
$GC,1379,-0.62,-194.6,252.3,-14.6,195,1383,0.00,2.08,0.00,0.000,4,0.000,0.028,2589,513,3640,0,0,0,0,0,0
$GC,1454,-0.62,-194.6,263.1,-12.9,201,1458,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,2016,3640,0,0,0,0,0,0
$GC,1779,-0.62,-194.6,306.4,-12.2,231,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2016,3638,0,0,0,0,0,0
$GC,2099,-0.62,-194.6,348.5,-12.9,261,2103,0.00,1.85,0.00,0.000,4,0.000,0.034,2587,3259,3637,0,0,0,0,0,0
$GC,2135,-0.62,-194.6,353.1,-12.7,264,2138,0.00,1.75,0.00,0.000,6,0.000,0.018,2587,1986,3637,0,0,0,0,0,0
$GC,2465,-0.62,-194.6,394.5,-11.9,295,2469,0.00,1.90,0.00,0.000,4,0.000,0.034,2587,3260,3635,0,0,0,0,0,0
$GC,2495,-0.62,-194.6,398.0,-12.1,297,2503,0.00,1.73,0.00,0.000,6,0.000,0.018,2586,2004,3635,0,0,0,0,0,0
$GC,2820,-0.62,-194.6,434.1,-11.2,328,2824,0.00,2.17,0.00,0.000,4,0.000,0.028,2586,501,3633,0,0,0,0,0,0
$GC,2877,-0.62,-194.6,440.5,-10.9,332,2883,0.00,2.20,0.00,0.000,6,0.000,0.021,2586,2018,3633,0,0,0,0,0,0
$GC,3202,-0.62,-194.6,476.0,-11.0,363,3206,0.00,1.85,0.00,0.000,4,0.000,0.036,2586,3258,3631,0,0,0,0,0,0
$GC,3259,-0.62,-194.6,481.6,-9.3,368,3263,0.00,1.73,0.00,0.000,6,0.000,0.018,2586,1993,3631,0,0,0,0,0,0
$GC,3590,-0.62,-194.6,511.5,-8.6,393,3595,0.00,2.17,0.00,0.000,4,0.000,0.028,2586,512,3628,0,0,0,0,0,0
$GC,3661,-0.62,-194.6,518.3,-9.0,396,3665,0.00,2.12,0.00,0.000,6,0.000,0.021,2586,1981,3628,0,0,0,0,0,0
$GC,3984,-0.62,-194.6,546.6,-9.0,412,3989,0.00,1.95,0.00,0.000,4,0.000,0.035,2579,3265,3625,0,0,0,0,0,0
$GC,4007,-0.62,-194.6,549.1,-9.4,413,4011,0.00,1.77,0.00,0.000,6,0.000,0.018,2578,1987,3625,0,0,0,0,0,0
$GC,4341,-0.62,-194.6,581.9,-10.1,429,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1986,3623,0,0,0,0,0,0
$GC,4652,-0.62,-194.6,610.9,-9.1,444,4655,0.00,1.92,0.00,0.000,4,0.000,0.036,2575,3265,3621,0,0,0,0,0,0
$GC,4757,-0.62,-194.6,620.0,-8.2,448,4764,0.00,1.77,0.00,0.000,6,0.000,0.019,2575,1995,3620,0,0,0,0,0,0
$GC,5075,-0.62,-194.6,647.1,-8.5,464,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1993,3618,0,0,0,0,0,0
$GC,5383,-0.62,-194.6,672.6,-8.4,479,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1992,3616,0,0,0,0,0,0
$GC,5693,-0.62,-194.6,697.9,-8.0,494,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1992,3613,0,0,0,0,0,0
$GC,6003,-0.62,-194.6,721.9,-7.8,509,6008,0.00,1.95,0.00,0.000,4,0.000,0.038,2575,3261,3611,0,0,0,0,0,0
$GC,6071,-0.62,-194.6,727.3,-7.6,512,6075,0.00,1.77,0.00,0.000,6,0.000,0.020,2575,1995,3610,0,0,0,0,0,0
$GC,6406,-0.62,-194.6,754.1,-8.6,528,6411,0.00,1.95,0.00,0.000,4,0.000,0.038,2575,3260,3608,0,0,0,0,0,0
$GC,6452,-0.62,-194.6,758.1,-8.5,530,6457,0.00,1.77,0.00,0.000,6,0.000,0.020,2575,2019,3608,0,0,0,0,0,0
$GC,6786,-0.62,-194.6,789.0,-9.4,546,6789,0.00,1.88,0.00,0.000,4,0.000,0.038,2575,3264,3606,0,0,0,0,0,0
$GC,6820,-0.62,-194.6,792.3,-9.7,547,6824,0.00,1.73,0.00,0.000,6,0.000,0.021,2575,2033,3605,0,0,0,0,0,0
$GC,7142,-0.62,-194.6,821.4,-8.6,563,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2031,3604,0,0,0,0,0,0
$GC,7453,-0.62,-194.6,845.7,-7.4,578,7458,0.00,2.25,0.00,0.000,4,0.000,0.030,2575,523,3602,0,0,0,0,0,0
$GC,7514,-0.62,-194.6,850.9,-8.3,580,7521,0.00,2.22,0.00,0.000,6,0.000,0.024,2575,2030,3602,0,0,0,0,0,0
$GC,7830,-0.62,-194.6,876.4,-8.2,596,7834,0.00,1.83,0.00,0.000,4,0.000,0.041,2575,3253,3600,0,0,0,0,0,0
$GC,7865,-0.62,-194.6,879.3,-8.1,597,7869,0.00,1.73,0.00,0.000,6,0.000,0.020,2575,2030,3600,0,0,0,0,0,0
$GC,8187,-0.62,-194.6,906.1,-8.3,613,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2029,3598,0,0,0,0,0,0
$GC,8496,-0.62,-194.6,930.0,-7.4,628,8501,0.00,1.90,0.00,0.000,4,0.000,0.041,2574,3250,3597,0,0,0,0,0,0
$GC,8525,-0.62,-194.6,931.9,-7.1,629,8529,0.00,1.70,0.00,0.000,6,0.000,0.020,2574,2047,3597,0,0,0,0,0,0
$GC,8853,-0.62,-194.6,953.4,-6.5,645,8857,0.00,2.25,0.00,0.000,4,0.000,0.029,2575,510,3596,0,0,0,0,0,0
$GC,8881,-0.62,-194.6,955.7,-6.7,646,8886,0.00,2.28,0.00,0.000,6,0.000,0.026,2574,2018,3596,0,0,0,0,0,0
$GC,9204,-0.62,-194.6,978.3,-7.2,662,9208,0.00,2.22,0.00,0.000,4,0.000,0.030,2575,517,3595,0,0,0,0,0,0
$GC,9232,-0.62,-194.6,980.7,-7.2,663,9236,0.00,2.20,0.00,0.000,6,0.000,0.024,2574,2002,3594,0,0,0,0,0,0
$STATE,9360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9360,begin apogee
$GC,9368,-0.20,0.0,990.4,7.4,669,9527,0.47,0.00,153.93,1.394,4,0.125,0.000,2730,2002,2839,0,0,0,0,0,0
$STATE,9527,end apogee,CONTROL_FINISHED_OK
$STATE,9528,begin climb
$GC,9530,0.62,194.6,995.3,0.0,676,9704,0.77,0.00,169.38,1.336,6,0.080,0.000,2998,2002,2045,0,0,0,0,0,0
$GC,10024,0.62,194.6,943.6,12.2,700,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2002,2033,0,0,0,0,0,0
$GC,10332,0.62,194.6,906.5,12.1,715,10336,0.00,2.20,0.00,0.000,4,0.000,0.037,2998,3452,2031,0,0,0,0,0,0
$GC,10418,0.62,194.6,894.6,13.8,719,10422,0.00,2.00,0.00,0.000,6,0.000,0.021,3007,2075,2031,0,0,0,0,0,0
$GC,10752,0.62,194.6,850.6,13.2,735,10756,0.00,2.08,0.00,0.000,4,0.000,0.032,3017,686,2030,0,0,0,0,0,0
$GC,10823,0.62,194.6,841.3,13.3,738,10827,0.00,1.95,0.00,0.000,6,0.000,0.024,3018,2008,2030,0,0,0,0,0,0
$GC,11156,0.62,194.6,796.0,13.3,754,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2009,2030,0,0,0,0,0,0
$GC,11466,0.62,194.6,755.9,12.8,769,11471,0.00,2.22,0.00,0.000,4,0.000,0.039,3018,3457,2029,0,0,0,0,0,0
$GC,11527,0.62,194.6,747.1,14.0,771,11534,0.00,2.08,0.00,0.000,6,0.000,0.021,3027,2031,2028,0,0,0,0,0,0
$GC,11843,0.62,194.6,704.5,13.6,787,11847,0.00,2.00,0.00,0.000,4,0.000,0.034,3036,685,2028,0,0,0,0,0,0
$GC,11900,0.62,194.6,696.7,13.6,789,11905,0.10,1.95,0.00,0.000,6,0.136,0.023,3002,1993,2028,0,0,0,0,0,0
$GC,12222,0.62,194.6,659.5,11.3,805,12226,0.00,2.22,0.00,0.000,4,0.000,0.037,3002,3453,2027,0,0,0,0,0,0
$GC,12312,0.62,194.6,648.2,12.3,809,12316,0.00,2.08,0.00,0.000,6,0.000,0.021,3010,2032,2027,0,0,0,0,0,0
$GC,12633,0.62,194.6,610.0,12.2,825,12638,0.00,2.03,0.00,0.000,4,0.000,0.034,3020,687,2027,0,0,0,0,0,0
$GC,12770,0.62,194.6,593.5,12.2,831,12774,0.00,1.88,0.00,0.000,6,0.000,0.023,3020,1947,2027,0,0,0,0,0,0
$GC,13104,0.62,194.6,551.8,12.7,847,13108,0.00,2.28,0.00,0.000,4,0.000,0.037,3020,3452,2027,0,0,0,0,0,0
$GC,13181,0.62,194.6,540.3,14.1,850,13188,0.00,2.12,0.00,0.000,6,0.000,0.021,3030,1990,2027,0,0,0,0,0,0
$GC,13499,0.62,194.6,496.1,14.2,867,13503,0.00,1.92,0.00,0.000,4,0.000,0.034,3038,691,2026,0,0,0,0,0,0
$GC,13624,0.62,194.6,478.6,13.7,878,13629,0.12,1.90,0.00,0.000,6,0.150,0.022,3005,1986,2026,0,0,0,0,0,0
$GC,13955,0.64,207.7,443.9,9.3,909,13969,0.00,2.00,9.18,0.925,4,0.000,0.031,3011,687,1992,0,0,0,0,0,0
$GC,13993,0.65,221.9,440.4,9.2,912,14017,0.00,1.83,13.57,0.959,6,0.000,0.021,3012,1940,1933,0,0,0,0,0,0
$GC,14334,0.65,221.9,405.6,10.1,944,14338,0.00,2.30,0.00,0.000,4,0.000,0.037,3012,3456,1930,0,0,0,0,0,0
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$STATE,18357,end climb,SURFACE_DEPTH_REACHED
$STATE,18357,begin surface coast
$FINISH,0.9,1.021274
$STATE,18396,end surface coast,CONTROL_FINISHED_OK
$STATE,18397,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,35.07
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,28.50
$XPDR_PINGS,32
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$10V_AH,10.0,40.817
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329680
$DATA_FILE_SIZE,86800,1457
$CAP_FILE_SIZE,204499,0
$CFSIZE,260165632,118169600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,280.4,1
$GPS,030811,130107,1918.562,12311.103,29,1.2,30,-2.3