version: 66.09
glider: 167
mission: 8
dive: 267
start: 8 7 111 9 54 39
data:
$ID,167
$MISSION,8
$DIVE,267
$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,-56723.469
$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,100
$R_STBD_OVSHOOT,62
$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
$GPS1,070811,094237,1936.567,12324.809,32,1.0,33,-2.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-68.5
$GPS2,070811,095414,1936.723,12324.743,10,1.0,10,-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,100.9,119345,-15.3,-9.706
$D_GRID,5000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-194.6,0.0,0.0,0,112,0.00,0.00,-92.20,0.000,2,0.000,0.000,111,1833,3056,0,0,0,0,0,0
$GC,116,-0.62,-194.6,5.6,-10.6,13,143,9.98,2.15,-9.50,0.000,4,0.230,0.041,2572,3274,3635,0,0,0,0,0,0
$GC,256,-0.62,-194.6,60.4,-34.8,36,264,0.00,2.00,0.00,0.000,6,0.000,0.026,2572,1897,3636,0,0,0,0,0,0
$GC,333,-0.62,-194.6,82.1,-25.8,49,341,0.00,2.08,0.00,0.000,4,0.000,0.028,2572,484,3636,0,0,0,0,0,0
$GC,397,-0.62,-194.6,97.2,-22.1,59,406,0.10,1.50,0.00,0.000,6,0.151,0.018,2598,1548,3637,0,0,0,0,0,0
$GC,473,-0.62,-194.6,110.6,-15.7,72,481,0.00,2.58,0.00,0.000,4,0.000,0.030,2586,3264,3637,0,0,0,0,0,0
$GC,548,-0.62,-194.6,122.7,-17.0,85,556,0.00,2.33,0.00,0.000,6,0.000,0.019,2586,1673,3637,0,0,0,0,0,0
$GC,622,-0.62,-194.6,134.2,-14.9,98,630,0.00,1.73,0.00,0.000,4,0.000,0.028,2586,480,3638,0,0,0,0,0,0
$GC,649,-0.62,-194.6,138.0,-13.8,102,657,0.00,1.70,0.00,0.000,6,0.000,0.019,2581,1678,3638,0,0,0,0,0,0
$GC,723,-0.62,-194.6,147.7,-14.2,115,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1678,3638,0,0,0,0,0,0
$GC,801,-0.62,-194.6,157.8,-12.9,128,809,0.00,2.40,0.00,0.000,4,0.000,0.031,2569,3266,3638,0,0,0,0,0,0
$GC,845,-0.62,-194.6,164.5,-14.6,135,853,0.00,2.45,0.00,0.000,6,0.000,0.018,2569,1588,3638,0,0,0,0,0,0
$GC,920,-0.62,-194.6,176.8,-17.3,148,928,0.10,0.00,0.00,0.000,6,0.182,0.000,2594,1584,3638,0,0,0,0,0,0
$GC,999,-0.62,-194.6,189.6,-16.4,161,1007,0.00,2.53,0.00,0.000,4,0.000,0.029,2587,3266,3639,0,0,0,0,0,0
$GC,1041,-0.62,-194.6,196.6,-16.4,167,1049,0.00,2.42,0.00,0.000,6,0.000,0.018,2587,1598,3638,0,0,0,0,0,0
$GC,1118,-0.62,-194.6,210.5,-18.2,175,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1598,3638,0,0,0,0,0,0
$GC,1445,-0.62,-194.6,267.3,-16.2,206,1449,0.00,2.50,0.00,0.000,4,0.000,0.031,2587,3269,3637,0,0,0,0,0,0
$GC,1603,-0.62,-194.6,288.8,-12.2,219,1607,0.00,2.33,0.00,0.000,6,0.000,0.018,2587,1665,3637,0,0,0,0,0,0
$GC,1933,-0.62,-194.6,327.6,-10.5,250,1937,0.00,2.38,0.00,0.000,4,0.000,0.031,2587,3269,3635,0,0,0,0,0,0
$GC,2042,-0.62,-194.6,338.0,-9.0,259,2047,0.00,2.20,0.00,0.000,6,0.000,0.018,2587,1725,3634,0,0,0,0,0,0
$GC,2368,-0.62,-194.6,377.4,-12.6,289,2372,0.00,2.33,0.00,0.000,4,0.000,0.031,2586,3267,3632,0,0,0,0,0,0
$GC,2395,-0.62,-194.6,380.8,-12.5,291,2402,0.00,2.15,0.00,0.000,6,0.000,0.018,2587,1750,3632,0,0,0,0,0,0
$GC,2721,-0.62,-194.6,426.4,-13.9,322,2725,0.00,2.25,0.00,0.000,4,0.000,0.032,2587,3264,3630,0,0,0,0,0,0
$GC,2800,-0.62,-194.6,436.4,-12.0,328,2807,0.00,2.10,0.00,0.000,6,0.000,0.018,2587,1780,3630,0,0,0,0,0,0
$GC,3126,-0.62,-194.6,473.9,-10.2,359,3130,0.00,1.88,0.00,0.000,4,0.000,0.029,2586,481,3628,0,0,0,0,0,0
$GC,3195,-0.62,-194.6,480.8,-9.7,365,3199,0.00,1.83,0.00,0.000,6,0.000,0.019,2586,1769,3628,0,0,0,0,0,0
$GC,3529,-0.62,-194.6,509.6,-8.8,391,3533,0.00,2.22,0.00,0.000,4,0.000,0.033,2586,3270,3625,0,0,0,0,0,0
$GC,3662,-0.62,-194.6,521.3,-9.0,397,3666,0.00,2.12,0.00,0.000,6,0.000,0.018,2586,1775,3624,0,0,0,0,0,0
$GC,3989,-0.62,-194.6,558.0,-11.9,413,3993,0.00,2.22,0.00,0.000,4,0.000,0.034,2586,3273,3622,0,0,0,0,0,0
$GC,4033,-0.62,-194.6,563.4,-11.4,415,4037,0.00,2.10,0.00,0.000,6,0.000,0.019,2586,1800,3622,0,0,0,0,0,0
$GC,4363,-0.62,-194.6,600.5,-11.3,431,4367,0.00,1.90,0.00,0.000,4,0.000,0.031,2586,480,3620,0,0,0,0,0,0
$GC,4418,-0.62,-194.6,607.1,-10.8,433,4422,0.00,1.88,0.00,0.000,6,0.000,0.021,2586,1774,3619,0,0,0,0,0,0
$GC,4741,-0.62,-194.6,632.1,-6.4,449,4746,0.00,2.25,0.00,0.000,4,0.000,0.035,2584,3263,3617,0,0,0,0,0,0
$GC,4864,-0.62,-194.6,638.3,-4.6,454,4868,0.00,2.05,0.00,0.000,6,0.000,0.018,2584,1820,3616,0,0,0,0,0,0
$GC,5187,-0.62,-194.6,654.9,-6.0,470,5191,0.00,2.17,0.00,0.000,4,0.000,0.034,2584,3266,3614,0,0,0,0,0,0
$GC,5255,-0.62,-194.6,659.6,-6.7,473,5260,0.00,2.03,0.00,0.000,6,0.000,0.020,2584,1861,3613,0,0,0,0,0,0
$GC,5582,-0.62,-194.6,690.6,-10.9,489,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1862,3611,0,0,0,0,0,0
$GC,5892,-0.62,-194.6,724.2,-10.6,504,5896,0.00,2.12,0.00,0.000,4,0.000,0.035,2584,3268,3609,0,0,0,0,0,0
$GC,5970,-0.62,-194.6,732.4,-9.8,507,5977,0.00,1.98,0.00,0.000,6,0.000,0.019,2584,1889,3608,0,0,0,0,0,0
$GC,6287,-0.62,-194.6,761.9,-9.4,523,6291,0.00,2.05,0.00,0.000,4,0.000,0.030,2584,499,3606,0,0,0,0,0,0
$GC,6328,-0.62,-194.6,765.9,-9.6,524,6334,0.00,1.98,0.00,0.000,6,0.000,0.022,2584,1855,3606,0,0,0,0,0,0
$GC,6644,-0.62,-194.6,792.6,-8.1,540,6649,0.00,2.15,0.00,0.000,4,0.000,0.037,2584,3266,3603,0,0,0,0,0,0
$GC,6751,-0.62,-194.6,800.5,-6.9,544,6758,0.00,1.92,0.00,0.000,6,0.000,0.020,2584,1902,3603,0,0,0,0,0,0
$GC,7068,-0.62,-194.6,819.8,-5.6,560,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1902,3601,0,0,0,0,0,0
$GC,7377,-0.62,-194.6,836.0,-5.0,575,7381,0.00,2.08,0.00,0.000,4,0.000,0.036,2584,3272,3599,0,0,0,0,0,0
$GC,7412,-0.62,-194.6,837.9,-5.3,576,7419,0.00,1.98,0.00,0.000,6,0.000,0.019,2584,1889,3599,0,0,0,0,0,0
$GC,7728,-0.62,-194.6,856.8,-6.5,592,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1889,3597,0,0,0,0,0,0
$GC,8038,-0.62,-194.6,879.6,-7.6,607,8043,0.00,2.10,0.00,0.000,4,0.000,0.037,2584,3257,3596,0,0,0,0,0,0
$GC,8117,-0.62,-194.6,886.0,-8.0,610,8121,0.00,1.92,0.00,0.000,6,0.000,0.021,2584,1920,3595,0,0,0,0,0,0
$GC,8442,-0.62,-194.6,912.2,-8.2,626,8446,0.00,2.10,0.00,0.000,4,0.000,0.031,2584,501,3593,0,0,0,0,0,0
$GC,8474,-0.62,-194.6,915.2,-8.3,627,8477,0.00,2.08,0.00,0.000,6,0.000,0.022,2583,1918,3593,0,0,0,0,0,0
$GC,8796,-0.62,-194.6,942.1,-8.0,643,8800,0.00,2.05,0.00,0.000,4,0.000,0.040,2584,3271,3592,0,0,0,0,0,0
$GC,8846,-0.62,-194.6,946.1,-7.6,645,8850,0.00,1.92,0.00,0.000,6,0.000,0.020,2584,1926,3592,0,0,0,0,0,0
$GC,9176,-0.62,-194.6,968.0,-6.3,661,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1925,3590,0,0,0,0,0,0
$GC,9483,-0.62,-194.6,985.8,-5.7,676,9486,0.00,2.05,0.00,0.000,4,0.000,0.037,2584,3270,3589,0,0,0,0,0,0
$GC,9540,-0.62,-194.6,989.1,-5.9,678,9544,0.00,1.90,0.00,0.000,6,0.000,0.019,2584,1937,3589,0,0,0,0,0,0
$STATE,9571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9571,begin apogee
$GC,9577,-0.20,0.0,991.2,6.2,680,9736,0.43,0.00,153.32,1.397,4,0.119,0.000,2727,2086,2838,0,0,0,0,0,0
$STATE,9737,end apogee,CONTROL_FINISHED_OK
$STATE,9737,begin climb
$GC,9741,0.62,194.6,994.9,0.0,687,9922,0.75,2.28,169.12,1.341,4,0.079,0.041,2998,3459,2044,0,0,0,0,0,0
$GC,10128,0.62,194.6,947.0,14.9,705,10132,0.00,2.08,0.00,0.000,6,0.000,0.021,3008,2074,2035,0,0,0,0,0,0
$GC,10458,0.62,194.6,899.6,14.2,721,10462,0.00,2.15,0.00,0.000,4,0.000,0.037,3008,3469,2034,0,0,0,0,0,0
$GC,10692,0.62,194.6,867.1,12.8,731,10699,0.00,2.08,0.00,0.000,6,0.000,0.022,3017,2059,2032,0,0,0,0,0,0
$GC,11010,0.62,194.6,832.8,10.1,747,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2059,2031,0,0,0,0,0,0
$GC,11318,0.62,194.6,801.2,10.4,762,11322,0.00,2.08,0.00,0.000,4,0.000,0.034,3026,681,2031,0,0,0,0,0,0
$GC,11423,0.62,194.6,789.6,10.7,766,11430,0.00,2.03,0.00,0.000,6,0.000,0.023,3027,2059,2031,0,0,0,0,0,0
$GC,11741,0.62,194.6,751.0,12.9,782,11744,0.00,2.05,0.00,0.000,4,0.000,0.032,3033,689,2030,0,0,0,0,0,0
$GC,11790,0.62,194.6,743.7,14.0,784,11795,0.12,2.03,0.00,0.000,6,0.153,0.024,2999,2065,2030,0,0,0,0,0,0
$GC,12119,0.62,194.6,703.8,12.3,800,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2065,2030,0,0,0,0,0,0
$GC,12427,0.62,194.6,667.9,11.0,815,12431,0.00,2.12,0.00,0.000,4,0.000,0.038,2999,3469,2029,0,0,0,0,0,0
$GC,12489,0.62,194.6,660.7,11.8,818,12493,0.00,2.05,0.00,0.000,6,0.000,0.021,3006,2060,2029,0,0,0,0,0,0
$GC,12824,0.63,202.0,627.4,9.5,834,12834,0.00,2.03,5.07,0.874,4,0.000,0.034,3016,692,2015,0,0,0,0,0,0
$GC,12917,0.65,220.8,618.6,9.1,838,12939,0.00,1.98,17.65,1.114,6,0.000,0.023,3015,2039,1938,0,0,0,0,0,0
$GC,13260,0.66,225.6,586.7,9.5,855,13270,0.00,2.15,5.53,0.878,4,0.000,0.037,3015,3461,1918,0,0,0,0,0,0
$GC,13324,0.66,225.6,579.7,10.9,858,13328,0.00,2.08,0.00,0.000,6,0.000,0.021,3025,2050,1917,0,0,0,0,0,0
$GC,13658,0.66,225.6,541.9,12.4,874,13662,0.00,2.03,0.00,0.000,4,0.000,0.033,3034,682,1916,0,0,0,0,0,0
$GC,13831,0.66,225.6,517.0,14.6,881,13838,0.00,1.92,0.00,0.000,6,0.000,0.022,3034,1966,1916,0,0,0,0,0,0
$GC,14156,0.66,225.6,469.8,13.4,906,14160,0.00,2.25,0.00,0.000,4,0.000,0.037,3034,3467,1916,0,0,0,0,0,0
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$STATE,18277,end climb,SURFACE_DEPTH_REACHED
$STATE,18277,begin surface coast
$FINISH,0.9,0.998086
$STATE,18311,end surface coast,CONTROL_FINISHED_OK
$STATE,18311,begin surface
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$HUMID,36.80
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,26.90
$XPDR_PINGS,71
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$10V_AH,9.9,43.769
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329816
$DATA_FILE_SIZE,83645,1400
$CAP_FILE_SIZE,209343,0
$CFSIZE,260165632,116346880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,333.7,1
$GPS,070811,150230,1937.204,12326.769,41,0.8,42,-2.3