version: 66.09
glider: 167
mission: 8
dive: 273
start: 8 8 111 18 20 21
data:
$ID,167
$MISSION,8
$DIVE,273
$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,-56731.113
$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,66
$R_STBD_OVSHOOT,55
$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
$GPS1,080811,180807,1943.714,12332.766,35,0.9,36,-2.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.1
$GPS2,080811,181956,1943.972,12332.604,12,2.0,12,-2.4
$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,82.6,100420,-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,-194.6,0.0,0.0,0,113,0.00,0.00,-93.60,0.000,2,0.000,0.000,111,1936,3131,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.6,-9.4,12,141,10.05,0.00,-7.93,0.000,6,0.233,0.000,2591,1934,3636,0,0,0,0,0,0
$GC,207,-0.62,-194.6,43.1,-29.3,27,215,0.00,2.03,0.00,0.000,4,0.000,0.031,2582,3282,3637,0,0,0,0,0,0
$GC,316,-0.62,-194.6,73.7,-25.8,46,325,0.00,2.05,0.00,0.000,6,0.000,0.018,2582,1849,3638,0,0,0,0,0,0
$GC,396,-0.62,-194.6,90.6,-20.3,59,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1849,3638,0,0,0,0,0,0
$GC,475,-0.62,-194.6,106.6,-19.6,72,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1849,3638,0,0,0,0,0,0
$GC,550,-0.62,-194.6,122.1,-22.0,85,559,0.00,1.98,0.00,0.000,4,0.000,0.028,2582,497,3639,0,0,0,0,0,0
$GC,597,-0.62,-194.6,132.4,-21.8,92,605,0.00,1.83,0.00,0.000,6,0.000,0.020,2574,1765,3639,0,0,0,0,0,0
$GC,672,-0.62,-194.6,147.4,-19.3,105,680,0.00,2.28,0.00,0.000,4,0.000,0.031,2563,3273,3639,0,0,0,0,0,0
$GC,719,-0.62,-194.6,156.3,-18.4,113,730,0.10,1.98,0.00,0.000,6,0.144,0.018,2595,1871,3639,0,0,0,0,0,0
$GC,798,-0.62,-194.6,169.3,-17.0,126,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1871,3639,0,0,0,0,0,0
$GC,874,-0.62,-194.6,181.4,-15.7,139,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1871,3639,0,0,0,0,0,0
$GC,946,-0.62,-194.6,192.4,-15.1,152,954,0.00,2.10,0.00,0.000,4,0.000,0.030,2588,3273,3639,0,0,0,0,0,0
$GC,990,-0.62,-194.6,198.1,-13.7,159,998,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1956,3639,0,0,0,0,0,0
$GC,1070,-0.62,-194.6,209.9,-14.7,167,1075,0.00,2.10,0.00,0.000,4,0.000,0.028,2588,515,3639,0,0,0,0,0,0
$GC,1162,-0.62,-194.6,222.6,-12.4,175,1165,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1788,3639,0,0,0,0,0,0
$GC,1495,-0.62,-194.6,263.1,-12.1,206,1499,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,3277,3638,0,0,0,0,0,0
$GC,1590,-0.62,-194.6,275.0,-12.4,214,1594,0.00,2.08,0.00,0.000,6,0.000,0.018,2587,1812,3638,0,0,0,0,0,0
$GC,1916,-0.62,-194.6,321.3,-13.7,244,1919,0.00,1.88,0.00,0.000,4,0.000,0.029,2587,512,3637,0,0,0,0,0,0
$GC,1973,-0.62,-194.6,328.6,-12.0,249,1977,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1793,3637,0,0,0,0,0,0
$GC,2303,-0.62,-194.6,358.6,-9.8,280,2307,0.00,2.20,0.00,0.000,4,0.000,0.034,2587,3278,3634,0,0,0,0,0,0
$GC,2478,-0.62,-194.6,375.9,-10.2,295,2483,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1843,3634,0,0,0,0,0,0
$GC,2809,-0.62,-194.6,422.6,-15.0,326,2812,0.00,1.95,0.00,0.000,4,0.000,0.031,2587,501,3632,0,0,0,0,0,0
$GC,2847,-0.62,-194.6,428.7,-15.2,329,2854,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1810,3632,0,0,0,0,0,0
$GC,3174,-0.62,-194.6,460.9,-7.6,360,3178,0.00,2.17,0.00,0.000,4,0.000,0.035,2587,3271,3630,0,0,0,0,0,0
$GC,3260,-0.62,-194.6,465.6,-5.3,367,3264,0.00,2.05,0.00,0.000,6,0.000,0.019,2587,1815,3629,0,0,0,0,0,0
$GC,3591,-0.62,-194.6,490.3,-9.3,398,3596,0.00,2.20,0.00,0.000,4,0.000,0.034,2587,3267,3627,0,0,0,0,0,0
$GC,3651,-0.62,-194.6,496.1,-9.1,403,3658,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1842,3627,0,0,0,0,0,0
$GC,3970,-0.62,-194.6,530.6,-11.0,421,3974,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,3274,3624,0,0,0,0,0,0
$GC,4014,-0.62,-194.6,535.4,-10.2,423,4018,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1869,3624,0,0,0,0,0,0
$GC,4344,-0.62,-194.6,564.4,-8.3,439,4349,0.00,2.03,0.00,0.000,4,0.000,0.031,2587,501,3622,0,0,0,0,0,0
$GC,4441,-0.62,-194.6,572.2,-7.4,443,4444,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1851,3622,0,0,0,0,0,0
$GC,4770,-0.62,-194.6,596.9,-8.4,459,4774,0.00,2.12,0.00,0.000,4,0.000,0.037,2587,3269,3619,0,0,0,0,0,0
$GC,4865,-0.62,-194.6,604.9,-7.9,463,4868,0.00,1.98,0.00,0.000,6,0.000,0.019,2587,1866,3619,0,0,0,0,0,0
$GC,5188,-0.62,-194.6,631.4,-8.1,479,5192,0.00,2.12,0.00,0.000,4,0.000,0.037,2587,3272,3616,0,0,0,0,0,0
$GC,5217,-0.62,-194.6,633.8,-8.2,480,5222,0.00,2.00,0.00,0.000,6,0.000,0.020,2587,1887,3616,0,0,0,0,0,0
$GC,5539,-0.62,-194.6,658.8,-8.0,496,5542,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,494,3614,0,0,0,0,0,0
$GC,5578,-0.62,-194.6,662.4,-8.8,497,5584,0.00,2.03,0.00,0.000,6,0.000,0.022,2587,1883,3614,0,0,0,0,0,0
$GC,5895,-0.62,-194.6,691.8,-9.6,513,5899,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3264,3611,0,0,0,0,0,0
$GC,6115,-0.62,-194.6,710.8,-8.4,522,6123,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1947,3610,0,0,0,0,0,0
$GC,6431,-0.62,-194.6,733.6,-6.4,538,6435,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,500,3607,0,0,0,0,0,0
$GC,6472,-0.62,-194.6,736.4,-6.6,540,6476,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1952,3607,0,0,0,0,0,0
$GC,6801,-0.62,-194.6,757.5,-6.8,556,6805,0.00,1.95,0.00,0.000,4,0.000,0.038,2586,3267,3605,0,0,0,0,0,0
$GC,6840,-0.62,-194.6,760.6,-7.1,557,6847,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1936,3605,0,0,0,0,0,0
$GC,7158,-0.62,-194.6,786.8,-8.8,573,7162,0.00,2.00,0.00,0.000,4,0.000,0.038,2588,3266,3604,0,0,0,0,0,0
$GC,7227,-0.62,-194.6,793.0,-8.9,576,7230,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1973,3603,0,0,0,0,0,0
$GC,7560,-0.62,-194.6,822.8,-8.6,592,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1973,3601,0,0,0,0,0,0
$GC,7871,-0.62,-194.6,846.0,-7.1,607,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1973,3599,0,0,0,0,0,0
$GC,8178,-0.62,-194.6,865.9,-6.4,622,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1973,3598,0,0,0,0,0,0
$GC,8488,-0.62,-194.6,885.7,-6.4,637,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1973,3597,0,0,0,0,0,0
$GC,8799,-0.62,-194.6,905.8,-6.7,652,8803,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,503,3595,0,0,0,0,0,0
$GC,8831,-0.62,-194.6,908.3,-6.7,653,8835,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1972,3595,0,0,0,0,0,0
$GC,9149,-0.62,-194.6,931.3,-7.3,668,9154,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3262,3593,0,0,0,0,0,0
$GC,9218,-0.62,-194.6,936.5,-7.7,671,9222,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1988,3593,0,0,0,0,0,0
$GC,9553,-0.62,-194.6,961.3,-7.4,687,9557,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,503,3592,0,0,0,0,0,0
$GC,9582,-0.62,-194.6,963.7,-7.4,688,9587,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,1986,3592,0,0,0,0,0,0
$GC,9903,-0.62,-194.6,988.0,-7.6,704,9907,0.00,1.95,0.00,0.000,4,0.000,0.041,2587,3267,3591,0,0,0,0,0,0
$STATE,9929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9929,begin apogee
$GC,9940,-0.20,0.0,990.2,7.7,705,10098,0.43,0.00,154.12,1.401,4,0.112,0.000,2731,2062,2839,0,0,0,0,0,0
$STATE,10099,end apogee,CONTROL_FINISHED_OK
$STATE,10099,begin climb
$GC,10102,0.62,194.6,996.8,0.0,712,10282,0.75,2.20,170.32,1.345,4,0.073,0.031,3002,700,2045,0,0,0,0,0,0
$GC,10445,0.62,194.6,965.1,11.6,727,10452,0.00,2.12,0.00,0.000,6,0.000,0.024,3001,2071,2035,0,0,0,0,0,0
$GC,10762,0.62,194.6,928.3,11.6,743,10766,0.00,2.15,0.00,0.000,4,0.000,0.039,3002,3475,2030,0,0,0,0,0,0
$GC,11021,0.62,194.6,894.2,12.7,754,11028,0.00,2.05,0.00,0.000,6,0.000,0.021,3009,2086,2027,0,0,0,0,0,0
$GC,11337,0.62,194.6,856.1,11.8,770,11341,0.00,2.10,0.00,0.000,4,0.000,0.034,3020,678,2027,0,0,0,0,0,0
$GC,11401,0.62,194.6,848.8,11.8,773,11406,0.00,2.08,0.00,0.000,6,0.000,0.025,3020,2053,2026,0,0,0,0,0,0
$GC,11733,0.62,194.6,808.0,12.3,789,11737,0.00,2.17,0.00,0.000,4,0.000,0.039,3020,3485,2026,0,0,0,0,0,0
$GC,11818,0.62,194.6,796.5,13.8,793,11822,0.00,2.03,0.00,0.000,6,0.000,0.021,3029,2089,2026,0,0,0,0,0,0
$GC,12153,0.62,194.6,750.0,14.7,809,12157,0.00,2.10,0.00,0.000,4,0.000,0.034,3039,683,2026,0,0,0,0,0,0
$GC,12237,0.62,194.6,737.3,13.9,812,12245,0.12,2.03,0.00,0.000,6,0.150,0.024,3005,2044,2026,0,0,0,0,0,0
$GC,12555,0.62,194.6,702.0,10.0,828,12558,0.00,2.05,0.00,0.000,4,0.000,0.033,3012,681,2025,0,0,0,0,0,0
$GC,12582,0.63,199.4,699.0,9.5,829,12586,0.00,1.98,0.00,0.000,6,0.000,0.024,3012,2018,2025,0,0,0,0,0,0
$GC,12910,0.67,236.2,670.3,8.5,845,12954,0.00,2.28,33.55,1.187,4,0.000,0.039,3012,3461,1873,0,0,0,0,0,0
$GC,13042,0.67,236.2,656.5,11.1,850,13050,0.00,2.08,0.00,0.000,6,0.000,0.021,3019,2082,1870,0,0,0,0,0,0
$GC,13358,0.67,236.2,620.6,11.8,866,13362,0.00,2.08,0.00,0.000,4,0.000,0.034,3029,682,1869,0,0,0,0,0,0
$GC,13500,0.67,236.2,604.8,10.8,872,13504,0.00,2.00,0.00,0.000,6,0.000,0.024,3029,2031,1869,0,0,0,0,0,0
$GC,13822,0.67,236.2,567.7,11.5,888,13827,0.00,2.20,0.00,0.000,4,0.000,0.039,3029,3463,1867,0,0,0,0,0,0
$GC,13936,0.67,236.2,553.0,13.1,893,13940,0.00,2.05,0.00,0.000,6,0.000,0.021,3038,2064,1867,0,0,0,0,0,0
$GC,14264,0.67,236.2,510.5,13.3,909,14268,0.00,2.08,0.00,0.000,4,0.000,0.034,3048,685,1866,0,0,0,0,0,0
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$STATE,18642,end climb,SURFACE_DEPTH_REACHED
$STATE,18642,begin surface coast
$FINISH,0.8,1.021536
$STATE,18664,end surface coast,CONTROL_FINISHED_OK
$STATE,18664,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,37.32
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,27.30
$XPDR_PINGS,63
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$10V_AH,9.9,44.726
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329888
$DATA_FILE_SIZE,83480,1448
$CAP_FILE_SIZE,208766,0
$CFSIZE,260165632,115757056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,301.6,1
$GPS,080811,233401,1945.354,12333.341,39,1.3,40,-2.4