version: 66.09
glider: 167
mission: 8
dive: 279
start: 8 10 111 3 0 3
data:
$ID,167
$MISSION,8
$DIVE,279
$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,-56738.664
$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,70
$R_STBD_OVSHOOT,60
$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
$GPS1,100811,025106,1951.152,12340.685,24,1.6,24,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.1
$GPS2,100811,025937,1951.229,12340.634,33,1.0,33,-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,94.8,81343,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,106,0.00,0.00,-85.97,0.000,2,0.000,0.000,111,1967,3005,0,0,0,0,0,0
$GC,109,-0.62,-194.6,5.5,-9.8,12,133,10.07,0.00,-10.60,0.000,6,0.233,0.000,2587,1967,3635,0,0,0,0,0,0
$GC,199,-0.62,-194.6,42.7,-37.6,27,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1967,3637,0,0,0,0,0,0
$GC,272,-0.62,-194.6,66.6,-29.7,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1968,3637,0,0,0,0,0,0
$GC,349,-0.62,-194.6,86.5,-22.0,53,358,0.00,1.95,0.00,0.000,4,0.000,0.032,2578,3269,3637,0,0,0,0,0,0
$GC,445,-0.62,-194.6,109.4,-20.7,70,453,0.00,2.03,0.00,0.000,6,0.000,0.017,2578,1848,3637,0,0,0,0,0,0
$GC,519,-0.62,-194.6,124.3,-20.4,83,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1847,3637,0,0,0,0,0,0
$GC,593,-0.62,-194.6,140.1,-21.8,96,601,0.00,1.98,0.00,0.000,4,0.000,0.028,2578,500,3637,0,0,0,0,0,0
$GC,637,-0.62,-194.6,148.8,-19.5,103,645,0.00,2.17,0.00,0.000,6,0.000,0.021,2573,1985,3638,0,0,0,0,0,0
$GC,714,-0.62,-194.6,163.7,-22.1,116,721,0.00,1.90,0.00,0.000,4,0.000,0.032,2563,3269,3638,0,0,0,0,0,0
$GC,732,-0.62,-194.6,167.9,-24.1,118,740,0.10,1.80,0.00,0.000,6,0.158,0.016,2594,1959,3638,0,0,0,0,0,0
$GC,808,-0.62,-194.6,184.6,-19.5,131,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1958,3638,0,0,0,0,0,0
$GC,882,-0.62,-194.6,198.2,-18.9,144,890,0.00,2.12,0.00,0.000,4,0.000,0.028,2594,502,3638,0,0,0,0,0,0
$GC,912,-0.62,-194.6,204.5,-18.3,147,919,0.00,2.20,0.00,0.000,6,0.000,0.021,2588,2014,3639,0,0,0,0,0,0
$GC,1238,-0.62,-194.6,249.1,-13.7,178,1243,0.00,1.88,0.00,0.000,4,0.000,0.034,2587,3263,3639,0,0,0,0,0,0
$GC,1277,-0.62,-194.6,254.6,-14.0,181,1284,0.00,1.73,0.00,0.000,6,0.000,0.017,2587,1998,3639,0,0,0,0,0,0
$GC,1602,-0.62,-194.6,297.5,-12.6,212,1606,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,489,3637,0,0,0,0,0,0
$GC,1647,-0.62,-194.6,303.3,-12.7,215,1655,0.00,2.20,0.00,0.000,6,0.000,0.021,2587,1999,3637,0,0,0,0,0,0
$GC,1973,-0.62,-194.6,343.7,-12.5,246,1977,0.00,1.88,0.00,0.000,4,0.000,0.033,2587,3279,3636,0,0,0,0,0,0
$GC,2066,-0.62,-194.6,353.6,-9.7,254,2070,0.00,1.73,0.00,0.000,6,0.000,0.018,2587,2011,3635,0,0,0,0,0,0
$GC,2397,-0.62,-194.6,384.4,-9.2,285,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2010,3634,0,0,0,0,0,0
$GC,2719,-0.62,-194.6,421.4,-12.6,315,2722,0.00,1.85,0.00,0.000,4,0.000,0.034,2587,3271,3632,0,0,0,0,0,0
$GC,2742,-0.62,-194.6,424.9,-12.6,317,2746,0.00,1.67,0.00,0.000,6,0.000,0.018,2587,2026,3632,0,0,0,0,0,0
$GC,3073,-0.62,-194.6,465.8,-11.7,348,3078,0.00,1.88,0.00,0.000,4,0.000,0.035,2587,3265,3630,0,0,0,0,0,0
$GC,3129,-0.62,-194.6,471.7,-10.0,353,3133,0.00,1.62,0.00,0.000,6,0.000,0.018,2587,2098,3629,0,0,0,0,0,0
$GC,3473,-0.62,-194.6,503.0,-9.8,384,3477,0.00,2.35,0.00,0.000,4,0.000,0.028,2587,500,3628,0,0,0,0,0,0
$GC,3495,-0.62,-194.6,505.8,-10.3,385,3500,0.00,2.42,0.00,0.000,6,0.000,0.022,2587,2162,3627,0,0,0,0,0,0
$GC,3824,-0.62,-194.6,538.4,-9.6,401,3827,0.00,1.65,0.00,0.000,4,0.000,0.035,2587,3286,3625,0,0,0,0,0,0
$GC,3853,-0.62,-194.6,541.2,-9.5,402,3858,0.00,1.58,0.00,0.000,6,0.000,0.018,2587,2164,3625,0,0,0,0,0,0
$GC,4181,-0.62,-194.6,569.3,-8.3,418,4185,0.00,2.40,0.00,0.000,4,0.000,0.028,2587,501,3623,0,0,0,0,0,0
$GC,4311,-0.62,-194.6,580.6,-8.8,424,4315,0.00,2.38,0.00,0.000,6,0.000,0.023,2587,2122,3622,0,0,0,0,0,0
$GC,4639,-0.62,-194.6,609.6,-8.9,440,4644,0.00,2.40,0.00,0.000,4,0.000,0.028,2587,494,3620,0,0,0,0,0,0
$GC,4683,-0.62,-194.6,614.0,-9.5,442,4687,0.00,2.38,0.00,0.000,6,0.000,0.022,2587,2115,3619,0,0,0,0,0,0
$GC,5008,-0.62,-194.6,641.3,-8.6,458,5011,0.00,1.67,0.00,0.000,4,0.000,0.037,2586,3267,3616,0,0,0,0,0,0
$GC,5042,-0.62,-194.6,644.4,-8.2,459,5045,0.00,1.67,0.00,0.000,6,0.000,0.018,2587,2054,3616,0,0,0,0,0,0
$GC,5364,-0.62,-194.6,670.1,-7.7,475,5368,0.00,2.28,0.00,0.000,4,0.000,0.028,2587,498,3614,0,0,0,0,0,0
$GC,5398,-0.62,-194.6,672.7,-7.7,476,5404,0.00,2.35,0.00,0.000,6,0.000,0.023,2587,2096,3614,0,0,0,0,0,0
$GC,5714,-0.62,-194.6,696.7,-7.9,492,5719,0.00,1.77,0.00,0.000,4,0.000,0.038,2587,3270,3611,0,0,0,0,0,0
$GC,5799,-0.62,-194.6,703.2,-7.6,495,5805,0.00,1.65,0.00,0.000,6,0.000,0.019,2587,2103,3611,0,0,0,0,0,0
$GC,6117,-0.62,-194.6,728.0,-7.9,511,6121,0.00,2.35,0.00,0.000,4,0.000,0.028,2587,502,3609,0,0,0,0,0,0
$GC,6217,-0.62,-194.6,736.5,-8.5,515,6224,0.00,2.35,0.00,0.000,6,0.000,0.024,2587,2094,3607,0,0,0,0,0,0
$GC,6535,-0.62,-194.6,755.6,-5.5,531,6539,0.00,1.75,0.00,0.000,4,0.000,0.038,2587,3267,3606,0,0,0,0,0,0
$GC,6605,-0.62,-194.6,759.2,-5.1,534,6608,0.00,1.65,0.00,0.000,6,0.000,0.019,2587,2073,3605,0,0,0,0,0,0
$GC,6941,-0.62,-194.6,775.5,-4.7,550,6945,0.00,2.33,0.00,0.000,4,0.000,0.029,2587,508,3603,0,0,0,0,0,0
$GC,6973,-0.62,-194.6,777.5,-4.8,551,6977,0.00,2.35,0.00,0.000,6,0.000,0.024,2586,2095,3603,0,0,0,0,0,0
$GC,7290,-0.62,-194.6,797.6,-7.2,566,7295,0.00,1.77,0.00,0.000,4,0.000,0.040,2587,3261,3600,0,0,0,0,0,0
$GC,7337,-0.62,-194.6,801.2,-7.8,568,7342,0.00,1.65,0.00,0.000,6,0.000,0.020,2587,2112,3600,0,0,0,0,0,0
$GC,7670,-0.62,-194.6,832.3,-9.6,584,7674,0.00,2.38,0.00,0.000,4,0.000,0.029,2586,498,3599,0,0,0,0,0,0
$GC,7726,-0.62,-194.6,838.4,-10.6,586,7733,0.00,2.33,0.00,0.000,6,0.000,0.023,2587,2083,3598,0,0,0,0,0,0
$GC,8043,-0.62,-194.6,866.5,-8.4,602,8047,0.00,1.77,0.00,0.000,4,0.000,0.040,2587,3265,3597,0,0,0,0,0,0
$GC,8112,-0.62,-194.6,872.3,-8.2,605,8117,0.00,1.67,0.00,0.000,6,0.000,0.021,2587,2101,3596,0,0,0,0,0,0
$GC,8446,-0.62,-194.6,896.7,-7.0,621,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2099,3594,0,0,0,0,0,0
$GC,8754,-0.62,-194.6,916.7,-6.3,636,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2098,3593,0,0,0,0,0,0
$GC,9065,-0.62,-194.6,935.1,-6.2,651,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2098,3592,0,0,0,0,0,0
$GC,9373,-0.62,-194.6,957.9,-7.8,666,9377,0.00,1.77,0.00,0.000,4,0.000,0.041,2587,3262,3591,0,0,0,0,0,0
$GC,9423,-0.62,-194.6,962.2,-8.2,668,9428,0.00,1.70,0.00,0.000,6,0.000,0.021,2587,2090,3591,0,0,0,0,0,0
$GC,9752,-0.62,-194.6,987.7,-7.8,684,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2088,3589,0,0,0,0,0,0
$STATE,9789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9789,begin apogee
$GC,9794,-0.20,0.0,990.9,7.8,686,9956,0.43,0.00,153.85,1.395,4,0.112,0.000,2731,2085,2838,0,0,0,0,0,0
$STATE,9957,end apogee,CONTROL_FINISHED_OK
$STATE,9957,begin climb
$GC,9961,0.62,194.6,996.9,0.0,693,10139,0.80,2.28,169.80,1.344,4,0.081,0.039,2999,3468,2045,0,0,0,0,0,0
$GC,10291,0.62,194.6,960.4,14.0,708,10298,0.00,2.10,0.00,0.000,6,0.000,0.021,3007,2085,2036,0,0,0,0,0,0
$GC,10607,0.62,194.6,916.1,14.1,724,10611,0.00,2.10,0.00,0.000,4,0.000,0.037,3007,3462,2033,0,0,0,0,0,0
$GC,10775,0.62,194.6,891.6,14.5,731,10782,0.00,2.10,0.00,0.000,6,0.000,0.021,3017,2042,2033,0,0,0,0,0,0
$GC,11091,0.62,194.6,850.9,12.2,747,11095,0.00,2.03,0.00,0.000,4,0.000,0.034,3027,681,2032,0,0,0,0,0,0
$GC,11154,0.62,194.6,843.7,11.2,749,11160,0.00,2.00,0.00,0.000,6,0.000,0.024,3027,2035,2031,0,0,0,0,0,0
$GC,11470,0.62,194.6,807.9,11.5,765,11474,0.00,2.20,0.00,0.000,4,0.000,0.039,3027,3463,2031,0,0,0,0,0,0
$GC,11526,0.62,194.6,800.7,12.9,767,11531,0.12,2.05,0.00,0.000,6,0.171,0.021,3004,2044,2031,0,0,0,0,0,0
$GC,11842,0.62,194.6,767.9,10.2,782,11846,0.00,1.98,0.00,0.000,4,0.000,0.033,3013,690,2030,0,0,0,0,0,0
$GC,11971,0.62,194.6,754.5,10.0,787,11978,0.00,1.95,0.00,0.000,6,0.000,0.024,3012,2015,2030,0,0,0,0,0,0
$GC,12288,0.62,194.6,723.0,9.9,803,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2015,2029,0,0,0,0,0,0
$GC,12596,0.62,194.6,691.6,10.5,818,12600,0.00,2.17,0.00,0.000,4,0.000,0.039,3012,3465,2029,0,0,0,0,0,0
$GC,12727,0.62,194.6,674.6,13.5,824,12732,0.00,2.20,0.00,0.000,6,0.000,0.022,3022,1966,2028,0,0,0,0,0,0
$GC,13055,0.62,194.6,627.9,14.4,840,13059,0.00,1.88,0.00,0.000,4,0.000,0.034,3032,692,2028,0,0,0,0,0,0
$GC,13169,0.62,194.6,611.7,14.4,845,13174,0.12,1.80,0.00,0.000,6,0.148,0.023,2998,1942,2028,0,0,0,0,0,0
$GC,13504,0.67,234.6,578.9,8.4,861,13541,0.00,1.98,32.47,1.113,4,0.000,0.032,3004,687,1882,0,0,0,0,0,0
$GC,13582,0.73,280.3,572.3,8.2,863,13631,0.00,1.85,40.15,1.092,6,0.000,0.021,3004,1929,1695,0,0,0,0,0,0
$GC,13940,0.74,294.9,539.7,9.2,881,13963,0.10,2.40,12.62,0.998,4,0.107,0.037,3049,3459,1633,0,0,0,0,0,0
$GC,14010,0.74,294.9,530.6,14.1,884,14014,0.00,2.25,0.00,0.000,6,0.000,0.021,3059,1966,1632,0,0,0,0,0,0
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$STATE,18439,end climb,SURFACE_DEPTH_REACHED
$STATE,18439,begin surface coast
$FINISH,0.8,1.008489
$STATE,18471,end surface coast,CONTROL_FINISHED_OK
$STATE,18471,begin surface
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$TT8_MAMPS,0.028462,0.028462
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$XPDR_PINGS,68
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$10V_AH,9.8,45.683
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329672
$DATA_FILE_SIZE,83729,1425
$CAP_FILE_SIZE,205261,0
$CFSIZE,260165632,115159040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241,330.3,1
$GPS,100811,081030,1953.180,12342.123,38,1.1,39,-2.4