version: 66.09
glider: 167
mission: 8
dive: 286
start: 8 11 111 16 49 9
data:
$ID,167
$MISSION,8
$DIVE,286
$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,-56747.484
$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,76
$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
$GPS1,110811,164037,1959.907,12354.523,35,1.2,36,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.6
$GPS2,110811,164846,1959.919,12354.493,12,99.0,31,-2.5
$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,76.1,52386,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,110,0.00,0.00,-86.62,0.000,2,0.000,0.000,112,1830,3216,0,0,0,0,0,0
$GC,113,-0.62,-194.6,6.5,-12.1,11,137,10.02,2.12,-6.45,0.000,4,0.231,0.033,2580,3298,3634,0,0,0,0,0,0
$GC,166,-0.62,-194.6,32.9,-43.0,19,174,0.00,2.08,0.00,0.000,6,0.000,0.018,2581,1868,3636,0,0,0,0,0,0
$GC,241,-0.62,-194.6,54.1,-25.4,32,248,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1868,3636,0,0,0,0,0,0
$GC,320,-0.62,-194.6,72.8,-23.5,45,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1868,3636,0,0,0,0,0,0
$GC,395,-0.62,-194.6,88.9,-21.2,58,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1868,3637,0,0,0,0,0,0
$GC,471,-0.62,-194.6,102.9,-19.0,71,480,0.00,2.10,0.00,0.000,4,0.000,0.030,2574,3270,3637,0,0,0,0,0,0
$GC,518,-0.62,-194.6,112.7,-21.4,78,526,0.00,1.85,0.00,0.000,6,0.000,0.017,2573,1959,3637,0,0,0,0,0,0
$GC,593,-0.62,-194.6,128.9,-21.9,91,601,0.00,2.15,0.00,0.000,4,0.000,0.028,2574,488,3637,0,0,0,0,0,0
$GC,647,-0.62,-194.6,139.4,-19.5,100,655,0.10,2.00,0.00,0.000,6,0.144,0.020,2598,1871,3637,0,0,0,0,0,0
$GC,723,-0.62,-194.6,152.8,-16.4,113,735,0.00,2.08,0.00,0.000,4,0.000,0.031,2589,3269,3637,0,0,0,0,0,0
$GC,748,-0.62,-194.6,156.9,-16.6,116,756,0.00,2.05,0.00,0.000,6,0.000,0.018,2589,1833,3637,0,0,0,0,0,0
$GC,824,-0.62,-194.6,168.6,-15.8,129,834,0.00,2.15,0.00,0.000,4,0.000,0.031,2581,3272,3637,0,0,0,0,0,0
$GC,853,-0.62,-194.6,173.5,-15.8,133,863,0.00,1.80,0.00,0.000,6,0.000,0.017,2581,1996,3638,0,0,0,0,0,0
$GC,930,-0.62,-194.6,185.2,-15.4,146,938,0.00,2.17,0.00,0.000,4,0.000,0.028,2581,504,3638,0,0,0,0,0,0
$GC,1001,-0.62,-194.6,197.3,-16.5,158,1009,0.00,1.95,0.00,0.000,6,0.000,0.021,2575,1848,3638,0,0,0,0,0,0
$GC,1077,-0.62,-194.6,210.2,-17.6,166,1082,0.00,2.10,0.00,0.000,4,0.000,0.033,2565,3262,3638,0,0,0,0,0,0
$GC,1115,-0.62,-194.6,217.7,-18.1,169,1123,0.08,1.92,0.00,0.000,6,0.138,0.017,2600,1886,3637,0,0,0,0,0,0
$GC,1440,-0.62,-194.6,266.7,-14.3,200,1444,0.00,1.98,0.00,0.000,4,0.000,0.029,2600,515,3637,0,0,0,0,0,0
$GC,1477,-0.62,-194.6,271.4,-14.2,203,1480,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1922,3637,0,0,0,0,0,0
$GC,1808,-0.62,-194.6,320.3,-14.7,234,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1922,3637,0,0,0,0,0,0
$GC,2128,-0.62,-194.6,362.4,-11.5,264,2131,0.00,1.98,0.00,0.000,4,0.000,0.034,2600,3267,3635,0,0,0,0,0,0
$GC,2185,-0.62,-194.6,368.5,-10.0,269,2189,0.00,1.90,0.00,0.000,6,0.000,0.018,2600,1904,3635,0,0,0,0,0,0
$GC,2516,-0.62,-194.6,400.1,-9.4,300,2521,0.00,2.05,0.00,0.000,4,0.000,0.029,2600,503,3633,0,0,0,0,0,0
$GC,2550,-0.62,-194.6,403.8,-10.7,303,2555,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1895,3633,0,0,0,0,0,0
$GC,2881,-0.62,-194.6,442.7,-12.1,334,2885,0.00,2.03,0.00,0.000,4,0.000,0.035,2600,3264,3632,0,0,0,0,0,0
$GC,2972,-0.62,-194.6,453.3,-11.9,342,2976,0.00,1.90,0.00,0.000,6,0.000,0.018,2600,1895,3631,0,0,0,0,0,0
$GC,3304,-0.62,-194.6,490.8,-8.9,373,3307,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,508,3630,0,0,0,0,0,0
$GC,3365,-0.62,-194.6,495.9,-7.8,378,3373,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1880,3629,0,0,0,0,0,0
$GC,3695,-0.62,-194.6,522.6,-8.0,397,3699,0.00,2.05,0.00,0.000,4,0.000,0.034,2599,3267,3627,0,0,0,0,0,0
$GC,3767,-0.62,-194.6,528.4,-7.6,400,3771,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1883,3627,0,0,0,0,0,0
$GC,4096,-0.62,-194.6,559.2,-9.7,416,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1883,3625,0,0,0,0,0,0
$GC,4404,-0.62,-194.6,588.2,-9.1,431,4409,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3265,3623,0,0,0,0,0,0
$GC,4486,-0.62,-194.6,595.3,-7.7,434,4493,0.00,1.90,0.00,0.000,6,0.000,0.018,2600,1904,3622,0,0,0,0,0,0
$GC,4805,-0.62,-194.6,620.3,-7.4,450,4809,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,503,3620,0,0,0,0,0,0
$GC,4837,-0.62,-194.6,623.2,-7.6,451,4841,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1900,3620,0,0,0,0,0,0
$GC,5161,-0.62,-194.6,648.5,-8.1,467,5165,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3270,3618,0,0,0,0,0,0
$GC,5284,-0.62,-194.6,658.2,-7.1,472,5288,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1953,3617,0,0,0,0,0,0
$GC,5605,-0.62,-194.6,680.3,-6.7,488,5609,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,503,3615,0,0,0,0,0,0
$GC,5648,-0.62,-194.6,683.2,-7.1,490,5652,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1956,3614,0,0,0,0,0,0
$GC,5976,-0.62,-194.6,703.5,-6.1,506,5981,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3263,3612,0,0,0,0,0,0
$GC,6032,-0.62,-194.6,707.0,-6.1,508,6036,0.00,1.83,0.00,0.000,6,0.000,0.019,2600,1955,3612,0,0,0,0,0,0
$GC,6354,-0.62,-194.6,728.0,-6.9,524,6358,0.00,2.15,0.00,0.000,4,0.000,0.032,2600,500,3609,0,0,0,0,0,0
$GC,6400,-0.62,-194.6,731.8,-8.0,526,6404,0.00,2.15,0.00,0.000,6,0.000,0.024,2600,1962,3608,0,0,0,0,0,0
$GC,6724,-0.62,-194.6,754.5,-6.6,542,6727,0.00,1.95,0.00,0.000,4,0.000,0.038,2600,3263,3607,0,0,0,0,0,0
$GC,6847,-0.62,-194.6,762.8,-6.6,547,6852,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,1993,3606,0,0,0,0,0,0
$GC,7170,-0.62,-194.6,785.6,-7.2,563,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1993,3605,0,0,0,0,0,0
$GC,7478,-0.62,-194.6,807.9,-7.2,578,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1993,3602,0,0,0,0,0,0
$GC,7787,-0.62,-194.6,830.0,-7.2,593,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1993,3601,0,0,0,0,0,0
$GC,8098,-0.62,-194.6,851.7,-6.7,608,8102,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,510,3599,0,0,0,0,0,0
$GC,8141,-0.62,-194.6,855.1,-6.7,610,8145,0.00,2.20,0.00,0.000,6,0.000,0.023,2600,2006,3598,0,0,0,0,0,0
$GC,8464,-0.62,-194.6,875.1,-6.0,626,8469,0.00,1.92,0.00,0.000,4,0.000,0.038,2600,3268,3597,0,0,0,0,0,0
$GC,8514,-0.62,-194.6,878.4,-5.7,628,8518,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,1996,3597,0,0,0,0,0,0
$GC,8842,-0.62,-194.6,898.8,-6.5,644,8846,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,510,3596,0,0,0,0,0,0
$GC,8888,-0.62,-194.6,902.2,-7.2,646,8892,0.00,2.22,0.00,0.000,6,0.000,0.023,2600,2003,3595,0,0,0,0,0,0
$GC,9215,-0.62,-194.6,925.4,-7.0,662,9219,0.00,1.88,0.00,0.000,4,0.000,0.038,2600,3263,3594,0,0,0,0,0,0
$GC,9271,-0.62,-194.6,929.4,-7.0,664,9274,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,1991,3594,0,0,0,0,0,0
$GC,9594,-0.62,-194.6,947.2,-4.8,680,9599,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,508,3593,0,0,0,0,0,0
$GC,9633,-0.62,-194.6,949.3,-4.6,681,9641,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,2008,3593,0,0,0,0,0,0
$GC,9951,-0.62,-194.6,962.6,-4.0,697,9954,0.00,1.90,0.00,0.000,4,0.000,0.039,2600,3266,3591,0,0,0,0,0,0
$GC,10034,-0.62,-194.6,966.1,-4.0,700,10041,0.00,1.77,0.00,0.000,6,0.000,0.019,2600,2011,3591,0,0,0,0,0,0
$GC,10350,-0.62,-194.6,977.7,-3.5,716,10354,0.00,2.22,0.00,0.000,4,0.000,0.034,2600,507,3590,0,0,0,0,0,0
$GC,10401,-0.62,-194.6,980.1,-3.7,718,10406,0.00,2.25,0.00,0.000,6,0.000,0.024,2600,2010,3590,0,0,0,0,0,0
$STATE,10658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10658,begin apogee
$GC,10664,-0.20,0.0,990.7,4.2,731,10823,0.38,0.00,154.73,1.394,4,0.116,0.000,2729,2009,2839,0,0,0,0,0,0
$STATE,10824,end apogee,CONTROL_FINISHED_OK
$STATE,10824,begin climb
$GC,10827,0.62,194.6,994.2,0.0,738,11006,0.75,2.12,170.85,1.337,4,0.078,0.032,2999,711,2044,0,0,0,0,0,0
$GC,11191,0.62,194.6,960.8,10.4,755,11196,0.00,2.10,0.00,0.000,6,0.000,0.024,2999,2072,2035,0,0,0,0,0,0
$GC,11525,0.62,194.6,922.9,12.0,771,11529,0.00,2.15,0.00,0.000,4,0.000,0.037,2999,3475,2031,0,0,0,0,0,0
$GC,11777,0.62,194.6,886.0,15.2,782,11781,0.00,2.05,0.00,0.000,6,0.000,0.021,3008,2091,2028,0,0,0,0,0,0
$GC,12100,0.62,194.6,839.5,14.0,798,12103,0.00,2.10,0.00,0.000,4,0.000,0.034,3015,684,2027,0,0,0,0,0,0
$GC,12225,0.62,194.6,823.0,12.7,803,12232,0.00,2.03,0.00,0.000,6,0.000,0.024,3015,2048,2027,0,0,0,0,0,0
$GC,12541,0.62,194.6,783.8,12.2,819,12545,0.00,2.15,0.00,0.000,4,0.000,0.037,3015,3468,2027,0,0,0,0,0,0
$GC,12595,0.62,194.6,776.1,13.8,821,12603,0.00,2.10,0.00,0.000,6,0.000,0.021,3023,2051,2026,0,0,0,0,0,0
$GC,12914,0.62,194.6,733.6,14.0,837,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2051,2026,0,0,0,0,0,0
$GC,13221,0.62,194.6,693.4,12.1,852,13225,0.00,2.00,0.00,0.000,4,0.000,0.034,3033,691,2026,0,0,0,0,0,0
$GC,13363,0.62,194.6,677.6,10.6,858,13368,0.12,2.05,0.00,0.000,6,0.151,0.024,2999,2086,2025,0,0,0,0,0,0
$GC,13686,0.66,223.4,650.0,8.7,874,13711,0.00,0.00,22.60,1.146,6,0.000,0.000,2999,2086,1928,0,0,0,0,0,0
$GC,14015,0.66,223.4,612.7,12.0,890,14020,0.00,2.10,0.00,0.000,4,0.000,0.037,2999,3455,1924,0,0,0,0,0,0
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$STATE,19878,end climb,SURFACE_DEPTH_REACHED
$STATE,19879,begin surface coast
$FINISH,1.5,1.021439
$STATE,19892,end surface coast,CONTROL_FINISHED_OK
$STATE,19892,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,36.37
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,28.90
$XPDR_PINGS,68
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$10V_AH,9.9,46.798
$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,329664
$DATA_FILE_SIZE,86909,1516
$CAP_FILE_SIZE,222076,0
$CFSIZE,260165632,114438144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048, 15.7,1
$GPS,110811,222306,2000.810,12357.466,25,1.3,26,-2.5