version: 66.09
glider: 167
mission: 8
dive: 288
start: 8 12 111 3 48 7
data:
$ID,167
$MISSION,8
$DIVE,288
$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,-56750.004
$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,77
$R_STBD_OVSHOOT,83
$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
$GPS1,120811,034000,2002.300,12358.259,37,0.9,43,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.4
$GPS2,120811,034744,2002.425,12358.178,11,1.1,11,-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,82.7,44498,-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,-194.6,0.0,0.0,0,106,0.00,0.00,-83.00,0.000,2,0.000,0.000,120,1912,3069,0,0,0,0,0,0
$GC,109,-0.62,-194.6,5.6,-9.3,11,135,10.18,2.08,-9.38,0.000,4,0.236,0.045,2585,3261,3635,0,0,0,0,0,0
$GC,268,-0.62,-194.6,58.4,-22.5,38,277,0.00,2.00,0.00,0.000,6,0.000,0.018,2585,1876,3637,0,0,0,0,0,0
$GC,347,-0.62,-194.6,76.7,-24.7,51,354,0.00,2.03,0.00,0.000,4,0.000,0.028,2585,494,3638,0,0,0,0,0,0
$GC,377,-0.62,-194.6,83.0,-21.3,55,385,0.00,1.92,0.00,0.000,6,0.000,0.019,2576,1828,3638,0,0,0,0,0,0
$GC,453,-0.62,-194.6,96.8,-18.1,68,462,0.00,2.12,0.00,0.000,4,0.000,0.031,2565,3257,3638,0,0,0,0,0,0
$GC,493,-0.62,-194.6,105.4,-19.7,74,503,0.10,1.98,0.00,0.000,6,0.152,0.018,2597,1853,3638,0,0,0,0,0,0
$GC,571,-0.62,-194.6,119.4,-16.4,87,578,0.00,1.95,0.00,0.000,4,0.000,0.028,2597,518,3638,0,0,0,0,0,0
$GC,599,-0.62,-194.6,124.0,-16.5,91,607,0.00,2.05,0.00,0.000,6,0.000,0.020,2590,1925,3639,0,0,0,0,0,0
$GC,675,-0.62,-194.6,135.4,-15.1,104,685,0.00,2.00,0.00,0.000,4,0.000,0.032,2587,3270,3639,0,0,0,0,0,0
$GC,699,-0.62,-194.6,139.4,-15.9,107,707,0.00,1.90,0.00,0.000,6,0.000,0.017,2587,1922,3639,0,0,0,0,0,0
$GC,776,-0.62,-194.6,152.2,-17.6,120,785,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,515,3639,0,0,0,0,0,0
$GC,800,-0.62,-194.6,156.3,-17.9,123,808,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1908,3639,0,0,0,0,0,0
$GC,877,-0.62,-194.6,169.5,-17.7,136,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1908,3639,0,0,0,0,0,0
$GC,952,-0.62,-194.6,182.3,-17.2,149,960,0.00,2.03,0.00,0.000,4,0.000,0.032,2587,3269,3639,0,0,0,0,0,0
$GC,1001,-0.62,-194.6,190.0,-15.8,157,1010,0.00,1.95,0.00,0.000,6,0.000,0.017,2587,1886,3639,0,0,0,0,0,0
$GC,1083,-0.62,-194.6,203.8,-16.1,169,1086,0.00,2.03,0.00,0.000,4,0.000,0.030,2579,3270,3639,0,0,0,0,0,0
$GC,1109,-0.62,-194.6,207.8,-15.3,171,1113,0.00,1.83,0.00,0.000,6,0.000,0.017,2579,1940,3639,0,0,0,0,0,0
$GC,1440,-0.62,-194.6,261.8,-14.9,202,1444,0.00,2.05,0.00,0.000,4,0.000,0.029,2579,507,3638,0,0,0,0,0,0
$GC,1540,-0.62,-194.6,275.5,-13.0,210,1548,0.00,2.10,0.00,0.000,6,0.000,0.020,2574,1950,3638,0,0,0,0,0,0
$GC,1866,-0.62,-194.6,325.4,-15.7,241,1871,0.00,1.98,0.00,0.000,4,0.000,0.034,2574,3263,3637,0,0,0,0,0,0
$GC,1915,-0.62,-194.6,333.2,-14.7,245,1921,0.00,1.85,0.00,0.000,6,0.000,0.017,2574,1934,3637,0,0,0,0,0,0
$GC,2240,-0.62,-194.6,378.9,-12.4,276,2244,0.00,1.98,0.00,0.000,4,0.000,0.033,2567,3267,3636,0,0,0,0,0,0
$GC,2300,-0.62,-194.6,385.9,-11.2,281,2307,0.08,1.80,0.00,0.000,6,0.136,0.017,2595,1964,3635,0,0,0,0,0,0
$GC,2625,-0.62,-194.6,416.8,-9.9,312,2629,0.00,2.10,0.00,0.000,4,0.000,0.028,2595,513,3634,0,0,0,0,0,0
$GC,2767,-0.62,-194.6,431.1,-10.3,324,2772,0.00,2.05,0.00,0.000,6,0.000,0.021,2595,1922,3633,0,0,0,0,0,0
$GC,3097,-0.62,-194.6,467.4,-10.9,355,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1922,3632,0,0,0,0,0,0
$GC,3418,-0.62,-194.6,496.0,-8.4,385,3422,0.00,2.00,0.00,0.000,4,0.000,0.034,2590,3275,3630,0,0,0,0,0,0
$GC,3537,-0.62,-194.6,505.6,-7.7,393,3541,0.00,1.95,0.00,0.000,6,0.000,0.018,2590,1888,3629,0,0,0,0,0,0
$GC,3865,-0.62,-194.6,536.7,-9.8,409,3869,0.00,2.08,0.00,0.000,4,0.000,0.034,2588,3261,3627,0,0,0,0,0,0
$GC,3927,-0.62,-194.6,542.8,-9.8,411,3933,0.00,1.90,0.00,0.000,6,0.000,0.019,2588,1909,3627,0,0,0,0,0,0
$GC,4243,-0.62,-194.6,573.7,-9.5,427,4246,0.00,2.03,0.00,0.000,4,0.000,0.030,2588,511,3625,0,0,0,0,0,0
$GC,4312,-0.62,-194.6,580.4,-9.5,430,4316,0.00,2.03,0.00,0.000,6,0.000,0.022,2588,1904,3624,0,0,0,0,0,0
$GC,4646,-0.62,-194.6,606.6,-7.0,446,4650,0.00,2.03,0.00,0.000,4,0.000,0.034,2588,3267,3622,0,0,0,0,0,0
$GC,4730,-0.62,-194.6,612.3,-6.4,449,4737,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1923,3622,0,0,0,0,0,0
$GC,5049,-0.62,-194.6,634.2,-7.0,465,5053,0.00,2.08,0.00,0.000,4,0.000,0.029,2588,519,3620,0,0,0,0,0,0
$GC,5132,-0.62,-194.6,641.0,-7.9,468,5140,0.00,1.92,0.00,0.000,6,0.000,0.021,2588,1869,3619,0,0,0,0,0,0
$GC,5450,-0.62,-194.6,666.3,-8.4,484,5455,0.00,2.10,0.00,0.000,4,0.000,0.036,2588,3260,3617,0,0,0,0,0,0
$GC,5590,-0.62,-194.6,677.1,-7.3,490,5595,0.00,1.92,0.00,0.000,6,0.000,0.020,2588,1913,3616,0,0,0,0,0,0
$GC,5919,-0.62,-194.6,700.9,-7.0,506,5923,0.00,2.03,0.00,0.000,4,0.000,0.035,2588,3270,3614,0,0,0,0,0,0
$GC,5969,-0.62,-194.6,704.9,-7.5,508,5972,0.00,1.92,0.00,0.000,6,0.000,0.020,2588,1917,3613,0,0,0,0,0,0
$GC,6297,-0.62,-194.6,728.6,-7.3,524,6301,0.00,2.08,0.00,0.000,4,0.000,0.031,2588,506,3611,0,0,0,0,0,0
$GC,6371,-0.62,-194.6,734.6,-7.9,527,6376,0.00,2.08,0.00,0.000,6,0.000,0.023,2588,1907,3610,0,0,0,0,0,0
$GC,6694,-0.62,-194.6,758.3,-7.6,543,6698,0.00,2.05,0.00,0.000,4,0.000,0.037,2588,3271,3608,0,0,0,0,0,0
$GC,6836,-0.62,-194.6,769.3,-7.9,549,6840,0.00,1.85,0.00,0.000,6,0.000,0.019,2588,1947,3607,0,0,0,0,0,0
$GC,7164,-0.62,-194.6,794.9,-7.7,565,7169,0.00,2.03,0.00,0.000,4,0.000,0.036,2587,3267,3605,0,0,0,0,0,0
$GC,7197,-0.62,-194.6,797.3,-7.4,566,7200,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1975,3605,0,0,0,0,0,0
$GC,7521,-0.62,-194.6,818.5,-6.5,582,7524,0.00,1.95,0.00,0.000,4,0.000,0.037,2588,3273,3603,0,0,0,0,0,0
$GC,7551,-0.62,-194.6,820.6,-6.5,583,7554,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1981,3604,0,0,0,0,0,0
$GC,7880,-0.62,-194.6,842.9,-6.7,599,7883,0.00,1.95,0.00,0.000,4,0.000,0.038,2588,3274,3601,0,0,0,0,0,0
$GC,7907,-0.62,-194.6,844.8,-6.7,600,7911,0.00,1.77,0.00,0.000,6,0.000,0.020,2588,2003,3601,0,0,0,0,0,0
$GC,8235,-0.62,-194.6,865.9,-6.4,616,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2003,3600,0,0,0,0,0,0
$GC,8546,-0.62,-194.6,886.8,-6.8,631,8549,0.00,1.92,0.00,0.000,4,0.000,0.039,2587,3264,3598,0,0,0,0,0,0
$GC,8623,-0.62,-194.6,892.3,-6.7,634,8627,0.00,1.75,0.00,0.000,6,0.000,0.021,2588,2023,3598,0,0,0,0,0,0
$GC,8945,-0.62,-194.6,915.5,-7.3,650,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2022,3597,0,0,0,0,0,0
$GC,9257,-0.62,-194.6,935.9,-6.3,665,9260,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3265,3596,0,0,0,0,0,0
$GC,9295,-0.62,-194.6,938.6,-6.3,666,9302,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,2005,3596,0,0,0,0,0,0
$GC,9613,-0.62,-194.6,956.7,-5.7,682,9618,0.00,1.95,0.00,0.000,4,0.000,0.040,2587,3261,3595,0,0,0,0,0,0
$GC,9674,-0.62,-194.6,960.4,-5.8,684,9682,0.00,1.75,0.00,0.000,6,0.000,0.022,2588,2034,3594,0,0,0,0,0,0
$GC,9991,-0.62,-194.6,979.0,-6.0,700,9994,0.00,1.88,0.00,0.000,4,0.000,0.040,2588,3273,3592,0,0,0,0,0,0
$GC,10031,-0.62,-194.6,981.5,-6.1,701,10038,0.00,1.75,0.00,0.000,6,0.000,0.021,2588,2043,3593,0,0,0,0,0,0
$STATE,10180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10180,begin apogee
$GC,10186,-0.20,0.0,991.3,6.6,709,10348,0.43,0.00,155.57,1.393,4,0.112,0.000,2732,2039,2838,0,0,0,0,0,0
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10349,begin climb
$GC,10351,0.62,194.6,996.6,0.0,716,10528,0.75,0.00,170.68,1.339,6,0.076,0.000,2995,2039,2044,0,0,0,0,0,0
$GC,10841,0.62,194.6,947.8,11.8,740,10845,0.00,2.22,0.00,0.000,4,0.000,0.038,2995,3470,2034,0,0,0,0,0,0
$GC,10907,0.62,194.6,938.5,13.1,743,10911,0.00,2.00,0.00,0.000,6,0.000,0.021,3003,2094,2033,0,0,0,0,0,0
$GC,11237,0.62,194.6,895.2,13.8,759,11241,0.00,2.08,0.00,0.000,4,0.000,0.032,3013,696,2032,0,0,0,0,0,0
$GC,11360,0.62,194.6,877.7,13.6,764,11365,0.00,2.03,0.00,0.000,6,0.000,0.024,3013,2041,2031,0,0,0,0,0,0
$GC,11684,0.62,194.6,831.6,14.3,780,11688,0.00,2.15,0.00,0.000,4,0.000,0.038,3013,3462,2031,0,0,0,0,0,0
$GC,11750,0.62,194.6,821.5,14.3,783,11755,0.00,2.08,0.00,0.000,6,0.000,0.021,3022,2056,2030,0,0,0,0,0,0
$GC,12077,0.62,194.6,777.3,13.2,799,12081,0.00,2.05,0.00,0.000,4,0.000,0.033,3032,682,2030,0,0,0,0,0,0
$GC,12157,0.62,194.6,766.7,13.2,802,12162,0.12,1.95,0.00,0.000,6,0.151,0.024,2998,2027,2030,0,0,0,0,0,0
$GC,12473,0.62,194.6,733.1,10.1,817,12477,0.00,2.15,0.00,0.000,4,0.000,0.038,2998,3462,2029,0,0,0,0,0,0
$GC,12540,0.62,194.6,725.7,10.9,820,12545,0.00,2.05,0.00,0.000,6,0.000,0.021,3005,2066,2029,0,0,0,0,0,0
$GC,12867,0.62,194.6,692.4,10.6,836,12871,0.00,2.05,0.00,0.000,4,0.000,0.032,3014,683,2028,0,0,0,0,0,0
$GC,12968,0.62,194.6,681.5,10.4,840,12971,0.00,1.95,0.00,0.000,6,0.000,0.023,3014,2023,2028,0,0,0,0,0,0
$GC,13289,0.62,194.6,646.6,10.9,856,13294,0.00,2.20,0.00,0.000,4,0.000,0.039,3015,3460,2028,0,0,0,0,0,0
$GC,13305,0.62,194.6,644.5,11.0,856,13312,0.00,2.10,0.00,0.000,6,0.000,0.021,3024,2007,2028,0,0,0,0,0,0
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$STATE,19065,end climb,SURFACE_DEPTH_REACHED
$STATE,19065,begin surface coast
$FINISH,0.9,1.016850
$STATE,19090,end surface coast,CONTROL_FINISHED_OK
$STATE,19090,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,36.37
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.70
$XPDR_PINGS,59
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$10V_AH,9.8,47.120
$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,329636
$DATA_FILE_SIZE,83553,1456
$CAP_FILE_SIZE,214115,0
$CFSIZE,260165632,114245632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,330.8,1
$GPS,120811,090855,2004.490,12400.126,38,1.2,39,-2.5