version: 66.09
glider: 167
mission: 8
dive: 292
start: 8 13 111 1 45 55
data:
$ID,167
$MISSION,8
$DIVE,292
$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,-56755.137
$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,68
$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
$GPS1,130811,013336,2007.783,12408.876,29,0.9,30,-2.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.5
$GPS2,130811,014532,2007.930,12408.809,14,1.1,14,-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,63.6,23443,-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,-194.6,0.0,0.0,0,111,0.00,0.00,-90.03,0.000,2,0.000,0.000,112,1816,2988,0,0,0,0,0,0
$GC,114,-0.62,-194.6,5.3,-9.2,12,147,10.02,2.22,-10.98,0.000,4,0.230,0.047,2580,3266,3636,0,0,0,0,0,0
$GC,242,-0.62,-194.6,49.7,-29.2,33,250,0.00,2.03,0.00,0.000,6,0.000,0.018,2580,1851,3637,0,0,0,0,0,0
$GC,320,-0.62,-194.6,69.2,-23.6,46,328,0.00,1.98,0.00,0.000,4,0.000,0.027,2580,499,3637,0,0,0,0,0,0
$GC,338,-0.62,-194.6,74.3,-24.8,48,346,0.00,1.98,0.00,0.000,6,0.000,0.021,2573,1849,3637,0,0,0,0,0,0
$GC,417,-0.62,-194.6,91.8,-20.9,61,425,0.00,2.12,0.00,0.000,4,0.000,0.031,2563,3275,3637,0,0,0,0,0,0
$GC,450,-0.62,-194.6,99.9,-22.7,66,460,0.10,2.10,0.00,0.000,6,0.163,0.018,2593,1805,3637,0,0,0,0,0,0
$GC,532,-0.62,-194.6,115.9,-19.1,79,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1805,3638,0,0,0,0,0,0
$GC,609,-0.62,-194.6,130.5,-18.1,92,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1805,3638,0,0,0,0,0,0
$GC,686,-0.62,-194.6,144.3,-17.6,105,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1805,3638,0,0,0,0,0,0
$GC,761,-0.62,-194.6,156.5,-16.2,118,770,0.00,1.90,0.00,0.000,4,0.000,0.028,2593,501,3638,0,0,0,0,0,0
$GC,795,-0.62,-194.6,161.8,-15.9,123,803,0.00,2.05,0.00,0.000,6,0.000,0.021,2588,1906,3639,0,0,0,0,0,0
$GC,869,-0.62,-194.6,174.1,-16.6,136,877,0.00,2.03,0.00,0.000,4,0.000,0.032,2581,3272,3639,0,0,0,0,0,0
$GC,897,-0.62,-194.6,178.6,-16.4,140,905,0.00,1.90,0.00,0.000,6,0.000,0.017,2581,1923,3638,0,0,0,0,0,0
$GC,974,-0.62,-194.6,190.3,-16.6,153,983,0.00,2.08,0.00,0.000,4,0.000,0.028,2581,499,3639,0,0,0,0,0,0
$GC,1021,-0.62,-194.6,198.8,-18.0,160,1029,0.00,2.05,0.00,0.000,6,0.000,0.021,2574,1908,3639,0,0,0,0,0,0
$GC,1094,-0.62,-194.6,211.2,-16.8,167,1097,0.00,1.98,0.00,0.000,4,0.000,0.032,2567,3277,3638,0,0,0,0,0,0
$GC,1109,-0.62,-194.6,214.4,-16.4,168,1118,0.08,1.98,0.00,0.000,6,0.151,0.018,2592,1869,3638,0,0,0,0,0,0
$GC,1437,-0.62,-194.6,255.1,-13.6,199,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1869,3638,0,0,0,0,0,0
$GC,1760,-0.62,-194.6,300.7,-12.9,229,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1868,3636,0,0,0,0,0,0
$GC,2087,-0.62,-194.6,340.7,-12.6,260,2091,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,3284,3635,0,0,0,0,0,0
$GC,2105,-0.62,-194.6,343.1,-12.5,261,2109,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1895,3634,0,0,0,0,0,0
$GC,2436,-0.62,-194.6,390.2,-16.0,292,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1893,3633,0,0,0,0,0,0
$GC,2760,-0.62,-194.6,432.1,-9.3,322,2764,0.00,2.00,0.00,0.000,4,0.000,0.029,2588,505,3631,0,0,0,0,0,0
$GC,2821,-0.62,-194.6,437.2,-7.3,327,2828,0.00,2.10,0.00,0.000,6,0.000,0.021,2588,1953,3631,0,0,0,0,0,0
$GC,3147,-0.62,-194.6,464.9,-10.7,358,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1953,3629,0,0,0,0,0,0
$GC,3468,-0.62,-194.6,498.9,-10.0,388,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1953,3627,0,0,0,0,0,0
$GC,3795,-0.62,-194.6,526.1,-7.5,405,3800,0.00,1.98,0.00,0.000,4,0.000,0.036,2587,3270,3624,0,0,0,0,0,0
$GC,3848,-0.62,-194.6,529.8,-7.2,407,3851,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1904,3624,0,0,0,0,0,0
$GC,4175,-0.62,-194.6,560.2,-11.7,423,4179,0.00,2.05,0.00,0.000,4,0.000,0.031,2588,507,3622,0,0,0,0,0,0
$GC,4221,-0.62,-194.6,566.5,-13.7,425,4225,0.00,2.03,0.00,0.000,6,0.000,0.022,2587,1903,3621,0,0,0,0,0,0
$GC,4556,-0.62,-194.6,600.6,-7.2,441,4559,0.00,2.03,0.00,0.000,4,0.000,0.034,2587,3271,3619,0,0,0,0,0,0
$GC,4636,-0.62,-194.6,604.7,-4.9,444,4639,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1889,3618,0,0,0,0,0,0
$GC,4959,-0.62,-194.6,623.9,-7.3,460,4963,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3267,3616,0,0,0,0,0,0
$GC,5053,-0.62,-194.6,631.7,-8.0,464,5057,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1933,3615,0,0,0,0,0,0
$GC,5383,-0.62,-194.6,661.5,-9.2,480,5387,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,503,3613,0,0,0,0,0,0
$GC,5433,-0.62,-194.6,666.7,-9.5,482,5437,0.00,2.08,0.00,0.000,6,0.000,0.023,2587,1923,3612,0,0,0,0,0,0
$GC,5755,-0.62,-194.6,690.6,-7.1,498,5759,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3273,3610,0,0,0,0,0,0
$GC,5892,-0.62,-194.6,699.7,-6.9,504,5896,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1941,3609,0,0,0,0,0,0
$GC,6225,-0.62,-194.6,724.4,-7.1,520,6229,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,503,3606,0,0,0,0,0,0
$GC,6267,-0.62,-194.6,727.5,-7.0,522,6270,0.00,2.05,0.00,0.000,6,0.000,0.024,2587,1918,3606,0,0,0,0,0,0
$GC,6600,-0.62,-194.6,753.4,-7.9,538,6605,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3267,3604,0,0,0,0,0,0
$GC,6694,-0.62,-194.6,760.6,-7.4,542,6699,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1948,3603,0,0,0,0,0,0
$GC,7024,-0.62,-194.6,784.9,-7.5,558,7028,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,507,3601,0,0,0,0,0,0
$GC,7052,-0.62,-194.6,787.2,-7.4,559,7056,0.00,2.10,0.00,0.000,6,0.000,0.023,2587,1953,3600,0,0,0,0,0,0
$GC,7376,-0.62,-194.6,809.7,-7.1,575,7380,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3270,3598,0,0,0,0,0,0
$GC,7471,-0.62,-194.6,816.4,-6.7,579,7475,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1963,3599,0,0,0,0,0,0
$GC,7802,-0.62,-194.6,839.1,-7.1,595,7806,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,513,3597,0,0,0,0,0,0
$GC,7831,-0.62,-194.6,841.6,-7.1,596,7835,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1970,3597,0,0,0,0,0,0
$GC,8148,-0.62,-194.6,862.6,-6.5,611,8152,0.00,1.95,0.00,0.000,4,0.000,0.038,2587,3267,3595,0,0,0,0,0,0
$GC,8245,-0.62,-194.6,868.5,-5.9,615,8249,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1983,3594,0,0,0,0,0,0
$GC,8573,-0.62,-194.6,885.4,-4.6,631,8578,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,518,3592,0,0,0,0,0,0
$GC,8612,-0.62,-194.6,887.5,-4.5,632,8619,0.00,2.17,0.00,0.000,6,0.000,0.025,2587,1969,3593,0,0,0,0,0,0
$GC,8930,-0.62,-194.6,904.6,-5.7,648,8934,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3273,3591,0,0,0,0,0,0
$GC,9047,-0.62,-194.6,911.5,-5.6,653,9051,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,2011,3591,0,0,0,0,0,0
$GC,9377,-0.62,-194.6,931.8,-6.3,669,9381,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,513,3590,0,0,0,0,0,0
$GC,9417,-0.62,-194.6,934.9,-6.6,671,9421,0.00,2.17,0.00,0.000,6,0.000,0.025,2587,1995,3590,0,0,0,0,0,0
$GC,9747,-0.62,-194.6,956.6,-6.7,687,9751,0.00,1.92,0.00,0.000,4,0.000,0.040,2587,3267,3588,0,0,0,0,0,0
$GC,9797,-0.62,-194.6,960.3,-6.9,689,9802,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,2006,3588,0,0,0,0,0,0
$GC,10124,-0.62,-194.6,981.5,-6.4,705,10128,0.00,2.22,0.00,0.000,4,0.000,0.032,2587,509,3587,0,0,0,0,0,0
$GC,10170,-0.62,-194.6,984.7,-6.6,707,10174,0.00,2.22,0.00,0.000,6,0.000,0.025,2587,2005,3587,0,0,0,0,0,0
$STATE,10263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10263,begin apogee
$GC,10269,-0.20,0.0,991.0,6.5,712,10429,0.43,0.00,154.60,1.394,4,0.116,0.000,2731,2064,2838,0,0,0,0,0,0
$STATE,10429,end apogee,CONTROL_FINISHED_OK
$STATE,10429,begin climb
$GC,10432,0.62,194.6,995.8,0.0,719,10615,0.75,2.33,170.60,1.339,4,0.078,0.040,3003,3469,2043,0,0,0,0,0,0
$GC,10740,0.62,194.6,960.6,14.0,733,10744,0.00,2.10,0.00,0.000,6,0.000,0.021,3012,2090,2036,0,0,0,0,0,0
$GC,11064,0.62,194.6,918.1,13.0,749,11068,0.00,2.15,0.00,0.000,4,0.000,0.036,3011,3469,2033,0,0,0,0,0,0
$GC,11270,0.62,194.6,890.0,12.9,758,11274,0.00,2.08,0.00,0.000,6,0.000,0.023,3021,2066,2032,0,0,0,0,0,0
$GC,11599,0.62,194.6,848.4,13.1,774,11603,0.00,2.05,0.00,0.000,4,0.000,0.034,3032,684,2031,0,0,0,0,0,0
$GC,11668,0.62,194.6,839.2,13.1,777,11673,0.12,2.05,0.00,0.000,6,0.151,0.025,2998,2070,2031,0,0,0,0,0,0
$GC,11999,0.62,194.6,798.3,12.7,793,12003,0.00,2.12,0.00,0.000,4,0.000,0.039,2998,3458,2030,0,0,0,0,0,0
$GC,12025,0.62,194.6,794.0,13.4,794,12030,0.00,2.05,0.00,0.000,6,0.000,0.021,3006,2047,2030,0,0,0,0,0,0
$GC,12353,0.62,194.6,754.9,11.2,810,12357,0.00,2.03,0.00,0.000,4,0.000,0.034,3014,685,2030,0,0,0,0,0,0
$GC,12415,0.62,194.6,748.1,10.7,812,12423,0.00,2.03,0.00,0.000,6,0.000,0.025,3014,2054,2030,0,0,0,0,0,0
$GC,12731,0.62,194.6,715.5,10.8,828,12736,0.00,2.17,0.00,0.000,4,0.000,0.039,3014,3466,2029,0,0,0,0,0,0
$GC,12814,0.62,194.6,704.7,13.1,831,12821,0.00,2.00,0.00,0.000,6,0.000,0.021,3024,2069,2029,0,0,0,0,0,0
$GC,13132,0.62,194.6,662.4,14.0,847,13136,0.00,2.15,0.00,0.000,4,0.000,0.037,3024,3462,2029,0,0,0,0,0,0
$GC,13158,0.62,194.6,658.1,14.3,848,13163,0.12,1.98,0.00,0.000,6,0.169,0.021,2999,2115,2029,0,0,0,0,0,0
$GC,13487,0.62,194.6,620.9,11.0,864,13491,0.00,2.10,0.00,0.000,4,0.000,0.033,3007,693,2028,0,0,0,0,0,0
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$STATE,19045,end climb,SURFACE_DEPTH_REACHED
$STATE,19046,begin surface coast
$FINISH,0.9,1.017918
$STATE,19074,end surface coast,CONTROL_FINISHED_OK
$STATE,19074,begin surface
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$XPDR_PINGS,65
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$10V_AH,9.8,47.770
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329656
$DATA_FILE_SIZE,83593,1441
$CAP_FILE_SIZE,217301,0
$CFSIZE,260165632,113831936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,308.3,1
$GPS,130811,070630,2009.702,12410.566,36,1.2,43,-2.5