version: 66.09
glider: 167
mission: 8
dive: 309
start: 8 16 111 21 39 53
data:
$ID,167
$MISSION,8
$DIVE,309
$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,-56776.523
$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,68
$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
$GPS1,160811,213151,1951.500,12420.278,39,2.7,59,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.8
$GPS2,160811,213930,1951.533,12420.248,40,1.6,45,-2.4
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,183.7,226576,-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,16,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-93.90,0.000,2,0.000,0.000,111,1850,3134,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.1,-11.1,13,146,10.10,2.00,-8.07,0.000,4,0.233,0.038,2594,474,3634,0,0,0,0,0,0
$GC,259,-0.62,-194.6,50.7,-19.7,37,267,0.00,2.03,0.00,0.000,6,0.000,0.021,2586,1859,3636,0,0,0,0,0,0
$GC,335,-0.62,-194.6,64.7,-17.3,50,343,0.00,2.03,0.00,0.000,4,0.000,0.028,2586,493,3636,0,0,0,0,0,0
$GC,399,-0.62,-194.6,76.5,-18.6,60,407,0.00,1.95,0.00,0.000,6,0.000,0.020,2579,1846,3637,0,0,0,0,0,0
$GC,474,-0.62,-194.6,90.7,-20.2,73,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1846,3637,0,0,0,0,0,0
$GC,550,-0.62,-194.6,106.2,-20.1,86,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1846,3637,0,0,0,0,0,0
$GC,629,-0.62,-194.6,122.5,-21.3,99,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1846,3637,0,0,0,0,0,0
$GC,708,-0.62,-194.6,139.0,-21.0,112,716,0.00,2.10,0.00,0.000,4,0.000,0.032,2568,3261,3637,0,0,0,0,0,0
$GC,738,-0.62,-194.6,144.6,-20.0,116,746,0.08,2.00,0.00,0.000,6,0.155,0.018,2592,1837,3637,0,0,0,0,0,0
$GC,817,-0.62,-194.6,159.4,-17.4,129,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1837,3638,0,0,0,0,0,0
$GC,895,-0.62,-194.6,172.2,-16.6,142,903,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,3258,3637,0,0,0,0,0,0
$GC,919,-0.62,-194.6,176.3,-16.3,145,928,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1881,3638,0,0,0,0,0,0
$GC,997,-0.62,-194.6,189.5,-16.6,158,1006,0.00,2.00,0.00,0.000,4,0.000,0.027,2587,505,3637,0,0,0,0,0,0
$GC,1033,-0.62,-194.6,195.2,-16.4,163,1042,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1852,3637,0,0,0,0,0,0
$GC,1110,-0.62,-194.6,207.8,-16.4,172,1115,0.00,2.10,0.00,0.000,4,0.000,0.033,2587,3263,3638,0,0,0,0,0,0
$GC,1132,-0.62,-194.6,211.6,-16.1,174,1137,0.00,1.98,0.00,0.000,6,0.000,0.017,2587,1865,3637,0,0,0,0,0,0
$GC,1464,-0.62,-194.6,265.5,-15.9,205,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1865,3636,0,0,0,0,0,0
$GC,1785,-0.62,-194.6,315.4,-16.5,235,1788,0.00,2.05,0.00,0.000,4,0.000,0.032,2587,3259,3635,0,0,0,0,0,0
$GC,1812,-0.62,-194.6,319.9,-13.9,237,1819,0.00,1.98,0.00,0.000,6,0.000,0.018,2587,1863,3636,0,0,0,0,0,0
$GC,2138,-0.62,-194.6,362.9,-12.9,268,2142,0.00,2.08,0.00,0.000,4,0.000,0.031,2586,3260,3634,0,0,0,0,0,0
$GC,2206,-0.62,-194.6,370.8,-10.8,274,2210,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1886,3634,0,0,0,0,0,0
$GC,2540,-0.62,-194.6,410.5,-11.9,305,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1886,3634,0,0,0,0,0,0
$GC,2867,-0.62,-194.6,448.3,-10.7,336,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1886,3632,0,0,0,0,0,0
$GC,3186,-0.62,-194.6,480.7,-9.3,366,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1886,3630,0,0,0,0,0,0
$GC,3508,-0.62,-194.6,512.9,-10.3,391,3512,0.00,2.05,0.00,0.000,4,0.000,0.033,2586,3261,3628,0,0,0,0,0,0
$GC,3570,-0.62,-194.6,519.0,-9.3,393,3577,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1924,3628,0,0,0,0,0,0
$GC,3887,-0.62,-194.6,553.3,-11.4,409,3890,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,517,3626,0,0,0,0,0,0
$GC,3959,-0.62,-194.6,561.6,-11.0,412,3964,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1886,3626,0,0,0,0,0,0
$GC,4289,-0.62,-194.6,598.4,-11.1,428,4292,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3267,3624,0,0,0,0,0,0
$GC,4412,-0.62,-194.6,608.5,-7.2,433,4416,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1932,3622,0,0,0,0,0,0
$GC,4736,-0.62,-194.6,630.4,-6.7,449,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1931,3620,0,0,0,0,0,0
$GC,5044,-0.62,-194.6,654.8,-8.9,464,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1932,3619,0,0,0,0,0,0
$GC,5352,-0.62,-194.6,685.4,-10.1,479,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1931,3617,0,0,0,0,0,0
$GC,5663,-0.62,-194.6,715.5,-9.6,494,5668,0.00,2.12,0.00,0.000,4,0.000,0.031,2586,504,3614,0,0,0,0,0,0
$GC,5709,-0.62,-194.6,720.2,-10.4,496,5714,0.00,2.12,0.00,0.000,6,0.000,0.022,2586,1942,3614,0,0,0,0,0,0
$GC,6044,-0.62,-194.6,751.8,-9.6,512,6048,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3262,3612,0,0,0,0,0,0
$GC,6191,-0.62,-194.6,765.4,-9.1,518,6196,0.00,1.80,0.00,0.000,6,0.000,0.021,2586,2011,3610,0,0,0,0,0,0
$GC,6514,-0.62,-194.6,796.6,-9.6,534,6518,0.00,2.22,0.00,0.000,4,0.000,0.032,2587,508,3608,0,0,0,0,0,0
$GC,6613,-0.62,-194.6,806.5,-9.5,538,6620,0.00,2.17,0.00,0.000,6,0.000,0.023,2587,1988,3607,0,0,0,0,0,0
$GC,6930,-0.62,-194.6,830.0,-6.5,554,6934,0.00,1.92,0.00,0.000,4,0.000,0.039,2587,3254,3606,0,0,0,0,0,0
$GC,6982,-0.62,-194.6,833.2,-6.4,556,6985,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2006,3605,0,0,0,0,0,0
$GC,7310,-0.62,-194.6,852.1,-6.0,572,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2005,3603,0,0,0,0,0,0
$GC,7620,-0.62,-194.6,875.2,-8.6,587,7625,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3254,3601,0,0,0,0,0,0
$GC,7671,-0.62,-194.6,879.7,-8.6,589,7674,0.00,1.73,0.00,0.000,6,0.000,0.021,2586,2021,3601,0,0,0,0,0,0
$GC,7998,-0.62,-194.6,909.0,-9.1,605,8002,0.00,2.22,0.00,0.000,4,0.000,0.029,2586,511,3599,0,0,0,0,0,0
$GC,8033,-0.62,-194.6,912.3,-9.2,606,8040,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,2019,3599,0,0,0,0,0,0
$GC,8349,-0.62,-194.6,937.9,-7.6,622,8354,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3263,3598,0,0,0,0,0,0
$GC,8376,-0.62,-194.6,940.1,-7.4,623,8380,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2016,3598,0,0,0,0,0,0
$GC,8706,-0.62,-194.6,964.1,-7.6,639,8710,0.00,1.88,0.00,0.000,4,0.000,0.037,2587,3262,3596,0,0,0,0,0,0
$GC,8739,-0.62,-194.6,966.8,-7.4,640,8742,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2031,3596,0,0,0,0,0,0
$STATE,9037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9037,begin apogee
$GC,9045,-0.20,0.0,990.3,8.1,655,9204,0.43,0.00,154.90,1.386,4,0.113,0.000,2730,2025,2839,0,0,0,0,0,0
$STATE,9205,end apogee,CONTROL_FINISHED_OK
$STATE,9205,begin climb
$GC,9208,0.62,194.6,997.7,0.0,662,9387,0.80,2.35,168.93,1.334,4,0.083,0.040,2998,3464,2044,0,0,0,0,0,0
$GC,9550,0.62,194.6,965.1,12.3,678,9554,0.00,2.05,0.00,0.000,6,0.000,0.020,3007,2098,2036,0,0,0,0,0,0
$GC,9877,0.62,194.6,921.9,14.1,694,9881,0.00,2.10,0.00,0.000,4,0.000,0.037,3007,3461,2034,0,0,0,0,0,0
$GC,10054,0.62,194.6,894.9,14.8,702,10059,0.00,2.10,0.00,0.000,6,0.000,0.021,3016,2028,2033,0,0,0,0,0,0
$GC,10383,0.62,194.6,849.3,13.8,718,10387,0.00,2.00,0.00,0.000,4,0.000,0.033,3026,684,2032,0,0,0,0,0,0
$GC,10439,0.62,194.6,841.8,12.7,720,10443,0.00,2.03,0.00,0.000,6,0.000,0.024,3025,2055,2032,0,0,0,0,0,0
$GC,10762,0.62,194.6,801.5,12.3,736,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2055,2031,0,0,0,0,0,0
$GC,11070,0.62,194.6,763.1,12.3,751,11075,0.00,2.08,0.00,0.000,4,0.000,0.031,3034,683,2030,0,0,0,0,0,0
$GC,11121,0.62,194.6,756.7,12.8,753,11126,0.12,1.98,0.00,0.000,6,0.151,0.024,3000,2045,2030,0,0,0,0,0,0
$GC,11444,0.62,194.6,722.3,10.3,769,11448,0.00,2.15,0.00,0.000,4,0.000,0.038,2999,3467,2029,0,0,0,0,0,0
$GC,11528,0.62,194.6,712.6,11.3,773,11532,0.00,2.08,0.00,0.000,6,0.000,0.021,3007,2045,2029,0,0,0,0,0,0
$GC,11863,0.62,194.6,678.4,10.6,789,11867,0.00,2.03,0.00,0.000,4,0.000,0.032,3017,681,2029,0,0,0,0,0,0
$GC,11935,0.62,194.6,669.6,12.1,792,11940,0.00,2.05,0.00,0.000,6,0.000,0.024,3017,2056,2028,0,0,0,0,0,0
$GC,12264,0.62,194.6,626.3,13.8,808,12268,0.00,2.12,0.00,0.000,4,0.000,0.038,3017,3465,2028,0,0,0,0,0,0
$GC,12358,0.62,194.6,611.4,15.6,812,12362,0.00,2.03,0.00,0.000,6,0.000,0.021,3026,2065,2028,0,0,0,0,0,0
$GC,12682,0.62,194.6,572.4,10.5,828,12687,0.00,2.05,0.00,0.000,4,0.000,0.032,3036,701,2028,0,0,0,0,0,0
$GC,12728,0.63,201.2,567.8,9.5,830,12738,0.08,2.05,3.92,0.707,6,0.125,0.024,3009,2085,2018,0,0,0,0,0,0
$GC,13065,0.74,291.7,544.1,6.7,846,13151,0.00,2.17,77.80,1.068,4,0.000,0.031,3017,690,1648,0,0,0,0,0,0
$GC,13192,0.82,353.0,534.5,7.6,851,13250,0.12,2.05,52.38,1.028,6,0.094,0.021,3074,2062,1399,0,0,0,0,0,0
$GC,13565,0.82,353.0,484.5,13.9,874,13569,0.00,2.12,0.00,0.000,4,0.000,0.037,3074,3472,1390,0,0,0,0,0,0
$GC,13594,0.82,353.0,480.2,15.0,876,13598,0.00,2.08,0.00,0.000,6,0.000,0.020,3084,2057,1389,0,0,0,0,0,0
$GC,13921,0.82,353.0,425.7,18.0,906,13926,0.00,2.08,0.00,0.000,4,0.000,0.034,3093,686,1387,0,0,0,0,0,0
$GC,14045,0.82,353.0,403.2,17.8,917,14050,0.08,1.92,0.00,0.000,6,0.124,0.022,3066,1995,1388,0,0,0,0,0,0
$GC,14377,0.82,353.0,352.6,13.1,948,14380,0.00,1.95,0.00,0.000,4,0.000,0.031,3073,689,1387,0,0,0,0,0,0
$GC,14415,0.82,353.0,347.6,12.5,951,14423,0.00,1.92,0.00,0.000,6,0.000,0.021,3074,1997,1387,0,0,0,0,0,0
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$STATE,17460,end climb,SURFACE_DEPTH_REACHED
$STATE,17460,begin surface coast
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$STATE,17482,end surface coast,CONTROL_FINISHED_OK
$STATE,17483,begin surface
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$HUMID,37.55
$INTERNAL_PRESSURE,9.26793
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$XPDR_PINGS,58
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$10V_AH,9.8,50.505
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329632
$DATA_FILE_SIZE,80306,1365
$CAP_FILE_SIZE,196692,0
$CFSIZE,260165632,112148480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062, 25.7,1
$GPS,170811,023354,1949.417,12420.302,40,1.5,41,-2.4