version: 66.09
glider: 167
mission: 8
dive: 314
start: 8 18 111 1 20 8
data:
$ID,167
$MISSION,8
$DIVE,314
$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,-56785.906
$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,69
$R_STBD_OVSHOOT,106
$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
$GPS1,180811,011107,1940.395,12420.018,25,1.1,26,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.4
$GPS2,180811,011944,1940.412,12420.022,15,1.6,15,-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,172.8,206182,-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,-194.6,0.0,0.0,0,117,0.00,0.00,-93.43,0.000,2,0.000,0.000,110,1935,3107,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.0,-10.6,13,147,10.00,2.12,-8.57,0.000,4,0.229,0.036,2600,473,3635,0,0,0,0,0,0
$GC,240,-0.62,-194.6,49.9,-21.8,33,249,0.00,1.98,0.00,0.000,6,0.000,0.020,2593,1835,3637,0,0,0,0,0,0
$GC,317,-0.62,-194.6,66.3,-21.4,46,325,0.00,2.12,0.00,0.000,4,0.000,0.037,2582,3270,3637,0,0,0,0,0,0
$GC,366,-0.62,-194.6,77.6,-22.2,54,374,0.00,1.90,0.00,0.000,6,0.000,0.024,2582,1938,3637,0,0,0,0,0,0
$GC,442,-0.62,-194.6,94.0,-20.6,67,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1938,3637,0,0,0,0,0,0
$GC,518,-0.62,-194.6,106.9,-18.1,80,526,0.00,2.12,0.00,0.000,4,0.000,0.029,2582,487,3638,0,0,0,0,0,0
$GC,562,-0.62,-194.6,115.9,-19.0,87,571,0.00,2.30,0.00,0.000,6,0.000,0.021,2574,2054,3638,0,0,0,0,0,0
$GC,637,-0.62,-194.6,128.2,-16.6,100,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2054,3638,0,0,0,0,0,0
$GC,711,-0.62,-194.6,140.9,-17.2,113,720,0.00,1.83,0.00,0.000,4,0.000,0.034,2566,3271,3638,0,0,0,0,0,0
$GC,730,-0.62,-194.6,144.0,-16.7,115,739,0.08,1.85,0.00,0.000,6,0.154,0.018,2589,1954,3638,0,0,0,0,0,0
$GC,808,-0.62,-194.6,156.9,-15.9,128,816,0.00,2.15,0.00,0.000,4,0.000,0.028,2589,479,3638,0,0,0,0,0,0
$GC,850,-0.62,-194.6,163.0,-15.7,134,858,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1938,3638,0,0,0,0,0,0
$GC,925,-0.62,-194.6,174.6,-15.8,147,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1938,3639,0,0,0,0,0,0
$GC,998,-0.62,-194.6,186.2,-15.7,160,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1938,3638,0,0,0,0,0,0
$GC,1072,-0.62,-194.6,198.0,-15.7,173,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1938,3638,0,0,0,0,0,0
$GC,1151,-0.62,-194.6,212.3,-17.6,181,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1938,3638,0,0,0,0,0,0
$GC,1472,-0.62,-194.6,270.7,-18.4,211,1477,0.00,1.98,0.00,0.000,4,0.000,0.034,2586,3266,3637,0,0,0,0,0,0
$GC,1508,-0.62,-194.6,277.0,-16.6,214,1511,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1898,3637,0,0,0,0,0,0
$GC,1839,-0.62,-194.6,321.2,-11.2,245,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1899,3636,0,0,0,0,0,0
$GC,2162,-0.62,-194.6,356.6,-12.8,275,2166,0.00,2.00,0.00,0.000,4,0.000,0.028,2586,512,3635,0,0,0,0,0,0
$GC,2208,-0.62,-194.6,363.3,-13.5,279,2212,0.00,2.08,0.00,0.000,6,0.000,0.021,2585,1955,3635,0,0,0,0,0,0
$GC,2533,-0.62,-194.6,407.4,-13.4,309,2537,0.00,1.90,0.00,0.000,4,0.000,0.033,2584,3267,3634,0,0,0,0,0,0
$GC,2556,-0.62,-194.6,410.6,-13.0,311,2560,0.00,1.83,0.00,0.000,6,0.000,0.017,2584,1927,3634,0,0,0,0,0,0
$GC,2887,-0.62,-194.6,452.8,-11.9,342,2891,0.00,1.95,0.00,0.000,4,0.000,0.031,2578,3265,3632,0,0,0,0,0,0
$GC,2916,-0.62,-194.6,456.2,-12.0,344,2923,0.00,1.77,0.00,0.000,6,0.000,0.017,2578,1957,3632,0,0,0,0,0,0
$GC,3243,-0.62,-194.6,487.8,-7.4,375,3247,0.00,2.10,0.00,0.000,4,0.000,0.030,2578,514,3631,0,0,0,0,0,0
$GC,3311,-0.62,-194.6,492.9,-7.4,380,3318,0.00,2.10,0.00,0.000,6,0.000,0.021,2574,1980,3630,0,0,0,0,0,0
$GC,3631,-0.62,-194.6,517.2,-8.3,401,3635,0.00,1.90,0.00,0.000,4,0.000,0.034,2574,3256,3629,0,0,0,0,0,0
$GC,3792,-0.62,-194.6,530.4,-8.6,408,3796,0.00,1.67,0.00,0.000,6,0.000,0.019,2574,2020,3628,0,0,0,0,0,0
$GC,4126,-0.62,-194.6,567.2,-10.9,424,4130,0.00,2.20,0.00,0.000,4,0.000,0.028,2574,504,3626,0,0,0,0,0,0
$GC,4195,-0.62,-194.6,574.1,-9.4,427,4199,0.00,2.22,0.00,0.000,6,0.000,0.021,2574,2036,3626,0,0,0,0,0,0
$GC,4517,-0.62,-194.6,601.3,-8.2,443,4521,0.00,1.80,0.00,0.000,4,0.000,0.037,2574,3267,3623,0,0,0,0,0,0
$GC,4552,-0.62,-194.6,603.9,-7.8,444,4556,0.00,1.70,0.00,0.000,6,0.000,0.019,2574,2020,3623,0,0,0,0,0,0
$GC,4875,-0.62,-194.6,630.6,-8.9,460,4879,0.00,2.20,0.00,0.000,4,0.000,0.028,2574,507,3621,0,0,0,0,0,0
$GC,4908,-0.62,-194.6,634.0,-9.4,461,4915,0.00,2.20,0.00,0.000,6,0.000,0.021,2574,2034,3620,0,0,0,0,0,0
$GC,5224,-0.62,-194.6,667.6,-11.4,477,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2034,3618,0,0,0,0,0,0
$GC,5535,-0.62,-194.6,701.0,-10.5,492,5540,0.00,1.85,0.00,0.000,4,0.000,0.038,2574,3258,3617,0,0,0,0,0,0
$GC,5567,-0.62,-194.6,704.6,-10.3,493,5571,0.00,1.75,0.00,0.000,6,0.000,0.020,2574,2024,3616,0,0,0,0,0,0
$GC,5892,-0.62,-194.6,735.0,-9.2,509,5896,0.00,2.20,0.00,0.000,4,0.000,0.028,2574,517,3613,0,0,0,0,0,0
$GC,5920,-0.62,-194.6,738.0,-9.3,510,5924,0.00,2.20,0.00,0.000,6,0.000,0.023,2574,2031,3614,0,0,0,0,0,0
$GC,6237,-0.62,-194.6,766.0,-8.8,525,6240,0.00,1.83,0.00,0.000,4,0.000,0.038,2574,3266,3611,0,0,0,0,0,0
$GC,6288,-0.62,-194.6,770.2,-8.3,527,6292,0.00,1.67,0.00,0.000,6,0.000,0.019,2574,2046,3611,0,0,0,0,0,0
$GC,6618,-0.62,-194.6,795.1,-7.3,543,6622,0.00,2.25,0.00,0.000,4,0.000,0.028,2574,510,3608,0,0,0,0,0,0
$GC,6653,-0.62,-194.6,797.8,-7.1,544,6660,0.00,2.28,0.00,0.000,6,0.000,0.023,2574,2067,3608,0,0,0,0,0,0
$GC,6971,-0.62,-194.6,820.5,-7.1,560,6975,0.00,1.77,0.00,0.000,4,0.000,0.037,2574,3259,3606,0,0,0,0,0,0
$GC,7005,-0.62,-194.6,823.3,-7.2,561,7008,0.00,1.65,0.00,0.000,6,0.000,0.019,2574,2065,3606,0,0,0,0,0,0
$GC,7328,-0.62,-194.6,844.8,-6.6,577,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2063,3604,0,0,0,0,0,0
$GC,7636,-0.62,-194.6,864.0,-6.2,592,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2063,3602,0,0,0,0,0,0
$GC,7945,-0.62,-194.6,883.7,-6.5,607,7950,0.00,1.85,0.00,0.000,4,0.000,0.038,2574,3262,3600,0,0,0,0,0,0
$GC,7971,-0.62,-194.6,885.3,-6.4,608,7974,0.00,1.65,0.00,0.000,6,0.000,0.019,2574,2067,3600,0,0,0,0,0,0
$GC,8305,-0.62,-194.6,908.3,-7.4,624,8310,0.00,2.30,0.00,0.000,4,0.000,0.029,2574,504,3598,0,0,0,0,0,0
$GC,8369,-0.62,-194.6,913.9,-9.0,627,8373,0.00,2.33,0.00,0.000,6,0.000,0.023,2574,2076,3598,0,0,0,0,0,0
$GC,8699,-0.62,-194.6,943.3,-9.4,643,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2076,3597,0,0,0,0,0,0
$GC,9005,-0.62,-194.6,971.4,-9.1,658,9009,0.00,1.77,0.00,0.000,4,0.000,0.040,2574,3257,3595,0,0,0,0,0,0
$GC,9046,-0.62,-194.6,975.0,-8.9,659,9054,0.00,1.65,0.00,0.000,6,0.000,0.020,2574,2101,3595,0,0,0,0,0,0
$STATE,9236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9236,begin apogee
$GC,9241,-0.20,0.0,990.9,8.2,669,9405,0.47,0.00,155.45,1.388,4,0.116,0.000,2733,2097,2839,0,0,0,0,0,0
$STATE,9406,end apogee,CONTROL_FINISHED_OK
$STATE,9406,begin climb
$GC,9410,0.62,194.6,996.4,0.0,676,9587,0.80,2.22,169.38,1.334,4,0.082,0.041,3003,3459,2044,0,0,0,0,0,0
$GC,9725,0.62,194.6,959.6,15.1,691,9729,0.00,2.03,0.00,0.000,6,0.000,0.020,3012,2098,2036,0,0,0,0,0,0
$GC,10058,0.62,194.6,911.7,14.1,707,10062,0.00,2.12,0.00,0.000,4,0.000,0.037,3012,3466,2034,0,0,0,0,0,0
$GC,10264,0.62,194.6,882.2,13.7,716,10268,0.00,2.08,0.00,0.000,6,0.000,0.021,3021,2039,2032,0,0,0,0,0,0
$GC,10588,0.62,194.6,844.4,11.3,732,10592,0.00,2.00,0.00,0.000,4,0.000,0.033,3031,688,2031,0,0,0,0,0,0
$GC,10660,0.62,194.6,836.2,10.5,735,10665,0.08,1.98,0.00,0.000,6,0.133,0.024,3006,2011,2031,0,0,0,0,0,0
$GC,10988,0.66,229.8,807.7,8.5,751,11023,0.00,2.28,29.35,1.241,4,0.000,0.039,3006,3451,1901,0,0,0,0,0,0
$GC,11104,0.66,229.8,796.5,10.5,756,11108,0.00,2.08,0.00,0.000,6,0.000,0.020,3013,2029,1898,0,0,0,0,0,0
$GC,11425,0.66,229.8,761.9,11.5,772,11429,0.00,2.00,0.00,0.000,4,0.000,0.034,3022,687,1896,0,0,0,0,0,0
$GC,11499,0.66,229.8,753.1,11.8,775,11504,0.00,1.98,0.00,0.000,6,0.000,0.023,3022,2002,1896,0,0,0,0,0,0
$GC,11826,0.66,229.8,711.2,13.4,791,11830,0.00,2.20,0.00,0.000,4,0.000,0.037,3022,3459,1895,0,0,0,0,0,0
$GC,11877,0.66,229.8,704.0,14.0,793,11881,0.00,2.10,0.00,0.000,6,0.000,0.020,3031,2015,1895,0,0,0,0,0,0
$GC,12193,0.66,229.8,658.9,14.3,808,12197,0.00,1.98,0.00,0.000,4,0.000,0.034,3040,697,1894,0,0,0,0,0,0
$GC,12264,0.66,229.8,648.8,14.0,811,12268,0.00,1.90,0.00,0.000,6,0.000,0.022,3040,1976,1894,0,0,0,0,0,0
$GC,12593,0.66,229.8,605.5,12.7,827,12598,0.00,2.25,0.00,0.000,4,0.000,0.037,3040,3452,1894,0,0,0,0,0,0
$GC,12676,0.66,229.8,594.1,13.2,830,12684,0.12,2.12,0.00,0.000,6,0.170,0.021,3015,1995,1893,0,0,0,0,0,0
$GC,12995,0.66,229.8,562.6,9.9,846,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1995,1893,0,0,0,0,0,0
$GC,13302,0.66,229.8,529.9,10.9,861,13306,0.00,1.95,0.00,0.000,4,0.000,0.033,3024,688,1893,0,0,0,0,0,0
$GC,13436,0.66,229.8,514.4,11.3,867,13440,0.00,1.92,0.00,0.000,6,0.000,0.021,3024,2008,1893,0,0,0,0,0,0
$GC,13768,0.68,240.8,481.0,9.3,891,13784,0.00,2.22,9.90,0.924,4,0.000,0.037,3024,3451,1857,0,0,0,0,0,0
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$STATE,17882,end climb,SURFACE_DEPTH_REACHED
$STATE,17882,begin surface coast
$FINISH,0.9,1.008432
$STATE,17915,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,85
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$10V_AH,9.8,51.308
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$FG_AHR_10Vo,0.000
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$MEM,329648
$DATA_FILE_SIZE,80170,1385
$CAP_FILE_SIZE,198717,0
$CFSIZE,260165632,111644672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,258.0,1
$GPS,180811,062107,1937.608,12419.884,26,1.7,27,-2.4