version: 66.09
glider: 167
mission: 8
dive: 315
start: 8 18 111 6 33 18
data:
$ID,167
$MISSION,8
$DIVE,315
$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,-56787.164
$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,66
$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
$GPS1,180811,062107,1937.608,12419.884,26,1.7,27,-2.4
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.3
$GPS2,180811,063255,1937.668,12419.700,41,1.7,41,-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,161.0,201217,-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,-194.6,0.0,0.0,0,101,0.00,0.00,-79.93,0.000,2,0.000,0.000,111,1831,2852,0,0,0,0,0,0
$GC,105,-0.62,-194.6,5.0,-8.3,11,139,10.00,2.00,-13.65,0.000,4,0.230,0.041,2589,484,3637,0,0,0,0,0,0
$GC,213,-0.62,-194.6,39.2,-21.7,28,221,0.00,2.03,0.00,0.000,6,0.000,0.021,2582,1871,3638,0,0,0,0,0,0
$GC,290,-0.62,-194.6,56.7,-24.2,41,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1872,3638,0,0,0,0,0,0
$GC,368,-0.62,-194.6,72.2,-19.4,54,375,0.00,2.08,0.00,0.000,4,0.000,0.033,2571,3283,3639,0,0,0,0,0,0
$GC,453,-0.62,-194.6,89.2,-19.7,69,462,0.00,2.10,0.00,0.000,6,0.000,0.017,2570,1811,3639,0,0,0,0,0,0
$GC,532,-0.62,-194.6,104.7,-21.1,82,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1811,3639,0,0,0,0,0,0
$GC,608,-0.62,-194.6,120.2,-19.7,95,616,0.00,1.95,0.00,0.000,4,0.000,0.028,2570,474,3640,0,0,0,0,0,0
$GC,653,-0.62,-194.6,129.1,-19.7,102,663,0.10,1.98,0.00,0.000,6,0.143,0.019,2594,1843,3640,0,0,0,0,0,0
$GC,735,-0.62,-194.6,143.6,-17.4,115,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1843,3640,0,0,0,0,0,0
$GC,813,-0.62,-194.6,157.2,-17.4,128,821,0.00,2.10,0.00,0.000,4,0.000,0.032,2587,3256,3640,0,0,0,0,0,0
$GC,841,-0.62,-194.6,162.3,-17.0,132,849,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1846,3640,0,0,0,0,0,0
$GC,918,-0.62,-194.6,175.6,-18.3,145,928,0.00,1.98,0.00,0.000,4,0.000,0.028,2587,490,3640,0,0,0,0,0,0
$GC,936,-0.62,-194.6,179.2,-18.2,147,945,0.00,1.98,0.00,0.000,6,0.000,0.020,2580,1860,3640,0,0,0,0,0,0
$GC,1013,-0.62,-194.6,193.0,-18.4,160,1021,0.00,2.10,0.00,0.000,4,0.000,0.033,2570,3256,3640,0,0,0,0,0,0
$GC,1046,-0.62,-194.6,199.1,-18.1,165,1056,0.08,1.90,0.00,0.000,6,0.149,0.018,2594,1897,3639,0,0,0,0,0,0
$GC,1118,-0.62,-194.6,211.3,-16.9,172,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1897,3639,0,0,0,0,0,0
$GC,1439,-0.62,-194.6,259.3,-14.2,202,1442,0.00,2.00,0.00,0.000,4,0.000,0.028,2594,508,3638,0,0,0,0,0,0
$GC,1506,-0.62,-194.6,269.7,-14.8,208,1511,0.00,2.05,0.00,0.000,6,0.000,0.021,2588,1919,3638,0,0,0,0,0,0
$GC,1837,-0.62,-194.6,321.3,-14.5,239,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1920,3637,0,0,0,0,0,0
$GC,2158,-0.62,-194.6,367.8,-15.3,269,2162,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3272,3636,0,0,0,0,0,0
$GC,2210,-0.62,-194.6,375.0,-12.8,273,2218,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1907,3636,0,0,0,0,0,0
$GC,2535,-0.62,-194.6,420.8,-13.1,304,2539,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3271,3635,0,0,0,0,0,0
$GC,2573,-0.62,-194.6,425.7,-12.2,307,2580,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1921,3634,0,0,0,0,0,0
$GC,2901,-0.62,-194.6,457.8,-8.2,338,2905,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,505,3633,0,0,0,0,0,0
$GC,2930,-0.62,-194.6,460.4,-8.1,340,2936,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1943,3633,0,0,0,0,0,0
$GC,3255,-0.62,-194.6,496.1,-13.1,371,3259,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3275,3631,0,0,0,0,0,0
$GC,3339,-0.62,-194.6,505.8,-10.7,376,3346,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1970,3630,0,0,0,0,0,0
$GC,3655,-0.62,-194.6,540.2,-9.9,392,3660,0.00,2.15,0.00,0.000,4,0.000,0.029,2587,508,3629,0,0,0,0,0,0
$GC,3724,-0.62,-194.6,545.8,-7.7,395,3728,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1960,3628,0,0,0,0,0,0
$GC,4058,-0.62,-194.6,571.8,-8.2,411,4062,0.00,1.95,0.00,0.000,4,0.000,0.036,2587,3265,3626,0,0,0,0,0,0
$GC,4207,-0.62,-194.6,583.7,-8.0,417,4211,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1973,3625,0,0,0,0,0,0
$GC,4529,-0.62,-194.6,610.8,-8.4,433,4534,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,514,3622,0,0,0,0,0,0
$GC,4562,-0.62,-194.6,613.6,-8.4,434,4566,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1988,3622,0,0,0,0,0,0
$GC,4880,-0.62,-194.6,634.9,-6.4,449,4884,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3262,3620,0,0,0,0,0,0
$GC,4912,-0.62,-194.6,637.0,-6.4,450,4915,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2019,3620,0,0,0,0,0,0
$GC,5237,-0.62,-194.6,656.8,-6.7,466,5241,0.00,2.20,0.00,0.000,4,0.000,0.029,2587,513,3618,0,0,0,0,0,0
$GC,5314,-0.62,-194.6,663.5,-8.1,469,5323,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1984,3617,0,0,0,0,0,0
$GC,5630,-0.62,-194.6,692.5,-9.8,485,5634,0.00,1.90,0.00,0.000,4,0.000,0.037,2587,3271,3615,0,0,0,0,0,0
$GC,5682,-0.62,-194.6,697.4,-9.4,487,5686,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,2001,3615,0,0,0,0,0,0
$GC,6010,-0.62,-194.6,727.7,-9.1,503,6014,0.00,2.17,0.00,0.000,4,0.000,0.030,2587,515,3612,0,0,0,0,0,0
$GC,6082,-0.62,-194.6,734.8,-9.4,506,6086,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1970,3612,0,0,0,0,0,0
$GC,6400,-0.62,-194.6,762.5,-8.7,521,6404,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3267,3610,0,0,0,0,0,0
$GC,6450,-0.62,-194.6,767.1,-8.3,523,6454,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1987,3609,0,0,0,0,0,0
$GC,6780,-0.62,-194.6,795.3,-8.9,539,6784,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,513,3607,0,0,0,0,0,0
$GC,6865,-0.62,-194.6,803.2,-8.9,543,6869,0.00,2.08,0.00,0.000,6,0.000,0.024,2587,1943,3606,0,0,0,0,0,0
$GC,7194,-0.62,-194.6,829.3,-7.7,559,7198,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3267,3604,0,0,0,0,0,0
$GC,7256,-0.62,-194.6,833.9,-7.1,561,7264,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1980,3604,0,0,0,0,0,0
$GC,7572,-0.62,-194.6,854.2,-6.1,577,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1980,3602,0,0,0,0,0,0
$GC,7883,-0.62,-194.6,872.9,-6.1,592,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1980,3600,0,0,0,0,0,0
$GC,8191,-0.62,-194.6,892.5,-6.5,607,8195,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,512,3599,0,0,0,0,0,0
$GC,8223,-0.62,-194.6,894.9,-6.6,608,8227,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1968,3599,0,0,0,0,0,0
$GC,8541,-0.62,-194.6,916.0,-6.8,623,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1968,3598,0,0,0,0,0,0
$GC,8849,-0.62,-194.6,937.3,-6.7,638,8854,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3256,3596,0,0,0,0,0,0
$GC,8902,-0.62,-194.6,940.8,-6.7,640,8905,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1984,3596,0,0,0,0,0,0
$GC,9229,-0.62,-194.6,962.6,-6.7,656,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1983,3594,0,0,0,0,0,0
$GC,9538,-0.62,-194.6,983.6,-6.8,671,9542,0.00,2.17,0.00,0.000,4,0.000,0.033,2587,521,3593,0,0,0,0,0,0
$GC,9568,-0.62,-194.6,985.9,-7.0,672,9571,0.00,2.10,0.00,0.000,6,0.000,0.026,2587,1939,3593,0,0,0,0,0,0
$STATE,9639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9639,begin apogee
$GC,9646,-0.20,0.0,991.1,6.9,676,9808,0.43,0.00,155.85,1.392,4,0.116,0.000,2730,2079,2838,0,0,0,0,0,0
$STATE,9809,end apogee,CONTROL_FINISHED_OK
$STATE,9809,begin climb
$GC,9812,0.62,194.6,996.6,0.0,683,9989,0.75,0.00,169.80,1.339,6,0.078,0.000,2994,2078,2044,0,0,0,0,0,0
$GC,10303,0.62,194.6,946.9,11.7,707,10306,0.00,2.05,0.00,0.000,4,0.000,0.031,3002,720,2034,0,0,0,0,0,0
$GC,10335,0.62,194.6,942.3,11.4,708,10341,0.00,2.10,0.00,0.000,6,0.000,0.025,3003,2096,2034,0,0,0,0,0,0
$GC,10659,0.62,194.6,904.6,11.9,724,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2096,2032,0,0,0,0,0,0
$GC,10966,0.62,194.6,866.9,12.3,739,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2096,2031,0,0,0,0,0,0
$GC,11275,0.62,194.6,825.3,14.1,754,11279,0.00,2.10,0.00,0.000,4,0.000,0.040,3003,3479,2030,0,0,0,0,0,0
$GC,11341,0.62,194.6,815.3,16.2,757,11345,0.00,2.00,0.00,0.000,6,0.000,0.021,3010,2089,2029,0,0,0,0,0,0
$GC,11675,0.62,194.6,764.8,14.6,773,11678,0.00,2.08,0.00,0.000,4,0.000,0.034,3021,694,2029,0,0,0,0,0,0
$GC,11759,0.62,194.6,752.8,13.6,776,11767,0.00,2.03,0.00,0.000,6,0.000,0.024,3021,2058,2029,0,0,0,0,0,0
$GC,12075,0.62,194.6,711.0,12.6,792,12080,0.00,2.17,0.00,0.000,4,0.000,0.040,3020,3468,2029,0,0,0,0,0,0
$GC,12125,0.62,194.6,704.2,13.6,794,12129,0.00,2.08,0.00,0.000,6,0.000,0.021,3030,2046,2028,0,0,0,0,0,0
$GC,12449,0.62,194.6,665.0,11.5,810,12452,0.00,2.03,0.00,0.000,4,0.000,0.033,3041,680,2028,0,0,0,0,0,0
$GC,12566,0.62,194.6,651.3,11.0,815,12570,0.15,2.00,0.00,0.000,6,0.143,0.024,2998,2058,2027,0,0,0,0,0,0
$GC,12896,0.68,238.7,622.4,8.2,831,12939,0.00,0.00,36.38,1.139,6,0.000,0.000,2998,2058,1864,0,0,0,0,0,0
$GC,13248,0.71,265.5,591.4,8.8,848,13279,0.00,2.15,23.55,1.087,4,0.000,0.032,3006,690,1755,0,0,0,0,0,0
$GC,13307,0.76,304.1,586.1,8.4,850,13348,0.10,1.95,34.12,1.081,6,0.106,0.022,3049,1992,1598,0,0,0,0,0,0
$GC,13665,0.76,304.1,543.3,12.2,868,13669,0.00,2.25,0.00,0.000,4,0.000,0.040,3049,3461,1590,0,0,0,0,0,0
$GC,13752,0.76,304.1,531.5,13.2,872,13756,0.00,2.10,0.00,0.000,6,0.000,0.021,3059,2019,1588,0,0,0,0,0,0
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$STATE,18365,end climb,SURFACE_DEPTH_REACHED
$STATE,18365,begin surface coast
$FINISH,2.0,1.021354
$STATE,18372,end surface coast,CONTROL_FINISHED_OK
$STATE,18372,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,37.12
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.30
$XPDR_PINGS,62
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$10V_AH,9.8,51.468
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,960.457,1111.826,1359.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329648
$DATA_FILE_SIZE,83556,1419
$CAP_FILE_SIZE,206725,0
$CFSIZE,260165632,111538176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,297.2,1
$GPS,180811,114207,1935.542,12419.477,36,1.1,37,-2.4