version: 66.09
glider: 167
mission: 8
dive: 375
start: 9 1 111 7 27 13
data:
$ID,167
$MISSION,8
$DIVE,375
$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,-3
$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,-58678.332
$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,73
$R_STBD_OVSHOOT,51
$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
$GPS1,010911,071854,1757.109,12401.858,25,0.9,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-70.0
$GPS2,010911,072650,1757.065,12401.885,13,1.2,13,-2.0
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,299.2,195937,-15.3,-9.706
$D_GRID,4725
$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,-194.6,0.0,0.0,0,113,0.00,0.00,-88.82,0.000,2,0.000,0.000,111,1829,3263,0,0,0,0,0,0
$GC,115,-0.62,-194.6,6.5,-11.5,13,138,10.27,2.03,-5.80,0.000,4,0.235,0.041,2601,480,3635,0,0,0,0,0,0
$GC,184,-0.62,-194.6,38.3,-33.7,24,193,0.00,2.08,0.00,0.000,6,0.000,0.022,2594,1885,3637,0,0,0,0,0,0
$GC,327,-0.62,-194.6,76.1,-22.3,49,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1886,3638,0,0,0,0,0,0
$GC,468,-0.62,-194.6,105.5,-19.3,74,475,0.00,2.08,0.00,0.000,4,0.000,0.033,2587,3269,3638,0,0,0,0,0,0
$GC,550,-0.62,-194.6,119.6,-16.5,88,559,0.00,2.10,0.00,0.000,6,0.000,0.018,2587,1802,3637,0,0,0,0,0,0
$GC,693,-0.62,-194.6,144.7,-18.5,113,700,0.00,1.90,0.00,0.000,4,0.000,0.029,2587,487,3638,0,0,0,0,0,0
$GC,718,-0.62,-194.6,149.5,-18.4,117,724,0.00,1.90,0.00,0.000,6,0.000,0.021,2581,1814,3639,0,0,0,0,0,0
$GC,858,-0.62,-194.6,176.5,-19.4,142,867,0.00,2.17,0.00,0.000,4,0.000,0.033,2574,3266,3639,0,0,0,0,0,0
$GC,903,-0.62,-194.6,184.3,-17.0,149,909,0.00,2.05,0.00,0.000,6,0.000,0.018,2574,1816,3639,0,0,0,0,0,0
$GC,1043,-0.62,-194.6,208.3,-17.5,170,1047,0.00,2.17,0.00,0.000,4,0.000,0.033,2574,3274,3639,0,0,0,0,0,0
$GC,1109,-0.62,-194.6,219.7,-16.3,175,1117,0.00,1.90,0.00,0.000,6,0.000,0.018,2574,1939,3639,0,0,0,0,0,0
$GC,1434,-0.62,-194.6,269.9,-14.9,206,1438,0.00,2.10,0.00,0.000,4,0.000,0.029,2573,490,3638,0,0,0,0,0,0
$GC,1534,-0.62,-194.6,284.5,-14.2,214,1541,0.00,2.05,0.00,0.000,6,0.000,0.021,2573,1910,3638,0,0,0,0,0,0
$GC,1861,-0.62,-194.6,331.6,-13.4,245,1865,0.00,2.00,0.00,0.000,4,0.000,0.034,2573,3268,3638,0,0,0,0,0,0
$GC,1941,-0.62,-194.6,341.4,-12.5,252,1945,0.00,1.83,0.00,0.000,6,0.000,0.018,2573,1961,3637,0,0,0,0,0,0
$GC,2271,-0.62,-194.6,381.1,-11.5,283,2276,0.00,2.17,0.00,0.000,4,0.000,0.030,2573,487,3635,0,0,0,0,0,0
$GC,2365,-0.62,-194.6,392.0,-11.5,291,2373,0.00,2.17,0.00,0.000,6,0.000,0.021,2573,1993,3635,0,0,0,0,0,0
$GC,2691,-0.62,-194.6,431.2,-12.6,322,2695,0.00,2.22,0.00,0.000,4,0.000,0.029,2573,481,3633,0,0,0,0,0,0
$GC,2723,-0.62,-194.6,435.6,-12.8,324,2730,0.00,2.20,0.00,0.000,6,0.000,0.021,2573,2005,3633,0,0,0,0,0,0
$GC,3051,-0.62,-194.6,471.9,-9.9,355,3055,0.00,1.88,0.00,0.000,4,0.000,0.035,2573,3272,3631,0,0,0,0,0,0
$GC,3136,-0.62,-194.6,480.8,-10.5,362,3143,0.00,1.80,0.00,0.000,6,0.000,0.018,2573,1975,3630,0,0,0,0,0,0
$GC,3469,-0.62,-194.6,514.4,-9.9,387,3473,0.00,2.17,0.00,0.000,4,0.000,0.030,2573,488,3628,0,0,0,0,0,0
$GC,3560,-0.62,-194.6,524.2,-10.2,391,3564,0.00,2.17,0.00,0.000,6,0.000,0.021,2571,1981,3627,0,0,0,0,0,0
$GC,3882,-0.62,-194.6,554.7,-9.1,407,3886,0.00,1.92,0.00,0.000,4,0.000,0.037,2570,3271,3625,0,0,0,0,0,0
$GC,3923,-0.62,-194.6,558.3,-8.9,408,3930,0.00,1.85,0.00,0.000,6,0.000,0.018,2570,1953,3624,0,0,0,0,0,0
$GC,4240,-0.62,-194.6,586.6,-8.8,424,4244,0.00,2.15,0.00,0.000,4,0.000,0.029,2570,485,3622,0,0,0,0,0,0
$GC,4312,-0.62,-194.6,593.7,-9.3,427,4317,0.12,2.15,0.00,0.000,6,0.162,0.021,2602,1959,3622,0,0,0,0,0,0
$GC,4630,-0.62,-194.6,613.1,-5.9,442,4634,0.00,1.92,0.00,0.000,4,0.000,0.037,2602,3267,3619,0,0,0,0,0,0
$GC,4777,-0.62,-194.6,622.4,-6.5,448,4781,0.00,1.83,0.00,0.000,6,0.000,0.019,2602,1985,3619,0,0,0,0,0,0
$GC,5100,-0.62,-194.6,644.8,-7.4,464,5104,0.00,2.20,0.00,0.000,4,0.000,0.030,2602,491,3616,0,0,0,0,0,0
$GC,5186,-0.62,-194.6,652.1,-8.4,468,5190,0.00,2.20,0.00,0.000,6,0.000,0.022,2602,1990,3616,0,0,0,0,0,0
$GC,5516,-0.62,-194.6,675.8,-6.9,484,5521,0.00,1.92,0.00,0.000,4,0.000,0.038,2602,3259,3613,0,0,0,0,0,0
$GC,5543,-0.62,-194.6,678.1,-6.8,485,5547,0.00,1.85,0.00,0.000,6,0.000,0.020,2602,1960,3613,0,0,0,0,0,0
$GC,5871,-0.62,-194.6,701.5,-7.1,501,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1959,3610,0,0,0,0,0,0
$GC,6182,-0.62,-194.6,721.4,-6.2,516,6186,0.00,2.17,0.00,0.000,4,0.000,0.031,2602,491,3607,0,0,0,0,0,0
$GC,6209,-0.62,-194.6,723.4,-6.2,517,6213,0.00,2.20,0.00,0.000,6,0.000,0.023,2602,1983,3607,0,0,0,0,0,0
$GC,6527,-0.62,-194.6,743.8,-6.5,532,6531,0.00,1.95,0.00,0.000,4,0.000,0.039,2602,3274,3606,0,0,0,0,0,0
$GC,6573,-0.62,-194.6,746.8,-6.6,534,6577,0.00,1.85,0.00,0.000,6,0.000,0.021,2602,1981,3605,0,0,0,0,0,0
$GC,6907,-0.62,-194.6,768.3,-6.7,550,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1981,3603,0,0,0,0,0,0
$GC,7218,-0.62,-194.6,790.8,-7.7,565,7222,0.00,2.20,0.00,0.000,4,0.000,0.031,2602,492,3601,0,0,0,0,0,0
$GC,7251,-0.62,-194.6,794.0,-7.6,566,7258,0.00,2.20,0.00,0.000,6,0.000,0.024,2602,1978,3602,0,0,0,0,0,0
$GC,7567,-0.62,-194.6,817.4,-7.0,582,7571,0.00,1.95,0.00,0.000,4,0.000,0.039,2602,3266,3599,0,0,0,0,0,0
$GC,7642,-0.62,-194.6,822.3,-6.5,585,7646,0.00,1.83,0.00,0.000,6,0.000,0.020,2602,1984,3599,0,0,0,0,0,0
$GC,7969,-0.62,-194.6,840.8,-5.2,601,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1984,3598,0,0,0,0,0,0
$GC,8281,-0.62,-194.6,856.1,-5.1,616,8285,0.00,1.98,0.00,0.000,4,0.000,0.039,2602,3259,3597,0,0,0,0,0,0
$GC,8308,-0.62,-194.6,857.7,-5.1,617,8311,0.00,1.80,0.00,0.000,6,0.000,0.021,2602,2003,3597,0,0,0,0,0,0
$GC,8636,-0.62,-194.6,874.5,-5.1,633,8640,0.00,2.25,0.00,0.000,4,0.000,0.032,2602,492,3595,0,0,0,0,0,0
$GC,8665,-0.62,-194.6,876.3,-5.1,634,8670,0.00,2.28,0.00,0.000,6,0.000,0.024,2602,2006,3595,0,0,0,0,0,0
$GC,8987,-0.62,-194.6,891.3,-4.5,650,8990,0.00,1.90,0.00,0.000,4,0.000,0.041,2602,3268,3594,0,0,0,0,0,0
$GC,9057,-0.62,-194.6,894.2,-4.4,653,9061,0.00,1.80,0.00,0.000,6,0.000,0.021,2602,1997,3594,0,0,0,0,0,0
$GC,9391,-0.62,-194.6,908.1,-4.4,669,9396,0.00,2.25,0.00,0.000,4,0.000,0.031,2602,484,3592,0,0,0,0,0,0
$GC,9413,-0.62,-194.6,909.4,-4.5,670,9417,0.00,2.30,0.00,0.000,6,0.000,0.024,2602,2033,3592,0,0,0,0,0,0
$GC,9737,-0.62,-194.6,925.7,-5.4,686,9741,0.00,1.85,0.00,0.000,4,0.000,0.041,2602,3263,3591,0,0,0,0,0,0
$GC,9810,-0.62,-194.6,930.2,-6.0,689,9813,0.00,1.75,0.00,0.000,6,0.000,0.021,2602,2033,3591,0,0,0,0,0,0
$GC,10139,-0.62,-194.6,952.9,-7.4,705,10144,0.00,2.33,0.00,0.000,4,0.000,0.032,2602,494,3590,0,0,0,0,0,0
$GC,10276,-0.62,-194.6,963.1,-7.2,711,10281,0.00,2.60,0.00,0.000,6,0.000,0.022,2602,2225,3589,0,0,0,0,0,0
$GC,10611,-0.62,-194.6,985.9,-6.4,727,10614,0.00,1.60,0.00,0.000,4,0.000,0.041,2602,3267,3589,0,0,0,0,0,0
$STATE,10677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10677,begin apogee
$GC,10685,-0.20,0.0,990.0,5.9,730,10850,0.38,0.00,159.80,1.393,4,0.109,0.000,2732,2044,2839,0,0,0,0,0,0
$STATE,10851,end apogee,CONTROL_FINISHED_OK
$STATE,10851,begin climb
$GC,10853,0.62,194.6,996.5,0.0,737,11035,0.80,2.12,174.05,1.338,4,0.071,0.031,3004,704,2045,0,0,0,0,0,0
$GC,11194,0.62,194.6,959.4,13.0,753,11198,0.00,2.08,0.00,0.000,6,0.000,0.024,3004,2070,2036,0,0,0,0,0,0
$GC,11523,0.62,194.6,916.1,13.4,769,11527,0.00,2.15,0.00,0.000,4,0.000,0.038,3003,3474,2030,0,0,0,0,0,0
$GC,11778,0.62,194.6,878.4,14.3,780,11787,0.00,2.08,0.00,0.000,6,0.000,0.021,3011,2076,2029,0,0,0,0,0,0
$GC,12097,0.62,194.6,836.8,13.2,796,12100,0.00,2.05,0.00,0.000,4,0.000,0.034,3022,691,2027,0,0,0,0,0,0
$GC,12174,0.62,194.6,826.3,13.0,799,12178,0.00,2.00,0.00,0.000,6,0.000,0.024,3022,2036,2027,0,0,0,0,0,0
$GC,12497,0.62,194.6,784.6,13.1,815,12501,0.00,2.17,0.00,0.000,4,0.000,0.039,3022,3466,2027,0,0,0,0,0,0
$GC,12538,0.62,194.6,778.6,14.5,817,12542,0.12,2.12,0.00,0.000,6,0.164,0.021,2999,2014,2027,0,0,0,0,0,0
$GC,12866,0.62,194.6,740.6,11.2,833,12869,0.00,2.00,0.00,0.000,4,0.000,0.034,3007,680,2026,0,0,0,0,0,0
$GC,12959,0.62,194.6,730.0,11.4,837,12963,0.00,1.92,0.00,0.000,6,0.000,0.023,3007,1982,2027,0,0,0,0,0,0
$GC,13293,0.62,194.6,690.4,11.5,853,13297,0.00,2.28,0.00,0.000,4,0.000,0.038,3007,3462,2026,0,0,0,0,0,0
$GC,13344,0.62,194.6,684.2,12.5,855,13348,0.00,2.17,0.00,0.000,6,0.000,0.021,3016,1981,2026,0,0,0,0,0,0
$GC,13666,0.62,194.6,647.2,11.3,871,13670,0.00,1.92,0.00,0.000,4,0.000,0.034,3025,686,2026,0,0,0,0,0,0
$GC,13712,0.62,194.6,642.0,11.3,873,13716,0.00,1.92,0.00,0.000,6,0.000,0.024,3025,1993,2025,0,0,0,0,0,0
$GC,14048,0.62,194.6,603.3,11.8,889,14052,0.00,1.98,0.00,0.000,4,0.000,0.032,3033,683,2025,0,0,0,0,0,0
$GC,14071,0.62,194.6,600.4,11.8,890,14077,0.08,1.90,0.00,0.000,6,0.132,0.023,3007,1965,2025,0,0,0,0,0,0
$GC,14406,0.62,194.6,564.2,10.8,906,14410,0.00,2.28,0.00,0.000,4,0.000,0.038,3007,3462,2025,0,0,0,0,0,0
$GC,14515,0.62,194.6,550.4,12.7,911,14519,0.00,2.12,0.00,0.000,6,0.000,0.021,3015,2010,2025,0,0,0,0,0,0
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$STATE,19861,end climb,SURFACE_DEPTH_REACHED
$STATE,19861,begin surface coast
$FINISH,0.9,1.011017
$STATE,19886,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.028462,0.028462
$HUMID,37.87
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.30
$XPDR_PINGS,50
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$10V_AH,9.7,59.835
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330276
$DATA_FILE_SIZE,86732,1521
$CAP_FILE_SIZE,212872,0
$CFSIZE,260165632,105607168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,225.1,1
$GPS,010911,130107,1757.632,12358.811,29,1.5,29,-2.0