version: 66.09
glider: 167
mission: 8
dive: 404
start: 9 8 111 14 58 58
data:
$ID,167
$MISSION,8
$DIVE,404
$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,-5
$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,576.20972
$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,-84882.758
$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,44
$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
$GPS1,060911,120429,1814.584,12250.390,901,99.0,901,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.0
$GPS2,060911,120429,1814.584,12250.390,901,99.0,901,-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,298.8,67411,-15.3,-9.706
$D_GRID,3745
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,111,0.00,0.00,-89.35,0.000,2,0.000,0.000,111,1890,2992,0,0,0,0,0,0
$GC,114,-0.62,-194.6,5.4,-10.0,13,144,10.07,2.08,-10.75,0.000,4,0.227,0.039,2582,3288,3636,0,0,0,0,0,0
$GC,257,-0.62,-194.6,51.8,-24.8,37,264,0.00,2.03,0.00,0.000,6,0.000,0.018,2581,1852,3636,0,0,0,0,0,0
$GC,399,-0.62,-194.6,86.6,-23.1,62,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1852,3637,0,0,0,0,0,0
$GC,539,-0.62,-194.6,114.6,-19.6,87,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1852,3637,0,0,0,0,0,0
$GC,680,-0.62,-194.6,142.0,-17.3,112,688,0.00,2.15,0.00,0.000,4,0.000,0.030,2573,3292,3637,0,0,0,0,0,0
$GC,703,-0.62,-194.6,145.4,-16.4,115,710,0.00,1.98,0.00,0.000,6,0.000,0.017,2573,1877,3637,0,0,0,0,0,0
$GC,845,-0.62,-194.6,167.5,-16.4,140,853,0.00,2.00,0.00,0.000,4,0.000,0.028,2573,505,3637,0,0,0,0,0,0
$GC,893,-0.62,-194.6,176.0,-16.6,148,903,0.08,1.98,0.00,0.000,6,0.141,0.021,2592,1874,3637,0,0,0,0,0,0
$GC,1039,-0.62,-194.6,195.7,-14.5,173,1046,0.00,2.08,0.00,0.000,4,0.000,0.033,2587,3285,3637,0,0,0,0,0,0
$GC,1074,-0.62,-194.6,201.3,-14.0,179,1078,0.00,2.05,0.00,0.000,6,0.000,0.017,2587,1828,3637,0,0,0,0,0,0
$GC,1405,-0.62,-194.6,241.5,-12.0,210,1409,0.00,1.92,0.00,0.000,4,0.000,0.029,2587,485,3635,0,0,0,0,0,0
$GC,1463,-0.62,-194.6,248.6,-12.5,215,1466,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1850,3635,0,0,0,0,0,0
$GC,1794,-0.62,-194.6,283.1,-9.1,246,1797,0.00,2.05,0.00,0.000,4,0.000,0.033,2587,3256,3633,0,0,0,0,0,0
$GC,1912,-0.62,-194.6,294.6,-10.2,256,1919,0.00,1.90,0.00,0.000,6,0.000,0.017,2587,1900,3633,0,0,0,0,0,0
$GC,2237,-0.62,-194.6,331.5,-10.2,287,2241,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,502,3630,0,0,0,0,0,0
$GC,2295,-0.62,-194.6,337.3,-10.1,292,2300,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1878,3630,0,0,0,0,0,0
$GC,2626,-0.62,-194.6,364.7,-8.0,323,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1878,3627,0,0,0,0,0,0
$GC,2946,-0.62,-194.6,393.4,-9.3,353,2949,0.00,2.03,0.00,0.000,4,0.000,0.034,2587,3261,3624,0,0,0,0,0,0
$GC,2986,-0.62,-194.6,397.2,-9.0,356,2994,0.00,2.03,0.00,0.000,6,0.000,0.018,2587,1844,3624,0,0,0,0,0,0
$GC,3312,-0.62,-194.6,428.3,-9.1,387,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1844,3621,0,0,0,0,0,0
$GC,3633,-0.62,-194.6,450.7,-6.4,417,3637,0.00,2.10,0.00,0.000,4,0.000,0.034,2587,3262,3618,0,0,0,0,0,0
$GC,3766,-0.62,-194.6,459.8,-7.1,428,3770,0.00,2.03,0.00,0.000,6,0.000,0.019,2587,1837,3617,0,0,0,0,0,0
$GC,4098,-0.62,-194.6,488.9,-9.3,459,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1836,3614,0,0,0,0,0,0
$GC,4410,-0.62,-194.6,515.3,-7.8,480,4414,0.00,2.17,0.00,0.000,4,0.000,0.035,2587,3260,3611,0,0,0,0,0,0
$GC,4472,-0.62,-194.6,519.6,-6.8,482,4479,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1861,3610,0,0,0,0,0,0
$GC,4789,-0.62,-194.6,539.0,-6.0,498,4792,0.00,2.00,0.00,0.000,4,0.000,0.031,2587,498,3608,0,0,0,0,0,0
$GC,4859,-0.62,-194.6,543.0,-5.9,501,4863,0.00,1.95,0.00,0.000,6,0.000,0.022,2587,1844,3608,0,0,0,0,0,0
$GC,5192,-0.62,-194.6,567.2,-7.8,517,5196,0.00,2.15,0.00,0.000,4,0.000,0.037,2587,3259,3604,0,0,0,0,0,0
$GC,5268,-0.62,-194.6,575.0,-9.9,520,5273,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1848,3604,0,0,0,0,0,0
$GC,5594,-0.62,-194.6,602.9,-7.9,536,5598,0.00,2.00,0.00,0.000,4,0.000,0.032,2587,491,3602,0,0,0,0,0,0
$GC,5663,-0.62,-194.6,608.7,-8.2,539,5667,0.00,1.95,0.00,0.000,6,0.000,0.022,2587,1835,3602,0,0,0,0,0,0
$GC,5998,-0.62,-194.6,634.7,-6.9,555,6002,0.00,2.15,0.00,0.000,4,0.000,0.037,2587,3264,3599,0,0,0,0,0,0
$GC,6025,-0.62,-194.6,636.9,-7.0,556,6029,0.00,2.10,0.00,0.000,6,0.000,0.020,2587,1808,3599,0,0,0,0,0,0
$GC,6350,-0.62,-194.6,662.6,-8.2,572,6354,0.00,2.22,0.00,0.000,4,0.000,0.034,2587,3271,3597,0,0,0,0,0,0
$GC,6405,-0.62,-194.6,667.6,-8.3,574,6413,0.00,2.10,0.00,0.000,6,0.000,0.020,2587,1830,3596,0,0,0,0,0,0
$GC,6722,-0.62,-194.6,691.0,-6.9,590,6726,0.00,2.17,0.00,0.000,4,0.000,0.035,2587,3264,3594,0,0,0,0,0,0
$GC,6779,-0.62,-194.6,694.8,-6.5,592,6786,0.00,2.03,0.00,0.000,6,0.000,0.020,2587,1852,3595,0,0,0,0,0,0
$GC,7096,-0.62,-194.6,714.9,-6.6,608,7101,0.00,2.15,0.00,0.000,4,0.000,0.035,2587,3255,3593,0,0,0,0,0,0
$GC,7134,-0.62,-194.6,717.7,-6.7,609,7141,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1883,3593,0,0,0,0,0,0
$GC,7452,-0.62,-194.6,739.2,-6.5,625,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1882,3591,0,0,0,0,0,0
$GC,7760,-0.62,-194.6,759.6,-6.6,640,7764,0.00,2.10,0.00,0.000,4,0.000,0.037,2587,3262,3590,0,0,0,0,0,0
$GC,7789,-0.62,-194.6,761.6,-6.8,641,7793,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1872,3589,0,0,0,0,0,0
$GC,8112,-0.62,-194.6,785.5,-7.5,657,8116,0.00,2.12,0.00,0.000,4,0.000,0.036,2587,3266,3588,0,0,0,0,0,0
$GC,8168,-0.62,-194.6,790.0,-7.6,659,8176,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1892,3587,0,0,0,0,0,0
$GC,8486,-0.62,-194.6,816.1,-8.5,675,8490,0.00,2.10,0.00,0.000,4,0.000,0.037,2587,3268,3586,0,0,0,0,0,0
$GC,8513,-0.62,-194.6,818.5,-8.1,676,8517,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1895,3586,0,0,0,0,0,0
$GC,8837,-0.62,-194.6,841.5,-7.1,692,8841,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,497,3584,0,0,0,0,0,0
$GC,8910,-0.62,-194.6,847.9,-8.5,695,8914,0.00,2.03,0.00,0.000,6,0.000,0.023,2587,1875,3584,0,0,0,0,0,0
$GC,9232,-0.62,-194.6,869.9,-6.0,711,9236,0.00,2.10,0.00,0.000,4,0.000,0.040,2587,3268,3583,0,0,0,0,0,0
$GC,9319,-0.62,-194.6,874.8,-5.6,715,9322,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1901,3583,0,0,0,0,0,0
$GC,9652,-0.62,-194.6,889.7,-4.0,731,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1900,3582,0,0,0,0,0,0
$GC,9963,-0.62,-194.6,899.5,-3.0,746,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1899,3581,0,0,0,0,0,0
$GC,10270,-0.62,-194.6,912.4,-4.7,761,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1900,3580,0,0,0,0,0,0
$GC,10580,-0.62,-194.6,928.9,-5.9,776,10584,0.00,2.10,0.00,0.000,4,0.000,0.038,2587,3269,3579,0,0,0,0,0,0
$GC,10626,-0.62,-194.6,931.3,-5.9,778,10631,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1912,3579,0,0,0,0,0,0
$GC,10953,-0.62,-194.6,947.6,-4.4,794,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1913,3578,0,0,0,0,0,0
$GC,11264,-0.62,-194.6,958.8,-3.8,809,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1912,3577,0,0,0,0,0,0
$STATE,11405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11405,begin apogee
$GC,11411,-0.20,0.0,964.5,4.1,816,11575,0.43,0.00,158.05,1.379,4,0.118,0.000,2729,2070,2840,0,0,0,0,0,0
$STATE,11575,end apogee,CONTROL_FINISHED_OK
$STATE,11575,begin climb
$GC,11580,0.62,194.6,966.1,0.0,823,11758,0.77,0.00,173.45,1.325,6,0.080,0.000,2998,2070,2045,0,0,0,0,0,0
$GC,12069,0.62,194.6,909.7,12.6,847,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2070,2034,0,0,0,0,0,0
$GC,12376,0.62,194.6,873.4,11.8,862,12380,0.00,2.15,0.00,0.000,4,0.000,0.040,2999,3472,2031,0,0,0,0,0,0
$GC,12405,0.62,194.6,869.7,11.9,863,12410,0.00,2.10,0.00,0.000,6,0.000,0.021,3008,2062,2030,0,0,0,0,0,0
$GC,12726,0.62,194.6,828.9,12.7,879,12730,0.00,2.05,0.00,0.000,4,0.000,0.034,3018,682,2030,0,0,0,0,0,0
$GC,12843,0.62,194.6,813.1,13.2,884,12848,0.00,1.95,0.00,0.000,6,0.000,0.024,3018,1969,2030,0,0,0,0,0,0
$GC,13172,0.62,194.6,770.4,12.8,900,13176,0.00,2.30,0.00,0.000,4,0.000,0.040,3018,3475,2030,0,0,0,0,0,0
$GC,13302,0.62,194.6,751.7,14.4,906,13306,0.00,2.15,0.00,0.000,6,0.000,0.021,3028,2007,2028,0,0,0,0,0,0
$GC,13630,0.62,194.6,711.5,11.8,922,13634,0.00,1.95,0.00,0.000,4,0.000,0.034,3038,679,2028,0,0,0,0,0,0
$GC,13657,0.62,194.6,707.9,11.6,923,13662,0.12,2.00,0.00,0.000,6,0.149,0.024,3004,2020,2028,0,0,0,0,0,0
$GC,13986,0.62,194.6,675.2,10.4,939,13991,0.00,2.22,0.00,0.000,4,0.000,0.039,3004,3466,2028,0,0,0,0,0,0
$GC,14086,0.62,194.6,663.3,11.6,943,14090,0.00,2.08,0.00,0.000,6,0.000,0.021,3012,2046,2027,0,0,0,0,0,0
$GC,14408,0.62,194.6,627.3,11.2,959,14412,0.00,2.03,0.00,0.000,4,0.000,0.033,3021,689,2027,0,0,0,0,0,0
$GC,14556,0.62,194.6,610.8,11.2,965,14560,0.00,1.92,0.00,0.000,6,0.000,0.024,3022,1991,2027,0,0,0,0,0,0
$GC,14879,0.62,194.6,575.7,10.9,981,14883,0.00,1.92,0.00,0.000,4,0.000,0.031,3029,688,2027,0,0,0,0,0,0
$GC,14942,0.62,194.6,568.8,10.6,983,14949,0.00,1.88,0.00,0.000,6,0.000,0.023,3030,1960,2027,0,0,0,0,0,0
$GC,15258,0.62,194.6,535.7,11.0,999,15263,0.00,2.33,0.00,0.000,4,0.000,0.039,3030,3471,2027,0,0,0,0,0,0
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$STATE,20524,end climb,SURFACE_DEPTH_REACHED
$STATE,20524,begin surface coast
$FINISH,0.8,1.000867
$STATE,20559,end surface coast,CONTROL_FINISHED_OK
$STATE,20559,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,39.72
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$TCM_TEMP,28.10
$XPDR_PINGS,55
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$10V_AH,9.8,64.535
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324032
$DATA_FILE_SIZE,93511,1627
$CAP_FILE_SIZE,210080,0
$CFSIZE,260165632,102240256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,300.8,1
$GPS,060911,120429,1814.584,12250.390,901,99.0,901,-2.0