version: 66.09
glider: 167
mission: 8
dive: 406
start: 9 9 111 3 44 20
data:
$ID,167
$MISSION,8
$DIVE,406
$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,-88494.266
$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,64
$R_STBD_OVSHOOT,90
$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,1.68
$_SM_ANGLEo,-67.7
$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,299.2,67411,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-94.68,0.000,2,0.000,0.000,108,1927,3189,0,0,0,0,0,0
$GC,120,-0.62,-194.6,7.0,-14.6,14,144,10.15,2.17,-6.93,0.000,4,0.228,0.039,2598,465,3635,0,0,0,0,0,0
$GC,330,-0.62,-194.6,78.1,-25.1,49,337,0.00,1.98,0.00,0.000,6,0.000,0.019,2591,1856,3637,0,0,0,0,0,0
$GC,477,-0.62,-194.6,113.1,-20.7,74,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1856,3637,0,0,0,0,0,0
$GC,621,-0.62,-194.6,136.8,-15.5,99,628,0.00,2.05,0.00,0.000,4,0.000,0.031,2583,3261,3637,0,0,0,0,0,0
$GC,651,-0.62,-194.6,141.2,-13.5,104,659,0.00,1.95,0.00,0.000,6,0.000,0.022,2583,1886,3637,0,0,0,0,0,0
$GC,805,-0.62,-194.6,164.9,-18.5,129,811,0.00,2.00,0.00,0.000,4,0.000,0.028,2582,494,3637,0,0,0,0,0,0
$GC,832,-0.62,-194.6,171.6,-20.4,133,839,0.00,2.08,0.00,0.000,6,0.000,0.021,2574,1916,3637,0,0,0,0,0,0
$GC,977,-0.62,-194.6,197.3,-18.2,158,985,0.00,2.00,0.00,0.000,4,0.000,0.033,2566,3267,3637,0,0,0,0,0,0
$GC,991,-0.62,-194.6,200.3,-17.2,160,997,0.08,1.80,0.00,0.000,6,0.139,0.017,2592,1962,3637,0,0,0,0,0,0
$GC,1324,-0.62,-194.6,231.0,-8.8,191,1328,0.00,2.10,0.00,0.000,4,0.000,0.028,2592,504,3635,0,0,0,0,0,0
$GC,1398,-0.62,-194.6,239.9,-12.9,197,1402,0.00,2.10,0.00,0.000,6,0.000,0.021,2590,1965,3635,0,0,0,0,0,0
$GC,1725,-0.62,-194.6,271.8,-5.5,227,1729,0.00,2.15,0.00,0.000,4,0.000,0.028,2590,494,3634,0,0,0,0,0,0
$GC,1866,-0.62,-194.6,281.0,-8.2,239,1870,0.00,2.03,0.00,0.000,6,0.000,0.021,2588,1899,3633,0,0,0,0,0,0
$GC,2197,-0.62,-194.6,313.6,-10.0,270,2201,0.00,2.00,0.00,0.000,4,0.000,0.034,2588,3265,3630,0,0,0,0,0,0
$GC,2225,-0.62,-194.6,316.2,-9.5,272,2233,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1879,3630,0,0,0,0,0,0
$GC,2553,-0.62,-194.6,344.5,-8.0,303,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1878,3627,0,0,0,0,0,0
$GC,2883,-0.62,-194.6,369.1,-8.8,334,2886,0.00,2.05,0.00,0.000,4,0.000,0.034,2588,3261,3622,0,0,0,0,0,0
$GC,2954,-0.62,-194.6,376.4,-10.3,340,2963,0.00,1.95,0.00,0.000,6,0.000,0.018,2588,1888,3622,0,0,0,0,0,0
$GC,3280,-0.62,-194.6,410.0,-10.7,371,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1887,3619,0,0,0,0,0,0
$GC,3601,-0.62,-194.6,449.0,-13.8,401,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1887,3615,0,0,0,0,0,0
$GC,3930,-0.62,-194.6,480.7,-10.3,432,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1887,3612,0,0,0,0,0,0
$GC,4254,-0.62,-194.6,508.5,-7.6,458,4258,0.00,2.08,0.00,0.000,4,0.000,0.037,2588,3270,3609,0,0,0,0,0,0
$GC,4340,-0.62,-194.6,513.8,-5.9,462,4344,0.00,1.88,0.00,0.000,6,0.000,0.019,2588,1950,3608,0,0,0,0,0,0
$GC,4675,-0.62,-194.6,534.7,-4.9,478,4679,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3269,3606,0,0,0,0,0,0
$GC,4702,-0.62,-194.6,535.8,-4.8,479,4706,0.00,1.85,0.00,0.000,6,0.000,0.019,2588,1968,3605,0,0,0,0,0,0
$GC,5030,-0.62,-194.6,553.9,-6.5,495,5033,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,507,3603,0,0,0,0,0,0
$GC,5098,-0.62,-194.6,559.7,-8.5,498,5102,0.00,2.12,0.00,0.000,6,0.000,0.024,2588,1948,3602,0,0,0,0,0,0
$GC,5419,-0.62,-194.6,591.8,-11.3,514,5423,0.00,1.98,0.00,0.000,4,0.000,0.037,2588,3270,3600,0,0,0,0,0,0
$GC,5480,-0.62,-194.6,598.4,-10.7,516,5488,0.00,1.88,0.00,0.000,6,0.000,0.019,2588,1966,3600,0,0,0,0,0,0
$GC,5799,-0.62,-194.6,622.2,-6.3,532,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1965,3598,0,0,0,0,0,0
$GC,6106,-0.62,-194.6,639.9,-6.7,547,6110,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,516,3596,0,0,0,0,0,0
$GC,6157,-0.62,-194.6,643.4,-6.8,549,6162,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1958,3595,0,0,0,0,0,0
$GC,6479,-0.62,-194.6,658.8,-4.8,565,6483,0.00,1.95,0.00,0.000,4,0.000,0.037,2588,3271,3594,0,0,0,0,0,0
$GC,6563,-0.62,-194.6,663.6,-5.7,568,6571,0.00,1.80,0.00,0.000,6,0.000,0.019,2588,1998,3593,0,0,0,0,0,0
$GC,6881,-0.62,-194.6,685.7,-7.6,584,6885,0.00,2.20,0.00,0.000,4,0.000,0.031,2588,508,3591,0,0,0,0,0,0
$GC,6958,-0.62,-194.6,692.8,-9.2,587,6965,0.00,2.12,0.00,0.000,6,0.000,0.024,2588,1945,3591,0,0,0,0,0,0
$GC,7276,-0.62,-194.6,721.2,-9.2,603,7280,0.00,1.98,0.00,0.000,4,0.000,0.037,2588,3270,3590,0,0,0,0,0,0
$GC,7332,-0.62,-194.6,726.6,-8.9,605,7336,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1973,3589,0,0,0,0,0,0
$GC,7654,-0.62,-194.6,753.5,-8.2,621,7658,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,521,3588,0,0,0,0,0,0
$GC,7705,-0.62,-194.6,758.7,-10.1,623,7709,0.00,2.12,0.00,0.000,6,0.000,0.024,2588,1958,3587,0,0,0,0,0,0
$GC,8021,-0.62,-194.6,787.4,-8.7,638,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1958,3586,0,0,0,0,0,0
$GC,8333,-0.62,-194.6,809.8,-5.3,653,8336,0.00,1.98,0.00,0.000,4,0.000,0.039,2588,3263,3585,0,0,0,0,0,0
$GC,8367,-0.62,-194.6,811.5,-4.9,654,8370,0.00,1.83,0.00,0.000,6,0.000,0.020,2588,1978,3584,0,0,0,0,0,0
$GC,8689,-0.62,-194.6,825.1,-4.4,670,8694,0.00,2.20,0.00,0.000,4,0.000,0.031,2588,515,3583,0,0,0,0,0,0
$GC,8759,-0.62,-194.6,829.0,-5.7,673,8763,0.00,2.12,0.00,0.000,6,0.000,0.024,2588,1949,3582,0,0,0,0,0,0
$GC,9094,-0.62,-194.6,848.4,-6.0,689,9097,0.00,2.00,0.00,0.000,4,0.000,0.039,2588,3269,3581,0,0,0,0,0,0
$GC,9163,-0.62,-194.6,852.5,-6.1,692,9166,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1973,3581,0,0,0,0,0,0
$GC,9498,-0.62,-194.6,874.1,-7.0,708,9502,0.00,2.17,0.00,0.000,4,0.000,0.031,2588,511,3580,0,0,0,0,0,0
$GC,9561,-0.62,-194.6,879.2,-8.2,711,9565,0.00,2.15,0.00,0.000,6,0.000,0.024,2588,1946,3579,0,0,0,0,0,0
$GC,9895,-0.62,-194.6,904.4,-7.6,727,9899,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3261,3578,0,0,0,0,0,0
$GC,9934,-0.62,-194.6,907.6,-7.9,728,9942,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1955,3579,0,0,0,0,0,0
$GC,10252,-0.62,-194.6,932.1,-8.0,744,10257,0.00,2.03,0.00,0.000,4,0.000,0.039,2588,3259,3577,0,0,0,0,0,0
$GC,10284,-0.62,-194.6,935.0,-7.8,745,10288,0.00,1.85,0.00,0.000,6,0.000,0.021,2588,1975,3577,0,0,0,0,0,0
$GC,10608,-0.62,-194.6,961.1,-8.1,761,10612,0.00,2.17,0.00,0.000,4,0.000,0.032,2588,518,3576,0,0,0,0,0,0
$GC,10659,-0.62,-194.6,965.6,-8.7,763,10663,0.00,2.12,0.00,0.000,6,0.000,0.026,2588,1945,3576,0,0,0,0,0,0
$STATE,10973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10973,begin apogee
$GC,10979,-0.20,0.0,990.9,7.3,778,11144,0.43,0.00,158.60,1.390,4,0.116,0.000,2730,2088,2838,0,0,0,0,0,0
$STATE,11145,end apogee,CONTROL_FINISHED_OK
$STATE,11145,begin climb
$GC,11147,0.62,194.6,997.3,0.0,785,11329,0.80,2.20,173.77,1.343,4,0.082,0.033,2998,717,2044,0,0,0,0,0,0
$GC,11576,0.62,194.6,951.4,13.6,805,11580,0.00,2.03,0.00,0.000,6,0.000,0.024,2998,2061,2034,0,0,0,0,0,0
$GC,11909,0.62,194.6,906.7,12.4,821,11912,0.00,2.05,0.00,0.000,4,0.000,0.033,3007,712,2029,0,0,0,0,0,0
$GC,12135,0.62,194.6,880.7,11.0,831,12139,0.00,2.08,0.00,0.000,6,0.000,0.026,3007,2108,2028,0,0,0,0,0,0
$GC,12469,0.62,194.6,842.8,11.4,847,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2108,2026,0,0,0,0,0,0
$GC,12779,0.62,194.6,806.8,11.4,862,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2108,2026,0,0,0,0,0,0
$GC,13086,0.62,194.6,774.0,10.4,877,13090,0.00,2.08,0.00,0.000,4,0.000,0.032,3016,713,2025,0,0,0,0,0,0
$GC,13158,0.62,194.6,766.0,11.0,880,13163,0.00,2.05,0.00,0.000,6,0.000,0.025,3016,2078,2025,0,0,0,0,0,0
$GC,13481,0.62,194.6,729.2,11.4,896,13485,0.00,2.12,0.00,0.000,4,0.000,0.040,3015,3476,2025,0,0,0,0,0,0
$GC,13501,0.62,194.6,726.8,11.6,897,13505,0.00,2.00,0.00,0.000,6,0.000,0.021,3025,2100,2024,0,0,0,0,0,0
$GC,13834,0.62,194.6,685.2,12.9,913,13838,0.00,2.08,0.00,0.000,4,0.000,0.034,3035,698,2025,0,0,0,0,0,0
$GC,13958,0.62,194.6,668.0,13.1,918,13967,0.12,2.00,0.00,0.000,6,0.153,0.025,3001,2047,2024,0,0,0,0,0,0
$GC,14274,0.62,194.6,633.3,10.3,934,14279,0.00,2.17,0.00,0.000,4,0.000,0.039,3002,3459,2024,0,0,0,0,0,0
$GC,14331,0.62,194.6,627.0,11.3,936,14334,0.00,2.08,0.00,0.000,6,0.000,0.021,3009,2045,2023,0,0,0,0,0,0
$GC,14652,0.62,194.6,593.9,9.8,952,14656,0.00,2.00,0.00,0.000,4,0.000,0.034,3019,687,2023,0,0,0,0,0,0
$GC,14721,0.62,194.6,586.2,11.6,955,14725,0.00,1.95,0.00,0.000,6,0.000,0.025,3020,1992,2023,0,0,0,0,0,0
$GC,15056,0.62,194.6,546.5,11.1,971,15061,0.00,2.25,0.00,0.000,4,0.000,0.038,3020,3459,2023,0,0,0,0,0,0
$GC,15133,0.62,194.6,537.3,11.5,974,15137,0.00,2.15,0.00,0.000,6,0.000,0.021,3029,1996,2023,0,0,0,0,0,0
$GC,15457,0.62,194.6,503.2,10.2,990,15462,0.00,1.98,0.00,0.000,4,0.000,0.035,3039,688,2023,0,0,0,0,0,0
$GC,15525,0.62,194.6,495.6,11.8,994,15529,0.15,1.88,0.00,0.000,6,0.146,0.024,2998,1963,2023,0,0,0,0,0,0
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$STATE,20307,end climb,SURFACE_DEPTH_REACHED
$STATE,20307,begin surface coast
$FINISH,0.9,1.007070
$STATE,20340,end surface coast,CONTROL_FINISHED_OK
$STATE,20340,begin surface
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$HUMID,40.03
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$XPDR_PINGS,51
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$10V_AH,9.7,64.903
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324032
$DATA_FILE_SIZE,93546,1585
$CAP_FILE_SIZE,210398,0
$CFSIZE,260165632,101961728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,299.2,1
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