version: 66.09
glider: 167
mission: 8
dive: 408
start: 9 9 111 16 24 26
data:
$ID,167
$MISSION,8
$DIVE,408
$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,-92105.812
$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,76
$R_STBD_OVSHOOT,57
$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,1.69
$_SM_ANGLEo,-68.8
$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,299.4,67411,-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,-194.6,0.0,0.0,0,113,0.00,0.00,-90.28,0.000,2,0.000,0.000,110,1960,3009,0,0,0,0,0,0
$GC,116,-0.62,-194.6,5.2,-8.0,13,146,10.27,2.17,-10.50,0.000,4,0.233,0.037,2594,481,3635,0,0,0,0,0,0
$GC,375,-0.62,-194.6,76.9,-20.4,57,382,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1879,3636,0,0,0,0,0,0
$GC,522,-0.62,-194.6,99.8,-15.8,82,532,0.00,2.05,0.00,0.000,4,0.000,0.031,2575,3268,3635,0,0,0,0,0,0
$GC,583,-0.62,-194.6,109.6,-15.6,92,591,0.00,1.83,0.00,0.000,6,0.000,0.018,2575,1965,3636,0,0,0,0,0,0
$GC,729,-0.62,-194.6,133.7,-18.8,117,736,0.00,1.92,0.00,0.000,4,0.000,0.030,2569,3276,3636,0,0,0,0,0,0
$GC,746,-0.62,-194.6,136.6,-17.3,119,753,0.10,1.83,0.00,0.000,6,0.169,0.017,2594,1946,3636,0,0,0,0,0,0
$GC,892,-0.62,-194.6,158.3,-14.0,144,900,0.00,2.12,0.00,0.000,4,0.000,0.027,2594,485,3636,0,0,0,0,0,0
$GC,1039,-0.62,-194.6,178.1,-14.2,169,1046,0.00,1.98,0.00,0.000,6,0.000,0.019,2588,1879,3636,0,0,0,0,0,0
$GC,1182,-0.62,-194.6,197.6,-13.2,194,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1879,3635,0,0,0,0,0,0
$GC,1321,-0.62,-194.6,215.1,-11.9,208,1325,0.00,2.00,0.00,0.000,4,0.000,0.032,2588,3259,3635,0,0,0,0,0,0
$GC,1437,-0.62,-194.6,228.9,-11.6,218,1445,0.00,2.03,0.00,0.000,6,0.000,0.016,2588,1808,3634,0,0,0,0,0,0
$GC,1764,-0.62,-194.6,268.2,-12.6,249,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1808,3632,0,0,0,0,0,0
$GC,2085,-0.62,-194.6,305.8,-10.7,279,2089,0.00,1.90,0.00,0.000,4,0.000,0.029,2587,491,3630,0,0,0,0,0,0
$GC,2135,-0.62,-194.6,310.8,-9.6,283,2139,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1867,3630,0,0,0,0,0,0
$GC,2467,-0.62,-194.6,336.7,-8.9,314,2471,0.00,2.03,0.00,0.000,4,0.000,0.033,2587,3255,3627,0,0,0,0,0,0
$GC,2588,-0.62,-194.6,347.3,-8.8,324,2595,0.00,2.00,0.00,0.000,6,0.000,0.018,2588,1839,3626,0,0,0,0,0,0
$GC,2914,-0.62,-194.6,374.4,-7.9,355,2918,0.00,1.95,0.00,0.000,4,0.000,0.029,2587,495,3623,0,0,0,0,0,0
$GC,2996,-0.62,-194.6,381.4,-8.9,362,3000,0.00,1.95,0.00,0.000,6,0.000,0.021,2588,1853,3622,0,0,0,0,0,0
$GC,3327,-0.62,-194.6,413.9,-11.8,393,3331,0.00,2.08,0.00,0.000,4,0.000,0.035,2587,3266,3619,0,0,0,0,0,0
$GC,3471,-0.62,-194.6,431.7,-12.8,405,3474,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1939,3618,0,0,0,0,0,0
$GC,3804,-0.62,-194.6,466.4,-7.0,436,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1939,3615,0,0,0,0,0,0
$GC,4134,-0.62,-194.6,483.4,-5.1,467,4138,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,514,3612,0,0,0,0,0,0
$GC,4203,-0.62,-194.6,487.9,-6.4,473,4207,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1921,3611,0,0,0,0,0,0
$GC,4532,-0.62,-194.6,513.4,-8.1,496,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1921,3609,0,0,0,0,0,0
$GC,4838,-0.62,-194.6,542.2,-10.6,511,4843,0.00,2.03,0.00,0.000,4,0.000,0.037,2587,3257,3606,0,0,0,0,0,0
$GC,4912,-0.62,-194.6,549.3,-9.3,514,4916,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1921,3606,0,0,0,0,0,0
$GC,5240,-0.62,-194.6,578.5,-9.0,530,5243,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,514,3603,0,0,0,0,0,0
$GC,5331,-0.62,-194.6,587.5,-9.6,534,5335,0.00,2.05,0.00,0.000,6,0.000,0.022,2587,1912,3602,0,0,0,0,0,0
$GC,5666,-0.62,-194.6,616.7,-7.8,550,5671,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3262,3599,0,0,0,0,0,0
$GC,5727,-0.62,-194.6,621.2,-6.9,552,5733,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1896,3599,0,0,0,0,0,0
$GC,6045,-0.62,-194.6,638.8,-4.9,568,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1897,3596,0,0,0,0,0,0
$GC,6353,-0.62,-194.6,652.4,-4.6,583,6356,0.00,2.08,0.00,0.000,4,0.000,0.035,2587,3263,3594,0,0,0,0,0,0
$GC,6399,-0.62,-194.6,654.9,-5.0,585,6403,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1908,3594,0,0,0,0,0,0
$GC,6733,-0.62,-194.6,678.3,-7.8,601,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1908,3592,0,0,0,0,0,0
$GC,7041,-0.62,-194.6,698.2,-5.5,616,7045,0.00,2.08,0.00,0.000,4,0.000,0.036,2587,3272,3591,0,0,0,0,0,0
$GC,7128,-0.62,-194.6,702.3,-4.8,620,7132,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1921,3590,0,0,0,0,0,0
$GC,7461,-0.62,-194.6,716.3,-4.1,636,7465,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,517,3588,0,0,0,0,0,0
$GC,7501,-0.62,-194.6,718.4,-4.4,637,7511,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1927,3588,0,0,0,0,0,0
$GC,7819,-0.62,-194.6,733.7,-5.4,653,7823,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3267,3587,0,0,0,0,0,0
$GC,7898,-0.62,-194.6,738.4,-5.7,656,7901,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1948,3586,0,0,0,0,0,0
$GC,8221,-0.62,-194.6,758.2,-6.4,672,8225,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,509,3585,0,0,0,0,0,0
$GC,8285,-0.62,-194.6,762.9,-7.4,675,8289,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1938,3585,0,0,0,0,0,0
$GC,8620,-0.62,-194.6,786.1,-6.7,691,8625,0.00,2.03,0.00,0.000,4,0.000,0.041,2587,3256,3583,0,0,0,0,0,0
$GC,8744,-0.62,-194.6,793.6,-6.1,696,8748,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1979,3582,0,0,0,0,0,0
$GC,9066,-0.62,-194.6,812.7,-5.8,712,9071,0.00,2.20,0.00,0.000,4,0.000,0.030,2587,511,3581,0,0,0,0,0,0
$GC,9128,-0.62,-194.6,816.8,-6.8,714,9136,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1960,3581,0,0,0,0,0,0
$GC,9445,-0.62,-194.6,838.0,-6.8,730,9448,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3262,3581,0,0,0,0,0,0
$GC,9469,-0.62,-194.6,839.7,-6.9,731,9473,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1970,3581,0,0,0,0,0,0
$GC,9805,-0.62,-194.6,863.5,-7.7,747,9809,0.00,2.17,0.00,0.000,4,0.000,0.029,2587,514,3580,0,0,0,0,0,0
$GC,9837,-0.62,-194.6,866.6,-7.7,748,9841,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1969,3580,0,0,0,0,0,0
$GC,10161,-0.62,-194.6,889.4,-6.8,764,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1969,3578,0,0,0,0,0,0
$GC,10469,-0.62,-194.6,907.1,-5.2,779,10473,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3267,3577,0,0,0,0,0,0
$GC,10538,-0.62,-194.6,910.4,-4.8,782,10543,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1968,3577,0,0,0,0,0,0
$GC,10873,-0.62,-194.6,925.8,-4.7,798,10876,0.00,2.00,0.00,0.000,4,0.000,0.038,2587,3268,3577,0,0,0,0,0,0
$GC,10945,-0.62,-194.6,929.5,-4.8,801,10949,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1993,3577,0,0,0,0,0,0
$GC,11272,-0.62,-194.6,945.2,-4.7,817,11276,0.00,1.95,0.00,0.000,4,0.000,0.039,2587,3262,3576,0,0,0,0,0,0
$GC,11322,-0.62,-194.6,947.7,-4.7,819,11327,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2043,3576,0,0,0,0,0,0
$STATE,11420,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11420,begin apogee
$GC,11426,-0.20,0.0,952.5,4.9,824,11588,0.43,0.00,156.95,1.370,4,0.115,0.000,2729,2038,2839,0,0,0,0,0,0
$STATE,11588,end apogee,CONTROL_FINISHED_OK
$STATE,11588,begin climb
$GC,11591,0.62,194.6,956.3,0.0,831,11772,0.80,2.10,172.98,1.317,4,0.083,0.030,2997,704,2045,0,0,0,0,0,0
$GC,11933,0.62,194.6,920.5,13.6,847,11937,0.00,2.08,0.00,0.000,6,0.000,0.024,2997,2078,2035,0,0,0,0,0,0
$GC,12260,0.62,194.6,877.8,12.6,863,12264,0.00,2.12,0.00,0.000,4,0.000,0.041,2997,3468,2029,0,0,0,0,0,0
$GC,12507,0.62,194.6,846.7,11.9,874,12510,0.00,2.03,0.00,0.000,6,0.000,0.021,3005,2076,2027,0,0,0,0,0,0
$GC,12839,0.62,194.6,808.8,11.3,890,12843,0.00,2.05,0.00,0.000,4,0.000,0.032,3014,696,2026,0,0,0,0,0,0
$GC,12964,0.62,194.6,794.2,11.8,895,12968,0.00,1.95,0.00,0.000,6,0.000,0.024,3015,1986,2026,0,0,0,0,0,0
$GC,13285,0.62,194.6,757.6,11.1,911,13286,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1986,2026,0,0,0,0,0,0
$GC,13596,0.62,194.6,722.8,11.3,926,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1986,2025,0,0,0,0,0,0
$GC,13904,0.62,194.6,689.1,11.1,941,13908,0.00,2.28,0.00,0.000,4,0.000,0.041,3015,3473,2025,0,0,0,0,0,0
$GC,13976,0.62,194.6,679.1,13.7,944,13980,0.00,2.20,0.00,0.000,6,0.000,0.021,3022,1970,2025,0,0,0,0,0,0
$GC,14294,0.62,194.6,639.9,11.9,959,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1970,2024,0,0,0,0,0,0
$GC,14601,0.62,194.6,604.4,11.0,974,14605,0.00,2.30,0.00,0.000,4,0.000,0.037,3022,3465,2024,0,0,0,0,0,0
$GC,14634,0.62,194.6,600.1,12.3,975,14642,0.12,2.20,0.00,0.000,6,0.163,0.021,3000,1967,2024,0,0,0,0,0,0
$GC,14952,0.66,225.0,570.9,8.7,991,14984,0.00,1.95,24.40,1.104,4,0.000,0.034,3007,704,1920,0,0,0,0,0,0
$GC,15087,0.69,253.8,559.0,8.7,997,15119,0.00,1.85,26.77,1.086,6,0.000,0.024,3008,1946,1804,0,0,0,0,0,0
$GC,15435,0.69,253.8,527.4,9.8,1014,15440,0.00,2.33,0.00,0.000,4,0.000,0.039,3007,3464,1798,0,0,0,0,0,0
$GC,15457,0.69,253.8,524.8,10.2,1015,15462,0.00,2.28,0.00,0.000,6,0.000,0.021,3016,1946,1797,0,0,0,0,0,0
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$STATE,19998,end climb,SURFACE_DEPTH_REACHED
$STATE,19999,begin surface coast
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$STATE,20022,end surface coast,CONTROL_FINISHED_OK
$STATE,20022,begin surface
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$XPDR_PINGS,62
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$10V_AH,9.8,65.274
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324008
$DATA_FILE_SIZE,90338,1561
$CAP_FILE_SIZE,207502,0
$CFSIZE,260165632,101687296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,300.3,1
$GPS,060911,120429,1814.584,12250.390,901,99.0,901,-2.0