version: 66.09
glider: 167
mission: 8
dive: 423
start: 9 12 111 15 39 21
data:
$ID,167
$MISSION,8
$DIVE,423
$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,-116488.93
$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,67
$R_STBD_OVSHOOT,75
$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
$GPS1,110911,155100,1947.254,12127.384,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.9
$GPS2,110911,155100,1947.254,12127.384,901,99.0,901,-2.3
$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,146.8,164693,-15.3,-9.706
$D_GRID,1049
$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,17,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-94.88,0.000,2,0.000,0.000,108,1913,3156,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.3,-12.4,14,144,10.10,2.15,-7.90,0.000,4,0.226,0.037,2597,463,3636,0,0,0,0,0,0
$GC,242,-0.62,-194.6,43.7,-23.0,34,250,0.00,2.03,0.00,0.000,6,0.000,0.021,2590,1857,3638,0,0,0,0,0,0
$GC,386,-0.62,-194.6,80.9,-25.6,59,394,0.00,2.10,0.00,0.000,4,0.000,0.032,2579,3269,3638,0,0,0,0,0,0
$GC,473,-0.62,-194.6,103.4,-23.6,74,482,0.00,1.90,0.00,0.000,6,0.000,0.016,2579,1916,3638,0,0,0,0,0,0
$GC,617,-0.62,-194.6,132.5,-16.2,99,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1916,3638,0,0,0,0,0,0
$GC,758,-0.62,-194.6,151.6,-12.4,124,767,0.00,2.05,0.00,0.000,4,0.000,0.031,2572,3272,3638,0,0,0,0,0,0
$GC,794,-0.62,-194.6,156.3,-12.4,130,801,0.00,1.83,0.00,0.000,6,0.000,0.023,2572,1968,3638,0,0,0,0,0,0
$GC,940,-0.62,-194.6,168.5,-8.6,155,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1968,3638,0,0,0,0,0,0
$GC,1080,-0.62,-194.6,182.4,-9.6,180,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1968,3638,0,0,0,0,0,0
$GC,1222,-0.62,-194.6,198.1,-11.3,205,1229,0.00,2.10,0.00,0.000,4,0.000,0.028,2572,507,3638,0,0,0,0,0,0
$GC,1282,-0.62,-194.6,207.8,-16.8,211,1286,0.12,2.10,0.00,0.000,6,0.158,0.020,2599,1973,3638,0,0,0,0,0,0
$GC,1609,-0.62,-194.6,246.2,-11.7,241,1612,0.00,1.88,0.00,0.000,4,0.000,0.034,2599,3267,3634,0,0,0,0,0,0
$GC,1632,-0.62,-194.6,249.3,-11.6,243,1636,0.00,1.83,0.00,0.000,6,0.000,0.017,2599,1933,3634,0,0,0,0,0,0
$GC,1964,-0.62,-194.6,283.0,-8.3,274,1967,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,507,3632,0,0,0,0,0,0
$GC,1982,-0.62,-194.6,284.4,-8.1,275,1989,0.00,2.15,0.00,0.000,6,0.000,0.021,2599,1986,3632,0,0,0,0,0,0
$GC,2307,-0.62,-194.6,310.7,-9.8,306,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1986,3630,0,0,0,0,0,0
$GC,2630,-0.62,-194.6,340.9,-7.9,336,2633,0.00,1.88,0.00,0.000,4,0.000,0.035,2599,3270,3627,0,0,0,0,0,0
$GC,2677,-0.62,-194.6,344.7,-7.6,340,2682,0.00,1.88,0.00,0.000,6,0.000,0.018,2599,1947,3626,0,0,0,0,0,0
$GC,3008,-0.62,-194.6,375.7,-11.0,371,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1947,3623,0,0,0,0,0,0
$GC,3330,-0.62,-194.6,410.1,-10.2,401,3334,0.00,2.10,0.00,0.000,4,0.000,0.030,2599,509,3620,0,0,0,0,0,0
$GC,3375,-0.62,-194.6,415.4,-10.9,404,3383,0.00,2.10,0.00,0.000,6,0.000,0.021,2599,1935,3620,0,0,0,0,0,0
$GC,3701,-0.62,-194.6,444.7,-7.9,435,3705,0.00,1.98,0.00,0.000,4,0.000,0.036,2599,3274,3616,0,0,0,0,0,0
$GC,3740,-0.62,-194.6,447.8,-8.2,438,3747,0.00,1.90,0.00,0.000,6,0.000,0.018,2599,1924,3616,0,0,0,0,0,0
$GC,4065,-0.62,-194.6,477.7,-10.1,469,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1924,3613,0,0,0,0,0,0
$GC,4386,-0.62,-194.6,504.3,-6.7,496,4390,0.00,2.08,0.00,0.000,4,0.000,0.031,2599,515,3611,0,0,0,0,0,0
$GC,4419,-0.62,-194.6,506.5,-6.2,497,4423,0.00,2.12,0.00,0.000,6,0.000,0.021,2599,1963,3611,0,0,0,0,0,0
$GC,4741,-0.62,-194.6,520.6,-5.3,513,4746,0.00,1.98,0.00,0.000,4,0.000,0.037,2599,3267,3609,0,0,0,0,0,0
$GC,4804,-0.62,-194.6,524.1,-5.5,515,4812,0.00,1.80,0.00,0.000,6,0.000,0.019,2599,1988,3609,0,0,0,0,0,0
$GC,5120,-0.62,-194.6,545.6,-7.7,531,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1988,3606,0,0,0,0,0,0
$GC,5430,-0.62,-194.6,571.7,-8.6,546,5434,0.00,2.17,0.00,0.000,4,0.000,0.031,2599,511,3603,0,0,0,0,0,0
$GC,5495,-0.62,-194.6,577.4,-9.4,549,5499,0.00,2.20,0.00,0.000,6,0.000,0.023,2599,2008,3603,0,0,0,0,0,0
$GC,5822,-0.62,-194.6,605.2,-7.1,565,5826,0.00,1.88,0.00,0.000,4,0.000,0.037,2599,3273,3602,0,0,0,0,0,0
$GC,5874,-0.62,-194.6,608.7,-6.7,567,5879,0.00,1.80,0.00,0.000,6,0.000,0.020,2599,2018,3601,0,0,0,0,0,0
$GC,6201,-0.62,-194.6,627.9,-6.5,583,6205,0.00,1.88,0.00,0.000,4,0.000,0.037,2599,3267,3599,0,0,0,0,0,0
$GC,6234,-0.62,-194.6,630.7,-7.4,584,6237,0.00,1.73,0.00,0.000,6,0.000,0.019,2599,2034,3599,0,0,0,0,0,0
$GC,6558,-0.62,-194.6,662.6,-9.9,600,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2034,3597,0,0,0,0,0,0
$GC,6864,-0.62,-194.6,693.8,-10.0,615,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2034,3596,0,0,0,0,0,0
$GC,7174,-0.62,-194.6,712.3,-4.5,630,7178,0.00,1.85,0.00,0.000,4,0.000,0.038,2599,3262,3594,0,0,0,0,0,0
$GC,7248,-0.62,-194.6,715.5,-4.3,633,7252,0.00,1.70,0.00,0.000,6,0.000,0.021,2599,2049,3594,0,0,0,0,0,0
$GC,7576,-0.62,-194.6,728.3,-3.5,649,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2049,3592,0,0,0,0,0,0
$GC,7888,-0.62,-194.6,739.1,-4.2,664,7892,0.00,2.30,0.00,0.000,4,0.000,0.031,2599,515,3591,0,0,0,0,0,0
$GC,7920,-0.62,-194.6,741.1,-4.4,665,7925,0.00,2.28,0.00,0.000,6,0.000,0.024,2599,2046,3590,0,0,0,0,0,0
$GC,8237,-0.62,-194.6,759.1,-5.5,680,8242,0.00,1.85,0.00,0.000,4,0.000,0.040,2599,3256,3589,0,0,0,0,0,0
$GC,8272,-0.62,-194.6,761.6,-5.6,681,8277,0.00,1.70,0.00,0.000,6,0.000,0.021,2599,2073,3589,0,0,0,0,0,0
$GC,8593,-0.62,-194.6,786.3,-7.7,697,8598,0.00,2.33,0.00,0.000,4,0.000,0.031,2599,511,3587,0,0,0,0,0,0
$GC,8627,-0.62,-194.6,789.6,-9.0,698,8633,0.00,2.28,0.00,0.000,6,0.000,0.024,2599,2043,3587,0,0,0,0,0,0
$GC,8945,-0.62,-194.6,812.0,-6.5,714,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2043,3586,0,0,0,0,0,0
$GC,9252,-0.62,-194.6,832.5,-7.2,729,9257,0.00,1.85,0.00,0.000,4,0.000,0.037,2599,3259,3585,0,0,0,0,0,0
$GC,9287,-0.62,-194.6,834.4,-7.1,730,9290,0.00,1.75,0.00,0.000,6,0.000,0.021,2599,2025,3585,0,0,0,0,0,0
$GC,9609,-0.62,-194.6,852.2,-6.8,746,9613,0.00,2.25,0.00,0.000,4,0.000,0.030,2599,507,3583,0,0,0,0,0,0
$GC,9637,-0.62,-194.6,853.7,-6.2,747,9642,0.00,2.28,0.00,0.000,6,0.000,0.023,2599,2021,3583,0,0,0,0,0,0
$GC,9960,-0.62,-194.6,878.3,-6.7,763,9964,0.00,1.88,0.00,0.000,4,0.000,0.041,2600,3267,3582,0,0,0,0,0,0
$GC,10010,-0.62,-194.6,881.9,-5.6,765,10013,0.00,1.75,0.00,0.000,6,0.000,0.020,2599,2031,3582,0,0,0,0,0,0
$GC,10337,-0.62,-194.6,909.9,-10.8,781,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2025,3581,0,0,0,0,0,0
$GC,10649,-0.62,-194.6,936.0,-8.4,796,10653,0.00,2.28,0.00,0.000,4,0.000,0.032,2599,510,3581,0,0,0,0,0,0
$GC,10698,-0.62,-194.6,939.2,-6.7,798,10702,0.00,2.35,0.00,0.000,6,0.000,0.025,2599,2074,3581,0,0,0,0,0,0
$GC,11016,-0.62,-194.6,946.9,-2.3,813,11021,0.00,1.83,0.00,0.000,4,0.000,0.041,2599,3259,3579,0,0,0,0,0,0
$GC,11043,-0.62,-194.6,948.0,-1.7,814,11047,0.00,1.67,0.00,0.000,6,0.000,0.021,2599,2090,3580,0,0,0,0,0,0
$GC,11371,-0.62,-194.6,957.3,-3.3,830,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2085,3579,0,0,0,0,0,0
$STATE,11409,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11409,begin apogee
$GC,11417,-0.20,0.0,958.8,3.4,832,11582,0.38,0.00,157.32,1.373,4,0.115,0.000,2727,2085,2838,0,0,0,0,0,0
$STATE,11583,end apogee,CONTROL_FINISHED_OK
$STATE,11583,begin climb
$GC,11587,0.62,194.6,960.0,0.0,839,11767,0.80,2.17,171.23,1.321,4,0.083,0.031,2996,704,2045,0,0,0,0,0,0
$GC,11957,0.62,194.6,916.8,12.2,856,11961,0.00,2.05,0.00,0.000,6,0.000,0.023,2996,2067,2035,0,0,0,0,0,0
$GC,12279,0.62,194.6,878.3,11.5,872,12282,0.00,2.05,0.00,0.000,4,0.000,0.031,3004,711,2030,0,0,0,0,0,0
$GC,12450,0.62,194.6,861.4,10.2,879,12454,0.00,2.15,0.00,0.000,6,0.000,0.024,3004,2149,2030,0,0,0,0,0,0
$GC,12766,0.62,194.6,826.5,12.6,894,12771,0.00,2.03,0.00,0.000,4,0.000,0.041,3004,3462,2028,0,0,0,0,0,0
$GC,12828,0.62,194.6,819.5,11.0,896,12835,0.00,1.88,0.00,0.000,6,0.000,0.021,3011,2169,2027,0,0,0,0,0,0
$GC,13144,0.62,194.6,782.8,13.2,912,13148,0.00,2.17,0.00,0.000,4,0.000,0.032,3022,707,2026,0,0,0,0,0,0
$GC,13200,0.62,194.6,775.4,13.3,914,13207,0.00,2.15,0.00,0.000,6,0.000,0.025,3022,2147,2026,0,0,0,0,0,0
$GC,13517,0.62,194.6,734.8,11.5,930,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2148,2026,0,0,0,0,0,0
$GC,13825,0.62,194.6,703.1,9.7,945,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2148,2026,0,0,0,0,0,0
$GC,14136,0.62,194.6,674.0,9.8,960,14137,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2148,2026,0,0,0,0,0,0
$GC,14444,0.62,194.6,643.9,10.6,975,14448,0.00,2.17,0.00,0.000,4,0.000,0.031,3031,718,2025,0,0,0,0,0,0
$GC,14489,0.62,194.6,638.9,11.2,977,14494,0.08,2.15,0.00,0.000,6,0.136,0.024,3006,2152,2025,0,0,0,0,0,0
$GC,14824,0.62,194.6,591.3,15.5,993,14828,0.00,2.00,0.00,0.000,4,0.000,0.039,3006,3467,2025,0,0,0,0,0,0
$GC,14862,0.62,194.6,584.1,17.6,994,14870,0.00,1.88,0.00,0.000,6,0.000,0.021,3012,2193,2024,0,0,0,0,0,0
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$STATE,20253,end climb,SURFACE_DEPTH_REACHED
$STATE,20253,begin surface coast
$FINISH,0.7,1.008756
$STATE,20279,end surface coast,CONTROL_FINISHED_OK
$STATE,20283,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,41.41
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$TCM_TEMP,26.40
$XPDR_PINGS,60
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$10V_AH,9.8,67.613
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323984
$DATA_FILE_SIZE,93535,1602
$CAP_FILE_SIZE,206135,0
$CFSIZE,260165632,99983360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.725,313.6,1
$GPS,120911,212024,1950.403,12122.909,44,1.2,61,-2.3