version: 66.09
glider: 167
mission: 8
dive: 438
start: 9 16 111 12 32 11
data:
$ID,167
$MISSION,8
$DIVE,438
$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,-138150.86
$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,68
$R_STBD_OVSHOOT,84
$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
$GPS1,160911,055330,1958.509,12120.452,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.5
$GPS2,160911,055330,1958.509,12120.452,901,99.0,901,-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,106.0,188826,-15.3,-9.706
$D_GRID,3407
$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,-194.6,0.0,0.0,0,104,0.00,0.00,-82.32,0.000,2,0.000,0.000,108,1911,2811,0,0,0,0,0,0
$GC,109,-0.62,-194.6,5.3,-8.0,12,140,10.32,2.08,-13.82,0.000,4,0.232,0.050,2585,3247,3636,0,0,0,0,0,0
$GC,389,-0.62,-194.6,89.8,-23.8,61,397,0.00,1.95,0.00,0.000,6,0.000,0.018,2585,1851,3636,0,0,0,0,0,0
$GC,536,-0.62,-194.6,118.7,-16.0,86,544,0.00,2.08,0.00,0.000,4,0.000,0.031,2579,3242,3636,0,0,0,0,0,0
$GC,624,-0.62,-194.6,132.1,-14.2,101,632,0.00,1.98,0.00,0.000,6,0.000,0.017,2579,1838,3637,0,0,0,0,0,0
$GC,768,-0.62,-194.6,155.7,-16.9,126,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1838,3637,0,0,0,0,0,0
$GC,908,-0.62,-194.6,176.1,-13.4,151,915,0.00,2.10,0.00,0.000,4,0.000,0.030,2573,3245,3637,0,0,0,0,0,0
$GC,956,-0.62,-194.6,183.1,-14.7,159,962,0.00,1.92,0.00,0.000,6,0.000,0.017,2573,1869,3637,0,0,0,0,0,0
$GC,1098,-0.62,-194.6,205.8,-15.4,181,1101,0.00,1.98,0.00,0.000,4,0.000,0.029,2573,498,3637,0,0,0,0,0,0
$GC,1155,-0.62,-194.6,214.3,-13.8,186,1160,0.10,1.83,0.00,0.000,6,0.171,0.020,2595,1791,3636,0,0,0,0,0,0
$GC,1487,-0.62,-194.6,248.1,-11.0,217,1491,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,3252,3635,0,0,0,0,0,0
$GC,1632,-0.62,-194.6,264.2,-10.8,229,1640,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1815,3634,0,0,0,0,0,0
$GC,1957,-0.62,-194.6,297.6,-10.1,260,1961,0.00,2.12,0.00,0.000,4,0.000,0.032,2588,3245,3632,0,0,0,0,0,0
$GC,2071,-0.62,-194.6,308.2,-8.9,269,2079,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1850,3631,0,0,0,0,0,0
$GC,2396,-0.62,-194.6,338.9,-10.6,300,2400,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,3249,3628,0,0,0,0,0,0
$GC,2425,-0.62,-194.6,341.9,-10.9,302,2429,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1870,3628,0,0,0,0,0,0
$GC,2757,-0.62,-194.6,372.6,-8.1,333,2760,0.00,1.98,0.00,0.000,4,0.000,0.030,2587,511,3625,0,0,0,0,0,0
$GC,2787,-0.62,-194.6,375.2,-8.5,335,2793,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1840,3625,0,0,0,0,0,0
$GC,3113,-0.62,-194.6,403.2,-8.7,366,3116,0.00,1.92,0.00,0.000,4,0.000,0.028,2587,511,3622,0,0,0,0,0,0
$GC,3185,-0.62,-194.6,408.9,-8.0,372,3191,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1806,3622,0,0,0,0,0,0
$GC,3510,-0.62,-194.6,433.9,-8.1,403,3514,0.00,2.15,0.00,0.000,4,0.000,0.036,2587,3259,3618,0,0,0,0,0,0
$GC,3622,-0.62,-194.6,442.7,-7.4,412,3628,0.00,2.05,0.00,0.000,6,0.000,0.020,2587,1825,3617,0,0,0,0,0,0
$GC,3947,-0.62,-194.6,466.7,-7.9,443,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1825,3614,0,0,0,0,0,0
$GC,4271,-0.62,-194.6,494.5,-8.8,473,4275,0.00,2.17,0.00,0.000,4,0.000,0.035,2587,3264,3611,0,0,0,0,0,0
$GC,4326,-0.62,-194.6,500.0,-8.7,477,4334,0.00,2.08,0.00,0.000,6,0.000,0.019,2587,1816,3610,0,0,0,0,0,0
$GC,4643,-0.62,-194.6,525.9,-7.8,493,4648,0.00,2.20,0.00,0.000,4,0.000,0.036,2587,3253,3608,0,0,0,0,0,0
$GC,4677,-0.62,-194.6,528.6,-7.7,494,4681,0.00,2.03,0.00,0.000,6,0.000,0.019,2587,1841,3608,0,0,0,0,0,0
$GC,5001,-0.62,-194.6,553.5,-7.8,510,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1841,3605,0,0,0,0,0,0
$GC,5309,-0.62,-194.6,578.3,-7.9,525,5313,0.00,2.15,0.00,0.000,4,0.000,0.036,2587,3257,3602,0,0,0,0,0,0
$GC,5346,-0.62,-194.6,581.1,-7.9,526,5353,0.00,2.00,0.00,0.000,6,0.000,0.020,2587,1850,3602,0,0,0,0,0,0
$GC,5663,-0.62,-194.6,604.2,-6.9,542,5667,0.00,2.15,0.00,0.000,4,0.000,0.036,2587,3263,3600,0,0,0,0,0,0
$GC,5710,-0.62,-194.6,607.1,-6.5,544,5713,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1857,3600,0,0,0,0,0,0
$GC,6038,-0.62,-194.6,630.1,-7.1,560,6042,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,3259,3597,0,0,0,0,0,0
$GC,6065,-0.62,-194.6,632.2,-7.3,561,6070,0.00,2.00,0.00,0.000,6,0.000,0.020,2587,1878,3597,0,0,0,0,0,0
$GC,6389,-0.62,-194.6,656.2,-7.6,577,6393,0.00,2.10,0.00,0.000,4,0.000,0.035,2587,3259,3596,0,0,0,0,0,0
$GC,6433,-0.62,-194.6,659.7,-7.3,579,6436,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1881,3595,0,0,0,0,0,0
$GC,6762,-0.62,-194.6,685.3,-8.2,595,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1882,3594,0,0,0,0,0,0
$GC,7070,-0.62,-194.6,711.8,-9.0,610,7075,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,507,3592,0,0,0,0,0,0
$GC,7103,-0.62,-194.6,715.1,-9.3,611,7106,0.00,2.03,0.00,0.000,6,0.000,0.022,2587,1889,3591,0,0,0,0,0,0
$GC,7427,-0.62,-194.6,745.2,-9.4,627,7431,0.00,2.08,0.00,0.000,4,0.000,0.038,2587,3273,3590,0,0,0,0,0,0
$GC,7521,-0.62,-194.6,753.7,-8.7,631,7525,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1909,3589,0,0,0,0,0,0
$GC,7845,-0.62,-194.6,784.7,-9.6,647,7849,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3265,3588,0,0,0,0,0,0
$GC,7889,-0.62,-194.6,788.9,-9.5,649,7893,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1933,3588,0,0,0,0,0,0
$GC,8218,-0.62,-194.6,820.4,-9.6,665,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1933,3586,0,0,0,0,0,0
$GC,8529,-0.62,-194.6,851.2,-9.8,680,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1933,3585,0,0,0,0,0,0
$GC,8836,-0.62,-194.6,876.9,-7.2,695,8840,0.00,2.10,0.00,0.000,4,0.000,0.030,2587,500,3584,0,0,0,0,0,0
$GC,8880,-0.62,-194.6,880.3,-6.9,697,8884,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1950,3584,0,0,0,0,0,0
$GC,9203,-0.62,-194.6,897.2,-4.8,713,9208,0.00,2.03,0.00,0.000,4,0.000,0.040,2587,3265,3583,0,0,0,0,0,0
$GC,9258,-0.62,-194.6,900.1,-4.9,715,9262,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1974,3583,0,0,0,0,0,0
$GC,9582,-0.62,-194.6,917.0,-5.9,731,9586,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,508,3582,0,0,0,0,0,0
$GC,9604,-0.62,-194.6,918.6,-6.2,732,9608,0.00,2.15,0.00,0.000,6,0.000,0.022,2587,1965,3582,0,0,0,0,0,0
$GC,9925,-0.62,-194.6,942.3,-7.5,748,9929,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3260,3581,0,0,0,0,0,0
$GC,9955,-0.62,-194.6,944.5,-6.9,749,9958,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1957,3581,0,0,0,0,0,0
$GC,10282,-0.62,-194.6,970.4,-7.7,765,10287,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,513,3580,0,0,0,0,0,0
$GC,10328,-0.62,-194.6,974.1,-7.9,767,10333,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1943,3580,0,0,0,0,0,0
$STATE,10576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10576,begin apogee
$GC,10584,-0.20,0.0,991.4,6.8,779,10747,0.43,0.00,157.98,1.401,4,0.119,0.000,2729,2087,2838,0,0,0,0,0,0
$STATE,10748,end apogee,CONTROL_FINISHED_OK
$STATE,10748,begin climb
$GC,10752,0.62,194.6,997.1,0.0,786,10934,0.80,2.20,172.00,1.349,4,0.082,0.031,2998,707,2045,0,0,0,0,0,0
$GC,11045,0.62,194.6,969.1,11.9,800,11050,0.00,2.05,0.00,0.000,6,0.000,0.024,2998,2066,2036,0,0,0,0,0,0
$GC,11374,0.62,194.6,926.8,13.4,816,11378,0.00,2.08,0.00,0.000,4,0.000,0.031,3006,707,2030,0,0,0,0,0,0
$GC,11613,0.62,194.6,895.4,12.9,826,11620,0.00,2.08,0.00,0.000,6,0.000,0.024,3006,2084,2030,0,0,0,0,0,0
$GC,11931,0.62,194.6,855.5,12.7,842,11935,0.00,2.08,0.00,0.000,4,0.000,0.033,3013,712,2028,0,0,0,0,0,0
$GC,11958,0.62,194.6,851.6,12.5,843,11962,0.00,2.03,0.00,0.000,6,0.000,0.024,3013,2069,2027,0,0,0,0,0,0
$GC,12286,0.62,194.6,809.2,13.1,859,12290,0.00,2.10,0.00,0.000,4,0.000,0.040,3013,3468,2026,0,0,0,0,0,0
$GC,12326,0.62,194.6,803.5,14.4,861,12330,0.00,2.00,0.00,0.000,6,0.000,0.021,3022,2095,2026,0,0,0,0,0,0
$GC,12660,0.62,194.6,755.7,14.6,877,12664,0.00,2.12,0.00,0.000,4,0.000,0.037,3022,3479,2026,0,0,0,0,0,0
$GC,12700,0.62,194.6,749.3,15.9,879,12705,0.12,2.00,0.00,0.000,6,0.162,0.021,2998,2098,2025,0,0,0,0,0,0
$GC,13030,0.62,194.6,707.2,12.6,895,13035,0.00,2.10,0.00,0.000,4,0.000,0.033,3006,701,2025,0,0,0,0,0,0
$GC,13158,0.62,194.6,690.4,13.1,900,13165,0.00,2.00,0.00,0.000,6,0.000,0.024,3006,2056,2025,0,0,0,0,0,0
$GC,13475,0.62,194.6,650.4,12.6,916,13479,0.00,2.17,0.00,0.000,4,0.000,0.040,3007,3467,2025,0,0,0,0,0,0
$GC,13507,0.62,194.6,645.7,13.6,917,13511,0.00,2.08,0.00,0.000,6,0.000,0.021,3014,2046,2024,0,0,0,0,0,0
$GC,13830,0.62,194.6,603.2,12.5,933,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2045,2024,0,0,0,0,0,0
$GC,14142,0.62,194.6,569.0,10.4,948,14145,0.00,2.03,0.00,0.000,4,0.000,0.033,3024,682,2024,0,0,0,0,0,0
$GC,14175,0.62,194.6,565.2,9.8,949,14179,0.00,2.00,0.00,0.000,6,0.000,0.024,3024,2041,2024,0,0,0,0,0,0
$GC,14499,0.62,194.6,533.2,10.5,965,14502,0.00,2.03,0.00,0.000,4,0.000,0.031,3032,690,2024,0,0,0,0,0,0
$GC,14532,0.62,194.6,529.3,10.8,966,14536,0.12,1.98,0.00,0.000,6,0.149,0.024,2998,2008,2024,0,0,0,0,0,0
$GC,14856,0.62,194.6,496.7,10.7,983,14860,0.00,2.22,0.00,0.000,4,0.000,0.039,2998,3469,2024,0,0,0,0,0,0
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$STATE,19341,end climb,SURFACE_DEPTH_REACHED
$STATE,19341,begin surface coast
$FINISH,0.9,1.012247
$STATE,19375,end surface coast,CONTROL_FINISHED_OK
$STATE,19375,begin surface
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$HUMID,41.84
$INTERNAL_PRESSURE,9.22887
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$XPDR_PINGS,52
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$10V_AH,9.7,70.245
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323984
$DATA_FILE_SIZE,90111,1535
$CAP_FILE_SIZE,203058,0
$CFSIZE,260165632,97931264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.435,292.5,1
$GPS,160911,175657,1959.231,12118.507,30,2.5,49,-2.3