version: 66.09
glider: 167
mission: 8
dive: 259
start: 8 5 111 14 29 29
data:
$ID,167
$MISSION,8
$DIVE,259
$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,-6
$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,400
$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,-56713.297
$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,64
$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
$GPS1,050811,141607,1926.077,12317.453,26,1.2,27,-2.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.1
$GPS2,050811,142904,1926.124,12317.279,12,99.0,31,-2.3
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,73.9,141669,-15.3,-9.706
$D_GRID,4829
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,116,0.00,0.00,-93.70,0.000,2,0.000,0.000,108,1946,3094,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.6,-9.8,12,144,9.93,2.22,-8.88,0.000,4,0.228,0.040,2599,464,3636,0,0,0,0,0,0
$GC,319,-0.62,-194.6,70.7,-23.2,48,329,0.00,2.05,0.00,0.000,6,0.000,0.022,2591,1864,3638,0,0,0,0,0,0
$GC,397,-0.62,-194.6,87.8,-18.2,61,405,0.00,2.10,0.00,0.000,4,0.000,0.032,2581,3271,3638,0,0,0,0,0,0
$GC,432,-0.62,-194.6,94.1,-17.8,66,442,0.00,1.98,0.00,0.000,6,0.000,0.018,2581,1886,3638,0,0,0,0,0,0
$GC,512,-0.62,-194.6,109.0,-20.5,79,520,0.00,2.03,0.00,0.000,4,0.000,0.028,2582,502,3638,0,0,0,0,0,0
$GC,546,-0.62,-194.6,116.7,-21.4,84,554,0.00,2.10,0.00,0.000,6,0.000,0.022,2574,1927,3639,0,0,0,0,0,0
$GC,621,-0.62,-194.6,133.9,-22.6,97,629,0.00,2.12,0.00,0.000,4,0.000,0.030,2574,491,3639,0,0,0,0,0,0
$GC,650,-0.62,-194.6,139.9,-21.2,101,658,0.00,1.98,0.00,0.000,6,0.000,0.021,2570,1843,3639,0,0,0,0,0,0
$GC,727,-0.62,-194.6,153.4,-17.3,114,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1843,3639,0,0,0,0,0,0
$GC,804,-0.62,-194.6,167.0,-16.7,127,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1844,3639,0,0,0,0,0,0
$GC,881,-0.62,-194.6,179.7,-16.7,140,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1843,3639,0,0,0,0,0,0
$GC,958,-0.62,-194.6,192.8,-17.4,153,966,0.00,1.98,0.00,0.000,4,0.000,0.026,2570,501,3639,0,0,0,0,0,0
$GC,980,-0.62,-194.6,197.0,-17.8,156,990,0.10,1.80,0.00,0.000,6,0.141,0.021,2595,1750,3639,0,0,0,0,0,0
$GC,1055,-0.62,-194.6,207.9,-13.8,164,1059,0.00,2.25,0.00,0.000,4,0.000,0.032,2587,3273,3639,0,0,0,0,0,0
$GC,1100,-0.62,-194.6,213.9,-13.0,167,1107,0.00,2.10,0.00,0.000,6,0.000,0.018,2587,1790,3639,0,0,0,0,0,0
$GC,1427,-0.62,-194.6,256.2,-13.0,198,1432,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,3270,3638,0,0,0,0,0,0
$GC,1469,-0.62,-194.6,261.3,-12.4,201,1473,0.00,2.03,0.00,0.000,6,0.000,0.018,2587,1826,3638,0,0,0,0,0,0
$GC,1800,-0.62,-194.6,305.1,-12.7,232,1804,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,3267,3636,0,0,0,0,0,0
$GC,1840,-0.62,-194.6,309.7,-11.8,235,1844,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1827,3636,0,0,0,0,0,0
$GC,2171,-0.62,-194.6,342.5,-10.5,266,2176,0.00,2.17,0.00,0.000,4,0.000,0.033,2587,3267,3634,0,0,0,0,0,0
$GC,2256,-0.62,-194.6,350.5,-8.8,273,2263,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1883,3634,0,0,0,0,0,0
$GC,2581,-0.62,-194.6,388.3,-13.0,304,2585,0.00,2.00,0.00,0.000,4,0.000,0.030,2587,504,3632,0,0,0,0,0,0
$GC,2626,-0.62,-194.6,394.5,-13.9,308,2631,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1894,3632,0,0,0,0,0,0
$GC,2957,-0.62,-194.6,434.4,-10.4,339,2961,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3264,3629,0,0,0,0,0,0
$GC,3004,-0.62,-194.6,438.6,-9.4,343,3008,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1879,3629,0,0,0,0,0,0
$GC,3335,-0.62,-194.6,466.4,-8.2,374,3339,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,3273,3626,0,0,0,0,0,0
$GC,3432,-0.62,-194.6,473.7,-7.0,382,3436,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1934,3626,0,0,0,0,0,0
$GC,3772,-0.62,-194.6,505.1,-10.1,412,3776,0.00,1.98,0.00,0.000,4,0.000,0.034,2586,3270,3623,0,0,0,0,0,0
$GC,3812,-0.62,-194.6,509.3,-10.3,413,3818,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1969,3623,0,0,0,0,0,0
$GC,4128,-0.62,-194.6,541.1,-10.1,429,4132,0.00,2.12,0.00,0.000,4,0.000,0.029,2587,500,3621,0,0,0,0,0,0
$GC,4224,-0.62,-194.6,551.1,-10.4,433,4228,0.00,2.08,0.00,0.000,6,0.000,0.022,2587,1927,3621,0,0,0,0,0,0
$GC,4546,-0.62,-194.6,579.9,-8.4,449,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1927,3618,0,0,0,0,0,0
$GC,4856,-0.62,-194.6,606.5,-8.8,464,4861,0.00,2.03,0.00,0.000,4,0.000,0.036,2587,3268,3615,0,0,0,0,0,0
$GC,4917,-0.62,-194.6,611.5,-7.8,466,4925,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1927,3615,0,0,0,0,0,0
$GC,5234,-0.62,-194.6,633.9,-7.0,482,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1926,3613,0,0,0,0,0,0
$GC,5544,-0.62,-194.6,655.8,-7.1,497,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1926,3611,0,0,0,0,0,0
$GC,5852,-0.62,-194.6,678.6,-7.4,512,5856,0.00,2.00,0.00,0.000,4,0.000,0.036,2587,3264,3608,0,0,0,0,0,0
$GC,5923,-0.62,-194.6,683.3,-6.5,515,5927,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1945,3607,0,0,0,0,0,0
$GC,6257,-0.62,-194.6,704.0,-5.9,531,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1944,3606,0,0,0,0,0,0
$GC,6565,-0.62,-194.6,722.0,-6.1,546,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1943,3603,0,0,0,0,0,0
$GC,6876,-0.62,-194.6,743.3,-7.3,561,6881,0.00,2.03,0.00,0.000,4,0.000,0.037,2587,3261,3601,0,0,0,0,0,0
$GC,6959,-0.62,-194.6,749.5,-7.2,564,6966,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1952,3600,0,0,0,0,0,0
$GC,7277,-0.62,-194.6,773.3,-7.5,580,7282,0.00,2.03,0.00,0.000,4,0.000,0.037,2586,3266,3599,0,0,0,0,0,0
$GC,7327,-0.62,-194.6,777.2,-7.2,582,7331,0.00,1.83,0.00,0.000,6,0.000,0.019,2586,1973,3599,0,0,0,0,0,0
$GC,7655,-0.62,-194.6,800.0,-7.1,598,7659,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,501,3597,0,0,0,0,0,0
$GC,7705,-0.62,-194.6,804.0,-8.0,600,7710,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1937,3597,0,0,0,0,0,0
$GC,8027,-0.62,-194.6,827.8,-7.8,616,8031,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3260,3596,0,0,0,0,0,0
$GC,8145,-0.62,-194.6,836.8,-7.8,621,8150,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1987,3595,0,0,0,0,0,0
$GC,8472,-0.62,-194.6,860.8,-6.9,637,8476,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,508,3593,0,0,0,0,0,0
$GC,8517,-0.62,-194.6,864.2,-7.1,639,8521,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1960,3593,0,0,0,0,0,0
$GC,8840,-0.62,-194.6,883.3,-5.6,655,8845,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3263,3592,0,0,0,0,0,0
$GC,8891,-0.62,-194.6,886.1,-5.4,657,8895,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1977,3592,0,0,0,0,0,0
$GC,9220,-0.62,-194.6,902.3,-4.9,673,9224,0.00,2.17,0.00,0.000,4,0.000,0.032,2587,511,3591,0,0,0,0,0,0
$GC,9277,-0.62,-194.6,905.6,-5.1,675,9284,0.00,2.15,0.00,0.000,6,0.000,0.025,2586,1960,3590,0,0,0,0,0,0
$GC,9594,-0.62,-194.6,924.1,-6.2,691,9598,0.00,1.98,0.00,0.000,4,0.000,0.041,2586,3261,3590,0,0,0,0,0,0
$GC,9680,-0.62,-194.6,929.9,-6.8,694,9688,0.00,1.83,0.00,0.000,6,0.000,0.022,2586,1994,3590,0,0,0,0,0,0
$GC,9996,-0.62,-194.6,954.1,-8.2,710,10001,0.00,2.22,0.00,0.000,4,0.000,0.032,2587,514,3589,0,0,0,0,0,0
$GC,10053,-0.62,-194.6,959.3,-9.1,712,10057,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1950,3589,0,0,0,0,0,0
$GC,10370,-0.62,-194.6,987.2,-8.8,727,10373,0.00,2.00,0.00,0.000,4,0.000,0.039,2586,3270,3587,0,0,0,0,0,0
$STATE,10400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10400,begin apogee
$GC,10408,-0.20,0.0,990.4,8.9,728,10571,0.43,0.00,153.88,1.404,4,0.112,0.000,2730,2050,2838,0,0,0,0,0,0
$STATE,10572,end apogee,CONTROL_FINISHED_OK
$STATE,10572,begin climb
$GC,10574,0.62,194.6,998.7,0.0,736,10753,0.75,2.15,170.45,1.348,4,0.074,0.033,3000,726,2045,0,0,0,0,0,0
$GC,10906,0.62,195.9,973.4,9.7,751,10909,0.00,2.08,0.00,0.000,6,0.000,0.024,2999,2054,2035,0,0,0,0,0,0
$GC,11233,0.62,195.9,939.1,10.7,767,11236,0.00,2.05,0.00,0.000,4,0.000,0.033,3008,714,2030,0,0,0,0,0,0
$GC,11490,0.62,195.9,909.1,11.8,778,11495,0.00,2.10,0.00,0.000,6,0.000,0.025,3007,2097,2030,0,0,0,0,0,0
$GC,11812,0.62,195.9,866.4,13.8,794,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2098,2028,0,0,0,0,0,0
$GC,12123,0.62,195.9,821.8,14.7,809,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2097,2027,0,0,0,0,0,0
$GC,12430,0.62,195.9,778.4,13.6,824,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2097,2026,0,0,0,0,0,0
$GC,12739,0.62,195.9,741.3,11.1,839,12743,0.00,2.10,0.00,0.000,4,0.000,0.041,3008,3474,2026,0,0,0,0,0,0
$GC,12826,0.62,195.9,731.0,12.2,843,12830,0.00,2.00,0.00,0.000,6,0.000,0.021,3017,2110,2026,0,0,0,0,0,0
$GC,13160,0.62,195.9,693.7,11.1,859,13163,0.00,2.10,0.00,0.000,4,0.000,0.034,3025,684,2025,0,0,0,0,0,0
$GC,13302,0.62,195.9,677.8,11.2,865,13305,0.00,1.95,0.00,0.000,6,0.000,0.024,3025,2001,2025,0,0,0,0,0,0
$GC,13624,0.62,195.9,637.6,13.0,881,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2001,2025,0,0,0,0,0,0
$GC,13933,0.62,195.9,597.3,12.8,896,13937,0.00,2.22,0.00,0.000,4,0.000,0.041,3026,3473,2025,0,0,0,0,0,0
$GC,14064,0.62,195.9,580.0,13.0,902,14069,0.12,2.15,0.00,0.000,6,0.172,0.022,3001,1987,2024,0,0,0,0,0,0
$GC,14391,0.62,195.9,543.8,11.6,918,14395,0.00,1.92,0.00,0.000,4,0.000,0.034,3009,679,2024,0,0,0,0,0,0
$GC,14558,0.62,195.9,522.0,12.9,925,14562,0.00,1.85,0.00,0.000,6,0.000,0.023,3009,1929,2024,0,0,0,0,0,0
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$STATE,19169,end climb,SURFACE_DEPTH_REACHED
$STATE,19169,begin surface coast
$FINISH,0.8,1.004164
$STATE,19192,end surface coast,CONTROL_FINISHED_OK
$STATE,19192,begin surface
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$XPDR_PINGS,50
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$10V_AH,9.9,42.483
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329772
$DATA_FILE_SIZE,86982,1473
$CAP_FILE_SIZE,210902,0
$CFSIZE,260165632,117145600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,299.8,1
$GPS,050811,195201,1927.719,12318.086,41,1.6,42,-2.3