version: 66.09
glider: 167
mission: 8
dive: 380
start: 9 2 111 12 23 19
data:
$ID,167
$MISSION,8
$DIVE,380
$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,-58684.723
$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,77
$R_STBD_OVSHOOT,79
$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
$GPS1,020911,121506,1802.671,12345.685,30,1.0,31,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.6
$GPS2,020911,122256,1802.704,12345.651,17,1.3,17,-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,301.3,165586,-15.3,-9.706
$D_GRID,4739
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,114,0.00,0.00,-90.95,0.000,2,0.000,0.000,113,1898,3003,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.2,-8.2,13,148,10.25,2.10,-10.77,0.000,4,0.234,0.039,2600,482,3633,0,0,0,0,0,0
$GC,305,-0.62,-194.6,63.9,-26.9,45,312,0.00,2.00,0.00,0.000,6,0.000,0.021,2593,1868,3635,0,0,0,0,0,0
$GC,444,-0.62,-194.6,94.6,-22.2,70,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1868,3635,0,0,0,0,0,0
$GC,589,-0.62,-194.6,121.9,-17.4,95,596,0.00,2.05,0.00,0.000,4,0.000,0.031,2583,3275,3635,0,0,0,0,0,0
$GC,675,-0.62,-194.6,136.7,-15.9,110,684,0.00,2.12,0.00,0.000,6,0.000,0.017,2583,1783,3636,0,0,0,0,0,0
$GC,819,-0.62,-194.6,158.7,-15.8,135,827,0.00,1.88,0.00,0.000,4,0.000,0.028,2583,477,3636,0,0,0,0,0,0
$GC,851,-0.62,-194.6,164.8,-17.2,140,858,0.00,1.85,0.00,0.000,6,0.000,0.021,2574,1754,3636,0,0,0,0,0,0
$GC,994,-0.62,-194.6,188.0,-16.7,165,1001,0.00,2.22,0.00,0.000,4,0.000,0.031,2566,3265,3635,0,0,0,0,0,0
$GC,1069,-0.62,-194.6,199.8,-15.4,178,1078,0.08,2.08,0.00,0.000,6,0.140,0.027,2591,1808,3635,0,0,0,0,0,0
$GC,1202,-0.62,-194.6,218.3,-13.8,191,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1807,3636,0,0,0,0,0,0
$GC,1524,-0.62,-194.6,263.4,-14.7,221,1529,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,3258,3636,0,0,0,0,0,0
$GC,1614,-0.62,-194.6,276.0,-12.8,229,1618,0.00,2.03,0.00,0.000,6,0.000,0.018,2587,1824,3635,0,0,0,0,0,0
$GC,1948,-0.62,-194.6,314.2,-11.0,260,1951,0.00,1.92,0.00,0.000,4,0.000,0.029,2588,491,3634,0,0,0,0,0,0
$GC,1997,-0.62,-194.6,320.7,-12.0,264,2004,0.00,1.92,0.00,0.000,6,0.000,0.021,2588,1824,3634,0,0,0,0,0,0
$GC,2322,-0.62,-194.6,359.0,-11.3,295,2327,0.00,2.15,0.00,0.000,4,0.000,0.034,2587,3259,3633,0,0,0,0,0,0
$GC,2392,-0.62,-194.6,365.7,-9.3,301,2396,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1844,3632,0,0,0,0,0,0
$GC,2725,-0.62,-194.6,398.0,-9.6,332,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1843,3631,0,0,0,0,0,0
$GC,3045,-0.62,-194.6,429.7,-10.0,362,3049,0.00,1.98,0.00,0.000,4,0.000,0.031,2587,488,3629,0,0,0,0,0,0
$GC,3128,-0.62,-194.6,439.0,-10.3,369,3135,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1879,3629,0,0,0,0,0,0
$GC,3455,-0.62,-194.6,468.6,-8.7,400,3459,0.00,2.05,0.00,0.000,4,0.000,0.036,2587,3270,3627,0,0,0,0,0,0
$GC,3553,-0.62,-194.6,477.0,-8.3,408,3557,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1907,3626,0,0,0,0,0,0
$GC,3893,-0.62,-194.6,503.4,-7.6,438,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1907,3624,0,0,0,0,0,0
$GC,4203,-0.62,-194.6,527.5,-7.9,453,4207,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,510,3621,0,0,0,0,0,0
$GC,4259,-0.62,-194.6,532.5,-8.8,455,4263,0.00,2.08,0.00,0.000,6,0.000,0.022,2587,1932,3621,0,0,0,0,0,0
$GC,4581,-0.62,-194.6,559.3,-8.2,471,4585,0.00,1.98,0.00,0.000,4,0.000,0.035,2587,3273,3618,0,0,0,0,0,0
$GC,4706,-0.62,-194.6,570.0,-8.5,476,4710,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1961,3617,0,0,0,0,0,0
$GC,5029,-0.62,-194.6,599.3,-8.9,492,5033,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,504,3615,0,0,0,0,0,0
$GC,5079,-0.62,-194.6,604.1,-9.1,494,5083,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1966,3614,0,0,0,0,0,0
$GC,5402,-0.62,-194.6,629.9,-7.4,510,5405,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3265,3612,0,0,0,0,0,0
$GC,5429,-0.62,-194.6,632.1,-7.2,511,5433,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1965,3612,0,0,0,0,0,0
$GC,5758,-0.62,-194.6,653.8,-6.4,527,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1964,3609,0,0,0,0,0,0
$GC,6066,-0.62,-194.6,673.4,-6.4,542,6071,0.00,2.17,0.00,0.000,4,0.000,0.032,2587,513,3608,0,0,0,0,0,0
$GC,6093,-0.62,-194.6,675.3,-6.4,543,6097,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1956,3608,0,0,0,0,0,0
$GC,6417,-0.62,-194.6,696.8,-6.8,559,6421,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3271,3605,0,0,0,0,0,0
$GC,6495,-0.62,-194.6,702.9,-7.4,562,6500,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1950,3605,0,0,0,0,0,0
$GC,6818,-0.62,-194.6,727.9,-8.1,578,6822,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,497,3602,0,0,0,0,0,0
$GC,6851,-0.62,-194.6,731.0,-8.3,579,6858,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1955,3602,0,0,0,0,0,0
$GC,7167,-0.62,-194.6,755.9,-7.5,595,7171,0.00,1.95,0.00,0.000,4,0.000,0.038,2587,3265,3601,0,0,0,0,0,0
$GC,7237,-0.62,-194.6,760.6,-6.8,598,7241,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1961,3600,0,0,0,0,0,0
$GC,7571,-0.62,-194.6,782.1,-6.3,614,7575,0.00,2.17,0.00,0.000,4,0.000,0.033,2587,499,3599,0,0,0,0,0,0
$GC,7658,-0.62,-194.6,788.7,-7.8,618,7662,0.00,2.12,0.00,0.000,6,0.000,0.024,2586,1935,3598,0,0,0,0,0,0
$GC,7988,-0.62,-194.6,812.9,-7.6,634,7991,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3269,3596,0,0,0,0,0,0
$GC,8105,-0.62,-194.6,822.1,-7.6,639,8110,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1973,3595,0,0,0,0,0,0
$GC,8434,-0.62,-194.6,843.6,-6.1,655,8438,0.00,2.17,0.00,0.000,4,0.000,0.032,2587,509,3594,0,0,0,0,0,0
$GC,8467,-0.62,-194.6,846.0,-6.0,656,8474,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1961,3593,0,0,0,0,0,0
$GC,8786,-0.62,-194.6,863.5,-5.4,672,8790,0.00,1.95,0.00,0.000,4,0.000,0.039,2587,3262,3593,0,0,0,0,0,0
$GC,8864,-0.62,-194.6,867.8,-5.2,675,8868,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1970,3592,0,0,0,0,0,0
$GC,9186,-0.62,-194.6,886.2,-5.9,691,9191,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,512,3591,0,0,0,0,0,0
$GC,9226,-0.62,-194.6,888.8,-6.0,692,9233,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1973,3591,0,0,0,0,0,0
$GC,9543,-0.62,-194.6,908.0,-6.2,708,9547,0.00,1.95,0.00,0.000,4,0.000,0.039,2587,3262,3590,0,0,0,0,0,0
$GC,9591,-0.62,-194.6,910.8,-6.2,710,9595,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1968,3589,0,0,0,0,0,0
$GC,9925,-0.62,-194.6,930.9,-6.3,726,9929,0.00,2.17,0.00,0.000,4,0.000,0.033,2587,511,3588,0,0,0,0,0,0
$GC,9952,-0.62,-194.6,932.9,-6.4,727,9957,0.00,2.15,0.00,0.000,6,0.000,0.024,2586,1944,3588,0,0,0,0,0,0
$GC,10275,-0.62,-194.6,953.3,-6.4,743,10279,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3261,3587,0,0,0,0,0,0
$GC,10370,-0.62,-194.6,959.6,-6.3,747,10374,0.00,1.85,0.00,0.000,6,0.000,0.022,2587,1979,3587,0,0,0,0,0,0
$GC,10700,-0.62,-194.6,979.7,-6.1,763,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1978,3586,0,0,0,0,0,0
$STATE,10882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10882,begin apogee
$GC,10888,-0.20,0.0,991.0,6.0,772,11052,0.43,0.00,159.15,1.402,4,0.117,0.000,2729,2094,2839,0,0,0,0,0,0
$STATE,11053,end apogee,CONTROL_FINISHED_OK
$STATE,11053,begin climb
$GC,11055,0.62,194.6,995.5,0.0,779,11234,0.77,0.00,174.18,1.343,6,0.080,0.000,2996,2094,2045,0,0,0,0,0,0
$GC,11545,0.62,194.6,945.9,11.0,803,11548,0.00,2.08,0.00,0.000,4,0.000,0.039,2996,3443,2034,0,0,0,0,0,0
$GC,11578,0.62,194.6,941.6,11.5,804,11583,0.00,2.00,0.00,0.000,6,0.000,0.021,3003,2106,2033,0,0,0,0,0,0
$GC,11901,0.62,194.6,907.3,10.6,820,11905,0.00,2.12,0.00,0.000,4,0.000,0.035,3013,683,2031,0,0,0,0,0,0
$GC,11995,0.62,194.6,896.6,11.0,824,11999,0.00,1.98,0.00,0.000,6,0.000,0.025,3013,2006,2031,0,0,0,0,0,0
$GC,12319,0.62,194.6,858.9,12.3,840,12324,0.00,2.20,0.00,0.000,4,0.000,0.038,3013,3439,2030,0,0,0,0,0,0
$GC,12379,0.62,194.6,850.5,13.6,842,12386,0.00,2.03,0.00,0.000,6,0.000,0.021,3022,2053,2030,0,0,0,0,0,0
$GC,12695,0.62,194.6,811.0,12.2,858,12698,0.00,2.03,0.00,0.000,4,0.000,0.034,3033,685,2029,0,0,0,0,0,0
$GC,12757,0.62,194.6,803.5,12.0,860,12768,0.05,2.00,0.00,0.000,6,0.122,0.025,3004,2007,2029,0,0,0,0,0,0
$GC,13073,0.62,194.6,770.6,10.5,876,13078,0.00,2.17,0.00,0.000,4,0.000,0.039,3004,3454,2029,0,0,0,0,0,0
$GC,13123,0.62,194.6,764.3,12.3,878,13127,0.00,2.03,0.00,0.000,6,0.000,0.021,3010,2062,2028,0,0,0,0,0,0
$GC,13447,0.62,194.6,722.7,13.0,894,13451,0.00,2.08,0.00,0.000,4,0.000,0.035,3021,691,2028,0,0,0,0,0,0
$GC,13507,0.62,194.6,714.1,13.4,896,13515,0.00,2.00,0.00,0.000,6,0.000,0.025,3021,2021,2028,0,0,0,0,0,0
$GC,13825,0.62,194.6,674.4,12.0,912,13829,0.00,2.15,0.00,0.000,4,0.000,0.038,3021,3444,2028,0,0,0,0,0,0
$GC,13888,0.62,194.6,666.4,13.0,915,13892,0.00,2.03,0.00,0.000,6,0.000,0.021,3030,2060,2028,0,0,0,0,0,0
$GC,14221,0.62,194.6,628.4,10.9,931,14225,0.00,2.08,0.00,0.000,4,0.000,0.036,3041,689,2028,0,0,0,0,0,0
$GC,14268,0.62,194.6,623.5,11.0,933,14273,0.10,2.00,0.00,0.000,6,0.129,0.025,3006,2020,2027,0,0,0,0,0,0
$GC,14603,0.62,196.4,591.3,9.6,949,14607,0.00,2.17,0.00,0.000,4,0.000,0.037,3006,3455,2027,0,0,0,0,0,0
$GC,14623,0.62,196.4,589.3,9.8,950,14627,0.00,2.05,0.00,0.000,6,0.000,0.021,3013,2049,2027,0,0,0,0,0,0
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$STATE,20466,end climb,SURFACE_DEPTH_REACHED
$STATE,20466,begin surface coast
$FINISH,0.9,1.008765
$STATE,20491,end surface coast,CONTROL_FINISHED_OK
$STATE,20491,begin surface
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$XPDR_PINGS,51
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$10V_AH,9.8,60.529
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329676
$DATA_FILE_SIZE,93415,1591
$CAP_FILE_SIZE,217638,0
$CFSIZE,260165632,105091072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,250.7,1
$GPS,020911,180730,1804.021,12342.422,39,1.1,40,-2.0