version: 66.09
glider: 167
mission: 8
dive: 448
start: 9 19 111 1 15 4
data:
$ID,167
$MISSION,8
$DIVE,448
$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,-151691.72
$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,86
$R_STBD_OVSHOOT,39
$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
$GPS1,180911,183106,2008.225,12108.633,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.0
$GPS2,180911,183106,2008.225,12108.633,901,99.0,901,-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,193.7,215150,-15.3,-9.706
$D_GRID,2400
$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,-90.43,0.000,2,0.000,0.000,107,1884,3087,0,0,0,0,0,0
$GC,117,-0.62,-194.6,6.0,-10.9,13,141,10.23,2.08,-8.40,0.000,4,0.227,0.037,2596,484,3636,0,0,0,0,0,0
$GC,165,-0.62,-194.6,30.0,-43.9,20,173,0.00,2.08,0.00,0.000,6,0.000,0.022,2588,1896,3637,0,0,0,0,0,0
$GC,310,-0.62,-194.6,58.2,-18.6,45,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1897,3637,0,0,0,0,0,0
$GC,450,-0.62,-194.6,85.8,-18.9,70,457,0.00,2.05,0.00,0.000,4,0.000,0.034,2584,3272,3637,0,0,0,0,0,0
$GC,552,-0.62,-194.6,104.4,-17.6,88,561,0.00,1.90,0.00,0.000,6,0.000,0.017,2583,1917,3637,0,0,0,0,0,0
$GC,702,-0.62,-194.6,131.5,-18.7,113,709,0.00,2.08,0.00,0.000,4,0.000,0.032,2583,493,3638,0,0,0,0,0,0
$GC,780,-0.62,-194.6,144.9,-14.0,127,787,0.00,1.88,0.00,0.000,6,0.000,0.019,2575,1820,3637,0,0,0,0,0,0
$GC,922,-0.62,-194.6,165.7,-15.3,152,930,0.00,2.15,0.00,0.000,4,0.000,0.031,2565,3265,3637,0,0,0,0,0,0
$GC,943,-0.62,-194.6,169.0,-14.8,155,951,0.12,2.03,0.00,0.000,6,0.154,0.017,2599,1804,3637,0,0,0,0,0,0
$GC,1087,-0.62,-194.6,186.2,-15.3,180,1095,0.00,2.20,0.00,0.000,4,0.000,0.031,2595,3277,3636,0,0,0,0,0,0
$GC,1123,-0.62,-194.6,190.7,-13.6,185,1130,0.00,1.92,0.00,0.000,6,0.000,0.018,2595,1898,3636,0,0,0,0,0,0
$GC,1261,-0.62,-194.6,206.7,-11.8,205,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1898,3636,0,0,0,0,0,0
$GC,1585,-0.62,-194.6,250.0,-13.4,235,1589,0.00,2.03,0.00,0.000,4,0.000,0.029,2594,504,3634,0,0,0,0,0,0
$GC,1658,-0.62,-194.6,260.4,-12.2,241,1665,0.00,2.05,0.00,0.000,6,0.000,0.021,2590,1927,3633,0,0,0,0,0,0
$GC,1986,-0.62,-194.6,288.2,-8.4,272,1990,0.00,2.08,0.00,0.000,4,0.000,0.028,2590,508,3632,0,0,0,0,0,0
$GC,2037,-0.62,-194.6,293.3,-9.9,276,2042,0.00,2.05,0.00,0.000,6,0.000,0.021,2590,1911,3632,0,0,0,0,0,0
$GC,2370,-0.62,-194.6,323.7,-8.7,307,2374,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3265,3629,0,0,0,0,0,0
$GC,2430,-0.62,-194.6,329.1,-8.3,312,2437,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1924,3629,0,0,0,0,0,0
$GC,2758,-0.62,-194.6,356.9,-9.1,343,2763,0.00,2.03,0.00,0.000,4,0.000,0.034,2588,3263,3625,0,0,0,0,0,0
$GC,2829,-0.62,-194.6,363.5,-8.5,349,2836,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1930,3625,0,0,0,0,0,0
$GC,3159,-0.62,-194.6,392.0,-8.6,380,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1930,3622,0,0,0,0,0,0
$GC,3487,-0.62,-194.6,417.3,-7.5,411,3491,0.00,2.08,0.00,0.000,4,0.000,0.031,2588,498,3619,0,0,0,0,0,0
$GC,3519,-0.62,-194.6,420.5,-8.4,413,3526,0.00,2.08,0.00,0.000,6,0.000,0.022,2587,1919,3619,0,0,0,0,0,0
$GC,3846,-0.62,-194.6,450.4,-9.9,444,3849,0.00,2.03,0.00,0.000,4,0.000,0.038,2588,3268,3615,0,0,0,0,0,0
$GC,3928,-0.62,-194.6,458.1,-8.5,451,3936,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1960,3614,0,0,0,0,0,0
$GC,4254,-0.62,-194.6,485.5,-8.4,482,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1960,3611,0,0,0,0,0,0
$GC,4569,-0.62,-194.6,509.6,-7.2,506,4573,0.00,2.15,0.00,0.000,4,0.000,0.031,2588,505,3609,0,0,0,0,0,0
$GC,4651,-0.62,-194.6,515.6,-7.5,509,4658,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1969,3608,0,0,0,0,0,0
$GC,4967,-0.62,-194.6,537.4,-6.8,525,4971,0.00,1.95,0.00,0.000,4,0.000,0.037,2588,3269,3605,0,0,0,0,0,0
$GC,4997,-0.62,-194.6,539.3,-6.7,526,5000,0.00,1.85,0.00,0.000,6,0.000,0.021,2588,1973,3605,0,0,0,0,0,0
$GC,5324,-0.62,-194.6,560.4,-6.6,542,5329,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,517,3602,0,0,0,0,0,0
$GC,5348,-0.62,-194.6,562.1,-6.9,543,5352,0.00,2.15,0.00,0.000,6,0.000,0.024,2588,1978,3603,0,0,0,0,0,0
$GC,5678,-0.62,-194.6,587.6,-8.0,559,5682,0.00,2.20,0.00,0.000,4,0.000,0.030,2588,503,3599,0,0,0,0,0,0
$GC,5707,-0.62,-194.6,590.2,-7.9,560,5711,0.00,2.12,0.00,0.000,6,0.000,0.023,2588,1945,3599,0,0,0,0,0,0
$GC,6025,-0.62,-194.6,616.3,-8.2,575,6029,0.00,2.00,0.00,0.000,4,0.000,0.038,2587,3271,3598,0,0,0,0,0,0
$GC,6131,-0.62,-194.6,624.9,-8.0,579,6142,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1958,3597,0,0,0,0,0,0
$GC,6448,-0.62,-194.6,650.2,-8.5,595,6452,0.00,2.17,0.00,0.000,4,0.000,0.031,2588,511,3595,0,0,0,0,0,0
$GC,6476,-0.62,-194.6,652.8,-8.8,596,6480,0.00,2.12,0.00,0.000,6,0.000,0.025,2587,1944,3595,0,0,0,0,0,0
$GC,6799,-0.62,-194.6,679.9,-7.9,612,6803,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3267,3593,0,0,0,0,0,0
$GC,6855,-0.62,-194.6,684.6,-7.8,614,6858,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1974,3593,0,0,0,0,0,0
$GC,7179,-0.62,-194.6,708.6,-7.3,630,7183,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,508,3592,0,0,0,0,0,0
$GC,7251,-0.62,-194.6,714.8,-8.1,633,7255,0.00,2.10,0.00,0.000,6,0.000,0.024,2588,1942,3591,0,0,0,0,0,0
$GC,7570,-0.62,-194.6,737.7,-7.3,648,7575,0.00,2.03,0.00,0.000,4,0.000,0.040,2587,3262,3590,0,0,0,0,0,0
$GC,7648,-0.62,-194.6,743.5,-7.0,651,7651,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,1964,3589,0,0,0,0,0,0
$GC,7972,-0.62,-194.6,764.5,-6.6,667,7976,0.00,2.15,0.00,0.000,4,0.000,0.034,2587,511,3588,0,0,0,0,0,0
$GC,8007,-0.62,-194.6,767.2,-6.7,668,8013,0.00,2.12,0.00,0.000,6,0.000,0.025,2587,1941,3588,0,0,0,0,0,0
$GC,8324,-0.62,-194.6,788.2,-6.6,684,8327,0.00,2.03,0.00,0.000,4,0.000,0.040,2587,3272,3586,0,0,0,0,0,0
$GC,8420,-0.62,-194.6,794.4,-6.4,688,8424,0.00,1.85,0.00,0.000,6,0.000,0.021,2588,1983,3586,0,0,0,0,0,0
$GC,8748,-0.62,-194.6,814.8,-6.1,704,8752,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,510,3584,0,0,0,0,0,0
$GC,8837,-0.62,-194.6,820.7,-7.1,708,8841,0.00,2.12,0.00,0.000,6,0.000,0.026,2587,1949,3584,0,0,0,0,0,0
$GC,9165,-0.62,-194.6,842.8,-7.0,724,9168,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3266,3583,0,0,0,0,0,0
$GC,9257,-0.62,-194.6,849.2,-7.0,728,9260,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1977,3583,0,0,0,0,0,0
$GC,9592,-0.62,-194.6,874.8,-8.0,744,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1976,3582,0,0,0,0,0,0
$GC,9899,-0.62,-194.6,897.8,-7.0,759,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1976,3581,0,0,0,0,0,0
$GC,10210,-0.62,-194.6,918.8,-6.6,774,10214,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,503,3580,0,0,0,0,0,0
$GC,10295,-0.62,-194.6,924.9,-7.2,778,10299,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1967,3580,0,0,0,0,0,0
$GC,10625,-0.62,-194.6,944.8,-6.0,794,10629,0.00,2.00,0.00,0.000,4,0.000,0.041,2587,3273,3580,0,0,0,0,0,0
$GC,10672,-0.62,-194.6,947.7,-6.0,796,10676,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1973,3579,0,0,0,0,0,0
$GC,11009,-0.62,-194.6,969.0,-6.7,812,11013,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,517,3579,0,0,0,0,0,0
$GC,11051,-0.62,-194.6,971.9,-6.7,814,11055,0.00,2.17,0.00,0.000,6,0.000,0.024,2588,1976,3579,0,0,0,0,0,0
$STATE,11314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11314,begin apogee
$GC,11320,-0.20,0.0,991.1,7.6,827,11485,0.43,0.00,159.15,1.404,4,0.120,0.000,2729,2080,2838,0,0,0,0,0,0
$STATE,11486,end apogee,CONTROL_FINISHED_OK
$STATE,11486,begin climb
$GC,11488,0.62,194.6,999.8,0.0,834,11673,0.80,2.20,174.45,1.355,4,0.083,0.031,2997,708,2044,0,0,0,0,0,0
$GC,11785,0.65,218.6,980.2,8.9,848,11811,0.00,2.05,21.30,1.268,6,0.000,0.025,2996,2056,1946,0,0,0,0,0,0
$GC,12128,0.65,218.6,947.8,10.1,865,12132,0.00,2.03,0.00,0.000,4,0.000,0.031,3004,715,1937,0,0,0,0,0,0
$GC,12267,0.65,218.6,931.3,12.2,871,12271,0.00,2.12,0.00,0.000,6,0.000,0.026,3004,2129,1937,0,0,0,0,0,0
$GC,12596,0.65,218.6,888.5,13.3,887,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2130,1935,0,0,0,0,0,0
$GC,12904,0.65,218.6,851.1,12.1,902,12909,0.00,2.08,0.00,0.000,4,0.000,0.041,3004,3475,1934,0,0,0,0,0,0
$GC,12966,0.65,218.6,842.9,13.5,904,12973,0.00,1.92,0.00,0.000,6,0.000,0.021,3010,2134,1933,0,0,0,0,0,0
$GC,13282,0.65,218.6,804.4,11.7,920,13286,0.00,2.12,0.00,0.000,4,0.000,0.034,3020,710,1933,0,0,0,0,0,0
$GC,13349,0.65,218.6,796.6,11.1,923,13354,0.00,2.08,0.00,0.000,6,0.000,0.025,3020,2117,1933,0,0,0,0,0,0
$GC,13679,0.65,218.6,760.0,11.1,939,13680,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2117,1933,0,0,0,0,0,0
$GC,13986,0.65,218.6,726.9,11.2,954,13987,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2117,1933,0,0,0,0,0,0
$GC,14297,0.65,218.6,689.3,12.3,969,14302,0.00,2.15,0.00,0.000,4,0.000,0.032,3029,709,1932,0,0,0,0,0,0
$GC,14335,0.65,218.6,684.3,12.0,970,14343,0.00,2.10,0.00,0.000,6,0.000,0.025,3029,2096,1932,0,0,0,0,0,0
$GC,14652,0.65,218.6,646.5,12.0,986,14653,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2096,1932,0,0,0,0,0,0
$GC,14963,0.65,218.6,609.5,12.1,1001,14967,0.00,2.08,0.00,0.000,4,0.000,0.039,3029,3468,1932,0,0,0,0,0,0
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$STATE,20807,end climb,SURFACE_DEPTH_REACHED
$STATE,20808,begin surface coast
$FINISH,0.9,1.020919
$STATE,20824,end surface coast,CONTROL_FINISHED_OK
$STATE,20825,begin surface
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$HUMID,39.72
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$XPDR_PINGS,50
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$10V_AH,9.7,71.967
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$FG_AHR_10Vo,0.000
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$MEM,324008
$DATA_FILE_SIZE,96898,1658
$CAP_FILE_SIZE,219386,0
$CFSIZE,260165632,96555008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.506, 51.2,1
$GPS,190911,070437,2009.125,12112.520,26,1.4,26,-2.3