version: 66.09
glider: 167
mission: 8
dive: 260
start: 8 5 111 20 4 15
data:
$ID,167
$MISSION,8
$DIVE,260
$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,-56714.559
$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,54
$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
$GPS1,050811,195201,1927.719,12318.086,41,1.6,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.2
$GPS2,050811,200350,1927.811,12317.919,12,1.8,12,-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,90.7,138828,-15.3,-9.706
$D_GRID,4871
$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,17,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-93.32,0.000,2,0.000,0.000,107,1939,3064,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.3,-8.6,12,143,10.02,2.08,-9.23,0.000,4,0.230,0.046,2588,3286,3636,0,0,0,0,0,0
$GC,331,-0.62,-194.6,76.2,-18.1,49,340,0.00,2.05,0.00,0.000,6,0.000,0.018,2588,1862,3637,0,0,0,0,0,0
$GC,410,-0.62,-194.6,91.2,-18.7,62,420,0.00,2.12,0.00,0.000,4,0.000,0.031,2580,3269,3638,0,0,0,0,0,0
$GC,463,-0.62,-194.6,102.1,-21.0,70,472,0.00,1.77,0.00,0.000,6,0.000,0.018,2580,2020,3638,0,0,0,0,0,0
$GC,543,-0.62,-194.6,116.6,-18.8,83,552,0.00,2.25,0.00,0.000,4,0.000,0.028,2580,492,3639,0,0,0,0,0,0
$GC,633,-0.62,-194.6,133.9,-17.7,98,643,0.00,2.00,0.00,0.000,6,0.000,0.022,2574,1855,3639,0,0,0,0,0,0
$GC,712,-0.62,-194.6,148.2,-18.6,111,721,0.00,2.12,0.00,0.000,4,0.000,0.032,2564,3282,3639,0,0,0,0,0,0
$GC,731,-0.62,-194.6,151.8,-19.4,113,741,0.12,2.08,0.00,0.000,6,0.166,0.020,2596,1833,3639,0,0,0,0,0,0
$GC,809,-0.62,-194.6,165.1,-15.9,126,817,0.00,1.95,0.00,0.000,4,0.000,0.028,2596,500,3639,0,0,0,0,0,0
$GC,843,-0.62,-194.6,170.7,-16.5,131,852,0.00,1.98,0.00,0.000,6,0.000,0.021,2590,1860,3639,0,0,0,0,0,0
$GC,921,-0.62,-194.6,182.6,-15.2,144,930,0.00,2.10,0.00,0.000,4,0.000,0.033,2587,3265,3639,0,0,0,0,0,0
$GC,950,-0.62,-194.6,187.6,-16.1,148,959,0.00,1.98,0.00,0.000,6,0.000,0.018,2587,1880,3639,0,0,0,0,0,0
$GC,1026,-0.62,-194.6,199.4,-15.6,161,1033,0.00,2.03,0.00,0.000,4,0.000,0.029,2587,498,3639,0,0,0,0,0,0
$GC,1068,-0.62,-194.6,206.5,-16.4,165,1074,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1884,3639,0,0,0,0,0,0
$GC,1395,-0.62,-194.6,251.3,-11.9,196,1399,0.00,2.05,0.00,0.000,4,0.000,0.033,2586,3275,3638,0,0,0,0,0,0
$GC,1453,-0.62,-194.6,258.7,-12.4,201,1457,0.00,1.98,0.00,0.000,6,0.000,0.018,2587,1876,3638,0,0,0,0,0,0
$GC,1784,-0.62,-194.6,302.1,-12.2,232,1787,0.00,2.05,0.00,0.000,4,0.000,0.033,2587,3262,3636,0,0,0,0,0,0
$GC,1822,-0.62,-194.6,307.1,-12.5,235,1829,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1908,3636,0,0,0,0,0,0
$GC,2148,-0.62,-194.6,344.6,-10.9,266,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1908,3635,0,0,0,0,0,0
$GC,2468,-0.62,-194.6,380.6,-12.3,296,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1907,3633,0,0,0,0,0,0
$GC,2788,-0.62,-194.6,419.7,-12.4,326,2791,0.00,2.05,0.00,0.000,4,0.000,0.030,2587,506,3631,0,0,0,0,0,0
$GC,2815,-0.62,-194.6,424.1,-13.6,328,2822,0.00,2.00,0.00,0.000,6,0.000,0.023,2587,1867,3631,0,0,0,0,0,0
$GC,3142,-0.62,-194.6,465.2,-12.0,359,3145,0.00,2.05,0.00,0.000,4,0.000,0.035,2586,3266,3629,0,0,0,0,0,0
$GC,3177,-0.62,-194.6,469.1,-10.8,362,3180,0.00,1.98,0.00,0.000,6,0.000,0.018,2586,1862,3629,0,0,0,0,0,0
$GC,3520,-0.62,-194.6,502.3,-9.5,393,3525,0.00,2.12,0.00,0.000,4,0.000,0.034,2586,3263,3626,0,0,0,0,0,0
$GC,3570,-0.62,-194.6,507.1,-9.2,395,3574,0.00,1.95,0.00,0.000,6,0.000,0.018,2586,1886,3626,0,0,0,0,0,0
$GC,3898,-0.62,-194.6,538.6,-10.0,411,3901,0.00,2.03,0.00,0.000,4,0.000,0.031,2586,503,3624,0,0,0,0,0,0
$GC,3991,-0.62,-194.6,548.0,-9.9,415,3994,0.00,2.05,0.00,0.000,6,0.000,0.022,2584,1910,3624,0,0,0,0,0,0
$GC,4325,-0.62,-194.6,581.3,-9.8,431,4328,0.00,2.00,0.00,0.000,4,0.000,0.037,2584,3270,3621,0,0,0,0,0,0
$GC,4352,-0.62,-194.6,584.3,-9.9,432,4357,0.00,1.98,0.00,0.000,6,0.000,0.019,2584,1891,3621,0,0,0,0,0,0
$GC,4680,-0.62,-194.6,617.7,-10.1,448,4684,0.00,2.05,0.00,0.000,4,0.000,0.032,2584,500,3619,0,0,0,0,0,0
$GC,4726,-0.62,-194.6,622.5,-10.5,450,4730,0.00,2.05,0.00,0.000,6,0.000,0.023,2583,1905,3619,0,0,0,0,0,0
$GC,5062,-0.62,-194.6,652.9,-8.6,466,5066,0.00,2.03,0.00,0.000,4,0.000,0.037,2583,3273,3616,0,0,0,0,0,0
$GC,5179,-0.62,-194.6,662.3,-7.4,471,5183,0.00,1.88,0.00,0.000,6,0.000,0.020,2583,1948,3615,0,0,0,0,0,0
$GC,5509,-0.62,-194.6,687.1,-7.4,487,5513,0.00,2.12,0.00,0.000,4,0.000,0.031,2583,501,3612,0,0,0,0,0,0
$GC,5559,-0.62,-194.6,691.4,-8.1,489,5563,0.00,2.10,0.00,0.000,6,0.000,0.023,2577,1935,3612,0,0,0,0,0,0
$GC,5881,-0.62,-194.6,718.4,-8.6,505,5886,0.00,2.03,0.00,0.000,4,0.000,0.037,2577,3267,3610,0,0,0,0,0,0
$GC,5974,-0.62,-194.6,726.1,-8.5,509,5979,0.00,1.88,0.00,0.000,6,0.000,0.019,2576,1962,3609,0,0,0,0,0,0
$GC,6307,-0.62,-194.6,754.0,-8.2,525,6311,0.00,1.98,0.00,0.000,4,0.000,0.036,2577,3267,3606,0,0,0,0,0,0
$GC,6370,-0.62,-194.6,759.1,-8.1,527,6377,0.00,1.85,0.00,0.000,6,0.000,0.020,2577,1989,3606,0,0,0,0,0,0
$GC,6687,-0.62,-194.6,784.3,-7.7,543,6691,0.00,1.95,0.00,0.000,4,0.000,0.037,2576,3275,3604,0,0,0,0,0,0
$GC,6743,-0.62,-194.6,788.8,-7.5,545,6747,0.00,1.80,0.00,0.000,6,0.000,0.021,2577,2018,3604,0,0,0,0,0,0
$GC,7067,-0.62,-194.6,814.3,-8.1,561,7072,0.00,2.28,0.00,0.000,4,0.000,0.031,2577,495,3602,0,0,0,0,0,0
$GC,7184,-0.62,-194.6,825.6,-9.5,566,7188,0.00,2.20,0.00,0.000,6,0.000,0.024,2576,1985,3601,0,0,0,0,0,0
$GC,7507,-0.62,-194.6,853.8,-8.6,582,7512,0.00,1.95,0.00,0.000,4,0.000,0.039,2577,3263,3599,0,0,0,0,0,0
$GC,7621,-0.62,-194.6,862.9,-7.7,587,7625,0.00,1.80,0.00,0.000,6,0.000,0.020,2577,1995,3599,0,0,0,0,0,0
$GC,7956,-0.62,-194.6,887.5,-7.2,603,7961,0.00,2.22,0.00,0.000,4,0.000,0.032,2577,510,3597,0,0,0,0,0,0
$GC,7979,-0.62,-194.6,889.3,-7.2,604,7983,0.00,2.22,0.00,0.000,6,0.000,0.024,2575,2015,3597,0,0,0,0,0,0
$GC,8307,-0.62,-194.6,913.9,-7.7,620,8311,0.00,1.90,0.00,0.000,4,0.000,0.039,2575,3275,3596,0,0,0,0,0,0
$GC,8365,-0.62,-194.6,918.3,-7.6,622,8368,0.00,1.77,0.00,0.000,6,0.000,0.019,2575,2010,3595,0,0,0,0,0,0
$GC,8687,-0.62,-194.6,943.8,-8.2,638,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2009,3593,0,0,0,0,0,0
$GC,8996,-0.62,-194.6,971.2,-9.4,653,9001,0.00,2.28,0.00,0.000,4,0.000,0.033,2575,500,3592,0,0,0,0,0,0
$GC,9024,-0.62,-194.6,974.2,-9.6,654,9029,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2044,3592,0,0,0,0,0,0
$STATE,9200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9200,begin apogee
$GC,9205,-0.20,0.0,991.0,9.6,663,9363,0.47,0.00,153.48,1.394,4,0.122,0.000,2732,2045,2839,0,0,0,0,0,0
$STATE,9364,end apogee,CONTROL_FINISHED_OK
$STATE,9364,begin climb
$GC,9367,0.62,194.6,998.7,0.0,670,9541,0.75,0.00,169.30,1.336,6,0.080,0.000,2997,2045,2045,0,0,0,0,0,0
$GC,9857,0.62,194.6,952.2,11.7,693,9861,0.00,2.20,0.00,0.000,4,0.000,0.037,2997,3469,2034,0,0,0,0,0,0
$GC,9901,0.62,194.6,945.7,13.0,695,9905,0.00,2.05,0.00,0.000,6,0.000,0.021,3005,2082,2033,0,0,0,0,0,0
$GC,10230,0.62,194.6,904.5,12.7,711,10234,0.00,2.10,0.00,0.000,4,0.000,0.034,3015,695,2032,0,0,0,0,0,0
$GC,10299,0.62,194.6,895.6,12.8,714,10303,0.00,2.03,0.00,0.000,6,0.000,0.024,3015,2043,2031,0,0,0,0,0,0
$GC,10633,0.62,194.6,854.8,11.8,730,10637,0.00,2.17,0.00,0.000,4,0.000,0.038,3015,3475,2031,0,0,0,0,0,0
$GC,10682,0.62,194.6,848.2,12.7,732,10687,0.00,2.08,0.00,0.000,6,0.000,0.021,3025,2068,2030,0,0,0,0,0,0
$GC,11004,0.62,194.6,809.6,12.1,748,11007,0.00,2.03,0.00,0.000,4,0.000,0.034,3032,695,2030,0,0,0,0,0,0
$GC,11111,0.62,194.6,796.4,12.0,752,11118,0.12,2.00,0.00,0.000,6,0.151,0.024,2998,2046,2029,0,0,0,0,0,0
$GC,11427,0.62,194.6,762.9,10.7,768,11432,0.00,2.17,0.00,0.000,4,0.000,0.038,2998,3463,2029,0,0,0,0,0,0
$GC,11511,0.62,194.6,752.8,12.3,771,11518,0.00,2.08,0.00,0.000,6,0.000,0.021,3006,2042,2028,0,0,0,0,0,0
$GC,11828,0.62,194.6,717.6,10.7,787,11832,0.00,2.03,0.00,0.000,4,0.000,0.034,3016,696,2028,0,0,0,0,0,0
$GC,11888,0.62,194.6,711.1,10.4,789,11895,0.00,1.92,0.00,0.000,6,0.000,0.024,3015,2017,2028,0,0,0,0,0,0
$GC,12206,0.62,194.6,678.8,9.9,805,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2017,2028,0,0,0,0,0,0
$GC,12514,0.62,194.6,646.6,10.8,820,12518,0.00,2.20,0.00,0.000,4,0.000,0.038,3015,3472,2027,0,0,0,0,0,0
$GC,12580,0.62,194.6,638.3,12.4,823,12584,0.00,2.12,0.00,0.000,6,0.000,0.021,3025,2014,2027,0,0,0,0,0,0
$GC,12909,0.62,194.6,599.9,11.6,839,12913,0.00,1.98,0.00,0.000,4,0.000,0.036,3033,689,2027,0,0,0,0,0,0
$GC,13015,0.62,194.6,587.7,10.7,843,13023,0.08,1.90,0.00,0.000,6,0.131,0.024,3007,1969,2027,0,0,0,0,0,0
$GC,13334,0.63,198.2,558.1,9.6,859,13338,0.00,2.25,0.00,0.000,4,0.000,0.037,3006,3471,2026,0,0,0,0,0,0
$GC,13377,0.63,198.2,553.2,10.4,861,13381,0.00,2.17,0.00,0.000,6,0.000,0.021,3014,1981,2026,0,0,0,0,0,0
$GC,13707,0.63,198.2,518.5,10.9,877,13711,0.00,1.95,0.00,0.000,4,0.000,0.035,3024,686,2026,0,0,0,0,0,0
$GC,13767,0.63,198.2,511.8,10.6,879,13774,0.00,1.90,0.00,0.000,6,0.000,0.023,3024,1969,2026,0,0,0,0,0,0
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$STATE,18339,end climb,SURFACE_DEPTH_REACHED
$STATE,18339,begin surface coast
$FINISH,1.3,1.021379
$STATE,18356,end surface coast,CONTROL_FINISHED_OK
$STATE,18356,begin surface
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$XPDR_PINGS,54
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$10V_AH,9.9,42.642
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329824
$DATA_FILE_SIZE,83483,1427
$CAP_FILE_SIZE,209335,0
$CFSIZE,260165632,117047296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,286.7,1
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