version: 66.09
glider: 167
mission: 8
dive: 262
start: 8 6 111 7 8 14
data:
$ID,167
$MISSION,8
$DIVE,262
$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,-56717.172
$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,65
$R_STBD_OVSHOOT,56
$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
$GPS1,060811,065536,1930.257,12320.054,32,1.0,32,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.8
$GPS2,060811,070749,1930.327,12319.799,13,1.5,30,-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,98.3,133366,-15.3,-9.706
$D_GRID,4921
$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,-194.6,0.0,0.0,0,109,0.00,0.00,-90.00,0.000,2,0.000,0.000,110,1804,3260,0,0,0,0,0,0
$GC,113,-0.62,-194.6,6.8,-12.3,12,137,10.05,2.25,-5.72,0.000,4,0.231,0.045,2587,3286,3634,0,0,0,0,0,0
$GC,320,-0.62,-194.6,83.7,-21.4,47,329,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1868,3636,0,0,0,0,0,0
$GC,399,-0.62,-194.6,100.1,-18.7,60,408,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,485,3636,0,0,0,0,0,0
$GC,450,-0.62,-194.6,109.1,-15.9,68,458,0.00,2.12,0.00,0.000,6,0.000,0.020,2577,1944,3637,0,0,0,0,0,0
$GC,528,-0.62,-194.6,121.6,-17.3,81,537,0.00,2.00,0.00,0.000,4,0.000,0.034,2574,3267,3637,0,0,0,0,0,0
$GC,556,-0.62,-194.6,127.7,-19.3,85,566,0.00,1.90,0.00,0.000,6,0.000,0.017,2574,1924,3637,0,0,0,0,0,0
$GC,634,-0.62,-194.6,141.9,-17.8,98,642,0.00,2.08,0.00,0.000,4,0.000,0.028,2573,502,3637,0,0,0,0,0,0
$GC,656,-0.62,-194.6,145.7,-17.1,101,666,0.08,2.12,0.00,0.000,6,0.148,0.021,2591,1956,3638,0,0,0,0,0,0
$GC,737,-0.62,-194.6,158.9,-16.3,114,745,0.00,1.95,0.00,0.000,4,0.000,0.033,2587,3266,3638,0,0,0,0,0,0
$GC,771,-0.62,-194.6,164.1,-14.7,119,780,0.00,1.77,0.00,0.000,6,0.000,0.016,2587,1996,3638,0,0,0,0,0,0
$GC,846,-0.62,-194.6,174.7,-14.3,132,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1996,3638,0,0,0,0,0,0
$GC,920,-0.62,-194.6,184.8,-14.3,145,930,0.00,1.92,0.00,0.000,4,0.000,0.032,2587,3276,3637,0,0,0,0,0,0
$GC,949,-0.62,-194.6,188.9,-13.6,149,959,0.00,1.73,0.00,0.000,6,0.000,0.017,2587,2031,3638,0,0,0,0,0,0
$GC,1026,-0.62,-194.6,198.1,-12.0,162,1033,0.00,2.22,0.00,0.000,4,0.000,0.029,2587,512,3638,0,0,0,0,0,0
$GC,1085,-0.62,-194.6,206.2,-13.3,168,1090,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1984,3638,0,0,0,0,0,0
$GC,1418,-0.62,-194.6,254.4,-15.7,199,1422,0.00,1.90,0.00,0.000,4,0.000,0.034,2587,3275,3637,0,0,0,0,0,0
$GC,1445,-0.62,-194.6,259.0,-14.5,201,1453,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1937,3637,0,0,0,0,0,0
$GC,1771,-0.62,-194.6,303.7,-11.8,232,1776,0.00,2.10,0.00,0.000,4,0.000,0.030,2587,503,3635,0,0,0,0,0,0
$GC,1820,-0.62,-194.6,309.7,-11.9,236,1827,0.00,2.05,0.00,0.000,6,0.000,0.021,2586,1925,3635,0,0,0,0,0,0
$GC,2146,-0.62,-194.6,346.9,-13.0,267,2149,0.00,1.98,0.00,0.000,4,0.000,0.034,2580,3269,3633,0,0,0,0,0,0
$GC,2206,-0.62,-194.6,355.1,-13.1,272,2213,0.00,1.88,0.00,0.000,6,0.000,0.018,2580,1949,3633,0,0,0,0,0,0
$GC,2532,-0.62,-194.6,395.8,-10.9,303,2537,0.00,2.10,0.00,0.000,4,0.000,0.029,2580,515,3631,0,0,0,0,0,0
$GC,2566,-0.62,-194.6,399.6,-10.9,306,2571,0.00,2.12,0.00,0.000,6,0.000,0.021,2574,1969,3631,0,0,0,0,0,0
$GC,2897,-0.62,-194.6,433.4,-10.4,337,2900,0.00,1.92,0.00,0.000,4,0.000,0.035,2575,3270,3629,0,0,0,0,0,0
$GC,2935,-0.62,-194.6,437.1,-9.1,340,2942,0.00,1.83,0.00,0.000,6,0.000,0.018,2575,1962,3629,0,0,0,0,0,0
$GC,3262,-0.62,-194.6,467.7,-9.6,371,3266,0.00,2.12,0.00,0.000,4,0.000,0.031,2575,505,3626,0,0,0,0,0,0
$GC,3328,-0.62,-194.6,474.5,-9.7,376,3336,0.00,2.10,0.00,0.000,6,0.000,0.022,2574,1934,3626,0,0,0,0,0,0
$GC,3656,-0.62,-194.6,507.6,-11.2,404,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1934,3623,0,0,0,0,0,0
$GC,3961,-0.62,-194.6,546.9,-13.3,419,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1934,3621,0,0,0,0,0,0
$GC,4271,-0.62,-194.6,583.9,-11.0,434,4276,0.00,2.00,0.00,0.000,4,0.000,0.037,2574,3263,3619,0,0,0,0,0,0
$GC,4341,-0.62,-194.6,590.2,-8.6,437,4344,0.00,1.88,0.00,0.000,6,0.000,0.019,2574,1924,3619,0,0,0,0,0,0
$GC,4674,-0.62,-194.6,617.0,-7.8,453,4678,0.00,2.03,0.00,0.000,4,0.000,0.035,2574,3270,3617,0,0,0,0,0,0
$GC,4790,-0.62,-194.6,626.2,-8.4,458,4793,0.00,1.88,0.00,0.000,6,0.000,0.018,2574,1939,3615,0,0,0,0,0,0
$GC,5123,-0.62,-194.6,655.1,-8.7,474,5127,0.00,2.00,0.00,0.000,4,0.000,0.035,2574,3267,3612,0,0,0,0,0,0
$GC,5156,-0.62,-194.6,658.4,-8.9,475,5160,0.00,1.85,0.00,0.000,6,0.000,0.020,2574,1959,3612,0,0,0,0,0,0
$GC,5480,-0.62,-194.6,687.5,-9.1,491,5484,0.00,2.15,0.00,0.000,4,0.000,0.031,2574,498,3610,0,0,0,0,0,0
$GC,5535,-0.62,-194.6,693.2,-9.9,493,5543,0.00,2.17,0.00,0.000,6,0.000,0.024,2574,1965,3609,0,0,0,0,0,0
$GC,5851,-0.62,-194.6,722.3,-9.4,509,5855,0.00,1.92,0.00,0.000,4,0.000,0.039,2574,3264,3607,0,0,0,0,0,0
$GC,5937,-0.62,-194.6,730.0,-8.6,512,5943,0.00,1.83,0.00,0.000,6,0.000,0.021,2574,1976,3607,0,0,0,0,0,0
$GC,6253,-0.62,-194.6,757.5,-9.1,528,6257,0.00,2.17,0.00,0.000,4,0.000,0.031,2574,501,3605,0,0,0,0,0,0
$GC,6318,-0.62,-194.6,763.7,-10.1,531,6322,0.00,2.17,0.00,0.000,6,0.000,0.024,2574,1978,3604,0,0,0,0,0,0
$GC,6645,-0.62,-194.6,798.6,-11.5,547,6648,0.00,1.95,0.00,0.000,4,0.000,0.038,2574,3274,3602,0,0,0,0,0,0
$GC,6707,-0.62,-194.6,806.0,-11.5,549,6715,0.00,1.85,0.00,0.000,6,0.000,0.018,2574,1962,3601,0,0,0,0,0,0
$GC,7025,-0.62,-194.6,840.7,-10.6,565,7029,0.00,2.15,0.00,0.000,4,0.000,0.031,2574,506,3600,0,0,0,0,0,0
$GC,7098,-0.62,-194.6,849.1,-10.8,568,7102,0.00,2.10,0.00,0.000,6,0.000,0.024,2574,1932,3599,0,0,0,0,0,0
$GC,7416,-0.62,-194.6,876.9,-8.1,583,7419,0.00,2.00,0.00,0.000,4,0.000,0.038,2574,3271,3598,0,0,0,0,0,0
$GC,7533,-0.62,-194.6,885.8,-7.1,588,7538,0.00,1.88,0.00,0.000,6,0.000,0.019,2574,1966,3597,0,0,0,0,0,0
$GC,7862,-0.62,-194.6,908.9,-7.3,604,7866,0.00,2.15,0.00,0.000,4,0.000,0.031,2574,500,3596,0,0,0,0,0,0
$GC,7884,-0.62,-194.6,910.9,-7.5,605,7888,0.00,2.17,0.00,0.000,6,0.000,0.023,2574,1977,3596,0,0,0,0,0,0
$GC,8206,-0.62,-194.6,935.5,-7.5,621,8210,0.00,1.92,0.00,0.000,4,0.000,0.039,2574,3266,3594,0,0,0,0,0,0
$GC,8280,-0.62,-194.6,940.9,-7.2,624,8283,0.00,1.80,0.00,0.000,6,0.000,0.019,2574,1993,3593,0,0,0,0,0,0
$GC,8607,-0.62,-194.6,965.9,-7.8,640,8612,0.00,2.22,0.00,0.000,4,0.000,0.031,2574,508,3592,0,0,0,0,0,0
$GC,8679,-0.62,-194.6,972.0,-8.6,643,8683,0.00,2.17,0.00,0.000,6,0.000,0.024,2573,1979,3592,0,0,0,0,0,0
$STATE,8916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8916,begin apogee
$GC,8924,-0.20,0.0,991.4,8.5,655,9082,0.47,0.00,153.27,1.395,4,0.122,0.000,2730,2083,2839,0,0,0,0,0,0
$STATE,9083,end apogee,CONTROL_FINISHED_OK
$STATE,9083,begin climb
$GC,9087,0.62,194.6,998.5,0.0,662,9270,0.75,2.25,169.35,1.341,4,0.074,0.032,3002,704,2043,0,0,0,0,0,0
$GC,9423,0.62,194.6,970.3,9.9,677,9430,0.00,2.10,0.00,0.000,6,0.000,0.024,3002,2080,2036,0,0,0,0,0,0
$GC,9739,0.62,194.6,934.6,12.0,693,9743,0.00,2.10,0.00,0.000,4,0.000,0.032,3006,701,2031,0,0,0,0,0,0
$GC,9994,0.62,194.6,903.1,12.7,704,10002,0.00,2.08,0.00,0.000,6,0.000,0.024,3006,2075,2030,0,0,0,0,0,0
$GC,10312,0.62,194.6,862.5,12.9,720,10316,0.00,2.05,0.00,0.000,4,0.000,0.032,3005,707,2028,0,0,0,0,0,0
$GC,10340,0.62,194.6,858.6,12.7,721,10344,0.00,2.05,0.00,0.000,6,0.000,0.023,3006,2083,2028,0,0,0,0,0,0
$GC,10668,0.62,194.6,818.2,11.8,737,10671,0.00,2.08,0.00,0.000,4,0.000,0.032,3008,708,2027,0,0,0,0,0,0
$GC,10752,0.62,194.6,808.3,11.5,740,10759,0.00,1.98,0.00,0.000,6,0.000,0.024,3008,2037,2027,0,0,0,0,0,0
$GC,11068,0.62,194.6,773.8,10.6,756,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2037,2027,0,0,0,0,0,0
$GC,11378,0.62,194.6,740.8,10.7,771,11382,0.00,2.03,0.00,0.000,4,0.000,0.032,3013,702,2026,0,0,0,0,0,0
$GC,11447,0.62,194.6,733.5,10.6,774,11451,0.00,1.98,0.00,0.000,6,0.000,0.023,3012,2041,2026,0,0,0,0,0,0
$GC,11780,0.62,194.6,698.1,10.4,790,11784,0.00,2.15,0.00,0.000,4,0.000,0.038,3013,3469,2026,0,0,0,0,0,0
$GC,11898,0.62,194.6,684.4,11.6,795,11903,0.00,2.05,0.00,0.000,6,0.000,0.021,3020,2078,2025,0,0,0,0,0,0
$GC,12220,0.62,194.6,651.2,10.7,811,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2078,2025,0,0,0,0,0,0
$GC,12529,0.62,194.6,617.7,10.8,826,12532,0.00,2.12,0.00,0.000,4,0.000,0.037,3020,3468,2024,0,0,0,0,0,0
$GC,12619,0.62,194.6,607.0,11.8,830,12623,0.00,2.00,0.00,0.000,6,0.000,0.021,3029,2091,2024,0,0,0,0,0,0
$GC,12946,0.62,194.6,570.6,11.3,846,12950,0.00,2.10,0.00,0.000,4,0.000,0.033,3038,690,2024,0,0,0,0,0,0
$GC,13052,0.62,194.6,557.8,12.1,850,13060,0.12,1.98,0.00,0.000,6,0.151,0.023,3002,2031,2024,0,0,0,0,0,0
$GC,13368,0.62,194.6,520.5,12.5,866,13372,0.00,2.17,0.00,0.000,4,0.000,0.038,3003,3469,2024,0,0,0,0,0,0
$GC,13441,0.62,194.6,510.3,14.5,869,13445,0.00,2.05,0.00,0.000,6,0.000,0.021,3009,2057,2023,0,0,0,0,0,0
$GC,13769,0.62,194.6,468.5,11.8,896,13773,0.00,2.03,0.00,0.000,4,0.000,0.032,3017,684,2023,0,0,0,0,0,0
$GC,13843,0.62,194.6,459.7,11.7,902,13851,0.00,2.03,0.00,0.000,6,0.000,0.022,3017,2058,2023,0,0,0,0,0,0
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$STATE,17936,end climb,SURFACE_DEPTH_REACHED
$STATE,17936,begin surface coast
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$STATE,17944,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,42.966
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$FG_AHR_10Vo,0.000
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$MEM,329804
$DATA_FILE_SIZE,83537,1403
$CAP_FILE_SIZE,203371,0
$CFSIZE,260165632,116850688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,327.0,1
$GPS,060811,120955,1930.811,12321.795,36,1.3,37,-2.3