version: 66.09
glider: 167
mission: 8
dive: 269
start: 8 7 111 20 58 21
data:
$ID,167
$MISSION,8
$DIVE,269
$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,-56725.984
$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,70
$R_STBD_OVSHOOT,73
$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
$GPS1,070811,204606,1938.452,12327.668,35,1.2,36,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.6
$GPS2,070811,205756,1938.536,12327.452,13,1.6,13,-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,86.7,113564,-15.3,-9.706
$D_GRID,5000
$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,15,begin dive
$GC,17,-0.62,-194.6,0.0,0.0,0,116,0.00,0.00,-95.97,0.000,2,0.000,0.000,111,1851,3224,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.5,-11.0,12,145,10.02,2.00,-6.28,0.000,4,0.231,0.037,2600,469,3635,0,0,0,0,0,0
$GC,252,-0.62,-194.6,55.3,-23.7,34,262,0.00,2.05,0.00,0.000,6,0.000,0.021,2592,1873,3637,0,0,0,0,0,0
$GC,333,-0.62,-194.6,71.6,-22.0,47,342,0.00,2.08,0.00,0.000,4,0.000,0.032,2581,3264,3637,0,0,0,0,0,0
$GC,357,-0.62,-194.6,76.8,-20.7,50,366,0.00,2.10,0.00,0.000,6,0.000,0.018,2582,1797,3637,0,0,0,0,0,0
$GC,435,-0.62,-194.6,92.2,-20.7,63,443,0.00,1.92,0.00,0.000,4,0.000,0.029,2581,484,3637,0,0,0,0,0,0
$GC,469,-0.62,-194.6,100.2,-23.3,68,478,0.00,1.83,0.00,0.000,6,0.000,0.021,2574,1739,3637,0,0,0,0,0,0
$GC,548,-0.62,-194.6,115.6,-18.7,81,557,0.00,2.30,0.00,0.000,4,0.000,0.031,2563,3262,3637,0,0,0,0,0,0
$GC,613,-0.62,-194.6,127.3,-17.4,92,622,0.10,2.05,0.00,0.000,6,0.153,0.023,2594,1820,3637,0,0,0,0,0,0
$GC,690,-0.62,-194.6,139.1,-15.9,105,699,0.00,1.95,0.00,0.000,4,0.000,0.028,2594,485,3637,0,0,0,0,0,0
$GC,719,-0.62,-194.6,143.4,-14.5,109,728,0.00,1.92,0.00,0.000,6,0.000,0.019,2588,1819,3638,0,0,0,0,0,0
$GC,798,-0.62,-194.6,154.7,-14.6,122,807,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,3261,3638,0,0,0,0,0,0
$GC,842,-0.62,-194.6,161.2,-14.4,129,850,0.00,2.10,0.00,0.000,6,0.000,0.017,2587,1783,3637,0,0,0,0,0,0
$GC,917,-0.62,-194.6,172.3,-15.7,142,927,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,3266,3638,0,0,0,0,0,0
$GC,958,-0.62,-194.6,179.0,-15.4,148,967,0.00,2.00,0.00,0.000,6,0.000,0.017,2587,1843,3637,0,0,0,0,0,0
$GC,1035,-0.62,-194.6,190.2,-15.7,161,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1843,3637,0,0,0,0,0,0
$GC,1116,-0.62,-194.6,202.3,-14.4,174,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1844,3637,0,0,0,0,0,0
$GC,1434,-0.62,-194.6,251.0,-17.3,204,1438,0.00,2.10,0.00,0.000,4,0.000,0.032,2587,3262,3637,0,0,0,0,0,0
$GC,1555,-0.62,-194.6,268.6,-14.2,214,1558,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1906,3637,0,0,0,0,0,0
$GC,1885,-0.62,-194.6,316.9,-13.6,245,1890,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,518,3636,0,0,0,0,0,0
$GC,1943,-0.62,-194.6,324.1,-12.6,250,1947,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1912,3636,0,0,0,0,0,0
$GC,2275,-0.62,-194.6,361.7,-12.4,281,2279,0.00,2.00,0.00,0.000,4,0.000,0.034,2578,3273,3634,0,0,0,0,0,0
$GC,2312,-0.62,-194.6,366.1,-12.0,284,2316,0.00,1.85,0.00,0.000,6,0.000,0.018,2579,1933,3634,0,0,0,0,0,0
$GC,2643,-0.62,-194.6,410.2,-12.0,315,2648,0.00,2.00,0.00,0.000,4,0.000,0.034,2575,3262,3632,0,0,0,0,0,0
$GC,2699,-0.62,-194.6,416.2,-10.6,320,2703,0.00,1.80,0.00,0.000,6,0.000,0.018,2574,1962,3632,0,0,0,0,0,0
$GC,3031,-0.62,-194.6,446.7,-10.0,351,3036,0.00,2.12,0.00,0.000,4,0.000,0.030,2575,517,3630,0,0,0,0,0,0
$GC,3091,-0.62,-194.6,453.8,-11.1,356,3098,0.00,2.08,0.00,0.000,6,0.000,0.021,2574,1956,3629,0,0,0,0,0,0
$GC,3417,-0.62,-194.6,498.3,-14.6,387,3421,0.00,1.92,0.00,0.000,4,0.000,0.035,2574,3271,3627,0,0,0,0,0,0
$GC,3447,-0.62,-194.6,502.5,-14.3,389,3450,0.00,1.88,0.00,0.000,6,0.000,0.018,2574,1920,3627,0,0,0,0,0,0
$GC,3775,-0.62,-194.6,539.3,-10.0,405,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1918,3625,0,0,0,0,0,0
$GC,4083,-0.62,-194.6,565.3,-7.5,420,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1918,3622,0,0,0,0,0,0
$GC,4393,-0.62,-194.6,588.7,-8.3,435,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1918,3620,0,0,0,0,0,0
$GC,4704,-0.62,-194.6,615.8,-8.7,450,4707,0.00,2.03,0.00,0.000,4,0.000,0.031,2574,522,3617,0,0,0,0,0,0
$GC,4731,-0.62,-194.6,618.5,-8.6,451,4735,0.00,2.03,0.00,0.000,6,0.000,0.021,2574,1916,3617,0,0,0,0,0,0
$GC,5061,-0.62,-194.6,642.9,-6.9,467,5066,0.00,2.05,0.00,0.000,4,0.000,0.038,2574,3267,3614,0,0,0,0,0,0
$GC,5116,-0.62,-194.6,646.7,-6.5,469,5120,0.00,1.88,0.00,0.000,6,0.000,0.019,2574,1938,3614,0,0,0,0,0,0
$GC,5438,-0.62,-194.6,669.1,-7.9,485,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1938,3612,0,0,0,0,0,0
$GC,5748,-0.62,-194.6,700.1,-11.0,500,5752,0.00,2.08,0.00,0.000,4,0.000,0.031,2574,523,3609,0,0,0,0,0,0
$GC,5781,-0.62,-194.6,704.5,-12.1,501,5788,0.00,2.10,0.00,0.000,6,0.000,0.023,2574,1952,3609,0,0,0,0,0,0
$GC,6098,-0.62,-194.6,743.9,-12.7,517,6102,0.00,2.00,0.00,0.000,4,0.000,0.038,2574,3267,3607,0,0,0,0,0,0
$GC,6145,-0.62,-194.6,749.2,-11.8,519,6150,0.00,1.83,0.00,0.000,6,0.000,0.019,2574,1987,3607,0,0,0,0,0,0
$GC,6478,-0.62,-194.6,785.5,-10.2,535,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1986,3605,0,0,0,0,0,0
$GC,6787,-0.62,-194.6,813.3,-8.2,550,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1985,3602,0,0,0,0,0,0
$GC,7098,-0.62,-194.6,831.8,-4.8,565,7102,0.00,2.15,0.00,0.000,4,0.000,0.031,2574,524,3600,0,0,0,0,0,0
$GC,7186,-0.62,-194.6,836.3,-5.0,569,7189,0.00,2.15,0.00,0.000,6,0.000,0.024,2574,1980,3601,0,0,0,0,0,0
$GC,7516,-0.62,-194.6,851.5,-5.1,585,7519,0.00,1.95,0.00,0.000,4,0.000,0.039,2574,3273,3598,0,0,0,0,0,0
$GC,7588,-0.62,-194.6,855.5,-5.3,588,7592,0.00,1.80,0.00,0.000,6,0.000,0.019,2574,2014,3598,0,0,0,0,0,0
$GC,7915,-0.62,-194.6,878.6,-8.4,604,7919,0.00,2.17,0.00,0.000,4,0.000,0.030,2574,523,3597,0,0,0,0,0,0
$GC,7989,-0.62,-194.6,885.9,-10.2,607,7993,0.00,2.12,0.00,0.000,6,0.000,0.023,2574,1965,3596,0,0,0,0,0,0
$GC,8306,-0.62,-194.6,915.6,-9.2,622,8309,0.00,1.98,0.00,0.000,4,0.000,0.041,2574,3266,3595,0,0,0,0,0,0
$GC,8376,-0.62,-194.6,921.5,-8.5,625,8381,0.00,1.80,0.00,0.000,6,0.000,0.020,2574,2009,3594,0,0,0,0,0,0
$GC,8709,-0.62,-194.6,945.1,-6.3,641,8713,0.00,2.20,0.00,0.000,4,0.000,0.031,2574,518,3592,0,0,0,0,0,0
$GC,8753,-0.62,-194.6,948.1,-6.3,643,8757,0.00,2.12,0.00,0.000,6,0.000,0.025,2574,1965,3592,0,0,0,0,0,0
$GC,9077,-0.62,-194.6,968.6,-6.6,659,9081,0.00,1.98,0.00,0.000,4,0.000,0.041,2574,3266,3591,0,0,0,0,0,0
$GC,9150,-0.62,-194.6,973.9,-6.9,662,9155,0.00,1.80,0.00,0.000,6,0.000,0.020,2574,2017,3591,0,0,0,0,0,0
$STATE,9392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9392,begin apogee
$GC,9399,-0.20,0.0,990.6,7.0,674,9557,0.47,0.00,153.75,1.394,4,0.119,0.000,2731,2012,2839,0,0,0,0,0,0
$STATE,9558,end apogee,CONTROL_FINISHED_OK
$STATE,9558,begin climb
$GC,9562,0.62,194.6,996.3,0.0,681,9745,0.75,2.40,169.98,1.339,4,0.080,0.039,3000,3455,2043,0,0,0,0,0,0
$GC,9889,0.62,194.6,963.2,12.1,696,9894,0.00,2.08,0.00,0.000,6,0.000,0.021,3010,2103,2035,0,0,0,0,0,0
$GC,10210,0.62,194.6,925.7,11.7,712,10214,0.00,2.10,0.00,0.000,4,0.000,0.038,3010,3462,2033,0,0,0,0,0,0
$GC,10388,0.62,194.6,901.4,13.9,720,10392,0.00,2.12,0.00,0.000,6,0.000,0.021,3019,2020,2032,0,0,0,0,0,0
$GC,10716,0.62,194.6,856.0,14.3,736,10720,0.00,2.00,0.00,0.000,4,0.000,0.033,3030,681,2031,0,0,0,0,0,0
$GC,10789,0.62,194.6,845.3,14.6,739,10793,0.00,1.95,0.00,0.000,6,0.000,0.024,3030,1989,2031,0,0,0,0,0,0
$GC,11117,0.62,194.6,794.3,15.6,755,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1990,2030,0,0,0,0,0,0
$GC,11426,0.62,194.6,748.7,14.3,770,11430,0.00,2.25,0.00,0.000,4,0.000,0.040,3030,3457,2030,0,0,0,0,0,0
$GC,11464,0.62,194.6,742.9,14.8,771,11472,0.15,2.12,0.00,0.000,6,0.165,0.021,3000,1979,2030,0,0,0,0,0,0
$GC,11781,0.62,194.6,706.3,11.3,787,11785,0.00,1.92,0.00,0.000,4,0.000,0.034,3007,681,2029,0,0,0,0,0,0
$GC,11842,0.62,194.6,699.1,11.4,789,11849,0.00,1.88,0.00,0.000,6,0.000,0.024,3008,1941,2029,0,0,0,0,0,0
$GC,12160,0.62,194.6,662.9,11.3,805,12164,0.00,2.33,0.00,0.000,4,0.000,0.039,3008,3458,2028,0,0,0,0,0,0
$GC,12231,0.62,194.6,654.1,11.6,808,12235,0.00,2.15,0.00,0.000,6,0.000,0.021,3017,1988,2028,0,0,0,0,0,0
$GC,12560,0.62,194.6,621.4,9.8,824,12565,0.00,1.95,0.00,0.000,4,0.000,0.035,3027,690,2028,0,0,0,0,0,0
$GC,12661,0.65,216.0,611.8,9.0,828,12683,0.00,1.83,16.70,1.108,6,0.000,0.024,3027,1931,1957,0,0,0,0,0,0
$GC,13003,0.65,216.0,576.7,11.8,845,13007,0.00,2.30,0.00,0.000,4,0.000,0.038,3027,3461,1954,0,0,0,0,0,0
$GC,13109,0.65,216.0,560.5,16.0,850,13113,0.00,2.17,0.00,0.000,6,0.000,0.021,3036,1980,1953,0,0,0,0,0,0
$GC,13438,0.65,216.0,510.5,15.5,866,13442,0.00,1.90,0.00,0.000,4,0.000,0.033,3046,682,1952,0,0,0,0,0,0
$GC,13493,0.65,216.0,501.9,14.2,868,13498,0.08,1.92,0.00,0.000,6,0.134,0.023,3005,1976,1953,0,0,0,0,0,0
$GC,13825,0.78,326.3,475.5,6.0,898,13921,0.15,0.00,91.68,1.036,6,0.087,0.000,3069,1976,1508,0,0,0,0,0,0
$GC,14241,0.78,326.3,416.7,19.7,936,14245,0.00,2.28,0.00,0.000,4,0.000,0.037,3069,3464,1498,0,0,0,0,0,0
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$STATE,17522,end climb,SURFACE_DEPTH_REACHED
$STATE,17522,begin surface coast
$FINISH,0.8,1.021251
$STATE,17552,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,44.082
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$FG_AHR_10Vo,0.000
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$MEM,329868
$DATA_FILE_SIZE,80249,1363
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$CFSIZE,260165632,116162560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,307.3,1
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