version: 66.09
glider: 167
mission: 8
dive: 270
start: 8 8 111 2 5 33
data:
$ID,167
$MISSION,8
$DIVE,270
$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,-56727.242
$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,63
$R_STBD_OVSHOOT,60
$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
$GPS1,080811,015335,1939.872,12328.711,36,1.7,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-69.6
$GPS2,080811,020508,1939.935,12328.497,14,1.1,14,-2.4
$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,94.5,110568,-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,-194.6,0.0,0.0,0,114,0.00,0.00,-93.75,0.000,2,0.000,0.000,111,1879,3131,0,0,0,0,0,0
$GC,118,-0.62,-194.6,6.1,-10.6,13,145,10.07,2.05,-7.97,0.000,4,0.232,0.040,2598,462,3635,0,0,0,0,0,0
$GC,216,-0.62,-194.6,45.6,-29.5,29,224,0.00,2.08,0.00,0.000,6,0.000,0.022,2590,1868,3637,0,0,0,0,0,0
$GC,294,-0.62,-194.6,64.3,-24.5,42,303,0.00,2.10,0.00,0.000,4,0.000,0.032,2579,3274,3637,0,0,0,0,0,0
$GC,319,-0.62,-194.6,70.6,-24.8,45,327,0.00,1.95,0.00,0.000,6,0.000,0.018,2579,1909,3637,0,0,0,0,0,0
$GC,393,-0.62,-194.6,88.2,-22.3,58,401,0.00,2.08,0.00,0.000,4,0.000,0.029,2579,502,3637,0,0,0,0,0,0
$GC,425,-0.62,-194.6,95.3,-21.9,63,435,0.00,1.98,0.00,0.000,6,0.000,0.021,2573,1850,3638,0,0,0,0,0,0
$GC,505,-0.62,-194.6,111.6,-20.9,76,513,0.00,2.12,0.00,0.000,4,0.000,0.034,2563,3269,3637,0,0,0,0,0,0
$GC,580,-0.62,-194.6,126.0,-16.4,89,588,0.10,1.98,0.00,0.000,6,0.151,0.018,2594,1867,3638,0,0,0,0,0,0
$GC,656,-0.62,-194.6,136.7,-13.7,102,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1867,3638,0,0,0,0,0,0
$GC,729,-0.62,-194.6,147.6,-13.6,115,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1866,3638,0,0,0,0,0,0
$GC,802,-0.62,-194.6,157.9,-15.7,128,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1866,3638,0,0,0,0,0,0
$GC,874,-0.62,-194.6,169.2,-15.7,141,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1866,3638,0,0,0,0,0,0
$GC,948,-0.62,-194.6,180.9,-15.6,154,956,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,3282,3638,0,0,0,0,0,0
$GC,978,-0.62,-194.6,185.6,-15.7,158,986,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1887,3638,0,0,0,0,0,0
$GC,1053,-0.62,-194.6,198.3,-16.7,171,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1887,3638,0,0,0,0,0,0
$GC,1134,-0.62,-194.6,211.3,-15.9,179,1138,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,3285,3638,0,0,0,0,0,0
$GC,1172,-0.62,-194.6,218.2,-16.5,182,1177,0.00,1.98,0.00,0.000,6,0.000,0.018,2587,1906,3638,0,0,0,0,0,0
$GC,1506,-0.62,-194.6,267.2,-15.5,213,1510,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,491,3637,0,0,0,0,0,0
$GC,1543,-0.62,-194.6,273.4,-16.6,216,1547,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1973,3637,0,0,0,0,0,0
$GC,1868,-0.62,-194.6,323.9,-14.6,246,1872,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3285,3636,0,0,0,0,0,0
$GC,1896,-0.62,-194.6,328.3,-15.4,248,1903,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1955,3635,0,0,0,0,0,0
$GC,2222,-0.62,-194.6,368.1,-10.4,279,2226,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,492,3634,0,0,0,0,0,0
$GC,2243,-0.62,-194.6,370.5,-10.5,280,2250,0.00,2.17,0.00,0.000,6,0.000,0.021,2586,2002,3634,0,0,0,0,0,0
$GC,2568,-0.62,-194.6,409.3,-12.6,311,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2001,3632,0,0,0,0,0,0
$GC,2892,-0.62,-194.6,448.1,-11.8,341,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2002,3631,0,0,0,0,0,0
$GC,3220,-0.62,-194.6,480.6,-9.1,372,3224,0.00,1.88,0.00,0.000,4,0.000,0.034,2577,3278,3628,0,0,0,0,0,0
$GC,3248,-0.62,-194.6,483.3,-8.9,374,3254,0.00,1.83,0.00,0.000,6,0.000,0.018,2577,1950,3628,0,0,0,0,0,0
$GC,3583,-0.62,-194.6,513.9,-9.6,399,3587,0.00,2.12,0.00,0.000,4,0.000,0.029,2577,491,3626,0,0,0,0,0,0
$GC,3662,-0.62,-194.6,521.6,-8.8,402,3668,0.00,2.10,0.00,0.000,6,0.000,0.021,2575,1944,3625,0,0,0,0,0,0
$GC,3979,-0.62,-194.6,552.8,-10.6,418,3983,0.00,1.98,0.00,0.000,4,0.000,0.035,2575,3276,3623,0,0,0,0,0,0
$GC,4072,-0.62,-194.6,562.6,-9.9,422,4076,0.00,1.90,0.00,0.000,6,0.000,0.020,2575,1950,3622,0,0,0,0,0,0
$GC,4402,-0.62,-194.6,598.7,-11.3,438,4405,0.00,2.00,0.00,0.000,4,0.000,0.034,2574,3284,3620,0,0,0,0,0,0
$GC,4440,-0.62,-194.6,603.3,-10.7,439,4448,0.00,1.88,0.00,0.000,6,0.000,0.019,2575,1966,3620,0,0,0,0,0,0
$GC,4757,-0.62,-194.6,638.0,-11.4,455,4761,0.00,2.15,0.00,0.000,4,0.000,0.031,2575,487,3617,0,0,0,0,0,0
$GC,4802,-0.62,-194.6,643.3,-11.2,457,4807,0.00,2.20,0.00,0.000,6,0.000,0.022,2574,1979,3617,0,0,0,0,0,0
$GC,5129,-0.62,-194.6,674.4,-9.0,473,5133,0.00,1.92,0.00,0.000,4,0.000,0.036,2574,3275,3614,0,0,0,0,0,0
$GC,5167,-0.62,-194.6,677.7,-8.4,474,5174,0.00,1.85,0.00,0.000,6,0.000,0.019,2574,1961,3613,0,0,0,0,0,0
$GC,5485,-0.62,-194.6,699.6,-6.4,490,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1960,3612,0,0,0,0,0,0
$GC,5793,-0.62,-194.6,722.3,-8.4,505,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1960,3609,0,0,0,0,0,0
$GC,6103,-0.62,-194.6,751.3,-9.5,520,6106,0.00,2.00,0.00,0.000,4,0.000,0.036,2574,3284,3607,0,0,0,0,0,0
$GC,6167,-0.62,-194.6,757.5,-9.6,522,6173,0.00,1.88,0.00,0.000,6,0.000,0.020,2574,1953,3606,0,0,0,0,0,0
$GC,6483,-0.62,-194.6,788.0,-9.3,538,6487,0.00,2.15,0.00,0.000,4,0.000,0.031,2574,498,3605,0,0,0,0,0,0
$GC,6597,-0.62,-194.6,798.4,-9.0,543,6600,0.00,2.10,0.00,0.000,6,0.000,0.024,2574,1927,3604,0,0,0,0,0,0
$GC,6924,-0.62,-194.6,824.6,-7.7,559,6928,0.00,2.03,0.00,0.000,4,0.000,0.037,2574,3274,3601,0,0,0,0,0,0
$GC,6974,-0.62,-194.6,828.5,-7.5,561,6978,0.00,1.95,0.00,0.000,6,0.000,0.020,2574,1916,3601,0,0,0,0,0,0
$GC,7303,-0.62,-194.6,853.7,-8.0,577,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1915,3599,0,0,0,0,0,0
$GC,7611,-0.62,-194.6,879.9,-8.6,592,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1915,3598,0,0,0,0,0,0
$GC,7921,-0.62,-194.6,907.9,-9.1,607,7925,0.00,2.08,0.00,0.000,4,0.000,0.037,2574,3276,3596,0,0,0,0,0,0
$GC,7984,-0.62,-194.6,913.8,-9.1,610,7989,0.00,1.92,0.00,0.000,6,0.000,0.020,2574,1945,3596,0,0,0,0,0,0
$GC,8317,-0.62,-194.6,941.7,-8.2,626,8321,0.00,2.15,0.00,0.000,4,0.000,0.032,2574,494,3593,0,0,0,0,0,0
$GC,8366,-0.62,-194.6,945.9,-8.2,628,8371,0.00,2.12,0.00,0.000,6,0.000,0.024,2574,1925,3594,0,0,0,0,0,0
$GC,8689,-0.62,-194.6,966.8,-6.1,644,8692,0.00,2.00,0.00,0.000,4,0.000,0.038,2574,3266,3592,0,0,0,0,0,0
$GC,8796,-0.62,-194.6,972.5,-5.3,648,8803,0.00,1.90,0.00,0.000,6,0.000,0.020,2574,1935,3591,0,0,0,0,0,0
$GC,9113,-0.62,-194.6,989.2,-5.6,664,9117,0.00,2.15,0.00,0.000,4,0.000,0.032,2574,503,3591,0,0,0,0,0,0
$STATE,9126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9126,begin apogee
$GC,9137,-0.20,0.0,990.3,5.6,664,9296,0.47,0.00,153.80,1.398,4,0.119,0.000,2732,2071,2838,0,0,0,0,0,0
$STATE,9297,end apogee,CONTROL_FINISHED_OK
$STATE,9297,begin climb
$GC,9299,0.62,194.6,993.7,0.0,672,9476,0.73,2.30,169.15,1.338,4,0.079,0.039,2997,3466,2045,0,0,0,0,0,0
$GC,9602,0.62,194.6,961.6,12.9,686,9606,0.00,2.10,0.00,0.000,6,0.000,0.020,3006,2089,2037,0,0,0,0,0,0
$GC,9929,0.62,194.6,924.2,11.5,702,9933,0.00,2.12,0.00,0.000,4,0.000,0.036,3006,3480,2034,0,0,0,0,0,0
$GC,10076,0.62,194.6,905.0,13.3,708,10082,0.00,2.17,0.00,0.000,6,0.000,0.021,3014,2006,2033,0,0,0,0,0,0
$GC,10394,0.62,194.6,863.4,13.5,724,10397,0.00,1.98,0.00,0.000,4,0.000,0.035,3025,682,2032,0,0,0,0,0,0
$GC,10432,0.62,194.6,857.5,14.1,725,10439,0.00,1.98,0.00,0.000,6,0.000,0.024,3024,1992,2032,0,0,0,0,0,0
$GC,10748,0.62,194.6,808.9,15.8,741,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1991,2031,0,0,0,0,0,0
$GC,11058,0.62,194.6,762.0,14.2,756,11063,0.00,1.98,0.00,0.000,4,0.000,0.033,3033,691,2031,0,0,0,0,0,0
$GC,11090,0.62,194.6,757.3,13.9,757,11095,0.08,1.92,0.00,0.000,6,0.134,0.023,2999,1981,2031,0,0,0,0,0,0
$GC,11414,0.62,194.6,720.8,11.0,773,11418,0.00,2.25,0.00,0.000,4,0.000,0.037,2999,3485,2030,0,0,0,0,0,0
$GC,11572,0.62,194.6,700.9,12.9,780,11576,0.00,2.12,0.00,0.000,6,0.000,0.021,3006,2028,2029,0,0,0,0,0,0
$GC,11895,0.62,194.6,663.4,11.0,796,11899,0.00,1.98,0.00,0.000,4,0.000,0.034,3015,689,2028,0,0,0,0,0,0
$GC,11990,0.62,194.6,652.7,10.9,800,11994,0.00,1.98,0.00,0.000,6,0.000,0.024,3016,2018,2029,0,0,0,0,0,0
$GC,12320,0.62,194.6,614.7,12.1,816,12324,0.00,2.22,0.00,0.000,4,0.000,0.037,3016,3485,2028,0,0,0,0,0,0
$GC,12369,0.62,194.6,607.5,13.9,818,12374,0.00,2.15,0.00,0.000,6,0.000,0.021,3026,2024,2028,0,0,0,0,0,0
$GC,12691,0.62,194.6,563.1,14.1,834,12694,0.00,1.98,0.00,0.000,4,0.000,0.034,3036,692,2028,0,0,0,0,0,0
$GC,12730,0.62,194.6,557.4,13.9,835,12739,0.12,1.95,0.00,0.000,6,0.148,0.024,3001,2028,2028,0,0,0,0,0,0
$GC,13046,0.62,194.6,520.7,10.8,851,13050,0.00,2.17,0.00,0.000,4,0.000,0.038,3001,3465,2028,0,0,0,0,0,0
$GC,13135,0.62,194.6,510.1,11.9,855,13139,0.00,2.08,0.00,0.000,6,0.000,0.021,3008,2038,2027,0,0,0,0,0,0
$GC,13463,0.62,194.6,473.6,11.3,881,13466,0.00,2.00,0.00,0.000,4,0.000,0.034,3019,680,2027,0,0,0,0,0,0
$GC,13545,0.62,194.6,464.1,10.7,888,13552,0.00,1.95,0.00,0.000,6,0.000,0.023,3018,1989,2027,0,0,0,0,0,0
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$STATE,17896,end climb,SURFACE_DEPTH_REACHED
$STATE,17897,begin surface coast
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$STATE,17925,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,83550,1423
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$CFSIZE,260165632,116051968
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