version: 66.09
glider: 167
mission: 8
dive: 277
start: 8 9 111 15 57 25
data:
$ID,167
$MISSION,8
$DIVE,277
$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,-56736.145
$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,68
$R_STBD_OVSHOOT,61
$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
$GPS1,090811,154907,1948.829,12338.604,35,0.9,36,-2.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.4
$GPS2,090811,155702,1948.874,12338.528,12,2.0,12,-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,79.8,86796,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,115,0.00,0.00,-91.93,0.000,2,0.000,0.000,113,1959,3056,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.6,-9.0,13,144,10.00,0.00,-9.57,0.000,6,0.231,0.000,2587,1958,3636,0,0,0,0,0,0
$GC,210,-0.62,-194.6,43.4,-33.7,28,218,0.00,2.20,0.00,0.000,4,0.000,0.028,2587,476,3637,0,0,0,0,0,0
$GC,252,-0.62,-194.6,54.9,-28.9,34,260,0.00,2.05,0.00,0.000,6,0.000,0.020,2579,1879,3637,0,0,0,0,0,0
$GC,331,-0.62,-194.6,73.5,-22.6,47,340,0.00,2.10,0.00,0.000,4,0.000,0.031,2568,3271,3638,0,0,0,0,0,0
$GC,394,-0.62,-194.6,88.3,-23.9,57,403,0.08,1.95,0.00,0.000,6,0.163,0.017,2592,1887,3637,0,0,0,0,0,0
$GC,471,-0.62,-194.6,103.8,-18.1,70,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1887,3637,0,0,0,0,0,0
$GC,547,-0.62,-194.6,117.2,-17.9,83,556,0.00,2.05,0.00,0.000,4,0.000,0.028,2584,3267,3638,0,0,0,0,0,0
$GC,570,-0.62,-194.6,121.4,-18.1,86,579,0.00,1.83,0.00,0.000,6,0.000,0.017,2585,1962,3638,0,0,0,0,0,0
$GC,647,-0.62,-194.6,135.4,-19.0,99,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1961,3638,0,0,0,0,0,0
$GC,721,-0.62,-194.6,151.1,-21.5,112,728,0.00,1.95,0.00,0.000,4,0.000,0.031,2578,3267,3638,0,0,0,0,0,0
$GC,760,-0.62,-194.6,159.7,-22.0,118,768,0.00,1.80,0.00,0.000,6,0.000,0.017,2578,1978,3638,0,0,0,0,0,0
$GC,836,-0.62,-194.6,175.8,-21.4,131,846,0.00,2.12,0.00,0.000,4,0.000,0.028,2578,517,3638,0,0,0,0,0,0
$GC,876,-0.62,-194.6,185.2,-22.2,137,885,0.00,2.05,0.00,0.000,6,0.000,0.021,2570,1925,3638,0,0,0,0,0,0
$GC,954,-0.62,-194.6,200.4,-18.1,150,956,0.10,0.00,0.00,0.000,6,0.199,0.000,2594,1927,3639,0,0,0,0,0,0
$GC,1274,-0.62,-194.6,236.2,-11.9,180,1278,0.00,1.98,0.00,0.000,4,0.000,0.031,2587,3276,3638,0,0,0,0,0,0
$GC,1321,-0.62,-194.6,243.0,-14.1,184,1324,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1906,3638,0,0,0,0,0,0
$GC,1652,-0.62,-194.6,293.5,-13.8,215,1656,0.00,2.00,0.00,0.000,4,0.000,0.028,2587,516,3638,0,0,0,0,0,0
$GC,1731,-0.62,-194.6,304.1,-12.5,222,1736,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1879,3638,0,0,0,0,0,0
$GC,2062,-0.62,-194.6,344.3,-12.9,253,2065,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3267,3636,0,0,0,0,0,0
$GC,2156,-0.62,-194.6,356.3,-11.0,261,2163,0.00,1.90,0.00,0.000,6,0.000,0.017,2587,1917,3635,0,0,0,0,0,0
$GC,2482,-0.62,-194.6,392.0,-9.6,292,2486,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,508,3634,0,0,0,0,0,0
$GC,2528,-0.62,-194.6,397.2,-11.6,296,2533,0.00,2.08,0.00,0.000,6,0.000,0.022,2587,1921,3634,0,0,0,0,0,0
$GC,2860,-0.62,-194.6,437.9,-12.6,327,2864,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3273,3632,0,0,0,0,0,0
$GC,2951,-0.62,-194.6,448.2,-10.4,335,2954,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1953,3631,0,0,0,0,0,0
$GC,3283,-0.62,-194.6,479.2,-8.4,366,3287,0.00,2.10,0.00,0.000,4,0.000,0.029,2587,505,3629,0,0,0,0,0,0
$GC,3396,-0.62,-194.6,489.4,-8.8,375,3404,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1940,3628,0,0,0,0,0,0
$GC,3716,-0.62,-194.6,521.5,-10.1,396,3720,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3270,3626,0,0,0,0,0,0
$GC,3796,-0.62,-194.6,528.5,-8.2,399,3801,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1953,3625,0,0,0,0,0,0
$GC,4117,-0.62,-194.6,550.7,-6.0,415,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1953,3623,0,0,0,0,0,0
$GC,4428,-0.62,-194.6,579.9,-11.6,430,4432,0.00,2.10,0.00,0.000,4,0.000,0.030,2587,514,3621,0,0,0,0,0,0
$GC,4494,-0.62,-194.6,588.8,-12.5,433,4499,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1949,3621,0,0,0,0,0,0
$GC,4822,-0.62,-194.6,621.2,-8.2,449,4825,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3273,3618,0,0,0,0,0,0
$GC,4953,-0.62,-194.6,628.8,-5.2,454,4960,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1979,3618,0,0,0,0,0,0
$GC,5269,-0.62,-194.6,645.2,-6.5,470,5273,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,511,3615,0,0,0,0,0,0
$GC,5298,-0.62,-194.6,647.3,-6.8,471,5302,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,2010,3615,0,0,0,0,0,0
$GC,5615,-0.62,-194.6,673.0,-8.5,486,5618,0.00,1.85,0.00,0.000,4,0.000,0.038,2587,3267,3613,0,0,0,0,0,0
$GC,5662,-0.62,-194.6,676.9,-8.3,488,5665,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2026,3612,0,0,0,0,0,0
$GC,5997,-0.62,-194.6,701.9,-7.3,504,6001,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,514,3609,0,0,0,0,0,0
$GC,6069,-0.62,-194.6,707.4,-7.4,507,6073,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1980,3609,0,0,0,0,0,0
$GC,6387,-0.62,-194.6,730.5,-8.0,522,6390,0.00,1.90,0.00,0.000,4,0.000,0.038,2587,3267,3607,0,0,0,0,0,0
$GC,6414,-0.62,-194.6,733.0,-7.9,523,6418,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1971,3606,0,0,0,0,0,0
$GC,6742,-0.62,-194.6,759.1,-7.7,539,6746,0.00,1.98,0.00,0.000,4,0.000,0.036,2587,3274,3605,0,0,0,0,0,0
$GC,6783,-0.62,-194.6,762.0,-7.5,540,6790,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1998,3605,0,0,0,0,0,0
$GC,7100,-0.62,-194.6,781.6,-5.9,556,7104,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,520,3603,0,0,0,0,0,0
$GC,7173,-0.62,-194.6,786.5,-6.7,559,7177,0.00,2.15,0.00,0.000,6,0.000,0.024,2586,1993,3602,0,0,0,0,0,0
$GC,7496,-0.62,-194.6,808.7,-7.1,575,7500,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3265,3600,0,0,0,0,0,0
$GC,7535,-0.62,-194.6,811.8,-7.4,576,7542,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1982,3600,0,0,0,0,0,0
$GC,7854,-0.62,-194.6,836.1,-7.9,592,7858,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,508,3599,0,0,0,0,0,0
$GC,7886,-0.62,-194.6,839.3,-8.0,593,7893,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1993,3598,0,0,0,0,0,0
$GC,8203,-0.62,-194.6,864.5,-7.9,609,8207,0.00,1.92,0.00,0.000,4,0.000,0.040,2587,3266,3597,0,0,0,0,0,0
$GC,8266,-0.62,-194.6,869.0,-7.1,611,8274,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,2019,3596,0,0,0,0,0,0
$GC,8582,-0.62,-194.6,890.6,-7.1,627,8586,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,514,3596,0,0,0,0,0,0
$GC,8639,-0.62,-194.6,895.4,-8.3,629,8646,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,2002,3595,0,0,0,0,0,0
$GC,8956,-0.62,-194.6,920.0,-8.0,645,8960,0.00,1.92,0.00,0.000,4,0.000,0.041,2587,3260,3593,0,0,0,0,0,0
$GC,8994,-0.62,-194.6,923.2,-7.9,646,9002,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,2005,3593,0,0,0,0,0,0
$GC,9312,-0.62,-194.6,945.7,-6.7,662,9316,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,517,3591,0,0,0,0,0,0
$GC,9402,-0.62,-194.6,952.1,-7.0,666,9406,0.00,2.12,0.00,0.000,6,0.000,0.026,2587,1962,3591,0,0,0,0,0,0
$GC,9723,-0.62,-194.6,971.1,-5.9,682,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1962,3590,0,0,0,0,0,0
$GC,10032,-0.62,-194.6,989.3,-5.8,697,10037,0.00,2.00,0.00,0.000,4,0.000,0.041,2587,3261,3590,0,0,0,0,0,0
$STATE,10046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10046,begin apogee
$GC,10053,-0.20,0.0,990.3,5.8,697,10213,0.43,0.00,154.02,1.398,4,0.109,0.000,2731,2064,2839,0,0,0,0,0,0
$STATE,10214,end apogee,CONTROL_FINISHED_OK
$STATE,10214,begin climb
$GC,10216,0.62,194.6,993.3,0.0,705,10396,0.73,2.25,170.38,1.336,4,0.072,0.031,2998,669,2045,0,0,0,0,0,0
$GC,10480,0.62,194.6,963.5,14.5,717,10484,0.00,2.20,0.00,0.000,6,0.000,0.024,2998,2064,2037,0,0,0,0,0,0
$GC,10804,0.62,194.6,918.8,13.2,733,10808,0.00,2.12,0.00,0.000,4,0.000,0.033,3006,669,2031,0,0,0,0,0,0
$GC,11016,0.62,194.6,891.5,12.2,742,11024,0.00,2.15,0.00,0.000,6,0.000,0.024,3007,2086,2030,0,0,0,0,0,0
$GC,11334,0.62,194.6,853.5,11.8,758,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2086,2028,0,0,0,0,0,0
$GC,11642,0.62,194.6,816.4,12.4,773,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2086,2027,0,0,0,0,0,0
$GC,11953,0.62,194.6,779.1,11.5,788,11957,0.00,2.12,0.00,0.000,4,0.000,0.032,3015,667,2026,0,0,0,0,0,0
$GC,11993,0.62,194.6,774.3,11.3,790,11997,0.00,2.10,0.00,0.000,6,0.000,0.024,3016,2094,2026,0,0,0,0,0,0
$GC,12320,0.62,194.6,739.1,10.2,806,12321,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2094,2026,0,0,0,0,0,0
$GC,12631,0.62,194.6,705.6,11.2,821,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2094,2026,0,0,0,0,0,0
$GC,12939,0.62,194.6,670.4,11.5,836,12944,0.00,2.10,0.00,0.000,4,0.000,0.040,3016,3465,2025,0,0,0,0,0,0
$GC,12962,0.62,194.6,667.4,12.0,837,12966,0.00,2.05,0.00,0.000,6,0.000,0.021,3025,2055,2025,0,0,0,0,0,0
$GC,13297,0.62,194.6,623.8,13.2,853,13300,0.00,2.03,0.00,0.000,4,0.000,0.034,3035,689,2025,0,0,0,0,0,0
$GC,13425,0.62,194.6,606.1,13.2,858,13433,0.10,2.00,0.00,0.000,6,0.125,0.024,3001,2041,2025,0,0,0,0,0,0
$GC,13743,0.62,197.2,573.3,9.6,874,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2041,2024,0,0,0,0,0,0
$GC,14051,0.72,275.5,549.8,7.1,889,14124,0.00,2.17,66.03,1.095,4,0.000,0.033,3007,686,1715,0,0,0,0,0,0
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$STATE,18315,end climb,SURFACE_DEPTH_REACHED
$STATE,18315,begin surface coast
$FINISH,0.8,1.021522
$STATE,18348,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,45.361
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$FG_AHR_10Vo,0.000
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$MEM,329676
$DATA_FILE_SIZE,80093,1399
$CAP_FILE_SIZE,202380,0
$CFSIZE,260165632,115363840
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