version: 66.09
glider: 167
mission: 8
dive: 281
start: 8 10 111 13 52 19
data:
$ID,167
$MISSION,8
$DIVE,281
$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,-56741.18
$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,69
$R_STBD_OVSHOOT,63
$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
$GPS1,100811,134406,1954.364,12344.699,35,1.3,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.4
$GPS2,100811,135156,1954.436,12344.758,14,1.6,14,-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,88.3,72112,-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,-92.15,0.000,2,0.000,0.000,114,1808,3083,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.8,-9.8,12,143,10.10,2.25,-8.98,0.000,4,0.233,0.041,2588,3280,3635,0,0,0,0,0,0
$GC,178,-0.62,-194.6,33.3,-38.3,21,186,0.00,2.05,0.00,0.000,6,0.000,0.018,2592,1865,3636,0,0,0,0,0,0
$GC,255,-0.62,-194.6,55.8,-29.0,34,264,0.00,2.12,0.00,0.000,4,0.000,0.031,2584,3272,3636,0,0,0,0,0,0
$GC,302,-0.62,-194.6,71.3,-33.6,41,311,0.00,1.83,0.00,0.000,6,0.000,0.018,2584,2007,3637,0,0,0,0,0,0
$GC,381,-0.62,-194.6,92.5,-25.8,54,390,0.00,2.22,0.00,0.000,4,0.000,0.028,2583,489,3637,0,0,0,0,0,0
$GC,430,-0.62,-194.6,103.1,-22.7,61,438,0.00,2.17,0.00,0.000,6,0.000,0.020,2574,1974,3637,0,0,0,0,0,0
$GC,509,-0.62,-194.6,122.4,-23.3,74,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1975,3637,0,0,0,0,0,0
$GC,584,-0.62,-194.6,139.1,-22.2,87,592,0.00,2.17,0.00,0.000,4,0.000,0.026,2574,497,3637,0,0,0,0,0,0
$GC,633,-0.62,-194.6,149.2,-20.8,95,642,0.08,2.20,0.00,0.000,6,0.151,0.021,2591,2001,3638,0,0,0,0,0,0
$GC,710,-0.62,-194.6,164.2,-18.9,108,718,0.00,1.88,0.00,0.000,4,0.000,0.033,2587,3264,3638,0,0,0,0,0,0
$GC,738,-0.62,-194.6,169.1,-18.0,112,746,0.00,1.77,0.00,0.000,6,0.000,0.017,2587,1985,3638,0,0,0,0,0,0
$GC,817,-0.62,-194.6,182.4,-17.4,125,826,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,494,3638,0,0,0,0,0,0
$GC,852,-0.62,-194.6,188.3,-16.7,130,861,0.00,2.12,0.00,0.000,6,0.000,0.021,2586,1950,3639,0,0,0,0,0,0
$GC,928,-0.62,-194.6,200.1,-15.7,143,931,0.00,1.92,0.00,0.000,4,0.000,0.032,2578,3269,3638,0,0,0,0,0,0
$GC,965,-0.62,-194.6,206.9,-16.5,146,975,0.00,1.80,0.00,0.000,6,0.000,0.027,2578,1985,3639,0,0,0,0,0,0
$GC,1292,-0.62,-194.6,258.6,-16.9,177,1297,0.00,2.17,0.00,0.000,4,0.000,0.028,2578,494,3638,0,0,0,0,0,0
$GC,1327,-0.62,-194.6,264.9,-18.3,180,1331,0.00,2.15,0.00,0.000,6,0.000,0.021,2574,1987,3639,0,0,0,0,0,0
$GC,1652,-0.62,-194.6,327.1,-17.6,210,1656,0.00,1.90,0.00,0.000,4,0.000,0.035,2573,3264,3638,0,0,0,0,0,0
$GC,1710,-0.62,-194.6,336.9,-16.5,215,1714,0.00,1.83,0.00,0.000,6,0.000,0.018,2574,1959,3638,0,0,0,0,0,0
$GC,2040,-0.62,-194.6,382.2,-12.4,246,2044,0.00,2.10,0.00,0.000,4,0.000,0.029,2573,494,3636,0,0,0,0,0,0
$GC,2150,-0.62,-194.6,395.5,-11.5,255,2157,0.00,2.08,0.00,0.000,6,0.000,0.021,2571,1944,3635,0,0,0,0,0,0
$GC,2475,-0.62,-194.6,432.2,-11.4,286,2480,0.00,1.98,0.00,0.000,4,0.000,0.034,2562,3271,3634,0,0,0,0,0,0
$GC,2592,-0.62,-194.6,445.9,-11.1,296,2600,0.10,1.77,0.00,0.000,6,0.123,0.018,2597,1985,3633,0,0,0,0,0,0
$GC,2919,-0.62,-194.6,475.7,-11.2,327,2923,0.00,2.17,0.00,0.000,4,0.000,0.030,2597,490,3631,0,0,0,0,0,0
$GC,2971,-0.62,-194.6,482.3,-12.7,331,2975,0.00,2.25,0.00,0.000,6,0.000,0.021,2596,2043,3631,0,0,0,0,0,0
$GC,3294,-0.62,-194.6,519.5,-10.9,353,3299,0.00,1.83,0.00,0.000,4,0.000,0.035,2596,3266,3628,0,0,0,0,0,0
$GC,3395,-0.62,-194.6,528.7,-8.2,357,3399,0.00,1.73,0.00,0.000,6,0.000,0.018,2596,2008,3628,0,0,0,0,0,0
$GC,3718,-0.62,-194.6,551.2,-6.7,373,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2007,3625,0,0,0,0,0,0
$GC,4026,-0.62,-194.6,573.9,-8.2,388,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2007,3623,0,0,0,0,0,0
$GC,4336,-0.62,-194.6,603.7,-10.4,403,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2007,3621,0,0,0,0,0,0
$GC,4646,-0.62,-194.6,633.8,-8.7,418,4650,0.00,1.90,0.00,0.000,4,0.000,0.036,2596,3269,3618,0,0,0,0,0,0
$GC,4710,-0.62,-194.6,638.6,-7.4,420,4717,0.00,1.73,0.00,0.000,6,0.000,0.019,2596,2027,3618,0,0,0,0,0,0
$GC,5028,-0.62,-194.6,663.8,-7.7,436,5031,0.00,1.88,0.00,0.000,4,0.000,0.037,2596,3267,3616,0,0,0,0,0,0
$GC,5098,-0.62,-194.6,668.9,-7.2,439,5102,0.00,1.65,0.00,0.000,6,0.000,0.020,2597,2102,3615,0,0,0,0,0,0
$GC,5432,-0.62,-194.6,693.2,-7.3,455,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2101,3612,0,0,0,0,0,0
$GC,5742,-0.62,-194.6,713.3,-5.7,470,5747,0.00,2.38,0.00,0.000,4,0.000,0.029,2596,503,3611,0,0,0,0,0,0
$GC,5788,-0.62,-194.6,715.9,-5.4,472,5793,0.00,2.38,0.00,0.000,6,0.000,0.023,2593,2099,3610,0,0,0,0,0,0
$GC,6120,-0.62,-194.6,731.4,-4.4,488,6124,0.00,1.75,0.00,0.000,4,0.000,0.039,2593,3269,3608,0,0,0,0,0,0
$GC,6183,-0.62,-194.6,734.0,-4.4,490,6192,0.00,1.62,0.00,0.000,6,0.000,0.019,2593,2127,3607,0,0,0,0,0,0
$GC,6500,-0.62,-194.6,752.5,-7.3,506,6504,0.00,2.38,0.00,0.000,4,0.000,0.029,2593,497,3606,0,0,0,0,0,0
$GC,6564,-0.62,-194.6,758.1,-9.3,509,6569,0.00,2.40,0.00,0.000,6,0.000,0.024,2590,2106,3605,0,0,0,0,0,0
$GC,6897,-0.62,-194.6,785.6,-7.9,525,6900,0.00,1.75,0.00,0.000,4,0.000,0.040,2590,3270,3604,0,0,0,0,0,0
$GC,6953,-0.62,-194.6,789.6,-7.1,527,6958,0.00,1.65,0.00,0.000,6,0.000,0.021,2590,2125,3603,0,0,0,0,0,0
$GC,7277,-0.62,-194.6,810.1,-6.3,543,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2123,3601,0,0,0,0,0,0
$GC,7584,-0.62,-194.6,830.9,-7.2,558,7588,0.00,2.42,0.00,0.000,4,0.000,0.031,2590,487,3599,0,0,0,0,0,0
$GC,7658,-0.62,-194.6,836.9,-7.9,561,7662,0.00,2.42,0.00,0.000,6,0.000,0.024,2590,2121,3599,0,0,0,0,0,0
$GC,7975,-0.62,-194.6,859.4,-6.9,576,7978,0.00,1.73,0.00,0.000,4,0.000,0.041,2590,3267,3599,0,0,0,0,0,0
$GC,8003,-0.62,-194.6,861.2,-6.8,577,8007,0.00,1.65,0.00,0.000,6,0.000,0.021,2590,2124,3598,0,0,0,0,0,0
$GC,8332,-0.62,-194.6,877.3,-4.4,593,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2122,3597,0,0,0,0,0,0
$GC,8640,-0.62,-194.6,890.4,-4.3,608,8644,0.00,1.73,0.00,0.000,4,0.000,0.041,2591,3265,3595,0,0,0,0,0,0
$GC,8664,-0.62,-194.6,891.3,-4.3,609,8667,0.00,1.62,0.00,0.000,6,0.000,0.021,2590,2144,3595,0,0,0,0,0,0
$GC,8999,-0.62,-194.6,908.6,-6.3,625,9003,0.00,2.45,0.00,0.000,4,0.000,0.030,2590,506,3593,0,0,0,0,0,0
$GC,9049,-0.62,-194.6,912.5,-7.2,627,9054,0.00,2.42,0.00,0.000,6,0.000,0.025,2590,2130,3593,0,0,0,0,0,0
$GC,9373,-0.62,-194.6,937.3,-7.9,643,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2131,3592,0,0,0,0,0,0
$GC,9681,-0.62,-194.6,962.6,-8.1,658,9685,0.00,2.45,0.00,0.000,4,0.000,0.029,2590,490,3591,0,0,0,0,0,0
$GC,9744,-0.62,-194.6,968.1,-8.9,661,9748,0.00,2.40,0.00,0.000,6,0.000,0.026,2590,2114,3591,0,0,0,0,0,0
$STATE,10027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10027,begin apogee
$GC,10034,-0.20,0.0,990.2,7.6,675,10195,0.40,0.00,154.45,1.394,4,0.118,0.000,2727,2113,2839,0,0,0,0,0,0
$STATE,10196,end apogee,CONTROL_FINISHED_OK
$STATE,10196,begin climb
$GC,10200,0.62,194.6,997.0,0.0,682,10378,0.82,2.20,170.35,1.341,4,0.081,0.040,3004,3461,2045,0,0,0,0,0,0
$GC,10575,0.62,194.6,956.8,13.4,699,10583,0.00,2.10,0.00,0.000,6,0.000,0.021,3012,2077,2035,0,0,0,0,0,0
$GC,10893,0.62,194.6,917.8,12.2,715,10897,0.00,2.15,0.00,0.000,4,0.000,0.037,3012,3468,2034,0,0,0,0,0,0
$GC,11062,0.62,194.6,894.1,14.8,722,11069,0.00,2.10,0.00,0.000,6,0.000,0.022,3022,2042,2032,0,0,0,0,0,0
$GC,11380,0.62,194.6,848.6,14.6,738,11383,0.00,2.03,0.00,0.000,4,0.000,0.033,3032,684,2032,0,0,0,0,0,0
$GC,11440,0.62,194.6,839.1,14.4,740,11450,0.08,1.98,0.00,0.000,6,0.136,0.024,3007,2010,2031,0,0,0,0,0,0
$GC,11757,0.62,194.6,797.6,13.1,756,11761,0.00,2.17,0.00,0.000,4,0.000,0.038,3007,3459,2031,0,0,0,0,0,0
$GC,11792,0.62,194.6,792.7,14.2,757,11798,0.00,2.08,0.00,0.000,6,0.000,0.021,3015,2028,2031,0,0,0,0,0,0
$GC,12108,0.62,194.6,749.9,13.2,773,12111,0.00,1.95,0.00,0.000,4,0.000,0.034,3025,694,2031,0,0,0,0,0,0
$GC,12213,0.62,194.6,736.2,12.6,777,12221,0.00,1.92,0.00,0.000,6,0.000,0.023,3025,1984,2030,0,0,0,0,0,0
$GC,12532,0.62,194.6,697.8,11.9,793,12536,0.00,2.25,0.00,0.000,4,0.000,0.038,3025,3469,2030,0,0,0,0,0,0
$GC,12599,0.62,194.6,688.8,13.0,796,12604,0.10,2.12,0.00,0.000,6,0.144,0.021,3001,2025,2029,0,0,0,0,0,0
$GC,12930,0.62,195.0,656.8,9.7,812,12934,0.00,1.95,0.00,0.000,4,0.000,0.033,3009,689,2029,0,0,0,0,0,0
$GC,13077,0.62,195.0,642.0,9.9,818,13081,0.00,1.88,0.00,0.000,6,0.000,0.023,3009,1966,2029,0,0,0,0,0,0
$GC,13401,0.62,195.0,606.8,11.7,834,13405,0.00,2.25,0.00,0.000,4,0.000,0.038,3009,3466,2029,0,0,0,0,0,0
$GC,13546,0.62,195.0,586.7,14.7,840,13553,0.00,2.10,0.00,0.000,6,0.000,0.021,3018,2023,2028,0,0,0,0,0,0
$GC,13865,0.62,195.0,545.9,12.2,856,13868,0.00,1.98,0.00,0.000,4,0.000,0.033,3029,685,2028,0,0,0,0,0,0
$GC,14077,0.62,195.0,521.1,11.2,865,14081,0.00,1.80,0.00,0.000,6,0.000,0.023,3028,1905,2028,0,0,0,0,0,0
$GC,14404,0.62,195.0,484.1,10.9,887,14409,0.00,2.38,0.00,0.000,4,0.000,0.037,3029,3468,2028,0,0,0,0,0,0
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$10V_AH,9.8,46.003
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$FG_AHR_10Vo,0.000
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$MEM,329668
$DATA_FILE_SIZE,83621,1438
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$CFSIZE,260165632,114954240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038, 47.5,1
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