version: 66.09
glider: 167
mission: 8
dive: 296
start: 8 13 111 23 15 45
data:
$ID,167
$MISSION,8
$DIVE,296
$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,-56760.168
$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,93
$R_STBD_OVSHOOT,57
$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
$GPS1,130811,230736,2013.603,12420.740,37,1.1,38,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.7
$GPS2,130811,231504,2013.579,12420.780,12,2.5,31,-2.5
$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,291.7,2959,-17.6,-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,-149.7,0.0,0.0,0,88,0.00,0.00,-68.28,0.000,2,0.000,0.000,110,1892,3201,0,0,0,0,0,0
$GC,91,-0.62,-149.7,6.6,-11.5,9,115,10.07,2.08,-4.05,0.000,4,0.232,0.039,2602,482,3453,0,0,0,0,0,0
$GC,323,-0.62,-149.7,71.2,-19.2,51,332,0.00,2.03,0.00,0.000,6,0.000,0.018,2595,1891,3455,0,0,0,0,0,0
$GC,400,-0.62,-149.7,84.5,-18.2,64,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1891,3455,0,0,0,0,0,0
$GC,480,-0.62,-149.7,98.1,-18.0,77,487,0.00,2.03,0.00,0.000,4,0.000,0.030,2584,3263,3456,0,0,0,0,0,0
$GC,503,-0.62,-149.7,102.5,-18.8,80,510,0.00,1.90,0.00,0.000,6,0.000,0.025,2584,1923,3456,0,0,0,0,0,0
$GC,580,-0.62,-149.7,116.7,-18.3,93,589,0.00,2.05,0.00,0.000,4,0.000,0.027,2584,511,3456,0,0,0,0,0,0
$GC,639,-0.62,-149.7,126.9,-17.4,102,647,0.00,1.92,0.00,0.000,6,0.000,0.018,2575,1859,3457,0,0,0,0,0,0
$GC,719,-0.62,-149.7,141.5,-19.1,115,730,0.00,2.08,0.00,0.000,4,0.000,0.030,2565,3266,3457,0,0,0,0,0,0
$GC,774,-0.62,-149.7,151.7,-18.5,123,783,0.08,1.77,0.00,0.000,6,0.158,0.016,2589,1981,3458,0,0,0,0,0,0
$GC,850,-0.62,-149.7,165.1,-16.2,136,858,0.00,2.15,0.00,0.000,4,0.000,0.028,2589,508,3457,0,0,0,0,0,0
$GC,930,-0.62,-149.7,178.5,-17.3,150,939,0.00,2.10,0.00,0.000,6,0.000,0.020,2585,1960,3457,0,0,0,0,0,0
$GC,1008,-0.62,-149.7,191.6,-16.0,163,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1961,3457,0,0,0,0,0,0
$GC,1083,-0.62,-149.7,203.9,-15.6,174,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1962,3458,0,0,0,0,0,0
$GC,1405,-0.62,-149.7,249.2,-13.8,204,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1962,3457,0,0,0,0,0,0
$GC,1733,-0.62,-149.7,291.3,-12.2,235,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1962,3457,0,0,0,0,0,0
$GC,2062,-0.62,-149.7,334.6,-13.4,266,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1962,3457,0,0,0,0,0,0
$GC,2390,-0.62,-149.7,375.2,-11.5,297,2394,0.00,2.12,0.00,0.000,4,0.000,0.028,2585,510,3455,0,0,0,0,0,0
$GC,2446,-0.62,-149.7,382.1,-11.3,301,2453,0.00,2.03,0.00,0.000,6,0.000,0.021,2584,1922,3454,0,0,0,0,0,0
$GC,2772,-0.62,-149.7,417.8,-10.8,332,2776,0.00,1.98,0.00,0.000,4,0.000,0.032,2575,3271,3453,0,0,0,0,0,0
$GC,2846,-0.62,-149.7,425.8,-10.5,338,2853,0.00,1.92,0.00,0.000,6,0.000,0.018,2574,1895,3453,0,0,0,0,0,0
$GC,3171,-0.62,-149.7,460.1,-10.2,369,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1895,3452,0,0,0,0,0,0
$GC,3495,-0.62,-149.7,494.4,-11.5,399,3499,0.00,2.03,0.00,0.000,4,0.000,0.030,2575,501,3450,0,0,0,0,0,0
$GC,3590,-0.62,-149.7,506.1,-10.9,405,3594,0.00,2.05,0.00,0.000,6,0.000,0.021,2574,1933,3449,0,0,0,0,0,0
$GC,3920,-0.63,-151.5,539.0,-9.6,421,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1933,3448,0,0,0,0,0,0
$GC,4228,-0.66,-178.3,567.4,-8.5,436,4232,0.00,2.12,0.00,0.000,4,0.000,0.029,2574,507,3446,0,0,0,0,0,0
$GC,4260,-0.68,-194.6,570.5,-8.6,437,4264,0.00,2.08,0.00,0.000,6,0.000,0.020,2573,1945,3446,0,0,0,0,0,0
$GC,4585,-0.68,-194.6,599.2,-8.9,453,4588,0.00,1.95,0.00,0.000,4,0.000,0.034,2574,3265,3444,0,0,0,0,0,0
$GC,4635,-0.68,-194.6,603.9,-8.6,455,4638,0.00,1.85,0.00,0.000,6,0.000,0.018,2574,1942,3444,0,0,0,0,0,0
$GC,4964,-0.68,-194.6,630.8,-8.0,471,4969,0.00,2.12,0.00,0.000,4,0.000,0.031,2574,508,3441,0,0,0,0,0,0
$GC,5019,-0.68,-194.6,635.9,-8.5,473,5023,0.00,2.08,0.00,0.000,6,0.000,0.021,2573,1944,3441,0,0,0,0,0,0
$GC,5341,-0.68,-194.6,663.6,-9.0,489,5345,0.00,1.95,0.00,0.000,4,0.000,0.035,2574,3273,3439,0,0,0,0,0,0
$GC,5393,-0.68,-194.6,668.3,-9.0,491,5397,0.00,1.90,0.00,0.000,6,0.000,0.020,2574,1946,3439,0,0,0,0,0,0
$GC,5720,-0.68,-194.6,697.8,-8.9,507,5724,0.00,2.10,0.00,0.000,4,0.000,0.031,2574,511,3436,0,0,0,0,0,0
$GC,5794,-0.68,-194.6,704.9,-9.5,510,5798,0.00,2.08,0.00,0.000,6,0.000,0.021,2574,1926,3436,0,0,0,0,0,0
$GC,6115,-0.68,-194.6,729.9,-7.7,526,6119,0.00,1.98,0.00,0.000,4,0.000,0.035,2574,3268,3435,0,0,0,0,0,0
$GC,6190,-0.68,-194.6,736.0,-8.1,529,6194,0.00,1.90,0.00,0.000,6,0.000,0.019,2573,1922,3434,0,0,0,0,0,0
$GC,6519,-0.68,-194.6,765.5,-8.8,545,6522,0.00,2.08,0.00,0.000,4,0.000,0.031,2574,514,3432,0,0,0,0,0,0
$GC,6596,-0.68,-194.6,772.7,-8.8,548,6600,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1890,3431,0,0,0,0,0,0
$GC,6920,-0.68,-194.6,795.5,-6.4,564,6924,0.00,2.05,0.00,0.000,4,0.000,0.037,2573,3262,3429,0,0,0,0,0,0
$GC,6993,-0.68,-194.6,799.9,-5.7,567,6997,0.00,1.90,0.00,0.000,6,0.000,0.019,2573,1923,3429,0,0,0,0,0,0
$GC,7322,-0.68,-194.6,820.4,-6.8,583,7326,0.00,2.10,0.00,0.000,4,0.000,0.031,2574,514,3427,0,0,0,0,0,0
$GC,7377,-0.68,-194.6,824.9,-7.9,585,7380,0.00,2.00,0.00,0.000,6,0.000,0.021,2573,1892,3427,0,0,0,0,0,0
$GC,7699,-0.68,-194.6,847.4,-6.9,601,7703,0.00,2.05,0.00,0.000,4,0.000,0.037,2573,3267,3425,0,0,0,0,0,0
$GC,7791,-0.68,-194.6,853.4,-6.5,605,7795,0.00,1.90,0.00,0.000,6,0.000,0.019,2573,1929,3425,0,0,0,0,0,0
$GC,8125,-0.68,-194.6,873.0,-5.7,621,8129,0.00,2.10,0.00,0.000,4,0.000,0.031,2573,507,3423,0,0,0,0,0,0
$GC,8235,-0.68,-194.6,880.1,-6.5,626,8239,0.00,2.03,0.00,0.000,6,0.000,0.022,2573,1895,3422,0,0,0,0,0,0
$GC,8568,-0.68,-194.6,899.2,-6.1,642,8572,0.00,2.05,0.00,0.000,4,0.000,0.038,2573,3264,3420,0,0,0,0,0,0
$GC,8663,-0.68,-194.6,905.4,-6.6,646,8667,0.00,1.90,0.00,0.000,6,0.000,0.019,2573,1931,3420,0,0,0,0,0,0
$GC,8992,-0.68,-194.6,929.2,-7.3,662,8995,0.00,2.10,0.00,0.000,4,0.000,0.031,2573,508,3419,0,0,0,0,0,0
$GC,9036,-0.68,-194.6,932.7,-7.6,664,9040,0.00,2.08,0.00,0.000,6,0.000,0.022,2573,1922,3418,0,0,0,0,0,0
$GC,9365,-0.68,-194.6,952.8,-5.6,680,9369,0.00,2.03,0.00,0.000,4,0.000,0.040,2573,3273,3417,0,0,0,0,0,0
$GC,9415,-0.68,-194.6,955.6,-5.4,682,9420,0.00,1.92,0.00,0.000,6,0.000,0.021,2573,1950,3416,0,0,0,0,0,0
$GC,9744,-0.68,-194.6,976.8,-7.0,698,9748,0.00,2.15,0.00,0.000,4,0.000,0.032,2573,503,3415,0,0,0,0,0,0
$GC,9851,-0.68,-194.6,985.6,-8.3,703,9854,0.00,2.08,0.00,0.000,6,0.000,0.023,2573,1915,3415,0,0,0,0,0,0
$STATE,9913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9913,begin apogee
$GC,9920,-0.20,0.0,990.9,8.1,706,10051,0.47,0.00,119.93,1.395,4,0.125,0.000,2728,2091,2838,0,0,0,0,0,0
$STATE,10052,end apogee,CONTROL_FINISHED_OK
$STATE,10052,begin climb
$GC,10054,0.68,194.6,996.4,0.0,712,10233,0.80,2.20,169.40,1.347,4,0.074,0.031,3020,710,2045,0,0,0,0,0,0
$GC,10418,0.68,194.6,966.1,10.0,728,10427,0.00,2.08,0.00,0.000,6,0.000,0.024,3020,2063,2035,0,0,0,0,0,0
$GC,10735,0.68,194.6,931.5,11.4,744,10738,0.00,2.05,0.00,0.000,4,0.000,0.031,3028,707,2031,0,0,0,0,0,0
$GC,10942,0.68,194.6,904.4,13.8,753,10947,0.00,2.10,0.00,0.000,6,0.000,0.024,3028,2094,2031,0,0,0,0,0,0
$GC,11270,0.68,194.6,854.7,16.0,769,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2094,2028,0,0,0,0,0,0
$GC,11578,0.68,194.6,806.2,15.3,784,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2094,2028,0,0,0,0,0,0
$GC,11888,0.68,194.6,764.3,12.9,799,11892,0.00,2.10,0.00,0.000,4,0.000,0.039,3028,3482,2027,0,0,0,0,0,0
$GC,11928,0.68,194.6,758.9,14.4,801,11932,0.00,2.03,0.00,0.000,6,0.000,0.021,3036,2091,2027,0,0,0,0,0,0
$GC,12263,0.68,194.6,715.4,13.5,817,12266,0.00,2.05,0.00,0.000,4,0.000,0.032,3047,692,2026,0,0,0,0,0,0
$GC,12365,0.68,194.6,700.9,14.0,821,12369,0.00,2.03,0.00,0.000,6,0.000,0.024,3047,2060,2026,0,0,0,0,0,0
$GC,12687,0.68,194.6,656.2,13.5,837,12692,0.00,2.15,0.00,0.000,4,0.000,0.039,3047,3466,2026,0,0,0,0,0,0
$GC,12760,0.68,194.6,645.8,14.2,840,12765,0.12,2.05,0.00,0.000,6,0.176,0.021,3023,2048,2025,0,0,0,0,0,0
$GC,13083,0.68,194.6,608.8,12.1,856,13087,0.00,2.00,0.00,0.000,4,0.000,0.032,3032,692,2025,0,0,0,0,0,0
$GC,13153,0.68,194.6,599.9,13.0,859,13156,0.00,1.98,0.00,0.000,6,0.000,0.023,3032,2043,2025,0,0,0,0,0,0
$GC,13486,0.68,194.6,559.7,11.2,875,13490,0.00,2.15,0.00,0.000,4,0.000,0.037,3032,3465,2024,0,0,0,0,0,0
$GC,13534,0.68,194.6,553.7,12.0,877,13539,0.00,2.03,0.00,0.000,6,0.000,0.021,3040,2060,2024,0,0,0,0,0,0
$GC,13859,0.68,194.6,517.2,12.4,893,13863,0.00,2.05,0.00,0.000,4,0.000,0.032,3049,696,2024,0,0,0,0,0,0
$GC,13994,0.68,194.6,499.7,13.1,899,13998,0.12,1.88,0.00,0.000,6,0.156,0.022,3015,1994,2024,0,0,0,0,0,0
$GC,14325,0.70,210.8,464.7,9.0,930,14343,0.00,0.00,11.65,0.952,6,0.000,0.000,3016,1994,1978,0,0,0,0,0,0
$GC,14664,0.70,210.8,434.8,10.1,962,14667,0.00,1.95,0.00,0.000,4,0.000,0.031,3022,685,1977,0,0,0,0,0,0
$GC,14687,0.70,210.8,432.3,10.2,964,14692,0.00,1.90,0.00,0.000,6,0.000,0.021,3023,1976,1977,0,0,0,0,0,0
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$STATE,19028,end climb,SURFACE_DEPTH_REACHED
$STATE,19028,begin surface coast
$FINISH,0.9,1.019770
$STATE,19065,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,72
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$10V_AH,9.8,48.424
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$FG_AHR_10Vo,0.000
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$MEM,329664
$DATA_FILE_SIZE,87025,1506
$CAP_FILE_SIZE,216190,0
$CFSIZE,260165632,113426432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060, 79.7,1
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