version: 66.09
glider: 167
mission: 8
dive: 316
start: 8 18 111 11 54 17
data:
$ID,167
$MISSION,8
$DIVE,316
$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,-56788.426
$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,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
$GPS1,180811,114207,1935.542,12419.477,36,1.1,37,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.7
$GPS2,180811,115352,1935.572,12419.445,16,2.6,35,-2.4
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,153.8,197432,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-95.72,0.000,2,0.000,0.000,110,1946,3218,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.2,-10.2,12,145,10.05,2.15,-6.43,0.000,4,0.232,0.036,2595,461,3635,0,0,0,0,0,0
$GC,223,-0.62,-194.6,47.8,-23.4,29,231,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1880,3637,0,0,0,0,0,0
$GC,299,-0.62,-194.6,67.1,-26.6,42,309,0.00,2.08,0.00,0.000,4,0.000,0.025,2587,471,3637,0,0,0,0,0,0
$GC,318,-0.62,-194.6,72.9,-26.8,44,325,0.00,1.95,0.00,0.000,6,0.000,0.021,2578,1815,3636,0,0,0,0,0,0
$GC,394,-0.62,-194.6,90.3,-21.9,57,403,0.00,2.17,0.00,0.000,4,0.000,0.032,2568,3271,3637,0,0,0,0,0,0
$GC,467,-0.62,-194.6,106.7,-19.6,69,476,0.08,1.90,0.00,0.000,6,0.151,0.017,2592,1913,3637,0,0,0,0,0,0
$GC,547,-0.62,-194.6,121.4,-19.0,82,556,0.00,2.03,0.00,0.000,4,0.000,0.031,2588,3263,3637,0,0,0,0,0,0
$GC,570,-0.62,-194.6,126.0,-18.1,85,577,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1944,3637,0,0,0,0,0,0
$GC,644,-0.62,-194.6,137.5,-14.8,98,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1944,3637,0,0,0,0,0,0
$GC,720,-0.62,-194.6,148.7,-15.6,111,729,0.00,2.08,0.00,0.000,4,0.000,0.028,2587,520,3638,0,0,0,0,0,0
$GC,751,-0.62,-194.6,153.3,-15.5,115,760,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1950,3638,0,0,0,0,0,0
$GC,828,-0.62,-194.6,164.0,-13.7,128,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1950,3638,0,0,0,0,0,0
$GC,901,-0.62,-194.6,174.0,-14.0,141,910,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3262,3638,0,0,0,0,0,0
$GC,929,-0.62,-194.6,178.3,-14.2,145,938,0.00,1.83,0.00,0.000,6,0.000,0.017,2587,1963,3638,0,0,0,0,0,0
$GC,1005,-0.62,-194.6,188.5,-14.1,158,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1963,3638,0,0,0,0,0,0
$GC,1082,-0.62,-194.6,199.9,-15.5,171,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1963,3638,0,0,0,0,0,0
$GC,1152,-0.62,-194.6,212.1,-16.9,178,1157,0.00,2.10,0.00,0.000,4,0.000,0.028,2587,520,3637,0,0,0,0,0,0
$GC,1169,-0.62,-194.6,215.3,-16.9,179,1176,0.00,2.05,0.00,0.000,6,0.000,0.021,2584,1934,3637,0,0,0,0,0,0
$GC,1494,-0.62,-194.6,271.4,-17.6,210,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1934,3637,0,0,0,0,0,0
$GC,1815,-0.62,-194.6,322.2,-14.0,240,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1935,3635,0,0,0,0,0,0
$GC,2135,-0.62,-194.6,364.7,-14.3,270,2139,0.00,1.98,0.00,0.000,4,0.000,0.033,2577,3268,3634,0,0,0,0,0,0
$GC,2229,-0.62,-194.6,377.8,-12.7,278,2237,0.00,1.77,0.00,0.000,6,0.000,0.016,2576,1981,3633,0,0,0,0,0,0
$GC,2555,-0.62,-194.6,426.3,-16.4,309,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1980,3632,0,0,0,0,0,0
$GC,2878,-0.62,-194.6,471.6,-11.4,339,2882,0.00,2.12,0.00,0.000,4,0.000,0.029,2576,517,3631,0,0,0,0,0,0
$GC,2934,-0.62,-194.6,478.1,-10.3,343,2941,0.00,2.12,0.00,0.000,6,0.000,0.021,2575,1988,3631,0,0,0,0,0,0
$GC,3260,-0.62,-194.6,505.8,-8.7,371,3264,0.00,1.90,0.00,0.000,4,0.000,0.035,2574,3275,3629,0,0,0,0,0,0
$GC,3284,-0.62,-194.6,507.9,-8.9,372,3288,0.00,1.83,0.00,0.000,6,0.000,0.018,2574,1959,3629,0,0,0,0,0,0
$GC,3619,-0.62,-194.6,542.8,-12.4,388,3623,0.00,2.12,0.00,0.000,4,0.000,0.030,2574,515,3627,0,0,0,0,0,0
$GC,3679,-0.62,-194.6,550.9,-12.5,390,3687,0.00,2.03,0.00,0.000,6,0.000,0.021,2573,1939,3626,0,0,0,0,0,0
$GC,3995,-0.62,-194.6,586.7,-11.3,406,3999,0.00,1.98,0.00,0.000,4,0.000,0.035,2574,3271,3624,0,0,0,0,0,0
$GC,4200,-0.62,-194.6,606.2,-8.3,415,4203,0.00,1.75,0.00,0.000,6,0.000,0.018,2574,2008,3622,0,0,0,0,0,0
$GC,4535,-0.62,-194.6,632.5,-7.9,431,4539,0.00,2.15,0.00,0.000,4,0.000,0.030,2574,519,3620,0,0,0,0,0,0
$GC,4630,-0.62,-194.6,640.4,-8.0,435,4633,0.00,2.10,0.00,0.000,6,0.000,0.022,2574,1976,3619,0,0,0,0,0,0
$GC,4955,-0.62,-194.6,667.9,-9.0,451,4958,0.00,1.92,0.00,0.000,4,0.000,0.036,2574,3271,3617,0,0,0,0,0,0
$GC,5010,-0.62,-194.6,673.0,-8.3,453,5014,0.00,1.80,0.00,0.000,6,0.000,0.018,2574,1981,3617,0,0,0,0,0,0
$GC,5332,-0.62,-194.6,697.7,-7.2,469,5337,0.00,2.17,0.00,0.000,4,0.000,0.030,2574,513,3615,0,0,0,0,0,0
$GC,5372,-0.62,-194.6,700.8,-7.2,470,5380,0.00,2.15,0.00,0.000,6,0.000,0.023,2574,1996,3614,0,0,0,0,0,0
$GC,5688,-0.62,-194.6,726.3,-8.8,486,5692,0.00,1.88,0.00,0.000,4,0.000,0.037,2574,3268,3612,0,0,0,0,0,0
$GC,5722,-0.62,-194.6,729.5,-9.2,487,5725,0.00,1.75,0.00,0.000,6,0.000,0.019,2574,2017,3611,0,0,0,0,0,0
$GC,6045,-0.62,-194.6,762.5,-10.8,503,6049,0.00,2.20,0.00,0.000,4,0.000,0.029,2574,517,3608,0,0,0,0,0,0
$GC,6078,-0.62,-194.6,766.4,-10.6,504,6085,0.00,2.17,0.00,0.000,6,0.000,0.022,2574,2005,3608,0,0,0,0,0,0
$GC,6395,-0.62,-194.6,797.8,-9.4,520,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2006,3606,0,0,0,0,0,0
$GC,6706,-0.62,-194.6,819.6,-6.1,535,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2006,3604,0,0,0,0,0,0
$GC,7013,-0.62,-194.6,833.7,-4.4,550,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2005,3601,0,0,0,0,0,0
$GC,7324,-0.62,-194.6,850.6,-6.2,565,7329,0.00,1.92,0.00,0.000,4,0.000,0.039,2574,3264,3599,0,0,0,0,0,0
$GC,7362,-0.62,-194.6,853.3,-6.4,566,7371,0.00,1.80,0.00,0.000,6,0.000,0.018,2574,2005,3599,0,0,0,0,0,0
$GC,7679,-0.62,-194.6,876.0,-7.4,582,7683,0.00,2.20,0.00,0.000,4,0.000,0.030,2574,513,3598,0,0,0,0,0,0
$GC,7721,-0.62,-194.6,879.2,-7.4,584,7725,0.00,2.15,0.00,0.000,6,0.000,0.024,2574,1985,3597,0,0,0,0,0,0
$GC,8048,-0.62,-194.6,901.5,-6.3,600,8053,0.00,1.95,0.00,0.000,4,0.000,0.041,2574,3260,3596,0,0,0,0,0,0
$GC,8127,-0.62,-194.6,906.4,-5.8,603,8131,0.00,1.77,0.00,0.000,6,0.000,0.021,2574,2006,3595,0,0,0,0,0,0
$GC,8451,-0.62,-194.6,927.1,-6.9,619,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2006,3593,0,0,0,0,0,0
$GC,8761,-0.62,-194.6,950.6,-7.9,634,8765,0.00,2.20,0.00,0.000,4,0.000,0.030,2574,517,3592,0,0,0,0,0,0
$GC,8786,-0.62,-194.6,952.8,-7.8,635,8790,0.00,2.22,0.00,0.000,6,0.000,0.025,2574,1999,3592,0,0,0,0,0,0
$GC,9113,-0.62,-194.6,979.1,-8.2,651,9117,0.00,1.90,0.00,0.000,4,0.000,0.040,2574,3270,3590,0,0,0,0,0,0
$GC,9214,-0.62,-194.6,987.0,-7.5,655,9217,0.00,1.73,0.00,0.000,6,0.000,0.020,2573,2042,3590,0,0,0,0,0,0
$STATE,9265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9265,begin apogee
$GC,9272,-0.20,0.0,990.8,7.6,658,9432,0.47,0.00,155.07,1.389,4,0.116,0.000,2732,2037,2839,0,0,0,0,0,0
$STATE,9433,end apogee,CONTROL_FINISHED_OK
$STATE,9433,begin climb
$GC,9437,0.62,194.6,997.1,0.0,665,9616,0.80,2.30,169.50,1.336,4,0.082,0.038,3003,3459,2045,0,0,0,0,0,0
$GC,9790,0.62,194.6,958.8,13.5,681,9797,0.00,2.03,0.00,0.000,6,0.000,0.021,3011,2092,2035,0,0,0,0,0,0
$GC,10107,0.62,194.6,920.6,12.0,697,10111,0.00,2.12,0.00,0.000,4,0.000,0.037,3011,3455,2034,0,0,0,0,0,0
$GC,10357,0.62,194.6,884.9,14.7,708,10362,0.00,2.05,0.00,0.000,6,0.000,0.021,3019,2041,2032,0,0,0,0,0,0
$GC,10687,0.62,194.6,840.4,13.7,724,10690,0.00,1.98,0.00,0.000,4,0.000,0.033,3029,689,2032,0,0,0,0,0,0
$GC,10759,0.62,194.6,830.0,13.6,727,10763,0.00,2.00,0.00,0.000,6,0.000,0.023,3029,2031,2031,0,0,0,0,0,0
$GC,11087,0.62,194.6,782.3,15.1,743,11092,0.00,2.20,0.00,0.000,4,0.000,0.039,3029,3465,2030,0,0,0,0,0,0
$GC,11115,0.62,194.6,777.6,16.1,744,11120,0.15,2.08,0.00,0.000,6,0.161,0.021,2998,2020,2030,0,0,0,0,0,0
$GC,11437,0.62,194.6,734.8,12.9,760,11440,0.00,1.95,0.00,0.000,4,0.000,0.032,3006,685,2029,0,0,0,0,0,0
$GC,11497,0.62,194.6,726.8,12.6,762,11506,0.00,2.03,0.00,0.000,6,0.000,0.024,3007,2045,2029,0,0,0,0,0,0
$GC,11815,0.62,194.6,691.6,9.8,778,11820,0.00,2.17,0.00,0.000,4,0.000,0.039,3006,3461,2029,0,0,0,0,0,0
$GC,11865,0.62,194.6,686.2,10.4,780,11869,0.00,2.08,0.00,0.000,6,0.000,0.020,3015,2015,2028,0,0,0,0,0,0
$GC,12188,0.62,194.6,654.4,10.3,796,12191,0.00,1.95,0.00,0.000,4,0.000,0.034,3025,681,2028,0,0,0,0,0,0
$GC,12272,0.62,194.6,645.0,11.2,799,12279,0.00,1.92,0.00,0.000,6,0.000,0.023,3025,1974,2029,0,0,0,0,0,0
$GC,12589,0.62,194.6,609.2,11.4,815,12594,0.00,2.28,0.00,0.000,4,0.000,0.038,3025,3464,2028,0,0,0,0,0,0
$GC,12645,0.62,194.6,602.4,12.0,817,12650,0.12,2.12,0.00,0.000,6,0.165,0.021,3001,1985,2028,0,0,0,0,0,0
$GC,12961,0.64,211.8,572.7,9.1,832,12984,0.00,1.98,13.23,1.039,4,0.000,0.034,3009,690,1974,0,0,0,0,0,0
$GC,13009,0.66,222.1,568.3,9.4,834,13025,0.00,1.95,10.62,0.996,6,0.000,0.022,3010,2016,1932,0,0,0,0,0,0
$GC,13344,0.66,222.1,534.5,11.3,850,13348,0.00,2.20,0.00,0.000,4,0.000,0.037,3009,3469,1929,0,0,0,0,0,0
$GC,13499,0.66,222.1,512.8,14.6,857,13503,0.00,2.08,0.00,0.000,6,0.000,0.021,3017,2029,1928,0,0,0,0,0,0
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$STATE,18308,end climb,SURFACE_DEPTH_REACHED
$STATE,18308,begin surface coast
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$STATE,18330,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,51.629
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$FG_AHR_10Vo,0.000
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$MEM,329660
$DATA_FILE_SIZE,83516,1428
$CAP_FILE_SIZE,209232,0
$CFSIZE,260165632,111439872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
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