version: 66.09
glider: 167
mission: 8
dive: 331
start: 8 21 111 21 35 21
data:
$ID,167
$MISSION,8
$DIVE,331
$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,-56807.293
$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
$GPS1,210811,212700,1905.570,12418.935,36,1.1,43,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.5
$GPS2,210811,213458,1905.600,12418.846,14,2.7,33,-2.3
$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,145.3,142878,-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,19,begin dive
$GC,22,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-88.55,0.000,2,0.000,0.000,110,1911,2970,0,0,0,0,0,0
$GC,116,-0.62,-194.6,5.7,-10.5,13,145,9.95,2.12,-10.95,0.000,4,0.228,0.038,2596,465,3634,0,0,0,0,0,0
$GC,208,-0.62,-194.6,40.8,-27.2,28,216,0.00,2.08,0.00,0.000,6,0.000,0.022,2589,1870,3635,0,0,0,0,0,0
$GC,351,-0.62,-194.6,76.6,-24.7,53,358,0.00,2.08,0.00,0.000,4,0.000,0.032,2579,3286,3635,0,0,0,0,0,0
$GC,390,-0.62,-194.6,86.2,-24.8,59,398,0.00,2.03,0.00,0.000,6,0.000,0.018,2579,1855,3635,0,0,0,0,0,0
$GC,533,-0.62,-194.6,119.4,-23.4,84,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1855,3636,0,0,0,0,0,0
$GC,674,-0.62,-194.6,151.5,-23.8,109,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1854,3635,0,0,0,0,0,0
$GC,812,-0.62,-194.6,181.0,-21.5,134,821,0.00,2.12,0.00,0.000,4,0.000,0.030,2570,3277,3636,0,0,0,0,0,0
$GC,837,-0.62,-194.6,185.5,-20.0,137,844,0.00,1.95,0.00,0.000,6,0.000,0.017,2570,1886,3636,0,0,0,0,0,0
$GC,975,-0.62,-194.6,213.4,-19.9,156,979,0.00,2.00,0.00,0.000,4,0.000,0.028,2570,502,3636,0,0,0,0,0,0
$GC,1002,-0.62,-194.6,219.0,-18.6,158,1010,0.12,2.03,0.00,0.000,6,0.169,0.021,2594,1922,3636,0,0,0,0,0,0
$GC,1328,-0.62,-194.6,264.4,-12.3,189,1333,0.00,2.00,0.00,0.000,4,0.000,0.032,2587,3268,3636,0,0,0,0,0,0
$GC,1399,-0.62,-194.6,272.8,-11.1,195,1408,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1931,3636,0,0,0,0,0,0
$GC,1728,-0.62,-194.6,309.5,-11.0,226,1731,0.00,2.08,0.00,0.000,4,0.000,0.028,2588,506,3635,0,0,0,0,0,0
$GC,1773,-0.62,-194.6,315.3,-12.1,230,1777,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1905,3635,0,0,0,0,0,0
$GC,2104,-0.62,-194.6,356.5,-13.4,261,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1905,3634,0,0,0,0,0,0
$GC,2427,-0.62,-194.6,395.9,-11.1,291,2431,0.00,1.98,0.00,0.000,4,0.000,0.033,2586,3267,3632,0,0,0,0,0,0
$GC,2466,-0.62,-194.6,399.7,-10.3,294,2469,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1922,3632,0,0,0,0,0,0
$GC,2796,-0.62,-194.6,431.9,-9.9,325,2800,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,516,3630,0,0,0,0,0,0
$GC,2850,-0.62,-194.6,437.5,-11.0,329,2857,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1928,3630,0,0,0,0,0,0
$GC,3176,-0.62,-194.6,476.2,-12.1,360,3179,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3267,3628,0,0,0,0,0,0
$GC,3199,-0.62,-194.6,479.1,-12.3,362,3203,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1929,3628,0,0,0,0,0,0
$GC,3540,-0.62,-194.6,514.7,-9.3,387,3545,0.00,2.03,0.00,0.000,4,0.000,0.034,2587,3269,3626,0,0,0,0,0,0
$GC,3578,-0.62,-194.6,518.0,-8.2,388,3586,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1966,3625,0,0,0,0,0,0
$GC,3897,-0.62,-194.6,543.5,-8.5,404,3901,0.00,2.10,0.00,0.000,4,0.000,0.030,2587,511,3623,0,0,0,0,0,0
$GC,4014,-0.62,-194.6,554.8,-9.7,409,4018,0.00,2.03,0.00,0.000,6,0.000,0.022,2587,1906,3623,0,0,0,0,0,0
$GC,4338,-0.62,-194.6,585.1,-8.8,425,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1907,3621,0,0,0,0,0,0
$GC,4646,-0.62,-194.6,614.4,-10.0,440,4650,0.00,2.03,0.00,0.000,4,0.000,0.035,2587,3265,3618,0,0,0,0,0,0
$GC,4778,-0.62,-194.6,626.8,-9.3,445,4785,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1944,3618,0,0,0,0,0,0
$GC,5095,-0.62,-194.6,657.5,-9.4,461,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1944,3615,0,0,0,0,0,0
$GC,5404,-0.62,-194.6,680.9,-6.7,476,5408,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,517,3613,0,0,0,0,0,0
$GC,5456,-0.62,-194.6,684.4,-6.5,478,5461,0.00,2.17,0.00,0.000,6,0.000,0.023,2587,1982,3612,0,0,0,0,0,0
$GC,5778,-0.62,-194.6,705.1,-6.7,494,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1983,3610,0,0,0,0,0,0
$GC,6087,-0.62,-194.6,726.2,-6.9,509,6090,0.00,1.90,0.00,0.000,4,0.000,0.037,2587,3265,3608,0,0,0,0,0,0
$GC,6127,-0.62,-194.6,728.9,-7.0,510,6134,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1971,3607,0,0,0,0,0,0
$GC,6444,-0.62,-194.6,752.1,-7.6,526,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1971,3605,0,0,0,0,0,0
$GC,6754,-0.62,-194.6,778.1,-8.7,541,6759,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,518,3603,0,0,0,0,0,0
$GC,6793,-0.62,-194.6,782.0,-9.2,542,6800,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1975,3603,0,0,0,0,0,0
$GC,7109,-0.62,-194.6,808.5,-8.0,558,7113,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3272,3600,0,0,0,0,0,0
$GC,7136,-0.62,-194.6,810.3,-8.0,559,7140,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,2000,3600,0,0,0,0,0,0
$GC,7468,-0.62,-194.6,832.7,-6.2,575,7472,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,511,3599,0,0,0,0,0,0
$GC,7532,-0.62,-194.6,836.8,-6.6,578,7536,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1986,3599,0,0,0,0,0,0
$GC,7861,-0.62,-194.6,857.3,-6.6,594,7865,0.00,1.92,0.00,0.000,4,0.000,0.039,2587,3264,3597,0,0,0,0,0,0
$GC,7967,-0.62,-194.6,864.6,-6.7,598,7975,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,2014,3596,0,0,0,0,0,0
$GC,8285,-0.62,-194.6,887.4,-7.6,614,8290,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,514,3594,0,0,0,0,0,0
$GC,8330,-0.62,-194.6,891.3,-8.1,616,8334,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1982,3593,0,0,0,0,0,0
$GC,8654,-0.62,-194.6,915.3,-7.3,632,8658,0.00,1.95,0.00,0.000,4,0.000,0.039,2587,3259,3592,0,0,0,0,0,0
$GC,8686,-0.62,-194.6,917.7,-7.0,633,8690,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1976,3593,0,0,0,0,0,0
$GC,9009,-0.62,-194.6,937.6,-5.9,649,9013,0.00,2.17,0.00,0.000,4,0.000,0.032,2587,511,3591,0,0,0,0,0,0
$GC,9051,-0.62,-194.6,940.0,-6.0,651,9054,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1964,3591,0,0,0,0,0,0
$GC,9384,-0.62,-194.6,958.9,-5.3,667,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1964,3590,0,0,0,0,0,0
$GC,9693,-0.62,-194.6,973.9,-4.7,682,9698,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3263,3588,0,0,0,0,0,0
$GC,9766,-0.62,-194.6,977.3,-4.6,685,9770,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1984,3588,0,0,0,0,0,0
$STATE,10049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10049,begin apogee
$GC,10056,-0.20,0.0,990.5,4.8,699,10217,0.43,0.00,157.12,1.395,4,0.111,0.000,2732,2100,2839,0,0,0,0,0,0
$STATE,10218,end apogee,CONTROL_FINISHED_OK
$STATE,10218,begin climb
$GC,10221,0.62,194.6,993.2,0.0,706,10402,0.80,2.17,172.15,1.336,4,0.080,0.041,3001,3439,2044,0,0,0,0,0,0
$GC,10569,0.62,194.6,952.2,13.6,722,10573,0.00,2.03,0.00,0.000,6,0.000,0.021,3010,2092,2035,0,0,0,0,0,0
$GC,10893,0.62,194.6,913.0,11.8,738,10897,0.00,2.10,0.00,0.000,4,0.000,0.034,3019,692,2033,0,0,0,0,0,0
$GC,11151,0.62,194.6,881.6,12.4,749,11158,0.00,2.05,0.00,0.000,6,0.000,0.025,3019,2070,2033,0,0,0,0,0,0
$GC,11467,0.62,194.6,843.1,11.8,765,11471,0.00,2.12,0.00,0.000,4,0.000,0.038,3020,3467,2031,0,0,0,0,0,0
$GC,11586,0.62,194.6,828.3,12.4,770,11590,0.00,2.00,0.00,0.000,6,0.000,0.021,3029,2096,2030,0,0,0,0,0,0
$GC,11907,0.62,194.6,792.7,10.4,786,11911,0.00,2.10,0.00,0.000,4,0.000,0.034,3036,686,2030,0,0,0,0,0,0
$GC,12044,0.62,194.6,779.4,9.8,792,12049,0.12,2.03,0.00,0.000,6,0.152,0.025,3002,2063,2030,0,0,0,0,0,0
$GC,12368,0.64,206.3,751.5,9.3,808,12382,0.00,2.17,9.23,1.105,4,0.000,0.040,3002,3459,1997,0,0,0,0,0,0
$GC,12473,0.64,206.3,739.6,11.7,812,12480,0.00,2.05,0.00,0.000,6,0.000,0.021,3010,2076,1995,0,0,0,0,0,0
$GC,12789,0.64,206.3,701.9,12.3,828,12793,0.00,2.05,0.00,0.000,4,0.000,0.034,3020,690,1994,0,0,0,0,0,0
$GC,12903,0.64,206.3,687.9,12.0,833,12906,0.00,1.98,0.00,0.000,6,0.000,0.024,3020,2015,1994,0,0,0,0,0,0
$GC,13237,0.64,206.3,648.6,11.5,849,13241,0.00,2.20,0.00,0.000,4,0.000,0.038,3020,3468,1994,0,0,0,0,0,0
$GC,13332,0.64,206.3,636.2,12.7,853,13336,0.00,2.05,0.00,0.000,6,0.000,0.021,3029,2062,1993,0,0,0,0,0,0
$GC,13656,0.64,206.3,598.9,11.8,869,13660,0.00,2.08,0.00,0.000,4,0.000,0.035,3037,687,1993,0,0,0,0,0,0
$GC,13678,0.64,206.3,596.0,11.8,870,13683,0.12,2.10,0.00,0.000,6,0.148,0.024,3002,2108,1993,0,0,0,0,0,0
$GC,14009,0.64,206.3,563.2,10.2,886,14012,0.00,2.05,0.00,0.000,4,0.000,0.037,3002,3466,1993,0,0,0,0,0,0
$GC,14092,0.64,206.3,552.9,11.9,889,14099,0.00,1.98,0.00,0.000,6,0.000,0.021,3009,2121,1992,0,0,0,0,0,0
$GC,14409,0.64,206.3,519.1,10.6,905,14413,0.00,2.12,0.00,0.000,4,0.000,0.034,3019,691,1992,0,0,0,0,0,0
$GC,14527,0.64,206.3,507.1,10.1,910,14531,0.00,2.08,0.00,0.000,6,0.000,0.024,3019,2099,1992,0,0,0,0,0,0
$GC,14856,0.64,206.3,474.8,10.3,938,14860,0.00,2.08,0.00,0.000,4,0.000,0.037,3019,3471,1992,0,0,0,0,0,0
$GC,14949,0.64,206.3,464.3,11.7,946,14952,0.00,2.00,0.00,0.000,6,0.000,0.019,3029,2089,1992,0,0,0,0,0,0
$GC,15282,0.64,206.3,425.2,11.2,977,15285,0.00,2.05,0.00,0.000,4,0.000,0.033,3037,695,1992,0,0,0,0,0,0
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$STATE,19341,end climb,SURFACE_DEPTH_REACHED
$STATE,19341,begin surface coast
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$STATE,19385,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,42
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$10V_AH,9.8,53.719
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,86890,1499
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$CFSIZE,260165632,109989888
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$CURRENT,0.127,290.8,1
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