version: 66.09
glider: 167
mission: 8
dive: 344
start: 8 24 111 22 25 15
data:
$ID,167
$MISSION,8
$DIVE,344
$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,-56823.754
$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,90
$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
$GPS1,240811,221101,1838.343,12421.036,38,1.3,39,-2.2
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-58.8
$GPS2,240811,222452,1838.236,12420.946,18,99.0,37,-2.2
$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,148.1,92706,-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,20,-0.62,-194.6,0.0,0.0,0,119,0.00,0.00,-96.53,0.000,2,0.000,0.000,106,1931,3180,0,0,0,0,0,0
$GC,122,-0.62,-194.6,5.9,-9.3,14,147,10.02,2.17,-7.25,0.000,4,0.229,0.039,2601,474,3636,0,0,0,0,0,0
$GC,217,-0.62,-194.6,45.4,-27.7,29,225,0.00,2.00,0.00,0.000,6,0.000,0.021,2594,1850,3637,0,0,0,0,0,0
$GC,363,-0.62,-194.6,80.5,-22.5,54,370,0.00,2.10,0.00,0.000,4,0.000,0.032,2585,3262,3637,0,0,0,0,0,0
$GC,386,-0.62,-194.6,85.9,-22.7,57,393,0.00,2.00,0.00,0.000,6,0.000,0.017,2584,1844,3637,0,0,0,0,0,0
$GC,531,-0.62,-194.6,113.8,-18.8,82,539,0.00,1.98,0.00,0.000,4,0.000,0.028,2584,495,3637,0,0,0,0,0,0
$GC,565,-0.62,-194.6,120.4,-19.7,87,571,0.00,1.90,0.00,0.000,6,0.000,0.021,2576,1840,3638,0,0,0,0,0,0
$GC,707,-0.62,-194.6,145.0,-17.1,112,715,0.00,2.08,0.00,0.000,4,0.000,0.032,2568,3270,3638,0,0,0,0,0,0
$GC,775,-0.62,-194.6,156.3,-16.9,123,783,0.12,1.90,0.00,0.000,6,0.163,0.016,2600,1893,3637,0,0,0,0,0,0
$GC,920,-0.62,-194.6,180.0,-16.5,148,928,0.00,2.00,0.00,0.000,4,0.000,0.028,2601,520,3638,0,0,0,0,0,0
$GC,966,-0.62,-194.6,187.6,-16.2,155,973,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1908,3638,0,0,0,0,0,0
$GC,1112,-0.62,-194.6,209.3,-14.1,175,1115,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,3270,3637,0,0,0,0,0,0
$GC,1162,-0.62,-194.6,216.3,-13.1,179,1169,0.00,1.80,0.00,0.000,6,0.000,0.017,2600,1973,3637,0,0,0,0,0,0
$GC,1488,-0.62,-194.6,259.3,-12.3,210,1492,0.00,2.10,0.00,0.000,4,0.000,0.028,2600,518,3637,0,0,0,0,0,0
$GC,1598,-0.62,-194.6,272.6,-11.2,219,1605,0.00,1.98,0.00,0.000,6,0.000,0.021,2599,1900,3636,0,0,0,0,0,0
$GC,1923,-0.62,-194.6,305.7,-10.2,250,1928,0.00,2.03,0.00,0.000,4,0.000,0.033,2590,3267,3635,0,0,0,0,0,0
$GC,1961,-0.62,-194.6,309.9,-10.7,253,1968,0.00,1.92,0.00,0.000,6,0.000,0.017,2590,1901,3634,0,0,0,0,0,0
$GC,2286,-0.62,-194.6,351.3,-13.9,284,2290,0.00,2.03,0.00,0.000,4,0.000,0.028,2590,502,3633,0,0,0,0,0,0
$GC,2309,-0.62,-194.6,354.5,-13.9,286,2313,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1898,3633,0,0,0,0,0,0
$GC,2641,-0.62,-194.6,395.9,-10.8,317,2644,0.00,2.03,0.00,0.000,4,0.000,0.034,2588,3273,3631,0,0,0,0,0,0
$GC,2743,-0.62,-194.6,406.2,-9.6,326,2747,0.00,1.85,0.00,0.000,6,0.000,0.018,2588,1939,3630,0,0,0,0,0,0
$GC,3074,-0.62,-194.6,439.3,-10.0,357,3078,0.00,2.08,0.00,0.000,4,0.000,0.029,2588,492,3628,0,0,0,0,0,0
$GC,3218,-0.62,-194.6,454.1,-10.3,369,3223,0.00,2.05,0.00,0.000,6,0.000,0.021,2588,1905,3628,0,0,0,0,0,0
$GC,3549,-0.62,-194.6,484.8,-9.2,400,3552,0.00,2.00,0.00,0.000,4,0.000,0.034,2588,3263,3626,0,0,0,0,0,0
$GC,3617,-0.62,-194.6,490.5,-8.1,406,3621,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1918,3625,0,0,0,0,0,0
$GC,3946,-0.62,-194.6,519.0,-9.5,427,3950,0.00,2.00,0.00,0.000,4,0.000,0.033,2588,3273,3623,0,0,0,0,0,0
$GC,3979,-0.62,-194.6,522.6,-9.6,428,3983,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1936,3623,0,0,0,0,0,0
$GC,4301,-0.62,-194.6,554.9,-10.9,444,4304,0.00,2.08,0.00,0.000,4,0.000,0.030,2588,519,3620,0,0,0,0,0,0
$GC,4371,-0.62,-194.6,562.7,-11.5,447,4374,0.00,2.05,0.00,0.000,6,0.000,0.021,2588,1932,3620,0,0,0,0,0,0
$GC,4704,-0.62,-194.6,597.0,-9.4,463,4709,0.00,2.00,0.00,0.000,4,0.000,0.036,2588,3261,3617,0,0,0,0,0,0
$GC,4788,-0.62,-194.6,603.8,-7.4,466,4795,0.00,1.80,0.00,0.000,6,0.000,0.019,2588,1972,3617,0,0,0,0,0,0
$GC,5105,-0.62,-194.6,624.4,-6.3,482,5109,0.00,2.15,0.00,0.000,4,0.000,0.029,2588,518,3614,0,0,0,0,0,0
$GC,5137,-0.62,-194.6,626.6,-6.6,483,5141,0.00,2.12,0.00,0.000,6,0.000,0.021,2588,1980,3615,0,0,0,0,0,0
$GC,5461,-0.62,-194.6,648.8,-7.6,499,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1980,3612,0,0,0,0,0,0
$GC,5769,-0.62,-194.6,675.3,-8.9,514,5772,0.00,1.90,0.00,0.000,4,0.000,0.037,2587,3267,3609,0,0,0,0,0,0
$GC,5861,-0.62,-194.6,682.8,-8.0,518,5865,0.00,1.77,0.00,0.000,6,0.000,0.019,2588,1998,3609,0,0,0,0,0,0
$GC,6195,-0.62,-194.6,712.2,-9.0,534,6199,0.00,2.17,0.00,0.000,4,0.000,0.030,2588,517,3606,0,0,0,0,0,0
$GC,6245,-0.62,-194.6,717.0,-9.7,536,6249,0.00,2.17,0.00,0.000,6,0.000,0.022,2588,2002,3606,0,0,0,0,0,0
$GC,6563,-0.62,-194.6,744.3,-8.4,551,6566,0.00,1.90,0.00,0.000,4,0.000,0.037,2588,3269,3604,0,0,0,0,0,0
$GC,6590,-0.62,-194.6,746.9,-8.5,552,6594,0.00,1.77,0.00,0.000,6,0.000,0.019,2588,2007,3604,0,0,0,0,0,0
$GC,6919,-0.62,-194.6,771.1,-7.0,568,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2006,3601,0,0,0,0,0,0
$GC,7227,-0.62,-194.6,791.3,-6.8,583,7232,0.00,2.22,0.00,0.000,4,0.000,0.031,2588,517,3599,0,0,0,0,0,0
$GC,7277,-0.62,-194.6,795.1,-7.3,585,7281,0.00,2.15,0.00,0.000,6,0.000,0.024,2588,1987,3599,0,0,0,0,0,0
$GC,7603,-0.62,-194.6,818.7,-7.5,601,7606,0.00,1.92,0.00,0.000,4,0.000,0.040,2588,3262,3597,0,0,0,0,0,0
$GC,7695,-0.62,-194.6,825.6,-7.3,605,7698,0.00,1.77,0.00,0.000,6,0.000,0.022,2588,2018,3597,0,0,0,0,0,0
$GC,8030,-0.62,-194.6,851.8,-8.0,621,8034,0.00,2.20,0.00,0.000,4,0.000,0.031,2588,513,3594,0,0,0,0,0,0
$GC,8118,-0.62,-194.6,860.1,-9.1,625,8122,0.00,2.17,0.00,0.000,6,0.000,0.023,2588,1990,3594,0,0,0,0,0,0
$GC,8441,-0.62,-194.6,887.2,-8.6,641,8446,0.00,1.95,0.00,0.000,4,0.000,0.041,2588,3261,3592,0,0,0,0,0,0
$GC,8503,-0.62,-194.6,892.4,-8.3,643,8510,0.00,1.77,0.00,0.000,6,0.000,0.022,2587,2022,3591,0,0,0,0,0,0
$GC,8820,-0.62,-194.6,916.9,-7.5,659,8824,0.00,2.22,0.00,0.000,4,0.000,0.030,2588,518,3590,0,0,0,0,0,0
$GC,8849,-0.62,-194.6,919.4,-7.4,660,8853,0.00,2.17,0.00,0.000,6,0.000,0.024,2588,1987,3590,0,0,0,0,0,0
$GC,9165,-0.62,-194.6,940.7,-6.5,675,9169,0.00,1.90,0.00,0.000,4,0.000,0.041,2588,3257,3589,0,0,0,0,0,0
$GC,9193,-0.62,-194.6,942.5,-6.6,676,9196,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1993,3589,0,0,0,0,0,0
$GC,9520,-0.62,-194.6,961.6,-5.8,692,9525,0.00,2.20,0.00,0.000,4,0.000,0.031,2588,523,3587,0,0,0,0,0,0
$GC,9559,-0.62,-194.6,964.3,-5.9,693,9566,0.00,2.15,0.00,0.000,6,0.000,0.024,2588,1988,3587,0,0,0,0,0,0
$GC,9876,-0.62,-194.6,982.6,-5.7,709,9880,0.00,1.92,0.00,0.000,4,0.000,0.041,2588,3256,3586,0,0,0,0,0,0
$GC,9933,-0.62,-194.6,985.6,-5.4,711,9937,0.00,1.77,0.00,0.000,6,0.000,0.020,2588,2010,3586,0,0,0,0,0,0
$STATE,10025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10025,begin apogee
$GC,10031,-0.20,0.0,990.4,5.0,716,10192,0.43,0.00,157.00,1.388,4,0.112,0.000,2732,2006,2839,0,0,0,0,0,0
$STATE,10193,end apogee,CONTROL_FINISHED_OK
$STATE,10193,begin climb
$GC,10196,0.62,194.6,993.4,0.0,723,10377,0.80,2.38,170.95,1.335,4,0.082,0.040,3002,3456,2045,0,0,0,0,0,0
$GC,10535,0.62,194.6,950.9,15.0,739,10539,0.00,2.03,0.00,0.000,6,0.000,0.021,3011,2097,2036,0,0,0,0,0,0
$GC,10870,0.62,194.6,905.4,13.1,755,10874,0.00,2.10,0.00,0.000,4,0.000,0.037,3011,3468,2034,0,0,0,0,0,0
$GC,11115,0.62,194.6,871.0,13.4,766,11119,0.00,2.05,0.00,0.000,6,0.000,0.022,3020,2068,2032,0,0,0,0,0,0
$GC,11445,0.62,194.6,828.2,12.6,782,11448,0.00,2.05,0.00,0.000,4,0.000,0.033,3029,690,2031,0,0,0,0,0,0
$GC,11545,0.62,194.6,815.2,12.7,786,11549,0.00,1.98,0.00,0.000,6,0.000,0.024,3029,2031,2031,0,0,0,0,0,0
$GC,11867,0.62,194.6,775.8,12.2,802,11871,0.00,2.20,0.00,0.000,4,0.000,0.039,3029,3472,2030,0,0,0,0,0,0
$GC,11938,0.62,194.6,766.0,13.2,805,11943,0.15,2.08,0.00,0.000,6,0.162,0.021,2997,2050,2030,0,0,0,0,0,0
$GC,12262,0.62,194.6,734.2,9.8,821,12266,0.00,2.03,0.00,0.000,4,0.000,0.032,3006,700,2029,0,0,0,0,0,0
$GC,12317,0.62,194.6,728.3,10.2,823,12321,0.00,2.03,0.00,0.000,6,0.000,0.024,3006,2073,2029,0,0,0,0,0,0
$GC,12638,0.62,194.6,691.6,11.9,839,12642,0.00,2.12,0.00,0.000,4,0.000,0.039,3006,3474,2029,0,0,0,0,0,0
$GC,12667,0.62,194.6,687.9,11.9,840,12671,0.00,2.05,0.00,0.000,6,0.000,0.021,3015,2064,2028,0,0,0,0,0,0
$GC,12989,0.62,194.6,650.3,11.2,856,12992,0.00,2.00,0.00,0.000,4,0.000,0.033,3025,695,2029,0,0,0,0,0,0
$GC,13038,0.62,194.6,644.7,10.9,858,13043,0.00,2.03,0.00,0.000,6,0.000,0.023,3025,2058,2028,0,0,0,0,0,0
$GC,13367,0.62,194.6,611.3,9.8,874,13371,0.00,2.03,0.00,0.000,4,0.000,0.031,3034,694,2028,0,0,0,0,0,0
$GC,13399,0.62,194.6,607.9,10.0,875,13404,0.12,2.05,0.00,0.000,6,0.151,0.023,2999,2073,2028,0,0,0,0,0,0
$GC,13724,0.64,210.0,579.6,9.2,891,13738,0.00,0.00,11.85,1.043,6,0.000,0.000,3000,2073,1983,0,0,0,0,0,0
$GC,14056,0.64,210.0,544.2,10.9,907,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2073,1981,0,0,0,0,0,0
$GC,14365,0.64,210.0,511.4,10.4,922,14369,0.00,2.05,0.00,0.000,4,0.000,0.031,3007,697,1979,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$MEM,329672
$DATA_FILE_SIZE,90085,1540
$CAP_FILE_SIZE,216120,0
$CFSIZE,260165632,108707840
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