version: 66.09
glider: 167
mission: 8
dive: 348
start: 8 25 111 21 6 37
data:
$ID,167
$MISSION,8
$DIVE,348
$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,-56831.629
$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,73
$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
$GPS1,250811,205737,1829.244,12422.333,63,1.0,64,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-57.8
$GPS2,250811,210614,1829.315,12422.328,15,1.9,15,-2.1
$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,152.4,76161,-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,-194.6,0.0,0.0,0,114,0.00,0.00,-91.10,0.000,2,0.000,0.000,108,1929,3119,0,0,0,0,0,0
$GC,117,-0.62,-194.6,6.0,-11.0,13,141,10.23,2.17,-8.07,0.000,4,0.234,0.037,2599,470,3635,0,0,0,0,0,0
$GC,221,-0.62,-194.6,46.6,-24.4,30,230,0.00,2.00,0.00,0.000,6,0.000,0.018,2591,1857,3637,0,0,0,0,0,0
$GC,361,-0.62,-194.6,80.8,-20.1,55,368,0.00,2.08,0.00,0.000,4,0.000,0.030,2581,3274,3637,0,0,0,0,0,0
$GC,446,-0.62,-194.6,98.4,-22.3,69,453,0.00,1.90,0.00,0.000,6,0.000,0.017,2581,1912,3638,0,0,0,0,0,0
$GC,589,-0.62,-194.6,130.4,-20.8,94,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1912,3637,0,0,0,0,0,0
$GC,733,-0.62,-194.6,158.2,-17.9,119,740,0.00,2.03,0.00,0.000,4,0.000,0.028,2581,504,3638,0,0,0,0,0,0
$GC,787,-0.62,-194.6,168.2,-18.0,128,795,0.00,2.05,0.00,0.000,6,0.000,0.021,2574,1911,3638,0,0,0,0,0,0
$GC,930,-0.62,-194.6,193.3,-17.8,153,938,0.00,2.03,0.00,0.000,4,0.000,0.032,2565,3275,3638,0,0,0,0,0,0
$GC,946,-0.62,-194.6,196.6,-17.9,155,954,0.10,1.90,0.00,0.000,6,0.147,0.018,2597,1921,3638,0,0,0,0,0,0
$GC,1085,-0.62,-194.6,217.7,-15.0,169,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1921,3638,0,0,0,0,0,0
$GC,1402,-0.62,-194.6,263.4,-13.8,199,1406,0.00,2.03,0.00,0.000,4,0.000,0.028,2597,517,3638,0,0,0,0,0,0
$GC,1427,-0.62,-194.6,266.9,-13.9,201,1431,0.00,2.15,0.00,0.000,6,0.000,0.021,2596,2003,3638,0,0,0,0,0,0
$GC,1753,-0.62,-194.6,306.7,-11.7,231,1756,0.00,1.85,0.00,0.000,4,0.000,0.034,2596,3279,3637,0,0,0,0,0,0
$GC,1791,-0.62,-194.6,311.2,-11.3,234,1797,0.00,1.77,0.00,0.000,6,0.000,0.018,2596,2016,3637,0,0,0,0,0,0
$GC,2117,-0.62,-194.6,347.0,-11.6,265,2121,0.00,2.17,0.00,0.000,4,0.000,0.028,2596,511,3635,0,0,0,0,0,0
$GC,2150,-0.62,-194.6,351.2,-11.8,267,2157,0.00,2.15,0.00,0.000,6,0.000,0.021,2590,2016,3635,0,0,0,0,0,0
$GC,2476,-0.62,-194.6,389.8,-11.5,298,2480,0.00,2.20,0.00,0.000,4,0.000,0.028,2590,513,3633,0,0,0,0,0,0
$GC,2516,-0.62,-194.6,394.4,-11.6,301,2520,0.00,2.10,0.00,0.000,6,0.000,0.021,2588,1979,3633,0,0,0,0,0,0
$GC,2841,-0.62,-194.6,427.4,-9.8,331,2845,0.00,1.88,0.00,0.000,4,0.000,0.034,2588,3269,3631,0,0,0,0,0,0
$GC,2880,-0.62,-194.6,431.2,-9.3,334,2886,0.00,1.73,0.00,0.000,6,0.000,0.018,2588,2024,3631,0,0,0,0,0,0
$GC,3205,-0.62,-194.6,463.2,-10.0,365,3209,0.00,2.20,0.00,0.000,4,0.000,0.029,2588,516,3629,0,0,0,0,0,0
$GC,3278,-0.62,-194.6,470.4,-10.1,371,3282,0.00,2.08,0.00,0.000,6,0.000,0.022,2588,1965,3628,0,0,0,0,0,0
$GC,3604,-0.62,-194.6,500.5,-8.9,401,3609,0.00,1.95,0.00,0.000,4,0.000,0.035,2588,3265,3626,0,0,0,0,0,0
$GC,3637,-0.62,-194.6,503.5,-9.1,402,3640,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,1991,3627,0,0,0,0,0,0
$GC,3960,-0.62,-194.6,532.0,-9.0,418,3964,0.00,2.15,0.00,0.000,4,0.000,0.030,2588,520,3624,0,0,0,0,0,0
$GC,4012,-0.62,-194.6,537.0,-9.4,420,4016,0.00,2.10,0.00,0.000,6,0.000,0.023,2588,1978,3624,0,0,0,0,0,0
$GC,4328,-0.62,-194.6,566.8,-10.0,435,4331,0.00,1.92,0.00,0.000,4,0.000,0.035,2587,3274,3621,0,0,0,0,0,0
$GC,4392,-0.62,-194.6,573.0,-9.3,437,4400,0.00,1.83,0.00,0.000,6,0.000,0.018,2588,1972,3621,0,0,0,0,0,0
$GC,4708,-0.62,-194.6,603.4,-9.1,453,4712,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,524,3619,0,0,0,0,0,0
$GC,4772,-0.62,-194.6,609.0,-9.0,456,4776,0.00,2.05,0.00,0.000,6,0.000,0.023,2588,1933,3618,0,0,0,0,0,0
$GC,5107,-0.62,-194.6,636.1,-8.1,472,5111,0.00,1.98,0.00,0.000,4,0.000,0.036,2587,3271,3616,0,0,0,0,0,0
$GC,5179,-0.62,-194.6,641.8,-7.2,475,5182,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1946,3615,0,0,0,0,0,0
$GC,5508,-0.62,-194.6,667.0,-7.6,491,5512,0.00,2.12,0.00,0.000,4,0.000,0.031,2588,521,3612,0,0,0,0,0,0
$GC,5585,-0.62,-194.6,673.5,-7.9,494,5589,0.00,2.00,0.00,0.000,6,0.000,0.023,2588,1903,3612,0,0,0,0,0,0
$GC,5908,-0.62,-194.6,697.6,-7.5,510,5912,0.00,2.05,0.00,0.000,4,0.000,0.037,2588,3269,3609,0,0,0,0,0,0
$GC,6051,-0.62,-194.6,707.8,-6.9,516,6054,0.00,1.85,0.00,0.000,6,0.000,0.019,2588,1964,3608,0,0,0,0,0,0
$GC,6378,-0.62,-194.6,732.9,-7.7,532,6382,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,525,3606,0,0,0,0,0,0
$GC,6435,-0.62,-194.6,737.7,-8.7,534,6442,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1950,3605,0,0,0,0,0,0
$GC,6752,-0.62,-194.6,763.6,-8.1,550,6756,0.00,1.95,0.00,0.000,4,0.000,0.037,2588,3267,3603,0,0,0,0,0,0
$GC,6800,-0.62,-194.6,767.2,-7.8,552,6804,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1976,3603,0,0,0,0,0,0
$GC,7134,-0.62,-194.6,793.0,-7.8,568,7138,0.00,2.15,0.00,0.000,4,0.000,0.031,2588,522,3600,0,0,0,0,0,0
$GC,7161,-0.62,-194.6,795.5,-8.1,569,7166,0.00,2.15,0.00,0.000,6,0.000,0.025,2588,1960,3600,0,0,0,0,0,0
$GC,7486,-0.62,-194.6,819.8,-7.2,585,7489,0.00,1.95,0.00,0.000,4,0.000,0.039,2588,3268,3599,0,0,0,0,0,0
$GC,7547,-0.62,-194.6,824.0,-6.6,587,7554,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,2000,3598,0,0,0,0,0,0
$GC,7865,-0.62,-194.6,842.9,-5.9,603,7869,0.00,2.17,0.00,0.000,4,0.000,0.031,2588,528,3597,0,0,0,0,0,0
$GC,7920,-0.62,-194.6,846.5,-6.0,605,7928,0.00,2.10,0.00,0.000,6,0.000,0.025,2587,1962,3596,0,0,0,0,0,0
$GC,8237,-0.62,-194.6,863.9,-5.4,621,8241,0.00,2.00,0.00,0.000,4,0.000,0.040,2588,3265,3595,0,0,0,0,0,0
$GC,8298,-0.62,-194.6,867.3,-5.4,623,8305,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1982,3595,0,0,0,0,0,0
$GC,8615,-0.62,-194.6,884.6,-5.6,639,8619,0.00,2.17,0.00,0.000,4,0.000,0.033,2588,524,3593,0,0,0,0,0,0
$GC,8647,-0.62,-194.6,886.8,-5.8,640,8654,0.00,2.12,0.00,0.000,6,0.000,0.026,2587,1955,3592,0,0,0,0,0,0
$GC,8965,-0.62,-194.6,905.8,-6.1,656,8970,0.00,2.00,0.00,0.000,4,0.000,0.039,2588,3259,3591,0,0,0,0,0,0
$GC,9060,-0.62,-194.6,911.4,-5.8,660,9065,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,2020,3591,0,0,0,0,0,0
$GC,9389,-0.62,-194.6,930.6,-5.8,676,9393,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,523,3590,0,0,0,0,0,0
$GC,9478,-0.62,-194.6,936.6,-6.6,680,9481,0.00,2.10,0.00,0.000,6,0.000,0.025,2587,1952,3589,0,0,0,0,0,0
$GC,9807,-0.62,-194.6,957.4,-6.6,696,9811,0.00,2.03,0.00,0.000,4,0.000,0.040,2587,3269,3588,0,0,0,0,0,0
$GC,9879,-0.62,-194.6,962.4,-6.5,699,9883,0.00,1.85,0.00,0.000,6,0.000,0.020,2588,1974,3588,0,0,0,0,0,0
$GC,10206,-0.62,-194.6,985.6,-7.4,715,10211,0.00,2.17,0.00,0.000,4,0.000,0.032,2587,529,3587,0,0,0,0,0,0
$GC,10241,-0.62,-194.6,988.4,-7.7,716,10245,0.00,2.12,0.00,0.000,6,0.000,0.025,2588,1962,3588,0,0,0,0,0,0
$STATE,10272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10272,begin apogee
$GC,10278,-0.20,0.0,990.9,7.6,718,10441,0.43,0.00,158.10,1.395,4,0.116,0.000,2730,2087,2839,0,0,0,0,0,0
$STATE,10442,end apogee,CONTROL_FINISHED_OK
$STATE,10442,begin climb
$GC,10444,0.62,194.6,998.2,0.0,725,10623,0.77,0.00,172.77,1.342,6,0.079,0.000,2999,2087,2044,0,0,0,0,0,0
$GC,10932,0.62,194.6,951.6,11.4,749,10936,0.00,2.05,0.00,0.000,4,0.000,0.034,3006,734,2034,0,0,0,0,0,0
$GC,10971,0.62,194.6,946.8,11.6,750,10979,0.00,2.00,0.00,0.000,6,0.000,0.025,3006,2061,2033,0,0,0,0,0,0
$GC,11289,0.62,194.6,909.0,12.2,766,11293,0.00,2.15,0.00,0.000,4,0.000,0.039,3006,3472,2031,0,0,0,0,0,0
$GC,11343,0.62,194.6,901.1,13.7,768,11351,0.00,1.98,0.00,0.000,6,0.000,0.021,3012,2140,2031,0,0,0,0,0,0
$GC,11661,0.62,194.6,859.5,12.9,784,11665,0.00,2.10,0.00,0.000,4,0.000,0.034,3023,730,2030,0,0,0,0,0,0
$GC,11778,0.62,194.6,844.2,12.0,789,11784,0.00,1.98,0.00,0.000,6,0.000,0.025,3023,2045,2030,0,0,0,0,0,0
$GC,12100,0.62,194.6,804.1,12.4,805,12101,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2045,2029,0,0,0,0,0,0
$GC,12411,0.62,194.6,767.0,11.9,820,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2045,2029,0,0,0,0,0,0
$GC,12719,0.62,194.6,726.6,13.4,835,12722,0.00,1.95,0.00,0.000,4,0.000,0.032,3031,729,2028,0,0,0,0,0,0
$GC,12757,0.62,194.6,721.0,13.5,836,12765,0.12,2.00,0.00,0.000,6,0.151,0.025,2997,2066,2028,0,0,0,0,0,0
$GC,13075,0.62,194.6,685.8,10.8,852,13080,0.00,2.15,0.00,0.000,4,0.000,0.038,2997,3461,2028,0,0,0,0,0,0
$GC,13120,0.62,194.6,680.4,11.5,854,13125,0.00,2.00,0.00,0.000,6,0.000,0.021,3004,2099,2027,0,0,0,0,0,0
$GC,13454,0.62,194.6,644.7,10.4,870,13458,0.00,2.10,0.00,0.000,4,0.000,0.033,3013,688,2027,0,0,0,0,0,0
$GC,13621,0.62,194.6,627.8,10.0,877,13628,0.00,1.92,0.00,0.000,6,0.000,0.024,3013,1972,2027,0,0,0,0,0,0
$GC,13939,0.62,194.6,596.0,10.3,893,13943,0.00,2.25,0.00,0.000,4,0.000,0.037,3013,3471,2027,0,0,0,0,0,0
$GC,14028,0.62,194.6,586.0,10.7,897,14032,0.00,2.15,0.00,0.000,6,0.000,0.021,3022,1999,2026,0,0,0,0,0,0
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$STATE,19786,begin surface coast
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$STATE,19814,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.028462,0.028462
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$XPDR_PINGS,52
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$10V_AH,9.8,56.058
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$FG_AHR_10Vo,0.000
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$MEM,329656
$DATA_FILE_SIZE,90287,1534
$CAP_FILE_SIZE,217014,0
$CFSIZE,260165632,108294144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,228.5,1
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