version: 66.09
glider: 167
mission: 8
dive: 350
start: 8 26 111 8 31 5
data:
$ID,167
$MISSION,8
$DIVE,350
$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,-56834.145
$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,74
$R_STBD_OVSHOOT,56
$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
$GPS1,260811,082207,1823.193,12423.219,62,1.1,63,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-55.3
$GPS2,260811,083042,1823.273,12423.076,14,1.1,30,-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,141.8,65108,-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,-194.6,0.0,0.0,0,106,0.00,0.00,-82.28,0.000,2,0.000,0.000,107,1874,2866,0,0,0,0,0,0
$GC,109,-0.62,-194.6,5.5,-11.0,12,139,10.05,2.03,-13.20,0.000,4,0.229,0.037,2592,462,3633,0,0,0,0,0,0
$GC,169,-0.62,-194.6,29.0,-35.5,21,178,0.00,2.08,0.00,0.000,6,0.000,0.021,2585,1879,3635,0,0,0,0,0,0
$GC,312,-0.62,-194.6,69.2,-23.7,46,320,0.00,2.08,0.00,0.000,4,0.000,0.032,2574,3267,3635,0,0,0,0,0,0
$GC,382,-0.62,-194.6,86.7,-24.9,57,390,0.00,1.85,0.00,0.000,6,0.000,0.016,2574,1937,3635,0,0,0,0,0,0
$GC,525,-0.62,-194.6,120.2,-21.3,82,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1933,3635,0,0,0,0,0,0
$GC,667,-0.62,-194.6,148.9,-19.4,107,676,0.00,2.00,0.00,0.000,4,0.000,0.031,2564,3270,3635,0,0,0,0,0,0
$GC,698,-0.62,-194.6,155.3,-19.6,112,708,0.10,1.83,0.00,0.000,6,0.149,0.017,2596,1946,3636,0,0,0,0,0,0
$GC,844,-0.62,-194.6,179.8,-17.6,137,853,0.00,2.12,0.00,0.000,4,0.000,0.027,2596,486,3636,0,0,0,0,0,0
$GC,876,-0.62,-194.6,185.6,-16.4,142,885,0.00,2.15,0.00,0.000,6,0.000,0.020,2589,1964,3636,0,0,0,0,0,0
$GC,1018,-0.62,-194.6,207.2,-16.3,163,1021,0.00,1.90,0.00,0.000,4,0.000,0.034,2587,3271,3636,0,0,0,0,0,0
$GC,1078,-0.62,-194.6,216.0,-13.7,168,1081,0.00,1.75,0.00,0.000,6,0.000,0.017,2587,1988,3636,0,0,0,0,0,0
$GC,1409,-0.62,-194.6,266.4,-15.2,199,1413,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,481,3635,0,0,0,0,0,0
$GC,1531,-0.62,-194.6,284.4,-14.2,209,1539,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1963,3635,0,0,0,0,0,0
$GC,1857,-0.62,-194.6,326.2,-11.8,240,1860,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3272,3634,0,0,0,0,0,0
$GC,1880,-0.62,-194.6,329.1,-12.0,242,1884,0.00,1.83,0.00,0.000,6,0.000,0.017,2587,1946,3634,0,0,0,0,0,0
$GC,2214,-0.62,-194.6,367.9,-11.0,273,2218,0.00,2.12,0.00,0.000,4,0.000,0.028,2587,490,3632,0,0,0,0,0,0
$GC,2248,-0.62,-194.6,372.1,-11.6,276,2252,0.00,2.15,0.00,0.000,6,0.000,0.020,2587,1987,3632,0,0,0,0,0,0
$GC,2575,-0.62,-194.6,407.8,-10.7,306,2578,0.00,1.88,0.00,0.000,4,0.000,0.034,2587,3274,3630,0,0,0,0,0,0
$GC,2604,-0.62,-194.6,411.0,-10.5,308,2611,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1986,3630,0,0,0,0,0,0
$GC,2929,-0.62,-194.6,445.5,-10.6,339,2933,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,488,3628,0,0,0,0,0,0
$GC,3096,-0.62,-194.6,462.8,-10.4,353,3100,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1974,3628,0,0,0,0,0,0
$GC,3422,-0.62,-194.6,494.0,-9.1,383,3426,0.00,1.92,0.00,0.000,4,0.000,0.035,2587,3274,3625,0,0,0,0,0,0
$GC,3451,-0.62,-194.6,496.6,-8.9,385,3459,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1933,3625,0,0,0,0,0,0
$GC,3771,-0.62,-194.6,523.1,-8.4,403,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1933,3623,0,0,0,0,0,0
$GC,4080,-0.62,-194.6,548.4,-8.1,418,4084,0.00,2.12,0.00,0.000,4,0.000,0.029,2587,478,3621,0,0,0,0,0,0
$GC,4169,-0.62,-194.6,556.5,-9.0,422,4173,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1958,3621,0,0,0,0,0,0
$GC,4491,-0.62,-194.6,581.3,-7.6,438,4495,0.00,1.95,0.00,0.000,4,0.000,0.036,2587,3267,3618,0,0,0,0,0,0
$GC,4548,-0.62,-194.6,585.7,-7.6,440,4553,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1930,3618,0,0,0,0,0,0
$GC,4870,-0.62,-194.6,608.9,-7.4,456,4874,0.00,2.10,0.00,0.000,4,0.000,0.029,2587,491,3614,0,0,0,0,0,0
$GC,4897,-0.62,-194.6,611.3,-7.6,457,4901,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1966,3614,0,0,0,0,0,0
$GC,5215,-0.62,-194.6,636.6,-8.3,472,5219,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3268,3612,0,0,0,0,0,0
$GC,5310,-0.62,-194.6,644.6,-7.9,476,5313,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1968,3611,0,0,0,0,0,0
$GC,5639,-0.62,-194.6,669.3,-7.2,492,5643,0.00,2.17,0.00,0.000,4,0.000,0.029,2587,486,3609,0,0,0,0,0,0
$GC,5669,-0.62,-194.6,671.6,-7.2,493,5673,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2006,3609,0,0,0,0,0,0
$GC,5987,-0.62,-194.6,692.9,-6.4,508,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2006,3607,0,0,0,0,0,0
$GC,6294,-0.62,-194.6,713.3,-6.7,523,6298,0.00,1.88,0.00,0.000,4,0.000,0.038,2587,3267,3605,0,0,0,0,0,0
$GC,6333,-0.62,-194.6,716.0,-6.6,524,6340,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1981,3604,0,0,0,0,0,0
$GC,6651,-0.62,-194.6,738.1,-7.2,540,6656,0.00,1.98,0.00,0.000,4,0.000,0.038,2587,3260,3602,0,0,0,0,0,0
$GC,6723,-0.62,-194.6,743.5,-7.0,543,6726,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2019,3602,0,0,0,0,0,0
$GC,7050,-0.62,-194.6,767.0,-7.1,559,7055,0.00,2.28,0.00,0.000,4,0.000,0.029,2587,493,3600,0,0,0,0,0,0
$GC,7107,-0.62,-194.6,771.4,-7.9,561,7111,0.00,2.28,0.00,0.000,6,0.000,0.024,2587,2034,3600,0,0,0,0,0,0
$GC,7424,-0.62,-194.6,794.7,-7.5,576,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2034,3598,0,0,0,0,0,0
$GC,7734,-0.62,-194.6,817.7,-7.3,591,7738,0.00,1.88,0.00,0.000,4,0.000,0.041,2587,3271,3596,0,0,0,0,0,0
$GC,7762,-0.62,-194.6,820.0,-7.2,592,7766,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,2009,3595,0,0,0,0,0,0
$GC,8090,-0.62,-194.6,842.5,-6.8,608,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2009,3594,0,0,0,0,0,0
$GC,8400,-0.62,-194.6,862.8,-6.6,623,8405,0.00,1.95,0.00,0.000,4,0.000,0.041,2587,3260,3592,0,0,0,0,0,0
$GC,8433,-0.62,-194.6,865.0,-6.7,624,8437,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2020,3593,0,0,0,0,0,0
$GC,8755,-0.62,-194.6,885.8,-6.1,640,8759,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3271,3591,0,0,0,0,0,0
$GC,8796,-0.62,-194.6,888.3,-5.9,641,8804,0.00,1.75,0.00,0.000,6,0.000,0.018,2587,2028,3591,0,0,0,0,0,0
$GC,9112,-0.62,-194.6,908.5,-6.5,657,9116,0.00,2.28,0.00,0.000,4,0.000,0.029,2587,491,3589,0,0,0,0,0,0
$GC,9145,-0.62,-194.6,911.0,-6.5,658,9152,0.00,2.30,0.00,0.000,6,0.000,0.025,2587,2035,3589,0,0,0,0,0,0
$GC,9463,-0.62,-194.6,932.0,-6.6,674,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2036,3588,0,0,0,0,0,0
$GC,9770,-0.62,-194.6,951.9,-6.2,689,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2036,3587,0,0,0,0,0,0
$GC,10081,-0.62,-194.6,971.3,-6.2,704,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2036,3586,0,0,0,0,0,0
$STATE,10366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10366,begin apogee
$GC,10372,-0.20,0.0,990.0,6.6,718,10535,0.43,0.00,157.38,1.393,4,0.119,0.000,2729,2036,2838,0,0,0,0,0,0
$STATE,10536,end apogee,CONTROL_FINISHED_OK
$STATE,10536,begin climb
$GC,10539,0.62,194.6,996.0,0.0,725,10721,0.80,2.33,172.55,1.340,4,0.083,0.041,2996,3464,2045,0,0,0,0,0,0
$GC,10838,0.62,194.6,966.2,12.5,739,10842,0.00,2.10,0.00,0.000,6,0.000,0.021,3005,2070,2037,0,0,0,0,0,0
$GC,11162,0.62,194.6,930.1,11.0,755,11166,0.00,2.17,0.00,0.000,4,0.000,0.037,3005,3461,2034,0,0,0,0,0,0
$GC,11402,0.62,194.6,900.8,11.8,765,11409,0.00,2.08,0.00,0.000,6,0.000,0.021,3012,2054,2032,0,0,0,0,0,0
$GC,11721,0.62,194.6,864.9,11.6,781,11724,0.00,2.00,0.00,0.000,4,0.000,0.033,3023,694,2032,0,0,0,0,0,0
$GC,11759,0.62,194.6,859.8,11.7,782,11767,0.00,2.03,0.00,0.000,6,0.000,0.025,3022,2056,2032,0,0,0,0,0,0
$GC,12075,0.62,194.6,820.7,12.5,798,12079,0.00,2.15,0.00,0.000,4,0.000,0.041,3022,3466,2031,0,0,0,0,0,0
$GC,12142,0.62,194.6,811.2,14.3,801,12147,0.12,2.03,0.00,0.000,6,0.164,0.021,2999,2074,2031,0,0,0,0,0,0
$GC,12465,0.62,194.6,774.0,11.4,817,12469,0.00,2.05,0.00,0.000,4,0.000,0.032,3007,699,2030,0,0,0,0,0,0
$GC,12584,0.62,194.6,760.1,11.6,822,12588,0.00,1.98,0.00,0.000,6,0.000,0.024,3007,2028,2030,0,0,0,0,0,0
$GC,12911,0.62,194.6,724.0,10.5,838,12915,0.00,2.20,0.00,0.000,4,0.000,0.040,3007,3472,2030,0,0,0,0,0,0
$GC,12975,0.62,194.6,716.7,12.0,841,12979,0.00,2.03,0.00,0.000,6,0.000,0.021,3015,2078,2029,0,0,0,0,0,0
$GC,13307,0.62,194.6,680.7,10.5,857,13312,0.00,2.08,0.00,0.000,4,0.000,0.032,3026,695,2029,0,0,0,0,0,0
$GC,13377,0.62,194.6,673.0,11.6,860,13381,0.00,2.00,0.00,0.000,6,0.000,0.024,3026,2048,2029,0,0,0,0,0,0
$GC,13711,0.62,194.6,634.6,11.5,876,13712,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2048,2028,0,0,0,0,0,0
$GC,14019,0.62,194.6,599.8,11.2,891,14023,0.00,2.15,0.00,0.000,4,0.000,0.040,3026,3461,2029,0,0,0,0,0,0
$GC,14083,0.62,194.6,592.3,12.6,894,14088,0.08,2.15,0.00,0.000,6,0.151,0.021,3008,2001,2028,0,0,0,0,0,0
$GC,14416,0.62,194.6,558.2,10.2,910,14419,0.00,1.92,0.00,0.000,4,0.000,0.032,3016,692,2028,0,0,0,0,0,0
$GC,14461,0.62,194.6,553.5,10.3,912,14465,0.00,1.95,0.00,0.000,6,0.000,0.024,3016,2007,2028,0,0,0,0,0,0
$GC,14796,0.62,194.6,519.9,10.2,928,14800,0.00,1.95,0.00,0.000,4,0.000,0.031,3024,686,2028,0,0,0,0,0,0
$GC,14842,0.62,194.6,514.9,10.6,930,14845,0.00,1.90,0.00,0.000,6,0.000,0.023,3025,1974,2028,0,0,0,0,0,0
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$STATE,19959,end climb,SURFACE_DEPTH_REACHED
$STATE,19959,begin surface coast
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$STATE,19976,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,50
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$10V_AH,9.8,56.337
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$FG_AHR_10Vo,0.000
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$MEM,329688
$DATA_FILE_SIZE,90276,1545
$CAP_FILE_SIZE,209285,0
$CFSIZE,260165632,108097536
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$CURRENT,0.141,277.7,1
$GPS,260811,140637,1821.357,12423.307,38,1.2,38,-2.1