version: 66.09
glider: 167
mission: 8
dive: 368
start: 8 30 111 15 14 26
data:
$ID,167
$MISSION,8
$DIVE,368
$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,-3
$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,-58669.527
$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,114
$R_STBD_OVSHOOT,65
$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
$GPS1,300811,150637,1749.426,12423.518,39,1.1,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-71.2
$GPS2,300811,151402,1749.427,12423.450,15,1.1,15,-2.0
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,311.8,236351,-15.3,-9.706
$D_GRID,4031
$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,21,-0.62,-194.6,0.0,0.0,0,90,0.00,0.00,-66.20,0.000,2,0.000,0.000,110,1849,3104,0,0,0,0,0,0
$GC,92,-0.62,-194.6,6.0,-10.5,10,117,10.45,2.00,-8.70,0.000,4,0.240,0.041,2590,515,3635,0,0,0,0,0,0
$GC,222,-0.62,-194.6,51.9,-28.3,31,229,0.00,1.98,0.00,0.000,6,0.000,0.021,2583,1878,3637,0,0,0,0,0,0
$GC,368,-0.62,-194.6,89.9,-25.1,56,377,0.00,2.08,0.00,0.000,4,0.000,0.033,2573,3265,3637,0,0,0,0,0,0
$GC,420,-0.62,-194.6,104.5,-26.2,64,428,0.00,1.83,0.00,0.000,6,0.000,0.017,2573,1970,3637,0,0,0,0,0,0
$GC,567,-0.62,-194.6,134.7,-20.6,89,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1970,3638,0,0,0,0,0,0
$GC,705,-0.62,-194.6,164.1,-19.3,114,712,0.00,2.08,0.00,0.000,4,0.000,0.027,2573,518,3639,0,0,0,0,0,0
$GC,772,-0.62,-194.6,176.1,-18.6,125,779,0.12,2.03,0.00,0.000,6,0.170,0.021,2595,1922,3639,0,0,0,0,0,0
$GC,917,-0.62,-194.6,198.7,-15.4,150,925,0.00,2.00,0.00,0.000,4,0.000,0.033,2587,3263,3639,0,0,0,0,0,0
$GC,977,-0.62,-194.6,208.2,-14.0,156,980,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1956,3639,0,0,0,0,0,0
$GC,1308,-0.62,-194.6,256.3,-12.0,187,1312,0.00,2.10,0.00,0.000,4,0.000,0.029,2587,524,3639,0,0,0,0,0,0
$GC,1378,-0.62,-194.6,265.9,-13.3,193,1386,0.00,1.92,0.00,0.000,6,0.000,0.021,2587,1844,3639,0,0,0,0,0,0
$GC,1706,-0.62,-194.6,307.5,-13.1,224,1710,0.00,2.10,0.00,0.000,4,0.000,0.034,2580,3283,3639,0,0,0,0,0,0
$GC,1790,-0.62,-194.6,318.8,-12.5,231,1794,0.00,1.95,0.00,0.000,6,0.000,0.018,2580,1897,3638,0,0,0,0,0,0
$GC,2121,-0.62,-194.6,358.6,-10.9,262,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1897,3637,0,0,0,0,0,0
$GC,2442,-0.62,-194.6,393.4,-10.4,292,2445,0.00,2.05,0.00,0.000,4,0.000,0.031,2580,495,3635,0,0,0,0,0,0
$GC,2493,-0.62,-194.6,399.3,-11.4,296,2501,0.00,2.05,0.00,0.000,6,0.000,0.021,2575,1915,3635,0,0,0,0,0,0
$GC,2818,-0.62,-194.6,434.8,-10.9,327,2823,0.00,2.03,0.00,0.000,4,0.000,0.034,2574,3266,3633,0,0,0,0,0,0
$GC,2854,-0.62,-194.6,438.4,-11.0,330,2859,0.00,1.92,0.00,0.000,6,0.000,0.018,2575,1906,3633,0,0,0,0,0,0
$GC,3185,-0.62,-194.6,474.4,-10.1,361,3189,0.00,2.05,0.00,0.000,4,0.000,0.030,2575,505,3631,0,0,0,0,0,0
$GC,3220,-0.62,-194.6,478.2,-10.9,364,3224,0.00,2.10,0.00,0.000,6,0.000,0.021,2574,1945,3631,0,0,0,0,0,0
$GC,3546,-0.62,-194.6,509.0,-8.7,389,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1946,3629,0,0,0,0,0,0
$GC,3852,-0.62,-194.6,534.1,-8.4,404,3856,0.00,1.98,0.00,0.000,4,0.000,0.036,2574,3259,3627,0,0,0,0,0,0
$GC,3903,-0.62,-194.6,538.6,-8.8,406,3907,0.00,1.88,0.00,0.000,6,0.000,0.020,2574,1931,3627,0,0,0,0,0,0
$GC,4231,-0.62,-194.6,568.7,-9.3,422,4234,0.00,2.08,0.00,0.000,4,0.000,0.029,2574,521,3624,0,0,0,0,0,0
$GC,4264,-0.62,-194.6,572.2,-9.3,423,4268,0.00,2.08,0.00,0.000,6,0.000,0.022,2574,1932,3624,0,0,0,0,0,0
$GC,4588,-0.62,-194.6,601.2,-9.0,439,4592,0.00,2.00,0.00,0.000,4,0.000,0.037,2574,3255,3621,0,0,0,0,0,0
$GC,4643,-0.62,-194.6,606.4,-8.6,441,4646,0.00,1.83,0.00,0.000,6,0.000,0.019,2574,1958,3621,0,0,0,0,0,0
$GC,4967,-0.62,-194.6,633.0,-8.0,457,4971,0.00,2.12,0.00,0.000,4,0.000,0.030,2574,513,3618,0,0,0,0,0,0
$GC,5056,-0.62,-194.6,641.0,-8.7,461,5060,0.00,2.08,0.00,0.000,6,0.000,0.023,2574,1926,3618,0,0,0,0,0,0
$GC,5386,-0.62,-194.6,666.6,-7.8,477,5390,0.00,1.98,0.00,0.000,4,0.000,0.038,2574,3260,3615,0,0,0,0,0,0
$GC,5516,-0.62,-194.6,676.9,-7.7,482,5523,0.00,1.83,0.00,0.000,6,0.000,0.021,2574,1978,3614,0,0,0,0,0,0
$GC,5832,-0.62,-194.6,701.6,-7.4,498,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1978,3612,0,0,0,0,0,0
$GC,6144,-0.62,-194.6,724.6,-7.4,513,6148,0.00,2.17,0.00,0.000,4,0.000,0.031,2574,508,3610,0,0,0,0,0,0
$GC,6209,-0.62,-194.6,729.9,-8.3,516,6213,0.00,2.15,0.00,0.000,6,0.000,0.024,2574,1963,3610,0,0,0,0,0,0
$GC,6538,-0.62,-194.6,754.1,-7.1,532,6541,0.00,1.95,0.00,0.000,4,0.000,0.040,2574,3265,3608,0,0,0,0,0,0
$GC,6653,-0.62,-194.6,762.0,-6.8,537,6656,0.00,1.80,0.00,0.000,6,0.000,0.021,2574,2002,3607,0,0,0,0,0,0
$GC,6988,-0.62,-194.6,784.2,-6.5,553,6992,0.00,2.20,0.00,0.000,4,0.000,0.030,2574,513,3605,0,0,0,0,0,0
$GC,7051,-0.62,-194.6,789.1,-7.7,556,7055,0.00,2.17,0.00,0.000,6,0.000,0.024,2574,1981,3605,0,0,0,0,0,0
$GC,7378,-0.62,-194.6,813.9,-7.8,572,7382,0.00,1.92,0.00,0.000,4,0.000,0.040,2574,3267,3603,0,0,0,0,0,0
$GC,7448,-0.62,-194.6,819.4,-8.1,575,7452,0.00,1.80,0.00,0.000,6,0.000,0.020,2574,2002,3602,0,0,0,0,0,0
$GC,7781,-0.62,-194.6,846.9,-8.1,591,7786,0.00,2.22,0.00,0.000,4,0.000,0.030,2574,517,3601,0,0,0,0,0,0
$GC,7860,-0.62,-194.6,853.6,-8.4,594,7864,0.00,2.15,0.00,0.000,6,0.000,0.024,2574,1965,3600,0,0,0,0,0,0
$GC,8177,-0.62,-194.6,876.7,-7.0,609,8182,0.00,2.00,0.00,0.000,4,0.000,0.041,2574,3261,3599,0,0,0,0,0,0
$GC,8283,-0.62,-194.6,883.6,-6.3,613,8289,0.00,1.77,0.00,0.000,6,0.000,0.021,2574,2026,3598,0,0,0,0,0,0
$GC,8601,-0.62,-194.6,903.2,-6.5,629,8605,0.00,2.25,0.00,0.000,4,0.000,0.031,2574,514,3597,0,0,0,0,0,0
$GC,8667,-0.62,-194.6,908.1,-7.5,632,8671,0.00,2.20,0.00,0.000,6,0.000,0.025,2574,1989,3597,0,0,0,0,0,0
$GC,8996,-0.62,-194.6,931.5,-7.3,648,9000,0.00,1.92,0.00,0.000,4,0.000,0.041,2574,3267,3595,0,0,0,0,0,0
$GC,9045,-0.62,-194.6,935.4,-7.2,650,9050,0.00,1.80,0.00,0.000,6,0.000,0.021,2574,2033,3595,0,0,0,0,0,0
$GC,9374,-0.62,-194.6,958.9,-7.0,666,9378,0.00,2.28,0.00,0.000,4,0.000,0.031,2574,508,3594,0,0,0,0,0,0
$GC,9419,-0.62,-194.6,962.4,-7.3,668,9423,0.00,2.22,0.00,0.000,6,0.000,0.025,2574,1997,3594,0,0,0,0,0,0
$GC,9741,-0.62,-194.6,983.7,-6.6,684,9745,0.00,1.95,0.00,0.000,4,0.000,0.041,2574,3262,3593,0,0,0,0,0,0
$GC,9810,-0.62,-194.6,988.1,-6.5,687,9814,0.00,1.75,0.00,0.000,6,0.000,0.021,2574,2033,3593,0,0,0,0,0,0
$STATE,9852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9852,begin apogee
$GC,9858,-0.20,0.0,991.2,6.6,689,10023,0.47,0.00,160.68,1.393,4,0.119,0.000,2731,2028,2839,0,0,0,0,0,0
$STATE,10024,end apogee,CONTROL_FINISHED_OK
$STATE,10024,begin climb
$GC,10027,0.62,194.6,996.1,0.0,696,10206,0.75,0.00,174.07,1.338,6,0.083,0.000,2992,2027,2045,0,0,0,0,0,0
$GC,10522,0.62,194.6,944.5,11.8,720,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2027,2033,0,0,0,0,0,0
$GC,10832,0.62,194.6,909.2,11.2,735,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2027,2031,0,0,0,0,0,0
$GC,11142,0.62,194.6,875.7,10.7,750,11146,0.00,2.20,0.00,0.000,4,0.000,0.039,2991,3461,2030,0,0,0,0,0,0
$GC,11176,0.62,194.6,871.6,11.3,751,11183,0.00,2.00,0.00,0.000,6,0.000,0.021,2999,2090,2029,0,0,0,0,0,0
$GC,11492,0.62,194.6,836.1,11.2,767,11496,0.00,2.10,0.00,0.000,4,0.000,0.034,3009,692,2029,0,0,0,0,0,0
$GC,11540,0.62,194.6,830.9,11.2,769,11544,0.00,2.00,0.00,0.000,6,0.000,0.024,3009,2040,2029,0,0,0,0,0,0
$GC,11874,0.62,194.6,793.0,11.0,785,11878,0.00,2.17,0.00,0.000,4,0.000,0.039,3009,3469,2029,0,0,0,0,0,0
$GC,11930,0.62,194.6,786.0,12.3,787,11937,0.00,2.05,0.00,0.000,6,0.000,0.021,3017,2068,2029,0,0,0,0,0,0
$GC,12246,0.62,194.6,749.3,11.7,803,12251,0.00,2.08,0.00,0.000,4,0.000,0.034,3028,689,2028,0,0,0,0,0,0
$GC,12296,0.62,194.6,743.0,12.4,805,12299,0.00,2.05,0.00,0.000,6,0.000,0.024,3028,2067,2028,0,0,0,0,0,0
$GC,12625,0.62,194.6,701.5,12.7,821,12629,0.00,2.15,0.00,0.000,4,0.000,0.039,3028,3478,2028,0,0,0,0,0,0
$GC,12652,0.62,194.6,697.3,13.6,822,12656,0.12,2.05,0.00,0.000,6,0.174,0.021,3001,2072,2027,0,0,0,0,0,0
$GC,12975,0.62,194.6,661.6,10.9,838,12979,0.00,2.08,0.00,0.000,4,0.000,0.034,3010,694,2027,0,0,0,0,0,0
$GC,13025,0.62,194.6,656.0,10.4,840,13029,0.00,2.03,0.00,0.000,6,0.000,0.024,3009,2064,2027,0,0,0,0,0,0
$GC,13352,0.62,194.6,621.8,10.4,856,13355,0.00,2.08,0.00,0.000,4,0.000,0.032,3019,690,2027,0,0,0,0,0,0
$GC,13381,0.62,194.6,618.7,10.3,857,13384,0.00,1.98,0.00,0.000,6,0.000,0.023,3019,2020,2027,0,0,0,0,0,0
$GC,13708,0.62,194.6,581.2,11.8,873,13713,0.00,2.22,0.00,0.000,4,0.000,0.039,3019,3462,2026,0,0,0,0,0,0
$GC,13799,0.62,194.6,569.7,12.8,877,13804,0.00,2.03,0.00,0.000,6,0.000,0.021,3028,2086,2026,0,0,0,0,0,0
$GC,14134,0.62,194.6,531.9,11.0,893,14138,0.00,2.08,0.00,0.000,4,0.000,0.034,3038,685,2026,0,0,0,0,0,0
$GC,14201,0.62,194.6,524.2,10.9,896,14205,0.12,2.03,0.00,0.000,6,0.149,0.024,3004,2053,2026,0,0,0,0,0,0
$GC,14526,0.65,215.1,494.9,9.0,914,14550,0.00,2.08,16.08,1.014,4,0.000,0.031,3010,681,1961,0,0,0,0,0,0
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$STATE,19644,begin surface coast
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$STATE,19685,end surface coast,CONTROL_FINISHED_OK
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$DATA_FILE_SIZE,90063,1546
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