version: 66.09
glider: 167
mission: 8
dive: 392
start: 9 5 111 11 5 48
data:
$ID,167
$MISSION,8
$DIVE,392
$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,576.20972
$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,-63211.336
$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,65
$R_STBD_OVSHOOT,49
$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
$GPS1,040911,220906,1813.430,12313.849,901,99.0,901,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.9
$GPS2,040911,220906,1813.430,12313.849,901,99.0,901,-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,321.5,106321,-15.3,-9.706
$D_GRID,3821
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-96.05,0.000,2,0.000,0.000,110,1927,3201,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.5,-12.4,14,145,10.10,2.08,-7.03,0.000,4,0.228,0.043,2585,3297,3635,0,0,0,0,0,0
$GC,221,-0.62,-194.6,43.5,-27.4,30,229,0.00,2.05,0.00,0.000,6,0.000,0.018,2585,1862,3637,0,0,0,0,0,0
$GC,368,-0.62,-194.6,79.3,-20.8,55,375,0.00,2.00,0.00,0.000,4,0.000,0.028,2585,486,3637,0,0,0,0,0,0
$GC,453,-0.62,-194.6,98.9,-19.7,69,459,0.00,1.83,0.00,0.000,6,0.000,0.019,2576,1783,3637,0,0,0,0,0,0
$GC,595,-0.62,-194.6,124.9,-19.1,94,602,0.00,2.20,0.00,0.000,4,0.000,0.032,2567,3278,3637,0,0,0,0,0,0
$GC,640,-0.62,-194.6,133.2,-19.2,101,648,0.12,2.00,0.00,0.000,6,0.165,0.017,2599,1837,3637,0,0,0,0,0,0
$GC,784,-0.62,-194.6,157.0,-15.8,126,792,0.00,2.15,0.00,0.000,4,0.000,0.031,2598,3278,3637,0,0,0,0,0,0
$GC,810,-0.62,-194.6,161.3,-15.7,130,817,0.00,1.98,0.00,0.000,6,0.000,0.026,2598,1890,3637,0,0,0,0,0,0
$GC,957,-0.62,-194.6,183.0,-15.0,155,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1890,3637,0,0,0,0,0,0
$GC,1104,-0.62,-194.6,205.1,-13.6,178,1109,0.00,2.08,0.00,0.000,4,0.000,0.031,2592,3283,3637,0,0,0,0,0,0
$GC,1177,-0.62,-194.6,214.8,-13.3,184,1185,0.00,1.90,0.00,0.000,6,0.000,0.017,2592,1933,3636,0,0,0,0,0,0
$GC,1503,-0.62,-194.6,259.2,-13.0,215,1506,0.00,2.08,0.00,0.000,4,0.000,0.028,2592,501,3635,0,0,0,0,0,0
$GC,1619,-0.62,-194.6,273.4,-12.3,225,1623,0.00,2.05,0.00,0.000,6,0.000,0.021,2589,1917,3634,0,0,0,0,0,0
$GC,1949,-0.62,-194.6,311.0,-11.4,256,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1918,3633,0,0,0,0,0,0
$GC,2270,-0.62,-194.6,349.8,-11.9,286,2274,0.00,1.98,0.00,0.000,4,0.000,0.035,2589,3270,3630,0,0,0,0,0,0
$GC,2327,-0.62,-194.6,356.3,-10.7,291,2331,0.00,1.90,0.00,0.000,6,0.000,0.018,2589,1905,3630,0,0,0,0,0,0
$GC,2658,-0.62,-194.6,388.4,-9.0,322,2662,0.00,2.03,0.00,0.000,4,0.000,0.029,2589,508,3628,0,0,0,0,0,0
$GC,2704,-0.62,-194.6,392.6,-9.0,326,2709,0.00,2.12,0.00,0.000,6,0.000,0.022,2588,1956,3627,0,0,0,0,0,0
$GC,3035,-0.62,-194.6,426.3,-10.9,357,3039,0.00,1.92,0.00,0.000,4,0.000,0.035,2587,3272,3625,0,0,0,0,0,0
$GC,3064,-0.62,-194.6,429.3,-10.3,359,3070,0.00,1.85,0.00,0.000,6,0.000,0.018,2588,1945,3624,0,0,0,0,0,0
$GC,3392,-0.62,-194.6,459.0,-9.2,390,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1945,3622,0,0,0,0,0,0
$GC,3722,-0.62,-194.6,489.2,-9.0,421,3726,0.00,2.10,0.00,0.000,4,0.000,0.030,2588,503,3619,0,0,0,0,0,0
$GC,3790,-0.62,-194.6,496.0,-9.6,426,3798,0.00,2.17,0.00,0.000,6,0.000,0.022,2588,1982,3619,0,0,0,0,0,0
$GC,4107,-0.62,-194.6,525.7,-9.9,444,4111,0.00,1.90,0.00,0.000,4,0.000,0.035,2588,3278,3616,0,0,0,0,0,0
$GC,4177,-0.62,-194.6,532.2,-9.3,447,4180,0.00,1.80,0.00,0.000,6,0.000,0.020,2588,1992,3616,0,0,0,0,0,0
$GC,4510,-0.62,-194.6,562.5,-8.3,463,4514,0.00,2.17,0.00,0.000,4,0.000,0.031,2588,508,3613,0,0,0,0,0,0
$GC,4575,-0.62,-194.6,568.4,-8.7,466,4579,0.00,2.12,0.00,0.000,6,0.000,0.022,2588,1966,3612,0,0,0,0,0,0
$GC,4898,-0.62,-194.6,592.7,-7.6,482,4902,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3272,3609,0,0,0,0,0,0
$GC,4931,-0.62,-194.6,595.3,-7.6,483,4935,0.00,1.85,0.00,0.000,6,0.000,0.020,2588,1960,3608,0,0,0,0,0,0
$GC,5253,-0.62,-194.6,619.3,-7.7,499,5258,0.00,2.15,0.00,0.000,4,0.000,0.032,2588,517,3606,0,0,0,0,0,0
$GC,5306,-0.62,-194.6,623.7,-8.7,501,5310,0.00,2.12,0.00,0.000,6,0.000,0.024,2588,1965,3605,0,0,0,0,0,0
$GC,5628,-0.62,-194.6,649.3,-8.1,517,5632,0.00,1.92,0.00,0.000,4,0.000,0.037,2588,3267,3603,0,0,0,0,0,0
$GC,5722,-0.62,-194.6,656.2,-7.4,521,5726,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,2005,3601,0,0,0,0,0,0
$GC,6056,-0.62,-194.6,682.8,-8.0,537,6060,0.00,2.20,0.00,0.000,4,0.000,0.031,2588,511,3600,0,0,0,0,0,0
$GC,6143,-0.62,-194.6,690.6,-9.5,541,6147,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1972,3599,0,0,0,0,0,0
$GC,6473,-0.62,-194.6,717.6,-8.0,557,6476,0.00,1.92,0.00,0.000,4,0.000,0.037,2588,3272,3597,0,0,0,0,0,0
$GC,6535,-0.62,-194.6,722.6,-7.7,559,6542,0.00,1.83,0.00,0.000,6,0.000,0.020,2588,1983,3597,0,0,0,0,0,0
$GC,6853,-0.62,-194.6,747.0,-7.9,575,6857,0.00,2.17,0.00,0.000,4,0.000,0.031,2588,512,3595,0,0,0,0,0,0
$GC,6886,-0.62,-194.6,750.0,-8.1,576,6894,0.00,2.20,0.00,0.000,6,0.000,0.024,2588,2001,3594,0,0,0,0,0,0
$GC,7203,-0.62,-194.6,773.2,-7.2,592,7206,0.00,1.88,0.00,0.000,4,0.000,0.037,2587,3266,3593,0,0,0,0,0,0
$GC,7299,-0.62,-194.6,779.7,-6.9,596,7304,0.00,1.77,0.00,0.000,6,0.000,0.020,2588,2024,3592,0,0,0,0,0,0
$GC,7627,-0.62,-194.6,801.5,-6.6,612,7631,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,517,3591,0,0,0,0,0,0
$GC,7718,-0.62,-194.6,808.5,-7.8,616,7722,0.00,2.20,0.00,0.000,6,0.000,0.024,2588,2004,3590,0,0,0,0,0,0
$GC,8040,-0.62,-194.6,831.7,-7.3,632,8045,0.00,1.92,0.00,0.000,4,0.000,0.039,2588,3265,3589,0,0,0,0,0,0
$GC,8092,-0.62,-194.6,835.5,-7.2,634,8096,0.00,1.77,0.00,0.000,6,0.000,0.019,2588,2011,3589,0,0,0,0,0,0
$GC,8420,-0.62,-194.6,858.6,-7.0,650,8424,0.00,2.22,0.00,0.000,4,0.000,0.032,2588,514,3587,0,0,0,0,0,0
$GC,8484,-0.62,-194.6,863.4,-8.0,653,8488,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,2002,3587,0,0,0,0,0,0
$GC,8813,-0.62,-194.6,887.1,-6.9,669,8817,0.00,1.90,0.00,0.000,4,0.000,0.038,2588,3276,3585,0,0,0,0,0,0
$GC,8869,-0.62,-194.6,891.0,-6.6,671,8874,0.00,1.83,0.00,0.000,6,0.000,0.019,2588,2009,3585,0,0,0,0,0,0
$GC,9193,-0.62,-194.6,910.7,-5.8,687,9197,0.00,2.22,0.00,0.000,4,0.000,0.034,2588,519,3584,0,0,0,0,0,0
$GC,9266,-0.62,-194.6,915.6,-6.5,690,9270,0.00,2.17,0.00,0.000,6,0.000,0.025,2588,1981,3583,0,0,0,0,0,0
$GC,9583,-0.62,-194.6,936.0,-6.6,705,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1982,3581,0,0,0,0,0,0
$GC,9894,-0.62,-194.6,957.7,-7.2,720,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1982,3581,0,0,0,0,0,0
$GC,10201,-0.62,-194.6,977.7,-6.2,735,10205,0.00,1.92,0.00,0.000,4,0.000,0.040,2588,3263,3580,0,0,0,0,0,0
$GC,10259,-0.62,-194.6,980.9,-5.8,737,10263,0.00,1.85,0.00,0.000,6,0.000,0.021,2588,1993,3580,0,0,0,0,0,0
$STATE,10433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10433,begin apogee
$GC,10439,-0.20,0.0,990.4,5.2,746,10602,0.43,0.00,157.75,1.385,4,0.116,0.000,2730,2105,2839,0,0,0,0,0,0
$STATE,10602,end apogee,CONTROL_FINISHED_OK
$STATE,10603,begin climb
$GC,10607,0.62,194.6,993.6,0.0,753,10786,0.80,2.15,170.98,1.336,4,0.083,0.040,2999,3437,2044,0,0,0,0,0,0
$GC,10904,0.62,194.6,958.3,14.6,767,10908,0.00,2.03,0.00,0.000,6,0.000,0.021,3008,2098,2036,0,0,0,0,0,0
$GC,11232,0.62,194.6,916.0,12.4,783,11237,0.00,2.08,0.00,0.000,4,0.000,0.037,3008,3432,2034,0,0,0,0,0,0
$GC,11456,0.62,194.6,886.5,13.2,793,11460,0.00,2.03,0.00,0.000,6,0.000,0.021,3017,2049,2032,0,0,0,0,0,0
$GC,11791,0.62,194.6,845.5,12.2,809,11794,0.00,2.03,0.00,0.000,4,0.000,0.034,3026,682,2031,0,0,0,0,0,0
$GC,11846,0.62,194.6,838.3,12.3,811,11849,0.00,1.98,0.00,0.000,6,0.000,0.024,3026,2005,2032,0,0,0,0,0,0
$GC,12169,0.62,194.6,796.4,13.5,827,12173,0.00,2.17,0.00,0.000,4,0.000,0.038,3026,3445,2031,0,0,0,0,0,0
$GC,12232,0.62,194.6,786.9,15.2,830,12237,0.12,2.08,0.00,0.000,6,0.176,0.022,3001,2035,2030,0,0,0,0,0,0
$GC,12560,0.62,194.6,744.9,13.0,846,12564,0.00,2.00,0.00,0.000,4,0.000,0.035,3009,682,2030,0,0,0,0,0,0
$GC,12611,0.62,194.6,738.2,12.7,848,12614,0.00,1.95,0.00,0.000,6,0.000,0.024,3010,1997,2030,0,0,0,0,0,0
$GC,12938,0.62,194.6,697.5,12.0,864,12943,0.00,2.20,0.00,0.000,4,0.000,0.037,3010,3436,2029,0,0,0,0,0,0
$GC,13073,0.62,194.6,680.1,12.7,870,13077,0.00,2.00,0.00,0.000,6,0.000,0.021,3018,2061,2029,0,0,0,0,0,0
$GC,13408,0.62,194.6,640.2,11.9,886,13411,0.00,2.03,0.00,0.000,4,0.000,0.034,3028,695,2028,0,0,0,0,0,0
$GC,13498,0.62,194.6,629.4,11.8,890,13502,0.00,1.92,0.00,0.000,6,0.000,0.024,3027,1993,2028,0,0,0,0,0,0
$GC,13832,0.62,194.6,588.6,12.7,906,13837,0.00,2.20,0.00,0.000,4,0.000,0.038,3028,3432,2028,0,0,0,0,0,0
$GC,13893,0.62,194.6,579.8,13.8,908,13901,0.12,2.08,0.00,0.000,6,0.175,0.021,3003,2006,2028,0,0,0,0,0,0
$GC,14211,0.62,194.6,544.1,11.3,924,14215,0.00,1.95,0.00,0.000,4,0.000,0.034,3011,686,2028,0,0,0,0,0,0
$GC,14289,0.62,194.6,535.2,10.9,927,14293,0.00,1.90,0.00,0.000,6,0.000,0.024,3011,1960,2028,0,0,0,0,0,0
$GC,14611,0.62,194.6,503.2,9.9,943,14616,0.00,2.25,0.00,0.000,4,0.000,0.037,3011,3433,2028,0,0,0,0,0,0
$GC,14673,0.62,194.6,496.1,11.5,946,14681,0.00,2.05,0.00,0.000,6,0.000,0.021,3019,2026,2028,0,0,0,0,0,0
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$STATE,19623,begin surface coast
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$MEM,329796
$DATA_FILE_SIZE,90254,1550
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$CFSIZE,260165632,103755776
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$CURRENT,0.105,317.0,1
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