version: 66.09
glider: 167
mission: 8
dive: 400
start: 9 7 111 14 15 44
data:
$ID,167
$MISSION,8
$DIVE,400
$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,-5
$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,-77658.93
$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,64
$R_STBD_OVSHOOT,86
$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
$GPS1,060911,120429,1814.584,12250.390,901,99.0,901,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.1
$GPS2,060911,120429,1814.584,12250.390,901,99.0,901,-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,295.5,67411,-15.3,-9.706
$D_GRID,3745
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-95.45,0.000,2,0.000,0.000,110,1911,3182,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.3,-11.5,14,145,10.00,2.03,-7.32,0.000,4,0.225,0.041,2583,3264,3636,0,0,0,0,0,0
$GC,260,-0.62,-194.6,56.4,-23.2,37,267,0.00,2.00,0.00,0.000,6,0.000,0.018,2582,1842,3636,0,0,0,0,0,0
$GC,408,-0.62,-194.6,89.5,-19.2,62,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1842,3637,0,0,0,0,0,0
$GC,552,-0.62,-194.6,115.0,-17.2,87,559,0.00,2.08,0.00,0.000,4,0.000,0.030,2573,3252,3637,0,0,0,0,0,0
$GC,582,-0.62,-194.6,121.0,-18.7,92,591,0.00,1.85,0.00,0.000,6,0.000,0.018,2573,1947,3636,0,0,0,0,0,0
$GC,732,-0.62,-194.6,148.9,-18.9,117,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1947,3637,0,0,0,0,0,0
$GC,872,-0.62,-194.6,172.8,-15.8,142,881,0.00,2.10,0.00,0.000,4,0.000,0.027,2573,499,3637,0,0,0,0,0,0
$GC,918,-0.62,-194.6,179.9,-15.8,149,925,0.00,2.15,0.00,0.000,6,0.000,0.021,2570,1986,3637,0,0,0,0,0,0
$GC,1065,-0.62,-194.6,200.4,-12.6,174,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1987,3637,0,0,0,0,0,0
$GC,1393,-0.62,-194.6,244.8,-14.5,205,1397,0.00,2.17,0.00,0.000,4,0.000,0.027,2570,494,3635,0,0,0,0,0,0
$GC,1469,-0.62,-194.6,256.7,-15.5,211,1474,0.12,2.12,0.00,0.000,6,0.158,0.021,2597,1972,3635,0,0,0,0,0,0
$GC,1797,-0.62,-194.6,294.3,-9.4,241,1801,0.00,1.85,0.00,0.000,4,0.000,0.033,2589,3249,3633,0,0,0,0,0,0
$GC,1869,-0.62,-194.6,302.1,-9.8,247,1876,0.00,1.77,0.00,0.000,6,0.000,0.017,2589,1980,3632,0,0,0,0,0,0
$GC,2198,-0.62,-194.6,337.6,-9.3,278,2202,0.00,2.15,0.00,0.000,4,0.000,0.029,2590,500,3630,0,0,0,0,0,0
$GC,2304,-0.62,-194.6,348.1,-9.7,287,2308,0.00,2.08,0.00,0.000,6,0.000,0.022,2588,1932,3629,0,0,0,0,0,0
$GC,2637,-0.62,-194.6,379.3,-10.1,318,2641,0.00,1.95,0.00,0.000,4,0.000,0.035,2588,3249,3626,0,0,0,0,0,0
$GC,2687,-0.62,-194.6,384.8,-10.4,322,2693,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1945,3626,0,0,0,0,0,0
$GC,3015,-0.62,-194.6,420.1,-9.7,353,3019,0.00,2.10,0.00,0.000,4,0.000,0.029,2588,499,3623,0,0,0,0,0,0
$GC,3105,-0.62,-194.6,429.5,-10.1,360,3113,0.00,2.03,0.00,0.000,6,0.000,0.021,2588,1899,3622,0,0,0,0,0,0
$GC,3431,-0.62,-194.6,455.8,-7.5,391,3436,0.00,2.05,0.00,0.000,4,0.000,0.036,2587,3261,3620,0,0,0,0,0,0
$GC,3581,-0.62,-194.6,466.9,-7.6,404,3585,0.00,1.85,0.00,0.000,6,0.000,0.019,2588,1952,3618,0,0,0,0,0,0
$GC,3913,-0.62,-194.6,494.4,-8.0,435,3917,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,502,3615,0,0,0,0,0,0
$GC,3981,-0.62,-194.6,500.2,-8.7,440,3989,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1942,3615,0,0,0,0,0,0
$GC,4297,-0.62,-194.6,521.7,-6.3,456,4301,0.00,1.95,0.00,0.000,4,0.000,0.037,2588,3264,3612,0,0,0,0,0,0
$GC,4405,-0.62,-194.6,529.0,-7.0,460,4416,0.00,1.88,0.00,0.000,6,0.000,0.020,2588,1956,3611,0,0,0,0,0,0
$GC,4722,-0.62,-194.6,556.6,-9.3,476,4726,0.00,2.15,0.00,0.000,4,0.000,0.031,2588,499,3608,0,0,0,0,0,0
$GC,4802,-0.62,-194.6,564.8,-10.6,479,4808,0.00,2.10,0.00,0.000,6,0.000,0.024,2588,1928,3607,0,0,0,0,0,0
$GC,5118,-0.62,-194.6,596.6,-10.0,495,5121,0.00,2.00,0.00,0.000,4,0.000,0.037,2588,3266,3605,0,0,0,0,0,0
$GC,5173,-0.62,-194.6,601.6,-8.6,497,5178,0.00,1.92,0.00,0.000,6,0.000,0.019,2588,1924,3605,0,0,0,0,0,0
$GC,5497,-0.62,-194.6,624.8,-6.9,513,5501,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,499,3602,0,0,0,0,0,0
$GC,5587,-0.62,-194.6,632.0,-7.5,517,5591,0.00,2.08,0.00,0.000,6,0.000,0.023,2587,1916,3601,0,0,0,0,0,0
$GC,5917,-0.62,-194.6,654.9,-7.3,533,5922,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3264,3599,0,0,0,0,0,0
$GC,6013,-0.62,-194.6,663.0,-8.3,537,6017,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1931,3598,0,0,0,0,0,0
$GC,6343,-0.62,-194.6,695.5,-9.9,553,6347,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,508,3596,0,0,0,0,0,0
$GC,6398,-0.62,-194.6,701.6,-10.2,555,6405,0.00,2.08,0.00,0.000,6,0.000,0.024,2588,1905,3595,0,0,0,0,0,0
$GC,6715,-0.62,-194.6,728.7,-8.0,571,6719,0.00,2.03,0.00,0.000,4,0.000,0.037,2588,3267,3594,0,0,0,0,0,0
$GC,6810,-0.62,-194.6,735.5,-6.8,575,6814,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1919,3593,0,0,0,0,0,0
$GC,7138,-0.62,-194.6,755.7,-5.9,591,7143,0.00,2.10,0.00,0.000,4,0.000,0.032,2588,517,3591,0,0,0,0,0,0
$GC,7178,-0.62,-194.6,758.3,-5.8,592,7186,0.00,2.08,0.00,0.000,6,0.000,0.024,2588,1910,3592,0,0,0,0,0,0
$GC,7494,-0.62,-194.6,776.6,-6.4,608,7498,0.00,2.05,0.00,0.000,4,0.000,0.037,2588,3266,3590,0,0,0,0,0,0
$GC,7573,-0.62,-194.6,782.4,-7.2,611,7576,0.00,1.88,0.00,0.000,6,0.000,0.020,2588,1952,3589,0,0,0,0,0,0
$GC,7896,-0.62,-194.6,807.6,-7.6,627,7900,0.00,2.15,0.00,0.000,4,0.000,0.031,2588,504,3587,0,0,0,0,0,0
$GC,7941,-0.62,-194.6,811.5,-8.0,629,7945,0.00,2.15,0.00,0.000,6,0.000,0.024,2588,1958,3587,0,0,0,0,0,0
$GC,8266,-0.62,-194.6,833.0,-6.8,645,8269,0.00,1.98,0.00,0.000,4,0.000,0.038,2587,3268,3586,0,0,0,0,0,0
$GC,8379,-0.62,-194.6,841.6,-7.5,650,8382,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1984,3585,0,0,0,0,0,0
$GC,8714,-0.62,-194.6,868.4,-8.7,666,8718,0.00,2.20,0.00,0.000,4,0.000,0.032,2588,507,3584,0,0,0,0,0,0
$GC,8780,-0.62,-194.6,875.4,-10.3,669,8785,0.00,2.20,0.00,0.000,6,0.000,0.025,2588,1972,3584,0,0,0,0,0,0
$GC,9108,-0.62,-194.6,906.9,-9.4,685,9112,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3273,3582,0,0,0,0,0,0
$GC,9149,-0.62,-194.6,910.6,-8.8,686,9155,0.00,1.85,0.00,0.000,6,0.000,0.021,2588,1986,3582,0,0,0,0,0,0
$GC,9465,-0.62,-194.6,931.5,-5.5,702,9468,0.00,1.98,0.00,0.000,4,0.000,0.039,2588,3271,3581,0,0,0,0,0,0
$GC,9492,-0.62,-194.6,933.0,-5.3,703,9496,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1985,3581,0,0,0,0,0,0
$GC,9822,-0.62,-194.6,947.9,-4.1,719,9826,0.00,2.22,0.00,0.000,4,0.000,0.034,2588,515,3580,0,0,0,0,0,0
$GC,9868,-0.62,-194.6,950.0,-4.3,721,9873,0.00,2.17,0.00,0.000,6,0.000,0.026,2587,1957,3580,0,0,0,0,0,0
$GC,10203,-0.62,-194.6,965.1,-5.3,737,10207,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3272,3579,0,0,0,0,0,0
$GC,10276,-0.62,-194.6,969.4,-5.8,740,10279,0.00,1.83,0.00,0.000,6,0.000,0.021,2588,1996,3579,0,0,0,0,0,0
$STATE,10601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10601,begin apogee
$GC,10609,-0.20,0.0,991.0,7.2,756,10776,0.43,0.00,158.68,1.398,4,0.116,0.000,2730,2103,2838,0,0,0,0,0,0
$STATE,10777,end apogee,CONTROL_FINISHED_OK
$STATE,10777,begin climb
$GC,10779,0.62,194.6,998.6,0.0,763,10961,0.80,2.17,173.05,1.347,4,0.083,0.041,2998,3446,2045,0,0,0,0,0,0
$GC,11136,0.62,194.6,965.7,11.5,779,11143,0.00,2.03,0.00,0.000,6,0.000,0.022,3007,2088,2035,0,0,0,0,0,0
$GC,11452,0.62,194.6,930.8,11.4,795,11456,0.00,2.10,0.00,0.000,4,0.000,0.036,3007,3438,2033,0,0,0,0,0,0
$GC,11647,0.62,194.6,906.2,12.8,803,11654,0.00,2.05,0.00,0.000,6,0.000,0.021,3014,2043,2032,0,0,0,0,0,0
$GC,11963,0.62,194.6,866.4,12.9,819,11967,0.00,2.00,0.00,0.000,4,0.000,0.035,3020,689,2031,0,0,0,0,0,0
$GC,12036,0.62,194.6,857.0,12.4,822,12040,0.00,1.92,0.00,0.000,6,0.000,0.024,3020,1986,2031,0,0,0,0,0,0
$GC,12364,0.62,194.6,815.1,12.5,838,12368,0.00,2.17,0.00,0.000,4,0.000,0.039,3020,3437,2030,0,0,0,0,0,0
$GC,12407,0.62,194.6,809.0,13.5,840,12411,0.00,2.05,0.00,0.000,6,0.000,0.021,3029,2029,2030,0,0,0,0,0,0
$GC,12737,0.62,194.6,763.8,13.5,856,12741,0.00,2.00,0.00,0.000,4,0.000,0.034,3039,690,2029,0,0,0,0,0,0
$GC,12771,0.62,194.6,758.9,13.2,857,12776,0.15,1.95,0.00,0.000,6,0.146,0.026,2998,1996,2030,0,0,0,0,0,0
$GC,13089,0.62,194.6,728.1,9.8,872,13093,0.00,2.17,0.00,0.000,4,0.000,0.038,2998,3446,2029,0,0,0,0,0,0
$GC,13166,0.62,194.6,718.2,12.6,875,13173,0.00,2.03,0.00,0.000,6,0.000,0.021,3005,2058,2029,0,0,0,0,0,0
$GC,13482,0.62,194.6,681.0,11.6,891,13486,0.00,2.05,0.00,0.000,4,0.000,0.035,3014,688,2028,0,0,0,0,0,0
$GC,13545,0.62,194.6,673.7,11.4,893,13552,0.00,1.95,0.00,0.000,6,0.000,0.025,3015,1975,2028,0,0,0,0,0,0
$GC,13862,0.62,194.6,636.9,11.6,909,13866,0.00,2.22,0.00,0.000,4,0.000,0.037,3015,3438,2028,0,0,0,0,0,0
$GC,13948,0.62,194.6,625.9,13.0,913,13952,0.00,2.00,0.00,0.000,6,0.000,0.021,3020,2067,2028,0,0,0,0,0,0
$GC,14283,0.62,194.6,587.5,10.9,929,14287,0.00,2.05,0.00,0.000,4,0.000,0.034,3031,694,2028,0,0,0,0,0,0
$GC,14448,0.62,194.6,568.5,12.1,936,14452,0.12,1.92,0.00,0.000,6,0.155,0.024,2998,1999,2028,0,0,0,0,0,0
$GC,14776,0.62,194.6,532.7,11.3,952,14777,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2000,2028,0,0,0,0,0,0
$GC,15085,0.62,194.6,497.1,10.9,968,15089,0.00,2.20,0.00,0.000,4,0.000,0.037,2999,3437,2028,0,0,0,0,0,0
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$STATE,19860,begin surface coast
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$10V_AH,9.7,63.806
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$FG_AHR_10Vo,0.000
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$MEM,324008
$DATA_FILE_SIZE,90172,1548
$CAP_FILE_SIZE,214461,0
$CFSIZE,260165632,102780928
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