version: 66.09
glider: 167
mission: 8
dive: 430
start: 9 14 111 11 2 35
data:
$ID,167
$MISSION,8
$DIVE,430
$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,-126418.16
$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,62
$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
$GPS1,140911,103631,1955.378,12119.866,38,1.0,39,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.6
$GPS2,140911,103631,1955.378,12119.866,901,99.0,901,-2.3
$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,186.9,184448,-15.3,-9.706
$D_GRID,2912
$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,19,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-95.62,0.000,2,0.000,0.000,108,1829,3178,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.6,-12.9,14,145,10.23,1.98,-7.38,0.000,4,0.230,0.038,2595,467,3635,0,0,0,0,0,0
$GC,292,-0.62,-194.6,56.3,-20.2,43,300,0.00,2.00,0.00,0.000,6,0.000,0.020,2588,1879,3637,0,0,0,0,0,0
$GC,437,-0.62,-194.6,84.8,-16.7,68,446,0.00,2.05,0.00,0.000,4,0.000,0.032,2578,3262,3637,0,0,0,0,0,0
$GC,470,-0.62,-194.6,90.6,-16.8,73,477,0.00,1.95,0.00,0.000,6,0.000,0.017,2578,1850,3637,0,0,0,0,0,0
$GC,609,-0.62,-194.6,115.1,-17.2,98,617,0.00,1.98,0.00,0.000,4,0.000,0.028,2578,501,3637,0,0,0,0,0,0
$GC,658,-0.62,-194.6,123.6,-17.9,106,669,0.00,2.03,0.00,0.000,6,0.000,0.021,2571,1897,3637,0,0,0,0,0,0
$GC,805,-0.62,-194.6,145.2,-14.3,131,813,0.00,2.05,0.00,0.000,4,0.000,0.027,2571,508,3637,0,0,0,0,0,0
$GC,853,-0.62,-194.6,152.2,-14.4,139,862,0.12,1.88,0.00,0.000,6,0.160,0.020,2596,1828,3637,0,0,0,0,0,0
$GC,999,-0.62,-194.6,172.1,-14.6,164,1006,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,3254,3637,0,0,0,0,0,0
$GC,1021,-0.62,-194.6,175.4,-13.5,167,1029,0.00,1.92,0.00,0.000,6,0.000,0.018,2588,1868,3637,0,0,0,0,0,0
$GC,1166,-0.62,-194.6,192.2,-11.9,192,1174,0.00,2.00,0.00,0.000,4,0.000,0.028,2587,498,3637,0,0,0,0,0,0
$GC,1232,-0.62,-194.6,199.8,-10.5,203,1240,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1804,3637,0,0,0,0,0,0
$GC,1366,-0.62,-194.6,213.4,-10.4,216,1370,0.00,2.15,0.00,0.000,4,0.000,0.034,2587,3259,3636,0,0,0,0,0,0
$GC,1470,-0.62,-194.6,224.2,-10.7,224,1476,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1905,3636,0,0,0,0,0,0
$GC,1797,-0.62,-194.6,257.0,-9.5,255,1800,0.00,2.03,0.00,0.000,4,0.000,0.033,2587,3266,3633,0,0,0,0,0,0
$GC,1824,-0.62,-194.6,260.7,-11.3,257,1831,0.00,1.92,0.00,0.000,6,0.000,0.017,2587,1894,3633,0,0,0,0,0,0
$GC,2150,-0.62,-194.6,294.0,-11.7,288,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1890,3631,0,0,0,0,0,0
$GC,2472,-0.62,-194.6,326.5,-9.9,318,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1890,3629,0,0,0,0,0,0
$GC,2799,-0.62,-194.6,356.8,-8.6,349,2803,0.00,2.03,0.00,0.000,4,0.000,0.036,2587,3253,3626,0,0,0,0,0,0
$GC,2829,-0.62,-194.6,359.3,-8.5,351,2836,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1938,3625,0,0,0,0,0,0
$GC,3155,-0.62,-194.6,386.2,-8.1,382,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1938,3623,0,0,0,0,0,0
$GC,3477,-0.62,-194.6,416.1,-10.3,412,3481,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,513,3620,0,0,0,0,0,0
$GC,3590,-0.62,-194.6,429.2,-10.7,421,3597,0.00,1.98,0.00,0.000,6,0.000,0.022,2587,1870,3619,0,0,0,0,0,0
$GC,3916,-0.62,-194.6,463.8,-10.9,452,3920,0.00,2.10,0.00,0.000,4,0.000,0.037,2587,3269,3616,0,0,0,0,0,0
$GC,4029,-0.62,-194.6,475.5,-10.0,461,4036,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1928,3615,0,0,0,0,0,0
$GC,4367,-0.62,-194.6,506.1,-8.5,490,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1928,3613,0,0,0,0,0,0
$GC,4672,-0.62,-194.6,528.6,-7.0,505,4676,0.00,2.03,0.00,0.000,4,0.000,0.036,2587,3266,3610,0,0,0,0,0,0
$GC,4707,-0.62,-194.6,530.9,-6.9,506,4711,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1927,3610,0,0,0,0,0,0
$GC,5029,-0.62,-194.6,551.0,-6.5,522,5033,0.00,2.05,0.00,0.000,4,0.000,0.030,2587,525,3608,0,0,0,0,0,0
$GC,5076,-0.62,-194.6,554.3,-7.1,524,5080,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1900,3607,0,0,0,0,0,0
$GC,5412,-0.62,-194.6,576.8,-6.7,540,5416,0.00,2.08,0.00,0.000,4,0.000,0.038,2587,3273,3605,0,0,0,0,0,0
$GC,5498,-0.62,-194.6,582.9,-6.9,544,5501,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1945,3605,0,0,0,0,0,0
$GC,5833,-0.62,-194.6,608.9,-7.7,560,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1945,3603,0,0,0,0,0,0
$GC,6144,-0.62,-194.6,633.4,-7.8,575,6148,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,521,3600,0,0,0,0,0,0
$GC,6207,-0.62,-194.6,638.8,-8.2,578,6211,0.00,2.05,0.00,0.000,6,0.000,0.023,2587,1919,3600,0,0,0,0,0,0
$GC,6542,-0.62,-194.6,664.4,-7.7,594,6545,0.00,2.03,0.00,0.000,4,0.000,0.040,2587,3266,3598,0,0,0,0,0,0
$GC,6570,-0.62,-194.6,667.1,-7.7,595,6573,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1949,3598,0,0,0,0,0,0
$GC,6899,-0.62,-194.6,693.2,-7.8,611,6903,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,511,3597,0,0,0,0,0,0
$GC,6971,-0.62,-194.6,699.1,-7.9,614,6975,0.00,2.03,0.00,0.000,6,0.000,0.023,2587,1900,3596,0,0,0,0,0,0
$GC,7293,-0.62,-194.6,721.1,-6.4,630,7296,0.00,2.08,0.00,0.000,4,0.000,0.039,2587,3265,3594,0,0,0,0,0,0
$GC,7374,-0.62,-194.6,725.9,-5.8,633,7378,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1908,3594,0,0,0,0,0,0
$GC,7696,-0.62,-194.6,740.1,-4.2,649,7700,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,511,3593,0,0,0,0,0,0
$GC,7727,-0.62,-194.6,741.2,-3.9,650,7731,0.00,2.03,0.00,0.000,6,0.000,0.024,2587,1892,3592,0,0,0,0,0,0
$GC,8055,-0.62,-194.6,752.5,-3.3,666,8059,0.00,2.10,0.00,0.000,4,0.000,0.041,2587,3268,3591,0,0,0,0,0,0
$GC,8128,-0.62,-194.6,754.7,-3.9,669,8132,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1906,3591,0,0,0,0,0,0
$GC,8457,-0.62,-194.6,769.7,-5.6,685,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1906,3590,0,0,0,0,0,0
$GC,8765,-0.62,-194.6,787.7,-5.7,700,8770,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,508,3588,0,0,0,0,0,0
$GC,8790,-0.62,-194.6,789.3,-5.9,701,8794,0.00,2.08,0.00,0.000,6,0.000,0.024,2587,1910,3588,0,0,0,0,0,0
$GC,9124,-0.62,-194.6,814.8,-8.2,717,9128,0.00,2.08,0.00,0.000,4,0.000,0.041,2587,3269,3587,0,0,0,0,0,0
$GC,9168,-0.62,-194.6,818.8,-8.7,719,9172,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1912,3587,0,0,0,0,0,0
$GC,9497,-0.62,-194.6,847.2,-8.9,735,9502,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,503,3586,0,0,0,0,0,0
$GC,9530,-0.62,-194.6,850.9,-9.2,736,9534,0.00,2.10,0.00,0.000,6,0.000,0.026,2587,1911,3586,0,0,0,0,0,0
$GC,9848,-0.62,-194.6,880.9,-9.9,751,9853,0.00,2.10,0.00,0.000,4,0.000,0.041,2587,3267,3585,0,0,0,0,0,0
$GC,9875,-0.62,-194.6,883.9,-10.2,752,9879,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1912,3584,0,0,0,0,0,0
$GC,10203,-0.62,-194.6,916.1,-9.3,768,10207,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,507,3584,0,0,0,0,0,0
$GC,10228,-0.62,-194.6,918.5,-8.9,769,10233,0.00,2.12,0.00,0.000,6,0.000,0.025,2587,1914,3584,0,0,0,0,0,0
$GC,10555,-0.62,-194.6,945.2,-7.4,785,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1914,3583,0,0,0,0,0,0
$GC,10865,-0.62,-194.6,964.2,-5.9,800,10869,0.00,2.10,0.00,0.000,4,0.000,0.042,2587,3279,3582,0,0,0,0,0,0
$GC,10917,-0.62,-194.6,967.3,-5.7,802,10921,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1915,3582,0,0,0,0,0,0
$GC,11239,-0.62,-194.6,984.5,-5.3,818,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1914,3581,0,0,0,0,0,0
$STATE,11360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11360,begin apogee
$GC,11369,-0.20,0.0,990.9,5.4,824,11533,0.43,0.00,159.57,1.398,4,0.116,0.000,2729,2077,2839,0,0,0,0,0,0
$STATE,11534,end apogee,CONTROL_FINISHED_OK
$STATE,11534,begin climb
$GC,11537,0.62,194.6,993.8,0.0,831,11721,0.75,2.22,174.77,1.345,4,0.078,0.031,3001,706,2045,0,0,0,0,0,0
$GC,11846,0.62,194.6,962.0,11.9,845,11850,0.00,2.08,0.00,0.000,6,0.000,0.025,3001,2082,2036,0,0,0,0,0,0
$GC,12167,0.62,194.6,921.8,11.9,861,12172,0.00,2.12,0.00,0.000,4,0.000,0.032,3008,704,2030,0,0,0,0,0,0
$GC,12346,0.62,194.6,900.8,11.8,869,12350,0.00,2.10,0.00,0.000,6,0.000,0.027,3008,2112,2030,0,0,0,0,0,0
$GC,12673,0.62,194.6,862.2,11.3,885,12677,0.00,2.15,0.00,0.000,4,0.000,0.032,3018,695,2029,0,0,0,0,0,0
$GC,12730,0.62,194.6,856.1,10.7,887,12738,0.00,2.05,0.00,0.000,6,0.000,0.025,3018,2076,2028,0,0,0,0,0,0
$GC,13046,0.62,194.6,820.2,11.5,903,13051,0.00,2.15,0.00,0.000,4,0.000,0.041,3018,3468,2027,0,0,0,0,0,0
$GC,13114,0.62,194.6,810.5,15.1,906,13118,0.00,2.00,0.00,0.000,6,0.000,0.021,3027,2102,2026,0,0,0,0,0,0
$GC,13448,0.62,194.6,760.5,15.9,922,13453,0.00,2.12,0.00,0.000,4,0.000,0.035,3035,698,2026,0,0,0,0,0,0
$GC,13611,0.62,194.6,734.2,16.4,929,13616,0.12,1.95,0.00,0.000,6,0.153,0.025,3001,2028,2026,0,0,0,0,0,0
$GC,13936,0.62,194.6,691.9,12.2,945,13940,0.00,2.22,0.00,0.000,4,0.000,0.041,3001,3464,2026,0,0,0,0,0,0
$GC,13983,0.62,194.6,685.9,12.9,947,13987,0.00,2.12,0.00,0.000,6,0.000,0.021,3009,2020,2025,0,0,0,0,0,0
$GC,14313,0.62,194.7,651.6,9.7,963,14316,0.00,2.00,0.00,0.000,4,0.000,0.034,3019,679,2025,0,0,0,0,0,0
$GC,14475,0.64,212.9,636.5,9.1,970,14497,0.00,1.88,14.07,1.105,6,0.000,0.024,3019,1953,1971,0,0,0,0,0,0
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$STATE,20352,end climb,SURFACE_DEPTH_REACHED
$STATE,20353,begin surface coast
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$STATE,20382,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,68.841
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$FG_AHR_10Vo,0.000
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$MEM,323984
$DATA_FILE_SIZE,93559,1609
$CAP_FILE_SIZE,216622,0
$CFSIZE,260165632,99016704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240,321.9,1
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