version: 66.09
glider: 167
mission: 8
dive: 252
start: 8 3 111 23 57 2
data:
$ID,167
$MISSION,8
$DIVE,252
$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,-56704.293
$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,73
$R_STBD_OVSHOOT,54
$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
$GPS1,030811,233730,1920.273,12313.070,42,1.5,43,-2.3
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-65.1
$GPS2,030811,235636,1920.021,12313.063,15,1.1,31,-2.3
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,60.3,154578,-15.3,-9.706
$D_GRID,4720
$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,18,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-97.28,0.000,2,0.000,0.000,109,1977,3272,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.8,-12.5,13,147,10.02,2.20,-5.47,0.000,4,0.230,0.035,2599,473,3636,0,0,0,0,0,0
$GC,282,-0.62,-194.6,61.6,-25.1,41,290,0.00,2.08,0.00,0.000,6,0.000,0.021,2591,1888,3637,0,0,0,0,0,0
$GC,355,-0.62,-194.6,81.2,-25.2,54,363,0.00,2.05,0.00,0.000,4,0.000,0.031,2581,3268,3636,0,0,0,0,0,0
$GC,376,-0.62,-194.6,84.8,-22.0,56,384,0.00,2.03,0.00,0.000,6,0.000,0.016,2581,1840,3636,0,0,0,0,0,0
$GC,452,-0.62,-194.6,100.7,-21.9,69,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1839,3637,0,0,0,0,0,0
$GC,526,-0.62,-194.6,117.4,-21.3,82,534,0.00,1.95,0.00,0.000,4,0.000,0.028,2581,506,3637,0,0,0,0,0,0
$GC,580,-0.62,-194.6,127.6,-18.1,91,588,0.00,2.15,0.00,0.000,6,0.000,0.028,2574,1985,3637,0,0,0,0,0,0
$GC,657,-0.62,-194.6,142.5,-19.2,104,665,0.00,1.90,0.00,0.000,4,0.000,0.034,2565,3263,3637,0,0,0,0,0,0
$GC,712,-0.62,-194.6,152.7,-18.7,113,722,0.10,1.65,0.00,0.000,6,0.151,0.016,2596,2050,3637,0,0,0,0,0,0
$GC,792,-0.62,-194.6,164.0,-12.9,126,799,0.00,2.25,0.00,0.000,4,0.000,0.027,2596,510,3637,0,0,0,0,0,0
$GC,836,-0.62,-194.6,170.1,-13.5,133,843,0.00,2.25,0.00,0.000,6,0.000,0.021,2590,2051,3637,0,0,0,0,0,0
$GC,909,-0.62,-194.6,179.3,-13.1,146,917,0.00,1.80,0.00,0.000,4,0.000,0.034,2587,3265,3637,0,0,0,0,0,0
$GC,933,-0.62,-194.6,181.9,-11.9,149,941,0.00,1.75,0.00,0.000,6,0.000,0.016,2587,2008,3637,0,0,0,0,0,0
$GC,1009,-0.62,-194.6,191.5,-13.8,162,1016,0.00,2.20,0.00,0.000,4,0.000,0.028,2587,500,3637,0,0,0,0,0,0
$GC,1058,-0.62,-194.6,199.0,-15.2,170,1066,0.00,2.15,0.00,0.000,6,0.000,0.028,2587,1965,3637,0,0,0,0,0,0
$GC,1136,-0.62,-194.6,211.1,-16.0,178,1141,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3273,3637,0,0,0,0,0,0
$GC,1186,-0.62,-194.6,218.7,-14.9,182,1195,0.00,1.80,0.00,0.000,6,0.000,0.017,2588,1985,3637,0,0,0,0,0,0
$GC,1512,-0.62,-194.6,266.3,-15.1,213,1516,0.00,2.12,0.00,0.000,4,0.000,0.028,2587,497,3636,0,0,0,0,0,0
$GC,1589,-0.62,-194.6,276.7,-13.6,219,1593,0.00,2.15,0.00,0.000,6,0.000,0.021,2584,2002,3636,0,0,0,0,0,0
$GC,1915,-0.62,-194.6,321.3,-13.2,249,1919,0.00,1.83,0.00,0.000,4,0.000,0.033,2576,3270,3633,0,0,0,0,0,0
$GC,1944,-0.62,-194.6,325.4,-13.6,251,1952,0.00,1.80,0.00,0.000,6,0.000,0.017,2576,1980,3633,0,0,0,0,0,0
$GC,2270,-0.62,-194.6,369.4,-12.9,282,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1980,3631,0,0,0,0,0,0
$GC,2592,-0.62,-194.6,404.6,-9.9,312,2596,0.00,2.12,0.00,0.000,4,0.000,0.029,2576,501,3629,0,0,0,0,0,0
$GC,2703,-0.62,-194.6,416.4,-9.8,321,2710,0.00,2.08,0.00,0.000,6,0.000,0.022,2576,1932,3629,0,0,0,0,0,0
$GC,3029,-0.62,-194.6,450.0,-11.4,352,3034,0.00,2.00,0.00,0.000,4,0.000,0.035,2575,3270,3625,0,0,0,0,0,0
$GC,3114,-0.62,-194.6,458.8,-10.2,359,3121,0.00,1.85,0.00,0.000,6,0.000,0.018,2575,1948,3625,0,0,0,0,0,0
$GC,3439,-0.62,-194.6,493.6,-10.6,390,3443,0.00,1.95,0.00,0.000,4,0.000,0.034,2574,3270,3622,0,0,0,0,0,0
$GC,3545,-0.62,-194.6,504.2,-9.2,397,3552,0.00,1.77,0.00,0.000,6,0.000,0.018,2575,1997,3622,0,0,0,0,0,0
$GC,3862,-0.62,-194.6,535.9,-10.0,413,3866,0.00,2.17,0.00,0.000,4,0.000,0.030,2575,508,3619,0,0,0,0,0,0
$GC,3951,-0.62,-194.6,545.5,-10.0,417,3955,0.00,2.12,0.00,0.000,6,0.000,0.021,2575,1977,3618,0,0,0,0,0,0
$GC,4279,-0.62,-194.6,575.8,-9.1,433,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1978,3616,0,0,0,0,0,0
$GC,4591,-0.62,-194.6,603.5,-8.5,448,4595,0.00,1.95,0.00,0.000,4,0.000,0.036,2575,3273,3613,0,0,0,0,0,0
$GC,4674,-0.62,-194.6,610.6,-8.1,451,4681,0.00,1.88,0.00,0.000,6,0.000,0.019,2575,1942,3612,0,0,0,0,0,0
$GC,4991,-0.62,-194.6,637.6,-8.8,467,4996,0.00,2.00,0.00,0.000,4,0.000,0.034,2575,3259,3610,0,0,0,0,0,0
$GC,5024,-0.62,-194.6,640.8,-8.6,468,5028,0.00,1.83,0.00,0.000,6,0.000,0.019,2575,1964,3609,0,0,0,0,0,0
$GC,5347,-0.62,-194.6,669.1,-8.7,484,5351,0.00,2.15,0.00,0.000,4,0.000,0.031,2575,504,3606,0,0,0,0,0,0
$GC,5420,-0.62,-194.6,676.2,-9.7,487,5425,0.00,2.10,0.00,0.000,6,0.000,0.023,2575,1927,3605,0,0,0,0,0,0
$GC,5741,-0.62,-194.6,703.6,-8.2,503,5745,0.00,2.00,0.00,0.000,4,0.000,0.037,2575,3264,3603,0,0,0,0,0,0
$GC,5836,-0.62,-194.6,711.2,-7.6,507,5840,0.00,1.85,0.00,0.000,6,0.000,0.020,2574,1959,3602,0,0,0,0,0,0
$GC,6164,-0.62,-194.6,738.5,-9.3,523,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1958,3600,0,0,0,0,0,0
$GC,6473,-0.62,-194.6,768.7,-10.1,538,6478,0.00,2.00,0.00,0.000,4,0.000,0.037,2575,3263,3598,0,0,0,0,0,0
$GC,6525,-0.62,-194.6,773.9,-10.0,540,6528,0.00,1.83,0.00,0.000,6,0.000,0.021,2575,1981,3598,0,0,0,0,0,0
$GC,6853,-0.62,-194.6,806.1,-9.5,556,6857,0.00,2.17,0.00,0.000,4,0.000,0.031,2575,510,3595,0,0,0,0,0,0
$GC,6881,-0.62,-194.6,809.0,-9.5,557,6885,0.00,2.17,0.00,0.000,6,0.000,0.024,2574,1985,3595,0,0,0,0,0,0
$GC,7199,-0.62,-194.6,836.9,-8.6,572,7203,0.00,1.92,0.00,0.000,4,0.000,0.039,2575,3273,3593,0,0,0,0,0,0
$GC,7283,-0.62,-194.6,844.1,-7.9,575,7291,0.00,1.83,0.00,0.000,6,0.000,0.020,2575,1996,3593,0,0,0,0,0,0
$GC,7601,-0.62,-194.6,869.0,-7.9,591,7606,0.00,2.22,0.00,0.000,4,0.000,0.031,2574,510,3591,0,0,0,0,0,0
$GC,7696,-0.62,-194.6,877.4,-8.6,595,7700,0.00,2.15,0.00,0.000,6,0.000,0.024,2574,1949,3590,0,0,0,0,0,0
$GC,8023,-0.62,-194.6,902.0,-7.4,611,8026,0.00,2.00,0.00,0.000,4,0.000,0.038,2574,3274,3589,0,0,0,0,0,0
$GC,8139,-0.62,-194.6,910.3,-7.0,616,8143,0.00,1.85,0.00,0.000,6,0.000,0.020,2575,1996,3589,0,0,0,0,0,0
$GC,8472,-0.62,-194.6,933.5,-6.5,632,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1996,3587,0,0,0,0,0,0
$GC,8782,-0.62,-194.6,951.7,-5.6,647,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1995,3586,0,0,0,0,0,0
$GC,9090,-0.62,-194.6,969.8,-6.0,662,9094,0.00,2.20,0.00,0.000,4,0.000,0.031,2574,514,3585,0,0,0,0,0,0
$GC,9122,-0.62,-194.6,972.2,-6.3,663,9130,0.00,2.17,0.00,0.000,6,0.000,0.024,2574,2001,3585,0,0,0,0,0,0
$STATE,9395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9395,begin apogee
$GC,9403,-0.20,0.0,990.1,6.7,677,9559,0.47,0.00,151.80,1.398,4,0.122,0.000,2731,2067,2839,0,0,0,0,0,0
$STATE,9560,end apogee,CONTROL_FINISHED_OK
$STATE,9560,begin climb
$GC,9564,0.62,194.6,994.7,0.0,684,9746,0.75,2.20,169.30,1.340,4,0.076,0.031,3002,716,2044,0,0,0,0,0,0
$GC,9847,0.62,194.6,969.4,10.8,697,9851,0.00,2.12,0.00,0.000,6,0.000,0.024,3002,2077,2036,0,0,0,0,0,0
$GC,10163,0.62,194.6,935.3,10.7,712,10167,0.00,2.15,0.00,0.000,4,0.000,0.038,3002,3479,2030,0,0,0,0,0,0
$GC,10406,0.62,194.6,905.3,12.7,723,10411,0.00,2.08,0.00,0.000,6,0.000,0.021,3010,2070,2028,0,0,0,0,0,0
$GC,10737,0.62,194.6,866.2,11.6,739,10741,0.00,2.05,0.00,0.000,4,0.000,0.034,3021,682,2026,0,0,0,0,0,0
$GC,10803,0.62,194.6,857.7,11.8,742,10807,0.00,2.00,0.00,0.000,6,0.000,0.024,3021,2034,2026,0,0,0,0,0,0
$GC,11131,0.62,194.6,818.0,12.2,758,11135,0.00,2.00,0.00,0.000,4,0.000,0.033,3029,691,2026,0,0,0,0,0,0
$GC,11160,0.62,194.6,814.3,12.4,759,11165,0.00,2.00,0.00,0.000,6,0.000,0.024,3029,2030,2026,0,0,0,0,0,0
$GC,11487,0.62,194.6,770.2,14.0,775,11491,0.00,2.15,0.00,0.000,4,0.000,0.038,3029,3465,2025,0,0,0,0,0,0
$GC,11559,0.62,194.6,758.4,15.8,778,11564,0.10,2.08,0.00,0.000,6,0.150,0.021,3005,2057,2025,0,0,0,0,0,0
$GC,11883,0.62,194.6,713.8,13.7,794,11886,0.00,2.05,0.00,0.000,4,0.000,0.035,3013,685,2025,0,0,0,0,0,0
$GC,11960,0.62,194.6,702.8,13.7,797,11964,0.00,2.00,0.00,0.000,6,0.000,0.023,3013,2020,2025,0,0,0,0,0,0
$GC,12283,0.62,194.6,663.7,11.5,813,12287,0.00,2.00,0.00,0.000,4,0.000,0.034,3021,692,2024,0,0,0,0,0,0
$GC,12322,0.62,194.6,659.1,10.9,814,12329,0.00,1.95,0.00,0.000,6,0.000,0.023,3021,1993,2024,0,0,0,0,0,0
$GC,12639,0.62,194.6,624.2,10.9,830,12643,0.00,2.25,0.00,0.000,4,0.000,0.037,3021,3466,2024,0,0,0,0,0,0
$GC,12667,0.62,194.6,620.7,11.3,831,12672,0.12,2.12,0.00,0.000,6,0.164,0.021,2998,2010,2024,0,0,0,0,0,0
$GC,12988,0.62,194.6,588.5,10.1,847,12992,0.00,1.95,0.00,0.000,4,0.000,0.035,3006,686,2023,0,0,0,0,0,0
$GC,13022,0.62,194.6,584.9,10.2,848,13026,0.00,1.95,0.00,0.000,6,0.000,0.022,3006,2009,2023,0,0,0,0,0,0
$GC,13345,0.62,194.6,550.0,11.1,864,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2009,2023,0,0,0,0,0,0
$GC,13653,0.62,194.6,515.6,10.9,879,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2010,2023,0,0,0,0,0,0
$GC,13967,0.64,211.9,484.8,9.1,901,13984,0.00,2.28,12.30,0.994,4,0.000,0.037,3006,3472,1974,0,0,0,0,0,0
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$STATE,18506,end climb,SURFACE_DEPTH_REACHED
$STATE,18506,begin surface coast
$FINISH,1.0,1.021378
$STATE,18524,end surface coast,CONTROL_FINISHED_OK
$STATE,18524,begin surface
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$TT8_MAMPS,0.027713,0.027713
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$XPDR_PINGS,76
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$10V_AH,9.9,41.308
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329816
$DATA_FILE_SIZE,83476,1450
$CAP_FILE_SIZE,213090,0
$CFSIZE,260165632,117862400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.249,277.3,1
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