version: 66.09
glider: 167
mission: 8
dive: 263
start: 8 6 111 12 22 26
data:
$ID,167
$MISSION,8
$DIVE,263
$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,-56718.43
$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,67
$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
$GPS1,060811,120955,1930.811,12321.795,36,1.3,37,-2.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.2
$GPS2,060811,122201,1930.801,12321.488,10,1.2,15,-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,77.5,130524,-15.3,-9.706
$D_GRID,4977
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-93.43,0.000,2,0.000,0.000,110,1882,3113,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.9,-10.5,13,144,9.90,2.05,-8.27,0.000,4,0.227,0.035,2580,3295,3635,0,0,0,0,0,0
$GC,222,-0.62,-194.6,48.3,-31.3,30,231,0.00,2.08,0.00,0.000,6,0.000,0.020,2581,1875,3636,0,0,0,0,0,0
$GC,299,-0.62,-194.6,69.4,-24.9,43,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1874,3636,0,0,0,0,0,0
$GC,377,-0.62,-194.6,87.7,-22.1,56,385,0.00,2.10,0.00,0.000,4,0.000,0.030,2572,3271,3636,0,0,0,0,0,0
$GC,418,-0.62,-194.6,95.5,-19.7,62,426,0.00,1.77,0.00,0.000,6,0.000,0.017,2572,2022,3636,0,0,0,0,0,0
$GC,493,-0.62,-194.6,110.9,-19.1,75,501,0.00,2.28,0.00,0.000,4,0.000,0.028,2572,473,3637,0,0,0,0,0,0
$GC,531,-0.62,-194.6,118.1,-19.0,81,541,0.10,2.17,0.00,0.000,6,0.145,0.021,2595,1963,3637,0,0,0,0,0,0
$GC,609,-0.62,-194.6,130.1,-14.9,94,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1963,3637,0,0,0,0,0,0
$GC,683,-0.62,-194.6,140.6,-13.4,107,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1963,3637,0,0,0,0,0,0
$GC,761,-0.62,-194.6,150.6,-12.7,120,769,0.00,1.95,0.00,0.000,4,0.000,0.033,2587,3271,3637,0,0,0,0,0,0
$GC,806,-0.62,-194.6,156.2,-11.8,127,815,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1900,3638,0,0,0,0,0,0
$GC,882,-0.62,-194.6,166.4,-13.7,140,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1901,3637,0,0,0,0,0,0
$GC,960,-0.62,-194.6,177.5,-15.4,153,968,0.00,2.05,0.00,0.000,4,0.000,0.032,2587,3264,3637,0,0,0,0,0,0
$GC,1005,-0.62,-194.6,185.1,-16.0,160,1014,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1939,3638,0,0,0,0,0,0
$GC,1085,-0.62,-194.6,196.0,-14.5,173,1092,0.00,2.10,0.00,0.000,4,0.000,0.028,2587,505,3637,0,0,0,0,0,0
$GC,1124,-0.62,-194.6,202.6,-15.2,178,1127,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1887,3637,0,0,0,0,0,0
$GC,1457,-0.62,-194.6,257.7,-15.7,209,1461,0.00,2.03,0.00,0.000,4,0.000,0.032,2579,3271,3637,0,0,0,0,0,0
$GC,1542,-0.62,-194.6,269.6,-12.7,216,1550,0.00,1.92,0.00,0.000,6,0.000,0.017,2579,1907,3636,0,0,0,0,0,0
$GC,1867,-0.62,-194.6,310.9,-10.5,247,1871,0.00,2.03,0.00,0.000,4,0.000,0.028,2580,508,3634,0,0,0,0,0,0
$GC,1901,-0.62,-194.6,314.7,-11.4,250,1904,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,1898,3634,0,0,0,0,0,0
$GC,2233,-0.62,-194.6,355.6,-13.8,281,2237,0.00,2.03,0.00,0.000,4,0.000,0.033,2566,3274,3633,0,0,0,0,0,0
$GC,2290,-0.62,-194.6,363.5,-13.0,286,2296,0.08,1.90,0.00,0.000,6,0.135,0.018,2593,1917,3632,0,0,0,0,0,0
$GC,2621,-0.62,-194.6,407.6,-12.6,317,2625,0.00,2.00,0.00,0.000,4,0.000,0.029,2593,524,3630,0,0,0,0,0,0
$GC,2705,-0.62,-194.6,417.2,-10.6,324,2712,0.00,2.03,0.00,0.000,6,0.000,0.020,2590,1933,3630,0,0,0,0,0,0
$GC,3031,-0.62,-194.6,447.2,-8.7,355,3035,0.00,1.98,0.00,0.000,4,0.000,0.034,2588,3272,3628,0,0,0,0,0,0
$GC,3145,-0.62,-194.6,455.6,-6.8,365,3149,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1940,3627,0,0,0,0,0,0
$GC,3477,-0.62,-194.6,485.0,-10.3,396,3481,0.00,2.08,0.00,0.000,4,0.000,0.030,2588,517,3625,0,0,0,0,0,0
$GC,3551,-0.62,-194.6,493.3,-10.9,402,3555,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1907,3625,0,0,0,0,0,0
$GC,3886,-0.62,-194.6,529.7,-10.5,421,3890,0.00,2.03,0.00,0.000,4,0.000,0.034,2587,3260,3622,0,0,0,0,0,0
$GC,3957,-0.62,-194.6,537.2,-9.5,424,3961,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1924,3622,0,0,0,0,0,0
$GC,4286,-0.62,-194.6,563.9,-7.1,440,4291,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,521,3620,0,0,0,0,0,0
$GC,4347,-0.62,-194.6,568.7,-7.5,442,4354,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1902,3619,0,0,0,0,0,0
$GC,4665,-0.62,-194.6,591.0,-7.6,458,4669,0.00,2.03,0.00,0.000,4,0.000,0.034,2587,3266,3617,0,0,0,0,0,0
$GC,4802,-0.62,-194.6,600.6,-6.9,464,4806,0.00,1.85,0.00,0.000,6,0.000,0.019,2588,1937,3616,0,0,0,0,0,0
$GC,5136,-0.62,-194.6,626.2,-7.9,480,5139,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3267,3613,0,0,0,0,0,0
$GC,5163,-0.62,-194.6,628.1,-7.9,481,5167,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1957,3613,0,0,0,0,0,0
$GC,5497,-0.62,-194.6,655.0,-8.0,497,5500,0.00,2.12,0.00,0.000,4,0.000,0.031,2588,515,3610,0,0,0,0,0,0
$GC,5587,-0.62,-194.6,662.8,-8.8,501,5591,0.00,2.03,0.00,0.000,6,0.000,0.024,2587,1904,3610,0,0,0,0,0,0
$GC,5915,-0.62,-194.6,688.5,-8.2,517,5918,0.00,2.03,0.00,0.000,4,0.000,0.037,2587,3270,3608,0,0,0,0,0,0
$GC,6095,-0.62,-194.6,702.6,-7.5,525,6099,0.00,1.80,0.00,0.000,6,0.000,0.019,2588,1985,3607,0,0,0,0,0,0
$GC,6429,-0.62,-194.6,728.1,-7.8,541,6433,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,513,3604,0,0,0,0,0,0
$GC,6456,-0.62,-194.6,730.6,-8.0,542,6460,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1991,3604,0,0,0,0,0,0
$GC,6774,-0.62,-194.6,755.8,-7.8,557,6778,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3271,3602,0,0,0,0,0,0
$GC,6801,-0.62,-194.6,757.9,-7.5,558,6805,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,2004,3602,0,0,0,0,0,0
$GC,7131,-0.62,-194.6,777.9,-5.4,574,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2003,3600,0,0,0,0,0,0
$GC,7438,-0.62,-194.6,792.2,-4.4,589,7443,0.00,2.22,0.00,0.000,4,0.000,0.032,2588,521,3598,0,0,0,0,0,0
$GC,7494,-0.62,-194.6,795.3,-4.8,591,7498,0.00,2.20,0.00,0.000,6,0.000,0.025,2587,2006,3598,0,0,0,0,0,0
$GC,7812,-0.62,-194.6,813.3,-6.1,606,7815,0.00,1.88,0.00,0.000,4,0.000,0.039,2587,3266,3596,0,0,0,0,0,0
$GC,7867,-0.62,-194.6,817.0,-6.2,608,7870,0.00,1.75,0.00,0.000,6,0.000,0.019,2587,2011,3596,0,0,0,0,0,0
$GC,8192,-0.62,-194.6,838.9,-6.9,624,8196,0.00,2.22,0.00,0.000,4,0.000,0.034,2587,517,3594,0,0,0,0,0,0
$GC,8234,-0.62,-194.6,842.1,-6.9,626,8238,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,2006,3594,0,0,0,0,0,0
$GC,8561,-0.62,-194.6,862.7,-5.9,642,8565,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3266,3593,0,0,0,0,0,0
$GC,8625,-0.62,-194.6,866.5,-5.8,644,8632,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,2010,3592,0,0,0,0,0,0
$GC,8942,-0.62,-194.6,884.9,-6.2,660,8946,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,518,3592,0,0,0,0,0,0
$GC,8991,-0.62,-194.6,888.5,-7.0,662,8995,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,2021,3591,0,0,0,0,0,0
$GC,9309,-0.62,-194.6,911.6,-7.6,677,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2021,3590,0,0,0,0,0,0
$GC,9617,-0.62,-194.6,937.1,-8.5,692,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2021,3589,0,0,0,0,0,0
$GC,9928,-0.62,-194.6,962.9,-8.1,707,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2021,3588,0,0,0,0,0,0
$GC,10235,-0.62,-194.6,987.8,-7.8,722,10240,0.00,1.90,0.00,0.000,4,0.000,0.040,2588,3261,3587,0,0,0,0,0,0
$STATE,10266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10266,begin apogee
$GC,10273,-0.20,0.0,990.4,7.7,723,10431,0.43,0.00,153.07,1.404,4,0.114,0.000,2731,2061,2839,0,0,0,0,0,0
$STATE,10432,end apogee,CONTROL_FINISHED_OK
$STATE,10432,begin climb
$GC,10435,0.62,194.6,997.1,0.0,730,10610,0.75,0.00,169.93,1.349,6,0.080,0.000,2993,2061,2045,0,0,0,0,0,0
$GC,10932,0.62,194.6,946.6,12.2,754,10936,0.00,2.17,0.00,0.000,4,0.000,0.037,2993,3462,2033,0,0,0,0,0,0
$GC,10974,0.62,194.6,941.1,13.8,756,10978,0.00,2.05,0.00,0.000,6,0.000,0.020,3001,2082,2033,0,0,0,0,0,0
$GC,11307,0.62,194.6,893.3,14.8,772,11312,0.00,2.10,0.00,0.000,4,0.000,0.034,3011,696,2031,0,0,0,0,0,0
$GC,11444,0.62,194.6,872.2,15.9,778,11448,0.00,1.92,0.00,0.000,6,0.000,0.024,3011,1990,2031,0,0,0,0,0,0
$GC,11777,0.62,194.6,817.2,16.6,794,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1990,2030,0,0,0,0,0,0
$GC,12086,0.62,194.6,769.3,14.8,809,12090,0.00,2.22,0.00,0.000,4,0.000,0.037,3011,3470,2030,0,0,0,0,0,0
$GC,12166,0.62,194.6,757.4,15.1,812,12172,0.00,2.17,0.00,0.000,6,0.000,0.021,3021,1994,2029,0,0,0,0,0,0
$GC,12482,0.62,194.6,711.2,14.3,828,12486,0.00,1.95,0.00,0.000,4,0.000,0.034,3031,684,2029,0,0,0,0,0,0
$GC,12574,0.62,194.6,698.9,13.3,832,12579,0.12,1.83,0.00,0.000,6,0.154,0.024,2998,1949,2029,0,0,0,0,0,0
$GC,12908,0.62,194.6,661.2,10.1,848,12912,0.00,2.28,0.00,0.000,4,0.000,0.037,2998,3466,2028,0,0,0,0,0,0
$GC,13031,0.65,217.4,649.5,8.9,853,13054,0.00,2.15,17.95,1.147,6,0.000,0.022,3006,1991,1952,0,0,0,0,0,0
$GC,13369,0.72,271.3,623.2,7.9,869,13421,0.00,2.03,47.05,1.158,4,0.000,0.035,3015,689,1732,0,0,0,0,0,0
$GC,13505,0.74,295.1,611.3,8.9,875,13531,0.00,1.83,21.48,1.097,6,0.000,0.023,3015,1919,1634,0,0,0,0,0,0
$GC,13857,0.74,295.1,572.4,12.3,892,13861,0.00,2.38,0.00,0.000,4,0.000,0.037,3015,3469,1626,0,0,0,0,0,0
$GC,13924,0.74,295.1,562.8,13.9,895,13928,0.00,2.25,0.00,0.000,6,0.000,0.022,3025,1944,1624,0,0,0,0,0,0
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$STATE,18744,end climb,SURFACE_DEPTH_REACHED
$STATE,18744,begin surface coast
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$STATE,18775,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,43.129
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,83640,1448
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