version: 66.09
glider: 167
mission: 8
dive: 310
start: 8 17 111 2 42 29
data:
$ID,167
$MISSION,8
$DIVE,310
$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,-56777.777
$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,71
$R_STBD_OVSHOOT,58
$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
$GPS1,170811,023354,1949.417,12420.302,40,1.5,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.9
$GPS2,170811,024206,1949.430,12420.190,14,1.4,30,-2.4
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,182.2,222720,-15.3,-9.706
$D_GRID,5000
$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,19,begin dive
$GC,22,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-93.28,0.000,2,0.000,0.000,109,1980,3126,0,0,0,0,0,0
$GC,120,-0.62,-194.6,5.9,-9.8,12,145,10.02,2.25,-8.23,0.000,4,0.230,0.038,2606,474,3636,0,0,0,0,0,0
$GC,233,-0.62,-194.6,45.3,-26.1,31,241,0.00,2.08,0.00,0.000,6,0.000,0.021,2599,1884,3637,0,0,0,0,0,0
$GC,309,-0.62,-194.6,62.8,-20.8,44,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1885,3637,0,0,0,0,0,0
$GC,387,-0.62,-194.6,75.6,-14.2,57,395,0.00,2.08,0.00,0.000,4,0.000,0.027,2599,480,3638,0,0,0,0,0,0
$GC,436,-0.62,-194.6,84.1,-16.9,65,444,0.00,1.88,0.00,0.000,6,0.000,0.019,2590,1788,3638,0,0,0,0,0,0
$GC,514,-0.62,-194.6,95.8,-17.0,78,522,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,3261,3639,0,0,0,0,0,0
$GC,536,-0.62,-194.6,100.1,-17.3,81,545,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1818,3639,0,0,0,0,0,0
$GC,613,-0.62,-194.6,113.0,-17.5,94,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1818,3639,0,0,0,0,0,0
$GC,689,-0.62,-194.6,126.9,-19.1,107,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1817,3639,0,0,0,0,0,0
$GC,767,-0.62,-194.6,142.3,-18.5,120,776,0.00,1.95,0.00,0.000,4,0.000,0.029,2587,485,3639,0,0,0,0,0,0
$GC,790,-0.62,-194.6,146.7,-19.1,123,798,0.00,1.98,0.00,0.000,6,0.000,0.020,2580,1857,3639,0,0,0,0,0,0
$GC,867,-0.62,-194.6,161.0,-18.9,136,876,0.00,2.08,0.00,0.000,4,0.000,0.031,2571,3261,3639,0,0,0,0,0,0
$GC,891,-0.62,-194.6,165.6,-18.9,139,899,0.00,1.98,0.00,0.000,6,0.000,0.018,2571,1868,3639,0,0,0,0,0,0
$GC,966,-0.62,-194.6,179.9,-18.3,152,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1868,3639,0,0,0,0,0,0
$GC,1040,-0.62,-194.6,193.5,-18.4,165,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1868,3639,0,0,0,0,0,0
$GC,1116,-0.62,-194.6,206.8,-18.4,175,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1868,3639,0,0,0,0,0,0
$GC,1443,-0.62,-194.6,269.9,-19.2,206,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1868,3638,0,0,0,0,0,0
$GC,1763,-0.62,-194.6,324.5,-15.3,236,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1868,3637,0,0,0,0,0,0
$GC,2092,-0.62,-194.6,363.7,-11.0,267,2096,0.00,2.08,0.00,0.000,4,0.000,0.031,2569,3274,3636,0,0,0,0,0,0
$GC,2160,-0.62,-194.6,371.2,-9.7,272,2169,0.08,2.00,0.00,0.000,6,0.142,0.018,2594,1858,3636,0,0,0,0,0,0
$GC,2487,-0.62,-194.6,397.5,-9.7,303,2490,0.00,1.95,0.00,0.000,4,0.000,0.028,2594,505,3635,0,0,0,0,0,0
$GC,2545,-0.62,-194.6,403.2,-9.8,308,2550,0.00,2.00,0.00,0.000,6,0.000,0.020,2589,1887,3635,0,0,0,0,0,0
$GC,2876,-0.62,-194.6,442.8,-13.5,339,2879,0.00,2.03,0.00,0.000,4,0.000,0.033,2587,3264,3633,0,0,0,0,0,0
$GC,2983,-0.62,-194.6,455.9,-11.6,348,2990,0.00,1.85,0.00,0.000,6,0.000,0.017,2587,1928,3633,0,0,0,0,0,0
$GC,3310,-0.62,-194.6,490.1,-8.8,379,3313,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,519,3631,0,0,0,0,0,0
$GC,3346,-0.62,-194.6,493.4,-8.9,382,3350,0.00,2.03,0.00,0.000,6,0.000,0.020,2587,1927,3631,0,0,0,0,0,0
$GC,3680,-0.62,-194.6,522.1,-8.7,402,3684,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3267,3629,0,0,0,0,0,0
$GC,3796,-0.62,-194.6,531.2,-7.6,407,3800,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1951,3629,0,0,0,0,0,0
$GC,4129,-0.62,-194.6,554.0,-6.8,423,4134,0.00,2.12,0.00,0.000,4,0.000,0.029,2587,508,3626,0,0,0,0,0,0
$GC,4221,-0.62,-194.6,560.9,-7.5,427,4226,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1962,3626,0,0,0,0,0,0
$GC,4556,-0.62,-194.6,589.6,-9.3,443,4559,0.00,1.92,0.00,0.000,4,0.000,0.035,2587,3262,3624,0,0,0,0,0,0
$GC,4606,-0.62,-194.6,594.4,-9.0,445,4609,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,1969,3624,0,0,0,0,0,0
$GC,4936,-0.62,-194.6,625.6,-9.0,461,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1969,3621,0,0,0,0,0,0
$GC,5242,-0.62,-194.6,650.9,-7.8,476,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1969,3620,0,0,0,0,0,0
$GC,5553,-0.62,-194.6,675.4,-8.2,491,5556,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,504,3617,0,0,0,0,0,0
$GC,5587,-0.62,-194.6,678.6,-8.2,492,5594,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1947,3617,0,0,0,0,0,0
$GC,5904,-0.62,-194.6,703.0,-7.6,508,5907,0.00,1.95,0.00,0.000,4,0.000,0.036,2587,3270,3615,0,0,0,0,0,0
$GC,5942,-0.62,-194.6,705.9,-7.4,509,5949,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1975,3615,0,0,0,0,0,0
$GC,6260,-0.62,-194.6,728.2,-6.6,525,6264,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3270,3613,0,0,0,0,0,0
$GC,6288,-0.62,-194.6,730.2,-6.4,526,6292,0.00,1.75,0.00,0.000,6,0.000,0.018,2588,1996,3612,0,0,0,0,0,0
$GC,6617,-0.62,-194.6,751.9,-6.6,542,6622,0.00,2.20,0.00,0.000,4,0.000,0.029,2587,511,3610,0,0,0,0,0,0
$GC,6663,-0.62,-194.6,755.4,-7.3,544,6668,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,1982,3610,0,0,0,0,0,0
$GC,6997,-0.62,-194.6,777.9,-6.6,560,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1983,3607,0,0,0,0,0,0
$GC,7308,-0.62,-194.6,797.5,-6.3,575,7312,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3267,3606,0,0,0,0,0,0
$GC,7377,-0.62,-194.6,801.6,-5.7,578,7381,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1964,3605,0,0,0,0,0,0
$GC,7712,-0.62,-194.6,819.8,-5.4,594,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1963,3604,0,0,0,0,0,0
$GC,8019,-0.62,-194.6,836.0,-5.2,609,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1963,3602,0,0,0,0,0,0
$GC,8329,-0.62,-194.6,851.8,-5.1,624,8333,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,520,3600,0,0,0,0,0,0
$GC,8357,-0.62,-194.6,853.5,-5.2,625,8361,0.00,2.15,0.00,0.000,6,0.000,0.022,2587,1983,3599,0,0,0,0,0,0
$GC,8680,-0.62,-194.6,871.2,-5.7,641,8684,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3258,3599,0,0,0,0,0,0
$GC,8715,-0.62,-194.6,873.2,-5.5,642,8719,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,1998,3599,0,0,0,0,0,0
$GC,9039,-0.62,-194.6,890.7,-5.6,658,9043,0.00,1.90,0.00,0.000,4,0.000,0.038,2587,3257,3597,0,0,0,0,0,0
$GC,9085,-0.62,-194.6,893.3,-5.7,660,9088,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2015,3597,0,0,0,0,0,0
$GC,9419,-0.62,-194.6,913.8,-6.5,676,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2014,3596,0,0,0,0,0,0
$GC,9728,-0.62,-194.6,933.3,-6.0,691,9731,0.00,1.90,0.00,0.000,4,0.000,0.038,2587,3259,3594,0,0,0,0,0,0
$GC,9789,-0.62,-194.6,937.0,-5.8,693,9796,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2054,3593,0,0,0,0,0,0
$GC,10107,-0.62,-194.6,952.0,-4.2,709,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2053,3592,0,0,0,0,0,0
$GC,10415,-0.62,-194.6,963.7,-3.8,724,10418,0.00,1.83,0.00,0.000,4,0.000,0.041,2587,3257,3591,0,0,0,0,0,0
$GC,10443,-0.62,-194.6,964.8,-3.8,725,10447,0.00,1.65,0.00,0.000,6,0.000,0.021,2587,2085,3592,0,0,0,0,0,0
$GC,10772,-0.62,-194.6,978.1,-4.4,741,10777,0.00,2.30,0.00,0.000,4,0.000,0.031,2587,519,3590,0,0,0,0,0,0
$GC,10814,-0.62,-194.6,980.3,-4.7,743,10818,0.00,2.28,0.00,0.000,6,0.000,0.024,2587,2068,3590,0,0,0,0,0,0
$STATE,10994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10994,begin apogee
$GC,11001,-0.20,0.0,990.6,5.8,752,11162,0.43,0.00,155.73,1.398,4,0.116,0.000,2731,2068,2839,0,0,0,0,0,0
$STATE,11163,end apogee,CONTROL_FINISHED_OK
$STATE,11163,begin climb
$GC,11165,0.62,194.6,996.2,0.0,759,11345,0.75,0.00,171.10,1.343,6,0.077,0.000,2994,2068,2044,0,0,0,0,0,0
$GC,11657,0.65,215.3,956.2,9.0,783,11680,0.00,2.15,17.55,1.245,4,0.000,0.032,3002,717,1960,0,0,0,0,0,0
$GC,11729,0.67,232.0,949.2,9.1,786,11750,0.00,2.00,16.02,1.228,6,0.000,0.024,3002,2030,1893,0,0,0,0,0,0
$GC,12073,0.67,232.0,916.3,9.8,803,12077,0.00,2.17,0.00,0.000,4,0.000,0.038,3002,3470,1888,0,0,0,0,0,0
$GC,12114,0.67,232.0,911.8,10.8,805,12117,0.00,2.03,0.00,0.000,6,0.000,0.021,3010,2088,1886,0,0,0,0,0,0
$GC,12447,0.67,232.0,873.9,12.2,821,12452,0.00,2.10,0.00,0.000,4,0.000,0.033,3019,694,1885,0,0,0,0,0,0
$GC,12576,0.67,232.0,856.9,13.1,826,12583,0.00,1.92,0.00,0.000,6,0.000,0.024,3019,2009,1885,0,0,0,0,0,0
$GC,12892,0.67,232.0,810.1,15.0,842,12897,0.00,2.00,0.00,0.000,4,0.000,0.033,3025,692,1884,0,0,0,0,0,0
$GC,12926,0.67,232.0,805.0,15.0,843,12930,0.00,1.95,0.00,0.000,6,0.000,0.023,3024,2014,1884,0,0,0,0,0,0
$GC,13248,0.67,232.0,755.4,15.2,859,13253,0.00,2.20,0.00,0.000,4,0.000,0.038,3025,3466,1884,0,0,0,0,0,0
$GC,13338,0.67,232.0,740.6,16.3,863,13342,0.00,2.05,0.00,0.000,6,0.000,0.021,3034,2063,1883,0,0,0,0,0,0
$GC,13667,0.67,232.0,694.4,13.1,879,13670,0.00,2.05,0.00,0.000,4,0.000,0.033,3043,684,1883,0,0,0,0,0,0
$GC,13758,0.67,232.0,683.5,11.7,883,13762,0.00,2.03,0.00,0.000,6,0.000,0.024,3044,2067,1883,0,0,0,0,0,0
$GC,14093,0.67,232.0,644.8,11.7,899,14094,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2067,1882,0,0,0,0,0,0
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$STATE,19836,end climb,SURFACE_DEPTH_REACHED
$STATE,19836,begin surface coast
$FINISH,0.8,1.021158
$STATE,19865,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,73
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$10V_AH,9.8,50.665
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$FG_AHR_10Vo,0.000
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$MEM,329652
$DATA_FILE_SIZE,86777,1490
$CAP_FILE_SIZE,213576,0
$CFSIZE,260165632,112029696
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