version: 66.09
glider: 167
mission: 8
dive: 318
start: 8 18 111 22 23 13
data:
$ID,167
$MISSION,8
$DIVE,318
$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,-56790.945
$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,65
$R_STBD_OVSHOOT,55
$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
$GPS1,180811,221525,1931.620,12419.344,40,1.1,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.4
$GPS2,180811,222249,1931.612,12419.273,11,1.6,16,-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,155.9,190216,-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,15,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-94.03,0.000,2,0.000,0.000,110,1997,3202,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.4,-11.8,13,147,10.05,2.25,-6.80,0.000,4,0.231,0.037,2596,475,3637,0,0,0,0,0,0
$GC,201,-0.62,-194.6,38.2,-22.2,26,209,0.00,2.08,0.00,0.000,6,0.000,0.029,2589,1882,3638,0,0,0,0,0,0
$GC,279,-0.62,-194.6,56.2,-23.1,39,289,0.00,2.08,0.00,0.000,4,0.000,0.032,2578,3268,3638,0,0,0,0,0,0
$GC,316,-0.62,-194.6,64.2,-21.4,44,324,0.00,1.92,0.00,0.000,6,0.000,0.017,2578,1919,3638,0,0,0,0,0,0
$GC,395,-0.62,-194.6,80.5,-23.3,57,403,0.00,2.08,0.00,0.000,4,0.000,0.026,2578,497,3638,0,0,0,0,0,0
$GC,412,-0.62,-194.6,84.0,-21.8,59,421,0.00,2.15,0.00,0.000,6,0.000,0.022,2573,1960,3638,0,0,0,0,0,0
$GC,491,-0.62,-194.6,101.2,-25.1,72,498,0.00,2.15,0.00,0.000,4,0.000,0.026,2573,503,3638,0,0,0,0,0,0
$GC,512,-0.62,-194.6,106.8,-24.2,75,521,0.08,1.95,0.00,0.000,6,0.149,0.021,2589,1844,3638,0,0,0,0,0,0
$GC,591,-0.62,-194.6,121.5,-19.0,88,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1844,3638,0,0,0,0,0,0
$GC,667,-0.62,-194.6,135.6,-17.6,101,676,0.00,2.12,0.00,0.000,4,0.000,0.033,2581,3271,3639,0,0,0,0,0,0
$GC,747,-0.62,-194.6,148.6,-16.1,114,755,0.00,2.17,0.00,0.000,6,0.000,0.018,2581,1756,3639,0,0,0,0,0,0
$GC,824,-0.62,-194.6,161.3,-16.7,127,834,0.00,2.25,0.00,0.000,4,0.000,0.030,2574,3260,3639,0,0,0,0,0,0
$GC,848,-0.62,-194.6,165.6,-17.1,130,856,0.00,2.08,0.00,0.000,6,0.000,0.018,2574,1814,3639,0,0,0,0,0,0
$GC,922,-0.62,-194.6,178.8,-17.7,143,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1814,3639,0,0,0,0,0,0
$GC,995,-0.62,-194.6,191.2,-16.9,156,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1814,3639,0,0,0,0,0,0
$GC,1072,-0.62,-194.6,203.9,-17.4,167,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1814,3639,0,0,0,0,0,0
$GC,1401,-0.62,-194.6,261.3,-17.4,198,1405,0.00,2.12,0.00,0.000,4,0.000,0.031,2570,3263,3638,0,0,0,0,0,0
$GC,1432,-0.62,-194.6,267.0,-18.0,200,1436,0.00,2.00,0.00,0.000,6,0.000,0.018,2570,1846,3638,0,0,0,0,0,0
$GC,1763,-0.62,-194.6,326.0,-16.3,231,1766,0.00,1.95,0.00,0.000,4,0.000,0.029,2570,497,3637,0,0,0,0,0,0
$GC,1812,-0.62,-194.6,334.4,-16.2,235,1822,0.10,1.92,0.00,0.000,6,0.135,0.021,2596,1831,3637,0,0,0,0,0,0
$GC,2138,-0.62,-194.6,374.4,-10.8,266,2142,0.00,2.10,0.00,0.000,4,0.000,0.033,2587,3259,3636,0,0,0,0,0,0
$GC,2247,-0.62,-194.6,383.7,-7.5,275,2250,0.00,1.98,0.00,0.000,6,0.000,0.018,2588,1855,3636,0,0,0,0,0,0
$GC,2578,-0.62,-194.6,416.5,-10.9,306,2582,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,3271,3634,0,0,0,0,0,0
$GC,2623,-0.62,-194.6,421.7,-11.3,309,2630,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1850,3634,0,0,0,0,0,0
$GC,2949,-0.62,-194.6,458.3,-10.3,340,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1851,3633,0,0,0,0,0,0
$GC,3272,-0.62,-194.6,488.2,-9.3,370,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1850,3631,0,0,0,0,0,0
$GC,3593,-0.62,-194.6,517.4,-9.2,392,3597,0.00,2.10,0.00,0.000,4,0.000,0.034,2587,3256,3630,0,0,0,0,0,0
$GC,3705,-0.62,-194.6,526.7,-8.2,397,3710,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1868,3629,0,0,0,0,0,0
$GC,4032,-0.62,-194.6,556.9,-9.4,413,4036,0.00,2.00,0.00,0.000,4,0.000,0.031,2587,498,3627,0,0,0,0,0,0
$GC,4156,-0.62,-194.6,570.3,-10.6,418,4161,0.00,1.92,0.00,0.000,6,0.000,0.022,2587,1816,3626,0,0,0,0,0,0
$GC,4477,-0.62,-194.6,603.5,-10.7,434,4481,0.00,2.15,0.00,0.000,4,0.000,0.035,2587,3260,3623,0,0,0,0,0,0
$GC,4561,-0.62,-194.6,611.3,-8.9,438,4565,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1855,3623,0,0,0,0,0,0
$GC,4896,-0.62,-194.6,639.0,-8.1,454,4900,0.00,2.10,0.00,0.000,4,0.000,0.034,2587,3269,3620,0,0,0,0,0,0
$GC,4941,-0.62,-194.6,642.8,-7.6,456,4946,0.00,2.00,0.00,0.000,6,0.000,0.028,2587,1888,3620,0,0,0,0,0,0
$GC,5271,-0.62,-194.6,668.3,-8.0,472,5274,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,494,3618,0,0,0,0,0,0
$GC,5310,-0.62,-194.6,671.8,-7.9,473,5316,0.00,2.00,0.00,0.000,6,0.000,0.023,2587,1863,3618,0,0,0,0,0,0
$GC,5626,-0.62,-194.6,693.9,-6.7,489,5630,0.00,2.10,0.00,0.000,4,0.000,0.036,2587,3269,3615,0,0,0,0,0,0
$GC,5721,-0.62,-194.6,700.0,-6.2,493,5726,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1915,3614,0,0,0,0,0,0
$GC,6043,-0.62,-194.6,724.0,-8.1,509,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1915,3612,0,0,0,0,0,0
$GC,6354,-0.62,-194.6,750.3,-8.7,524,6358,0.00,2.03,0.00,0.000,4,0.000,0.037,2587,3267,3609,0,0,0,0,0,0
$GC,6387,-0.62,-194.6,753.4,-8.5,525,6391,0.00,1.92,0.00,0.000,6,0.000,0.021,2587,1927,3609,0,0,0,0,0,0
$GC,6709,-0.62,-194.6,778.0,-7.5,541,6713,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,499,3607,0,0,0,0,0,0
$GC,6753,-0.62,-194.6,781.3,-7.7,543,6756,0.00,2.08,0.00,0.000,6,0.000,0.023,2587,1929,3607,0,0,0,0,0,0
$GC,7086,-0.62,-194.6,805.8,-7.3,559,7089,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3274,3605,0,0,0,0,0,0
$GC,7179,-0.62,-194.6,812.2,-7.1,563,7182,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1971,3604,0,0,0,0,0,0
$GC,7512,-0.62,-194.6,834.4,-6.5,579,7517,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,498,3602,0,0,0,0,0,0
$GC,7539,-0.62,-194.6,836.5,-6.6,580,7543,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1972,3602,0,0,0,0,0,0
$GC,7864,-0.62,-194.6,856.1,-5.7,596,7867,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3267,3600,0,0,0,0,0,0
$GC,7887,-0.62,-194.6,857.4,-5.5,597,7892,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1982,3600,0,0,0,0,0,0
$GC,8220,-0.62,-194.6,874.2,-5.1,613,8224,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,501,3599,0,0,0,0,0,0
$GC,8277,-0.62,-194.6,877.5,-5.8,615,8285,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1952,3598,0,0,0,0,0,0
$GC,8593,-0.62,-194.6,897.2,-6.8,631,8597,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3276,3597,0,0,0,0,0,0
$GC,8685,-0.62,-194.6,903.1,-6.6,635,8689,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1985,3597,0,0,0,0,0,0
$GC,9019,-0.62,-194.6,926.9,-7.4,651,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1985,3595,0,0,0,0,0,0
$GC,9328,-0.62,-194.6,948.9,-7.0,666,9332,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3260,3594,0,0,0,0,0,0
$GC,9362,-0.62,-194.6,951.2,-6.9,667,9366,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,2000,3594,0,0,0,0,0,0
$GC,9685,-0.62,-194.6,974.6,-7.4,683,9689,0.00,2.22,0.00,0.000,4,0.000,0.032,2587,501,3592,0,0,0,0,0,0
$GC,9753,-0.62,-194.6,980.4,-8.5,686,9757,0.00,2.17,0.00,0.000,6,0.000,0.025,2587,1965,3592,0,0,0,0,0,0
$STATE,9886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9886,begin apogee
$GC,9893,-0.20,0.0,990.8,7.6,693,10055,0.43,0.00,155.90,1.392,4,0.116,0.000,2730,2084,2838,0,0,0,0,0,0
$STATE,10056,end apogee,CONTROL_FINISHED_OK
$STATE,10056,begin climb
$GC,10059,0.62,194.6,998.2,0.0,700,10239,0.80,2.20,170.90,1.339,4,0.080,0.032,3000,707,2044,0,0,0,0,0,0
$GC,10398,0.62,194.6,970.4,10.8,716,10402,0.00,2.08,0.00,0.000,6,0.000,0.025,3000,2060,2036,0,0,0,0,0,0
$GC,10733,0.62,194.6,933.9,10.7,732,10737,0.00,2.05,0.00,0.000,4,0.000,0.033,3007,708,2030,0,0,0,0,0,0
$GC,10988,0.62,194.6,907.5,10.1,743,10992,0.00,2.03,0.00,0.000,6,0.000,0.025,3007,2080,2030,0,0,0,0,0,0
$GC,11312,0.62,194.6,874.7,10.1,759,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2080,2028,0,0,0,0,0,0
$GC,11620,0.63,205.1,844.8,9.4,774,11634,0.00,2.15,7.68,1.096,4,0.000,0.033,3014,698,2002,0,0,0,0,0,0
$GC,11697,0.65,219.6,837.5,9.2,777,11718,0.00,2.00,14.68,1.209,6,0.000,0.024,3014,2044,1942,0,0,0,0,0,0
$GC,12043,0.65,219.6,802.7,10.5,794,12047,0.00,2.15,0.00,0.000,4,0.000,0.037,3014,3465,1937,0,0,0,0,0,0
$GC,12106,0.65,219.6,795.0,12.1,797,12110,0.00,2.00,0.00,0.000,6,0.000,0.021,3020,2085,1936,0,0,0,0,0,0
$GC,12439,0.65,219.6,752.0,13.8,813,12442,0.00,2.08,0.00,0.000,4,0.000,0.034,3030,694,1935,0,0,0,0,0,0
$GC,12570,0.65,219.6,732.9,14.9,818,12576,0.00,2.03,0.00,0.000,6,0.000,0.025,3030,2056,1935,0,0,0,0,0,0
$GC,12886,0.65,219.6,686.1,14.5,834,12890,0.00,2.15,0.00,0.000,4,0.000,0.038,3030,3476,1935,0,0,0,0,0,0
$GC,12926,0.65,219.6,679.9,15.8,836,12930,0.00,2.08,0.00,0.000,6,0.000,0.021,3039,2049,1934,0,0,0,0,0,0
$GC,13256,0.65,219.6,632.4,14.3,852,13259,0.00,2.03,0.00,0.000,4,0.000,0.034,3049,685,1934,0,0,0,0,0,0
$GC,13378,0.65,219.6,614.8,14.0,857,13384,0.10,2.03,0.00,0.000,6,0.130,0.024,3015,2048,1934,0,0,0,0,0,0
$GC,13702,0.65,219.6,577.4,11.6,873,13705,0.00,2.03,0.00,0.000,4,0.000,0.032,3021,686,1934,0,0,0,0,0,0
$GC,13770,0.65,219.6,570.1,10.6,876,13775,0.00,1.98,0.00,0.000,6,0.000,0.024,3021,1997,1934,0,0,0,0,0,0
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$STATE,19223,end climb,SURFACE_DEPTH_REACHED
$STATE,19224,begin surface coast
$FINISH,0.9,1.021521
$STATE,19247,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,76
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$10V_AH,9.8,51.953
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$FG_AHR_10Vo,0.000
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$MEM,329632
$DATA_FILE_SIZE,86882,1479
$CAP_FILE_SIZE,218496,0
$CFSIZE,260165632,111235072
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