version: 66.09
glider: 167
mission: 8
dive: 328
start: 8 21 111 5 16 55
data:
$ID,167
$MISSION,8
$DIVE,328
$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,-56803.52
$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,80
$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
$GPS1,210811,050906,1911.597,12419.022,31,1.0,31,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.2
$GPS2,210811,051632,1911.691,12418.991,13,1.8,13,-2.3
$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,150.8,153901,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.62,-194.6,0.0,0.0,0,106,0.00,0.00,-81.95,0.000,2,0.000,0.000,112,1816,2897,0,0,0,0,0,0
$GC,109,-0.62,-194.6,5.4,-10.2,12,140,9.93,1.95,-12.82,0.000,4,0.226,0.047,2591,474,3635,0,0,0,0,0,0
$GC,186,-0.62,-194.6,33.1,-28.9,24,195,0.00,2.08,0.00,0.000,6,0.000,0.022,2584,1879,3636,0,0,0,0,0,0
$GC,334,-0.62,-194.6,73.5,-29.4,49,341,0.00,2.05,0.00,0.000,4,0.000,0.031,2573,3274,3636,0,0,0,0,0,0
$GC,423,-0.62,-194.6,98.5,-24.7,64,430,0.00,2.00,0.00,0.000,6,0.000,0.027,2573,1880,3636,0,0,0,0,0,0
$GC,570,-0.62,-194.6,130.6,-20.8,89,578,0.00,2.03,0.00,0.000,4,0.000,0.028,2573,492,3637,0,0,0,0,0,0
$GC,586,-0.62,-194.6,134.4,-20.9,91,594,0.05,1.98,0.00,0.000,6,0.164,0.018,2594,1867,3637,0,0,0,0,0,0
$GC,733,-0.62,-194.6,161.6,-18.0,116,741,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,3252,3637,0,0,0,0,0,0
$GC,780,-0.62,-194.6,169.1,-16.6,123,787,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1890,3637,0,0,0,0,0,0
$GC,924,-0.62,-194.6,193.5,-17.3,148,932,0.00,2.03,0.00,0.000,4,0.000,0.031,2585,3253,3637,0,0,0,0,0,0
$GC,948,-0.62,-194.6,197.1,-16.3,151,955,0.00,1.80,0.00,0.000,6,0.000,0.017,2586,1953,3637,0,0,0,0,0,0
$GC,1084,-0.62,-194.6,219.9,-16.9,165,1087,0.00,2.08,0.00,0.000,4,0.000,0.028,2585,521,3637,0,0,0,0,0,0
$GC,1108,-0.62,-194.6,224.0,-17.2,167,1111,0.00,2.03,0.00,0.000,6,0.000,0.020,2575,1941,3638,0,0,0,0,0,0
$GC,1440,-0.62,-194.6,277.9,-16.1,198,1443,0.00,1.90,0.00,0.000,4,0.000,0.033,2569,3260,3637,0,0,0,0,0,0
$GC,1462,-0.62,-194.6,281.4,-15.2,200,1467,0.00,1.85,0.00,0.000,6,0.000,0.018,2569,1945,3637,0,0,0,0,0,0
$GC,1795,-0.62,-194.6,332.8,-15.7,231,1800,0.10,2.10,0.00,0.000,4,0.177,0.028,2595,500,3636,0,0,0,0,0,0
$GC,1869,-0.62,-194.6,343.9,-13.4,237,1872,0.00,2.00,0.00,0.000,6,0.000,0.020,2588,1919,3636,0,0,0,0,0,0
$GC,2201,-0.62,-194.6,389.2,-13.7,268,2204,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3262,3634,0,0,0,0,0,0
$GC,2281,-0.62,-194.6,399.5,-11.8,275,2285,0.00,1.83,0.00,0.000,6,0.000,0.018,2588,1944,3633,0,0,0,0,0,0
$GC,2614,-0.62,-194.6,437.5,-10.9,306,2618,0.00,2.08,0.00,0.000,4,0.000,0.028,2588,519,3632,0,0,0,0,0,0
$GC,2660,-0.62,-194.6,442.4,-10.6,310,2665,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1925,3632,0,0,0,0,0,0
$GC,2991,-0.62,-194.6,475.4,-9.5,341,2994,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3263,3630,0,0,0,0,0,0
$GC,3053,-0.62,-194.6,481.2,-8.8,346,3062,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1930,3630,0,0,0,0,0,0
$GC,3388,-0.62,-194.6,510.3,-8.2,372,3391,0.00,2.08,0.00,0.000,4,0.000,0.029,2588,510,3628,0,0,0,0,0,0
$GC,3451,-0.62,-194.6,515.2,-7.5,374,3459,0.00,2.03,0.00,0.000,6,0.000,0.021,2588,1923,3627,0,0,0,0,0,0
$GC,3768,-0.62,-194.6,537.7,-7.1,390,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1924,3625,0,0,0,0,0,0
$GC,4079,-0.62,-194.6,561.6,-8.1,405,4082,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3270,3623,0,0,0,0,0,0
$GC,4207,-0.62,-194.6,571.2,-7.1,410,4215,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1903,3622,0,0,0,0,0,0
$GC,4523,-0.62,-194.6,597.9,-8.7,426,4527,0.00,2.03,0.00,0.000,4,0.000,0.034,2587,3267,3620,0,0,0,0,0,0
$GC,4570,-0.62,-194.6,601.7,-8.3,428,4575,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1930,3620,0,0,0,0,0,0
$GC,4903,-0.62,-194.6,627.2,-7.1,444,4907,0.00,2.08,0.00,0.000,4,0.000,0.029,2587,517,3617,0,0,0,0,0,0
$GC,4977,-0.62,-194.6,633.0,-8.0,447,4981,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1907,3616,0,0,0,0,0,0
$GC,5305,-0.62,-194.6,659.6,-8.3,463,5308,0.00,2.00,0.00,0.000,4,0.000,0.036,2587,3265,3614,0,0,0,0,0,0
$GC,5367,-0.62,-194.6,664.5,-7.6,465,5374,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1902,3614,0,0,0,0,0,0
$GC,5685,-0.62,-194.6,689.1,-7.8,481,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1901,3611,0,0,0,0,0,0
$GC,5993,-0.62,-194.6,711.6,-7.2,496,5996,0.00,2.03,0.00,0.000,4,0.000,0.035,2587,3262,3610,0,0,0,0,0,0
$GC,6066,-0.62,-194.6,716.9,-7.0,499,6070,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1938,3609,0,0,0,0,0,0
$GC,6396,-0.62,-194.6,742.0,-8.1,515,6400,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,511,3607,0,0,0,0,0,0
$GC,6446,-0.62,-194.6,746.9,-9.0,517,6450,0.00,2.08,0.00,0.000,6,0.000,0.022,2588,1917,3607,0,0,0,0,0,0
$GC,6769,-0.62,-194.6,773.2,-8.0,533,6773,0.00,2.00,0.00,0.000,4,0.000,0.038,2587,3262,3604,0,0,0,0,0,0
$GC,6816,-0.62,-194.6,776.8,-7.7,535,6820,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1933,3604,0,0,0,0,0,0
$GC,7152,-0.62,-194.6,800.0,-6.7,551,7156,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3266,3601,0,0,0,0,0,0
$GC,7191,-0.62,-194.6,802.7,-6.5,552,7197,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1952,3601,0,0,0,0,0,0
$GC,7507,-0.62,-194.6,824.2,-7.1,568,7511,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3266,3600,0,0,0,0,0,0
$GC,7558,-0.62,-194.6,827.8,-6.9,570,7563,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1961,3599,0,0,0,0,0,0
$GC,7885,-0.62,-194.6,852.0,-7.7,586,7889,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3273,3598,0,0,0,0,0,0
$GC,7913,-0.62,-194.6,854.0,-7.7,587,7916,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1980,3598,0,0,0,0,0,0
$GC,8242,-0.62,-194.6,876.8,-6.6,603,8246,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,508,3596,0,0,0,0,0,0
$GC,8315,-0.62,-194.6,882.3,-7.1,606,8318,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1955,3596,0,0,0,0,0,0
$GC,8638,-0.62,-194.6,900.8,-5.3,622,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1955,3594,0,0,0,0,0,0
$GC,8946,-0.62,-194.6,917.3,-5.4,637,8951,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3261,3593,0,0,0,0,0,0
$GC,8997,-0.62,-194.6,920.0,-5.5,639,9000,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1962,3592,0,0,0,0,0,0
$GC,9326,-0.62,-194.6,938.1,-5.6,655,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1961,3591,0,0,0,0,0,0
$GC,9633,-0.62,-194.6,955.5,-5.5,670,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1961,3591,0,0,0,0,0,0
$GC,9944,-0.62,-194.6,971.0,-4.9,685,9948,0.00,2.15,0.00,0.000,4,0.000,0.031,2588,512,3589,0,0,0,0,0,0
$GC,9994,-0.62,-194.6,973.8,-5.0,687,9998,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1952,3589,0,0,0,0,0,0
$GC,10316,-0.62,-194.6,989.0,-4.8,703,10319,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3268,3588,0,0,0,0,0,0
$STATE,10337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10337,begin apogee
$GC,10347,-0.20,0.0,990.1,4.7,704,10511,0.43,0.00,156.38,1.391,4,0.108,0.000,2733,2062,2839,0,0,0,0,0,0
$STATE,10512,end apogee,CONTROL_FINISHED_OK
$STATE,10512,begin climb
$GC,10516,0.62,194.6,992.7,0.0,711,10694,0.75,0.00,171.27,1.335,6,0.073,0.000,2999,2061,2044,0,0,0,0,0,0
$GC,11005,0.62,194.6,936.1,13.1,735,11009,0.00,2.08,0.00,0.000,4,0.000,0.031,3006,668,2034,0,0,0,0,0,0
$GC,11032,0.62,194.6,931.9,13.3,736,11037,0.00,2.12,0.00,0.000,6,0.000,0.023,3007,2070,2034,0,0,0,0,0,0
$GC,11354,0.62,194.6,886.8,14.2,752,11358,0.00,2.12,0.00,0.000,4,0.000,0.038,3007,3468,2031,0,0,0,0,0,0
$GC,11440,0.62,194.6,873.9,14.9,756,11444,0.00,2.03,0.00,0.000,6,0.000,0.021,3016,2073,2031,0,0,0,0,0,0
$GC,11772,0.62,194.6,827.2,13.6,772,11777,0.00,2.08,0.00,0.000,4,0.000,0.031,3024,685,2030,0,0,0,0,0,0
$GC,11913,0.62,194.6,808.9,12.7,778,11918,0.00,2.08,0.00,0.000,6,0.000,0.024,3024,2066,2030,0,0,0,0,0,0
$GC,12240,0.62,194.6,767.9,12.3,794,12244,0.00,2.12,0.00,0.000,4,0.000,0.038,3025,3469,2029,0,0,0,0,0,0
$GC,12382,0.62,194.6,749.2,13.3,800,12387,0.12,1.98,0.00,0.000,6,0.167,0.021,3000,2095,2028,0,0,0,0,0,0
$GC,12699,0.62,194.6,714.7,10.7,815,12704,0.00,2.10,0.00,0.000,4,0.000,0.032,3008,695,2028,0,0,0,0,0,0
$GC,12836,0.62,194.6,699.9,10.6,821,12841,0.00,2.03,0.00,0.000,6,0.000,0.023,3008,2056,2028,0,0,0,0,0,0
$GC,13168,0.62,194.6,661.2,11.7,837,13172,0.00,2.15,0.00,0.000,4,0.000,0.038,3009,3469,2028,0,0,0,0,0,0
$GC,13277,0.62,194.6,647.0,13.0,842,13282,0.00,2.03,0.00,0.000,6,0.000,0.021,3017,2093,2027,0,0,0,0,0,0
$GC,13609,0.62,194.6,604.2,12.8,858,13613,0.00,2.08,0.00,0.000,4,0.000,0.033,3017,698,2027,0,0,0,0,0,0
$GC,13739,0.62,194.6,588.0,12.6,863,13746,0.00,2.00,0.00,0.000,6,0.000,0.023,3017,2050,2027,0,0,0,0,0,0
$GC,14056,0.62,194.6,548.6,12.1,879,14060,0.00,2.15,0.00,0.000,4,0.000,0.037,3018,3473,2027,0,0,0,0,0,0
$GC,14096,0.62,194.6,543.4,12.4,881,14100,0.00,2.08,0.00,0.000,6,0.000,0.020,3027,2043,2027,0,0,0,0,0,0
$GC,14431,0.62,194.6,504.0,11.1,897,14435,0.00,2.00,0.00,0.000,4,0.000,0.033,3034,687,2026,0,0,0,0,0,0
$GC,14583,0.62,194.6,486.8,10.6,908,14594,0.12,1.90,0.00,0.000,6,0.148,0.022,2999,1993,2026,0,0,0,0,0,0
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$STATE,19073,end climb,SURFACE_DEPTH_REACHED
$STATE,19073,begin surface coast
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$STATE,19092,end surface coast,CONTROL_FINISHED_OK
$STATE,19092,begin surface
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$10V_AH,9.8,53.320
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$FG_AHR_10Vo,0.000
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$MEM,329692
$DATA_FILE_SIZE,86991,1469
$CAP_FILE_SIZE,205346,0
$CFSIZE,260165632,110280704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,274.1,1
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