version: 66.09
glider: 167
mission: 8
dive: 381
start: 9 2 111 18 16 7
data:
$ID,167
$MISSION,8
$DIVE,381
$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,-58685.98
$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,69
$R_STBD_OVSHOOT,59
$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
$GPS1,020911,180730,1804.021,12342.422,39,1.1,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-70.8
$GPS2,020911,181543,1804.042,12342.415,10,1.8,15,-2.0
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,298.8,159408,-15.3,-9.706
$D_GRID,4972
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-95.25,0.000,2,0.000,0.000,111,1943,3173,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.9,-14.1,14,146,10.35,2.15,-7.38,0.000,4,0.237,0.037,2600,475,3634,0,0,0,0,0,0
$GC,215,-0.62,-194.6,42.1,-27.7,29,223,0.00,2.05,0.00,0.000,6,0.000,0.022,2592,1867,3636,0,0,0,0,0,0
$GC,355,-0.62,-194.6,77.1,-19.9,54,364,0.00,2.10,0.00,0.000,4,0.000,0.033,2581,3271,3636,0,0,0,0,0,0
$GC,390,-0.62,-194.6,83.7,-19.3,59,398,0.00,1.92,0.00,0.000,6,0.000,0.018,2582,1908,3636,0,0,0,0,0,0
$GC,531,-0.62,-194.6,112.1,-19.9,84,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1908,3637,0,0,0,0,0,0
$GC,672,-0.62,-194.6,138.9,-18.1,109,678,0.00,2.03,0.00,0.000,4,0.000,0.031,2574,3272,3637,0,0,0,0,0,0
$GC,702,-0.62,-194.6,144.3,-17.6,114,710,0.00,1.88,0.00,0.000,6,0.000,0.027,2574,1953,3637,0,0,0,0,0,0
$GC,844,-0.62,-194.6,169.8,-19.2,139,851,0.00,2.10,0.00,0.000,4,0.000,0.028,2574,498,3637,0,0,0,0,0,0
$GC,903,-0.62,-194.6,181.0,-18.1,149,910,0.00,2.15,0.00,0.000,6,0.000,0.023,2570,1965,3637,0,0,0,0,0,0
$GC,1050,-0.62,-194.6,205.5,-16.1,172,1054,0.00,1.92,0.00,0.000,4,0.000,0.033,2561,3277,3638,0,0,0,0,0,0
$GC,1100,-0.62,-194.6,214.3,-16.3,176,1108,0.10,1.88,0.00,0.000,6,0.136,0.017,2594,1930,3637,0,0,0,0,0,0
$GC,1426,-0.62,-194.6,259.7,-13.9,207,1429,0.00,2.08,0.00,0.000,4,0.000,0.028,2593,495,3637,0,0,0,0,0,0
$GC,1514,-0.62,-194.6,272.1,-13.1,214,1522,0.00,2.05,0.00,0.000,6,0.000,0.021,2590,1923,3636,0,0,0,0,0,0
$GC,1840,-0.62,-194.6,316.4,-13.3,245,1844,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3267,3635,0,0,0,0,0,0
$GC,1864,-0.62,-194.6,319.4,-13.2,247,1867,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1904,3635,0,0,0,0,0,0
$GC,2196,-0.62,-194.6,357.8,-11.0,278,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1904,3634,0,0,0,0,0,0
$GC,2514,-0.62,-194.6,392.7,-10.5,308,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1904,3633,0,0,0,0,0,0
$GC,2836,-0.62,-194.6,426.6,-9.8,338,2840,0.00,2.00,0.00,0.000,4,0.000,0.032,2587,3265,3631,0,0,0,0,0,0
$GC,2860,-0.62,-194.6,429.3,-9.6,340,2864,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1892,3631,0,0,0,0,0,0
$GC,3192,-0.62,-194.6,458.9,-10.0,371,3196,0.00,2.03,0.00,0.000,4,0.000,0.031,2587,508,3629,0,0,0,0,0,0
$GC,3241,-0.62,-194.6,464.5,-11.0,375,3249,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1895,3628,0,0,0,0,0,0
$GC,3567,-0.62,-194.6,495.6,-8.8,406,3571,0.00,2.03,0.00,0.000,4,0.000,0.035,2587,3262,3627,0,0,0,0,0,0
$GC,3711,-0.62,-194.6,506.8,-7.8,415,3714,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1946,3625,0,0,0,0,0,0
$GC,4038,-0.62,-194.6,533.4,-7.7,431,4043,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,514,3624,0,0,0,0,0,0
$GC,4091,-0.62,-194.6,537.5,-8.0,433,4095,0.00,2.05,0.00,0.000,6,0.000,0.022,2587,1922,3623,0,0,0,0,0,0
$GC,4418,-0.62,-194.6,563.6,-8.4,449,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1922,3621,0,0,0,0,0,0
$GC,4728,-0.62,-194.6,590.2,-8.4,464,4733,0.00,2.03,0.00,0.000,4,0.000,0.037,2587,3263,3619,0,0,0,0,0,0
$GC,4819,-0.62,-194.6,597.5,-7.8,468,4824,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1956,3618,0,0,0,0,0,0
$GC,5153,-0.62,-194.6,625.5,-8.8,484,5157,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,515,3615,0,0,0,0,0,0
$GC,5210,-0.62,-194.6,630.9,-9.4,486,5217,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1954,3615,0,0,0,0,0,0
$GC,5526,-0.62,-194.6,657.3,-8.0,502,5530,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3273,3613,0,0,0,0,0,0
$GC,5567,-0.62,-194.6,660.5,-7.8,503,5575,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1953,3613,0,0,0,0,0,0
$GC,5883,-0.62,-194.6,683.4,-6.7,519,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1952,3610,0,0,0,0,0,0
$GC,6192,-0.62,-194.6,704.3,-6.7,534,6197,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,517,3608,0,0,0,0,0,0
$GC,6241,-0.62,-194.6,707.5,-6.6,536,6245,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1972,3608,0,0,0,0,0,0
$GC,6574,-0.62,-194.6,729.6,-6.4,552,6577,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3268,3606,0,0,0,0,0,0
$GC,6692,-0.62,-194.6,737.4,-6.7,557,6695,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,2002,3605,0,0,0,0,0,0
$GC,7019,-0.62,-194.6,761.9,-7.9,573,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2001,3603,0,0,0,0,0,0
$GC,7329,-0.62,-194.6,787.2,-8.1,588,7333,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,517,3601,0,0,0,0,0,0
$GC,7371,-0.62,-194.6,790.6,-8.1,590,7375,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1973,3601,0,0,0,0,0,0
$GC,7698,-0.62,-194.6,814.2,-6.8,606,7702,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3265,3599,0,0,0,0,0,0
$GC,7772,-0.62,-194.6,819.0,-6.5,609,7777,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,2000,3598,0,0,0,0,0,0
$GC,8101,-0.62,-194.6,839.8,-6.5,625,8105,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,516,3597,0,0,0,0,0,0
$GC,8170,-0.62,-194.6,845.0,-7.8,628,8174,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1966,3597,0,0,0,0,0,0
$GC,8494,-0.62,-194.6,867.0,-6.9,644,8498,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3263,3595,0,0,0,0,0,0
$GC,8556,-0.62,-194.6,871.4,-6.6,646,8563,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1982,3595,0,0,0,0,0,0
$GC,8874,-0.62,-194.6,891.1,-6.0,662,8878,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,508,3594,0,0,0,0,0,0
$GC,8930,-0.62,-194.6,895.2,-7.3,664,8936,0.00,2.17,0.00,0.000,6,0.000,0.026,2587,1966,3593,0,0,0,0,0,0
$GC,9246,-0.62,-194.6,915.4,-6.5,680,9251,0.00,2.00,0.00,0.000,4,0.000,0.041,2587,3262,3592,0,0,0,0,0,0
$GC,9354,-0.62,-194.6,922.3,-6.4,684,9361,0.00,1.80,0.00,0.000,6,0.000,0.022,2587,2014,3592,0,0,0,0,0,0
$GC,9671,-0.62,-194.6,942.4,-6.3,700,9675,0.00,2.25,0.00,0.000,4,0.000,0.034,2587,513,3591,0,0,0,0,0,0
$GC,9716,-0.62,-194.6,945.8,-6.5,702,9721,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,2010,3591,0,0,0,0,0,0
$GC,10039,-0.62,-194.6,966.8,-6.5,718,10042,0.00,1.90,0.00,0.000,4,0.000,0.041,2587,3263,3590,0,0,0,0,0,0
$GC,10086,-0.62,-194.6,969.6,-6.5,720,10089,0.00,1.80,0.00,0.000,6,0.000,0.022,2587,2014,3590,0,0,0,0,0,0
$GC,10421,-0.62,-194.6,989.0,-5.5,736,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2013,3589,0,0,0,0,0,0
$STATE,10437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10437,begin apogee
$GC,10443,-0.20,0.0,990.1,5.5,737,10608,0.43,0.00,159.57,1.391,4,0.116,0.000,2729,2010,2838,0,0,0,0,0,0
$STATE,10609,end apogee,CONTROL_FINISHED_OK
$STATE,10609,begin climb
$GC,10611,0.62,194.6,993.8,0.0,744,10794,0.80,2.38,172.60,1.338,4,0.084,0.040,2995,3462,2044,0,0,0,0,0,0
$GC,10930,0.62,194.6,957.8,13.6,759,10934,0.00,2.05,0.00,0.000,6,0.000,0.021,3004,2098,2036,0,0,0,0,0,0
$GC,11265,0.62,194.6,915.8,12.4,775,11269,0.00,2.12,0.00,0.000,4,0.000,0.037,3004,3472,2034,0,0,0,0,0,0
$GC,11421,0.62,194.6,894.0,13.9,782,11425,0.00,2.12,0.00,0.000,6,0.000,0.022,3011,2028,2033,0,0,0,0,0,0
$GC,11752,0.62,194.6,849.8,13.8,798,11756,0.00,1.98,0.00,0.000,4,0.000,0.034,3021,689,2032,0,0,0,0,0,0
$GC,11843,0.62,194.6,836.7,14.0,802,11847,0.00,1.95,0.00,0.000,6,0.000,0.025,3021,1997,2032,0,0,0,0,0,0
$GC,12179,0.62,194.6,790.0,13.9,818,12183,0.00,2.25,0.00,0.000,4,0.000,0.038,3021,3463,2031,0,0,0,0,0,0
$GC,12269,0.62,194.6,776.2,14.9,822,12275,0.08,2.12,0.00,0.000,6,0.148,0.021,3006,2031,2031,0,0,0,0,0,0
$GC,12603,0.62,194.6,734.5,12.3,838,12606,0.00,2.00,0.00,0.000,4,0.000,0.035,3014,688,2030,0,0,0,0,0,0
$GC,12632,0.62,194.6,730.8,12.5,839,12635,0.00,2.00,0.00,0.000,6,0.000,0.024,3014,2031,2030,0,0,0,0,0,0
$GC,12959,0.62,194.6,690.6,12.5,855,12963,0.00,2.20,0.00,0.000,4,0.000,0.039,3014,3464,2030,0,0,0,0,0,0
$GC,12991,0.62,194.6,686.1,13.7,856,12995,0.00,2.10,0.00,0.000,6,0.000,0.021,3023,2025,2029,0,0,0,0,0,0
$GC,13315,0.62,194.6,646.4,12.0,872,13319,0.00,1.98,0.00,0.000,4,0.000,0.034,3034,685,2029,0,0,0,0,0,0
$GC,13393,0.62,194.6,636.5,11.7,875,13398,0.10,1.95,0.00,0.000,6,0.135,0.024,3001,1984,2028,0,0,0,0,0,0
$GC,13716,0.62,194.6,604.3,10.1,891,13720,0.00,2.28,0.00,0.000,4,0.000,0.038,3001,3475,2029,0,0,0,0,0,0
$GC,13772,0.62,194.6,597.6,11.8,893,13780,0.00,2.22,0.00,0.000,6,0.000,0.021,3008,1957,2028,0,0,0,0,0,0
$GC,14088,0.62,194.6,562.8,11.0,909,14093,0.00,1.90,0.00,0.000,4,0.000,0.034,3018,697,2028,0,0,0,0,0,0
$GC,14150,0.62,194.6,555.7,11.4,911,14160,0.00,1.88,0.00,0.000,6,0.000,0.024,3018,1969,2028,0,0,0,0,0,0
$GC,14466,0.62,194.6,519.6,10.8,927,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1969,2028,0,0,0,0,0,0
$GC,14780,0.65,216.5,489.5,9.0,947,14804,0.00,2.38,17.45,1.018,4,0.000,0.037,3018,3473,1955,0,0,0,0,0,0
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$STATE,19634,begin surface coast
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$STATE,19652,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,60.667
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$FG_AHR_10Vo,0.000
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$MEM,329656
$DATA_FILE_SIZE,90125,1541
$CAP_FILE_SIZE,210787,0
$CFSIZE,260165632,104996864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,236.3,1
$GPS,020911,234606,1804.746,12338.930,28,0.8,28,-2.0