version: 66.09
glider: 167
mission: 8
dive: 387
start: 9 4 111 4 53 48
data:
$ID,167
$MISSION,8
$DIVE,387
$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,-58693.539
$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,72
$R_STBD_OVSHOOT,78
$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
$GPS1,040911,044506,1810.891,12323.237,38,1.1,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.0
$GPS2,040911,045325,1810.882,12323.252,15,1.1,15,-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,295.6,123483,-15.3,-9.706
$D_GRID,4154
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,104,0.00,0.00,-80.85,0.000,2,0.000,0.000,110,1912,3049,0,0,0,0,0,0
$GC,107,-0.62,-194.6,6.1,-11.8,12,137,10.23,2.08,-9.82,0.000,4,0.232,0.047,2582,3255,3636,0,0,0,0,0,0
$GC,179,-0.62,-194.6,35.5,-34.6,23,186,0.00,2.00,0.00,0.000,6,0.000,0.020,2582,1869,3637,0,0,0,0,0,0
$GC,318,-0.62,-194.6,73.7,-24.4,48,326,0.00,2.03,0.00,0.000,4,0.000,0.028,2582,488,3637,0,0,0,0,0,0
$GC,335,-0.62,-194.6,78.2,-24.1,50,342,0.00,2.05,0.00,0.000,6,0.000,0.024,2574,1886,3637,0,0,0,0,0,0
$GC,479,-0.62,-194.6,107.6,-21.7,75,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1886,3638,0,0,0,0,0,0
$GC,616,-0.62,-194.6,135.5,-17.9,100,624,0.00,2.05,0.00,0.000,4,0.000,0.031,2564,3267,3639,0,0,0,0,0,0
$GC,686,-0.62,-194.6,148.3,-18.5,112,695,0.10,1.98,0.00,0.000,6,0.151,0.016,2595,1853,3639,0,0,0,0,0,0
$GC,833,-0.62,-194.6,169.7,-15.2,137,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1853,3639,0,0,0,0,0,0
$GC,972,-0.62,-194.6,192.3,-16.1,162,980,0.00,2.12,0.00,0.000,4,0.000,0.029,2587,3273,3639,0,0,0,0,0,0
$GC,1029,-0.62,-194.6,200.6,-14.5,171,1036,0.00,1.90,0.00,0.000,6,0.000,0.017,2588,1902,3639,0,0,0,0,0,0
$GC,1355,-0.62,-194.6,248.9,-13.6,202,1359,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,516,3639,0,0,0,0,0,0
$GC,1379,-0.62,-194.6,252.3,-14.1,204,1383,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1910,3639,0,0,0,0,0,0
$GC,1710,-0.62,-194.6,296.4,-12.5,235,1714,0.00,2.05,0.00,0.000,4,0.000,0.027,2587,511,3638,0,0,0,0,0,0
$GC,1746,-0.62,-194.6,300.9,-12.8,238,1749,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1917,3638,0,0,0,0,0,0
$GC,2077,-0.62,-194.6,340.7,-11.6,269,2080,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3272,3637,0,0,0,0,0,0
$GC,2149,-0.62,-194.6,348.8,-10.9,275,2156,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1882,3637,0,0,0,0,0,0
$GC,2475,-0.62,-194.6,384.3,-10.6,306,2480,0.00,2.03,0.00,0.000,4,0.000,0.029,2587,503,3635,0,0,0,0,0,0
$GC,2531,-0.62,-194.6,390.7,-10.9,311,2535,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1866,3635,0,0,0,0,0,0
$GC,2863,-0.62,-194.6,426.4,-11.0,342,2868,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3255,3633,0,0,0,0,0,0
$GC,2923,-0.62,-194.6,432.6,-9.7,347,2930,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1839,3633,0,0,0,0,0,0
$GC,3250,-0.62,-194.6,461.6,-8.8,378,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1838,3631,0,0,0,0,0,0
$GC,3569,-0.62,-194.6,489.9,-9.3,408,3572,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,3260,3629,0,0,0,0,0,0
$GC,3614,-0.62,-194.6,494.0,-8.8,411,3621,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1870,3629,0,0,0,0,0,0
$GC,3933,-0.62,-194.6,522.3,-8.8,430,3936,0.00,2.00,0.00,0.000,4,0.000,0.031,2587,504,3626,0,0,0,0,0,0
$GC,4003,-0.62,-194.6,528.3,-8.6,433,4008,0.00,1.92,0.00,0.000,6,0.000,0.021,2587,1827,3626,0,0,0,0,0,0
$GC,4336,-0.62,-194.6,554.4,-7.6,449,4340,0.00,2.12,0.00,0.000,4,0.000,0.036,2587,3263,3624,0,0,0,0,0,0
$GC,4454,-0.62,-194.6,562.6,-6.8,454,4458,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1855,3623,0,0,0,0,0,0
$GC,4777,-0.62,-194.6,586.8,-7.9,470,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1854,3621,0,0,0,0,0,0
$GC,5086,-0.62,-194.6,610.7,-7.5,485,5090,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,3265,3618,0,0,0,0,0,0
$GC,5152,-0.62,-194.6,615.1,-7.2,488,5156,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1888,3618,0,0,0,0,0,0
$GC,5485,-0.62,-194.6,639.6,-7.2,504,5488,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,501,3615,0,0,0,0,0,0
$GC,5555,-0.62,-194.6,644.9,-7.5,507,5559,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1871,3614,0,0,0,0,0,0
$GC,5888,-0.62,-194.6,669.2,-7.4,523,5893,0.00,2.12,0.00,0.000,4,0.000,0.037,2587,3267,3612,0,0,0,0,0,0
$GC,5980,-0.62,-194.6,675.7,-7.2,527,5985,0.00,2.00,0.00,0.000,6,0.000,0.020,2587,1885,3612,0,0,0,0,0,0
$GC,6313,-0.62,-194.6,700.2,-7.3,543,6317,0.00,2.10,0.00,0.000,4,0.000,0.036,2587,3271,3610,0,0,0,0,0,0
$GC,6368,-0.62,-194.6,704.2,-7.2,545,6377,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1905,3609,0,0,0,0,0,0
$GC,6686,-0.62,-194.6,727.0,-7.4,561,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1905,3607,0,0,0,0,0,0
$GC,6994,-0.62,-194.6,752.6,-8.7,576,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1905,3606,0,0,0,0,0,0
$GC,7305,-0.62,-194.6,778.8,-8.1,591,7308,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3265,3603,0,0,0,0,0,0
$GC,7367,-0.62,-194.6,783.7,-7.5,593,7375,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1890,3603,0,0,0,0,0,0
$GC,7683,-0.62,-194.6,805.4,-6.6,609,7687,0.00,2.05,0.00,0.000,4,0.000,0.032,2587,510,3602,0,0,0,0,0,0
$GC,7713,-0.62,-194.6,807.4,-6.7,610,7717,0.00,2.05,0.00,0.000,6,0.000,0.023,2587,1902,3601,0,0,0,0,0,0
$GC,8042,-0.62,-194.6,828.5,-6.3,626,8046,0.00,2.10,0.00,0.000,4,0.000,0.039,2587,3270,3600,0,0,0,0,0,0
$GC,8159,-0.62,-194.6,836.1,-6.5,631,8163,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1942,3599,0,0,0,0,0,0
$GC,8488,-0.62,-194.6,856.9,-6.4,647,8493,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,510,3598,0,0,0,0,0,0
$GC,8543,-0.62,-194.6,861.2,-7.2,649,8547,0.00,2.08,0.00,0.000,6,0.000,0.023,2587,1918,3598,0,0,0,0,0,0
$GC,8867,-0.62,-194.6,882.8,-6.8,665,8871,0.00,2.05,0.00,0.000,4,0.000,0.040,2587,3267,3596,0,0,0,0,0,0
$GC,8935,-0.62,-194.6,887.4,-6.5,668,8939,0.00,1.90,0.00,0.000,6,0.000,0.021,2587,1936,3595,0,0,0,0,0,0
$GC,9270,-0.62,-194.6,909.6,-6.9,684,9274,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,502,3594,0,0,0,0,0,0
$GC,9311,-0.62,-194.6,912.8,-7.1,686,9315,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1924,3594,0,0,0,0,0,0
$GC,9645,-0.62,-194.6,936.0,-7.0,702,9649,0.00,2.05,0.00,0.000,4,0.000,0.041,2587,3269,3593,0,0,0,0,0,0
$GC,9697,-0.62,-194.6,939.4,-6.4,704,9701,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1916,3593,0,0,0,0,0,0
$GC,10024,-0.62,-194.6,961.2,-6.8,720,10028,0.00,2.10,0.00,0.000,4,0.000,0.032,2587,504,3592,0,0,0,0,0,0
$GC,10066,-0.62,-194.6,964.4,-7.0,722,10069,0.00,2.08,0.00,0.000,6,0.000,0.024,2587,1911,3592,0,0,0,0,0,0
$GC,10401,-0.62,-194.6,987.2,-6.6,738,10406,0.00,2.08,0.00,0.000,4,0.000,0.040,2587,3260,3591,0,0,0,0,0,0
$STATE,10444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10445,begin apogee
$GC,10452,-0.20,0.0,990.4,6.5,740,10617,0.43,0.00,160.23,1.392,4,0.113,0.000,2730,2044,2839,0,0,0,0,0,0
$STATE,10618,end apogee,CONTROL_FINISHED_OK
$STATE,10618,begin climb
$GC,10621,0.62,194.6,996.5,0.0,747,10805,0.75,2.12,173.40,1.340,4,0.080,0.031,3000,722,2045,0,0,0,0,0,0
$GC,11007,0.62,194.6,960.7,11.0,764,11012,0.00,2.05,0.00,0.000,6,0.000,0.024,3000,2070,2036,0,0,0,0,0,0
$GC,11328,0.62,194.6,925.9,10.9,780,11332,0.00,2.05,0.00,0.000,4,0.000,0.031,3007,719,2030,0,0,0,0,0,0
$GC,11540,0.62,194.6,900.7,12.3,789,11545,0.00,2.00,0.00,0.000,6,0.000,0.024,3007,2047,2030,0,0,0,0,0,0
$GC,11861,0.62,194.6,860.0,13.0,805,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2047,2028,0,0,0,0,0,0
$GC,12172,0.62,194.6,821.0,12.3,820,12176,0.00,2.17,0.00,0.000,4,0.000,0.038,3006,3475,2027,0,0,0,0,0,0
$GC,12237,0.62,194.6,811.7,14.1,823,12241,0.00,2.05,0.00,0.000,6,0.000,0.021,3016,2067,2027,0,0,0,0,0,0
$GC,12564,0.62,194.6,772.5,11.4,839,12568,0.00,2.05,0.00,0.000,4,0.000,0.034,3026,688,2027,0,0,0,0,0,0
$GC,12612,0.62,194.6,767.2,11.5,841,12617,0.00,2.00,0.00,0.000,6,0.000,0.024,3026,2028,2027,0,0,0,0,0,0
$GC,12944,0.62,194.6,729.5,10.5,857,12948,0.00,2.20,0.00,0.000,4,0.000,0.038,3026,3472,2026,0,0,0,0,0,0
$GC,13124,0.62,194.6,708.4,11.4,865,13129,0.12,2.03,0.00,0.000,6,0.170,0.021,3002,2075,2026,0,0,0,0,0,0
$GC,13452,0.62,194.6,675.0,11.2,881,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2075,2025,0,0,0,0,0,0
$GC,13763,0.62,194.6,637.2,12.2,896,13766,0.00,2.05,0.00,0.000,4,0.000,0.034,3011,698,2025,0,0,0,0,0,0
$GC,13922,0.62,194.6,618.3,11.2,903,13926,0.00,1.95,0.00,0.000,6,0.000,0.024,3012,2038,2025,0,0,0,0,0,0
$GC,14256,0.66,227.4,586.1,8.6,919,14288,0.00,2.22,27.02,1.112,4,0.000,0.037,3011,3470,1910,0,0,0,0,0,0
$GC,14333,0.66,227.4,578.5,9.9,922,14340,0.00,2.10,0.00,0.000,6,0.000,0.021,3019,2067,1906,0,0,0,0,0,0
$GC,14650,0.66,227.4,547.7,10.5,938,14654,0.00,2.05,0.00,0.000,4,0.000,0.033,3030,678,1905,0,0,0,0,0,0
$GC,14762,0.66,227.4,534.5,11.9,943,14767,0.00,2.00,0.00,0.000,6,0.000,0.023,3030,2014,1905,0,0,0,0,0,0
$GC,15079,0.66,227.4,493.3,13.0,960,15083,0.00,2.20,0.00,0.000,4,0.000,0.038,3030,3465,1904,0,0,0,0,0,0
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$STATE,19878,begin surface coast
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$FG_AHR_10Vo,0.000
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$MEM,329672
$DATA_FILE_SIZE,90146,1559
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$CFSIZE,260165632,104378368
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