version: 66.09
glider: 167
mission: 8
dive: 48
start: 6 20 111 9 13 47
data:
$ID,167
$MISSION,8
$DIVE,48
$N_DIVES,55
$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,300
$T_MISSION,330
$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,-56444.273
$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,2805
$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,47
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,200611,090201,2007.223,12419.195,38,1.5,39,-2.5
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.3
$GPS2,200611,091325,2007.226,12419.123,11,1.5,16,-2.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,152.0,255680,-17.0,-11.000
$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,19,-0.67,-194.6,0.0,0.0,0,95,0.00,0.00,-73.55,0.000,2,0.000,0.000,108,1879,3129,0,0,0,0,0,0
$GC,98,-0.67,-194.6,5.3,-9.5,10,122,9.65,2.15,-8.45,0.000,4,0.230,0.046,2572,3276,3634,0,0,0,0,0,0
$GC,141,-0.67,-194.6,25.7,-44.9,16,149,0.00,2.10,0.00,0.000,6,0.000,0.019,2572,1850,3636,0,0,0,0,0,0
$GC,217,-0.67,-194.6,52.3,-34.4,29,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1848,3636,0,0,0,0,0,0
$GC,297,-0.67,-194.6,75.6,-28.1,42,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1848,3637,0,0,0,0,0,0
$GC,375,-0.67,-194.6,96.5,-25.4,55,384,0.00,2.03,0.00,0.000,4,0.000,0.030,2572,480,3637,0,0,0,0,0,0
$GC,424,-0.67,-194.6,108.6,-27.0,62,432,0.00,2.03,0.00,0.000,6,0.000,0.020,2563,1872,3637,0,0,0,0,0,0
$GC,503,-0.67,-194.6,128.6,-24.6,75,511,0.00,2.08,0.00,0.000,4,0.000,0.031,2552,3267,3637,0,0,0,0,0,0
$GC,562,-0.67,-194.6,142.8,-22.8,85,572,0.10,2.03,0.00,0.000,6,0.161,0.019,2583,1843,3637,0,0,0,0,0,0
$GC,640,-0.67,-194.6,159.5,-22.7,98,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1841,3637,0,0,0,0,0,0
$GC,716,-0.67,-194.6,177.7,-22.3,111,724,0.00,1.95,0.00,0.000,4,0.000,0.031,2583,517,3637,0,0,0,0,0,0
$GC,746,-0.67,-194.6,183.5,-20.2,115,754,0.00,1.98,0.00,0.000,6,0.000,0.020,2576,1876,3638,0,0,0,0,0,0
$GC,822,-0.67,-194.6,198.4,-21.8,128,831,0.00,2.05,0.00,0.000,4,0.000,0.033,2566,3260,3638,0,0,0,0,0,0
$GC,850,-0.67,-194.6,204.7,-21.3,132,859,0.00,1.98,0.00,0.000,6,0.000,0.019,2566,1891,3638,0,0,0,0,0,0
$GC,926,-0.67,-194.6,220.0,-20.0,145,935,0.00,2.08,0.00,0.000,4,0.000,0.031,2566,480,3638,0,0,0,0,0,0
$GC,967,-0.67,-194.6,228.2,-20.4,151,975,0.00,2.03,0.00,0.000,6,0.000,0.021,2561,1869,3638,0,0,0,0,0,0
$GC,1043,-0.67,-194.6,243.4,-19.7,164,1052,0.00,2.08,0.00,0.000,4,0.000,0.031,2551,3275,3638,0,0,0,0,0,0
$GC,1072,-0.67,-194.6,249.1,-19.3,168,1081,0.10,2.03,0.00,0.000,6,0.149,0.018,2583,1851,3638,0,0,0,0,0,0
$GC,1142,-0.67,-194.6,261.8,-17.5,175,1146,0.00,1.95,0.00,0.000,4,0.000,0.031,2583,503,3638,0,0,0,0,0,0
$GC,1222,-0.67,-194.6,275.8,-17.5,182,1226,0.00,1.95,0.00,0.000,6,0.000,0.020,2576,1888,3638,0,0,0,0,0,0
$GC,1553,-0.67,-194.6,326.5,-14.6,213,1557,0.00,2.00,0.00,0.000,4,0.000,0.033,2567,3266,3637,0,0,0,0,0,0
$GC,1658,-0.67,-194.6,340.6,-13.7,222,1662,0.00,1.95,0.00,0.000,6,0.000,0.019,2567,1884,3637,0,0,0,0,0,0
$GC,1989,-0.67,-194.6,387.2,-13.5,253,1992,0.00,2.03,0.00,0.000,4,0.000,0.031,2567,481,3636,0,0,0,0,0,0
$GC,2024,-0.67,-194.6,392.2,-14.8,256,2028,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1879,3636,0,0,0,0,0,0
$GC,2356,-0.67,-194.6,440.6,-12.7,287,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1880,3635,0,0,0,0,0,0
$GC,2677,-0.67,-194.6,479.5,-12.1,317,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1880,3633,0,0,0,0,0,0
$GC,3004,-0.67,-194.6,519.5,-12.2,348,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1879,3631,0,0,0,0,0,0
$GC,3324,-0.67,-194.6,556.6,-11.5,378,3328,0.00,2.08,0.00,0.000,4,0.000,0.036,2561,3268,3628,0,0,0,0,0,0
$GC,3346,-0.67,-194.6,559.8,-12.0,380,3350,0.00,1.98,0.00,0.000,6,0.000,0.020,2561,1877,3628,0,0,0,0,0,0
$GC,3679,-0.67,-194.6,599.0,-11.9,411,3681,0.10,0.00,0.00,0.000,6,0.178,0.000,2586,1877,3625,0,0,0,0,0,0
$GC,3998,-0.67,-194.6,633.0,-10.5,427,4001,0.00,2.05,0.00,0.000,4,0.000,0.035,2586,3269,3623,0,0,0,0,0,0
$GC,4048,-0.67,-194.6,638.3,-10.4,429,4052,0.00,2.00,0.00,0.000,6,0.000,0.020,2586,1862,3622,0,0,0,0,0,0
$GC,4376,-0.67,-194.6,670.8,-9.9,445,4380,0.00,2.00,0.00,0.000,4,0.000,0.033,2586,487,3619,0,0,0,0,0,0
$GC,4415,-0.67,-194.6,674.9,-9.7,446,4422,0.00,1.98,0.00,0.000,6,0.000,0.022,2586,1876,3619,0,0,0,0,0,0
$GC,4735,-0.67,-194.6,703.0,-8.5,462,4739,0.00,2.05,0.00,0.000,4,0.000,0.037,2586,3272,3616,0,0,0,0,0,0
$GC,4796,-0.67,-194.6,708.3,-7.6,464,4803,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1868,3616,0,0,0,0,0,0
$GC,5115,-0.67,-194.6,731.3,-7.3,480,5119,0.00,2.08,0.00,0.000,4,0.000,0.036,2586,3271,3613,0,0,0,0,0,0
$GC,5151,-0.67,-194.6,734.0,-7.2,481,5159,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1869,3613,0,0,0,0,0,0
$GC,5468,-0.67,-194.6,756.9,-7.0,497,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1869,3611,0,0,0,0,0,0
$GC,5777,-0.67,-194.6,778.9,-7.3,512,5781,0.00,2.08,0.00,0.000,4,0.000,0.037,2586,3272,3608,0,0,0,0,0,0
$GC,5805,-0.67,-194.6,781.0,-7.2,513,5809,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1872,3608,0,0,0,0,0,0
$GC,6129,-0.67,-194.6,807.6,-8.8,529,6133,0.00,2.08,0.00,0.000,4,0.000,0.037,2586,3270,3606,0,0,0,0,0,0
$GC,6174,-0.67,-194.6,811.8,-8.7,531,6178,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1872,3606,0,0,0,0,0,0
$GC,6504,-0.67,-194.6,841.0,-8.8,547,6508,0.00,2.08,0.00,0.000,4,0.000,0.037,2586,3268,3604,0,0,0,0,0,0
$GC,6540,-0.67,-194.6,844.1,-8.6,548,6546,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1872,3604,0,0,0,0,0,0
$GC,6857,-0.67,-194.6,868.9,-7.6,564,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1872,3602,0,0,0,0,0,0
$GC,7165,-0.67,-194.6,890.8,-7.1,579,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1872,3600,0,0,0,0,0,0
$GC,7475,-0.67,-194.6,914.0,-7.5,594,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1872,3599,0,0,0,0,0,0
$GC,7785,-0.67,-194.6,936.0,-6.9,609,7789,0.00,2.08,0.00,0.000,4,0.000,0.037,2586,3267,3598,0,0,0,0,0,0
$GC,7840,-0.67,-194.6,939.7,-6.3,611,7847,0.00,2.03,0.00,0.000,6,0.000,0.022,2586,1877,3597,0,0,0,0,0,0
$GC,8157,-0.67,-194.6,959.4,-6.3,627,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1877,3596,0,0,0,0,0,0
$GC,8466,-0.67,-194.6,978.1,-5.9,642,8470,0.00,2.08,0.00,0.000,4,0.000,0.038,2586,3270,3595,0,0,0,0,0,0
$GC,8523,-0.67,-194.6,981.3,-5.8,644,8530,0.00,2.03,0.00,0.000,6,0.000,0.022,2586,1863,3595,0,0,0,0,0,0
$STATE,8693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8693,begin apogee
$GC,8700,-0.20,0.0,991.0,5.7,653,8856,0.43,0.00,150.25,1.400,6,0.123,0.000,2732,2078,2839,0,0,0,0,0,0
$STATE,8857,end apogee,CONTROL_FINISHED_OK
$STATE,8857,begin climb
$GC,8860,0.67,194.6,993.5,0.0,660,9031,0.82,2.28,162.23,1.348,4,0.079,0.038,3017,3459,2044,0,0,0,0,0,0
$GC,9059,0.67,194.6,970.6,16.4,669,9067,0.00,2.15,0.00,0.000,6,0.000,0.022,3027,2083,2039,0,0,0,0,0,0
$GC,9377,0.67,194.6,922.0,15.1,685,9381,0.00,2.15,0.00,0.000,4,0.000,0.037,3036,675,2034,0,0,0,0,0,0
$GC,9444,0.67,194.6,911.7,14.5,688,9448,0.00,2.10,0.00,0.000,6,0.000,0.024,3036,2068,2033,0,0,0,0,0,0
$GC,9772,0.67,194.6,863.0,15.0,704,9776,0.00,2.15,0.00,0.000,4,0.000,0.041,3036,3475,2032,0,0,0,0,0,0
$GC,9828,0.67,194.6,853.7,16.0,706,9835,0.00,2.08,0.00,0.000,6,0.000,0.023,3046,2073,2031,0,0,0,0,0,0
$GC,10147,0.67,194.6,804.5,15.5,722,10150,0.00,2.05,0.00,0.000,4,0.000,0.035,3057,688,2030,0,0,0,0,0,0
$GC,10181,0.67,194.6,798.5,16.0,723,10187,0.10,2.10,0.00,0.000,6,0.148,0.025,3025,2087,2030,0,0,0,0,0,0
$GC,10503,0.67,194.6,753.5,14.0,739,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2087,2030,0,0,0,0,0,0
$GC,10814,0.67,194.6,707.8,14.9,754,10817,0.00,2.08,0.00,0.000,4,0.000,0.040,3025,3463,2029,0,0,0,0,0,0
$GC,10871,0.67,194.6,698.1,17.2,756,10875,0.00,2.03,0.00,0.000,6,0.000,0.024,3033,2075,2028,0,0,0,0,0,0
$GC,11193,0.67,194.6,647.3,15.1,772,11196,0.00,2.08,0.00,0.000,4,0.000,0.036,3043,678,2028,0,0,0,0,0,0
$GC,11265,0.67,194.6,636.7,14.3,775,11269,0.00,2.05,0.00,0.000,6,0.000,0.024,3043,2069,2028,0,0,0,0,0,0
$GC,11584,0.67,194.6,593.0,13.7,792,11587,0.00,2.10,0.00,0.000,4,0.000,0.040,3043,3463,2027,0,0,0,0,0,0
$GC,11641,0.67,194.6,584.5,15.1,797,11645,0.12,2.05,0.00,0.000,6,0.187,0.024,3021,2060,2027,0,0,0,0,0,0
$GC,11966,0.67,194.6,544.5,12.1,827,11970,0.00,2.05,0.00,0.000,4,0.000,0.037,3030,691,2027,0,0,0,0,0,0
$GC,12115,0.67,194.6,526.8,12.1,840,12119,0.00,2.03,0.00,0.000,6,0.000,0.024,3030,2075,2027,0,0,0,0,0,0
$GC,12446,0.67,194.6,485.0,12.6,871,12450,0.00,2.10,0.00,0.000,4,0.000,0.040,3030,3462,2026,0,0,0,0,0,0
$GC,12541,0.67,194.6,471.9,13.3,879,12548,0.00,2.03,0.00,0.000,6,0.000,0.022,3039,2069,2026,0,0,0,0,0,0
$GC,12867,0.67,194.6,430.2,13.2,910,12870,0.00,2.03,0.00,0.000,4,0.000,0.034,3050,689,2026,0,0,0,0,0,0
$GC,12995,0.67,194.6,413.3,12.8,921,13004,0.12,2.05,0.00,0.000,6,0.163,0.024,3017,2100,2026,0,0,0,0,0,0
$GC,13321,0.72,235.7,381.3,9.4,952,13357,0.00,2.15,31.10,0.956,4,0.000,0.039,3016,3466,1878,0,0,0,0,0,0
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$STATE,16596,end climb,SURFACE_DEPTH_REACHED
$STATE,16596,begin surface coast
$FINISH,0.9,1.021878
$STATE,16623,end surface coast,CONTROL_FINISHED_OK
$STATE,16624,begin surface
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$10V_AH,10.2,8.070
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$FG_AHR_10Vo,0.000
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$MEM,329920
$DATA_FILE_SIZE,80272,1409
$CAP_FILE_SIZE,193217,0
$CFSIZE,260165632,137793536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,275.9,1
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