version: 66.09
glider: 167
mission: 8
dive: 51
start: 6 20 111 23 15 22
data:
$ID,167
$MISSION,8
$DIVE,51
$N_DIVES,60
$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,1
$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,-56448.047
$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,74
$R_STBD_OVSHOOT,86
$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
$GPS1,200611,230515,2001.151,12420.408,41,2.3,61,-2.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-67.2
$GPS2,200611,231427,2001.278,12420.451,33,2.4,52,-2.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.059,-0.300
$KALMAN_X,249.4,249.4,249.4,846.0,-423.7
$KALMAN_Y,412.2,412.2,412.2,-5058.3,-700.2
$MHEAD_RNG_PITCHd_Wd,179.5,244476,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.67,-194.6,0.0,0.0,0,91,0.00,0.00,-71.78,0.000,2,0.000,0.000,107,1922,3046,0,0,0,0,0,0
$GC,95,-0.67,-194.6,5.2,-8.5,9,120,9.62,2.17,-10.35,0.000,4,0.232,0.041,2582,476,3635,0,0,0,0,0,0
$GC,139,-0.67,-194.6,24.0,-42.3,15,147,0.00,2.03,0.00,0.000,6,0.000,0.021,2574,1850,3637,0,0,0,0,0,0
$GC,215,-0.67,-194.6,49.6,-32.8,28,224,0.00,2.12,0.00,0.000,4,0.000,0.030,2563,3274,3638,0,0,0,0,0,0
$GC,245,-0.67,-194.6,60.0,-33.3,32,254,0.00,2.03,0.00,0.000,6,0.000,0.018,2563,1875,3638,0,0,0,0,0,0
$GC,323,-0.67,-194.6,84.3,-31.6,45,332,0.00,2.10,0.00,0.000,4,0.000,0.030,2554,3274,3638,0,0,0,0,0,0
$GC,348,-0.67,-194.6,91.3,-30.8,48,357,0.08,2.03,0.00,0.000,6,0.178,0.018,2576,1849,3638,0,0,0,0,0,0
$GC,428,-0.67,-194.6,114.3,-27.2,61,435,0.00,1.95,0.00,0.000,4,0.000,0.028,2577,520,3638,0,0,0,0,0,0
$GC,466,-0.67,-194.6,123.8,-24.4,67,474,0.00,1.98,0.00,0.000,6,0.000,0.021,2570,1874,3638,0,0,0,0,0,0
$GC,547,-0.67,-194.6,142.9,-23.7,80,555,0.00,2.03,0.00,0.000,4,0.000,0.027,2570,507,3639,0,0,0,0,0,0
$GC,570,-0.67,-194.6,148.7,-22.9,83,579,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1880,3639,0,0,0,0,0,0
$GC,646,-0.67,-194.6,165.2,-21.3,96,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1880,3639,0,0,0,0,0,0
$GC,720,-0.67,-194.6,182.3,-23.8,109,729,0.00,2.03,0.00,0.000,4,0.000,0.028,2561,509,3639,0,0,0,0,0,0
$GC,756,-0.67,-194.6,189.9,-21.3,114,765,0.00,2.00,0.00,0.000,6,0.000,0.021,2554,1883,3639,0,0,0,0,0,0
$GC,833,-0.67,-194.6,205.8,-22.1,127,842,0.12,2.08,0.00,0.000,4,0.190,0.031,2576,3271,3639,0,0,0,0,0,0
$GC,862,-0.67,-194.6,212.4,-22.8,131,871,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,1892,3639,0,0,0,0,0,0
$GC,940,-0.67,-194.6,227.2,-19.1,144,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1892,3639,0,0,0,0,0,0
$GC,1016,-0.67,-194.6,243.0,-20.9,157,1025,0.00,2.05,0.00,0.000,4,0.000,0.030,2576,492,3640,0,0,0,0,0,0
$GC,1065,-0.67,-194.6,253.0,-19.7,164,1070,0.00,2.00,0.00,0.000,6,0.000,0.021,2570,1868,3640,0,0,0,0,0,0
$GC,1398,-0.67,-194.6,306.3,-15.5,195,1401,0.00,2.05,0.00,0.000,4,0.000,0.032,2561,3268,3640,0,0,0,0,0,0
$GC,1454,-0.67,-194.6,315.9,-16.1,200,1458,0.00,1.95,0.00,0.000,6,0.000,0.019,2561,1877,3639,0,0,0,0,0,0
$GC,1786,-0.67,-194.6,368.7,-16.7,231,1789,0.00,2.00,0.00,0.000,4,0.000,0.030,2561,487,3638,0,0,0,0,0,0
$GC,1865,-0.67,-194.6,381.9,-16.5,238,1868,0.00,1.98,0.00,0.000,6,0.000,0.022,2560,1876,3638,0,0,0,0,0,0
$GC,2198,-0.67,-194.6,429.8,-12.8,269,2201,0.00,2.03,0.00,0.000,4,0.000,0.030,2560,487,3637,0,0,0,0,0,0
$GC,2255,-0.67,-194.6,437.3,-12.2,274,2258,0.00,1.98,0.00,0.000,6,0.000,0.022,2561,1877,3636,0,0,0,0,0,0
$GC,2586,-0.67,-194.6,476.0,-11.9,305,2589,0.00,2.05,0.00,0.000,4,0.000,0.035,2560,3270,3634,0,0,0,0,0,0
$GC,2681,-0.67,-194.6,486.8,-10.9,313,2688,0.00,1.95,0.00,0.000,6,0.000,0.019,2561,1868,3634,0,0,0,0,0,0
$GC,3008,-0.67,-194.6,522.1,-11.3,344,3012,0.00,2.05,0.00,0.000,4,0.000,0.034,2561,3264,3632,0,0,0,0,0,0
$GC,3044,-0.67,-194.6,526.5,-11.8,347,3048,0.00,1.95,0.00,0.000,6,0.000,0.020,2560,1877,3632,0,0,0,0,0,0
$GC,3374,-0.67,-194.6,567.2,-12.9,378,3378,0.00,2.05,0.00,0.000,4,0.000,0.035,2560,3266,3630,0,0,0,0,0,0
$GC,3457,-0.67,-194.6,577.8,-12.4,385,3464,0.00,2.00,0.00,0.000,6,0.000,0.020,2560,1878,3630,0,0,0,0,0,0
$GC,3778,-0.67,-194.6,618.8,-12.0,409,3782,0.00,2.00,0.00,0.000,4,0.000,0.032,2561,487,3626,0,0,0,0,0,0
$GC,3842,-0.67,-194.6,626.1,-11.5,411,3848,0.00,2.00,0.00,0.000,6,0.000,0.023,2560,1874,3626,0,0,0,0,0,0
$GC,4158,-0.67,-194.6,659.5,-10.4,427,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1874,3624,0,0,0,0,0,0
$GC,4468,-0.67,-194.6,692.1,-10.7,442,4473,0.00,2.08,0.00,0.000,4,0.000,0.037,2561,3260,3622,0,0,0,0,0,0
$GC,4506,-0.67,-194.6,696.5,-10.8,443,4514,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1881,3621,0,0,0,0,0,0
$GC,4823,-0.67,-194.6,728.0,-9.8,459,4827,0.00,2.03,0.00,0.000,4,0.000,0.034,2561,483,3619,0,0,0,0,0,0
$GC,4849,-0.67,-194.6,730.5,-10.0,460,4853,0.00,2.00,0.00,0.000,6,0.000,0.024,2561,1872,3619,0,0,0,0,0,0
$GC,5184,-0.67,-194.6,761.2,-9.1,476,5188,0.00,2.08,0.00,0.000,4,0.000,0.037,2561,3269,3616,0,0,0,0,0,0
$GC,5293,-0.67,-194.6,771.3,-8.9,481,5297,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1857,3615,0,0,0,0,0,0
$GC,5627,-0.67,-194.6,804.2,-9.8,497,5630,0.00,1.98,0.00,0.000,4,0.000,0.034,2560,490,3613,0,0,0,0,0,0
$GC,5673,-0.67,-194.6,808.9,-10.3,499,5677,0.00,2.00,0.00,0.000,6,0.000,0.024,2561,1884,3612,0,0,0,0,0,0
$GC,6008,-0.67,-194.6,840.7,-8.9,515,6012,0.00,2.05,0.00,0.000,4,0.000,0.038,2560,3265,3610,0,0,0,0,0,0
$GC,6078,-0.67,-194.6,846.8,-8.4,518,6082,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1868,3610,0,0,0,0,0,0
$GC,6414,-0.67,-194.6,876.6,-9.5,534,6418,0.00,2.08,0.00,0.000,4,0.000,0.037,2560,3265,3607,0,0,0,0,0,0
$GC,6441,-0.67,-194.6,879.5,-9.3,535,6446,0.00,2.03,0.00,0.000,6,0.000,0.022,2560,1871,3607,0,0,0,0,0,0
$GC,6763,-0.67,-194.6,911.4,-10.4,551,6767,0.00,2.10,0.00,0.000,4,0.000,0.037,2560,3271,3605,0,0,0,0,0,0
$GC,6797,-0.67,-194.6,915.1,-10.3,552,6804,0.00,1.98,0.00,0.000,6,0.000,0.021,2560,1873,3605,0,0,0,0,0,0
$GC,7113,-0.67,-194.6,948.8,-10.8,568,7117,0.00,2.08,0.00,0.000,4,0.000,0.037,2561,3272,3604,0,0,0,0,0,0
$GC,7146,-0.67,-194.6,952.5,-10.8,569,7152,0.00,2.00,0.00,0.000,6,0.000,0.022,2560,1876,3603,0,0,0,0,0,0
$GC,7464,-0.67,-194.6,985.0,-9.9,585,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1875,3602,0,0,0,0,0,0
$STATE,7521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7521,begin apogee
$GC,7527,-0.20,0.0,990.8,9.4,588,7683,0.50,0.00,151.12,1.386,6,0.130,0.000,2728,2089,2839,0,0,0,0,0,0
$STATE,7684,end apogee,CONTROL_FINISHED_OK
$STATE,7684,begin climb
$GC,7686,0.67,194.6,995.0,0.0,595,7857,0.80,2.28,162.00,1.331,4,0.083,0.039,3005,3459,2044,0,0,0,0,0,0
$GC,7886,0.67,194.6,972.4,16.3,604,7893,0.00,2.12,0.00,0.000,6,0.000,0.021,3013,2089,2039,0,0,0,0,0,0
$GC,8204,0.67,194.6,919.7,16.8,620,8208,0.00,2.12,0.00,0.000,4,0.000,0.036,3024,685,2034,0,0,0,0,0,0
$GC,8294,0.67,194.6,904.1,16.9,624,8298,0.00,2.08,0.00,0.000,6,0.000,0.025,3024,2078,2034,0,0,0,0,0,0
$GC,8616,0.67,194.6,850.4,16.9,640,8621,0.00,2.12,0.00,0.000,4,0.000,0.039,3024,3462,2033,0,0,0,0,0,0
$GC,8666,0.67,194.6,841.2,18.0,642,8670,0.00,2.05,0.00,0.000,6,0.000,0.022,3034,2075,2032,0,0,0,0,0,0
$GC,8995,0.67,194.6,787.6,15.8,658,8999,0.00,2.08,0.00,0.000,4,0.000,0.036,3044,684,2031,0,0,0,0,0,0
$GC,9117,0.67,194.6,767.3,16.1,663,9124,0.00,2.05,0.00,0.000,6,0.000,0.025,3044,2082,2031,0,0,0,0,0,0
$GC,9437,0.67,194.6,717.1,15.4,679,9441,0.00,2.10,0.00,0.000,4,0.000,0.039,3044,3474,2030,0,0,0,0,0,0
$GC,9486,0.67,194.6,708.3,16.5,681,9491,0.15,2.05,0.00,0.000,6,0.182,0.023,3014,2051,2030,0,0,0,0,0,0
$GC,9811,0.67,194.6,670.1,11.6,697,9814,0.00,2.03,0.00,0.000,4,0.000,0.037,3022,691,2029,0,0,0,0,0,0
$GC,9911,0.67,194.6,657.0,12.6,701,9915,0.00,2.05,0.00,0.000,6,0.000,0.024,3022,2074,2029,0,0,0,0,0,0
$GC,10235,0.67,194.6,613.3,13.9,717,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2074,2028,0,0,0,0,0,0
$GC,10550,0.67,194.6,570.3,13.2,742,10554,0.00,2.08,0.00,0.000,4,0.000,0.034,3032,689,2028,0,0,0,0,0,0
$GC,10600,0.67,194.6,563.2,13.2,746,10607,0.00,2.05,0.00,0.000,6,0.000,0.024,3032,2100,2027,0,0,0,0,0,0
$GC,10928,0.67,194.6,522.2,12.6,777,10931,0.00,2.05,0.00,0.000,4,0.000,0.039,3032,3469,2027,0,0,0,0,0,0
$GC,10985,0.67,194.6,514.5,13.5,782,10989,0.00,2.00,0.00,0.000,6,0.000,0.023,3041,2078,2027,0,0,0,0,0,0
$GC,11316,0.67,194.6,472.9,13.5,813,11320,0.00,2.08,0.00,0.000,4,0.000,0.036,3042,3466,2027,0,0,0,0,0,0
$GC,11351,0.67,194.6,467.8,14.7,816,11355,0.12,2.03,0.00,0.000,6,0.184,0.023,3018,2072,2026,0,0,0,0,0,0
$GC,11677,0.67,194.6,428.0,11.2,846,11681,0.00,2.10,0.00,0.000,4,0.000,0.036,3019,3467,2026,0,0,0,0,0,0
$GC,11776,0.67,194.6,416.1,12.3,854,11780,0.00,2.03,0.00,0.000,6,0.000,0.023,3027,2072,2026,0,0,0,0,0,0
$GC,12107,0.67,194.6,376.0,12.2,885,12111,0.00,2.05,0.00,0.000,4,0.000,0.035,3038,679,2026,0,0,0,0,0,0
$GC,12224,0.67,194.6,361.5,12.8,895,12231,0.00,2.05,0.00,0.000,6,0.000,0.024,3038,2074,2026,0,0,0,0,0,0
$GC,12550,0.67,194.6,322.7,11.9,926,12553,0.00,2.05,0.00,0.000,4,0.000,0.034,3047,690,2026,0,0,0,0,0,0
$GC,12606,0.67,194.6,315.6,12.3,931,12611,0.12,2.00,0.00,0.000,6,0.155,0.023,3012,2089,2026,0,0,0,0,0,0
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$STATE,15164,end climb,SURFACE_DEPTH_REACHED
$STATE,15164,begin surface coast
$FINISH,1.0,1.021498
$STATE,15193,end surface coast,CONTROL_FINISHED_OK
$STATE,15193,begin surface
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$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,27.90
$XPDR_PINGS,2
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$10V_AH,10.2,8.534
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$FG_AHR_10Vo,0.000
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$MEM,329932
$DATA_FILE_SIZE,73514,1310
$CAP_FILE_SIZE,186703,0
$CFSIZE,260165632,137539584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,132.9,1
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