version: 66.09
glider: 167
mission: 8
dive: 73
start: 6 25 111 13 52 57
data:
$ID,167
$MISSION,8
$DIVE,73
$N_DIVES,75
$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,400
$T_MISSION,440
$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,150
$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,4
$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,-56478.531
$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,64
$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
$GPS1,250611,134236,1917.018,12425.101,37,1.2,43,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.1
$GPS2,250611,135235,1917.102,12425.257,17,1.5,19,-2.3
$SPEED_LIMITS,0.143,0.244
$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,176.9,162226,-15.4,-8.250
$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,-0.56,-146.0,0.0,0.0,0,90,0.00,0.00,-70.28,0.000,2,0.000,0.000,109,1802,3260,0,0,0,0,0,0
$GC,93,-0.56,-146.0,6.0,-10.6,9,117,9.77,2.22,-2.80,0.000,4,0.229,0.039,2597,3289,3437,0,0,0,0,0,0
$GC,131,-0.56,-146.0,28.0,-49.2,14,138,0.00,2.08,0.00,0.000,6,0.000,0.018,2598,1863,3439,0,0,0,0,0,0
$GC,276,-0.56,-146.0,78.8,-30.9,39,284,0.00,2.15,0.00,0.000,4,0.000,0.031,2589,3271,3439,0,0,0,0,0,0
$GC,341,-0.56,-146.0,98.9,-28.7,49,349,0.00,2.03,0.00,0.000,6,0.000,0.018,2588,1875,3439,0,0,0,0,0,0
$GC,480,-0.56,-146.0,128.9,-19.1,74,489,0.00,2.08,0.00,0.000,4,0.000,0.030,2581,3265,3440,0,0,0,0,0,0
$GC,648,-0.56,-146.0,165.8,-24.1,103,657,0.10,2.00,0.00,0.000,6,0.152,0.018,2612,1854,3440,0,0,0,0,0,0
$GC,795,-0.56,-146.0,188.4,-12.8,128,804,0.00,1.98,0.00,0.000,4,0.000,0.028,2612,501,3441,0,0,0,0,0,0
$GC,835,-0.56,-146.0,194.1,-13.2,134,844,0.00,1.98,0.00,0.000,6,0.000,0.019,2605,1877,3441,0,0,0,0,0,0
$GC,982,-0.56,-146.0,213.1,-13.3,151,985,0.00,2.03,0.00,0.000,4,0.000,0.031,2598,3267,3441,0,0,0,0,0,0
$GC,1109,-0.56,-146.0,232.4,-16.4,162,1117,0.00,1.95,0.00,0.000,6,0.000,0.018,2598,1885,3441,0,0,0,0,0,0
$GC,1435,-0.56,-146.0,280.5,-12.5,193,1440,0.00,2.00,0.00,0.000,4,0.000,0.028,2598,507,3441,0,0,0,0,0,0
$GC,1614,-0.56,-146.0,304.3,-12.4,209,1618,0.00,1.92,0.00,0.000,6,0.000,0.019,2590,1881,3441,0,0,0,0,0,0
$GC,1945,-0.56,-146.0,342.1,-11.1,240,1949,0.00,2.03,0.00,0.000,4,0.000,0.032,2587,3273,3439,0,0,0,0,0,0
$GC,2080,-0.56,-146.0,357.3,-11.6,252,2085,0.00,1.98,0.00,0.000,6,0.000,0.018,2588,1878,3439,0,0,0,0,0,0
$GC,2410,-0.56,-146.0,397.4,-11.6,283,2415,0.10,2.00,0.00,0.000,4,0.174,0.029,2614,504,3437,0,0,0,0,0,0
$GC,2538,-0.56,-146.0,410.9,-9.8,294,2545,0.00,1.95,0.00,0.000,6,0.000,0.021,2614,1882,3437,0,0,0,0,0,0
$GC,2864,-0.56,-146.0,436.8,-7.8,325,2869,0.00,2.05,0.00,0.000,4,0.000,0.034,2614,3268,3435,0,0,0,0,0,0
$GC,2891,-0.56,-146.0,439.0,-7.8,327,2899,0.00,1.95,0.00,0.000,6,0.000,0.018,2613,1858,3435,0,0,0,0,0,0
$GC,3219,-0.56,-146.0,463.4,-7.7,358,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1859,3432,0,0,0,0,0,0
$GC,3547,-0.56,-146.0,491.1,-8.4,389,3550,0.00,2.08,0.00,0.000,4,0.000,0.033,2614,3261,3431,0,0,0,0,0,0
$GC,3638,-0.56,-146.0,499.0,-8.2,397,3643,0.00,1.98,0.00,0.000,6,0.000,0.019,2613,1876,3429,0,0,0,0,0,0
$GC,3970,-0.56,-146.0,525.5,-7.9,414,3973,0.00,2.05,0.00,0.000,4,0.000,0.033,2613,3263,3427,0,0,0,0,0,0
$GC,4029,-0.56,-146.0,529.7,-7.6,416,4032,0.00,1.95,0.00,0.000,6,0.000,0.019,2613,1865,3427,0,0,0,0,0,0
$GC,4351,-0.56,-146.0,552.5,-6.9,432,4355,0.00,2.05,0.00,0.000,4,0.000,0.033,2614,3264,3425,0,0,0,0,0,0
$GC,4379,-0.56,-146.0,554.5,-7.0,433,4383,0.00,1.95,0.00,0.000,6,0.000,0.019,2613,1867,3425,0,0,0,0,0,0
$GC,4710,-0.56,-146.0,577.0,-6.9,449,4713,0.00,2.00,0.00,0.000,4,0.000,0.032,2614,487,3422,0,0,0,0,0,0
$GC,4760,-0.56,-146.0,581.2,-7.6,451,4764,0.00,1.98,0.00,0.000,6,0.000,0.021,2613,1881,3422,0,0,0,0,0,0
$GC,5089,-0.56,-146.0,604.7,-7.1,467,5093,0.00,2.05,0.00,0.000,4,0.000,0.035,2613,3272,3420,0,0,0,0,0,0
$GC,5174,-0.56,-146.0,610.6,-6.7,470,5181,0.00,1.98,0.00,0.000,6,0.000,0.020,2613,1875,3419,0,0,0,0,0,0
$GC,5490,-0.56,-146.0,632.2,-6.8,486,5494,0.00,2.03,0.00,0.000,4,0.000,0.031,2613,497,3417,0,0,0,0,0,0
$GC,5554,-0.56,-146.0,637.0,-7.7,488,5561,0.00,1.98,0.00,0.000,6,0.000,0.021,2613,1874,3417,0,0,0,0,0,0
$GC,5871,-0.56,-146.0,658.1,-6.3,504,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1874,3415,0,0,0,0,0,0
$GC,6181,-0.56,-146.0,676.3,-5.5,519,6185,0.00,2.08,0.00,0.000,4,0.000,0.037,2613,3261,3412,0,0,0,0,0,0
$GC,6286,-0.56,-146.0,681.9,-5.0,523,6296,0.00,1.98,0.00,0.000,6,0.000,0.021,2614,1871,3412,0,0,0,0,0,0
$GC,6602,-0.56,-146.0,697.9,-5.3,539,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1871,3410,0,0,0,0,0,0
$GC,6915,-0.56,-146.0,715.8,-6.2,554,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1871,3408,0,0,0,0,0,0
$GC,7221,-0.56,-146.0,734.8,-6.2,569,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1870,3407,0,0,0,0,0,0
$GC,7532,-0.56,-146.0,753.5,-6.1,584,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1871,3405,0,0,0,0,0,0
$GC,7839,-0.56,-146.0,773.3,-6.6,599,7843,0.00,2.08,0.00,0.000,4,0.000,0.036,2613,3271,3403,0,0,0,0,0,0
$GC,7884,-0.56,-146.0,776.3,-6.5,601,7888,0.00,1.98,0.00,0.000,6,0.000,0.021,2614,1869,3403,0,0,0,0,0,0
$GC,8213,-0.56,-146.0,796.3,-6.0,617,8216,0.00,1.98,0.00,0.000,4,0.000,0.033,2613,500,3402,0,0,0,0,0,0
$GC,8240,-0.56,-146.0,798.2,-6.1,618,8244,0.00,2.00,0.00,0.000,6,0.000,0.022,2613,1880,3401,0,0,0,0,0,0
$GC,8570,-0.56,-146.0,816.3,-5.1,634,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1881,3401,0,0,0,0,0,0
$GC,8879,-0.56,-146.0,830.8,-4.5,649,8882,0.00,2.05,0.00,0.000,4,0.000,0.038,2614,3269,3399,0,0,0,0,0,0
$GC,8929,-0.56,-146.0,833.3,-4.5,651,8933,0.00,1.98,0.00,0.000,6,0.000,0.021,2613,1874,3399,0,0,0,0,0,0
$GC,9257,-0.56,-146.0,847.4,-4.4,667,9261,0.00,2.08,0.00,0.000,4,0.000,0.037,2614,3271,3398,0,0,0,0,0,0
$GC,9307,-0.56,-146.0,849.9,-4.4,669,9311,0.00,1.98,0.00,0.000,6,0.000,0.020,2613,1869,3398,0,0,0,0,0,0
$GC,9629,-0.56,-146.0,865.4,-5.1,685,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1869,3397,0,0,0,0,0,0
$GC,9939,-0.56,-146.0,881.7,-5.3,700,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1869,3395,0,0,0,0,0,0
$GC,10247,-0.56,-146.0,897.1,-4.7,715,10251,0.00,2.00,0.00,0.000,4,0.000,0.034,2613,492,3395,0,0,0,0,0,0
$GC,10274,-0.56,-146.0,898.6,-4.8,716,10278,0.00,2.03,0.00,0.000,6,0.000,0.024,2613,1884,3394,0,0,0,0,0,0
$GC,10605,-0.56,-146.0,912.2,-4.0,732,10608,0.00,2.08,0.00,0.000,4,0.000,0.039,2613,3272,3393,0,0,0,0,0,0
$GC,10690,-0.56,-146.0,916.1,-4.4,735,10698,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1877,3393,0,0,0,0,0,0
$GC,11007,-0.56,-146.0,930.4,-4.7,751,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1877,3392,0,0,0,0,0,0
$GC,11315,-0.56,-146.0,945.5,-5.0,766,11319,0.00,2.08,0.00,0.000,4,0.000,0.037,2613,3270,3392,0,0,0,0,0,0
$GC,11359,-0.56,-146.0,947.7,-5.0,768,11363,0.00,1.98,0.00,0.000,6,0.000,0.021,2613,1874,3391,0,0,0,0,0,0
$GC,11688,-0.56,-146.0,963.8,-5.1,784,11689,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1874,3390,0,0,0,0,0,0
$GC,11995,-0.56,-146.0,978.7,-4.7,799,11999,0.00,2.10,0.00,0.000,4,0.000,0.037,2614,3268,3390,0,0,0,0,0,0
$GC,12037,-0.56,-146.0,980.6,-4.7,801,12041,0.00,1.98,0.00,0.000,6,0.000,0.021,2614,1872,3390,0,0,0,0,0,0
$STATE,12244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12244,begin apogee
$GC,12251,-0.20,0.0,990.3,4.6,811,12371,0.32,0.00,110.78,1.419,6,0.121,0.000,2727,2088,2838,0,0,0,0,0,0
$STATE,12371,end apogee,CONTROL_FINISHED_OK
$STATE,12372,begin climb
$GC,12374,0.56,146.0,991.7,0.0,816,12507,0.73,0.00,124.07,1.368,6,0.083,0.000,2979,2088,2241,0,0,0,0,0,0
$GC,12815,0.56,146.0,945.7,11.6,838,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2088,2232,0,0,0,0,0,0
$GC,13125,0.56,146.0,909.8,11.8,853,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2088,2229,0,0,0,0,0,0
$GC,13434,0.56,146.0,873.4,12.0,868,13438,0.00,2.10,0.00,0.000,4,0.000,0.036,2985,688,2228,0,0,0,0,0,0
$GC,13474,0.56,146.0,868.4,12.6,870,13477,0.00,2.03,0.00,0.000,6,0.000,0.024,2985,2064,2228,0,0,0,0,0,0
$GC,13808,0.56,146.0,827.2,12.3,886,13811,0.00,2.12,0.00,0.000,4,0.000,0.040,2985,3469,2228,0,0,0,0,0,0
$GC,13870,0.56,146.0,818.6,13.6,889,13875,0.00,2.05,0.00,0.000,6,0.000,0.024,2993,2093,2227,0,0,0,0,0,0
$GC,14204,0.56,146.0,776.4,12.6,905,14208,0.00,2.12,0.00,0.000,4,0.000,0.035,3003,681,2226,0,0,0,0,0,0
$GC,14356,0.56,146.0,756.9,12.8,911,14363,0.00,2.08,0.00,0.000,6,0.000,0.025,3003,2080,2226,0,0,0,0,0,0
$GC,14673,0.56,146.0,717.7,12.3,927,14677,0.00,2.10,0.00,0.000,4,0.000,0.041,3003,3470,2225,0,0,0,0,0,0
$GC,14750,0.56,146.0,707.4,12.8,930,14757,0.00,2.05,0.00,0.000,6,0.000,0.024,3013,2069,2225,0,0,0,0,0,0
$GC,15069,0.56,146.0,670.8,11.1,946,15072,0.00,2.03,0.00,0.000,4,0.000,0.035,3021,688,2225,0,0,0,0,0,0
$GC,15116,0.56,146.0,665.5,11.3,948,15121,0.15,2.05,0.00,0.000,6,0.162,0.024,2982,2080,2225,0,0,0,0,0,0
$GC,15444,0.56,146.0,635.3,9.3,964,15448,0.00,2.10,0.00,0.000,4,0.000,0.040,2981,3466,2224,0,0,0,0,0,0
$GC,15530,0.56,146.0,626.3,10.5,967,15537,0.00,2.05,0.00,0.000,6,0.000,0.023,2989,2063,2224,0,0,0,0,0,0
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$STATE,22489,end climb,SURFACE_DEPTH_REACHED
$STATE,22489,begin surface coast
$FINISH,0.6,1.021424
$STATE,22519,end surface coast,CONTROL_FINISHED_OK
$STATE,22519,begin surface
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$XPDR_PINGS,7
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$10V_AH,10.2,12.272
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329912
$DATA_FILE_SIZE,96899,1750
$CAP_FILE_SIZE,223548,0
$CFSIZE,260165632,135405568
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,341.9,1
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