version: 66.09
glider: 167
mission: 8
dive: 78
start: 6 26 111 21 25 6
data:
$ID,167
$MISSION,8
$DIVE,78
$N_DIVES,85
$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,-56484.922
$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,73
$R_STBD_OVSHOOT,42
$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
$GPS1,260611,211537,1907.052,12425.773,32,0.9,32,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.2
$GPS2,260611,212444,1907.135,12425.838,13,1.1,13,-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,174.4,143764,-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,14,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,97,0.00,0.00,-77.70,0.000,2,0.000,0.000,109,1877,3062,0,0,0,0,0,0
$GC,100,-0.56,-146.0,5.2,-8.3,10,125,9.75,2.05,-6.50,0.000,4,0.229,0.038,2609,465,3438,0,0,0,0,0,0
$GC,186,-0.56,-146.0,37.6,-29.3,24,195,0.00,2.10,0.00,0.000,6,0.000,0.021,2601,1893,3438,0,0,0,0,0,0
$GC,325,-0.56,-146.0,76.6,-25.6,49,333,0.00,2.05,0.00,0.000,4,0.000,0.031,2591,3269,3438,0,0,0,0,0,0
$GC,432,-0.56,-146.0,109.5,-38.2,67,441,0.00,2.03,0.00,0.000,6,0.000,0.018,2591,1865,3438,0,0,0,0,0,0
$GC,577,-0.56,-146.0,144.6,-16.5,92,586,0.00,2.03,0.00,0.000,4,0.000,0.028,2591,478,3438,0,0,0,0,0,0
$GC,644,-0.56,-146.0,157.1,-17.6,103,653,0.05,2.03,0.00,0.000,6,0.166,0.021,2616,1875,3438,0,0,0,0,0,0
$GC,789,-0.56,-146.0,181.5,-16.5,128,798,0.00,2.08,0.00,0.000,4,0.000,0.031,2607,3274,3439,0,0,0,0,0,0
$GC,836,-0.56,-146.0,189.3,-16.1,135,845,0.00,2.00,0.00,0.000,6,0.000,0.017,2607,1860,3439,0,0,0,0,0,0
$GC,982,-0.56,-146.0,211.0,-13.6,154,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1859,3439,0,0,0,0,0,0
$GC,1311,-0.56,-146.0,249.9,-11.4,185,1315,0.00,2.08,0.00,0.000,4,0.000,0.030,2601,3262,3439,0,0,0,0,0,0
$GC,1368,-0.56,-146.0,256.6,-11.3,190,1372,0.00,1.95,0.00,0.000,6,0.000,0.018,2601,1858,3439,0,0,0,0,0,0
$GC,1701,-0.56,-146.0,300.0,-12.2,221,1704,0.00,1.95,0.00,0.000,4,0.000,0.029,2601,495,3439,0,0,0,0,0,0
$GC,1739,-0.56,-146.0,305.5,-13.7,224,1746,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1880,3439,0,0,0,0,0,0
$GC,2064,-0.56,-146.0,347.1,-11.3,255,2069,0.00,2.03,0.00,0.000,4,0.000,0.029,2600,501,3438,0,0,0,0,0,0
$GC,2091,-0.56,-146.0,350.4,-11.3,257,2098,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1871,3438,0,0,0,0,0,0
$GC,2417,-0.56,-146.0,387.1,-11.2,288,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1872,3436,0,0,0,0,0,0
$GC,2737,-0.56,-146.0,417.7,-8.8,318,2741,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,3270,3434,0,0,0,0,0,0
$GC,2833,-0.56,-146.0,425.3,-7.3,326,2840,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1880,3434,0,0,0,0,0,0
$GC,3158,-0.56,-146.0,453.0,-9.6,357,3162,0.00,2.00,0.00,0.000,4,0.000,0.030,2600,507,3432,0,0,0,0,0,0
$GC,3260,-0.56,-146.0,464.0,-11.1,366,3264,0.00,1.95,0.00,0.000,6,0.000,0.021,2593,1881,3432,0,0,0,0,0,0
$GC,3591,-0.56,-146.0,498.6,-9.7,397,3596,0.00,2.05,0.00,0.000,4,0.000,0.033,2590,3265,3429,0,0,0,0,0,0
$GC,3619,-0.56,-146.0,501.4,-9.9,399,3623,0.00,1.92,0.00,0.000,6,0.000,0.018,2590,1875,3429,0,0,0,0,0,0
$GC,3946,-0.56,-146.0,531.0,-8.2,415,3950,0.00,1.98,0.00,0.000,4,0.000,0.030,2590,504,3427,0,0,0,0,0,0
$GC,4024,-0.56,-146.0,537.8,-8.7,418,4028,0.00,1.98,0.00,0.000,6,0.000,0.022,2590,1869,3427,0,0,0,0,0,0
$GC,4347,-0.56,-146.0,561.2,-7.2,434,4351,0.00,2.08,0.00,0.000,4,0.000,0.034,2588,3264,3425,0,0,0,0,0,0
$GC,4430,-0.56,-146.0,567.6,-7.6,437,4437,0.00,1.92,0.00,0.000,6,0.000,0.019,2588,1875,3424,0,0,0,0,0,0
$GC,4749,-0.56,-146.0,593.8,-8.9,453,4753,0.00,2.05,0.00,0.000,4,0.000,0.033,2588,3270,3421,0,0,0,0,0,0
$GC,4840,-0.56,-146.0,601.8,-8.7,457,4844,0.00,1.98,0.00,0.000,6,0.000,0.020,2588,1877,3421,0,0,0,0,0,0
$GC,5176,-0.56,-146.0,630.8,-8.5,473,5180,0.00,1.98,0.00,0.000,4,0.000,0.031,2588,501,3418,0,0,0,0,0,0
$GC,5203,-0.56,-146.0,633.6,-8.3,474,5208,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1873,3419,0,0,0,0,0,0
$GC,5530,-0.56,-146.0,658.5,-7.4,490,5532,0.10,0.00,0.00,0.000,6,0.184,0.000,2613,1874,3416,0,0,0,0,0,0
$GC,5841,-0.56,-146.0,677.7,-6.3,505,5846,0.00,2.10,0.00,0.000,4,0.000,0.037,2613,3273,3414,0,0,0,0,0,0
$GC,5874,-0.56,-146.0,680.0,-6.5,506,5877,0.00,1.98,0.00,0.000,6,0.000,0.020,2613,1864,3414,0,0,0,0,0,0
$GC,6197,-0.56,-146.0,701.3,-6.7,522,6201,0.00,2.08,0.00,0.000,4,0.000,0.035,2613,3270,3411,0,0,0,0,0,0
$GC,6240,-0.56,-146.0,704.2,-6.9,524,6244,0.00,1.95,0.00,0.000,6,0.000,0.020,2613,1876,3411,0,0,0,0,0,0
$GC,6574,-0.56,-146.0,725.6,-6.0,540,6577,0.00,2.05,0.00,0.000,4,0.000,0.035,2613,3263,3409,0,0,0,0,0,0
$GC,6643,-0.56,-146.0,729.8,-6.2,543,6646,0.00,1.98,0.00,0.000,6,0.000,0.020,2613,1873,3408,0,0,0,0,0,0
$GC,6977,-0.56,-146.0,748.0,-5.4,559,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1873,3406,0,0,0,0,0,0
$GC,7285,-0.56,-146.0,765.2,-5.7,574,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1873,3404,0,0,0,0,0,0
$GC,7596,-0.56,-146.0,784.8,-6.5,589,7600,0.00,2.10,0.00,0.000,4,0.000,0.036,2612,3261,3403,0,0,0,0,0,0
$GC,7623,-0.56,-146.0,786.9,-6.7,590,7627,0.00,1.98,0.00,0.000,6,0.000,0.021,2613,1872,3403,0,0,0,0,0,0
$GC,7950,-0.56,-146.0,808.3,-6.4,606,7954,0.00,2.08,0.00,0.000,4,0.000,0.036,2613,3271,3401,0,0,0,0,0,0
$GC,7985,-0.56,-146.0,810.5,-6.4,607,7993,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1871,3401,0,0,0,0,0,0
$GC,8303,-0.56,-146.0,827.0,-5.2,623,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1871,3399,0,0,0,0,0,0
$GC,8612,-0.56,-146.0,840.8,-4.2,638,8616,0.00,2.08,0.00,0.000,4,0.000,0.037,2613,3268,3398,0,0,0,0,0,0
$GC,8645,-0.56,-146.0,842.5,-4.3,639,8652,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1869,3398,0,0,0,0,0,0
$GC,8961,-0.56,-146.0,857.5,-5.1,655,8965,0.00,2.10,0.00,0.000,4,0.000,0.036,2613,3268,3397,0,0,0,0,0,0
$GC,9011,-0.56,-146.0,860.4,-5.3,657,9016,0.00,2.03,0.00,0.000,6,0.000,0.021,2613,1871,3396,0,0,0,0,0,0
$GC,9333,-0.56,-146.0,880.0,-6.6,673,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1870,3395,0,0,0,0,0,0
$GC,9643,-0.56,-146.0,900.6,-6.5,688,9646,0.00,2.00,0.00,0.000,4,0.000,0.034,2613,495,3394,0,0,0,0,0,0
$GC,9671,-0.56,-146.0,902.5,-6.6,689,9675,0.00,2.03,0.00,0.000,6,0.000,0.024,2613,1884,3394,0,0,0,0,0,0
$GC,9999,-0.56,-146.0,922.5,-5.6,705,10003,0.00,2.08,0.00,0.000,4,0.000,0.039,2613,3271,3393,0,0,0,0,0,0
$GC,10072,-0.56,-146.0,926.5,-5.4,708,10077,0.00,2.03,0.00,0.000,6,0.000,0.020,2613,1873,3392,0,0,0,0,0,0
$GC,10401,-0.56,-146.0,940.7,-4.0,724,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1872,3391,0,0,0,0,0,0
$GC,10708,-0.56,-146.0,952.7,-4.0,739,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1872,3391,0,0,0,0,0,0
$GC,11021,-0.56,-146.0,966.4,-4.6,754,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1872,3390,0,0,0,0,0,0
$GC,11327,-0.56,-146.0,982.2,-5.2,769,11331,0.00,2.08,0.00,0.000,4,0.000,0.037,2613,3267,3389,0,0,0,0,0,0
$GC,11367,-0.56,-146.0,984.2,-5.4,771,11371,0.00,1.98,0.00,0.000,6,0.000,0.021,2613,1873,3389,0,0,0,0,0,0
$STATE,11492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11492,begin apogee
$GC,11499,-0.20,0.0,990.9,5.2,777,11616,0.32,0.00,110.75,1.417,6,0.119,0.000,2727,2088,2838,0,0,0,0,0,0
$STATE,11617,end apogee,CONTROL_FINISHED_OK
$STATE,11617,begin climb
$GC,11622,0.56,146.0,993.5,0.0,782,11751,0.73,0.00,123.35,1.365,6,0.081,0.000,2981,2088,2241,0,0,0,0,0,0
$GC,12068,0.56,146.0,947.4,11.9,804,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2088,2231,0,0,0,0,0,0
$GC,12378,0.56,146.0,909.8,12.4,819,12382,0.00,2.12,0.00,0.000,4,0.000,0.034,2989,690,2229,0,0,0,0,0,0
$GC,12463,0.56,146.0,898.9,12.6,823,12467,0.00,2.05,0.00,0.000,6,0.000,0.024,2990,2076,2229,0,0,0,0,0,0
$GC,12800,0.56,146.0,857.5,12.2,839,12803,0.00,2.08,0.00,0.000,4,0.000,0.033,2998,704,2227,0,0,0,0,0,0
$GC,12827,0.56,146.0,853.6,12.3,840,12832,0.00,2.08,0.00,0.000,6,0.000,0.024,2998,2075,2227,0,0,0,0,0,0
$GC,13154,0.56,146.0,814.6,11.4,856,13158,0.00,2.12,0.00,0.000,4,0.000,0.040,2998,3475,2227,0,0,0,0,0,0
$GC,13199,0.56,146.0,808.8,12.8,858,13204,0.00,2.08,0.00,0.000,6,0.000,0.022,3006,2075,2227,0,0,0,0,0,0
$GC,13526,0.56,146.0,770.1,11.8,874,13529,0.00,2.05,0.00,0.000,4,0.000,0.034,3016,694,2226,0,0,0,0,0,0
$GC,13605,0.56,146.0,760.5,12.0,877,13610,0.12,2.05,0.00,0.000,6,0.171,0.024,2985,2082,2226,0,0,0,0,0,0
$GC,13921,0.56,146.0,726.5,10.5,892,13926,0.00,2.12,0.00,0.000,4,0.000,0.040,2985,3466,2225,0,0,0,0,0,0
$GC,13999,0.56,146.0,717.2,11.9,895,14003,0.00,2.03,0.00,0.000,6,0.000,0.023,2992,2064,2224,0,0,0,0,0,0
$GC,14322,0.56,146.0,679.4,12.1,911,14326,0.00,2.03,0.00,0.000,4,0.000,0.035,3002,684,2224,0,0,0,0,0,0
$GC,14377,0.56,146.0,672.0,12.5,913,14381,0.00,2.05,0.00,0.000,6,0.000,0.024,3002,2083,2224,0,0,0,0,0,0
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$GC,15009,0.56,146.0,598.4,9.9,944,15010,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2083,2223,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,96860,1726
$CAP_FILE_SIZE,216100,0
$CFSIZE,260165632,134885376
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