version: 66.09
glider: 167
mission: 8
dive: 80
start: 6 27 111 9 53 56
data:
$ID,167
$MISSION,8
$DIVE,80
$N_DIVES,90
$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,-56487.438
$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,80
$R_STBD_OVSHOOT,75
$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
$GPS1,270611,094437,1903.073,12425.761,27,1.3,27,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.6
$GPS2,270611,095334,1903.143,12425.747,13,2.4,32,-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,170.4,136440,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,86,0.00,0.00,-65.47,0.000,2,0.000,0.000,110,1799,3081,0,0,0,0,0,0
$GC,89,-0.56,-146.0,5.6,-10.8,9,107,9.82,0.00,-6.05,0.000,6,0.231,0.000,2608,1798,3436,0,0,0,0,0,0
$GC,239,-0.56,-146.0,57.2,-28.1,35,248,0.00,2.20,0.00,0.000,4,0.000,0.031,2598,3257,3439,0,0,0,0,0,0
$GC,325,-0.56,-146.0,83.9,-31.9,50,334,0.00,2.00,0.00,0.000,6,0.000,0.018,2598,1870,3439,0,0,0,0,0,0
$GC,473,-0.56,-146.0,119.9,-19.4,75,481,0.00,2.03,0.00,0.000,4,0.000,0.026,2598,480,3439,0,0,0,0,0,0
$GC,550,-0.56,-146.0,135.7,-20.2,88,558,0.00,2.00,0.00,0.000,6,0.000,0.019,2589,1868,3439,0,0,0,0,0,0
$GC,693,-0.56,-146.0,163.4,-18.9,113,701,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,3264,3440,0,0,0,0,0,0
$GC,835,-0.56,-146.0,190.4,-17.7,137,843,0.08,1.98,0.00,0.000,6,0.159,0.018,2610,1857,3440,0,0,0,0,0,0
$GC,973,-0.56,-146.0,214.4,-16.5,154,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1856,3440,0,0,0,0,0,0
$GC,1294,-0.56,-146.0,257.0,-12.5,184,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1856,3440,0,0,0,0,0,0
$GC,1622,-0.56,-146.0,292.7,-10.8,215,1626,0.00,1.92,0.00,0.000,4,0.000,0.029,2610,517,3440,0,0,0,0,0,0
$GC,1708,-0.56,-146.0,303.0,-11.7,222,1716,0.00,1.92,0.00,0.000,6,0.000,0.019,2603,1891,3440,0,0,0,0,0,0
$GC,2033,-0.56,-146.0,338.8,-10.7,253,2037,0.00,2.00,0.00,0.000,4,0.000,0.033,2603,3264,3440,0,0,0,0,0,0
$GC,2169,-0.56,-146.0,352.4,-9.5,265,2173,0.00,1.90,0.00,0.000,6,0.000,0.018,2602,1887,3439,0,0,0,0,0,0
$GC,2500,-0.56,-146.0,381.9,-8.9,296,2504,0.00,2.00,0.00,0.000,4,0.000,0.032,2603,3263,3437,0,0,0,0,0,0
$GC,2523,-0.56,-146.0,384.0,-8.8,298,2527,0.00,1.92,0.00,0.000,6,0.000,0.019,2602,1874,3437,0,0,0,0,0,0
$GC,2854,-0.56,-146.0,416.5,-10.4,329,2858,0.00,1.98,0.00,0.000,4,0.000,0.030,2603,501,3435,0,0,0,0,0,0
$GC,2935,-0.56,-146.0,425.2,-11.2,336,2940,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1868,3435,0,0,0,0,0,0
$GC,3266,-0.56,-146.0,457.6,-9.1,367,3269,0.00,2.05,0.00,0.000,4,0.000,0.034,2601,3265,3433,0,0,0,0,0,0
$GC,3314,-0.56,-146.0,461.7,-8.9,371,3317,0.00,1.92,0.00,0.000,6,0.000,0.019,2601,1872,3432,0,0,0,0,0,0
$GC,3645,-0.56,-146.0,489.4,-7.9,402,3649,0.00,2.00,0.00,0.000,4,0.000,0.031,2601,506,3430,0,0,0,0,0,0
$GC,3751,-0.56,-146.0,498.7,-8.8,411,3759,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1866,3430,0,0,0,0,0,0
$GC,4078,-0.56,-146.0,522.6,-6.8,428,4081,0.00,2.08,0.00,0.000,4,0.000,0.035,2601,3272,3428,0,0,0,0,0,0
$GC,4193,-0.56,-146.0,530.5,-6.9,433,4197,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1886,3427,0,0,0,0,0,0
$GC,4528,-0.56,-146.0,554.7,-7.5,449,4532,0.00,2.03,0.00,0.000,4,0.000,0.033,2601,495,3424,0,0,0,0,0,0
$GC,4651,-0.56,-146.0,565.2,-8.5,454,4656,0.00,2.00,0.00,0.000,6,0.000,0.023,2601,1868,3423,0,0,0,0,0,0
$GC,4974,-0.56,-146.0,589.5,-7.6,470,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1868,3421,0,0,0,0,0,0
$GC,5282,-0.56,-146.0,613.1,-7.7,485,5285,0.00,2.05,0.00,0.000,4,0.000,0.036,2601,3264,3419,0,0,0,0,0,0
$GC,5340,-0.56,-146.0,617.2,-7.3,487,5344,0.00,1.98,0.00,0.000,6,0.000,0.020,2601,1862,3419,0,0,0,0,0,0
$GC,5662,-0.56,-146.0,639.0,-6.7,503,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1862,3417,0,0,0,0,0,0
$GC,5971,-0.56,-146.0,659.3,-6.6,518,5975,0.00,2.08,0.00,0.000,4,0.000,0.036,2601,3264,3415,0,0,0,0,0,0
$GC,5991,-0.56,-146.0,660.5,-6.5,519,5995,0.00,1.95,0.00,0.000,6,0.000,0.021,2601,1879,3414,0,0,0,0,0,0
$GC,6325,-0.56,-146.0,682.1,-6.5,535,6329,0.00,2.05,0.00,0.000,4,0.000,0.036,2601,3264,3412,0,0,0,0,0,0
$GC,6369,-0.56,-146.0,685.0,-6.3,537,6373,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1870,3412,0,0,0,0,0,0
$GC,6700,-0.56,-146.0,706.3,-6.5,553,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1870,3410,0,0,0,0,0,0
$GC,7006,-0.56,-146.0,726.6,-6.7,568,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1870,3408,0,0,0,0,0,0
$GC,7317,-0.56,-146.0,748.2,-6.9,583,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1870,3407,0,0,0,0,0,0
$GC,7627,-0.56,-146.0,769.7,-7.1,598,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1870,3405,0,0,0,0,0,0
$GC,7935,-0.56,-146.0,792.2,-7.4,613,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1870,3404,0,0,0,0,0,0
$GC,8245,-0.56,-146.0,813.7,-6.8,628,8249,0.00,2.08,0.00,0.000,4,0.000,0.037,2601,3265,3402,0,0,0,0,0,0
$GC,8277,-0.56,-146.0,816.0,-6.6,629,8284,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1868,3401,0,0,0,0,0,0
$GC,8595,-0.56,-146.0,835.3,-5.9,645,8599,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,505,3400,0,0,0,0,0,0
$GC,8621,-0.56,-146.0,837.2,-5.9,646,8625,0.00,2.00,0.00,0.000,6,0.000,0.024,2600,1883,3400,0,0,0,0,0,0
$GC,8949,-0.56,-146.0,855.3,-5.4,662,8953,0.00,2.05,0.00,0.000,4,0.000,0.039,2601,3266,3399,0,0,0,0,0,0
$GC,8983,-0.56,-146.0,857.0,-5.3,663,8987,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1871,3398,0,0,0,0,0,0
$GC,9308,-0.56,-146.0,874.4,-5.7,679,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1871,3398,0,0,0,0,0,0
$GC,9615,-0.56,-146.0,892.3,-6.0,694,9619,0.00,2.03,0.00,0.000,4,0.000,0.034,2601,492,3396,0,0,0,0,0,0
$GC,9666,-0.56,-146.0,895.8,-6.5,696,9670,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,1883,3396,0,0,0,0,0,0
$GC,9994,-0.56,-146.0,915.9,-6.1,712,9998,0.00,2.08,0.00,0.000,4,0.000,0.039,2601,3267,3395,0,0,0,0,0,0
$GC,10096,-0.56,-146.0,922.0,-5.7,716,10103,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1874,3395,0,0,0,0,0,0
$GC,10415,-0.56,-146.0,940.4,-5.9,732,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1873,3395,0,0,0,0,0,0
$GC,10723,-0.56,-146.0,959.6,-6.1,747,10727,0.00,2.10,0.00,0.000,4,0.000,0.038,2601,3263,3393,0,0,0,0,0,0
$GC,10791,-0.56,-146.0,963.9,-6.2,750,10796,0.00,2.03,0.00,0.000,6,0.000,0.021,2601,1871,3394,0,0,0,0,0,0
$GC,11118,-0.56,-146.0,984.6,-6.3,766,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1870,3392,0,0,0,0,0,0
$STATE,11198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11198,begin apogee
$GC,11206,-0.20,0.0,990.1,6.5,770,11324,0.38,0.00,110.78,1.416,6,0.126,0.000,2728,2082,2839,0,0,0,0,0,0
$STATE,11325,end apogee,CONTROL_FINISHED_OK
$STATE,11325,begin climb
$GC,11327,0.56,146.0,993.7,0.0,775,11460,0.73,0.00,123.88,1.367,6,0.082,0.000,2981,2082,2242,0,0,0,0,0,0
$GC,11769,0.56,146.0,952.8,10.8,797,11773,0.00,2.12,0.00,0.000,4,0.000,0.041,2981,3461,2232,0,0,0,0,0,0
$GC,11802,0.56,146.0,948.7,11.6,798,11809,0.00,2.05,0.00,0.000,6,0.000,0.022,2988,2079,2231,0,0,0,0,0,0
$GC,12120,0.56,146.0,911.4,11.9,814,12123,0.00,2.08,0.00,0.000,4,0.000,0.035,2999,685,2229,0,0,0,0,0,0
$GC,12164,0.56,146.0,905.6,12.4,816,12168,0.00,2.05,0.00,0.000,6,0.000,0.024,2999,2074,2229,0,0,0,0,0,0
$GC,12492,0.56,146.0,865.5,12.3,832,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2074,2227,0,0,0,0,0,0
$GC,12802,0.56,146.0,825.6,13.3,847,12806,0.00,2.10,0.00,0.000,4,0.000,0.034,3007,691,2227,0,0,0,0,0,0
$GC,12851,0.56,146.0,818.5,14.2,849,12855,0.00,2.05,0.00,0.000,6,0.000,0.024,3007,2086,2228,0,0,0,0,0,0
$GC,13173,0.56,146.0,774.6,13.6,865,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2086,2226,0,0,0,0,0,0
$GC,13484,0.56,146.0,733.5,12.7,880,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2086,2225,0,0,0,0,0,0
$GC,13794,0.56,146.0,695.5,12.2,895,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2086,2225,0,0,0,0,0,0
$GC,14101,0.56,146.0,659.1,11.6,910,14105,0.00,2.08,0.00,0.000,4,0.000,0.041,3007,3468,2225,0,0,0,0,0,0
$GC,14126,0.56,146.0,656.2,11.9,911,14132,0.10,2.08,0.00,0.000,6,0.150,0.023,2985,2065,2224,0,0,0,0,0,0
$GC,14460,0.56,146.0,621.5,10.2,927,14463,0.00,2.03,0.00,0.000,4,0.000,0.034,2994,689,2224,0,0,0,0,0,0
$GC,14561,0.56,146.0,610.1,11.3,931,14566,0.00,2.08,0.00,0.000,6,0.000,0.024,2994,2081,2224,0,0,0,0,0,0
$GC,14882,0.56,146.0,573.3,11.4,947,14886,0.00,2.10,0.00,0.000,4,0.000,0.041,2994,3472,2224,0,0,0,0,0,0
$GC,14947,0.56,146.0,565.0,12.7,950,14951,0.00,2.03,0.00,0.000,6,0.000,0.022,3003,2069,2224,0,0,0,0,0,0
$GC,15278,0.56,146.0,529.5,10.7,966,15281,0.00,2.05,0.00,0.000,4,0.000,0.034,3013,681,2224,0,0,0,0,0,0
$GC,15429,0.56,146.0,513.1,10.4,972,15437,0.12,2.03,0.00,0.000,6,0.161,0.024,2981,2082,2224,0,0,0,0,0,0
$GC,15750,0.58,158.0,486.4,7.8,996,15764,0.00,2.10,8.07,0.947,4,0.000,0.041,2980,3469,2193,0,0,0,0,0,0
$GC,15800,0.58,158.0,482.1,8.7,1000,15804,0.00,2.05,0.00,0.000,6,0.000,0.022,2987,2064,2192,0,0,0,0,0,0
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$STATE,21326,begin surface coast
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$STATE,21369,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,13.615
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$FG_AHR_10Vo,0.000
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$MEM,329904
$DATA_FILE_SIZE,96698,1690
$CAP_FILE_SIZE,213781,0
$CFSIZE,260165632,134676480
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