version: 66.09
glider: 167
mission: 8
dive: 90
start: 6 30 111 0 17 24
data:
$ID,167
$MISSION,8
$DIVE,90
$N_DIVES,95
$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,-56500.016
$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,69
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$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
$GPS1,300611,000736,1841.537,12426.508,40,0.9,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.5
$GPS2,300611,001702,1841.473,12426.337,13,1.2,13,-2.2
$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,170.3,96543,-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,-78.22,0.000,2,0.000,0.000,110,1794,2973,0,0,0,0,0,0
$GC,100,-0.56,-146.0,5.0,-8.3,10,125,9.88,1.98,-8.25,0.000,4,0.233,0.042,2608,474,3438,0,0,0,0,0,0
$GC,178,-0.56,-146.0,33.9,-33.0,22,186,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1868,3438,0,0,0,0,0,0
$GC,255,-0.56,-146.0,59.4,-31.7,35,263,0.00,2.05,0.00,0.000,4,0.000,0.027,2600,486,3439,0,0,0,0,0,0
$GC,323,-0.56,-146.0,79.0,-27.0,46,331,0.00,1.67,0.00,0.000,6,0.000,0.019,2593,1656,3439,0,0,0,0,0,0
$GC,403,-0.56,-146.0,97.2,-24.6,59,411,0.00,2.42,0.00,0.000,4,0.000,0.031,2581,3273,3439,0,0,0,0,0,0
$GC,513,-0.56,-146.0,127.2,-29.5,78,521,0.10,2.17,0.00,0.000,6,0.162,0.019,2610,1766,3439,0,0,0,0,0,0
$GC,590,-0.56,-146.0,143.4,-18.0,91,598,0.00,1.88,0.00,0.000,4,0.000,0.028,2610,479,3439,0,0,0,0,0,0
$GC,734,-0.56,-146.0,166.4,-13.9,116,743,0.00,1.55,0.00,0.000,6,0.000,0.018,2605,1592,3439,0,0,0,0,0,0
$GC,810,-0.56,-146.0,176.4,-13.8,129,817,0.00,2.50,0.00,0.000,4,0.000,0.031,2594,3270,3439,0,0,0,0,0,0
$GC,907,-0.56,-146.0,189.7,-14.4,146,915,0.00,2.17,0.00,0.000,6,0.000,0.018,2594,1752,3440,0,0,0,0,0,0
$GC,983,-0.56,-146.0,202.4,-16.8,158,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1752,3440,0,0,0,0,0,0
$GC,1304,-0.56,-146.0,254.9,-14.7,188,1308,0.00,2.25,0.00,0.000,4,0.000,0.030,2588,3266,3440,0,0,0,0,0,0
$GC,1352,-0.56,-146.0,262.0,-13.2,192,1362,0.00,2.08,0.00,0.000,6,0.000,0.018,2587,1816,3440,0,0,0,0,0,0
$GC,1677,-0.56,-146.0,301.2,-11.9,223,1682,0.10,2.15,0.00,0.000,4,0.180,0.031,2604,3270,3439,0,0,0,0,0,0
$GC,1798,-0.56,-146.0,313.6,-10.0,233,1802,0.00,1.92,0.00,0.000,6,0.000,0.018,2604,1892,3439,0,0,0,0,0,0
$GC,2130,-0.56,-146.0,350.0,-11.7,264,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1890,3438,0,0,0,0,0,0
$GC,2449,-0.56,-146.0,384.7,-9.0,294,2453,0.00,2.00,0.00,0.000,4,0.000,0.031,2601,3268,3436,0,0,0,0,0,0
$GC,2474,-0.56,-146.0,386.8,-8.7,296,2478,0.00,1.88,0.00,0.000,6,0.000,0.018,2601,1904,3436,0,0,0,0,0,0
$GC,2805,-0.56,-146.0,415.2,-8.2,327,2810,0.00,2.03,0.00,0.000,4,0.000,0.030,2601,517,3434,0,0,0,0,0,0
$GC,2877,-0.56,-146.0,421.5,-8.8,333,2885,0.00,2.05,0.00,0.000,6,0.000,0.021,2601,1931,3433,0,0,0,0,0,0
$GC,3203,-0.56,-146.0,449.6,-8.9,364,3206,0.00,1.95,0.00,0.000,4,0.000,0.034,2601,3269,3431,0,0,0,0,0,0
$GC,3275,-0.56,-146.0,456.2,-8.8,370,3282,0.00,1.88,0.00,0.000,6,0.000,0.018,2601,1941,3431,0,0,0,0,0,0
$GC,3601,-0.56,-146.0,484.2,-8.4,401,3605,0.00,1.95,0.00,0.000,4,0.000,0.033,2601,3277,3429,0,0,0,0,0,0
$GC,3639,-0.56,-146.0,487.9,-9.0,404,3647,0.00,1.88,0.00,0.000,6,0.000,0.019,2601,1958,3428,0,0,0,0,0,0
$GC,3963,-0.56,-146.0,513.5,-7.8,427,3968,0.00,2.12,0.00,0.000,4,0.000,0.031,2601,516,3425,0,0,0,0,0,0
$GC,4116,-0.56,-146.0,526.0,-8.0,433,4123,0.00,2.00,0.00,0.000,6,0.000,0.021,2601,1907,3425,0,0,0,0,0,0
$GC,4434,-0.56,-146.0,548.9,-7.3,449,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1907,3422,0,0,0,0,0,0
$GC,4742,-0.56,-146.0,572.3,-7.5,464,4745,0.00,2.03,0.00,0.000,4,0.000,0.030,2601,516,3420,0,0,0,0,0,0
$GC,4758,-0.56,-146.0,573.8,-7.4,464,4765,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1921,3420,0,0,0,0,0,0
$GC,5075,-0.56,-146.0,596.9,-7.8,480,5079,0.00,1.98,0.00,0.000,4,0.000,0.036,2600,3273,3418,0,0,0,0,0,0
$GC,5114,-0.56,-146.0,600.0,-8.0,481,5121,0.00,1.90,0.00,0.000,6,0.000,0.021,2601,1916,3418,0,0,0,0,0,0
$GC,5432,-0.56,-146.0,623.0,-7.2,497,5437,0.00,2.03,0.00,0.000,4,0.000,0.034,2601,3262,3415,0,0,0,0,0,0
$GC,5500,-0.56,-146.0,628.0,-7.0,500,5504,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1920,3415,0,0,0,0,0,0
$GC,5834,-0.56,-146.0,651.0,-6.9,516,5838,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,500,3412,0,0,0,0,0,0
$GC,5948,-0.56,-146.0,659.8,-7.8,521,5952,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1901,3412,0,0,0,0,0,0
$GC,6281,-0.56,-146.0,683.4,-6.9,537,6286,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3267,3409,0,0,0,0,0,0
$GC,6366,-0.56,-146.0,689.2,-6.6,540,6374,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1938,3409,0,0,0,0,0,0
$GC,6682,-0.56,-146.0,711.7,-7.3,556,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1939,3408,0,0,0,0,0,0
$GC,6991,-0.56,-146.0,734.9,-7.7,571,6996,0.00,2.00,0.00,0.000,4,0.000,0.035,2600,3264,3406,0,0,0,0,0,0
$GC,7030,-0.56,-146.0,738.0,-7.8,572,7038,0.00,1.88,0.00,0.000,6,0.000,0.021,2601,1960,3406,0,0,0,0,0,0
$GC,7346,-0.56,-146.0,760.2,-6.7,588,7350,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,496,3404,0,0,0,0,0,0
$GC,7388,-0.56,-146.0,763.2,-6.7,590,7392,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1958,3403,0,0,0,0,0,0
$GC,7716,-0.56,-146.0,785.5,-6.8,606,7721,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3268,3401,0,0,0,0,0,0
$GC,7743,-0.56,-146.0,787.4,-6.9,607,7747,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1964,3401,0,0,0,0,0,0
$GC,8073,-0.56,-146.0,810.5,-7.0,623,8077,0.00,2.15,0.00,0.000,4,0.000,0.032,2600,500,3400,0,0,0,0,0,0
$GC,8123,-0.56,-146.0,814.7,-7.9,625,8126,0.00,2.08,0.00,0.000,6,0.000,0.023,2601,1944,3400,0,0,0,0,0,0
$GC,8446,-0.56,-146.0,837.3,-6.9,641,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1944,3398,0,0,0,0,0,0
$GC,8754,-0.56,-146.0,857.0,-6.2,656,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1944,3397,0,0,0,0,0,0
$GC,9063,-0.56,-146.0,875.4,-5.9,671,9068,0.00,2.00,0.00,0.000,4,0.000,0.039,2600,3265,3396,0,0,0,0,0,0
$GC,9148,-0.56,-146.0,880.6,-6.2,674,9155,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1962,3396,0,0,0,0,0,0
$GC,9464,-0.56,-146.0,898.7,-5.6,690,9469,0.00,2.17,0.00,0.000,4,0.000,0.033,2600,504,3395,0,0,0,0,0,0
$GC,9543,-0.56,-146.0,904.1,-7.0,693,9547,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1941,3395,0,0,0,0,0,0
$GC,9866,-0.56,-146.0,922.7,-5.7,709,9870,0.00,1.95,0.00,0.000,4,0.000,0.039,2600,3264,3393,0,0,0,0,0,0
$GC,9916,-0.56,-146.0,925.9,-5.8,711,9920,0.00,1.88,0.00,0.000,6,0.000,0.021,2601,1950,3393,0,0,0,0,0,0
$GC,10245,-0.56,-146.0,944.9,-5.8,727,10250,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,507,3393,0,0,0,0,0,0
$GC,10278,-0.56,-146.0,947.2,-6.1,728,10282,0.00,2.10,0.00,0.000,6,0.000,0.024,2601,1944,3392,0,0,0,0,0,0
$GC,10602,-0.56,-146.0,967.0,-6.2,744,10606,0.00,1.98,0.00,0.000,4,0.000,0.039,2600,3265,3391,0,0,0,0,0,0
$GC,10680,-0.56,-146.0,972.1,-6.3,747,10684,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1952,3391,0,0,0,0,0,0
$STATE,10979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10979,begin apogee
$GC,10987,-0.20,0.0,991.1,6.3,762,11104,0.38,0.00,110.53,1.409,4,0.124,0.000,2729,2089,2839,0,0,0,0,0,0
$STATE,11105,end apogee,CONTROL_FINISHED_OK
$STATE,11105,begin climb
$GC,11107,0.56,146.0,994.2,0.0,767,11238,0.70,0.00,122.88,1.359,6,0.080,0.000,2977,2090,2242,0,0,0,0,0,0
$GC,11556,0.56,146.0,951.4,10.7,789,11560,0.00,2.12,0.00,0.000,4,0.000,0.039,2977,3457,2231,0,0,0,0,0,0
$GC,11628,0.56,146.0,942.2,12.4,792,11632,0.00,2.03,0.00,0.000,6,0.000,0.022,2982,2086,2230,0,0,0,0,0,0
$GC,11951,0.56,146.0,903.7,12.5,808,11955,0.00,2.10,0.00,0.000,4,0.000,0.034,2992,685,2228,0,0,0,0,0,0
$GC,12029,0.56,146.0,893.4,12.9,811,12036,0.00,2.08,0.00,0.000,6,0.000,0.024,2992,2067,2228,0,0,0,0,0,0
$GC,12347,0.56,146.0,853.8,12.6,827,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2067,2227,0,0,0,0,0,0
$GC,12655,0.56,146.0,816.3,11.6,842,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2067,2226,0,0,0,0,0,0
$GC,12966,0.56,146.0,781.3,11.2,857,12970,0.00,2.05,0.00,0.000,4,0.000,0.034,2999,693,2226,0,0,0,0,0,0
$GC,13006,0.56,146.0,776.5,11.6,858,13012,0.00,2.08,0.00,0.000,6,0.000,0.024,3000,2105,2226,0,0,0,0,0,0
$GC,13322,0.56,146.0,738.7,12.1,874,13325,0.00,2.08,0.00,0.000,4,0.000,0.039,2999,3477,2225,0,0,0,0,0,0
$GC,13406,0.56,146.0,727.3,13.3,877,13413,0.00,1.98,0.00,0.000,6,0.000,0.022,3007,2106,2225,0,0,0,0,0,0
$GC,13722,0.56,146.0,687.7,12.5,893,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2106,2224,0,0,0,0,0,0
$GC,14031,0.56,146.0,648.9,12.7,908,14036,0.00,2.12,0.00,0.000,4,0.000,0.036,3018,689,2224,0,0,0,0,0,0
$GC,14211,0.56,146.0,625.7,12.6,916,14215,0.12,2.00,0.00,0.000,6,0.164,0.024,2986,2074,2223,0,0,0,0,0,0
$GC,14538,0.56,146.0,591.6,9.8,932,14542,0.00,2.08,0.00,0.000,4,0.000,0.039,2986,3458,2224,0,0,0,0,0,0
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$GC,14938,0.56,146.0,551.9,9.8,951,14941,0.00,2.05,0.00,0.000,4,0.000,0.035,3003,675,2223,0,0,0,0,0,0
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$STATE,21059,end climb,SURFACE_DEPTH_REACHED
$STATE,21059,begin surface coast
$FINISH,0.9,1.013760
$STATE,21084,end surface coast,CONTROL_FINISHED_OK
$STATE,21084,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,30.82
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$TCM_TEMP,29.00
$XPDR_PINGS,8
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$10V_AH,10.2,15.456
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329896
$DATA_FILE_SIZE,96764,1654
$CAP_FILE_SIZE,228730,0
$CFSIZE,260165632,133586944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,208.9,1
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