version: 66.09
glider: 167
mission: 8
dive: 114
start: 7 6 111 6 24 50
data:
$ID,167
$MISSION,8
$DIVE,114
$N_DIVES,0
$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,-3
$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,-56530.309
$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,85
$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
$GPS1,060711,061426,1752.758,12430.205,25,2.3,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.2
$GPS2,060711,062428,1752.596,12430.363,12,99.0,31,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,266.7,246069,-15.4,-8.250
$D_GRID,4085
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,97,0.00,0.00,-75.05,0.000,2,0.000,0.000,110,1908,3172,0,0,0,0,0,0
$GC,100,-0.56,-146.0,6.2,-11.3,10,124,9.93,2.12,-4.22,0.000,4,0.234,0.039,2615,468,3438,0,0,0,0,0,0
$GC,138,-0.56,-146.0,27.7,-48.9,15,146,0.00,2.05,0.00,0.000,6,0.000,0.022,2607,1852,3439,0,0,0,0,0,0
$GC,216,-0.56,-146.0,52.1,-31.1,28,224,0.00,2.10,0.00,0.000,4,0.000,0.028,2596,3271,3439,0,0,0,0,0,0
$GC,246,-0.56,-146.0,60.5,-28.2,32,255,0.00,1.98,0.00,0.000,6,0.000,0.018,2596,1901,3440,0,0,0,0,0,0
$GC,324,-0.56,-146.0,79.7,-23.3,45,333,0.00,2.08,0.00,0.000,4,0.000,0.028,2596,493,3440,0,0,0,0,0,0
$GC,358,-0.56,-146.0,86.9,-19.8,50,366,0.00,1.92,0.00,0.000,6,0.000,0.020,2588,1823,3440,0,0,0,0,0,0
$GC,436,-0.56,-146.0,104.7,-24.3,63,444,0.12,0.00,0.00,0.000,6,0.195,0.000,2617,1823,3440,0,0,0,0,0,0
$GC,513,-0.56,-146.0,118.9,-16.1,76,522,0.00,2.15,0.00,0.000,4,0.000,0.031,2608,3268,3441,0,0,0,0,0,0
$GC,579,-0.56,-146.0,130.3,-15.9,87,587,0.00,2.17,0.00,0.000,6,0.000,0.018,2608,1764,3441,0,0,0,0,0,0
$GC,652,-0.56,-146.0,142.6,-17.4,100,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1764,3441,0,0,0,0,0,0
$GC,727,-0.56,-146.0,154.6,-15.7,113,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1764,3441,0,0,0,0,0,0
$GC,806,-0.56,-146.0,167.1,-16.0,126,815,0.00,1.85,0.00,0.000,4,0.000,0.028,2608,492,3441,0,0,0,0,0,0
$GC,823,-0.56,-146.0,169.7,-15.8,128,832,0.00,1.77,0.00,0.000,6,0.000,0.019,2601,1732,3441,0,0,0,0,0,0
$GC,898,-0.56,-146.0,181.8,-16.1,141,907,0.00,2.30,0.00,0.000,4,0.000,0.031,2590,3266,3442,0,0,0,0,0,0
$GC,949,-0.56,-146.0,189.3,-14.3,149,958,0.00,2.12,0.00,0.000,6,0.000,0.018,2590,1783,3442,0,0,0,0,0,0
$GC,1025,-0.56,-146.0,200.2,-14.3,162,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1783,3442,0,0,0,0,0,0
$GC,1345,-0.56,-146.0,247.9,-14.1,192,1349,0.00,1.85,0.00,0.000,4,0.000,0.029,2590,491,3442,0,0,0,0,0,0
$GC,1380,-0.56,-146.0,253.3,-15.2,195,1384,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,1750,3441,0,0,0,0,0,0
$GC,1711,-0.56,-146.0,296.6,-11.4,226,1715,0.10,2.22,0.00,0.000,4,0.189,0.031,2603,3274,3441,0,0,0,0,0,0
$GC,1863,-0.56,-146.0,311.4,-9.1,239,1867,0.00,2.10,0.00,0.000,6,0.000,0.018,2602,1784,3440,0,0,0,0,0,0
$GC,2189,-0.56,-146.0,342.2,-10.0,269,2192,0.00,1.85,0.00,0.000,4,0.000,0.030,2602,493,3439,0,0,0,0,0,0
$GC,2218,-0.56,-146.0,345.5,-10.6,271,2225,0.00,1.85,0.00,0.000,6,0.000,0.020,2601,1803,3439,0,0,0,0,0,0
$GC,2543,-0.56,-146.0,379.5,-10.3,302,2547,0.00,2.17,0.00,0.000,4,0.000,0.033,2601,3271,3437,0,0,0,0,0,0
$GC,2645,-0.56,-146.0,389.5,-9.3,310,2652,0.00,2.03,0.00,0.000,6,0.000,0.018,2601,1833,3437,0,0,0,0,0,0
$GC,2970,-0.56,-146.0,417.0,-8.3,341,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1833,3434,0,0,0,0,0,0
$GC,3290,-0.56,-146.0,444.9,-8.7,371,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1833,3432,0,0,0,0,0,0
$GC,3612,-0.56,-146.0,471.1,-8.7,401,3616,0.00,2.12,0.00,0.000,4,0.000,0.033,2601,3271,3430,0,0,0,0,0,0
$GC,3666,-0.56,-146.0,476.5,-8.6,405,3673,0.00,2.05,0.00,0.000,6,0.000,0.019,2601,1817,3429,0,0,0,0,0,0
$GC,4004,-0.56,-146.0,505.7,-8.8,434,4008,0.00,1.92,0.00,0.000,4,0.000,0.032,2601,509,3427,0,0,0,0,0,0
$GC,4054,-0.56,-146.0,510.8,-9.6,436,4058,0.00,1.92,0.00,0.000,6,0.000,0.021,2601,1855,3427,0,0,0,0,0,0
$GC,4382,-0.56,-146.0,535.6,-7.3,452,4385,0.00,2.05,0.00,0.000,4,0.000,0.034,2601,3259,3424,0,0,0,0,0,0
$GC,4540,-0.56,-146.0,546.5,-7.2,459,4544,0.00,1.90,0.00,0.000,6,0.000,0.020,2601,1912,3423,0,0,0,0,0,0
$GC,4873,-0.56,-146.0,571.7,-7.4,475,4877,0.00,2.05,0.00,0.000,4,0.000,0.032,2601,513,3421,0,0,0,0,0,0
$GC,4952,-0.56,-146.0,578.3,-8.4,478,4956,0.00,2.00,0.00,0.000,6,0.000,0.021,2601,1897,3420,0,0,0,0,0,0
$GC,5274,-0.56,-146.0,602.9,-7.5,494,5279,0.00,2.05,0.00,0.000,4,0.000,0.036,2601,3265,3418,0,0,0,0,0,0
$GC,5345,-0.56,-146.0,608.1,-7.6,497,5348,0.00,1.90,0.00,0.000,6,0.000,0.020,2601,1920,3417,0,0,0,0,0,0
$GC,5679,-0.56,-146.0,631.6,-6.7,513,5682,0.00,2.08,0.00,0.000,4,0.000,0.031,2601,508,3415,0,0,0,0,0,0
$GC,5748,-0.56,-146.0,636.5,-7.0,516,5751,0.00,2.05,0.00,0.000,6,0.000,0.021,2601,1919,3414,0,0,0,0,0,0
$GC,6082,-0.56,-146.0,657.0,-5.6,532,6086,0.00,2.00,0.00,0.000,4,0.000,0.037,2601,3267,3412,0,0,0,0,0,0
$GC,6165,-0.56,-146.0,661.9,-5.8,535,6172,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1939,3412,0,0,0,0,0,0
$GC,6483,-0.56,-146.0,679.3,-5.5,551,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1937,3410,0,0,0,0,0,0
$GC,6791,-0.56,-146.0,696.3,-5.6,566,6795,0.00,1.98,0.00,0.000,4,0.000,0.035,2601,3263,3408,0,0,0,0,0,0
$GC,6841,-0.56,-146.0,699.0,-5.3,568,6846,0.00,1.85,0.00,0.000,6,0.000,0.021,2601,1973,3408,0,0,0,0,0,0
$GC,7170,-0.56,-146.0,716.1,-5.2,584,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1972,3406,0,0,0,0,0,0
$GC,7478,-0.56,-146.0,731.7,-4.9,599,7482,0.00,2.15,0.00,0.000,4,0.000,0.031,2601,507,3404,0,0,0,0,0,0
$GC,7547,-0.56,-146.0,735.7,-5.7,602,7551,0.00,2.12,0.00,0.000,6,0.000,0.022,2601,1966,3404,0,0,0,0,0,0
$GC,7875,-0.56,-146.0,752.4,-5.0,618,7878,0.00,1.92,0.00,0.000,4,0.000,0.038,2601,3272,3402,0,0,0,0,0,0
$GC,7925,-0.56,-146.0,755.2,-5.1,620,7929,0.00,1.88,0.00,0.000,6,0.000,0.021,2601,1970,3402,0,0,0,0,0,0
$GC,8253,-0.56,-146.0,772.7,-5.6,636,8257,0.00,2.15,0.00,0.000,4,0.000,0.032,2600,508,3401,0,0,0,0,0,0
$GC,8338,-0.56,-146.0,777.9,-6.2,640,8342,0.00,2.08,0.00,0.000,6,0.000,0.022,2601,1936,3400,0,0,0,0,0,0
$GC,8673,-0.56,-146.0,798.0,-6.2,656,8677,0.00,2.00,0.00,0.000,4,0.000,0.038,2600,3260,3399,0,0,0,0,0,0
$GC,8705,-0.56,-146.0,800.2,-6.1,657,8708,0.00,1.90,0.00,0.000,6,0.000,0.021,2601,1927,3398,0,0,0,0,0,0
$GC,9028,-0.56,-146.0,819.9,-6.3,673,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1926,3397,0,0,0,0,0,0
$GC,9338,-0.56,-146.0,839.9,-6.5,688,9342,0.00,2.10,0.00,0.000,4,0.000,0.033,2601,499,3397,0,0,0,0,0,0
$GC,9400,-0.56,-146.0,844.5,-7.5,691,9404,0.00,2.10,0.00,0.000,6,0.000,0.023,2601,1938,3396,0,0,0,0,0,0
$GC,9735,-0.56,-146.0,867.5,-7.0,707,9739,0.00,1.98,0.00,0.000,4,0.000,0.039,2601,3260,3396,0,0,0,0,0,0
$GC,9808,-0.56,-146.0,872.7,-6.9,710,9812,0.00,1.85,0.00,0.000,6,0.000,0.021,2601,1958,3396,0,0,0,0,0,0
$GC,10137,-0.56,-146.0,894.9,-6.9,726,10141,0.00,2.15,0.00,0.000,4,0.000,0.033,2601,499,3394,0,0,0,0,0,0
$GC,10164,-0.56,-146.0,897.0,-7.0,727,10168,0.00,2.15,0.00,0.000,6,0.000,0.024,2601,1966,3394,0,0,0,0,0,0
$GC,10480,-0.56,-146.0,919.2,-7.2,742,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1967,3393,0,0,0,0,0,0
$GC,10791,-0.56,-146.0,940.3,-6.7,757,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1967,3393,0,0,0,0,0,0
$GC,11099,-0.56,-146.0,960.1,-6.3,772,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1967,3392,0,0,0,0,0,0
$GC,11408,-0.56,-146.0,977.8,-5.5,787,11413,0.00,1.98,0.00,0.000,4,0.000,0.040,2600,3265,3392,0,0,0,0,0,0
$GC,11522,-0.56,-146.0,983.7,-5.0,792,11526,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1949,3391,0,0,0,0,0,0
$STATE,11646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11647,begin apogee
$GC,11653,-0.20,0.0,990.3,4.9,798,11773,0.38,0.00,111.18,1.416,4,0.122,0.000,2729,2087,2839,0,0,0,0,0,0
$STATE,11774,end apogee,CONTROL_FINISHED_OK
$STATE,11774,begin climb
$GC,11776,0.56,146.0,991.8,0.0,803,11907,0.70,0.00,123.50,1.365,6,0.080,0.000,2977,2087,2243,0,0,0,0,0,0
$GC,12225,0.56,146.0,943.5,12.0,825,12229,0.00,2.15,0.00,0.000,4,0.000,0.039,2977,3463,2231,0,0,0,0,0,0
$GC,12287,0.56,146.0,935.0,13.4,828,12291,0.00,2.05,0.00,0.000,6,0.000,0.023,2984,2096,2231,0,0,0,0,0,0
$GC,12622,0.56,146.0,893.3,12.4,844,12626,0.00,2.12,0.00,0.000,4,0.000,0.034,2994,683,2230,0,0,0,0,0,0
$GC,12711,0.56,146.0,882.1,11.6,848,12715,0.00,2.03,0.00,0.000,6,0.000,0.024,2994,2048,2229,0,0,0,0,0,0
$GC,13040,0.56,146.0,843.7,11.6,864,13044,0.00,2.17,0.00,0.000,4,0.000,0.038,2994,3472,2227,0,0,0,0,0,0
$GC,13084,0.56,146.0,837.9,12.6,866,13088,0.00,2.05,0.00,0.000,6,0.000,0.021,3004,2077,2228,0,0,0,0,0,0
$GC,13412,0.56,146.0,799.2,11.5,882,13416,0.00,2.05,0.00,0.000,4,0.000,0.034,3014,691,2227,0,0,0,0,0,0
$GC,13496,0.56,146.0,789.0,12.1,885,13504,0.12,2.03,0.00,0.000,6,0.167,0.024,2983,2062,2226,0,0,0,0,0,0
$GC,13813,0.56,146.0,755.6,10.4,901,13817,0.00,2.12,0.00,0.000,4,0.000,0.039,2982,3468,2226,0,0,0,0,0,0
$GC,13877,0.56,146.0,748.3,11.7,904,13880,0.00,2.08,0.00,0.000,6,0.000,0.022,2988,2048,2225,0,0,0,0,0,0
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$STATE,21905,end climb,SURFACE_DEPTH_REACHED
$STATE,21905,begin surface coast
$FINISH,0.8,0.997710
$STATE,21949,end surface coast,CONTROL_FINISHED_OK
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$TCM_TEMP,28.80
$XPDR_PINGS,7
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$10V_AH,10.2,19.884
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$FG_AHR_10Vo,0.000
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$MEM,330496
$DATA_FILE_SIZE,100306,1701
$CAP_FILE_SIZE,243009,0
$CFSIZE,260165632,130891776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101, 98.2,1
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