version: 66.09
glider: 167
mission: 8
dive: 118
start: 7 7 111 7 41 23
data:
$ID,167
$MISSION,8
$DIVE,118
$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,-56535.34
$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,76
$R_STBD_OVSHOOT,46
$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
$GPS1,070711,073036,1754.892,12423.421,39,1.3,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-62.8
$GPS2,070711,074101,1754.729,12423.630,46,2.0,46,-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,268.5,233606,-15.4,-8.250
$D_GRID,4694
$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,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,102,0.00,0.00,-80.82,0.000,2,0.000,0.000,110,1917,3023,0,0,0,0,0,0
$GC,105,-0.56,-146.0,5.3,-8.4,11,131,9.88,2.10,-7.00,0.000,4,0.233,0.036,2603,466,3437,0,0,0,0,0,0
$GC,151,-0.56,-146.0,25.3,-43.5,17,161,0.00,2.10,0.00,0.000,6,0.000,0.021,2596,1887,3438,0,0,0,0,0,0
$GC,228,-0.56,-146.0,48.4,-30.3,30,236,0.00,2.08,0.00,0.000,4,0.000,0.031,2585,3278,3438,0,0,0,0,0,0
$GC,280,-0.56,-146.0,64.4,-30.1,38,288,0.08,1.85,0.00,0.000,6,0.170,0.018,2608,1975,3438,0,0,0,0,0,0
$GC,356,-0.56,-146.0,81.9,-21.9,51,365,0.00,2.20,0.00,0.000,4,0.000,0.028,2608,481,3438,0,0,0,0,0,0
$GC,408,-0.56,-146.0,92.4,-20.2,59,417,0.00,2.00,0.00,0.000,6,0.000,0.019,2601,1862,3438,0,0,0,0,0,0
$GC,485,-0.56,-146.0,107.9,-21.0,72,493,0.00,2.08,0.00,0.000,4,0.000,0.031,2591,3260,3439,0,0,0,0,0,0
$GC,545,-0.56,-146.0,119.6,-17.4,82,553,0.00,1.80,0.00,0.000,6,0.000,0.018,2591,1985,3438,0,0,0,0,0,0
$GC,619,-0.56,-146.0,132.9,-18.9,95,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1983,3438,0,0,0,0,0,0
$GC,693,-0.56,-146.0,146.0,-16.8,108,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1983,3439,0,0,0,0,0,0
$GC,771,-0.56,-146.0,159.5,-16.3,121,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1983,3439,0,0,0,0,0,0
$GC,845,-0.56,-146.0,171.6,-17.4,134,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1983,3439,0,0,0,0,0,0
$GC,917,-0.56,-146.0,184.3,-17.9,147,925,0.00,2.17,0.00,0.000,4,0.000,0.028,2591,492,3439,0,0,0,0,0,0
$GC,947,-0.56,-146.0,188.9,-17.0,151,955,0.10,2.28,0.00,0.000,6,0.145,0.021,2615,2057,3440,0,0,0,0,0,0
$GC,1023,-0.56,-146.0,200.2,-13.3,164,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2057,3439,0,0,0,0,0,0
$GC,1343,-0.56,-146.0,237.1,-10.7,194,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2057,3439,0,0,0,0,0,0
$GC,1675,-0.56,-146.0,271.9,-9.7,225,1679,0.00,2.28,0.00,0.000,4,0.000,0.028,2614,493,3438,0,0,0,0,0,0
$GC,1742,-0.56,-146.0,279.9,-10.9,230,1750,0.00,2.25,0.00,0.000,6,0.000,0.021,2614,2044,3438,0,0,0,0,0,0
$GC,2067,-0.56,-146.0,314.8,-10.3,261,2071,0.00,1.77,0.00,0.000,4,0.000,0.033,2614,3268,3437,0,0,0,0,0,0
$GC,2135,-0.56,-146.0,321.5,-9.5,267,2140,0.00,1.67,0.00,0.000,6,0.000,0.018,2614,2043,3437,0,0,0,0,0,0
$GC,2466,-0.56,-146.0,349.3,-7.6,298,2470,0.00,2.25,0.00,0.000,4,0.000,0.028,2614,481,3435,0,0,0,0,0,0
$GC,2598,-0.56,-146.0,360.5,-8.9,309,2602,0.00,2.25,0.00,0.000,6,0.000,0.021,2613,2051,3434,0,0,0,0,0,0
$GC,2924,-0.56,-146.0,387.6,-8.4,339,2928,0.00,1.75,0.00,0.000,4,0.000,0.034,2613,3270,3432,0,0,0,0,0,0
$GC,3015,-0.56,-146.0,395.0,-8.2,347,3019,0.00,1.67,0.00,0.000,6,0.000,0.018,2613,2038,3431,0,0,0,0,0,0
$GC,3347,-0.56,-146.0,423.8,-9.0,378,3351,0.00,2.25,0.00,0.000,4,0.000,0.029,2613,483,3429,0,0,0,0,0,0
$GC,3508,-0.56,-146.0,438.8,-9.0,391,3515,0.00,2.28,0.00,0.000,6,0.000,0.021,2612,2061,3428,0,0,0,0,0,0
$GC,3834,-0.56,-146.0,465.1,-7.7,422,3838,0.00,2.30,0.00,0.000,4,0.000,0.029,2612,488,3425,0,0,0,0,0,0
$GC,3921,-0.56,-146.0,472.3,-8.7,429,3925,0.00,2.25,0.00,0.000,6,0.000,0.021,2609,2051,3425,0,0,0,0,0,0
$GC,4247,-0.56,-146.0,498.1,-7.7,459,4251,0.00,2.30,0.00,0.000,4,0.000,0.028,2609,480,3422,0,0,0,0,0,0
$GC,4291,-0.56,-146.0,501.9,-8.4,462,4295,0.00,2.22,0.00,0.000,6,0.000,0.021,2609,2021,3422,0,0,0,0,0,0
$GC,4613,-0.56,-146.0,526.4,-7.7,478,4617,0.00,1.83,0.00,0.000,4,0.000,0.035,2609,3264,3420,0,0,0,0,0,0
$GC,4685,-0.56,-146.0,532.0,-7.3,481,4689,0.00,1.77,0.00,0.000,6,0.000,0.019,2609,1990,3420,0,0,0,0,0,0
$GC,5014,-0.56,-146.0,555.8,-7.5,497,5019,0.00,2.20,0.00,0.000,4,0.000,0.030,2609,495,3417,0,0,0,0,0,0
$GC,5092,-0.56,-146.0,562.6,-8.5,500,5096,0.00,2.12,0.00,0.000,6,0.000,0.021,2608,1983,3416,0,0,0,0,0,0
$GC,5416,-0.56,-146.0,587.8,-7.6,516,5420,0.00,1.88,0.00,0.000,4,0.000,0.035,2603,3269,3414,0,0,0,0,0,0
$GC,5455,-0.56,-146.0,591.0,-7.3,517,5462,0.00,1.85,0.00,0.000,6,0.000,0.019,2603,1949,3414,0,0,0,0,0,0
$GC,5771,-0.56,-146.0,613.6,-6.9,533,5775,0.00,2.12,0.00,0.000,4,0.000,0.031,2603,491,3412,0,0,0,0,0,0
$GC,5799,-0.56,-146.0,615.8,-7.0,534,5803,0.00,2.12,0.00,0.000,6,0.000,0.021,2603,1975,3412,0,0,0,0,0,0
$GC,6115,-0.56,-146.0,638.2,-7.3,549,6119,0.00,2.17,0.00,0.000,4,0.000,0.029,2603,493,3410,0,0,0,0,0,0
$GC,6174,-0.56,-146.0,642.9,-8.4,551,6181,0.00,2.08,0.00,0.000,6,0.000,0.021,2603,1927,3409,0,0,0,0,0,0
$GC,6491,-0.56,-146.0,666.7,-7.4,567,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1927,3408,0,0,0,0,0,0
$GC,6800,-0.56,-146.0,689.5,-7.0,582,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1927,3406,0,0,0,0,0,0
$GC,7110,-0.56,-146.0,710.1,-6.6,597,7114,0.00,1.98,0.00,0.000,4,0.000,0.037,2603,3259,3404,0,0,0,0,0,0
$GC,7157,-0.56,-146.0,713.0,-6.4,599,7160,0.00,1.88,0.00,0.000,6,0.000,0.020,2603,1930,3404,0,0,0,0,0,0
$GC,7490,-0.56,-146.0,733.3,-5.8,615,7494,0.00,2.10,0.00,0.000,4,0.000,0.032,2602,497,3402,0,0,0,0,0,0
$GC,7531,-0.56,-146.0,735.7,-5.9,617,7535,0.00,2.08,0.00,0.000,6,0.000,0.023,2603,1938,3401,0,0,0,0,0,0
$GC,7865,-0.56,-146.0,754.4,-5.6,633,7869,0.00,2.00,0.00,0.000,4,0.000,0.038,2603,3263,3400,0,0,0,0,0,0
$GC,7916,-0.56,-146.0,757.3,-5.8,635,7920,0.00,1.90,0.00,0.000,6,0.000,0.020,2603,1917,3399,0,0,0,0,0,0
$GC,8243,-0.56,-146.0,775.5,-5.4,651,8247,0.00,2.08,0.00,0.000,4,0.000,0.032,2603,511,3398,0,0,0,0,0,0
$GC,8326,-0.56,-146.0,780.9,-6.5,654,8333,0.00,2.03,0.00,0.000,6,0.000,0.022,2603,1899,3397,0,0,0,0,0,0
$GC,8645,-0.56,-146.0,800.9,-6.6,670,8648,0.00,2.05,0.00,0.000,4,0.000,0.038,2603,3271,3396,0,0,0,0,0,0
$GC,8728,-0.56,-146.0,806.8,-6.9,673,8736,0.00,1.90,0.00,0.000,6,0.000,0.021,2603,1933,3396,0,0,0,0,0,0
$GC,9046,-0.56,-146.0,828.3,-6.7,689,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1933,3395,0,0,0,0,0,0
$GC,9354,-0.56,-146.0,848.0,-6.1,704,9359,0.00,2.12,0.00,0.000,4,0.000,0.032,2603,508,3394,0,0,0,0,0,0
$GC,9456,-0.56,-146.0,854.8,-7.0,708,9460,0.00,2.03,0.00,0.000,6,0.000,0.023,2603,1895,3394,0,0,0,0,0,0
$GC,9778,-0.56,-146.0,871.8,-4.9,724,9782,0.00,2.05,0.00,0.000,4,0.000,0.038,2602,3266,3392,0,0,0,0,0,0
$GC,9828,-0.56,-146.0,874.2,-4.8,726,9832,0.00,1.95,0.00,0.000,6,0.000,0.021,2603,1901,3393,0,0,0,0,0,0
$GC,10159,-0.56,-146.0,890.3,-5.1,742,10162,0.00,2.05,0.00,0.000,4,0.000,0.031,2603,508,3392,0,0,0,0,0,0
$GC,10215,-0.56,-146.0,894.2,-6.2,744,10219,0.00,2.03,0.00,0.000,6,0.000,0.022,2603,1894,3391,0,0,0,0,0,0
$GC,10538,-0.56,-146.0,914.3,-6.4,760,10542,0.00,2.05,0.00,0.000,4,0.000,0.039,2603,3262,3391,0,0,0,0,0,0
$GC,10645,-0.56,-146.0,921.6,-6.6,764,10651,0.00,1.92,0.00,0.000,6,0.000,0.021,2603,1910,3390,0,0,0,0,0,0
$GC,10961,-0.56,-146.0,941.6,-6.1,780,10966,0.00,2.10,0.00,0.000,4,0.000,0.033,2603,506,3389,0,0,0,0,0,0
$GC,10995,-0.56,-146.0,943.9,-6.2,781,10999,0.00,2.08,0.00,0.000,6,0.000,0.024,2603,1925,3389,0,0,0,0,0,0
$GC,11318,-0.56,-146.0,962.3,-5.4,797,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1925,3388,0,0,0,0,0,0
$GC,11628,-0.56,-146.0,977.6,-4.8,812,11632,0.00,2.03,0.00,0.000,4,0.000,0.039,2603,3271,3388,0,0,0,0,0,0
$GC,11745,-0.56,-146.0,983.2,-4.6,817,11749,0.00,1.92,0.00,0.000,6,0.000,0.021,2603,1923,3387,0,0,0,0,0,0
$STATE,11905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11905,begin apogee
$GC,11914,-0.20,0.0,990.2,4.4,825,12034,0.38,0.00,110.90,1.416,4,0.122,0.000,2730,2083,2838,0,0,0,0,0,0
$STATE,12034,end apogee,CONTROL_FINISHED_OK
$STATE,12035,begin climb
$GC,12037,0.56,146.0,991.3,0.0,830,12170,0.70,0.00,123.95,1.364,6,0.080,0.000,2977,2082,2242,0,0,0,0,0,0
$GC,12487,0.56,146.0,944.5,11.5,852,12491,0.00,2.15,0.00,0.000,4,0.000,0.038,2977,3465,2231,0,0,0,0,0,0
$GC,12530,0.56,146.0,938.8,13.1,854,12534,0.00,2.05,0.00,0.000,6,0.000,0.022,2982,2095,2230,0,0,0,0,0,0
$GC,12859,0.56,146.0,900.1,11.8,870,12864,0.00,2.15,0.00,0.000,4,0.000,0.034,2992,684,2228,0,0,0,0,0,0
$GC,12927,0.56,146.0,891.4,12.5,873,12931,0.00,2.08,0.00,0.000,6,0.000,0.024,2992,2068,2228,0,0,0,0,0,0
$GC,13262,0.56,146.0,849.6,12.4,889,13266,0.00,2.08,0.00,0.000,4,0.000,0.032,3000,688,2227,0,0,0,0,0,0
$GC,13301,0.56,146.0,844.1,12.9,890,13308,0.00,2.03,0.00,0.000,6,0.000,0.024,3000,2045,2228,0,0,0,0,0,0
$GC,13618,0.56,146.0,803.8,12.7,906,13622,0.00,2.15,0.00,0.000,4,0.000,0.038,3000,3465,2226,0,0,0,0,0,0
$GC,13659,0.56,146.0,798.2,14.3,908,13663,0.00,2.05,0.00,0.000,6,0.000,0.022,3010,2065,2226,0,0,0,0,0,0
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$STATE,22062,end climb,SURFACE_DEPTH_REACHED
$STATE,22062,begin surface coast
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$STATE,22069,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,20.630
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$FG_AHR_10Vo,0.000
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$MEM,330492
$DATA_FILE_SIZE,100278,1720
$CAP_FILE_SIZE,248813,0
$CFSIZE,260165632,130437120
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$CURRENT,0.125,107.0,1
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