version: 66.09
glider: 167
mission: 8
dive: 127
start: 7 9 111 16 26 58
data:
$ID,167
$MISSION,8
$DIVE,127
$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,-56546.668
$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,68
$R_STBD_OVSHOOT,68
$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
$GPS1,090711,161706,1756.646,12412.452,33,0.9,33,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.8
$GPS2,090711,162636,1756.601,12412.558,13,1.4,29,-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,293.1,214008,-15.4,-8.250
$D_GRID,4802
$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,-146.0,0.0,0.0,0,89,0.00,0.00,-68.70,0.000,2,0.000,0.000,110,1880,3239,0,0,0,0,0,0
$GC,92,-0.56,-146.0,6.8,-12.4,9,116,9.90,2.08,-3.05,0.000,4,0.231,0.041,2616,473,3438,0,0,0,0,0,0
$GC,233,-0.56,-146.0,59.5,-23.4,33,241,0.00,2.05,0.00,0.000,6,0.000,0.021,2608,1867,3439,0,0,0,0,0,0
$GC,310,-0.56,-146.0,80.3,-25.5,46,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1867,3439,0,0,0,0,0,0
$GC,389,-0.56,-146.0,95.2,-18.1,59,397,0.00,2.12,0.00,0.000,4,0.000,0.032,2597,3307,3439,0,0,0,0,0,0
$GC,445,-0.56,-146.0,105.9,-19.3,68,453,0.00,2.15,0.00,0.000,6,0.000,0.018,2597,1816,3439,0,0,0,0,0,0
$GC,524,-0.56,-146.0,123.4,-23.2,81,532,0.00,1.95,0.00,0.000,4,0.000,0.029,2597,484,3440,0,0,0,0,0,0
$GC,573,-0.56,-146.0,134.9,-21.7,89,581,0.00,1.95,0.00,0.000,6,0.000,0.021,2588,1828,3440,0,0,0,0,0,0
$GC,648,-0.56,-146.0,150.8,-21.0,102,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1829,3440,0,0,0,0,0,0
$GC,727,-0.56,-146.0,165.9,-17.8,115,736,0.00,2.15,0.00,0.000,4,0.000,0.033,2588,3271,3440,0,0,0,0,0,0
$GC,756,-0.56,-146.0,171.8,-18.3,119,764,0.00,2.20,0.00,0.000,6,0.000,0.018,2587,1751,3440,0,0,0,0,0,0
$GC,833,-0.56,-146.0,185.3,-17.7,132,842,0.10,0.00,0.00,0.000,6,0.188,0.000,2611,1750,3440,0,0,0,0,0,0
$GC,910,-0.56,-146.0,196.5,-13.5,145,918,0.00,1.85,0.00,0.000,4,0.000,0.030,2611,483,3441,0,0,0,0,0,0
$GC,941,-0.56,-146.0,201.1,-13.5,149,947,0.00,1.85,0.00,0.000,6,0.000,0.020,2604,1778,3441,0,0,0,0,0,0
$GC,1269,-0.56,-146.0,242.8,-12.9,180,1273,0.00,2.17,0.00,0.000,4,0.000,0.032,2603,3274,3441,0,0,0,0,0,0
$GC,1356,-0.56,-146.0,252.6,-10.1,187,1364,0.00,2.08,0.00,0.000,6,0.000,0.018,2603,1797,3441,0,0,0,0,0,0
$GC,1682,-0.56,-146.0,285.1,-10.9,218,1686,0.00,2.17,0.00,0.000,4,0.000,0.032,2603,3267,3441,0,0,0,0,0,0
$GC,1770,-0.56,-146.0,294.5,-10.0,225,1778,0.00,2.03,0.00,0.000,6,0.000,0.018,2602,1843,3440,0,0,0,0,0,0
$GC,2096,-0.56,-146.0,328.0,-9.2,256,2100,0.00,2.12,0.00,0.000,4,0.000,0.032,2601,3261,3439,0,0,0,0,0,0
$GC,2168,-0.56,-146.0,335.0,-9.3,262,2176,0.00,1.90,0.00,0.000,6,0.000,0.018,2601,1922,3439,0,0,0,0,0,0
$GC,2494,-0.56,-146.0,364.6,-9.3,293,2499,0.00,2.08,0.00,0.000,4,0.000,0.030,2601,503,3437,0,0,0,0,0,0
$GC,2588,-0.56,-146.0,374.0,-10.5,301,2595,0.00,2.00,0.00,0.000,6,0.000,0.021,2601,1901,3436,0,0,0,0,0,0
$GC,2914,-0.56,-146.0,402.6,-8.3,332,2919,0.00,2.03,0.00,0.000,4,0.000,0.034,2601,3266,3435,0,0,0,0,0,0
$GC,2970,-0.56,-146.0,407.2,-8.1,337,2974,0.00,1.92,0.00,0.000,6,0.000,0.018,2600,1891,3434,0,0,0,0,0,0
$GC,3302,-0.56,-146.0,434.6,-8.1,368,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1890,3432,0,0,0,0,0,0
$GC,3622,-0.56,-146.0,460.1,-8.0,398,3626,0.00,2.05,0.00,0.000,4,0.000,0.034,2601,3271,3430,0,0,0,0,0,0
$GC,3788,-0.56,-146.0,472.9,-7.9,412,3795,0.00,1.92,0.00,0.000,6,0.000,0.020,2601,1919,3429,0,0,0,0,0,0
$GC,4116,-0.56,-146.0,497.6,-7.3,443,4119,0.00,2.08,0.00,0.000,4,0.000,0.032,2601,501,3427,0,0,0,0,0,0
$GC,4218,-0.56,-146.0,506.0,-8.2,449,4221,0.00,2.05,0.00,0.000,6,0.000,0.021,2601,1918,3426,0,0,0,0,0,0
$GC,4540,-0.56,-146.0,528.3,-6.7,465,4543,0.00,1.98,0.00,0.000,4,0.000,0.035,2601,3268,3424,0,0,0,0,0,0
$GC,4580,-0.56,-146.0,531.1,-6.9,466,4587,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1888,3424,0,0,0,0,0,0
$GC,4896,-0.56,-146.0,554.0,-7.5,482,4901,0.00,2.05,0.00,0.000,4,0.000,0.032,2601,504,3422,0,0,0,0,0,0
$GC,4968,-0.56,-146.0,560.1,-8.3,485,4972,0.00,2.00,0.00,0.000,6,0.000,0.022,2601,1889,3422,0,0,0,0,0,0
$GC,5297,-0.56,-146.0,583.9,-7.2,501,5300,0.00,2.03,0.00,0.000,4,0.000,0.035,2601,3268,3420,0,0,0,0,0,0
$GC,5358,-0.56,-146.0,588.5,-7.2,503,5366,0.00,1.95,0.00,0.000,6,0.000,0.019,2601,1893,3419,0,0,0,0,0,0
$GC,5676,-0.56,-146.0,610.1,-6.7,519,5681,0.00,2.05,0.00,0.000,4,0.000,0.033,2601,512,3417,0,0,0,0,0,0
$GC,5703,-0.56,-146.0,612.3,-6.8,520,5707,0.00,2.00,0.00,0.000,6,0.000,0.021,2601,1896,3417,0,0,0,0,0,0
$GC,6031,-0.56,-146.0,634.9,-7.3,536,6035,0.00,2.03,0.00,0.000,4,0.000,0.036,2601,3271,3415,0,0,0,0,0,0
$GC,6180,-0.56,-146.0,644.8,-6.5,542,6183,0.00,1.88,0.00,0.000,6,0.000,0.021,2601,1935,3414,0,0,0,0,0,0
$GC,6502,-0.56,-146.0,665.1,-6.3,558,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1935,3412,0,0,0,0,0,0
$GC,6814,-0.56,-146.0,683.4,-5.9,573,6818,0.00,2.10,0.00,0.000,4,0.000,0.033,2600,508,3410,0,0,0,0,0,0
$GC,6869,-0.56,-146.0,687.4,-6.9,575,6877,0.00,2.10,0.00,0.000,6,0.000,0.023,2601,1950,3409,0,0,0,0,0,0
$GC,7187,-0.56,-146.0,706.7,-6.3,591,7192,0.00,1.98,0.00,0.000,4,0.000,0.037,2601,3264,3408,0,0,0,0,0,0
$GC,7278,-0.56,-146.0,712.4,-6.1,595,7283,0.00,1.83,0.00,0.000,6,0.000,0.021,2601,1991,3408,0,0,0,0,0,0
$GC,7611,-0.56,-146.0,734.5,-7.0,611,7615,0.00,2.20,0.00,0.000,4,0.000,0.032,2601,495,3406,0,0,0,0,0,0
$GC,7712,-0.56,-146.0,742.6,-8.0,615,7719,0.00,2.12,0.00,0.000,6,0.000,0.023,2601,1956,3406,0,0,0,0,0,0
$GC,8028,-0.56,-146.0,765.6,-7.3,631,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1956,3404,0,0,0,0,0,0
$GC,8339,-0.56,-146.0,786.3,-6.3,646,8343,0.00,1.98,0.00,0.000,4,0.000,0.037,2601,3264,3403,0,0,0,0,0,0
$GC,8411,-0.56,-146.0,790.8,-6.0,649,8414,0.00,1.85,0.00,0.000,6,0.000,0.020,2601,1961,3403,0,0,0,0,0,0
$GC,8740,-0.56,-146.0,808.1,-5.0,665,8744,0.00,2.17,0.00,0.000,4,0.000,0.034,2601,507,3401,0,0,0,0,0,0
$GC,8809,-0.56,-146.0,812.2,-6.2,668,8812,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1944,3401,0,0,0,0,0,0
$GC,9143,-0.56,-146.0,830.3,-5.4,684,9147,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3265,3400,0,0,0,0,0,0
$GC,9217,-0.56,-146.0,834.4,-5.3,687,9222,0.00,1.90,0.00,0.000,6,0.000,0.021,2601,1950,3399,0,0,0,0,0,0
$GC,9544,-0.56,-146.0,853.2,-5.9,703,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1950,3398,0,0,0,0,0,0
$GC,9855,-0.56,-146.0,870.6,-5.5,718,9859,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,509,3397,0,0,0,0,0,0
$GC,9918,-0.56,-146.0,874.6,-6.3,721,9922,0.00,2.10,0.00,0.000,6,0.000,0.024,2601,1929,3397,0,0,0,0,0,0
$GC,10250,-0.56,-146.0,893.5,-5.7,737,10254,0.00,2.00,0.00,0.000,4,0.000,0.037,2601,3269,3396,0,0,0,0,0,0
$GC,10284,-0.56,-146.0,895.2,-5.6,738,10288,0.00,1.92,0.00,0.000,6,0.000,0.020,2601,1920,3396,0,0,0,0,0,0
$GC,10606,-0.56,-146.0,912.6,-5.2,754,10609,0.00,2.03,0.00,0.000,4,0.000,0.036,2600,3265,3395,0,0,0,0,0,0
$GC,10639,-0.56,-146.0,914.4,-5.3,755,10642,0.00,1.88,0.00,0.000,6,0.000,0.020,2601,1947,3395,0,0,0,0,0,0
$GC,10962,-0.56,-146.0,930.4,-5.0,771,10967,0.00,2.15,0.00,0.000,4,0.000,0.034,2601,508,3395,0,0,0,0,0,0
$GC,11008,-0.56,-146.0,933.1,-5.2,773,11013,0.00,2.12,0.00,0.000,6,0.000,0.024,2601,1943,3394,0,0,0,0,0,0
$GC,11342,-0.56,-146.0,949.8,-5.0,789,11346,0.00,1.98,0.00,0.000,4,0.000,0.040,2601,3260,3393,0,0,0,0,0,0
$GC,11403,-0.56,-146.0,953.0,-4.7,791,11412,0.00,1.90,0.00,0.000,6,0.000,0.021,2601,1951,3393,0,0,0,0,0,0
$GC,11721,-0.56,-146.0,968.3,-4.9,807,11725,0.00,2.15,0.00,0.000,4,0.000,0.034,2601,497,3393,0,0,0,0,0,0
$GC,11784,-0.56,-146.0,972.0,-6.0,810,11789,0.00,2.10,0.00,0.000,6,0.000,0.025,2601,1909,3392,0,0,0,0,0,0
$STATE,12114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12114,begin apogee
$GC,12122,-0.20,0.0,990.7,6.0,826,12240,0.40,0.00,111.82,1.421,4,0.125,0.000,2735,2086,2839,0,0,0,0,0,0
$STATE,12241,end apogee,CONTROL_FINISHED_OK
$STATE,12241,begin climb
$GC,12244,0.56,146.0,993.8,0.0,831,12379,0.65,2.25,124.38,1.370,4,0.076,0.034,2979,704,2243,0,0,0,0,0,0
$GC,12634,0.56,146.0,960.8,9.8,849,12638,0.00,2.08,0.00,0.000,6,0.000,0.024,2980,2061,2232,0,0,0,0,0,0
$GC,12966,0.56,146.0,925.7,10.8,865,12971,0.00,2.17,0.00,0.000,4,0.000,0.038,2979,3462,2228,0,0,0,0,0,0
$GC,13224,0.56,146.0,893.4,12.9,876,13228,0.00,2.05,0.00,0.000,6,0.000,0.022,2988,2076,2226,0,0,0,0,0,0
$GC,13546,0.56,146.0,855.3,11.6,892,13550,0.00,2.05,0.00,0.000,4,0.000,0.035,2998,698,2226,0,0,0,0,0,0
$GC,13603,0.56,146.0,848.3,12.2,894,13608,0.00,2.03,0.00,0.000,6,0.000,0.024,2998,2043,2226,0,0,0,0,0,0
$GC,13924,0.56,146.0,810.7,11.3,910,13928,0.00,2.17,0.00,0.000,4,0.000,0.038,2998,3471,2225,0,0,0,0,0,0
$GC,13978,0.56,146.0,803.8,12.8,912,13985,0.00,2.10,0.00,0.000,6,0.000,0.021,3008,2042,2225,0,0,0,0,0,0
$GC,14296,0.56,146.0,767.0,11.3,928,14301,0.00,2.05,0.00,0.000,4,0.000,0.035,3017,689,2224,0,0,0,0,0,0
$GC,14328,0.56,146.0,762.8,11.8,929,14333,0.12,2.00,0.00,0.000,6,0.164,0.024,2985,2052,2224,0,0,0,0,0,0
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$STATE,22562,end climb,SURFACE_DEPTH_REACHED
$STATE,22562,begin surface coast
$FINISH,0.7,1.010602
$STATE,22597,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,22.306
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$FG_AHR_10Vo,0.000
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$MEM,330504
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$CAP_FILE_SIZE,245672,0
$CFSIZE,260165632,129417216
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