version: 66.09
glider: 167
mission: 8
dive: 129
start: 7 10 111 5 11 8
data:
$ID,167
$MISSION,8
$DIVE,129
$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,-56549.188
$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,62
$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
$GPS1,100711,050030,1757.597,12410.023,39,1.1,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-68.9
$GPS2,100711,051046,1757.446,12409.978,15,2.1,34,-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,291.7,209217,-15.4,-8.250
$D_GRID,4746
$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,16,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,94,0.00,0.00,-73.38,0.000,2,0.000,0.000,108,1926,3113,0,0,0,0,0,0
$GC,97,-0.56,-146.0,6.2,-11.0,10,123,9.80,2.15,-5.20,0.000,4,0.228,0.041,2614,483,3438,0,0,0,0,0,0
$GC,365,-0.56,-146.0,95.4,-18.8,58,373,0.00,2.03,0.00,0.000,6,0.000,0.019,2606,1876,3439,0,0,0,0,0,0
$GC,443,-0.56,-146.0,111.2,-21.2,71,452,0.00,2.05,0.00,0.000,4,0.000,0.026,2605,487,3439,0,0,0,0,0,0
$GC,501,-0.56,-146.0,122.2,-19.0,80,510,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1933,3439,0,0,0,0,0,0
$GC,580,-0.56,-146.0,136.8,-18.4,93,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1934,3439,0,0,0,0,0,0
$GC,658,-0.56,-146.0,151.6,-17.9,106,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1934,3440,0,0,0,0,0,0
$GC,737,-0.56,-146.0,164.5,-15.8,119,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1934,3439,0,0,0,0,0,0
$GC,815,-0.56,-146.0,177.8,-17.1,132,824,0.00,2.15,0.00,0.000,4,0.000,0.027,2600,477,3440,0,0,0,0,0,0
$GC,844,-0.56,-146.0,182.6,-16.5,136,853,0.00,2.22,0.00,0.000,6,0.000,0.020,2590,2011,3440,0,0,0,0,0,0
$GC,923,-0.56,-146.0,194.2,-15.0,149,931,0.00,1.85,0.00,0.000,4,0.000,0.031,2582,3267,3440,0,0,0,0,0,0
$GC,972,-0.56,-146.0,201.8,-14.4,156,977,0.12,1.67,0.00,0.000,6,0.161,0.017,2615,2031,3440,0,0,0,0,0,0
$GC,1306,-0.56,-146.0,241.9,-11.7,187,1310,0.00,2.22,0.00,0.000,4,0.000,0.028,2615,487,3440,0,0,0,0,0,0
$GC,1412,-0.56,-146.0,254.8,-11.7,196,1417,0.00,2.30,0.00,0.000,6,0.000,0.020,2609,2089,3440,0,0,0,0,0,0
$GC,1738,-0.56,-146.0,292.6,-10.6,226,1742,0.00,2.33,0.00,0.000,4,0.000,0.026,2609,487,3439,0,0,0,0,0,0
$GC,1790,-0.56,-146.0,298.3,-11.0,230,1794,0.00,2.20,0.00,0.000,6,0.000,0.019,2603,2026,3439,0,0,0,0,0,0
$GC,2118,-0.56,-146.0,328.0,-8.6,260,2122,0.00,2.25,0.00,0.000,4,0.000,0.027,2603,475,3438,0,0,0,0,0,0
$GC,2157,-0.56,-146.0,331.5,-8.5,263,2161,0.00,2.17,0.00,0.000,6,0.000,0.020,2603,1996,3438,0,0,0,0,0,0
$GC,2484,-0.56,-146.0,358.0,-8.4,293,2487,0.00,1.85,0.00,0.000,4,0.000,0.033,2603,3266,3436,0,0,0,0,0,0
$GC,2546,-0.56,-146.0,363.0,-7.9,298,2553,0.00,1.77,0.00,0.000,6,0.000,0.018,2603,1977,3436,0,0,0,0,0,0
$GC,2872,-0.56,-146.0,389.2,-8.4,329,2876,0.00,2.15,0.00,0.000,4,0.000,0.030,2603,489,3433,0,0,0,0,0,0
$GC,2973,-0.56,-146.0,398.9,-9.7,337,2980,0.00,2.10,0.00,0.000,6,0.000,0.021,2603,1951,3432,0,0,0,0,0,0
$GC,3299,-0.56,-146.0,428.1,-9.4,368,3303,0.00,1.92,0.00,0.000,4,0.000,0.034,2603,3267,3430,0,0,0,0,0,0
$GC,3329,-0.56,-146.0,430.7,-9.3,370,3336,0.00,1.88,0.00,0.000,6,0.000,0.018,2603,1935,3430,0,0,0,0,0,0
$GC,3654,-0.56,-146.0,457.9,-8.0,401,3658,0.00,1.98,0.00,0.000,4,0.000,0.033,2603,3271,3428,0,0,0,0,0,0
$GC,3679,-0.56,-146.0,459.7,-8.1,403,3682,0.00,1.85,0.00,0.000,6,0.000,0.019,2603,1948,3428,0,0,0,0,0,0
$GC,4010,-0.56,-146.0,486.2,-7.9,434,4015,0.00,2.15,0.00,0.000,4,0.000,0.030,2603,484,3425,0,0,0,0,0,0
$GC,4102,-0.56,-146.0,493.9,-8.3,442,4106,0.00,2.08,0.00,0.000,6,0.000,0.021,2603,1930,3425,0,0,0,0,0,0
$GC,4425,-0.56,-146.0,520.2,-8.3,461,4430,0.00,1.98,0.00,0.000,4,0.000,0.034,2603,3258,3423,0,0,0,0,0,0
$GC,4480,-0.56,-146.0,525.3,-8.7,463,4484,0.00,1.88,0.00,0.000,6,0.000,0.020,2603,1933,3422,0,0,0,0,0,0
$GC,4804,-0.56,-146.0,552.7,-8.7,479,4808,0.00,2.10,0.00,0.000,4,0.000,0.031,2603,491,3420,0,0,0,0,0,0
$GC,4903,-0.56,-146.0,561.8,-8.7,483,4911,0.00,2.08,0.00,0.000,6,0.000,0.021,2603,1931,3419,0,0,0,0,0,0
$GC,5221,-0.56,-146.0,585.8,-7.5,499,5226,0.00,2.00,0.00,0.000,4,0.000,0.035,2603,3267,3417,0,0,0,0,0,0
$GC,5289,-0.56,-146.0,591.0,-7.3,502,5293,0.00,1.88,0.00,0.000,6,0.000,0.019,2603,1930,3416,0,0,0,0,0,0
$GC,5623,-0.56,-146.0,615.1,-7.1,518,5627,0.00,2.12,0.00,0.000,4,0.000,0.031,2603,493,3414,0,0,0,0,0,0
$GC,5670,-0.56,-146.0,618.6,-7.7,520,5675,0.00,2.12,0.00,0.000,6,0.000,0.021,2603,1944,3414,0,0,0,0,0,0
$GC,6004,-0.56,-146.0,642.2,-7.0,536,6007,0.00,1.95,0.00,0.000,4,0.000,0.037,2603,3260,3412,0,0,0,0,0,0
$GC,6032,-0.56,-146.0,644.4,-7.1,537,6036,0.00,1.88,0.00,0.000,6,0.000,0.021,2603,1934,3411,0,0,0,0,0,0
$GC,6360,-0.56,-146.0,667.3,-6.8,553,6365,0.00,2.15,0.00,0.000,4,0.000,0.032,2603,485,3409,0,0,0,0,0,0
$GC,6393,-0.56,-146.0,669.9,-6.9,554,6397,0.00,2.15,0.00,0.000,6,0.000,0.021,2603,1965,3409,0,0,0,0,0,0
$GC,6710,-0.56,-146.0,690.8,-6.8,569,6715,0.00,1.95,0.00,0.000,4,0.000,0.037,2603,3261,3408,0,0,0,0,0,0
$GC,6765,-0.56,-146.0,694.6,-6.8,571,6769,0.00,1.88,0.00,0.000,6,0.000,0.021,2603,1939,3407,0,0,0,0,0,0
$GC,7087,-0.56,-146.0,715.7,-6.6,587,7091,0.00,2.12,0.00,0.000,4,0.000,0.032,2603,491,3406,0,0,0,0,0,0
$GC,7152,-0.56,-146.0,720.3,-7.3,590,7156,0.00,2.12,0.00,0.000,6,0.000,0.022,2603,1953,3405,0,0,0,0,0,0
$GC,7479,-0.56,-146.0,740.0,-5.7,606,7483,0.00,1.95,0.00,0.000,4,0.000,0.037,2602,3265,3404,0,0,0,0,0,0
$GC,7514,-0.56,-146.0,741.8,-5.5,607,7517,0.00,1.88,0.00,0.000,6,0.000,0.020,2603,1940,3404,0,0,0,0,0,0
$GC,7836,-0.56,-146.0,758.0,-5.2,623,7840,0.00,2.15,0.00,0.000,4,0.000,0.032,2603,494,3402,0,0,0,0,0,0
$GC,7886,-0.56,-146.0,761.2,-5.8,625,7890,0.00,2.15,0.00,0.000,6,0.000,0.022,2603,1970,3402,0,0,0,0,0,0
$GC,8215,-0.56,-146.0,781.5,-6.3,641,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1972,3400,0,0,0,0,0,0
$GC,8523,-0.56,-146.0,800.9,-6.4,656,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1971,3399,0,0,0,0,0,0
$GC,8833,-0.56,-146.0,820.3,-6.3,671,8837,0.00,1.92,0.00,0.000,4,0.000,0.037,2603,3262,3398,0,0,0,0,0,0
$GC,8872,-0.56,-146.0,822.9,-6.4,672,8878,0.00,1.88,0.00,0.000,6,0.000,0.021,2603,1947,3397,0,0,0,0,0,0
$GC,9189,-0.56,-146.0,842.2,-6.3,688,9193,0.00,2.17,0.00,0.000,4,0.000,0.031,2602,487,3396,0,0,0,0,0,0
$GC,9217,-0.56,-146.0,844.2,-6.4,689,9221,0.00,2.17,0.00,0.000,6,0.000,0.022,2603,1977,3396,0,0,0,0,0,0
$GC,9539,-0.56,-146.0,864.4,-6.3,705,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1977,3396,0,0,0,0,0,0
$GC,9849,-0.56,-146.0,884.5,-6.4,720,9853,0.00,1.90,0.00,0.000,4,0.000,0.038,2603,3262,3394,0,0,0,0,0,0
$GC,9934,-0.56,-146.0,890.0,-6.3,723,9943,0.00,1.90,0.00,0.000,6,0.000,0.021,2603,1947,3394,0,0,0,0,0,0
$GC,10251,-0.56,-146.0,908.0,-5.5,739,10255,0.00,2.15,0.00,0.000,4,0.000,0.031,2604,487,3393,0,0,0,0,0,0
$GC,10285,-0.56,-146.0,910.1,-5.6,740,10292,0.00,2.12,0.00,0.000,6,0.000,0.022,2603,1943,3393,0,0,0,0,0,0
$GC,10602,-0.56,-146.0,927.7,-5.6,756,10605,0.00,1.95,0.00,0.000,4,0.000,0.039,2603,3261,3393,0,0,0,0,0,0
$GC,10716,-0.56,-146.0,934.2,-5.9,761,10719,0.00,1.85,0.00,0.000,6,0.000,0.021,2603,1966,3393,0,0,0,0,0,0
$GC,11050,-0.56,-146.0,952.9,-5.7,777,11054,0.00,2.17,0.00,0.000,4,0.000,0.032,2603,493,3392,0,0,0,0,0,0
$GC,11091,-0.56,-146.0,955.6,-5.7,779,11095,0.00,2.15,0.00,0.000,6,0.000,0.023,2603,1966,3392,0,0,0,0,0,0
$GC,11420,-0.56,-146.0,976.0,-6.5,795,11424,0.00,2.20,0.00,0.000,4,0.000,0.031,2603,487,3391,0,0,0,0,0,0
$GC,11460,-0.56,-146.0,979.2,-6.6,797,11464,0.00,2.15,0.00,0.000,6,0.000,0.023,2603,1952,3391,0,0,0,0,0,0
$STATE,11622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11622,begin apogee
$GC,11631,-0.20,0.0,990.1,6.8,805,11748,0.38,0.00,111.65,1.414,4,0.121,0.000,2731,2085,2839,0,0,0,0,0,0
$STATE,11749,end apogee,CONTROL_FINISHED_OK
$STATE,11749,begin climb
$GC,11751,0.56,146.0,993.8,0.0,810,11887,0.68,2.25,124.50,1.366,4,0.076,0.032,2981,695,2241,0,0,0,0,0,0
$GC,12084,0.56,146.0,964.9,10.5,825,12088,0.00,2.10,0.00,0.000,6,0.000,0.023,2981,2065,2232,0,0,0,0,0,0
$GC,12402,0.56,146.0,930.7,10.9,840,12405,0.00,2.10,0.00,0.000,4,0.000,0.032,2989,695,2227,0,0,0,0,0,0
$GC,12638,0.56,146.0,903.9,11.5,850,12646,0.00,2.10,0.00,0.000,6,0.000,0.024,2989,2096,2226,0,0,0,0,0,0
$GC,12954,0.56,146.0,868.1,11.4,866,12958,0.00,2.10,0.00,0.000,4,0.000,0.039,2989,3463,2226,0,0,0,0,0,0
$GC,12991,0.56,146.0,863.1,12.5,867,12998,0.00,2.05,0.00,0.000,6,0.000,0.021,2997,2082,2225,0,0,0,0,0,0
$GC,13310,0.56,146.0,827.4,11.0,883,13313,0.00,2.05,0.00,0.000,4,0.000,0.034,3007,697,2224,0,0,0,0,0,0
$GC,13348,0.56,146.0,822.6,10.9,884,13355,0.00,2.03,0.00,0.000,6,0.000,0.023,3007,2061,2224,0,0,0,0,0,0
$GC,13665,0.56,146.0,788.4,10.6,900,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2061,2224,0,0,0,0,0,0
$GC,13976,0.56,146.0,755.9,11.0,915,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2061,2223,0,0,0,0,0,0
$GC,14283,0.56,146.0,719.6,11.7,930,14287,0.00,2.12,0.00,0.000,4,0.000,0.038,3007,3469,2223,0,0,0,0,0,0
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$STATE,22135,end climb,SURFACE_DEPTH_REACHED
$STATE,22135,begin surface coast
$FINISH,0.7,1.020663
$STATE,22175,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,22.675
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330492
$DATA_FILE_SIZE,100238,1734
$CAP_FILE_SIZE,250208,0
$CFSIZE,260165632,129183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,117.5,1
$GPS,100711,112307,1757.630,12408.730,27,1.1,28,-2.0