version: 66.09
glider: 167
mission: 8
dive: 132
start: 7 11 111 0 30 34
data:
$ID,167
$MISSION,8
$DIVE,132
$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,-56552.965
$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,71
$R_STBD_OVSHOOT,84
$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
$GPS1,110711,001936,1758.794,12406.617,40,0.9,40,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-62.5
$GPS2,110711,003010,1758.766,12406.841,12,2.2,31,-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,286.0,203229,-15.4,-8.250
$D_GRID,4735
$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,-146.0,0.0,0.0,0,106,0.00,0.00,-86.97,0.000,2,0.000,0.000,107,1950,3197,0,0,0,0,0,0
$GC,110,-0.56,-146.0,6.3,-10.6,12,135,9.82,2.20,-3.75,0.000,4,0.229,0.042,2615,454,3438,0,0,0,0,0,0
$GC,256,-0.56,-146.0,53.7,-20.8,37,264,0.00,2.05,0.00,0.000,6,0.000,0.020,2607,1860,3440,0,0,0,0,0,0
$GC,329,-0.56,-146.0,69.1,-21.4,50,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1860,3440,0,0,0,0,0,0
$GC,410,-0.56,-146.0,86.2,-21.4,63,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1860,3440,0,0,0,0,0,0
$GC,489,-0.56,-146.0,100.7,-17.7,76,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1860,3440,0,0,0,0,0,0
$GC,567,-0.56,-146.0,115.9,-18.5,89,575,0.00,2.10,0.00,0.000,4,0.000,0.032,2599,3264,3440,0,0,0,0,0,0
$GC,620,-0.56,-146.0,124.8,-17.3,97,627,0.00,2.12,0.00,0.000,6,0.000,0.017,2599,1778,3440,0,0,0,0,0,0
$GC,698,-0.56,-146.0,139.8,-19.5,110,706,0.00,1.88,0.00,0.000,4,0.000,0.028,2599,486,3440,0,0,0,0,0,0
$GC,750,-0.56,-146.0,149.2,-18.0,118,759,0.00,1.98,0.00,0.000,6,0.000,0.020,2590,1851,3440,0,0,0,0,0,0
$GC,829,-0.56,-146.0,162.8,-18.7,131,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1851,3440,0,0,0,0,0,0
$GC,904,-0.56,-146.0,175.9,-16.0,144,912,0.00,2.10,0.00,0.000,4,0.000,0.033,2587,3261,3441,0,0,0,0,0,0
$GC,965,-0.56,-146.0,185.5,-15.1,154,974,0.00,2.00,0.00,0.000,6,0.000,0.017,2587,1851,3441,0,0,0,0,0,0
$GC,1042,-0.56,-146.0,196.5,-14.5,167,1052,0.10,1.98,0.00,0.000,4,0.183,0.028,2612,504,3441,0,0,0,0,0,0
$GC,1104,-0.56,-146.0,205.7,-13.2,174,1108,0.00,2.05,0.00,0.000,6,0.000,0.020,2604,1936,3441,0,0,0,0,0,0
$GC,1436,-0.56,-146.0,245.3,-11.9,205,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1938,3441,0,0,0,0,0,0
$GC,1757,-0.56,-146.0,280.1,-11.2,235,1760,0.00,1.98,0.00,0.000,4,0.000,0.034,2602,3273,3440,0,0,0,0,0,0
$GC,1826,-0.56,-146.0,287.5,-10.1,241,1831,0.00,1.92,0.00,0.000,6,0.000,0.018,2602,1909,3439,0,0,0,0,0,0
$GC,2157,-0.56,-146.0,321.7,-10.5,272,2160,0.00,2.03,0.00,0.000,4,0.000,0.029,2602,507,3438,0,0,0,0,0,0
$GC,2275,-0.56,-146.0,334.4,-10.6,282,2282,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1855,3438,0,0,0,0,0,0
$GC,2600,-0.56,-146.0,367.4,-10.5,313,2605,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3255,3435,0,0,0,0,0,0
$GC,2715,-0.56,-146.0,378.7,-9.9,323,2719,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1897,3435,0,0,0,0,0,0
$GC,3046,-0.56,-146.0,410.5,-8.3,354,3049,0.00,2.03,0.00,0.000,4,0.000,0.030,2600,498,3433,0,0,0,0,0,0
$GC,3069,-0.56,-146.0,412.6,-8.4,356,3074,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1894,3433,0,0,0,0,0,0
$GC,3400,-0.56,-146.0,439.4,-8.0,387,3404,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,3267,3431,0,0,0,0,0,0
$GC,3519,-0.56,-146.0,449.3,-8.1,397,3525,0.00,1.88,0.00,0.000,6,0.000,0.018,2600,1928,3430,0,0,0,0,0,0
$GC,3845,-0.56,-146.0,475.7,-7.9,428,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1928,3428,0,0,0,0,0,0
$GC,4166,-0.56,-146.0,498.5,-7.4,458,4169,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,507,3425,0,0,0,0,0,0
$GC,4288,-0.56,-146.0,508.4,-8.0,464,4292,0.00,2.05,0.00,0.000,6,0.000,0.023,2600,1912,3425,0,0,0,0,0,0
$GC,4611,-0.56,-146.0,533.4,-8.3,480,4615,0.00,2.03,0.00,0.000,4,0.000,0.036,2600,3282,3423,0,0,0,0,0,0
$GC,4684,-0.56,-146.0,539.6,-8.0,483,4688,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1944,3422,0,0,0,0,0,0
$GC,5012,-0.56,-146.0,566.6,-8.3,499,5017,0.00,2.00,0.00,0.000,4,0.000,0.035,2600,3267,3420,0,0,0,0,0,0
$GC,5045,-0.56,-146.0,569.3,-8.3,500,5049,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1960,3420,0,0,0,0,0,0
$GC,5368,-0.56,-146.0,593.9,-7.0,516,5372,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,508,3417,0,0,0,0,0,0
$GC,5441,-0.56,-146.0,599.4,-7.3,519,5446,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1949,3417,0,0,0,0,0,0
$GC,5763,-0.56,-146.0,620.3,-6.3,535,5767,0.00,1.95,0.00,0.000,4,0.000,0.036,2600,3281,3415,0,0,0,0,0,0
$GC,5855,-0.56,-146.0,625.5,-5.8,539,5859,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,1987,3414,0,0,0,0,0,0
$GC,6190,-0.56,-146.0,644.2,-5.6,555,6195,0.00,2.20,0.00,0.000,4,0.000,0.033,2600,504,3412,0,0,0,0,0,0
$GC,6273,-0.56,-146.0,649.9,-6.6,558,6281,0.00,2.15,0.00,0.000,6,0.000,0.023,2600,1980,3412,0,0,0,0,0,0
$GC,6591,-0.56,-146.0,670.4,-6.7,574,6596,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3264,3409,0,0,0,0,0,0
$GC,6674,-0.56,-146.0,676.2,-6.7,577,6681,0.00,1.73,0.00,0.000,6,0.000,0.019,2600,2032,3409,0,0,0,0,0,0
$GC,6991,-0.56,-146.0,697.6,-6.8,593,6996,0.00,2.28,0.00,0.000,4,0.000,0.032,2600,501,3407,0,0,0,0,0,0
$GC,7152,-0.56,-146.0,709.6,-7.6,600,7156,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,2003,3406,0,0,0,0,0,0
$GC,7482,-0.56,-146.0,730.5,-6.0,616,7486,0.00,1.90,0.00,0.000,4,0.000,0.037,2600,3266,3405,0,0,0,0,0,0
$GC,7532,-0.56,-146.0,733.4,-5.7,618,7536,0.00,1.77,0.00,0.000,6,0.000,0.019,2600,2009,3405,0,0,0,0,0,0
$GC,7860,-0.56,-146.0,751.2,-5.4,634,7864,0.00,2.22,0.00,0.000,4,0.000,0.033,2600,497,3403,0,0,0,0,0,0
$GC,7926,-0.56,-146.0,755.6,-6.5,637,7930,0.00,2.17,0.00,0.000,6,0.000,0.024,2600,1977,3402,0,0,0,0,0,0
$GC,8248,-0.56,-146.0,775.9,-6.6,653,8252,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3272,3401,0,0,0,0,0,0
$GC,8333,-0.56,-146.0,781.8,-6.9,656,8340,0.00,1.80,0.00,0.000,6,0.000,0.020,2600,1998,3401,0,0,0,0,0,0
$GC,8650,-0.56,-146.0,805.1,-7.7,672,8655,0.00,2.22,0.00,0.000,4,0.000,0.033,2600,507,3400,0,0,0,0,0,0
$GC,8673,-0.56,-146.0,807.1,-7.8,673,8677,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,2007,3399,0,0,0,0,0,0
$GC,9003,-0.56,-146.0,831.8,-7.4,689,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2007,3398,0,0,0,0,0,0
$GC,9310,-0.56,-146.0,852.7,-6.4,704,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2007,3397,0,0,0,0,0,0
$GC,9620,-0.56,-146.0,869.9,-5.4,719,9624,0.00,1.90,0.00,0.000,4,0.000,0.039,2600,3278,3396,0,0,0,0,0,0
$GC,9700,-0.56,-146.0,874.1,-5.3,722,9704,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,2003,3396,0,0,0,0,0,0
$GC,10022,-0.56,-146.0,890.4,-5.1,738,10026,0.00,2.20,0.00,0.000,4,0.000,0.033,2600,510,3395,0,0,0,0,0,0
$GC,10073,-0.56,-146.0,893.5,-5.5,740,10078,0.00,2.20,0.00,0.000,6,0.000,0.025,2600,1985,3395,0,0,0,0,0,0
$GC,10395,-0.56,-146.0,910.5,-5.4,756,10399,0.00,1.92,0.00,0.000,4,0.000,0.040,2600,3268,3394,0,0,0,0,0,0
$GC,10423,-0.56,-146.0,912.0,-5.6,757,10427,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1987,3393,0,0,0,0,0,0
$GC,10752,-0.56,-146.0,929.6,-5.4,773,10756,0.00,2.20,0.00,0.000,4,0.000,0.034,2599,500,3393,0,0,0,0,0,0
$GC,10818,-0.56,-146.0,933.6,-6.2,776,10822,0.00,2.17,0.00,0.000,6,0.000,0.025,2599,1974,3393,0,0,0,0,0,0
$GC,11147,-0.56,-146.0,952.6,-5.8,792,11150,0.00,1.95,0.00,0.000,4,0.000,0.038,2600,3276,3392,0,0,0,0,0,0
$GC,11171,-0.56,-146.0,953.9,-5.8,793,11174,0.00,1.85,0.00,0.000,6,0.000,0.021,2599,1983,3392,0,0,0,0,0,0
$GC,11504,-0.56,-146.0,973.5,-6.0,809,11508,0.00,2.20,0.00,0.000,4,0.000,0.034,2600,513,3391,0,0,0,0,0,0
$GC,11583,-0.56,-146.0,979.1,-7.0,812,11587,0.00,2.15,0.00,0.000,6,0.000,0.025,2599,1972,3391,0,0,0,0,0,0
$STATE,11752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11752,begin apogee
$GC,11758,-0.20,0.0,990.0,6.3,820,11877,0.38,0.00,111.80,1.412,4,0.124,0.000,2727,2077,2838,0,0,0,0,0,0
$STATE,11878,end apogee,CONTROL_FINISHED_OK
$STATE,11878,begin climb
$GC,11881,0.56,146.0,992.4,0.0,825,12015,0.70,2.22,124.50,1.362,4,0.080,0.033,2981,706,2241,0,0,0,0,0,0
$GC,12249,0.56,146.0,957.2,11.4,842,12254,0.00,2.10,0.00,0.000,6,0.000,0.025,2981,2076,2231,0,0,0,0,0,0
$GC,12579,0.56,146.0,919.8,11.7,858,12583,0.00,2.08,0.00,0.000,4,0.000,0.033,2988,708,2227,0,0,0,0,0,0
$GC,12821,0.56,146.0,889.9,12.7,869,12825,0.00,2.08,0.00,0.000,6,0.000,0.026,2988,2087,2226,0,0,0,0,0,0
$GC,13149,0.56,146.0,850.3,12.0,885,13153,0.00,2.10,0.00,0.000,4,0.000,0.038,2988,3472,2225,0,0,0,0,0,0
$GC,13212,0.56,146.0,842.1,13.3,888,13216,0.00,1.98,0.00,0.000,6,0.000,0.021,2996,2125,2225,0,0,0,0,0,0
$GC,13546,0.56,146.0,802.6,11.6,904,13550,0.00,2.12,0.00,0.000,4,0.000,0.035,3006,689,2224,0,0,0,0,0,0
$GC,13652,0.56,146.0,789.9,11.6,909,13656,0.00,2.08,0.00,0.000,6,0.000,0.025,3005,2085,2224,0,0,0,0,0,0
$GC,13987,0.56,146.0,752.6,10.9,925,13991,0.00,2.10,0.00,0.000,4,0.000,0.038,3006,3475,2223,0,0,0,0,0,0
$GC,14019,0.56,146.0,748.3,11.7,926,14028,0.00,2.03,0.00,0.000,6,0.000,0.021,3013,2083,2223,0,0,0,0,0,0
$GC,14336,0.56,146.0,711.0,11.8,942,14341,0.00,2.10,0.00,0.000,4,0.000,0.036,3023,695,2223,0,0,0,0,0,0
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$STATE,21989,end climb,SURFACE_DEPTH_REACHED
$STATE,21989,begin surface coast
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$STATE,22035,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,11
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$10V_AH,10.2,23.253
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$FG_AHR_10Vo,0.000
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$MEM,330464
$DATA_FILE_SIZE,100069,1736
$CAP_FILE_SIZE,251808,0
$CFSIZE,260165632,128831488
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,110.1,1
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