version: 66.09
glider: 167
mission: 8
dive: 137
start: 7 12 111 8 17 25
data:
$ID,167
$MISSION,8
$DIVE,137
$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,-6
$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,-56559.254
$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,69
$R_STBD_OVSHOOT,65
$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
$GPS1,120711,080706,1800.809,12401.765,34,1.3,34,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.9
$GPS2,120711,081702,1800.731,12401.846,16,1.4,16,-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,282.3,193774,-15.4,-8.250
$D_GRID,4858
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-86.57,0.000,2,0.000,0.000,107,1884,2969,0,0,0,0,0,0
$GC,112,-0.56,-146.0,5.1,-8.0,11,137,9.88,2.12,-7.95,0.000,4,0.230,0.044,2595,3273,3437,0,0,0,0,0,0
$GC,270,-0.56,-146.0,64.1,-29.5,38,278,0.00,2.05,0.00,0.000,6,0.000,0.021,2595,1870,3438,0,0,0,0,0,0
$GC,346,-0.56,-146.0,81.5,-20.7,51,355,0.00,2.03,0.00,0.000,4,0.000,0.029,2595,495,3438,0,0,0,0,0,0
$GC,418,-0.56,-146.0,96.4,-20.5,62,426,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1767,3439,0,0,0,0,0,0
$GC,498,-0.56,-146.0,112.4,-20.4,75,506,0.12,2.25,0.00,0.000,4,0.187,0.030,2608,3264,3438,0,0,0,0,0,0
$GC,561,-0.56,-146.0,123.3,-15.0,85,569,0.00,2.17,0.00,0.000,6,0.000,0.017,2608,1730,3438,0,0,0,0,0,0
$GC,639,-0.56,-146.0,135.9,-16.6,98,646,0.00,1.80,0.00,0.000,4,0.000,0.028,2608,490,3439,0,0,0,0,0,0
$GC,664,-0.56,-146.0,140.4,-17.1,102,671,0.00,1.83,0.00,0.000,6,0.000,0.018,2600,1767,3439,0,0,0,0,0,0
$GC,739,-0.56,-146.0,153.3,-17.7,115,747,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,3261,3439,0,0,0,0,0,0
$GC,794,-0.56,-146.0,161.2,-14.7,123,802,0.00,1.98,0.00,0.000,6,0.000,0.017,2600,1876,3440,0,0,0,0,0,0
$GC,873,-0.56,-146.0,174.5,-16.1,136,881,0.00,2.03,0.00,0.000,4,0.000,0.028,2600,486,3440,0,0,0,0,0,0
$GC,916,-0.56,-146.0,181.3,-15.4,143,925,0.00,2.05,0.00,0.000,6,0.000,0.019,2592,1905,3439,0,0,0,0,0,0
$GC,995,-0.56,-146.0,193.5,-15.3,156,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1906,3439,0,0,0,0,0,0
$GC,1068,-0.56,-146.0,204.9,-14.9,166,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1905,3439,0,0,0,0,0,0
$GC,1389,-0.56,-146.0,247.2,-12.3,196,1392,0.00,2.05,0.00,0.000,4,0.000,0.027,2592,498,3440,0,0,0,0,0,0
$GC,1426,-0.56,-146.0,251.8,-12.3,199,1429,0.00,1.95,0.00,0.000,6,0.000,0.019,2588,1865,3439,0,0,0,0,0,0
$GC,1757,-0.56,-146.0,290.5,-11.1,230,1762,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,3268,3438,0,0,0,0,0,0
$GC,1825,-0.56,-146.0,297.6,-10.5,236,1829,0.10,1.98,0.00,0.000,6,0.168,0.018,2613,1842,3438,0,0,0,0,0,0
$GC,2155,-0.56,-146.0,327.6,-8.9,267,2159,0.00,1.90,0.00,0.000,4,0.000,0.029,2613,519,3436,0,0,0,0,0,0
$GC,2202,-0.56,-146.0,332.2,-9.9,271,2206,0.00,1.90,0.00,0.000,6,0.000,0.020,2612,1858,3436,0,0,0,0,0,0
$GC,2534,-0.56,-146.0,364.4,-9.0,302,2538,0.00,2.03,0.00,0.000,4,0.000,0.031,2604,3263,3433,0,0,0,0,0,0
$GC,2667,-0.56,-146.0,375.3,-7.9,313,2671,0.00,1.88,0.00,0.000,6,0.000,0.018,2604,1916,3433,0,0,0,0,0,0
$GC,2999,-0.56,-146.0,402.5,-9.0,344,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1915,3431,0,0,0,0,0,0
$GC,3320,-0.56,-146.0,433.6,-9.5,374,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1914,3428,0,0,0,0,0,0
$GC,3651,-0.56,-146.0,461.2,-8.1,405,3655,0.00,2.05,0.00,0.000,4,0.000,0.031,2604,511,3426,0,0,0,0,0,0
$GC,3679,-0.56,-146.0,464.1,-8.1,407,3686,0.00,2.08,0.00,0.000,6,0.000,0.021,2603,1931,3426,0,0,0,0,0,0
$GC,4004,-0.56,-146.0,489.9,-8.7,438,4008,0.00,1.92,0.00,0.000,4,0.000,0.034,2603,3259,3423,0,0,0,0,0,0
$GC,4123,-0.56,-146.0,499.7,-8.0,448,4129,0.00,1.80,0.00,0.000,6,0.000,0.019,2603,1970,3422,0,0,0,0,0,0
$GC,4439,-0.56,-146.0,522.9,-6.6,464,4443,0.00,2.12,0.00,0.000,4,0.000,0.030,2603,511,3420,0,0,0,0,0,0
$GC,4507,-0.56,-146.0,527.9,-7.4,467,4510,0.00,2.05,0.00,0.000,6,0.000,0.021,2603,1933,3420,0,0,0,0,0,0
$GC,4834,-0.56,-146.0,552.0,-7.8,483,4839,0.00,1.98,0.00,0.000,4,0.000,0.035,2603,3257,3418,0,0,0,0,0,0
$GC,4873,-0.56,-146.0,555.2,-8.1,484,4880,0.00,1.88,0.00,0.000,6,0.000,0.021,2603,1947,3417,0,0,0,0,0,0
$GC,5190,-0.56,-146.0,582.6,-8.6,500,5194,0.00,2.10,0.00,0.000,4,0.000,0.031,2603,506,3415,0,0,0,0,0,0
$GC,5245,-0.56,-146.0,588.0,-9.1,502,5252,0.00,2.05,0.00,0.000,6,0.000,0.021,2603,1925,3415,0,0,0,0,0,0
$GC,5563,-0.56,-146.0,612.0,-6.9,518,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1925,3412,0,0,0,0,0,0
$GC,5871,-0.56,-146.0,631.8,-6.2,533,5876,0.00,2.00,0.00,0.000,4,0.000,0.036,2602,3261,3411,0,0,0,0,0,0
$GC,5999,-0.56,-146.0,639.2,-5.7,538,6006,0.00,1.80,0.00,0.000,6,0.000,0.020,2603,1982,3410,0,0,0,0,0,0
$GC,6318,-0.56,-146.0,657.3,-5.8,554,6322,0.00,2.17,0.00,0.000,4,0.000,0.032,2603,517,3408,0,0,0,0,0,0
$GC,6419,-0.56,-146.0,664.6,-6.9,558,6422,0.00,2.10,0.00,0.000,6,0.000,0.023,2602,1962,3407,0,0,0,0,0,0
$GC,6743,-0.56,-146.0,685.8,-6.7,574,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1962,3405,0,0,0,0,0,0
$GC,7050,-0.56,-146.0,706.1,-6.5,589,7054,0.00,1.95,0.00,0.000,4,0.000,0.037,2601,3274,3404,0,0,0,0,0,0
$GC,7120,-0.56,-146.0,710.5,-6.4,592,7124,0.00,1.80,0.00,0.000,6,0.000,0.021,2601,1987,3403,0,0,0,0,0,0
$GC,7454,-0.56,-146.0,730.6,-5.7,608,7459,0.00,2.17,0.00,0.000,4,0.000,0.032,2601,524,3402,0,0,0,0,0,0
$GC,7576,-0.56,-146.0,739.1,-7.0,613,7580,0.00,2.08,0.00,0.000,6,0.000,0.023,2601,1944,3400,0,0,0,0,0,0
$GC,7899,-0.56,-146.0,759.8,-6.6,629,7903,0.00,1.98,0.00,0.000,4,0.000,0.037,2601,3257,3399,0,0,0,0,0,0
$GC,7976,-0.56,-146.0,764.9,-6.6,632,7979,0.00,1.83,0.00,0.000,6,0.000,0.021,2601,1973,3399,0,0,0,0,0,0
$GC,8299,-0.56,-146.0,785.1,-6.0,648,8304,0.00,2.17,0.00,0.000,4,0.000,0.031,2601,511,3398,0,0,0,0,0,0
$GC,8389,-0.56,-146.0,791.2,-6.8,652,8394,0.00,2.08,0.00,0.000,6,0.000,0.023,2601,1921,3397,0,0,0,0,0,0
$GC,8724,-0.56,-146.0,808.1,-4.5,668,8727,0.00,2.03,0.00,0.000,4,0.000,0.037,2601,3274,3396,0,0,0,0,0,0
$GC,8792,-0.56,-146.0,811.4,-4.4,671,8796,0.00,1.88,0.00,0.000,6,0.000,0.021,2601,1957,3396,0,0,0,0,0,0
$GC,9126,-0.56,-146.0,828.0,-5.2,687,9129,0.00,2.12,0.00,0.000,4,0.000,0.032,2601,514,3395,0,0,0,0,0,0
$GC,9204,-0.56,-146.0,833.1,-6.6,690,9211,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1935,3394,0,0,0,0,0,0
$GC,9521,-0.56,-146.0,852.1,-6.3,706,9526,0.00,2.03,0.00,0.000,4,0.000,0.038,2601,3268,3394,0,0,0,0,0,0
$GC,9583,-0.56,-146.0,855.9,-6.3,708,9590,0.00,1.88,0.00,0.000,6,0.000,0.020,2601,1945,3394,0,0,0,0,0,0
$GC,9900,-0.56,-146.0,876.3,-6.5,724,9904,0.00,2.10,0.00,0.000,4,0.000,0.032,2601,519,3392,0,0,0,0,0,0
$GC,9941,-0.56,-146.0,879.1,-6.6,726,9945,0.00,2.08,0.00,0.000,6,0.000,0.023,2601,1941,3392,0,0,0,0,0,0
$GC,10276,-0.56,-146.0,902.5,-7.2,742,10279,0.00,2.00,0.00,0.000,4,0.000,0.039,2601,3272,3392,0,0,0,0,0,0
$GC,10370,-0.56,-146.0,909.6,-7.2,746,10374,0.00,1.88,0.00,0.000,6,0.000,0.020,2601,1953,3391,0,0,0,0,0,0
$GC,10700,-0.56,-146.0,931.4,-6.4,762,10704,0.00,2.12,0.00,0.000,4,0.000,0.031,2601,510,3390,0,0,0,0,0,0
$GC,10749,-0.56,-146.0,935.0,-6.5,764,10753,0.00,2.10,0.00,0.000,6,0.000,0.024,2601,1943,3390,0,0,0,0,0,0
$GC,11073,-0.56,-146.0,953.2,-5.5,780,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1943,3389,0,0,0,0,0,0
$GC,11381,-0.56,-146.0,970.7,-5.8,795,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1943,3388,0,0,0,0,0,0
$GC,11690,-0.56,-146.0,988.2,-5.6,810,11695,0.00,2.00,0.00,0.000,4,0.000,0.040,2601,3257,3388,0,0,0,0,0,0
$STATE,11721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11721,begin apogee
$GC,11729,-0.20,0.0,990.2,5.6,811,11849,0.38,0.00,111.28,1.412,4,0.123,0.000,2727,2072,2838,0,0,0,0,0,0
$STATE,11850,end apogee,CONTROL_FINISHED_OK
$STATE,11850,begin climb
$GC,11853,0.56,146.0,992.5,0.0,817,11988,0.70,2.25,124.97,1.366,4,0.080,0.032,2983,668,2242,0,0,0,0,0,0
$GC,12174,0.56,146.0,960.8,11.5,831,12179,0.00,2.17,0.00,0.000,6,0.000,0.023,2983,2066,2233,0,0,0,0,0,0
$GC,12495,0.56,146.0,923.2,11.7,847,12499,0.00,2.15,0.00,0.000,4,0.000,0.034,2986,664,2229,0,0,0,0,0,0
$GC,12673,0.56,146.0,902.3,11.6,855,12677,0.00,2.17,0.00,0.000,6,0.000,0.024,2987,2113,2229,0,0,0,0,0,0
$GC,13000,0.56,146.0,864.9,11.4,871,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2113,2226,0,0,0,0,0,0
$GC,13310,0.56,146.0,829.7,11.3,886,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2113,2225,0,0,0,0,0,0
$GC,13620,0.56,146.0,796.3,10.5,901,13625,0.00,2.20,0.00,0.000,4,0.000,0.032,2995,671,2225,0,0,0,0,0,0
$GC,13644,0.56,146.0,793.7,10.5,902,13648,0.00,2.12,0.00,0.000,6,0.000,0.024,2995,2105,2224,0,0,0,0,0,0
$GC,13973,0.56,146.0,757.5,11.2,918,13977,0.00,2.05,0.00,0.000,4,0.000,0.038,2995,3466,2224,0,0,0,0,0,0
$GC,14019,0.56,146.0,751.7,12.4,920,14023,0.00,1.98,0.00,0.000,6,0.000,0.021,3004,2107,2224,0,0,0,0,0,0
$GC,14352,0.56,146.0,712.5,11.6,936,14356,0.00,2.12,0.00,0.000,4,0.000,0.034,3014,691,2224,0,0,0,0,0,0
$GC,14436,0.56,146.0,702.8,11.6,939,14443,0.12,2.10,0.00,0.000,6,0.161,0.024,2982,2117,2224,0,0,0,0,0,0
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$STATE,22002,end climb,SURFACE_DEPTH_REACHED
$STATE,22002,begin surface coast
$FINISH,2.2,1.020906
$STATE,22009,end surface coast,CONTROL_FINISHED_OK
$STATE,22009,begin surface
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$TCM_TEMP,28.70
$XPDR_PINGS,16
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$10V_AH,10.2,24.192
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329904
$DATA_FILE_SIZE,100241,1704
$CAP_FILE_SIZE,241302,0
$CFSIZE,260165632,128262144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 83.2,1
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