version: 66.09
glider: 167
mission: 8
dive: 138
start: 7 12 111 14 37 20
data:
$ID,167
$MISSION,8
$DIVE,138
$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,-56560.512
$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,66
$R_STBD_OVSHOOT,99
$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
$GPS1,120711,142654,1801.517,12400.529,24,0.9,42,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-66.7
$GPS2,120711,143656,1801.492,12400.581,13,1.1,13,-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,279.1,191238,-15.4,-8.250
$D_GRID,4847
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-79.25,0.000,2,0.000,0.000,110,1905,2991,0,0,0,0,0,0
$GC,102,-0.56,-146.0,5.8,-10.1,11,129,9.90,2.12,-7.50,0.000,4,0.230,0.040,2618,463,3436,0,0,0,0,0,0
$GC,294,-0.56,-146.0,68.4,-21.6,44,302,0.00,2.03,0.00,0.000,6,0.000,0.021,2610,1846,3437,0,0,0,0,0,0
$GC,370,-0.56,-146.0,84.0,-21.2,57,380,0.00,2.12,0.00,0.000,4,0.000,0.031,2599,3268,3438,0,0,0,0,0,0
$GC,428,-0.56,-146.0,94.7,-17.8,66,436,0.00,1.90,0.00,0.000,6,0.000,0.017,2599,1930,3438,0,0,0,0,0,0
$GC,502,-0.56,-146.0,108.6,-19.5,79,510,0.00,2.12,0.00,0.000,4,0.000,0.028,2599,481,3438,0,0,0,0,0,0
$GC,518,-0.56,-146.0,112.0,-20.4,81,526,0.00,2.20,0.00,0.000,6,0.000,0.020,2589,1989,3438,0,0,0,0,0,0
$GC,593,-0.56,-146.0,127.9,-21.0,94,601,0.00,1.90,0.00,0.000,4,0.000,0.031,2580,3271,3437,0,0,0,0,0,0
$GC,647,-0.56,-146.0,138.9,-19.2,103,656,0.10,1.60,0.00,0.000,6,0.146,0.018,2612,2106,3438,0,0,0,0,0,0
$GC,723,-0.56,-146.0,150.7,-14.6,116,731,0.00,2.38,0.00,0.000,4,0.000,0.027,2612,481,3439,0,0,0,0,0,0
$GC,790,-0.56,-146.0,160.4,-14.3,127,798,0.00,2.38,0.00,0.000,6,0.000,0.019,2603,2112,3439,0,0,0,0,0,0
$GC,866,-0.56,-146.0,171.2,-13.9,140,874,0.00,2.40,0.00,0.000,4,0.000,0.025,2603,480,3438,0,0,0,0,0,0
$GC,907,-0.56,-146.0,176.7,-14.3,146,915,0.00,2.17,0.00,0.000,6,0.000,0.020,2600,1979,3439,0,0,0,0,0,0
$GC,983,-0.56,-146.0,187.2,-14.7,159,992,0.00,1.90,0.00,0.000,4,0.000,0.032,2600,3264,3439,0,0,0,0,0,0
$GC,1007,-0.56,-146.0,190.2,-13.2,162,1015,0.00,1.77,0.00,0.000,6,0.000,0.017,2600,1985,3439,0,0,0,0,0,0
$GC,1084,-0.56,-146.0,199.6,-11.7,175,1092,0.00,2.20,0.00,0.000,4,0.000,0.028,2600,476,3439,0,0,0,0,0,0
$GC,1148,-0.56,-146.0,208.2,-13.4,181,1156,0.00,2.15,0.00,0.000,6,0.000,0.021,2599,1973,3439,0,0,0,0,0,0
$GC,1474,-0.56,-146.0,248.6,-12.4,212,1478,0.00,2.17,0.00,0.000,4,0.000,0.027,2599,477,3439,0,0,0,0,0,0
$GC,1526,-0.56,-146.0,254.4,-11.1,216,1530,0.00,2.05,0.00,0.000,6,0.000,0.018,2590,1920,3439,0,0,0,0,0,0
$GC,1857,-0.56,-146.0,291.3,-11.7,247,1861,0.00,1.95,0.00,0.000,4,0.000,0.032,2587,3261,3437,0,0,0,0,0,0
$GC,1953,-0.56,-146.0,302.3,-11.0,255,1960,0.00,1.92,0.00,0.000,6,0.000,0.018,2588,1879,3437,0,0,0,0,0,0
$GC,2279,-0.56,-146.0,337.7,-10.8,286,2281,0.10,0.00,0.00,0.000,6,0.174,0.000,2613,1878,3436,0,0,0,0,0,0
$GC,2596,-0.56,-146.0,367.2,-8.8,316,2600,0.00,2.05,0.00,0.000,4,0.000,0.031,2613,3266,3434,0,0,0,0,0,0
$GC,2646,-0.56,-146.0,371.6,-8.6,320,2654,0.00,1.90,0.00,0.000,6,0.000,0.018,2613,1918,3433,0,0,0,0,0,0
$GC,2972,-0.56,-146.0,397.8,-7.6,351,2976,0.00,2.03,0.00,0.000,4,0.000,0.028,2613,514,3431,0,0,0,0,0,0
$GC,3033,-0.56,-146.0,403.0,-8.7,356,3040,0.00,2.05,0.00,0.000,6,0.000,0.020,2613,1946,3431,0,0,0,0,0,0
$GC,3359,-0.56,-146.0,429.0,-8.8,387,3362,0.00,1.90,0.00,0.000,4,0.000,0.034,2613,3263,3429,0,0,0,0,0,0
$GC,3484,-0.56,-146.0,438.9,-7.6,398,3488,0.00,1.75,0.00,0.000,6,0.000,0.018,2613,1996,3428,0,0,0,0,0,0
$GC,3815,-0.56,-146.0,462.3,-6.2,429,3819,0.00,2.15,0.00,0.000,4,0.000,0.029,2613,511,3426,0,0,0,0,0,0
$GC,3878,-0.56,-146.0,466.8,-7.0,434,3883,0.00,2.15,0.00,0.000,6,0.000,0.021,2613,1990,3426,0,0,0,0,0,0
$GC,4209,-0.56,-146.0,489.8,-7.0,465,4212,0.00,1.88,0.00,0.000,4,0.000,0.034,2613,3268,3424,0,0,0,0,0,0
$GC,4267,-0.56,-146.0,493.7,-6.8,470,4271,0.00,1.73,0.00,0.000,6,0.000,0.018,2613,2020,3423,0,0,0,0,0,0
$GC,4595,-0.56,-146.0,515.4,-6.5,490,4599,0.00,2.20,0.00,0.000,4,0.000,0.029,2613,507,3421,0,0,0,0,0,0
$GC,4718,-0.56,-146.0,524.4,-7.4,495,4725,0.00,2.15,0.00,0.000,6,0.000,0.021,2613,2006,3421,0,0,0,0,0,0
$GC,5035,-0.56,-146.0,547.9,-7.7,511,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2006,3419,0,0,0,0,0,0
$GC,5345,-0.56,-146.0,571.4,-7.3,526,5349,0.00,1.83,0.00,0.000,4,0.000,0.036,2613,3260,3417,0,0,0,0,0,0
$GC,5372,-0.56,-146.0,573.6,-7.1,527,5376,0.00,1.73,0.00,0.000,6,0.000,0.019,2613,2013,3416,0,0,0,0,0,0
$GC,5701,-0.56,-146.0,595.1,-6.5,543,5705,0.00,2.17,0.00,0.000,4,0.000,0.029,2613,517,3414,0,0,0,0,0,0
$GC,5745,-0.56,-146.0,598.4,-6.5,545,5749,0.00,2.17,0.00,0.000,6,0.000,0.021,2613,2018,3414,0,0,0,0,0,0
$GC,6073,-0.56,-146.0,618.5,-5.9,561,6077,0.00,1.83,0.00,0.000,4,0.000,0.035,2613,3258,3413,0,0,0,0,0,0
$GC,6124,-0.56,-146.0,621.5,-6.1,563,6128,0.00,1.73,0.00,0.000,6,0.000,0.020,2613,2014,3412,0,0,0,0,0,0
$GC,6452,-0.56,-146.0,642.1,-6.5,579,6456,0.00,2.20,0.00,0.000,4,0.000,0.030,2613,523,3411,0,0,0,0,0,0
$GC,6558,-0.56,-146.0,650.0,-7.5,583,6565,0.00,2.10,0.00,0.000,6,0.000,0.021,2613,1973,3410,0,0,0,0,0,0
$GC,6875,-0.56,-146.0,669.5,-5.8,599,6878,0.00,1.90,0.00,0.000,4,0.000,0.036,2613,3258,3407,0,0,0,0,0,0
$GC,6908,-0.56,-146.0,671.6,-5.7,600,6911,0.00,1.77,0.00,0.000,6,0.000,0.020,2613,1990,3407,0,0,0,0,0,0
$GC,7231,-0.56,-146.0,687.8,-4.9,616,7236,0.00,2.17,0.00,0.000,4,0.000,0.031,2613,521,3406,0,0,0,0,0,0
$GC,7291,-0.56,-146.0,691.3,-5.5,618,7298,0.00,2.08,0.00,0.000,6,0.000,0.021,2613,1949,3406,0,0,0,0,0,0
$GC,7610,-0.56,-146.0,707.8,-5.5,634,7613,0.00,1.92,0.00,0.000,4,0.000,0.036,2613,3263,3405,0,0,0,0,0,0
$GC,7738,-0.56,-146.0,715.0,-5.6,639,7744,0.00,1.77,0.00,0.000,6,0.000,0.020,2613,1992,3404,0,0,0,0,0,0
$GC,8054,-0.56,-146.0,732.5,-5.4,655,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1993,3402,0,0,0,0,0,0
$GC,8365,-0.56,-146.0,748.0,-4.9,670,8369,0.00,2.17,0.00,0.000,4,0.000,0.031,2613,510,3401,0,0,0,0,0,0
$GC,8393,-0.56,-146.0,749.7,-5.0,671,8397,0.00,2.12,0.00,0.000,6,0.000,0.022,2613,1972,3400,0,0,0,0,0,0
$GC,8717,-0.56,-146.0,765.5,-4.9,687,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1972,3399,0,0,0,0,0,0
$GC,9025,-0.56,-146.0,780.4,-4.9,702,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1972,3398,0,0,0,0,0,0
$GC,9333,-0.56,-146.0,797.5,-5.8,717,9338,0.00,1.92,0.00,0.000,4,0.000,0.037,2613,3249,3397,0,0,0,0,0,0
$GC,9412,-0.56,-146.0,802.2,-6.0,720,9416,0.00,1.77,0.00,0.000,6,0.000,0.020,2613,1985,3396,0,0,0,0,0,0
$GC,9734,-0.56,-146.0,822.1,-6.1,736,9738,0.00,2.15,0.00,0.000,4,0.000,0.031,2613,518,3396,0,0,0,0,0,0
$GC,9784,-0.56,-146.0,825.6,-6.6,738,9788,0.00,2.12,0.00,0.000,6,0.000,0.023,2613,1970,3395,0,0,0,0,0,0
$GC,10108,-0.56,-146.0,843.3,-5.2,754,10112,0.00,1.95,0.00,0.000,4,0.000,0.037,2613,3261,3395,0,0,0,0,0,0
$GC,10146,-0.56,-146.0,845.4,-4.9,755,10153,0.00,1.83,0.00,0.000,6,0.000,0.021,2613,1985,3395,0,0,0,0,0,0
$GC,10464,-0.56,-146.0,860.3,-4.7,771,10468,0.00,1.92,0.00,0.000,4,0.000,0.037,2613,3261,3394,0,0,0,0,0,0
$GC,10510,-0.56,-146.0,862.5,-4.6,773,10514,0.00,1.80,0.00,0.000,6,0.000,0.021,2613,1988,3394,0,0,0,0,0,0
$GC,10843,-0.56,-146.0,877.8,-4.6,789,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1987,3392,0,0,0,0,0,0
$GC,11154,-0.56,-146.0,891.9,-4.6,804,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1987,3392,0,0,0,0,0,0
$GC,11462,-0.56,-146.0,904.4,-4.0,819,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1987,3392,0,0,0,0,0,0
$GC,11773,-0.56,-146.0,916.4,-4.0,834,11777,0.00,1.92,0.00,0.000,4,0.000,0.037,2613,3248,3391,0,0,0,0,0,0
$GC,11805,-0.56,-146.0,917.9,-4.0,835,11809,0.00,1.75,0.00,0.000,6,0.000,0.020,2613,2002,3391,0,0,0,0,0,0
$GC,12128,-0.56,-146.0,931.7,-4.6,851,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2001,3390,0,0,0,0,0,0
$GC,12439,-0.56,-146.0,947.8,-5.2,866,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2000,3389,0,0,0,0,0,0
$GC,12746,-0.56,-146.0,963.4,-5.1,881,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2000,3389,0,0,0,0,0,0
$GC,13055,-0.56,-146.0,978.7,-5.0,896,13059,0.00,1.88,0.00,0.000,4,0.000,0.038,2613,3252,3388,0,0,0,0,0,0
$GC,13090,-0.56,-146.0,980.4,-4.9,897,13094,0.00,1.77,0.00,0.000,6,0.000,0.020,2613,1991,3387,0,0,0,0,0,0
$STATE,13224,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13224,begin apogee
$GC,13230,-0.20,0.0,987.3,5.0,904,13349,0.35,0.00,111.28,1.417,4,0.117,0.000,2735,2067,2839,0,0,0,0,0,0
$STATE,13349,end apogee,CONTROL_FINISHED_OK
$STATE,13350,begin climb
$GC,13352,0.56,146.0,989.6,0.0,909,13485,0.68,0.00,124.65,1.366,6,0.078,0.000,2975,2067,2242,0,0,0,0,0,0
$GC,13803,0.56,146.0,946.3,10.9,931,13807,0.00,2.17,0.00,0.000,4,0.000,0.038,2975,3463,2231,0,0,0,0,0,0
$GC,13852,0.56,146.0,940.0,12.3,933,13856,0.00,2.05,0.00,0.000,6,0.000,0.022,2980,2100,2231,0,0,0,0,0,0
$GC,14175,0.56,146.0,905.1,10.8,949,14180,0.00,2.15,0.00,0.000,4,0.000,0.034,2990,689,2229,0,0,0,0,0,0
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$STATE,23344,end climb,SURFACE_DEPTH_REACHED
$STATE,23344,begin surface coast
$FINISH,0.9,1.021189
$STATE,23373,end surface coast,CONTROL_FINISHED_OK
$STATE,23374,begin surface
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$XPDR_PINGS,13
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$10V_AH,10.2,24.383
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329864
$DATA_FILE_SIZE,103598,1803
$CAP_FILE_SIZE,252789,0
$CFSIZE,260165632,128131072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122, 76.7,1
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