version: 66.09
glider: 167
mission: 8
dive: 143
start: 7 13 111 23 10 28
data:
$ID,167
$MISSION,8
$DIVE,143
$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,-56566.809
$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,79
$R_STBD_OVSHOOT,83
$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
$GPS1,130711,225954,1803.327,12355.710,25,1.3,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.6
$GPS2,130711,231006,1803.275,12355.820,17,1.4,27,-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,278.2,182282,-15.4,-8.250
$D_GRID,4615
$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,17,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,101,0.00,0.00,-79.22,0.000,2,0.000,0.000,111,1837,3119,0,0,0,0,0,0
$GC,104,-0.56,-146.0,6.3,-11.5,11,131,9.62,2.00,-5.15,0.000,4,0.221,0.041,2614,487,3438,0,0,0,0,0,0
$GC,282,-0.56,-146.0,65.2,-26.8,41,290,0.00,2.00,0.00,0.000,6,0.000,0.020,2606,1858,3439,0,0,0,0,0,0
$GC,355,-0.56,-146.0,80.7,-20.8,54,363,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,3267,3440,0,0,0,0,0,0
$GC,386,-0.56,-146.0,87.3,-22.4,58,394,0.00,2.05,0.00,0.000,6,0.000,0.018,2595,1841,3439,0,0,0,0,0,0
$GC,462,-0.56,-146.0,102.4,-17.8,71,470,0.00,1.98,0.00,0.000,4,0.000,0.028,2596,495,3439,0,0,0,0,0,0
$GC,505,-0.56,-146.0,110.7,-19.0,78,513,0.00,1.98,0.00,0.000,6,0.000,0.023,2587,1851,3440,0,0,0,0,0,0
$GC,582,-0.56,-146.0,125.5,-19.4,91,592,0.12,2.12,0.00,0.000,4,0.187,0.031,2609,3267,3440,0,0,0,0,0,0
$GC,638,-0.56,-146.0,135.1,-14.6,100,647,0.00,1.95,0.00,0.000,6,0.000,0.017,2609,1893,3440,0,0,0,0,0,0
$GC,716,-0.56,-146.0,146.5,-15.7,113,725,0.00,2.03,0.00,0.000,4,0.000,0.028,2609,510,3440,0,0,0,0,0,0
$GC,777,-0.56,-146.0,156.6,-16.0,123,786,0.00,1.88,0.00,0.000,6,0.000,0.019,2602,1814,3441,0,0,0,0,0,0
$GC,853,-0.56,-146.0,168.9,-16.1,136,862,0.00,2.15,0.00,0.000,4,0.000,0.031,2592,3267,3440,0,0,0,0,0,0
$GC,918,-0.56,-146.0,178.7,-14.4,147,926,0.00,1.90,0.00,0.000,6,0.000,0.017,2592,1917,3441,0,0,0,0,0,0
$GC,994,-0.56,-146.0,190.0,-15.9,160,1004,0.00,2.05,0.00,0.000,4,0.000,0.028,2592,513,3440,0,0,0,0,0,0
$GC,1042,-0.56,-146.0,197.2,-14.9,167,1050,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1821,3441,0,0,0,0,0,0
$GC,1117,-0.56,-146.0,209.3,-16.2,175,1122,0.10,2.12,0.00,0.000,4,0.192,0.031,2603,3266,3441,0,0,0,0,0,0
$GC,1171,-0.56,-146.0,217.2,-15.0,179,1175,0.00,1.95,0.00,0.000,6,0.000,0.017,2603,1864,3441,0,0,0,0,0,0
$GC,1502,-0.56,-146.0,257.9,-10.9,210,1507,0.00,1.98,0.00,0.000,4,0.000,0.029,2603,507,3440,0,0,0,0,0,0
$GC,1548,-0.56,-146.0,262.8,-11.0,214,1552,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1865,3441,0,0,0,0,0,0
$GC,1880,-0.56,-146.0,298.6,-11.2,245,1883,0.00,2.03,0.00,0.000,4,0.000,0.032,2600,3262,3440,0,0,0,0,0,0
$GC,1953,-0.56,-146.0,306.5,-10.5,251,1960,0.00,1.90,0.00,0.000,6,0.000,0.017,2600,1892,3440,0,0,0,0,0,0
$GC,2279,-0.56,-146.0,339.6,-9.8,282,2282,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,3268,3438,0,0,0,0,0,0
$GC,2316,-0.56,-146.0,342.8,-9.4,285,2319,0.00,1.83,0.00,0.000,6,0.000,0.018,2600,1944,3437,0,0,0,0,0,0
$GC,2647,-0.56,-146.0,373.0,-9.6,316,2650,0.00,2.05,0.00,0.000,4,0.000,0.028,2600,524,3436,0,0,0,0,0,0
$GC,2697,-0.56,-146.0,378.1,-10.2,320,2705,0.00,2.05,0.00,0.000,6,0.000,0.020,2600,1949,3435,0,0,0,0,0,0
$GC,3023,-0.56,-146.0,408.2,-9.1,351,3026,0.00,1.92,0.00,0.000,4,0.000,0.033,2600,3267,3433,0,0,0,0,0,0
$GC,3106,-0.56,-146.0,415.8,-9.0,358,3113,0.00,1.83,0.00,0.000,6,0.000,0.018,2600,1966,3433,0,0,0,0,0,0
$GC,3433,-0.56,-146.0,444.4,-8.4,389,3436,0.00,1.92,0.00,0.000,4,0.000,0.032,2600,3271,3430,0,0,0,0,0,0
$GC,3456,-0.56,-146.0,446.4,-8.3,391,3461,0.00,1.77,0.00,0.000,6,0.000,0.018,2600,2006,3430,0,0,0,0,0,0
$GC,3787,-0.56,-146.0,473.4,-8.2,422,3791,0.00,2.17,0.00,0.000,4,0.000,0.029,2600,511,3428,0,0,0,0,0,0
$GC,3917,-0.56,-146.0,484.8,-8.8,433,3920,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1965,3428,0,0,0,0,0,0
$GC,4247,-0.56,-146.0,509.5,-7.6,458,4251,0.00,1.92,0.00,0.000,4,0.000,0.035,2600,3270,3425,0,0,0,0,0,0
$GC,4275,-0.56,-146.0,511.9,-7.4,459,4279,0.00,1.83,0.00,0.000,6,0.000,0.019,2600,1970,3424,0,0,0,0,0,0
$GC,4604,-0.56,-146.0,537.0,-7.7,475,4608,0.00,2.12,0.00,0.000,4,0.000,0.029,2600,511,3422,0,0,0,0,0,0
$GC,4688,-0.56,-146.0,544.3,-8.8,479,4692,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1964,3421,0,0,0,0,0,0
$GC,5022,-0.56,-146.0,571.5,-8.1,495,5026,0.00,1.90,0.00,0.000,4,0.000,0.036,2600,3264,3419,0,0,0,0,0,0
$GC,5079,-0.56,-146.0,576.1,-7.9,497,5083,0.00,1.77,0.00,0.000,6,0.000,0.019,2600,1994,3419,0,0,0,0,0,0
$GC,5401,-0.56,-146.0,601.1,-7.7,513,5406,0.00,2.17,0.00,0.000,4,0.000,0.029,2600,520,3417,0,0,0,0,0,0
$GC,5474,-0.56,-146.0,607.9,-9.2,516,5478,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1984,3416,0,0,0,0,0,0
$GC,5796,-0.56,-146.0,632.9,-7.3,532,5801,0.00,2.17,0.00,0.000,4,0.000,0.029,2600,524,3414,0,0,0,0,0,0
$GC,5842,-0.56,-146.0,636.2,-7.1,534,5847,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1952,3414,0,0,0,0,0,0
$GC,6176,-0.56,-146.0,658.0,-6.3,550,6180,0.00,1.92,0.00,0.000,4,0.000,0.036,2600,3267,3412,0,0,0,0,0,0
$GC,6237,-0.56,-146.0,661.9,-6.2,552,6246,0.00,1.83,0.00,0.000,6,0.000,0.019,2600,1986,3412,0,0,0,0,0,0
$GC,6555,-0.56,-146.0,680.5,-5.9,568,6559,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,518,3410,0,0,0,0,0,0
$GC,6610,-0.56,-146.0,684.5,-6.8,570,6617,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1980,3409,0,0,0,0,0,0
$GC,6927,-0.56,-146.0,705.4,-6.8,586,6931,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3260,3407,0,0,0,0,0,0
$GC,6955,-0.56,-146.0,707.4,-6.9,587,6959,0.00,1.75,0.00,0.000,6,0.000,0.020,2600,2016,3407,0,0,0,0,0,0
$GC,7283,-0.56,-146.0,730.2,-6.8,603,7287,0.00,2.20,0.00,0.000,4,0.000,0.030,2600,514,3406,0,0,0,0,0,0
$GC,7351,-0.56,-146.0,735.3,-7.7,606,7355,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1972,3405,0,0,0,0,0,0
$GC,7679,-0.56,-146.0,755.3,-5.8,622,7683,0.00,1.92,0.00,0.000,4,0.000,0.036,2599,3266,3404,0,0,0,0,0,0
$GC,7727,-0.56,-146.0,757.9,-5.7,624,7730,0.00,1.83,0.00,0.000,6,0.000,0.019,2599,1973,3404,0,0,0,0,0,0
$GC,8061,-0.56,-146.0,776.6,-5.6,640,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1972,3402,0,0,0,0,0,0
$GC,8369,-0.56,-146.0,793.7,-5.4,655,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1972,3401,0,0,0,0,0,0
$GC,8679,-0.56,-146.0,810.4,-5.3,670,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1972,3400,0,0,0,0,0,0
$GC,8990,-0.56,-146.0,828.4,-6.2,685,8994,0.00,2.15,0.00,0.000,4,0.000,0.031,2599,525,3399,0,0,0,0,0,0
$GC,9050,-0.56,-146.0,832.9,-7.1,687,9057,0.00,2.10,0.00,0.000,6,0.000,0.022,2599,1962,3398,0,0,0,0,0,0
$GC,9368,-0.56,-146.0,853.3,-6.5,703,9372,0.00,1.95,0.00,0.000,4,0.000,0.038,2599,3263,3398,0,0,0,0,0,0
$GC,9417,-0.56,-146.0,856.8,-6.6,705,9421,0.00,1.83,0.00,0.000,6,0.000,0.019,2599,1973,3398,0,0,0,0,0,0
$GC,9746,-0.56,-146.0,878.8,-7.0,721,9750,0.00,2.12,0.00,0.000,4,0.000,0.030,2599,523,3396,0,0,0,0,0,0
$GC,9775,-0.56,-146.0,881.1,-6.9,722,9780,0.00,2.12,0.00,0.000,6,0.000,0.023,2599,1957,3396,0,0,0,0,0,0
$GC,10097,-0.56,-146.0,902.0,-6.2,738,10100,0.00,1.95,0.00,0.000,4,0.000,0.038,2599,3260,3395,0,0,0,0,0,0
$GC,10182,-0.56,-146.0,907.4,-6.2,741,10189,0.00,1.75,0.00,0.000,6,0.000,0.019,2599,2009,3395,0,0,0,0,0,0
$GC,10499,-0.56,-146.0,924.9,-5.2,757,10503,0.00,2.20,0.00,0.000,4,0.000,0.031,2599,514,3395,0,0,0,0,0,0
$GC,10527,-0.56,-146.0,926.6,-5.2,758,10531,0.00,2.20,0.00,0.000,6,0.000,0.023,2599,2013,3395,0,0,0,0,0,0
$GC,10845,-0.56,-146.0,942.1,-4.7,773,10849,0.00,1.88,0.00,0.000,4,0.000,0.039,2599,3264,3394,0,0,0,0,0,0
$GC,10878,-0.56,-146.0,943.8,-4.7,774,10882,0.00,1.75,0.00,0.000,6,0.000,0.021,2599,2018,3394,0,0,0,0,0,0
$GC,11200,-0.56,-146.0,959.9,-5.1,790,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2017,3393,0,0,0,0,0,0
$GC,11511,-0.56,-146.0,976.3,-5.5,805,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2017,3393,0,0,0,0,0,0
$STATE,11754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11754,begin apogee
$GC,11760,-0.20,0.0,991.0,6.0,817,11880,0.40,0.00,112.30,1.414,4,0.123,0.000,2733,2014,2839,0,0,0,0,0,0
$STATE,11880,end apogee,CONTROL_FINISHED_OK
$STATE,11880,begin climb
$GC,11883,0.56,146.0,993.8,0.0,822,12021,0.73,2.08,125.03,1.366,4,0.080,0.031,2979,720,2241,0,0,0,0,0,0
$GC,12201,0.56,146.0,965.8,11.1,837,12205,0.00,2.05,0.00,0.000,6,0.000,0.023,2979,2060,2233,0,0,0,0,0,0
$GC,12535,0.56,146.0,929.1,10.9,853,12539,0.00,2.03,0.00,0.000,4,0.000,0.031,2986,723,2229,0,0,0,0,0,0
$GC,12784,0.56,146.0,900.9,11.2,864,12788,0.00,2.05,0.00,0.000,6,0.000,0.024,2986,2090,2228,0,0,0,0,0,0
$GC,13120,0.56,146.0,862.4,11.7,880,13123,0.00,2.10,0.00,0.000,4,0.000,0.038,2986,3466,2226,0,0,0,0,0,0
$GC,13166,0.56,146.0,856.2,12.9,882,13170,0.00,2.00,0.00,0.000,6,0.000,0.021,2993,2102,2225,0,0,0,0,0,0
$GC,13500,0.56,146.0,816.1,11.9,898,13505,0.00,2.12,0.00,0.000,4,0.000,0.034,3004,701,2225,0,0,0,0,0,0
$GC,13577,0.56,146.0,806.5,11.9,901,13581,0.00,2.03,0.00,0.000,6,0.000,0.023,3004,2067,2225,0,0,0,0,0,0
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$STATE,22284,end climb,SURFACE_DEPTH_REACHED
$STATE,22284,begin surface coast
$FINISH,0.9,1.016462
$STATE,22320,end surface coast,CONTROL_FINISHED_OK
$STATE,22320,begin surface
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$10V_AH,10.2,25.333
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$FG_AHR_10Vo,0.000
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$MEM,329904
$DATA_FILE_SIZE,103491,1749
$CAP_FILE_SIZE,244774,0
$CFSIZE,260165632,127553536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,108.0,1
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