version: 66.09
glider: 167
mission: 8
dive: 153
start: 7 16 111 15 29 42
data:
$ID,167
$MISSION,8
$DIVE,153
$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,-56579.484
$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,78
$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
$GPS1,160711,151936,1807.283,12345.333,32,1.3,32,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.8
$GPS2,160711,152920,1807.195,12345.445,12,1.9,12,-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,265.7,162758,-15.4,-8.250
$D_GRID,4888
$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,-146.0,0.0,0.0,0,98,0.00,0.00,-76.45,0.000,2,0.000,0.000,109,1865,3167,0,0,0,0,0,0
$GC,101,-0.56,-146.0,5.9,-10.4,10,125,9.93,2.15,-4.35,0.000,4,0.230,0.042,2593,3280,3436,0,0,0,0,0,0
$GC,245,-0.56,-146.0,54.9,-23.8,35,253,0.00,2.05,0.00,0.000,6,0.000,0.017,2593,1861,3437,0,0,0,0,0,0
$GC,320,-0.56,-146.0,73.5,-25.0,48,328,0.00,2.00,0.00,0.000,4,0.000,0.027,2593,498,3437,0,0,0,0,0,0
$GC,351,-0.56,-146.0,80.8,-24.4,52,361,0.08,2.05,0.00,0.000,6,0.161,0.021,2610,1896,3438,0,0,0,0,0,0
$GC,429,-0.56,-146.0,97.2,-18.6,65,437,0.00,2.05,0.00,0.000,4,0.000,0.031,2602,3271,3438,0,0,0,0,0,0
$GC,471,-0.56,-146.0,104.2,-16.0,72,480,0.00,1.67,0.00,0.000,6,0.000,0.017,2601,2071,3438,0,0,0,0,0,0
$GC,547,-0.56,-146.0,115.4,-15.2,85,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2069,3438,0,0,0,0,0,0
$GC,623,-0.56,-146.0,128.1,-18.1,98,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2069,3438,0,0,0,0,0,0
$GC,695,-0.56,-146.0,140.7,-16.7,111,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2069,3439,0,0,0,0,0,0
$GC,772,-0.56,-146.0,153.4,-17.2,124,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2068,3439,0,0,0,0,0,0
$GC,848,-0.56,-146.0,164.4,-14.3,137,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2068,3439,0,0,0,0,0,0
$GC,921,-0.56,-146.0,174.1,-12.9,150,929,0.00,1.80,0.00,0.000,4,0.000,0.032,2599,3269,3439,0,0,0,0,0,0
$GC,937,-0.56,-146.0,176.4,-12.9,152,946,0.00,1.83,0.00,0.000,6,0.000,0.018,2600,1965,3439,0,0,0,0,0,0
$GC,1012,-0.56,-146.0,186.2,-14.8,165,1020,0.00,2.12,0.00,0.000,4,0.000,0.028,2600,504,3439,0,0,0,0,0,0
$GC,1034,-0.56,-146.0,189.9,-15.1,168,1044,0.00,2.15,0.00,0.000,6,0.000,0.020,2590,1988,3439,0,0,0,0,0,0
$GC,1113,-0.56,-146.0,202.1,-15.3,180,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1987,3439,0,0,0,0,0,0
$GC,1434,-0.56,-146.0,248.3,-13.2,210,1438,0.00,2.17,0.00,0.000,4,0.000,0.028,2590,491,3439,0,0,0,0,0,0
$GC,1499,-0.56,-146.0,255.7,-11.4,215,1503,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1958,3440,0,0,0,0,0,0
$GC,1829,-0.56,-146.0,294.5,-12.4,246,1833,0.10,1.92,0.00,0.000,4,0.188,0.031,2604,3281,3438,0,0,0,0,0,0
$GC,1970,-0.56,-146.0,308.2,-9.3,258,1977,0.00,1.80,0.00,0.000,6,0.000,0.018,2603,1994,3438,0,0,0,0,0,0
$GC,2295,-0.56,-146.0,336.3,-8.7,289,2299,0.00,2.15,0.00,0.000,4,0.000,0.028,2604,486,3437,0,0,0,0,0,0
$GC,2439,-0.56,-146.0,349.8,-9.5,301,2444,0.00,2.17,0.00,0.000,6,0.000,0.020,2602,1989,3436,0,0,0,0,0,0
$GC,2769,-0.56,-146.0,381.1,-9.3,332,2773,0.00,1.88,0.00,0.000,4,0.000,0.034,2602,3273,3434,0,0,0,0,0,0
$GC,2836,-0.56,-146.0,387.1,-8.9,338,2840,0.00,1.77,0.00,0.000,6,0.000,0.018,2603,1993,3434,0,0,0,0,0,0
$GC,3168,-0.56,-146.0,416.1,-8.1,369,3172,0.00,2.17,0.00,0.000,4,0.000,0.028,2602,487,3431,0,0,0,0,0,0
$GC,3292,-0.56,-146.0,426.8,-8.5,379,3299,0.00,2.12,0.00,0.000,6,0.000,0.020,2602,1982,3430,0,0,0,0,0,0
$GC,3618,-0.56,-146.0,450.8,-7.6,410,3622,0.00,2.17,0.00,0.000,4,0.000,0.028,2602,493,3429,0,0,0,0,0,0
$GC,3636,-0.56,-146.0,452.2,-7.8,411,3640,0.00,2.12,0.00,0.000,6,0.000,0.021,2602,1954,3429,0,0,0,0,0,0
$GC,3966,-0.56,-146.0,478.7,-8.4,442,3970,0.00,1.92,0.00,0.000,4,0.000,0.034,2602,3268,3426,0,0,0,0,0,0
$GC,4046,-0.56,-146.0,485.2,-8.0,449,4050,0.00,1.85,0.00,0.000,6,0.000,0.018,2602,1939,3425,0,0,0,0,0,0
$GC,4387,-0.56,-146.0,511.8,-7.7,474,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1938,3423,0,0,0,0,0,0
$GC,4693,-0.56,-146.0,535.3,-7.7,489,4697,0.00,2.10,0.00,0.000,4,0.000,0.031,2602,495,3420,0,0,0,0,0,0
$GC,4745,-0.56,-146.0,539.4,-7.9,491,4749,0.00,2.15,0.00,0.000,6,0.000,0.021,2602,1980,3420,0,0,0,0,0,0
$GC,5061,-0.56,-146.0,563.5,-7.6,506,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1980,3418,0,0,0,0,0,0
$GC,5371,-0.56,-146.0,588.5,-7.9,521,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1980,3417,0,0,0,0,0,0
$GC,5681,-0.56,-146.0,612.1,-7.3,536,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1980,3415,0,0,0,0,0,0
$GC,5989,-0.56,-146.0,634.2,-7.0,551,5994,0.00,1.92,0.00,0.000,4,0.000,0.036,2600,3263,3413,0,0,0,0,0,0
$GC,6045,-0.56,-146.0,638.1,-7.0,553,6049,0.00,1.88,0.00,0.000,6,0.000,0.018,2600,1929,3412,0,0,0,0,0,0
$GC,6367,-0.56,-146.0,662.2,-7.8,569,6371,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,490,3410,0,0,0,0,0,0
$GC,6453,-0.56,-146.0,670.0,-9.2,573,6457,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1937,3410,0,0,0,0,0,0
$GC,6783,-0.56,-146.0,696.1,-7.7,589,6786,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3264,3408,0,0,0,0,0,0
$GC,6829,-0.56,-146.0,699.8,-7.6,591,6833,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1948,3408,0,0,0,0,0,0
$GC,7164,-0.56,-146.0,720.8,-5.7,607,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1947,3407,0,0,0,0,0,0
$GC,7472,-0.56,-146.0,736.7,-5.0,622,7477,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,497,3405,0,0,0,0,0,0
$GC,7523,-0.56,-146.0,739.7,-5.0,624,7527,0.00,2.08,0.00,0.000,6,0.000,0.021,2600,1925,3405,0,0,0,0,0,0
$GC,7852,-0.56,-146.0,756.7,-5.2,640,7855,0.00,1.98,0.00,0.000,4,0.000,0.036,2600,3267,3403,0,0,0,0,0,0
$GC,7890,-0.56,-146.0,759.1,-5.2,641,7897,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1921,3403,0,0,0,0,0,0
$GC,8209,-0.56,-146.0,776.7,-5.5,657,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1921,3402,0,0,0,0,0,0
$GC,8516,-0.56,-146.0,794.7,-5.9,672,8521,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,507,3401,0,0,0,0,0,0
$GC,8611,-0.56,-146.0,801.3,-7.2,676,8615,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1930,3400,0,0,0,0,0,0
$GC,8939,-0.56,-146.0,822.1,-6.4,692,8943,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3268,3399,0,0,0,0,0,0
$GC,9030,-0.56,-146.0,827.9,-6.3,696,9034,0.00,1.83,0.00,0.000,6,0.000,0.019,2600,1971,3398,0,0,0,0,0,0
$GC,9365,-0.56,-146.0,847.4,-5.7,712,9369,0.00,2.15,0.00,0.000,4,0.000,0.030,2600,506,3398,0,0,0,0,0,0
$GC,9409,-0.56,-146.0,850.4,-5.7,714,9413,0.00,2.15,0.00,0.000,6,0.000,0.021,2600,1974,3397,0,0,0,0,0,0
$GC,9736,-0.56,-146.0,868.7,-5.7,730,9740,0.00,1.92,0.00,0.000,4,0.000,0.037,2601,3264,3397,0,0,0,0,0,0
$GC,9807,-0.56,-146.0,872.6,-5.5,733,9811,0.00,1.77,0.00,0.000,6,0.000,0.019,2600,1993,3396,0,0,0,0,0,0
$GC,10141,-0.56,-146.0,892.5,-6.1,749,10146,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3265,3396,0,0,0,0,0,0
$GC,10220,-0.56,-146.0,897.6,-6.3,752,10224,0.00,1.73,0.00,0.000,6,0.000,0.019,2600,2032,3395,0,0,0,0,0,0
$GC,10544,-0.56,-146.0,917.2,-6.1,768,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2030,3394,0,0,0,0,0,0
$GC,10854,-0.56,-146.0,936.6,-6.4,783,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2030,3393,0,0,0,0,0,0
$GC,11161,-0.56,-146.0,956.8,-6.8,798,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2030,3393,0,0,0,0,0,0
$GC,11471,-0.56,-146.0,978.3,-6.9,813,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2030,3393,0,0,0,0,0,0
$STATE,11633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11633,begin apogee
$GC,11640,-0.20,0.0,990.1,7.2,821,11758,0.38,0.00,111.97,1.409,4,0.123,0.000,2728,2027,2839,0,0,0,0,0,0
$STATE,11759,end apogee,CONTROL_FINISHED_OK
$STATE,11759,begin climb
$GC,11761,0.56,146.0,994.0,0.0,826,11901,0.75,2.10,125.03,1.359,4,0.084,0.032,2980,717,2241,0,0,0,0,0,0
$GC,12092,0.56,146.0,966.2,10.9,841,12097,0.00,2.10,0.00,0.000,6,0.000,0.024,2980,2066,2232,0,0,0,0,0,0
$GC,12413,0.56,146.0,930.2,11.5,857,12417,0.00,2.08,0.00,0.000,4,0.000,0.031,2987,703,2228,0,0,0,0,0,0
$GC,12666,0.56,146.0,899.6,12.1,868,12671,0.00,2.10,0.00,0.000,6,0.000,0.024,2987,2084,2227,0,0,0,0,0,0
$GC,12988,0.56,146.0,861.2,11.7,884,12992,0.00,2.12,0.00,0.000,4,0.000,0.039,2987,3479,2226,0,0,0,0,0,0
$GC,13067,0.56,146.0,851.0,12.8,887,13075,0.00,2.03,0.00,0.000,6,0.000,0.021,2996,2095,2225,0,0,0,0,0,0
$GC,13383,0.56,146.0,813.1,12.1,903,13387,0.00,2.08,0.00,0.000,4,0.000,0.032,3005,683,2224,0,0,0,0,0,0
$GC,13477,0.56,146.0,801.3,12.3,907,13481,0.00,2.05,0.00,0.000,6,0.000,0.024,3004,2069,2225,0,0,0,0,0,0
$GC,13801,0.56,146.0,761.9,12.3,923,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2069,2224,0,0,0,0,0,0
$GC,14108,0.56,146.0,725.1,11.7,938,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2070,2224,0,0,0,0,0,0
$GC,14419,0.56,146.0,690.1,11.1,953,14420,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2069,2223,0,0,0,0,0,0
$GC,14727,0.56,146.0,654.7,11.3,968,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2069,2223,0,0,0,0,0,0
$GC,15036,0.56,146.0,618.9,11.7,983,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2069,2223,0,0,0,0,0,0
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$STATE,21898,end climb,SURFACE_DEPTH_REACHED
$STATE,21898,begin surface coast
$FINISH,0.9,1.020583
$STATE,21930,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.028462,0.028462
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$TCM_TEMP,28.60
$XPDR_PINGS,12
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$10V_AH,10.2,27.221
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329892
$DATA_FILE_SIZE,100091,1729
$CAP_FILE_SIZE,236926,0
$CFSIZE,260165632,126402560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124, 50.3,1
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