version: 66.09
glider: 167
mission: 8
dive: 170
start: 7 21 111 3 31 36
data:
$ID,167
$MISSION,8
$DIVE,170
$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,-56600.875
$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,80
$R_STBD_OVSHOOT,75
$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
$GPS1,210711,032124,1818.939,12308.339,37,1.2,37,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-71.5
$GPS2,210711,033114,1818.989,12308.312,13,1.3,13,-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,273.0,94105,-15.4,-8.250
$D_GRID,4158
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-83.12,0.000,2,0.000,0.000,120,1879,2907,0,0,0,0,0,0
$GC,109,-0.56,-146.0,5.0,-6.9,11,134,9.85,2.10,-9.25,0.000,4,0.228,0.040,2610,481,3437,0,0,0,0,0,0
$GC,300,-0.56,-146.0,64.3,-24.5,45,309,0.00,2.03,0.00,0.000,6,0.000,0.019,2603,1871,3438,0,0,0,0,0,0
$GC,377,-0.56,-146.0,79.3,-18.7,58,385,0.00,2.08,0.00,0.000,4,0.000,0.030,2592,3270,3438,0,0,0,0,0,0
$GC,408,-0.56,-146.0,86.5,-23.4,62,415,0.00,1.88,0.00,0.000,6,0.000,0.017,2593,1948,3439,0,0,0,0,0,0
$GC,486,-0.56,-146.0,104.2,-20.9,75,494,0.00,2.12,0.00,0.000,4,0.000,0.028,2592,491,3439,0,0,0,0,0,0
$GC,514,-0.56,-146.0,110.5,-21.9,79,522,0.10,2.08,0.00,0.000,6,0.158,0.020,2613,1916,3439,0,0,0,0,0,0
$GC,594,-0.56,-146.0,126.1,-18.2,92,602,0.00,2.00,0.00,0.000,4,0.000,0.031,2605,3264,3439,0,0,0,0,0,0
$GC,626,-0.56,-146.0,132.8,-19.3,97,636,0.00,1.65,0.00,0.000,6,0.000,0.016,2605,2066,3439,0,0,0,0,0,0
$GC,703,-0.56,-146.0,145.1,-15.5,110,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2064,3439,0,0,0,0,0,0
$GC,781,-0.56,-146.0,157.3,-15.0,123,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2064,3439,0,0,0,0,0,0
$GC,857,-0.56,-146.0,168.6,-16.0,136,865,0.00,2.30,0.00,0.000,4,0.000,0.027,2605,484,3440,0,0,0,0,0,0
$GC,909,-0.56,-146.0,176.5,-15.9,144,917,0.00,2.40,0.00,0.000,6,0.000,0.021,2596,2131,3440,0,0,0,0,0,0
$GC,984,-0.56,-146.0,187.2,-13.5,157,993,0.00,2.40,0.00,0.000,4,0.000,0.025,2596,494,3440,0,0,0,0,0,0
$GC,1085,-0.56,-146.0,202.1,-14.0,174,1088,0.00,2.05,0.00,0.000,6,0.000,0.020,2587,1929,3440,0,0,0,0,0,0
$GC,1417,-0.56,-146.0,247.8,-14.3,205,1422,0.10,2.00,0.00,0.000,4,0.187,0.032,2603,3273,3439,0,0,0,0,0,0
$GC,1445,-0.56,-146.0,251.7,-13.1,207,1452,0.00,1.88,0.00,0.000,6,0.000,0.017,2603,1924,3439,0,0,0,0,0,0
$GC,1773,-0.56,-146.0,288.7,-10.8,238,1776,0.00,1.98,0.00,0.000,4,0.000,0.031,2603,3265,3439,0,0,0,0,0,0
$GC,1829,-0.56,-146.0,295.4,-11.8,243,1833,0.00,1.75,0.00,0.000,6,0.000,0.017,2603,1999,3438,0,0,0,0,0,0
$GC,2163,-0.56,-146.0,332.9,-10.1,274,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1998,3436,0,0,0,0,0,0
$GC,2490,-0.56,-146.0,363.4,-9.7,305,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1997,3434,0,0,0,0,0,0
$GC,2810,-0.56,-146.0,393.2,-9.2,335,2814,0.00,2.15,0.00,0.000,4,0.000,0.029,2603,514,3432,0,0,0,0,0,0
$GC,2850,-0.56,-146.0,397.3,-9.2,338,2854,0.00,2.17,0.00,0.000,6,0.000,0.022,2603,2015,3432,0,0,0,0,0,0
$GC,3176,-0.56,-146.0,426.0,-8.6,368,3180,0.00,2.20,0.00,0.000,4,0.000,0.030,2603,516,3430,0,0,0,0,0,0
$GC,3216,-0.56,-146.0,429.6,-9.2,371,3220,0.00,2.15,0.00,0.000,6,0.000,0.023,2603,2000,3429,0,0,0,0,0,0
$GC,3542,-0.56,-146.0,457.6,-8.5,401,3546,0.00,1.88,0.00,0.000,4,0.000,0.035,2600,3262,3426,0,0,0,0,0,0
$GC,3592,-0.56,-146.0,461.9,-8.3,405,3600,0.00,1.73,0.00,0.000,6,0.000,0.018,2600,2015,3426,0,0,0,0,0,0
$GC,3918,-0.56,-146.0,487.8,-7.6,436,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2014,3424,0,0,0,0,0,0
$GC,4234,-0.56,-146.0,511.3,-7.3,459,4238,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,504,3422,0,0,0,0,0,0
$GC,4346,-0.56,-146.0,519.7,-7.3,464,4350,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,2019,3421,0,0,0,0,0,0
$GC,4670,-0.56,-146.0,541.7,-7.2,480,4673,0.00,1.83,0.00,0.000,4,0.000,0.036,2600,3271,3419,0,0,0,0,0,0
$GC,4719,-0.56,-146.0,545.6,-7.3,482,4723,0.00,1.75,0.00,0.000,6,0.000,0.018,2600,2014,3418,0,0,0,0,0,0
$GC,5047,-0.56,-146.0,572.0,-8.6,498,5052,0.00,2.22,0.00,0.000,4,0.000,0.031,2601,507,3416,0,0,0,0,0,0
$GC,5211,-0.56,-146.0,588.2,-9.6,505,5215,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1986,3414,0,0,0,0,0,0
$GC,5533,-0.56,-146.0,616.3,-8.2,521,5538,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3266,3412,0,0,0,0,0,0
$GC,5618,-0.56,-146.0,622.7,-7.2,524,5625,0.00,1.77,0.00,0.000,6,0.000,0.019,2600,1998,3412,0,0,0,0,0,0
$GC,5934,-0.56,-146.0,645.1,-7.0,540,5939,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,513,3409,0,0,0,0,0,0
$GC,5982,-0.56,-146.0,648.5,-7.5,542,5987,0.00,2.20,0.00,0.000,6,0.000,0.022,2600,2004,3409,0,0,0,0,0,0
$GC,6315,-0.56,-146.0,669.3,-5.6,558,6319,0.00,1.88,0.00,0.000,4,0.000,0.037,2599,3266,3407,0,0,0,0,0,0
$GC,6407,-0.56,-146.0,674.4,-5.6,562,6411,0.00,1.73,0.00,0.000,6,0.000,0.019,2600,2037,3407,0,0,0,0,0,0
$GC,6743,-0.56,-146.0,695.2,-6.7,578,6747,0.00,2.25,0.00,0.000,4,0.000,0.031,2600,504,3405,0,0,0,0,0,0
$GC,6806,-0.56,-146.0,700.4,-8.2,581,6810,0.00,2.20,0.00,0.000,6,0.000,0.023,2600,2010,3404,0,0,0,0,0,0
$GC,7136,-0.56,-146.0,724.1,-7.1,597,7140,0.00,1.88,0.00,0.000,4,0.000,0.038,2600,3267,3402,0,0,0,0,0,0
$GC,7170,-0.56,-146.0,726.6,-6.8,598,7173,0.00,1.77,0.00,0.000,6,0.000,0.021,2600,2014,3402,0,0,0,0,0,0
$GC,7494,-0.56,-146.0,746.0,-5.6,614,7498,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,516,3400,0,0,0,0,0,0
$GC,7557,-0.56,-146.0,749.9,-6.3,617,7561,0.00,2.15,0.00,0.000,6,0.000,0.023,2599,1984,3399,0,0,0,0,0,0
$GC,7891,-0.56,-146.0,769.0,-5.9,633,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1984,3398,0,0,0,0,0,0
$GC,8201,-0.56,-146.0,788.8,-6.4,648,8205,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,517,3396,0,0,0,0,0,0
$GC,8234,-0.56,-146.0,791.2,-6.7,649,8242,0.00,2.15,0.00,0.000,6,0.000,0.024,2600,1979,3396,0,0,0,0,0,0
$GC,8551,-0.56,-146.0,810.2,-5.9,665,8555,0.00,1.95,0.00,0.000,4,0.000,0.038,2600,3261,3395,0,0,0,0,0,0
$GC,8579,-0.56,-146.0,811.9,-5.9,666,8582,0.00,1.77,0.00,0.000,6,0.000,0.019,2600,2007,3395,0,0,0,0,0,0
$GC,8908,-0.56,-146.0,830.1,-5.7,682,8912,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,514,3394,0,0,0,0,0,0
$GC,8943,-0.56,-146.0,832.4,-5.9,683,8950,0.00,2.20,0.00,0.000,6,0.000,0.024,2599,2007,3394,0,0,0,0,0,0
$GC,9261,-0.56,-146.0,852.2,-6.4,699,9264,0.00,1.90,0.00,0.000,4,0.000,0.039,2600,3271,3393,0,0,0,0,0,0
$GC,9294,-0.56,-146.0,854.5,-6.3,700,9298,0.00,1.80,0.00,0.000,6,0.000,0.019,2599,2004,3393,0,0,0,0,0,0
$GC,9617,-0.56,-146.0,874.5,-6.0,716,9621,0.00,2.20,0.00,0.000,4,0.000,0.031,2599,514,3391,0,0,0,0,0,0
$GC,9672,-0.56,-146.0,878.4,-6.7,718,9679,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,2006,3391,0,0,0,0,0,0
$GC,9989,-0.56,-146.0,896.6,-5.7,734,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2007,3390,0,0,0,0,0,0
$GC,10299,-0.56,-146.0,913.4,-5.3,749,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2007,3389,0,0,0,0,0,0
$GC,10607,-0.56,-146.0,930.2,-5.6,764,10611,0.00,1.88,0.00,0.000,4,0.000,0.040,2599,3264,3388,0,0,0,0,0,0
$GC,10645,-0.56,-146.0,932.5,-5.7,765,10653,0.00,1.75,0.00,0.000,6,0.000,0.020,2599,2027,3388,0,0,0,0,0,0
$GC,10963,-0.56,-146.0,951.2,-6.0,781,10968,0.00,2.25,0.00,0.000,4,0.000,0.031,2600,523,3387,0,0,0,0,0,0
$GC,11047,-0.56,-146.0,957.1,-6.9,784,11053,0.00,2.17,0.00,0.000,6,0.000,0.025,2600,1990,3387,0,0,0,0,0,0
$GC,11364,-0.56,-146.0,975.8,-5.9,800,11369,0.00,1.95,0.00,0.000,4,0.000,0.041,2599,3264,3386,0,0,0,0,0,0
$GC,11459,-0.56,-146.0,981.7,-6.0,804,11464,0.00,1.80,0.00,0.000,6,0.000,0.021,2599,2022,3386,0,0,0,0,0,0
$STATE,11619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11619,begin apogee
$GC,11626,-0.20,0.0,991.1,5.8,812,11743,0.40,0.00,111.93,1.415,4,0.121,0.000,2734,2017,2839,0,0,0,0,0,0
$STATE,11744,end apogee,CONTROL_FINISHED_OK
$STATE,11744,begin climb
$GC,11746,0.56,146.0,993.6,0.0,817,11886,0.73,2.35,125.65,1.364,4,0.085,0.040,2977,3460,2241,0,0,0,0,0,0
$GC,12060,0.56,146.0,960.5,13.4,831,12067,0.00,2.08,0.00,0.000,6,0.000,0.021,2986,2106,2232,0,0,0,0,0,0
$GC,12378,0.56,146.0,920.9,12.7,847,12383,0.00,2.12,0.00,0.000,4,0.000,0.037,2986,3454,2230,0,0,0,0,0,0
$GC,12575,0.56,146.0,893.3,14.0,855,12582,0.00,2.10,0.00,0.000,6,0.000,0.021,2994,2036,2228,0,0,0,0,0,0
$GC,12892,0.56,146.0,851.5,13.3,871,12895,0.00,2.03,0.00,0.000,4,0.000,0.034,3005,688,2227,0,0,0,0,0,0
$GC,12964,0.56,146.0,841.6,13.1,874,12968,0.00,2.05,0.00,0.000,6,0.000,0.024,3005,2055,2227,0,0,0,0,0,0
$GC,13293,0.56,146.0,798.2,12.9,890,13297,0.00,2.17,0.00,0.000,4,0.000,0.039,3005,3474,2227,0,0,0,0,0,0
$GC,13325,0.56,146.0,793.3,13.8,891,13333,0.12,2.08,0.00,0.000,6,0.171,0.021,2982,2048,2226,0,0,0,0,0,0
$GC,13643,0.56,146.0,758.4,10.6,907,13648,0.00,2.03,0.00,0.000,4,0.000,0.033,2990,703,2226,0,0,0,0,0,0
$GC,13765,0.56,146.0,745.4,10.1,912,13769,0.00,1.98,0.00,0.000,6,0.000,0.024,2990,2026,2226,0,0,0,0,0,0
$GC,14087,0.56,146.0,712.4,10.4,928,14092,0.00,2.22,0.00,0.000,4,0.000,0.039,2991,3467,2225,0,0,0,0,0,0
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$STATE,21603,end climb,SURFACE_DEPTH_REACHED
$STATE,21603,begin surface coast
$FINISH,0.8,1.006464
$STATE,21636,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,29
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$10V_AH,10.1,30.389
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$FG_AHR_10Vo,0.000
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$MEM,329888
$DATA_FILE_SIZE,100459,1700
$CAP_FILE_SIZE,236383,0
$CFSIZE,260165632,124469248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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