version: 66.09
glider: 167
mission: 8
dive: 171
start: 7 21 111 9 45 23
data:
$ID,167
$MISSION,8
$DIVE,171
$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,-56602.133
$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,86
$R_STBD_OVSHOOT,85
$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
$GPS1,210711,093436,1820.402,12304.658,26,1.1,26,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.0
$GPS2,210711,094501,1820.562,12304.690,14,1.8,31,-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,262.6,87234,-15.4,-8.250
$D_GRID,3989
$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,-76.72,0.000,2,0.000,0.000,117,1911,3084,0,0,0,0,0,0
$GC,101,-0.56,-146.0,5.6,-9.5,10,126,9.90,1.98,-5.78,0.000,4,0.228,0.038,2599,3261,3437,0,0,0,0,0,0
$GC,283,-0.56,-146.0,69.7,-28.0,42,291,0.00,2.00,0.00,0.000,6,0.000,0.018,2599,1870,3439,0,0,0,0,0,0
$GC,360,-0.56,-146.0,88.8,-24.3,55,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1870,3439,0,0,0,0,0,0
$GC,439,-0.56,-146.0,108.0,-22.6,68,448,0.00,2.03,0.00,0.000,4,0.000,0.028,2599,488,3440,0,0,0,0,0,0
$GC,509,-0.56,-146.0,124.6,-22.7,80,517,0.00,1.92,0.00,0.000,6,0.000,0.019,2590,1819,3440,0,0,0,0,0,0
$GC,586,-0.56,-146.0,140.7,-20.0,93,594,0.00,1.95,0.00,0.000,4,0.000,0.028,2590,498,3440,0,0,0,0,0,0
$GC,629,-0.56,-146.0,148.5,-18.7,100,638,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,1738,3440,0,0,0,0,0,0
$GC,705,-0.56,-146.0,162.1,-17.7,113,716,0.12,2.28,0.00,0.000,4,0.182,0.031,2609,3250,3441,0,0,0,0,0,0
$GC,797,-0.56,-146.0,175.2,-12.7,128,806,0.00,1.73,0.00,0.000,6,0.000,0.018,2609,2025,3441,0,0,0,0,0,0
$GC,874,-0.56,-146.0,186.5,-14.9,141,882,0.00,2.22,0.00,0.000,4,0.000,0.029,2609,505,3441,0,0,0,0,0,0
$GC,933,-0.56,-146.0,195.0,-14.1,151,941,0.00,2.17,0.00,0.000,6,0.000,0.020,2600,2003,3440,0,0,0,0,0,0
$GC,1016,-0.56,-146.0,206.0,-13.5,161,1020,0.00,2.20,0.00,0.000,4,0.000,0.027,2600,490,3441,0,0,0,0,0,0
$GC,1082,-0.56,-146.0,215.9,-13.6,166,1090,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1829,3441,0,0,0,0,0,0
$GC,1409,-0.56,-146.0,256.2,-12.8,197,1413,0.00,2.15,0.00,0.000,4,0.000,0.031,2590,3281,3440,0,0,0,0,0,0
$GC,1486,-0.56,-146.0,266.1,-11.6,203,1491,0.00,2.05,0.00,0.000,6,0.000,0.018,2590,1839,3440,0,0,0,0,0,0
$GC,1817,-0.56,-146.0,305.3,-10.4,234,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1838,3438,0,0,0,0,0,0
$GC,2138,-0.56,-146.0,338.7,-10.1,264,2142,0.00,1.95,0.00,0.000,4,0.000,0.031,2590,490,3437,0,0,0,0,0,0
$GC,2176,-0.56,-146.0,343.1,-10.3,267,2183,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1874,3437,0,0,0,0,0,0
$GC,2502,-0.56,-146.0,374.9,-8.8,298,2506,0.10,2.03,0.00,0.000,4,0.183,0.029,2613,510,3435,0,0,0,0,0,0
$GC,2525,-0.56,-146.0,376.9,-9.0,300,2529,0.00,1.95,0.00,0.000,6,0.000,0.021,2613,1866,3435,0,0,0,0,0,0
$GC,2856,-0.56,-146.0,401.7,-7.4,331,2860,0.00,2.05,0.00,0.000,4,0.000,0.034,2613,3262,3432,0,0,0,0,0,0
$GC,2973,-0.56,-146.0,410.2,-6.9,341,2980,0.00,1.92,0.00,0.000,6,0.000,0.018,2613,1884,3432,0,0,0,0,0,0
$GC,3299,-0.56,-146.0,433.5,-7.0,372,3303,0.00,2.08,0.00,0.000,4,0.000,0.032,2613,3267,3429,0,0,0,0,0,0
$GC,3405,-0.56,-146.0,440.8,-6.6,381,3412,0.00,1.88,0.00,0.000,6,0.000,0.018,2613,1941,3428,0,0,0,0,0,0
$GC,3731,-0.56,-146.0,464.2,-8.0,412,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1940,3425,0,0,0,0,0,0
$GC,4053,-0.56,-146.0,489.7,-7.6,442,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1940,3423,0,0,0,0,0,0
$GC,4374,-0.56,-146.0,511.2,-6.4,465,4378,0.00,1.95,0.00,0.000,4,0.000,0.033,2613,3267,3421,0,0,0,0,0,0
$GC,4407,-0.56,-146.0,513.5,-6.4,466,4411,0.00,1.85,0.00,0.000,6,0.000,0.018,2612,1944,3420,0,0,0,0,0,0
$GC,4731,-0.56,-146.0,535.0,-6.9,482,4735,0.00,2.10,0.00,0.000,4,0.000,0.031,2613,505,3418,0,0,0,0,0,0
$GC,4808,-0.56,-146.0,541.4,-8.3,485,4815,0.00,2.05,0.00,0.000,6,0.000,0.021,2613,1929,3418,0,0,0,0,0,0
$GC,5126,-0.56,-146.0,563.7,-7.2,501,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1929,3415,0,0,0,0,0,0
$GC,5434,-0.56,-146.0,586.5,-7.2,516,5438,0.00,2.00,0.00,0.000,4,0.000,0.036,2613,3260,3413,0,0,0,0,0,0
$GC,5524,-0.56,-146.0,592.8,-6.8,520,5529,0.00,1.88,0.00,0.000,6,0.000,0.019,2613,1945,3413,0,0,0,0,0,0
$GC,5858,-0.56,-146.0,613.5,-5.9,536,5862,0.00,2.10,0.00,0.000,4,0.000,0.031,2613,509,3411,0,0,0,0,0,0
$GC,5967,-0.56,-146.0,620.7,-6.9,541,5971,0.00,2.03,0.00,0.000,6,0.000,0.021,2613,1908,3410,0,0,0,0,0,0
$GC,6302,-0.56,-146.0,641.3,-6.3,557,6305,0.00,2.03,0.00,0.000,4,0.000,0.036,2613,3267,3408,0,0,0,0,0,0
$GC,6482,-0.56,-146.0,653.3,-6.8,565,6486,0.00,1.85,0.00,0.000,6,0.000,0.018,2613,1944,3407,0,0,0,0,0,0
$GC,6818,-0.56,-146.0,674.7,-6.1,581,6822,0.00,2.00,0.00,0.000,4,0.000,0.034,2613,3275,3405,0,0,0,0,0,0
$GC,6868,-0.56,-146.0,678.0,-6.1,583,6872,0.00,1.88,0.00,0.000,6,0.000,0.020,2613,1953,3405,0,0,0,0,0,0
$GC,7197,-0.56,-146.0,695.1,-4.9,599,7202,0.00,2.15,0.00,0.000,4,0.000,0.031,2613,506,3403,0,0,0,0,0,0
$GC,7287,-0.56,-146.0,700.6,-6.0,603,7292,0.00,2.08,0.00,0.000,6,0.000,0.023,2613,1914,3402,0,0,0,0,0,0
$GC,7620,-0.56,-146.0,718.9,-5.7,619,7624,0.00,2.03,0.00,0.000,4,0.000,0.037,2613,3267,3400,0,0,0,0,0,0
$GC,7672,-0.56,-146.0,721.7,-5.7,621,7677,0.00,1.90,0.00,0.000,6,0.000,0.020,2613,1944,3400,0,0,0,0,0,0
$GC,8000,-0.56,-146.0,739.1,-5.3,637,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1944,3399,0,0,0,0,0,0
$GC,8310,-0.56,-146.0,755.4,-5.6,652,8314,0.00,2.00,0.00,0.000,4,0.000,0.036,2612,3268,3397,0,0,0,0,0,0
$GC,8343,-0.56,-146.0,757.6,-5.8,653,8347,0.00,1.85,0.00,0.000,6,0.000,0.018,2613,1959,3397,0,0,0,0,0,0
$GC,8665,-0.56,-146.0,777.5,-6.4,669,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1959,3396,0,0,0,0,0,0
$GC,8976,-0.56,-146.0,796.2,-5.6,684,8980,0.00,2.15,0.00,0.000,4,0.000,0.031,2613,503,3395,0,0,0,0,0,0
$GC,8997,-0.56,-146.0,797.7,-5.6,685,9001,0.00,2.15,0.00,0.000,6,0.000,0.023,2613,1968,3395,0,0,0,0,0,0
$GC,9319,-0.56,-146.0,814.4,-5.4,701,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1969,3394,0,0,0,0,0,0
$GC,9629,-0.56,-146.0,830.7,-5.3,716,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1969,3393,0,0,0,0,0,0
$GC,9937,-0.56,-146.0,848.5,-5.7,731,9942,0.00,1.98,0.00,0.000,4,0.000,0.039,2613,3265,3392,0,0,0,0,0,0
$GC,9993,-0.56,-146.0,851.9,-6.0,733,9997,0.00,1.85,0.00,0.000,6,0.000,0.020,2613,1964,3392,0,0,0,0,0,0
$GC,10316,-0.56,-146.0,870.0,-5.4,749,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1963,3391,0,0,0,0,0,0
$GC,10624,-0.56,-146.0,884.7,-4.6,764,10628,0.00,2.15,0.00,0.000,4,0.000,0.031,2613,510,3391,0,0,0,0,0,0
$GC,10666,-0.56,-146.0,886.9,-4.5,766,10670,0.00,2.15,0.00,0.000,6,0.000,0.023,2613,1973,3390,0,0,0,0,0,0
$GC,11000,-0.56,-146.0,902.2,-4.6,782,11003,0.00,1.95,0.00,0.000,4,0.000,0.038,2613,3270,3390,0,0,0,0,0,0
$GC,11076,-0.56,-146.0,905.9,-4.9,785,11079,0.00,1.80,0.00,0.000,6,0.000,0.020,2613,2000,3389,0,0,0,0,0,0
$GC,11404,-0.56,-146.0,923.0,-5.5,801,11408,0.00,2.20,0.00,0.000,4,0.000,0.032,2613,514,3389,0,0,0,0,0,0
$GC,11453,-0.56,-146.0,926.4,-6.3,803,11458,0.00,2.20,0.00,0.000,6,0.000,0.024,2613,1987,3387,0,0,0,0,0,0
$GC,11776,-0.56,-146.0,945.0,-5.8,819,11780,0.00,1.92,0.00,0.000,4,0.000,0.040,2613,3264,3387,0,0,0,0,0,0
$GC,11847,-0.56,-146.0,949.0,-5.5,822,11851,0.00,1.77,0.00,0.000,6,0.000,0.021,2613,2009,3387,0,0,0,0,0,0
$GC,12182,-0.56,-146.0,967.9,-5.5,838,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2009,3386,0,0,0,0,0,0
$GC,12490,-0.56,-146.0,984.1,-5.0,853,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2008,3386,0,0,0,0,0,0
$STATE,12612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12612,begin apogee
$GC,12617,-0.20,0.0,990.1,4.8,859,12738,0.35,0.03,112.03,1.421,4,0.118,0.072,2733,2056,2838,0,0,0,0,0,0
$STATE,12739,end apogee,CONTROL_FINISHED_OK
$STATE,12739,begin climb
$GC,12742,0.56,146.0,992.2,0.0,864,12876,0.70,0.00,125.38,1.364,6,0.079,0.000,2980,2056,2244,0,0,0,0,0,0
$GC,13193,0.56,146.0,947.1,10.7,886,13197,0.00,2.08,0.00,0.000,4,0.000,0.031,2987,713,2234,0,0,0,0,0,0
$GC,13248,0.56,146.0,941.2,10.3,888,13252,0.00,2.10,0.00,0.000,6,0.000,0.024,2987,2083,2233,0,0,0,0,0,0
$GC,13572,0.56,146.0,908.2,10.2,904,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2083,2231,0,0,0,0,0,0
$GC,13880,0.56,146.0,877.0,10.3,919,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2083,2230,0,0,0,0,0,0
$GC,14189,0.56,146.0,842.4,11.2,934,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2083,2229,0,0,0,0,0,0
$GC,14500,0.56,146.0,806.7,11.8,949,14505,0.00,2.08,0.00,0.000,4,0.000,0.032,2996,721,2228,0,0,0,0,0,0
$GC,14523,0.56,146.0,803.6,12.0,950,14527,0.00,2.03,0.00,0.000,6,0.000,0.024,2997,2084,2228,0,0,0,0,0,0
$GC,14857,0.56,146.0,763.0,12.0,966,14861,0.00,2.08,0.00,0.000,4,0.000,0.032,3005,711,2227,0,0,0,0,0,0
$GC,14912,0.56,146.0,755.9,12.0,968,14916,0.00,2.00,0.00,0.000,6,0.000,0.024,3005,2058,2227,0,0,0,0,0,0
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$STATE,23007,end climb,SURFACE_DEPTH_REACHED
$STATE,23008,begin surface coast
$FINISH,0.8,1.001408
$STATE,23041,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,19
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$10V_AH,10.1,30.577
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$FG_AHR_10Vo,0.000
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$MEM,329888
$DATA_FILE_SIZE,103324,1773
$CAP_FILE_SIZE,244619,0
$CFSIZE,260165632,124342272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,344.5,1
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