version: 66.09
glider: 167
mission: 8
dive: 427
start: 9 13 111 16 12 53
data:
$ID,167
$MISSION,8
$DIVE,427
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,576.20972
$N_FILEKB,8
$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,-121905.54
$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,62
$R_STBD_OVSHOOT,57
$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
$GPS1,130911,154707,1950.442,12119.195,33,1.2,33,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.3
$GPS2,130911,154707,1950.442,12119.195,901,99.0,901,-2.3
$SPEED_LIMITS,0.168,0.293
$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,102.9,177472,-15.3,-9.706
$D_GRID,2123
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-94.93,0.000,2,0.000,0.000,107,1819,3141,0,0,0,0,0,0
$GC,122,-0.62,-194.6,6.3,-12.5,14,147,10.18,2.03,-7.82,0.000,4,0.228,0.041,2594,458,3635,0,0,0,0,0,0
$GC,207,-0.62,-194.6,41.2,-29.0,27,214,0.00,2.05,0.00,0.000,6,0.000,0.021,2586,1876,3637,0,0,0,0,0,0
$GC,353,-0.62,-194.6,76.8,-23.6,52,360,0.00,2.08,0.00,0.000,4,0.000,0.032,2577,3273,3637,0,0,0,0,0,0
$GC,376,-0.62,-194.6,81.8,-21.2,55,384,0.00,2.12,0.00,0.000,6,0.000,0.018,2577,1781,3637,0,0,0,0,0,0
$GC,519,-0.62,-194.6,108.8,-15.9,80,527,0.00,2.25,0.00,0.000,4,0.000,0.031,2571,3277,3637,0,0,0,0,0,0
$GC,738,-0.62,-194.6,142.2,-10.9,119,746,0.00,1.88,0.00,0.000,6,0.000,0.018,2571,1924,3638,0,0,0,0,0,0
$GC,879,-0.62,-194.6,161.8,-15.3,144,887,0.00,2.00,0.00,0.000,4,0.000,0.028,2562,3272,3638,0,0,0,0,0,0
$GC,930,-0.62,-194.6,168.7,-14.3,152,937,0.10,1.80,0.00,0.000,6,0.132,0.022,2595,1985,3637,0,0,0,0,0,0
$GC,1075,-0.62,-194.6,185.0,-10.1,177,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1981,3637,0,0,0,0,0,0
$GC,1220,-0.62,-194.6,203.5,-13.8,201,1224,0.00,1.90,0.00,0.000,4,0.000,0.032,2588,3278,3637,0,0,0,0,0,0
$GC,1280,-0.62,-194.6,213.6,-16.0,206,1288,0.00,1.73,0.00,0.000,6,0.000,0.018,2588,2039,3636,0,0,0,0,0,0
$GC,1608,-0.62,-194.6,254.7,-12.9,237,1612,0.00,2.22,0.00,0.000,4,0.000,0.028,2587,504,3635,0,0,0,0,0,0
$GC,1704,-0.62,-194.6,266.2,-11.3,245,1708,0.00,2.17,0.00,0.000,6,0.000,0.021,2588,2012,3634,0,0,0,0,0,0
$GC,2034,-0.62,-194.6,295.8,-10.8,275,2038,0.00,2.20,0.00,0.000,4,0.000,0.027,2588,500,3633,0,0,0,0,0,0
$GC,2195,-0.62,-194.6,315.6,-11.7,288,2202,0.00,2.03,0.00,0.000,6,0.000,0.020,2588,1905,3632,0,0,0,0,0,0
$GC,2521,-0.62,-194.6,344.8,-7.9,319,2525,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3271,3630,0,0,0,0,0,0
$GC,2624,-0.62,-194.6,352.3,-7.2,328,2628,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1944,3629,0,0,0,0,0,0
$GC,2954,-0.62,-194.6,383.3,-10.4,359,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1943,3626,0,0,0,0,0,0
$GC,3275,-0.62,-194.6,409.4,-6.8,389,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1941,3623,0,0,0,0,0,0
$GC,3595,-0.62,-194.6,433.8,-8.6,419,3598,0.00,2.10,0.00,0.000,4,0.000,0.028,2587,507,3620,0,0,0,0,0,0
$GC,3639,-0.62,-194.6,438.8,-10.3,422,3647,0.00,2.22,0.00,0.000,6,0.000,0.021,2587,2011,3620,0,0,0,0,0,0
$GC,3964,-0.62,-194.6,469.4,-10.1,453,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2011,3617,0,0,0,0,0,0
$GC,4295,-0.62,-194.6,501.9,-9.1,483,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2011,3614,0,0,0,0,0,0
$GC,4604,-0.62,-194.6,531.9,-10.2,498,4608,0.00,2.25,0.00,0.000,4,0.000,0.029,2587,501,3612,0,0,0,0,0,0
$GC,4636,-0.62,-194.6,535.8,-10.8,499,4644,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2010,3612,0,0,0,0,0,0
$GC,4952,-0.62,-194.6,568.2,-10.4,515,4957,0.00,1.90,0.00,0.000,4,0.000,0.038,2587,3260,3609,0,0,0,0,0,0
$GC,5015,-0.62,-194.6,574.3,-9.6,517,5025,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2026,3608,0,0,0,0,0,0
$GC,5331,-0.62,-194.6,598.9,-7.2,533,5336,0.00,2.28,0.00,0.000,4,0.000,0.029,2587,501,3607,0,0,0,0,0,0
$GC,5369,-0.62,-194.6,602.0,-7.3,534,5377,0.00,2.28,0.00,0.000,6,0.000,0.023,2587,2024,3606,0,0,0,0,0,0
$GC,5688,-0.62,-194.6,624.1,-7.0,550,5692,0.00,1.85,0.00,0.000,4,0.000,0.037,2587,3259,3604,0,0,0,0,0,0
$GC,5734,-0.62,-194.6,627.2,-6.6,552,5738,0.00,1.73,0.00,0.000,6,0.000,0.021,2587,2040,3604,0,0,0,0,0,0
$GC,6070,-0.62,-194.6,651.2,-7.7,568,6075,0.00,2.28,0.00,0.000,4,0.000,0.029,2587,514,3602,0,0,0,0,0,0
$GC,6108,-0.62,-194.6,654.8,-8.0,569,6115,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2029,3601,0,0,0,0,0,0
$GC,6425,-0.62,-194.6,676.6,-6.5,585,6429,0.00,2.28,0.00,0.000,4,0.000,0.028,2587,504,3600,0,0,0,0,0,0
$GC,6482,-0.62,-194.6,681.0,-7.5,587,6490,0.00,2.25,0.00,0.000,6,0.000,0.023,2587,2026,3599,0,0,0,0,0,0
$GC,6798,-0.62,-194.6,700.8,-6.3,603,6803,0.00,1.88,0.00,0.000,4,0.000,0.039,2587,3255,3599,0,0,0,0,0,0
$GC,6847,-0.62,-194.6,703.5,-6.2,605,6850,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2031,3598,0,0,0,0,0,0
$GC,7181,-0.62,-194.6,726.7,-6.9,621,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2031,3597,0,0,0,0,0,0
$GC,7490,-0.62,-194.6,744.4,-4.9,636,7494,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3253,3595,0,0,0,0,0,0
$GC,7515,-0.62,-194.6,745.5,-4.7,637,7518,0.00,1.73,0.00,0.000,6,0.000,0.021,2587,2047,3595,0,0,0,0,0,0
$GC,7848,-0.62,-194.6,762.4,-5.2,653,7852,0.00,2.28,0.00,0.000,4,0.000,0.031,2587,498,3593,0,0,0,0,0,0
$GC,7903,-0.62,-194.6,766.2,-6.8,655,7911,0.00,2.28,0.00,0.000,6,0.000,0.024,2587,2030,3593,0,0,0,0,0,0
$GC,8221,-0.62,-194.6,787.1,-6.9,671,8226,0.00,2.30,0.00,0.000,4,0.000,0.029,2587,511,3592,0,0,0,0,0,0
$GC,8299,-0.62,-194.6,793.0,-7.3,674,8303,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,2005,3592,0,0,0,0,0,0
$GC,8617,-0.62,-194.6,814.8,-6.2,689,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2005,3591,0,0,0,0,0,0
$GC,8925,-0.62,-194.6,831.4,-5.7,704,8930,0.00,1.92,0.00,0.000,4,0.000,0.041,2587,3255,3590,0,0,0,0,0,0
$GC,8948,-0.62,-194.6,832.9,-5.7,705,8952,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2011,3589,0,0,0,0,0,0
$GC,9284,-0.62,-194.6,850.6,-5.7,721,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2011,3588,0,0,0,0,0,0
$GC,9591,-0.62,-194.6,873.9,-7.7,736,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2011,3587,0,0,0,0,0,0
$GC,9900,-0.62,-194.6,897.6,-7.5,751,9904,0.00,1.92,0.00,0.000,4,0.000,0.041,2587,3259,3587,0,0,0,0,0,0
$GC,9970,-0.62,-194.6,900.9,-4.9,754,9975,0.00,1.83,0.00,0.000,6,0.000,0.023,2587,2016,3586,0,0,0,0,0,0
$GC,10303,-0.62,-194.6,916.7,-4.3,770,10307,0.00,1.92,0.00,0.000,4,0.000,0.040,2587,3265,3585,0,0,0,0,0,0
$GC,10329,-0.62,-194.6,917.7,-4.1,771,10332,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2028,3585,0,0,0,0,0,0
$GC,10662,-0.62,-194.6,929.5,-3.9,787,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2026,3584,0,0,0,0,0,0
$GC,10971,-0.62,-194.6,948.8,-6.9,802,10976,0.00,1.92,0.00,0.000,4,0.000,0.041,2587,3253,3584,0,0,0,0,0,0
$GC,11011,-0.62,-194.6,951.8,-7.3,803,11019,0.00,1.75,0.00,0.000,6,0.000,0.022,2587,2049,3584,0,0,0,0,0,0
$GC,11328,-0.62,-194.6,974.5,-6.8,819,11332,0.00,2.28,0.00,0.000,4,0.000,0.030,2587,508,3583,0,0,0,0,0,0
$GC,11368,-0.62,-194.6,977.3,-6.6,821,11372,0.00,2.25,0.00,0.000,6,0.000,0.024,2587,2016,3582,0,0,0,0,0,0
$STATE,11405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11405,begin apogee
$GC,11412,-0.20,0.0,979.8,6.3,823,11578,0.43,0.00,159.05,1.392,4,0.120,0.000,2729,2016,2839,0,0,0,0,0,0
$STATE,11579,end apogee,CONTROL_FINISHED_OK
$STATE,11579,begin climb
$GC,11583,0.62,194.6,983.5,0.0,830,11762,0.77,0.00,173.05,1.342,6,0.080,0.000,2998,2016,2046,0,0,0,0,0,0
$GC,12090,0.62,194.6,931.9,11.9,855,12094,0.00,2.20,0.00,0.000,4,0.000,0.040,2998,3452,2034,0,0,0,0,0,0
$GC,12157,0.62,194.6,922.7,13.3,858,12162,0.00,2.00,0.00,0.000,6,0.000,0.021,3006,2111,2032,0,0,0,0,0,0
$GC,12486,0.62,194.6,884.3,11.3,874,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2111,2031,0,0,0,0,0,0
$GC,12793,0.62,194.6,848.1,10.6,889,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2111,2030,0,0,0,0,0,0
$GC,13103,0.62,194.6,809.0,13.5,904,13107,0.00,2.12,0.00,0.000,4,0.000,0.033,3016,684,2030,0,0,0,0,0,0
$GC,13126,0.62,194.6,805.9,13.5,905,13130,0.00,2.10,0.00,0.000,6,0.000,0.024,3016,2094,2030,0,0,0,0,0,0
$GC,13447,0.62,194.6,763.8,11.9,921,13451,0.00,2.08,0.00,0.000,4,0.000,0.040,3016,3471,2030,0,0,0,0,0,0
$GC,13491,0.62,194.6,758.0,12.9,923,13495,0.00,1.98,0.00,0.000,6,0.000,0.021,3023,2116,2029,0,0,0,0,0,0
$GC,13821,0.62,194.6,719.0,11.3,939,13825,0.00,2.08,0.00,0.000,4,0.000,0.029,3034,692,2029,0,0,0,0,0,0
$GC,13968,0.62,194.6,703.3,11.4,945,13975,0.12,2.10,0.00,0.000,6,0.156,0.024,3000,2103,2029,0,0,0,0,0,0
$GC,14285,0.62,194.6,669.4,10.7,961,14290,0.00,2.10,0.00,0.000,4,0.000,0.040,3000,3465,2028,0,0,0,0,0,0
$GC,14346,0.62,194.6,661.9,11.9,963,14354,0.00,2.00,0.00,0.000,6,0.000,0.021,3007,2095,2028,0,0,0,0,0,0
$GC,14664,0.62,194.6,627.5,11.0,979,14667,0.00,2.08,0.00,0.000,4,0.000,0.033,3017,700,2028,0,0,0,0,0,0
$GC,14803,0.62,194.6,611.6,11.3,985,14807,0.00,2.00,0.00,0.000,6,0.000,0.024,3016,2045,2028,0,0,0,0,0,0
$GC,15131,0.62,194.6,573.4,11.2,1001,15132,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2045,2027,0,0,0,0,0,0
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$STATE,20579,end climb,SURFACE_DEPTH_REACHED
$STATE,20579,begin surface coast
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$STATE,20594,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,39
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$10V_AH,9.8,68.299
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$FG_AHR_10Vo,0.000
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$MEM,323984
$DATA_FILE_SIZE,96850,1635
$CAP_FILE_SIZE,206669,0
$CFSIZE,260165632,99438592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.368,100.6,1
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