version: 66.09
glider: 167
mission: 8
dive: 125
start: 7 9 111 3 54 57
data:
$ID,167
$MISSION,8
$DIVE,125
$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,-3
$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,-56544.152
$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,95
$R_STBD_OVSHOOT,67
$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
$GPS1,090711,034500,1757.060,12414.078,39,1.7,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-66.9
$GPS2,090711,035435,1756.969,12414.203,16,2.0,25,-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,277.5,216564,-15.4,-8.250
$D_GRID,5000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,97,0.00,0.00,-77.43,0.000,2,0.000,0.000,110,1851,3094,0,0,0,0,0,0
$GC,100,-0.56,-146.0,5.7,-9.1,10,124,9.90,1.98,-5.65,0.000,4,0.232,0.037,2617,485,3437,0,0,0,0,0,0
$GC,228,-0.56,-146.0,53.4,-28.4,32,237,0.00,2.03,0.00,0.000,6,0.000,0.021,2609,1862,3437,0,0,0,0,0,0
$GC,303,-0.56,-146.0,73.3,-26.9,45,310,0.00,2.10,0.00,0.000,4,0.000,0.031,2598,3270,3437,0,0,0,0,0,0
$GC,339,-0.56,-146.0,81.1,-21.5,50,348,0.00,1.85,0.00,0.000,6,0.000,0.017,2598,1970,3437,0,0,0,0,0,0
$GC,417,-0.56,-146.0,99.5,-24.4,63,426,0.00,2.15,0.00,0.000,4,0.000,0.027,2598,503,3437,0,0,0,0,0,0
$GC,452,-0.56,-146.0,107.2,-22.9,68,461,0.00,2.03,0.00,0.000,6,0.000,0.020,2589,1899,3438,0,0,0,0,0,0
$GC,530,-0.56,-146.0,122.8,-20.8,81,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1899,3438,0,0,0,0,0,0
$GC,603,-0.56,-146.0,137.2,-17.9,94,611,0.00,2.03,0.00,0.000,4,0.000,0.031,2579,3268,3438,0,0,0,0,0,0
$GC,636,-0.56,-146.0,143.0,-16.8,99,646,0.10,2.00,0.00,0.000,6,0.155,0.018,2610,1844,3438,0,0,0,0,0,0
$GC,715,-0.56,-146.0,156.4,-15.5,112,725,0.00,1.92,0.00,0.000,4,0.000,0.028,2610,522,3438,0,0,0,0,0,0
$GC,776,-0.56,-146.0,165.5,-15.8,121,784,0.00,1.90,0.00,0.000,6,0.000,0.018,2603,1850,3439,0,0,0,0,0,0
$GC,852,-0.56,-146.0,177.3,-15.9,134,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1850,3438,0,0,0,0,0,0
$GC,926,-0.56,-146.0,189.3,-17.1,147,934,0.00,2.08,0.00,0.000,4,0.000,0.031,2594,3258,3438,0,0,0,0,0,0
$GC,974,-0.56,-146.0,196.6,-14.8,155,983,0.00,1.85,0.00,0.000,6,0.000,0.018,2594,1935,3439,0,0,0,0,0,0
$GC,1050,-0.56,-146.0,207.3,-13.6,163,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1934,3439,0,0,0,0,0,0
$GC,1372,-0.56,-146.0,248.9,-11.1,193,1376,0.00,2.05,0.00,0.000,4,0.000,0.029,2594,518,3438,0,0,0,0,0,0
$GC,1473,-0.56,-146.0,260.6,-10.6,202,1478,0.10,2.12,0.00,0.000,6,0.178,0.020,2613,1997,3439,0,0,0,0,0,0
$GC,1800,-0.56,-146.0,291.6,-9.4,232,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1998,3438,0,0,0,0,0,0
$GC,2118,-0.56,-146.0,321.1,-8.4,262,2122,0.00,1.80,0.00,0.000,4,0.000,0.031,2605,3259,3436,0,0,0,0,0,0
$GC,2213,-0.56,-146.0,329.3,-8.5,270,2221,0.00,1.75,0.00,0.000,6,0.000,0.018,2604,1991,3436,0,0,0,0,0,0
$GC,2539,-0.56,-146.0,355.3,-8.0,301,2543,0.00,2.10,0.00,0.000,4,0.000,0.028,2605,516,3434,0,0,0,0,0,0
$GC,2752,-0.56,-146.0,376.0,-10.2,319,2759,0.00,2.08,0.00,0.000,6,0.000,0.020,2602,1964,3433,0,0,0,0,0,0
$GC,3078,-0.56,-146.0,409.6,-9.9,350,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1964,3431,0,0,0,0,0,0
$GC,3400,-0.56,-146.0,437.4,-8.2,380,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1964,3429,0,0,0,0,0,0
$GC,3731,-0.56,-146.0,461.4,-7.2,411,3734,0.00,1.90,0.00,0.000,4,0.000,0.034,2600,3261,3426,0,0,0,0,0,0
$GC,3845,-0.56,-146.0,470.3,-8.0,421,3850,0.00,1.83,0.00,0.000,6,0.000,0.019,2600,1968,3425,0,0,0,0,0,0
$GC,4177,-0.56,-146.0,498.0,-8.0,452,4181,0.00,2.10,0.00,0.000,4,0.000,0.029,2600,519,3423,0,0,0,0,0,0
$GC,4287,-0.56,-146.0,508.1,-8.7,458,4291,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1911,3423,0,0,0,0,0,0
$GC,4616,-0.56,-146.0,532.2,-7.2,474,4620,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,3270,3420,0,0,0,0,0,0
$GC,4672,-0.56,-146.0,536.5,-7.4,476,4677,0.00,1.85,0.00,0.000,6,0.000,0.018,2600,1963,3419,0,0,0,0,0,0
$GC,4993,-0.56,-146.0,561.9,-8.4,492,4997,0.00,2.10,0.00,0.000,4,0.000,0.030,2600,518,3418,0,0,0,0,0,0
$GC,5125,-0.56,-146.0,573.8,-9.2,498,5129,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1907,3417,0,0,0,0,0,0
$GC,5458,-0.56,-146.0,599.1,-6.9,514,5462,0.00,2.00,0.00,0.000,4,0.000,0.035,2600,3263,3415,0,0,0,0,0,0
$GC,5493,-0.56,-146.0,601.4,-6.8,515,5497,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1943,3415,0,0,0,0,0,0
$GC,5815,-0.56,-146.0,620.3,-5.7,531,5820,0.00,2.10,0.00,0.000,4,0.000,0.031,2599,520,3413,0,0,0,0,0,0
$GC,5861,-0.56,-146.0,623.5,-6.0,533,5866,0.00,2.05,0.00,0.000,6,0.000,0.022,2599,1919,3412,0,0,0,0,0,0
$GC,6196,-0.56,-146.0,645.5,-6.9,549,6199,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3268,3410,0,0,0,0,0,0
$GC,6318,-0.56,-146.0,654.0,-6.7,554,6322,0.00,1.80,0.00,0.000,6,0.000,0.020,2599,1983,3409,0,0,0,0,0,0
$GC,6642,-0.56,-146.0,673.0,-5.6,570,6646,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,513,3407,0,0,0,0,0,0
$GC,6736,-0.56,-146.0,679.2,-6.4,574,6740,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1972,3406,0,0,0,0,0,0
$GC,7060,-0.56,-146.0,698.8,-6.3,590,7064,0.00,1.92,0.00,0.000,4,0.000,0.037,2599,3270,3405,0,0,0,0,0,0
$GC,7110,-0.56,-146.0,702.3,-6.4,592,7114,0.00,1.80,0.00,0.000,6,0.000,0.020,2599,1987,3405,0,0,0,0,0,0
$GC,7438,-0.56,-146.0,724.7,-7.0,608,7443,0.00,2.17,0.00,0.000,4,0.000,0.031,2599,519,3403,0,0,0,0,0,0
$GC,7495,-0.56,-146.0,729.2,-7.9,610,7498,0.00,2.10,0.00,0.000,6,0.000,0.022,2597,1959,3402,0,0,0,0,0,0
$GC,7817,-0.56,-146.0,751.8,-7.0,626,7820,0.00,1.95,0.00,0.000,4,0.000,0.037,2597,3268,3401,0,0,0,0,0,0
$GC,7925,-0.56,-146.0,759.4,-7.1,630,7932,0.00,1.77,0.00,0.000,6,0.000,0.020,2597,1995,3400,0,0,0,0,0,0
$GC,8242,-0.56,-146.0,781.4,-7.0,646,8246,0.00,2.15,0.00,0.000,4,0.000,0.030,2597,524,3399,0,0,0,0,0,0
$GC,8291,-0.56,-146.0,785.4,-7.8,648,8295,0.00,2.15,0.00,0.000,6,0.000,0.023,2596,1993,3398,0,0,0,0,0,0
$GC,8609,-0.56,-146.0,806.5,-6.5,663,8614,0.00,1.92,0.00,0.000,4,0.000,0.038,2596,3266,3397,0,0,0,0,0,0
$GC,8647,-0.56,-146.0,808.9,-6.2,664,8656,0.00,1.77,0.00,0.000,6,0.000,0.021,2596,2017,3397,0,0,0,0,0,0
$GC,8965,-0.56,-146.0,827.9,-6.0,680,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2017,3396,0,0,0,0,0,0
$GC,9273,-0.56,-146.0,846.5,-6.0,695,9277,0.00,2.20,0.00,0.000,4,0.000,0.030,2596,519,3395,0,0,0,0,0,0
$GC,9317,-0.56,-146.0,849.6,-6.3,697,9321,0.00,2.22,0.00,0.000,6,0.000,0.022,2590,2037,3395,0,0,0,0,0,0
$GC,9641,-0.56,-146.0,869.4,-6.0,713,9645,0.00,2.25,0.00,0.000,4,0.000,0.031,2589,523,3394,0,0,0,0,0,0
$GC,9669,-0.56,-146.0,871.4,-6.2,714,9674,0.00,2.22,0.00,0.000,6,0.000,0.024,2590,2019,3394,0,0,0,0,0,0
$GC,9990,-0.56,-146.0,890.7,-6.0,730,9994,0.00,1.88,0.00,0.000,4,0.000,0.038,2590,3274,3393,0,0,0,0,0,0
$GC,10030,-0.56,-146.0,893.1,-6.1,731,10037,0.00,1.73,0.00,0.000,6,0.000,0.021,2590,2054,3393,0,0,0,0,0,0
$GC,10347,-0.56,-146.0,910.6,-5.5,747,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2053,3392,0,0,0,0,0,0
$GC,10657,-0.56,-146.0,927.5,-5.5,762,10661,0.00,2.25,0.00,0.000,4,0.000,0.031,2590,523,3392,0,0,0,0,0,0
$GC,10690,-0.56,-146.0,929.7,-5.6,763,10697,0.00,2.25,0.00,0.000,6,0.000,0.024,2590,2048,3391,0,0,0,0,0,0
$GC,11007,-0.56,-146.0,947.9,-5.7,779,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2049,3390,0,0,0,0,0,0
$GC,11317,-0.56,-146.0,966.0,-6.0,794,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2049,3389,0,0,0,0,0,0
$GC,11626,-0.56,-146.0,985.0,-6.1,809,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2049,3389,0,0,0,0,0,0
$STATE,11706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11706,begin apogee
$GC,11711,-0.20,0.0,990.2,6.1,813,11831,0.43,0.00,111.43,1.417,4,0.125,0.000,2732,2049,2838,0,0,0,0,0,0
$STATE,11831,end apogee,CONTROL_FINISHED_OK
$STATE,11832,begin climb
$GC,11834,0.56,146.0,992.6,0.0,818,11965,0.70,0.00,123.75,1.368,6,0.080,0.000,2980,2049,2242,0,0,0,0,0,0
$GC,12282,0.56,146.0,948.3,11.3,840,12286,0.00,2.20,0.00,0.000,4,0.000,0.037,2980,3468,2231,0,0,0,0,0,0
$GC,12315,0.56,146.0,944.1,12.1,841,12322,0.00,2.03,0.00,0.000,6,0.000,0.021,2987,2108,2230,0,0,0,0,0,0
$GC,12633,0.56,146.0,907.0,11.9,857,12636,0.00,2.10,0.00,0.000,4,0.000,0.034,2997,695,2229,0,0,0,0,0,0
$GC,12742,0.56,146.0,893.9,12.0,862,12747,0.00,2.03,0.00,0.000,6,0.000,0.024,2997,2038,2229,0,0,0,0,0,0
$GC,13076,0.56,146.0,853.6,12.0,878,13080,0.00,2.17,0.00,0.000,4,0.000,0.038,2997,3470,2227,0,0,0,0,0,0
$GC,13130,0.56,146.0,845.9,13.4,880,13138,0.00,2.08,0.00,0.000,6,0.000,0.022,3007,2071,2226,0,0,0,0,0,0
$GC,13447,0.56,146.0,806.0,12.5,896,13450,0.00,2.08,0.00,0.000,4,0.000,0.033,3017,683,2226,0,0,0,0,0,0
$GC,13531,0.56,146.0,795.2,12.7,899,13539,0.12,2.05,0.00,0.000,6,0.163,0.024,2985,2069,2226,0,0,0,0,0,0
$GC,13848,0.56,146.0,761.0,10.5,915,13849,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2069,2225,0,0,0,0,0,0
$GC,14158,0.56,146.0,728.5,10.5,930,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2069,2224,0,0,0,0,0,0
$GC,14466,0.56,146.0,695.7,10.4,945,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2069,2224,0,0,0,0,0,0
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$STATE,21896,end climb,SURFACE_DEPTH_REACHED
$STATE,21896,begin surface coast
$FINISH,0.8,1.017808
$STATE,21929,end surface coast,CONTROL_FINISHED_OK
$STATE,21929,begin surface
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$HUMID,32.71
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$XPDR_PINGS,15
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$10V_AH,10.2,21.934
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330496
$DATA_FILE_SIZE,100241,1723
$CAP_FILE_SIZE,237064,0
$CFSIZE,260165632,129650688
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$CURRENT,0.143, 93.3,1
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