version: 66.09
glider: 167
mission: 8
dive: 151
start: 7 16 111 2 31 46
data:
$ID,167
$MISSION,8
$DIVE,151
$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,-56576.965
$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,76
$R_STBD_OVSHOOT,68
$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
$GPS1,160711,022136,1806.210,12347.917,36,1.2,36,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-72.1
$GPS2,160711,023124,1805.988,12347.964,11,1.4,15,-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,270.9,167628,-15.4,-8.250
$D_GRID,4662
$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,-146.0,0.0,0.0,0,88,0.00,0.00,-66.32,0.000,2,0.000,0.000,112,1787,3070,0,0,0,0,0,0
$GC,91,-0.56,-146.0,5.9,-10.8,9,115,9.95,2.20,-6.20,0.000,4,0.231,0.036,2599,3274,3438,0,0,0,0,0,0
$GC,180,-0.56,-146.0,35.7,-25.1,23,189,0.00,2.05,0.00,0.000,6,0.000,0.021,2599,1887,3438,0,0,0,0,0,0
$GC,256,-0.56,-146.0,55.9,-25.0,36,264,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,481,3438,0,0,0,0,0,0
$GC,298,-0.56,-146.0,66.9,-27.8,42,307,0.00,2.00,0.00,0.000,6,0.000,0.021,2590,1848,3439,0,0,0,0,0,0
$GC,375,-0.56,-146.0,87.1,-23.7,55,383,0.00,2.12,0.00,0.000,4,0.000,0.030,2579,3273,3439,0,0,0,0,0,0
$GC,390,-0.56,-146.0,91.5,-24.8,57,399,0.10,2.08,0.00,0.000,6,0.168,0.018,2609,1823,3439,0,0,0,0,0,0
$GC,467,-0.56,-146.0,107.6,-20.2,70,475,0.00,2.17,0.00,0.000,4,0.000,0.029,2601,3273,3439,0,0,0,0,0,0
$GC,501,-0.56,-146.0,115.0,-21.8,75,510,0.00,1.83,0.00,0.000,6,0.000,0.018,2600,1989,3440,0,0,0,0,0,0
$GC,576,-0.56,-146.0,129.3,-17.1,88,584,0.00,1.92,0.00,0.000,4,0.000,0.031,2597,3272,3440,0,0,0,0,0,0
$GC,617,-0.56,-146.0,135.9,-17.1,94,626,0.00,1.67,0.00,0.000,6,0.000,0.017,2597,2075,3440,0,0,0,0,0,0
$GC,694,-0.56,-146.0,148.5,-17.3,107,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2074,3441,0,0,0,0,0,0
$GC,771,-0.56,-146.0,161.4,-16.9,120,779,0.00,2.35,0.00,0.000,4,0.000,0.028,2597,474,3441,0,0,0,0,0,0
$GC,862,-0.56,-146.0,176.0,-15.1,136,871,0.08,2.35,0.00,0.000,6,0.153,0.021,2611,2083,3441,0,0,0,0,0,0
$GC,939,-0.56,-146.0,186.7,-14.0,149,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2083,3441,0,0,0,0,0,0
$GC,1018,-0.56,-146.0,197.6,-12.9,162,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2084,3441,0,0,0,0,0,0
$GC,1092,-0.56,-146.0,206.4,-11.3,170,1096,0.00,2.35,0.00,0.000,4,0.000,0.027,2611,471,3441,0,0,0,0,0,0
$GC,1134,-0.56,-146.0,211.2,-12.5,173,1138,0.00,2.38,0.00,0.000,6,0.000,0.020,2602,2118,3441,0,0,0,0,0,0
$GC,1461,-0.56,-146.0,251.6,-13.9,203,1465,0.00,1.67,0.00,0.000,4,0.000,0.033,2600,3271,3441,0,0,0,0,0,0
$GC,1478,-0.56,-146.0,254.2,-13.4,204,1486,0.00,1.67,0.00,0.000,6,0.000,0.017,2600,2061,3441,0,0,0,0,0,0
$GC,1808,-0.56,-146.0,290.2,-11.0,235,1812,0.00,2.30,0.00,0.000,4,0.000,0.028,2600,470,3440,0,0,0,0,0,0
$GC,1861,-0.56,-146.0,296.4,-11.0,239,1866,0.00,2.33,0.00,0.000,6,0.000,0.021,2600,2068,3440,0,0,0,0,0,0
$GC,2191,-0.56,-146.0,330.0,-10.1,270,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2068,3439,0,0,0,0,0,0
$GC,2513,-0.56,-146.0,363.2,-10.3,300,2517,0.00,1.75,0.00,0.000,4,0.000,0.033,2599,3271,3437,0,0,0,0,0,0
$GC,2548,-0.56,-146.0,367.0,-10.1,303,2552,0.00,1.70,0.00,0.000,6,0.000,0.018,2599,2026,3437,0,0,0,0,0,0
$GC,2879,-0.56,-146.0,399.1,-9.3,334,2883,0.00,1.85,0.00,0.000,4,0.000,0.034,2599,3274,3435,0,0,0,0,0,0
$GC,2919,-0.56,-146.0,402.8,-9.2,337,2925,0.00,1.67,0.00,0.000,6,0.000,0.018,2599,2063,3435,0,0,0,0,0,0
$GC,3244,-0.56,-146.0,430.2,-7.8,368,3248,0.00,2.30,0.00,0.000,4,0.000,0.028,2599,473,3432,0,0,0,0,0,0
$GC,3313,-0.56,-146.0,436.0,-9.0,373,3319,0.00,2.33,0.00,0.000,6,0.000,0.021,2599,2081,3433,0,0,0,0,0,0
$GC,3638,-0.56,-146.0,461.6,-7.6,404,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2081,3431,0,0,0,0,0,0
$GC,3962,-0.56,-146.0,486.2,-7.8,434,3966,0.00,2.35,0.00,0.000,4,0.000,0.029,2599,480,3429,0,0,0,0,0,0
$GC,4058,-0.56,-146.0,494.6,-8.4,442,4062,0.00,2.25,0.00,0.000,6,0.000,0.021,2597,2037,3428,0,0,0,0,0,0
$GC,4378,-0.56,-146.0,518.7,-7.5,460,4382,0.00,1.80,0.00,0.000,4,0.000,0.035,2597,3263,3426,0,0,0,0,0,0
$GC,4478,-0.56,-146.0,526.1,-7.2,464,4482,0.00,1.70,0.00,0.000,6,0.000,0.019,2597,2031,3425,0,0,0,0,0,0
$GC,4801,-0.56,-146.0,548.2,-6.9,480,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2031,3423,0,0,0,0,0,0
$GC,5110,-0.56,-146.0,572.2,-8.0,495,5115,0.00,1.85,0.00,0.000,4,0.000,0.035,2597,3255,3421,0,0,0,0,0,0
$GC,5143,-0.56,-146.0,575.0,-8.0,496,5146,0.00,1.70,0.00,0.000,6,0.000,0.020,2597,2038,3421,0,0,0,0,0,0
$GC,5466,-0.56,-146.0,598.8,-7.0,512,5471,0.00,2.28,0.00,0.000,4,0.000,0.030,2597,478,3418,0,0,0,0,0,0
$GC,5578,-0.56,-146.0,607.5,-7.6,517,5582,0.00,2.25,0.00,0.000,6,0.000,0.022,2596,2027,3418,0,0,0,0,0,0
$GC,5901,-0.56,-146.0,628.2,-6.3,533,5905,0.00,1.83,0.00,0.000,4,0.000,0.037,2596,3261,3416,0,0,0,0,0,0
$GC,5951,-0.56,-146.0,631.7,-6.2,535,5955,0.00,1.77,0.00,0.000,6,0.000,0.020,2596,1997,3416,0,0,0,0,0,0
$GC,6280,-0.56,-146.0,652.2,-6.3,551,6284,0.00,2.22,0.00,0.000,4,0.000,0.031,2596,487,3414,0,0,0,0,0,0
$GC,6336,-0.56,-146.0,656.4,-7.4,553,6340,0.00,2.20,0.00,0.000,6,0.000,0.022,2596,2002,3413,0,0,0,0,0,0
$GC,6654,-0.56,-146.0,678.8,-7.3,568,6658,0.00,1.88,0.00,0.000,4,0.000,0.037,2596,3267,3411,0,0,0,0,0,0
$GC,6706,-0.56,-146.0,682.7,-7.3,570,6710,0.00,1.80,0.00,0.000,6,0.000,0.019,2596,2000,3411,0,0,0,0,0,0
$GC,7033,-0.56,-146.0,705.8,-6.9,586,7037,0.00,2.22,0.00,0.000,4,0.000,0.031,2596,478,3409,0,0,0,0,0,0
$GC,7099,-0.56,-146.0,711.1,-7.9,589,7104,0.00,2.28,0.00,0.000,6,0.000,0.023,2596,2015,3409,0,0,0,0,0,0
$GC,7428,-0.56,-146.0,732.7,-6.3,605,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2015,3407,0,0,0,0,0,0
$GC,7735,-0.56,-146.0,752.4,-6.3,620,7740,0.00,2.28,0.00,0.000,4,0.000,0.031,2596,479,3406,0,0,0,0,0,0
$GC,7777,-0.56,-146.0,755.0,-6.5,622,7782,0.00,2.22,0.00,0.000,6,0.000,0.022,2592,2005,3406,0,0,0,0,0,0
$GC,8105,-0.56,-146.0,776.3,-6.4,638,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2006,3405,0,0,0,0,0,0
$GC,8414,-0.56,-146.0,796.9,-6.8,653,8418,0.00,1.88,0.00,0.000,4,0.000,0.038,2590,3264,3403,0,0,0,0,0,0
$GC,8471,-0.56,-146.0,800.7,-6.8,655,8475,0.00,1.85,0.00,0.000,6,0.000,0.020,2590,1955,3403,0,0,0,0,0,0
$GC,8795,-0.56,-146.0,822.3,-6.7,671,8799,0.00,2.17,0.00,0.000,4,0.000,0.032,2589,476,3402,0,0,0,0,0,0
$GC,8817,-0.56,-146.0,824.1,-6.8,672,8821,0.00,2.22,0.00,0.000,6,0.000,0.024,2588,1993,3402,0,0,0,0,0,0
$GC,9140,-0.56,-146.0,846.3,-6.6,688,9144,0.00,1.90,0.00,0.000,4,0.000,0.038,2588,3267,3401,0,0,0,0,0,0
$GC,9264,-0.56,-146.0,854.4,-6.4,693,9268,0.00,1.80,0.00,0.000,6,0.000,0.020,2588,2004,3400,0,0,0,0,0,0
$GC,9587,-0.56,-146.0,873.2,-5.7,709,9591,0.00,2.25,0.00,0.000,4,0.000,0.031,2588,474,3399,0,0,0,0,0,0
$GC,9641,-0.56,-146.0,877.0,-6.2,711,9648,0.00,2.28,0.00,0.000,6,0.000,0.024,2588,2020,3399,0,0,0,0,0,0
$GC,9960,-0.56,-146.0,894.5,-5.6,727,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2020,3398,0,0,0,0,0,0
$GC,10267,-0.56,-146.0,910.2,-4.9,742,10273,0.10,1.90,0.00,0.000,4,0.181,0.039,2613,3259,3397,0,0,0,0,0,0
$GC,10316,-0.56,-146.0,912.0,-4.7,744,10320,0.00,1.75,0.00,0.000,6,0.000,0.020,2613,2005,3397,0,0,0,0,0,0
$GC,10650,-0.56,-146.0,923.3,-3.3,760,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2005,3397,0,0,0,0,0,0
$GC,10959,-0.56,-146.0,933.4,-3.4,775,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2004,3396,0,0,0,0,0,0
$GC,11269,-0.56,-146.0,944.3,-3.7,790,11274,0.00,1.92,0.00,0.000,4,0.000,0.039,2614,3256,3396,0,0,0,0,0,0
$GC,11317,-0.56,-146.0,946.1,-3.7,792,11321,0.00,1.73,0.00,0.000,6,0.000,0.019,2613,2024,3395,0,0,0,0,0,0
$GC,11650,-0.56,-146.0,960.5,-4.6,808,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2022,3395,0,0,0,0,0,0
$GC,11961,-0.56,-146.0,976.2,-5.4,823,11966,0.00,1.90,0.00,0.000,4,0.000,0.040,2613,3256,3394,0,0,0,0,0,0
$GC,12007,-0.56,-146.0,978.9,-5.5,825,12012,0.00,1.73,0.00,0.000,6,0.000,0.020,2613,2049,3394,0,0,0,0,0,0
$STATE,12214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12214,begin apogee
$GC,12222,-0.20,0.0,990.3,5.4,835,12340,0.32,0.00,112.53,1.415,4,0.119,0.000,2727,2044,2839,0,0,0,0,0,0
$STATE,12341,end apogee,CONTROL_FINISHED_OK
$STATE,12341,begin climb
$GC,12343,0.56,146.0,993.7,0.0,840,12482,0.75,2.30,125.10,1.362,4,0.085,0.039,2978,3456,2241,0,0,0,0,0,0
$GC,12622,0.56,146.0,965.7,12.3,853,12628,0.00,2.15,0.00,0.000,6,0.000,0.021,2987,2065,2233,0,0,0,0,0,0
$GC,12951,0.56,146.0,927.0,12.0,869,12955,0.00,2.17,0.00,0.000,4,0.000,0.035,2987,3465,2230,0,0,0,0,0,0
$GC,13187,0.56,146.0,894.3,14.0,879,13193,0.00,2.10,0.00,0.000,6,0.000,0.022,2996,2052,2229,0,0,0,0,0,0
$GC,13503,0.56,146.0,853.4,12.8,895,13506,0.00,2.05,0.00,0.000,4,0.000,0.034,3005,687,2228,0,0,0,0,0,0
$GC,13558,0.56,146.0,845.9,12.9,897,13563,0.00,1.98,0.00,0.000,6,0.000,0.024,3005,1999,2228,0,0,0,0,0,0
$GC,13881,0.56,146.0,804.1,12.8,913,13885,0.00,2.22,0.00,0.000,4,0.000,0.037,3006,3465,2227,0,0,0,0,0,0
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$STATE,22312,end climb,SURFACE_DEPTH_REACHED
$STATE,22312,begin surface coast
$FINISH,2.0,1.021236
$STATE,22324,end surface coast,CONTROL_FINISHED_OK
$STATE,22324,begin surface
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$TT8_MAMPS,0.028462,0.028462
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$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,28.60
$XPDR_PINGS,11
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$10V_AH,10.1,26.842
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329904
$DATA_FILE_SIZE,100129,1732
$CAP_FILE_SIZE,248026,0
$CFSIZE,260165632,126623744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,106.2,1
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