version: 66.09
glider: 167
mission: 8
dive: 168
start: 7 20 111 14 49 23
data:
$ID,167
$MISSION,8
$DIVE,168
$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,-56598.359
$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,72
$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
$GPS1,200711,143906,1817.690,12314.718,39,0.9,39,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.9
$GPS2,200711,144901,1817.728,12314.721,12,1.0,12,-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,257.4,105588,-15.4,-8.250
$D_GRID,3109
$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,-146.0,0.0,0.0,0,103,0.00,0.00,-81.10,0.000,2,0.000,0.000,111,1956,2930,0,0,0,0,0,0
$GC,107,-0.56,-146.0,5.3,-8.0,11,134,9.88,1.95,-8.60,0.000,4,0.227,0.046,2597,3266,3437,0,0,0,0,0,0
$GC,279,-0.56,-146.0,63.1,-23.4,41,288,0.00,2.03,0.00,0.000,6,0.000,0.018,2596,1859,3439,0,0,0,0,0,0
$GC,357,-0.56,-146.0,80.9,-22.9,54,366,0.00,2.10,0.00,0.000,4,0.000,0.028,2587,3260,3438,0,0,0,0,0,0
$GC,382,-0.56,-146.0,86.2,-21.2,57,391,0.08,1.77,0.00,0.000,6,0.158,0.017,2609,1977,3439,0,0,0,0,0,0
$GC,462,-0.56,-146.0,101.1,-20.4,70,469,0.00,2.17,0.00,0.000,4,0.000,0.027,2609,495,3439,0,0,0,0,0,0
$GC,487,-0.56,-146.0,107.0,-21.3,74,495,0.00,2.22,0.00,0.000,6,0.000,0.021,2601,2009,3439,0,0,0,0,0,0
$GC,561,-0.56,-146.0,121.3,-18.6,87,569,0.00,1.85,0.00,0.000,4,0.000,0.033,2592,3255,3439,0,0,0,0,0,0
$GC,626,-0.56,-146.0,133.0,-17.6,98,634,0.00,1.50,0.00,0.000,6,0.000,0.018,2591,2157,3439,0,0,0,0,0,0
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$GC,742,-0.56,-146.0,153.8,-20.4,117,751,0.10,2.53,0.00,0.000,6,0.145,0.023,2617,2211,3439,0,0,0,0,0,0
$GC,821,-0.56,-146.0,166.7,-15.7,130,828,0.00,1.55,0.00,0.000,4,0.000,0.033,2611,3264,3439,0,0,0,0,0,0
$GC,854,-0.56,-146.0,172.5,-17.0,135,863,0.00,1.62,0.00,0.000,6,0.000,0.017,2611,2067,3440,0,0,0,0,0,0
$GC,932,-0.56,-146.0,184.5,-14.0,148,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2064,3439,0,0,0,0,0,0
$GC,1007,-0.56,-146.0,195.4,-14.8,161,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2064,3440,0,0,0,0,0,0
$GC,1081,-0.56,-146.0,205.5,-13.0,170,1084,0.00,1.77,0.00,0.000,4,0.000,0.031,2604,3274,3439,0,0,0,0,0,0
$GC,1106,-0.56,-146.0,208.5,-12.4,172,1109,0.00,1.67,0.00,0.000,6,0.000,0.017,2604,2046,3439,0,0,0,0,0,0
$GC,1438,-0.56,-146.0,246.1,-9.8,203,1442,0.00,2.22,0.00,0.000,4,0.000,0.028,2604,504,3440,0,0,0,0,0,0
$GC,1512,-0.56,-146.0,253.7,-10.3,209,1516,0.00,2.28,0.00,0.000,6,0.000,0.021,2600,2081,3440,0,0,0,0,0,0
$GC,1839,-0.56,-146.0,291.6,-11.8,239,1843,0.00,2.33,0.00,0.000,4,0.000,0.028,2600,503,3438,0,0,0,0,0,0
$GC,1884,-0.56,-146.0,296.9,-11.7,243,1888,0.00,2.25,0.00,0.000,6,0.000,0.021,2600,2065,3438,0,0,0,0,0,0
$GC,2209,-0.56,-146.0,334.8,-11.2,273,2214,0.00,2.28,0.00,0.000,4,0.000,0.027,2600,501,3436,0,0,0,0,0,0
$GC,2242,-0.56,-146.0,338.6,-11.0,275,2249,0.00,2.22,0.00,0.000,6,0.000,0.020,2591,2058,3436,0,0,0,0,0,0
$GC,2568,-0.56,-146.0,371.1,-9.7,306,2572,0.00,1.75,0.00,0.000,4,0.000,0.034,2588,3259,3434,0,0,0,0,0,0
$GC,2603,-0.56,-146.0,374.7,-10.2,309,2607,0.00,1.67,0.00,0.000,6,0.000,0.018,2588,2035,3434,0,0,0,0,0,0
$GC,2934,-0.56,-146.0,409.5,-10.7,340,2936,0.10,0.00,0.00,0.000,6,0.170,0.000,2614,2032,3432,0,0,0,0,0,0
$GC,3254,-0.56,-146.0,437.7,-8.1,370,3258,0.00,1.83,0.00,0.000,4,0.000,0.034,2613,3265,3430,0,0,0,0,0,0
$GC,3280,-0.56,-146.0,439.6,-7.9,372,3284,0.00,1.70,0.00,0.000,6,0.000,0.018,2614,2038,3429,0,0,0,0,0,0
$GC,3611,-0.56,-146.0,465.0,-7.4,403,3615,0.00,2.20,0.00,0.000,4,0.000,0.029,2614,505,3427,0,0,0,0,0,0
$GC,3743,-0.56,-146.0,475.7,-8.3,414,3747,0.00,2.20,0.00,0.000,6,0.000,0.021,2606,2034,3426,0,0,0,0,0,0
$GC,4068,-0.56,-146.0,502.0,-8.0,443,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2035,3424,0,0,0,0,0,0
$GC,4379,-0.56,-146.0,526.3,-7.3,458,4384,0.00,1.83,0.00,0.000,4,0.000,0.035,2602,3260,3421,0,0,0,0,0,0
$GC,4451,-0.56,-146.0,531.7,-6.8,461,4455,0.00,1.67,0.00,0.000,6,0.000,0.019,2602,2044,3420,0,0,0,0,0,0
$GC,4781,-0.56,-146.0,553.6,-6.6,477,4785,0.00,2.25,0.00,0.000,4,0.000,0.030,2602,504,3418,0,0,0,0,0,0
$GC,4837,-0.56,-146.0,558.0,-7.4,479,4844,0.00,2.30,0.00,0.000,6,0.000,0.022,2602,2076,3418,0,0,0,0,0,0
$GC,5153,-0.56,-146.0,580.1,-6.9,495,5158,0.00,1.77,0.00,0.000,4,0.000,0.037,2602,3259,3416,0,0,0,0,0,0
$GC,5187,-0.56,-146.0,582.5,-6.9,496,5191,0.00,1.67,0.00,0.000,6,0.000,0.021,2602,2050,3416,0,0,0,0,0,0
$GC,5510,-0.56,-146.0,604.0,-7.0,512,5514,0.00,2.28,0.00,0.000,4,0.000,0.031,2602,496,3413,0,0,0,0,0,0
$GC,5595,-0.56,-146.0,610.3,-7.5,516,5599,0.00,2.30,0.00,0.000,6,0.000,0.022,2602,2067,3412,0,0,0,0,0,0
$GC,5924,-0.56,-146.0,632.7,-7.0,532,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2067,3410,0,0,0,0,0,0
$GC,6231,-0.56,-146.0,654.3,-7.0,547,6236,0.00,2.33,0.00,0.000,4,0.000,0.030,2602,512,3408,0,0,0,0,0,0
$GC,6283,-0.56,-146.0,658.2,-7.6,549,6287,0.00,2.28,0.00,0.000,6,0.000,0.021,2602,2066,3408,0,0,0,0,0,0
$GC,6605,-0.56,-146.0,680.1,-6.8,565,6609,0.00,1.75,0.00,0.000,4,0.000,0.037,2602,3261,3406,0,0,0,0,0,0
$GC,6639,-0.56,-146.0,682.4,-6.7,566,6642,0.00,1.67,0.00,0.000,6,0.000,0.019,2602,2055,3406,0,0,0,0,0,0
$GC,6963,-0.56,-146.0,702.1,-6.0,582,6967,0.00,2.30,0.00,0.000,4,0.000,0.030,2602,507,3404,0,0,0,0,0,0
$GC,6995,-0.56,-146.0,704.4,-6.0,583,7000,0.00,2.30,0.00,0.000,6,0.000,0.023,2602,2070,3403,0,0,0,0,0,0
$GC,7314,-0.56,-146.0,722.1,-5.6,598,7318,0.00,2.35,0.00,0.000,4,0.000,0.030,2602,504,3402,0,0,0,0,0,0
$GC,7352,-0.56,-146.0,724.5,-5.3,599,7359,0.00,2.28,0.00,0.000,6,0.000,0.022,2602,2061,3402,0,0,0,0,0,0
$GC,7669,-0.56,-146.0,742.4,-6.1,615,7673,0.00,2.33,0.00,0.000,4,0.000,0.030,2602,496,3400,0,0,0,0,0,0
$GC,7714,-0.56,-146.0,745.7,-6.3,617,7718,0.00,2.25,0.00,0.000,6,0.000,0.023,2600,2032,3400,0,0,0,0,0,0
$GC,8036,-0.56,-146.0,768.7,-7.3,633,8040,0.00,1.85,0.00,0.000,4,0.000,0.038,2601,3253,3398,0,0,0,0,0,0
$GC,8090,-0.56,-146.0,773.0,-7.8,635,8094,0.00,1.67,0.00,0.000,6,0.000,0.021,2601,2070,3398,0,0,0,0,0,0
$GC,8413,-0.56,-146.0,796.9,-7.5,651,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2068,3397,0,0,0,0,0,0
$GC,8721,-0.56,-146.0,819.7,-7.2,666,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2068,3396,0,0,0,0,0,0
$GC,9032,-0.56,-146.0,841.3,-6.9,681,9036,0.00,2.30,0.00,0.000,4,0.000,0.031,2601,510,3394,0,0,0,0,0,0
$GC,9059,-0.56,-146.0,843.7,-7.0,682,9063,0.00,2.28,0.00,0.000,6,0.000,0.024,2600,2051,3394,0,0,0,0,0,0
$GC,9375,-0.56,-146.0,864.2,-6.3,697,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2051,3393,0,0,0,0,0,0
$GC,9686,-0.56,-146.0,882.9,-5.9,712,9690,0.00,1.80,0.00,0.000,4,0.000,0.039,2601,3253,3392,0,0,0,0,0,0
$GC,9714,-0.56,-146.0,884.6,-5.8,713,9717,0.00,1.70,0.00,0.000,6,0.000,0.021,2600,2062,3392,0,0,0,0,0,0
$GC,10042,-0.56,-146.0,903.2,-5.5,729,10046,0.00,2.33,0.00,0.000,4,0.000,0.031,2601,506,3391,0,0,0,0,0,0
$GC,10088,-0.56,-146.0,905.9,-5.9,731,10093,0.00,2.28,0.00,0.000,6,0.000,0.023,2601,2035,3391,0,0,0,0,0,0
$GC,10421,-0.56,-146.0,924.8,-5.8,747,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2036,3391,0,0,0,0,0,0
$GC,10732,-0.56,-146.0,943.8,-6.3,762,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2036,3390,0,0,0,0,0,0
$GC,11039,-0.56,-146.0,962.3,-6.0,777,11044,0.00,1.85,0.00,0.000,4,0.000,0.041,2601,3249,3389,0,0,0,0,0,0
$GC,11067,-0.56,-146.0,964.0,-6.0,778,11070,0.00,1.73,0.00,0.000,6,0.000,0.020,2601,2026,3389,0,0,0,0,0,0
$GC,11397,-0.56,-146.0,983.7,-6.3,794,11401,0.00,2.25,0.00,0.000,4,0.000,0.031,2601,507,3388,0,0,0,0,0,0
$GC,11460,-0.56,-146.0,988.4,-7.5,797,11465,0.00,2.22,0.00,0.000,6,0.000,0.025,2600,2007,3387,0,0,0,0,0,0
$STATE,11497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11497,begin apogee
$GC,11504,-0.20,0.0,991.1,6.9,799,11623,0.38,0.00,111.90,1.414,4,0.124,0.000,2727,2007,2839,0,0,0,0,0,0
$STATE,11624,end apogee,CONTROL_FINISHED_OK
$STATE,11624,begin climb
$GC,11626,0.56,146.0,994.8,0.0,804,11762,0.70,2.10,126.28,1.366,4,0.080,0.031,2981,710,2241,0,0,0,0,0,0
$GC,11975,0.56,146.0,966.1,9.8,820,11979,0.00,2.05,0.00,0.000,6,0.000,0.024,2981,2063,2231,0,0,0,0,0,0
$GC,12304,0.56,146.0,933.4,10.0,836,12309,0.00,2.10,0.00,0.000,4,0.000,0.032,2988,710,2227,0,0,0,0,0,0
$GC,12562,0.56,146.0,906.8,10.5,847,12566,0.00,2.08,0.00,0.000,6,0.000,0.024,2988,2090,2226,0,0,0,0,0,0
$GC,12883,0.56,146.0,871.0,11.3,863,12888,0.00,2.12,0.00,0.000,4,0.000,0.038,2988,3468,2225,0,0,0,0,0,0
$GC,12966,0.56,146.0,860.0,13.2,866,12973,0.00,1.98,0.00,0.000,6,0.000,0.021,2996,2140,2224,0,0,0,0,0,0
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$GC,13362,0.56,146.0,813.3,11.6,885,13366,0.00,2.08,0.00,0.000,6,0.000,0.024,3006,2108,2223,0,0,0,0,0,0
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$STATE,22027,end climb,SURFACE_DEPTH_REACHED
$STATE,22027,begin surface coast
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$STATE,22060,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,30.019
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$FG_AHR_10Vo,0.000
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$MEM,329872
$DATA_FILE_SIZE,100132,1713
$CAP_FILE_SIZE,239573,0
$CFSIZE,260165632,124694528
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$CURRENT,0.081,352.0,1
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