version: 66.09
glider: 167
mission: 8
dive: 93
start: 6 30 111 19 3 54
data:
$ID,167
$MISSION,8
$DIVE,93
$N_DIVES,105
$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,-56503.789
$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,90
$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
$GPS1,300611,185406,1834.859,12426.419,38,0.9,50,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.6
$GPS2,300611,190332,1834.806,12426.418,15,1.4,15,-2.2
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,156.9,84349,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,91,0.00,0.00,-69.40,0.000,2,0.000,0.000,111,1839,3219,0,0,0,0,0,0
$GC,94,-0.56,-146.0,6.5,-12.6,10,118,9.82,1.98,-3.42,0.000,4,0.230,0.041,2610,495,3439,0,0,0,0,0,0
$GC,127,-0.56,-146.0,25.9,-48.1,14,135,0.00,2.03,0.00,0.000,6,0.000,0.021,2602,1869,3439,0,0,0,0,0,0
$GC,205,-0.56,-146.0,53.5,-31.8,27,213,0.00,2.08,0.00,0.000,4,0.000,0.028,2592,3272,3440,0,0,0,0,0,0
$GC,239,-0.56,-146.0,64.7,-31.8,32,249,0.00,2.00,0.00,0.000,6,0.000,0.019,2592,1897,3440,0,0,0,0,0,0
$GC,319,-0.56,-146.0,87.8,-27.7,45,328,0.00,2.08,0.00,0.000,4,0.000,0.030,2591,493,3440,0,0,0,0,0,0
$GC,416,-0.56,-146.0,110.9,-21.1,61,424,0.08,1.77,0.00,0.000,6,0.154,0.019,2610,1731,3440,0,0,0,0,0,0
$GC,495,-0.56,-146.0,124.1,-17.5,74,503,0.00,2.30,0.00,0.000,4,0.000,0.030,2600,3274,3441,0,0,0,0,0,0
$GC,569,-0.56,-146.0,139.5,-20.2,87,577,0.00,2.30,0.00,0.000,6,0.000,0.019,2600,1701,3441,0,0,0,0,0,0
$GC,642,-0.56,-146.0,153.9,-19.3,100,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1701,3441,0,0,0,0,0,0
$GC,722,-0.56,-146.0,168.9,-21.6,113,730,0.00,2.35,0.00,0.000,4,0.000,0.028,2589,3271,3441,0,0,0,0,0,0
$GC,743,-0.56,-146.0,174.1,-21.6,116,752,0.00,2.22,0.00,0.000,6,0.000,0.018,2589,1737,3441,0,0,0,0,0,0
$GC,819,-0.56,-146.0,188.4,-17.5,129,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1737,3441,0,0,0,0,0,0
$GC,895,-0.56,-146.0,202.0,-16.6,142,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1737,3441,0,0,0,0,0,0
$GC,1217,-0.56,-146.0,250.8,-15.5,172,1221,0.00,2.28,0.00,0.000,4,0.000,0.031,2587,3275,3441,0,0,0,0,0,0
$GC,1295,-0.56,-146.0,262.1,-12.7,178,1303,0.00,2.25,0.00,0.000,6,0.000,0.019,2587,1724,3441,0,0,0,0,0,0
$GC,1622,-0.56,-146.0,302.2,-12.0,209,1626,0.10,1.80,0.00,0.000,4,0.181,0.031,2612,474,3441,0,0,0,0,0,0
$GC,1671,-0.56,-146.0,308.3,-11.5,213,1678,0.00,1.80,0.00,0.000,6,0.000,0.020,2609,1743,3441,0,0,0,0,0,0
$GC,1997,-0.56,-146.0,344.2,-11.2,244,2001,0.00,2.25,0.00,0.000,4,0.000,0.033,2609,3274,3439,0,0,0,0,0,0
$GC,2040,-0.56,-146.0,349.0,-10.5,247,2047,0.00,2.20,0.00,0.000,6,0.000,0.019,2609,1733,3439,0,0,0,0,0,0
$GC,2366,-0.56,-146.0,378.0,-8.6,278,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1733,3438,0,0,0,0,0,0
$GC,2686,-0.56,-146.0,403.6,-8.4,308,2690,0.00,2.28,0.00,0.000,4,0.000,0.031,2602,3271,3436,0,0,0,0,0,0
$GC,2845,-0.56,-146.0,417.1,-8.4,321,2852,0.00,2.25,0.00,0.000,6,0.000,0.019,2602,1706,3435,0,0,0,0,0,0
$GC,3171,-0.56,-146.0,444.8,-8.5,352,3174,0.00,1.75,0.00,0.000,4,0.000,0.032,2602,485,3433,0,0,0,0,0,0
$GC,3244,-0.56,-146.0,451.4,-9.0,358,3251,0.00,1.67,0.00,0.000,6,0.000,0.021,2600,1689,3433,0,0,0,0,0,0
$GC,3571,-0.56,-146.0,479.0,-8.2,389,3575,0.00,2.33,0.00,0.000,4,0.000,0.034,2601,3275,3430,0,0,0,0,0,0
$GC,3594,-0.56,-146.0,481.0,-8.1,390,3601,0.00,2.35,0.00,0.000,6,0.000,0.021,2601,1647,3430,0,0,0,0,0,0
$GC,3931,-0.56,-146.0,509.1,-8.8,417,3936,0.00,2.42,0.00,0.000,4,0.000,0.033,2601,3272,3428,0,0,0,0,0,0
$GC,4032,-0.56,-146.0,517.7,-7.9,421,4039,0.00,2.30,0.00,0.000,6,0.000,0.020,2601,1679,3428,0,0,0,0,0,0
$GC,4349,-0.56,-146.0,542.2,-7.7,437,4354,0.00,2.35,0.00,0.000,4,0.000,0.033,2600,3268,3425,0,0,0,0,0,0
$GC,4416,-0.56,-146.0,547.2,-7.2,440,4420,0.00,2.25,0.00,0.000,6,0.000,0.019,2601,1704,3425,0,0,0,0,0,0
$GC,4738,-0.56,-146.0,571.4,-7.7,456,4742,0.00,2.33,0.00,0.000,4,0.000,0.033,2601,3274,3423,0,0,0,0,0,0
$GC,4839,-0.56,-146.0,579.0,-7.2,460,4847,0.00,2.20,0.00,0.000,6,0.000,0.021,2601,1740,3422,0,0,0,0,0,0
$GC,5157,-0.56,-146.0,602.3,-7.6,476,5161,0.00,2.25,0.00,0.000,4,0.000,0.033,2600,3264,3420,0,0,0,0,0,0
$GC,5197,-0.56,-146.0,605.7,-8.0,478,5201,0.00,2.15,0.00,0.000,6,0.000,0.019,2601,1758,3419,0,0,0,0,0,0
$GC,5526,-0.56,-146.0,633.2,-8.5,494,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1758,3417,0,0,0,0,0,0
$GC,5835,-0.56,-146.0,657.6,-7.3,509,5839,0.00,2.28,0.00,0.000,4,0.000,0.034,2601,3264,3415,0,0,0,0,0,0
$GC,5902,-0.56,-146.0,662.3,-6.7,512,5906,0.00,2.12,0.00,0.000,6,0.000,0.020,2601,1778,3415,0,0,0,0,0,0
$GC,6237,-0.56,-146.0,681.7,-5.5,528,6242,0.00,1.90,0.00,0.000,4,0.000,0.033,2601,491,3413,0,0,0,0,0,0
$GC,6261,-0.56,-146.0,683.3,-5.4,529,6264,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1782,3412,0,0,0,0,0,0
$GC,6596,-0.56,-146.0,703.1,-6.3,545,6600,0.00,2.20,0.00,0.000,4,0.000,0.037,2600,3263,3411,0,0,0,0,0,0
$GC,6691,-0.56,-146.0,709.3,-6.3,549,6695,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1783,3410,0,0,0,0,0,0
$GC,7013,-0.56,-146.0,729.7,-6.2,565,7017,0.00,2.20,0.00,0.000,4,0.000,0.034,2601,3267,3408,0,0,0,0,0,0
$GC,7060,-0.56,-146.0,732.7,-6.2,567,7064,0.00,2.10,0.00,0.000,6,0.000,0.020,2600,1801,3408,0,0,0,0,0,0
$GC,7388,-0.56,-146.0,753.1,-6.4,583,7392,0.00,2.17,0.00,0.000,4,0.000,0.035,2600,3265,3406,0,0,0,0,0,0
$GC,7456,-0.56,-146.0,757.5,-6.2,586,7460,0.00,2.05,0.00,0.000,6,0.000,0.021,2601,1834,3406,0,0,0,0,0,0
$GC,7784,-0.56,-146.0,778.9,-6.5,602,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1835,3405,0,0,0,0,0,0
$GC,8094,-0.56,-146.0,799.9,-7.1,617,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1834,3403,0,0,0,0,0,0
$GC,8404,-0.56,-146.0,822.0,-7.1,632,8408,0.00,2.12,0.00,0.000,4,0.000,0.037,2601,3263,3402,0,0,0,0,0,0
$GC,8448,-0.56,-146.0,825.4,-7.1,634,8451,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1833,3401,0,0,0,0,0,0
$GC,8776,-0.56,-146.0,847.7,-6.5,650,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1833,3400,0,0,0,0,0,0
$GC,9085,-0.56,-146.0,865.8,-5.6,665,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1833,3399,0,0,0,0,0,0
$GC,9394,-0.56,-146.0,882.7,-5.7,680,9398,0.00,2.17,0.00,0.000,4,0.000,0.037,2600,3261,3397,0,0,0,0,0,0
$GC,9472,-0.56,-146.0,887.5,-6.2,683,9476,0.00,2.05,0.00,0.000,6,0.000,0.021,2601,1834,3397,0,0,0,0,0,0
$GC,9795,-0.56,-146.0,907.8,-6.7,699,9799,0.00,2.15,0.00,0.000,4,0.000,0.037,2601,3262,3396,0,0,0,0,0,0
$GC,9830,-0.56,-146.0,910.1,-6.5,700,9838,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1836,3396,0,0,0,0,0,0
$GC,10148,-0.56,-146.0,931.9,-6.7,716,10152,0.00,2.12,0.00,0.000,4,0.000,0.038,2601,3262,3395,0,0,0,0,0,0
$GC,10175,-0.56,-146.0,933.9,-6.4,717,10178,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1852,3395,0,0,0,0,0,0
$GC,10499,-0.56,-146.0,954.0,-5.9,733,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1851,3394,0,0,0,0,0,0
$GC,10806,-0.56,-146.0,970.2,-5.0,748,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1851,3393,0,0,0,0,0,0
$GC,11115,-0.56,-146.0,985.5,-5.0,763,11120,0.00,2.15,0.00,0.000,4,0.000,0.037,2600,3261,3392,0,0,0,0,0,0
$GC,11188,-0.56,-146.0,989.1,-5.1,766,11192,0.00,2.05,0.00,0.000,6,0.000,0.021,2601,1837,3392,0,0,0,0,0,0
$STATE,11203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11203,begin apogee
$GC,11210,-0.20,0.0,990.0,5.2,767,11330,0.38,0.00,111.28,1.411,4,0.123,0.000,2729,2091,2839,0,0,0,0,0,0
$STATE,11330,end apogee,CONTROL_FINISHED_OK
$STATE,11331,begin climb
$GC,11333,0.56,146.0,991.5,0.0,772,11462,0.70,0.00,123.12,1.360,6,0.079,0.000,2978,2091,2242,0,0,0,0,0,0
$GC,11780,0.56,146.0,946.1,11.3,794,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2091,2231,0,0,0,0,0,0
$GC,12088,0.56,146.0,912.5,10.6,809,12092,0.00,2.10,0.00,0.000,4,0.000,0.035,2983,696,2229,0,0,0,0,0,0
$GC,12121,0.56,146.0,908.6,11.1,810,12128,0.00,2.03,0.00,0.000,6,0.000,0.024,2983,2036,2229,0,0,0,0,0,0
$GC,12439,0.56,146.0,873.5,11.2,826,12443,0.00,2.17,0.00,0.000,4,0.000,0.040,2983,3466,2228,0,0,0,0,0,0
$GC,12510,0.56,146.0,864.2,12.6,829,12514,0.00,2.03,0.00,0.000,6,0.000,0.023,2990,2082,2227,0,0,0,0,0,0
$GC,12834,0.56,146.0,826.6,11.6,845,12838,0.00,2.10,0.00,0.000,4,0.000,0.036,3000,674,2226,0,0,0,0,0,0
$GC,12951,0.56,146.0,811.9,12.3,850,12955,0.00,2.05,0.00,0.000,6,0.000,0.024,3001,2044,2226,0,0,0,0,0,0
$GC,13274,0.56,146.0,774.0,11.5,866,13278,0.00,2.17,0.00,0.000,4,0.000,0.039,3001,3475,2226,0,0,0,0,0,0
$GC,13314,0.56,146.0,768.8,12.5,868,13318,0.00,2.10,0.00,0.000,6,0.000,0.022,3010,2025,2226,0,0,0,0,0,0
$GC,13643,0.56,146.0,729.7,11.7,884,13646,0.00,1.98,0.00,0.000,4,0.000,0.036,3021,681,2224,0,0,0,0,0,0
$GC,13672,0.56,146.0,725.9,11.9,885,13677,0.10,2.00,0.00,0.000,6,0.143,0.024,2989,2031,2225,0,0,0,0,0,0
$GC,14000,0.56,146.0,690.5,11.0,901,14001,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2031,2225,0,0,0,0,0,0
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$STATE,21463,end climb,SURFACE_DEPTH_REACHED
$STATE,21463,begin surface coast
$FINISH,0.8,1.021707
$STATE,21498,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,16.010
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$FG_AHR_10Vo,0.000
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$MEM,329864
$DATA_FILE_SIZE,96908,1681
$CAP_FILE_SIZE,233629,0
$CFSIZE,260165632,133242880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,309.4,1
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