version: 66.09
glider: 167
mission: 8
dive: 97
start: 7 1 111 20 11 1
data:
$ID,167
$MISSION,8
$DIVE,97
$N_DIVES,110
$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,-56508.914
$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,71
$R_STBD_OVSHOOT,75
$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
$GPS1,010711,195824,1825.712,12427.665,24,0.9,43,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.5
$GPS2,010711,201037,1825.708,12427.715,9,1.6,14,-2.1
$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,167.4,67366,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,95,0.00,0.00,-75.50,0.000,2,0.000,0.000,111,1895,3201,0,0,0,0,0,0
$GC,99,-0.56,-146.0,6.3,-11.3,10,123,9.77,2.10,-3.62,0.000,4,0.230,0.037,2609,458,3439,0,0,0,0,0,0
$GC,170,-0.56,-146.0,41.1,-38.0,21,178,0.00,2.05,0.00,0.000,6,0.000,0.021,2601,1857,3439,0,0,0,0,0,0
$GC,244,-0.56,-146.0,63.0,-28.2,34,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1858,3439,0,0,0,0,0,0
$GC,325,-0.56,-146.0,84.6,-26.7,47,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1858,3439,0,0,0,0,0,0
$GC,400,-0.56,-146.0,104.8,-24.8,60,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1858,3440,0,0,0,0,0,0
$GC,474,-0.56,-146.0,120.2,-19.6,73,482,0.00,2.03,0.00,0.000,4,0.000,0.028,2601,486,3440,0,0,0,0,0,0
$GC,504,-0.56,-146.0,125.3,-18.8,77,512,0.00,2.10,0.00,0.000,6,0.000,0.020,2592,1933,3440,0,0,0,0,0,0
$GC,579,-0.56,-146.0,138.8,-17.8,90,587,0.00,1.98,0.00,0.000,4,0.000,0.031,2582,3267,3440,0,0,0,0,0,0
$GC,622,-0.56,-146.0,146.6,-19.0,97,630,0.10,1.90,0.00,0.000,6,0.155,0.018,2613,1910,3440,0,0,0,0,0,0
$GC,699,-0.56,-146.0,159.7,-16.6,110,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1909,3441,0,0,0,0,0,0
$GC,778,-0.56,-146.0,172.6,-16.0,123,786,0.00,2.03,0.00,0.000,4,0.000,0.028,2613,519,3441,0,0,0,0,0,0
$GC,795,-0.56,-146.0,175.1,-15.6,125,803,0.00,2.15,0.00,0.000,6,0.000,0.020,2604,2003,3441,0,0,0,0,0,0
$GC,872,-0.56,-146.0,188.0,-17.9,138,880,0.00,2.17,0.00,0.000,4,0.000,0.026,2605,520,3441,0,0,0,0,0,0
$GC,913,-0.56,-146.0,194.4,-15.9,144,922,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1881,3441,0,0,0,0,0,0
$GC,990,-0.56,-146.0,207.6,-17.3,153,993,0.00,1.98,0.00,0.000,4,0.000,0.027,2600,517,3441,0,0,0,0,0,0
$GC,1014,-0.56,-146.0,211.8,-17.2,155,1018,0.00,1.80,0.00,0.000,6,0.000,0.020,2593,1809,3441,0,0,0,0,0,0
$GC,1345,-0.56,-146.0,258.3,-11.7,186,1349,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,3268,3440,0,0,0,0,0,0
$GC,1409,-0.56,-146.0,266.2,-12.4,191,1413,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1864,3440,0,0,0,0,0,0
$GC,1740,-0.56,-146.0,309.8,-14.0,222,1744,0.10,2.10,0.00,0.000,4,0.181,0.031,2604,3283,3440,0,0,0,0,0,0
$GC,1824,-0.56,-146.0,319.5,-11.0,229,1829,0.00,1.98,0.00,0.000,6,0.000,0.018,2604,1884,3439,0,0,0,0,0,0
$GC,2154,-0.56,-146.0,355.4,-10.6,260,2158,0.00,2.00,0.00,0.000,4,0.000,0.030,2604,493,3437,0,0,0,0,0,0
$GC,2233,-0.56,-146.0,363.9,-10.6,267,2237,0.00,1.95,0.00,0.000,6,0.000,0.021,2602,1865,3437,0,0,0,0,0,0
$GC,2564,-0.56,-146.0,394.4,-8.6,298,2568,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,3263,3435,0,0,0,0,0,0
$GC,2627,-0.56,-146.0,399.9,-8.4,303,2634,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1841,3435,0,0,0,0,0,0
$GC,2953,-0.56,-146.0,427.8,-8.8,334,2956,0.00,1.92,0.00,0.000,4,0.000,0.031,2600,504,3433,0,0,0,0,0,0
$GC,2988,-0.56,-146.0,431.0,-9.2,337,2992,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1853,3433,0,0,0,0,0,0
$GC,3319,-0.56,-146.0,462.1,-8.8,368,3323,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3265,3431,0,0,0,0,0,0
$GC,3447,-0.56,-146.0,471.8,-7.2,379,3454,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1884,3430,0,0,0,0,0,0
$GC,3773,-0.56,-146.0,495.3,-7.0,410,3776,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,501,3428,0,0,0,0,0,0
$GC,3890,-0.56,-146.0,504.9,-8.0,418,3894,0.00,1.98,0.00,0.000,6,0.000,0.022,2600,1859,3427,0,0,0,0,0,0
$GC,4218,-0.56,-146.0,528.2,-7.1,434,4221,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3268,3424,0,0,0,0,0,0
$GC,4309,-0.56,-146.0,535.0,-7.3,438,4312,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1889,3424,0,0,0,0,0,0
$GC,4643,-0.56,-146.0,561.6,-8.2,454,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1889,3421,0,0,0,0,0,0
$GC,4951,-0.56,-146.0,586.9,-8.1,469,4956,0.00,2.05,0.00,0.000,4,0.000,0.032,2600,502,3419,0,0,0,0,0,0
$GC,4997,-0.56,-146.0,590.7,-8.4,471,5001,0.00,2.05,0.00,0.000,6,0.000,0.023,2600,1903,3419,0,0,0,0,0,0
$GC,5331,-0.56,-146.0,615.5,-7.0,487,5334,0.00,2.00,0.00,0.000,4,0.000,0.036,2600,3272,3416,0,0,0,0,0,0
$GC,5391,-0.56,-146.0,619.9,-6.9,489,5398,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1929,3416,0,0,0,0,0,0
$GC,5710,-0.56,-146.0,640.9,-6.7,505,5714,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,512,3414,0,0,0,0,0,0
$GC,5788,-0.56,-146.0,647.0,-7.6,508,5793,0.00,2.03,0.00,0.000,6,0.000,0.023,2600,1885,3413,0,0,0,0,0,0
$GC,6110,-0.56,-146.0,667.1,-6.2,524,6113,0.00,2.05,0.00,0.000,4,0.000,0.036,2600,3267,3411,0,0,0,0,0,0
$GC,6172,-0.56,-146.0,670.9,-5.8,526,6179,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1896,3410,0,0,0,0,0,0
$GC,6489,-0.56,-146.0,690.6,-6.5,542,6493,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,494,3408,0,0,0,0,0,0
$GC,6551,-0.56,-146.0,695.1,-7.3,544,6558,0.00,1.98,0.00,0.000,6,0.000,0.022,2600,1861,3408,0,0,0,0,0,0
$GC,6868,-0.56,-146.0,717.0,-7.0,560,6872,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3271,3407,0,0,0,0,0,0
$GC,6985,-0.56,-146.0,725.1,-6.7,565,6989,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1884,3406,0,0,0,0,0,0
$GC,7309,-0.56,-146.0,745.4,-6.2,581,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1884,3405,0,0,0,0,0,0
$GC,7617,-0.56,-146.0,766.2,-7.0,596,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1884,3403,0,0,0,0,0,0
$GC,7927,-0.56,-146.0,787.7,-7.0,611,7932,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,505,3401,0,0,0,0,0,0
$GC,8017,-0.56,-146.0,794.7,-7.8,615,8022,0.00,2.03,0.00,0.000,6,0.000,0.024,2600,1881,3400,0,0,0,0,0,0
$GC,8350,-0.56,-146.0,816.8,-6.1,631,8354,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3270,3399,0,0,0,0,0,0
$GC,8446,-0.56,-146.0,822.6,-5.9,635,8450,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1913,3399,0,0,0,0,0,0
$GC,8774,-0.56,-146.0,841.1,-5.6,651,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1911,3397,0,0,0,0,0,0
$GC,9084,-0.56,-146.0,858.3,-5.7,666,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1912,3396,0,0,0,0,0,0
$GC,9392,-0.56,-146.0,875.7,-5.6,681,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1912,3395,0,0,0,0,0,0
$GC,9701,-0.56,-146.0,893.8,-6.0,696,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1911,3394,0,0,0,0,0,0
$GC,10011,-0.56,-146.0,913.1,-6.0,711,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1911,3394,0,0,0,0,0,0
$GC,10320,-0.56,-146.0,932.1,-6.3,726,10323,0.00,2.10,0.00,0.000,4,0.000,0.034,2599,491,3393,0,0,0,0,0,0
$GC,10353,-0.56,-146.0,934.4,-6.4,727,10360,0.00,2.08,0.00,0.000,6,0.000,0.024,2599,1910,3392,0,0,0,0,0,0
$GC,10670,-0.56,-146.0,954.3,-6.4,743,10674,0.00,2.05,0.00,0.000,4,0.000,0.040,2600,3261,3391,0,0,0,0,0,0
$GC,10752,-0.56,-146.0,959.8,-6.4,746,10760,0.00,1.95,0.00,0.000,6,0.000,0.022,2600,1923,3391,0,0,0,0,0,0
$GC,11070,-0.56,-146.0,979.8,-6.3,762,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1923,3391,0,0,0,0,0,0
$STATE,11252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11253,begin apogee
$GC,11259,-0.20,0.0,991.3,6.3,771,11377,0.38,0.00,110.80,1.412,4,0.123,0.000,2728,2080,2839,0,0,0,0,0,0
$STATE,11378,end apogee,CONTROL_FINISHED_OK
$STATE,11378,begin climb
$GC,11380,0.56,146.0,993.7,0.0,776,11510,0.70,0.00,123.18,1.361,6,0.079,0.000,2976,2080,2242,0,0,0,0,0,0
$GC,11827,0.56,146.0,950.0,10.7,798,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2080,2231,0,0,0,0,0,0
$GC,12136,0.56,146.0,916.0,10.8,813,12140,0.00,2.15,0.00,0.000,4,0.000,0.040,2976,3473,2229,0,0,0,0,0,0
$GC,12180,0.56,146.0,910.5,11.8,815,12184,0.00,2.03,0.00,0.000,6,0.000,0.021,2984,2090,2228,0,0,0,0,0,0
$GC,12508,0.56,146.0,875.0,10.6,831,12513,0.00,2.12,0.00,0.000,4,0.000,0.035,2992,691,2228,0,0,0,0,0,0
$GC,12576,0.56,146.0,867.6,11.4,834,12579,0.00,2.05,0.00,0.000,6,0.000,0.025,2993,2079,2227,0,0,0,0,0,0
$GC,12912,0.56,146.0,828.9,11.9,850,12916,0.00,2.12,0.00,0.000,4,0.000,0.040,2992,3473,2226,0,0,0,0,0,0
$GC,13000,0.56,146.0,816.8,13.3,854,13004,0.00,2.03,0.00,0.000,6,0.000,0.021,3000,2075,2226,0,0,0,0,0,0
$GC,13329,0.56,146.0,776.9,12.2,870,13333,0.00,2.05,0.00,0.000,4,0.000,0.035,3010,694,2225,0,0,0,0,0,0
$GC,13429,0.56,146.0,764.1,12.7,874,13435,0.00,2.08,0.00,0.000,6,0.000,0.025,3010,2074,2225,0,0,0,0,0,0
$GC,13752,0.56,146.0,724.5,12.2,890,13756,0.00,2.08,0.00,0.000,4,0.000,0.034,3020,695,2224,0,0,0,0,0,0
$GC,13785,0.56,146.0,720.0,12.2,891,13790,0.12,2.03,0.00,0.000,6,0.161,0.024,2987,2074,2224,0,0,0,0,0,0
$GC,14107,0.56,146.0,686.2,10.6,907,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2074,2224,0,0,0,0,0,0
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$STATE,21449,end climb,SURFACE_DEPTH_REACHED
$STATE,21449,begin surface coast
$FINISH,0.9,1.009521
$STATE,21476,end surface coast,CONTROL_FINISHED_OK
$STATE,21479,begin surface
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$10V_AH,10.3,16.748
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$FG_AHR_10Vo,0.000
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$MEM,329884
$DATA_FILE_SIZE,96895,1651
$CAP_FILE_SIZE,231419,0
$CFSIZE,260165632,132796416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,336.3,1
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