version: 66.09
glider: 167
mission: 8
dive: 99
start: 7 2 111 8 28 59
data:
$ID,167
$MISSION,8
$DIVE,99
$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,-56511.43
$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,105
$R_STBD_OVSHOOT,71
$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
$GPS1,020711,081930,1820.677,12428.911,39,1.3,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.4
$GPS2,020711,082837,1820.544,12428.836,9,1.7,14,-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,173.0,57602,-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,18,-0.56,-146.0,0.0,0.0,0,87,0.00,0.00,-67.47,0.000,2,0.000,0.000,112,1834,3124,0,0,0,0,0,0
$GC,90,-0.56,-146.0,6.2,-11.7,9,117,9.90,1.98,-5.07,0.000,4,0.233,0.044,2616,517,3438,0,0,0,0,0,0
$GC,261,-0.56,-146.0,62.7,-21.0,38,271,0.00,1.98,0.00,0.000,6,0.000,0.019,2609,1872,3440,0,0,0,0,0,0
$GC,339,-0.56,-146.0,79.2,-21.1,51,346,0.00,2.00,0.00,0.000,4,0.000,0.028,2609,524,3441,0,0,0,0,0,0
$GC,395,-0.56,-146.0,91.7,-22.4,60,402,0.00,1.80,0.00,0.000,6,0.000,0.021,2601,1766,3441,0,0,0,0,0,0
$GC,473,-0.56,-146.0,107.5,-20.0,73,481,0.00,2.22,0.00,0.000,4,0.000,0.031,2590,3261,3441,0,0,0,0,0,0
$GC,527,-0.56,-146.0,118.8,-21.0,82,536,0.00,1.98,0.00,0.000,6,0.000,0.017,2589,1875,3441,0,0,0,0,0,0
$GC,608,-0.56,-146.0,134.6,-21.3,95,616,0.00,2.00,0.00,0.000,4,0.000,0.028,2590,501,3441,0,0,0,0,0,0
$GC,651,-0.56,-146.0,145.0,-22.7,102,662,0.08,1.83,0.00,0.000,6,0.152,0.021,2608,1762,3441,0,0,0,0,0,0
$GC,731,-0.56,-146.0,159.7,-17.0,115,739,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,3258,3442,0,0,0,0,0,0
$GC,773,-0.56,-146.0,166.5,-17.3,121,781,0.00,1.95,0.00,0.000,6,0.000,0.018,2599,1892,3442,0,0,0,0,0,0
$GC,849,-0.56,-146.0,179.5,-16.8,134,857,0.00,2.05,0.00,0.000,4,0.000,0.029,2600,491,3442,0,0,0,0,0,0
$GC,877,-0.56,-146.0,184.2,-16.6,138,886,0.00,2.00,0.00,0.000,6,0.000,0.020,2590,1878,3442,0,0,0,0,0,0
$GC,955,-0.56,-146.0,196.2,-15.3,151,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1878,3442,0,0,0,0,0,0
$GC,1033,-0.56,-146.0,209.4,-16.8,160,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1878,3442,0,0,0,0,0,0
$GC,1355,-0.56,-146.0,257.9,-13.1,190,1359,0.00,2.03,0.00,0.000,4,0.000,0.032,2587,3263,3442,0,0,0,0,0,0
$GC,1439,-0.56,-146.0,268.7,-11.6,197,1446,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1932,3442,0,0,0,0,0,0
$GC,1764,-0.56,-146.0,307.1,-11.4,228,1769,0.10,2.10,0.00,0.000,4,0.180,0.029,2613,490,3441,0,0,0,0,0,0
$GC,1821,-0.56,-146.0,312.8,-9.6,232,1828,0.00,2.05,0.00,0.000,6,0.000,0.021,2612,1938,3441,0,0,0,0,0,0
$GC,2147,-0.56,-146.0,342.4,-8.7,263,2151,0.00,2.08,0.00,0.000,4,0.000,0.028,2613,496,3439,0,0,0,0,0,0
$GC,2192,-0.56,-146.0,346.6,-9.0,266,2200,0.00,2.00,0.00,0.000,6,0.000,0.021,2608,1910,3439,0,0,0,0,0,0
$GC,2519,-0.56,-146.0,376.3,-9.4,297,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1910,3437,0,0,0,0,0,0
$GC,2840,-0.56,-146.0,403.1,-7.6,327,2844,0.00,1.98,0.00,0.000,4,0.000,0.034,2601,3264,3436,0,0,0,0,0,0
$GC,2932,-0.56,-146.0,410.3,-7.4,335,2935,0.00,1.92,0.00,0.000,6,0.000,0.019,2601,1881,3435,0,0,0,0,0,0
$GC,3263,-0.56,-146.0,436.0,-7.6,366,3267,0.00,2.00,0.00,0.000,4,0.000,0.031,2601,500,3433,0,0,0,0,0,0
$GC,3377,-0.56,-146.0,445.3,-7.9,376,3381,0.00,1.90,0.00,0.000,6,0.000,0.022,2600,1845,3433,0,0,0,0,0,0
$GC,3709,-0.56,-146.0,470.1,-7.9,407,3714,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3258,3430,0,0,0,0,0,0
$GC,3769,-0.56,-146.0,475.4,-8.4,412,3776,0.00,2.00,0.00,0.000,6,0.000,0.020,2601,1857,3429,0,0,0,0,0,0
$GC,4103,-0.56,-146.0,506.2,-9.6,441,4108,0.00,2.00,0.00,0.000,4,0.000,0.032,2600,497,3427,0,0,0,0,0,0
$GC,4153,-0.56,-146.0,511.3,-10.4,443,4157,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1825,3427,0,0,0,0,0,0
$GC,4482,-0.56,-146.0,539.7,-7.8,459,4486,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3263,3424,0,0,0,0,0,0
$GC,4523,-0.56,-146.0,542.8,-7.3,461,4527,0.00,2.03,0.00,0.000,6,0.000,0.020,2600,1824,3424,0,0,0,0,0,0
$GC,4856,-0.56,-146.0,565.9,-6.7,477,4860,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,3273,3422,0,0,0,0,0,0
$GC,4881,-0.56,-146.0,567.4,-6.8,478,4885,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1825,3422,0,0,0,0,0,0
$GC,5208,-0.56,-146.0,588.3,-6.2,494,5212,0.00,1.95,0.00,0.000,4,0.000,0.033,2600,488,3420,0,0,0,0,0,0
$GC,5271,-0.56,-146.0,592.6,-6.9,496,5278,0.00,1.85,0.00,0.000,6,0.000,0.022,2600,1796,3419,0,0,0,0,0,0
$GC,5587,-0.56,-146.0,613.1,-6.8,512,5591,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,3264,3417,0,0,0,0,0,0
$GC,5694,-0.56,-146.0,620.2,-6.5,517,5699,0.00,2.08,0.00,0.000,6,0.000,0.020,2600,1826,3416,0,0,0,0,0,0
$GC,6028,-0.56,-146.0,644.7,-7.9,533,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1825,3415,0,0,0,0,0,0
$GC,6336,-0.56,-146.0,668.2,-7.3,548,6340,0.00,2.12,0.00,0.000,4,0.000,0.034,2600,3266,3413,0,0,0,0,0,0
$GC,6378,-0.56,-146.0,671.3,-7.2,550,6382,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1823,3412,0,0,0,0,0,0
$GC,6711,-0.56,-146.0,694.7,-7.0,566,6715,0.00,2.12,0.00,0.000,4,0.000,0.035,2601,3261,3411,0,0,0,0,0,0
$GC,6761,-0.56,-146.0,698.1,-6.8,568,6765,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1839,3410,0,0,0,0,0,0
$GC,7086,-0.56,-146.0,719.4,-6.7,584,7090,0.00,2.12,0.00,0.000,4,0.000,0.037,2600,3257,3408,0,0,0,0,0,0
$GC,7115,-0.56,-146.0,721.5,-6.7,585,7119,0.00,2.05,0.00,0.000,6,0.000,0.022,2600,1838,3408,0,0,0,0,0,0
$GC,7438,-0.56,-146.0,744.1,-7.0,601,7442,0.00,2.00,0.00,0.000,4,0.000,0.034,2601,474,3406,0,0,0,0,0,0
$GC,7494,-0.56,-146.0,748.8,-7.9,603,7499,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,1836,3406,0,0,0,0,0,0
$GC,7816,-0.56,-146.0,772.3,-7.1,619,7820,0.00,2.15,0.00,0.000,4,0.000,0.038,2600,3274,3405,0,0,0,0,0,0
$GC,7917,-0.56,-146.0,779.3,-6.8,623,7924,0.00,2.05,0.00,0.000,6,0.000,0.023,2600,1857,3405,0,0,0,0,0,0
$GC,8234,-0.56,-146.0,798.8,-5.9,639,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1858,3403,0,0,0,0,0,0
$GC,8544,-0.56,-146.0,815.8,-5.2,654,8549,0.00,2.15,0.00,0.000,4,0.000,0.038,2600,3265,3402,0,0,0,0,0,0
$GC,8595,-0.56,-146.0,818.5,-5.1,656,8599,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1867,3401,0,0,0,0,0,0
$GC,8923,-0.56,-146.0,834.8,-4.9,672,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1866,3400,0,0,0,0,0,0
$GC,9234,-0.56,-146.0,849.9,-4.9,687,9237,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,491,3399,0,0,0,0,0,0
$GC,9334,-0.56,-146.0,856.1,-6.3,691,9337,0.00,2.05,0.00,0.000,6,0.000,0.024,2600,1911,3398,0,0,0,0,0,0
$GC,9658,-0.56,-146.0,875.0,-6.1,707,9662,0.00,2.03,0.00,0.000,4,0.000,0.039,2600,3274,3397,0,0,0,0,0,0
$GC,9714,-0.56,-146.0,878.7,-6.1,709,9717,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1914,3397,0,0,0,0,0,0
$GC,10036,-0.56,-146.0,900.0,-6.8,725,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1913,3397,0,0,0,0,0,0
$GC,10346,-0.56,-146.0,920.5,-6.7,740,10351,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,508,3396,0,0,0,0,0,0
$GC,10373,-0.56,-146.0,922.6,-6.7,741,10377,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1926,3395,0,0,0,0,0,0
$GC,10701,-0.56,-146.0,944.0,-6.5,757,10705,0.00,2.03,0.00,0.000,4,0.000,0.040,2600,3274,3395,0,0,0,0,0,0
$GC,10788,-0.56,-146.0,949.5,-6.5,760,10795,0.00,1.90,0.00,0.000,6,0.000,0.022,2600,1949,3394,0,0,0,0,0,0
$GC,11105,-0.56,-146.0,968.7,-5.9,776,11109,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,489,3394,0,0,0,0,0,0
$GC,11133,-0.56,-146.0,970.7,-6.0,777,11137,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1946,3394,0,0,0,0,0,0
$GC,11449,-0.56,-146.0,989.3,-5.8,792,11453,0.00,2.00,0.00,0.000,4,0.000,0.041,2600,3274,3393,0,0,0,0,0,0
$STATE,11464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11464,begin apogee
$GC,11474,-0.20,0.0,990.3,5.7,792,11592,0.38,0.00,111.53,1.415,4,0.121,0.000,2728,2061,2839,0,0,0,0,0,0
$STATE,11592,end apogee,CONTROL_FINISHED_OK
$STATE,11592,begin climb
$GC,11595,0.56,146.0,993.4,0.0,798,11726,0.70,0.00,123.35,1.365,6,0.080,0.000,2975,2061,2243,0,0,0,0,0,0
$GC,12054,0.56,146.0,947.6,11.4,820,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2061,2232,0,0,0,0,0,0
$GC,12363,0.56,146.0,912.4,11.4,835,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2061,2230,0,0,0,0,0,0
$GC,12674,0.56,146.0,876.5,11.6,850,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2061,2229,0,0,0,0,0,0
$GC,12982,0.56,146.0,840.8,11.4,865,12985,0.00,2.03,0.00,0.000,4,0.000,0.034,2982,707,2227,0,0,0,0,0,0
$GC,13066,0.56,146.0,830.9,12.0,868,13072,0.00,2.00,0.00,0.000,6,0.000,0.024,2983,2071,2227,0,0,0,0,0,0
$GC,13381,0.56,146.0,794.0,11.6,884,13385,0.00,2.10,0.00,0.000,4,0.000,0.041,2983,3469,2226,0,0,0,0,0,0
$GC,13425,0.56,146.0,788.4,12.4,886,13430,0.00,2.00,0.00,0.000,6,0.000,0.023,2991,2085,2226,0,0,0,0,0,0
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$GC,13824,0.56,146.0,743.6,11.4,905,13827,0.00,2.00,0.00,0.000,6,0.000,0.024,3002,2046,2226,0,0,0,0,0,0
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$STATE,21583,end climb,SURFACE_DEPTH_REACHED
$STATE,21583,begin surface coast
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$10V_AH,10.2,17.113
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,96711,1686
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$CFSIZE,260165632,132575232
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