version: 66.09
glider: 167
mission: 8
dive: 102
start: 7 3 111 3 3 54
data:
$ID,167
$MISSION,8
$DIVE,102
$N_DIVES,115
$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,-56515.203
$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,70
$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
$GPS1,030711,025336,1813.958,12430.106,25,1.1,25,-2.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.6
$GPS2,030711,030332,1813.872,12430.146,15,1.7,15,-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,175.7,45032,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-84.40,0.000,2,0.000,0.000,111,1866,3206,0,0,0,0,0,0
$GC,108,-0.56,-146.0,6.7,-11.9,11,133,9.85,2.05,-3.62,0.000,4,0.231,0.039,2613,467,3438,0,0,0,0,0,0
$GC,275,-0.56,-146.0,67.6,-25.4,40,283,0.00,2.05,0.00,0.000,6,0.000,0.020,2605,1869,3439,0,0,0,0,0,0
$GC,348,-0.56,-146.0,83.6,-20.9,53,357,0.00,2.08,0.00,0.000,4,0.000,0.030,2594,3266,3439,0,0,0,0,0,0
$GC,416,-0.56,-146.0,99.1,-23.0,64,425,0.00,1.95,0.00,0.000,6,0.000,0.018,2594,1906,3440,0,0,0,0,0,0
$GC,493,-0.56,-146.0,114.2,-19.1,77,502,0.00,2.08,0.00,0.000,4,0.000,0.028,2594,492,3440,0,0,0,0,0,0
$GC,550,-0.56,-146.0,125.5,-20.4,86,558,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1863,3440,0,0,0,0,0,0
$GC,631,-0.56,-146.0,140.6,-19.9,99,638,0.12,0.00,0.00,0.000,6,0.193,0.000,2617,1863,3440,0,0,0,0,0,0
$GC,705,-0.56,-146.0,154.3,-15.8,112,714,0.00,2.10,0.00,0.000,4,0.000,0.031,2609,3277,3440,0,0,0,0,0,0
$GC,735,-0.56,-146.0,158.7,-14.8,116,744,0.00,1.98,0.00,0.000,6,0.000,0.018,2609,1888,3441,0,0,0,0,0,0
$GC,812,-0.56,-146.0,170.3,-16.2,129,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1888,3440,0,0,0,0,0,0
$GC,888,-0.56,-146.0,182.7,-16.2,142,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1887,3441,0,0,0,0,0,0
$GC,963,-0.56,-146.0,195.0,-15.6,155,971,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,3264,3440,0,0,0,0,0,0
$GC,1006,-0.56,-146.0,202.1,-16.5,161,1013,0.00,1.92,0.00,0.000,6,0.000,0.018,2600,1897,3440,0,0,0,0,0,0
$GC,1333,-0.56,-146.0,246.7,-12.5,192,1337,0.00,2.03,0.00,0.000,4,0.000,0.028,2600,492,3440,0,0,0,0,0,0
$GC,1479,-0.56,-146.0,265.8,-13.1,205,1483,0.00,2.00,0.00,0.000,6,0.000,0.021,2599,1888,3440,0,0,0,0,0,0
$GC,1810,-0.56,-146.0,303.7,-11.2,236,1814,0.00,2.03,0.00,0.000,4,0.000,0.034,2599,3270,3439,0,0,0,0,0,0
$GC,1862,-0.56,-146.0,308.9,-10.0,240,1869,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1863,3439,0,0,0,0,0,0
$GC,2187,-0.56,-146.0,342.8,-10.7,271,2191,0.00,2.08,0.00,0.000,4,0.000,0.032,2599,3269,3437,0,0,0,0,0,0
$GC,2229,-0.56,-146.0,347.0,-10.5,274,2233,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1868,3437,0,0,0,0,0,0
$GC,2560,-0.56,-146.0,380.1,-10.0,305,2564,0.00,2.05,0.00,0.000,4,0.000,0.033,2599,3266,3436,0,0,0,0,0,0
$GC,2606,-0.56,-146.0,384.6,-9.9,309,2610,0.00,1.98,0.00,0.000,6,0.000,0.019,2600,1870,3435,0,0,0,0,0,0
$GC,2937,-0.56,-146.0,416.9,-9.2,340,2941,0.00,2.00,0.00,0.000,4,0.000,0.031,2599,488,3433,0,0,0,0,0,0
$GC,3100,-0.56,-146.0,432.0,-9.7,354,3104,0.00,1.85,0.00,0.000,6,0.000,0.021,2599,1802,3432,0,0,0,0,0,0
$GC,3431,-0.56,-146.0,462.3,-8.9,385,3435,0.00,2.17,0.00,0.000,4,0.000,0.035,2599,3273,3429,0,0,0,0,0,0
$GC,3499,-0.56,-146.0,467.6,-7.7,390,3506,0.00,2.05,0.00,0.000,6,0.000,0.019,2600,1831,3429,0,0,0,0,0,0
$GC,3824,-0.56,-146.0,494.6,-8.5,421,3829,0.00,1.98,0.00,0.000,4,0.000,0.032,2600,488,3427,0,0,0,0,0,0
$GC,3884,-0.56,-146.0,500.3,-9.2,426,3891,0.00,1.88,0.00,0.000,6,0.000,0.021,2594,1799,3427,0,0,0,0,0,0
$GC,4202,-0.56,-146.0,525.7,-7.8,442,4207,0.00,2.20,0.00,0.000,4,0.000,0.034,2590,3270,3424,0,0,0,0,0,0
$GC,4229,-0.56,-146.0,528.1,-7.8,443,4233,0.00,2.05,0.00,0.000,6,0.000,0.019,2590,1811,3425,0,0,0,0,0,0
$GC,4559,-0.56,-146.0,554.3,-8.1,459,4562,0.00,1.90,0.00,0.000,4,0.000,0.031,2590,484,3422,0,0,0,0,0,0
$GC,4592,-0.56,-146.0,557.4,-8.3,460,4596,0.00,1.90,0.00,0.000,6,0.000,0.022,2590,1822,3422,0,0,0,0,0,0
$GC,4914,-0.56,-146.0,584.2,-8.5,476,4918,0.00,2.15,0.00,0.000,4,0.000,0.036,2590,3274,3419,0,0,0,0,0,0
$GC,5015,-0.56,-146.0,592.8,-8.4,480,5022,0.00,2.03,0.00,0.000,6,0.000,0.020,2590,1850,3419,0,0,0,0,0,0
$GC,5331,-0.56,-146.0,620.4,-8.6,496,5336,0.00,2.12,0.00,0.000,4,0.000,0.034,2590,3263,3417,0,0,0,0,0,0
$GC,5357,-0.56,-146.0,622.9,-8.7,497,5361,0.00,1.98,0.00,0.000,6,0.000,0.020,2590,1852,3417,0,0,0,0,0,0
$GC,5687,-0.56,-146.0,651.5,-8.8,513,5691,0.00,2.10,0.00,0.000,4,0.000,0.034,2590,3274,3415,0,0,0,0,0,0
$GC,5708,-0.56,-146.0,653.7,-8.5,514,5713,0.00,2.03,0.00,0.000,6,0.000,0.020,2590,1870,3414,0,0,0,0,0,0
$GC,6037,-0.56,-146.0,679.7,-7.7,530,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1870,3412,0,0,0,0,0,0
$GC,6345,-0.56,-146.0,702.7,-7.2,545,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1870,3410,0,0,0,0,0,0
$GC,6654,-0.56,-146.0,724.0,-6.6,560,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1870,3408,0,0,0,0,0,0
$GC,6965,-0.56,-146.0,744.2,-6.4,575,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1870,3406,0,0,0,0,0,0
$GC,7273,-0.56,-146.0,764.4,-6.7,590,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1869,3405,0,0,0,0,0,0
$GC,7582,-0.56,-146.0,784.7,-6.4,605,7587,0.00,2.05,0.00,0.000,4,0.000,0.034,2590,494,3403,0,0,0,0,0,0
$GC,7616,-0.56,-146.0,787.2,-6.6,606,7620,0.00,2.03,0.00,0.000,6,0.000,0.023,2590,1883,3403,0,0,0,0,0,0
$GC,7940,-0.56,-146.0,808.9,-6.5,622,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1883,3401,0,0,0,0,0,0
$GC,8249,-0.56,-146.0,829.4,-6.7,637,8253,0.00,2.05,0.00,0.000,4,0.000,0.038,2591,3265,3400,0,0,0,0,0,0
$GC,8311,-0.56,-146.0,833.7,-6.6,639,8317,0.00,1.95,0.00,0.000,6,0.000,0.021,2590,1887,3400,0,0,0,0,0,0
$GC,8627,-0.56,-146.0,855.7,-7.0,655,8632,0.00,2.08,0.00,0.000,4,0.000,0.034,2590,495,3398,0,0,0,0,0,0
$GC,8661,-0.56,-146.0,858.4,-7.2,656,8665,0.00,2.05,0.00,0.000,6,0.000,0.024,2590,1912,3398,0,0,0,0,0,0
$GC,8983,-0.56,-146.0,881.2,-7.1,672,8986,0.00,2.03,0.00,0.000,4,0.000,0.040,2590,3274,3397,0,0,0,0,0,0
$GC,9033,-0.56,-146.0,884.9,-6.9,674,9037,0.00,1.90,0.00,0.000,6,0.000,0.021,2590,1932,3397,0,0,0,0,0,0
$GC,9362,-0.56,-146.0,907.0,-6.8,690,9367,0.00,2.12,0.00,0.000,4,0.000,0.034,2590,504,3396,0,0,0,0,0,0
$GC,9431,-0.56,-146.0,912.1,-7.3,693,9434,0.00,2.08,0.00,0.000,6,0.000,0.024,2590,1919,3396,0,0,0,0,0,0
$GC,9766,-0.56,-146.0,932.1,-5.6,709,9770,0.00,2.03,0.00,0.000,4,0.000,0.040,2590,3268,3395,0,0,0,0,0,0
$GC,9888,-0.56,-146.0,938.6,-5.0,714,9893,0.00,1.92,0.00,0.000,6,0.000,0.021,2590,1937,3394,0,0,0,0,0,0
$GC,10212,-0.56,-146.0,953.7,-4.6,730,10216,0.00,2.12,0.00,0.000,4,0.000,0.034,2590,494,3394,0,0,0,0,0,0
$GC,10239,-0.56,-146.0,955.4,-4.8,731,10243,0.00,2.08,0.00,0.000,6,0.000,0.025,2590,1923,3393,0,0,0,0,0,0
$GC,10561,-0.56,-146.0,971.1,-5.1,747,10564,0.00,2.00,0.00,0.000,4,0.000,0.041,2590,3271,3392,0,0,0,0,0,0
$GC,10590,-0.56,-146.0,972.6,-5.2,748,10593,0.00,1.92,0.00,0.000,6,0.000,0.021,2590,1912,3392,0,0,0,0,0,0
$STATE,10894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10894,begin apogee
$GC,10900,-0.20,0.0,990.3,6.1,763,11018,0.43,0.00,110.85,1.417,4,0.124,0.000,2733,2070,2839,0,0,0,0,0,0
$STATE,11019,end apogee,CONTROL_FINISHED_OK
$STATE,11019,begin climb
$GC,11021,0.56,146.0,992.7,0.0,768,11156,0.68,2.30,123.28,1.366,4,0.079,0.041,2979,3469,2241,0,0,0,0,0,0
$GC,11356,0.56,146.0,958.5,11.7,783,11363,0.00,2.08,0.00,0.000,6,0.000,0.021,2989,2082,2232,0,0,0,0,0,0
$GC,11672,0.56,146.0,923.5,11.0,799,11676,0.00,2.15,0.00,0.000,4,0.000,0.038,2989,3470,2230,0,0,0,0,0,0
$GC,11861,0.56,146.0,900.9,11.9,807,11868,0.00,2.17,0.00,0.000,6,0.000,0.023,2997,2014,2229,0,0,0,0,0,0
$GC,12178,0.56,146.0,864.4,11.6,823,12183,0.00,2.00,0.00,0.000,4,0.000,0.036,3007,695,2228,0,0,0,0,0,0
$GC,12205,0.56,146.0,860.7,11.7,824,12209,0.00,2.00,0.00,0.000,6,0.000,0.025,3007,2025,2227,0,0,0,0,0,0
$GC,12534,0.56,146.0,819.6,12.5,840,12538,0.00,2.20,0.00,0.000,4,0.000,0.040,3007,3474,2226,0,0,0,0,0,0
$GC,12607,0.56,146.0,809.2,14.0,843,12612,0.10,2.15,0.00,0.000,6,0.148,0.022,2985,2028,2226,0,0,0,0,0,0
$GC,12929,0.56,146.0,770.1,12.3,859,12932,0.00,2.00,0.00,0.000,4,0.000,0.036,2993,688,2225,0,0,0,0,0,0
$GC,13047,0.56,146.0,754.9,12.6,864,13052,0.00,1.95,0.00,0.000,6,0.000,0.024,2993,1987,2225,0,0,0,0,0,0
$GC,13374,0.56,146.0,713.9,12.3,880,13378,0.00,2.25,0.00,0.000,4,0.000,0.039,2993,3474,2225,0,0,0,0,0,0
$GC,13485,0.56,146.0,699.2,13.4,885,13489,0.00,2.08,0.00,0.000,6,0.000,0.021,3002,2043,2225,0,0,0,0,0,0
$GC,13814,0.56,146.0,661.0,11.4,901,13818,0.00,2.03,0.00,0.000,4,0.000,0.034,3012,680,2224,0,0,0,0,0,0
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$GC,14232,0.56,146.0,618.1,9.9,921,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2054,2224,0,0,0,0,0,0
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$STATE,21050,end climb,SURFACE_DEPTH_REACHED
$STATE,21050,begin surface coast
$FINISH,0.8,1.020479
$STATE,21090,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,17.661
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329896
$DATA_FILE_SIZE,96822,1675
$CAP_FILE_SIZE,233236,0
$CFSIZE,260165632,132255744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,107.8,1
$GPS,030711,085800,1811.058,12431.229,36,1.0,42,-2.1