version: 66.09
glider: 167
mission: 8
dive: 103
start: 7 3 111 9 7 36
data:
$ID,167
$MISSION,8
$DIVE,103
$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,-56516.461
$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,57
$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
$GPS1,030711,085800,1811.058,12431.229,36,1.0,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.5
$GPS2,030711,090714,1810.891,12431.235,13,1.1,13,-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,187.5,39255,-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,-146.0,0.0,0.0,0,89,0.00,0.00,-69.45,0.000,2,0.000,0.000,111,1931,2953,0,0,0,0,0,0
$GC,92,-0.56,-146.0,5.2,-8.6,9,117,9.93,2.17,-8.38,0.000,4,0.233,0.041,2610,485,3437,0,0,0,0,0,0
$GC,214,-0.56,-146.0,49.6,-27.3,29,224,0.00,2.05,0.00,0.000,6,0.000,0.019,2603,1885,3439,0,0,0,0,0,0
$GC,290,-0.56,-146.0,70.1,-25.5,42,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1885,3439,0,0,0,0,0,0
$GC,369,-0.56,-146.0,90.4,-25.6,55,377,0.00,2.05,0.00,0.000,4,0.000,0.031,2592,3266,3439,0,0,0,0,0,0
$GC,387,-0.56,-146.0,94.8,-25.2,57,395,0.00,2.08,0.00,0.000,6,0.000,0.018,2592,1828,3439,0,0,0,0,0,0
$GC,466,-0.56,-146.0,112.4,-21.1,70,474,0.00,1.98,0.00,0.000,4,0.000,0.028,2592,480,3439,0,0,0,0,0,0
$GC,499,-0.56,-146.0,119.6,-21.0,75,509,0.08,1.88,0.00,0.000,6,0.156,0.021,2610,1768,3440,0,0,0,0,0,0
$GC,581,-0.56,-146.0,133.9,-18.2,88,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1768,3440,0,0,0,0,0,0
$GC,656,-0.56,-146.0,147.1,-15.4,101,663,0.00,2.20,0.00,0.000,4,0.000,0.031,2601,3268,3440,0,0,0,0,0,0
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$GC,791,-0.56,-146.0,167.7,-16.8,123,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1748,3440,0,0,0,0,0,0
$GC,867,-0.56,-146.0,180.5,-16.3,136,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1748,3440,0,0,0,0,0,0
$GC,940,-0.56,-146.0,191.7,-14.3,149,948,0.00,1.85,0.00,0.000,4,0.000,0.031,2601,484,3440,0,0,0,0,0,0
$GC,995,-0.56,-146.0,199.1,-13.8,158,1002,0.00,1.77,0.00,0.000,6,0.000,0.021,2596,1727,3440,0,0,0,0,0,0
$GC,1066,-0.56,-146.0,208.6,-13.1,165,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1728,3440,0,0,0,0,0,0
$GC,1387,-0.56,-146.0,251.9,-12.6,195,1391,0.00,2.25,0.00,0.000,4,0.000,0.030,2587,3267,3440,0,0,0,0,0,0
$GC,1465,-0.56,-146.0,262.9,-13.0,201,1473,0.10,2.20,0.00,0.000,6,0.171,0.018,2612,1698,3440,0,0,0,0,0,0
$GC,1791,-0.56,-146.0,295.5,-9.7,232,1795,0.00,2.33,0.00,0.000,4,0.000,0.029,2604,3276,3439,0,0,0,0,0,0
$GC,1899,-0.56,-146.0,305.7,-9.1,241,1903,0.00,2.20,0.00,0.000,6,0.000,0.019,2604,1721,3439,0,0,0,0,0,0
$GC,2227,-0.56,-146.0,338.9,-9.1,271,2231,0.00,2.30,0.00,0.000,4,0.000,0.031,2601,3263,3437,0,0,0,0,0,0
$GC,2253,-0.56,-146.0,341.7,-9.1,273,2260,0.00,2.17,0.00,0.000,6,0.000,0.018,2601,1729,3437,0,0,0,0,0,0
$GC,2579,-0.56,-146.0,373.6,-10.0,304,2584,0.00,2.28,0.00,0.000,4,0.000,0.032,2601,3268,3435,0,0,0,0,0,0
$GC,2625,-0.56,-146.0,378.1,-9.6,307,2632,0.00,2.12,0.00,0.000,6,0.000,0.018,2601,1751,3435,0,0,0,0,0,0
$GC,2950,-0.56,-146.0,407.5,-8.7,338,2954,0.00,2.25,0.00,0.000,4,0.000,0.032,2601,3272,3433,0,0,0,0,0,0
$GC,2996,-0.56,-146.0,411.3,-8.1,341,3003,0.00,2.12,0.00,0.000,6,0.000,0.019,2601,1772,3433,0,0,0,0,0,0
$GC,3322,-0.56,-146.0,438.2,-9.0,372,3326,0.00,1.88,0.00,0.000,4,0.000,0.031,2601,491,3431,0,0,0,0,0,0
$GC,3356,-0.56,-146.0,441.6,-9.6,375,3360,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1779,3431,0,0,0,0,0,0
$GC,3686,-0.56,-146.0,470.2,-8.3,406,3690,0.00,2.20,0.00,0.000,4,0.000,0.034,2601,3272,3429,0,0,0,0,0,0
$GC,3748,-0.56,-146.0,475.3,-8.4,411,3752,0.00,2.08,0.00,0.000,6,0.000,0.020,2600,1797,3428,0,0,0,0,0,0
$GC,4089,-0.56,-146.0,503.2,-7.7,441,4092,0.00,1.88,0.00,0.000,4,0.000,0.031,2601,480,3426,0,0,0,0,0,0
$GC,4105,-0.56,-146.0,504.7,-7.6,441,4112,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1830,3426,0,0,0,0,0,0
$GC,4422,-0.56,-146.0,528.7,-7.4,457,4425,0.00,2.12,0.00,0.000,4,0.000,0.035,2600,3270,3424,0,0,0,0,0,0
$GC,4462,-0.56,-146.0,531.8,-7.6,459,4466,0.00,2.08,0.00,0.000,6,0.000,0.020,2600,1810,3424,0,0,0,0,0,0
$GC,4795,-0.56,-146.0,556.7,-7.5,475,4799,0.00,1.90,0.00,0.000,4,0.000,0.031,2600,481,3422,0,0,0,0,0,0
$GC,4869,-0.56,-146.0,563.2,-9.1,478,4874,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1797,3421,0,0,0,0,0,0
$GC,5196,-0.56,-146.0,589.8,-8.1,494,5200,0.00,2.17,0.00,0.000,4,0.000,0.035,2600,3265,3419,0,0,0,0,0,0
$GC,5380,-0.56,-146.0,603.4,-6.8,502,5384,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1856,3418,0,0,0,0,0,0
$GC,5702,-0.56,-146.0,624.8,-6.4,518,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1855,3416,0,0,0,0,0,0
$GC,6012,-0.56,-146.0,644.4,-6.2,533,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1855,3414,0,0,0,0,0,0
$GC,6321,-0.56,-146.0,664.1,-6.3,548,6326,0.00,2.12,0.00,0.000,4,0.000,0.035,2600,3261,3412,0,0,0,0,0,0
$GC,6348,-0.56,-146.0,666.0,-6.3,549,6352,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1874,3411,0,0,0,0,0,0
$GC,6677,-0.56,-146.0,687.0,-6.6,565,6681,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3262,3409,0,0,0,0,0,0
$GC,6719,-0.56,-146.0,689.8,-6.5,567,6723,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1892,3409,0,0,0,0,0,0
$GC,7053,-0.56,-146.0,711.2,-6.6,583,7058,0.00,2.08,0.00,0.000,4,0.000,0.035,2600,3263,3407,0,0,0,0,0,0
$GC,7086,-0.56,-146.0,713.7,-6.5,584,7090,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1911,3407,0,0,0,0,0,0
$GC,7409,-0.56,-146.0,735.6,-6.7,600,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1910,3406,0,0,0,0,0,0
$GC,7719,-0.56,-146.0,754.5,-6.0,615,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1910,3404,0,0,0,0,0,0
$GC,8026,-0.56,-146.0,772.9,-6.1,630,8030,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3259,3403,0,0,0,0,0,0
$GC,8053,-0.56,-146.0,774.6,-6.2,631,8057,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1927,3402,0,0,0,0,0,0
$GC,8382,-0.56,-146.0,794.8,-6.1,647,8386,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,495,3401,0,0,0,0,0,0
$GC,8476,-0.56,-146.0,801.6,-7.0,651,8480,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,1887,3400,0,0,0,0,0,0
$GC,8801,-0.56,-146.0,820.8,-6.1,667,8804,0.00,2.08,0.00,0.000,4,0.000,0.038,2600,3274,3399,0,0,0,0,0,0
$GC,8851,-0.56,-146.0,823.9,-6.0,669,8854,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1915,3399,0,0,0,0,0,0
$GC,9174,-0.56,-146.0,843.3,-6.1,685,9179,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,507,3397,0,0,0,0,0,0
$GC,9252,-0.56,-146.0,849.1,-7.3,688,9256,0.00,1.98,0.00,0.000,6,0.000,0.023,2600,1878,3397,0,0,0,0,0,0
$GC,9575,-0.56,-146.0,869.9,-6.7,704,9578,0.00,2.08,0.00,0.000,4,0.000,0.038,2600,3263,3396,0,0,0,0,0,0
$GC,9707,-0.56,-146.0,879.0,-6.8,709,9714,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1906,3396,0,0,0,0,0,0
$GC,10024,-0.56,-146.0,899.4,-6.3,725,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1905,3395,0,0,0,0,0,0
$GC,10335,-0.56,-146.0,916.9,-5.5,740,10338,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3264,3394,0,0,0,0,0,0
$GC,10373,-0.56,-146.0,919.1,-5.4,741,10380,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1915,3394,0,0,0,0,0,0
$GC,10690,-0.56,-146.0,934.6,-4.8,757,10695,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,508,3393,0,0,0,0,0,0
$GC,10718,-0.56,-146.0,936.2,-4.9,758,10722,0.00,2.05,0.00,0.000,6,0.000,0.024,2600,1913,3393,0,0,0,0,0,0
$GC,11046,-0.56,-146.0,953.5,-5.5,774,11050,0.00,2.03,0.00,0.000,4,0.000,0.040,2600,3264,3393,0,0,0,0,0,0
$GC,11153,-0.56,-146.0,959.4,-5.5,778,11160,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1946,3392,0,0,0,0,0,0
$GC,11470,-0.56,-146.0,977.1,-5.6,794,11475,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3258,3392,0,0,0,0,0,0
$GC,11508,-0.56,-146.0,979.5,-5.6,795,11516,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1965,3391,0,0,0,0,0,0
$STATE,11699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11699,begin apogee
$GC,11706,-0.20,0.0,990.2,5.5,805,11823,0.38,0.00,110.90,1.416,4,0.122,0.000,2728,2093,2838,0,0,0,0,0,0
$STATE,11824,end apogee,CONTROL_FINISHED_OK
$STATE,11824,begin climb
$GC,11829,0.56,146.0,992.5,0.0,810,11963,0.68,2.22,123.12,1.368,4,0.078,0.041,2980,3449,2241,0,0,0,0,0,0
$GC,12151,0.56,146.0,955.6,13.4,825,12157,0.00,2.08,0.00,0.000,6,0.000,0.022,2989,2094,2232,0,0,0,0,0,0
$GC,12479,0.56,146.0,914.3,12.8,841,12483,0.00,2.10,0.00,0.000,4,0.000,0.037,2989,3449,2230,0,0,0,0,0,0
$GC,12735,0.56,146.0,878.1,13.9,852,12743,0.00,2.05,0.00,0.000,6,0.000,0.023,2997,2084,2228,0,0,0,0,0,0
$GC,13052,0.56,146.0,837.0,12.8,868,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2084,2227,0,0,0,0,0,0
$GC,13362,0.56,146.0,797.5,12.6,883,13366,0.00,2.10,0.00,0.000,4,0.000,0.035,3007,681,2226,0,0,0,0,0,0
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$GC,13803,0.56,146.0,741.3,12.8,904,13804,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2081,2226,0,0,0,0,0,0
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$STATE,21677,end climb,SURFACE_DEPTH_REACHED
$STATE,21677,begin surface coast
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$FG_AHR_10Vo,0.000
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