version: 66.09
glider: 167
mission: 8
dive: 227
start: 7 29 111 6 39 55
data:
$ID,167
$MISSION,8
$DIVE,227
$N_DIVES,0
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,8
$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,-56672.648
$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,74
$R_STBD_OVSHOOT,62
$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
$GPS1,290711,063000,1906.177,12234.753,41,1.0,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.7
$GPS2,290711,063932,1906.365,12234.730,13,1.6,13,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,SDOG
$TGT_LATLONG,1910.550,12302.760
$TGT_RADIUS,5000.000
$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,102.6,49639,-15.3,-9.706
$D_GRID,2655
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,114,0.00,0.00,-90.00,0.000,2,0.000,0.000,110,1963,2976,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.1,-7.1,12,148,10.10,1.98,-11.38,0.000,4,0.236,0.044,2585,3273,3635,0,0,0,0,0,0
$GC,199,-0.62,-194.6,33.6,-27.7,25,209,0.00,2.03,0.00,0.000,6,0.000,0.018,2585,1871,3636,0,0,0,0,0,0
$GC,276,-0.62,-194.6,55.6,-29.0,38,284,0.00,2.03,0.00,0.000,4,0.000,0.029,2585,497,3636,0,0,0,0,0,0
$GC,299,-0.62,-194.6,62.4,-27.9,41,309,0.00,1.98,0.00,0.000,6,0.000,0.019,2576,1851,3636,0,0,0,0,0,0
$GC,378,-0.62,-194.6,80.7,-24.5,54,385,0.00,2.12,0.00,0.000,4,0.000,0.034,2566,3277,3636,0,0,0,0,0,0
$GC,466,-0.62,-194.6,102.4,-23.2,70,474,0.08,2.08,0.00,0.000,6,0.155,0.018,2590,1831,3636,0,0,0,0,0,0
$GC,541,-0.62,-194.6,118.7,-21.7,83,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1831,3636,0,0,0,0,0,0
$GC,615,-0.62,-194.6,133.1,-18.7,96,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1831,3637,0,0,0,0,0,0
$GC,687,-0.62,-194.6,147.4,-20.4,109,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1831,3637,0,0,0,0,0,0
$GC,764,-0.62,-194.6,162.8,-20.7,122,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1830,3637,0,0,0,0,0,0
$GC,840,-0.62,-194.6,176.2,-17.3,135,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1831,3638,0,0,0,0,0,0
$GC,916,-0.62,-194.6,188.9,-16.1,148,924,0.00,1.95,0.00,0.000,4,0.000,0.027,2590,493,3638,0,0,0,0,0,0
$GC,933,-0.62,-194.6,191.4,-15.7,150,941,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1881,3638,0,0,0,0,0,0
$GC,1014,-0.62,-194.6,203.1,-13.7,162,1017,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3270,3637,0,0,0,0,0,0
$GC,1083,-0.62,-194.6,212.3,-12.5,168,1087,0.00,1.85,0.00,0.000,6,0.000,0.017,2587,1941,3637,0,0,0,0,0,0
$GC,1415,-0.62,-194.6,255.9,-13.0,199,1419,0.00,2.08,0.00,0.000,4,0.000,0.028,2587,490,3637,0,0,0,0,0,0
$GC,1445,-0.62,-194.6,259.7,-12.7,201,1449,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1946,3637,0,0,0,0,0,0
$GC,1773,-0.62,-194.6,300.3,-12.0,231,1777,0.00,1.95,0.00,0.000,4,0.000,0.034,2583,3274,3636,0,0,0,0,0,0
$GC,1798,-0.62,-194.6,303.5,-12.4,233,1803,0.00,1.92,0.00,0.000,6,0.000,0.018,2583,1919,3636,0,0,0,0,0,0
$GC,2129,-0.62,-194.6,343.5,-11.5,264,2132,0.00,2.00,0.00,0.000,4,0.000,0.032,2580,3273,3635,0,0,0,0,0,0
$GC,2152,-0.62,-194.6,346.5,-11.9,266,2156,0.00,1.90,0.00,0.000,6,0.000,0.018,2580,1921,3635,0,0,0,0,0,0
$GC,2483,-0.62,-194.6,386.0,-12.0,297,2488,0.00,2.03,0.00,0.000,4,0.000,0.032,2574,3269,3632,0,0,0,0,0,0
$GC,2577,-0.62,-194.6,397.2,-11.2,305,2585,0.00,1.85,0.00,0.000,6,0.000,0.018,2574,1959,3632,0,0,0,0,0,0
$GC,2903,-0.62,-194.6,435.4,-12.0,336,2908,0.00,2.15,0.00,0.000,4,0.000,0.030,2574,498,3629,0,0,0,0,0,0
$GC,2975,-0.62,-194.6,444.5,-12.0,342,2982,0.00,2.08,0.00,0.000,6,0.000,0.022,2574,1938,3629,0,0,0,0,0,0
$GC,3301,-0.62,-194.6,481.2,-10.7,373,3305,0.00,1.98,0.00,0.000,4,0.000,0.037,2574,3269,3626,0,0,0,0,0,0
$GC,3406,-0.62,-194.6,491.5,-9.1,382,3414,0.00,1.83,0.00,0.000,6,0.000,0.018,2574,1987,3625,0,0,0,0,0,0
$GC,3737,-0.62,-194.6,520.1,-8.6,403,3742,0.00,2.20,0.00,0.000,4,0.000,0.031,2574,502,3623,0,0,0,0,0,0
$GC,3775,-0.62,-194.6,523.8,-9.0,404,3783,0.00,2.20,0.00,0.000,6,0.000,0.022,2573,1997,3622,0,0,0,0,0,0
$GC,4094,-0.62,-194.6,553.2,-9.7,420,4097,0.00,1.88,0.00,0.000,4,0.000,0.036,2574,3274,3620,0,0,0,0,0,0
$GC,4188,-0.62,-194.6,562.9,-9.6,424,4192,0.00,1.80,0.00,0.000,6,0.000,0.019,2574,1990,3619,0,0,0,0,0,0
$GC,4515,-0.62,-194.6,597.0,-10.5,440,4519,0.00,1.92,0.00,0.000,4,0.000,0.034,2574,3272,3617,0,0,0,0,0,0
$GC,4544,-0.62,-194.6,599.8,-10.1,441,4548,0.00,1.77,0.00,0.000,6,0.000,0.019,2573,2008,3617,0,0,0,0,0,0
$GC,4871,-0.62,-194.6,630.4,-9.4,457,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2007,3614,0,0,0,0,0,0
$GC,5181,-0.62,-194.6,660.1,-9.1,472,5186,0.00,1.92,0.00,0.000,4,0.000,0.037,2574,3264,3612,0,0,0,0,0,0
$GC,5229,-0.62,-194.6,664.1,-8.6,474,5233,0.00,1.77,0.00,0.000,6,0.000,0.020,2574,2019,3611,0,0,0,0,0,0
$GC,5562,-0.62,-194.6,692.9,-8.6,490,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2019,3609,0,0,0,0,0,0
$GC,5872,-0.62,-194.6,717.3,-7.6,505,5876,0.00,2.20,0.00,0.000,4,0.000,0.030,2574,507,3607,0,0,0,0,0,0
$GC,5927,-0.62,-194.6,722.2,-8.5,507,5936,0.00,2.22,0.00,0.000,6,0.000,0.022,2573,2030,3607,0,0,0,0,0,0
$GC,6243,-0.62,-194.6,747.1,-8.0,523,6247,0.00,1.85,0.00,0.000,4,0.000,0.038,2574,3267,3605,0,0,0,0,0,0
$GC,6301,-0.62,-194.6,751.6,-7.7,525,6304,0.00,1.75,0.00,0.000,6,0.000,0.018,2574,2020,3604,0,0,0,0,0,0
$GC,6623,-0.62,-194.6,775.6,-7.2,541,6627,0.00,2.20,0.00,0.000,4,0.000,0.029,2574,509,3601,0,0,0,0,0,0
$GC,6666,-0.62,-194.6,778.7,-7.4,543,6670,0.00,2.25,0.00,0.000,6,0.000,0.022,2573,2040,3601,0,0,0,0,0,0
$GC,6993,-0.62,-194.6,801.3,-6.5,559,6997,0.00,1.85,0.00,0.000,4,0.000,0.039,2574,3271,3600,0,0,0,0,0,0
$GC,7065,-0.62,-194.6,806.2,-6.5,562,7069,0.00,1.73,0.00,0.000,6,0.000,0.019,2573,2050,3600,0,0,0,0,0,0
$GC,7395,-0.62,-194.6,830.1,-7.5,578,7399,0.00,1.85,0.00,0.000,4,0.000,0.040,2573,3265,3598,0,0,0,0,0,0
$GC,7467,-0.62,-194.6,835.5,-7.1,581,7471,0.00,1.67,0.00,0.000,6,0.000,0.020,2574,2070,3598,0,0,0,0,0,0
$GC,7797,-0.62,-194.6,859.5,-7.6,597,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2069,3595,0,0,0,0,0,0
$GC,8104,-0.62,-194.6,881.9,-7.1,612,8109,0.00,1.85,0.00,0.000,4,0.000,0.040,2573,3262,3594,0,0,0,0,0,0
$GC,8164,-0.62,-194.6,886.3,-7.0,614,8171,0.00,1.67,0.00,0.000,6,0.000,0.021,2573,2078,3593,0,0,0,0,0,0
$GC,8483,-0.62,-194.6,907.1,-6.6,630,8487,0.00,2.33,0.00,0.000,4,0.000,0.031,2573,510,3592,0,0,0,0,0,0
$GC,8526,-0.62,-194.6,910.6,-7.0,632,8531,0.00,2.33,0.00,0.000,6,0.000,0.024,2573,2088,3592,0,0,0,0,0,0
$GC,8850,-0.62,-194.6,931.7,-6.7,648,8854,0.00,1.77,0.00,0.000,4,0.000,0.041,2573,3266,3591,0,0,0,0,0,0
$GC,8879,-0.62,-194.6,933.9,-6.8,649,8883,0.00,1.67,0.00,0.000,6,0.000,0.020,2573,2077,3591,0,0,0,0,0,0
$GC,9207,-0.62,-194.6,957.4,-7.3,665,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2076,3590,0,0,0,0,0,0
$GC,9518,-0.62,-194.6,979.6,-7.2,680,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2076,3589,0,0,0,0,0,0
$STATE,9658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9658,begin apogee
$GC,9664,-0.20,0.0,990.5,7.7,687,9823,0.47,0.00,152.55,1.398,4,0.117,0.000,2731,2073,2839,0,0,0,0,0,0
$STATE,9824,end apogee,CONTROL_FINISHED_OK
$STATE,9824,begin climb
$GC,9828,0.62,194.6,992.9,0.0,694,10005,0.75,2.33,169.15,1.336,4,0.080,0.041,3000,3463,2045,0,0,0,0,0,0
$GC,10157,0.62,194.6,949.3,15.1,708,10164,0.00,2.10,0.00,0.000,6,0.000,0.021,3009,2099,2036,0,0,0,0,0,0
$GC,10473,0.62,194.6,903.9,14.1,724,10477,0.00,2.12,0.00,0.000,4,0.000,0.037,3009,3472,2033,0,0,0,0,0,0
$GC,10640,0.62,194.6,879.3,14.5,731,10647,0.00,2.12,0.00,0.000,6,0.000,0.022,3018,2045,2031,0,0,0,0,0,0
$GC,10956,0.62,194.6,836.2,13.6,747,10959,0.00,2.05,0.00,0.000,4,0.000,0.034,3027,678,2031,0,0,0,0,0,0
$GC,10996,0.62,194.6,830.7,13.4,748,11002,0.00,2.00,0.00,0.000,6,0.000,0.024,3027,2023,2031,0,0,0,0,0,0
$GC,11312,0.62,194.6,787.7,13.6,764,11316,0.00,2.17,0.00,0.000,4,0.000,0.037,3027,3469,2030,0,0,0,0,0,0
$GC,11443,0.62,194.6,768.5,14.2,770,11448,0.12,2.05,0.00,0.000,6,0.180,0.022,3004,2075,2030,0,0,0,0,0,0
$GC,11773,0.62,194.6,730.3,11.5,786,11777,0.00,2.05,0.00,0.000,4,0.000,0.034,3012,689,2029,0,0,0,0,0,0
$GC,11897,0.62,194.6,715.4,11.8,791,11902,0.00,2.03,0.00,0.000,6,0.000,0.023,3012,2039,2029,0,0,0,0,0,0
$GC,12218,0.62,194.6,679.1,11.2,807,12222,0.00,2.03,0.00,0.000,4,0.000,0.032,3020,691,2029,0,0,0,0,0,0
$GC,12279,0.62,194.6,672.1,11.5,809,12287,0.00,1.95,0.00,0.000,6,0.000,0.022,3020,1999,2029,0,0,0,0,0,0
$GC,12597,0.62,194.6,634.5,12.0,825,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1999,2028,0,0,0,0,0,0
$GC,12905,0.62,194.6,591.6,14.3,840,12910,0.00,2.25,0.00,0.000,4,0.000,0.038,3021,3466,2028,0,0,0,0,0,0
$GC,12965,0.62,194.6,582.3,14.9,842,12972,0.00,2.17,0.00,0.000,6,0.000,0.021,3030,1985,2028,0,0,0,0,0,0
$GC,13284,0.62,194.6,541.4,12.3,858,13287,0.00,1.92,0.00,0.000,4,0.000,0.034,3038,687,2027,0,0,0,0,0,0
$GC,13311,0.62,194.6,537.4,12.7,859,13315,0.08,1.95,0.00,0.000,6,0.131,0.022,3002,2007,2027,0,0,0,0,0,0
$GC,13639,0.62,194.6,502.7,10.6,875,13644,0.00,2.22,0.00,0.000,4,0.000,0.038,3002,3462,2027,0,0,0,0,0,0
$GC,13779,0.62,194.6,485.6,12.4,886,13785,0.00,2.03,0.00,0.000,6,0.000,0.021,3010,2072,2027,0,0,0,0,0,0
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$STATE,18501,end climb,SURFACE_DEPTH_REACHED
$STATE,18501,begin surface coast
$FINISH,0.8,1.021427
$STATE,18528,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.0,37.223
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$FG_AHR_10Vo,0.000
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$MEM,324000
$DATA_FILE_SIZE,86834,1457
$CAP_FILE_SIZE,208911,0
$CFSIZE,260165632,120397824
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