version: 66.09
glider: 167
mission: 8
dive: 231
start: 7 30 111 5 0 12
data:
$ID,167
$MISSION,8
$DIVE,231
$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,-56677.68
$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,72
$R_STBD_OVSHOOT,56
$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
$GPS1,300711,045030,1907.579,12240.892,37,1.5,37,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-69.9
$GPS2,300711,045946,1907.661,12240.897,13,5.4,32,-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,111.5,38615,-15.3,-9.706
$D_GRID,2892
$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,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-93.03,0.000,2,0.000,0.000,111,1979,3119,0,0,0,0,0,0
$GC,115,-0.62,-194.6,6.1,-11.2,13,142,10.10,2.20,-8.35,0.000,4,0.234,0.037,2600,478,3636,0,0,0,0,0,0
$GC,205,-0.62,-194.6,40.2,-27.6,27,214,0.00,2.05,0.00,0.000,6,0.000,0.021,2593,1879,3637,0,0,0,0,0,0
$GC,284,-0.62,-194.6,63.2,-30.2,40,292,0.00,2.08,0.00,0.000,4,0.000,0.032,2582,3264,3637,0,0,0,0,0,0
$GC,339,-0.62,-194.6,76.2,-23.5,48,347,0.00,2.00,0.00,0.000,6,0.000,0.017,2582,1868,3637,0,0,0,0,0,0
$GC,416,-0.62,-194.6,91.7,-20.2,61,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1868,3638,0,0,0,0,0,0
$GC,491,-0.62,-194.6,107.1,-17.5,74,499,0.00,2.03,0.00,0.000,4,0.000,0.029,2582,491,3638,0,0,0,0,0,0
$GC,536,-0.62,-194.6,116.5,-21.7,81,544,0.00,2.20,0.00,0.000,6,0.000,0.021,2574,1990,3638,0,0,0,0,0,0
$GC,609,-0.62,-194.6,130.8,-19.7,94,617,0.00,1.90,0.00,0.000,4,0.000,0.032,2564,3267,3638,0,0,0,0,0,0
$GC,665,-0.62,-194.6,141.2,-19.1,103,675,0.10,1.58,0.00,0.000,6,0.149,0.017,2596,2097,3638,0,0,0,0,0,0
$GC,745,-0.62,-194.6,154.9,-16.5,116,753,0.00,2.33,0.00,0.000,4,0.000,0.026,2596,503,3638,0,0,0,0,0,0
$GC,789,-0.62,-194.6,162.4,-17.5,123,798,0.00,2.33,0.00,0.000,6,0.000,0.021,2588,2086,3639,0,0,0,0,0,0
$GC,867,-0.62,-194.6,174.3,-16.5,136,876,0.00,1.77,0.00,0.000,4,0.000,0.035,2587,3263,3638,0,0,0,0,0,0
$GC,890,-0.62,-194.6,178.1,-16.0,139,899,0.00,1.67,0.00,0.000,6,0.000,0.018,2587,2068,3638,0,0,0,0,0,0
$GC,966,-0.62,-194.6,189.4,-13.7,152,974,0.00,2.30,0.00,0.000,4,0.000,0.028,2587,493,3639,0,0,0,0,0,0
$GC,1019,-0.62,-194.6,196.9,-14.7,161,1027,0.00,2.15,0.00,0.000,6,0.000,0.021,2584,1957,3639,0,0,0,0,0,0
$GC,1094,-0.62,-194.6,208.1,-14.8,169,1097,0.00,1.92,0.00,0.000,4,0.000,0.033,2575,3271,3639,0,0,0,0,0,0
$GC,1133,-0.62,-194.6,214.6,-15.8,172,1142,0.00,1.80,0.00,0.000,6,0.000,0.017,2575,1985,3639,0,0,0,0,0,0
$GC,1459,-0.62,-194.6,261.8,-14.6,203,1464,0.00,2.17,0.00,0.000,4,0.000,0.028,2575,500,3638,0,0,0,0,0,0
$GC,1492,-0.62,-194.6,266.9,-14.8,206,1496,0.00,2.15,0.00,0.000,6,0.000,0.022,2574,1982,3638,0,0,0,0,0,0
$GC,1818,-0.62,-194.6,310.2,-12.9,236,1822,0.00,1.88,0.00,0.000,4,0.000,0.035,2573,3270,3637,0,0,0,0,0,0
$GC,1920,-0.62,-194.6,322.8,-11.0,245,1924,0.00,1.75,0.00,0.000,6,0.000,0.018,2573,2002,3636,0,0,0,0,0,0
$GC,2252,-0.62,-194.6,361.1,-11.6,276,2256,0.00,2.17,0.00,0.000,4,0.000,0.029,2573,503,3634,0,0,0,0,0,0
$GC,2306,-0.62,-194.6,367.9,-12.3,280,2313,0.00,2.20,0.00,0.000,6,0.000,0.022,2573,2000,3634,0,0,0,0,0,0
$GC,2631,-0.62,-194.6,407.1,-11.4,311,2635,0.00,1.88,0.00,0.000,4,0.000,0.035,2573,3273,3632,0,0,0,0,0,0
$GC,2666,-0.62,-194.6,411.0,-11.2,314,2669,0.00,1.75,0.00,0.000,6,0.000,0.018,2573,2011,3631,0,0,0,0,0,0
$GC,2999,-0.62,-194.6,446.7,-10.8,345,3002,0.00,1.85,0.00,0.000,4,0.000,0.034,2574,3267,3629,0,0,0,0,0,0
$GC,3055,-0.62,-194.6,452.9,-10.4,350,3058,0.00,1.70,0.00,0.000,6,0.000,0.018,2573,2030,3628,0,0,0,0,0,0
$GC,3386,-0.62,-194.6,488.0,-10.4,381,3390,0.00,2.25,0.00,0.000,4,0.000,0.031,2573,496,3626,0,0,0,0,0,0
$GC,3475,-0.62,-194.6,497.4,-10.3,388,3482,0.00,2.20,0.00,0.000,6,0.000,0.022,2574,2010,3625,0,0,0,0,0,0
$GC,3792,-0.62,-194.6,527.5,-8.6,405,3796,0.00,1.88,0.00,0.000,4,0.000,0.037,2573,3271,3623,0,0,0,0,0,0
$GC,3863,-0.62,-194.6,533.2,-8.1,408,3867,0.00,1.77,0.00,0.000,6,0.000,0.019,2573,2000,3622,0,0,0,0,0,0
$GC,4197,-0.62,-194.6,561.6,-9.1,424,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2000,3620,0,0,0,0,0,0
$GC,4507,-0.62,-194.6,591.1,-9.6,439,4512,0.00,2.22,0.00,0.000,4,0.000,0.031,2573,500,3617,0,0,0,0,0,0
$GC,4545,-0.62,-194.6,595.1,-9.7,440,4553,0.00,2.22,0.00,0.000,6,0.000,0.022,2573,2009,3617,0,0,0,0,0,0
$GC,4863,-0.62,-194.6,623.5,-9.0,456,4866,0.00,1.85,0.00,0.000,4,0.000,0.037,2574,3261,3614,0,0,0,0,0,0
$GC,4933,-0.62,-194.6,629.5,-8.4,459,4938,0.00,1.77,0.00,0.000,6,0.000,0.020,2574,2023,3614,0,0,0,0,0,0
$GC,5266,-0.62,-194.6,658.7,-8.7,475,5270,0.00,2.22,0.00,0.000,4,0.000,0.030,2573,506,3611,0,0,0,0,0,0
$GC,5292,-0.62,-194.6,661.4,-8.7,476,5297,0.00,2.22,0.00,0.000,6,0.000,0.023,2573,2022,3611,0,0,0,0,0,0
$GC,5610,-0.62,-194.6,688.0,-8.2,491,5614,0.00,1.85,0.00,0.000,4,0.000,0.037,2573,3261,3609,0,0,0,0,0,0
$GC,5672,-0.62,-194.6,693.2,-8.3,493,5679,0.00,1.75,0.00,0.000,6,0.000,0.020,2574,2032,3609,0,0,0,0,0,0
$GC,5990,-0.62,-194.6,720.6,-9.1,509,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2031,3607,0,0,0,0,0,0
$GC,6298,-0.62,-194.6,748.2,-9.0,524,6301,0.00,1.85,0.00,0.000,4,0.000,0.037,2573,3268,3605,0,0,0,0,0,0
$GC,6348,-0.62,-194.6,752.9,-8.9,526,6352,0.00,1.73,0.00,0.000,6,0.000,0.020,2573,2045,3604,0,0,0,0,0,0
$GC,6678,-0.62,-194.6,780.2,-8.1,542,6682,0.00,2.28,0.00,0.000,4,0.000,0.030,2573,504,3602,0,0,0,0,0,0
$GC,6749,-0.62,-194.6,786.4,-8.2,545,6754,0.00,2.28,0.00,0.000,6,0.000,0.024,2573,2028,3601,0,0,0,0,0,0
$GC,7072,-0.62,-194.6,811.4,-7.5,561,7076,0.00,1.85,0.00,0.000,4,0.000,0.040,2573,3259,3600,0,0,0,0,0,0
$GC,7177,-0.62,-194.6,819.4,-7.5,565,7184,0.00,1.70,0.00,0.000,6,0.000,0.021,2573,2057,3599,0,0,0,0,0,0
$GC,7494,-0.62,-194.6,843.2,-7.5,581,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2057,3598,0,0,0,0,0,0
$GC,7805,-0.62,-194.6,866.2,-7.4,596,7810,0.00,2.33,0.00,0.000,4,0.000,0.031,2573,503,3597,0,0,0,0,0,0
$GC,7838,-0.62,-194.6,869.1,-7.2,597,7842,0.00,2.33,0.00,0.000,6,0.000,0.024,2573,2069,3597,0,0,0,0,0,0
$GC,8156,-0.62,-194.6,891.1,-6.9,612,8161,0.00,2.35,0.00,0.000,4,0.000,0.030,2573,510,3594,0,0,0,0,0,0
$GC,8206,-0.62,-194.6,895.3,-8.1,614,8211,0.00,2.25,0.00,0.000,6,0.000,0.023,2573,2037,3594,0,0,0,0,0,0
$GC,8528,-0.62,-194.6,919.3,-7.7,630,8532,0.00,1.85,0.00,0.000,4,0.000,0.040,2573,3262,3593,0,0,0,0,0,0
$GC,8607,-0.62,-194.6,925.3,-7.7,633,8611,0.00,1.67,0.00,0.000,6,0.000,0.021,2573,2055,3592,0,0,0,0,0,0
$GC,8930,-0.62,-194.6,948.9,-7.1,649,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2054,3591,0,0,0,0,0,0
$GC,9241,-0.62,-194.6,970.1,-6.8,664,9245,0.00,1.88,0.00,0.000,4,0.000,0.040,2573,3261,3591,0,0,0,0,0,0
$GC,9279,-0.62,-194.6,972.9,-6.8,665,9286,0.00,1.70,0.00,0.000,6,0.000,0.020,2573,2070,3590,0,0,0,0,0,0
$STATE,9530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9531,begin apogee
$GC,9536,-0.20,0.0,990.5,7.0,678,9694,0.47,0.00,153.02,1.391,4,0.122,0.000,2729,2066,2839,0,0,0,0,0,0
$STATE,9695,end apogee,CONTROL_FINISHED_OK
$STATE,9695,begin climb
$GC,9697,0.62,194.6,994.6,0.0,685,9879,0.75,2.33,169.32,1.333,4,0.081,0.040,3001,3459,2043,0,0,0,0,0,0
$GC,10030,0.62,194.6,952.7,15.4,700,10037,0.00,2.10,0.00,0.000,6,0.000,0.021,3009,2099,2036,0,0,0,0,0,0
$GC,10348,0.62,194.6,906.7,14.6,716,10352,0.00,2.10,0.00,0.000,4,0.000,0.037,3010,3465,2033,0,0,0,0,0,0
$GC,10518,0.62,194.6,881.7,14.2,723,10525,0.00,2.12,0.00,0.000,6,0.000,0.021,3018,2038,2032,0,0,0,0,0,0
$GC,10834,0.62,194.6,840.9,12.2,739,10837,0.00,2.00,0.00,0.000,4,0.000,0.034,3029,684,2032,0,0,0,0,0,0
$GC,10928,0.62,194.6,829.3,12.2,743,10932,0.00,2.00,0.00,0.000,6,0.000,0.023,3029,2025,2031,0,0,0,0,0,0
$GC,11258,0.62,194.6,789.6,12.5,759,11262,0.00,2.20,0.00,0.000,4,0.000,0.038,3029,3471,2031,0,0,0,0,0,0
$GC,11298,0.62,194.6,783.9,14.0,761,11302,0.15,2.12,0.00,0.000,6,0.169,0.021,2999,2020,2030,0,0,0,0,0,0
$GC,11625,0.62,194.6,747.1,11.2,777,11628,0.00,2.00,0.00,0.000,4,0.000,0.033,3007,677,2030,0,0,0,0,0,0
$GC,11695,0.62,194.6,739.0,12.0,780,11699,0.00,1.95,0.00,0.000,6,0.000,0.023,3007,2004,2030,0,0,0,0,0,0
$GC,12028,0.62,194.6,698.9,11.9,796,12033,0.00,2.25,0.00,0.000,4,0.000,0.038,3007,3469,2029,0,0,0,0,0,0
$GC,12168,0.62,194.6,680.1,13.6,802,12173,0.00,2.17,0.00,0.000,6,0.000,0.021,3017,2010,2029,0,0,0,0,0,0
$GC,12495,0.62,194.6,638.1,12.9,818,12499,0.00,1.95,0.00,0.000,4,0.000,0.034,3026,683,2029,0,0,0,0,0,0
$GC,12545,0.62,194.6,631.2,13.5,820,12548,0.00,1.95,0.00,0.000,6,0.000,0.023,3026,2001,2029,0,0,0,0,0,0
$GC,12876,0.62,194.6,587.6,13.0,836,12880,0.00,2.22,0.00,0.000,4,0.000,0.037,3026,3470,2028,0,0,0,0,0,0
$GC,12898,0.62,194.6,584.0,12.6,837,12904,0.10,2.17,0.00,0.000,6,0.151,0.021,3003,1996,2028,0,0,0,0,0,0
$GC,13227,0.62,194.6,547.3,10.9,853,13231,0.00,1.95,0.00,0.000,4,0.000,0.034,3011,681,2028,0,0,0,0,0,0
$GC,13411,0.62,194.6,527.6,10.6,861,13415,0.00,1.85,0.00,0.000,6,0.000,0.022,3011,1931,2028,0,0,0,0,0,0
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$STATE,18495,end climb,SURFACE_DEPTH_REACHED
$STATE,18495,begin surface coast
$FINISH,0.9,0.997005
$STATE,18519,end surface coast,CONTROL_FINISHED_OK
$STATE,18519,begin surface
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$TCM_TEMP,28.50
$XPDR_PINGS,28
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$10V_AH,10.0,37.890
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323868
$DATA_FILE_SIZE,83397,1450
$CAP_FILE_SIZE,212720,0
$CFSIZE,260165632,119988224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058, 22.9,1
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