version: 66.09
glider: 167
mission: 8
dive: 89
start: 6 29 111 18 4 40
data:
$ID,167
$MISSION,8
$DIVE,89
$N_DIVES,95
$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,-56498.754
$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,69
$R_STBD_OVSHOOT,68
$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
$GPS1,290611,175407,1843.822,12425.982,33,1.0,33,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.2
$GPS2,290611,180418,1843.779,12425.851,10,1.1,14,-2.2
$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,162.0,100897,-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,17,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,93,0.00,0.00,-70.95,0.000,2,0.000,0.000,113,1868,3305,0,0,0,0,0,0
$GC,95,-0.56,-146.0,6.7,-11.9,9,112,9.88,2.08,-2.03,0.000,4,0.233,0.037,2613,466,3437,0,0,0,0,0,0
$GC,270,-0.56,-146.0,74.9,-26.5,40,278,0.00,2.05,0.00,0.000,6,0.000,0.018,2605,1874,3440,0,0,0,0,0,0
$GC,345,-0.56,-146.0,91.6,-22.9,53,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1874,3439,0,0,0,0,0,0
$GC,425,-0.56,-146.0,111.3,-24.0,66,434,0.00,2.08,0.00,0.000,4,0.000,0.031,2594,3268,3440,0,0,0,0,0,0
$GC,510,-0.56,-146.0,132.9,-27.7,80,518,0.00,2.03,0.00,0.000,6,0.000,0.018,2594,1865,3440,0,0,0,0,0,0
$GC,585,-0.56,-146.0,151.5,-22.5,93,593,0.00,2.03,0.00,0.000,4,0.000,0.030,2594,487,3440,0,0,0,0,0,0
$GC,735,-0.56,-146.0,175.5,-14.9,119,745,0.08,1.70,0.00,0.000,6,0.155,0.020,2612,1678,3441,0,0,0,0,0,0
$GC,813,-0.56,-146.0,187.3,-13.8,132,820,0.00,2.38,0.00,0.000,4,0.000,0.031,2602,3262,3440,0,0,0,0,0,0
$GC,866,-0.56,-146.0,194.6,-13.7,141,874,0.00,2.22,0.00,0.000,6,0.000,0.018,2602,1722,3441,0,0,0,0,0,0
$GC,947,-0.56,-146.0,206.4,-14.4,151,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1722,3441,0,0,0,0,0,0
$GC,1277,-0.56,-146.0,253.5,-12.2,182,1281,0.00,2.30,0.00,0.000,4,0.000,0.031,2600,3275,3441,0,0,0,0,0,0
$GC,1318,-0.56,-146.0,258.6,-11.3,185,1322,0.00,2.12,0.00,0.000,6,0.000,0.018,2600,1764,3441,0,0,0,0,0,0
$GC,1644,-0.56,-146.0,297.4,-11.6,215,1648,0.00,2.25,0.00,0.000,4,0.000,0.031,2600,3273,3441,0,0,0,0,0,0
$GC,1722,-0.56,-146.0,306.5,-10.7,221,1729,0.00,2.08,0.00,0.000,6,0.000,0.018,2600,1805,3441,0,0,0,0,0,0
$GC,2048,-0.56,-146.0,342.9,-11.1,252,2052,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,3265,3439,0,0,0,0,0,0
$GC,2103,-0.56,-146.0,348.5,-10.2,256,2111,0.00,2.08,0.00,0.000,6,0.000,0.018,2600,1813,3438,0,0,0,0,0,0
$GC,2428,-0.56,-146.0,385.0,-10.8,287,2432,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,3268,3437,0,0,0,0,0,0
$GC,2469,-0.56,-146.0,388.9,-9.8,290,2472,0.00,2.08,0.00,0.000,6,0.000,0.018,2600,1805,3437,0,0,0,0,0,0
$GC,2799,-0.56,-146.0,417.5,-8.4,321,2803,0.00,1.90,0.00,0.000,4,0.000,0.031,2600,484,3435,0,0,0,0,0,0
$GC,2869,-0.56,-146.0,424.2,-9.9,327,2874,0.00,1.90,0.00,0.000,6,0.000,0.022,2600,1801,3435,0,0,0,0,0,0
$GC,3199,-0.56,-146.0,454.2,-8.8,358,3203,0.00,2.17,0.00,0.000,4,0.000,0.036,2600,3272,3433,0,0,0,0,0,0
$GC,3275,-0.56,-146.0,460.6,-8.6,364,3279,0.00,2.12,0.00,0.000,6,0.000,0.020,2600,1783,3432,0,0,0,0,0,0
$GC,3600,-0.56,-146.0,488.9,-8.5,394,3605,0.00,2.25,0.00,0.000,4,0.000,0.034,2600,3265,3430,0,0,0,0,0,0
$GC,3715,-0.56,-146.0,497.9,-7.9,404,3719,0.00,2.05,0.00,0.000,6,0.000,0.020,2600,1823,3429,0,0,0,0,0,0
$GC,4038,-0.56,-146.0,522.2,-7.3,421,4042,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,3268,3428,0,0,0,0,0,0
$GC,4087,-0.56,-146.0,526.1,-7.6,423,4091,0.00,2.00,0.00,0.000,6,0.000,0.020,2600,1847,3427,0,0,0,0,0,0
$GC,4411,-0.56,-146.0,549.0,-7.0,439,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1846,3424,0,0,0,0,0,0
$GC,4719,-0.56,-146.0,571.4,-7.1,454,4723,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,493,3422,0,0,0,0,0,0
$GC,4774,-0.56,-146.0,575.9,-8.0,456,4778,0.00,1.95,0.00,0.000,6,0.000,0.022,2600,1847,3422,0,0,0,0,0,0
$GC,5096,-0.56,-146.0,599.8,-7.3,472,5100,0.00,2.10,0.00,0.000,4,0.000,0.037,2600,3267,3420,0,0,0,0,0,0
$GC,5160,-0.56,-146.0,604.6,-7.6,475,5164,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1879,3420,0,0,0,0,0,0
$GC,5495,-0.56,-146.0,629.4,-7.3,491,5498,0.00,2.03,0.00,0.000,4,0.000,0.032,2600,491,3417,0,0,0,0,0,0
$GC,5589,-0.56,-146.0,637.4,-8.3,495,5593,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,1857,3417,0,0,0,0,0,0
$GC,5919,-0.56,-146.0,660.8,-7.3,511,5923,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,486,3415,0,0,0,0,0,0
$GC,5949,-0.56,-146.0,663.3,-7.3,512,5952,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1844,3415,0,0,0,0,0,0
$GC,6277,-0.56,-146.0,686.3,-6.9,528,6281,0.00,2.10,0.00,0.000,4,0.000,0.036,2600,3261,3412,0,0,0,0,0,0
$GC,6377,-0.56,-146.0,693.5,-7.1,532,6385,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1859,3412,0,0,0,0,0,0
$GC,6694,-0.56,-146.0,716.8,-7.5,548,6698,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3264,3410,0,0,0,0,0,0
$GC,6768,-0.56,-146.0,722.6,-7.7,551,6773,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1877,3409,0,0,0,0,0,0
$GC,7090,-0.56,-146.0,746.6,-7.4,567,7093,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,495,3407,0,0,0,0,0,0
$GC,7164,-0.56,-146.0,752.4,-8.1,570,7168,0.00,1.95,0.00,0.000,6,0.000,0.023,2599,1860,3407,0,0,0,0,0,0
$GC,7491,-0.56,-146.0,776.2,-7.0,586,7495,0.00,2.08,0.00,0.000,4,0.000,0.036,2598,3271,3405,0,0,0,0,0,0
$GC,7559,-0.56,-146.0,781.2,-7.1,589,7562,0.00,1.98,0.00,0.000,6,0.000,0.020,2599,1872,3405,0,0,0,0,0,0
$GC,7888,-0.56,-146.0,803.7,-6.6,605,7891,0.00,2.08,0.00,0.000,4,0.000,0.035,2598,3273,3404,0,0,0,0,0,0
$GC,7915,-0.56,-146.0,805.7,-6.6,606,7919,0.00,2.00,0.00,0.000,6,0.000,0.021,2599,1874,3404,0,0,0,0,0,0
$GC,8238,-0.56,-146.0,825.1,-5.7,622,8241,0.00,2.03,0.00,0.000,4,0.000,0.033,2598,497,3402,0,0,0,0,0,0
$GC,8265,-0.56,-146.0,827.0,-5.7,623,8269,0.00,2.00,0.00,0.000,6,0.000,0.023,2598,1890,3402,0,0,0,0,0,0
$GC,8593,-0.56,-146.0,843.8,-5.2,639,8598,0.00,2.08,0.00,0.000,4,0.000,0.038,2598,3264,3400,0,0,0,0,0,0
$GC,8695,-0.56,-146.0,849.2,-5.3,643,8699,0.00,1.92,0.00,0.000,6,0.000,0.021,2598,1900,3399,0,0,0,0,0,0
$GC,9017,-0.56,-146.0,866.3,-5.4,659,9021,0.00,2.08,0.00,0.000,4,0.000,0.034,2598,494,3398,0,0,0,0,0,0
$GC,9052,-0.56,-146.0,868.4,-5.6,660,9056,0.00,2.03,0.00,0.000,6,0.000,0.023,2598,1897,3398,0,0,0,0,0,0
$GC,9374,-0.56,-146.0,887.0,-5.8,676,9379,0.00,2.08,0.00,0.000,4,0.000,0.039,2598,3267,3397,0,0,0,0,0,0
$GC,9435,-0.56,-146.0,890.7,-5.9,678,9442,0.00,1.95,0.00,0.000,6,0.000,0.021,2598,1903,3397,0,0,0,0,0,0
$GC,9753,-0.56,-146.0,909.5,-5.9,694,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1903,3396,0,0,0,0,0,0
$GC,10061,-0.56,-146.0,927.7,-5.9,709,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1903,3395,0,0,0,0,0,0
$GC,10372,-0.56,-146.0,944.0,-5.0,724,10377,0.00,2.08,0.00,0.000,4,0.000,0.037,2599,3264,3394,0,0,0,0,0,0
$GC,10404,-0.56,-146.0,945.8,-4.9,725,10408,0.00,1.90,0.00,0.000,6,0.000,0.021,2598,1919,3394,0,0,0,0,0,0
$GC,10727,-0.56,-146.0,962.5,-5.6,741,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1919,3394,0,0,0,0,0,0
$GC,11038,-0.56,-146.0,980.1,-5.6,756,11042,0.00,2.10,0.00,0.000,4,0.000,0.034,2598,497,3393,0,0,0,0,0,0
$GC,11071,-0.56,-146.0,982.4,-5.7,757,11078,0.00,2.05,0.00,0.000,6,0.000,0.024,2599,1919,3392,0,0,0,0,0,0
$STATE,11219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11219,begin apogee
$GC,11226,-0.20,0.0,991.0,5.7,765,11344,0.40,0.00,111.05,1.414,4,0.126,0.000,2733,2094,2838,0,0,0,0,0,0
$STATE,11345,end apogee,CONTROL_FINISHED_OK
$STATE,11345,begin climb
$GC,11347,0.56,146.0,993.1,0.0,770,11478,0.70,0.00,122.85,1.365,6,0.079,0.000,2981,2094,2242,0,0,0,0,0,0
$GC,11796,0.56,146.0,944.7,12.1,792,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2094,2231,0,0,0,0,0,0
$GC,12104,0.56,146.0,907.9,11.6,807,12108,0.00,2.10,0.00,0.000,4,0.000,0.038,2981,3466,2229,0,0,0,0,0,0
$GC,12193,0.56,146.0,896.4,12.7,811,12197,0.00,2.05,0.00,0.000,6,0.000,0.023,2987,2084,2228,0,0,0,0,0,0
$GC,12521,0.56,146.0,858.4,11.6,827,12525,0.00,2.12,0.00,0.000,4,0.000,0.037,2998,685,2228,0,0,0,0,0,0
$GC,12612,0.56,146.0,847.5,12.4,831,12616,0.00,2.05,0.00,0.000,6,0.000,0.025,2997,2049,2227,0,0,0,0,0,0
$GC,12944,0.56,146.0,805.8,12.3,847,12948,0.00,2.15,0.00,0.000,4,0.000,0.038,2998,3469,2226,0,0,0,0,0,0
$GC,13039,0.56,146.0,792.9,13.3,851,13042,0.00,2.00,0.00,0.000,6,0.000,0.023,3006,2091,2226,0,0,0,0,0,0
$GC,13361,0.56,146.0,753.1,11.9,867,13365,0.00,2.08,0.00,0.000,4,0.000,0.035,3017,681,2225,0,0,0,0,0,0
$GC,13415,0.56,146.0,746.4,11.8,869,13423,0.12,2.08,0.00,0.000,6,0.170,0.024,2985,2101,2225,0,0,0,0,0,0
$GC,13733,0.56,146.0,713.1,10.4,885,13737,0.00,2.15,0.00,0.000,4,0.000,0.034,2991,684,2224,0,0,0,0,0,0
$GC,13748,0.56,146.0,711.0,10.5,885,13755,0.00,2.05,0.00,0.000,6,0.000,0.024,2991,2091,2225,0,0,0,0,0,0
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$GC,14160,0.56,146.0,665.1,12.4,905,14164,0.00,1.95,0.00,0.000,6,0.000,0.023,3000,2112,2224,0,0,0,0,0,0
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$STATE,21597,end climb,SURFACE_DEPTH_REACHED
$STATE,21597,begin surface coast
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$FG_AHR_10Vo,0.000
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