version: 66.09
glider: 167
mission: 8
dive: 109
start: 7 4 111 23 4 28
data:
$ID,167
$MISSION,8
$DIVE,109
$N_DIVES,125
$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,-56524.008
$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,79
$R_STBD_OVSHOOT,65
$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
$GPS1,040711,225424,1757.340,12433.152,38,1.5,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.1
$GPS2,040711,230406,1757.340,12433.255,15,1.0,31,-2.0
$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,171.0,13938,-15.4,-8.250
$D_GRID,4376
$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,15,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,89,0.00,0.00,-69.30,0.000,2,0.000,0.000,110,1874,2954,0,0,0,0,0,0
$GC,92,-0.56,-146.0,5.2,-9.2,9,116,9.90,2.08,-8.45,0.000,4,0.233,0.041,2614,487,3438,0,0,0,0,0,0
$GC,210,-0.56,-146.0,48.1,-26.1,29,220,0.00,2.03,0.00,0.000,6,0.000,0.019,2606,1875,3439,0,0,0,0,0,0
$GC,286,-0.56,-146.0,68.6,-29.2,42,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1876,3440,0,0,0,0,0,0
$GC,362,-0.56,-146.0,87.3,-21.2,55,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1875,3440,0,0,0,0,0,0
$GC,441,-0.56,-146.0,104.9,-21.9,68,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1876,3440,0,0,0,0,0,0
$GC,518,-0.56,-146.0,122.8,-23.3,81,527,0.00,2.08,0.00,0.000,4,0.000,0.028,2606,484,3440,0,0,0,0,0,0
$GC,535,-0.56,-146.0,126.3,-21.4,83,543,0.00,2.10,0.00,0.000,6,0.000,0.020,2598,1931,3440,0,0,0,0,0,0
$GC,609,-0.56,-146.0,141.0,-20.0,96,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1931,3441,0,0,0,0,0,0
$GC,684,-0.56,-146.0,154.7,-16.4,109,692,0.00,2.00,0.00,0.000,4,0.000,0.031,2588,3267,3441,0,0,0,0,0,0
$GC,713,-0.56,-146.0,159.4,-16.9,113,721,0.00,1.83,0.00,0.000,6,0.000,0.018,2588,1976,3441,0,0,0,0,0,0
$GC,790,-0.56,-146.0,172.3,-16.2,126,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1974,3441,0,0,0,0,0,0
$GC,862,-0.56,-146.0,184.3,-16.5,139,872,0.10,2.20,0.00,0.000,4,0.184,0.029,2612,488,3441,0,0,0,0,0,0
$GC,923,-0.56,-146.0,193.7,-14.6,149,931,0.00,2.22,0.00,0.000,6,0.000,0.020,2603,2021,3441,0,0,0,0,0,0
$GC,1004,-0.56,-146.0,205.3,-15.0,160,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2020,3441,0,0,0,0,0,0
$GC,1322,-0.56,-146.0,249.4,-13.4,190,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2021,3441,0,0,0,0,0,0
$GC,1644,-0.56,-146.0,286.6,-10.9,220,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2020,3441,0,0,0,0,0,0
$GC,1971,-0.56,-146.0,320.5,-10.1,251,1975,0.00,2.20,0.00,0.000,4,0.000,0.028,2603,493,3439,0,0,0,0,0,0
$GC,2010,-0.56,-146.0,324.8,-10.4,254,2014,0.00,2.17,0.00,0.000,6,0.000,0.021,2601,2022,3438,0,0,0,0,0,0
$GC,2336,-0.56,-146.0,357.8,-10.5,284,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2021,3437,0,0,0,0,0,0
$GC,2659,-0.56,-146.0,389.5,-9.4,314,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2022,3435,0,0,0,0,0,0
$GC,2986,-0.56,-146.0,418.0,-7.8,345,2990,0.00,2.22,0.00,0.000,4,0.000,0.029,2601,497,3433,0,0,0,0,0,0
$GC,3145,-0.56,-146.0,430.9,-8.2,358,3152,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,2037,3432,0,0,0,0,0,0
$GC,3471,-0.56,-146.0,455.6,-7.8,389,3476,0.00,2.28,0.00,0.000,4,0.000,0.031,2600,504,3430,0,0,0,0,0,0
$GC,3518,-0.56,-146.0,459.5,-8.7,393,3522,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,2031,3430,0,0,0,0,0,0
$GC,3843,-0.56,-146.0,486.4,-8.3,423,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2031,3428,0,0,0,0,0,0
$GC,4159,-0.56,-146.0,512.2,-8.2,446,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2032,3426,0,0,0,0,0,0
$GC,4467,-0.56,-146.0,538.7,-8.7,461,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2032,3423,0,0,0,0,0,0
$GC,4777,-0.56,-146.0,564.1,-7.7,476,4781,0.00,2.28,0.00,0.000,4,0.000,0.031,2600,503,3421,0,0,0,0,0,0
$GC,4931,-0.56,-146.0,576.4,-7.8,482,4938,0.00,2.25,0.00,0.000,6,0.000,0.022,2600,2064,3420,0,0,0,0,0,0
$GC,5247,-0.56,-146.0,596.7,-6.2,498,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2064,3418,0,0,0,0,0,0
$GC,5558,-0.56,-146.0,617.9,-7.3,513,5562,0.00,1.75,0.00,0.000,4,0.000,0.037,2600,3267,3416,0,0,0,0,0,0
$GC,5585,-0.56,-146.0,620.0,-7.4,514,5589,0.00,1.70,0.00,0.000,6,0.000,0.020,2601,2034,3416,0,0,0,0,0,0
$GC,5913,-0.56,-146.0,644.6,-7.6,530,5918,0.00,2.28,0.00,0.000,4,0.000,0.031,2600,497,3414,0,0,0,0,0,0
$GC,6031,-0.56,-146.0,655.1,-8.7,535,6035,0.00,2.20,0.00,0.000,6,0.000,0.022,2600,2007,3413,0,0,0,0,0,0
$GC,6353,-0.56,-146.0,680.6,-7.9,551,6357,0.00,2.25,0.00,0.000,4,0.000,0.031,2600,501,3410,0,0,0,0,0,0
$GC,6378,-0.56,-146.0,682.6,-7.9,552,6382,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1979,3410,0,0,0,0,0,0
$GC,6707,-0.56,-146.0,707.4,-7.2,568,6711,0.00,1.90,0.00,0.000,4,0.000,0.037,2600,3261,3409,0,0,0,0,0,0
$GC,6813,-0.56,-146.0,714.9,-7.0,572,6820,0.00,1.75,0.00,0.000,6,0.000,0.021,2600,2018,3409,0,0,0,0,0,0
$GC,7130,-0.56,-146.0,736.6,-6.7,588,7135,0.00,2.25,0.00,0.000,4,0.000,0.031,2600,501,3407,0,0,0,0,0,0
$GC,7202,-0.56,-146.0,742.2,-7.9,591,7206,0.00,2.17,0.00,0.000,6,0.000,0.023,2600,1990,3406,0,0,0,0,0,0
$GC,7526,-0.56,-146.0,763.6,-6.3,607,7530,0.00,1.90,0.00,0.000,4,0.000,0.039,2600,3253,3405,0,0,0,0,0,0
$GC,7576,-0.56,-146.0,766.8,-6.4,609,7580,0.00,1.75,0.00,0.000,6,0.000,0.021,2600,2000,3404,0,0,0,0,0,0
$GC,7905,-0.56,-146.0,787.0,-6.4,625,7909,0.00,2.22,0.00,0.000,4,0.000,0.032,2600,487,3403,0,0,0,0,0,0
$GC,8007,-0.56,-146.0,794.4,-7.3,629,8014,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1950,3402,0,0,0,0,0,0
$GC,8324,-0.56,-146.0,814.6,-6.4,645,8327,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3261,3401,0,0,0,0,0,0
$GC,8420,-0.56,-146.0,820.9,-6.7,649,8424,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1977,3401,0,0,0,0,0,0
$GC,8748,-0.56,-146.0,841.7,-6.0,665,8752,0.00,2.20,0.00,0.000,4,0.000,0.033,2600,501,3399,0,0,0,0,0,0
$GC,8820,-0.56,-146.0,846.8,-6.9,668,8824,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1952,3399,0,0,0,0,0,0
$GC,9150,-0.56,-146.0,865.1,-5.2,684,9153,0.00,1.92,0.00,0.000,4,0.000,0.038,2600,3258,3398,0,0,0,0,0,0
$GC,9201,-0.56,-146.0,867.9,-5.1,686,9205,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1973,3398,0,0,0,0,0,0
$GC,9528,-0.56,-146.0,882.6,-4.4,702,9533,0.00,2.20,0.00,0.000,4,0.000,0.032,2600,495,3396,0,0,0,0,0,0
$GC,9579,-0.56,-146.0,885.0,-4.3,704,9583,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1964,3396,0,0,0,0,0,0
$GC,9908,-0.56,-146.0,898.6,-4.1,720,9912,0.00,1.92,0.00,0.000,4,0.000,0.040,2599,3264,3395,0,0,0,0,0,0
$GC,9947,-0.56,-146.0,900.4,-4.2,721,9953,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1963,3395,0,0,0,0,0,0
$GC,10263,-0.56,-146.0,913.5,-4.2,737,10268,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,504,3394,0,0,0,0,0,0
$GC,10303,-0.56,-146.0,915.5,-4.4,738,10310,0.00,2.12,0.00,0.000,6,0.000,0.024,2599,1971,3394,0,0,0,0,0,0
$GC,10619,-0.56,-146.0,930.2,-4.8,754,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1971,3394,0,0,0,0,0,0
$GC,10930,-0.56,-146.0,945.5,-5.1,769,10933,0.00,1.90,0.00,0.000,4,0.000,0.039,2599,3258,3393,0,0,0,0,0,0
$GC,10957,-0.56,-146.0,946.9,-5.1,770,10961,0.00,1.80,0.00,0.000,6,0.000,0.020,2599,1974,3393,0,0,0,0,0,0
$GC,11285,-0.56,-146.0,962.8,-4.9,786,11289,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,499,3392,0,0,0,0,0,0
$GC,11364,-0.56,-146.0,967.5,-6.1,789,11371,0.00,2.15,0.00,0.000,6,0.000,0.024,2599,1963,3392,0,0,0,0,0,0
$GC,11683,-0.56,-146.0,984.1,-5.2,805,11686,0.00,1.92,0.00,0.000,4,0.000,0.040,2599,3261,3391,0,0,0,0,0,0
$GC,11740,-0.56,-146.0,987.2,-5.1,807,11743,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1968,3391,0,0,0,0,0,0
$STATE,11791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11791,begin apogee
$GC,11797,-0.20,0.0,990.0,5.4,810,11914,0.38,0.00,111.07,1.413,4,0.122,0.000,2727,2090,2839,0,0,0,0,0,0
$STATE,11915,end apogee,CONTROL_FINISHED_OK
$STATE,11915,begin climb
$GC,11919,0.56,146.0,991.5,0.0,815,12049,0.70,0.00,123.38,1.366,6,0.080,0.000,2975,2090,2243,0,0,0,0,0,0
$GC,12367,0.56,146.0,944.8,11.9,837,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2090,2231,0,0,0,0,0,0
$GC,12676,0.56,146.0,907.4,12.2,852,12680,0.00,2.10,0.00,0.000,4,0.000,0.034,2984,697,2230,0,0,0,0,0,0
$GC,12725,0.56,146.0,900.8,12.6,854,12729,0.00,2.03,0.00,0.000,6,0.000,0.024,2984,2058,2230,0,0,0,0,0,0
$GC,13048,0.56,146.0,860.3,12.5,870,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2058,2228,0,0,0,0,0,0
$GC,13356,0.56,146.0,822.3,12.2,885,13361,0.00,2.15,0.00,0.000,4,0.000,0.039,2984,3458,2227,0,0,0,0,0,0
$GC,13458,0.56,146.0,809.1,12.9,889,13462,0.00,1.98,0.00,0.000,6,0.000,0.021,2992,2095,2227,0,0,0,0,0,0
$GC,13779,0.56,146.0,770.9,11.7,905,13783,0.00,2.10,0.00,0.000,4,0.000,0.034,3003,682,2226,0,0,0,0,0,0
$GC,13844,0.56,146.0,763.4,12.1,908,13848,0.00,2.10,0.00,0.000,6,0.000,0.024,3003,2113,2226,0,0,0,0,0,0
$GC,14172,0.56,146.0,723.6,11.8,924,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2113,2225,0,0,0,0,0,0
$GC,14480,0.56,146.0,686.9,11.8,939,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2113,2225,0,0,0,0,0,0
$GC,14789,0.56,146.0,649.8,12.6,954,14793,0.00,2.05,0.00,0.000,4,0.000,0.039,3003,3469,2225,0,0,0,0,0,0
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$STATE,21886,end climb,SURFACE_DEPTH_REACHED
$STATE,21886,begin surface coast
$FINISH,0.7,1.021213
$STATE,21913,end surface coast,CONTROL_FINISHED_OK
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$TCM_TEMP,28.90
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$10V_AH,10.2,18.973
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$FG_AHR_10Vo,0.000
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$MEM,329884
$DATA_FILE_SIZE,100263,1718
$CAP_FILE_SIZE,235715,0
$CFSIZE,260165632,131457024
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