version: 66.09
glider: 167
mission: 8
dive: 225
start: 7 28 111 19 21 31
data:
$ID,167
$MISSION,8
$DIVE,225
$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,-56670.133
$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,51
$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
$GPS1,280711,191231,1905.514,12231.807,42,1.3,43,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.0
$GPS2,280711,192108,1905.577,12231.652,16,1.2,16,-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,107.9,55188,-15.3,-9.706
$D_GRID,2195
$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,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-91.20,0.000,2,0.000,0.000,109,1877,3138,0,0,0,0,0,0
$GC,116,-0.62,-194.6,6.4,-12.4,13,143,10.15,2.08,-7.85,0.000,4,0.236,0.041,2580,3287,3636,0,0,0,0,0,0
$GC,186,-0.62,-194.6,36.5,-33.8,23,195,0.00,2.05,0.00,0.000,6,0.000,0.018,2582,1872,3637,0,0,0,0,0,0
$GC,263,-0.62,-194.6,59.2,-29.6,36,272,0.00,2.03,0.00,0.000,4,0.000,0.028,2584,498,3637,0,0,0,0,0,0
$GC,281,-0.62,-194.6,65.5,-30.4,38,289,0.00,2.08,0.00,0.000,6,0.000,0.027,2577,1919,3637,0,0,0,0,0,0
$GC,356,-0.62,-194.6,86.3,-25.5,51,365,0.00,2.12,0.00,0.000,4,0.000,0.028,2577,494,3637,0,0,0,0,0,0
$GC,418,-0.62,-194.6,100.3,-21.2,61,426,0.00,1.75,0.00,0.000,6,0.000,0.021,2570,1708,3637,0,0,0,0,0,0
$GC,492,-0.62,-194.6,117.1,-24.1,74,500,0.00,2.33,0.00,0.000,4,0.000,0.029,2560,3266,3637,0,0,0,0,0,0
$GC,540,-0.62,-194.6,127.7,-21.0,82,548,0.10,2.28,0.00,0.000,6,0.148,0.018,2592,1692,3637,0,0,0,0,0,0
$GC,616,-0.62,-194.6,141.5,-17.8,95,624,0.00,1.75,0.00,0.000,4,0.000,0.028,2592,487,3638,0,0,0,0,0,0
$GC,634,-0.62,-194.6,144.8,-17.7,97,641,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1738,3637,0,0,0,0,0,0
$GC,709,-0.62,-194.6,158.9,-18.2,110,717,0.00,2.30,0.00,0.000,4,0.000,0.031,2577,3263,3638,0,0,0,0,0,0
$GC,738,-0.62,-194.6,163.6,-18.0,114,747,0.00,2.17,0.00,0.000,6,0.000,0.018,2577,1750,3638,0,0,0,0,0,0
$GC,814,-0.62,-194.6,177.5,-17.3,127,822,0.00,2.28,0.00,0.000,4,0.000,0.031,2570,3264,3638,0,0,0,0,0,0
$GC,836,-0.62,-194.6,181.4,-17.0,130,845,0.00,2.00,0.00,0.000,6,0.000,0.018,2570,1855,3637,0,0,0,0,0,0
$GC,913,-0.62,-194.6,193.5,-16.1,143,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1854,3637,0,0,0,0,0,0
$GC,988,-0.62,-194.6,205.4,-15.5,153,992,0.00,2.08,0.00,0.000,4,0.000,0.030,2563,3264,3638,0,0,0,0,0,0
$GC,1018,-0.62,-194.6,210.1,-15.8,155,1022,0.12,1.92,0.00,0.000,6,0.164,0.017,2596,1867,3638,0,0,0,0,0,0
$GC,1348,-0.62,-194.6,251.4,-12.2,186,1351,0.00,2.08,0.00,0.000,4,0.000,0.030,2589,3267,3638,0,0,0,0,0,0
$GC,1419,-0.62,-194.6,260.6,-12.1,192,1428,0.00,1.90,0.00,0.000,6,0.000,0.018,2588,1925,3638,0,0,0,0,0,0
$GC,1745,-0.62,-194.6,302.2,-11.5,223,1749,0.00,2.05,0.00,0.000,4,0.000,0.028,2589,514,3637,0,0,0,0,0,0
$GC,1819,-0.62,-194.6,311.3,-12.0,229,1826,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1899,3637,0,0,0,0,0,0
$GC,2145,-0.62,-194.6,348.6,-12.1,260,2148,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3273,3635,0,0,0,0,0,0
$GC,2224,-0.62,-194.6,355.8,-8.7,267,2228,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1939,3634,0,0,0,0,0,0
$GC,2555,-0.62,-194.6,384.8,-8.2,298,2559,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,509,3632,0,0,0,0,0,0
$GC,2611,-0.62,-194.6,389.5,-8.0,302,2619,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1947,3632,0,0,0,0,0,0
$GC,2937,-0.62,-194.6,416.1,-9.1,333,2940,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3268,3630,0,0,0,0,0,0
$GC,3027,-0.62,-194.6,423.9,-8.7,341,3031,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1972,3629,0,0,0,0,0,0
$GC,3359,-0.62,-194.6,453.4,-9.1,372,3363,0.00,1.90,0.00,0.000,4,0.000,0.033,2587,3264,3626,0,0,0,0,0,0
$GC,3409,-0.62,-194.6,458.0,-8.6,376,3416,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,1985,3625,0,0,0,0,0,0
$GC,3737,-0.62,-194.6,487.7,-9.1,407,3741,0.00,2.15,0.00,0.000,4,0.000,0.028,2587,508,3622,0,0,0,0,0,0
$GC,3873,-0.62,-194.6,500.8,-9.2,418,3877,0.00,2.10,0.00,0.000,6,0.000,0.021,2586,1954,3622,0,0,0,0,0,0
$GC,4196,-0.62,-194.6,527.5,-7.9,434,4199,0.00,1.92,0.00,0.000,4,0.000,0.035,2587,3266,3619,0,0,0,0,0,0
$GC,4246,-0.62,-194.6,531.9,-8.1,436,4251,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1968,3619,0,0,0,0,0,0
$GC,4573,-0.62,-194.6,557.9,-8.0,452,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1966,3617,0,0,0,0,0,0
$GC,4883,-0.62,-194.6,584.3,-8.8,467,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1966,3614,0,0,0,0,0,0
$GC,5191,-0.62,-194.6,611.9,-8.7,482,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1967,3612,0,0,0,0,0,0
$GC,5501,-0.62,-194.6,638.1,-8.3,497,5504,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3266,3609,0,0,0,0,0,0
$GC,5572,-0.62,-194.6,643.6,-8.1,500,5575,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1959,3609,0,0,0,0,0,0
$GC,5905,-0.62,-194.6,670.5,-8.0,516,5910,0.00,2.00,0.00,0.000,4,0.000,0.036,2587,3267,3606,0,0,0,0,0,0
$GC,5962,-0.62,-194.6,674.9,-7.5,518,5966,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1979,3606,0,0,0,0,0,0
$GC,6284,-0.62,-194.6,700.4,-8.2,534,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1978,3604,0,0,0,0,0,0
$GC,6593,-0.62,-194.6,724.2,-7.5,549,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1978,3602,0,0,0,0,0,0
$GC,6904,-0.62,-194.6,746.9,-7.4,564,6909,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3263,3600,0,0,0,0,0,0
$GC,6931,-0.62,-194.6,749.2,-7.5,565,6935,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,1998,3600,0,0,0,0,0,0
$GC,7261,-0.62,-194.6,770.9,-6.5,581,7265,0.00,2.17,0.00,0.000,4,0.000,0.029,2587,517,3598,0,0,0,0,0,0
$GC,7306,-0.62,-194.6,774.3,-6.6,583,7309,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1976,3598,0,0,0,0,0,0
$GC,7633,-0.62,-194.6,796.7,-7.0,599,7638,0.00,1.95,0.00,0.000,4,0.000,0.038,2587,3258,3597,0,0,0,0,0,0
$GC,7695,-0.62,-194.6,801.2,-7.2,601,7702,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2004,3596,0,0,0,0,0,0
$GC,8012,-0.62,-194.6,825.3,-7.7,617,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2003,3595,0,0,0,0,0,0
$GC,8322,-0.62,-194.6,847.8,-7.0,632,8325,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3266,3593,0,0,0,0,0,0
$GC,8392,-0.62,-194.6,852.4,-6.6,635,8395,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2032,3593,0,0,0,0,0,0
$GC,8725,-0.62,-194.6,872.0,-5.7,651,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2031,3592,0,0,0,0,0,0
$GC,9036,-0.62,-194.6,888.1,-5.0,666,9040,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3259,3591,0,0,0,0,0,0
$GC,9063,-0.62,-194.6,889.5,-4.8,667,9066,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2029,3591,0,0,0,0,0,0
$GC,9391,-0.62,-194.6,905.2,-5.0,683,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2027,3589,0,0,0,0,0,0
$GC,9701,-0.62,-194.6,921.9,-5.6,698,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2027,3589,0,0,0,0,0,0
$GC,10009,-0.62,-194.6,940.0,-6.0,713,10010,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2027,3588,0,0,0,0,0,0
$GC,10319,-0.62,-194.6,959.1,-6.1,728,10323,0.00,2.25,0.00,0.000,4,0.000,0.031,2587,511,3587,0,0,0,0,0,0
$GC,10353,-0.62,-194.6,961.5,-6.0,729,10359,0.00,2.28,0.00,0.000,6,0.000,0.024,2587,2041,3587,0,0,0,0,0,0
$GC,10669,-0.62,-194.6,980.2,-5.9,745,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2041,3586,0,0,0,0,0,0
$STATE,10852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10852,begin apogee
$GC,10859,-0.20,0.0,991.0,5.9,754,11018,0.43,0.00,152.57,1.405,4,0.122,0.000,2729,2041,2838,0,0,0,0,0,0
$STATE,11019,end apogee,CONTROL_FINISHED_OK
$STATE,11019,begin climb
$GC,11021,0.62,194.6,993.8,0.0,761,11196,0.77,0.00,169.35,1.342,6,0.079,0.000,2997,2041,2045,0,0,0,0,0,0
$GC,11509,0.62,194.6,932.6,14.5,784,11513,0.00,2.08,0.00,0.000,4,0.000,0.032,3005,722,2033,0,0,0,0,0,0
$GC,11613,0.62,194.6,917.0,14.3,788,11621,0.00,2.00,0.00,0.000,6,0.000,0.023,3005,2034,2033,0,0,0,0,0,0
$GC,11930,0.62,194.6,871.6,14.1,804,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2034,2031,0,0,0,0,0,0
$GC,12240,0.62,194.6,829.0,13.7,819,12244,0.00,2.20,0.00,0.000,4,0.000,0.038,3005,3472,2030,0,0,0,0,0,0
$GC,12268,0.62,194.6,824.7,14.1,820,12272,0.00,2.12,0.00,0.000,6,0.000,0.021,3014,2031,2029,0,0,0,0,0,0
$GC,12590,0.62,194.6,780.2,13.9,836,12593,0.00,1.98,0.00,0.000,4,0.000,0.034,3022,689,2029,0,0,0,0,0,0
$GC,12674,0.62,194.6,768.6,13.9,839,12681,0.00,1.92,0.00,0.000,6,0.000,0.023,3023,1991,2029,0,0,0,0,0,0
$GC,12990,0.62,194.6,725.1,13.6,855,12995,0.00,2.28,0.00,0.000,4,0.000,0.038,3023,3464,2029,0,0,0,0,0,0
$GC,13046,0.62,194.6,716.6,15.4,857,13051,0.12,2.17,0.00,0.000,6,0.171,0.022,3001,1989,2029,0,0,0,0,0,0
$GC,13362,0.62,194.6,677.6,11.8,872,13366,0.00,1.92,0.00,0.000,4,0.000,0.034,3009,684,2028,0,0,0,0,0,0
$GC,13412,0.62,194.6,671.2,12.5,874,13416,0.00,1.98,0.00,0.000,6,0.000,0.023,3009,2006,2028,0,0,0,0,0,0
$GC,13742,0.62,194.6,630.2,12.5,890,13746,0.00,2.22,0.00,0.000,4,0.000,0.038,3009,3470,2027,0,0,0,0,0,0
$GC,13853,0.62,194.6,614.1,14.0,895,13857,0.00,2.10,0.00,0.000,6,0.000,0.021,3018,2033,2027,0,0,0,0,0,0
$GC,14183,0.62,194.6,571.8,12.5,911,14186,0.00,2.00,0.00,0.000,4,0.000,0.034,3026,690,2027,0,0,0,0,0,0
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$STATE,19526,end climb,SURFACE_DEPTH_REACHED
$STATE,19527,begin surface coast
$FINISH,0.8,1.020903
$STATE,19556,end surface coast,CONTROL_FINISHED_OK
$STATE,19556,begin surface
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$XPDR_PINGS,32
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$10V_AH,10.0,36.893
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324000
$DATA_FILE_SIZE,86926,1518
$CAP_FILE_SIZE,212470,0
$CFSIZE,260165632,120606720
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.250,307.0,1
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