version: 66.09
glider: 167
mission: 8
dive: 56
start: 6 21 111 22 17 45
data:
$ID,167
$MISSION,8
$DIVE,56
$N_DIVES,65
$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,300
$T_MISSION,330
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-56454.336
$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,70
$R_STBD_OVSHOOT,70
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,210611,220937,1948.573,12421.462,39,0.9,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.6
$GPS2,210611,221649,1948.638,12421.451,10,1.5,15,-2.4
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.025,-0.305
$KALMAN_X,-339.0,784.8,-166.0,3075.3,95.3
$KALMAN_Y,4154.4,975.5,199.0,-32524.1,372.7
$MHEAD_RNG_PITCHd_Wd,173.8,221012,-17.0,-11.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.67,-194.6,0.0,0.0,0,116,0.00,0.00,-94.20,0.000,2,0.000,0.000,110,1895,3212,0,0,0,0,0,0
$GC,119,-0.67,-194.6,6.7,-12.7,13,145,9.62,2.10,-6.57,0.000,4,0.231,0.038,2584,472,3637,0,0,0,0,0,0
$GC,185,-0.67,-194.6,40.7,-40.3,23,194,0.00,2.05,0.00,0.000,6,0.000,0.021,2577,1860,3639,0,0,0,0,0,0
$GC,262,-0.67,-194.6,60.8,-27.2,36,271,0.00,2.10,0.00,0.000,4,0.000,0.031,2567,3267,3639,0,0,0,0,0,0
$GC,280,-0.67,-194.6,66.8,-29.3,38,288,0.00,2.03,0.00,0.000,6,0.000,0.018,2567,1873,3639,0,0,0,0,0,0
$GC,353,-0.67,-194.6,89.7,-31.0,51,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1872,3639,0,0,0,0,0,0
$GC,429,-0.67,-194.6,111.5,-29.4,64,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1872,3639,0,0,0,0,0,0
$GC,502,-0.67,-194.6,132.7,-26.5,77,510,0.00,2.05,0.00,0.000,4,0.000,0.030,2566,478,3639,0,0,0,0,0,0
$GC,535,-0.67,-194.6,141.3,-26.5,82,543,0.00,2.05,0.00,0.000,6,0.000,0.021,2561,1877,3639,0,0,0,0,0,0
$GC,609,-0.67,-194.6,159.7,-26.6,95,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1877,3639,0,0,0,0,0,0
$GC,683,-0.67,-194.6,178.7,-25.8,108,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1877,3640,0,0,0,0,0,0
$GC,761,-0.67,-194.6,198.1,-24.7,121,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1877,3640,0,0,0,0,0,0
$GC,835,-0.67,-194.6,215.8,-25.0,134,843,0.00,2.08,0.00,0.000,4,0.000,0.031,2550,3280,3640,0,0,0,0,0,0
$GC,858,-0.67,-194.6,221.1,-24.7,137,866,0.10,2.03,0.00,0.000,6,0.160,0.018,2581,1851,3640,0,0,0,0,0,0
$GC,933,-0.67,-194.6,237.5,-20.4,150,941,0.00,1.95,0.00,0.000,4,0.000,0.029,2580,516,3640,0,0,0,0,0,0
$GC,972,-0.67,-194.6,244.8,-19.5,156,980,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1881,3641,0,0,0,0,0,0
$GC,1049,-0.67,-194.6,259.8,-20.1,165,1054,0.00,2.05,0.00,0.000,4,0.000,0.031,2565,3270,3641,0,0,0,0,0,0
$GC,1073,-0.67,-194.6,265.0,-20.4,167,1078,0.00,1.98,0.00,0.000,6,0.000,0.018,2565,1879,3640,0,0,0,0,0,0
$GC,1403,-0.67,-194.6,321.8,-15.2,198,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1878,3640,0,0,0,0,0,0
$GC,1725,-0.67,-194.6,367.4,-15.5,228,1730,0.00,2.03,0.00,0.000,4,0.000,0.031,2564,491,3639,0,0,0,0,0,0
$GC,1781,-0.67,-194.6,376.9,-16.1,233,1785,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1874,3639,0,0,0,0,0,0
$GC,2114,-0.67,-194.6,427.7,-15.2,264,2118,0.00,2.05,0.00,0.000,4,0.000,0.034,2561,3271,3637,0,0,0,0,0,0
$GC,2164,-0.67,-194.6,435.4,-13.2,268,2171,0.00,2.00,0.00,0.000,6,0.000,0.019,2561,1871,3637,0,0,0,0,0,0
$GC,2492,-0.67,-194.6,476.9,-12.1,299,2495,0.00,2.00,0.00,0.000,4,0.000,0.031,2561,490,3635,0,0,0,0,0,0
$GC,2552,-0.67,-194.6,485.3,-13.1,304,2560,0.00,2.00,0.00,0.000,6,0.000,0.022,2560,1873,3634,0,0,0,0,0,0
$GC,2879,-0.67,-194.6,521.7,-10.2,335,2882,0.00,2.03,0.00,0.000,4,0.000,0.035,2560,3264,3632,0,0,0,0,0,0
$GC,2937,-0.67,-194.6,527.3,-9.8,340,2941,0.00,1.95,0.00,0.000,6,0.000,0.020,2560,1872,3631,0,0,0,0,0,0
$GC,3268,-0.67,-194.6,562.8,-10.8,371,3272,0.00,2.00,0.00,0.000,4,0.000,0.033,2561,494,3629,0,0,0,0,0,0
$GC,3403,-0.67,-194.6,578.6,-11.9,383,3406,0.00,1.98,0.00,0.000,6,0.000,0.023,2560,1878,3628,0,0,0,0,0,0
$GC,3744,-0.67,-194.6,617.5,-11.6,408,3747,0.00,2.05,0.00,0.000,4,0.000,0.036,2560,3267,3625,0,0,0,0,0,0
$GC,3829,-0.67,-194.6,627.4,-10.9,411,3837,0.00,2.00,0.00,0.000,6,0.000,0.020,2560,1863,3624,0,0,0,0,0,0
$GC,4145,-0.67,-194.6,663.0,-11.3,427,4148,0.00,2.00,0.00,0.000,4,0.000,0.032,2560,487,3622,0,0,0,0,0,0
$GC,4179,-0.67,-194.6,667.1,-11.9,428,4182,0.00,2.03,0.00,0.000,6,0.000,0.024,2560,1885,3622,0,0,0,0,0,0
$GC,4503,-0.67,-194.6,705.4,-12.2,444,4506,0.00,2.05,0.00,0.000,4,0.000,0.037,2560,3267,3619,0,0,0,0,0,0
$GC,4552,-0.67,-194.6,712.1,-12.5,446,4556,0.00,1.98,0.00,0.000,6,0.000,0.021,2560,1864,3619,0,0,0,0,0,0
$GC,4883,-0.67,-194.6,750.9,-11.3,462,4887,0.00,2.00,0.00,0.000,4,0.000,0.033,2560,490,3616,0,0,0,0,0,0
$GC,4930,-0.67,-194.6,756.5,-11.4,464,4933,0.00,2.03,0.00,0.000,6,0.000,0.024,2558,1886,3615,0,0,0,0,0,0
$GC,5267,-0.67,-194.6,789.5,-9.5,480,5270,0.00,2.05,0.00,0.000,4,0.000,0.038,2558,3266,3612,0,0,0,0,0,0
$GC,5380,-0.67,-194.6,800.2,-8.9,485,5383,0.00,1.98,0.00,0.000,6,0.000,0.021,2558,1866,3611,0,0,0,0,0,0
$GC,5713,-0.67,-194.6,832.2,-9.8,501,5716,0.00,2.00,0.00,0.000,4,0.000,0.034,2557,498,3609,0,0,0,0,0,0
$GC,5786,-0.67,-194.6,839.8,-10.3,504,5790,0.00,2.00,0.00,0.000,6,0.000,0.024,2557,1873,3608,0,0,0,0,0,0
$GC,6114,-0.67,-194.6,869.8,-8.8,520,6117,0.00,2.08,0.00,0.000,4,0.000,0.039,2557,3265,3606,0,0,0,0,0,0
$GC,6269,-0.67,-194.6,882.9,-8.4,526,6276,0.00,2.00,0.00,0.000,6,0.000,0.021,2557,1869,3605,0,0,0,0,0,0
$GC,6585,-0.67,-194.6,912.3,-9.5,542,6589,0.00,2.03,0.00,0.000,4,0.000,0.034,2557,487,3603,0,0,0,0,0,0
$GC,6644,-0.67,-194.6,918.2,-10.3,544,6649,0.12,2.00,0.00,0.000,6,0.168,0.024,2585,1878,3603,0,0,0,0,0,0
$GC,6960,-0.67,-194.6,943.4,-7.6,559,6964,0.00,2.08,0.00,0.000,4,0.000,0.039,2585,3265,3601,0,0,0,0,0,0
$GC,7052,-0.67,-194.6,949.9,-7.1,563,7055,0.00,1.98,0.00,0.000,6,0.000,0.021,2585,1872,3601,0,0,0,0,0,0
$GC,7386,-0.67,-194.6,973.9,-7.3,579,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1872,3599,0,0,0,0,0,0
$STATE,7609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7609,begin apogee
$GC,7615,-0.20,0.0,991.3,7.6,590,7770,0.43,0.00,150.45,1.392,6,0.119,0.000,2732,2085,2839,0,0,0,0,0,0
$STATE,7771,end apogee,CONTROL_FINISHED_OK
$STATE,7771,begin climb
$GC,7773,0.67,194.6,997.1,0.0,597,7941,0.80,0.00,163.68,1.337,6,0.078,0.000,3010,2085,2045,0,0,0,0,0,0
$GC,8237,0.67,194.6,944.8,13.2,620,8241,0.00,2.12,0.00,0.000,4,0.000,0.040,3010,3466,2034,0,0,0,0,0,0
$GC,8271,0.67,194.6,939.8,14.3,621,8279,0.00,2.05,0.00,0.000,6,0.000,0.023,3018,2088,2033,0,0,0,0,0,0
$GC,8588,0.67,194.6,896.2,14.0,637,8592,0.00,2.12,0.00,0.000,4,0.000,0.035,3030,675,2031,0,0,0,0,0,0
$GC,8698,0.67,194.6,879.3,15.1,642,8703,0.00,2.10,0.00,0.000,6,0.000,0.025,3030,2076,2032,0,0,0,0,0,0
$GC,9029,0.67,194.6,827.2,16.6,658,9033,0.00,2.12,0.00,0.000,4,0.000,0.040,3030,3476,2030,0,0,0,0,0,0
$GC,9085,0.67,194.6,816.9,17.3,660,9092,0.00,2.05,0.00,0.000,6,0.000,0.022,3039,2068,2029,0,0,0,0,0,0
$GC,9403,0.67,194.6,763.7,16.9,676,9406,0.00,2.03,0.00,0.000,4,0.000,0.035,3050,690,2029,0,0,0,0,0,0
$GC,9449,0.67,194.6,755.8,16.3,678,9454,0.12,2.08,0.00,0.000,6,0.168,0.025,3017,2092,2029,0,0,0,0,0,0
$GC,9780,0.67,194.6,708.0,14.4,694,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2092,2028,0,0,0,0,0,0
$GC,10085,0.67,194.6,663.0,14.3,709,10089,0.00,2.08,0.00,0.000,4,0.000,0.035,3025,685,2028,0,0,0,0,0,0
$GC,10130,0.67,194.6,656.6,13.9,711,10134,0.00,2.03,0.00,0.000,6,0.000,0.024,3025,2070,2028,0,0,0,0,0,0
$GC,10458,0.67,194.6,611.5,13.2,727,10462,0.00,2.10,0.00,0.000,4,0.000,0.040,3025,3469,2027,0,0,0,0,0,0
$GC,10513,0.67,194.6,603.5,14.6,729,10521,0.00,2.05,0.00,0.000,6,0.000,0.023,3034,2074,2027,0,0,0,0,0,0
$GC,10837,0.67,194.6,559.8,13.4,759,10842,0.00,2.08,0.00,0.000,4,0.000,0.035,3045,683,2026,0,0,0,0,0,0
$GC,10997,0.67,194.6,539.0,13.7,773,11003,0.08,2.08,0.00,0.000,6,0.143,0.025,3019,2082,2027,0,0,0,0,0,0
$GC,11328,0.67,194.6,499.5,11.7,804,11332,0.00,2.08,0.00,0.000,4,0.000,0.041,3019,3464,2026,0,0,0,0,0,0
$GC,11386,0.67,194.6,492.3,12.8,809,11391,0.00,2.05,0.00,0.000,6,0.000,0.023,3028,2072,2025,0,0,0,0,0,0
$GC,11716,0.67,194.6,446.8,14.6,840,11720,0.00,2.05,0.00,0.000,4,0.000,0.035,3038,682,2025,0,0,0,0,0,0
$GC,11884,0.67,194.6,423.1,13.6,855,11888,0.00,2.03,0.00,0.000,6,0.000,0.024,3038,2074,2025,0,0,0,0,0,0
$GC,12216,0.67,194.6,382.5,11.2,886,12220,0.00,2.10,0.00,0.000,4,0.000,0.039,3038,3465,2025,0,0,0,0,0,0
$GC,12288,0.67,194.6,374.0,11.9,892,12295,0.12,2.03,0.00,0.000,6,0.183,0.022,3015,2060,2025,0,0,0,0,0,0
$GC,12613,0.72,242.4,344.0,9.2,923,12654,0.00,2.08,36.35,0.910,4,0.000,0.034,3024,676,1849,0,0,0,0,0,0
$GC,12728,0.73,248.1,331.9,10.8,932,12739,0.00,2.05,5.97,0.710,6,0.000,0.022,3023,2079,1826,0,0,0,0,0,0
$GC,13066,0.74,257.9,296.1,10.6,964,13081,0.00,2.17,9.07,0.768,4,0.000,0.037,3024,3472,1786,0,0,0,0,0,0
$GC,13130,0.74,257.9,288.1,11.9,969,13139,0.00,2.08,0.00,0.000,6,0.000,0.021,3033,2075,1784,0,0,0,0,0,0
$GC,13456,0.75,263.1,251.3,10.8,1000,13471,0.00,2.10,5.40,0.636,4,0.000,0.032,3043,682,1767,0,0,0,0,0,0
$GC,13594,0.79,296.2,237.7,9.7,1022,13627,0.00,2.08,28.27,0.791,6,0.000,0.022,3043,2083,1631,0,0,0,0,0,0
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$STATE,15708,end climb,SURFACE_DEPTH_REACHED
$STATE,15708,begin surface coast
$FINISH,0.7,0.997667
$STATE,15731,end surface coast,CONTROL_FINISHED_OK
$STATE,15731,begin surface
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$TT8_MAMPS,0.02996,0.02996
$HUMID,31.53
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$TCM_TEMP,28.30
$XPDR_PINGS,10
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$10V_AH,10.3,9.330
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329932
$DATA_FILE_SIZE,76842,1372
$CAP_FILE_SIZE,190549,0
$CFSIZE,260165632,137072640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 55.6,1
$GPS,220611,024236,1946.513,12422.217,36,1.3,42,-2.4