version: 66.09
glider: 167
mission: 8
dive: 59
start: 6 22 111 12 27 54
data:
$ID,167
$MISSION,8
$DIVE,59
$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,-56458.305
$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,62
$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
$GPS1,220611,121837,1941.901,12421.626,28,1.1,29,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.7
$GPS2,220611,122656,1942.137,12421.724,15,1.7,33,-2.4
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.011,-0.306
$KALMAN_X,-1186.0,-1082.9,172.3,5932.1,538.9
$KALMAN_Y,9935.7,-796.0,286.9,-48660.8,2508.8
$MHEAD_RNG_PITCHd_Wd,170.0,208992,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.67,-194.6,0.0,0.0,0,102,0.00,0.00,-81.72,0.000,2,0.000,0.000,110,1874,3224,0,0,0,0,0,0
$GC,105,-0.67,-194.6,6.4,-11.7,11,131,9.75,2.08,-6.45,0.000,4,0.236,0.037,2585,459,3636,0,0,0,0,0,0
$GC,202,-0.67,-194.6,48.4,-30.1,27,211,0.00,2.08,0.00,0.000,6,0.000,0.019,2578,1881,3637,0,0,0,0,0,0
$GC,278,-0.67,-194.6,70.2,-27.6,40,286,0.00,2.05,0.00,0.000,4,0.000,0.031,2567,3258,3637,0,0,0,0,0,0
$GC,376,-0.67,-194.6,96.1,-27.6,57,384,0.00,2.03,0.00,0.000,6,0.000,0.018,2567,1851,3637,0,0,0,0,0,0
$GC,451,-0.67,-194.6,117.0,-28.4,70,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1850,3638,0,0,0,0,0,0
$GC,525,-0.67,-194.6,137.1,-26.1,83,533,0.00,1.98,0.00,0.000,4,0.000,0.028,2567,500,3638,0,0,0,0,0,0
$GC,558,-0.67,-194.6,145.6,-25.4,88,568,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1868,3638,0,0,0,0,0,0
$GC,635,-0.67,-194.6,163.7,-23.6,101,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1868,3638,0,0,0,0,0,0
$GC,711,-0.67,-194.6,180.5,-20.9,114,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1868,3638,0,0,0,0,0,0
$GC,786,-0.67,-194.6,196.1,-20.3,127,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1868,3639,0,0,0,0,0,0
$GC,859,-0.67,-194.6,211.7,-22.3,140,868,0.00,2.08,0.00,0.000,4,0.000,0.032,2549,3268,3639,0,0,0,0,0,0
$GC,894,-0.67,-194.6,219.1,-21.4,145,903,0.10,2.00,0.00,0.000,6,0.160,0.018,2580,1853,3639,0,0,0,0,0,0
$GC,971,-0.67,-194.6,233.4,-17.0,158,979,0.00,1.95,0.00,0.000,4,0.000,0.030,2580,517,3639,0,0,0,0,0,0
$GC,1020,-0.67,-194.6,241.3,-16.7,166,1029,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1876,3639,0,0,0,0,0,0
$GC,1099,-0.67,-194.6,253.8,-14.7,177,1102,0.00,2.03,0.00,0.000,4,0.000,0.034,2574,3270,3639,0,0,0,0,0,0
$GC,1145,-0.67,-194.6,260.9,-15.0,181,1149,0.00,1.92,0.00,0.000,6,0.000,0.018,2574,1890,3639,0,0,0,0,0,0
$GC,1475,-0.67,-194.6,310.6,-14.5,212,1479,0.00,2.03,0.00,0.000,4,0.000,0.030,2574,487,3639,0,0,0,0,0,0
$GC,1610,-0.67,-194.6,329.3,-13.9,224,1614,0.00,1.98,0.00,0.000,6,0.000,0.022,2574,1880,3638,0,0,0,0,0,0
$GC,1941,-0.67,-194.6,374.0,-12.5,255,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1880,3637,0,0,0,0,0,0
$GC,2261,-0.67,-194.6,410.5,-11.0,285,2265,0.00,2.05,0.00,0.000,4,0.000,0.034,2573,3274,3636,0,0,0,0,0,0
$GC,2347,-0.67,-194.6,420.1,-10.7,292,2354,0.00,1.98,0.00,0.000,6,0.000,0.020,2573,1877,3634,0,0,0,0,0,0
$GC,2672,-0.67,-194.6,458.9,-11.9,323,2676,0.00,2.00,0.00,0.000,4,0.000,0.031,2573,494,3633,0,0,0,0,0,0
$GC,2731,-0.67,-194.6,465.7,-11.9,328,2734,0.00,1.98,0.00,0.000,6,0.000,0.023,2572,1881,3633,0,0,0,0,0,0
$GC,3062,-0.67,-194.6,501.7,-10.5,359,3065,0.00,2.05,0.00,0.000,4,0.000,0.036,2573,3271,3630,0,0,0,0,0,0
$GC,3143,-0.67,-194.6,509.8,-9.9,366,3147,0.00,1.98,0.00,0.000,6,0.000,0.020,2573,1864,3630,0,0,0,0,0,0
$GC,3475,-0.67,-194.6,545.0,-10.9,397,3479,0.00,2.08,0.00,0.000,4,0.000,0.035,2573,3273,3627,0,0,0,0,0,0
$GC,3527,-0.67,-194.6,550.3,-10.5,401,3531,0.00,1.98,0.00,0.000,6,0.000,0.021,2573,1870,3627,0,0,0,0,0,0
$GC,3859,-0.67,-194.6,585.8,-10.3,432,3862,0.00,2.00,0.00,0.000,4,0.000,0.033,2572,494,3624,0,0,0,0,0,0
$GC,3906,-0.67,-194.6,590.9,-11.1,436,3909,0.00,2.00,0.00,0.000,6,0.000,0.023,2571,1881,3624,0,0,0,0,0,0
$GC,4230,-0.67,-194.6,622.3,-9.4,456,4233,0.00,2.05,0.00,0.000,4,0.000,0.037,2570,3267,3621,0,0,0,0,0,0
$GC,4299,-0.67,-194.6,628.6,-9.3,459,4303,0.00,1.98,0.00,0.000,6,0.000,0.021,2570,1871,3621,0,0,0,0,0,0
$GC,4634,-0.67,-194.6,661.2,-9.8,475,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1870,3618,0,0,0,0,0,0
$GC,4942,-0.67,-194.6,691.6,-9.9,490,4946,0.00,2.08,0.00,0.000,4,0.000,0.037,2570,3271,3615,0,0,0,0,0,0
$GC,4983,-0.67,-194.6,695.6,-9.6,492,4987,0.00,2.00,0.00,0.000,6,0.000,0.021,2570,1876,3615,0,0,0,0,0,0
$GC,5317,-0.67,-194.6,728.9,-9.9,508,5321,0.00,2.05,0.00,0.000,4,0.000,0.034,2570,488,3612,0,0,0,0,0,0
$GC,5364,-0.67,-194.6,733.9,-10.4,510,5368,0.00,2.03,0.00,0.000,6,0.000,0.024,2570,1883,3611,0,0,0,0,0,0
$GC,5699,-0.67,-194.6,765.5,-9.2,526,5703,0.00,2.08,0.00,0.000,4,0.000,0.039,2570,3273,3609,0,0,0,0,0,0
$GC,5749,-0.67,-194.6,770.4,-9.0,528,5753,0.00,2.00,0.00,0.000,6,0.000,0.022,2570,1870,3609,0,0,0,0,0,0
$GC,6080,-0.67,-194.6,798.3,-8.5,544,6084,0.00,2.03,0.00,0.000,4,0.000,0.035,2570,490,3606,0,0,0,0,0,0
$GC,6136,-0.67,-194.6,803.5,-9.0,546,6140,0.00,2.00,0.00,0.000,6,0.000,0.024,2570,1877,3605,0,0,0,0,0,0
$GC,6460,-0.67,-194.6,827.2,-7.0,562,6464,0.00,2.05,0.00,0.000,4,0.000,0.039,2570,3266,3604,0,0,0,0,0,0
$GC,6512,-0.67,-194.6,831.0,-6.9,564,6515,0.00,1.98,0.00,0.000,6,0.000,0.021,2570,1874,3604,0,0,0,0,0,0
$GC,6842,-0.67,-194.6,854.6,-7.4,580,6846,0.00,2.10,0.00,0.000,4,0.000,0.037,2570,3273,3602,0,0,0,0,0,0
$GC,6869,-0.67,-194.6,857.0,-7.6,581,6874,0.00,2.03,0.00,0.000,6,0.000,0.022,2570,1879,3602,0,0,0,0,0,0
$GC,7192,-0.67,-194.6,882.9,-8.0,597,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1879,3599,0,0,0,0,0,0
$GC,7500,-0.67,-194.6,908.5,-8.4,612,7503,0.00,2.03,0.00,0.000,4,0.000,0.034,2570,489,3598,0,0,0,0,0,0
$GC,7527,-0.67,-194.6,911.0,-8.3,613,7531,0.00,2.03,0.00,0.000,6,0.000,0.025,2570,1874,3597,0,0,0,0,0,0
$GC,7858,-0.67,-194.6,937.9,-8.3,629,7862,0.00,2.08,0.00,0.000,4,0.000,0.040,2569,3274,3596,0,0,0,0,0,0
$GC,7903,-0.67,-194.6,941.9,-7.9,631,7907,0.00,2.00,0.00,0.000,6,0.000,0.022,2569,1870,3595,0,0,0,0,0,0
$GC,8234,-0.67,-194.6,970.0,-9.1,647,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1869,3595,0,0,0,0,0,0
$STATE,8455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8455,begin apogee
$GC,8461,-0.20,0.0,991.3,9.3,658,8618,0.47,0.00,150.25,1.397,6,0.128,0.000,2729,2076,2839,0,0,0,0,0,0
$STATE,8619,end apogee,CONTROL_FINISHED_OK
$STATE,8619,begin climb
$GC,8621,0.67,194.6,998.2,0.0,665,8795,0.80,0.00,163.90,1.346,6,0.081,0.000,3006,2076,2044,0,0,0,0,0,0
$GC,9104,0.67,194.6,940.8,14.2,689,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2076,2034,0,0,0,0,0,0
$GC,9413,0.67,194.6,896.9,14.2,704,9417,0.00,2.10,0.00,0.000,4,0.000,0.036,3013,684,2032,0,0,0,0,0,0
$GC,9453,0.67,194.6,891.0,14.3,706,9457,0.00,2.08,0.00,0.000,6,0.000,0.026,3013,2068,2032,0,0,0,0,0,0
$GC,9784,0.67,194.6,843.5,14.4,722,9788,0.00,2.12,0.00,0.000,4,0.000,0.039,3013,3476,2031,0,0,0,0,0,0
$GC,9811,0.67,194.6,838.9,14.0,723,9816,0.00,2.08,0.00,0.000,6,0.000,0.023,3022,2085,2030,0,0,0,0,0,0
$GC,10132,0.67,194.6,792.6,14.1,739,10136,0.00,2.10,0.00,0.000,4,0.000,0.037,3033,679,2030,0,0,0,0,0,0
$GC,10263,0.67,194.6,774.1,14.2,745,10267,0.00,2.08,0.00,0.000,6,0.000,0.026,3033,2077,2029,0,0,0,0,0,0
$GC,10592,0.67,194.6,727.6,13.6,761,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2077,2029,0,0,0,0,0,0
$GC,10900,0.67,194.6,684.5,13.8,776,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2077,2028,0,0,0,0,0,0
$GC,11208,0.67,194.6,642.5,13.6,791,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2077,2028,0,0,0,0,0,0
$GC,11518,0.67,194.6,601.4,13.4,806,11522,0.00,2.10,0.00,0.000,4,0.000,0.040,3033,3473,2028,0,0,0,0,0,0
$GC,11563,0.67,194.6,594.8,14.9,809,11572,0.00,2.03,0.00,0.000,6,0.000,0.023,3043,2072,2027,0,0,0,0,0,0
$GC,11889,0.67,194.6,548.4,15.2,840,11892,0.00,2.05,0.00,0.000,4,0.000,0.037,3054,688,2027,0,0,0,0,0,0
$GC,12014,0.67,194.6,529.2,15.3,851,12019,0.15,2.03,0.00,0.000,6,0.158,0.025,3012,2085,2027,0,0,0,0,0,0
$GC,12339,0.67,194.6,484.1,13.6,881,12344,0.00,2.10,0.00,0.000,4,0.000,0.040,3012,3465,2027,0,0,0,0,0,0
$GC,12390,0.67,194.6,476.7,14.6,885,12397,0.00,2.03,0.00,0.000,6,0.000,0.023,3020,2076,2026,0,0,0,0,0,0
$GC,12715,0.67,194.6,434.7,11.1,916,12718,0.00,2.05,0.00,0.000,4,0.000,0.036,3030,687,2026,0,0,0,0,0,0
$GC,12810,0.67,197.9,424.1,10.9,924,12817,0.00,2.05,0.00,0.000,6,0.000,0.025,3030,2079,2026,0,0,0,0,0,0
$GC,13136,0.67,199.2,388.4,11.0,955,13139,0.00,2.08,0.00,0.000,4,0.000,0.039,3030,3468,2026,0,0,0,0,0,0
$GC,13227,0.67,199.2,377.3,12.8,963,13232,0.00,2.05,0.00,0.000,6,0.000,0.023,3040,2074,2026,0,0,0,0,0,0
$GC,13558,0.67,199.2,336.5,12.6,994,13562,0.00,2.05,0.00,0.000,4,0.000,0.035,3050,679,2026,0,0,0,0,0,0
$GC,13675,0.67,199.2,322.3,11.9,1004,13683,0.12,2.03,0.00,0.000,6,0.157,0.024,3016,2082,2025,0,0,0,0,0,0
$GC,14003,0.70,224.9,289.2,10.0,1035,14030,0.00,2.10,22.35,0.849,4,0.000,0.032,3024,675,1921,0,0,0,0,0,0
$GC,14088,0.70,224.9,280.0,11.0,1042,14093,0.00,2.08,0.00,0.000,6,0.000,0.023,3024,2073,1919,0,0,0,0,0,0
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$STATE,16640,end climb,SURFACE_DEPTH_REACHED
$STATE,16640,begin surface coast
$FINISH,0.7,1.010293
$STATE,16663,end surface coast,CONTROL_FINISHED_OK
$STATE,16663,begin surface
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$TCM_TEMP,28.80
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$10V_AH,10.3,9.824
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329888
$DATA_FILE_SIZE,80179,1441
$CAP_FILE_SIZE,192959,0
$CFSIZE,260165632,136785920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,331.6,1
$GPS,220611,170807,1940.287,12421.705,32,1.4,33,-2.4