version: 66.09
glider: 167
mission: 8
dive: 74
start: 6 25 111 20 21 41
data:
$ID,167
$MISSION,8
$DIVE,74
$N_DIVES,85
$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,-56479.789
$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,65
$R_STBD_OVSHOOT,69
$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
$GPS1,250611,201054,1915.134,12425.041,41,1.0,41,-2.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.1
$GPS2,250611,202119,1915.109,12425.181,15,1.8,32,-2.3
$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,172.9,158570,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,93,0.00,0.00,-72.07,0.000,2,0.000,0.000,108,1870,3166,0,0,0,0,0,0
$GC,96,-0.56,-146.0,5.9,-11.1,10,119,9.73,2.10,-4.38,0.000,4,0.227,0.043,2601,3272,3438,0,0,0,0,0,0
$GC,145,-0.56,-146.0,31.3,-50.3,17,155,0.00,2.05,0.00,0.000,6,0.000,0.018,2601,1857,3439,0,0,0,0,0,0
$GC,286,-0.56,-146.0,85.8,-32.6,42,294,0.00,2.00,0.00,0.000,4,0.000,0.028,2601,491,3439,0,0,0,0,0,0
$GC,392,-0.56,-146.0,110.9,-19.9,60,400,0.00,2.00,0.00,0.000,6,0.000,0.019,2593,1880,3440,0,0,0,0,0,0
$GC,534,-0.56,-146.0,140.6,-20.5,85,543,0.00,2.03,0.00,0.000,4,0.000,0.030,2583,3254,3440,0,0,0,0,0,0
$GC,710,-0.56,-146.0,179.9,-24.6,115,718,0.10,1.98,0.00,0.000,6,0.169,0.018,2612,1849,3440,0,0,0,0,0,0
$GC,858,-0.56,-146.0,204.7,-13.1,138,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1848,3441,0,0,0,0,0,0
$GC,1177,-0.56,-146.0,249.2,-14.6,168,1180,0.00,2.08,0.00,0.000,4,0.000,0.029,2605,3261,3441,0,0,0,0,0,0
$GC,1359,-0.56,-146.0,272.6,-11.0,184,1369,0.00,1.95,0.00,0.000,6,0.000,0.018,2604,1884,3441,0,0,0,0,0,0
$GC,1685,-0.56,-146.0,306.2,-10.7,215,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1883,3441,0,0,0,0,0,0
$GC,2005,-0.56,-146.0,340.8,-10.5,245,2009,0.00,2.03,0.00,0.000,4,0.000,0.031,2603,3265,3439,0,0,0,0,0,0
$GC,2100,-0.56,-146.0,350.8,-10.2,253,2108,0.00,1.98,0.00,0.000,6,0.000,0.018,2603,1877,3438,0,0,0,0,0,0
$GC,2426,-0.56,-146.0,384.7,-9.7,284,2430,0.00,2.00,0.00,0.000,4,0.000,0.030,2603,485,3437,0,0,0,0,0,0
$GC,2551,-0.56,-146.0,395.9,-8.6,295,2555,0.00,1.95,0.00,0.000,6,0.000,0.021,2601,1870,3436,0,0,0,0,0,0
$GC,2885,-0.56,-146.0,425.8,-9.7,326,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1870,3434,0,0,0,0,0,0
$GC,3213,-0.56,-146.0,455.9,-9.2,357,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1870,3432,0,0,0,0,0,0
$GC,3541,-0.56,-146.0,483.8,-8.7,388,3546,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3267,3430,0,0,0,0,0,0
$GC,3601,-0.56,-146.0,489.4,-8.6,393,3610,0.00,1.98,0.00,0.000,6,0.000,0.019,2600,1882,3430,0,0,0,0,0,0
$GC,3922,-0.56,-146.0,514.9,-8.0,415,3926,0.00,2.03,0.00,0.000,4,0.000,0.032,2600,486,3427,0,0,0,0,0,0
$GC,3984,-0.56,-146.0,520.6,-9.1,417,3992,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1873,3427,0,0,0,0,0,0
$GC,4303,-0.56,-146.0,545.9,-7.7,433,4306,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3269,3425,0,0,0,0,0,0
$GC,4396,-0.56,-146.0,552.8,-7.2,437,4399,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1869,3424,0,0,0,0,0,0
$GC,4731,-0.56,-146.0,575.9,-6.7,453,4734,0.00,2.00,0.00,0.000,4,0.000,0.032,2600,491,3422,0,0,0,0,0,0
$GC,4764,-0.56,-146.0,578.5,-6.6,454,4769,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1883,3422,0,0,0,0,0,0
$GC,5087,-0.56,-146.0,599.8,-7.2,470,5091,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3272,3420,0,0,0,0,0,0
$GC,5209,-0.56,-146.0,609.0,-7.2,475,5213,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1867,3418,0,0,0,0,0,0
$GC,5534,-0.56,-146.0,635.1,-8.1,491,5538,0.00,1.98,0.00,0.000,4,0.000,0.032,2600,494,3417,0,0,0,0,0,0
$GC,5574,-0.56,-146.0,638.8,-8.1,492,5580,0.00,1.98,0.00,0.000,6,0.000,0.022,2600,1880,3416,0,0,0,0,0,0
$GC,5890,-0.56,-146.0,663.0,-7.4,508,5893,0.00,2.03,0.00,0.000,4,0.000,0.036,2600,3263,3414,0,0,0,0,0,0
$GC,5941,-0.56,-146.0,666.6,-6.8,510,5946,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1876,3414,0,0,0,0,0,0
$GC,6269,-0.56,-146.0,686.4,-5.6,526,6272,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3264,3411,0,0,0,0,0,0
$GC,6327,-0.56,-146.0,689.5,-5.3,528,6330,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1865,3411,0,0,0,0,0,0
$GC,6650,-0.56,-146.0,707.3,-5.8,544,6653,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,497,3409,0,0,0,0,0,0
$GC,6740,-0.56,-146.0,713.8,-7.2,548,6744,0.00,1.98,0.00,0.000,6,0.000,0.023,2600,1876,3408,0,0,0,0,0,0
$GC,7075,-0.56,-146.0,738.2,-7.8,564,7078,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3268,3406,0,0,0,0,0,0
$GC,7146,-0.56,-146.0,743.6,-7.2,567,7150,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1874,3405,0,0,0,0,0,0
$GC,7477,-0.56,-146.0,764.3,-5.7,583,7480,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,490,3403,0,0,0,0,0,0
$GC,7516,-0.56,-146.0,767.1,-5.6,584,7523,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1886,3403,0,0,0,0,0,0
$GC,7832,-0.56,-146.0,784.6,-5.5,600,7835,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3263,3402,0,0,0,0,0,0
$GC,7962,-0.56,-146.0,791.6,-5.4,605,7970,0.00,1.98,0.00,0.000,6,0.000,0.021,2599,1865,3402,0,0,0,0,0,0
$GC,8280,-0.56,-146.0,810.0,-6.1,621,8284,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,503,3400,0,0,0,0,0,0
$GC,8332,-0.56,-146.0,813.8,-7.0,623,8336,0.00,1.98,0.00,0.000,6,0.000,0.024,2600,1877,3399,0,0,0,0,0,0
$GC,8662,-0.56,-146.0,836.7,-7.1,639,8665,0.00,2.05,0.00,0.000,4,0.000,0.039,2600,3264,3398,0,0,0,0,0,0
$GC,8697,-0.56,-146.0,839.3,-7.2,640,8701,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1871,3398,0,0,0,0,0,0
$GC,9020,-0.56,-146.0,862.2,-7.2,656,9025,0.00,2.12,0.00,0.000,4,0.000,0.037,2600,3268,3397,0,0,0,0,0,0
$GC,9047,-0.56,-146.0,864.3,-7.3,657,9051,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1874,3397,0,0,0,0,0,0
$GC,9375,-0.56,-146.0,887.3,-7.1,673,9379,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3268,3395,0,0,0,0,0,0
$GC,9403,-0.56,-146.0,889.3,-7.1,674,9407,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1875,3395,0,0,0,0,0,0
$GC,9725,-0.56,-146.0,912.4,-7.3,690,9729,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,495,3394,0,0,0,0,0,0
$GC,9810,-0.56,-146.0,919.3,-8.4,693,9818,0.00,2.00,0.00,0.000,6,0.000,0.024,2600,1885,3394,0,0,0,0,0,0
$GC,10128,-0.56,-146.0,941.1,-6.7,709,10132,0.00,2.05,0.00,0.000,4,0.000,0.038,2600,3270,3392,0,0,0,0,0,0
$GC,10190,-0.56,-146.0,945.4,-6.4,711,10197,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1879,3392,0,0,0,0,0,0
$GC,10510,-0.56,-146.0,963.6,-5.5,727,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1878,3391,0,0,0,0,0,0
$GC,10816,-0.56,-146.0,978.6,-4.6,742,10820,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3271,3391,0,0,0,0,0,0
$GC,10848,-0.56,-146.0,980.2,-4.6,743,10855,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1863,3391,0,0,0,0,0,0
$STATE,11101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11101,begin apogee
$GC,11108,-0.20,0.0,990.5,3.9,756,11225,0.38,0.00,110.10,1.415,6,0.126,0.000,2728,2079,2841,0,0,0,0,0,0
$STATE,11226,end apogee,CONTROL_FINISHED_OK
$STATE,11226,begin climb
$GC,11231,0.56,146.0,990.4,0.0,761,11361,0.73,2.22,123.40,1.362,4,0.080,0.032,2990,699,2244,0,0,0,0,0,0
$GC,11390,0.56,146.0,974.0,13.5,768,11394,0.00,2.12,0.00,0.000,6,0.000,0.024,2990,2067,2240,0,0,0,0,0,0
$GC,11719,0.56,146.0,928.7,13.8,784,11723,0.00,2.17,0.00,0.000,4,0.000,0.040,2990,3473,2233,0,0,0,0,0,0
$GC,11774,0.56,146.0,920.2,14.6,786,11781,0.00,2.05,0.00,0.000,6,0.000,0.022,2996,2090,2232,0,0,0,0,0,0
$GC,12093,0.56,146.0,879.0,13.1,802,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2090,2230,0,0,0,0,0,0
$GC,12401,0.56,146.0,841.1,12.1,817,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2090,2229,0,0,0,0,0,0
$GC,12709,0.56,146.0,803.4,12.1,832,12713,0.00,2.12,0.00,0.000,4,0.000,0.035,3002,670,2228,0,0,0,0,0,0
$GC,12809,0.56,146.0,791.2,12.0,836,12816,0.00,2.10,0.00,0.000,6,0.000,0.024,3002,2084,2228,0,0,0,0,0,0
$GC,13125,0.56,146.0,753.2,12.1,852,13129,0.00,2.10,0.00,0.000,4,0.000,0.040,3002,3471,2228,0,0,0,0,0,0
$GC,13197,0.56,146.0,743.7,13.4,855,13201,0.00,2.05,0.00,0.000,6,0.000,0.023,3011,2059,2228,0,0,0,0,0,0
$GC,13514,0.56,146.0,705.9,11.6,870,13518,0.00,2.03,0.00,0.000,4,0.000,0.036,3021,684,2227,0,0,0,0,0,0
$GC,13575,0.56,146.0,698.3,11.9,872,13583,0.10,2.08,0.00,0.000,6,0.147,0.025,2989,2082,2227,0,0,0,0,0,0
$GC,13893,0.56,146.0,664.3,10.8,888,13896,0.00,2.10,0.00,0.000,4,0.000,0.040,2989,3466,2227,0,0,0,0,0,0
$GC,13975,0.56,146.0,653.6,12.7,891,13983,0.00,2.03,0.00,0.000,6,0.000,0.024,2996,2072,2226,0,0,0,0,0,0
$GC,14294,0.56,146.0,615.9,11.9,907,14297,0.00,2.08,0.00,0.000,4,0.000,0.035,3004,676,2226,0,0,0,0,0,0
$GC,14373,0.56,146.0,606.1,11.7,910,14378,0.00,2.08,0.00,0.000,6,0.000,0.024,3005,2069,2226,0,0,0,0,0,0
$GC,14694,0.56,146.0,570.7,10.5,926,14698,0.00,2.10,0.00,0.000,4,0.000,0.039,3005,3469,2225,0,0,0,0,0,0
$GC,14830,0.56,146.0,555.1,11.4,932,14835,0.12,2.05,0.00,0.000,6,0.180,0.023,2982,2060,2225,0,0,0,0,0,0
$GC,15154,0.57,151.1,528.4,8.1,948,15157,0.00,2.03,0.00,0.000,4,0.000,0.035,2990,687,2225,0,0,0,0,0,0
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$STATE,21323,end climb,SURFACE_DEPTH_REACHED
$STATE,21323,begin surface coast
$FINISH,0.7,1.011862
$STATE,21351,end surface coast,CONTROL_FINISHED_OK
$STATE,21351,begin surface
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$10V_AH,10.2,12.465
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$FG_AHR_10Vo,0.000
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$MEM,329884
$DATA_FILE_SIZE,96813,1696
$CAP_FILE_SIZE,223602,0
$CFSIZE,260165632,135294976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 31.5,1
$GPS,260611,022006,1913.252,12426.004,36,1.1,36,-2.3