version: 66.09
glider: 167
mission: 8
dive: 77
start: 6 26 111 15 13 44
data:
$ID,167
$MISSION,8
$DIVE,77
$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,-56483.66
$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,75
$R_STBD_OVSHOOT,73
$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
$GPS1,260611,145907,1909.246,12425.873,29,0.9,29,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.9
$GPS2,260611,151319,1909.458,12425.942,10,2.0,10,-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,180.3,148020,-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,14,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,105,0.00,0.00,-85.45,0.000,2,0.000,0.000,108,1872,3282,0,0,0,0,0,0
$GC,108,-0.56,-146.0,6.6,-12.4,12,132,9.80,2.08,-2.40,0.000,4,0.230,0.039,2616,469,3437,0,0,0,0,0,0
$GC,147,-0.56,-146.0,28.5,-51.2,17,155,0.00,2.05,0.00,0.000,6,0.000,0.021,2608,1863,3439,0,0,0,0,0,0
$GC,289,-0.56,-146.0,71.8,-27.3,42,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1863,3440,0,0,0,0,0,0
$GC,431,-0.56,-146.0,107.4,-22.1,67,439,0.00,2.10,0.00,0.000,4,0.000,0.033,2598,3268,3439,0,0,0,0,0,0
$GC,633,-0.56,-146.0,153.6,-15.9,103,642,0.00,2.00,0.00,0.000,6,0.000,0.018,2598,1867,3440,0,0,0,0,0,0
$GC,777,-0.56,-146.0,177.5,-17.1,128,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1866,3440,0,0,0,0,0,0
$GC,924,-0.56,-146.0,199.9,-14.3,153,932,0.00,2.00,0.00,0.000,4,0.000,0.030,2598,497,3440,0,0,0,0,0,0
$GC,999,-0.56,-146.0,211.9,-15.5,160,1007,0.00,2.00,0.00,0.000,6,0.000,0.019,2589,1890,3441,0,0,0,0,0,0
$GC,1326,-0.56,-146.0,255.9,-12.8,191,1331,0.00,2.05,0.00,0.000,4,0.000,0.032,2587,3263,3440,0,0,0,0,0,0
$GC,1426,-0.56,-146.0,268.1,-12.1,200,1431,0.00,1.98,0.00,0.000,6,0.000,0.018,2587,1862,3440,0,0,0,0,0,0
$GC,1757,-0.56,-146.0,313.5,-14.2,231,1759,0.10,0.00,0.00,0.000,6,0.179,0.000,2612,1860,3438,0,0,0,0,0,0
$GC,2076,-0.56,-146.0,348.8,-10.0,261,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1860,3437,0,0,0,0,0,0
$GC,2395,-0.56,-146.0,380.6,-9.7,291,2399,0.00,1.98,0.00,0.000,4,0.000,0.030,2612,507,3435,0,0,0,0,0,0
$GC,2421,-0.56,-146.0,383.6,-10.1,293,2428,0.00,1.95,0.00,0.000,6,0.000,0.021,2612,1864,3435,0,0,0,0,0,0
$GC,2749,-0.56,-146.0,414.9,-9.0,324,2753,0.00,2.05,0.00,0.000,4,0.000,0.033,2612,3266,3433,0,0,0,0,0,0
$GC,2883,-0.56,-146.0,427.1,-8.6,336,2887,0.00,1.95,0.00,0.000,6,0.000,0.019,2612,1881,3432,0,0,0,0,0,0
$GC,3215,-0.56,-146.0,455.0,-7.9,367,3219,0.00,2.00,0.00,0.000,4,0.000,0.031,2612,493,3430,0,0,0,0,0,0
$GC,3298,-0.56,-146.0,462.5,-8.8,374,3306,0.00,2.00,0.00,0.000,6,0.000,0.021,2612,1893,3429,0,0,0,0,0,0
$GC,3625,-0.56,-146.0,489.9,-8.4,405,3629,0.00,2.03,0.00,0.000,4,0.000,0.034,2609,3274,3427,0,0,0,0,0,0
$GC,3705,-0.56,-146.0,496.5,-8.0,412,3709,0.00,1.95,0.00,0.000,6,0.000,0.020,2609,1879,3427,0,0,0,0,0,0
$GC,4039,-0.56,-146.0,521.4,-7.1,430,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1879,3425,0,0,0,0,0,0
$GC,4347,-0.56,-146.0,543.5,-7.5,445,4351,0.00,2.03,0.00,0.000,4,0.000,0.031,2609,484,3422,0,0,0,0,0,0
$GC,4417,-0.56,-146.0,549.4,-8.8,448,4421,0.00,2.00,0.00,0.000,6,0.000,0.021,2603,1878,3422,0,0,0,0,0,0
$GC,4750,-0.56,-146.0,578.2,-8.6,464,4753,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3267,3420,0,0,0,0,0,0
$GC,4873,-0.56,-146.0,588.9,-8.1,469,4876,0.00,1.98,0.00,0.000,6,0.000,0.020,2601,1860,3419,0,0,0,0,0,0
$GC,5198,-0.56,-146.0,613.2,-7.1,485,5202,0.00,1.98,0.00,0.000,4,0.000,0.033,2600,501,3417,0,0,0,0,0,0
$GC,5238,-0.56,-146.0,616.5,-6.9,486,5246,0.00,1.98,0.00,0.000,6,0.000,0.023,2600,1872,3416,0,0,0,0,0,0
$GC,5555,-0.56,-146.0,637.6,-6.4,502,5559,0.00,2.08,0.00,0.000,4,0.000,0.038,2601,3268,3414,0,0,0,0,0,0
$GC,5577,-0.56,-146.0,639.1,-6.4,503,5581,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1883,3414,0,0,0,0,0,0
$GC,5907,-0.56,-146.0,656.6,-5.1,519,5911,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3267,3411,0,0,0,0,0,0
$GC,5981,-0.56,-146.0,660.8,-5.5,522,5986,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1873,3411,0,0,0,0,0,0
$GC,6308,-0.56,-146.0,680.0,-6.3,538,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1873,3408,0,0,0,0,0,0
$GC,6619,-0.56,-146.0,701.7,-7.3,553,6624,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,491,3406,0,0,0,0,0,0
$GC,6651,-0.56,-146.0,704.6,-7.7,554,6655,0.00,1.98,0.00,0.000,6,0.000,0.023,2600,1877,3406,0,0,0,0,0,0
$GC,6974,-0.56,-146.0,727.9,-6.9,570,6978,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3271,3404,0,0,0,0,0,0
$GC,7085,-0.56,-146.0,735.8,-6.8,575,7089,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1864,3403,0,0,0,0,0,0
$GC,7413,-0.56,-146.0,755.8,-5.8,591,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1864,3401,0,0,0,0,0,0
$GC,7723,-0.56,-146.0,773.8,-5.8,606,7728,0.00,2.05,0.00,0.000,4,0.000,0.035,2601,489,3400,0,0,0,0,0,0
$GC,7784,-0.56,-146.0,778.1,-6.9,608,7791,0.00,2.03,0.00,0.000,6,0.000,0.024,2600,1880,3400,0,0,0,0,0,0
$GC,8100,-0.56,-146.0,799.0,-6.9,624,8104,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3274,3397,0,0,0,0,0,0
$GC,8158,-0.56,-146.0,803.0,-7.1,626,8166,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1869,3397,0,0,0,0,0,0
$GC,8475,-0.56,-146.0,825.7,-7.3,642,8479,0.00,2.10,0.00,0.000,4,0.000,0.036,2600,3268,3396,0,0,0,0,0,0
$GC,8525,-0.56,-146.0,829.5,-7.2,644,8530,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1871,3396,0,0,0,0,0,0
$GC,8848,-0.56,-146.0,852.6,-7.0,660,8852,0.00,2.08,0.00,0.000,4,0.000,0.036,2600,3271,3395,0,0,0,0,0,0
$GC,8880,-0.56,-146.0,854.8,-6.9,661,8887,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1877,3394,0,0,0,0,0,0
$GC,9197,-0.56,-146.0,875.1,-6.2,677,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1877,3393,0,0,0,0,0,0
$GC,9508,-0.56,-146.0,891.9,-5.2,692,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1876,3392,0,0,0,0,0,0
$GC,9816,-0.56,-146.0,907.5,-4.9,707,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1876,3391,0,0,0,0,0,0
$GC,10125,-0.56,-146.0,924.0,-5.6,722,10129,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3270,3390,0,0,0,0,0,0
$GC,10175,-0.56,-146.0,927.1,-5.7,724,10179,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1865,3390,0,0,0,0,0,0
$GC,10499,-0.56,-146.0,948.0,-6.9,740,10503,0.00,2.10,0.00,0.000,4,0.000,0.038,2600,3273,3389,0,0,0,0,0,0
$GC,10527,-0.56,-146.0,950.1,-7.1,741,10531,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1874,3389,0,0,0,0,0,0
$GC,10849,-0.56,-146.0,973.6,-7.4,757,10853,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3268,3389,0,0,0,0,0,0
$GC,10894,-0.56,-146.0,977.2,-7.7,759,10899,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1877,3388,0,0,0,0,0,0
$STATE,11075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11075,begin apogee
$GC,11081,-0.20,0.0,990.9,7.5,768,11200,0.38,0.00,110.30,1.414,6,0.125,0.000,2729,2088,2838,0,0,0,0,0,0
$STATE,11201,end apogee,CONTROL_FINISHED_OK
$STATE,11201,begin climb
$GC,11204,0.56,146.0,995.2,0.0,773,11336,0.70,0.00,124.35,1.363,6,0.080,0.000,2975,2088,2241,0,0,0,0,0,0
$GC,11646,0.56,146.0,957.0,10.2,795,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2088,2232,0,0,0,0,0,0
$GC,11955,0.56,146.0,924.1,10.9,810,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2088,2229,0,0,0,0,0,0
$GC,12263,0.56,146.0,889.6,11.4,825,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2088,2228,0,0,0,0,0,0
$GC,12575,0.56,146.0,853.5,11.5,840,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2088,2227,0,0,0,0,0,0
$GC,12884,0.56,146.0,818.5,11.1,855,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2088,2227,0,0,0,0,0,0
$GC,13191,0.56,146.0,786.9,9.9,870,13195,0.00,2.10,0.00,0.000,4,0.000,0.040,2975,3475,2226,0,0,0,0,0,0
$GC,13242,0.56,146.0,781.2,11.1,872,13246,0.00,2.03,0.00,0.000,6,0.000,0.022,2982,2080,2226,0,0,0,0,0,0
$GC,13564,0.56,146.0,748.4,10.3,888,13567,0.00,2.08,0.00,0.000,4,0.000,0.037,2992,689,2226,0,0,0,0,0,0
$GC,13693,0.56,146.0,734.4,10.4,893,13700,0.00,2.03,0.00,0.000,6,0.000,0.025,2993,2074,2225,0,0,0,0,0,0
$GC,14010,0.56,146.0,700.5,10.9,909,14014,0.00,2.08,0.00,0.000,4,0.000,0.039,2992,3469,2225,0,0,0,0,0,0
$GC,14042,0.56,146.0,696.2,12.1,910,14051,0.00,2.05,0.00,0.000,6,0.000,0.024,3001,2068,2224,0,0,0,0,0,0
$GC,14362,0.56,146.0,659.4,11.6,926,14365,0.00,2.03,0.00,0.000,4,0.000,0.036,3011,688,2224,0,0,0,0,0,0
$GC,14408,0.56,146.0,653.7,11.7,928,14412,0.00,2.05,0.00,0.000,6,0.000,0.025,3011,2074,2224,0,0,0,0,0,0
$GC,14743,0.56,146.0,613.3,12.1,944,14746,0.00,2.08,0.00,0.000,4,0.000,0.034,3019,685,2223,0,0,0,0,0,0
$GC,14794,0.56,146.0,606.8,12.1,946,14799,0.12,2.05,0.00,0.000,6,0.163,0.025,2987,2090,2224,0,0,0,0,0,0
$GC,15117,0.56,146.0,574.6,9.6,962,15121,0.00,2.10,0.00,0.000,4,0.000,0.034,2994,694,2224,0,0,0,0,0,0
$GC,15144,0.56,146.0,571.9,9.2,963,15149,0.00,2.05,0.00,0.000,6,0.000,0.024,2994,2072,2224,0,0,0,0,0,0
$GC,15472,0.56,146.0,542.5,8.9,979,15476,0.00,2.10,0.00,0.000,4,0.000,0.038,2994,3469,2223,0,0,0,0,0,0
$GC,15601,0.56,146.0,529.4,10.1,984,15608,0.00,2.00,0.00,0.000,6,0.000,0.022,3003,2073,2223,0,0,0,0,0,0
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$STATE,21533,end climb,SURFACE_DEPTH_REACHED
$STATE,21533,begin surface coast
$FINISH,0.7,1.021569
$STATE,21561,end surface coast,CONTROL_FINISHED_OK
$STATE,21561,begin surface
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$XPDR_PINGS,11
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$10V_AH,10.2,13.041
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$FG_AHR_10Vo,0.000
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$MEM,329896
$DATA_FILE_SIZE,93516,1693
$CAP_FILE_SIZE,217997,0
$CFSIZE,260165632,134987776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,343.8,1
$GPS,260611,211537,1907.052,12425.773,32,0.9,32,-2.3