version: 66.09
glider: 167
mission: 8
dive: 79
start: 6 27 111 3 44 6
data:
$ID,167
$MISSION,8
$DIVE,79
$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,-56486.18
$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,88
$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
$GPS1,270611,033107,1904.974,12426.353,28,1.0,29,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.9
$GPS2,270611,034344,1905.132,12426.310,16,1.6,16,-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,182.0,139985,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,87,0.00,0.00,-65.60,0.000,2,0.000,0.000,109,1800,2989,0,0,0,0,0,0
$GC,90,-0.56,-146.0,5.1,-9.0,9,116,9.75,0.00,-7.97,0.000,6,0.228,0.000,2608,1798,3436,0,0,0,0,0,0
$GC,250,-0.56,-146.0,56.8,-26.5,36,258,0.00,2.20,0.00,0.000,4,0.000,0.030,2599,3263,3437,0,0,0,0,0,0
$GC,313,-0.56,-146.0,74.8,-30.2,47,321,0.00,1.98,0.00,0.000,6,0.000,0.017,2599,1867,3438,0,0,0,0,0,0
$GC,455,-0.56,-146.0,117.9,-22.5,72,463,0.00,1.98,0.00,0.000,4,0.000,0.028,2599,513,3438,0,0,0,0,0,0
$GC,551,-0.56,-146.0,136.7,-18.0,89,559,0.00,1.95,0.00,0.000,6,0.000,0.019,2590,1868,3439,0,0,0,0,0,0
$GC,689,-0.56,-146.0,161.8,-18.0,114,699,0.00,2.05,0.00,0.000,4,0.000,0.031,2583,3257,3439,0,0,0,0,0,0
$GC,753,-0.56,-146.0,174.6,-20.6,124,762,0.10,1.95,0.00,0.000,6,0.155,0.018,2614,1868,3439,0,0,0,0,0,0
$GC,899,-0.56,-146.0,197.7,-14.7,149,907,0.00,2.08,0.00,0.000,4,0.000,0.031,2607,3265,3439,0,0,0,0,0,0
$GC,951,-0.56,-146.0,206.2,-14.7,154,962,0.00,1.95,0.00,0.000,6,0.000,0.018,2607,1885,3439,0,0,0,0,0,0
$GC,1279,-0.56,-146.0,250.6,-11.9,185,1283,0.00,2.03,0.00,0.000,4,0.000,0.030,2602,3267,3439,0,0,0,0,0,0
$GC,1342,-0.56,-146.0,258.2,-11.5,190,1351,0.00,1.98,0.00,0.000,6,0.000,0.018,2602,1872,3439,0,0,0,0,0,0
$GC,1668,-0.56,-146.0,295.8,-10.5,221,1673,0.00,2.00,0.00,0.000,4,0.000,0.029,2602,497,3438,0,0,0,0,0,0
$GC,1851,-0.56,-146.0,316.8,-10.9,237,1858,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1869,3438,0,0,0,0,0,0
$GC,2178,-0.56,-146.0,348.3,-9.2,268,2183,0.00,2.08,0.00,0.000,4,0.000,0.034,2601,3271,3436,0,0,0,0,0,0
$GC,2249,-0.56,-146.0,355.4,-9.2,274,2258,0.00,1.98,0.00,0.000,6,0.000,0.018,2601,1881,3436,0,0,0,0,0,0
$GC,2577,-0.56,-146.0,385.5,-9.1,305,2580,0.00,2.00,0.00,0.000,4,0.000,0.031,2601,493,3434,0,0,0,0,0,0
$GC,2791,-0.56,-146.0,405.2,-8.9,324,2795,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1877,3433,0,0,0,0,0,0
$GC,3124,-0.56,-146.0,434.4,-9.3,355,3128,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3272,3431,0,0,0,0,0,0
$GC,3140,-0.56,-146.0,436.4,-9.4,356,3147,0.00,2.00,0.00,0.000,6,0.000,0.020,2601,1879,3431,0,0,0,0,0,0
$GC,3468,-0.56,-146.0,469.6,-10.6,387,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1879,3429,0,0,0,0,0,0
$GC,3796,-0.56,-146.0,500.1,-7.8,418,3800,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,485,3427,0,0,0,0,0,0
$GC,3870,-0.56,-146.0,506.4,-8.4,421,3874,0.00,1.98,0.00,0.000,6,0.000,0.023,2600,1869,3426,0,0,0,0,0,0
$GC,4199,-0.56,-146.0,530.1,-7.1,437,4203,0.00,2.10,0.00,0.000,4,0.000,0.037,2600,3275,3423,0,0,0,0,0,0
$GC,4295,-0.56,-146.0,536.7,-6.8,441,4299,0.00,2.00,0.00,0.000,6,0.000,0.020,2600,1867,3423,0,0,0,0,0,0
$GC,4624,-0.56,-146.0,561.2,-7.9,457,4629,0.00,2.12,0.00,0.000,4,0.000,0.035,2600,3277,3421,0,0,0,0,0,0
$GC,4647,-0.56,-146.0,563.1,-8.0,458,4651,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1874,3421,0,0,0,0,0,0
$GC,4981,-0.56,-146.0,588.3,-7.2,474,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1874,3418,0,0,0,0,0,0
$GC,5289,-0.56,-146.0,609.8,-6.7,489,5293,0.00,2.00,0.00,0.000,4,0.000,0.032,2600,484,3416,0,0,0,0,0,0
$GC,5328,-0.56,-146.0,612.8,-6.7,490,5336,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1886,3416,0,0,0,0,0,0
$GC,5647,-0.56,-146.0,634.2,-6.9,506,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1885,3413,0,0,0,0,0,0
$GC,5953,-0.56,-146.0,654.5,-6.1,521,5957,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3264,3411,0,0,0,0,0,0
$GC,6067,-0.56,-146.0,661.1,-5.8,526,6071,0.00,2.00,0.00,0.000,6,0.000,0.020,2600,1862,3410,0,0,0,0,0,0
$GC,6402,-0.56,-146.0,681.7,-6.6,542,6406,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,494,3407,0,0,0,0,0,0
$GC,6425,-0.56,-146.0,683.5,-6.8,543,6429,0.00,2.00,0.00,0.000,6,0.000,0.024,2600,1874,3408,0,0,0,0,0,0
$GC,6760,-0.56,-146.0,707.6,-7.1,559,6764,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3270,3406,0,0,0,0,0,0
$GC,6929,-0.56,-146.0,720.1,-7.2,566,6936,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1873,3406,0,0,0,0,0,0
$GC,7246,-0.56,-146.0,741.9,-6.7,582,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1873,3404,0,0,0,0,0,0
$GC,7556,-0.56,-146.0,761.6,-6.1,597,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1872,3402,0,0,0,0,0,0
$GC,7864,-0.56,-146.0,780.3,-5.7,612,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1872,3400,0,0,0,0,0,0
$GC,8175,-0.56,-146.0,797.2,-5.5,627,8178,0.00,2.00,0.00,0.000,4,0.000,0.033,2600,493,3399,0,0,0,0,0,0
$GC,8208,-0.56,-146.0,799.4,-5.7,628,8212,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,1883,3398,0,0,0,0,0,0
$GC,8532,-0.56,-146.0,818.0,-6.1,644,8536,0.00,2.08,0.00,0.000,4,0.000,0.038,2600,3271,3397,0,0,0,0,0,0
$GC,8583,-0.56,-146.0,821.2,-6.1,646,8587,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1866,3397,0,0,0,0,0,0
$GC,8910,-0.56,-146.0,841.5,-6.1,662,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1866,3396,0,0,0,0,0,0
$GC,9221,-0.56,-146.0,861.0,-6.5,677,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1866,3395,0,0,0,0,0,0
$GC,9529,-0.56,-146.0,880.6,-6.6,692,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1866,3394,0,0,0,0,0,0
$GC,9839,-0.56,-146.0,901.0,-6.6,707,9843,0.00,2.12,0.00,0.000,4,0.000,0.038,2600,3259,3393,0,0,0,0,0,0
$GC,9878,-0.56,-146.0,903.8,-6.5,708,9885,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1872,3392,0,0,0,0,0,0
$GC,10195,-0.56,-146.0,925.3,-6.7,724,10198,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,494,3391,0,0,0,0,0,0
$GC,10219,-0.56,-146.0,927.1,-6.9,725,10223,0.00,2.03,0.00,0.000,6,0.000,0.024,2600,1884,3390,0,0,0,0,0,0
$GC,10553,-0.56,-146.0,949.3,-6.5,741,10558,0.00,2.10,0.00,0.000,4,0.000,0.039,2600,3269,3390,0,0,0,0,0,0
$GC,10643,-0.56,-146.0,955.0,-6.3,745,10648,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1875,3390,0,0,0,0,0,0
$GC,10977,-0.56,-146.0,973.5,-5.2,761,10981,0.00,2.10,0.00,0.000,4,0.000,0.038,2600,3266,3389,0,0,0,0,0,0
$GC,11010,-0.56,-146.0,975.4,-5.3,762,11014,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1872,3389,0,0,0,0,0,0
$STATE,11309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11309,begin apogee
$GC,11317,-0.20,0.0,990.3,4.9,777,11435,0.38,0.00,110.35,1.416,6,0.125,0.000,2728,2083,2838,0,0,0,0,0,0
$STATE,11436,end apogee,CONTROL_FINISHED_OK
$STATE,11436,begin climb
$GC,11439,0.56,146.0,991.6,0.0,782,11574,0.70,2.33,122.95,1.367,4,0.080,0.040,2975,3463,2240,0,0,0,0,0,0
$GC,11590,0.56,146.0,979.2,11.4,789,11595,0.00,2.15,0.00,0.000,6,0.000,0.022,2980,2095,2238,0,0,0,0,0,0
$GC,11914,0.56,146.0,941.3,11.5,805,11918,0.00,2.15,0.00,0.000,4,0.000,0.034,2990,679,2231,0,0,0,0,0,0
$GC,12038,0.56,146.0,926.5,12.1,810,12046,0.00,2.10,0.00,0.000,6,0.000,0.025,2991,2072,2230,0,0,0,0,0,0
$GC,12354,0.56,146.0,887.5,12.6,826,12358,0.00,2.15,0.00,0.000,4,0.000,0.040,2991,3476,2228,0,0,0,0,0,0
$GC,12408,0.56,146.0,879.7,14.0,828,12415,0.00,2.10,0.00,0.000,6,0.000,0.022,3000,2058,2227,0,0,0,0,0,0
$GC,12727,0.56,146.0,837.0,13.8,844,12730,0.00,2.08,0.00,0.000,4,0.000,0.036,3010,677,2227,0,0,0,0,0,0
$GC,12806,0.56,146.0,825.7,13.8,847,12810,0.00,2.10,0.00,0.000,6,0.000,0.025,3010,2070,2226,0,0,0,0,0,0
$GC,13127,0.56,146.0,781.8,13.3,863,13131,0.00,2.10,0.00,0.000,4,0.000,0.040,3010,3471,2226,0,0,0,0,0,0
$GC,13159,0.56,146.0,777.0,14.0,864,13167,0.12,2.03,0.00,0.000,6,0.180,0.023,2988,2067,2226,0,0,0,0,0,0
$GC,13477,0.56,146.0,741.5,11.1,880,13481,0.00,2.08,0.00,0.000,4,0.000,0.035,2996,686,2225,0,0,0,0,0,0
$GC,13577,0.56,146.0,730.0,11.4,884,13581,0.00,2.05,0.00,0.000,6,0.000,0.025,2996,2085,2225,0,0,0,0,0,0
$GC,13899,0.56,146.0,696.2,10.5,900,13903,0.00,2.08,0.00,0.000,4,0.000,0.040,2996,3472,2225,0,0,0,0,0,0
$GC,13926,0.56,146.0,692.8,10.8,901,13931,0.00,2.05,0.00,0.000,6,0.000,0.023,3005,2068,2224,0,0,0,0,0,0
$GC,14251,0.56,146.0,655.6,12.0,917,14254,0.00,2.05,0.00,0.000,4,0.000,0.034,3016,683,2224,0,0,0,0,0,0
$GC,14343,0.56,146.0,644.1,12.1,921,14348,0.12,2.05,0.00,0.000,6,0.168,0.024,2984,2089,2224,0,0,0,0,0,0
$GC,14672,0.56,146.0,608.7,10.6,937,14675,0.00,2.08,0.00,0.000,4,0.000,0.040,2984,3465,2224,0,0,0,0,0,0
$GC,14711,0.56,146.0,604.0,11.4,938,14719,0.00,2.05,0.00,0.000,6,0.000,0.023,2990,2064,2223,0,0,0,0,0,0
$GC,15028,0.56,146.0,573.2,9.6,954,15032,0.00,2.05,0.00,0.000,4,0.000,0.035,3001,679,2223,0,0,0,0,0,0
$GC,15136,0.56,146.0,562.6,9.7,958,15143,0.00,2.05,0.00,0.000,6,0.000,0.024,3001,2082,2223,0,0,0,0,0,0
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$STATE,21504,end climb,SURFACE_DEPTH_REACHED
$STATE,21504,begin surface coast
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$STATE,21541,end surface coast,CONTROL_FINISHED_OK
$STATE,21541,begin surface
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$TT8_MAMPS,0.027713,0.027713
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$TCM_TEMP,29.70
$XPDR_PINGS,7
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$10V_AH,10.2,13.428
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$FG_AHR_10Vo,0.000
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$MEM,329884
$DATA_FILE_SIZE,96885,1721
$CAP_FILE_SIZE,220359,0
$CFSIZE,260165632,134778880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,331.4,1
$GPS,270611,094437,1903.073,12425.761,27,1.3,27,-2.3