version: 66.09
glider: 167
mission: 8
dive: 82
start: 6 27 111 22 21 42
data:
$ID,167
$MISSION,8
$DIVE,82
$N_DIVES,90
$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,-56489.949
$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,72
$R_STBD_OVSHOOT,79
$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
$GPS1,270611,221200,1858.819,12425.885,37,1.1,43,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.3
$GPS2,270611,222120,1858.790,12425.874,14,1.7,14,-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,170.2,128410,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,97,0.00,0.00,-77.45,0.000,2,0.000,0.000,110,1856,3212,0,0,0,0,0,0
$GC,100,-0.56,-146.0,6.3,-11.4,10,125,9.82,2.05,-3.62,0.000,4,0.232,0.041,2614,465,3437,0,0,0,0,0,0
$GC,181,-0.56,-146.0,41.7,-31.6,23,188,0.00,2.05,0.00,0.000,6,0.000,0.021,2605,1859,3439,0,0,0,0,0,0
$GC,317,-0.56,-146.0,84.1,-29.6,48,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1859,3439,0,0,0,0,0,0
$GC,465,-0.56,-146.0,117.2,-20.7,73,472,0.00,2.10,0.00,0.000,4,0.000,0.031,2595,3269,3439,0,0,0,0,0,0
$GC,688,-0.56,-146.0,170.1,-19.5,112,697,0.00,2.00,0.00,0.000,6,0.000,0.018,2595,1870,3440,0,0,0,0,0,0
$GC,834,-0.56,-146.0,193.2,-15.9,137,842,0.00,2.00,0.00,0.000,4,0.000,0.029,2595,498,3440,0,0,0,0,0,0
$GC,949,-0.56,-146.0,212.6,-15.2,150,953,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1877,3440,0,0,0,0,0,0
$GC,1281,-0.56,-146.0,259.0,-14.5,181,1282,0.10,0.00,0.00,0.000,6,0.192,0.000,2611,1878,3440,0,0,0,0,0,0
$GC,1599,-0.56,-146.0,295.7,-10.0,211,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1878,3440,0,0,0,0,0,0
$GC,1920,-0.56,-146.0,328.8,-10.0,241,1923,0.00,2.03,0.00,0.000,4,0.000,0.031,2603,3271,3439,0,0,0,0,0,0
$GC,2011,-0.56,-146.0,339.0,-10.7,249,2014,0.00,1.95,0.00,0.000,6,0.000,0.018,2603,1867,3439,0,0,0,0,0,0
$GC,2342,-0.56,-146.0,377.5,-11.5,280,2345,0.00,2.05,0.00,0.000,4,0.000,0.032,2603,3270,3437,0,0,0,0,0,0
$GC,2391,-0.56,-146.0,383.5,-11.5,284,2400,0.00,1.98,0.00,0.000,6,0.000,0.019,2603,1883,3437,0,0,0,0,0,0
$GC,2719,-0.56,-146.0,416.3,-8.8,315,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1883,3436,0,0,0,0,0,0
$GC,3038,-0.56,-146.0,441.8,-8.0,345,3042,0.00,2.00,0.00,0.000,4,0.000,0.031,2603,497,3433,0,0,0,0,0,0
$GC,3078,-0.56,-146.0,445.4,-8.2,348,3085,0.00,1.98,0.00,0.000,6,0.000,0.022,2603,1874,3433,0,0,0,0,0,0
$GC,3403,-0.56,-146.0,469.4,-7.6,379,3407,0.00,2.05,0.00,0.000,4,0.000,0.036,2603,3267,3432,0,0,0,0,0,0
$GC,3473,-0.56,-146.0,474.7,-7.9,385,3477,0.00,1.95,0.00,0.000,6,0.000,0.019,2603,1868,3431,0,0,0,0,0,0
$GC,3803,-0.56,-146.0,504.1,-9.6,414,3807,0.00,1.98,0.00,0.000,4,0.000,0.032,2603,490,3429,0,0,0,0,0,0
$GC,3826,-0.56,-146.0,506.5,-9.6,415,3830,0.00,1.98,0.00,0.000,6,0.000,0.022,2603,1879,3429,0,0,0,0,0,0
$GC,4162,-0.56,-146.0,539.3,-9.8,431,4165,0.00,2.05,0.00,0.000,4,0.000,0.036,2603,3267,3427,0,0,0,0,0,0
$GC,4233,-0.56,-146.0,546.4,-9.0,434,4237,0.00,1.98,0.00,0.000,6,0.000,0.020,2603,1852,3426,0,0,0,0,0,0
$GC,4562,-0.56,-146.0,571.3,-7.3,450,4566,0.00,2.10,0.00,0.000,4,0.000,0.034,2603,3266,3423,0,0,0,0,0,0
$GC,4602,-0.56,-146.0,574.2,-7.1,452,4606,0.00,1.95,0.00,0.000,6,0.000,0.019,2603,1868,3423,0,0,0,0,0,0
$GC,4936,-0.56,-146.0,596.6,-6.6,468,4939,0.00,2.00,0.00,0.000,4,0.000,0.032,2603,492,3421,0,0,0,0,0,0
$GC,4986,-0.56,-146.0,600.3,-7.3,470,4990,0.00,2.00,0.00,0.000,6,0.000,0.022,2603,1881,3421,0,0,0,0,0,0
$GC,5314,-0.56,-146.0,622.7,-7.2,486,5317,0.00,2.05,0.00,0.000,4,0.000,0.036,2603,3266,3418,0,0,0,0,0,0
$GC,5398,-0.56,-146.0,628.7,-7.1,489,5405,0.00,1.95,0.00,0.000,6,0.000,0.021,2603,1883,3418,0,0,0,0,0,0
$GC,5717,-0.56,-146.0,650.5,-6.9,505,5721,0.00,2.05,0.00,0.000,4,0.000,0.035,2603,3267,3415,0,0,0,0,0,0
$GC,5779,-0.56,-146.0,655.1,-7.0,507,5786,0.00,2.00,0.00,0.000,6,0.000,0.020,2603,1865,3415,0,0,0,0,0,0
$GC,6098,-0.56,-146.0,675.2,-6.6,523,6102,0.00,2.00,0.00,0.000,4,0.000,0.033,2603,496,3413,0,0,0,0,0,0
$GC,6133,-0.56,-146.0,678.0,-6.6,524,6137,0.00,1.98,0.00,0.000,6,0.000,0.022,2603,1876,3412,0,0,0,0,0,0
$GC,6456,-0.56,-146.0,699.7,-6.9,540,6460,0.00,2.05,0.00,0.000,4,0.000,0.038,2603,3265,3411,0,0,0,0,0,0
$GC,6480,-0.56,-146.0,701.5,-6.9,541,6484,0.00,1.98,0.00,0.000,6,0.000,0.021,2603,1865,3411,0,0,0,0,0,0
$GC,6816,-0.56,-146.0,724.8,-7.1,557,6820,0.00,2.00,0.00,0.000,4,0.000,0.034,2603,500,3408,0,0,0,0,0,0
$GC,6851,-0.56,-146.0,727.6,-7.3,558,6856,0.00,2.03,0.00,0.000,6,0.000,0.023,2603,1876,3408,0,0,0,0,0,0
$GC,7173,-0.56,-146.0,749.7,-6.6,574,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1876,3406,0,0,0,0,0,0
$GC,7482,-0.56,-146.0,768.5,-5.8,589,7486,0.00,2.08,0.00,0.000,4,0.000,0.039,2603,3266,3404,0,0,0,0,0,0
$GC,7517,-0.56,-146.0,770.5,-5.7,590,7520,0.00,1.98,0.00,0.000,6,0.000,0.021,2603,1873,3404,0,0,0,0,0,0
$GC,7839,-0.56,-146.0,788.9,-5.6,606,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1872,3403,0,0,0,0,0,0
$GC,8148,-0.56,-146.0,806.3,-5.6,621,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1872,3401,0,0,0,0,0,0
$GC,8458,-0.56,-146.0,824.6,-6.0,636,8462,0.00,2.08,0.00,0.000,4,0.000,0.037,2603,3267,3400,0,0,0,0,0,0
$GC,8500,-0.56,-146.0,827.1,-6.1,638,8504,0.00,1.98,0.00,0.000,6,0.000,0.021,2603,1868,3400,0,0,0,0,0,0
$GC,8834,-0.56,-146.0,848.3,-6.5,654,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1868,3399,0,0,0,0,0,0
$GC,9143,-0.56,-146.0,868.9,-6.8,669,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1868,3398,0,0,0,0,0,0
$GC,9452,-0.56,-146.0,888.6,-6.1,684,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1868,3396,0,0,0,0,0,0
$GC,9764,-0.56,-146.0,904.8,-5.1,699,9768,0.00,2.10,0.00,0.000,4,0.000,0.037,2603,3273,3395,0,0,0,0,0,0
$GC,9827,-0.56,-146.0,908.1,-5.1,702,9831,0.00,2.00,0.00,0.000,6,0.000,0.022,2603,1881,3394,0,0,0,0,0,0
$GC,10161,-0.56,-146.0,923.6,-4.7,718,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1880,3393,0,0,0,0,0,0
$GC,10470,-0.56,-146.0,937.8,-4.5,733,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1880,3393,0,0,0,0,0,0
$GC,10781,-0.56,-146.0,952.6,-5.1,748,10785,0.00,2.10,0.00,0.000,4,0.000,0.038,2603,3268,3392,0,0,0,0,0,0
$GC,10853,-0.56,-146.0,956.3,-5.2,751,10858,0.00,2.03,0.00,0.000,6,0.000,0.021,2603,1878,3391,0,0,0,0,0,0
$GC,11175,-0.56,-146.0,974.4,-5.9,767,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1877,3391,0,0,0,0,0,0
$STATE,11440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11440,begin apogee
$GC,11448,-0.20,0.0,990.5,6.2,780,11566,0.38,0.00,111.07,1.414,6,0.123,0.000,2730,2090,2838,0,0,0,0,0,0
$STATE,11567,end apogee,CONTROL_FINISHED_OK
$STATE,11567,begin climb
$GC,11570,0.56,146.0,993.6,0.0,785,11705,0.70,2.33,123.03,1.363,4,0.080,0.035,2981,698,2242,0,0,0,0,0,0
$GC,11738,0.56,146.0,981.4,9.9,793,11742,0.00,2.12,0.00,0.000,6,0.000,0.024,2981,2068,2237,0,0,0,0,0,0
$GC,12067,0.56,146.0,945.8,11.1,809,12071,0.00,2.17,0.00,0.000,4,0.000,0.041,2981,3470,2231,0,0,0,0,0,0
$GC,12138,0.56,146.0,936.6,12.5,812,12142,0.00,2.05,0.00,0.000,6,0.000,0.022,2989,2082,2230,0,0,0,0,0,0
$GC,12460,0.56,146.0,899.2,11.6,828,12464,0.00,2.08,0.00,0.000,4,0.000,0.035,2999,685,2228,0,0,0,0,0,0
$GC,12524,0.56,146.0,891.6,12.0,831,12528,0.00,2.08,0.00,0.000,6,0.000,0.024,2999,2090,2228,0,0,0,0,0,0
$GC,12853,0.56,146.0,852.5,11.8,847,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2090,2227,0,0,0,0,0,0
$GC,13162,0.56,146.0,816.2,11.7,862,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2090,2227,0,0,0,0,0,0
$GC,13469,0.56,146.0,780.4,11.3,877,13473,0.00,2.08,0.00,0.000,4,0.000,0.041,2999,3472,2226,0,0,0,0,0,0
$GC,13502,0.56,146.0,776.2,12.3,878,13509,0.00,2.05,0.00,0.000,6,0.000,0.023,3008,2071,2225,0,0,0,0,0,0
$GC,13820,0.56,146.0,737.9,12.3,894,13825,0.00,2.08,0.00,0.000,4,0.000,0.035,3019,688,2225,0,0,0,0,0,0
$GC,13936,0.56,146.0,722.3,13.3,899,13941,0.12,2.03,0.00,0.000,6,0.166,0.025,2987,2084,2225,0,0,0,0,0,0
$GC,14267,0.56,146.0,685.2,11.0,915,14271,0.00,2.08,0.00,0.000,4,0.000,0.034,2994,681,2224,0,0,0,0,0,0
$GC,14315,0.56,146.0,679.1,11.2,917,14319,0.00,2.03,0.00,0.000,6,0.000,0.024,2994,2071,2224,0,0,0,0,0,0
$GC,14639,0.56,146.0,645.2,10.2,933,14643,0.00,2.12,0.00,0.000,4,0.000,0.041,2995,3473,2224,0,0,0,0,0,0
$GC,14696,0.56,146.0,638.8,11.2,935,14703,0.00,2.03,0.00,0.000,6,0.000,0.022,3001,2065,2224,0,0,0,0,0,0
$GC,15014,0.56,146.0,606.5,10.4,951,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2065,2223,0,0,0,0,0,0
$GC,15322,0.56,146.0,575.0,10.2,966,15326,0.00,2.03,0.00,0.000,4,0.000,0.034,3011,690,2223,0,0,0,0,0,0
$GC,15415,0.56,146.0,565.3,10.6,970,15418,0.00,2.03,0.00,0.000,6,0.000,0.024,3011,2085,2223,0,0,0,0,0,0
$GC,15750,0.56,146.0,525.6,12.1,986,15754,0.00,2.08,0.00,0.000,4,0.000,0.040,3011,3465,2223,0,0,0,0,0,0
$GC,15857,0.56,146.0,511.8,12.2,990,15864,0.15,2.03,0.00,0.000,6,0.165,0.022,2981,2069,2223,0,0,0,0,0,0
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$STATE,21800,end climb,SURFACE_DEPTH_REACHED
$STATE,21800,begin surface coast
$FINISH,0.8,1.012056
$STATE,21838,end surface coast,CONTROL_FINISHED_OK
$STATE,21838,begin surface
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$HUMID,30.66
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,29.60
$XPDR_PINGS,2
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$10V_AH,10.2,13.992
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329892
$DATA_FILE_SIZE,96813,1716
$CAP_FILE_SIZE,216536,0
$CFSIZE,260165632,134471680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,302.3,1
$GPS,280611,042806,1856.367,12425.737,29,1.0,29,-2.2