version: 66.09
glider: 167
mission: 8
dive: 354
start: 8 27 111 7 34 15
data:
$ID,167
$MISSION,8
$DIVE,354
$N_DIVES,0
$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,340
$T_MISSION,380
$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,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,8
$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,-56841.402
$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,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$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
$GPS1,270811,072037,1814.572,12426.239,42,2.0,43,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-57.8
$GPS2,270811,073352,1814.544,12426.369,16,99.0,35,-2.1
$SPEED_LIMITS,0.168,0.293
$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,150.9,47936,-15.3,-9.706
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-90.93,0.000,2,0.000,0.000,108,1953,3203,0,0,0,0,0,0
$GC,117,-0.62,-194.6,6.0,-11.2,13,141,9.95,2.05,-6.80,0.000,4,0.224,0.047,2582,3284,3635,0,0,0,0,0,0
$GC,296,-0.62,-194.6,76.9,-27.5,44,306,0.00,2.03,0.00,0.000,6,0.000,0.018,2582,1875,3637,0,0,0,0,0,0
$GC,441,-0.62,-194.6,113.8,-24.5,69,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1875,3637,0,0,0,0,0,0
$GC,579,-0.62,-194.6,143.4,-18.8,94,587,0.00,2.12,0.00,0.000,4,0.000,0.031,2573,3272,3637,0,0,0,0,0,0
$GC,612,-0.62,-194.6,149.5,-19.7,99,620,0.00,2.03,0.00,0.000,6,0.000,0.017,2573,1830,3638,0,0,0,0,0,0
$GC,755,-0.62,-194.6,175.7,-18.0,124,762,0.00,1.92,0.00,0.000,4,0.000,0.027,2573,504,3638,0,0,0,0,0,0
$GC,803,-0.62,-194.6,185.2,-18.9,132,812,0.00,1.95,0.00,0.000,6,0.000,0.023,2573,1837,3638,0,0,0,0,0,0
$GC,944,-0.62,-194.6,209.3,-16.6,152,948,0.00,2.12,0.00,0.000,4,0.000,0.033,2563,3280,3638,0,0,0,0,0,0
$GC,988,-0.62,-194.6,217.1,-16.3,155,997,0.10,1.98,0.00,0.000,6,0.135,0.023,2595,1880,3638,0,0,0,0,0,0
$GC,1316,-0.62,-194.6,263.3,-14.4,186,1319,0.00,1.98,0.00,0.000,4,0.000,0.028,2595,504,3638,0,0,0,0,0,0
$GC,1377,-0.62,-194.6,272.6,-14.2,191,1385,0.00,2.05,0.00,0.000,6,0.000,0.021,2589,1930,3637,0,0,0,0,0,0
$GC,1704,-0.62,-194.6,313.6,-11.4,222,1708,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3272,3636,0,0,0,0,0,0
$GC,1766,-0.62,-194.6,320.0,-9.6,227,1774,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1922,3636,0,0,0,0,0,0
$GC,2093,-0.62,-194.6,352.5,-9.6,258,2096,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,511,3634,0,0,0,0,0,0
$GC,2155,-0.62,-194.6,358.9,-10.4,263,2163,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1917,3634,0,0,0,0,0,0
$GC,2481,-0.62,-194.6,394.9,-10.9,294,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1917,3632,0,0,0,0,0,0
$GC,2803,-0.62,-194.6,426.3,-9.5,324,2807,0.00,1.98,0.00,0.000,4,0.000,0.035,2587,3265,3630,0,0,0,0,0,0
$GC,2842,-0.62,-194.6,430.6,-9.4,327,2850,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1944,3631,0,0,0,0,0,0
$GC,3168,-0.62,-194.6,459.9,-8.9,358,3172,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,504,3628,0,0,0,0,0,0
$GC,3246,-0.62,-194.6,467.1,-9.0,364,3253,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1905,3628,0,0,0,0,0,0
$GC,3573,-0.62,-194.6,495.4,-8.4,395,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1906,3625,0,0,0,0,0,0
$GC,3893,-0.62,-194.6,524.2,-9.1,413,3896,0.00,2.03,0.00,0.000,4,0.000,0.036,2587,3264,3623,0,0,0,0,0,0
$GC,3945,-0.62,-194.6,528.9,-8.8,415,3949,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1949,3623,0,0,0,0,0,0
$GC,4272,-0.62,-194.6,556.3,-8.1,431,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1948,3620,0,0,0,0,0,0
$GC,4581,-0.62,-194.6,579.3,-7.0,446,4585,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,513,3618,0,0,0,0,0,0
$GC,4668,-0.62,-194.6,585.6,-7.5,450,4672,0.00,2.08,0.00,0.000,6,0.000,0.022,2587,1951,3618,0,0,0,0,0,0
$GC,5001,-0.62,-194.6,609.8,-7.6,466,5006,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3269,3615,0,0,0,0,0,0
$GC,5041,-0.62,-194.6,612.9,-7.7,467,5050,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1978,3615,0,0,0,0,0,0
$GC,5358,-0.62,-194.6,637.6,-8.1,483,5362,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,515,3613,0,0,0,0,0,0
$GC,5421,-0.62,-194.6,643.2,-8.7,486,5425,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1947,3612,0,0,0,0,0,0
$GC,5750,-0.62,-194.6,669.1,-7.8,502,5754,0.00,1.98,0.00,0.000,4,0.000,0.037,2588,3267,3610,0,0,0,0,0,0
$GC,5834,-0.62,-194.6,675.5,-7.3,505,5841,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1966,3609,0,0,0,0,0,0
$GC,6150,-0.62,-194.6,698.4,-6.9,521,6154,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,511,3607,0,0,0,0,0,0
$GC,6184,-0.62,-194.6,701.1,-6.9,522,6190,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1952,3606,0,0,0,0,0,0
$GC,6500,-0.62,-194.6,721.7,-6.5,538,6504,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3267,3605,0,0,0,0,0,0
$GC,6552,-0.62,-194.6,725.1,-6.2,540,6556,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1966,3604,0,0,0,0,0,0
$GC,6879,-0.62,-194.6,746.5,-6.9,556,6883,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,513,3602,0,0,0,0,0,0
$GC,6909,-0.62,-194.6,748.9,-7.1,557,6912,0.00,2.08,0.00,0.000,6,0.000,0.023,2587,1941,3601,0,0,0,0,0,0
$GC,7231,-0.62,-194.6,773.5,-7.8,573,7234,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3264,3599,0,0,0,0,0,0
$GC,7331,-0.62,-194.6,781.3,-7.6,577,7336,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1993,3599,0,0,0,0,0,0
$GC,7655,-0.62,-194.6,805.1,-7.2,593,7659,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,509,3598,0,0,0,0,0,0
$GC,7705,-0.62,-194.6,809.2,-7.8,595,7709,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1963,3597,0,0,0,0,0,0
$GC,8023,-0.62,-194.6,830.5,-6.5,610,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1963,3596,0,0,0,0,0,0
$GC,8330,-0.62,-194.6,850.8,-6.7,625,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1963,3594,0,0,0,0,0,0
$GC,8640,-0.62,-194.6,869.6,-5.9,640,8645,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3265,3592,0,0,0,0,0,0
$GC,8680,-0.62,-194.6,872.0,-6.1,641,8687,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1982,3592,0,0,0,0,0,0
$GC,8997,-0.62,-194.6,891.1,-6.2,657,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1982,3591,0,0,0,0,0,0
$GC,9306,-0.62,-194.6,911.8,-6.8,672,9310,0.00,2.17,0.00,0.000,4,0.000,0.032,2587,520,3590,0,0,0,0,0,0
$GC,9341,-0.62,-194.6,914.4,-6.9,673,9348,0.00,2.12,0.00,0.000,6,0.000,0.026,2587,1960,3590,0,0,0,0,0,0
$GC,9657,-0.62,-194.6,934.5,-6.0,689,9661,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3271,3589,0,0,0,0,0,0
$GC,9750,-0.62,-194.6,939.9,-5.9,693,9754,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1988,3589,0,0,0,0,0,0
$GC,10084,-0.62,-194.6,958.3,-5.4,709,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1987,3588,0,0,0,0,0,0
$GC,10393,-0.62,-194.6,974.6,-5.1,724,10394,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1988,3586,0,0,0,0,0,0
$GC,10704,-0.62,-194.6,989.9,-4.9,739,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1988,3586,0,0,0,0,0,0
$STATE,10720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10721,begin apogee
$GC,10727,-0.20,0.0,990.9,4.9,740,10892,0.43,0.00,158.05,1.398,4,0.113,0.000,2731,2103,2838,0,0,0,0,0,0
$STATE,10893,end apogee,CONTROL_FINISHED_OK
$STATE,10893,begin climb
$GC,10896,0.62,194.6,993.7,0.0,747,11079,0.80,2.22,172.57,1.341,4,0.081,0.031,2999,712,2044,0,0,0,0,0,0
$GC,11181,0.62,194.6,964.2,13.0,760,11185,0.00,2.08,0.00,0.000,6,0.000,0.024,2999,2043,2037,0,0,0,0,0,0
$GC,11499,0.62,194.6,923.7,12.8,775,11503,0.00,2.17,0.00,0.000,4,0.000,0.039,2999,3480,2031,0,0,0,0,0,0
$GC,11721,0.62,194.6,893.4,13.5,785,11726,0.00,2.08,0.00,0.000,6,0.000,0.021,3008,2067,2028,0,0,0,0,0,0
$GC,12051,0.62,194.6,853.2,12.0,801,12055,0.00,2.05,0.00,0.000,4,0.000,0.034,3017,694,2028,0,0,0,0,0,0
$GC,12168,0.62,194.6,838.3,12.5,806,12172,0.00,2.00,0.00,0.000,6,0.000,0.025,3017,2035,2027,0,0,0,0,0,0
$GC,12498,0.62,194.6,796.7,12.8,822,12499,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2035,2027,0,0,0,0,0,0
$GC,12806,0.62,194.6,756.9,12.7,837,12810,0.00,2.20,0.00,0.000,4,0.000,0.040,3017,3461,2027,0,0,0,0,0,0
$GC,12843,0.62,194.6,751.6,13.6,838,12851,0.00,2.20,0.00,0.000,6,0.000,0.021,3027,1975,2026,0,0,0,0,0,0
$GC,13162,0.62,194.6,713.0,12.1,854,13166,0.00,1.90,0.00,0.000,4,0.000,0.035,3037,691,2026,0,0,0,0,0,0
$GC,13217,0.62,194.6,705.9,12.1,856,13222,0.08,1.88,0.00,0.000,6,0.138,0.025,3002,1947,2026,0,0,0,0,0,0
$GC,13541,0.62,194.6,673.0,10.3,872,13546,0.00,2.35,0.00,0.000,4,0.000,0.039,3002,3467,2026,0,0,0,0,0,0
$GC,13618,0.62,194.6,663.7,11.7,875,13622,0.00,2.17,0.00,0.000,6,0.000,0.022,3010,1987,2025,0,0,0,0,0,0
$GC,13941,0.62,194.6,627.6,11.1,891,13944,0.00,1.92,0.00,0.000,4,0.000,0.036,3019,687,2025,0,0,0,0,0,0
$GC,13991,0.62,194.6,621.8,11.4,893,13995,0.00,1.88,0.00,0.000,6,0.000,0.024,3020,1953,2025,0,0,0,0,0,0
$GC,14319,0.62,194.6,584.8,11.3,909,14324,0.00,2.33,0.00,0.000,4,0.000,0.038,3020,3462,2024,0,0,0,0,0,0
$GC,14357,0.62,194.6,579.9,12.3,910,14365,0.00,2.25,0.00,0.000,6,0.000,0.021,3029,1955,2024,0,0,0,0,0,0
$GC,14675,0.62,194.6,543.0,11.6,926,14676,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1955,2024,0,0,0,0,0,0
$GC,14983,0.62,194.6,507.9,10.9,941,14987,0.00,2.33,0.00,0.000,4,0.000,0.037,3029,3468,2024,0,0,0,0,0,0
$GC,15023,0.62,194.6,503.3,11.7,943,15027,0.15,2.22,0.00,0.000,6,0.161,0.021,2999,1950,2024,0,0,0,0,0,0
$GC,15348,0.68,244.1,476.5,8.0,972,15395,0.00,1.98,40.65,1.028,4,0.000,0.035,3007,690,1842,0,0,0,0,0,0
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$STATE,20007,end climb,SURFACE_DEPTH_REACHED
$STATE,20007,begin surface coast
$FINISH,1.3,1.021656
$STATE,20028,end surface coast,CONTROL_FINISHED_OK
$STATE,20028,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,38.06
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$TCM_TEMP,26.60
$XPDR_PINGS,50
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$10V_AH,9.8,56.887
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329664
$DATA_FILE_SIZE,90215,1540
$CAP_FILE_SIZE,211117,0
$CFSIZE,260165632,107692032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,248.5,1
$GPS,270811,131037,1811.793,12426.948,35,1.4,36,-2.1