version: 66.09
glider: 167
mission: 8
dive: 58
start: 6 22 111 7 41 47
data:
$ID,167
$MISSION,8
$DIVE,58
$N_DIVES,65
$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,300
$T_MISSION,330
$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,1
$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,-56456.949
$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,67
$R_STBD_OVSHOOT,58
$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
$GPS1,220611,073206,1943.658,12421.782,38,1.3,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.1
$GPS2,220611,074049,1943.825,12421.699,16,1.8,34,-2.4
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.022,-0.305
$KALMAN_X,-674.6,-493.3,-555.7,5524.0,0.8
$KALMAN_Y,7829.5,-522.3,-243.0,-43165.5,1804.2
$MHEAD_RNG_PITCHd_Wd,175.7,212104,-17.0,-11.000
$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,18,-0.67,-194.6,0.0,0.0,0,107,0.00,0.00,-86.82,0.000,2,0.000,0.000,111,1877,3209,0,0,0,0,0,0
$GC,110,-0.67,-194.6,6.6,-12.8,12,134,9.62,2.03,-6.68,0.000,4,0.232,0.034,2582,458,3634,0,0,0,0,0,0
$GC,201,-0.67,-194.6,45.0,-28.7,27,209,0.00,2.10,0.00,0.000,6,0.000,0.022,2574,1880,3636,0,0,0,0,0,0
$GC,276,-0.67,-194.6,68.0,-31.8,40,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1881,3635,0,0,0,0,0,0
$GC,355,-0.67,-194.6,90.5,-26.0,53,363,0.00,2.08,0.00,0.000,4,0.000,0.031,2564,3274,3635,0,0,0,0,0,0
$GC,400,-0.67,-194.6,103.2,-29.3,60,409,0.00,2.05,0.00,0.000,6,0.000,0.019,2564,1863,3636,0,0,0,0,0,0
$GC,477,-0.67,-194.6,124.0,-26.1,73,485,0.00,2.03,0.00,0.000,4,0.000,0.030,2564,486,3636,0,0,0,0,0,0
$GC,523,-0.67,-194.6,135.9,-26.2,80,532,0.00,2.03,0.00,0.000,6,0.000,0.022,2556,1875,3637,0,0,0,0,0,0
$GC,602,-0.67,-194.6,153.4,-22.7,93,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1875,3636,0,0,0,0,0,0
$GC,674,-0.67,-194.6,171.1,-23.6,106,683,0.10,0.00,0.00,0.000,6,0.203,0.000,2579,1875,3636,0,0,0,0,0,0
$GC,751,-0.67,-194.6,187.8,-20.8,119,760,0.00,2.05,0.00,0.000,4,0.000,0.028,2579,485,3637,0,0,0,0,0,0
$GC,792,-0.67,-194.6,196.1,-20.7,125,801,0.00,2.03,0.00,0.000,6,0.000,0.021,2574,1872,3637,0,0,0,0,0,0
$GC,867,-0.67,-194.6,211.4,-18.8,138,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1872,3637,0,0,0,0,0,0
$GC,943,-0.67,-194.6,226.0,-20.3,151,951,0.00,2.05,0.00,0.000,4,0.000,0.028,2574,484,3637,0,0,0,0,0,0
$GC,976,-0.67,-194.6,233.3,-21.2,156,985,0.00,2.03,0.00,0.000,6,0.000,0.021,2567,1880,3637,0,0,0,0,0,0
$GC,1054,-0.67,-194.6,247.2,-18.5,169,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1879,3637,0,0,0,0,0,0
$GC,1135,-0.67,-194.6,261.7,-18.0,177,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1880,3637,0,0,0,0,0,0
$GC,1463,-0.67,-194.6,311.5,-14.2,208,1467,0.00,2.03,0.00,0.000,4,0.000,0.033,2561,3266,3637,0,0,0,0,0,0
$GC,1513,-0.67,-194.6,319.5,-14.9,212,1520,0.00,1.98,0.00,0.000,6,0.000,0.018,2561,1862,3636,0,0,0,0,0,0
$GC,1839,-0.67,-194.6,365.5,-13.7,243,1842,0.00,1.98,0.00,0.000,4,0.000,0.030,2561,491,3635,0,0,0,0,0,0
$GC,1963,-0.67,-194.6,383.0,-14.6,254,1967,0.00,1.98,0.00,0.000,6,0.000,0.021,2560,1876,3635,0,0,0,0,0,0
$GC,2296,-0.67,-194.6,426.8,-13.5,285,2299,0.00,2.03,0.00,0.000,4,0.000,0.034,2557,3272,3633,0,0,0,0,0,0
$GC,2332,-0.67,-194.6,431.7,-13.3,288,2335,0.00,1.95,0.00,0.000,6,0.000,0.019,2557,1871,3632,0,0,0,0,0,0
$GC,2663,-0.67,-194.6,473.7,-13.6,319,2667,0.00,1.98,0.00,0.000,4,0.000,0.031,2557,500,3631,0,0,0,0,0,0
$GC,2721,-0.67,-194.6,481.5,-13.2,324,2726,0.12,1.95,0.00,0.000,6,0.168,0.021,2582,1881,3630,0,0,0,0,0,0
$GC,3047,-0.67,-194.6,517.8,-10.8,354,3050,0.00,2.03,0.00,0.000,4,0.000,0.033,2574,3264,3628,0,0,0,0,0,0
$GC,3110,-0.67,-194.6,524.4,-10.6,359,3117,0.00,1.98,0.00,0.000,6,0.000,0.019,2574,1869,3627,0,0,0,0,0,0
$GC,3436,-0.67,-194.6,558.2,-9.8,390,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1868,3625,0,0,0,0,0,0
$GC,3757,-0.67,-194.6,586.6,-8.5,420,3761,0.00,2.05,0.00,0.000,4,0.000,0.035,2574,3258,3622,0,0,0,0,0,0
$GC,3793,-0.67,-194.6,589.8,-8.7,423,3797,0.00,1.95,0.00,0.000,6,0.000,0.021,2574,1877,3622,0,0,0,0,0,0
$GC,4132,-0.67,-194.6,618.6,-8.7,445,4135,0.00,2.03,0.00,0.000,4,0.000,0.032,2574,486,3619,0,0,0,0,0,0
$GC,4192,-0.67,-194.6,624.7,-9.2,447,4199,0.00,2.00,0.00,0.000,6,0.000,0.022,2574,1873,3618,0,0,0,0,0,0
$GC,4511,-0.67,-194.6,651.6,-8.5,463,4515,0.00,2.08,0.00,0.000,4,0.000,0.037,2574,3271,3616,0,0,0,0,0,0
$GC,4581,-0.67,-194.6,657.9,-8.6,466,4585,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1869,3615,0,0,0,0,0,0
$GC,4915,-0.67,-194.6,689.2,-9.8,482,4919,0.00,2.10,0.00,0.000,4,0.000,0.036,2574,3274,3613,0,0,0,0,0,0
$GC,4985,-0.67,-194.6,695.5,-9.0,485,4989,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1872,3612,0,0,0,0,0,0
$GC,5312,-0.67,-194.6,724.9,-8.8,501,5316,0.00,2.00,0.00,0.000,4,0.000,0.032,2574,487,3610,0,0,0,0,0,0
$GC,5351,-0.67,-194.6,728.8,-9.6,502,5359,0.00,2.00,0.00,0.000,6,0.000,0.023,2574,1883,3609,0,0,0,0,0,0
$GC,5671,-0.67,-194.6,759.6,-10.0,518,5674,0.00,2.05,0.00,0.000,4,0.000,0.037,2574,3266,3607,0,0,0,0,0,0
$GC,5743,-0.67,-194.6,767.0,-9.4,521,5747,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1867,3606,0,0,0,0,0,0
$GC,6072,-0.67,-194.6,796.9,-9.0,537,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1866,3604,0,0,0,0,0,0
$GC,6380,-0.67,-194.6,824.9,-9.0,552,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1866,3603,0,0,0,0,0,0
$GC,6690,-0.67,-194.6,851.7,-8.5,567,6694,0.00,1.98,0.00,0.000,4,0.000,0.034,2574,502,3601,0,0,0,0,0,0
$GC,6724,-0.67,-194.6,855.0,-8.5,568,6728,0.00,1.98,0.00,0.000,6,0.000,0.024,2574,1875,3600,0,0,0,0,0,0
$GC,7047,-0.67,-194.6,881.4,-8.1,584,7050,0.00,2.10,0.00,0.000,4,0.000,0.039,2574,3265,3598,0,0,0,0,0,0
$GC,7121,-0.67,-194.6,887.1,-7.5,587,7125,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1872,3598,0,0,0,0,0,0
$GC,7450,-0.67,-194.6,912.9,-7.9,603,7455,0.00,2.12,0.00,0.000,4,0.000,0.037,2574,3267,3596,0,0,0,0,0,0
$GC,7474,-0.67,-194.6,914.9,-8.1,604,7477,0.00,1.98,0.00,0.000,6,0.000,0.022,2574,1873,3595,0,0,0,0,0,0
$GC,7808,-0.67,-194.6,941.7,-8.2,620,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1872,3594,0,0,0,0,0,0
$GC,8116,-0.67,-194.6,967.1,-8.1,635,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1872,3594,0,0,0,0,0,0
$STATE,8423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8423,begin apogee
$GC,8431,-0.20,0.0,991.6,7.9,650,8586,0.45,0.00,149.45,1.395,6,0.124,0.000,2727,2087,2840,0,0,0,0,0,0
$STATE,8587,end apogee,CONTROL_FINISHED_OK
$STATE,8587,begin climb
$GC,8589,0.67,194.6,995.6,0.0,657,8760,0.82,2.22,162.45,1.342,4,0.081,0.037,3013,3456,2045,0,0,0,0,0,0
$GC,8822,0.67,194.6,968.3,16.5,668,8826,0.00,2.12,0.00,0.000,6,0.000,0.022,3022,2082,2038,0,0,0,0,0,0
$GC,9144,0.67,194.6,916.7,16.3,684,9149,0.00,2.15,0.00,0.000,4,0.000,0.036,3033,685,2034,0,0,0,0,0,0
$GC,9250,0.67,194.6,899.1,16.1,688,9257,0.00,2.05,0.00,0.000,6,0.000,0.024,3033,2066,2034,0,0,0,0,0,0
$GC,9568,0.67,194.6,847.2,16.6,704,9572,0.00,2.12,0.00,0.000,4,0.000,0.039,3034,3470,2031,0,0,0,0,0,0
$GC,9600,0.67,194.6,841.0,17.4,705,9608,0.00,2.08,0.00,0.000,6,0.000,0.024,3042,2064,2031,0,0,0,0,0,0
$GC,9919,0.67,194.6,788.0,16.8,721,9922,0.00,2.05,0.00,0.000,4,0.000,0.035,3053,686,2031,0,0,0,0,0,0
$GC,10006,0.67,194.6,773.3,16.4,724,10013,0.15,2.08,0.00,0.000,6,0.162,0.024,3013,2086,2030,0,0,0,0,0,0
$GC,10322,0.67,194.6,729.1,13.4,740,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2086,2030,0,0,0,0,0,0
$GC,10631,0.67,194.6,689.2,12.5,755,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2086,2029,0,0,0,0,0,0
$GC,10942,0.67,194.6,651.6,12.1,770,10945,0.00,2.08,0.00,0.000,4,0.000,0.040,3013,3465,2029,0,0,0,0,0,0
$GC,11036,0.67,194.6,639.1,13.0,774,11040,0.00,2.03,0.00,0.000,6,0.000,0.024,3021,2066,2028,0,0,0,0,0,0
$GC,11366,0.67,194.6,598.3,13.0,790,11370,0.00,2.05,0.00,0.000,4,0.000,0.035,3032,685,2028,0,0,0,0,0,0
$GC,11484,0.67,194.6,581.5,14.0,800,11491,0.00,2.03,0.00,0.000,6,0.000,0.024,3032,2076,2028,0,0,0,0,0,0
$GC,11810,0.67,194.6,534.7,14.0,831,11814,0.00,2.10,0.00,0.000,4,0.000,0.040,3031,3475,2028,0,0,0,0,0,0
$GC,11940,0.67,194.6,515.5,14.5,842,11944,0.00,2.05,0.00,0.000,6,0.000,0.022,3040,2062,2027,0,0,0,0,0,0
$GC,12271,0.67,194.6,471.5,13.0,873,12275,0.00,2.05,0.00,0.000,4,0.000,0.036,3051,688,2027,0,0,0,0,0,0
$GC,12330,0.67,194.6,463.3,13.2,878,12338,0.12,2.03,0.00,0.000,6,0.165,0.024,3017,2095,2027,0,0,0,0,0,0
$GC,12656,0.67,194.6,427.8,11.1,909,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2094,2027,0,0,0,0,0,0
$GC,12979,0.70,221.4,393.9,10.0,939,13003,0.00,2.15,19.80,0.946,4,0.000,0.038,3017,3474,1935,0,0,0,0,0,0
$GC,13100,0.70,221.4,380.3,11.4,949,13107,0.00,2.05,0.00,0.000,6,0.000,0.021,3026,2072,1933,0,0,0,0,0,0
$GC,13426,0.70,221.4,344.9,11.0,980,13430,0.00,2.05,0.00,0.000,4,0.000,0.034,3035,688,1932,0,0,0,0,0,0
$GC,13518,0.70,221.4,334.0,12.2,988,13522,0.00,2.00,0.00,0.000,6,0.000,0.022,3035,2073,1932,0,0,0,0,0,0
$GC,13852,0.70,221.4,294.4,11.8,1019,13856,0.00,2.05,0.00,0.000,4,0.000,0.031,3044,692,1932,0,0,0,0,0,0
$GC,13923,0.70,221.4,285.5,11.4,1025,13930,0.00,2.05,0.00,0.000,6,0.000,0.021,3044,2079,1932,0,0,0,0,0,0
$GC,14253,0.70,221.4,245.6,12.3,1059,14261,0.00,2.08,0.00,0.000,4,0.000,0.037,3044,3461,1932,0,0,0,0,0,0
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$STATE,16442,end climb,SURFACE_DEPTH_REACHED
$STATE,16442,begin surface coast
$FINISH,0.8,1.009673
$STATE,16465,end surface coast,CONTROL_FINISHED_OK
$STATE,16465,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.80
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.50
$XPDR_PINGS,11
$24V_AH,23.9,11.944
$10V_AH,10.3,9.659
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.450,172.175,546.525,0.000,0.000,24.748,40.699,245.903,2.750,0.000,35.022,3566.195,8659.431,677.922,3313.170,832.150,33.356,2173.271,0.000,3253.592,0.000,0.543,0.000
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$SENSOR_SECS,968.816,1679.718,1457.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329888
$DATA_FILE_SIZE,80266,1427
$CAP_FILE_SIZE,191275,0
$CFSIZE,260165632,136884224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,330.3,1
$GPS,220611,121837,1941.901,12421.626,28,1.1,29,-2.4