version: 66.09
glider: 167
mission: 8
dive: 300
start: 8 14 111 21 3 55
data:
$ID,167
$MISSION,8
$DIVE,300
$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,-56765.199
$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,66
$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
$GPS1,140811,205555,2009.234,12420.469,39,0.9,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.8
$GPS2,140811,210332,2009.239,12420.594,13,1.0,13,-2.5
$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,209.2,259119,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,114,0.00,0.00,-90.90,0.000,2,0.000,0.000,110,1897,3055,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.8,-10.8,12,142,10.15,2.15,-9.65,0.000,4,0.235,0.041,2594,468,3635,0,0,0,0,0,0
$GC,243,-0.62,-194.6,45.3,-20.7,33,252,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1864,3637,0,0,0,0,0,0
$GC,322,-0.62,-194.6,61.3,-19.5,46,330,0.00,2.10,0.00,0.000,4,0.000,0.033,2577,3269,3637,0,0,0,0,0,0
$GC,376,-0.62,-194.6,74.0,-24.4,54,383,0.00,1.77,0.00,0.000,6,0.000,0.016,2577,2003,3637,0,0,0,0,0,0
$GC,453,-0.62,-194.6,92.2,-23.2,67,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2003,3637,0,0,0,0,0,0
$GC,529,-0.62,-194.6,108.9,-20.8,80,537,0.00,2.22,0.00,0.000,4,0.000,0.027,2577,481,3638,0,0,0,0,0,0
$GC,563,-0.62,-194.6,115.5,-19.9,85,572,0.00,2.20,0.00,0.000,6,0.000,0.022,2570,1980,3638,0,0,0,0,0,0
$GC,639,-0.62,-194.6,130.3,-19.8,98,647,0.00,1.92,0.00,0.000,4,0.000,0.041,2561,3271,3638,0,0,0,0,0,0
$GC,658,-0.62,-194.6,133.6,-20.0,100,666,0.10,1.88,0.00,0.000,6,0.154,0.017,2592,1926,3638,0,0,0,0,0,0
$GC,733,-0.62,-194.6,146.9,-16.7,113,742,0.00,2.12,0.00,0.000,4,0.000,0.028,2591,473,3638,0,0,0,0,0,0
$GC,761,-0.62,-194.6,151.7,-17.0,117,769,0.00,2.22,0.00,0.000,6,0.000,0.021,2587,1993,3638,0,0,0,0,0,0
$GC,836,-0.62,-194.6,164.3,-17.0,130,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1993,3638,0,0,0,0,0,0
$GC,910,-0.62,-194.6,177.8,-18.5,143,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1993,3638,0,0,0,0,0,0
$GC,984,-0.62,-194.6,191.5,-18.4,156,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1994,3638,0,0,0,0,0,0
$GC,1058,-0.62,-194.6,204.7,-17.9,167,1062,0.00,2.22,0.00,0.000,4,0.000,0.027,2587,471,3638,0,0,0,0,0,0
$GC,1076,-0.62,-194.6,208.5,-18.2,168,1080,0.00,2.25,0.00,0.000,6,0.000,0.021,2587,2027,3638,0,0,0,0,0,0
$GC,1402,-0.62,-194.6,263.3,-17.5,198,1405,0.00,1.80,0.00,0.000,4,0.000,0.034,2587,3275,3638,0,0,0,0,0,0
$GC,1431,-0.62,-194.6,268.8,-18.3,200,1440,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,2002,3638,0,0,0,0,0,0
$GC,1756,-0.62,-194.6,318.0,-13.2,231,1761,0.00,2.22,0.00,0.000,4,0.000,0.028,2586,481,3637,0,0,0,0,0,0
$GC,1807,-0.62,-194.6,324.9,-14.0,235,1813,0.00,2.25,0.00,0.000,6,0.000,0.021,2584,2040,3637,0,0,0,0,0,0
$GC,2132,-0.62,-194.6,367.0,-13.9,266,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2040,3635,0,0,0,0,0,0
$GC,2454,-0.62,-194.6,409.5,-13.4,296,2458,0.00,2.30,0.00,0.000,4,0.000,0.028,2584,471,3634,0,0,0,0,0,0
$GC,2483,-0.62,-194.6,414.0,-14.1,298,2487,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2050,3634,0,0,0,0,0,0
$GC,2810,-0.62,-194.6,456.9,-14.0,328,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2050,3632,0,0,0,0,0,0
$GC,3128,-0.62,-194.6,503.5,-14.4,357,3132,0.00,2.30,0.00,0.000,4,0.000,0.027,2574,480,3631,0,0,0,0,0,0
$GC,3205,-0.62,-194.6,515.2,-13.9,360,3212,0.00,2.22,0.00,0.000,6,0.000,0.021,2574,2022,3630,0,0,0,0,0,0
$GC,3523,-0.62,-194.6,554.0,-11.5,376,3527,0.00,1.85,0.00,0.000,4,0.000,0.034,2574,3278,3628,0,0,0,0,0,0
$GC,3562,-0.62,-194.6,558.4,-10.6,377,3570,0.00,1.77,0.00,0.000,6,0.000,0.018,2574,2013,3628,0,0,0,0,0,0
$GC,3880,-0.62,-194.6,585.7,-7.8,393,3885,0.00,2.25,0.00,0.000,4,0.000,0.030,2574,485,3627,0,0,0,0,0,0
$GC,3941,-0.62,-194.6,590.8,-8.0,395,3947,0.00,2.22,0.00,0.000,6,0.000,0.021,2574,2022,3626,0,0,0,0,0,0
$GC,4257,-0.62,-194.6,618.9,-9.9,411,4260,0.00,1.85,0.00,0.000,4,0.000,0.035,2574,3273,3624,0,0,0,0,0,0
$GC,4319,-0.62,-194.6,624.9,-8.9,413,4328,0.05,1.80,0.00,0.000,6,0.133,0.018,2593,1981,3624,0,0,0,0,0,0
$GC,4636,-0.62,-194.6,649.1,-7.2,429,4640,0.00,2.20,0.00,0.000,4,0.000,0.030,2593,475,3622,0,0,0,0,0,0
$GC,4726,-0.62,-194.6,656.1,-7.6,433,4730,0.00,2.20,0.00,0.000,6,0.000,0.021,2590,1987,3621,0,0,0,0,0,0
$GC,5048,-0.62,-194.6,681.4,-8.3,449,5053,0.00,1.92,0.00,0.000,4,0.000,0.037,2590,3265,3619,0,0,0,0,0,0
$GC,5086,-0.62,-194.6,684.6,-8.2,450,5094,0.00,1.85,0.00,0.000,6,0.000,0.020,2590,1969,3619,0,0,0,0,0,0
$GC,5406,-0.62,-194.6,708.4,-7.1,466,5410,0.00,1.95,0.00,0.000,4,0.000,0.034,2590,3270,3616,0,0,0,0,0,0
$GC,5422,-0.62,-194.6,710.0,-7.1,466,5429,0.00,1.83,0.00,0.000,6,0.000,0.018,2590,1963,3616,0,0,0,0,0,0
$GC,5739,-0.62,-194.6,732.1,-7.3,482,5744,0.00,1.98,0.00,0.000,4,0.000,0.034,2589,3264,3614,0,0,0,0,0,0
$GC,5764,-0.62,-194.6,733.8,-7.2,483,5768,0.00,1.77,0.00,0.000,6,0.000,0.019,2590,1981,3613,0,0,0,0,0,0
$GC,6098,-0.62,-194.6,758.0,-7.2,499,6102,0.00,2.17,0.00,0.000,4,0.000,0.031,2590,486,3611,0,0,0,0,0,0
$GC,6149,-0.62,-194.6,762.0,-7.7,501,6153,0.00,2.25,0.00,0.000,6,0.000,0.023,2590,2021,3611,0,0,0,0,0,0
$GC,6465,-0.62,-194.6,783.1,-6.5,516,6470,0.00,1.88,0.00,0.000,4,0.000,0.037,2590,3261,3609,0,0,0,0,0,0
$GC,6504,-0.62,-194.6,785.4,-6.5,517,6512,0.00,1.83,0.00,0.000,6,0.000,0.020,2589,1985,3608,0,0,0,0,0,0
$GC,6822,-0.62,-194.6,806.7,-7.2,533,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1984,3606,0,0,0,0,0,0
$GC,7129,-0.62,-194.6,829.3,-7.2,548,7133,0.00,2.22,0.00,0.000,4,0.000,0.031,2590,477,3605,0,0,0,0,0,0
$GC,7170,-0.62,-194.6,832.3,-7.0,550,7175,0.00,2.28,0.00,0.000,6,0.000,0.024,2590,2021,3605,0,0,0,0,0,0
$GC,7500,-0.62,-194.6,851.6,-5.0,566,7505,0.00,1.90,0.00,0.000,4,0.000,0.038,2590,3270,3603,0,0,0,0,0,0
$GC,7546,-0.62,-194.6,853.5,-4.8,568,7551,0.00,1.83,0.00,0.000,6,0.000,0.020,2589,1994,3602,0,0,0,0,0,0
$GC,7880,-0.62,-194.6,866.4,-4.1,584,7884,0.00,2.20,0.00,0.000,4,0.000,0.030,2589,486,3600,0,0,0,0,0,0
$GC,7925,-0.62,-194.6,868.7,-4.3,586,7929,0.00,2.25,0.00,0.000,6,0.000,0.022,2589,2015,3599,0,0,0,0,0,0
$GC,8248,-0.62,-194.6,888.0,-7.2,602,8252,0.00,1.90,0.00,0.000,4,0.000,0.039,2590,3277,3599,0,0,0,0,0,0
$GC,8319,-0.62,-194.6,893.7,-8.0,605,8322,0.00,1.80,0.00,0.000,6,0.000,0.021,2589,2011,3599,0,0,0,0,0,0
$GC,8651,-0.62,-194.6,925.1,-9.8,621,8655,0.00,1.92,0.00,0.000,4,0.000,0.039,2589,3270,3597,0,0,0,0,0,0
$GC,8709,-0.62,-194.6,930.6,-9.4,623,8712,0.00,1.77,0.00,0.000,6,0.000,0.021,2589,2023,3596,0,0,0,0,0,0
$GC,9031,-0.62,-194.6,957.1,-7.5,639,9035,0.00,1.90,0.00,0.000,4,0.000,0.039,2589,3266,3595,0,0,0,0,0,0
$GC,9070,-0.62,-194.6,959.8,-7.2,640,9077,0.00,1.75,0.00,0.000,6,0.000,0.020,2589,2022,3595,0,0,0,0,0,0
$GC,9388,-0.62,-194.6,977.8,-5.1,656,9392,0.00,1.90,0.00,0.000,4,0.000,0.039,2589,3265,3593,0,0,0,0,0,0
$GC,9421,-0.62,-194.6,979.6,-4.9,657,9425,0.00,1.73,0.00,0.000,6,0.000,0.020,2589,2036,3593,0,0,0,0,0,0
$STATE,9658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9659,begin apogee
$GC,9666,-0.20,0.0,990.7,4.5,669,9827,0.43,0.00,155.27,1.386,4,0.115,0.000,2733,2031,2838,0,0,0,0,0,0
$STATE,9828,end apogee,CONTROL_FINISHED_OK
$STATE,9828,begin climb
$GC,9831,0.62,194.6,991.9,0.0,676,10007,0.75,0.00,169.50,1.328,6,0.076,0.000,2999,2031,2044,0,0,0,0,0,0
$GC,10325,0.62,194.6,927.8,14.3,700,10329,0.00,2.22,0.00,0.000,4,0.000,0.038,2999,3464,2034,0,0,0,0,0,0
$GC,10459,0.62,194.6,908.4,15.0,706,10463,0.00,2.00,0.00,0.000,6,0.000,0.021,3006,2101,2032,0,0,0,0,0,0
$GC,10792,0.62,194.6,864.3,12.4,722,10796,0.00,2.10,0.00,0.000,4,0.000,0.032,3016,689,2030,0,0,0,0,0,0
$GC,10866,0.62,194.6,855.5,11.5,725,10870,0.00,2.05,0.00,0.000,6,0.000,0.024,3015,2082,2030,0,0,0,0,0,0
$GC,11188,0.62,194.6,816.2,12.4,741,11192,0.00,2.12,0.00,0.000,4,0.000,0.040,3016,3466,2029,0,0,0,0,0,0
$GC,11220,0.62,194.6,811.7,12.9,742,11224,0.00,2.03,0.00,0.000,6,0.000,0.021,3025,2092,2029,0,0,0,0,0,0
$GC,11545,0.62,194.6,768.9,13.4,758,11549,0.00,2.08,0.00,0.000,4,0.000,0.031,3034,696,2028,0,0,0,0,0,0
$GC,11600,0.62,194.6,760.5,13.8,760,11605,0.12,2.08,0.00,0.000,6,0.152,0.024,3000,2115,2028,0,0,0,0,0,0
$GC,11923,0.62,194.6,720.9,12.3,776,11928,0.00,2.15,0.00,0.000,4,0.000,0.031,3006,701,2027,0,0,0,0,0,0
$GC,11969,0.62,194.6,715.4,11.4,778,11974,0.00,2.08,0.00,0.000,6,0.000,0.024,3006,2089,2027,0,0,0,0,0,0
$GC,12302,0.62,194.6,678.4,10.2,794,12306,0.00,2.10,0.00,0.000,4,0.000,0.039,3005,3477,2027,0,0,0,0,0,0
$GC,12370,0.62,194.6,670.6,11.3,797,12374,0.00,1.95,0.00,0.000,6,0.000,0.020,3013,2121,2026,0,0,0,0,0,0
$GC,12697,0.62,194.6,635.0,11.1,813,12701,0.00,2.12,0.00,0.000,4,0.000,0.032,3024,700,2026,0,0,0,0,0,0
$GC,12752,0.62,194.6,628.7,11.2,815,12756,0.00,2.08,0.00,0.000,6,0.000,0.023,3024,2104,2026,0,0,0,0,0,0
$GC,13074,0.62,194.6,591.0,11.8,831,13078,0.00,2.10,0.00,0.000,4,0.000,0.031,3032,691,2026,0,0,0,0,0,0
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$STATE,18843,end climb,SURFACE_DEPTH_REACHED
$STATE,18844,begin surface coast
$FINISH,0.9,1.007717
$STATE,18880,end surface coast,CONTROL_FINISHED_OK
$STATE,18880,begin surface
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$XPDR_PINGS,71
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$10V_AH,9.9,49.069
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329640
$DATA_FILE_SIZE,83585,1454
$CAP_FILE_SIZE,213864,0
$CFSIZE,260165632,113020928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117, 74.9,1
$GPS,150811,022107,2007.009,12420.363,31,0.9,32,-2.5