version: 66.09
glider: 167
mission: 8
dive: 308
start: 8 16 111 16 21 14
data:
$ID,167
$MISSION,8
$DIVE,308
$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,-56775.266
$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,68
$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
$GPS1,160811,161301,1953.065,12420.667,39,1.3,40,-2.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.0
$GPS2,160811,162050,1953.180,12420.622,14,1.4,14,-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,187.2,229533,-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,-194.6,0.0,0.0,0,118,0.00,0.00,-95.15,0.000,2,0.000,0.000,111,1873,3197,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.7,-12.2,13,147,10.12,2.05,-6.82,0.000,4,0.234,0.035,2597,467,3635,0,0,0,0,0,0
$GC,235,-0.62,-194.6,43.1,-21.3,32,243,0.00,2.08,0.00,0.000,6,0.000,0.026,2589,1881,3637,0,0,0,0,0,0
$GC,311,-0.62,-194.6,58.9,-19.6,45,320,0.00,2.08,0.00,0.000,4,0.000,0.028,2589,487,3638,0,0,0,0,0,0
$GC,364,-0.62,-194.6,69.5,-19.3,53,373,0.00,1.83,0.00,0.000,6,0.000,0.021,2586,1747,3638,0,0,0,0,0,0
$GC,442,-0.62,-194.6,82.6,-18.9,66,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1747,3638,0,0,0,0,0,0
$GC,516,-0.62,-194.6,94.8,-16.5,79,525,0.00,2.28,0.00,0.000,4,0.000,0.031,2576,3273,3638,0,0,0,0,0,0
$GC,533,-0.62,-194.6,98.1,-17.0,81,542,0.00,2.30,0.00,0.000,6,0.000,0.018,2575,1687,3638,0,0,0,0,0,0
$GC,609,-0.62,-194.6,111.1,-17.1,94,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1686,3638,0,0,0,0,0,0
$GC,683,-0.62,-194.6,124.1,-18.8,107,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1686,3638,0,0,0,0,0,0
$GC,763,-0.62,-194.6,138.8,-17.7,120,771,0.00,2.38,0.00,0.000,4,0.000,0.031,2567,3266,3638,0,0,0,0,0,0
$GC,791,-0.62,-194.6,143.9,-17.7,124,801,0.08,2.28,0.00,0.000,6,0.157,0.018,2591,1690,3638,0,0,0,0,0,0
$GC,870,-0.62,-194.6,157.0,-15.8,137,878,0.00,2.38,0.00,0.000,4,0.000,0.030,2587,3271,3638,0,0,0,0,0,0
$GC,909,-0.62,-194.6,163.7,-16.4,143,918,0.00,2.15,0.00,0.000,6,0.000,0.018,2587,1770,3638,0,0,0,0,0,0
$GC,985,-0.62,-194.6,176.3,-16.5,156,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1770,3638,0,0,0,0,0,0
$GC,1061,-0.62,-194.6,189.0,-16.9,169,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1770,3638,0,0,0,0,0,0
$GC,1139,-0.62,-194.6,202.4,-17.0,181,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1769,3638,0,0,0,0,0,0
$GC,1458,-0.62,-194.6,253.7,-15.7,211,1462,0.00,2.22,0.00,0.000,4,0.000,0.032,2587,3264,3638,0,0,0,0,0,0
$GC,1535,-0.62,-194.6,265.2,-14.7,217,1539,0.00,2.12,0.00,0.000,6,0.000,0.018,2587,1763,3637,0,0,0,0,0,0
$GC,1860,-0.62,-194.6,310.1,-13.3,247,1864,0.00,2.22,0.00,0.000,4,0.000,0.032,2587,3263,3636,0,0,0,0,0,0
$GC,1946,-0.62,-194.6,320.4,-10.7,254,1950,0.00,2.08,0.00,0.000,6,0.000,0.017,2587,1788,3636,0,0,0,0,0,0
$GC,2273,-0.62,-194.6,363.9,-13.4,284,2277,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,3269,3635,0,0,0,0,0,0
$GC,2352,-0.62,-194.6,373.7,-11.5,290,2359,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1831,3635,0,0,0,0,0,0
$GC,2677,-0.62,-194.6,411.5,-10.4,321,2682,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,3264,3634,0,0,0,0,0,0
$GC,2706,-0.62,-194.6,414.5,-10.6,323,2713,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1855,3633,0,0,0,0,0,0
$GC,3031,-0.62,-194.6,451.2,-12.0,354,3035,0.00,2.10,0.00,0.000,4,0.000,0.032,2587,3268,3632,0,0,0,0,0,0
$GC,3077,-0.62,-194.6,456.6,-11.4,357,3084,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1893,3632,0,0,0,0,0,0
$GC,3403,-0.62,-194.6,494.9,-11.9,388,3407,0.00,2.03,0.00,0.000,4,0.000,0.030,2587,515,3631,0,0,0,0,0,0
$GC,3429,-0.62,-194.6,498.2,-11.7,390,3436,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1907,3631,0,0,0,0,0,0
$GC,3748,-0.62,-194.6,532.3,-10.0,407,3752,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3263,3629,0,0,0,0,0,0
$GC,3854,-0.62,-194.6,541.5,-7.6,411,3862,0.00,1.85,0.00,0.000,6,0.000,0.018,2586,1946,3628,0,0,0,0,0,0
$GC,4172,-0.62,-194.6,568.0,-8.4,427,4177,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,507,3626,0,0,0,0,0,0
$GC,4218,-0.62,-194.6,572.2,-8.6,429,4222,0.00,2.10,0.00,0.000,6,0.000,0.022,2588,1937,3626,0,0,0,0,0,0
$GC,4550,-0.62,-194.6,600.5,-8.9,445,4554,0.00,1.98,0.00,0.000,4,0.000,0.035,2587,3269,3624,0,0,0,0,0,0
$GC,4585,-0.62,-194.6,603.7,-8.9,446,4589,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1939,3623,0,0,0,0,0,0
$GC,4907,-0.62,-194.6,630.9,-8.4,462,4911,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,508,3622,0,0,0,0,0,0
$GC,4958,-0.62,-194.6,635.2,-8.2,464,4963,0.00,2.08,0.00,0.000,6,0.000,0.023,2587,1915,3621,0,0,0,0,0,0
$GC,5280,-0.62,-194.6,653.8,-5.3,480,5284,0.00,2.03,0.00,0.000,4,0.000,0.037,2587,3271,3619,0,0,0,0,0,0
$GC,5410,-0.62,-194.6,659.8,-4.3,485,5417,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1950,3618,0,0,0,0,0,0
$GC,5728,-0.62,-194.6,678.0,-6.4,501,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1949,3615,0,0,0,0,0,0
$GC,6038,-0.62,-194.6,701.5,-8.2,516,6042,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3274,3613,0,0,0,0,0,0
$GC,6090,-0.62,-194.6,706.3,-8.8,518,6094,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1973,3613,0,0,0,0,0,0
$GC,6416,-0.62,-194.6,738.0,-10.0,534,6420,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,513,3611,0,0,0,0,0,0
$GC,6466,-0.62,-194.6,743.4,-10.4,536,6470,0.00,2.08,0.00,0.000,6,0.000,0.023,2587,1930,3610,0,0,0,0,0,0
$GC,6792,-0.62,-194.6,774.2,-9.2,552,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1931,3608,0,0,0,0,0,0
$GC,7098,-0.62,-194.6,798.2,-7.4,567,7102,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3268,3606,0,0,0,0,0,0
$GC,7183,-0.62,-194.6,804.1,-6.6,570,7190,0.00,1.92,0.00,0.000,6,0.000,0.019,2588,1920,3606,0,0,0,0,0,0
$GC,7499,-0.62,-194.6,826.5,-7.1,586,7503,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,500,3604,0,0,0,0,0,0
$GC,7521,-0.62,-194.6,828.2,-7.1,587,7525,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1926,3604,0,0,0,0,0,0
$GC,7845,-0.62,-194.6,847.8,-5.9,603,7849,0.00,2.03,0.00,0.000,4,0.000,0.038,2587,3270,3602,0,0,0,0,0,0
$GC,7891,-0.62,-194.6,850.7,-6.0,605,7895,0.00,1.92,0.00,0.000,6,0.000,0.019,2587,1909,3601,0,0,0,0,0,0
$GC,8226,-0.62,-194.6,873.2,-7.6,621,8229,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3270,3599,0,0,0,0,0,0
$GC,8265,-0.62,-194.6,876.4,-7.8,622,8271,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1929,3599,0,0,0,0,0,0
$GC,8581,-0.62,-194.6,904.6,-9.6,638,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1929,3598,0,0,0,0,0,0
$GC,8892,-0.62,-194.6,934.6,-9.4,653,8895,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3270,3597,0,0,0,0,0,0
$GC,8938,-0.62,-194.6,938.8,-8.8,655,8942,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1943,3596,0,0,0,0,0,0
$GC,9271,-0.62,-194.6,963.4,-6.5,671,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1942,3595,0,0,0,0,0,0
$GC,9582,-0.62,-194.6,979.5,-4.7,686,9586,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,493,3593,0,0,0,0,0,0
$GC,9623,-0.62,-194.6,981.7,-4.6,688,9627,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1960,3593,0,0,0,0,0,0
$STATE,9803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9803,begin apogee
$GC,9811,-0.20,0.0,990.2,4.6,697,9974,0.43,0.00,155.82,1.395,4,0.117,0.000,2730,2082,2838,0,0,0,0,0,0
$STATE,9975,end apogee,CONTROL_FINISHED_OK
$STATE,9975,begin climb
$GC,9977,0.62,194.6,992.0,0.0,704,10156,0.80,2.20,170.10,1.334,4,0.081,0.032,2998,702,2045,0,0,0,0,0,0
$GC,10260,0.62,194.6,962.2,12.1,717,10264,0.00,2.10,0.00,0.000,6,0.000,0.024,2999,2068,2037,0,0,0,0,0,0
$GC,10576,0.62,194.6,927.1,10.4,732,10579,0.00,2.05,0.00,0.000,4,0.000,0.033,3006,708,2030,0,0,0,0,0,0
$GC,10758,0.63,201.6,909.0,9.5,740,10767,0.00,2.10,5.18,0.952,6,0.000,0.025,3006,2106,2017,0,0,0,0,0,0
$GC,11084,0.63,201.6,876.0,9.9,756,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2106,2014,0,0,0,0,0,0
$GC,11394,0.63,201.6,844.1,10.8,771,11395,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2105,2013,0,0,0,0,0,0
$GC,11704,0.63,201.6,809.0,11.8,786,11708,0.00,2.12,0.00,0.000,4,0.000,0.033,3013,692,2011,0,0,0,0,0,0
$GC,11737,0.63,201.6,804.6,12.0,787,11744,0.00,2.05,0.00,0.000,6,0.000,0.024,3013,2083,2012,0,0,0,0,0,0
$GC,12055,0.63,201.6,763.8,13.1,803,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2083,2011,0,0,0,0,0,0
$GC,12363,0.63,201.6,726.3,11.5,818,12367,0.00,2.08,0.00,0.000,4,0.000,0.034,3019,709,2011,0,0,0,0,0,0
$GC,12432,0.63,201.6,718.3,11.6,821,12436,0.00,1.95,0.00,0.000,6,0.000,0.024,3019,2032,2010,0,0,0,0,0,0
$GC,12766,0.63,201.6,679.6,11.5,837,12771,0.00,2.20,0.00,0.000,4,0.000,0.039,3019,3469,2010,0,0,0,0,0,0
$GC,12912,0.63,201.6,660.7,13.1,843,12917,0.00,2.03,0.00,0.000,6,0.000,0.021,3025,2092,2009,0,0,0,0,0,0
$GC,13235,0.63,201.6,621.1,12.7,859,13239,0.00,2.10,0.00,0.000,4,0.000,0.034,3035,688,2009,0,0,0,0,0,0
$GC,13352,0.63,201.6,605.7,13.0,864,13357,0.08,2.08,0.00,0.000,6,0.125,0.024,3008,2088,2008,0,0,0,0,0,0
$GC,13681,0.63,201.6,569.8,9.7,880,13685,0.00,2.10,0.00,0.000,4,0.000,0.033,3016,688,2009,0,0,0,0,0,0
$GC,13725,0.67,231.4,565.7,8.7,882,13756,0.00,2.03,26.08,1.095,6,0.000,0.024,3016,2069,1895,0,0,0,0,0,0
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$STATE,18434,end climb,SURFACE_DEPTH_REACHED
$STATE,18434,begin surface coast
$FINISH,0.9,1.000566
$STATE,18459,end surface coast,CONTROL_FINISHED_OK
$STATE,18459,begin surface
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$XPDR_PINGS,67
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$10V_AH,9.8,50.350
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329624
$DATA_FILE_SIZE,83537,1411
$CAP_FILE_SIZE,202694,0
$CFSIZE,260165632,112234496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098, 17.7,1
$GPS,160811,213151,1951.500,12420.278,39,2.7,59,-2.4