version: 66.09
glider: 167
mission: 8
dive: 47
start: 6 20 111 4 34 58
data:
$ID,167
$MISSION,8
$DIVE,47
$N_DIVES,55
$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,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,-56443.02
$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,2805
$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,63
$R_STBD_OVSHOOT,68
$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
$GPS1,200611,042655,2010.676,12420.151,39,1.2,40,-2.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.2
$GPS2,200611,043436,2010.632,12420.144,14,1.3,31,-2.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,175.4,261764,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.67,-194.6,0.0,0.0,0,98,0.00,0.00,-78.55,0.000,2,0.000,0.000,109,1868,3248,0,0,0,0,0,0
$GC,102,-0.67,-194.6,6.1,-10.6,10,126,9.65,2.10,-6.10,0.000,4,0.231,0.047,2569,3262,3635,0,0,0,0,0,0
$GC,170,-0.67,-194.6,37.0,-37.3,20,179,0.00,2.05,0.00,0.000,6,0.000,0.018,2569,1864,3636,0,0,0,0,0,0
$GC,247,-0.67,-194.6,60.3,-28.5,33,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1862,3637,0,0,0,0,0,0
$GC,324,-0.67,-194.6,84.8,-30.6,46,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1862,3637,0,0,0,0,0,0
$GC,396,-0.67,-194.6,105.3,-28.0,59,404,0.00,2.03,0.00,0.000,4,0.000,0.030,2569,490,3637,0,0,0,0,0,0
$GC,438,-0.67,-194.6,116.7,-26.4,66,446,0.00,2.03,0.00,0.000,6,0.000,0.021,2561,1874,3638,0,0,0,0,0,0
$GC,513,-0.67,-194.6,135.4,-24.8,79,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1873,3638,0,0,0,0,0,0
$GC,588,-0.67,-194.6,151.5,-21.5,92,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1873,3638,0,0,0,0,0,0
$GC,662,-0.67,-194.6,167.4,-21.4,105,670,0.00,2.08,0.00,0.000,4,0.000,0.031,2551,3269,3638,0,0,0,0,0,0
$GC,727,-0.67,-194.6,182.6,-23.6,116,737,0.10,2.03,0.00,0.000,6,0.158,0.019,2582,1853,3638,0,0,0,0,0,0
$GC,807,-0.67,-194.6,198.9,-18.9,129,815,0.00,1.98,0.00,0.000,4,0.000,0.028,2582,501,3638,0,0,0,0,0,0
$GC,871,-0.67,-194.6,212.0,-19.1,140,880,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,1882,3639,0,0,0,0,0,0
$GC,947,-0.67,-194.6,226.0,-19.2,153,955,0.00,2.05,0.00,0.000,4,0.000,0.032,2566,3265,3639,0,0,0,0,0,0
$GC,964,-0.67,-194.6,229.5,-20.1,155,972,0.00,1.98,0.00,0.000,6,0.000,0.018,2566,1882,3639,0,0,0,0,0,0
$GC,1038,-0.67,-194.6,243.4,-17.4,168,1047,0.00,2.03,0.00,0.000,4,0.000,0.029,2566,494,3639,0,0,0,0,0,0
$GC,1067,-0.67,-194.6,247.7,-16.0,172,1077,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1869,3639,0,0,0,0,0,0
$GC,1148,-0.67,-194.6,262.2,-18.3,180,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1869,3639,0,0,0,0,0,0
$GC,1469,-0.67,-194.6,313.1,-14.0,210,1472,0.00,2.05,0.00,0.000,4,0.000,0.034,2561,3266,3639,0,0,0,0,0,0
$GC,1525,-0.67,-194.6,321.3,-13.7,215,1529,0.00,1.95,0.00,0.000,6,0.000,0.018,2561,1863,3638,0,0,0,0,0,0
$GC,1856,-0.67,-194.6,373.8,-15.8,246,1860,0.10,1.98,0.00,0.000,4,0.186,0.030,2585,503,3638,0,0,0,0,0,0
$GC,1924,-0.67,-194.6,382.4,-12.2,252,1928,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,1891,3637,0,0,0,0,0,0
$GC,2254,-0.67,-194.6,421.6,-11.2,283,2259,0.00,2.03,0.00,0.000,4,0.000,0.034,2574,3259,3636,0,0,0,0,0,0
$GC,2282,-0.67,-194.6,424.8,-11.2,285,2289,0.00,1.92,0.00,0.000,6,0.000,0.019,2574,1873,3636,0,0,0,0,0,0
$GC,2607,-0.67,-194.6,464.3,-12.7,316,2612,0.00,2.00,0.00,0.000,4,0.000,0.031,2574,504,3634,0,0,0,0,0,0
$GC,2689,-0.67,-194.6,474.5,-12.9,323,2693,0.00,1.95,0.00,0.000,6,0.000,0.022,2574,1880,3634,0,0,0,0,0,0
$GC,3020,-0.67,-194.6,515.4,-11.3,354,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1880,3632,0,0,0,0,0,0
$GC,3342,-0.67,-194.6,546.1,-8.8,384,3346,0.00,2.03,0.00,0.000,4,0.000,0.031,2574,497,3630,0,0,0,0,0,0
$GC,3410,-0.67,-194.6,552.2,-8.8,390,3413,0.00,1.98,0.00,0.000,6,0.000,0.021,2573,1877,3629,0,0,0,0,0,0
$GC,3743,-0.67,-194.6,581.7,-9.0,421,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1877,3627,0,0,0,0,0,0
$GC,4066,-0.67,-194.6,611.4,-9.2,446,4069,0.00,2.05,0.00,0.000,4,0.000,0.036,2566,3268,3624,0,0,0,0,0,0
$GC,4173,-0.67,-194.6,621.8,-9.6,450,4180,0.00,1.95,0.00,0.000,6,0.000,0.020,2566,1879,3624,0,0,0,0,0,0
$GC,4490,-0.67,-194.6,653.1,-9.8,466,4494,0.00,2.05,0.00,0.000,4,0.000,0.034,2562,3261,3621,0,0,0,0,0,0
$GC,4536,-0.67,-194.6,657.8,-9.7,468,4540,0.00,1.95,0.00,0.000,6,0.000,0.021,2561,1872,3621,0,0,0,0,0,0
$GC,4873,-0.67,-194.6,692.7,-10.4,484,4876,0.00,1.98,0.00,0.000,4,0.000,0.033,2562,501,3618,0,0,0,0,0,0
$GC,4897,-0.67,-194.6,695.5,-10.5,485,4901,0.00,1.95,0.00,0.000,6,0.000,0.023,2561,1869,3618,0,0,0,0,0,0
$GC,5231,-0.67,-194.6,733.4,-11.8,501,5235,0.00,2.05,0.00,0.000,4,0.000,0.037,2561,3265,3616,0,0,0,0,0,0
$GC,5270,-0.67,-194.6,738.2,-11.4,502,5277,0.00,2.00,0.00,0.000,6,0.000,0.021,2562,1880,3616,0,0,0,0,0,0
$GC,5589,-0.67,-194.6,768.3,-8.4,518,5593,0.00,2.08,0.00,0.000,4,0.000,0.037,2561,3268,3613,0,0,0,0,0,0
$GC,5625,-0.67,-194.6,771.1,-7.9,519,5632,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1868,3613,0,0,0,0,0,0
$GC,5941,-0.67,-194.6,795.1,-8.2,535,5945,0.00,1.98,0.00,0.000,4,0.000,0.033,2561,499,3611,0,0,0,0,0,0
$GC,5974,-0.67,-194.6,798.4,-8.7,536,5978,0.00,1.98,0.00,0.000,6,0.000,0.024,2561,1874,3610,0,0,0,0,0,0
$GC,6300,-0.67,-194.6,829.0,-10.2,552,6303,0.00,2.05,0.00,0.000,4,0.000,0.039,2561,3266,3608,0,0,0,0,0,0
$GC,6395,-0.67,-194.6,839.3,-10.1,556,6399,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1870,3607,0,0,0,0,0,0
$GC,6726,-0.67,-194.6,871.0,-9.1,572,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1868,3606,0,0,0,0,0,0
$GC,7032,-0.67,-194.6,896.0,-7.7,587,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1868,3604,0,0,0,0,0,0
$GC,7341,-0.67,-194.6,919.8,-7.7,602,7345,0.00,2.10,0.00,0.000,4,0.000,0.039,2561,3277,3602,0,0,0,0,0,0
$GC,7363,-0.67,-194.6,921.4,-7.5,603,7367,0.00,2.03,0.00,0.000,6,0.000,0.021,2561,1867,3602,0,0,0,0,0,0
$GC,7693,-0.67,-194.6,947.3,-8.1,619,7697,0.00,2.10,0.00,0.000,4,0.000,0.039,2561,3272,3600,0,0,0,0,0,0
$GC,7714,-0.67,-194.6,949.4,-8.2,620,7718,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1863,3600,0,0,0,0,0,0
$GC,8043,-0.67,-194.6,977.3,-8.6,636,8047,0.00,2.10,0.00,0.000,4,0.000,0.039,2562,3270,3599,0,0,0,0,0,0
$GC,8097,-0.67,-194.6,982.0,-8.4,638,8105,0.00,2.03,0.00,0.000,6,0.000,0.021,2561,1875,3599,0,0,0,0,0,0
$STATE,8205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8205,begin apogee
$GC,8213,-0.20,0.0,991.0,8.3,644,8368,0.52,0.00,150.48,1.401,6,0.129,0.000,2737,2084,2839,0,0,0,0,0,0
$STATE,8369,end apogee,CONTROL_FINISHED_OK
$STATE,8369,begin climb
$GC,8372,0.67,194.6,995.3,0.0,651,8541,0.80,2.25,161.35,1.344,4,0.076,0.038,3017,3462,2046,0,0,0,0,0,0
$GC,8593,0.67,194.6,970.7,15.9,661,8600,0.00,2.12,0.00,0.000,6,0.000,0.022,3026,2086,2040,0,0,0,0,0,0
$GC,8910,0.67,194.6,922.6,15.0,677,8914,0.00,2.12,0.00,0.000,4,0.000,0.036,3037,687,2035,0,0,0,0,0,0
$GC,9011,0.67,194.6,907.2,15.1,681,9018,0.00,2.10,0.00,0.000,6,0.000,0.025,3037,2062,2035,0,0,0,0,0,0
$GC,9329,0.67,194.6,858.5,16.0,697,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2062,2033,0,0,0,0,0,0
$GC,9636,0.67,194.6,809.0,15.7,712,9640,0.00,2.17,0.00,0.000,4,0.000,0.041,3036,3490,2033,0,0,0,0,0,0
$GC,9708,0.67,194.6,796.6,16.9,715,9712,0.00,2.08,0.00,0.000,6,0.000,0.023,3044,2074,2032,0,0,0,0,0,0
$GC,10034,0.67,194.6,746.4,15.8,731,10037,0.00,2.08,0.00,0.000,4,0.000,0.036,3055,682,2031,0,0,0,0,0,0
$GC,10125,0.67,194.6,731.2,16.0,735,10130,0.12,2.10,0.00,0.000,6,0.166,0.025,3022,2097,2031,0,0,0,0,0,0
$GC,10453,0.67,194.6,683.0,14.9,751,10457,0.00,2.15,0.00,0.000,4,0.000,0.034,3030,676,2031,0,0,0,0,0,0
$GC,10490,0.67,194.6,676.9,15.0,752,10499,0.00,2.10,0.00,0.000,6,0.000,0.024,3030,2081,2031,0,0,0,0,0,0
$GC,10807,0.67,194.6,631.6,14.2,768,10811,0.00,2.08,0.00,0.000,4,0.000,0.041,3030,3473,2030,0,0,0,0,0,0
$GC,10885,0.67,194.6,620.0,15.5,771,10892,0.00,2.05,0.00,0.000,6,0.000,0.023,3039,2065,2030,0,0,0,0,0,0
$GC,11207,0.67,194.6,574.5,14.5,795,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2065,2029,0,0,0,0,0,0
$GC,11528,0.67,194.6,527.9,14.3,825,11532,0.00,2.05,0.00,0.000,4,0.000,0.036,3049,695,2029,0,0,0,0,0,0
$GC,11689,0.67,194.6,504.6,13.6,839,11696,0.00,2.00,0.00,0.000,6,0.000,0.024,3049,2075,2028,0,0,0,0,0,0
$GC,12014,0.67,194.6,460.2,13.1,870,12018,0.00,2.05,0.00,0.000,4,0.000,0.034,3058,692,2028,0,0,0,0,0,0
$GC,12097,0.67,194.6,448.8,13.9,877,12104,0.15,2.05,0.00,0.000,6,0.162,0.024,3018,2107,2028,0,0,0,0,0,0
$GC,12422,0.67,194.6,411.8,12.2,908,12427,0.00,2.12,0.00,0.000,4,0.000,0.034,3025,690,2027,0,0,0,0,0,0
$GC,12479,0.67,194.6,404.8,12.1,913,12483,0.00,2.03,0.00,0.000,6,0.000,0.024,3026,2076,2028,0,0,0,0,0,0
$GC,12809,0.67,194.6,364.2,12.7,944,12814,0.00,2.10,0.00,0.000,4,0.000,0.039,3025,3467,2028,0,0,0,0,0,0
$GC,12832,0.67,194.6,361.2,12.7,946,12836,0.00,2.00,0.00,0.000,6,0.000,0.022,3035,2069,2028,0,0,0,0,0,0
$GC,13164,0.67,194.6,321.8,11.3,977,13167,0.00,2.03,0.00,0.000,4,0.000,0.034,3045,689,2028,0,0,0,0,0,0
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$STATE,15836,begin surface coast
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$STATE,15870,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,7.909
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$FG_AHR_10Vo,0.000
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$CURRENT,0.154,228.4,1
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