version: 66.09
glider: 167
mission: 8
dive: 70
start: 6 24 111 19 4 12
data:
$ID,167
$MISSION,8
$DIVE,70
$N_DIVES,75
$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,400
$T_MISSION,440
$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,150
$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,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,-56474.758
$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,121
$R_STBD_OVSHOOT,67
$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
$GPS1,240611,185421,1923.178,12424.382,39,2.5,58,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-56.9
$GPS2,240611,190350,1923.227,12424.673,15,1.7,15,-2.3
$SPEED_LIMITS,0.143,0.244
$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,181.3,173613,-15.4,-8.250
$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,-0.56,-146.0,0.0,0.0,0,115,0.00,0.00,-94.40,0.000,2,0.000,0.000,108,1827,3127,0,0,0,0,0,0
$GC,118,-0.56,-146.0,5.7,-10.3,13,136,9.82,0.00,-5.25,0.000,6,0.232,0.000,2608,1826,3438,0,0,0,0,0,0
$GC,269,-0.56,-146.0,61.5,-28.9,39,277,0.00,2.15,0.00,0.000,4,0.000,0.029,2598,3265,3439,0,0,0,0,0,0
$GC,328,-0.56,-146.0,81.0,-30.8,49,337,0.00,1.95,0.00,0.000,6,0.000,0.018,2598,1902,3439,0,0,0,0,0,0
$GC,476,-0.56,-146.0,115.4,-25.1,74,484,0.00,2.03,0.00,0.000,4,0.000,0.029,2589,3263,3439,0,0,0,0,0,0
$GC,586,-0.56,-146.0,142.0,-21.3,93,594,0.00,1.98,0.00,0.000,6,0.000,0.018,2589,1877,3439,0,0,0,0,0,0
$GC,734,-0.56,-146.0,171.5,-16.9,118,742,0.00,2.00,0.00,0.000,4,0.000,0.028,2588,502,3440,0,0,0,0,0,0
$GC,767,-0.56,-146.0,177.4,-16.1,123,776,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1866,3440,0,0,0,0,0,0
$GC,914,-0.56,-146.0,199.3,-14.4,148,923,0.12,2.10,0.00,0.000,4,0.180,0.031,2610,3274,3440,0,0,0,0,0,0
$GC,1059,-0.56,-146.0,219.8,-15.0,161,1067,0.00,1.95,0.00,0.000,6,0.000,0.018,2610,1870,3440,0,0,0,0,0,0
$GC,1384,-0.56,-146.0,262.7,-11.2,192,1389,0.00,2.00,0.00,0.000,4,0.000,0.029,2610,490,3440,0,0,0,0,0,0
$GC,1455,-0.56,-146.0,271.1,-12.1,198,1464,0.00,2.00,0.00,0.000,6,0.000,0.021,2608,1879,3440,0,0,0,0,0,0
$GC,1781,-0.56,-146.0,306.0,-11.7,229,1785,0.00,2.03,0.00,0.000,4,0.000,0.031,2601,3273,3439,0,0,0,0,0,0
$GC,2028,-0.56,-146.0,333.3,-10.4,251,2032,0.00,1.98,0.00,0.000,6,0.000,0.019,2600,1869,3437,0,0,0,0,0,0
$GC,2361,-0.56,-146.0,363.6,-9.2,282,2365,0.00,1.98,0.00,0.000,4,0.000,0.031,2600,496,3436,0,0,0,0,0,0
$GC,2452,-0.56,-146.0,372.4,-9.9,290,2455,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1881,3436,0,0,0,0,0,0
$GC,2785,-0.56,-146.0,403.9,-9.0,321,2788,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,3272,3434,0,0,0,0,0,0
$GC,2879,-0.56,-146.0,412.8,-8.8,329,2887,0.00,2.00,0.00,0.000,6,0.000,0.019,2601,1849,3433,0,0,0,0,0,0
$GC,3207,-0.56,-146.0,443.1,-9.5,360,3211,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,3271,3431,0,0,0,0,0,0
$GC,3247,-0.56,-146.0,446.8,-9.2,363,3250,0.00,1.95,0.00,0.000,6,0.000,0.019,2600,1871,3430,0,0,0,0,0,0
$GC,3580,-0.56,-146.0,471.4,-6.9,394,3584,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,489,3428,0,0,0,0,0,0
$GC,3618,-0.56,-146.0,474.6,-7.3,397,3627,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1872,3428,0,0,0,0,0,0
$GC,3944,-0.56,-146.0,500.6,-8.7,428,3948,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,486,3426,0,0,0,0,0,0
$GC,3969,-0.56,-146.0,502.9,-8.8,429,3974,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1869,3426,0,0,0,0,0,0
$GC,4301,-0.56,-146.0,533.1,-9.1,445,4305,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,3264,3424,0,0,0,0,0,0
$GC,4386,-0.56,-146.0,540.8,-8.6,448,4393,0.00,1.95,0.00,0.000,6,0.000,0.019,2600,1865,3423,0,0,0,0,0,0
$GC,4704,-0.56,-146.0,566.7,-7.8,464,4708,0.00,1.98,0.00,0.000,4,0.000,0.032,2600,504,3421,0,0,0,0,0,0
$GC,4827,-0.56,-146.0,577.5,-8.6,469,4832,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1880,3420,0,0,0,0,0,0
$GC,5150,-0.56,-146.0,601.3,-7.2,485,5154,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,3268,3418,0,0,0,0,0,0
$GC,5189,-0.56,-146.0,603.9,-6.7,486,5196,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1869,3418,0,0,0,0,0,0
$GC,5510,-0.56,-146.0,622.7,-5.9,502,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1869,3416,0,0,0,0,0,0
$GC,5815,-0.56,-146.0,643.7,-6.9,517,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1869,3413,0,0,0,0,0,0
$GC,6124,-0.56,-146.0,666.0,-7.4,532,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1869,3411,0,0,0,0,0,0
$GC,6437,-0.56,-146.0,691.0,-8.4,547,6440,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,500,3409,0,0,0,0,0,0
$GC,6476,-0.56,-146.0,694.9,-8.9,548,6483,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,1883,3409,0,0,0,0,0,0
$GC,6792,-0.56,-146.0,719.1,-7.2,564,6796,0.00,2.05,0.00,0.000,4,0.000,0.036,2600,3266,3406,0,0,0,0,0,0
$GC,6911,-0.56,-146.0,726.9,-6.3,569,6915,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1881,3405,0,0,0,0,0,0
$GC,7239,-0.56,-146.0,745.8,-5.7,585,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1881,3403,0,0,0,0,0,0
$GC,7549,-0.56,-146.0,765.1,-6.5,600,7552,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3263,3402,0,0,0,0,0,0
$GC,7596,-0.56,-146.0,768.4,-6.7,602,7600,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1865,3401,0,0,0,0,0,0
$GC,7929,-0.56,-146.0,792.2,-7.2,618,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1865,3400,0,0,0,0,0,0
$GC,8239,-0.56,-146.0,814.4,-7.1,633,8243,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3264,3398,0,0,0,0,0,0
$GC,8280,-0.56,-146.0,817.5,-7.3,635,8284,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1869,3398,0,0,0,0,0,0
$GC,8615,-0.56,-146.0,840.7,-6.9,651,8619,0.00,2.08,0.00,0.000,4,0.000,0.037,2601,3267,3397,0,0,0,0,0,0
$GC,8665,-0.56,-146.0,844.4,-6.9,653,8669,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1870,3396,0,0,0,0,0,0
$GC,8986,-0.56,-146.0,865.4,-6.5,669,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1870,3396,0,0,0,0,0,0
$GC,9296,-0.56,-146.0,885.8,-6.7,684,9300,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3268,3394,0,0,0,0,0,0
$GC,9324,-0.56,-146.0,887.6,-6.8,685,9328,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1872,3394,0,0,0,0,0,0
$GC,9648,-0.56,-146.0,908.3,-6.3,701,9652,0.00,2.10,0.00,0.000,4,0.000,0.036,2600,3274,3393,0,0,0,0,0,0
$GC,9735,-0.56,-146.0,913.8,-6.3,705,9739,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1868,3392,0,0,0,0,0,0
$GC,10071,-0.56,-146.0,933.4,-5.6,721,10075,0.00,2.10,0.00,0.000,4,0.000,0.038,2600,3264,3391,0,0,0,0,0,0
$GC,10138,-0.56,-146.0,937.1,-5.2,724,10142,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1870,3391,0,0,0,0,0,0
$GC,10466,-0.56,-146.0,953.7,-5.1,740,10470,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3266,3390,0,0,0,0,0,0
$GC,10493,-0.56,-146.0,955.1,-5.0,741,10497,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1873,3390,0,0,0,0,0,0
$GC,10816,-0.56,-146.0,970.8,-5.1,757,10821,0.00,2.12,0.00,0.000,4,0.000,0.037,2600,3269,3389,0,0,0,0,0,0
$GC,10866,-0.56,-146.0,973.6,-5.0,759,10870,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1876,3389,0,0,0,0,0,0
$STATE,11171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11171,begin apogee
$GC,11179,-0.20,0.0,991.3,6.1,774,11296,0.38,0.00,109.97,1.412,6,0.127,0.000,2727,2077,2838,0,0,0,0,0,0
$STATE,11297,end apogee,CONTROL_FINISHED_OK
$STATE,11297,begin climb
$GC,11300,0.56,146.0,994.3,0.0,779,11434,0.73,2.28,123.07,1.362,4,0.084,0.034,2982,697,2241,0,0,0,0,0,0
$GC,11463,0.56,146.0,982.8,9.9,787,11467,0.00,2.12,0.00,0.000,6,0.000,0.024,2982,2070,2238,0,0,0,0,0,0
$GC,11792,0.56,146.0,950.4,9.6,803,11796,0.00,2.17,0.00,0.000,4,0.000,0.039,2982,3478,2230,0,0,0,0,0,0
$GC,11905,0.56,146.0,937.9,11.1,808,11908,0.00,2.08,0.00,0.000,6,0.000,0.022,2991,2086,2229,0,0,0,0,0,0
$GC,12233,0.56,146.0,904.3,10.4,824,12238,0.00,2.15,0.00,0.000,4,0.000,0.038,2991,3465,2227,0,0,0,0,0,0
$GC,12287,0.56,146.0,897.8,11.8,826,12292,0.00,2.08,0.00,0.000,6,0.000,0.024,3000,2064,2227,0,0,0,0,0,0
$GC,12610,0.56,146.0,861.3,11.8,842,12614,0.00,2.05,0.00,0.000,4,0.000,0.035,3009,689,2226,0,0,0,0,0,0
$GC,12673,0.56,146.0,853.5,12.3,844,12680,0.00,2.05,0.00,0.000,6,0.000,0.024,3009,2083,2226,0,0,0,0,0,0
$GC,12989,0.56,146.0,813.1,12.8,860,12993,0.00,2.10,0.00,0.000,4,0.000,0.040,3009,3472,2225,0,0,0,0,0,0
$GC,13119,0.56,146.0,795.1,14.3,866,13124,0.12,2.05,0.00,0.000,6,0.177,0.024,2986,2069,2224,0,0,0,0,0,0
$GC,13446,0.56,146.0,756.0,11.8,882,13450,0.00,2.05,0.00,0.000,4,0.000,0.034,2995,686,2224,0,0,0,0,0,0
$GC,13523,0.56,146.0,746.5,11.9,885,13527,0.00,2.03,0.00,0.000,6,0.000,0.024,2996,2076,2224,0,0,0,0,0,0
$GC,13846,0.56,146.0,708.3,11.7,901,13851,0.00,2.12,0.00,0.000,4,0.000,0.041,2995,3468,2224,0,0,0,0,0,0
$GC,13947,0.56,146.0,695.4,12.6,905,13951,0.00,2.05,0.00,0.000,6,0.000,0.023,3004,2068,2224,0,0,0,0,0,0
$GC,14269,0.56,146.0,659.3,11.2,921,14273,0.00,2.05,0.00,0.000,4,0.000,0.034,3014,679,2224,0,0,0,0,0,0
$GC,14364,0.56,146.0,648.0,11.5,925,14369,0.12,2.05,0.00,0.000,6,0.170,0.024,2983,2090,2223,0,0,0,0,0,0
$GC,14692,0.56,146.0,613.1,10.6,941,14696,0.00,2.08,0.00,0.000,4,0.000,0.041,2983,3466,2223,0,0,0,0,0,0
$GC,14783,0.56,146.0,602.7,11.5,945,14787,0.00,2.03,0.00,0.000,6,0.000,0.023,2990,2064,2223,0,0,0,0,0,0
$GC,15116,0.56,146.0,570.9,8.7,961,15120,0.00,2.03,0.00,0.000,4,0.000,0.035,3001,679,2222,0,0,0,0,0,0
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