version: 66.09
glider: 167
mission: 8
dive: 130
start: 7 10 111 11 45 31
data:
$ID,167
$MISSION,8
$DIVE,130
$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,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,-3
$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,-56550.445
$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,69
$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
$GPS1,100711,112307,1757.630,12408.730,27,1.1,28,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.1
$GPS2,100711,114509,1757.603,12408.605,13,1.3,14,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,294.0,206832,-15.4,-8.250
$D_GRID,4728
$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,-146.0,0.0,0.0,0,102,0.00,0.00,-82.40,0.000,2,0.000,0.000,107,1860,3206,0,0,0,0,0,0
$GC,105,-0.56,-146.0,6.8,-12.2,11,132,9.77,2.08,-3.65,0.000,4,0.227,0.041,2616,470,3439,0,0,0,0,0,0
$GC,346,-0.56,-146.0,86.7,-21.2,53,355,0.00,2.05,0.00,0.000,6,0.000,0.019,2608,1883,3439,0,0,0,0,0,0
$GC,423,-0.56,-146.0,102.9,-22.8,66,431,0.00,2.05,0.00,0.000,4,0.000,0.030,2598,3267,3440,0,0,0,0,0,0
$GC,482,-0.56,-146.0,115.6,-20.3,75,491,0.00,1.95,0.00,0.000,6,0.000,0.017,2598,1889,3440,0,0,0,0,0,0
$GC,561,-0.56,-146.0,130.8,-18.1,88,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1888,3440,0,0,0,0,0,0
$GC,638,-0.56,-146.0,144.3,-17.4,101,648,0.00,2.03,0.00,0.000,4,0.000,0.028,2598,501,3440,0,0,0,0,0,0
$GC,697,-0.56,-146.0,153.7,-15.8,110,705,0.00,2.08,0.00,0.000,6,0.000,0.019,2588,1938,3440,0,0,0,0,0,0
$GC,777,-0.56,-146.0,167.4,-16.3,123,785,0.10,1.98,0.00,0.000,4,0.193,0.030,2603,3267,3440,0,0,0,0,0,0
$GC,799,-0.56,-146.0,171.0,-15.9,126,807,0.00,1.85,0.00,0.000,6,0.000,0.019,2603,1943,3441,0,0,0,0,0,0
$GC,878,-0.56,-146.0,182.8,-15.3,139,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1942,3440,0,0,0,0,0,0
$GC,955,-0.56,-146.0,193.1,-13.2,152,963,0.00,1.95,0.00,0.000,4,0.000,0.029,2600,3258,3440,0,0,0,0,0,0
$GC,988,-0.56,-146.0,197.6,-12.7,157,999,0.00,1.90,0.00,0.000,6,0.000,0.017,2600,1899,3440,0,0,0,0,0,0
$GC,1066,-0.56,-146.0,207.4,-13.4,165,1071,0.00,2.00,0.00,0.000,4,0.000,0.026,2600,517,3440,0,0,0,0,0,0
$GC,1103,-0.56,-146.0,213.1,-13.9,168,1112,0.00,2.00,0.00,0.000,6,0.000,0.018,2591,1921,3440,0,0,0,0,0,0
$GC,1430,-0.56,-146.0,261.3,-14.0,199,1434,0.00,1.95,0.00,0.000,4,0.000,0.031,2587,3265,3440,0,0,0,0,0,0
$GC,1492,-0.56,-146.0,268.9,-11.3,204,1501,0.00,1.92,0.00,0.000,6,0.000,0.017,2587,1888,3440,0,0,0,0,0,0
$GC,1816,-0.56,-146.0,304.5,-11.2,235,1822,0.10,2.00,0.00,0.000,4,0.173,0.028,2613,520,3438,0,0,0,0,0,0
$GC,1867,-0.56,-146.0,309.8,-10.4,239,1874,0.00,1.98,0.00,0.000,6,0.000,0.019,2607,1921,3438,0,0,0,0,0,0
$GC,2193,-0.56,-146.0,339.1,-8.5,270,2198,0.00,1.98,0.00,0.000,4,0.000,0.031,2603,3261,3436,0,0,0,0,0,0
$GC,2243,-0.56,-146.0,343.3,-8.2,274,2250,0.00,1.83,0.00,0.000,6,0.000,0.018,2602,1933,3435,0,0,0,0,0,0
$GC,2568,-0.56,-146.0,371.7,-8.9,305,2573,0.00,2.08,0.00,0.000,4,0.000,0.029,2603,511,3433,0,0,0,0,0,0
$GC,2592,-0.56,-146.0,373.8,-9.3,307,2596,0.00,2.03,0.00,0.000,6,0.000,0.021,2603,1931,3433,0,0,0,0,0,0
$GC,2924,-0.56,-146.0,406.2,-9.4,338,2928,0.00,1.92,0.00,0.000,4,0.000,0.032,2603,3258,3431,0,0,0,0,0,0
$GC,2952,-0.56,-146.0,408.8,-9.1,340,2959,0.00,1.80,0.00,0.000,6,0.000,0.019,2603,1954,3431,0,0,0,0,0,0
$GC,3278,-0.56,-146.0,436.8,-8.1,371,3281,0.00,2.08,0.00,0.000,4,0.000,0.029,2603,526,3428,0,0,0,0,0,0
$GC,3419,-0.56,-146.0,448.8,-8.3,383,3426,0.00,2.00,0.00,0.000,6,0.000,0.021,2603,1914,3427,0,0,0,0,0,0
$GC,3746,-0.56,-146.0,473.0,-7.7,414,3749,0.00,1.98,0.00,0.000,4,0.000,0.034,2602,3274,3425,0,0,0,0,0,0
$GC,3895,-0.56,-146.0,484.1,-7.3,427,3899,0.00,1.83,0.00,0.000,6,0.000,0.019,2603,1966,3423,0,0,0,0,0,0
$GC,4227,-0.56,-146.0,510.5,-8.1,452,4231,0.00,2.10,0.00,0.000,4,0.000,0.029,2603,517,3421,0,0,0,0,0,0
$GC,4306,-0.56,-146.0,517.7,-8.6,455,4313,0.00,2.05,0.00,0.000,6,0.000,0.021,2602,1949,3420,0,0,0,0,0,0
$GC,4623,-0.56,-146.0,541.9,-7.4,471,4626,0.00,1.95,0.00,0.000,4,0.000,0.034,2603,3274,3418,0,0,0,0,0,0
$GC,4657,-0.56,-146.0,544.5,-7.4,472,4660,0.00,1.85,0.00,0.000,6,0.000,0.020,2602,1957,3418,0,0,0,0,0,0
$GC,4980,-0.56,-146.0,569.0,-7.8,488,4984,0.00,2.10,0.00,0.000,4,0.000,0.031,2603,514,3416,0,0,0,0,0,0
$GC,5102,-0.56,-146.0,580.1,-9.1,493,5110,0.00,2.03,0.00,0.000,6,0.000,0.021,2603,1903,3415,0,0,0,0,0,0
$GC,5420,-0.56,-146.0,606.2,-7.9,509,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1903,3413,0,0,0,0,0,0
$GC,5728,-0.56,-146.0,630.3,-7.3,524,5731,0.00,2.00,0.00,0.000,4,0.000,0.035,2602,3268,3410,0,0,0,0,0,0
$GC,5767,-0.56,-146.0,633.3,-7.0,525,5774,0.00,1.85,0.00,0.000,6,0.000,0.019,2603,1951,3411,0,0,0,0,0,0
$GC,6084,-0.56,-146.0,653.9,-6.2,541,6089,0.00,2.10,0.00,0.000,4,0.000,0.031,2603,524,3407,0,0,0,0,0,0
$GC,6156,-0.56,-146.0,659.1,-7.1,544,6160,0.00,2.05,0.00,0.000,6,0.000,0.022,2603,1942,3407,0,0,0,0,0,0
$GC,6486,-0.56,-146.0,678.2,-5.6,560,6490,0.00,1.95,0.00,0.000,4,0.000,0.037,2603,3271,3406,0,0,0,0,0,0
$GC,6600,-0.56,-146.0,684.4,-5.2,565,6604,0.00,1.83,0.00,0.000,6,0.000,0.020,2602,1974,3405,0,0,0,0,0,0
$GC,6935,-0.56,-146.0,701.8,-5.6,581,6939,0.00,2.12,0.00,0.000,4,0.000,0.030,2602,517,3403,0,0,0,0,0,0
$GC,7030,-0.56,-146.0,708.9,-7.5,585,7034,0.00,2.08,0.00,0.000,6,0.000,0.022,2602,1946,3402,0,0,0,0,0,0
$GC,7352,-0.56,-146.0,732.4,-7.7,601,7357,0.00,1.98,0.00,0.000,4,0.000,0.037,2602,3261,3400,0,0,0,0,0,0
$GC,7471,-0.56,-146.0,741.8,-8.0,606,7474,0.00,1.77,0.00,0.000,6,0.000,0.021,2602,1990,3399,0,0,0,0,0,0
$GC,7799,-0.56,-146.0,767.6,-7.8,622,7803,0.00,2.17,0.00,0.000,4,0.000,0.031,2603,522,3397,0,0,0,0,0,0
$GC,7833,-0.56,-146.0,770.5,-7.7,623,7837,0.00,2.12,0.00,0.000,6,0.000,0.022,2602,1982,3398,0,0,0,0,0,0
$GC,8150,-0.56,-146.0,792.4,-6.5,638,8154,0.00,1.92,0.00,0.000,4,0.000,0.037,2603,3261,3396,0,0,0,0,0,0
$GC,8200,-0.56,-146.0,795.7,-6.4,640,8204,0.00,1.77,0.00,0.000,6,0.000,0.021,2603,1997,3396,0,0,0,0,0,0
$GC,8529,-0.56,-146.0,814.1,-5.3,656,8533,0.00,2.17,0.00,0.000,4,0.000,0.031,2602,510,3395,0,0,0,0,0,0
$GC,8579,-0.56,-146.0,817.5,-5.6,658,8582,0.00,2.12,0.00,0.000,6,0.000,0.022,2603,1971,3395,0,0,0,0,0,0
$GC,8904,-0.56,-146.0,834.5,-5.2,674,8907,0.00,1.92,0.00,0.000,4,0.000,0.037,2603,3264,3394,0,0,0,0,0,0
$GC,8965,-0.56,-146.0,837.8,-4.9,676,8972,0.00,1.80,0.00,0.000,6,0.000,0.020,2603,1980,3393,0,0,0,0,0,0
$GC,9281,-0.56,-146.0,853.8,-5.2,692,9286,0.00,2.17,0.00,0.000,4,0.000,0.031,2603,520,3392,0,0,0,0,0,0
$GC,9315,-0.56,-146.0,855.9,-5.6,693,9319,0.00,2.15,0.00,0.000,6,0.000,0.024,2603,1987,3392,0,0,0,0,0,0
$GC,9632,-0.56,-146.0,875.2,-6.2,708,9636,0.00,1.92,0.00,0.000,4,0.000,0.039,2603,3260,3391,0,0,0,0,0,0
$GC,9710,-0.56,-146.0,880.5,-6.7,711,9714,0.00,1.75,0.00,0.000,6,0.000,0.021,2603,2024,3391,0,0,0,0,0,0
$GC,10033,-0.56,-146.0,900.3,-6.1,727,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2023,3390,0,0,0,0,0,0
$GC,10342,-0.56,-146.0,918.3,-5.7,742,10346,0.00,1.88,0.00,0.000,4,0.000,0.040,2603,3261,3389,0,0,0,0,0,0
$GC,10383,-0.56,-146.0,920.6,-5.6,743,10389,0.00,1.73,0.00,0.000,6,0.000,0.022,2602,2045,3389,0,0,0,0,0,0
$GC,10699,-0.56,-146.0,936.6,-4.9,759,10703,0.00,2.25,0.00,0.000,4,0.000,0.031,2602,518,3388,0,0,0,0,0,0
$GC,10726,-0.56,-146.0,938.2,-4.9,760,10730,0.00,2.22,0.00,0.000,6,0.000,0.024,2603,2034,3388,0,0,0,0,0,0
$GC,11044,-0.56,-146.0,955.4,-5.8,775,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2034,3387,0,0,0,0,0,0
$GC,11352,-0.56,-146.0,974.7,-6.4,790,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2034,3387,0,0,0,0,0,0
$STATE,11617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11617,begin apogee
$GC,11623,-0.20,0.0,990.9,5.9,803,11741,0.38,0.00,110.68,1.417,4,0.125,0.000,2729,2034,2839,0,0,0,0,0,0
$STATE,11741,end apogee,CONTROL_FINISHED_OK
$STATE,11742,begin climb
$GC,11744,0.56,146.0,992.8,0.0,808,11879,0.70,2.33,124.07,1.366,4,0.081,0.040,2983,3456,2241,0,0,0,0,0,0
$GC,12052,0.56,146.0,957.7,13.6,822,12057,0.00,2.05,0.00,0.000,6,0.000,0.021,2992,2111,2232,0,0,0,0,0,0
$GC,12376,0.56,146.0,915.4,13.3,838,12381,0.00,2.10,0.00,0.000,4,0.000,0.036,2992,3453,2229,0,0,0,0,0,0
$GC,12580,0.56,146.0,886.5,14.1,847,12584,0.00,2.10,0.00,0.000,6,0.000,0.021,3000,2029,2228,0,0,0,0,0,0
$GC,12907,0.56,146.0,855.5,9.2,863,12911,0.00,2.17,0.00,0.000,4,0.000,0.037,3001,3460,2227,0,0,0,0,0,0
$GC,13069,0.56,146.0,837.9,11.5,870,13073,0.00,1.55,0.00,0.000,6,0.000,0.021,3007,2401,2227,0,0,0,0,0,0
$GC,13392,0.56,146.0,799.1,12.6,886,13395,0.00,1.65,0.00,0.000,4,0.000,0.041,3008,3478,2226,0,0,0,0,0,0
$GC,13419,0.56,146.0,795.1,13.3,887,13423,0.10,1.58,0.00,0.000,6,0.149,0.021,2985,2391,2225,0,0,0,0,0,0
$GC,13748,0.56,146.0,757.1,11.6,903,13753,0.00,2.55,0.00,0.000,4,0.000,0.031,2995,689,2225,0,0,0,0,0,0
$GC,13831,0.56,146.0,747.2,11.5,906,13838,0.00,2.45,0.00,0.000,6,0.000,0.025,2995,2331,2225,0,0,0,0,0,0
$GC,14149,0.56,146.0,711.3,11.2,922,14154,0.00,2.47,0.00,0.000,4,0.000,0.030,3006,691,2224,0,0,0,0,0,0
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$STATE,21841,begin surface coast
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$10V_AH,10.2,22.869
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$FG_AHR_10Vo,0.000
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$MEM,330484
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