version: 66.09
glider: 167
mission: 8
dive: 167
start: 7 20 111 8 28 28
data:
$ID,167
$MISSION,8
$DIVE,167
$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,-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,-56597.102
$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,74
$R_STBD_OVSHOOT,57
$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
$GPS1,200711,081737,1816.272,12317.527,25,2.0,25,-2.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-72.0
$GPS2,200711,082804,1816.267,12317.491,18,2.2,37,-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,268.7,110970,-15.4,-8.250
$D_GRID,3048
$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,-0.56,-146.0,0.0,0.0,0,99,0.00,0.00,-79.30,0.000,2,0.000,0.000,110,1954,3122,0,0,0,0,0,0
$GC,103,-0.56,-146.0,6.2,-11.3,11,129,9.75,2.20,-5.07,0.000,4,0.223,0.037,2610,467,3438,0,0,0,0,0,0
$GC,372,-0.56,-146.0,89.8,-21.5,59,381,0.00,2.08,0.00,0.000,6,0.000,0.020,2602,1886,3440,0,0,0,0,0,0
$GC,448,-0.56,-146.0,105.9,-19.7,72,455,0.00,2.08,0.00,0.000,4,0.000,0.024,2602,450,3440,0,0,0,0,0,0
$GC,476,-0.56,-146.0,112.1,-20.9,76,484,0.00,2.12,0.00,0.000,6,0.000,0.019,2592,1913,3440,0,0,0,0,0,0
$GC,553,-0.56,-146.0,127.1,-20.4,89,561,0.00,2.00,0.00,0.000,4,0.000,0.031,2582,3260,3440,0,0,0,0,0,0
$GC,588,-0.56,-146.0,133.8,-19.4,94,598,0.10,2.08,0.00,0.000,6,0.151,0.017,2613,1790,3441,0,0,0,0,0,0
$GC,665,-0.56,-146.0,147.8,-18.5,107,673,0.00,1.90,0.00,0.000,4,0.000,0.027,2613,484,3441,0,0,0,0,0,0
$GC,720,-0.56,-146.0,156.8,-15.4,116,728,0.00,1.88,0.00,0.000,6,0.000,0.019,2606,1795,3441,0,0,0,0,0,0
$GC,795,-0.56,-146.0,167.1,-15.0,129,803,0.00,2.20,0.00,0.000,4,0.000,0.032,2600,3256,3441,0,0,0,0,0,0
$GC,844,-0.56,-146.0,175.4,-16.1,137,852,0.00,2.08,0.00,0.000,6,0.000,0.018,2600,1806,3441,0,0,0,0,0,0
$GC,918,-0.56,-146.0,187.4,-15.8,150,925,0.00,2.20,0.00,0.000,4,0.000,0.030,2593,3264,3441,0,0,0,0,0,0
$GC,962,-0.56,-146.0,194.2,-15.8,157,972,0.00,1.95,0.00,0.000,6,0.000,0.017,2593,1881,3441,0,0,0,0,0,0
$GC,1040,-0.56,-146.0,205.3,-14.6,167,1044,0.00,1.98,0.00,0.000,4,0.000,0.028,2592,507,3441,0,0,0,0,0,0
$GC,1075,-0.56,-146.0,210.8,-14.2,170,1079,0.10,1.85,0.00,0.000,6,0.180,0.021,2612,1811,3441,0,0,0,0,0,0
$GC,1407,-0.56,-146.0,249.5,-11.4,201,1411,0.00,2.12,0.00,0.000,4,0.000,0.031,2603,3266,3441,0,0,0,0,0,0
$GC,1437,-0.56,-146.0,252.8,-11.0,203,1441,0.00,2.03,0.00,0.000,6,0.000,0.018,2603,1824,3441,0,0,0,0,0,0
$GC,1768,-0.56,-146.0,290.3,-11.6,234,1772,0.00,1.90,0.00,0.000,4,0.000,0.029,2603,501,3440,0,0,0,0,0,0
$GC,1827,-0.56,-146.0,297.1,-11.8,239,1831,0.00,1.80,0.00,0.000,6,0.000,0.020,2601,1757,3440,0,0,0,0,0,0
$GC,2157,-0.56,-146.0,332.8,-9.5,270,2161,0.00,2.22,0.00,0.000,4,0.000,0.034,2600,3264,3438,0,0,0,0,0,0
$GC,2257,-0.56,-146.0,341.6,-8.2,278,2267,0.00,2.03,0.00,0.000,6,0.000,0.018,2600,1825,3437,0,0,0,0,0,0
$GC,2583,-0.56,-146.0,369.5,-8.8,309,2587,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,3260,3435,0,0,0,0,0,0
$GC,2627,-0.56,-146.0,373.4,-8.6,312,2635,0.00,2.00,0.00,0.000,6,0.000,0.018,2600,1863,3435,0,0,0,0,0,0
$GC,2952,-0.56,-146.0,403.4,-9.3,343,2956,0.00,2.05,0.00,0.000,4,0.000,0.033,2600,3254,3432,0,0,0,0,0,0
$GC,3002,-0.56,-146.0,407.9,-8.7,347,3010,0.00,2.00,0.00,0.000,6,0.000,0.020,2600,1868,3432,0,0,0,0,0,0
$GC,3329,-0.56,-146.0,435.3,-8.4,378,3332,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3261,3430,0,0,0,0,0,0
$GC,3367,-0.56,-146.0,438.8,-8.5,381,3374,0.00,2.00,0.00,0.000,6,0.000,0.019,2600,1866,3429,0,0,0,0,0,0
$GC,3694,-0.56,-146.0,464.8,-7.8,412,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1867,3428,0,0,0,0,0,0
$GC,4015,-0.56,-146.0,487.6,-7.1,442,4018,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3256,3425,0,0,0,0,0,0
$GC,4053,-0.56,-146.0,490.6,-6.7,445,4060,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1874,3425,0,0,0,0,0,0
$GC,4389,-0.56,-146.0,514.6,-7.7,468,4392,0.00,2.03,0.00,0.000,4,0.000,0.032,2600,490,3423,0,0,0,0,0,0
$GC,4427,-0.56,-146.0,518.5,-7.8,469,4434,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1890,3422,0,0,0,0,0,0
$GC,4745,-0.56,-146.0,542.8,-7.7,485,4749,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3273,3420,0,0,0,0,0,0
$GC,4836,-0.56,-146.0,549.2,-7.1,489,4840,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1913,3419,0,0,0,0,0,0
$GC,5169,-0.56,-146.0,574.1,-7.7,505,5173,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,3268,3416,0,0,0,0,0,0
$GC,5210,-0.56,-146.0,577.4,-7.9,506,5216,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1961,3416,0,0,0,0,0,0
$GC,5526,-0.56,-146.0,602.6,-7.7,522,5530,0.00,1.95,0.00,0.000,4,0.000,0.035,2600,3264,3414,0,0,0,0,0,0
$GC,5582,-0.56,-146.0,607.0,-7.7,524,5586,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1980,3413,0,0,0,0,0,0
$GC,5905,-0.56,-146.0,627.3,-5.5,540,5909,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,500,3412,0,0,0,0,0,0
$GC,5949,-0.56,-146.0,630.0,-5.3,542,5953,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1949,3411,0,0,0,0,0,0
$GC,6278,-0.56,-146.0,648.4,-6.1,558,6282,0.00,2.15,0.00,0.000,4,0.000,0.032,2600,502,3409,0,0,0,0,0,0
$GC,6308,-0.56,-146.0,650.4,-6.3,559,6312,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1941,3409,0,0,0,0,0,0
$GC,6630,-0.56,-146.0,673.3,-7.5,575,6634,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3265,3407,0,0,0,0,0,0
$GC,6659,-0.56,-146.0,675.7,-7.8,576,6663,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1952,3407,0,0,0,0,0,0
$GC,6988,-0.56,-146.0,699.5,-6.9,592,6992,0.00,2.15,0.00,0.000,4,0.000,0.032,2600,510,3405,0,0,0,0,0,0
$GC,7033,-0.56,-146.0,702.9,-6.9,594,7038,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1912,3405,0,0,0,0,0,0
$GC,7368,-0.56,-146.0,723.1,-6.0,610,7371,0.00,2.03,0.00,0.000,4,0.000,0.037,2599,3270,3403,0,0,0,0,0,0
$GC,7482,-0.56,-146.0,730.0,-5.9,615,7486,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1937,3402,0,0,0,0,0,0
$GC,7817,-0.56,-146.0,749.9,-6.2,631,7821,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,497,3400,0,0,0,0,0,0
$GC,7906,-0.56,-146.0,757.0,-7.9,635,7910,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1927,3400,0,0,0,0,0,0
$GC,8236,-0.56,-146.0,781.0,-7.4,651,8239,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3279,3399,0,0,0,0,0,0
$GC,8282,-0.56,-146.0,784.6,-7.4,653,8286,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1950,3398,0,0,0,0,0,0
$GC,8616,-0.56,-146.0,807.5,-6.6,669,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1949,3397,0,0,0,0,0,0
$GC,8925,-0.56,-146.0,826.1,-5.7,684,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1950,3396,0,0,0,0,0,0
$GC,9234,-0.56,-146.0,842.7,-5.4,699,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1949,3395,0,0,0,0,0,0
$GC,9544,-0.56,-146.0,860.7,-6.2,714,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1949,3394,0,0,0,0,0,0
$GC,9852,-0.56,-146.0,881.4,-6.7,729,9857,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,515,3393,0,0,0,0,0,0
$GC,9907,-0.56,-146.0,885.6,-7.5,731,9911,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1946,3393,0,0,0,0,0,0
$GC,10231,-0.56,-146.0,905.1,-5.6,747,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1946,3392,0,0,0,0,0,0
$GC,10539,-0.56,-146.0,923.1,-5.8,762,10540,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1946,3392,0,0,0,0,0,0
$GC,10849,-0.56,-146.0,940.1,-5.3,777,10853,0.00,1.98,0.00,0.000,4,0.000,0.038,2599,3274,3390,0,0,0,0,0,0
$GC,10896,-0.56,-146.0,942.6,-5.1,779,10899,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1927,3390,0,0,0,0,0,0
$GC,11229,-0.56,-146.0,958.0,-4.7,795,11233,0.00,2.10,0.00,0.000,4,0.000,0.033,2600,510,3389,0,0,0,0,0,0
$GC,11309,-0.56,-146.0,962.4,-5.7,798,11316,0.00,2.05,0.00,0.000,6,0.000,0.024,2599,1906,3388,0,0,0,0,0,0
$GC,11625,-0.56,-146.0,979.1,-5.4,814,11629,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3267,3388,0,0,0,0,0,0
$GC,11666,-0.56,-146.0,981.2,-5.5,815,11674,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1919,3388,0,0,0,0,0,0
$STATE,11855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11856,begin apogee
$GC,11862,-0.20,0.0,991.0,5.1,825,11981,0.38,0.00,112.12,1.418,4,0.122,0.000,2726,2080,2839,0,0,0,0,0,0
$STATE,11982,end apogee,CONTROL_FINISHED_OK
$STATE,11982,begin climb
$GC,11984,0.56,146.0,992.9,0.0,830,12122,0.75,2.17,125.70,1.368,4,0.082,0.031,2978,707,2241,0,0,0,0,0,0
$GC,12295,0.56,146.0,963.5,11.1,844,12302,0.00,2.10,0.00,0.000,6,0.000,0.024,2979,2072,2232,0,0,0,0,0,0
$GC,12612,0.56,146.0,928.6,10.9,860,12617,0.00,2.12,0.00,0.000,4,0.000,0.032,2987,707,2229,0,0,0,0,0,0
$GC,12814,0.56,146.0,906.0,11.0,869,12818,0.00,2.10,0.00,0.000,6,0.000,0.024,2986,2101,2228,0,0,0,0,0,0
$GC,13141,0.56,146.0,868.5,11.5,885,13145,0.00,2.12,0.00,0.000,4,0.000,0.032,2992,708,2225,0,0,0,0,0,0
$GC,13187,0.56,146.0,863.2,11.6,887,13191,0.00,2.10,0.00,0.000,6,0.000,0.024,2993,2113,2225,0,0,0,0,0,0
$GC,13509,0.56,146.0,825.0,11.8,903,13512,0.00,2.08,0.00,0.000,4,0.000,0.038,2992,3474,2225,0,0,0,0,0,0
$GC,13536,0.56,146.0,821.3,11.9,904,13541,0.00,2.00,0.00,0.000,6,0.000,0.021,3000,2117,2225,0,0,0,0,0,0
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$GC,14172,0.56,146.0,745.1,12.0,935,14176,0.00,2.10,0.00,0.000,4,0.000,0.034,3010,700,2224,0,0,0,0,0,0
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