version: 66.09
glider: 167
mission: 8
dive: 173
start: 7 21 111 22 40 42
data:
$ID,167
$MISSION,8
$DIVE,173
$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,-56604.648
$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,79
$R_STBD_OVSHOOT,61
$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
$GPS1,210711,223024,1822.541,12258.324,41,0.9,41,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.8
$GPS2,210711,224020,1822.672,12258.244,11,1.3,11,-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,264.9,75328,-15.4,-8.250
$D_GRID,3861
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,108,0.00,0.00,-86.20,0.000,2,0.000,0.000,120,1869,3033,0,0,0,0,0,0
$GC,111,-0.56,-146.0,5.7,-9.9,12,135,9.93,2.03,-6.72,0.000,4,0.230,0.036,2613,474,3437,0,0,0,0,0,0
$GC,359,-0.56,-146.0,78.3,-23.2,56,367,0.00,2.05,0.00,0.000,6,0.000,0.022,2605,1874,3439,0,0,0,0,0,0
$GC,436,-0.56,-146.0,95.4,-22.8,69,445,0.00,2.05,0.00,0.000,4,0.000,0.026,2605,488,3439,0,0,0,0,0,0
$GC,455,-0.56,-146.0,99.8,-22.1,71,462,0.00,1.85,0.00,0.000,6,0.000,0.019,2597,1771,3439,0,0,0,0,0,0
$GC,531,-0.56,-146.0,114.2,-19.5,84,540,0.00,2.22,0.00,0.000,4,0.000,0.030,2586,3263,3439,0,0,0,0,0,0
$GC,560,-0.56,-146.0,119.9,-19.3,88,570,0.08,2.20,0.00,0.000,6,0.163,0.017,2609,1727,3439,0,0,0,0,0,0
$GC,639,-0.56,-146.0,134.4,-18.3,101,647,0.00,1.80,0.00,0.000,4,0.000,0.028,2609,490,3440,0,0,0,0,0,0
$GC,705,-0.56,-146.0,147.8,-20.5,112,713,0.00,1.62,0.00,0.000,6,0.000,0.020,2604,1637,3440,0,0,0,0,0,0
$GC,783,-0.56,-146.0,162.1,-18.2,125,792,0.00,2.45,0.00,0.000,4,0.000,0.031,2599,3270,3440,0,0,0,0,0,0
$GC,868,-0.56,-146.0,175.3,-13.2,139,876,0.00,2.08,0.00,0.000,6,0.000,0.017,2599,1810,3440,0,0,0,0,0,0
$GC,947,-0.56,-146.0,186.1,-14.4,152,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1810,3440,0,0,0,0,0,0
$GC,1024,-0.56,-146.0,196.8,-13.9,165,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1810,3440,0,0,0,0,0,0
$GC,1099,-0.56,-146.0,207.4,-13.5,173,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1810,3440,0,0,0,0,0,0
$GC,1419,-0.56,-146.0,249.3,-12.3,203,1423,0.00,2.12,0.00,0.000,4,0.000,0.031,2596,3266,3440,0,0,0,0,0,0
$GC,1634,-0.56,-146.0,275.8,-12.0,221,1641,0.00,2.05,0.00,0.000,6,0.000,0.018,2596,1801,3440,0,0,0,0,0,0
$GC,1959,-0.56,-146.0,313.6,-13.6,252,1963,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,3264,3438,0,0,0,0,0,0
$GC,1988,-0.56,-146.0,316.8,-11.6,254,1993,0.10,1.98,0.00,0.000,6,0.161,0.018,2613,1839,3438,0,0,0,0,0,0
$GC,2319,-0.56,-146.0,347.7,-8.9,285,2324,0.00,2.12,0.00,0.000,4,0.000,0.031,2609,3263,3436,0,0,0,0,0,0
$GC,2365,-0.56,-146.0,351.8,-8.9,289,2369,0.00,1.92,0.00,0.000,6,0.000,0.018,2609,1880,3437,0,0,0,0,0,0
$GC,2696,-0.56,-146.0,378.4,-7.2,320,2700,0.00,2.03,0.00,0.000,4,0.000,0.031,2608,3263,3434,0,0,0,0,0,0
$GC,2781,-0.56,-146.0,384.0,-6.6,327,2788,0.00,1.83,0.00,0.000,6,0.000,0.018,2609,1961,3434,0,0,0,0,0,0
$GC,3108,-0.56,-146.0,406.5,-7.2,358,3112,0.00,2.10,0.00,0.000,4,0.000,0.029,2609,510,3432,0,0,0,0,0,0
$GC,3192,-0.56,-146.0,413.8,-8.6,365,3196,0.00,2.05,0.00,0.000,6,0.000,0.020,2603,1940,3431,0,0,0,0,0,0
$GC,3525,-0.56,-146.0,441.1,-9.2,396,3529,0.00,1.95,0.00,0.000,4,0.000,0.034,2600,3266,3429,0,0,0,0,0,0
$GC,3586,-0.56,-146.0,446.7,-8.5,401,3593,0.00,1.85,0.00,0.000,6,0.000,0.018,2600,1954,3428,0,0,0,0,0,0
$GC,3912,-0.56,-146.0,474.0,-8.5,432,3915,0.00,2.10,0.00,0.000,4,0.000,0.030,2600,508,3426,0,0,0,0,0,0
$GC,3976,-0.56,-146.0,479.7,-9.2,437,3980,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1944,3426,0,0,0,0,0,0
$GC,4318,-0.56,-146.0,508.6,-8.2,464,4321,0.00,1.92,0.00,0.000,4,0.000,0.036,2600,3262,3423,0,0,0,0,0,0
$GC,4414,-0.56,-146.0,516.3,-7.5,468,4417,0.00,1.77,0.00,0.000,6,0.000,0.019,2601,1987,3422,0,0,0,0,0,0
$GC,4741,-0.56,-146.0,540.5,-7.0,484,4745,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,511,3421,0,0,0,0,0,0
$GC,4793,-0.56,-146.0,544.6,-7.9,486,4798,0.00,2.15,0.00,0.000,6,0.000,0.021,2600,1976,3420,0,0,0,0,0,0
$GC,5114,-0.56,-146.0,566.6,-6.8,502,5118,0.00,1.90,0.00,0.000,4,0.000,0.035,2600,3262,3418,0,0,0,0,0,0
$GC,5221,-0.56,-146.0,574.5,-7.7,506,5229,0.00,1.77,0.00,0.000,6,0.000,0.019,2601,1990,3417,0,0,0,0,0,0
$GC,5538,-0.56,-146.0,599.9,-8.4,522,5543,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,504,3415,0,0,0,0,0,0
$GC,5615,-0.56,-146.0,607.6,-9.8,525,5619,0.00,2.15,0.00,0.000,6,0.000,0.021,2600,1982,3414,0,0,0,0,0,0
$GC,5940,-0.56,-146.0,632.3,-6.8,541,5943,0.00,1.90,0.00,0.000,4,0.000,0.037,2601,3263,3412,0,0,0,0,0,0
$GC,6057,-0.56,-146.0,639.8,-6.2,546,6061,0.00,1.73,0.00,0.000,6,0.000,0.019,2600,2027,3411,0,0,0,0,0,0
$GC,6387,-0.56,-146.0,661.8,-6.9,562,6391,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,513,3409,0,0,0,0,0,0
$GC,6577,-0.56,-146.0,676.4,-7.5,570,6587,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1969,3407,0,0,0,0,0,0
$GC,6895,-0.56,-146.0,697.8,-6.6,586,6898,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3265,3406,0,0,0,0,0,0
$GC,6945,-0.56,-146.0,701.3,-6.3,588,6949,0.00,1.83,0.00,0.000,6,0.000,0.020,2601,1987,3406,0,0,0,0,0,0
$GC,7272,-0.56,-146.0,722.5,-6.7,604,7276,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,508,3404,0,0,0,0,0,0
$GC,7302,-0.56,-146.0,724.8,-7.1,605,7306,0.00,2.15,0.00,0.000,6,0.000,0.022,2601,1979,3404,0,0,0,0,0,0
$GC,7618,-0.56,-146.0,751.0,-8.2,620,7622,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,513,3402,0,0,0,0,0,0
$GC,7658,-0.56,-146.0,754.3,-8.2,622,7662,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1967,3402,0,0,0,0,0,0
$GC,7987,-0.56,-146.0,777.5,-6.2,638,7991,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3271,3400,0,0,0,0,0,0
$GC,8016,-0.56,-146.0,779.2,-6.1,639,8020,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1968,3400,0,0,0,0,0,0
$GC,8346,-0.56,-146.0,799.3,-6.1,655,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1968,3398,0,0,0,0,0,0
$GC,8653,-0.56,-146.0,819.4,-7.0,670,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1968,3398,0,0,0,0,0,0
$GC,8963,-0.56,-146.0,841.7,-7.1,685,8966,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,509,3396,0,0,0,0,0,0
$GC,9022,-0.56,-146.0,846.1,-7.8,687,9029,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1976,3396,0,0,0,0,0,0
$GC,9339,-0.56,-146.0,865.7,-5.7,703,9342,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3261,3395,0,0,0,0,0,0
$GC,9379,-0.56,-146.0,868.0,-5.6,704,9386,0.00,1.80,0.00,0.000,6,0.000,0.019,2600,1986,3395,0,0,0,0,0,0
$GC,9695,-0.56,-146.0,884.1,-5.4,720,9700,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,514,3394,0,0,0,0,0,0
$GC,9741,-0.56,-146.0,886.8,-5.4,722,9746,0.00,2.17,0.00,0.000,6,0.000,0.024,2601,1976,3394,0,0,0,0,0,0
$GC,10075,-0.56,-146.0,906.9,-6.5,738,10079,0.00,1.90,0.00,0.000,4,0.000,0.038,2600,3260,3393,0,0,0,0,0,0
$GC,10122,-0.56,-146.0,910.1,-6.5,740,10125,0.00,1.80,0.00,0.000,6,0.000,0.019,2601,1985,3393,0,0,0,0,0,0
$GC,10456,-0.56,-146.0,932.6,-6.6,756,10460,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3260,3391,0,0,0,0,0,0
$GC,10495,-0.56,-146.0,935.5,-6.4,757,10502,0.00,1.80,0.00,0.000,6,0.000,0.020,2600,1989,3391,0,0,0,0,0,0
$GC,10812,-0.56,-146.0,954.7,-5.9,773,10816,0.00,2.20,0.00,0.000,4,0.000,0.032,2600,506,3390,0,0,0,0,0,0
$GC,10854,-0.56,-146.0,957.3,-6.1,775,10858,0.00,2.17,0.00,0.000,6,0.000,0.023,2600,1984,3391,0,0,0,0,0,0
$GC,11183,-0.56,-146.0,976.3,-5.5,791,11187,0.00,1.90,0.00,0.000,4,0.000,0.039,2600,3260,3390,0,0,0,0,0,0
$GC,11261,-0.56,-146.0,981.0,-5.8,794,11266,0.00,1.77,0.00,0.000,6,0.000,0.021,2600,2027,3390,0,0,0,0,0,0
$STATE,11436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11436,begin apogee
$GC,11443,-0.20,0.0,991.0,5.9,803,11562,0.38,0.00,112.45,1.417,4,0.120,0.000,2727,2022,2838,0,0,0,0,0,0
$STATE,11563,end apogee,CONTROL_FINISHED_OK
$STATE,11563,begin climb
$GC,11568,0.56,146.0,994.0,0.0,808,11700,0.73,0.00,125.75,1.362,6,0.080,0.000,2981,2021,2242,0,0,0,0,0,0
$GC,12019,0.56,146.0,948.5,11.8,830,12023,0.00,2.25,0.00,0.000,4,0.000,0.037,2981,3456,2230,0,0,0,0,0,0
$GC,12090,0.56,146.0,938.8,12.8,833,12095,0.00,1.98,0.00,0.000,6,0.000,0.021,2988,2140,2229,0,0,0,0,0,0
$GC,12412,0.56,146.0,900.0,12.1,849,12416,0.00,2.12,0.00,0.000,4,0.000,0.032,2999,708,2227,0,0,0,0,0,0
$GC,12447,0.56,146.0,895.8,12.0,850,12454,0.00,2.10,0.00,0.000,6,0.000,0.024,2998,2105,2227,0,0,0,0,0,0
$GC,12763,0.56,146.0,858.0,12.0,866,12766,0.00,2.08,0.00,0.000,4,0.000,0.038,2999,3466,2226,0,0,0,0,0,0
$GC,12780,0.56,146.0,855.9,12.0,866,12786,0.00,2.00,0.00,0.000,6,0.000,0.021,3008,2107,2226,0,0,0,0,0,0
$GC,13097,0.56,146.0,814.9,13.0,882,13101,0.00,2.12,0.00,0.000,4,0.000,0.034,3017,686,2225,0,0,0,0,0,0
$GC,13163,0.56,146.0,806.0,13.0,885,13169,0.10,2.10,0.00,0.000,6,0.141,0.024,2985,2085,2225,0,0,0,0,0,0
$GC,13492,0.56,146.0,770.8,10.3,901,13496,0.00,2.10,0.00,0.000,4,0.000,0.039,2985,3467,2224,0,0,0,0,0,0
$GC,13577,0.56,146.0,761.0,11.6,905,13581,0.00,2.00,0.00,0.000,6,0.000,0.021,2991,2099,2224,0,0,0,0,0,0
$GC,13910,0.56,146.0,728.9,9.1,921,13915,0.00,2.12,0.00,0.000,4,0.000,0.034,3002,688,2224,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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