version: 66.09
glider: 167
mission: 8
dive: 242
start: 8 1 111 17 34 59
data:
$ID,167
$MISSION,8
$DIVE,242
$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,340
$T_MISSION,380
$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,-56691.609
$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,72
$R_STBD_OVSHOOT,54
$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
$GPS1,010811,172507,1910.453,12301.224,40,1.3,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.7
$GPS2,010811,173416,1910.328,12301.302,16,2.2,35,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,76.5,181778,-15.3,-9.706
$D_GRID,4661
$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,-0.62,-194.6,0.0,0.0,0,104,0.00,0.00,-83.85,0.000,2,0.000,0.000,111,1939,2971,0,0,0,0,0,0
$GC,108,-0.62,-194.6,5.3,-8.8,11,132,10.05,0.00,-11.25,0.000,6,0.233,0.000,2590,1937,3635,0,0,0,0,0,0
$GC,198,-0.62,-194.6,41.5,-34.6,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1937,3637,0,0,0,0,0,0
$GC,274,-0.62,-194.6,67.6,-33.5,39,283,0.00,2.15,0.00,0.000,4,0.000,0.028,2592,488,3637,0,0,0,0,0,0
$GC,375,-0.62,-194.6,96.0,-26.5,56,383,0.00,2.05,0.00,0.000,6,0.000,0.022,2585,1884,3637,0,0,0,0,0,0
$GC,452,-0.62,-194.6,112.3,-20.2,69,462,0.00,2.08,0.00,0.000,4,0.000,0.031,2574,3274,3637,0,0,0,0,0,0
$GC,481,-0.62,-194.6,118.3,-19.8,73,491,0.00,2.03,0.00,0.000,6,0.000,0.016,2574,1851,3637,0,0,0,0,0,0
$GC,559,-0.62,-194.6,134.7,-22.1,86,567,0.00,1.98,0.00,0.000,4,0.000,0.026,2574,497,3638,0,0,0,0,0,0
$GC,599,-0.62,-194.6,143.1,-21.3,92,608,0.08,1.83,0.00,0.000,6,0.167,0.019,2590,1765,3639,0,0,0,0,0,0
$GC,677,-0.62,-194.6,159.4,-20.0,105,687,0.00,2.25,0.00,0.000,4,0.000,0.031,2580,3274,3638,0,0,0,0,0,0
$GC,706,-0.62,-194.6,164.8,-17.5,109,716,0.00,2.08,0.00,0.000,6,0.000,0.018,2581,1821,3638,0,0,0,0,0,0
$GC,787,-0.62,-194.6,179.4,-18.4,122,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1821,3639,0,0,0,0,0,0
$GC,861,-0.62,-194.6,192.5,-18.3,135,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1820,3639,0,0,0,0,0,0
$GC,943,-0.62,-194.6,208.0,-17.3,145,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1820,3638,0,0,0,0,0,0
$GC,1264,-0.62,-194.6,260.7,-16.4,175,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1820,3639,0,0,0,0,0,0
$GC,1592,-0.62,-194.6,308.9,-14.1,206,1596,0.00,2.12,0.00,0.000,4,0.000,0.031,2574,3270,3637,0,0,0,0,0,0
$GC,1624,-0.62,-194.6,313.6,-12.8,208,1631,0.00,1.95,0.00,0.000,6,0.000,0.018,2574,1884,3637,0,0,0,0,0,0
$GC,1951,-0.62,-194.6,356.8,-12.6,239,1954,0.00,2.00,0.00,0.000,4,0.000,0.028,2574,501,3636,0,0,0,0,0,0
$GC,1980,-0.62,-194.6,360.7,-12.7,241,1988,0.00,1.98,0.00,0.000,6,0.000,0.021,2573,1876,3636,0,0,0,0,0,0
$GC,2305,-0.62,-194.6,401.7,-12.1,272,2309,0.00,2.05,0.00,0.000,4,0.000,0.035,2573,3263,3634,0,0,0,0,0,0
$GC,2411,-0.62,-194.6,413.4,-10.8,281,2419,0.00,1.88,0.00,0.000,6,0.000,0.018,2573,1917,3633,0,0,0,0,0,0
$GC,2737,-0.62,-194.6,450.8,-11.3,312,2740,0.00,2.03,0.00,0.000,4,0.000,0.030,2573,515,3631,0,0,0,0,0,0
$GC,2808,-0.62,-194.6,458.2,-9.3,318,2815,0.00,2.03,0.00,0.000,6,0.000,0.021,2573,1914,3631,0,0,0,0,0,0
$GC,3135,-0.62,-194.6,489.5,-9.4,349,3138,0.00,2.00,0.00,0.000,4,0.000,0.035,2570,3263,3628,0,0,0,0,0,0
$GC,3208,-0.62,-194.6,496.1,-8.5,355,3215,0.00,1.85,0.00,0.000,6,0.000,0.018,2570,1940,3628,0,0,0,0,0,0
$GC,3527,-0.62,-194.6,524.9,-9.0,373,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1939,3625,0,0,0,0,0,0
$GC,3835,-0.62,-194.6,552.2,-8.9,388,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1939,3623,0,0,0,0,0,0
$GC,4144,-0.62,-194.6,581.8,-9.8,403,4149,0.00,2.10,0.00,0.000,4,0.000,0.031,2570,521,3621,0,0,0,0,0,0
$GC,4214,-0.62,-194.6,589.0,-10.6,406,4218,0.00,2.05,0.00,0.000,6,0.000,0.022,2571,1948,3620,0,0,0,0,0,0
$GC,4542,-0.62,-194.6,623.6,-10.7,422,4546,0.00,1.98,0.00,0.000,4,0.000,0.035,2563,3260,3617,0,0,0,0,0,0
$GC,4626,-0.62,-194.6,633.1,-10.8,425,4634,0.12,1.80,0.00,0.000,6,0.145,0.019,2599,1947,3617,0,0,0,0,0,0
$GC,4942,-0.62,-194.6,660.6,-8.1,441,4947,0.00,2.12,0.00,0.000,4,0.000,0.030,2598,516,3614,0,0,0,0,0,0
$GC,4988,-0.62,-194.6,664.5,-8.5,443,4993,0.00,2.10,0.00,0.000,6,0.000,0.021,2599,1945,3613,0,0,0,0,0,0
$GC,5322,-0.62,-194.6,688.6,-6.8,459,5326,0.00,1.98,0.00,0.000,4,0.000,0.037,2598,3266,3611,0,0,0,0,0,0
$GC,5406,-0.62,-194.6,694.4,-6.6,462,5412,0.00,1.83,0.00,0.000,6,0.000,0.020,2599,1973,3611,0,0,0,0,0,0
$GC,5724,-0.62,-194.6,715.0,-6.3,478,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1973,3608,0,0,0,0,0,0
$GC,6031,-0.62,-194.6,735.9,-7.1,493,6036,0.00,1.98,0.00,0.000,4,0.000,0.037,2599,3261,3606,0,0,0,0,0,0
$GC,6077,-0.62,-194.6,739.3,-7.3,495,6082,0.00,1.85,0.00,0.000,6,0.000,0.021,2598,1974,3606,0,0,0,0,0,0
$GC,6410,-0.62,-194.6,765.3,-7.8,511,6413,0.00,1.92,0.00,0.000,4,0.000,0.037,2599,3260,3604,0,0,0,0,0,0
$GC,6482,-0.62,-194.6,771.0,-7.5,514,6485,0.00,1.75,0.00,0.000,6,0.000,0.021,2599,2011,3603,0,0,0,0,0,0
$GC,6811,-0.62,-194.6,796.5,-7.9,530,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2011,3601,0,0,0,0,0,0
$GC,7118,-0.62,-194.6,821.5,-8.1,545,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2011,3599,0,0,0,0,0,0
$GC,7428,-0.62,-194.6,845.4,-7.5,560,7433,0.00,1.92,0.00,0.000,4,0.000,0.038,2598,3259,3598,0,0,0,0,0,0
$GC,7513,-0.62,-194.6,851.5,-7.0,563,7520,0.00,1.80,0.00,0.000,6,0.000,0.021,2599,1990,3598,0,0,0,0,0,0
$GC,7830,-0.62,-194.6,870.2,-5.4,579,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1990,3596,0,0,0,0,0,0
$GC,8140,-0.62,-194.6,885.5,-4.9,594,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1990,3594,0,0,0,0,0,0
$GC,8450,-0.62,-194.6,901.5,-5.2,609,8455,0.00,2.20,0.00,0.000,4,0.000,0.031,2598,522,3593,0,0,0,0,0,0
$GC,8482,-0.62,-194.6,903.3,-5.1,610,8486,0.00,2.17,0.00,0.000,6,0.000,0.022,2599,2001,3593,0,0,0,0,0,0
$GC,8800,-0.62,-194.6,918.4,-4.6,625,8804,0.00,1.92,0.00,0.000,4,0.000,0.039,2599,3258,3591,0,0,0,0,0,0
$GC,8850,-0.62,-194.6,920.6,-4.7,627,8853,0.00,1.75,0.00,0.000,6,0.000,0.021,2598,2024,3591,0,0,0,0,0,0
$GC,9177,-0.62,-194.6,936.2,-5.0,643,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2022,3590,0,0,0,0,0,0
$GC,9488,-0.62,-194.6,954.0,-6.2,658,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2022,3590,0,0,0,0,0,0
$GC,9796,-0.62,-194.6,974.6,-6.9,673,9799,0.00,1.88,0.00,0.000,4,0.000,0.040,2599,3259,3588,0,0,0,0,0,0
$GC,9823,-0.62,-194.6,976.6,-7.0,674,9827,0.00,1.75,0.00,0.000,6,0.000,0.021,2598,2033,3588,0,0,0,0,0,0
$STATE,10024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10024,begin apogee
$GC,10031,-0.20,0.0,990.2,6.6,684,10189,0.38,0.00,153.23,1.396,4,0.115,0.000,2730,2029,2839,0,0,0,0,0,0
$STATE,10190,end apogee,CONTROL_FINISHED_OK
$STATE,10190,begin climb
$GC,10194,0.62,194.6,996.1,0.0,691,10370,0.75,0.00,170.40,1.341,6,0.078,0.000,2991,2029,2045,0,0,0,0,0,0
$GC,10687,0.62,194.6,947.4,11.2,715,10691,0.00,2.25,0.00,0.000,4,0.000,0.038,2991,3466,2033,0,0,0,0,0,0
$GC,10764,0.62,194.6,937.7,11.9,718,10771,0.00,2.05,0.00,0.000,6,0.000,0.022,2998,2103,2032,0,0,0,0,0,0
$GC,11082,0.62,194.6,900.6,11.8,734,11086,0.00,2.12,0.00,0.000,4,0.000,0.034,3008,690,2030,0,0,0,0,0,0
$GC,11122,0.62,194.6,895.8,11.6,736,11126,0.00,2.00,0.00,0.000,6,0.000,0.023,3007,2048,2030,0,0,0,0,0,0
$GC,11455,0.62,194.6,856.0,11.9,752,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2048,2029,0,0,0,0,0,0
$GC,11766,0.62,194.6,818.7,12.3,767,11770,0.00,2.15,0.00,0.000,4,0.000,0.038,3007,3465,2029,0,0,0,0,0,0
$GC,11795,0.62,194.6,814.6,13.2,768,11799,0.00,2.05,0.00,0.000,6,0.000,0.021,3015,2069,2028,0,0,0,0,0,0
$GC,12111,0.62,194.6,772.8,13.1,783,12114,0.00,2.05,0.00,0.000,4,0.000,0.033,3026,691,2028,0,0,0,0,0,0
$GC,12158,0.62,194.6,766.5,13.7,785,12162,0.00,2.05,0.00,0.000,6,0.000,0.023,3026,2089,2028,0,0,0,0,0,0
$GC,12485,0.62,194.6,723.1,13.0,801,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2089,2027,0,0,0,0,0,0
$GC,12795,0.62,194.6,681.5,13.9,816,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2089,2027,0,0,0,0,0,0
$GC,13105,0.62,194.6,637.4,14.5,831,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2089,2027,0,0,0,0,0,0
$GC,13412,0.62,194.6,595.3,13.2,846,13417,0.00,2.12,0.00,0.000,4,0.000,0.031,3035,696,2026,0,0,0,0,0,0
$GC,13450,0.62,194.6,590.2,12.4,847,13459,0.10,2.05,0.00,0.000,6,0.131,0.022,3001,2074,2027,0,0,0,0,0,0
$GC,13768,0.62,194.6,555.8,10.5,863,13772,0.00,2.08,0.00,0.000,4,0.000,0.031,3008,686,2026,0,0,0,0,0,0
$GC,13786,0.62,194.6,553.7,10.5,864,13791,0.00,2.00,0.00,0.000,6,0.000,0.022,3008,2035,2027,0,0,0,0,0,0
$GC,14121,0.62,194.6,519.8,9.8,880,14122,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2035,2026,0,0,0,0,0,0
$GC,14432,0.62,194.6,488.5,10.7,900,14436,0.00,2.15,0.00,0.000,4,0.000,0.037,3008,3461,2026,0,0,0,0,0,0
$GC,14483,0.62,194.6,482.4,12.4,904,14487,0.00,2.08,0.00,0.000,6,0.000,0.021,3016,2035,2026,0,0,0,0,0,0
$GC,14809,0.62,194.6,440.1,13.3,934,14812,0.00,2.00,0.00,0.000,4,0.000,0.033,3027,689,2026,0,0,0,0,0,0
$GC,14902,0.62,194.6,427.7,12.9,942,14909,0.00,1.95,0.00,0.000,6,0.000,0.021,3026,2010,2026,0,0,0,0,0,0
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