version: 66.09
glider: 167
mission: 8
dive: 255
start: 8 4 111 16 12 1
data:
$ID,167
$MISSION,8
$DIVE,255
$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,-56708.07
$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,83
$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
$GPS1,040811,155854,1923.040,12314.686,41,0.9,60,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-58.5
$GPS2,040811,161136,1923.007,12314.503,15,1.4,31,-2.3
$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,82.7,149074,-15.3,-9.706
$D_GRID,4747
$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,-0.62,-194.6,0.0,0.0,0,114,0.00,0.00,-94.78,0.000,2,0.000,0.000,108,1915,3123,0,0,0,0,0,0
$GC,119,-0.62,-194.6,6.0,-11.2,13,145,10.05,2.10,-8.05,0.000,4,0.232,0.035,2597,466,3635,0,0,0,0,0,0
$GC,292,-0.62,-194.6,64.7,-23.6,42,301,0.00,2.03,0.00,0.000,6,0.000,0.020,2590,1855,3637,0,0,0,0,0,0
$GC,372,-0.62,-194.6,81.4,-21.6,55,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1855,3637,0,0,0,0,0,0
$GC,450,-0.62,-194.6,94.8,-16.4,68,458,0.00,2.10,0.00,0.000,4,0.000,0.031,2579,3263,3637,0,0,0,0,0,0
$GC,491,-0.62,-194.6,101.3,-16.4,74,498,0.00,2.20,0.00,0.000,6,0.000,0.018,2579,1738,3637,0,0,0,0,0,0
$GC,567,-0.62,-194.6,114.2,-16.7,87,577,0.00,2.30,0.00,0.000,4,0.000,0.030,2570,3268,3638,0,0,0,0,0,0
$GC,585,-0.62,-194.6,117.5,-17.0,89,594,0.00,2.15,0.00,0.000,6,0.000,0.017,2570,1765,3638,0,0,0,0,0,0
$GC,662,-0.62,-194.6,131.5,-18.4,102,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1765,3638,0,0,0,0,0,0
$GC,742,-0.62,-194.6,144.9,-18.3,115,751,0.00,2.25,0.00,0.000,4,0.000,0.031,2564,3266,3638,0,0,0,0,0,0
$GC,781,-0.62,-194.6,153.6,-19.4,121,789,0.10,2.15,0.00,0.000,6,0.148,0.018,2595,1753,3638,0,0,0,0,0,0
$GC,856,-0.62,-194.6,166.3,-15.9,134,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1753,3638,0,0,0,0,0,0
$GC,930,-0.62,-194.6,178.0,-16.7,147,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1753,3638,0,0,0,0,0,0
$GC,1007,-0.62,-194.6,189.7,-14.4,160,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1753,3638,0,0,0,0,0,0
$GC,1079,-0.62,-194.6,200.9,-15.7,173,1083,0.00,1.83,0.00,0.000,4,0.000,0.028,2595,477,3638,0,0,0,0,0,0
$GC,1108,-0.62,-194.6,205.7,-15.3,175,1116,0.00,1.90,0.00,0.000,6,0.000,0.020,2588,1801,3638,0,0,0,0,0,0
$GC,1433,-0.62,-194.6,253.2,-14.4,206,1437,0.00,2.17,0.00,0.000,4,0.000,0.034,2588,3271,3637,0,0,0,0,0,0
$GC,1577,-0.62,-194.6,269.5,-10.0,218,1581,0.00,2.00,0.00,0.000,6,0.000,0.018,2588,1839,3636,0,0,0,0,0,0
$GC,1908,-0.62,-194.6,307.0,-12.5,249,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1835,3635,0,0,0,0,0,0
$GC,2229,-0.62,-194.6,347.6,-12.9,279,2233,0.00,2.12,0.00,0.000,4,0.000,0.033,2588,3263,3633,0,0,0,0,0,0
$GC,2303,-0.62,-194.6,356.8,-11.2,285,2307,0.00,1.92,0.00,0.000,6,0.000,0.018,2588,1877,3632,0,0,0,0,0,0
$GC,2634,-0.62,-194.6,396.2,-11.0,316,2638,0.00,2.00,0.00,0.000,4,0.000,0.029,2588,498,3630,0,0,0,0,0,0
$GC,2661,-0.62,-194.6,399.5,-10.8,318,2669,0.00,2.03,0.00,0.000,6,0.000,0.022,2587,1886,3630,0,0,0,0,0,0
$GC,2988,-0.62,-194.6,431.1,-9.5,349,2991,0.00,2.03,0.00,0.000,4,0.000,0.035,2588,3268,3628,0,0,0,0,0,0
$GC,3118,-0.62,-194.6,442.9,-8.8,360,3124,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1934,3627,0,0,0,0,0,0
$GC,3446,-0.62,-194.6,477.3,-11.1,391,3449,0.00,2.08,0.00,0.000,4,0.000,0.029,2588,491,3625,0,0,0,0,0,0
$GC,3512,-0.62,-194.6,485.3,-11.0,396,3522,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1922,3624,0,0,0,0,0,0
$GC,3835,-0.62,-194.6,516.3,-9.5,419,3839,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3277,3622,0,0,0,0,0,0
$GC,3869,-0.62,-194.6,519.4,-8.8,420,3873,0.00,1.90,0.00,0.000,6,0.000,0.020,2588,1939,3622,0,0,0,0,0,0
$GC,4191,-0.62,-194.6,544.1,-7.7,436,4195,0.00,1.98,0.00,0.000,4,0.000,0.035,2587,3269,3620,0,0,0,0,0,0
$GC,4230,-0.62,-194.6,547.4,-8.1,437,4237,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1965,3619,0,0,0,0,0,0
$GC,4548,-0.62,-194.6,573.8,-8.5,453,4553,0.00,1.98,0.00,0.000,4,0.000,0.036,2587,3264,3617,0,0,0,0,0,0
$GC,4619,-0.62,-194.6,579.7,-8.0,456,4623,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,2001,3616,0,0,0,0,0,0
$GC,4949,-0.62,-194.6,603.9,-7.0,472,4954,0.00,2.20,0.00,0.000,4,0.000,0.029,2587,494,3613,0,0,0,0,0,0
$GC,4994,-0.62,-194.6,607.6,-7.6,474,4998,0.00,2.20,0.00,0.000,6,0.000,0.023,2587,2011,3613,0,0,0,0,0,0
$GC,5315,-0.62,-194.6,628.9,-6.3,490,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2011,3610,0,0,0,0,0,0
$GC,5626,-0.62,-194.6,648.2,-6.3,505,5630,0.00,1.88,0.00,0.000,4,0.000,0.039,2587,3276,3608,0,0,0,0,0,0
$GC,5672,-0.62,-194.6,651.2,-6.2,507,5676,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,2003,3608,0,0,0,0,0,0
$GC,6007,-0.62,-194.6,673.8,-7.1,523,6011,0.00,2.20,0.00,0.000,4,0.000,0.030,2587,505,3605,0,0,0,0,0,0
$GC,6096,-0.62,-194.6,681.7,-8.8,527,6100,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1981,3604,0,0,0,0,0,0
$GC,6419,-0.62,-194.6,708.6,-8.6,543,6424,0.00,1.95,0.00,0.000,4,0.000,0.039,2588,3263,3603,0,0,0,0,0,0
$GC,6554,-0.62,-194.6,720.1,-8.2,549,6558,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2012,3602,0,0,0,0,0,0
$GC,6888,-0.62,-194.6,746.8,-7.9,565,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2011,3599,0,0,0,0,0,0
$GC,7198,-0.62,-194.6,770.2,-7.3,580,7202,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,508,3598,0,0,0,0,0,0
$GC,7322,-0.62,-194.6,779.8,-7.2,585,7329,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1999,3597,0,0,0,0,0,0
$GC,7640,-0.62,-194.6,800.8,-6.6,601,7644,0.00,1.92,0.00,0.000,4,0.000,0.039,2587,3276,3596,0,0,0,0,0,0
$GC,7712,-0.62,-194.6,805.3,-6.5,604,7715,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,2013,3595,0,0,0,0,0,0
$GC,8047,-0.62,-194.6,827.7,-6.8,620,8051,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,505,3594,0,0,0,0,0,0
$GC,8110,-0.62,-194.6,832.5,-7.5,623,8114,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1997,3594,0,0,0,0,0,0
$GC,8437,-0.62,-194.6,853.2,-6.0,639,8441,0.00,1.92,0.00,0.000,4,0.000,0.040,2587,3270,3592,0,0,0,0,0,0
$GC,8517,-0.62,-194.6,857.7,-5.7,642,8521,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,2005,3592,0,0,0,0,0,0
$GC,8839,-0.62,-194.6,875.8,-5.7,658,8844,0.00,2.25,0.00,0.000,4,0.000,0.031,2587,503,3590,0,0,0,0,0,0
$GC,8887,-0.62,-194.6,878.8,-6.0,660,8892,0.00,2.22,0.00,0.000,6,0.000,0.025,2587,1985,3590,0,0,0,0,0,0
$GC,9220,-0.62,-194.6,902.3,-7.6,676,9224,0.00,1.95,0.00,0.000,4,0.000,0.041,2587,3269,3590,0,0,0,0,0,0
$GC,9258,-0.62,-194.6,905.4,-7.8,677,9265,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1992,3590,0,0,0,0,0,0
$GC,9576,-0.62,-194.6,932.2,-8.8,693,9581,0.00,2.22,0.00,0.000,4,0.000,0.030,2587,503,3588,0,0,0,0,0,0
$GC,9648,-0.62,-194.6,939.4,-9.6,696,9652,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1960,3588,0,0,0,0,0,0
$GC,9972,-0.62,-194.6,967.0,-8.3,712,9977,0.00,2.00,0.00,0.000,4,0.000,0.041,2587,3263,3587,0,0,0,0,0,0
$GC,10018,-0.62,-194.6,970.6,-7.6,714,10023,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1949,3587,0,0,0,0,0,0
$STATE,10308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10308,begin apogee
$GC,10314,-0.20,0.0,990.4,6.4,728,10474,0.43,0.00,153.07,1.401,4,0.116,0.000,2730,2090,2838,0,0,0,0,0,0
$STATE,10475,end apogee,CONTROL_FINISHED_OK
$STATE,10475,begin climb
$GC,10478,0.62,194.6,993.7,0.0,735,10657,0.75,2.25,169.82,1.342,4,0.078,0.041,3002,3443,2044,0,0,0,0,0,0
$GC,10854,0.62,194.6,943.9,15.5,752,10859,0.00,2.08,0.00,0.000,6,0.000,0.021,3009,2094,2035,0,0,0,0,0,0
$GC,11175,0.62,194.6,898.7,13.5,768,11179,0.00,2.10,0.00,0.000,4,0.000,0.037,3010,3450,2033,0,0,0,0,0,0
$GC,11337,0.62,194.6,877.8,13.2,775,11341,0.00,2.10,0.00,0.000,6,0.000,0.021,3017,2029,2032,0,0,0,0,0,0
$GC,11665,0.62,194.6,839.7,11.2,791,11668,0.00,2.00,0.00,0.000,4,0.000,0.033,3028,682,2031,0,0,0,0,0,0
$GC,11704,0.62,194.6,835.3,10.9,792,11712,0.00,2.03,0.00,0.000,6,0.000,0.024,3028,2044,2031,0,0,0,0,0,0
$GC,12021,0.62,194.6,800.3,11.1,808,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2044,2031,0,0,0,0,0,0
$GC,12329,0.62,194.6,766.9,11.1,823,12333,0.00,2.15,0.00,0.000,4,0.000,0.039,3028,3473,2030,0,0,0,0,0,0
$GC,12356,0.62,194.6,763.2,12.0,824,12361,0.12,2.08,0.00,0.000,6,0.177,0.021,3003,2049,2030,0,0,0,0,0,0
$GC,12679,0.62,194.6,728.9,10.8,840,12684,0.00,2.03,0.00,0.000,4,0.000,0.032,3012,695,2030,0,0,0,0,0,0
$GC,12740,0.62,194.6,721.7,11.0,842,12747,0.00,2.00,0.00,0.000,6,0.000,0.023,3011,2053,2029,0,0,0,0,0,0
$GC,13057,0.62,194.6,687.5,10.5,858,13061,0.00,2.15,0.00,0.000,4,0.000,0.039,3011,3464,2030,0,0,0,0,0,0
$GC,13142,0.62,194.6,677.7,11.6,862,13146,0.00,2.05,0.00,0.000,6,0.000,0.021,3019,2062,2029,0,0,0,0,0,0
$GC,13475,0.62,194.6,642.8,10.4,878,13479,0.00,2.05,0.00,0.000,4,0.000,0.033,3029,683,2028,0,0,0,0,0,0
$GC,13568,0.62,194.6,632.4,11.5,882,13572,0.00,2.03,0.00,0.000,6,0.000,0.024,3029,2054,2028,0,0,0,0,0,0
$GC,13900,0.62,194.6,589.8,13.3,898,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2054,2029,0,0,0,0,0,0
$GC,14212,0.62,194.6,550.7,11.7,913,14216,0.00,2.15,0.00,0.000,4,0.000,0.039,3029,3469,2028,0,0,0,0,0,0
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