version: 66.09
glider: 167
mission: 8
dive: 303
start: 8 15 111 13 29 18
data:
$ID,167
$MISSION,8
$DIVE,303
$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,-56768.973
$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,71
$R_STBD_OVSHOOT,53
$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
$GPS1,150811,132107,2002.970,12420.447,33,1.0,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.5
$GPS2,150811,132855,2003.027,12420.405,11,1.7,16,-2.5
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,196.6,247706,-15.3,-9.706
$D_GRID,5000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-94.28,0.000,2,0.000,0.000,112,1840,3305,0,0,0,0,0,0
$GC,120,-0.62,-194.6,7.1,-12.6,13,147,10.02,2.03,-5.07,0.000,4,0.231,0.041,2598,468,3637,0,0,0,0,0,0
$GC,280,-0.62,-194.6,61.8,-24.8,40,289,0.00,2.08,0.00,0.000,6,0.000,0.021,2589,1886,3639,0,0,0,0,0,0
$GC,357,-0.62,-194.6,78.5,-21.8,53,365,0.00,2.05,0.00,0.000,4,0.000,0.032,2579,3260,3639,0,0,0,0,0,0
$GC,376,-0.62,-194.6,82.4,-21.6,55,385,0.00,1.92,0.00,0.000,6,0.000,0.017,2579,1906,3639,0,0,0,0,0,0
$GC,453,-0.62,-194.6,97.5,-19.5,68,462,0.00,2.08,0.00,0.000,4,0.000,0.028,2579,494,3639,0,0,0,0,0,0
$GC,508,-0.62,-194.6,107.5,-16.6,77,516,0.00,2.10,0.00,0.000,6,0.000,0.021,2571,1936,3639,0,0,0,0,0,0
$GC,582,-0.62,-194.6,119.8,-17.0,90,590,0.00,2.12,0.00,0.000,4,0.000,0.026,2571,497,3639,0,0,0,0,0,0
$GC,604,-0.62,-194.6,123.6,-17.2,93,612,0.10,2.08,0.00,0.000,6,0.141,0.029,2595,1919,3640,0,0,0,0,0,0
$GC,681,-0.62,-194.6,135.2,-15.4,106,690,0.00,2.00,0.00,0.000,4,0.000,0.032,2586,3262,3640,0,0,0,0,0,0
$GC,704,-0.62,-194.6,138.9,-15.2,109,712,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1938,3640,0,0,0,0,0,0
$GC,783,-0.62,-194.6,151.0,-16.0,122,791,0.00,2.10,0.00,0.000,4,0.000,0.028,2587,504,3640,0,0,0,0,0,0
$GC,827,-0.62,-194.6,157.6,-15.7,129,835,0.00,2.03,0.00,0.000,6,0.000,0.029,2580,1895,3640,0,0,0,0,0,0
$GC,902,-0.62,-194.6,170.0,-17.2,142,910,0.00,2.08,0.00,0.000,4,0.000,0.034,2571,3269,3641,0,0,0,0,0,0
$GC,940,-0.62,-194.6,176.5,-17.5,148,948,0.00,1.88,0.00,0.000,6,0.000,0.018,2571,1946,3640,0,0,0,0,0,0
$GC,1017,-0.62,-194.6,189.1,-17.3,161,1026,0.00,2.10,0.00,0.000,4,0.000,0.028,2571,508,3640,0,0,0,0,0,0
$GC,1057,-0.62,-194.6,196.3,-17.2,167,1067,0.10,2.03,0.00,0.000,6,0.143,0.020,2595,1909,3640,0,0,0,0,0,0
$GC,1133,-0.62,-194.6,207.9,-14.6,175,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1909,3640,0,0,0,0,0,0
$GC,1456,-0.62,-194.6,252.8,-14.0,205,1460,0.00,2.03,0.00,0.000,4,0.000,0.032,2587,3274,3639,0,0,0,0,0,0
$GC,1546,-0.62,-194.6,266.1,-13.4,213,1550,0.00,1.85,0.00,0.000,6,0.000,0.017,2587,1940,3639,0,0,0,0,0,0
$GC,1878,-0.62,-194.6,311.2,-14.1,244,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1938,3638,0,0,0,0,0,0
$GC,2198,-0.62,-194.6,354.1,-13.5,274,2202,0.00,2.08,0.00,0.000,4,0.000,0.029,2587,505,3637,0,0,0,0,0,0
$GC,2221,-0.62,-194.6,357.4,-13.8,275,2228,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1938,3637,0,0,0,0,0,0
$GC,2546,-0.62,-194.6,396.4,-11.2,306,2550,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3265,3636,0,0,0,0,0,0
$GC,2631,-0.62,-194.6,405.5,-9.9,313,2637,0.00,1.80,0.00,0.000,6,0.000,0.017,2587,1960,3635,0,0,0,0,0,0
$GC,2956,-0.62,-194.6,441.8,-11.4,344,2961,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,497,3634,0,0,0,0,0,0
$GC,3026,-0.62,-194.6,449.3,-11.0,350,3030,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1961,3634,0,0,0,0,0,0
$GC,3352,-0.62,-194.6,482.9,-10.1,380,3356,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3267,3632,0,0,0,0,0,0
$GC,3422,-0.62,-194.6,489.1,-8.5,386,3427,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1918,3631,0,0,0,0,0,0
$GC,3749,-0.62,-194.6,519.3,-9.4,407,3753,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,510,3630,0,0,0,0,0,0
$GC,3776,-0.62,-194.6,522.2,-9.3,408,3779,0.00,2.00,0.00,0.000,6,0.000,0.020,2587,1905,3630,0,0,0,0,0,0
$GC,4106,-0.62,-194.6,553.7,-10.3,424,4110,0.00,2.03,0.00,0.000,4,0.000,0.034,2587,3261,3628,0,0,0,0,0,0
$GC,4175,-0.62,-194.6,560.8,-9.6,427,4178,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1920,3628,0,0,0,0,0,0
$GC,4509,-0.62,-194.6,593.1,-9.6,443,4513,0.00,2.03,0.00,0.000,4,0.000,0.033,2587,3261,3625,0,0,0,0,0,0
$GC,4548,-0.62,-194.6,597.1,-9.5,444,4555,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1941,3625,0,0,0,0,0,0
$GC,4865,-0.62,-194.6,624.3,-8.6,460,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1940,3623,0,0,0,0,0,0
$GC,5175,-0.62,-194.6,651.9,-9.2,475,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1940,3621,0,0,0,0,0,0
$GC,5483,-0.62,-194.6,677.8,-7.5,490,5487,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,514,3619,0,0,0,0,0,0
$GC,5527,-0.62,-194.6,681.2,-7.5,492,5531,0.00,2.05,0.00,0.000,6,0.000,0.022,2587,1924,3618,0,0,0,0,0,0
$GC,5858,-0.62,-194.6,702.3,-6.5,508,5862,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3264,3616,0,0,0,0,0,0
$GC,5897,-0.62,-194.6,704.9,-6.4,509,5903,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1952,3615,0,0,0,0,0,0
$GC,6215,-0.62,-194.6,725.1,-6.7,525,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1951,3613,0,0,0,0,0,0
$GC,6523,-0.62,-194.6,746.1,-6.8,540,6527,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,507,3611,0,0,0,0,0,0
$GC,6579,-0.62,-194.6,750.6,-7.8,542,6587,0.00,2.10,0.00,0.000,6,0.000,0.023,2587,1954,3610,0,0,0,0,0,0
$GC,6897,-0.62,-194.6,774.6,-8.0,558,6901,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3273,3608,0,0,0,0,0,0
$GC,6924,-0.62,-194.6,776.9,-7.8,559,6928,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1946,3608,0,0,0,0,0,0
$GC,7252,-0.62,-194.6,801.5,-7.4,575,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1947,3606,0,0,0,0,0,0
$GC,7563,-0.62,-194.6,823.4,-6.7,590,7567,0.00,2.10,0.00,0.000,4,0.000,0.030,2587,506,3605,0,0,0,0,0,0
$GC,7607,-0.62,-194.6,826.9,-7.0,592,7611,0.00,2.10,0.00,0.000,6,0.000,0.022,2586,1939,3604,0,0,0,0,0,0
$GC,7938,-0.62,-194.6,848.1,-6.6,608,7942,0.00,1.98,0.00,0.000,4,0.000,0.038,2587,3264,3602,0,0,0,0,0,0
$GC,8069,-0.62,-194.6,856.4,-6.2,613,8076,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1977,3601,0,0,0,0,0,0
$GC,8387,-0.62,-194.6,876.9,-6.5,629,8391,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,508,3600,0,0,0,0,0,0
$GC,8431,-0.62,-194.6,880.3,-7.0,631,8435,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1967,3599,0,0,0,0,0,0
$GC,8752,-0.62,-194.6,902.0,-6.5,647,8757,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3259,3598,0,0,0,0,0,0
$GC,8804,-0.62,-194.6,905.1,-6.4,649,8808,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1967,3598,0,0,0,0,0,0
$GC,9132,-0.62,-194.6,923.4,-5.4,665,9136,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,519,3597,0,0,0,0,0,0
$GC,9159,-0.62,-194.6,925.1,-5.3,666,9163,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1963,3596,0,0,0,0,0,0
$GC,9483,-0.62,-194.6,942.3,-5.4,682,9487,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3266,3595,0,0,0,0,0,0
$GC,9544,-0.62,-194.6,945.8,-5.4,684,9551,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1991,3595,0,0,0,0,0,0
$GC,9862,-0.62,-194.6,962.7,-5.5,700,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1991,3593,0,0,0,0,0,0
$GC,10169,-0.62,-194.6,980.1,-5.9,715,10174,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,523,3592,0,0,0,0,0,0
$GC,10202,-0.62,-194.6,982.3,-5.9,716,10206,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1979,3592,0,0,0,0,0,0
$STATE,10330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10330,begin apogee
$GC,10338,-0.20,0.0,990.1,6.0,722,10499,0.43,0.00,156.07,1.392,4,0.116,0.000,2731,2088,2839,0,0,0,0,0,0
$STATE,10500,end apogee,CONTROL_FINISHED_OK
$STATE,10500,begin climb
$GC,10504,0.62,194.6,993.9,0.0,729,10683,0.80,2.20,170.77,1.338,4,0.080,0.031,3000,707,2045,0,0,0,0,0,0
$GC,10802,0.62,194.6,962.7,12.8,743,10806,0.00,2.08,0.00,0.000,6,0.000,0.023,3000,2061,2036,0,0,0,0,0,0
$GC,11131,0.62,194.6,919.9,12.9,759,11134,0.00,2.05,0.00,0.000,4,0.000,0.031,3006,710,2031,0,0,0,0,0,0
$GC,11365,0.62,194.6,890.2,12.6,769,11369,0.00,2.10,0.00,0.000,6,0.000,0.024,3006,2112,2030,0,0,0,0,0,0
$GC,11687,0.62,194.6,849.7,12.9,785,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2112,2028,0,0,0,0,0,0
$GC,11996,0.62,194.6,810.6,12.5,800,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2112,2027,0,0,0,0,0,0
$GC,12305,0.62,194.6,771.8,12.8,815,12310,0.00,2.12,0.00,0.000,4,0.000,0.031,3016,718,2026,0,0,0,0,0,0
$GC,12350,0.62,194.6,765.6,13.8,817,12355,0.00,2.10,0.00,0.000,6,0.000,0.024,3016,2116,2027,0,0,0,0,0,0
$GC,12684,0.62,194.6,720.4,13.0,833,12688,0.00,2.08,0.00,0.000,4,0.000,0.031,3024,714,2026,0,0,0,0,0,0
$GC,12739,0.62,194.6,713.3,11.7,835,12748,0.00,2.05,0.00,0.000,6,0.000,0.023,3024,2084,2026,0,0,0,0,0,0
$GC,13057,0.62,194.6,675.5,12.1,851,13061,0.00,2.05,0.00,0.000,4,0.000,0.032,3032,718,2026,0,0,0,0,0,0
$GC,13119,0.62,194.6,667.6,11.7,853,13127,0.12,2.00,0.00,0.000,6,0.155,0.023,2999,2071,2026,0,0,0,0,0,0
$GC,13436,0.62,194.6,632.3,11.8,869,13440,0.00,2.12,0.00,0.000,4,0.000,0.038,2999,3461,2025,0,0,0,0,0,0
$GC,13469,0.62,194.6,627.7,13.4,870,13473,0.00,2.00,0.00,0.000,6,0.000,0.021,3006,2065,2025,0,0,0,0,0,0
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$STATE,19284,end climb,SURFACE_DEPTH_REACHED
$STATE,19284,begin surface coast
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,112713728
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