version: 66.09
glider: 167
mission: 8
dive: 312
start: 8 17 111 14 16 29
data:
$ID,167
$MISSION,8
$DIVE,312
$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,-56783.391
$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,70
$R_STBD_OVSHOOT,46
$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
$GPS1,170811,135924,1944.931,12419.577,40,1.2,40,-2.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-66.8
$GPS2,170811,141602,1945.127,12419.554,12,1.6,12,-2.4
$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,169.3,214947,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,108,0.00,0.00,-87.80,0.000,2,0.000,0.000,110,1972,3091,0,0,0,0,0,0
$GC,111,-0.62,-194.6,5.8,-10.3,12,136,9.98,2.25,-8.93,0.000,4,0.229,0.039,2594,469,3635,0,0,0,0,0,0
$GC,172,-0.62,-194.6,31.1,-32.6,21,180,0.00,2.08,0.00,0.000,6,0.000,0.021,2586,1883,3637,0,0,0,0,0,0
$GC,250,-0.62,-194.6,48.2,-23.0,34,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1884,3637,0,0,0,0,0,0
$GC,332,-0.62,-194.6,64.3,-18.6,47,339,0.00,2.08,0.00,0.000,4,0.000,0.032,2576,3276,3637,0,0,0,0,0,0
$GC,347,-0.62,-194.6,67.4,-17.8,49,355,0.00,2.15,0.00,0.000,6,0.000,0.018,2576,1780,3637,0,0,0,0,0,0
$GC,426,-0.62,-194.6,82.2,-20.1,62,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1781,3638,0,0,0,0,0,0
$GC,504,-0.62,-194.6,96.3,-18.0,75,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1781,3638,0,0,0,0,0,0
$GC,582,-0.62,-194.6,110.4,-19.6,88,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1780,3638,0,0,0,0,0,0
$GC,659,-0.62,-194.6,125.4,-20.2,101,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1780,3638,0,0,0,0,0,0
$GC,733,-0.62,-194.6,140.0,-19.0,114,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1780,3638,0,0,0,0,0,0
$GC,811,-0.62,-194.6,154.7,-19.2,127,819,0.00,2.22,0.00,0.000,4,0.000,0.031,2566,3270,3638,0,0,0,0,0,0
$GC,840,-0.62,-194.6,160.0,-19.3,131,849,0.08,2.00,0.00,0.000,6,0.157,0.018,2590,1849,3638,0,0,0,0,0,0
$GC,918,-0.62,-194.6,174.7,-18.2,144,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1849,3638,0,0,0,0,0,0
$GC,991,-0.62,-194.6,187.6,-17.5,157,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1849,3638,0,0,0,0,0,0
$GC,1067,-0.62,-194.6,200.2,-16.4,170,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1849,3638,0,0,0,0,0,0
$GC,1396,-0.62,-194.6,253.2,-15.3,201,1400,0.00,1.92,0.00,0.000,4,0.000,0.028,2590,513,3636,0,0,0,0,0,0
$GC,1435,-0.62,-194.6,259.3,-13.4,204,1444,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1891,3636,0,0,0,0,0,0
$GC,1762,-0.62,-194.6,302.9,-13.4,235,1765,0.00,2.00,0.00,0.000,4,0.000,0.034,2580,3267,3634,0,0,0,0,0,0
$GC,1796,-0.62,-194.6,307.2,-12.1,238,1800,0.00,1.88,0.00,0.000,6,0.000,0.017,2580,1911,3634,0,0,0,0,0,0
$GC,2127,-0.62,-194.6,352.5,-13.3,269,2131,0.00,2.05,0.00,0.000,4,0.000,0.029,2580,502,3633,0,0,0,0,0,0
$GC,2176,-0.62,-194.6,359.3,-12.8,273,2183,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1892,3633,0,0,0,0,0,0
$GC,2502,-0.62,-194.6,405.0,-14.1,304,2505,0.00,2.03,0.00,0.000,4,0.000,0.035,2574,3274,3632,0,0,0,0,0,0
$GC,2540,-0.62,-194.6,410.0,-12.5,307,2547,0.00,1.98,0.00,0.000,6,0.000,0.018,2574,1887,3631,0,0,0,0,0,0
$GC,2866,-0.62,-194.6,445.9,-9.2,338,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1887,3630,0,0,0,0,0,0
$GC,3186,-0.62,-194.6,473.7,-9.0,368,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1887,3628,0,0,0,0,0,0
$GC,3512,-0.62,-194.6,508.7,-10.3,395,3516,0.00,2.05,0.00,0.000,4,0.000,0.034,2574,3273,3626,0,0,0,0,0,0
$GC,3568,-0.62,-194.6,514.2,-8.9,397,3575,0.00,1.92,0.00,0.000,6,0.000,0.018,2573,1891,3626,0,0,0,0,0,0
$GC,3886,-0.62,-194.6,543.7,-9.2,413,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1891,3624,0,0,0,0,0,0
$GC,4193,-0.62,-194.6,574.5,-10.1,428,4198,0.00,2.05,0.00,0.000,4,0.000,0.031,2573,508,3621,0,0,0,0,0,0
$GC,4220,-0.62,-194.6,577.4,-10.1,429,4224,0.00,1.98,0.00,0.000,6,0.000,0.022,2573,1895,3621,0,0,0,0,0,0
$GC,4550,-0.62,-194.6,607.2,-9.3,445,4554,0.00,2.05,0.00,0.000,4,0.000,0.037,2573,3267,3618,0,0,0,0,0,0
$GC,4641,-0.62,-194.6,615.2,-8.0,449,4645,0.00,1.88,0.00,0.000,6,0.000,0.018,2573,1944,3618,0,0,0,0,0,0
$GC,4975,-0.62,-194.6,645.1,-9.1,465,4979,0.00,2.12,0.00,0.000,4,0.000,0.031,2574,510,3615,0,0,0,0,0,0
$GC,5037,-0.62,-194.6,651.0,-9.3,467,5044,0.00,2.08,0.00,0.000,6,0.000,0.022,2573,1932,3615,0,0,0,0,0,0
$GC,5354,-0.62,-194.6,680.8,-10.0,483,5357,0.00,2.00,0.00,0.000,4,0.000,0.036,2573,3274,3612,0,0,0,0,0,0
$GC,5447,-0.62,-194.6,689.3,-9.0,487,5451,0.00,1.88,0.00,0.000,6,0.000,0.018,2573,1931,3612,0,0,0,0,0,0
$GC,5781,-0.62,-194.6,723.3,-10.6,503,5785,0.00,2.10,0.00,0.000,4,0.000,0.031,2573,503,3609,0,0,0,0,0,0
$GC,5824,-0.62,-194.6,728.3,-10.7,505,5829,0.00,2.05,0.00,0.000,6,0.000,0.023,2573,1921,3608,0,0,0,0,0,0
$GC,6152,-0.62,-194.6,761.7,-10.2,521,6157,0.00,2.05,0.00,0.000,4,0.000,0.038,2573,3267,3606,0,0,0,0,0,0
$GC,6184,-0.62,-194.6,764.8,-9.8,522,6188,0.00,1.90,0.00,0.000,6,0.000,0.020,2573,1942,3606,0,0,0,0,0,0
$GC,6508,-0.62,-194.6,791.4,-8.0,538,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1941,3604,0,0,0,0,0,0
$GC,6818,-0.62,-194.6,814.6,-7.3,553,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1940,3602,0,0,0,0,0,0
$GC,7125,-0.62,-194.6,836.1,-6.9,568,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1941,3599,0,0,0,0,0,0
$GC,7437,-0.62,-194.6,855.7,-6.1,583,7440,0.00,2.10,0.00,0.000,4,0.000,0.033,2573,511,3598,0,0,0,0,0,0
$GC,7459,-0.62,-194.6,857.4,-6.4,584,7463,0.00,2.10,0.00,0.000,6,0.000,0.024,2573,1953,3598,0,0,0,0,0,0
$GC,7782,-0.62,-194.6,877.9,-6.6,600,7785,0.00,1.98,0.00,0.000,4,0.000,0.037,2573,3267,3596,0,0,0,0,0,0
$GC,7866,-0.62,-194.6,883.7,-6.6,603,7873,0.00,1.80,0.00,0.000,6,0.000,0.019,2573,1988,3596,0,0,0,0,0,0
$GC,8183,-0.62,-194.6,907.0,-7.8,619,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1987,3593,0,0,0,0,0,0
$GC,8494,-0.62,-194.6,930.1,-7.4,634,8498,0.00,2.22,0.00,0.000,4,0.000,0.031,2574,505,3592,0,0,0,0,0,0
$GC,8566,-0.62,-194.6,936.1,-8.1,637,8570,0.00,2.17,0.00,0.000,6,0.000,0.024,2573,1979,3592,0,0,0,0,0,0
$GC,8888,-0.62,-194.6,959.4,-7.3,653,8892,0.00,1.92,0.00,0.000,4,0.000,0.037,2573,3269,3590,0,0,0,0,0,0
$GC,8963,-0.62,-194.6,964.5,-6.9,656,8967,0.00,1.83,0.00,0.000,6,0.000,0.019,2573,1993,3590,0,0,0,0,0,0
$GC,9290,-0.62,-194.6,986.4,-6.7,672,9294,0.00,2.20,0.00,0.000,4,0.000,0.031,2573,510,3589,0,0,0,0,0,0
$GC,9336,-0.62,-194.6,989.8,-7.2,674,9340,0.00,2.15,0.00,0.000,1,0.000,0.023,2573,1981,3589,0,0,0,0,0,0
$STATE,9340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9341,begin apogee
$GC,9347,-0.20,0.0,990.3,7.2,674,9511,0.47,0.00,154.62,1.389,4,0.118,0.000,2732,2088,2838,0,0,0,0,0,0
$STATE,9512,end apogee,CONTROL_FINISHED_OK
$STATE,9512,begin climb
$GC,9516,0.62,194.6,994.8,0.0,682,9694,0.75,2.22,169.00,1.336,4,0.078,0.038,3004,3451,2044,0,0,0,0,0,0
$GC,9821,0.62,194.6,961.0,13.5,696,9825,0.00,2.03,0.00,0.000,6,0.000,0.020,3013,2090,2036,0,0,0,0,0,0
$GC,10149,0.62,194.6,919.1,12.3,712,10153,0.00,2.12,0.00,0.000,4,0.000,0.035,3013,3467,2034,0,0,0,0,0,0
$GC,10355,0.62,194.6,891.0,13.6,721,10359,0.00,2.08,0.00,0.000,6,0.000,0.022,3022,2041,2032,0,0,0,0,0,0
$GC,10677,0.62,194.6,850.2,13.1,737,10681,0.00,2.03,0.00,0.000,4,0.000,0.033,3033,685,2031,0,0,0,0,0,0
$GC,10757,0.62,194.6,839.5,13.9,740,10762,0.08,1.98,0.00,0.000,6,0.131,0.023,3006,2014,2031,0,0,0,0,0,0
$GC,11078,0.62,194.6,801.0,11.9,756,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2014,2030,0,0,0,0,0,0
$GC,11390,0.62,194.6,764.7,11.5,771,11394,0.00,2.20,0.00,0.000,4,0.000,0.037,3006,3469,2029,0,0,0,0,0,0
$GC,11497,0.62,194.6,750.8,12.7,776,11501,0.00,2.08,0.00,0.000,6,0.000,0.021,3014,2028,2029,0,0,0,0,0,0
$GC,11826,0.62,194.6,712.8,11.4,792,11829,0.00,1.98,0.00,0.000,4,0.000,0.034,3024,692,2028,0,0,0,0,0,0
$GC,11943,0.62,194.6,699.5,10.9,797,11947,0.00,1.90,0.00,0.000,6,0.000,0.022,3024,1967,2029,0,0,0,0,0,0
$GC,12271,0.62,194.6,665.3,9.8,813,12275,0.00,2.28,0.00,0.000,4,0.000,0.037,3024,3466,2028,0,0,0,0,0,0
$GC,12349,0.62,194.6,656.5,11.3,816,12357,0.12,2.12,0.00,0.000,6,0.168,0.021,2999,2009,2028,0,0,0,0,0,0
$GC,12665,0.63,205.6,627.8,9.3,832,12680,0.00,2.03,8.05,1.002,4,0.000,0.034,3008,690,2000,0,0,0,0,0,0
$GC,12765,0.63,205.6,617.3,10.9,836,12769,0.00,1.92,0.00,0.000,6,0.000,0.022,3007,1994,1999,0,0,0,0,0,0
$GC,13087,0.63,205.6,582.0,11.0,852,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1994,1998,0,0,0,0,0,0
$GC,13399,0.65,217.7,551.3,9.3,867,13416,0.00,0.00,11.90,1.013,6,0.000,0.000,3008,1994,1950,0,0,0,0,0,0
$GC,13726,0.65,217.7,520.5,9.8,883,13731,0.00,2.22,0.00,0.000,4,0.000,0.036,3007,3454,1948,0,0,0,0,0,0
$GC,13776,0.65,217.7,514.8,11.6,885,13780,0.00,2.08,0.00,0.000,6,0.000,0.019,3017,2009,1947,0,0,0,0,0,0
$GC,14106,0.65,217.7,475.9,11.7,910,14111,0.00,1.98,0.00,0.000,4,0.000,0.034,3025,692,1947,0,0,0,0,0,0
$GC,14174,0.65,217.7,467.8,11.3,916,14178,0.00,1.85,0.00,0.000,6,0.000,0.021,3026,1976,1947,0,0,0,0,0,0
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