version: 66.09
glider: 167
mission: 8
dive: 349
start: 8 26 111 2 48 21
data:
$ID,167
$MISSION,8
$DIVE,349
$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,-56832.887
$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,76
$R_STBD_OVSHOOT,58
$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
$GPS1,260811,023931,1825.944,12422.645,43,1.4,44,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-56.0
$GPS2,260811,024758,1825.987,12422.577,16,2.8,35,-2.1
$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,142.3,70154,-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,-194.6,0.0,0.0,0,114,0.00,0.00,-89.97,0.000,2,0.000,0.000,108,1826,2992,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.7,-11.4,13,147,10.12,2.00,-10.38,0.000,4,0.231,0.043,2600,481,3637,0,0,0,0,0,0
$GC,217,-0.62,-194.6,41.9,-26.8,29,224,0.00,2.05,0.00,0.000,6,0.000,0.021,2592,1879,3638,0,0,0,0,0,0
$GC,355,-0.62,-194.6,76.1,-21.1,54,364,0.00,2.08,0.00,0.000,4,0.000,0.032,2582,3271,3638,0,0,0,0,0,0
$GC,438,-0.62,-194.6,94.7,-22.7,68,446,0.00,1.92,0.00,0.000,6,0.000,0.017,2581,1919,3638,0,0,0,0,0,0
$GC,582,-0.62,-194.6,128.3,-24.1,93,589,0.00,2.05,0.00,0.000,4,0.000,0.028,2582,501,3638,0,0,0,0,0,0
$GC,645,-0.62,-194.6,140.9,-17.2,104,653,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1859,3639,0,0,0,0,0,0
$GC,791,-0.62,-194.6,165.2,-16.9,129,798,0.00,2.08,0.00,0.000,4,0.000,0.033,2574,3267,3639,0,0,0,0,0,0
$GC,818,-0.62,-194.6,170.7,-17.8,133,825,0.00,2.03,0.00,0.000,6,0.000,0.017,2574,1836,3639,0,0,0,0,0,0
$GC,959,-0.62,-194.6,194.6,-17.2,158,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1836,3639,0,0,0,0,0,0
$GC,1097,-0.62,-194.6,217.4,-16.7,173,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1836,3639,0,0,0,0,0,0
$GC,1415,-0.62,-194.6,269.7,-15.8,203,1419,0.00,2.10,0.00,0.000,4,0.000,0.032,2571,3271,3639,0,0,0,0,0,0
$GC,1456,-0.62,-194.6,276.2,-15.5,206,1460,0.00,2.00,0.00,0.000,6,0.000,0.018,2571,1848,3639,0,0,0,0,0,0
$GC,1787,-0.62,-194.6,325.6,-14.3,237,1791,0.00,1.95,0.00,0.000,4,0.000,0.029,2571,492,3638,0,0,0,0,0,0
$GC,1827,-0.62,-194.6,331.2,-14.2,240,1834,0.00,1.92,0.00,0.000,6,0.000,0.021,2570,1841,3638,0,0,0,0,0,0
$GC,2153,-0.62,-194.6,373.3,-12.8,271,2157,0.00,2.12,0.00,0.000,4,0.000,0.033,2568,3267,3636,0,0,0,0,0,0
$GC,2220,-0.62,-194.6,381.2,-11.0,277,2225,0.10,1.98,0.00,0.000,6,0.159,0.017,2596,1840,3636,0,0,0,0,0,0
$GC,2552,-0.62,-194.6,412.6,-8.9,308,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1839,3634,0,0,0,0,0,0
$GC,2873,-0.62,-194.6,441.5,-8.7,338,2877,0.00,2.10,0.00,0.000,4,0.000,0.032,2596,3267,3632,0,0,0,0,0,0
$GC,2984,-0.62,-194.6,450.6,-7.4,347,2991,0.00,1.95,0.00,0.000,6,0.000,0.018,2596,1877,3631,0,0,0,0,0,0
$GC,3309,-0.62,-194.6,476.2,-8.1,378,3314,0.00,2.00,0.00,0.000,4,0.000,0.029,2596,514,3629,0,0,0,0,0,0
$GC,3378,-0.62,-194.6,482.2,-8.6,384,3381,0.00,1.92,0.00,0.000,6,0.000,0.020,2590,1857,3629,0,0,0,0,0,0
$GC,3718,-0.62,-194.6,516.4,-10.8,409,3722,0.00,2.08,0.00,0.000,4,0.000,0.034,2588,3260,3626,0,0,0,0,0,0
$GC,3836,-0.62,-194.6,528.2,-9.3,414,3839,0.00,1.90,0.00,0.000,6,0.000,0.018,2588,1909,3625,0,0,0,0,0,0
$GC,4159,-0.62,-194.6,556.1,-8.2,430,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1908,3624,0,0,0,0,0,0
$GC,4467,-0.62,-194.6,580.5,-7.8,445,4470,0.00,2.05,0.00,0.000,4,0.000,0.031,2588,515,3621,0,0,0,0,0,0
$GC,4500,-0.62,-194.6,583.4,-8.1,446,4504,0.00,2.03,0.00,0.000,6,0.000,0.021,2588,1904,3621,0,0,0,0,0,0
$GC,4823,-0.62,-194.6,611.3,-9.1,462,4828,0.00,2.05,0.00,0.000,4,0.000,0.036,2587,3262,3619,0,0,0,0,0,0
$GC,4891,-0.62,-194.6,617.2,-8.3,465,4895,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1938,3618,0,0,0,0,0,0
$GC,5226,-0.62,-194.6,646.7,-8.8,481,5230,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3267,3615,0,0,0,0,0,0
$GC,5260,-0.62,-194.6,650.0,-8.8,482,5264,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1949,3615,0,0,0,0,0,0
$GC,5582,-0.62,-194.6,676.3,-8.1,498,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1949,3613,0,0,0,0,0,0
$GC,5893,-0.62,-194.6,701.5,-8.0,513,5897,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,505,3610,0,0,0,0,0,0
$GC,5937,-0.62,-194.6,705.4,-8.2,515,5941,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1938,3610,0,0,0,0,0,0
$GC,6265,-0.62,-194.6,729.8,-7.2,531,6269,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3267,3608,0,0,0,0,0,0
$GC,6361,-0.62,-194.6,736.1,-6.2,535,6364,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1961,3607,0,0,0,0,0,0
$GC,6688,-0.62,-194.6,757.6,-6.5,551,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1960,3605,0,0,0,0,0,0
$GC,6999,-0.62,-194.6,779.5,-7.0,566,7004,0.00,2.17,0.00,0.000,4,0.000,0.032,2588,511,3603,0,0,0,0,0,0
$GC,7059,-0.62,-194.6,784.3,-7.8,568,7066,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1969,3602,0,0,0,0,0,0
$GC,7376,-0.62,-194.6,808.6,-7.8,584,7380,0.00,1.92,0.00,0.000,4,0.000,0.038,2588,3263,3600,0,0,0,0,0,0
$GC,7423,-0.62,-194.6,812.4,-8.1,586,7428,0.00,1.85,0.00,0.000,6,0.000,0.022,2587,1990,3600,0,0,0,0,0,0
$GC,7756,-0.62,-194.6,838.2,-7.7,602,7760,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,507,3599,0,0,0,0,0,0
$GC,7785,-0.62,-194.6,840.4,-7.6,603,7789,0.00,2.17,0.00,0.000,6,0.000,0.023,2587,1981,3599,0,0,0,0,0,0
$GC,8101,-0.62,-194.6,864.7,-7.7,618,8105,0.00,1.92,0.00,0.000,4,0.000,0.039,2587,3271,3597,0,0,0,0,0,0
$GC,8207,-0.62,-194.6,872.5,-7.1,622,8214,0.00,1.80,0.00,0.000,6,0.000,0.020,2588,2011,3597,0,0,0,0,0,0
$GC,8525,-0.62,-194.6,893.2,-6.1,638,8529,0.00,1.90,0.00,0.000,4,0.000,0.038,2587,3267,3594,0,0,0,0,0,0
$GC,8559,-0.62,-194.6,895.5,-6.2,639,8562,0.00,1.73,0.00,0.000,6,0.000,0.021,2587,2040,3594,0,0,0,0,0,0
$GC,8882,-0.62,-194.6,912.4,-5.0,655,8886,0.00,1.88,0.00,0.000,4,0.000,0.038,2587,3266,3593,0,0,0,0,0,0
$GC,8909,-0.62,-194.6,914.0,-5.1,656,8913,0.00,1.70,0.00,0.000,6,0.000,0.021,2587,2053,3593,0,0,0,0,0,0
$GC,9237,-0.62,-194.6,928.9,-4.6,672,9242,0.00,2.30,0.00,0.000,4,0.000,0.031,2587,518,3592,0,0,0,0,0,0
$GC,9300,-0.62,-194.6,932.2,-4.8,674,9307,0.00,2.25,0.00,0.000,6,0.000,0.024,2587,2032,3591,0,0,0,0,0,0
$GC,9616,-0.62,-194.6,947.1,-4.8,690,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2033,3590,0,0,0,0,0,0
$GC,9926,-0.62,-194.6,963.4,-5.5,705,9930,0.00,2.28,0.00,0.000,4,0.000,0.029,2587,513,3589,0,0,0,0,0,0
$GC,9960,-0.62,-194.6,965.6,-5.8,706,9967,0.00,2.25,0.00,0.000,6,0.000,0.025,2587,2020,3589,0,0,0,0,0,0
$GC,10277,-0.62,-194.6,985.1,-6.6,722,10281,0.00,1.90,0.00,0.000,4,0.000,0.041,2587,3258,3588,0,0,0,0,0,0
$GC,10339,-0.62,-194.6,989.1,-6.7,724,10346,0.00,1.73,0.00,0.000,6,0.000,0.021,2586,2045,3588,0,0,0,0,0,0
$STATE,10364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10364,begin apogee
$GC,10370,-0.20,0.0,990.9,6.6,726,10533,0.43,0.00,158.60,1.390,4,0.112,0.000,2731,2040,2838,0,0,0,0,0,0
$STATE,10534,end apogee,CONTROL_FINISHED_OK
$STATE,10534,begin climb
$GC,10538,0.62,194.6,997.4,0.0,733,10717,0.75,0.00,172.32,1.340,6,0.078,0.000,2994,2040,2044,0,0,0,0,0,0
$GC,11026,0.62,194.6,952.0,11.0,757,11030,0.00,1.98,0.00,0.000,4,0.000,0.031,3002,711,2033,0,0,0,0,0,0
$GC,11082,0.62,194.6,945.6,10.8,759,11086,0.00,2.03,0.00,0.000,6,0.000,0.024,3002,2055,2033,0,0,0,0,0,0
$GC,11406,0.62,194.6,907.5,11.9,775,11410,0.00,2.05,0.00,0.000,4,0.000,0.032,3007,709,2031,0,0,0,0,0,0
$GC,11432,0.62,194.6,903.7,12.2,776,11436,0.00,2.00,0.00,0.000,6,0.000,0.024,3007,2061,2031,0,0,0,0,0,0
$GC,11760,0.62,194.6,862.8,12.7,792,11764,0.00,2.15,0.00,0.000,4,0.000,0.039,3007,3475,2030,0,0,0,0,0,0
$GC,11856,0.62,194.6,849.7,13.6,796,11860,0.00,2.03,0.00,0.000,6,0.000,0.021,3016,2086,2029,0,0,0,0,0,0
$GC,12178,0.62,194.6,806.2,13.5,812,12182,0.00,2.08,0.00,0.000,4,0.000,0.034,3025,693,2028,0,0,0,0,0,0
$GC,12308,0.62,194.6,789.0,13.2,817,12315,0.00,2.00,0.00,0.000,6,0.000,0.024,3025,2041,2028,0,0,0,0,0,0
$GC,12624,0.62,194.6,746.0,13.8,833,12629,0.00,2.05,0.00,0.000,4,0.000,0.032,3032,691,2028,0,0,0,0,0,0
$GC,12651,0.62,194.6,742.0,14.1,834,12655,0.12,2.03,0.00,0.000,6,0.148,0.024,2998,2063,2028,0,0,0,0,0,0
$GC,12980,0.62,194.6,703.9,11.2,850,12984,0.00,2.15,0.00,0.000,4,0.000,0.038,2998,3474,2027,0,0,0,0,0,0
$GC,13043,0.62,194.6,696.2,12.1,853,13047,0.00,2.05,0.00,0.000,6,0.000,0.021,3005,2067,2027,0,0,0,0,0,0
$GC,13377,0.62,194.6,660.0,10.6,869,13381,0.00,2.05,0.00,0.000,4,0.000,0.032,3015,685,2027,0,0,0,0,0,0
$GC,13491,0.62,194.6,648.3,9.9,874,13494,0.00,1.98,0.00,0.000,6,0.000,0.024,3015,2021,2026,0,0,0,0,0,0
$GC,13825,0.62,194.6,612.0,11.4,890,13829,0.00,2.20,0.00,0.000,4,0.000,0.038,3015,3471,2026,0,0,0,0,0,0
$GC,13903,0.62,194.6,601.7,13.1,893,13910,0.00,2.12,0.00,0.000,6,0.000,0.021,3024,2014,2026,0,0,0,0,0,0
$GC,14219,0.62,194.6,562.6,12.2,909,14223,0.00,1.98,0.00,0.000,4,0.000,0.034,3032,685,2026,0,0,0,0,0,0
$GC,14372,0.62,194.6,545.6,10.3,915,14380,0.08,1.85,0.00,0.000,6,0.126,0.022,3005,1937,2026,0,0,0,0,0,0
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