version: 66.09
glider: 167
mission: 8
dive: 364
start: 8 29 111 16 22 17
data:
$ID,167
$MISSION,8
$DIVE,364
$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,-3
$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,-56855.508
$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,97
$R_STBD_OVSHOOT,63
$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
$GPS1,290811,161330,1750.628,12434.658,38,1.6,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.2
$GPS2,290811,162153,1750.665,12434.628,15,5.7,34,-2.0
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,299.6,254279,-15.3,-9.706
$D_GRID,4034
$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,20,-0.62,-194.6,0.0,0.0,0,90,0.00,0.00,-67.97,0.000,2,0.000,0.000,109,1940,3137,0,0,0,0,0,0
$GC,93,-0.62,-194.6,5.7,-8.8,10,118,10.48,2.17,-8.18,0.000,4,0.240,0.039,2597,487,3636,0,0,0,0,0,0
$GC,213,-0.62,-194.6,49.6,-28.1,29,220,0.00,2.00,0.00,0.000,6,0.000,0.021,2590,1874,3638,0,0,0,0,0,0
$GC,357,-0.62,-194.6,90.2,-23.7,54,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1874,3638,0,0,0,0,0,0
$GC,505,-0.62,-194.6,120.6,-18.1,79,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1874,3639,0,0,0,0,0,0
$GC,648,-0.62,-194.6,145.7,-16.9,104,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1874,3640,0,0,0,0,0,0
$GC,796,-0.62,-194.6,169.7,-15.4,129,803,0.00,2.05,0.00,0.000,4,0.000,0.032,2587,3267,3640,0,0,0,0,0,0
$GC,838,-0.62,-194.6,176.1,-14.7,136,847,0.00,2.12,0.00,0.000,6,0.000,0.018,2587,1766,3640,0,0,0,0,0,0
$GC,985,-0.62,-194.6,199.5,-16.5,161,992,0.00,1.83,0.00,0.000,4,0.000,0.028,2587,510,3640,0,0,0,0,0,0
$GC,1055,-0.62,-194.6,211.6,-16.9,168,1060,0.00,1.75,0.00,0.000,6,0.000,0.019,2582,1738,3640,0,0,0,0,0,0
$GC,1385,-0.62,-194.6,259.0,-13.7,199,1390,0.00,2.28,0.00,0.000,4,0.000,0.033,2573,3275,3640,0,0,0,0,0,0
$GC,1514,-0.62,-194.6,278.2,-15.2,210,1518,0.00,2.08,0.00,0.000,6,0.000,0.018,2574,1803,3640,0,0,0,0,0,0
$GC,1840,-0.62,-194.6,326.3,-12.6,240,1844,0.00,2.17,0.00,0.000,4,0.000,0.031,2574,3267,3639,0,0,0,0,0,0
$GC,1884,-0.62,-194.6,331.8,-12.1,243,1891,0.00,2.05,0.00,0.000,6,0.000,0.017,2574,1805,3639,0,0,0,0,0,0
$GC,2210,-0.62,-194.6,374.8,-12.3,274,2213,0.00,1.88,0.00,0.000,4,0.000,0.029,2573,508,3638,0,0,0,0,0,0
$GC,2246,-0.62,-194.6,378.9,-11.7,277,2250,0.00,1.88,0.00,0.000,6,0.000,0.020,2570,1825,3638,0,0,0,0,0,0
$GC,2577,-0.62,-194.6,417.2,-10.9,308,2581,0.00,2.10,0.00,0.000,4,0.000,0.033,2562,3262,3636,0,0,0,0,0,0
$GC,2678,-0.62,-194.6,429.0,-11.3,316,2686,0.12,1.95,0.00,0.000,6,0.149,0.018,2596,1867,3635,0,0,0,0,0,0
$GC,3003,-0.62,-194.6,456.8,-7.8,347,3007,0.00,1.98,0.00,0.000,4,0.000,0.031,2596,512,3634,0,0,0,0,0,0
$GC,3060,-0.62,-194.6,461.8,-9.0,352,3064,0.00,1.95,0.00,0.000,6,0.000,0.021,2596,1871,3633,0,0,0,0,0,0
$GC,3392,-0.62,-194.6,490.8,-8.5,383,3395,0.00,2.05,0.00,0.000,4,0.000,0.034,2596,3261,3631,0,0,0,0,0,0
$GC,3472,-0.62,-194.6,497.1,-7.7,390,3476,0.00,1.92,0.00,0.000,6,0.000,0.018,2596,1895,3630,0,0,0,0,0,0
$GC,3807,-0.62,-194.6,523.3,-8.1,408,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1895,3629,0,0,0,0,0,0
$GC,4114,-0.62,-194.6,548.8,-8.2,423,4118,0.00,2.05,0.00,0.000,4,0.000,0.034,2596,3262,3626,0,0,0,0,0,0
$GC,4161,-0.62,-194.6,552.3,-7.5,425,4165,0.00,1.92,0.00,0.000,6,0.000,0.018,2596,1902,3625,0,0,0,0,0,0
$GC,4497,-0.62,-194.6,577.5,-7.5,441,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1901,3623,0,0,0,0,0,0
$GC,4804,-0.62,-194.6,600.2,-7.3,456,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1901,3621,0,0,0,0,0,0
$GC,5114,-0.62,-194.6,623.7,-7.7,471,5118,0.00,2.05,0.00,0.000,4,0.000,0.034,2596,3260,3619,0,0,0,0,0,0
$GC,5175,-0.62,-194.6,628.3,-7.3,473,5182,0.00,1.92,0.00,0.000,6,0.000,0.019,2596,1921,3618,0,0,0,0,0,0
$GC,5493,-0.62,-194.6,650.3,-6.7,489,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1921,3616,0,0,0,0,0,0
$GC,5803,-0.62,-194.6,671.0,-6.5,504,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1921,3613,0,0,0,0,0,0
$GC,6112,-0.62,-194.6,689.3,-5.8,519,6116,0.00,2.00,0.00,0.000,4,0.000,0.035,2596,3258,3611,0,0,0,0,0,0
$GC,6146,-0.62,-194.6,691.4,-5.8,520,6149,0.00,1.90,0.00,0.000,6,0.000,0.020,2596,1925,3611,0,0,0,0,0,0
$GC,6469,-0.62,-194.6,711.1,-6.4,536,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1926,3609,0,0,0,0,0,0
$GC,6777,-0.62,-194.6,732.1,-6.8,551,6781,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,507,3608,0,0,0,0,0,0
$GC,6819,-0.62,-194.6,735.3,-7.2,553,6823,0.00,2.05,0.00,0.000,6,0.000,0.022,2596,1906,3608,0,0,0,0,0,0
$GC,7153,-0.62,-194.6,757.5,-6.4,569,7156,0.00,2.03,0.00,0.000,4,0.000,0.037,2596,3264,3605,0,0,0,0,0,0
$GC,7231,-0.62,-194.6,762.2,-6.0,572,7236,0.00,1.90,0.00,0.000,6,0.000,0.020,2596,1948,3605,0,0,0,0,0,0
$GC,7554,-0.62,-194.6,780.9,-6.0,588,7558,0.00,2.00,0.00,0.000,4,0.000,0.037,2596,3273,3603,0,0,0,0,0,0
$GC,7632,-0.62,-194.6,786.1,-6.4,591,7635,0.00,1.85,0.00,0.000,6,0.000,0.020,2596,1972,3603,0,0,0,0,0,0
$GC,7955,-0.62,-194.6,807.8,-7.0,607,7959,0.00,1.98,0.00,0.000,4,0.000,0.037,2596,3267,3601,0,0,0,0,0,0
$GC,8011,-0.62,-194.6,812.0,-7.1,609,8015,0.00,1.83,0.00,0.000,6,0.000,0.020,2596,1999,3601,0,0,0,0,0,0
$GC,8333,-0.62,-194.6,833.2,-6.4,625,8337,0.00,1.95,0.00,0.000,4,0.000,0.038,2596,3272,3600,0,0,0,0,0,0
$GC,8391,-0.62,-194.6,837.0,-6.4,627,8395,0.00,1.77,0.00,0.000,6,0.000,0.020,2596,2018,3600,0,0,0,0,0,0
$GC,8713,-0.62,-194.6,855.7,-5.8,643,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2017,3599,0,0,0,0,0,0
$GC,9024,-0.62,-194.6,873.0,-5.5,658,9028,0.00,1.92,0.00,0.000,4,0.000,0.039,2596,3271,3597,0,0,0,0,0,0
$GC,9063,-0.62,-194.6,875.3,-5.5,659,9069,0.00,1.77,0.00,0.000,6,0.000,0.020,2596,2021,3597,0,0,0,0,0,0
$GC,9379,-0.62,-194.6,892.6,-5.6,675,9383,0.00,1.90,0.00,0.000,4,0.000,0.039,2596,3265,3596,0,0,0,0,0,0
$GC,9420,-0.62,-194.6,894.9,-5.8,676,9427,0.00,1.73,0.00,0.000,6,0.000,0.021,2596,2041,3596,0,0,0,0,0,0
$GC,9736,-0.62,-194.6,912.9,-5.6,692,9741,0.00,1.90,0.00,0.000,4,0.000,0.040,2596,3262,3595,0,0,0,0,0,0
$GC,9774,-0.62,-194.6,915.2,-5.6,693,9781,0.00,1.73,0.00,0.000,6,0.000,0.021,2596,2060,3595,0,0,0,0,0,0
$GC,10093,-0.62,-194.6,934.0,-6.1,709,10097,0.00,2.30,0.00,0.000,4,0.000,0.031,2596,512,3594,0,0,0,0,0,0
$GC,10120,-0.62,-194.6,935.9,-6.1,710,10124,0.00,2.30,0.00,0.000,6,0.000,0.024,2596,2063,3593,0,0,0,0,0,0
$GC,10438,-0.62,-194.6,955.6,-6.3,725,10442,0.00,1.83,0.00,0.000,4,0.000,0.041,2596,3265,3593,0,0,0,0,0,0
$GC,10472,-0.62,-194.6,958.0,-6.1,726,10475,0.00,1.73,0.00,0.000,6,0.000,0.021,2596,2051,3593,0,0,0,0,0,0
$GC,10794,-0.62,-194.6,977.2,-5.8,742,10798,0.00,1.90,0.00,0.000,4,0.000,0.041,2596,3264,3593,0,0,0,0,0,0
$GC,10834,-0.62,-194.6,979.4,-5.8,743,10841,0.00,1.73,0.00,0.000,6,0.000,0.023,2596,2074,3592,0,0,0,0,0,0
$STATE,11024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11024,begin apogee
$GC,11030,-0.20,0.0,990.3,5.5,753,11196,0.40,0.00,160.70,1.397,4,0.113,0.000,2732,2069,2839,0,0,0,0,0,0
$STATE,11197,end apogee,CONTROL_FINISHED_OK
$STATE,11197,begin climb
$GC,11199,0.62,194.6,995.0,0.0,760,11382,0.80,2.15,175.12,1.340,4,0.083,0.031,2997,711,2045,0,0,0,0,0,0
$GC,11540,0.62,194.6,961.3,11.7,776,11544,0.00,2.08,0.00,0.000,6,0.000,0.024,2997,2077,2035,0,0,0,0,0,0
$GC,11864,0.62,194.6,923.7,11.6,792,11868,0.00,2.05,0.00,0.000,4,0.000,0.031,3003,708,2031,0,0,0,0,0,0
$GC,12042,0.62,194.6,902.0,11.9,800,12046,0.00,2.08,0.00,0.000,6,0.000,0.024,3003,2096,2030,0,0,0,0,0,0
$GC,12371,0.62,194.6,862.3,12.3,816,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2096,2029,0,0,0,0,0,0
$GC,12679,0.62,194.6,825.5,11.7,831,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2096,2028,0,0,0,0,0,0
$GC,12989,0.62,194.6,790.8,10.9,846,12993,0.00,2.10,0.00,0.000,4,0.000,0.040,3003,3462,2027,0,0,0,0,0,0
$GC,13017,0.62,194.6,787.4,11.0,847,13021,0.00,2.00,0.00,0.000,6,0.000,0.021,3010,2090,2026,0,0,0,0,0,0
$GC,13345,0.62,194.6,750.0,11.6,863,13348,0.00,2.08,0.00,0.000,4,0.000,0.034,3019,698,2026,0,0,0,0,0,0
$GC,13405,0.62,194.6,742.4,11.7,865,13413,0.00,2.03,0.00,0.000,6,0.000,0.024,3019,2064,2026,0,0,0,0,0,0
$GC,13723,0.62,194.6,705.2,11.5,881,13728,0.00,2.10,0.00,0.000,4,0.000,0.033,3023,690,2026,0,0,0,0,0,0
$GC,13778,0.62,194.6,698.4,11.4,883,13782,0.00,2.00,0.00,0.000,6,0.000,0.024,3023,2045,2025,0,0,0,0,0,0
$GC,14102,0.62,194.6,663.4,10.7,899,14106,0.00,2.15,0.00,0.000,4,0.000,0.039,3022,3462,2026,0,0,0,0,0,0
$GC,14179,0.62,194.6,654.1,11.9,902,14186,0.00,2.03,0.00,0.000,6,0.000,0.021,3030,2077,2025,0,0,0,0,0,0
$GC,14496,0.62,194.6,616.5,12.5,918,14499,0.00,2.08,0.00,0.000,4,0.000,0.034,3041,689,2025,0,0,0,0,0,0
$GC,14534,0.62,194.6,611.4,12.6,919,14542,0.15,2.08,0.00,0.000,6,0.146,0.024,2999,2089,2025,0,0,0,0,0,0
$GC,14851,0.62,194.6,579.5,10.0,935,14852,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2089,2025,0,0,0,0,0,0
$GC,15162,0.62,194.6,548.7,10.1,950,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2089,2025,0,0,0,0,0,0
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