version: 66.09
glider: 167
mission: 8
dive: 402
start: 9 8 111 2 36 21
data:
$ID,167
$MISSION,8
$DIVE,402
$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,-5
$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,576.20972
$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,-81269.344
$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,65
$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
$GPS1,060911,120429,1814.584,12250.390,901,99.0,901,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.8
$GPS2,060911,120429,1814.584,12250.390,901,99.0,901,-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,298.7,67411,-15.3,-9.706
$D_GRID,3745
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,112,0.00,0.00,-89.90,0.000,2,0.000,0.000,111,1807,2973,0,0,0,0,0,0
$GC,116,-0.62,-194.6,5.1,-7.9,13,146,10.12,2.17,-11.27,0.000,4,0.228,0.040,2581,3273,3634,0,0,0,0,0,0
$GC,296,-0.62,-194.6,60.5,-22.7,43,302,0.00,2.00,0.00,0.000,6,0.000,0.018,2581,1861,3634,0,0,0,0,0,0
$GC,442,-0.62,-194.6,88.2,-20.1,68,449,0.00,2.00,0.00,0.000,4,0.000,0.029,2581,494,3634,0,0,0,0,0,0
$GC,490,-0.62,-194.6,97.7,-19.0,76,498,0.00,1.90,0.00,0.000,6,0.000,0.027,2574,1800,3634,0,0,0,0,0,0
$GC,636,-0.62,-194.6,124.2,-18.9,101,643,0.00,2.12,0.00,0.000,4,0.000,0.031,2565,3265,3634,0,0,0,0,0,0
$GC,701,-0.62,-194.6,135.8,-19.1,111,708,0.12,1.90,0.00,0.000,6,0.158,0.016,2597,1882,3635,0,0,0,0,0,0
$GC,846,-0.62,-194.6,160.9,-15.2,136,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1882,3635,0,0,0,0,0,0
$GC,993,-0.62,-194.6,180.0,-12.4,161,1000,0.00,1.95,0.00,0.000,4,0.000,0.028,2598,518,3634,0,0,0,0,0,0
$GC,1045,-0.62,-194.6,186.3,-11.8,169,1052,0.00,2.05,0.00,0.000,6,0.000,0.020,2593,1954,3634,0,0,0,0,0,0
$GC,1188,-0.62,-194.6,202.7,-11.1,192,1191,0.00,1.92,0.00,0.000,4,0.000,0.031,2587,3272,3634,0,0,0,0,0,0
$GC,1215,-0.62,-194.6,206.2,-11.1,194,1223,0.00,1.95,0.00,0.000,6,0.000,0.016,2587,1880,3633,0,0,0,0,0,0
$GC,1541,-0.62,-194.6,245.0,-11.6,225,1544,0.00,1.98,0.00,0.000,4,0.000,0.028,2587,505,3632,0,0,0,0,0,0
$GC,1678,-0.62,-194.6,259.9,-11.1,237,1682,0.00,1.95,0.00,0.000,6,0.000,0.020,2588,1873,3631,0,0,0,0,0,0
$GC,2008,-0.62,-194.6,301.5,-13.1,268,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1873,3629,0,0,0,0,0,0
$GC,2331,-0.62,-194.6,329.7,-6.3,298,2335,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3260,3627,0,0,0,0,0,0
$GC,2469,-0.62,-194.6,338.5,-7.5,310,2473,0.00,1.95,0.00,0.000,6,0.000,0.019,2586,1877,3625,0,0,0,0,0,0
$GC,2799,-0.62,-194.6,377.4,-12.3,341,2804,0.00,2.03,0.00,0.000,4,0.000,0.029,2587,499,3623,0,0,0,0,0,0
$GC,2985,-0.62,-194.6,399.6,-10.7,357,2992,0.00,1.95,0.00,0.000,6,0.000,0.020,2588,1841,3622,0,0,0,0,0,0
$GC,3311,-0.62,-194.6,423.4,-6.6,388,3315,0.00,1.98,0.00,0.000,4,0.000,0.028,2587,494,3618,0,0,0,0,0,0
$GC,3347,-0.62,-194.6,425.9,-7.0,391,3351,0.00,1.92,0.00,0.000,6,0.000,0.021,2587,1832,3618,0,0,0,0,0,0
$GC,3679,-0.62,-194.6,452.3,-9.3,422,3683,0.00,2.15,0.00,0.000,4,0.000,0.035,2587,3272,3615,0,0,0,0,0,0
$GC,3703,-0.62,-194.6,454.3,-9.0,423,3710,0.00,2.05,0.00,0.000,6,0.000,0.019,2587,1830,3614,0,0,0,0,0,0
$GC,4028,-0.62,-194.6,487.3,-10.1,454,4032,0.00,2.15,0.00,0.000,4,0.000,0.034,2587,3261,3611,0,0,0,0,0,0
$GC,4085,-0.62,-194.6,492.5,-9.1,458,4093,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1859,3611,0,0,0,0,0,0
$GC,4404,-0.62,-194.6,516.0,-6.9,478,4407,0.00,2.00,0.00,0.000,4,0.000,0.030,2587,490,3608,0,0,0,0,0,0
$GC,4454,-0.62,-194.6,519.8,-7.3,480,4457,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1838,3608,0,0,0,0,0,0
$GC,4783,-0.62,-194.6,542.9,-7.9,496,4788,0.00,2.15,0.00,0.000,4,0.000,0.037,2587,3256,3605,0,0,0,0,0,0
$GC,4860,-0.62,-194.6,550.8,-10.1,499,4864,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1860,3604,0,0,0,0,0,0
$GC,5186,-0.62,-194.6,584.9,-9.6,515,5189,0.00,2.00,0.00,0.000,4,0.000,0.031,2587,494,3601,0,0,0,0,0,0
$GC,5232,-0.62,-194.6,589.4,-8.9,517,5236,0.00,1.95,0.00,0.000,6,0.000,0.022,2587,1834,3601,0,0,0,0,0,0
$GC,5565,-0.62,-194.6,610.5,-5.2,533,5569,0.00,2.17,0.00,0.000,4,0.000,0.037,2587,3261,3599,0,0,0,0,0,0
$GC,5689,-0.62,-194.6,616.4,-4.6,538,5693,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1885,3597,0,0,0,0,0,0
$GC,6010,-0.62,-194.6,636.3,-6.9,554,6015,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,492,3595,0,0,0,0,0,0
$GC,6067,-0.62,-194.6,641.0,-8.4,556,6071,0.00,2.05,0.00,0.000,6,0.000,0.023,2587,1888,3595,0,0,0,0,0,0
$GC,6389,-0.62,-194.6,669.0,-8.6,572,6393,0.00,2.08,0.00,0.000,4,0.000,0.038,2587,3273,3593,0,0,0,0,0,0
$GC,6439,-0.62,-194.6,672.5,-6.7,574,6444,0.00,2.00,0.00,0.000,6,0.000,0.020,2587,1903,3593,0,0,0,0,0,0
$GC,6762,-0.62,-194.6,694.9,-6.8,590,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1903,3591,0,0,0,0,0,0
$GC,7070,-0.62,-194.6,715.0,-6.2,605,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1903,3589,0,0,0,0,0,0
$GC,7381,-0.62,-194.6,732.3,-4.9,620,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1902,3587,0,0,0,0,0,0
$GC,7689,-0.62,-194.6,746.0,-4.3,635,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1903,3586,0,0,0,0,0,0
$GC,7998,-0.62,-194.6,759.2,-4.3,650,8002,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,487,3584,0,0,0,0,0,0
$GC,8049,-0.62,-194.6,761.7,-4.4,652,8054,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1906,3583,0,0,0,0,0,0
$GC,8372,-0.62,-194.6,775.1,-4.3,668,8376,0.00,2.05,0.00,0.000,4,0.000,0.039,2587,3269,3583,0,0,0,0,0,0
$GC,8458,-0.62,-194.6,778.8,-4.4,671,8465,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1896,3582,0,0,0,0,0,0
$GC,8775,-0.62,-194.6,795.7,-6.0,687,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1895,3581,0,0,0,0,0,0
$GC,9083,-0.62,-194.6,815.1,-6.5,702,9087,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,506,3580,0,0,0,0,0,0
$GC,9135,-0.62,-194.6,819.0,-7.5,704,9139,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1932,3580,0,0,0,0,0,0
$GC,9463,-0.62,-194.6,840.5,-6.5,720,9467,0.00,2.03,0.00,0.000,4,0.000,0.040,2587,3274,3579,0,0,0,0,0,0
$GC,9526,-0.62,-194.6,844.4,-6.3,722,9534,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1934,3579,0,0,0,0,0,0
$GC,9843,-0.62,-194.6,863.0,-5.4,738,9847,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,505,3578,0,0,0,0,0,0
$GC,9897,-0.62,-194.6,866.2,-5.6,740,9901,0.00,2.12,0.00,0.000,6,0.000,0.025,2587,1932,3577,0,0,0,0,0,0
$GC,10221,-0.62,-194.6,876.4,-2.6,756,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1932,3576,0,0,0,0,0,0
$GC,10529,-0.62,-194.6,888.7,-5.2,771,10533,0.00,2.05,0.00,0.000,4,0.000,0.040,2587,3274,3576,0,0,0,0,0,0
$GC,10598,-0.62,-194.6,892.3,-5.2,774,10602,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1919,3575,0,0,0,0,0,0
$GC,10933,-0.62,-194.6,911.5,-6.0,790,10937,0.00,2.15,0.00,0.000,4,0.000,0.034,2587,498,3575,0,0,0,0,0,0
$GC,10965,-0.62,-194.6,914.0,-6.3,791,10969,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1927,3574,0,0,0,0,0,0
$GC,11290,-0.62,-194.6,937.1,-7.6,807,11294,0.00,2.03,0.00,0.000,4,0.000,0.041,2587,3268,3573,0,0,0,0,0,0
$GC,11351,-0.62,-194.6,943.1,-9.2,809,11358,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1928,3573,0,0,0,0,0,0
$STATE,11418,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11418,begin apogee
$GC,11424,-0.20,0.0,949.1,9.2,813,11587,0.43,0.00,156.98,1.375,4,0.117,0.000,2729,2086,2838,0,0,0,0,0,0
$STATE,11588,end apogee,CONTROL_FINISHED_OK
$STATE,11588,begin climb
$GC,11590,0.62,194.6,958.7,0.0,820,11772,0.80,2.25,172.90,1.321,4,0.083,0.042,2995,3468,2045,0,0,0,0,0,0
$GC,11878,0.62,194.6,935.2,11.9,833,11886,0.00,2.08,0.00,0.000,6,0.000,0.023,2996,2099,2037,0,0,0,0,0,0
$GC,12197,0.67,235.7,906.0,8.3,849,12240,0.00,2.17,35.62,1.273,4,0.000,0.038,2996,3467,1877,0,0,0,0,0,0
$GC,12388,0.68,242.2,888.3,9.5,857,12400,0.00,2.15,7.10,1.046,6,0.000,0.023,2996,2049,1851,0,0,0,0,0,0
$GC,12709,0.68,242.2,850.6,13.5,873,12713,0.00,2.08,0.00,0.000,4,0.000,0.034,3003,679,1847,0,0,0,0,0,0
$GC,12793,0.68,242.2,838.7,14.7,876,12799,0.00,1.95,0.00,0.000,6,0.000,0.025,3003,1982,1847,0,0,0,0,0,0
$GC,13109,0.68,242.2,793.4,12.4,892,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1982,1846,0,0,0,0,0,0
$GC,13418,0.68,242.2,756.7,10.4,907,13422,0.00,2.28,0.00,0.000,4,0.000,0.040,3003,3460,1845,0,0,0,0,0,0
$GC,13509,0.68,242.2,747.0,10.6,911,13514,0.00,2.28,0.00,0.000,6,0.000,0.022,3013,1932,1845,0,0,0,0,0,0
$GC,13841,0.68,242.2,711.5,11.4,927,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1932,1845,0,0,0,0,0,0
$GC,14152,0.68,242.2,671.0,13.3,942,14156,0.00,1.85,0.00,0.000,4,0.000,0.034,3022,675,1844,0,0,0,0,0,0
$GC,14236,0.68,242.2,659.2,13.9,945,14243,0.00,1.83,0.00,0.000,6,0.000,0.024,3022,1895,1844,0,0,0,0,0,0
$GC,14552,0.68,242.2,614.3,14.0,961,14557,0.00,2.42,0.00,0.000,4,0.000,0.040,3021,3465,1844,0,0,0,0,0,0
$GC,14586,0.68,242.2,609.3,14.8,962,14590,0.00,2.25,0.00,0.000,6,0.000,0.021,3030,1940,1843,0,0,0,0,0,0
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$GC,14934,0.68,242.2,563.5,11.3,978,14938,0.00,1.88,0.00,0.000,6,0.000,0.024,3040,1932,1844,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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