version: 66.09
glider: 167
mission: 8
dive: 53
start: 6 21 111 8 12 10
data:
$ID,167
$MISSION,8
$DIVE,53
$N_DIVES,60
$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,300
$T_MISSION,330
$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,1
$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,-56450.562
$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,62
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,210611,080324,1954.774,12420.105,39,1.2,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-65.5
$GPS2,210611,081116,1954.786,12420.119,13,6.5,32,-2.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.030,-0.304
$KALMAN_X,-131.5,-448.8,-399.5,2038.3,78.4
$KALMAN_Y,635.8,-422.8,19.3,-16025.1,-50.1
$MHEAD_RNG_PITCHd_Wd,161.6,232588,-17.0,-11.000
$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,-0.67,-194.6,0.0,0.0,0,104,0.00,0.00,-84.10,0.000,2,0.000,0.000,109,1863,3071,0,0,0,0,0,0
$GC,109,-0.67,-194.6,5.2,-8.2,11,134,9.62,2.17,-9.38,0.000,4,0.231,0.049,2566,3268,3635,0,0,0,0,0,0
$GC,159,-0.67,-194.6,30.1,-47.0,18,168,0.00,2.05,0.00,0.000,6,0.000,0.019,2568,1863,3637,0,0,0,0,0,0
$GC,236,-0.67,-194.6,58.3,-34.7,31,243,0.00,2.05,0.00,0.000,4,0.000,0.028,2568,477,3637,0,0,0,0,0,0
$GC,255,-0.67,-194.6,63.8,-32.2,33,263,0.00,2.05,0.00,0.000,6,0.000,0.020,2561,1876,3637,0,0,0,0,0,0
$GC,330,-0.67,-194.6,89.6,-33.3,46,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1876,3637,0,0,0,0,0,0
$GC,402,-0.67,-194.6,115.0,-34.2,59,410,0.00,2.08,0.00,0.000,4,0.000,0.031,2551,3268,3638,0,0,0,0,0,0
$GC,426,-0.67,-194.6,120.9,-28.1,62,435,0.00,2.03,0.00,0.000,6,0.000,0.019,2551,1871,3638,0,0,0,0,0,0
$GC,502,-0.67,-194.6,142.4,-28.4,75,509,0.12,0.00,0.00,0.000,6,0.192,0.000,2580,1870,3638,0,0,0,0,0,0
$GC,575,-0.67,-194.6,160.8,-24.1,88,584,0.00,2.10,0.00,0.000,4,0.000,0.031,2573,3270,3638,0,0,0,0,0,0
$GC,603,-0.67,-194.6,167.1,-23.1,92,613,0.00,2.03,0.00,0.000,6,0.000,0.019,2573,1870,3638,0,0,0,0,0,0
$GC,680,-0.67,-194.6,182.9,-20.2,105,688,0.00,2.03,0.00,0.000,4,0.000,0.031,2572,492,3638,0,0,0,0,0,0
$GC,724,-0.67,-194.6,192.2,-20.5,112,735,0.00,2.00,0.00,0.000,6,0.000,0.021,2564,1868,3638,0,0,0,0,0,0
$GC,803,-0.67,-194.6,207.5,-21.4,125,812,0.00,2.08,0.00,0.000,4,0.000,0.033,2553,3265,3638,0,0,0,0,0,0
$GC,843,-0.67,-194.6,217.0,-22.4,131,853,0.08,2.00,0.00,0.000,6,0.162,0.019,2577,1859,3638,0,0,0,0,0,0
$GC,920,-0.67,-194.6,230.4,-16.3,144,928,0.00,1.98,0.00,0.000,4,0.000,0.030,2577,510,3638,0,0,0,0,0,0
$GC,985,-0.67,-194.6,241.7,-17.4,155,994,0.00,1.98,0.00,0.000,6,0.000,0.021,2573,1870,3638,0,0,0,0,0,0
$GC,1066,-0.67,-194.6,255.6,-17.0,166,1070,0.00,2.03,0.00,0.000,4,0.000,0.031,2563,3274,3638,0,0,0,0,0,0
$GC,1082,-0.67,-194.6,258.8,-17.3,167,1089,0.00,2.00,0.00,0.000,6,0.000,0.018,2563,1873,3638,0,0,0,0,0,0
$GC,1408,-0.67,-194.6,311.7,-16.6,198,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1872,3638,0,0,0,0,0,0
$GC,1730,-0.67,-194.6,362.8,-15.6,228,1734,0.00,2.00,0.00,0.000,4,0.000,0.031,2563,486,3637,0,0,0,0,0,0
$GC,1761,-0.67,-194.6,367.9,-15.4,230,1768,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1881,3638,0,0,0,0,0,0
$GC,2088,-0.67,-194.6,408.1,-10.9,261,2091,0.00,2.00,0.00,0.000,4,0.000,0.034,2560,3265,3636,0,0,0,0,0,0
$GC,2139,-0.67,-194.6,414.4,-12.3,265,2146,0.00,1.98,0.00,0.000,6,0.000,0.019,2560,1864,3636,0,0,0,0,0,0
$GC,2464,-0.67,-194.6,455.3,-12.6,296,2468,0.00,1.98,0.00,0.000,4,0.000,0.031,2560,498,3634,0,0,0,0,0,0
$GC,2590,-0.67,-194.6,472.8,-14.2,307,2593,0.00,1.95,0.00,0.000,6,0.000,0.022,2557,1873,3633,0,0,0,0,0,0
$GC,2920,-0.67,-194.6,515.3,-11.5,338,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1874,3631,0,0,0,0,0,0
$GC,3244,-0.67,-194.6,550.2,-11.1,368,3248,0.00,2.03,0.00,0.000,4,0.000,0.031,2557,490,3628,0,0,0,0,0,0
$GC,3282,-0.67,-194.6,554.9,-10.8,371,3290,0.12,2.00,0.00,0.000,6,0.170,0.021,2586,1891,3628,0,0,0,0,0,0
$GC,3609,-0.67,-194.6,583.6,-8.4,402,3613,0.00,2.00,0.00,0.000,4,0.000,0.036,2585,3267,3625,0,0,0,0,0,0
$GC,3670,-0.67,-194.6,589.0,-8.5,407,3677,0.00,1.98,0.00,0.000,6,0.000,0.020,2585,1866,3625,0,0,0,0,0,0
$GC,3991,-0.67,-194.6,617.7,-9.3,429,3994,0.00,2.05,0.00,0.000,4,0.000,0.034,2586,3260,3622,0,0,0,0,0,0
$GC,4009,-0.67,-194.6,619.5,-9.3,429,4017,0.00,1.98,0.00,0.000,6,0.000,0.021,2586,1885,3622,0,0,0,0,0,0
$GC,4326,-0.67,-194.6,649.0,-9.2,445,4329,0.00,2.03,0.00,0.000,4,0.000,0.033,2586,496,3620,0,0,0,0,0,0
$GC,4353,-0.67,-194.6,651.9,-9.2,446,4357,0.00,1.95,0.00,0.000,6,0.000,0.022,2586,1870,3620,0,0,0,0,0,0
$GC,4682,-0.67,-194.6,681.4,-9.1,462,4687,0.00,2.08,0.00,0.000,4,0.000,0.037,2586,3258,3617,0,0,0,0,0,0
$GC,4758,-0.67,-194.6,688.4,-8.7,465,4762,0.00,1.95,0.00,0.000,6,0.000,0.021,2586,1870,3616,0,0,0,0,0,0
$GC,5083,-0.67,-194.6,716.5,-8.8,481,5086,0.00,2.00,0.00,0.000,4,0.000,0.033,2585,500,3613,0,0,0,0,0,0
$GC,5111,-0.67,-194.6,719.3,-8.8,482,5115,0.00,1.98,0.00,0.000,6,0.000,0.022,2586,1881,3613,0,0,0,0,0,0
$GC,5438,-0.67,-194.6,746.0,-7.8,498,5442,0.00,2.05,0.00,0.000,4,0.000,0.037,2585,3265,3611,0,0,0,0,0,0
$GC,5530,-0.67,-194.6,752.5,-7.1,502,5534,0.00,1.98,0.00,0.000,6,0.000,0.021,2586,1877,3610,0,0,0,0,0,0
$GC,5863,-0.67,-194.6,776.7,-7.2,518,5866,0.00,2.05,0.00,0.000,4,0.000,0.036,2586,3262,3608,0,0,0,0,0,0
$GC,5897,-0.67,-194.6,779.2,-7.3,519,5900,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1864,3608,0,0,0,0,0,0
$GC,6219,-0.67,-194.6,803.8,-8.1,535,6223,0.00,2.10,0.00,0.000,4,0.000,0.037,2585,3266,3605,0,0,0,0,0,0
$GC,6269,-0.67,-194.6,807.9,-7.9,537,6272,0.00,1.98,0.00,0.000,6,0.000,0.021,2586,1868,3605,0,0,0,0,0,0
$GC,6594,-0.67,-194.6,833.8,-8.1,553,6598,0.00,2.08,0.00,0.000,4,0.000,0.037,2585,3267,3603,0,0,0,0,0,0
$GC,6629,-0.67,-194.6,837.0,-7.9,554,6635,0.00,2.00,0.00,0.000,6,0.000,0.021,2585,1869,3603,0,0,0,0,0,0
$GC,6945,-0.67,-194.6,862.6,-8.1,570,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1869,3602,0,0,0,0,0,0
$GC,7256,-0.67,-194.6,886.3,-7.6,585,7261,0.00,2.12,0.00,0.000,4,0.000,0.037,2586,3267,3600,0,0,0,0,0,0
$GC,7289,-0.67,-194.6,889.0,-7.7,586,7293,0.00,2.00,0.00,0.000,6,0.000,0.021,2586,1872,3600,0,0,0,0,0,0
$GC,7612,-0.67,-194.6,912.9,-7.4,602,7616,0.00,2.08,0.00,0.000,4,0.000,0.037,2586,3269,3597,0,0,0,0,0,0
$GC,7641,-0.67,-194.6,915.3,-7.6,603,7645,0.00,2.00,0.00,0.000,6,0.000,0.021,2585,1873,3597,0,0,0,0,0,0
$GC,7963,-0.67,-194.6,939.3,-7.2,619,7967,0.00,2.08,0.00,0.000,4,0.000,0.037,2585,3267,3596,0,0,0,0,0,0
$GC,7991,-0.67,-194.6,941.5,-7.2,620,7995,0.00,1.98,0.00,0.000,6,0.000,0.021,2585,1873,3596,0,0,0,0,0,0
$GC,8316,-0.67,-194.6,964.5,-7.2,636,8319,0.00,2.08,0.00,0.000,4,0.000,0.037,2585,3268,3595,0,0,0,0,0,0
$GC,8343,-0.67,-194.6,966.9,-7.1,637,8348,0.00,2.03,0.00,0.000,6,0.000,0.021,2585,1872,3594,0,0,0,0,0,0
$STATE,8662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8663,begin apogee
$GC,8670,-0.20,0.0,990.7,7.4,653,8827,0.43,0.00,150.35,1.398,6,0.121,0.000,2731,2087,2839,0,0,0,0,0,0
$STATE,8828,end apogee,CONTROL_FINISHED_OK
$STATE,8828,begin climb
$GC,8831,0.67,194.6,996.0,0.0,660,9001,0.80,0.00,163.93,1.346,6,0.076,0.000,3010,2088,2045,0,0,0,0,0,0
$GC,9300,0.67,194.6,937.8,15.0,683,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2088,2034,0,0,0,0,0,0
$GC,9606,0.67,194.6,888.9,16.1,698,9610,0.00,2.10,0.00,0.000,4,0.000,0.039,3010,3460,2031,0,0,0,0,0,0
$GC,9628,0.67,194.6,885.0,16.2,699,9632,0.00,2.03,0.00,0.000,6,0.000,0.023,3018,2084,2031,0,0,0,0,0,0
$GC,9956,0.67,194.6,834.4,14.4,715,9961,0.00,2.12,0.00,0.000,4,0.000,0.036,3029,682,2031,0,0,0,0,0,0
$GC,10027,0.67,194.6,824.5,13.5,718,10031,0.00,2.05,0.00,0.000,6,0.000,0.024,3029,2068,2031,0,0,0,0,0,0
$GC,10355,0.67,194.6,781.8,12.8,734,10359,0.00,2.12,0.00,0.000,4,0.000,0.040,3029,3472,2030,0,0,0,0,0,0
$GC,10405,0.67,194.6,774.4,14.9,736,10409,0.00,2.05,0.00,0.000,6,0.000,0.023,3037,2063,2029,0,0,0,0,0,0
$GC,10721,0.67,194.6,727.1,15.4,751,10724,0.00,2.03,0.00,0.000,4,0.000,0.035,3048,685,2029,0,0,0,0,0,0
$GC,10767,0.67,194.6,720.1,15.5,753,10772,0.12,2.05,0.00,0.000,6,0.166,0.024,3015,2081,2029,0,0,0,0,0,0
$GC,11096,0.67,194.6,677.6,12.7,769,11099,0.00,2.08,0.00,0.000,4,0.000,0.040,3014,3461,2028,0,0,0,0,0,0
$GC,11134,0.67,194.6,671.9,14.0,770,11141,0.00,2.05,0.00,0.000,6,0.000,0.023,3023,2062,2028,0,0,0,0,0,0
$GC,11454,0.67,194.6,626.0,15.2,786,11457,0.00,2.03,0.00,0.000,4,0.000,0.036,3034,683,2028,0,0,0,0,0,0
$GC,11531,0.67,194.6,614.0,14.3,789,11536,0.00,2.08,0.00,0.000,6,0.000,0.024,3033,2074,2028,0,0,0,0,0,0
$GC,11860,0.67,194.6,571.8,11.6,815,11864,0.00,2.10,0.00,0.000,4,0.000,0.040,3034,3470,2027,0,0,0,0,0,0
$GC,11949,0.67,194.6,560.1,12.6,822,11956,0.00,2.05,0.00,0.000,6,0.000,0.023,3043,2065,2027,0,0,0,0,0,0
$GC,12277,0.67,194.6,519.8,13.0,853,12282,0.00,2.08,0.00,0.000,4,0.000,0.036,3054,681,2026,0,0,0,0,0,0
$GC,12389,0.67,194.6,504.7,13.2,863,12394,0.15,2.05,0.00,0.000,6,0.161,0.024,3013,2086,2027,0,0,0,0,0,0
$GC,12716,0.67,194.6,465.7,11.9,893,12721,0.00,2.12,0.00,0.000,4,0.000,0.034,3021,682,2026,0,0,0,0,0,0
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