version: 66.09
glider: 167
mission: 8
dive: 434
start: 9 15 111 11 51 20
data:
$ID,167
$MISSION,8
$DIVE,434
$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,-131832.77
$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,69
$R_STBD_OVSHOOT,54
$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
$GPS1,150911,050536,1955.677,12120.712,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.9
$GPS2,150911,050536,1955.677,12120.712,901,99.0,901,-2.3
$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,105.3,184124,-15.3,-9.706
$D_GRID,3037
$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,-194.6,0.0,0.0,0,120,0.00,0.00,-96.97,0.000,2,0.000,0.000,107,1925,3237,0,0,0,0,0,0
$GC,124,-0.62,-194.6,6.9,-13.5,14,149,10.32,2.10,-6.07,0.000,4,0.232,0.037,2601,470,3636,0,0,0,0,0,0
$GC,325,-0.62,-194.6,68.7,-22.3,48,334,0.00,2.05,0.00,0.000,6,0.000,0.020,2594,1895,3637,0,0,0,0,0,0
$GC,477,-0.62,-194.6,99.4,-23.4,73,483,0.00,2.00,0.00,0.000,4,0.000,0.033,2586,3256,3637,0,0,0,0,0,0
$GC,552,-0.62,-194.6,112.6,-12.7,86,560,0.00,1.73,0.00,0.000,6,0.000,0.017,2586,2019,3637,0,0,0,0,0,0
$GC,701,-0.62,-194.6,132.9,-14.0,111,708,0.00,2.20,0.00,0.000,4,0.000,0.025,2586,480,3637,0,0,0,0,0,0
$GC,817,-0.62,-194.6,149.7,-13.8,131,824,0.00,2.22,0.00,0.000,6,0.000,0.020,2576,2028,3638,0,0,0,0,0,0
$GC,958,-0.62,-194.6,169.2,-13.8,156,966,0.00,1.83,0.00,0.000,4,0.000,0.034,2573,3257,3638,0,0,0,0,0,0
$GC,1018,-0.62,-194.6,176.6,-13.0,165,1025,0.00,1.67,0.00,0.000,6,0.000,0.017,2573,2030,3638,0,0,0,0,0,0
$GC,1162,-0.62,-194.6,195.4,-12.8,190,1171,0.00,2.28,0.00,0.000,4,0.000,0.027,2574,471,3637,0,0,0,0,0,0
$GC,1198,-0.62,-194.6,200.0,-13.0,195,1204,0.00,2.30,0.00,0.000,6,0.000,0.021,2570,2064,3638,0,0,0,0,0,0
$GC,1332,-0.62,-194.6,218.0,-13.3,208,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2064,3637,0,0,0,0,0,0
$GC,1652,-0.62,-194.6,257.1,-10.0,238,1656,0.00,1.75,0.00,0.000,4,0.000,0.034,2570,3260,3635,0,0,0,0,0,0
$GC,1689,-0.62,-194.6,260.6,-9.9,241,1693,0.00,1.75,0.00,0.000,6,0.000,0.018,2570,1989,3634,0,0,0,0,0,0
$GC,2020,-0.62,-194.6,293.6,-10.4,272,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1989,3632,0,0,0,0,0,0
$GC,2342,-0.62,-194.6,330.4,-11.1,302,2346,0.00,2.20,0.00,0.000,4,0.000,0.030,2570,481,3629,0,0,0,0,0,0
$GC,2496,-0.62,-194.6,348.4,-11.7,315,2500,0.12,2.28,0.00,0.000,6,0.157,0.021,2595,2052,3628,0,0,0,0,0,0
$GC,2822,-0.62,-194.6,380.6,-9.6,345,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2051,3625,0,0,0,0,0,0
$GC,3143,-0.62,-194.6,409.6,-8.8,375,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2052,3622,0,0,0,0,0,0
$GC,3470,-0.62,-194.6,436.0,-7.3,406,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2052,3620,0,0,0,0,0,0
$GC,3790,-0.62,-194.6,459.4,-8.9,436,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2052,3616,0,0,0,0,0,0
$GC,4120,-0.62,-194.6,486.9,-8.1,467,4124,0.00,2.33,0.00,0.000,4,0.000,0.029,2595,485,3613,0,0,0,0,0,0
$GC,4196,-0.62,-194.6,494.5,-9.8,473,4200,0.00,2.28,0.00,0.000,6,0.000,0.023,2595,2020,3612,0,0,0,0,0,0
$GC,4519,-0.62,-194.6,519.0,-7.2,492,4523,0.00,2.28,0.00,0.000,4,0.000,0.029,2595,482,3610,0,0,0,0,0,0
$GC,4546,-0.62,-194.6,521.4,-7.5,493,4550,0.00,2.25,0.00,0.000,6,0.000,0.023,2596,2016,3610,0,0,0,0,0,0
$GC,4864,-0.62,-194.6,543.1,-6.4,508,4867,0.00,1.85,0.00,0.000,4,0.000,0.037,2595,3260,3607,0,0,0,0,0,0
$GC,4910,-0.62,-194.6,546.1,-6.1,510,4914,0.00,1.75,0.00,0.000,6,0.000,0.019,2596,2009,3607,0,0,0,0,0,0
$GC,5245,-0.62,-194.6,571.0,-7.9,526,5249,0.00,2.22,0.00,0.000,4,0.000,0.030,2595,490,3604,0,0,0,0,0,0
$GC,5308,-0.62,-194.6,576.3,-8.4,529,5313,0.00,2.25,0.00,0.000,6,0.000,0.024,2595,2001,3604,0,0,0,0,0,0
$GC,5641,-0.62,-194.6,600.4,-6.9,545,5645,0.00,1.88,0.00,0.000,4,0.000,0.038,2595,3255,3601,0,0,0,0,0,0
$GC,5676,-0.62,-194.6,602.7,-6.6,546,5680,0.00,1.77,0.00,0.000,6,0.000,0.020,2595,1995,3601,0,0,0,0,0,0
$GC,5998,-0.62,-194.6,625.1,-7.8,562,6003,0.00,2.25,0.00,0.000,4,0.000,0.031,2595,485,3600,0,0,0,0,0,0
$GC,6072,-0.62,-194.6,631.6,-8.7,565,6076,0.00,2.22,0.00,0.000,6,0.000,0.024,2596,1993,3599,0,0,0,0,0,0
$GC,6395,-0.62,-194.6,657.4,-7.9,581,6398,0.00,1.90,0.00,0.000,4,0.000,0.038,2595,3261,3598,0,0,0,0,0,0
$GC,6435,-0.62,-194.6,660.7,-7.7,582,6441,0.00,1.80,0.00,0.000,6,0.000,0.020,2595,1990,3598,0,0,0,0,0,0
$GC,6753,-0.62,-194.6,682.9,-6.5,598,6757,0.00,2.20,0.00,0.000,4,0.000,0.031,2595,485,3596,0,0,0,0,0,0
$GC,6803,-0.62,-194.6,686.8,-7.3,600,6807,0.00,2.20,0.00,0.000,6,0.000,0.023,2592,1982,3595,0,0,0,0,0,0
$GC,7119,-0.62,-194.6,705.8,-5.8,615,7124,0.00,1.92,0.00,0.000,4,0.000,0.039,2590,3245,3594,0,0,0,0,0,0
$GC,7211,-0.62,-194.6,710.8,-5.6,619,7216,0.00,1.80,0.00,0.000,6,0.000,0.019,2590,1987,3593,0,0,0,0,0,0
$GC,7544,-0.62,-194.6,733.7,-7.1,635,7548,0.00,2.22,0.00,0.000,4,0.000,0.031,2590,485,3592,0,0,0,0,0,0
$GC,7594,-0.62,-194.6,737.9,-8.5,637,7599,0.00,2.25,0.00,0.000,6,0.000,0.024,2590,1986,3592,0,0,0,0,0,0
$GC,7916,-0.62,-194.6,765.0,-9.0,653,7920,0.00,1.90,0.00,0.000,4,0.000,0.040,2590,3251,3590,0,0,0,0,0,0
$GC,7945,-0.62,-194.6,767.6,-9.2,654,7948,0.00,1.80,0.00,0.000,6,0.000,0.021,2590,1982,3590,0,0,0,0,0,0
$GC,8275,-0.62,-194.6,795.6,-8.3,670,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1983,3589,0,0,0,0,0,0
$GC,8583,-0.62,-194.6,819.2,-7.1,685,8588,0.00,1.95,0.00,0.000,4,0.000,0.038,2590,3249,3588,0,0,0,0,0,0
$GC,8635,-0.62,-194.6,822.7,-6.8,687,8639,0.00,1.83,0.00,0.000,6,0.000,0.020,2590,1966,3588,0,0,0,0,0,0
$GC,8963,-0.62,-194.6,845.2,-7.0,703,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1966,3586,0,0,0,0,0,0
$GC,9272,-0.62,-194.6,869.5,-8.7,718,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1966,3585,0,0,0,0,0,0
$GC,9584,-0.62,-194.6,896.6,-8.3,733,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1965,3584,0,0,0,0,0,0
$GC,9893,-0.62,-194.6,920.3,-7.2,748,9898,0.00,2.22,0.00,0.000,4,0.000,0.033,2590,488,3584,0,0,0,0,0,0
$GC,9943,-0.62,-194.6,924.1,-7.0,750,9948,0.00,2.17,0.00,0.000,6,0.000,0.024,2590,1969,3583,0,0,0,0,0,0
$GC,10267,-0.62,-194.6,942.3,-4.9,766,10271,0.00,1.95,0.00,0.000,4,0.000,0.041,2590,3252,3582,0,0,0,0,0,0
$GC,10314,-0.62,-194.6,944.1,-4.5,768,10317,0.00,1.83,0.00,0.000,6,0.000,0.021,2590,1981,3581,0,0,0,0,0,0
$GC,10649,-0.62,-194.6,961.7,-7.0,784,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1981,3581,0,0,0,0,0,0
$GC,10956,-0.62,-194.6,978.5,-5.4,799,10960,0.00,2.20,0.00,0.000,4,0.000,0.032,2590,485,3580,0,0,0,0,0,0
$GC,10983,-0.62,-194.6,980.3,-5.8,800,10987,0.00,2.22,0.00,0.000,6,0.000,0.025,2590,1976,3580,0,0,0,0,0,0
$STATE,11214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11214,begin apogee
$GC,11222,-0.20,0.0,991.0,4.4,811,11387,0.43,0.00,160.20,1.398,4,0.116,0.000,2732,2058,2839,0,0,0,0,0,0
$STATE,11388,end apogee,CONTROL_FINISHED_OK
$STATE,11388,begin climb
$GC,11392,0.62,194.6,993.2,0.0,818,11571,0.75,0.00,173.68,1.346,6,0.080,0.000,2996,2058,2045,0,0,0,0,0,0
$GC,11888,0.62,194.6,940.2,11.0,842,11892,0.00,2.17,0.00,0.000,4,0.000,0.040,2997,3472,2034,0,0,0,0,0,0
$GC,11954,0.62,194.6,931.5,13.5,845,11958,0.00,1.95,0.00,0.000,6,0.000,0.021,3005,2115,2032,0,0,0,0,0,0
$GC,12284,0.62,194.6,892.4,12.9,861,12288,0.00,2.10,0.00,0.000,4,0.000,0.032,3015,697,2031,0,0,0,0,0,0
$GC,12440,0.62,194.6,871.2,12.7,868,12444,0.00,2.03,0.00,0.000,6,0.000,0.025,3016,2047,2031,0,0,0,0,0,0
$GC,12770,0.62,194.6,832.7,11.2,884,12774,0.00,2.15,0.00,0.000,4,0.000,0.040,3015,3474,2030,0,0,0,0,0,0
$GC,12887,0.62,194.6,815.7,14.9,889,12891,0.00,2.05,0.00,0.000,6,0.000,0.021,3024,2062,2029,0,0,0,0,0,0
$GC,13213,0.62,194.6,773.6,11.9,905,13217,0.00,2.17,0.00,0.000,4,0.000,0.040,3026,3472,2029,0,0,0,0,0,0
$GC,13302,0.62,194.6,760.1,14.3,909,13306,0.12,1.98,0.00,0.000,6,0.171,0.021,3001,2097,2029,0,0,0,0,0,0
$GC,13631,0.62,194.6,726.6,10.5,925,13636,0.00,2.10,0.00,0.000,4,0.000,0.033,3010,701,2028,0,0,0,0,0,0
$GC,13753,0.62,194.6,712.7,11.0,930,13757,0.00,2.00,0.00,0.000,6,0.000,0.025,3010,2056,2028,0,0,0,0,0,0
$GC,14075,0.62,194.6,674.7,11.7,946,14080,0.00,2.17,0.00,0.000,4,0.000,0.041,3010,3464,2028,0,0,0,0,0,0
$GC,14160,0.62,194.6,663.7,12.8,949,14167,0.00,2.03,0.00,0.000,6,0.000,0.020,3018,2068,2027,0,0,0,0,0,0
$GC,14476,0.62,194.6,627.2,10.7,965,14478,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2068,2027,0,0,0,0,0,0
$GC,14787,0.62,194.6,591.9,11.5,980,14791,0.00,2.05,0.00,0.000,4,0.000,0.033,3028,699,2027,0,0,0,0,0,0
$GC,14847,0.62,194.6,584.9,10.6,982,14854,0.00,2.08,0.00,0.000,6,0.000,0.024,3028,2095,2027,0,0,0,0,0,0
$GC,15163,0.62,194.6,545.2,13.8,998,15167,0.00,2.10,0.00,0.000,4,0.000,0.041,3028,3473,2027,0,0,0,0,0,0
$GC,15215,0.62,194.6,537.2,15.6,1000,15220,0.10,2.03,0.00,0.000,6,0.144,0.021,3005,2093,2026,0,0,0,0,0,0
$GC,15536,0.62,194.6,501.7,9.9,1016,15540,0.00,2.08,0.00,0.000,4,0.000,0.032,3013,696,2027,0,0,0,0,0,0
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