version: 66.09
glider: 167
mission: 8
dive: 52
start: 6 21 111 3 39 14
data:
$ID,167
$MISSION,8
$DIVE,52
$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,-56449.305
$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,84
$R_STBD_OVSHOOT,64
$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
$GPS1,210611,033107,1958.115,12421.076,36,1.2,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.8
$GPS2,210611,033820,1958.135,12421.207,13,1.4,13,-2.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.012,-0.305
$KALMAN_X,772.0,231.8,-83.9,2006.9,264.1
$KALMAN_Y,948.4,294.8,-436.6,-10412.2,790.6
$MHEAD_RNG_PITCHd_Wd,189.7,238548,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.67,-194.6,0.0,0.0,0,99,0.00,0.00,-78.18,0.000,2,0.000,0.000,110,1849,3287,0,0,0,0,0,0
$GC,102,-0.67,-194.6,6.6,-12.3,11,129,9.75,1.98,-5.45,0.000,4,0.236,0.034,2584,474,3638,0,0,0,0,0,0
$GC,137,-0.67,-194.6,26.5,-47.2,15,145,0.00,2.08,0.00,0.000,6,0.000,0.024,2576,1869,3638,0,0,0,0,0,0
$GC,212,-0.67,-194.6,51.2,-32.7,28,219,0.00,2.08,0.00,0.000,4,0.000,0.030,2566,3286,3638,0,0,0,0,0,0
$GC,257,-0.67,-194.6,64.3,-29.5,35,265,0.00,2.05,0.00,0.000,6,0.000,0.018,2565,1877,3638,0,0,0,0,0,0
$GC,335,-0.67,-194.6,86.1,-29.6,48,342,0.00,2.12,0.00,0.000,4,0.000,0.030,2556,3283,3638,0,0,0,0,0,0
$GC,355,-0.67,-194.6,92.4,-29.0,51,363,0.00,2.05,0.00,0.000,6,0.000,0.018,2556,1868,3638,0,0,0,0,0,0
$GC,432,-0.67,-194.6,112.3,-26.8,64,440,0.00,2.03,0.00,0.000,4,0.000,0.031,2556,494,3639,0,0,0,0,0,0
$GC,500,-0.67,-194.6,131.0,-25.5,76,509,0.08,2.03,0.00,0.000,6,0.168,0.021,2570,1880,3639,0,0,0,0,0,0
$GC,574,-0.67,-194.6,149.0,-25.2,89,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1880,3639,0,0,0,0,0,0
$GC,650,-0.67,-194.6,166.6,-24.3,102,659,0.00,2.10,0.00,0.000,4,0.000,0.032,2562,3275,3640,0,0,0,0,0,0
$GC,673,-0.67,-194.6,173.0,-26.5,105,682,0.00,2.03,0.00,0.000,6,0.000,0.019,2562,1875,3640,0,0,0,0,0,0
$GC,750,-0.67,-194.6,192.4,-25.1,118,759,0.00,2.05,0.00,0.000,4,0.000,0.031,2562,484,3640,0,0,0,0,0,0
$GC,791,-0.67,-194.6,201.9,-23.8,124,800,0.00,2.03,0.00,0.000,6,0.000,0.022,2555,1878,3640,0,0,0,0,0,0
$GC,867,-0.67,-194.6,217.9,-21.5,137,876,0.12,2.08,0.00,0.000,4,0.190,0.032,2577,3267,3640,0,0,0,0,0,0
$GC,902,-0.67,-194.6,225.0,-20.9,142,911,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,1871,3640,0,0,0,0,0,0
$GC,979,-0.67,-194.6,238.3,-16.3,155,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1871,3640,0,0,0,0,0,0
$GC,1056,-0.67,-194.6,252.4,-19.1,168,1059,0.00,2.00,0.00,0.000,4,0.000,0.030,2577,486,3640,0,0,0,0,0,0
$GC,1091,-0.67,-194.6,258.5,-18.0,171,1096,0.00,2.03,0.00,0.000,6,0.000,0.021,2574,1881,3640,0,0,0,0,0,0
$GC,1422,-0.67,-194.6,309.9,-14.3,202,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1882,3640,0,0,0,0,0,0
$GC,1742,-0.67,-194.6,355.9,-15.8,232,1746,0.00,2.00,0.00,0.000,4,0.000,0.029,2574,493,3639,0,0,0,0,0,0
$GC,1769,-0.67,-194.6,359.7,-15.2,234,1773,0.00,1.98,0.00,0.000,6,0.000,0.020,2566,1883,3639,0,0,0,0,0,0
$GC,2099,-0.67,-194.6,408.7,-14.2,265,2103,0.00,2.00,0.00,0.000,4,0.000,0.029,2566,494,3638,0,0,0,0,0,0
$GC,2150,-0.67,-194.6,416.3,-14.7,269,2158,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1871,3638,0,0,0,0,0,0
$GC,2476,-0.67,-194.6,454.4,-10.6,300,2479,0.00,2.08,0.00,0.000,4,0.000,0.035,2561,3265,3636,0,0,0,0,0,0
$GC,2560,-0.67,-194.6,463.3,-10.7,307,2567,0.00,1.98,0.00,0.000,6,0.000,0.018,2561,1857,3636,0,0,0,0,0,0
$GC,2886,-0.67,-194.6,498.8,-11.1,338,2891,0.00,2.12,0.00,0.000,4,0.000,0.034,2561,3260,3634,0,0,0,0,0,0
$GC,2959,-0.67,-194.6,506.9,-10.8,344,2966,0.00,1.98,0.00,0.000,6,0.000,0.020,2561,1878,3634,0,0,0,0,0,0
$GC,3284,-0.67,-194.6,547.3,-13.4,375,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1878,3632,0,0,0,0,0,0
$GC,3606,-0.67,-194.6,591.3,-13.5,405,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1877,3629,0,0,0,0,0,0
$GC,3924,-0.67,-194.6,626.7,-10.2,424,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1877,3627,0,0,0,0,0,0
$GC,4233,-0.67,-194.6,655.1,-8.8,439,4237,0.00,2.05,0.00,0.000,4,0.000,0.036,2561,3267,3624,0,0,0,0,0,0
$GC,4262,-0.67,-194.6,657.8,-8.8,440,4266,0.00,1.95,0.00,0.000,6,0.000,0.020,2561,1884,3624,0,0,0,0,0,0
$GC,4584,-0.67,-194.6,687.5,-9.8,456,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1884,3622,0,0,0,0,0,0
$GC,4895,-0.67,-194.6,720.3,-10.9,471,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1884,3619,0,0,0,0,0,0
$GC,5203,-0.67,-194.6,754.6,-10.8,486,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1883,3617,0,0,0,0,0,0
$GC,5512,-0.67,-194.6,785.2,-9.4,501,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1883,3615,0,0,0,0,0,0
$GC,5822,-0.67,-194.6,815.8,-10.3,516,5827,0.00,2.10,0.00,0.000,4,0.000,0.038,2560,3261,3612,0,0,0,0,0,0
$GC,5849,-0.67,-194.6,819.0,-10.2,517,5853,0.00,2.00,0.00,0.000,6,0.000,0.022,2560,1873,3612,0,0,0,0,0,0
$GC,6177,-0.67,-194.6,853.4,-10.5,533,6181,0.00,2.08,0.00,0.000,4,0.000,0.036,2560,3273,3610,0,0,0,0,0,0
$GC,6205,-0.67,-194.6,856.3,-10.3,534,6209,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1862,3610,0,0,0,0,0,0
$GC,6527,-0.67,-194.6,885.8,-8.7,550,6531,0.00,2.08,0.00,0.000,4,0.000,0.037,2560,3263,3608,0,0,0,0,0,0
$GC,6555,-0.67,-194.6,888.2,-8.5,551,6559,0.00,1.98,0.00,0.000,6,0.000,0.022,2561,1871,3608,0,0,0,0,0,0
$GC,6880,-0.67,-194.6,915.7,-8.8,567,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1871,3606,0,0,0,0,0,0
$GC,7187,-0.67,-194.6,942.7,-8.5,582,7191,0.00,2.08,0.00,0.000,4,0.000,0.037,2560,3268,3604,0,0,0,0,0,0
$GC,7210,-0.67,-194.6,944.7,-8.6,583,7213,0.00,1.98,0.00,0.000,6,0.000,0.021,2560,1874,3604,0,0,0,0,0,0
$GC,7538,-0.67,-194.6,970.1,-7.6,599,7543,0.00,2.10,0.00,0.000,4,0.000,0.037,2560,3257,3603,0,0,0,0,0,0
$GC,7577,-0.67,-194.6,973.2,-7.3,600,7584,0.00,2.00,0.00,0.000,6,0.000,0.022,2560,1883,3602,0,0,0,0,0,0
$STATE,7828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7828,begin apogee
$GC,7836,-0.20,0.0,991.0,7.0,613,7992,0.50,0.00,151.40,1.393,6,0.128,0.000,2728,2074,2839,0,0,0,0,0,0
$STATE,7993,end apogee,CONTROL_FINISHED_OK
$STATE,7993,begin climb
$GC,7997,0.67,194.6,992.7,0.0,620,8168,0.80,2.30,161.98,1.336,4,0.081,0.039,3006,3456,2044,0,0,0,0,0,0
$GC,8196,0.67,194.6,969.0,16.3,629,8203,0.00,2.12,0.00,0.000,6,0.000,0.021,3014,2074,2039,0,0,0,0,0,0
$GC,8514,0.67,194.6,919.9,15.1,645,8517,0.00,2.10,0.00,0.000,4,0.000,0.034,3024,684,2034,0,0,0,0,0,0
$GC,8600,0.67,194.6,907.4,14.4,649,8604,0.00,2.08,0.00,0.000,6,0.000,0.024,3024,2076,2033,0,0,0,0,0,0
$GC,8928,0.67,194.6,860.4,14.3,665,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2076,2032,0,0,0,0,0,0
$GC,9238,0.67,194.6,813.6,15.4,680,9242,0.00,2.12,0.00,0.000,4,0.000,0.039,3024,3478,2031,0,0,0,0,0,0
$GC,9272,0.67,194.6,807.7,16.3,681,9279,0.00,2.08,0.00,0.000,6,0.000,0.022,3033,2066,2030,0,0,0,0,0,0
$GC,9590,0.67,194.6,757.9,15.7,697,9593,0.00,2.05,0.00,0.000,4,0.000,0.034,3044,686,2030,0,0,0,0,0,0
$GC,9689,0.67,194.6,741.6,15.8,701,9695,0.08,2.08,0.00,0.000,6,0.151,0.024,3019,2083,2030,0,0,0,0,0,0
$GC,10013,0.67,194.6,693.5,15.0,717,10016,0.00,2.05,0.00,0.000,4,0.000,0.039,3019,3461,2028,0,0,0,0,0,0
$GC,10040,0.67,194.6,688.7,15.7,718,10044,0.00,2.05,0.00,0.000,6,0.000,0.022,3028,2042,2028,0,0,0,0,0,0
$GC,10370,0.67,194.6,642.7,13.4,734,10373,0.00,2.03,0.00,0.000,4,0.000,0.035,3038,673,2027,0,0,0,0,0,0
$GC,10404,0.67,194.6,637.7,13.4,735,10409,0.00,2.08,0.00,0.000,6,0.000,0.024,3038,2068,2028,0,0,0,0,0,0
$GC,10727,0.67,194.6,593.1,14.3,753,10731,0.00,2.08,0.00,0.000,4,0.000,0.039,3038,3469,2027,0,0,0,0,0,0
$GC,10788,0.67,194.6,584.1,14.8,758,10793,0.12,2.03,0.00,0.000,6,0.189,0.023,3014,2070,2027,0,0,0,0,0,0
$GC,11113,0.67,194.6,543.5,12.6,788,11117,0.00,2.05,0.00,0.000,4,0.000,0.034,3023,679,2026,0,0,0,0,0,0
$GC,11196,0.67,194.6,532.5,13.2,795,11203,0.00,2.08,0.00,0.000,6,0.000,0.024,3023,2075,2026,0,0,0,0,0,0
$GC,11522,0.67,194.6,488.4,12.8,826,11526,0.00,2.08,0.00,0.000,4,0.000,0.038,3023,3479,2026,0,0,0,0,0,0
$GC,11576,0.67,194.6,480.8,13.5,830,11583,0.00,2.08,0.00,0.000,6,0.000,0.021,3032,2068,2026,0,0,0,0,0,0
$GC,11904,0.67,194.6,440.8,12.5,861,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2067,2026,0,0,0,0,0,0
$GC,12232,0.67,194.6,399.4,12.0,892,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2067,2026,0,0,0,0,0,0
$GC,12559,0.67,194.6,363.5,11.3,923,12563,0.00,2.03,0.00,0.000,4,0.000,0.034,3043,681,2026,0,0,0,0,0,0
$GC,12700,0.67,194.6,347.4,11.2,935,12707,0.00,2.05,0.00,0.000,6,0.000,0.022,3043,2093,2026,0,0,0,0,0,0
$GC,13025,0.67,194.6,306.8,12.0,966,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2093,2026,0,0,0,0,0,0
$GC,13349,0.67,194.6,270.8,11.0,996,13352,0.00,2.08,0.00,0.000,4,0.000,0.031,3051,685,2026,0,0,0,0,0,0
$GC,13399,0.67,194.6,264.6,11.3,1000,13409,0.10,2.05,0.00,0.000,6,0.138,0.021,3018,2093,2026,0,0,0,0,0,0
$GC,13732,0.74,251.5,234.5,8.8,1046,13785,0.00,2.12,43.25,0.801,4,0.000,0.030,3025,677,1812,0,0,0,0,0,0
$GC,13803,0.82,319.7,228.6,8.4,1056,13864,0.08,2.08,54.80,0.782,6,0.070,0.021,3078,2071,1535,0,0,0,0,0,0
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$STATE,15673,end climb,SURFACE_DEPTH_REACHED
$STATE,15673,begin surface coast
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$STATE,15696,end surface coast,CONTROL_FINISHED_OK
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$INTERNAL_PRESSURE,9.2484
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$10V_AH,10.2,8.688
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329932
$DATA_FILE_SIZE,76735,1366
$CAP_FILE_SIZE,180576,0
$CFSIZE,260165632,137449472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,213.1,1
$GPS,210611,080324,1954.774,12420.105,39,1.2,40,-2.5