version: 66.09
glider: 167
mission: 8
dive: 57
start: 6 22 111 2 54 41
data:
$ID,167
$MISSION,8
$DIVE,57
$N_DIVES,65
$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,4
$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,-56455.594
$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,118
$R_STBD_OVSHOOT,69
$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
$GPS1,220611,024236,1946.513,12422.217,36,1.3,42,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.6
$GPS2,220611,025346,1946.609,12422.208,11,2.8,30,-2.4
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.111,-0.285
$KALMAN_X,116.2,583.6,460.3,3509.9,-1495.4
$KALMAN_Y,6298.0,569.1,217.1,-38041.1,302.7
$MHEAD_RNG_PITCHd_Wd,189.8,217134,-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,-194.6,0.0,0.0,0,108,0.00,0.00,-87.72,0.000,2,0.000,0.000,110,1827,3028,0,0,0,0,0,0
$GC,111,-0.67,-194.6,5.0,-7.3,12,136,9.62,1.95,-10.40,0.000,4,0.231,0.041,2583,511,3636,0,0,0,0,0,0
$GC,250,-0.67,-194.6,55.0,-35.5,36,258,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,1874,3638,0,0,0,0,0,0
$GC,323,-0.67,-194.6,75.0,-29.2,49,331,0.00,2.10,0.00,0.000,4,0.000,0.033,2565,3273,3638,0,0,0,0,0,0
$GC,369,-0.67,-194.6,88.7,-30.3,56,378,0.00,1.98,0.00,0.000,6,0.000,0.019,2565,1911,3638,0,0,0,0,0,0
$GC,445,-0.67,-194.6,111.2,-29.4,69,453,0.00,2.10,0.00,0.000,4,0.000,0.039,2565,491,3638,0,0,0,0,0,0
$GC,479,-0.67,-194.6,121.5,-30.9,74,489,0.00,2.03,0.00,0.000,6,0.000,0.022,2557,1872,3639,0,0,0,0,0,0
$GC,557,-0.67,-194.6,140.7,-23.8,87,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1872,3638,0,0,0,0,0,0
$GC,633,-0.67,-194.6,161.3,-27.2,100,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1872,3639,0,0,0,0,0,0
$GC,708,-0.67,-194.6,179.1,-23.5,113,718,0.00,2.05,0.00,0.000,4,0.000,0.028,2556,481,3639,0,0,0,0,0,0
$GC,727,-0.67,-194.6,183.0,-22.4,115,736,0.10,2.03,0.00,0.000,6,0.158,0.021,2578,1874,3639,0,0,0,0,0,0
$GC,804,-0.67,-194.6,199.1,-21.1,128,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1874,3639,0,0,0,0,0,0
$GC,879,-0.67,-194.6,213.5,-18.2,141,887,0.00,2.05,0.00,0.000,4,0.000,0.029,2578,487,3639,0,0,0,0,0,0
$GC,934,-0.67,-194.6,224.4,-20.0,150,943,0.00,2.03,0.00,0.000,6,0.000,0.021,2572,1884,3639,0,0,0,0,0,0
$GC,1010,-0.67,-194.6,237.2,-17.7,163,1017,0.00,2.05,0.00,0.000,4,0.000,0.031,2562,3271,3639,0,0,0,0,0,0
$GC,1043,-0.67,-194.6,243.9,-18.9,168,1052,0.00,2.00,0.00,0.000,6,0.000,0.018,2562,1873,3639,0,0,0,0,0,0
$GC,1119,-0.67,-194.6,257.8,-17.6,177,1123,0.00,2.00,0.00,0.000,4,0.000,0.029,2562,482,3639,0,0,0,0,0,0
$GC,1167,-0.67,-194.6,266.6,-19.2,181,1171,0.00,1.98,0.00,0.000,6,0.000,0.021,2560,1877,3639,0,0,0,0,0,0
$GC,1498,-0.67,-194.6,320.9,-15.1,212,1502,0.00,2.05,0.00,0.000,4,0.000,0.032,2550,3268,3638,0,0,0,0,0,0
$GC,1570,-0.67,-194.6,331.9,-14.7,218,1579,0.05,2.00,0.00,0.000,6,0.130,0.018,2580,1847,3638,0,0,0,0,0,0
$GC,1896,-0.67,-194.6,377.0,-12.5,249,1899,0.00,1.92,0.00,0.000,4,0.000,0.030,2581,511,3636,0,0,0,0,0,0
$GC,1980,-0.67,-194.6,388.4,-13.6,256,1987,0.00,1.95,0.00,0.000,6,0.000,0.021,2575,1878,3636,0,0,0,0,0,0
$GC,2306,-0.67,-194.6,430.2,-12.6,287,2310,0.00,2.05,0.00,0.000,4,0.000,0.033,2567,3265,3634,0,0,0,0,0,0
$GC,2332,-0.67,-194.6,433.7,-12.3,289,2340,0.00,1.95,0.00,0.000,6,0.000,0.019,2567,1891,3634,0,0,0,0,0,0
$GC,2658,-0.67,-194.6,473.0,-11.9,320,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1890,3631,0,0,0,0,0,0
$GC,2979,-0.67,-194.6,510.7,-11.2,350,2983,0.00,2.00,0.00,0.000,4,0.000,0.031,2567,495,3629,0,0,0,0,0,0
$GC,3006,-0.67,-194.6,514.3,-11.2,352,3013,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1869,3629,0,0,0,0,0,0
$GC,3332,-0.67,-194.6,548.0,-10.3,383,3336,0.00,2.08,0.00,0.000,4,0.000,0.036,2561,3274,3627,0,0,0,0,0,0
$GC,3360,-0.67,-194.6,550.9,-9.9,385,3367,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1868,3626,0,0,0,0,0,0
$GC,3685,-0.67,-194.6,585.3,-11.1,416,3690,0.00,2.03,0.00,0.000,4,0.000,0.033,2561,492,3623,0,0,0,0,0,0
$GC,3766,-0.67,-194.6,595.0,-12.7,423,3770,0.00,2.03,0.00,0.000,6,0.000,0.024,2561,1876,3623,0,0,0,0,0,0
$GC,4098,-0.67,-194.6,633.9,-11.0,441,4102,0.00,2.08,0.00,0.000,4,0.000,0.037,2561,3277,3620,0,0,0,0,0,0
$GC,4148,-0.67,-194.6,639.3,-10.8,443,4152,0.00,2.03,0.00,0.000,6,0.000,0.022,2561,1877,3620,0,0,0,0,0,0
$GC,4471,-0.67,-194.6,673.0,-10.1,459,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1876,3617,0,0,0,0,0,0
$GC,4778,-0.67,-194.6,702.5,-9.1,474,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1875,3614,0,0,0,0,0,0
$GC,5091,-0.67,-194.6,730.0,-8.8,489,5095,0.00,2.05,0.00,0.000,4,0.000,0.034,2562,490,3612,0,0,0,0,0,0
$GC,5141,-0.67,-194.6,735.1,-9.6,491,5145,0.00,2.03,0.00,0.000,6,0.000,0.024,2561,1885,3611,0,0,0,0,0,0
$GC,5471,-0.67,-194.6,763.4,-8.7,507,5475,0.00,2.05,0.00,0.000,4,0.000,0.038,2561,3267,3608,0,0,0,0,0,0
$GC,5522,-0.67,-194.6,768.1,-8.6,509,5526,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1868,3608,0,0,0,0,0,0
$GC,5851,-0.67,-194.6,797.4,-9.5,525,5854,0.00,2.00,0.00,0.000,4,0.000,0.033,2561,499,3605,0,0,0,0,0,0
$GC,5878,-0.67,-194.6,800.4,-9.8,526,5883,0.00,2.03,0.00,0.000,6,0.000,0.024,2561,1871,3605,0,0,0,0,0,0
$GC,6206,-0.67,-194.6,829.5,-8.5,542,6210,0.00,2.10,0.00,0.000,4,0.000,0.039,2561,3278,3603,0,0,0,0,0,0
$GC,6307,-0.67,-194.6,837.8,-8.1,546,6315,0.00,2.03,0.00,0.000,6,0.000,0.021,2561,1883,3602,0,0,0,0,0,0
$GC,6625,-0.67,-194.6,863.9,-8.4,562,6628,0.00,2.10,0.00,0.000,4,0.000,0.039,2561,3274,3601,0,0,0,0,0,0
$GC,6674,-0.67,-194.6,868.3,-8.4,564,6678,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1865,3599,0,0,0,0,0,0
$GC,6997,-0.67,-194.6,894.5,-8.4,580,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1865,3598,0,0,0,0,0,0
$GC,7305,-0.67,-194.6,920.4,-8.3,595,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1865,3597,0,0,0,0,0,0
$GC,7614,-0.67,-194.6,945.5,-7.9,610,7618,0.00,2.12,0.00,0.000,4,0.000,0.039,2561,3274,3595,0,0,0,0,0,0
$GC,7659,-0.67,-194.6,948.8,-7.7,612,7664,0.00,2.05,0.00,0.000,6,0.000,0.022,2561,1867,3595,0,0,0,0,0,0
$GC,7986,-0.67,-194.6,972.1,-7.1,628,7990,0.00,2.03,0.00,0.000,4,0.000,0.033,2561,487,3593,0,0,0,0,0,0
$GC,8010,-0.67,-194.6,973.9,-6.9,629,8014,0.00,2.00,0.00,0.000,6,0.000,0.024,2561,1876,3594,0,0,0,0,0,0
$STATE,8258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8258,begin apogee
$GC,8266,-0.20,0.0,991.1,6.9,641,8422,0.50,0.00,149.82,1.392,6,0.131,0.000,2727,2077,2838,0,0,0,0,0,0
$STATE,8422,end apogee,CONTROL_FINISHED_OK
$STATE,8423,begin climb
$GC,8426,0.67,194.6,992.6,0.0,648,8595,0.80,0.00,162.77,1.339,6,0.080,0.000,3006,2077,2045,0,0,0,0,0,0
$GC,8900,0.67,194.6,927.8,15.3,671,8904,0.00,2.15,0.00,0.000,4,0.000,0.034,3013,682,2034,0,0,0,0,0,0
$GC,8940,0.67,194.6,921.3,15.4,673,8945,0.00,2.08,0.00,0.000,6,0.000,0.024,3013,2069,2034,0,0,0,0,0,0
$GC,9268,0.67,194.6,872.3,14.6,689,9272,0.00,2.15,0.00,0.000,4,0.000,0.040,3013,3475,2032,0,0,0,0,0,0
$GC,9335,0.67,194.6,861.8,15.5,692,9339,0.00,2.08,0.00,0.000,6,0.000,0.022,3022,2075,2032,0,0,0,0,0,0
$GC,9656,0.67,194.6,816.4,13.7,708,9659,0.00,2.08,0.00,0.000,4,0.000,0.035,3033,686,2031,0,0,0,0,0,0
$GC,9683,0.67,194.6,812.4,14.0,709,9687,0.00,2.10,0.00,0.000,6,0.000,0.025,3033,2076,2030,0,0,0,0,0,0
$GC,10014,0.67,194.6,766.4,14.2,725,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2076,2030,0,0,0,0,0,0
$GC,10320,0.67,194.6,723.8,13.6,740,10324,0.00,2.10,0.00,0.000,4,0.000,0.041,3033,3480,2029,0,0,0,0,0,0
$GC,10342,0.67,194.6,720.4,14.0,741,10346,0.00,2.08,0.00,0.000,6,0.000,0.022,3042,2063,2029,0,0,0,0,0,0
$GC,10664,0.67,194.6,672.9,15.2,757,10668,0.00,2.05,0.00,0.000,4,0.000,0.036,3054,680,2028,0,0,0,0,0,0
$GC,10771,0.67,194.6,656.5,14.4,761,10779,0.15,2.08,0.00,0.000,6,0.160,0.024,3012,2086,2028,0,0,0,0,0,0
$GC,11089,0.67,194.6,617.2,12.3,777,11092,0.00,2.08,0.00,0.000,4,0.000,0.040,3012,3472,2028,0,0,0,0,0,0
$GC,11138,0.67,194.6,610.2,13.5,779,11144,0.00,2.08,0.00,0.000,6,0.000,0.023,3020,2069,2027,0,0,0,0,0,0
$GC,11466,0.67,194.6,569.1,12.7,805,11469,0.00,2.05,0.00,0.000,4,0.000,0.034,3031,682,2027,0,0,0,0,0,0
$GC,11634,0.67,194.6,548.0,12.0,820,11639,0.00,2.08,0.00,0.000,6,0.000,0.024,3031,2077,2027,0,0,0,0,0,0
$GC,11965,0.67,194.6,509.2,11.6,851,11968,0.00,2.10,0.00,0.000,4,0.000,0.041,3031,3470,2027,0,0,0,0,0,0
$GC,12056,0.67,194.6,497.4,13.6,859,12059,0.00,2.05,0.00,0.000,6,0.000,0.022,3040,2061,2026,0,0,0,0,0,0
$GC,12389,0.67,194.6,455.3,13.5,890,12392,0.00,2.03,0.00,0.000,4,0.000,0.036,3051,686,2026,0,0,0,0,0,0
$GC,12445,0.67,194.6,447.2,13.7,895,12450,0.12,2.03,0.00,0.000,6,0.164,0.024,3018,2091,2026,0,0,0,0,0,0
$GC,12771,0.67,194.6,408.5,11.4,925,12772,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2092,2026,0,0,0,0,0,0
$GC,13093,0.67,194.6,373.8,11.1,955,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2091,2026,0,0,0,0,0,0
$GC,13421,0.67,197.7,337.9,10.9,986,13424,0.00,2.08,0.00,0.000,4,0.000,0.032,3026,689,2026,0,0,0,0,0,0
$GC,13500,0.67,197.7,329.0,11.0,993,13504,0.00,2.00,0.00,0.000,6,0.000,0.022,3026,2077,2026,0,0,0,0,0,0
$GC,13831,0.70,223.8,295.0,10.0,1024,13859,0.00,2.15,21.58,0.845,4,0.000,0.037,3026,3465,1925,0,0,0,0,0,0
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$STATE,16458,end climb,SURFACE_DEPTH_REACHED
$STATE,16458,begin surface coast
$FINISH,0.8,1.020451
$STATE,16488,end surface coast,CONTROL_FINISHED_OK
$STATE,16488,begin surface
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$XPDR_PINGS,12
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$10V_AH,10.3,9.495
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329920
$DATA_FILE_SIZE,80190,1429
$CAP_FILE_SIZE,193887,0
$CFSIZE,260165632,136970240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,175.8,1
$GPS,220611,073206,1943.658,12421.782,38,1.3,39,-2.4