version: 66.09
glider: 167
mission: 8
dive: 104
start: 7 3 111 15 22 28
data:
$ID,167
$MISSION,8
$DIVE,104
$N_DIVES,115
$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,400
$T_MISSION,440
$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,150
$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,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,-56517.719
$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,68
$R_STBD_OVSHOOT,68
$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
$GPS1,030711,151206,1808.344,12430.890,34,1.0,34,-2.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.3
$GPS2,030711,152206,1808.383,12430.835,16,1.2,26,-2.1
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,171.3,34828,-15.4,-8.250
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,91,0.00,0.00,-69.70,0.000,2,0.000,0.000,111,1814,2990,0,0,0,0,0,0
$GC,93,-0.56,-146.0,5.2,-9.8,10,118,10.00,2.03,-7.68,0.000,4,0.236,0.040,2609,454,3439,0,0,0,0,0,0
$GC,219,-0.56,-146.0,49.7,-25.4,31,228,0.00,2.08,0.00,0.000,6,0.000,0.020,2601,1865,3441,0,0,0,0,0,0
$GC,295,-0.56,-146.0,70.1,-27.3,44,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1865,3441,0,0,0,0,0,0
$GC,376,-0.56,-146.0,91.1,-28.0,57,383,0.00,2.05,0.00,0.000,4,0.000,0.027,2602,480,3441,0,0,0,0,0,0
$GC,404,-0.56,-146.0,97.9,-23.8,61,412,0.00,1.88,0.00,0.000,6,0.000,0.019,2593,1781,3441,0,0,0,0,0,0
$GC,482,-0.56,-146.0,113.7,-21.3,74,489,0.00,2.22,0.00,0.000,4,0.000,0.031,2582,3271,3441,0,0,0,0,0,0
$GC,497,-0.56,-146.0,117.2,-20.7,76,507,0.10,2.08,0.00,0.000,6,0.167,0.018,2612,1817,3441,0,0,0,0,0,0
$GC,575,-0.56,-146.0,131.7,-18.4,89,584,0.00,1.95,0.00,0.000,4,0.000,0.029,2612,484,3441,0,0,0,0,0,0
$GC,598,-0.56,-146.0,136.0,-18.2,92,607,0.00,1.98,0.00,0.000,6,0.000,0.020,2605,1852,3441,0,0,0,0,0,0
$GC,675,-0.56,-146.0,149.2,-18.2,105,682,0.00,2.03,0.00,0.000,4,0.000,0.028,2605,480,3441,0,0,0,0,0,0
$GC,702,-0.56,-146.0,154.1,-18.5,109,711,0.00,1.77,0.00,0.000,6,0.000,0.021,2599,1713,3441,0,0,0,0,0,0
$GC,782,-0.56,-146.0,167.8,-17.3,122,791,0.00,2.30,0.00,0.000,4,0.000,0.031,2589,3259,3441,0,0,0,0,0,0
$GC,811,-0.56,-146.0,172.8,-17.3,126,820,0.00,2.20,0.00,0.000,6,0.000,0.019,2589,1735,3442,0,0,0,0,0,0
$GC,888,-0.56,-146.0,185.7,-17.0,139,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1735,3442,0,0,0,0,0,0
$GC,963,-0.56,-146.0,197.8,-14.0,152,971,0.00,2.25,0.00,0.000,4,0.000,0.030,2587,3272,3442,0,0,0,0,0,0
$GC,992,-0.56,-146.0,202.2,-13.4,156,1002,0.00,2.12,0.00,0.000,6,0.000,0.018,2587,1789,3441,0,0,0,0,0,0
$GC,1319,-0.56,-146.0,248.7,-12.6,187,1321,0.10,0.00,0.00,0.000,6,0.179,0.000,2612,1788,3442,0,0,0,0,0,0
$GC,1637,-0.56,-146.0,283.8,-10.5,217,1642,0.00,2.20,0.00,0.000,4,0.000,0.031,2605,3268,3441,0,0,0,0,0,0
$GC,1687,-0.56,-146.0,289.5,-10.7,221,1695,0.00,2.08,0.00,0.000,6,0.000,0.018,2605,1788,3441,0,0,0,0,0,0
$GC,2012,-0.56,-146.0,324.2,-10.9,252,2016,0.00,1.88,0.00,0.000,4,0.000,0.029,2605,479,3440,0,0,0,0,0,0
$GC,2108,-0.56,-146.0,334.7,-11.5,260,2115,0.00,1.83,0.00,0.000,6,0.000,0.020,2603,1770,3439,0,0,0,0,0,0
$GC,2433,-0.56,-146.0,366.7,-9.5,291,2437,0.00,2.17,0.00,0.000,4,0.000,0.033,2600,3260,3438,0,0,0,0,0,0
$GC,2522,-0.56,-146.0,373.9,-7.6,298,2530,0.00,2.05,0.00,0.000,6,0.000,0.018,2601,1790,3437,0,0,0,0,0,0
$GC,2849,-0.56,-146.0,397.8,-7.8,329,2853,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,3263,3436,0,0,0,0,0,0
$GC,2883,-0.56,-146.0,400.7,-8.4,331,2889,0.00,2.05,0.00,0.000,6,0.000,0.018,2600,1810,3435,0,0,0,0,0,0
$GC,3208,-0.56,-146.0,428.6,-8.9,362,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1809,3433,0,0,0,0,0,0
$GC,3532,-0.56,-146.0,456.9,-8.6,392,3535,0.00,1.90,0.00,0.000,4,0.000,0.031,2600,479,3431,0,0,0,0,0,0
$GC,3557,-0.56,-146.0,459.3,-8.4,394,3562,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1848,3431,0,0,0,0,0,0
$GC,3890,-0.56,-146.0,485.3,-7.8,425,3893,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3256,3428,0,0,0,0,0,0
$GC,3925,-0.56,-146.0,488.0,-7.9,428,3929,0.00,1.98,0.00,0.000,6,0.000,0.019,2600,1843,3429,0,0,0,0,0,0
$GC,4266,-0.56,-146.0,513.8,-7.9,452,4270,0.00,2.08,0.00,0.000,4,0.000,0.033,2600,3261,3426,0,0,0,0,0,0
$GC,4340,-0.56,-146.0,519.9,-7.8,455,4345,0.00,1.98,0.00,0.000,6,0.000,0.019,2600,1881,3425,0,0,0,0,0,0
$GC,4662,-0.56,-146.0,545.1,-8.1,471,4666,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,504,3423,0,0,0,0,0,0
$GC,4696,-0.56,-146.0,548.3,-8.5,472,4700,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1873,3423,0,0,0,0,0,0
$GC,5017,-0.56,-146.0,573.2,-7.6,488,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1874,3421,0,0,0,0,0,0
$GC,5327,-0.56,-146.0,595.5,-7.1,503,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1874,3419,0,0,0,0,0,0
$GC,5637,-0.56,-146.0,618.2,-7.2,518,5641,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3269,3416,0,0,0,0,0,0
$GC,5659,-0.56,-146.0,619.9,-7.3,519,5663,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1880,3416,0,0,0,0,0,0
$GC,5988,-0.56,-146.0,644.2,-7.5,535,5992,0.00,2.05,0.00,0.000,4,0.000,0.032,2600,495,3414,0,0,0,0,0,0
$GC,6034,-0.56,-146.0,648.1,-8.1,537,6038,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1866,3414,0,0,0,0,0,0
$GC,6367,-0.56,-146.0,674.2,-7.7,553,6371,0.00,2.08,0.00,0.000,4,0.000,0.037,2600,3259,3411,0,0,0,0,0,0
$GC,6460,-0.56,-146.0,681.3,-7.9,557,6464,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1893,3410,0,0,0,0,0,0
$GC,6795,-0.56,-146.0,706.0,-7.3,573,6798,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,3262,3409,0,0,0,0,0,0
$GC,6841,-0.56,-146.0,709.1,-6.8,575,6844,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1895,3409,0,0,0,0,0,0
$GC,7175,-0.56,-146.0,730.2,-6.0,591,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1895,3407,0,0,0,0,0,0
$GC,7483,-0.56,-146.0,749.2,-6.2,606,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1894,3406,0,0,0,0,0,0
$GC,7794,-0.56,-146.0,768.9,-6.9,621,7799,0.00,2.08,0.00,0.000,4,0.000,0.033,2600,503,3404,0,0,0,0,0,0
$GC,7878,-0.56,-146.0,775.6,-8.1,624,7886,0.00,2.03,0.00,0.000,6,0.000,0.023,2600,1913,3403,0,0,0,0,0,0
$GC,8195,-0.56,-146.0,796.9,-6.8,640,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1912,3402,0,0,0,0,0,0
$GC,8503,-0.56,-146.0,817.6,-6.5,655,8508,0.00,2.05,0.00,0.000,4,0.000,0.038,2600,3267,3401,0,0,0,0,0,0
$GC,8542,-0.56,-146.0,820.1,-6.6,656,8550,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1900,3401,0,0,0,0,0,0
$GC,8859,-0.56,-146.0,838.1,-5.6,672,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1900,3400,0,0,0,0,0,0
$GC,9167,-0.56,-146.0,855.7,-5.9,687,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1900,3399,0,0,0,0,0,0
$GC,9476,-0.56,-146.0,875.9,-6.6,702,9480,0.00,2.05,0.00,0.000,4,0.000,0.033,2600,499,3397,0,0,0,0,0,0
$GC,9501,-0.56,-146.0,877.5,-6.7,703,9505,0.00,2.03,0.00,0.000,6,0.000,0.023,2600,1900,3397,0,0,0,0,0,0
$GC,9835,-0.56,-146.0,899.1,-6.2,719,9839,0.00,2.08,0.00,0.000,4,0.000,0.038,2600,3268,3396,0,0,0,0,0,0
$GC,9964,-0.56,-146.0,906.9,-6.1,724,9972,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1916,3395,0,0,0,0,0,0
$GC,10281,-0.56,-146.0,924.7,-5.6,740,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1916,3395,0,0,0,0,0,0
$GC,10590,-0.56,-146.0,942.0,-5.7,755,10595,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3263,3394,0,0,0,0,0,0
$GC,10659,-0.56,-146.0,946.1,-5.9,758,10663,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1934,3394,0,0,0,0,0,0
$GC,10993,-0.56,-146.0,966.3,-6.0,774,10997,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,510,3394,0,0,0,0,0,0
$GC,11061,-0.56,-146.0,971.0,-6.9,777,11066,0.00,2.05,0.00,0.000,6,0.000,0.024,2600,1896,3393,0,0,0,0,0,0
$GC,11388,-0.56,-146.0,989.8,-6.4,793,11392,0.00,2.05,0.00,0.000,4,0.000,0.039,2600,3273,3393,0,0,0,0,0,0
$STATE,11396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11397,begin apogee
$GC,11405,-0.20,0.0,990.8,6.7,793,11526,0.38,0.00,111.40,1.412,4,0.119,0.000,2729,2057,2838,0,0,0,0,0,0
$STATE,11527,end apogee,CONTROL_FINISHED_OK
$STATE,11527,begin climb
$GC,11529,0.56,146.0,994.6,0.0,799,11665,0.68,2.15,123.65,1.366,4,0.076,0.031,2978,711,2242,0,0,0,0,0,0
$GC,11895,0.56,146.0,961.2,10.6,815,11899,0.00,2.08,0.00,0.000,6,0.000,0.024,2978,2074,2232,0,0,0,0,0,0
$GC,12219,0.56,146.0,925.4,11.4,831,12223,0.00,2.12,0.00,0.000,4,0.000,0.039,2978,3472,2228,0,0,0,0,0,0
$GC,12477,0.56,146.0,891.4,13.1,842,12484,0.00,2.08,0.00,0.000,6,0.000,0.022,2982,2069,2226,0,0,0,0,0,0
$GC,12793,0.56,146.0,853.9,11.7,858,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2069,2225,0,0,0,0,0,0
$GC,13102,0.56,146.0,817.3,11.7,873,13107,0.00,2.08,0.00,0.000,4,0.000,0.034,2993,691,2224,0,0,0,0,0,0
$GC,13175,0.56,146.0,808.8,11.6,876,13179,0.00,1.95,0.00,0.000,6,0.000,0.024,2993,2028,2224,0,0,0,0,0,0
$GC,13503,0.56,146.0,772.2,11.1,892,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2028,2224,0,0,0,0,0,0
$GC,13813,0.56,146.0,738.1,11.1,907,13817,0.00,2.03,0.00,0.000,4,0.000,0.033,3002,678,2224,0,0,0,0,0,0
$GC,13885,0.56,146.0,729.2,11.8,910,13890,0.00,2.00,0.00,0.000,6,0.000,0.024,3002,2022,2224,0,0,0,0,0,0
$GC,14212,0.56,146.0,691.7,11.6,926,14216,0.00,2.17,0.00,0.000,4,0.000,0.038,3002,3466,2223,0,0,0,0,0,0
$GC,14277,0.56,146.0,683.8,12.7,929,14281,0.00,2.10,0.00,0.000,6,0.000,0.023,3010,2016,2223,0,0,0,0,0,0
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$STATE,21783,end climb,SURFACE_DEPTH_REACHED
$STATE,21783,begin surface coast
$FINISH,0.8,1.021107
$STATE,21811,end surface coast,CONTROL_FINISHED_OK
$STATE,21814,begin surface
$SM_CCo,21891,0.00,0.000,0,0,880,480.54
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$TT8_MAMPS,0.027713,0.027713
$HUMID,30.70
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,29.00
$XPDR_PINGS,3
$24V_AH,23.8,19.926
$10V_AH,10.2,18.033
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329904
$DATA_FILE_SIZE,100048,1710
$CAP_FILE_SIZE,239894,0
$CFSIZE,260165632,132022272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,  5.9,1
$GPS,030711,212836,1806.546,12431.355,40,1.0,40,-2.1