version: 66.09
glider: 167
mission: 8
dive: 121
start: 7 8 111 2 57 43
data:
$ID,167
$MISSION,8
$DIVE,121
$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,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,-3
$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,-56539.117
$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,105
$R_STBD_OVSHOOT,70
$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
$GPS1,080711,024706,1755.829,12418.992,32,1.0,32,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.3
$GPS2,080711,025719,1755.650,12419.203,11,1.4,16,-2.0
$SPEED_LIMITS,0.143,0.244
$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,274.5,225674,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,87,0.00,0.00,-67.28,0.000,2,0.000,0.000,109,1836,2940,0,0,0,0,0,0
$GC,90,-0.56,-146.0,5.2,-9.1,9,116,9.85,1.92,-8.65,0.000,4,0.230,0.037,2612,504,3437,0,0,0,0,0,0
$GC,229,-0.56,-146.0,51.4,-26.2,32,237,0.00,2.00,0.00,0.000,6,0.000,0.021,2605,1868,3438,0,0,0,0,0,0
$GC,304,-0.56,-146.0,72.1,-26.7,45,312,0.00,2.10,0.00,0.000,4,0.000,0.031,2594,3275,3438,0,0,0,0,0,0
$GC,329,-0.56,-146.0,78.5,-27.9,48,336,0.00,2.12,0.00,0.000,6,0.000,0.018,2594,1780,3439,0,0,0,0,0,0
$GC,404,-0.56,-146.0,97.7,-23.5,61,413,0.00,1.85,0.00,0.000,4,0.000,0.028,2594,513,3439,0,0,0,0,0,0
$GC,421,-0.56,-146.0,101.4,-21.9,63,431,0.08,1.90,0.00,0.000,6,0.159,0.020,2610,1822,3439,0,0,0,0,0,0
$GC,499,-0.56,-146.0,116.5,-20.0,76,506,0.00,2.15,0.00,0.000,4,0.000,0.031,2601,3267,3439,0,0,0,0,0,0
$GC,588,-0.56,-146.0,133.8,-19.3,91,596,0.00,1.83,0.00,0.000,6,0.000,0.017,2601,1970,3439,0,0,0,0,0,0
$GC,664,-0.56,-146.0,148.6,-19.1,104,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1969,3439,0,0,0,0,0,0
$GC,742,-0.56,-146.0,162.1,-16.8,117,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1969,3439,0,0,0,0,0,0
$GC,817,-0.56,-146.0,174.6,-17.6,130,825,0.00,2.12,0.00,0.000,4,0.000,0.028,2601,514,3439,0,0,0,0,0,0
$GC,851,-0.56,-146.0,180.3,-17.0,135,861,0.00,2.15,0.00,0.000,6,0.000,0.021,2596,1993,3439,0,0,0,0,0,0
$GC,930,-0.56,-146.0,191.3,-14.7,148,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1993,3439,0,0,0,0,0,0
$GC,1009,-0.56,-146.0,203.6,-15.3,160,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1993,3439,0,0,0,0,0,0
$GC,1328,-0.56,-146.0,243.1,-11.9,190,1332,0.00,2.15,0.00,0.000,4,0.000,0.028,2596,515,3440,0,0,0,0,0,0
$GC,1414,-0.56,-146.0,253.6,-12.9,197,1418,0.00,2.10,0.00,0.000,6,0.000,0.020,2588,1968,3440,0,0,0,0,0,0
$GC,1745,-0.56,-146.0,294.7,-12.6,228,1749,0.10,1.92,0.00,0.000,4,0.187,0.031,2604,3282,3439,0,0,0,0,0,0
$GC,1814,-0.56,-146.0,302.7,-10.9,234,1819,0.00,1.80,0.00,0.000,6,0.000,0.017,2604,1988,3439,0,0,0,0,0,0
$GC,2144,-0.56,-146.0,338.4,-9.9,265,2148,0.00,1.88,0.00,0.000,4,0.000,0.031,2602,3268,3438,0,0,0,0,0,0
$GC,2180,-0.56,-146.0,341.5,-9.6,268,2184,0.00,1.70,0.00,0.000,6,0.000,0.018,2602,2026,3437,0,0,0,0,0,0
$GC,2511,-0.56,-146.0,371.4,-9.1,299,2515,0.00,2.17,0.00,0.000,4,0.000,0.029,2602,519,3435,0,0,0,0,0,0
$GC,2624,-0.56,-146.0,382.4,-9.9,308,2630,0.00,2.17,0.00,0.000,6,0.000,0.021,2601,2035,3435,0,0,0,0,0,0
$GC,2949,-0.56,-146.0,412.1,-9.3,339,2953,0.00,2.22,0.00,0.000,4,0.000,0.028,2600,511,3433,0,0,0,0,0,0
$GC,3045,-0.56,-146.0,421.0,-9.4,347,3050,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1974,3432,0,0,0,0,0,0
$GC,3376,-0.56,-146.0,448.0,-7.8,378,3379,0.00,1.88,0.00,0.000,4,0.000,0.034,2601,3272,3430,0,0,0,0,0,0
$GC,3525,-0.56,-146.0,458.7,-7.3,391,3530,0.00,1.70,0.00,0.000,6,0.000,0.018,2600,2045,3429,0,0,0,0,0,0
$GC,3856,-0.56,-146.0,483.0,-7.8,422,3860,0.00,2.22,0.00,0.000,4,0.000,0.030,2600,514,3426,0,0,0,0,0,0
$GC,3945,-0.56,-146.0,491.2,-9.1,429,3952,0.00,2.17,0.00,0.000,6,0.000,0.021,2600,2039,3426,0,0,0,0,0,0
$GC,4274,-0.56,-146.0,520.3,-8.6,450,4279,0.00,2.25,0.00,0.000,4,0.000,0.029,2600,524,3424,0,0,0,0,0,0
$GC,4358,-0.56,-146.0,527.7,-8.9,453,4365,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1993,3423,0,0,0,0,0,0
$GC,4674,-0.56,-146.0,551.2,-7.1,469,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1994,3421,0,0,0,0,0,0
$GC,4984,-0.56,-146.0,572.1,-6.8,484,4988,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,519,3418,0,0,0,0,0,0
$GC,5018,-0.56,-146.0,574.6,-6.8,485,5021,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1970,3418,0,0,0,0,0,0
$GC,5340,-0.56,-146.0,597.0,-7.5,501,5344,0.00,2.12,0.00,0.000,4,0.000,0.030,2600,523,3416,0,0,0,0,0,0
$GC,5396,-0.56,-146.0,601.8,-8.4,503,5404,0.00,2.08,0.00,0.000,6,0.000,0.021,2600,1957,3415,0,0,0,0,0,0
$GC,5713,-0.56,-146.0,624.8,-7.1,519,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1957,3414,0,0,0,0,0,0
$GC,6022,-0.56,-146.0,646.4,-7.1,534,6027,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3257,3412,0,0,0,0,0,0
$GC,6069,-0.56,-146.0,649.8,-7.4,536,6074,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1947,3411,0,0,0,0,0,0
$GC,6403,-0.56,-146.0,675.1,-7.4,552,6406,0.00,1.95,0.00,0.000,4,0.000,0.034,2600,3267,3409,0,0,0,0,0,0
$GC,6426,-0.56,-146.0,676.7,-7.2,553,6430,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1950,3409,0,0,0,0,0,0
$GC,6761,-0.56,-146.0,698.5,-6.3,569,6766,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,517,3408,0,0,0,0,0,0
$GC,6856,-0.56,-146.0,705.5,-7.5,573,6860,0.00,2.05,0.00,0.000,6,0.000,0.022,2600,1931,3406,0,0,0,0,0,0
$GC,7186,-0.56,-146.0,726.9,-6.7,589,7189,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3263,3405,0,0,0,0,0,0
$GC,7213,-0.56,-146.0,728.9,-6.7,590,7217,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1919,3405,0,0,0,0,0,0
$GC,7541,-0.56,-146.0,750.0,-6.4,606,7545,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,507,3403,0,0,0,0,0,0
$GC,7593,-0.56,-146.0,753.7,-7.3,608,7596,0.00,2.05,0.00,0.000,6,0.000,0.022,2600,1919,3403,0,0,0,0,0,0
$GC,7921,-0.56,-146.0,776.4,-7.2,624,7924,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3263,3401,0,0,0,0,0,0
$GC,8022,-0.56,-146.0,783.8,-7.3,628,8027,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1945,3400,0,0,0,0,0,0
$GC,8344,-0.56,-146.0,806.3,-7.0,644,8348,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,500,3399,0,0,0,0,0,0
$GC,8424,-0.56,-146.0,812.2,-7.6,647,8432,0.00,2.08,0.00,0.000,6,0.000,0.022,2600,1925,3399,0,0,0,0,0,0
$GC,8740,-0.56,-146.0,833.5,-6.5,663,8744,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3265,3397,0,0,0,0,0,0
$GC,8773,-0.56,-146.0,835.8,-6.6,664,8777,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1915,3397,0,0,0,0,0,0
$GC,9097,-0.56,-146.0,856.4,-6.5,680,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1914,3396,0,0,0,0,0,0
$GC,9405,-0.56,-146.0,877.0,-6.8,695,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1915,3395,0,0,0,0,0,0
$GC,9714,-0.56,-146.0,897.4,-6.4,710,9719,0.00,2.10,0.00,0.000,4,0.000,0.033,2600,510,3394,0,0,0,0,0,0
$GC,9770,-0.56,-146.0,901.4,-7.3,712,9774,0.00,2.05,0.00,0.000,6,0.000,0.022,2599,1914,3394,0,0,0,0,0,0
$GC,10092,-0.56,-146.0,922.7,-6.5,728,10096,0.00,2.03,0.00,0.000,4,0.000,0.038,2599,3266,3393,0,0,0,0,0,0
$GC,10194,-0.56,-146.0,929.6,-6.7,732,10199,0.00,1.90,0.00,0.000,6,0.000,0.020,2599,1947,3393,0,0,0,0,0,0
$GC,10516,-0.56,-146.0,949.7,-6.1,748,10520,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,504,3392,0,0,0,0,0,0
$GC,10567,-0.56,-146.0,953.1,-6.5,750,10571,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1942,3392,0,0,0,0,0,0
$GC,10889,-0.56,-146.0,970.9,-5.3,766,10893,0.00,2.00,0.00,0.000,4,0.000,0.039,2600,3274,3391,0,0,0,0,0,0
$GC,10917,-0.56,-146.0,972.4,-5.1,767,10922,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1945,3391,0,0,0,0,0,0
$GC,11245,-0.56,-146.0,989.9,-5.4,783,11249,0.00,2.08,0.00,0.000,3,0.000,0.032,2600,526,3391,0,0,0,0,0,0
$STATE,11250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11250,begin apogee
$GC,11259,-0.20,0.0,990.3,5.5,783,11379,0.40,0.00,111.38,1.416,4,0.125,0.000,2733,2069,2838,0,0,0,0,0,0
$STATE,11379,end apogee,CONTROL_FINISHED_OK
$STATE,11379,begin climb
$GC,11382,0.56,146.0,992.4,0.0,788,11518,0.73,2.25,123.70,1.365,4,0.083,0.039,2979,3475,2241,0,0,0,0,0,0
$GC,11692,0.56,146.0,956.7,13.9,802,11699,0.00,2.10,0.00,0.000,6,0.000,0.021,2986,2088,2232,0,0,0,0,0,0
$GC,12008,0.56,146.0,917.9,12.5,818,12013,0.00,2.17,0.00,0.000,4,0.000,0.037,2986,3472,2230,0,0,0,0,0,0
$GC,12214,0.56,146.0,890.2,13.2,827,12218,0.00,2.12,0.00,0.000,6,0.000,0.022,2994,2039,2229,0,0,0,0,0,0
$GC,12541,0.56,146.0,849.7,12.6,843,12545,0.00,2.05,0.00,0.000,4,0.000,0.034,3004,684,2227,0,0,0,0,0,0
$GC,12613,0.56,146.0,840.6,12.3,846,12617,0.00,1.98,0.00,0.000,6,0.000,0.024,3004,2019,2227,0,0,0,0,0,0
$GC,12941,0.56,146.0,800.9,12.2,862,12945,0.00,2.20,0.00,0.000,4,0.000,0.038,3005,3469,2226,0,0,0,0,0,0
$GC,13027,0.56,146.0,789.7,12.9,866,13032,0.12,2.10,0.00,0.000,6,0.173,0.022,2982,2035,2226,0,0,0,0,0,0
$GC,13356,0.56,146.0,755.4,10.5,882,13360,0.00,2.00,0.00,0.000,4,0.000,0.035,2990,689,2225,0,0,0,0,0,0
$GC,13402,0.56,146.0,750.2,10.7,884,13406,0.00,2.05,0.00,0.000,6,0.000,0.024,2990,2078,2225,0,0,0,0,0,0
$GC,13737,0.56,146.0,711.8,11.6,900,13741,0.00,2.10,0.00,0.000,4,0.000,0.039,2990,3468,2225,0,0,0,0,0,0
$GC,13769,0.56,146.0,707.2,12.9,901,13776,0.00,2.05,0.00,0.000,6,0.000,0.022,3000,2061,2225,0,0,0,0,0,0
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$STATE,21590,end climb,SURFACE_DEPTH_REACHED
$STATE,21590,begin surface coast
$FINISH,0.7,1.013831
$STATE,21620,end surface coast,CONTROL_FINISHED_OK
$STATE,21620,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,32.28
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,29.10
$XPDR_PINGS,15
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$10V_AH,10.1,21.191
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330504
$DATA_FILE_SIZE,100345,1707
$CAP_FILE_SIZE,243378,0
$CFSIZE,260165632,130097152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134, 83.8,1
$GPS,080711,090036,1755.908,12418.166,37,1.0,37,-2.0