version: 66.09
glider: 167
mission: 8
dive: 123
start: 7 8 111 15 25 8
data:
$ID,167
$MISSION,8
$DIVE,123
$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,-56541.633
$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,75
$R_STBD_OVSHOOT,58
$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
$GPS1,080711,151436,1755.482,12416.702,37,0.9,38,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.3
$GPS2,080711,152444,1755.312,12416.818,12,1.6,12,-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,292.0,221861,-15.4,-8.250
$D_GRID,4904
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-79.60,0.000,2,0.000,0.000,107,1888,2946,0,0,0,0,0,0
$GC,103,-0.56,-146.0,5.0,-7.3,11,130,9.82,2.08,-8.48,0.000,4,0.229,0.039,2600,3288,3437,0,0,0,0,0,0
$GC,144,-0.56,-146.0,22.8,-37.5,16,152,0.00,2.05,0.00,0.000,6,0.000,0.017,2602,1856,3438,0,0,0,0,0,0
$GC,218,-0.56,-146.0,50.4,-35.4,29,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1854,3438,0,0,0,0,0,0
$GC,297,-0.56,-146.0,72.3,-26.2,42,306,0.00,2.12,0.00,0.000,4,0.000,0.028,2595,3274,3439,0,0,0,0,0,0
$GC,320,-0.56,-146.0,77.6,-22.6,45,329,0.00,2.00,0.00,0.000,6,0.000,0.018,2595,1881,3439,0,0,0,0,0,0
$GC,399,-0.56,-146.0,94.9,-23.4,58,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1880,3438,0,0,0,0,0,0
$GC,474,-0.56,-146.0,111.5,-20.6,71,482,0.00,2.05,0.00,0.000,4,0.000,0.028,2595,484,3439,0,0,0,0,0,0
$GC,544,-0.56,-146.0,125.9,-20.1,83,553,0.00,2.05,0.00,0.000,6,0.000,0.020,2587,1893,3439,0,0,0,0,0,0
$GC,621,-0.56,-146.0,140.2,-18.4,96,630,0.12,2.05,0.00,0.000,4,0.183,0.031,2609,3265,3439,0,0,0,0,0,0
$GC,662,-0.56,-146.0,147.0,-16.4,102,670,0.00,1.95,0.00,0.000,6,0.000,0.017,2610,1888,3439,0,0,0,0,0,0
$GC,743,-0.56,-146.0,160.7,-17.8,115,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1887,3439,0,0,0,0,0,0
$GC,818,-0.56,-146.0,172.6,-15.0,128,826,0.00,2.03,0.00,0.000,4,0.000,0.027,2609,495,3440,0,0,0,0,0,0
$GC,869,-0.56,-146.0,179.9,-15.2,136,877,0.00,2.08,0.00,0.000,6,0.000,0.020,2602,1935,3440,0,0,0,0,0,0
$GC,946,-0.56,-146.0,190.7,-14.5,149,956,0.00,1.98,0.00,0.000,4,0.000,0.031,2593,3271,3439,0,0,0,0,0,0
$GC,1003,-0.56,-146.0,199.3,-13.9,158,1011,0.00,1.95,0.00,0.000,6,0.000,0.018,2592,1897,3440,0,0,0,0,0,0
$GC,1074,-0.56,-146.0,209.9,-14.7,165,1078,0.00,2.03,0.00,0.000,4,0.000,0.028,2593,493,3439,0,0,0,0,0,0
$GC,1124,-0.56,-146.0,216.8,-14.7,169,1128,0.00,1.90,0.00,0.000,6,0.000,0.020,2588,1832,3440,0,0,0,0,0,0
$GC,1455,-0.56,-146.0,262.8,-12.6,200,1459,0.00,2.08,0.00,0.000,4,0.000,0.032,2587,3268,3440,0,0,0,0,0,0
$GC,1601,-0.56,-146.0,278.3,-10.6,212,1609,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1861,3439,0,0,0,0,0,0
$GC,1926,-0.56,-146.0,314.3,-10.6,243,1930,0.10,1.98,0.00,0.000,4,0.175,0.029,2613,500,3438,0,0,0,0,0,0
$GC,2016,-0.56,-146.0,323.3,-10.0,251,2021,0.00,1.98,0.00,0.000,6,0.000,0.021,2611,1872,3437,0,0,0,0,0,0
$GC,2348,-0.56,-146.0,353.0,-8.1,282,2351,0.00,2.00,0.00,0.000,4,0.000,0.032,2601,3262,3436,0,0,0,0,0,0
$GC,2503,-0.56,-146.0,366.5,-9.0,295,2510,0.00,1.90,0.00,0.000,6,0.000,0.018,2601,1905,3435,0,0,0,0,0,0
$GC,2829,-0.56,-146.0,395.1,-8.6,326,2832,0.00,2.00,0.00,0.000,4,0.000,0.033,2602,3261,3432,0,0,0,0,0,0
$GC,2889,-0.56,-146.0,400.6,-8.7,331,2896,0.00,1.83,0.00,0.000,6,0.000,0.019,2601,1972,3432,0,0,0,0,0,0
$GC,3217,-0.56,-146.0,430.0,-9.6,362,3222,0.00,2.15,0.00,0.000,4,0.000,0.031,2602,510,3430,0,0,0,0,0,0
$GC,3396,-0.56,-146.0,449.2,-10.7,378,3400,0.00,2.03,0.00,0.000,6,0.000,0.021,2601,1919,3429,0,0,0,0,0,0
$GC,3726,-0.56,-146.0,479.2,-8.4,409,3731,0.00,2.10,0.00,0.000,4,0.000,0.032,2601,509,3426,0,0,0,0,0,0
$GC,3760,-0.56,-146.0,482.3,-8.8,412,3765,0.00,2.03,0.00,0.000,6,0.000,0.021,2601,1905,3426,0,0,0,0,0,0
$GC,4102,-0.56,-146.0,510.2,-8.1,438,4106,0.00,2.00,0.00,0.000,4,0.000,0.034,2601,3268,3424,0,0,0,0,0,0
$GC,4148,-0.56,-146.0,514.3,-8.1,440,4152,0.00,1.90,0.00,0.000,6,0.000,0.018,2601,1914,3423,0,0,0,0,0,0
$GC,4482,-0.56,-146.0,539.3,-7.3,456,4485,0.00,2.05,0.00,0.000,4,0.000,0.032,2600,514,3421,0,0,0,0,0,0
$GC,4530,-0.56,-146.0,542.9,-7.8,458,4534,0.00,2.00,0.00,0.000,6,0.000,0.021,2601,1904,3421,0,0,0,0,0,0
$GC,4865,-0.56,-146.0,567.2,-7.2,474,4868,0.00,2.00,0.00,0.000,4,0.000,0.034,2601,3272,3419,0,0,0,0,0,0
$GC,4960,-0.56,-146.0,573.9,-6.9,478,4964,0.00,1.90,0.00,0.000,6,0.000,0.020,2601,1929,3417,0,0,0,0,0,0
$GC,5289,-0.56,-146.0,597.1,-7.5,494,5292,0.00,2.08,0.00,0.000,4,0.000,0.032,2601,516,3415,0,0,0,0,0,0
$GC,5339,-0.56,-146.0,601.1,-7.6,496,5343,0.00,2.03,0.00,0.000,6,0.000,0.021,2601,1899,3415,0,0,0,0,0,0
$GC,5667,-0.56,-146.0,625.9,-6.9,512,5671,0.00,2.00,0.00,0.000,4,0.000,0.036,2601,3264,3412,0,0,0,0,0,0
$GC,5706,-0.56,-146.0,628.8,-6.9,513,5714,0.00,1.92,0.00,0.000,6,0.000,0.020,2601,1905,3412,0,0,0,0,0,0
$GC,6024,-0.56,-146.0,650.6,-6.7,529,6028,0.00,2.08,0.00,0.000,4,0.000,0.032,2601,509,3410,0,0,0,0,0,0
$GC,6114,-0.56,-146.0,657.9,-8.0,533,6119,0.00,2.00,0.00,0.000,6,0.000,0.022,2601,1877,3409,0,0,0,0,0,0
$GC,6447,-0.56,-146.0,679.7,-6.2,549,6451,0.00,2.08,0.00,0.000,4,0.000,0.036,2600,3273,3408,0,0,0,0,0,0
$GC,6534,-0.56,-146.0,684.7,-6.0,553,6538,0.00,1.95,0.00,0.000,6,0.000,0.021,2601,1906,3407,0,0,0,0,0,0
$GC,6868,-0.56,-146.0,703.7,-5.6,569,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1905,3405,0,0,0,0,0,0
$GC,7178,-0.56,-146.0,719.0,-5.0,584,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1905,3403,0,0,0,0,0,0
$GC,7486,-0.56,-146.0,737.0,-6.1,599,7490,0.00,2.08,0.00,0.000,4,0.000,0.033,2600,502,3402,0,0,0,0,0,0
$GC,7532,-0.56,-146.0,740.2,-6.7,601,7536,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1923,3401,0,0,0,0,0,0
$GC,7867,-0.56,-146.0,763.0,-7.0,617,7871,0.00,1.98,0.00,0.000,4,0.000,0.037,2601,3264,3400,0,0,0,0,0,0
$GC,7958,-0.56,-146.0,769.6,-7.1,621,7962,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1928,3399,0,0,0,0,0,0
$GC,8293,-0.56,-146.0,792.0,-6.6,637,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1927,3398,0,0,0,0,0,0
$GC,8601,-0.56,-146.0,811.2,-6.3,652,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1927,3397,0,0,0,0,0,0
$GC,8910,-0.56,-146.0,831.0,-6.5,667,8915,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3270,3396,0,0,0,0,0,0
$GC,8950,-0.56,-146.0,833.6,-6.3,668,8957,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1922,3396,0,0,0,0,0,0
$GC,9266,-0.56,-146.0,854.2,-6.8,684,9270,0.00,2.10,0.00,0.000,4,0.000,0.033,2600,497,3395,0,0,0,0,0,0
$GC,9330,-0.56,-146.0,858.8,-7.4,687,9335,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1905,3394,0,0,0,0,0,0
$GC,9663,-0.56,-146.0,880.9,-6.5,703,9666,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3272,3393,0,0,0,0,0,0
$GC,9778,-0.56,-146.0,888.0,-6.2,708,9782,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1922,3393,0,0,0,0,0,0
$GC,10113,-0.56,-146.0,907.8,-5.7,724,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1922,3392,0,0,0,0,0,0
$GC,10421,-0.56,-146.0,925.9,-5.9,739,10425,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3264,3391,0,0,0,0,0,0
$GC,10477,-0.56,-146.0,929.6,-6.3,741,10481,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1947,3391,0,0,0,0,0,0
$GC,10799,-0.56,-146.0,949.1,-6.0,757,10803,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,507,3391,0,0,0,0,0,0
$GC,10879,-0.56,-146.0,954.3,-6.7,760,10885,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1942,3390,0,0,0,0,0,0
$GC,11195,-0.56,-146.0,973.4,-6.1,776,11200,0.00,2.00,0.00,0.000,4,0.000,0.041,2600,3258,3390,0,0,0,0,0,0
$GC,11300,-0.56,-146.0,980.1,-6.3,780,11307,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1960,3389,0,0,0,0,0,0
$STATE,11470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11470,begin apogee
$GC,11478,-0.20,0.0,991.3,6.6,789,11596,0.38,0.00,111.25,1.417,4,0.122,0.000,2728,2087,2838,0,0,0,0,0,0
$STATE,11597,end apogee,CONTROL_FINISHED_OK
$STATE,11597,begin climb
$GC,11601,0.56,146.0,995.0,0.0,794,11732,0.70,0.00,124.43,1.368,6,0.079,0.000,2977,2086,2242,0,0,0,0,0,0
$GC,12050,0.56,146.0,955.4,10.1,816,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2086,2231,0,0,0,0,0,0
$GC,12358,0.56,146.0,923.2,10.7,831,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2086,2229,0,0,0,0,0,0
$GC,12667,0.56,146.0,887.8,11.8,846,12671,0.00,2.10,0.00,0.000,4,0.000,0.039,2977,3460,2228,0,0,0,0,0,0
$GC,12690,0.56,146.0,884.8,11.9,847,12694,0.00,2.05,0.00,0.000,6,0.000,0.022,2985,2073,2227,0,0,0,0,0,0
$GC,13018,0.56,146.0,844.3,12.3,863,13022,0.00,2.08,0.00,0.000,4,0.000,0.034,2995,689,2226,0,0,0,0,0,0
$GC,13074,0.56,146.0,837.0,12.6,865,13079,0.00,1.98,0.00,0.000,6,0.000,0.024,2995,2008,2226,0,0,0,0,0,0
$GC,13396,0.56,146.0,796.9,12.5,881,13400,0.00,2.20,0.00,0.000,4,0.000,0.038,2995,3461,2225,0,0,0,0,0,0
$GC,13462,0.56,146.0,787.4,13.7,884,13467,0.00,2.12,0.00,0.000,6,0.000,0.022,3004,2033,2225,0,0,0,0,0,0
$GC,13789,0.56,146.0,746.7,12.1,900,13793,0.00,2.00,0.00,0.000,4,0.000,0.035,3015,688,2224,0,0,0,0,0,0
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$STATE,21995,end climb,SURFACE_DEPTH_REACHED
$STATE,21995,begin surface coast
$FINISH,0.8,1.008755
$STATE,22037,end surface coast,CONTROL_FINISHED_OK
$STATE,22037,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.72
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.80
$XPDR_PINGS,12
$24V_AH,23.8,23.050
$10V_AH,10.2,21.564
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330492
$DATA_FILE_SIZE,100216,1726
$CAP_FILE_SIZE,244818,0
$CFSIZE,260165632,129867776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 71.5,1
$GPS,080711,213500,1756.620,12415.120,40,1.6,40,-2.0