version: 66.09
glider: 167
mission: 8
dive: 139
start: 7 12 111 21 21 1
data:
$ID,167
$MISSION,8
$DIVE,139
$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,-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,-56561.77
$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,83
$R_STBD_OVSHOOT,51
$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
$GPS1,120711,210930,1802.285,12359.283,39,1.1,39,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-70.0
$GPS2,120711,212037,1802.324,12359.466,15,2.0,15,-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,274.2,188920,-15.4,-8.250
$D_GRID,4820
$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,-146.0,0.0,0.0,0,103,0.00,0.00,-83.35,0.000,2,0.000,0.000,109,1878,3039,0,0,0,0,0,0
$GC,107,-0.56,-146.0,5.7,-9.5,11,131,9.85,2.08,-6.57,0.000,4,0.229,0.038,2616,483,3438,0,0,0,0,0,0
$GC,230,-0.56,-146.0,50.0,-27.9,31,239,0.00,2.08,0.00,0.000,6,0.000,0.021,2609,1890,3438,0,0,0,0,0,0
$GC,308,-0.56,-146.0,70.8,-23.6,44,315,0.00,2.05,0.00,0.000,4,0.000,0.031,2599,3262,3438,0,0,0,0,0,0
$GC,333,-0.56,-146.0,76.8,-24.8,47,342,0.00,2.12,0.00,0.000,6,0.000,0.018,2599,1791,3438,0,0,0,0,0,0
$GC,411,-0.56,-146.0,93.7,-20.3,60,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1790,3438,0,0,0,0,0,0
$GC,486,-0.56,-146.0,109.6,-21.7,73,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1790,3439,0,0,0,0,0,0
$GC,562,-0.56,-146.0,124.5,-19.4,86,571,0.00,2.22,0.00,0.000,4,0.000,0.030,2589,3273,3439,0,0,0,0,0,0
$GC,613,-0.56,-146.0,135.0,-19.7,94,622,0.00,2.08,0.00,0.000,6,0.000,0.018,2589,1825,3439,0,0,0,0,0,0
$GC,689,-0.56,-146.0,148.4,-17.7,107,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1824,3439,0,0,0,0,0,0
$GC,766,-0.56,-146.0,160.3,-15.3,120,774,0.00,1.95,0.00,0.000,4,0.000,0.028,2588,488,3439,0,0,0,0,0,0
$GC,810,-0.56,-146.0,168.0,-16.9,127,819,0.10,2.05,0.00,0.000,6,0.137,0.019,2613,1907,3439,0,0,0,0,0,0
$GC,889,-0.56,-146.0,180.2,-15.0,140,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1907,3439,0,0,0,0,0,0
$GC,966,-0.56,-146.0,191.0,-13.5,153,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1907,3440,0,0,0,0,0,0
$GC,1046,-0.56,-146.0,201.3,-12.2,166,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1908,3440,0,0,0,0,0,0
$GC,1366,-0.56,-146.0,237.7,-10.2,196,1370,0.00,1.98,0.00,0.000,4,0.000,0.031,2604,3265,3440,0,0,0,0,0,0
$GC,1403,-0.56,-146.0,241.4,-10.3,199,1408,0.00,1.92,0.00,0.000,6,0.000,0.017,2604,1893,3440,0,0,0,0,0,0
$GC,1734,-0.56,-146.0,278.3,-10.7,230,1739,0.00,2.00,0.00,0.000,4,0.000,0.028,2604,517,3439,0,0,0,0,0,0
$GC,1780,-0.56,-146.0,283.4,-11.6,234,1784,0.00,2.00,0.00,0.000,6,0.000,0.020,2602,1922,3439,0,0,0,0,0,0
$GC,2112,-0.56,-146.0,319.3,-10.1,265,2116,0.00,1.95,0.00,0.000,4,0.000,0.033,2600,3261,3437,0,0,0,0,0,0
$GC,2172,-0.56,-146.0,325.0,-9.2,270,2179,0.00,1.85,0.00,0.000,6,0.000,0.018,2601,1941,3437,0,0,0,0,0,0
$GC,2498,-0.56,-146.0,352.1,-8.1,301,2502,0.00,2.08,0.00,0.000,4,0.000,0.029,2600,503,3435,0,0,0,0,0,0
$GC,2575,-0.56,-146.0,359.3,-9.3,307,2582,0.00,2.00,0.00,0.000,6,0.000,0.021,2599,1899,3434,0,0,0,0,0,0
$GC,2901,-0.56,-146.0,389.5,-9.3,338,2906,0.00,2.03,0.00,0.000,4,0.000,0.034,2599,3261,3432,0,0,0,0,0,0
$GC,3063,-0.56,-146.0,402.6,-8.2,352,3066,0.00,1.80,0.00,0.000,6,0.000,0.018,2600,1968,3431,0,0,0,0,0,0
$GC,3394,-0.56,-146.0,431.4,-8.8,383,3397,0.00,2.10,0.00,0.000,4,0.000,0.028,2599,515,3429,0,0,0,0,0,0
$GC,3495,-0.56,-146.0,441.5,-10.1,391,3502,0.00,2.05,0.00,0.000,6,0.000,0.021,2593,1949,3428,0,0,0,0,0,0
$GC,3820,-0.56,-146.0,472.2,-8.7,422,3824,0.00,1.92,0.00,0.000,4,0.000,0.034,2588,3263,3425,0,0,0,0,0,0
$GC,3860,-0.56,-146.0,475.8,-8.9,425,3868,0.00,1.80,0.00,0.000,6,0.000,0.018,2588,1974,3425,0,0,0,0,0,0
$GC,4196,-0.56,-146.0,504.2,-8.1,455,4201,0.10,2.15,0.00,0.000,4,0.171,0.029,2614,506,3423,0,0,0,0,0,0
$GC,4329,-0.56,-146.0,513.7,-7.0,461,4333,0.00,2.10,0.00,0.000,6,0.000,0.021,2613,1962,3422,0,0,0,0,0,0
$GC,4663,-0.56,-146.0,536.2,-6.9,477,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1962,3420,0,0,0,0,0,0
$GC,4973,-0.56,-146.0,559.9,-7.7,492,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1962,3417,0,0,0,0,0,0
$GC,5281,-0.56,-146.0,581.7,-6.6,507,5286,0.00,1.95,0.00,0.000,4,0.000,0.037,2614,3263,3415,0,0,0,0,0,0
$GC,5342,-0.56,-146.0,585.5,-6.0,509,5350,0.00,1.85,0.00,0.000,6,0.000,0.019,2614,1951,3415,0,0,0,0,0,0
$GC,5660,-0.56,-146.0,603.0,-5.6,525,5664,0.00,2.10,0.00,0.000,4,0.000,0.031,2614,512,3413,0,0,0,0,0,0
$GC,5692,-0.56,-146.0,605.2,-5.6,526,5699,0.00,2.05,0.00,0.000,6,0.000,0.021,2614,1928,3412,0,0,0,0,0,0
$GC,6009,-0.56,-146.0,624.6,-6.6,542,6014,0.00,2.10,0.00,0.000,4,0.000,0.029,2614,519,3411,0,0,0,0,0,0
$GC,6038,-0.56,-146.0,626.7,-7.0,543,6041,0.00,2.08,0.00,0.000,6,0.000,0.022,2614,1948,3410,0,0,0,0,0,0
$GC,6366,-0.56,-146.0,648.0,-6.3,559,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1948,3409,0,0,0,0,0,0
$GC,6676,-0.56,-146.0,666.1,-5.7,574,6680,0.00,1.95,0.00,0.000,4,0.000,0.037,2614,3261,3407,0,0,0,0,0,0
$GC,6732,-0.56,-146.0,669.4,-5.5,576,6736,0.00,1.80,0.00,0.000,6,0.000,0.020,2614,1985,3406,0,0,0,0,0,0
$GC,7054,-0.56,-146.0,686.2,-5.2,592,7058,0.00,2.15,0.00,0.000,4,0.000,0.031,2614,516,3405,0,0,0,0,0,0
$GC,7137,-0.56,-146.0,691.2,-6.1,595,7143,0.00,2.08,0.00,0.000,6,0.000,0.022,2615,1944,3404,0,0,0,0,0,0
$GC,7453,-0.56,-146.0,708.7,-5.7,611,7457,0.00,1.95,0.00,0.000,4,0.000,0.037,2614,3265,3403,0,0,0,0,0,0
$GC,7486,-0.56,-146.0,710.6,-5.6,612,7490,0.00,1.85,0.00,0.000,6,0.000,0.020,2614,1963,3403,0,0,0,0,0,0
$GC,7808,-0.56,-146.0,729.0,-5.7,628,7812,0.00,2.12,0.00,0.000,4,0.000,0.032,2614,516,3402,0,0,0,0,0,0
$GC,7871,-0.56,-146.0,733.4,-6.9,631,7875,0.00,2.05,0.00,0.000,6,0.000,0.022,2614,1929,3401,0,0,0,0,0,0
$GC,8206,-0.56,-146.0,754.0,-6.1,647,8210,0.00,2.00,0.00,0.000,4,0.000,0.037,2614,3270,3399,0,0,0,0,0,0
$GC,8289,-0.56,-146.0,758.9,-5.7,650,8296,0.00,1.83,0.00,0.000,6,0.000,0.019,2614,1980,3399,0,0,0,0,0,0
$GC,8608,-0.56,-146.0,776.3,-5.5,666,8612,0.00,2.17,0.00,0.000,4,0.000,0.031,2614,519,3398,0,0,0,0,0,0
$GC,8658,-0.56,-146.0,779.6,-5.7,668,8662,0.00,2.08,0.00,0.000,6,0.000,0.023,2614,1941,3397,0,0,0,0,0,0
$GC,8986,-0.56,-146.0,798.1,-5.8,684,8990,0.00,1.98,0.00,0.000,4,0.000,0.038,2614,3261,3396,0,0,0,0,0,0
$GC,9051,-0.56,-146.0,801.7,-6.0,686,9058,0.00,1.83,0.00,0.000,6,0.000,0.021,2614,1977,3396,0,0,0,0,0,0
$GC,9368,-0.56,-146.0,820.9,-6.2,702,9372,0.00,2.15,0.00,0.000,4,0.000,0.032,2614,519,3396,0,0,0,0,0,0
$GC,9412,-0.56,-146.0,824.3,-6.5,704,9415,0.00,2.10,0.00,0.000,6,0.000,0.023,2614,1956,3395,0,0,0,0,0,0
$GC,9741,-0.56,-146.0,846.0,-7.0,720,9745,0.00,1.95,0.00,0.000,4,0.000,0.039,2614,3269,3395,0,0,0,0,0,0
$GC,9821,-0.56,-146.0,851.6,-7.0,723,9825,0.00,1.80,0.00,0.000,6,0.000,0.020,2614,1999,3394,0,0,0,0,0,0
$GC,10145,-0.56,-146.0,872.0,-5.9,739,10149,0.00,2.17,0.00,0.000,4,0.000,0.031,2614,518,3393,0,0,0,0,0,0
$GC,10222,-0.56,-146.0,877.4,-6.9,742,10232,0.00,2.12,0.00,0.000,6,0.000,0.023,2614,1969,3393,0,0,0,0,0,0
$GC,10541,-0.56,-146.0,895.7,-5.6,758,10544,0.00,1.95,0.00,0.000,4,0.000,0.039,2613,3268,3392,0,0,0,0,0,0
$GC,10587,-0.56,-146.0,898.2,-5.4,760,10591,0.00,1.80,0.00,0.000,6,0.000,0.019,2614,1994,3392,0,0,0,0,0,0
$GC,10920,-0.56,-146.0,914.8,-4.5,776,10924,0.00,2.17,0.00,0.000,4,0.000,0.031,2614,516,3392,0,0,0,0,0,0
$GC,10954,-0.56,-146.0,916.5,-4.5,777,10962,0.00,2.15,0.00,0.000,6,0.000,0.023,2614,1984,3391,0,0,0,0,0,0
$GC,11271,-0.56,-146.0,929.7,-4.1,793,11274,0.00,1.92,0.00,0.000,4,0.000,0.040,2614,3264,3391,0,0,0,0,0,0
$GC,11309,-0.56,-146.0,931.4,-4.2,794,11316,0.00,1.77,0.00,0.000,6,0.000,0.020,2614,2009,3390,0,0,0,0,0,0
$GC,11628,-0.56,-146.0,945.3,-4.8,810,11633,0.00,2.22,0.00,0.000,4,0.000,0.033,2614,521,3390,0,0,0,0,0,0
$GC,11674,-0.56,-146.0,948.0,-4.9,812,11678,0.00,2.17,0.00,0.000,6,0.000,0.024,2614,1983,3390,0,0,0,0,0,0
$GC,12008,-0.56,-146.0,965.5,-5.2,828,12011,0.00,1.92,0.00,0.000,4,0.000,0.041,2614,3263,3390,0,0,0,0,0,0
$GC,12092,-0.56,-146.0,970.1,-5.3,831,12098,0.00,1.73,0.00,0.000,6,0.000,0.019,2614,2038,3389,0,0,0,0,0,0
$GC,12409,-0.56,-146.0,985.8,-4.8,847,12414,0.00,2.25,0.00,0.000,4,0.000,0.031,2614,525,3388,0,0,0,0,0,0
$GC,12465,-0.56,-146.0,989.0,-4.9,849,12469,0.00,2.20,0.00,0.000,6,0.000,0.024,2614,2020,3387,0,0,0,0,0,0
$STATE,12490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12490,begin apogee
$GC,12496,-0.20,0.0,990.4,5.6,850,12615,0.32,0.00,111.68,1.418,4,0.121,0.000,2727,2021,2838,0,0,0,0,0,0
$STATE,12616,end apogee,CONTROL_FINISHED_OK
$STATE,12616,begin climb
$GC,12619,0.56,146.0,992.3,0.0,855,12753,0.70,2.10,124.43,1.366,4,0.080,0.031,2983,723,2245,0,0,0,0,0,0
$GC,12970,0.56,146.0,957.7,11.0,871,12974,0.00,2.05,0.00,0.000,6,0.000,0.024,2983,2064,2235,0,0,0,0,0,0
$GC,13293,0.56,146.0,922.6,10.7,887,13298,0.00,2.17,0.00,0.000,4,0.000,0.040,2983,3460,2231,0,0,0,0,0,0
$GC,13550,0.56,146.0,892.0,11.8,898,13554,0.00,2.05,0.00,0.000,6,0.000,0.022,2993,2081,2228,0,0,0,0,0,0
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$STATE,22836,end climb,SURFACE_DEPTH_REACHED
$STATE,22836,begin surface coast
$FINISH,0.8,1.021291
$STATE,22868,end surface coast,CONTROL_FINISHED_OK
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$TCM_TEMP,28.90
$XPDR_PINGS,20
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$10V_AH,10.2,24.577
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329892
$DATA_FILE_SIZE,103576,1770
$CAP_FILE_SIZE,258679,0
$CFSIZE,260165632,128004096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,102.5,1
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