version: 66.09
glider: 167
mission: 8
dive: 141
start: 7 13 111 10 20 56
data:
$ID,167
$MISSION,8
$DIVE,141
$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,-56564.285
$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,70
$R_STBD_OVSHOOT,77
$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
$GPS1,130711,100955,1802.341,12357.654,41,1.3,41,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.0
$GPS2,130711,102032,1802.236,12357.813,12,1.9,12,-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,285.4,186188,-15.4,-8.250
$D_GRID,4778
$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,-83.55,0.000,2,0.000,0.000,109,1802,2957,0,0,0,0,0,0
$GC,107,-0.56,-146.0,5.3,-8.6,11,131,9.62,2.00,-8.12,0.000,4,0.221,0.041,2619,463,3438,0,0,0,0,0,0
$GC,344,-0.56,-146.0,77.3,-20.1,53,353,0.00,2.05,0.00,0.000,6,0.000,0.020,2612,1869,3440,0,0,0,0,0,0
$GC,420,-0.56,-146.0,93.2,-22.2,66,428,0.00,2.08,0.00,0.000,4,0.000,0.030,2601,3266,3440,0,0,0,0,0,0
$GC,466,-0.56,-146.0,102.8,-19.3,73,475,0.00,1.80,0.00,0.000,6,0.000,0.017,2601,1992,3440,0,0,0,0,0,0
$GC,542,-0.56,-146.0,116.3,-17.1,86,551,0.00,2.22,0.00,0.000,4,0.000,0.028,2601,478,3440,0,0,0,0,0,0
$GC,609,-0.56,-146.0,128.6,-18.5,97,618,0.00,2.05,0.00,0.000,6,0.000,0.022,2592,1891,3440,0,0,0,0,0,0
$GC,688,-0.56,-146.0,143.0,-19.2,110,696,0.00,2.08,0.00,0.000,4,0.000,0.028,2592,487,3441,0,0,0,0,0,0
$GC,704,-0.56,-146.0,146.4,-19.4,112,714,0.08,1.95,0.00,0.000,6,0.151,0.020,2609,1837,3440,0,0,0,0,0,0
$GC,783,-0.56,-146.0,158.6,-15.1,125,793,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,3258,3440,0,0,0,0,0,0
$GC,812,-0.56,-146.0,163.2,-15.1,129,822,0.00,2.10,0.00,0.000,6,0.000,0.018,2600,1787,3440,0,0,0,0,0,0
$GC,889,-0.56,-146.0,174.8,-15.1,142,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1787,3440,0,0,0,0,0,0
$GC,963,-0.56,-146.0,185.8,-15.6,155,972,0.00,1.90,0.00,0.000,4,0.000,0.028,2600,481,3440,0,0,0,0,0,0
$GC,1003,-0.56,-146.0,192.6,-16.7,161,1013,0.00,1.83,0.00,0.000,6,0.000,0.021,2599,1752,3440,0,0,0,0,0,0
$GC,1084,-0.56,-146.0,205.2,-15.2,172,1088,0.00,2.22,0.00,0.000,4,0.000,0.032,2600,3265,3441,0,0,0,0,0,0
$GC,1150,-0.56,-146.0,213.8,-12.4,177,1153,0.00,1.92,0.00,0.000,6,0.000,0.017,2599,1886,3440,0,0,0,0,0,0
$GC,1480,-0.56,-146.0,253.6,-10.7,208,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1885,3440,0,0,0,0,0,0
$GC,1805,-0.56,-146.0,286.9,-10.9,238,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1885,3440,0,0,0,0,0,0
$GC,2132,-0.56,-146.0,322.4,-9.7,269,2136,0.00,2.03,0.00,0.000,4,0.000,0.032,2600,3261,3438,0,0,0,0,0,0
$GC,2190,-0.56,-146.0,327.7,-8.9,274,2193,0.00,1.88,0.00,0.000,6,0.000,0.018,2600,1910,3437,0,0,0,0,0,0
$GC,2521,-0.56,-146.0,355.5,-8.7,305,2524,0.00,2.03,0.00,0.000,4,0.000,0.030,2600,510,3435,0,0,0,0,0,0
$GC,2646,-0.56,-146.0,367.8,-10.2,316,2650,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1874,3435,0,0,0,0,0,0
$GC,2977,-0.56,-146.0,400.4,-9.6,347,2981,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3270,3432,0,0,0,0,0,0
$GC,3022,-0.56,-146.0,404.6,-9.5,351,3026,0.00,1.95,0.00,0.000,6,0.000,0.018,2599,1879,3432,0,0,0,0,0,0
$GC,3353,-0.56,-146.0,432.3,-7.6,382,3357,0.00,2.00,0.00,0.000,4,0.000,0.030,2599,495,3430,0,0,0,0,0,0
$GC,3380,-0.56,-146.0,434.7,-7.7,384,3387,0.00,2.00,0.00,0.000,6,0.000,0.020,2593,1905,3430,0,0,0,0,0,0
$GC,3706,-0.56,-146.0,461.4,-8.0,415,3710,0.00,1.98,0.00,0.000,4,0.000,0.033,2588,3265,3428,0,0,0,0,0,0
$GC,3766,-0.56,-146.0,466.3,-8.1,420,3773,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1945,3427,0,0,0,0,0,0
$GC,4091,-0.56,-146.0,494.4,-9.6,451,4095,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,500,3424,0,0,0,0,0,0
$GC,4191,-0.56,-146.0,504.9,-10.5,457,4199,0.00,2.08,0.00,0.000,6,0.000,0.022,2587,1938,3423,0,0,0,0,0,0
$GC,4509,-0.56,-146.0,533.2,-8.6,473,4514,0.10,1.98,0.00,0.000,4,0.179,0.036,2613,3248,3421,0,0,0,0,0,0
$GC,4564,-0.56,-146.0,537.6,-7.1,475,4568,0.00,1.85,0.00,0.000,6,0.000,0.019,2613,1936,3421,0,0,0,0,0,0
$GC,4888,-0.56,-146.0,558.5,-6.3,491,4892,0.00,2.10,0.00,0.000,4,0.000,0.032,2613,498,3419,0,0,0,0,0,0
$GC,5010,-0.56,-146.0,567.0,-7.0,496,5017,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1883,3418,0,0,0,0,0,0
$GC,5327,-0.56,-146.0,588.3,-7.1,512,5330,0.00,2.05,0.00,0.000,4,0.000,0.035,2613,3265,3416,0,0,0,0,0,0
$GC,5377,-0.56,-146.0,592.1,-7.2,514,5381,0.00,1.92,0.00,0.000,6,0.000,0.018,2613,1899,3415,0,0,0,0,0,0
$GC,5706,-0.56,-146.0,614.0,-6.7,530,5710,0.00,2.05,0.00,0.000,4,0.000,0.034,2613,3271,3414,0,0,0,0,0,0
$GC,5758,-0.56,-146.0,617.8,-7.1,532,5761,0.00,1.92,0.00,0.000,6,0.000,0.019,2613,1915,3413,0,0,0,0,0,0
$GC,6085,-0.56,-146.0,641.7,-7.4,548,6090,0.00,2.05,0.00,0.000,4,0.000,0.034,2613,3271,3411,0,0,0,0,0,0
$GC,6135,-0.56,-146.0,645.6,-7.6,550,6139,0.00,1.88,0.00,0.000,6,0.000,0.020,2613,1945,3411,0,0,0,0,0,0
$GC,6465,-0.56,-146.0,669.5,-7.0,566,6469,0.00,2.10,0.00,0.000,4,0.000,0.031,2613,510,3408,0,0,0,0,0,0
$GC,6553,-0.56,-146.0,676.6,-7.5,570,6557,0.00,2.08,0.00,0.000,6,0.000,0.021,2613,1939,3407,0,0,0,0,0,0
$GC,6884,-0.56,-146.0,696.0,-5.6,586,6887,0.00,1.98,0.00,0.000,4,0.000,0.037,2613,3267,3406,0,0,0,0,0,0
$GC,6917,-0.56,-146.0,698.2,-5.5,587,6921,0.00,1.90,0.00,0.000,6,0.000,0.019,2613,1927,3406,0,0,0,0,0,0
$GC,7239,-0.56,-146.0,714.9,-5.2,603,7243,0.00,2.08,0.00,0.000,4,0.000,0.031,2613,516,3405,0,0,0,0,0,0
$GC,7274,-0.56,-146.0,717.0,-5.5,604,7277,0.00,2.08,0.00,0.000,6,0.000,0.021,2613,1937,3405,0,0,0,0,0,0
$GC,7596,-0.56,-146.0,735.9,-6.1,620,7600,0.00,2.00,0.00,0.000,4,0.000,0.037,2613,3263,3403,0,0,0,0,0,0
$GC,7651,-0.56,-146.0,739.5,-6.4,622,7655,0.00,1.88,0.00,0.000,6,0.000,0.020,2613,1937,3402,0,0,0,0,0,0
$GC,7975,-0.56,-146.0,759.7,-6.2,638,7979,0.00,2.10,0.00,0.000,4,0.000,0.031,2612,508,3401,0,0,0,0,0,0
$GC,8019,-0.56,-146.0,763.0,-6.3,640,8023,0.00,2.10,0.00,0.000,6,0.000,0.023,2613,1947,3401,0,0,0,0,0,0
$GC,8348,-0.56,-146.0,782.3,-5.9,656,8352,0.00,1.98,0.00,0.000,4,0.000,0.037,2613,3269,3399,0,0,0,0,0,0
$GC,8428,-0.56,-146.0,787.1,-6.3,659,8432,0.00,1.85,0.00,0.000,6,0.000,0.019,2613,1962,3399,0,0,0,0,0,0
$GC,8752,-0.56,-146.0,806.9,-6.2,675,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1961,3398,0,0,0,0,0,0
$GC,9060,-0.56,-146.0,825.5,-6.0,690,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1961,3397,0,0,0,0,0,0
$GC,9369,-0.56,-146.0,844.2,-5.9,705,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1961,3396,0,0,0,0,0,0
$GC,9680,-0.56,-146.0,863.8,-6.5,720,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1960,3395,0,0,0,0,0,0
$GC,9987,-0.56,-146.0,882.8,-6.0,735,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1960,3394,0,0,0,0,0,0
$GC,10297,-0.56,-146.0,901.0,-5.7,750,10302,0.00,2.17,0.00,0.000,4,0.000,0.033,2613,508,3393,0,0,0,0,0,0
$GC,10337,-0.56,-146.0,903.5,-5.8,751,10344,0.00,2.15,0.00,0.000,6,0.000,0.023,2612,1973,3394,0,0,0,0,0,0
$GC,10654,-0.56,-146.0,921.4,-5.6,767,10657,0.00,1.92,0.00,0.000,4,0.000,0.038,2612,3274,3393,0,0,0,0,0,0
$GC,10756,-0.56,-146.0,927.3,-5.7,771,10760,0.00,1.80,0.00,0.000,6,0.000,0.019,2612,2000,3392,0,0,0,0,0,0
$GC,11078,-0.56,-146.0,943.4,-4.7,787,11083,0.00,2.22,0.00,0.000,4,0.000,0.034,2613,514,3392,0,0,0,0,0,0
$GC,11116,-0.56,-146.0,945.4,-4.6,788,11124,0.00,2.20,0.00,0.000,6,0.000,0.024,2612,1992,3391,0,0,0,0,0,0
$GC,11435,-0.56,-146.0,958.9,-4.0,804,11438,0.00,1.90,0.00,0.000,4,0.000,0.039,2612,3263,3390,0,0,0,0,0,0
$GC,11495,-0.56,-146.0,961.6,-4.1,806,11502,0.00,1.80,0.00,0.000,6,0.000,0.021,2613,1999,3390,0,0,0,0,0,0
$GC,11814,-0.56,-146.0,975.2,-4.5,822,11819,0.00,2.22,0.00,0.000,4,0.000,0.033,2613,513,3390,0,0,0,0,0,0
$GC,11860,-0.56,-146.0,977.9,-4.8,824,11864,0.00,2.20,0.00,0.000,6,0.000,0.024,2612,1990,3389,0,0,0,0,0,0
$STATE,12107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12107,begin apogee
$GC,12113,-0.20,0.0,990.0,4.8,836,12233,0.35,0.00,111.72,1.416,4,0.120,0.000,2732,2073,2839,0,0,0,0,0,0
$STATE,12234,end apogee,CONTROL_FINISHED_OK
$STATE,12234,begin climb
$GC,12236,0.56,146.0,991.8,0.0,841,12372,0.68,2.20,125.32,1.363,4,0.075,0.031,2979,711,2242,0,0,0,0,0,0
$GC,12563,0.56,146.0,959.3,11.8,856,12568,0.00,2.12,0.00,0.000,6,0.000,0.024,2979,2079,2232,0,0,0,0,0,0
$GC,12891,0.56,146.0,921.0,11.7,872,12895,0.00,2.08,0.00,0.000,4,0.000,0.032,2986,707,2229,0,0,0,0,0,0
$GC,13138,0.56,146.0,892.3,11.7,883,13142,0.00,2.05,0.00,0.000,6,0.000,0.024,2986,2071,2228,0,0,0,0,0,0
$GC,13465,0.56,146.0,856.8,10.7,899,13469,0.00,2.12,0.00,0.000,4,0.000,0.038,2986,3469,2226,0,0,0,0,0,0
$GC,13505,0.56,146.0,852.0,11.9,901,13509,0.00,2.03,0.00,0.000,6,0.000,0.021,2993,2089,2225,0,0,0,0,0,0
$GC,13838,0.56,146.0,815.4,10.8,917,13843,0.00,2.12,0.00,0.000,4,0.000,0.034,3004,685,2225,0,0,0,0,0,0
$GC,13862,0.56,146.0,812.9,10.6,918,13865,0.00,2.08,0.00,0.000,6,0.000,0.023,3004,2086,2225,0,0,0,0,0,0
$GC,14196,0.56,146.0,776.1,11.3,934,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2086,2224,0,0,0,0,0,0
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$STATE,22323,end climb,SURFACE_DEPTH_REACHED
$STATE,22323,begin surface coast
$FINISH,0.8,1.009269
$STATE,22361,end surface coast,CONTROL_FINISHED_OK
$STATE,22362,begin surface
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$XPDR_PINGS,16
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$10V_AH,10.2,24.956
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329896
$DATA_FILE_SIZE,100160,1729
$CAP_FILE_SIZE,243765,0
$CFSIZE,260165632,127787008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 94.6,1
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