version: 66.09
glider: 167
mission: 8
dive: 149
start: 7 15 111 13 55 42
data:
$ID,167
$MISSION,8
$DIVE,149
$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,-56574.445
$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,76
$R_STBD_OVSHOOT,62
$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
$GPS1,150711,134537,1805.525,12349.938,31,0.9,31,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.2
$GPS2,150711,135520,1805.486,12349.904,11,1.1,11,-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,273.1,171159,-15.4,-8.250
$D_GRID,4468
$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,17,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,104,0.00,0.00,-82.45,0.000,2,0.000,0.000,117,1867,3114,0,0,0,0,0,0
$GC,107,-0.56,-146.0,6.3,-11.2,11,131,9.98,2.10,-5.22,0.000,4,0.233,0.041,2597,3277,3437,0,0,0,0,0,0
$GC,287,-0.56,-146.0,64.2,-23.2,42,295,0.00,2.05,0.00,0.000,6,0.000,0.019,2596,1868,3439,0,0,0,0,0,0
$GC,364,-0.56,-146.0,82.2,-23.3,55,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1867,3439,0,0,0,0,0,0
$GC,444,-0.56,-146.0,98.2,-19.2,68,452,0.00,2.03,0.00,0.000,4,0.000,0.028,2597,488,3439,0,0,0,0,0,0
$GC,466,-0.56,-146.0,102.9,-19.4,71,473,0.00,2.12,0.00,0.000,6,0.000,0.019,2587,1944,3439,0,0,0,0,0,0
$GC,545,-0.56,-146.0,117.4,-19.0,84,554,0.12,2.17,0.00,0.000,4,0.187,0.028,2618,488,3439,0,0,0,0,0,0
$GC,593,-0.56,-146.0,125.5,-15.4,91,602,0.00,1.88,0.00,0.000,6,0.000,0.019,2610,1793,3440,0,0,0,0,0,0
$GC,671,-0.56,-146.0,137.1,-15.4,104,679,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,3268,3440,0,0,0,0,0,0
$GC,734,-0.56,-146.0,147.1,-17.5,114,742,0.00,2.03,0.00,0.000,6,0.000,0.018,2600,1851,3440,0,0,0,0,0,0
$GC,810,-0.56,-146.0,160.4,-16.5,127,819,0.00,2.12,0.00,0.000,4,0.000,0.031,2594,3272,3440,0,0,0,0,0,0
$GC,850,-0.56,-146.0,166.6,-14.5,133,860,0.00,1.80,0.00,0.000,6,0.000,0.017,2594,1997,3440,0,0,0,0,0,0
$GC,928,-0.56,-146.0,179.3,-16.0,146,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1996,3440,0,0,0,0,0,0
$GC,1004,-0.56,-146.0,189.8,-13.6,159,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1996,3440,0,0,0,0,0,0
$GC,1077,-0.56,-146.0,199.9,-13.1,172,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1996,3440,0,0,0,0,0,0
$GC,1149,-0.56,-146.0,210.2,-14.8,179,1153,0.00,2.17,0.00,0.000,4,0.000,0.028,2594,490,3440,0,0,0,0,0,0
$GC,1170,-0.56,-146.0,213.8,-15.3,180,1178,0.00,2.30,0.00,0.000,6,0.000,0.021,2587,2064,3440,0,0,0,0,0,0
$GC,1496,-0.56,-146.0,253.2,-12.6,211,1501,0.10,2.30,0.00,0.000,4,0.193,0.027,2611,495,3440,0,0,0,0,0,0
$GC,1561,-0.56,-146.0,260.7,-10.1,216,1570,0.00,2.25,0.00,0.000,6,0.000,0.021,2608,2050,3440,0,0,0,0,0,0
$GC,1889,-0.56,-146.0,293.7,-10.3,247,1894,0.00,2.28,0.00,0.000,4,0.000,0.028,2608,487,3439,0,0,0,0,0,0
$GC,1967,-0.56,-146.0,302.1,-9.6,253,1975,0.00,2.15,0.00,0.000,6,0.000,0.019,2602,1993,3439,0,0,0,0,0,0
$GC,2293,-0.56,-146.0,334.1,-9.5,284,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1993,3438,0,0,0,0,0,0
$GC,2615,-0.56,-146.0,362.1,-8.8,314,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1994,3436,0,0,0,0,0,0
$GC,2941,-0.56,-146.0,392.2,-8.9,345,2946,0.00,2.22,0.00,0.000,4,0.000,0.029,2603,493,3434,0,0,0,0,0,0
$GC,2975,-0.56,-146.0,395.7,-9.3,348,2980,0.00,2.17,0.00,0.000,6,0.000,0.021,2603,1982,3433,0,0,0,0,0,0
$GC,3306,-0.56,-146.0,426.8,-8.7,379,3309,0.00,1.88,0.00,0.000,4,0.000,0.034,2600,3274,3431,0,0,0,0,0,0
$GC,3493,-0.56,-146.0,441.9,-8.0,395,3499,0.00,1.67,0.00,0.000,6,0.000,0.019,2600,2068,3430,0,0,0,0,0,0
$GC,3819,-0.56,-146.0,467.2,-7.8,426,3823,0.00,2.30,0.00,0.000,4,0.000,0.031,2600,492,3428,0,0,0,0,0,0
$GC,3963,-0.56,-146.0,479.6,-9.0,438,3967,0.00,2.30,0.00,0.000,6,0.000,0.023,2600,2071,3427,0,0,0,0,0,0
$GC,4288,-0.56,-146.0,507.1,-8.5,464,4292,0.00,2.33,0.00,0.000,4,0.000,0.029,2600,490,3425,0,0,0,0,0,0
$GC,4377,-0.56,-146.0,515.9,-9.0,468,4382,0.00,2.28,0.00,0.000,6,0.000,0.022,2600,2053,3424,0,0,0,0,0,0
$GC,4700,-0.56,-146.0,542.6,-8.0,484,4704,0.00,1.80,0.00,0.000,4,0.000,0.036,2600,3274,3422,0,0,0,0,0,0
$GC,4736,-0.56,-146.0,545.6,-8.1,485,4739,0.00,1.70,0.00,0.000,6,0.000,0.019,2600,2054,3421,0,0,0,0,0,0
$GC,5059,-0.56,-146.0,571.1,-7.7,501,5063,0.00,2.28,0.00,0.000,4,0.000,0.031,2600,501,3419,0,0,0,0,0,0
$GC,5108,-0.56,-146.0,575.2,-7.9,503,5113,0.00,2.33,0.00,0.000,6,0.000,0.024,2600,2070,3419,0,0,0,0,0,0
$GC,5431,-0.56,-146.0,597.7,-6.9,519,5435,0.00,2.33,0.00,0.000,4,0.000,0.030,2600,496,3417,0,0,0,0,0,0
$GC,5481,-0.56,-146.0,601.8,-7.9,521,5485,0.00,2.25,0.00,0.000,6,0.000,0.022,2600,2048,3417,0,0,0,0,0,0
$GC,5798,-0.56,-146.0,624.0,-7.1,536,5803,0.00,1.83,0.00,0.000,4,0.000,0.036,2600,3267,3415,0,0,0,0,0,0
$GC,5877,-0.56,-146.0,629.4,-6.9,539,5880,0.00,1.67,0.00,0.000,6,0.000,0.019,2599,2061,3415,0,0,0,0,0,0
$GC,6200,-0.56,-146.0,650.1,-6.4,555,6204,0.00,2.30,0.00,0.000,4,0.000,0.031,2600,493,3413,0,0,0,0,0,0
$GC,6287,-0.56,-146.0,656.1,-7.0,559,6291,0.00,2.22,0.00,0.000,6,0.000,0.023,2600,2017,3412,0,0,0,0,0,0
$GC,6614,-0.56,-146.0,677.4,-6.7,575,6618,0.00,2.25,0.00,0.000,4,0.000,0.031,2600,501,3410,0,0,0,0,0,0
$GC,6647,-0.56,-146.0,680.0,-6.8,576,6654,0.00,2.22,0.00,0.000,6,0.000,0.022,2600,2025,3410,0,0,0,0,0,0
$GC,6965,-0.56,-146.0,703.3,-7.6,592,6970,0.00,1.85,0.00,0.000,4,0.000,0.037,2600,3258,3408,0,0,0,0,0,0
$GC,6998,-0.56,-146.0,706.2,-7.9,593,7001,0.00,1.75,0.00,0.000,6,0.000,0.020,2600,2015,3408,0,0,0,0,0,0
$GC,7322,-0.56,-146.0,731.6,-8.1,609,7326,0.00,2.22,0.00,0.000,4,0.000,0.033,2600,503,3406,0,0,0,0,0,0
$GC,7415,-0.56,-146.0,740.0,-8.5,613,7419,0.00,2.22,0.00,0.000,6,0.000,0.023,2600,2023,3405,0,0,0,0,0,0
$GC,7738,-0.56,-146.0,761.8,-6.3,629,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2024,3404,0,0,0,0,0,0
$GC,8048,-0.56,-146.0,780.3,-5.9,644,8053,0.00,1.88,0.00,0.000,4,0.000,0.037,2600,3267,3403,0,0,0,0,0,0
$GC,8095,-0.56,-146.0,783.2,-6.0,646,8100,0.00,1.80,0.00,0.000,6,0.000,0.020,2600,2007,3402,0,0,0,0,0,0
$GC,8430,-0.56,-146.0,805.0,-7.0,662,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2007,3401,0,0,0,0,0,0
$GC,8737,-0.56,-146.0,828.3,-7.6,677,8741,0.00,2.22,0.00,0.000,4,0.000,0.033,2600,501,3400,0,0,0,0,0,0
$GC,8831,-0.56,-146.0,836.1,-8.5,681,8835,0.00,2.25,0.00,0.000,6,0.000,0.024,2600,2031,3400,0,0,0,0,0,0
$GC,9155,-0.56,-146.0,860.6,-7.7,697,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2031,3399,0,0,0,0,0,0
$GC,9462,-0.56,-146.0,883.9,-7.3,712,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2031,3398,0,0,0,0,0,0
$GC,9773,-0.56,-146.0,903.6,-5.9,727,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2031,3397,0,0,0,0,0,0
$GC,10082,-0.56,-146.0,920.0,-5.0,742,10086,0.00,2.30,0.00,0.000,4,0.000,0.032,2600,492,3396,0,0,0,0,0,0
$GC,10145,-0.56,-146.0,923.5,-5.4,745,10149,0.00,2.25,0.00,0.000,6,0.000,0.024,2600,2019,3396,0,0,0,0,0,0
$GC,10473,-0.56,-146.0,939.2,-4.9,761,10477,0.00,1.88,0.00,0.000,4,0.000,0.038,2600,3272,3395,0,0,0,0,0,0
$GC,10565,-0.56,-146.0,943.9,-5.2,765,10568,0.00,1.75,0.00,0.000,6,0.000,0.020,2600,2038,3395,0,0,0,0,0,0
$GC,10899,-0.56,-146.0,961.0,-5.4,781,10903,0.00,2.28,0.00,0.000,4,0.000,0.033,2600,501,3394,0,0,0,0,0,0
$GC,10989,-0.56,-146.0,967.0,-6.5,785,10993,0.00,2.25,0.00,0.000,6,0.000,0.024,2600,2030,3393,0,0,0,0,0,0
$GC,11312,-0.56,-146.0,986.3,-6.2,801,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2030,3393,0,0,0,0,0,0
$STATE,11370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11370,begin apogee
$GC,11375,-0.20,0.0,990.1,6.1,804,11493,0.38,0.00,112.03,1.414,4,0.125,0.000,2727,2030,2839,0,0,0,0,0,0
$STATE,11494,end apogee,CONTROL_FINISHED_OK
$STATE,11494,begin climb
$GC,11499,0.56,146.0,993.1,0.0,809,11629,0.70,0.00,124.28,1.362,6,0.080,0.000,2974,2029,2243,0,0,0,0,0,0
$GC,11948,0.56,146.0,953.2,10.1,831,11951,0.00,2.08,0.00,0.000,4,0.000,0.034,2981,697,2232,0,0,0,0,0,0
$GC,11997,0.56,146.0,947.8,9.7,833,12002,0.00,2.05,0.00,0.000,6,0.000,0.024,2981,2046,2232,0,0,0,0,0,0
$GC,12325,0.56,146.0,913.8,10.5,849,12330,0.00,2.20,0.00,0.000,4,0.000,0.037,2981,3465,2229,0,0,0,0,0,0
$GC,12359,0.56,146.0,909.7,11.9,850,12363,0.00,2.10,0.00,0.000,6,0.000,0.021,2990,2048,2228,0,0,0,0,0,0
$GC,12675,0.56,146.0,872.4,12.2,865,12679,0.00,2.05,0.00,0.000,4,0.000,0.034,3001,697,2228,0,0,0,0,0,0
$GC,12775,0.56,146.0,859.5,12.9,869,12778,0.00,1.92,0.00,0.000,6,0.000,0.024,3001,1986,2228,0,0,0,0,0,0
$GC,13098,0.56,146.0,818.2,12.9,885,13102,0.00,2.25,0.00,0.000,4,0.000,0.037,3001,3470,2227,0,0,0,0,0,0
$GC,13175,0.56,146.0,807.1,13.8,888,13182,0.00,2.15,0.00,0.000,6,0.000,0.021,3010,2008,2226,0,0,0,0,0,0
$GC,13493,0.56,146.0,766.8,12.6,904,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2008,2226,0,0,0,0,0,0
$GC,13800,0.56,146.0,728.7,12.1,919,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2008,2225,0,0,0,0,0,0
$GC,14110,0.56,146.0,691.4,12.0,934,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2008,2225,0,0,0,0,0,0
$GC,14420,0.56,146.0,655.5,11.3,949,14425,0.00,2.00,0.00,0.000,4,0.000,0.036,3020,687,2224,0,0,0,0,0,0
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$STATE,21522,end climb,SURFACE_DEPTH_REACHED
$STATE,21522,begin surface coast
$FINISH,0.8,1.009141
$STATE,21563,end surface coast,CONTROL_FINISHED_OK
$STATE,21563,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,32.35
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.80
$XPDR_PINGS,5
$24V_AH,23.6,27.514
$10V_AH,10.1,26.470
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329896
$DATA_FILE_SIZE,100231,1715
$CAP_FILE_SIZE,237824,0
$CFSIZE,260165632,126861312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148, 66.7,1
$GPS,150711,195737,1806.165,12348.786,33,1.1,33,-2.0