version: 66.09
glider: 167
mission: 8
dive: 155
start: 7 17 111 3 59 18
data:
$ID,167
$MISSION,8
$DIVE,155
$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,-56582
$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,69
$R_STBD_OVSHOOT,72
$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
$GPS1,170711,034930,1808.417,12342.519,41,0.9,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.2
$GPS2,170711,035856,1808.342,12342.623,14,1.8,14,-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,260.2,157409,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,92,0.00,0.00,-72.45,0.000,2,0.000,0.000,109,1933,3047,0,0,0,0,0,0
$GC,96,-0.56,-146.0,5.0,-6.6,10,120,9.82,2.15,-6.68,0.000,4,0.226,0.039,2615,474,3436,0,0,0,0,0,0
$GC,166,-0.56,-146.0,33.3,-31.6,21,174,0.00,2.05,0.00,0.000,6,0.000,0.021,2607,1866,3437,0,0,0,0,0,0
$GC,241,-0.56,-146.0,51.9,-25.5,34,249,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,3266,3437,0,0,0,0,0,0
$GC,298,-0.56,-146.0,66.7,-27.0,43,305,0.00,1.92,0.00,0.000,6,0.000,0.017,2597,1919,3437,0,0,0,0,0,0
$GC,375,-0.56,-146.0,86.0,-26.3,56,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1918,3437,0,0,0,0,0,0
$GC,452,-0.56,-146.0,105.1,-22.0,69,459,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,507,3437,0,0,0,0,0,0
$GC,492,-0.56,-146.0,114.4,-24.1,75,500,0.00,2.15,0.00,0.000,6,0.000,0.020,2587,1972,3438,0,0,0,0,0,0
$GC,569,-0.56,-146.0,129.6,-17.4,88,579,0.12,1.95,0.00,0.000,4,0.188,0.032,2609,3270,3438,0,0,0,0,0,0
$GC,608,-0.56,-146.0,137.9,-20.3,94,616,0.00,1.77,0.00,0.000,6,0.000,0.017,2609,2012,3438,0,0,0,0,0,0
$GC,682,-0.56,-146.0,151.2,-17.0,107,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2011,3439,0,0,0,0,0,0
$GC,759,-0.56,-146.0,163.5,-15.9,120,768,0.00,2.20,0.00,0.000,4,0.000,0.028,2609,510,3439,0,0,0,0,0,0
$GC,797,-0.56,-146.0,170.3,-17.1,126,805,0.00,2.17,0.00,0.000,6,0.000,0.021,2600,1999,3439,0,0,0,0,0,0
$GC,873,-0.56,-146.0,182.2,-15.7,139,880,0.00,1.88,0.00,0.000,4,0.000,0.031,2592,3271,3439,0,0,0,0,0,0
$GC,900,-0.56,-146.0,186.2,-14.7,143,909,0.00,1.83,0.00,0.000,6,0.000,0.017,2592,1974,3439,0,0,0,0,0,0
$GC,976,-0.56,-146.0,198.1,-14.5,156,985,0.00,2.15,0.00,0.000,4,0.000,0.027,2592,497,3439,0,0,0,0,0,0
$GC,994,-0.56,-146.0,200.9,-15.7,158,999,0.10,2.10,0.00,0.000,6,0.185,0.020,2612,1965,3439,0,0,0,0,0,0
$GC,1320,-0.56,-146.0,241.9,-10.8,188,1323,0.00,1.90,0.00,0.000,4,0.000,0.031,2604,3273,3439,0,0,0,0,0,0
$GC,1367,-0.56,-146.0,247.4,-11.6,192,1371,0.00,1.83,0.00,0.000,6,0.000,0.018,2604,1961,3439,0,0,0,0,0,0
$GC,1700,-0.56,-146.0,281.3,-10.6,223,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1959,3439,0,0,0,0,0,0
$GC,2029,-0.56,-146.0,316.9,-10.7,254,2033,0.00,2.10,0.00,0.000,4,0.000,0.030,2604,507,3437,0,0,0,0,0,0
$GC,2082,-0.56,-146.0,322.9,-11.2,258,2086,0.00,2.08,0.00,0.000,6,0.000,0.021,2601,1956,3437,0,0,0,0,0,0
$GC,2414,-0.56,-146.0,355.4,-8.8,289,2418,0.00,1.90,0.00,0.000,4,0.000,0.033,2601,3274,3436,0,0,0,0,0,0
$GC,2437,-0.56,-146.0,357.5,-8.8,291,2442,0.00,1.88,0.00,0.000,6,0.000,0.018,2600,1945,3435,0,0,0,0,0,0
$GC,2768,-0.56,-146.0,387.9,-9.6,322,2771,0.00,2.08,0.00,0.000,4,0.000,0.029,2600,516,3434,0,0,0,0,0,0
$GC,2803,-0.56,-146.0,391.3,-9.8,325,2807,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1986,3433,0,0,0,0,0,0
$GC,3128,-0.56,-146.0,419.7,-8.8,355,3133,0.00,1.90,0.00,0.000,4,0.000,0.034,2600,3267,3431,0,0,0,0,0,0
$GC,3221,-0.56,-146.0,428.0,-8.3,363,3228,0.00,1.75,0.00,0.000,6,0.000,0.018,2600,2015,3431,0,0,0,0,0,0
$GC,3547,-0.56,-146.0,455.1,-7.8,394,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2013,3429,0,0,0,0,0,0
$GC,3868,-0.56,-146.0,479.3,-7.4,424,3872,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,504,3427,0,0,0,0,0,0
$GC,3965,-0.56,-146.0,487.5,-8.5,432,3969,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,2026,3426,0,0,0,0,0,0
$GC,4302,-0.56,-146.0,513.3,-7.5,455,4306,0.00,2.22,0.00,0.000,4,0.000,0.028,2601,507,3423,0,0,0,0,0,0
$GC,4402,-0.56,-146.0,522.9,-8.7,459,4409,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1964,3423,0,0,0,0,0,0
$GC,4719,-0.56,-146.0,548.9,-8.1,475,4723,0.00,1.90,0.00,0.000,4,0.000,0.036,2600,3266,3420,0,0,0,0,0,0
$GC,4744,-0.56,-146.0,550.9,-7.9,476,4748,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1929,3420,0,0,0,0,0,0
$GC,5077,-0.56,-146.0,575.1,-7.0,492,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1929,3418,0,0,0,0,0,0
$GC,5387,-0.56,-146.0,597.7,-7.4,507,5391,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,510,3416,0,0,0,0,0,0
$GC,5411,-0.56,-146.0,599.6,-7.5,508,5415,0.00,2.10,0.00,0.000,6,0.000,0.021,2599,1959,3415,0,0,0,0,0,0
$GC,5739,-0.56,-146.0,624.0,-7.4,524,5743,0.00,1.92,0.00,0.000,4,0.000,0.036,2600,3271,3414,0,0,0,0,0,0
$GC,5774,-0.56,-146.0,626.6,-7.4,525,5778,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1938,3413,0,0,0,0,0,0
$GC,6098,-0.56,-146.0,650.0,-7.2,541,6102,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,504,3412,0,0,0,0,0,0
$GC,6138,-0.56,-146.0,653.5,-7.8,543,6142,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1949,3411,0,0,0,0,0,0
$GC,6474,-0.56,-146.0,679.5,-7.8,559,6478,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3264,3409,0,0,0,0,0,0
$GC,6524,-0.56,-146.0,683.7,-7.7,561,6528,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1953,3408,0,0,0,0,0,0
$GC,6853,-0.56,-146.0,707.8,-7.0,577,6857,0.00,2.12,0.00,0.000,4,0.000,0.030,2600,498,3407,0,0,0,0,0,0
$GC,6918,-0.56,-146.0,712.6,-7.6,580,6922,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1941,3406,0,0,0,0,0,0
$GC,7251,-0.56,-146.0,733.9,-6.3,596,7255,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3265,3405,0,0,0,0,0,0
$GC,7284,-0.56,-146.0,736.1,-6.0,597,7287,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1939,3405,0,0,0,0,0,0
$GC,7608,-0.56,-146.0,756.5,-6.5,613,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1938,3404,0,0,0,0,0,0
$GC,7917,-0.56,-146.0,777.0,-6.8,628,7920,0.00,2.00,0.00,0.000,4,0.000,0.035,2600,3268,3402,0,0,0,0,0,0
$GC,7968,-0.56,-146.0,780.5,-6.5,630,7973,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1962,3402,0,0,0,0,0,0
$GC,8295,-0.56,-146.0,801.1,-6.3,646,8299,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,513,3401,0,0,0,0,0,0
$GC,8362,-0.56,-146.0,806.0,-7.3,649,8367,0.00,2.12,0.00,0.000,6,0.000,0.022,2599,1952,3399,0,0,0,0,0,0
$GC,8691,-0.56,-146.0,827.0,-6.4,665,8695,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3274,3399,0,0,0,0,0,0
$GC,8760,-0.56,-146.0,831.6,-6.6,668,8765,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1986,3399,0,0,0,0,0,0
$GC,9094,-0.56,-146.0,853.7,-6.7,684,9098,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,505,3397,0,0,0,0,0,0
$GC,9166,-0.56,-146.0,859.4,-7.8,687,9170,0.00,2.15,0.00,0.000,6,0.000,0.023,2600,1972,3397,0,0,0,0,0,0
$GC,9484,-0.56,-146.0,880.4,-6.7,702,9487,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3263,3396,0,0,0,0,0,0
$GC,9534,-0.56,-146.0,883.9,-6.5,704,9537,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1973,3396,0,0,0,0,0,0
$GC,9862,-0.56,-146.0,903.6,-5.7,720,9866,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,510,3396,0,0,0,0,0,0
$GC,9918,-0.56,-146.0,907.1,-6.0,722,9925,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1963,3395,0,0,0,0,0,0
$GC,10235,-0.56,-146.0,924.1,-5.4,738,10240,0.00,1.98,0.00,0.000,4,0.000,0.039,2600,3262,3394,0,0,0,0,0,0
$GC,10353,-0.56,-146.0,930.3,-5.2,743,10357,0.00,1.80,0.00,0.000,6,0.000,0.021,2599,1985,3394,0,0,0,0,0,0
$GC,10681,-0.56,-146.0,947.6,-5.4,759,10686,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,508,3393,0,0,0,0,0,0
$GC,10753,-0.56,-146.0,952.4,-6.7,762,10756,0.00,2.15,0.00,0.000,6,0.000,0.023,2599,1973,3393,0,0,0,0,0,0
$GC,11082,-0.56,-146.0,972.2,-6.2,778,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1974,3392,0,0,0,0,0,0
$STATE,11387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11387,begin apogee
$GC,11394,-0.20,0.0,991.1,6.1,793,11513,0.38,0.00,112.15,1.411,4,0.124,0.000,2727,2084,2839,0,0,0,0,0,0
$STATE,11514,end apogee,CONTROL_FINISHED_OK
$STATE,11514,begin climb
$GC,11516,0.56,146.0,993.5,0.0,798,11657,0.75,2.17,124.97,1.360,4,0.083,0.031,2980,708,2240,0,0,0,0,0,0
$GC,11853,0.56,146.0,963.1,10.5,813,11860,0.00,2.10,0.00,0.000,6,0.000,0.024,2980,2062,2231,0,0,0,0,0,0
$GC,12172,0.56,146.0,927.4,11.6,829,12175,0.00,2.08,0.00,0.000,4,0.000,0.031,2986,710,2228,0,0,0,0,0,0
$GC,12397,0.56,146.0,900.9,11.1,839,12401,0.00,2.08,0.00,0.000,6,0.000,0.024,2987,2089,2227,0,0,0,0,0,0
$GC,12732,0.56,146.0,864.5,10.7,855,12736,0.00,2.10,0.00,0.000,4,0.000,0.038,2987,3471,2226,0,0,0,0,0,0
$GC,12759,0.56,146.0,861.1,10.9,856,12763,0.00,2.00,0.00,0.000,6,0.000,0.021,2995,2115,2226,0,0,0,0,0,0
$GC,13082,0.56,146.0,825.5,11.5,872,13087,0.00,2.15,0.00,0.000,4,0.000,0.032,3004,689,2225,0,0,0,0,0,0
$GC,13172,0.56,146.0,814.8,11.9,876,13177,0.00,2.05,0.00,0.000,6,0.000,0.024,3004,2058,2225,0,0,0,0,0,0
$GC,13505,0.56,146.0,774.6,12.2,892,13506,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2058,2224,0,0,0,0,0,0
$GC,13816,0.56,146.0,736.8,12.3,907,13820,0.00,2.15,0.00,0.000,4,0.000,0.038,3004,3475,2223,0,0,0,0,0,0
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$STATE,21596,end climb,SURFACE_DEPTH_REACHED
$STATE,21596,begin surface coast
$FINISH,0.7,1.021069
$STATE,21625,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,27.592
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$FG_AHR_10Vo,0.000
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$MEM,329896
$DATA_FILE_SIZE,100269,1704
$CAP_FILE_SIZE,245648,0
$CFSIZE,260165632,126169088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 73.9,1
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