version: 66.09
glider: 167
mission: 8
dive: 156
start: 7 17 111 10 12 6
data:
$ID,167
$MISSION,8
$DIVE,156
$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,-56583.258
$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,82
$R_STBD_OVSHOOT,57
$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
$GPS1,170711,100206,1808.181,12340.985,28,0.9,28,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.1
$GPS2,170711,101144,1807.948,12341.183,11,1.6,11,-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,276.8,155180,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,102,0.00,0.00,-80.68,0.000,2,0.000,0.000,111,1946,2982,0,0,0,0,0,0
$GC,107,-0.56,-146.0,5.3,-8.2,11,133,10.00,2.12,-7.62,0.000,4,0.233,0.034,2614,471,3437,0,0,0,0,0,0
$GC,146,-0.56,-146.0,24.0,-39.9,16,154,0.00,2.08,0.00,0.000,6,0.000,0.028,2607,1877,3437,0,0,0,0,0,0
$GC,223,-0.56,-146.0,45.2,-26.9,29,232,0.00,2.08,0.00,0.000,4,0.000,0.031,2596,3264,3438,0,0,0,0,0,0
$GC,266,-0.56,-146.0,54.9,-23.0,35,273,0.00,1.83,0.00,0.000,6,0.000,0.017,2596,1984,3438,0,0,0,0,0,0
$GC,344,-0.56,-146.0,74.8,-25.0,48,352,0.00,2.17,0.00,0.000,4,0.000,0.027,2596,500,3438,0,0,0,0,0,0
$GC,359,-0.56,-146.0,79.1,-25.5,50,368,0.08,2.20,0.00,0.000,6,0.168,0.020,2608,1998,3438,0,0,0,0,0,0
$GC,439,-0.56,-146.0,97.4,-21.1,63,448,0.00,1.88,0.00,0.000,4,0.000,0.031,2600,3268,3439,0,0,0,0,0,0
$GC,464,-0.56,-146.0,101.5,-18.7,66,472,0.00,1.83,0.00,0.000,6,0.000,0.017,2601,1973,3439,0,0,0,0,0,0
$GC,540,-0.56,-146.0,116.3,-18.7,79,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1972,3439,0,0,0,0,0,0
$GC,612,-0.56,-146.0,128.9,-16.6,92,620,0.00,2.17,0.00,0.000,4,0.000,0.028,2601,487,3439,0,0,0,0,0,0
$GC,660,-0.56,-146.0,136.8,-17.3,99,668,0.00,2.40,0.00,0.000,6,0.000,0.020,2590,2133,3439,0,0,0,0,0,0
$GC,736,-0.56,-146.0,149.3,-16.3,112,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2134,3439,0,0,0,0,0,0
$GC,812,-0.56,-146.0,162.6,-17.8,125,822,0.00,2.40,0.00,0.000,4,0.000,0.025,2590,501,3439,0,0,0,0,0,0
$GC,849,-0.56,-146.0,169.4,-19.7,130,857,0.10,2.40,0.00,0.000,6,0.145,0.022,2613,2142,3440,0,0,0,0,0,0
$GC,926,-0.56,-146.0,181.7,-14.5,143,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2142,3440,0,0,0,0,0,0
$GC,1001,-0.56,-146.0,192.3,-13.5,156,1008,0.00,2.42,0.00,0.000,4,0.000,0.025,2613,493,3440,0,0,0,0,0,0
$GC,1029,-0.56,-146.0,195.6,-12.9,160,1037,0.00,2.28,0.00,0.000,6,0.000,0.019,2605,2063,3440,0,0,0,0,0,0
$GC,1108,-0.56,-146.0,206.1,-13.4,170,1112,0.00,2.28,0.00,0.000,4,0.000,0.025,2605,494,3440,0,0,0,0,0,0
$GC,1153,-0.56,-146.0,212.3,-14.8,173,1157,0.00,2.15,0.00,0.000,6,0.000,0.020,2600,1997,3440,0,0,0,0,0,0
$GC,1480,-0.56,-146.0,251.2,-11.5,203,1483,0.00,1.85,0.00,0.000,4,0.000,0.032,2600,3268,3440,0,0,0,0,0,0
$GC,1558,-0.56,-146.0,259.2,-9.4,210,1562,0.00,1.70,0.00,0.000,6,0.000,0.017,2600,2021,3439,0,0,0,0,0,0
$GC,1891,-0.56,-146.0,294.9,-10.9,241,1895,0.00,2.20,0.00,0.000,4,0.000,0.029,2600,491,3438,0,0,0,0,0,0
$GC,2031,-0.56,-146.0,310.8,-11.5,253,2035,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,2024,3437,0,0,0,0,0,0
$GC,2357,-0.56,-146.0,345.0,-9.5,283,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2024,3436,0,0,0,0,0,0
$GC,2677,-0.56,-146.0,372.6,-8.3,313,2680,0.00,1.80,0.00,0.000,4,0.000,0.034,2600,3273,3434,0,0,0,0,0,0
$GC,2716,-0.56,-146.0,376.3,-8.5,316,2723,0.00,1.77,0.00,0.000,6,0.000,0.018,2600,1983,3433,0,0,0,0,0,0
$GC,3043,-0.56,-146.0,404.8,-9.6,347,3046,0.00,1.88,0.00,0.000,4,0.000,0.033,2600,3267,3431,0,0,0,0,0,0
$GC,3093,-0.56,-146.0,410.0,-9.8,351,3100,0.00,1.75,0.00,0.000,6,0.000,0.018,2600,1996,3431,0,0,0,0,0,0
$GC,3420,-0.56,-146.0,440.1,-8.6,382,3424,0.00,2.17,0.00,0.000,4,0.000,0.028,2600,487,3429,0,0,0,0,0,0
$GC,3506,-0.56,-146.0,448.3,-9.4,389,3510,0.00,2.22,0.00,0.000,6,0.000,0.021,2593,2051,3428,0,0,0,0,0,0
$GC,3832,-0.56,-146.0,477.4,-8.7,419,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2051,3426,0,0,0,0,0,0
$GC,4160,-0.56,-146.0,505.9,-8.6,447,4165,0.00,2.28,0.00,0.000,4,0.000,0.028,2592,496,3423,0,0,0,0,0,0
$GC,4188,-0.56,-146.0,508.8,-8.8,448,4192,0.00,2.20,0.00,0.000,6,0.000,0.021,2590,2015,3423,0,0,0,0,0,0
$GC,4510,-0.56,-146.0,534.2,-7.4,464,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2015,3421,0,0,0,0,0,0
$GC,4821,-0.56,-146.0,557.0,-7.4,479,4825,0.00,1.88,0.00,0.000,4,0.000,0.036,2588,3271,3418,0,0,0,0,0,0
$GC,4859,-0.56,-146.0,560.2,-7.6,480,4866,0.00,1.83,0.00,0.000,6,0.000,0.018,2588,1981,3418,0,0,0,0,0,0
$GC,5176,-0.56,-146.0,584.6,-7.9,496,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1981,3415,0,0,0,0,0,0
$GC,5486,-0.56,-146.0,609.2,-7.9,511,5490,0.00,2.17,0.00,0.000,4,0.000,0.031,2588,494,3413,0,0,0,0,0,0
$GC,5564,-0.56,-146.0,616.2,-8.6,514,5571,0.00,2.17,0.00,0.000,6,0.000,0.023,2588,1976,3413,0,0,0,0,0,0
$GC,5883,-0.56,-146.0,641.5,-8.1,530,5887,0.10,2.20,0.00,0.000,4,0.183,0.029,2613,496,3411,0,0,0,0,0,0
$GC,5910,-0.56,-146.0,643.8,-7.5,531,5914,0.00,2.15,0.00,0.000,6,0.000,0.021,2613,1977,3410,0,0,0,0,0,0
$GC,6226,-0.56,-146.0,663.6,-6.0,546,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1977,3408,0,0,0,0,0,0
$GC,6537,-0.56,-146.0,682.6,-6.1,561,6541,0.00,1.92,0.00,0.000,4,0.000,0.037,2613,3271,3406,0,0,0,0,0,0
$GC,6599,-0.56,-146.0,686.5,-6.1,563,6606,0.00,1.83,0.00,0.000,6,0.000,0.019,2613,1966,3406,0,0,0,0,0,0
$GC,6917,-0.56,-146.0,705.1,-5.9,579,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1966,3405,0,0,0,0,0,0
$GC,7225,-0.56,-146.0,723.9,-6.3,594,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1966,3404,0,0,0,0,0,0
$GC,7534,-0.56,-146.0,743.1,-6.3,609,7538,0.00,2.15,0.00,0.000,4,0.000,0.030,2613,500,3402,0,0,0,0,0,0
$GC,7569,-0.56,-146.0,745.6,-6.6,610,7575,0.00,2.20,0.00,0.000,6,0.000,0.022,2613,2004,3401,0,0,0,0,0,0
$GC,7887,-0.56,-146.0,765.2,-6.0,626,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2004,3399,0,0,0,0,0,0
$GC,8194,-0.56,-146.0,783.3,-5.7,641,8199,0.00,1.90,0.00,0.000,4,0.000,0.038,2613,3260,3398,0,0,0,0,0,0
$GC,8223,-0.56,-146.0,784.9,-5.8,642,8226,0.00,1.77,0.00,0.000,6,0.000,0.019,2613,1991,3398,0,0,0,0,0,0
$GC,8552,-0.56,-146.0,803.2,-5.5,658,8556,0.00,2.20,0.00,0.000,4,0.000,0.029,2613,489,3397,0,0,0,0,0,0
$GC,8595,-0.56,-146.0,806.3,-5.8,660,8599,0.00,2.22,0.00,0.000,6,0.000,0.022,2613,2009,3397,0,0,0,0,0,0
$GC,8918,-0.56,-146.0,825.3,-6.1,676,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2009,3396,0,0,0,0,0,0
$GC,9227,-0.56,-146.0,843.4,-5.8,691,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2009,3395,0,0,0,0,0,0
$GC,9538,-0.56,-146.0,861.5,-5.8,706,9542,0.00,2.28,0.00,0.000,4,0.000,0.030,2613,495,3394,0,0,0,0,0,0
$GC,9576,-0.56,-146.0,864.2,-6.0,707,9583,0.00,2.20,0.00,0.000,6,0.000,0.023,2613,1996,3394,0,0,0,0,0,0
$GC,9893,-0.56,-146.0,883.0,-6.0,723,9896,0.00,1.88,0.00,0.000,4,0.000,0.038,2613,3263,3393,0,0,0,0,0,0
$GC,9928,-0.56,-146.0,885.2,-5.7,724,9932,0.00,1.83,0.00,0.000,6,0.000,0.020,2613,1971,3393,0,0,0,0,0,0
$GC,10250,-0.56,-146.0,904.0,-5.8,740,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1971,3392,0,0,0,0,0,0
$GC,10561,-0.56,-146.0,921.6,-5.6,755,10565,0.00,1.98,0.00,0.000,4,0.000,0.037,2613,3272,3392,0,0,0,0,0,0
$GC,10607,-0.56,-146.0,924.2,-5.5,757,10611,0.00,1.80,0.00,0.000,6,0.000,0.020,2613,1987,3392,0,0,0,0,0,0
$GC,10940,-0.56,-146.0,942.0,-5.2,773,10944,0.00,2.20,0.00,0.000,4,0.000,0.031,2613,490,3390,0,0,0,0,0,0
$GC,10985,-0.56,-146.0,944.7,-5.4,775,10989,0.00,2.20,0.00,0.000,6,0.000,0.024,2613,1989,3390,0,0,0,0,0,0
$GC,11307,-0.56,-146.0,961.4,-5.2,791,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1990,3389,0,0,0,0,0,0
$GC,11616,-0.56,-146.0,976.8,-4.8,806,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1989,3389,0,0,0,0,0,0
$STATE,11902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11902,begin apogee
$GC,11908,-0.20,0.0,990.4,4.6,820,12028,0.35,0.00,111.88,1.415,4,0.119,0.000,2735,2071,2838,0,0,0,0,0,0
$STATE,12028,end apogee,CONTROL_FINISHED_OK
$STATE,12028,begin climb
$GC,12031,0.56,146.0,992.1,0.0,825,12165,0.68,2.28,125.18,1.362,4,0.077,0.040,2981,3462,2242,0,0,0,0,0,0
$GC,12351,0.56,146.0,957.2,12.5,840,12355,0.00,2.10,0.00,0.000,6,0.000,0.021,2990,2077,2233,0,0,0,0,0,0
$GC,12678,0.56,146.0,919.4,11.2,856,12682,0.00,2.17,0.00,0.000,4,0.000,0.037,2990,3468,2229,0,0,0,0,0,0
$GC,12934,0.56,146.0,887.0,12.7,867,12942,0.00,2.08,0.00,0.000,6,0.000,0.022,2999,2068,2228,0,0,0,0,0,0
$GC,13252,0.56,146.0,849.1,12.3,883,13257,0.00,2.08,0.00,0.000,4,0.000,0.033,3009,694,2227,0,0,0,0,0,0
$GC,13290,0.56,146.0,844.0,12.0,884,13298,0.00,2.03,0.00,0.000,6,0.000,0.024,3009,2039,2227,0,0,0,0,0,0
$GC,13607,0.56,146.0,804.6,12.6,900,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2039,2226,0,0,0,0,0,0
$GC,13917,0.56,146.0,767.3,12.0,915,13921,0.00,2.17,0.00,0.000,4,0.000,0.038,3009,3466,2226,0,0,0,0,0,0
$GC,13973,0.56,146.0,759.8,13.0,917,13981,0.12,2.12,0.00,0.000,6,0.169,0.021,2987,2015,2226,0,0,0,0,0,0
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$STATE,22087,end climb,SURFACE_DEPTH_REACHED
$STATE,22087,begin surface coast
$FINISH,0.8,1.008792
$STATE,22125,end surface coast,CONTROL_FINISHED_OK
$STATE,22125,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,32.24
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,28.90
$XPDR_PINGS,16
$24V_AH,23.5,28.671
$10V_AH,10.1,27.777
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329884
$DATA_FILE_SIZE,100136,1723
$CAP_FILE_SIZE,243610,0
$CFSIZE,260165632,126054400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178, 21.8,1
$GPS,170711,162329,1810.106,12339.277,36,1.4,41,-2.0