version: 66.09
glider: 167
mission: 8
dive: 229
start: 7 29 111 17 50 28
data:
$ID,167
$MISSION,8
$DIVE,229
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,8
$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,-56675.164
$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,97
$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
$GPS1,290711,174024,1906.970,12237.965,37,1.5,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.8
$GPS2,290711,175005,1907.013,12237.921,14,1.7,29,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,SDOG
$TGT_LATLONG,1910.550,12302.760
$TGT_RADIUS,5000.000
$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,105.2,43941,-15.3,-9.706
$D_GRID,2840
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-93.57,0.000,2,0.000,0.000,111,1923,3126,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.1,-11.1,13,147,9.98,2.12,-8.23,0.000,4,0.232,0.037,2597,467,3635,0,0,0,0,0,0
$GC,194,-0.62,-194.6,35.6,-30.1,24,202,0.00,2.03,0.00,0.000,6,0.000,0.021,2589,1845,3636,0,0,0,0,0,0
$GC,270,-0.62,-194.6,56.2,-27.1,37,278,0.00,2.15,0.00,0.000,4,0.000,0.033,2579,3273,3636,0,0,0,0,0,0
$GC,336,-0.62,-194.6,74.8,-26.7,48,344,0.00,1.83,0.00,0.000,6,0.000,0.017,2579,1988,3635,0,0,0,0,0,0
$GC,411,-0.62,-194.6,92.5,-22.9,61,418,0.00,2.17,0.00,0.000,4,0.000,0.029,2579,478,3636,0,0,0,0,0,0
$GC,448,-0.62,-194.6,101.5,-24.5,67,456,0.00,2.10,0.00,0.000,6,0.000,0.021,2571,1912,3636,0,0,0,0,0,0
$GC,522,-0.62,-194.6,117.7,-21.5,80,530,0.00,2.03,0.00,0.000,4,0.000,0.032,2561,3273,3636,0,0,0,0,0,0
$GC,594,-0.62,-194.6,133.1,-22.2,92,602,0.10,1.73,0.00,0.000,6,0.152,0.018,2592,2031,3636,0,0,0,0,0,0
$GC,669,-0.62,-194.6,147.4,-18.1,105,677,0.00,2.25,0.00,0.000,4,0.000,0.028,2592,490,3636,0,0,0,0,0,0
$GC,718,-0.62,-194.6,155.5,-15.7,113,728,0.00,2.17,0.00,0.000,6,0.000,0.025,2588,1973,3637,0,0,0,0,0,0
$GC,800,-0.62,-194.6,167.9,-16.8,126,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1973,3637,0,0,0,0,0,0
$GC,880,-0.62,-194.6,180.6,-15.2,139,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1973,3637,0,0,0,0,0,0
$GC,957,-0.62,-194.6,192.6,-15.8,152,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1973,3637,0,0,0,0,0,0
$GC,1040,-0.62,-194.6,205.7,-16.4,163,1044,0.00,1.90,0.00,0.000,4,0.000,0.033,2587,3269,3637,0,0,0,0,0,0
$GC,1088,-0.62,-194.6,213.7,-15.4,167,1093,0.00,1.95,0.00,0.000,6,0.000,0.017,2587,1885,3637,0,0,0,0,0,0
$GC,1419,-0.62,-194.6,258.5,-12.4,198,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1884,3637,0,0,0,0,0,0
$GC,1742,-0.62,-194.6,295.4,-11.6,228,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1885,3635,0,0,0,0,0,0
$GC,2073,-0.62,-194.6,331.8,-12.1,259,2077,0.00,2.05,0.00,0.000,4,0.000,0.031,2580,3267,3634,0,0,0,0,0,0
$GC,2134,-0.62,-194.6,339.4,-10.8,264,2141,0.00,1.88,0.00,0.000,6,0.000,0.018,2580,1937,3634,0,0,0,0,0,0
$GC,2461,-0.62,-194.6,379.4,-12.0,295,2465,0.00,2.08,0.00,0.000,4,0.000,0.030,2580,507,3631,0,0,0,0,0,0
$GC,2529,-0.62,-194.6,388.3,-13.2,300,2536,0.00,2.05,0.00,0.000,6,0.000,0.021,2577,1942,3631,0,0,0,0,0,0
$GC,2855,-0.62,-194.6,431.2,-12.2,331,2858,0.00,1.95,0.00,0.000,4,0.000,0.034,2574,3268,3629,0,0,0,0,0,0
$GC,2880,-0.62,-194.6,433.8,-11.6,333,2884,0.00,1.85,0.00,0.000,6,0.000,0.018,2575,1939,3628,0,0,0,0,0,0
$GC,3212,-0.62,-194.6,465.5,-9.7,364,3216,0.00,2.10,0.00,0.000,4,0.000,0.031,2575,496,3626,0,0,0,0,0,0
$GC,3246,-0.62,-194.6,469.1,-10.0,366,3253,0.00,2.08,0.00,0.000,6,0.000,0.021,2575,1934,3626,0,0,0,0,0,0
$GC,3582,-0.62,-194.6,502.2,-10.1,397,3585,0.00,1.95,0.00,0.000,4,0.000,0.034,2575,3267,3624,0,0,0,0,0,0
$GC,3724,-0.62,-194.6,514.8,-8.6,403,3728,0.00,1.83,0.00,0.000,6,0.000,0.018,2575,1957,3622,0,0,0,0,0,0
$GC,4052,-0.62,-194.6,545.7,-9.2,419,4057,0.00,2.00,0.00,0.000,4,0.000,0.036,2575,3271,3620,0,0,0,0,0,0
$GC,4146,-0.62,-194.6,554.5,-8.6,423,4151,0.00,1.80,0.00,0.000,6,0.000,0.018,2575,1998,3620,0,0,0,0,0,0
$GC,4475,-0.62,-194.6,583.5,-8.9,439,4478,0.00,1.90,0.00,0.000,4,0.000,0.036,2575,3274,3617,0,0,0,0,0,0
$GC,4536,-0.62,-194.6,588.9,-8.2,441,4543,0.00,1.75,0.00,0.000,6,0.000,0.019,2575,2012,3617,0,0,0,0,0,0
$GC,4854,-0.62,-194.6,615.4,-8.9,457,4859,0.00,1.92,0.00,0.000,4,0.000,0.036,2575,3271,3613,0,0,0,0,0,0
$GC,4922,-0.62,-194.6,621.3,-8.5,460,4925,0.00,1.67,0.00,0.000,6,0.000,0.019,2575,2043,3612,0,0,0,0,0,0
$GC,5256,-0.62,-194.6,649.6,-8.6,476,5261,0.00,2.28,0.00,0.000,4,0.000,0.028,2575,504,3610,0,0,0,0,0,0
$GC,5302,-0.62,-194.6,654.0,-9.5,478,5307,0.00,2.28,0.00,0.000,6,0.000,0.022,2575,2042,3609,0,0,0,0,0,0
$GC,5635,-0.62,-194.6,683.0,-8.7,494,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2042,3607,0,0,0,0,0,0
$GC,5944,-0.62,-194.6,709.3,-7.9,509,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2042,3605,0,0,0,0,0,0
$GC,6253,-0.62,-194.6,732.0,-7.0,524,6257,0.00,1.85,0.00,0.000,4,0.000,0.038,2575,3273,3603,0,0,0,0,0,0
$GC,6344,-0.62,-194.6,737.8,-6.1,528,6348,0.00,1.73,0.00,0.000,6,0.000,0.019,2575,2040,3602,0,0,0,0,0,0
$GC,6679,-0.62,-194.6,760.6,-7.6,544,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2039,3600,0,0,0,0,0,0
$GC,6987,-0.62,-194.6,784.0,-7.4,559,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2039,3598,0,0,0,0,0,0
$GC,7297,-0.62,-194.6,808.1,-7.9,574,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2039,3596,0,0,0,0,0,0
$GC,7605,-0.62,-194.6,830.9,-7.0,589,7609,0.00,1.88,0.00,0.000,4,0.000,0.039,2575,3268,3595,0,0,0,0,0,0
$GC,7700,-0.62,-194.6,837.5,-6.6,593,7704,0.00,1.70,0.00,0.000,6,0.000,0.020,2575,2042,3594,0,0,0,0,0,0
$GC,8030,-0.62,-194.6,858.6,-6.4,609,8034,0.00,1.85,0.00,0.000,4,0.000,0.038,2575,3270,3592,0,0,0,0,0,0
$GC,8077,-0.62,-194.6,861.5,-6.3,611,8080,0.00,1.70,0.00,0.000,6,0.000,0.019,2575,2065,3592,0,0,0,0,0,0
$GC,8411,-0.62,-194.6,881.3,-6.1,627,8415,0.00,2.30,0.00,0.000,4,0.000,0.028,2574,516,3591,0,0,0,0,0,0
$GC,8466,-0.62,-194.6,885.3,-7.3,629,8470,0.00,2.25,0.00,0.000,6,0.000,0.023,2575,2044,3591,0,0,0,0,0,0
$GC,8782,-0.62,-194.6,907.6,-7.6,644,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2044,3590,0,0,0,0,0,0
$GC,9093,-0.62,-194.6,932.9,-8.2,659,9097,0.00,1.85,0.00,0.000,4,0.000,0.040,2575,3269,3589,0,0,0,0,0,0
$GC,9119,-0.62,-194.6,934.9,-8.1,660,9123,0.00,1.73,0.00,0.000,6,0.000,0.020,2574,2051,3589,0,0,0,0,0,0
$GC,9454,-0.62,-194.6,962.1,-8.1,676,9458,0.00,2.28,0.00,0.000,4,0.000,0.028,2575,510,3587,0,0,0,0,0,0
$GC,9503,-0.62,-194.6,966.5,-8.4,678,9508,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2040,3588,0,0,0,0,0,0
$STATE,9822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9822,begin apogee
$GC,9828,-0.20,0.0,990.1,7.3,694,9985,0.47,0.00,152.52,1.392,4,0.126,0.000,2729,2040,2839,0,0,0,0,0,0
$STATE,9986,end apogee,CONTROL_FINISHED_OK
$STATE,9986,begin climb
$GC,9988,0.62,194.6,994.8,0.0,701,10166,0.75,2.35,168.93,1.334,4,0.080,0.040,3001,3461,2044,0,0,0,0,0,0
$GC,10312,0.62,194.6,956.1,15.0,716,10316,0.00,2.10,0.00,0.000,6,0.000,0.021,3010,2102,2036,0,0,0,0,0,0
$GC,10638,0.62,194.6,911.1,13.6,732,10642,0.00,2.10,0.00,0.000,4,0.000,0.037,3011,3466,2033,0,0,0,0,0,0
$GC,10779,0.62,194.6,891.6,13.5,738,10783,0.00,2.20,0.00,0.000,6,0.000,0.022,3018,1993,2032,0,0,0,0,0,0
$GC,11097,0.62,194.6,854.1,11.7,753,11101,0.00,1.95,0.00,0.000,4,0.000,0.034,3027,687,2031,0,0,0,0,0,0
$GC,11165,0.62,194.6,845.5,12.7,756,11169,0.00,1.92,0.00,0.000,6,0.000,0.024,3027,1986,2031,0,0,0,0,0,0
$GC,11500,0.62,194.6,802.0,13.1,772,11504,0.00,2.22,0.00,0.000,4,0.000,0.037,3026,3462,2030,0,0,0,0,0,0
$GC,11645,0.62,194.6,779.6,16.3,778,11654,0.12,2.08,0.00,0.000,6,0.174,0.021,3005,2043,2030,0,0,0,0,0,0
$GC,11963,0.62,194.6,736.5,13.4,794,11966,0.00,2.00,0.00,0.000,4,0.000,0.032,3013,686,2030,0,0,0,0,0,0
$GC,12052,0.62,194.6,724.0,13.6,798,12056,0.00,1.98,0.00,0.000,6,0.000,0.023,3013,2027,2029,0,0,0,0,0,0
$GC,12387,0.62,194.6,678.7,13.7,814,12391,0.00,2.17,0.00,0.000,4,0.000,0.038,3013,3462,2029,0,0,0,0,0,0
$GC,12510,0.62,194.6,659.3,15.4,819,12517,0.00,2.03,0.00,0.000,6,0.000,0.021,3022,2088,2028,0,0,0,0,0,0
$GC,12828,0.62,194.6,614.6,13.7,835,12831,0.00,2.08,0.00,0.000,4,0.000,0.033,3032,695,2028,0,0,0,0,0,0
$GC,12981,0.62,194.6,594.1,13.4,841,12989,0.12,2.00,0.00,0.000,6,0.154,0.023,2999,2050,2028,0,0,0,0,0,0
$GC,13297,0.62,194.6,558.7,10.9,857,13302,0.00,2.15,0.00,0.000,4,0.000,0.038,2999,3453,2028,0,0,0,0,0,0
$GC,13366,0.62,194.6,550.7,12.4,860,13369,0.00,2.05,0.00,0.000,6,0.000,0.021,3006,2049,2028,0,0,0,0,0,0
$GC,13699,0.62,194.6,511.3,11.8,876,13703,0.00,2.03,0.00,0.000,4,0.000,0.031,3016,683,2027,0,0,0,0,0,0
$GC,13784,0.62,194.6,501.1,12.1,879,13791,0.00,2.00,0.00,0.000,6,0.000,0.022,3016,2028,2027,0,0,0,0,0,0
$GC,14108,0.62,194.6,464.1,10.7,909,14112,0.00,2.17,0.00,0.000,4,0.000,0.038,3016,3465,2027,0,0,0,0,0,0
$GC,14195,0.62,194.6,453.9,11.6,916,14198,0.00,2.12,0.00,0.000,6,0.000,0.021,3025,2007,2027,0,0,0,0,0,0
$GC,14520,0.62,194.6,415.7,11.9,946,14525,0.00,1.98,0.00,0.000,4,0.000,0.033,3035,687,2027,0,0,0,0,0,0
$GC,14593,0.62,194.6,406.7,12.3,952,14601,0.10,1.95,0.00,0.000,6,0.129,0.022,3001,2011,2027,0,0,0,0,0,0
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$STATE,18680,end climb,SURFACE_DEPTH_REACHED
$STATE,18680,begin surface coast
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$STATE,18713,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,86787,1466
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$CFSIZE,260165632,120188928
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