version: 66.09
glider: 167
mission: 8
dive: 230
start: 7 29 111 23 14 24
data:
$ID,167
$MISSION,8
$DIVE,230
$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,-56676.426
$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,85
$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
$GPS1,290711,230501,1907.392,12239.057,40,1.6,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.3
$GPS2,290711,231358,1907.429,12238.966,13,99.0,32,-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,111.9,42021,-15.3,-9.706
$D_GRID,2978
$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,-0.62,-194.6,0.0,0.0,0,110,0.00,0.00,-89.62,0.000,2,0.000,0.000,111,1909,2969,0,0,0,0,0,0
$GC,113,-0.62,-194.6,5.2,-9.2,12,146,9.95,2.12,-11.40,0.000,4,0.230,0.041,2594,484,3637,0,0,0,0,0,0
$GC,194,-0.62,-194.6,34.6,-29.6,24,203,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1852,3638,0,0,0,0,0,0
$GC,273,-0.62,-194.6,58.4,-32.6,37,282,0.00,2.10,0.00,0.000,4,0.000,0.030,2576,3264,3638,0,0,0,0,0,0
$GC,298,-0.62,-194.6,65.4,-30.2,40,306,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,1890,3638,0,0,0,0,0,0
$GC,376,-0.62,-194.6,84.4,-22.4,53,384,0.00,2.05,0.00,0.000,4,0.000,0.029,2576,496,3638,0,0,0,0,0,0
$GC,411,-0.62,-194.6,92.2,-22.3,58,422,0.08,1.85,0.00,0.000,6,0.165,0.020,2592,1781,3638,0,0,0,0,0,0
$GC,492,-0.62,-194.6,108.4,-20.3,71,501,0.00,2.22,0.00,0.000,4,0.000,0.032,2582,3266,3638,0,0,0,0,0,0
$GC,582,-0.62,-194.6,126.7,-18.6,86,591,0.00,1.75,0.00,0.000,6,0.000,0.017,2582,2011,3638,0,0,0,0,0,0
$GC,663,-0.62,-194.6,141.3,-17.3,99,672,0.00,1.88,0.00,0.000,4,0.000,0.030,2574,3264,3639,0,0,0,0,0,0
$GC,691,-0.62,-194.6,147.0,-18.4,103,700,0.00,1.65,0.00,0.000,6,0.000,0.017,2574,2061,3639,0,0,0,0,0,0
$GC,770,-0.62,-194.6,161.0,-17.8,116,777,0.00,2.25,0.00,0.000,4,0.000,0.024,2574,491,3639,0,0,0,0,0,0
$GC,819,-0.62,-194.6,170.1,-18.6,124,829,0.08,2.17,0.00,0.000,6,0.156,0.021,2591,1988,3640,0,0,0,0,0,0
$GC,896,-0.62,-194.6,183.3,-17.0,137,904,0.00,1.90,0.00,0.000,4,0.000,0.032,2587,3270,3640,0,0,0,0,0,0
$GC,913,-0.62,-194.6,186.0,-16.6,139,921,0.00,1.88,0.00,0.000,6,0.000,0.018,2586,1931,3639,0,0,0,0,0,0
$GC,990,-0.62,-194.6,199.3,-17.6,152,999,0.00,2.10,0.00,0.000,4,0.000,0.027,2587,490,3640,0,0,0,0,0,0
$GC,1063,-0.62,-194.6,211.8,-16.6,159,1067,0.00,1.88,0.00,0.000,6,0.000,0.020,2580,1812,3640,0,0,0,0,0,0
$GC,1394,-0.62,-194.6,261.7,-14.4,190,1398,0.00,2.12,0.00,0.000,4,0.000,0.032,2574,3273,3640,0,0,0,0,0,0
$GC,1482,-0.62,-194.6,274.4,-13.1,197,1490,0.00,2.03,0.00,0.000,6,0.000,0.017,2574,1837,3639,0,0,0,0,0,0
$GC,1809,-0.62,-194.6,320.6,-14.4,228,1813,0.00,2.12,0.00,0.000,4,0.000,0.031,2566,3277,3638,0,0,0,0,0,0
$GC,1871,-0.62,-194.6,329.1,-13.0,233,1876,0.12,1.92,0.00,0.000,6,0.148,0.017,2601,1868,3638,0,0,0,0,0,0
$GC,2202,-0.62,-194.6,363.7,-9.7,264,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1867,3636,0,0,0,0,0,0
$GC,2522,-0.62,-194.6,391.7,-8.1,294,2526,0.00,1.95,0.00,0.000,4,0.000,0.029,2601,519,3633,0,0,0,0,0,0
$GC,2562,-0.62,-194.6,395.3,-8.6,297,2569,0.00,1.98,0.00,0.000,6,0.000,0.021,2601,1895,3634,0,0,0,0,0,0
$GC,2888,-0.62,-194.6,421.4,-8.0,328,2892,0.00,2.03,0.00,0.000,4,0.000,0.034,2601,3263,3631,0,0,0,0,0,0
$GC,2972,-0.62,-194.6,428.1,-7.6,335,2979,0.00,1.85,0.00,0.000,6,0.000,0.018,2601,1938,3630,0,0,0,0,0,0
$GC,3298,-0.62,-194.6,453.8,-8.1,366,3303,0.00,2.00,0.00,0.000,4,0.000,0.033,2601,3264,3627,0,0,0,0,0,0
$GC,3360,-0.62,-194.6,458.7,-7.7,371,3366,0.00,1.80,0.00,0.000,6,0.000,0.018,2601,1971,3626,0,0,0,0,0,0
$GC,3686,-0.62,-194.6,485.7,-8.1,402,3690,0.00,2.12,0.00,0.000,4,0.000,0.028,2602,511,3624,0,0,0,0,0,0
$GC,3719,-0.62,-194.6,488.7,-8.5,404,3726,0.00,2.08,0.00,0.000,6,0.000,0.021,2601,1950,3624,0,0,0,0,0,0
$GC,4054,-0.62,-194.6,515.4,-8.0,427,4057,0.00,1.95,0.00,0.000,4,0.000,0.035,2600,3265,3622,0,0,0,0,0,0
$GC,4154,-0.62,-194.6,522.9,-6.9,431,4159,0.00,1.85,0.00,0.000,6,0.000,0.019,2601,1965,3621,0,0,0,0,0,0
$GC,4478,-0.62,-194.6,546.9,-7.8,447,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1964,3619,0,0,0,0,0,0
$GC,4785,-0.62,-194.6,572.0,-8.4,462,4788,0.00,1.95,0.00,0.000,4,0.000,0.034,2601,3263,3616,0,0,0,0,0,0
$GC,4819,-0.62,-194.6,574.9,-8.4,463,4823,0.00,1.80,0.00,0.000,6,0.000,0.019,2600,1982,3615,0,0,0,0,0,0
$GC,5142,-0.62,-194.6,601.9,-8.4,479,5145,0.00,1.92,0.00,0.000,4,0.000,0.037,2601,3260,3613,0,0,0,0,0,0
$GC,5234,-0.62,-194.6,609.4,-8.1,483,5237,0.00,1.75,0.00,0.000,6,0.000,0.021,2600,2010,3613,0,0,0,0,0,0
$GC,5570,-0.62,-194.6,635.5,-7.6,499,5573,0.00,1.90,0.00,0.000,4,0.000,0.037,2600,3267,3611,0,0,0,0,0,0
$GC,5604,-0.62,-194.6,638.4,-7.6,500,5607,0.00,1.77,0.00,0.000,6,0.000,0.021,2600,2002,3610,0,0,0,0,0,0
$GC,5927,-0.62,-194.6,662.2,-7.4,516,5931,0.00,1.88,0.00,0.000,4,0.000,0.037,2600,3260,3608,0,0,0,0,0,0
$GC,5974,-0.62,-194.6,665.8,-7.5,518,5977,0.00,1.73,0.00,0.000,6,0.000,0.021,2601,2035,3608,0,0,0,0,0,0
$GC,6307,-0.62,-194.6,690.1,-7.1,534,6311,0.00,1.83,0.00,0.000,4,0.000,0.037,2601,3260,3606,0,0,0,0,0,0
$GC,6400,-0.62,-194.6,696.0,-6.3,538,6403,0.00,1.67,0.00,0.000,6,0.000,0.021,2600,2069,3605,0,0,0,0,0,0
$GC,6734,-0.62,-194.6,718.5,-6.7,554,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2067,3603,0,0,0,0,0,0
$GC,7045,-0.62,-194.6,737.9,-6.3,569,7049,0.00,1.83,0.00,0.000,4,0.000,0.038,2600,3268,3601,0,0,0,0,0,0
$GC,7084,-0.62,-194.6,740.4,-6.2,570,7092,0.00,1.67,0.00,0.000,6,0.000,0.019,2601,2082,3601,0,0,0,0,0,0
$GC,7401,-0.62,-194.6,757.7,-5.3,586,7404,0.00,1.80,0.00,0.000,4,0.000,0.038,2601,3267,3600,0,0,0,0,0,0
$GC,7430,-0.62,-194.6,759.3,-5.4,587,7433,0.00,1.67,0.00,0.000,6,0.000,0.020,2601,2080,3599,0,0,0,0,0,0
$GC,7758,-0.62,-194.6,779.1,-6.4,603,7763,0.00,1.83,0.00,0.000,4,0.000,0.039,2600,3260,3598,0,0,0,0,0,0
$GC,7836,-0.62,-194.6,784.6,-6.8,606,7839,0.00,1.65,0.00,0.000,6,0.000,0.021,2600,2085,3598,0,0,0,0,0,0
$GC,8161,-0.62,-194.6,808.3,-7.7,622,8165,0.00,2.28,0.00,0.000,4,0.000,0.030,2600,525,3596,0,0,0,0,0,0
$GC,8228,-0.62,-194.6,814.9,-9.3,625,8232,0.00,2.28,0.00,0.000,6,0.000,0.023,2600,2067,3595,0,0,0,0,0,0
$GC,8553,-0.62,-194.6,841.3,-8.2,641,8556,0.00,1.80,0.00,0.000,4,0.000,0.039,2600,3264,3594,0,0,0,0,0,0
$GC,8580,-0.62,-194.6,843.9,-8.2,642,8585,0.00,1.67,0.00,0.000,6,0.000,0.021,2600,2106,3594,0,0,0,0,0,0
$GC,8907,-0.62,-194.6,870.2,-7.7,658,8911,0.00,2.35,0.00,0.000,4,0.000,0.030,2600,516,3593,0,0,0,0,0,0
$GC,8949,-0.62,-194.6,873.7,-8.0,660,8953,0.00,2.28,0.00,0.000,6,0.000,0.023,2600,2058,3592,0,0,0,0,0,0
$GC,9277,-0.62,-194.6,895.5,-6.2,676,9282,0.00,2.30,0.00,0.000,4,0.000,0.029,2600,530,3591,0,0,0,0,0,0
$GC,9317,-0.62,-194.6,898.1,-6.2,677,9324,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,2031,3591,0,0,0,0,0,0
$GC,9633,-0.62,-194.6,917.4,-6.1,693,9637,0.00,1.85,0.00,0.000,4,0.000,0.041,2601,3258,3591,0,0,0,0,0,0
$GC,9666,-0.62,-194.6,919.4,-6.1,694,9670,0.00,1.67,0.00,0.000,6,0.000,0.021,2600,2072,3590,0,0,0,0,0,0
$GC,9990,-0.62,-194.6,939.2,-6.3,710,9994,0.00,2.30,0.00,0.000,4,0.000,0.031,2600,520,3590,0,0,0,0,0,0
$GC,10016,-0.62,-194.6,941.0,-6.3,711,10021,0.00,2.25,0.00,0.000,6,0.000,0.024,2600,2037,3589,0,0,0,0,0,0
$GC,10333,-0.62,-194.6,961.9,-7.0,726,10336,0.00,1.85,0.00,0.000,4,0.000,0.041,2600,3259,3588,0,0,0,0,0,0
$GC,10362,-0.62,-194.6,963.9,-6.9,727,10365,0.00,1.73,0.00,0.000,6,0.000,0.021,2600,2054,3588,0,0,0,0,0,0
$GC,10690,-0.62,-194.6,984.4,-6.1,743,10695,0.00,2.30,0.00,0.000,4,0.000,0.031,2600,520,3588,0,0,0,0,0,0
$GC,10717,-0.62,-194.6,986.3,-6.1,744,10721,0.00,2.22,0.00,0.000,6,0.000,0.025,2600,2018,3588,0,0,0,0,0,0
$STATE,10788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10788,begin apogee
$GC,10794,-0.20,0.0,990.9,6.5,748,10952,0.38,0.00,153.27,1.403,4,0.118,0.000,2728,2018,2839,0,0,0,0,0,0
$STATE,10952,end apogee,CONTROL_FINISHED_OK
$STATE,10953,begin climb
$GC,10957,0.62,194.6,997.7,0.0,755,11134,0.77,0.00,170.10,1.346,6,0.080,0.000,2996,2018,2044,0,0,0,0,0,0
$GC,11444,0.62,194.6,950.2,11.4,779,11449,0.00,2.22,0.00,0.000,4,0.000,0.038,2996,3462,2033,0,0,0,0,0,0
$GC,11534,0.62,194.6,938.5,13.1,783,11538,0.00,2.00,0.00,0.000,6,0.000,0.021,3004,2135,2032,0,0,0,0,0,0
$GC,11863,0.62,194.6,898.1,12.6,799,11867,0.00,2.12,0.00,0.000,4,0.000,0.032,3015,717,2030,0,0,0,0,0,0
$GC,12010,0.62,194.6,878.7,13.2,805,12017,0.00,1.98,0.00,0.000,6,0.000,0.024,3014,2026,2030,0,0,0,0,0,0
$GC,12328,0.62,194.6,835.1,14.0,821,12332,0.00,2.20,0.00,0.000,4,0.000,0.038,3014,3469,2028,0,0,0,0,0,0
$GC,12372,0.62,194.6,828.0,15.2,823,12376,0.00,2.03,0.00,0.000,6,0.000,0.021,3023,2089,2028,0,0,0,0,0,0
$GC,12700,0.62,194.6,782.1,13.8,839,12705,0.00,2.10,0.00,0.000,4,0.000,0.034,3034,697,2028,0,0,0,0,0,0
$GC,12756,0.62,194.6,774.1,14.0,841,12761,0.12,2.05,0.00,0.000,6,0.160,0.024,3001,2087,2028,0,0,0,0,0,0
$GC,13074,0.62,194.6,735.1,12.1,856,13078,0.00,2.10,0.00,0.000,4,0.000,0.038,3001,3469,2028,0,0,0,0,0,0
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$STATE,20011,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,37.728
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$FG_AHR_10Vo,0.000
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$MEM,323868
$DATA_FILE_SIZE,90232,1549
$CAP_FILE_SIZE,226008,0
$CFSIZE,260165632,120066048
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$CURRENT,0.143,331.5,1
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