version: 66.09
glider: 167
mission: 8
dive: 280
start: 8 10 111 8 18 52
data:
$ID,167
$MISSION,8
$DIVE,280
$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,-6
$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,-56739.922
$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,71
$R_STBD_OVSHOOT,60
$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
$GPS1,100811,081030,1953.180,12342.123,38,1.1,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.7
$GPS2,100811,081826,1953.323,12341.993,13,1.1,13,-2.4
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,106.1,77284,-15.3,-9.706
$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,-0.62,-194.6,0.0,0.0,0,111,0.00,0.00,-90.57,0.000,2,0.000,0.000,123,1845,3020,0,0,0,0,0,0
$GC,114,-0.62,-194.6,5.4,-9.3,12,147,10.02,2.20,-10.35,0.000,4,0.233,0.042,2581,3288,3636,0,0,0,0,0,0
$GC,155,-0.62,-194.6,24.2,-39.9,17,163,0.00,2.05,0.00,0.000,6,0.000,0.018,2585,1867,3637,0,0,0,0,0,0
$GC,229,-0.62,-194.6,45.9,-26.1,30,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1867,3637,0,0,0,0,0,0
$GC,306,-0.62,-194.6,65.2,-24.2,43,314,0.00,2.10,0.00,0.000,4,0.000,0.029,2577,3266,3637,0,0,0,0,0,0
$GC,368,-0.62,-194.6,80.0,-22.3,54,377,0.00,1.92,0.00,0.000,6,0.000,0.026,2577,1921,3638,0,0,0,0,0,0
$GC,447,-0.62,-194.6,97.4,-22.7,67,455,0.00,2.08,0.00,0.000,4,0.000,0.028,2577,502,3638,0,0,0,0,0,0
$GC,481,-0.62,-194.6,104.9,-21.1,72,489,0.00,1.92,0.00,0.000,6,0.000,0.021,2569,1831,3638,0,0,0,0,0,0
$GC,557,-0.62,-194.6,122.3,-24.0,85,565,0.12,2.15,0.00,0.000,4,0.190,0.032,2590,3262,3638,0,0,0,0,0,0
$GC,606,-0.62,-194.6,132.4,-19.3,93,615,0.00,1.90,0.00,0.000,6,0.000,0.017,2590,1912,3639,0,0,0,0,0,0
$GC,683,-0.62,-194.6,145.4,-16.4,106,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1912,3639,0,0,0,0,0,0
$GC,763,-0.62,-194.6,158.8,-17.0,119,771,0.00,2.05,0.00,0.000,4,0.000,0.028,2590,508,3638,0,0,0,0,0,0
$GC,828,-0.62,-194.6,170.2,-15.6,130,837,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1945,3639,0,0,0,0,0,0
$GC,905,-0.62,-194.6,181.2,-14.3,143,913,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3255,3639,0,0,0,0,0,0
$GC,937,-0.62,-194.6,185.6,-13.8,148,945,0.00,1.73,0.00,0.000,6,0.000,0.018,2587,2030,3639,0,0,0,0,0,0
$GC,1012,-0.62,-194.6,195.2,-13.3,161,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2030,3639,0,0,0,0,0,0
$GC,1096,-0.62,-194.6,206.5,-13.8,171,1100,0.00,2.22,0.00,0.000,4,0.000,0.028,2587,508,3639,0,0,0,0,0,0
$GC,1129,-0.62,-194.6,212.2,-15.7,174,1133,0.00,2.25,0.00,0.000,6,0.000,0.022,2587,2058,3639,0,0,0,0,0,0
$GC,1456,-0.62,-194.6,260.5,-15.3,204,1460,0.00,2.25,0.00,0.000,4,0.000,0.027,2587,513,3639,0,0,0,0,0,0
$GC,1475,-0.62,-194.6,263.7,-15.3,205,1480,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2034,3639,0,0,0,0,0,0
$GC,1806,-0.62,-194.6,312.6,-14.7,236,1810,0.00,1.83,0.00,0.000,4,0.000,0.035,2587,3262,3637,0,0,0,0,0,0
$GC,1828,-0.62,-194.6,316.1,-14.9,238,1832,0.00,1.70,0.00,0.000,6,0.000,0.018,2587,2023,3637,0,0,0,0,0,0
$GC,2162,-0.62,-194.6,353.3,-8.8,269,2166,0.00,2.20,0.00,0.000,4,0.000,0.029,2587,503,3635,0,0,0,0,0,0
$GC,2225,-0.62,-194.6,359.8,-10.1,274,2229,0.00,2.17,0.00,0.000,6,0.000,0.022,2587,2007,3635,0,0,0,0,0,0
$GC,2552,-0.62,-194.6,395.5,-11.5,304,2556,0.00,1.83,0.00,0.000,4,0.000,0.035,2587,3266,3634,0,0,0,0,0,0
$GC,2591,-0.62,-194.6,400.2,-11.1,307,2598,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1984,3633,0,0,0,0,0,0
$GC,2916,-0.62,-194.6,438.7,-11.5,338,2920,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,504,3632,0,0,0,0,0,0
$GC,2939,-0.62,-194.6,441.5,-11.6,339,2946,0.00,2.20,0.00,0.000,6,0.000,0.022,2587,2019,3631,0,0,0,0,0,0
$GC,3265,-0.62,-194.6,474.5,-9.0,370,3270,0.00,2.22,0.00,0.000,4,0.000,0.029,2587,521,3629,0,0,0,0,0,0
$GC,3315,-0.62,-194.6,478.9,-8.9,374,3323,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1962,3629,0,0,0,0,0,0
$GC,3641,-0.62,-194.6,506.2,-8.8,402,3644,0.00,1.90,0.00,0.000,4,0.000,0.035,2587,3263,3627,0,0,0,0,0,0
$GC,3764,-0.62,-194.6,516.7,-8.1,407,3768,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1968,3626,0,0,0,0,0,0
$GC,4086,-0.62,-194.6,549.9,-11.2,423,4090,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,513,3623,0,0,0,0,0,0
$GC,4126,-0.62,-194.6,554.6,-11.8,425,4130,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1977,3623,0,0,0,0,0,0
$GC,4456,-0.62,-194.6,588.3,-9.5,441,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1978,3621,0,0,0,0,0,0
$GC,4763,-0.62,-194.6,617.4,-9.3,456,4767,0.00,2.17,0.00,0.000,4,0.000,0.029,2587,507,3619,0,0,0,0,0,0
$GC,4828,-0.62,-194.6,623.2,-9.0,459,4833,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1950,3619,0,0,0,0,0,0
$GC,5162,-0.62,-194.6,647.8,-6.9,475,5165,0.00,1.95,0.00,0.000,4,0.000,0.035,2587,3265,3616,0,0,0,0,0,0
$GC,5240,-0.62,-194.6,653.4,-6.8,478,5243,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,1999,3616,0,0,0,0,0,0
$GC,5563,-0.62,-194.6,680.3,-9.0,494,5567,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,518,3613,0,0,0,0,0,0
$GC,5626,-0.62,-194.6,686.6,-9.8,497,5630,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1973,3613,0,0,0,0,0,0
$GC,5956,-0.62,-194.6,712.7,-6.6,513,5959,0.00,1.92,0.00,0.000,4,0.000,0.036,2587,3267,3611,0,0,0,0,0,0
$GC,6046,-0.62,-194.6,718.0,-5.3,517,6050,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,2003,3610,0,0,0,0,0,0
$GC,6382,-0.62,-194.6,738.1,-6.6,533,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2002,3608,0,0,0,0,0,0
$GC,6689,-0.62,-194.6,765.2,-9.9,548,6693,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,510,3606,0,0,0,0,0,0
$GC,6760,-0.62,-194.6,773.2,-10.7,551,6765,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1972,3605,0,0,0,0,0,0
$GC,7083,-0.62,-194.6,802.6,-8.7,567,7086,0.00,1.90,0.00,0.000,4,0.000,0.037,2588,3258,3603,0,0,0,0,0,0
$GC,7211,-0.62,-194.6,812.8,-7.7,572,7218,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2012,3603,0,0,0,0,0,0
$GC,7529,-0.62,-194.6,833.5,-6.1,588,7533,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,510,3600,0,0,0,0,0,0
$GC,7556,-0.62,-194.6,835.5,-6.1,589,7560,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,2025,3601,0,0,0,0,0,0
$GC,7872,-0.62,-194.6,853.6,-5.6,604,7876,0.00,1.85,0.00,0.000,4,0.000,0.038,2587,3258,3599,0,0,0,0,0,0
$GC,7912,-0.62,-194.6,855.8,-5.3,605,7919,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2033,3599,0,0,0,0,0,0
$GC,8229,-0.62,-194.6,870.9,-4.5,621,8233,0.00,2.28,0.00,0.000,4,0.000,0.032,2587,519,3597,0,0,0,0,0,0
$GC,8256,-0.62,-194.6,872.4,-4.6,622,8260,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,2010,3597,0,0,0,0,0,0
$GC,8580,-0.62,-194.6,884.8,-3.6,638,8584,0.00,1.90,0.00,0.000,4,0.000,0.041,2587,3266,3596,0,0,0,0,0,0
$GC,8652,-0.62,-194.6,887.6,-3.5,641,8657,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2044,3595,0,0,0,0,0,0
$GC,8981,-0.62,-194.6,902.2,-5.0,657,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2043,3594,0,0,0,0,0,0
$GC,9289,-0.62,-194.6,920.1,-6.2,672,9292,0.00,1.85,0.00,0.000,4,0.000,0.039,2587,3257,3592,0,0,0,0,0,0
$GC,9350,-0.62,-194.6,924.0,-6.1,674,9358,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2050,3592,0,0,0,0,0,0
$GC,9668,-0.62,-194.6,943.1,-6.2,690,9672,0.00,2.28,0.00,0.000,4,0.000,0.031,2587,517,3591,0,0,0,0,0,0
$GC,9695,-0.62,-194.6,945.1,-6.2,691,9699,0.00,2.25,0.00,0.000,6,0.000,0.026,2587,2032,3591,0,0,0,0,0,0
$GC,10013,-0.62,-194.6,964.5,-6.3,706,10016,0.00,1.85,0.00,0.000,4,0.000,0.041,2587,3255,3590,0,0,0,0,0,0
$GC,10062,-0.62,-194.6,967.8,-6.2,708,10066,0.00,1.67,0.00,0.000,6,0.000,0.020,2587,2062,3590,0,0,0,0,0,0
$GC,10390,-0.62,-194.6,989.7,-6.9,724,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2061,3589,0,0,0,0,0,0
$STATE,10408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10408,begin apogee
$GC,10415,-0.20,0.0,991.1,6.9,725,10576,0.43,0.00,154.35,1.401,4,0.113,0.000,2731,2057,2838,0,0,0,0,0,0
$STATE,10577,end apogee,CONTROL_FINISHED_OK
$STATE,10577,begin climb
$GC,10580,0.62,194.6,997.7,0.0,732,10762,0.80,2.30,170.85,1.345,4,0.082,0.040,2998,3459,2044,0,0,0,0,0,0
$GC,10937,0.62,194.6,961.4,12.7,748,10944,0.00,2.05,0.00,0.000,6,0.000,0.021,3007,2100,2036,0,0,0,0,0,0
$GC,11253,0.62,194.6,922.3,12.4,764,11258,0.00,2.12,0.00,0.000,4,0.000,0.037,3007,3454,2033,0,0,0,0,0,0
$GC,11407,0.62,194.6,901.5,14.1,770,11414,0.00,2.10,0.00,0.000,6,0.000,0.021,3017,2024,2032,0,0,0,0,0,0
$GC,11724,0.62,194.6,860.2,13.1,786,11727,0.00,2.00,0.00,0.000,4,0.000,0.034,3027,682,2032,0,0,0,0,0,0
$GC,11784,0.62,194.6,852.2,12.6,788,11792,0.00,1.95,0.00,0.000,6,0.000,0.024,3027,1979,2032,0,0,0,0,0,0
$GC,12102,0.62,194.6,810.6,13.3,804,12106,0.00,2.25,0.00,0.000,4,0.000,0.038,3027,3465,2030,0,0,0,0,0,0
$GC,12187,0.62,194.6,798.2,14.5,808,12192,0.12,2.10,0.00,0.000,6,0.170,0.021,3005,2022,2031,0,0,0,0,0,0
$GC,12515,0.62,194.6,760.1,11.2,824,12520,0.00,2.00,0.00,0.000,4,0.000,0.034,3013,691,2030,0,0,0,0,0,0
$GC,12598,0.62,194.6,750.1,11.7,827,12604,0.00,1.92,0.00,0.000,6,0.000,0.024,3012,1979,2029,0,0,0,0,0,0
$GC,12915,0.62,194.6,712.7,11.7,843,12920,0.00,2.28,0.00,0.000,4,0.000,0.038,3013,3458,2030,0,0,0,0,0,0
$GC,12993,0.62,194.6,702.7,12.4,846,12997,0.00,2.10,0.00,0.000,6,0.000,0.021,3023,2018,2029,0,0,0,0,0,0
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$GC,14696,0.70,261.1,532.1,12.9,927,14700,0.00,2.12,0.00,0.000,6,0.000,0.021,3025,2015,1775,0,0,0,0,0,0
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$GC,16547,0.71,269.5,312.1,11.0,1087,16551,0.00,1.95,0.00,0.000,4,0.000,0.031,3063,688,1738,0,0,0,0,0,0
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$STATE,19333,end climb,SURFACE_DEPTH_REACHED
$STATE,19333,begin surface coast
$FINISH,1.0,1.009477
$STATE,19364,end surface coast,CONTROL_FINISHED_OK
$STATE,19364,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,36.13
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,28.40
$XPDR_PINGS,73
$24V_AH,22.8,51.114
$10V_AH,9.8,45.845
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329676
$DATA_FILE_SIZE,86878,1471
$CAP_FILE_SIZE,219039,0
$CFSIZE,260165632,115044352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,359.2,1
$GPS,100811,134406,1954.364,12344.699,35,1.3,36,-2.4