version: 66.09
glider: 167
mission: 8
dive: 289
start: 8 12 111 9 17 7
data:
$ID,167
$MISSION,8
$DIVE,289
$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,-56751.262
$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,74
$R_STBD_OVSHOOT,65
$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
$GPS1,120811,090855,2004.490,12400.126,38,1.2,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.2
$GPS2,120811,091644,2004.563,12400.155,13,1.3,13,-2.5
$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,103.3,39529,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,111,0.00,0.00,-88.28,0.000,2,0.000,0.000,110,1939,2943,0,0,0,0,0,0
$GC,115,-0.62,-194.6,5.4,-9.5,12,147,10.02,2.03,-11.75,0.000,4,0.231,0.044,2585,3275,3636,0,0,0,0,0,0
$GC,192,-0.62,-194.6,36.1,-34.9,24,200,0.00,2.05,0.00,0.000,6,0.000,0.022,2585,1861,3637,0,0,0,0,0,0
$GC,268,-0.62,-194.6,60.1,-31.4,37,277,0.00,2.03,0.00,0.000,4,0.000,0.029,2585,487,3636,0,0,0,0,0,0
$GC,304,-0.62,-194.6,71.3,-31.0,42,313,0.00,1.95,0.00,0.000,6,0.000,0.021,2576,1824,3637,0,0,0,0,0,0
$GC,380,-0.62,-194.6,91.2,-24.1,55,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1825,3637,0,0,0,0,0,0
$GC,453,-0.62,-194.6,105.2,-18.0,68,461,0.00,1.95,0.00,0.000,4,0.000,0.025,2576,495,3637,0,0,0,0,0,0
$GC,506,-0.62,-194.6,114.9,-19.1,76,514,0.08,2.17,0.00,0.000,6,0.155,0.021,2592,1981,3637,0,0,0,0,0,0
$GC,581,-0.62,-194.6,128.3,-16.7,89,589,0.00,1.90,0.00,0.000,4,0.000,0.032,2584,3262,3638,0,0,0,0,0,0
$GC,620,-0.62,-194.6,134.5,-17.0,95,629,0.00,1.77,0.00,0.000,6,0.000,0.016,2584,1997,3638,0,0,0,0,0,0
$GC,695,-0.62,-194.6,149.5,-21.3,108,703,0.00,2.20,0.00,0.000,4,0.000,0.028,2584,494,3638,0,0,0,0,0,0
$GC,742,-0.62,-194.6,159.1,-20.4,115,751,0.00,2.03,0.00,0.000,6,0.000,0.020,2575,1895,3639,0,0,0,0,0,0
$GC,819,-0.62,-194.6,173.8,-19.2,128,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1895,3639,0,0,0,0,0,0
$GC,894,-0.62,-194.6,188.1,-18.4,141,902,0.00,2.03,0.00,0.000,4,0.000,0.033,2566,3259,3638,0,0,0,0,0,0
$GC,958,-0.62,-194.6,200.4,-18.5,152,967,0.08,1.85,0.00,0.000,6,0.144,0.018,2591,1938,3639,0,0,0,0,0,0
$GC,1286,-0.62,-194.6,255.0,-14.8,183,1289,0.00,2.10,0.00,0.000,4,0.000,0.029,2590,483,3638,0,0,0,0,0,0
$GC,1352,-0.62,-194.6,265.4,-15.0,188,1360,0.00,2.15,0.00,0.000,6,0.000,0.022,2588,1952,3639,0,0,0,0,0,0
$GC,1679,-0.62,-194.6,313.7,-14.3,219,1682,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3264,3637,0,0,0,0,0,0
$GC,1694,-0.62,-194.6,316.3,-14.0,220,1702,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1954,3637,0,0,0,0,0,0
$GC,2021,-0.62,-194.6,364.1,-16.4,251,2025,0.00,2.12,0.00,0.000,4,0.000,0.029,2587,490,3636,0,0,0,0,0,0
$GC,2061,-0.62,-194.6,371.2,-17.3,254,2065,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1928,3636,0,0,0,0,0,0
$GC,2387,-0.62,-194.6,419.9,-12.7,284,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1929,3634,0,0,0,0,0,0
$GC,2706,-0.62,-194.6,454.0,-9.8,314,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1929,3633,0,0,0,0,0,0
$GC,3027,-0.62,-194.6,483.5,-9.7,344,3030,0.00,1.98,0.00,0.000,4,0.000,0.034,2584,3270,3631,0,0,0,0,0,0
$GC,3107,-0.62,-194.6,490.7,-8.8,351,3111,0.00,2.00,0.00,0.000,6,0.000,0.018,2584,1852,3630,0,0,0,0,0,0
$GC,3433,-0.62,-194.6,523.3,-9.9,371,3437,0.00,2.10,0.00,0.000,4,0.000,0.033,2584,3268,3628,0,0,0,0,0,0
$GC,3461,-0.62,-194.6,526.1,-9.4,372,3464,0.00,1.92,0.00,0.000,6,0.000,0.018,2584,1902,3628,0,0,0,0,0,0
$GC,3783,-0.62,-194.6,553.3,-8.4,388,3786,0.00,2.03,0.00,0.000,4,0.000,0.031,2584,502,3625,0,0,0,0,0,0
$GC,3831,-0.62,-194.6,557.5,-9.2,390,3835,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,1876,3625,0,0,0,0,0,0
$GC,4163,-0.62,-194.6,587.6,-8.8,406,4167,0.00,2.05,0.00,0.000,4,0.000,0.035,2575,3267,3623,0,0,0,0,0,0
$GC,4282,-0.62,-194.6,597.3,-7.9,411,4286,0.00,1.90,0.00,0.000,6,0.000,0.019,2574,1920,3622,0,0,0,0,0,0
$GC,4610,-0.62,-194.6,627.0,-9.3,427,4614,0.00,2.08,0.00,0.000,4,0.000,0.031,2575,502,3620,0,0,0,0,0,0
$GC,4683,-0.62,-194.6,634.2,-9.1,430,4687,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1882,3619,0,0,0,0,0,0
$GC,5006,-0.62,-194.6,663.2,-9.4,446,5010,0.00,2.05,0.00,0.000,4,0.000,0.036,2575,3267,3617,0,0,0,0,0,0
$GC,5154,-0.62,-194.6,676.2,-8.6,452,5159,0.00,1.92,0.00,0.000,6,0.000,0.019,2574,1923,3615,0,0,0,0,0,0
$GC,5477,-0.62,-194.6,707.5,-10.1,468,5481,0.00,2.03,0.00,0.000,4,0.000,0.034,2574,3267,3613,0,0,0,0,0,0
$GC,5526,-0.62,-194.6,712.9,-10.0,470,5530,0.00,1.90,0.00,0.000,6,0.000,0.019,2574,1932,3613,0,0,0,0,0,0
$GC,5857,-0.62,-194.6,744.5,-9.4,486,5861,0.00,2.10,0.00,0.000,4,0.000,0.030,2575,501,3610,0,0,0,0,0,0
$GC,5952,-0.62,-194.6,753.8,-9.2,490,5955,0.00,2.08,0.00,0.000,6,0.000,0.023,2574,1919,3609,0,0,0,0,0,0
$GC,6274,-0.62,-194.6,780.4,-8.0,506,6277,0.00,2.00,0.00,0.000,4,0.000,0.039,2574,3265,3607,0,0,0,0,0,0
$GC,6430,-0.62,-194.6,792.1,-7.7,512,6437,0.00,1.83,0.00,0.000,6,0.000,0.020,2574,1973,3605,0,0,0,0,0,0
$GC,6746,-0.62,-194.6,818.0,-8.2,528,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1972,3604,0,0,0,0,0,0
$GC,7058,-0.62,-194.6,843.8,-8.3,543,7062,0.00,2.15,0.00,0.000,4,0.000,0.030,2574,513,3602,0,0,0,0,0,0
$GC,7092,-0.62,-194.6,847.2,-8.5,544,7099,0.00,2.12,0.00,0.000,6,0.000,0.022,2574,1964,3601,0,0,0,0,0,0
$GC,7408,-0.62,-194.6,875.8,-9.3,560,7413,0.00,2.00,0.00,0.000,4,0.000,0.040,2574,3269,3599,0,0,0,0,0,0
$GC,7532,-0.62,-194.6,886.6,-8.6,565,7536,0.00,1.80,0.00,0.000,6,0.000,0.020,2575,1992,3599,0,0,0,0,0,0
$GC,7854,-0.62,-194.6,913.5,-8.0,581,7859,0.00,2.20,0.00,0.000,4,0.000,0.031,2574,518,3598,0,0,0,0,0,0
$GC,7883,-0.62,-194.6,915.9,-8.0,582,7887,0.00,2.17,0.00,0.000,6,0.000,0.024,2574,1994,3598,0,0,0,0,0,0
$GC,8206,-0.62,-194.6,940.2,-7.3,598,8209,0.00,1.92,0.00,0.000,4,0.000,0.039,2574,3267,3596,0,0,0,0,0,0
$GC,8267,-0.62,-194.6,944.7,-7.1,600,8274,0.00,1.80,0.00,0.000,6,0.000,0.020,2575,1998,3595,0,0,0,0,0,0
$GC,8585,-0.62,-194.6,965.8,-6.6,616,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1997,3594,0,0,0,0,0,0
$GC,8893,-0.62,-194.6,983.6,-5.4,631,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1997,3592,0,0,0,0,0,0
$STATE,9034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9034,begin apogee
$GC,9042,-0.20,0.0,991.0,5.1,638,9202,0.47,0.00,154.62,1.386,4,0.117,0.000,2733,2107,2838,0,0,0,0,0,0
$STATE,9203,end apogee,CONTROL_FINISHED_OK
$STATE,9203,begin climb
$GC,9206,0.62,194.6,992.5,0.0,645,9382,0.75,2.20,168.68,1.332,4,0.077,0.041,3002,3434,2045,0,0,0,0,0,0
$GC,9565,0.62,194.6,945.4,14.9,661,9569,0.00,2.00,0.00,0.000,6,0.000,0.021,3011,2095,2035,0,0,0,0,0,0
$GC,9898,0.62,194.6,903.0,11.6,677,9902,0.00,2.05,0.00,0.000,4,0.000,0.037,3012,3440,2033,0,0,0,0,0,0
$GC,10087,0.62,194.6,879.2,12.6,685,10094,0.00,2.05,0.00,0.000,6,0.000,0.021,3021,2042,2032,0,0,0,0,0,0
$GC,10404,0.62,194.6,839.6,12.8,701,10408,0.00,2.03,0.00,0.000,4,0.000,0.034,3030,694,2031,0,0,0,0,0,0
$GC,10499,0.62,194.6,827.4,12.8,705,10504,0.08,1.92,0.00,0.000,6,0.135,0.024,3004,1982,2031,0,0,0,0,0,0
$GC,10826,0.62,194.6,788.1,12.1,721,10830,0.00,2.17,0.00,0.000,4,0.000,0.038,3004,3435,2030,0,0,0,0,0,0
$GC,10876,0.62,194.6,781.5,13.0,723,10880,0.00,2.05,0.00,0.000,6,0.000,0.021,3012,2020,2029,0,0,0,0,0,0
$GC,11198,0.62,194.6,743.4,11.4,739,11203,0.00,2.00,0.00,0.000,4,0.000,0.033,3022,694,2029,0,0,0,0,0,0
$GC,11311,0.62,194.6,730.8,11.0,744,11315,0.00,1.85,0.00,0.000,6,0.000,0.023,3022,1951,2029,0,0,0,0,0,0
$GC,11646,0.62,194.6,695.1,10.5,760,11651,0.00,2.25,0.00,0.000,4,0.000,0.037,3022,3426,2029,0,0,0,0,0,0
$GC,11746,0.62,194.6,683.1,12.6,764,11751,0.10,2.03,0.00,0.000,6,0.171,0.021,3005,2031,2028,0,0,0,0,0,0
$GC,12064,0.62,194.6,648.1,10.8,779,12068,0.00,1.98,0.00,0.000,4,0.000,0.034,3013,688,2027,0,0,0,0,0,0
$GC,12199,0.62,194.6,633.5,10.4,785,12203,0.00,1.90,0.00,0.000,6,0.000,0.022,3013,1984,2027,0,0,0,0,0,0
$GC,12534,0.66,224.5,601.1,8.7,801,12565,0.00,2.28,23.85,1.108,4,0.000,0.038,3012,3435,1922,0,0,0,0,0,0
$GC,12676,0.66,224.5,587.0,10.4,807,12681,0.00,2.03,0.00,0.000,6,0.000,0.021,3022,2076,1919,0,0,0,0,0,0
$GC,13000,0.66,224.5,551.9,11.9,823,13003,0.00,2.08,0.00,0.000,4,0.000,0.033,3032,685,1918,0,0,0,0,0,0
$GC,13117,0.66,224.5,537.2,12.6,828,13120,0.00,1.92,0.00,0.000,6,0.000,0.022,3032,1972,1918,0,0,0,0,0,0
$GC,13435,0.66,224.5,496.3,13.6,844,13439,0.00,2.22,0.00,0.000,4,0.000,0.037,3032,3445,1917,0,0,0,0,0,0
$GC,13508,0.66,224.5,485.4,14.7,850,13511,0.00,2.03,0.00,0.000,6,0.000,0.021,3039,2050,1916,0,0,0,0,0,0
$GC,13841,0.66,224.5,441.1,12.1,881,13845,0.00,1.98,0.00,0.000,4,0.000,0.031,3050,691,1916,0,0,0,0,0,0
$GC,13969,0.66,224.5,426.8,10.3,892,13976,0.12,1.90,0.00,0.000,6,0.150,0.021,3015,1979,1916,0,0,0,0,0,0
$GC,14294,0.66,224.5,397.7,10.3,923,14299,0.00,2.20,0.00,0.000,4,0.000,0.036,3015,3428,1917,0,0,0,0,0,0
$GC,14433,0.66,224.5,379.3,13.9,935,14441,0.00,1.98,0.00,0.000,6,0.000,0.020,3022,2053,1916,0,0,0,0,0,0
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$STATE,18191,end climb,SURFACE_DEPTH_REACHED
$STATE,18191,begin surface coast
$FINISH,0.9,1.020916
$STATE,18214,end surface coast,CONTROL_FINISHED_OK
$STATE,18215,begin surface
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$10V_AH,9.9,47.279
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$FG_AHR_10Vo,0.000
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$MEM,329644
$DATA_FILE_SIZE,83586,1417
$CAP_FILE_SIZE,208608,0
$CFSIZE,260165632,114151424
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