version: 66.09
glider: 167
mission: 8
dive: 299
start: 8 14 111 15 39 26
data:
$ID,167
$MISSION,8
$DIVE,299
$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,-56763.941
$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,61
$R_STBD_OVSHOOT,61
$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
$GPS1,140811,153101,2010.873,12418.869,37,1.5,38,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.7
$GPS2,140811,153902,2010.960,12418.940,13,1.1,13,-2.5
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,181.7,262589,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,116,0.00,0.00,-93.50,0.000,2,0.000,0.000,111,1894,3155,0,0,0,0,0,0
$GC,119,-0.62,-194.6,6.1,-10.3,12,143,10.18,0.00,-7.62,0.000,6,0.236,0.000,2594,1891,3637,0,0,0,0,0,0
$GC,209,-0.62,-194.6,41.7,-28.5,27,217,0.00,2.08,0.00,0.000,4,0.000,0.032,2585,3267,3638,0,0,0,0,0,0
$GC,244,-0.62,-194.6,50.3,-25.4,32,253,0.00,2.03,0.00,0.000,6,0.000,0.017,2585,1847,3638,0,0,0,0,0,0
$GC,323,-0.62,-194.6,68.3,-22.0,45,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1847,3638,0,0,0,0,0,0
$GC,397,-0.62,-194.6,84.4,-22.8,58,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1847,3638,0,0,0,0,0,0
$GC,475,-0.62,-194.6,100.5,-21.3,71,483,0.00,1.98,0.00,0.000,4,0.000,0.028,2586,492,3639,0,0,0,0,0,0
$GC,527,-0.62,-194.6,111.7,-19.6,80,535,0.00,2.05,0.00,0.000,6,0.000,0.020,2576,1906,3639,0,0,0,0,0,0
$GC,601,-0.62,-194.6,125.2,-19.3,93,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1906,3639,0,0,0,0,0,0
$GC,674,-0.62,-194.6,137.9,-15.7,106,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1907,3639,0,0,0,0,0,0
$GC,752,-0.62,-194.6,150.7,-17.1,119,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1906,3639,0,0,0,0,0,0
$GC,826,-0.62,-194.6,164.4,-18.7,132,834,0.00,2.08,0.00,0.000,4,0.000,0.027,2576,501,3639,0,0,0,0,0,0
$GC,857,-0.62,-194.6,170.5,-19.1,137,865,0.00,2.03,0.00,0.000,6,0.000,0.021,2569,1890,3639,0,0,0,0,0,0
$GC,934,-0.62,-194.6,183.9,-17.5,150,944,0.12,2.05,0.00,0.000,4,0.182,0.032,2592,3262,3639,0,0,0,0,0,0
$GC,963,-0.62,-194.6,189.1,-16.6,154,973,0.00,1.88,0.00,0.000,6,0.000,0.017,2592,1927,3639,0,0,0,0,0,0
$GC,1041,-0.62,-194.6,199.8,-13.6,167,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1927,3639,0,0,0,0,0,0
$GC,1113,-0.62,-194.6,210.9,-15.9,174,1116,0.00,2.05,0.00,0.000,4,0.000,0.027,2592,510,3639,0,0,0,0,0,0
$GC,1131,-0.62,-194.6,214.2,-15.2,175,1138,0.00,2.10,0.00,0.000,6,0.000,0.020,2587,1965,3639,0,0,0,0,0,0
$GC,1459,-0.62,-194.6,266.4,-16.4,206,1463,0.00,1.88,0.00,0.000,4,0.000,0.033,2587,3263,3639,0,0,0,0,0,0
$GC,1497,-0.62,-194.6,272.5,-14.6,209,1504,0.00,1.83,0.00,0.000,6,0.000,0.017,2587,1953,3639,0,0,0,0,0,0
$GC,1822,-0.62,-194.6,316.5,-12.4,240,1827,0.00,2.12,0.00,0.000,4,0.000,0.028,2588,497,3638,0,0,0,0,0,0
$GC,1880,-0.62,-194.6,323.0,-11.0,245,1884,0.00,2.03,0.00,0.000,6,0.000,0.020,2587,1928,3638,0,0,0,0,0,0
$GC,2211,-0.62,-194.6,361.8,-12.5,276,2215,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3272,3636,0,0,0,0,0,0
$GC,2274,-0.62,-194.6,369.1,-11.4,281,2281,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1941,3636,0,0,0,0,0,0
$GC,2599,-0.62,-194.6,408.7,-12.1,312,2603,0.00,2.08,0.00,0.000,4,0.000,0.029,2587,497,3635,0,0,0,0,0,0
$GC,2621,-0.62,-194.6,411.8,-13.0,313,2628,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1949,3635,0,0,0,0,0,0
$GC,2946,-0.62,-194.6,453.1,-11.3,344,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1949,3633,0,0,0,0,0,0
$GC,3268,-0.62,-194.6,483.8,-8.0,374,3273,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3254,3631,0,0,0,0,0,0
$GC,3374,-0.62,-194.6,491.6,-6.6,383,3381,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,1983,3630,0,0,0,0,0,0
$GC,3696,-0.62,-194.6,512.9,-6.7,405,3700,0.00,2.15,0.00,0.000,4,0.000,0.030,2586,507,3628,0,0,0,0,0,0
$GC,3767,-0.62,-194.6,518.1,-7.0,408,3771,0.00,2.15,0.00,0.000,6,0.000,0.022,2587,1984,3628,0,0,0,0,0,0
$GC,4089,-0.62,-194.6,545.4,-10.0,424,4092,0.00,1.90,0.00,0.000,4,0.000,0.037,2586,3265,3625,0,0,0,0,0,0
$GC,4117,-0.62,-194.6,548.4,-10.1,425,4121,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,1979,3625,0,0,0,0,0,0
$GC,4445,-0.62,-194.6,582.3,-10.5,441,4449,0.00,2.17,0.00,0.000,4,0.000,0.030,2587,508,3623,0,0,0,0,0,0
$GC,4547,-0.62,-194.6,592.5,-9.6,445,4551,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1947,3623,0,0,0,0,0,0
$GC,4869,-0.62,-194.6,622.4,-9.1,461,4873,0.00,1.98,0.00,0.000,4,0.000,0.037,2586,3270,3621,0,0,0,0,0,0
$GC,4933,-0.62,-194.6,627.3,-7.6,463,4939,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1942,3620,0,0,0,0,0,0
$GC,5251,-0.62,-194.6,650.7,-7.2,479,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1941,3617,0,0,0,0,0,0
$GC,5558,-0.62,-194.6,672.2,-7.4,494,5562,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,498,3615,0,0,0,0,0,0
$GC,5603,-0.62,-194.6,675.8,-7.8,496,5607,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1964,3615,0,0,0,0,0,0
$GC,5927,-0.62,-194.6,702.8,-9.2,512,5931,0.00,1.92,0.00,0.000,4,0.000,0.038,2586,3263,3613,0,0,0,0,0,0
$GC,5951,-0.62,-194.6,705.3,-9.4,513,5955,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1959,3613,0,0,0,0,0,0
$GC,6285,-0.62,-194.6,736.3,-9.3,529,6289,0.00,2.12,0.00,0.000,4,0.000,0.031,2586,497,3610,0,0,0,0,0,0
$GC,6308,-0.62,-194.6,738.8,-9.1,530,6312,0.00,2.15,0.00,0.000,6,0.000,0.024,2586,1959,3610,0,0,0,0,0,0
$GC,6629,-0.62,-194.6,765.3,-7.6,546,6633,0.00,1.95,0.00,0.000,4,0.000,0.038,2587,3268,3608,0,0,0,0,0,0
$GC,6693,-0.62,-194.6,769.6,-6.9,548,6700,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1973,3607,0,0,0,0,0,0
$GC,7010,-0.62,-194.6,789.1,-6.1,564,7014,0.00,2.15,0.00,0.000,4,0.000,0.030,2586,508,3606,0,0,0,0,0,0
$GC,7065,-0.62,-194.6,793.1,-7.1,566,7073,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1968,3605,0,0,0,0,0,0
$GC,7383,-0.62,-194.6,815.1,-7.4,582,7386,0.00,1.92,0.00,0.000,4,0.000,0.039,2586,3261,3603,0,0,0,0,0,0
$GC,7429,-0.62,-194.6,818.6,-7.4,584,7432,0.00,1.80,0.00,0.000,6,0.000,0.020,2586,1995,3603,0,0,0,0,0,0
$GC,7764,-0.62,-194.6,844.5,-7.9,600,7768,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,502,3601,0,0,0,0,0,0
$GC,7808,-0.62,-194.6,848.5,-8.4,602,7812,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1978,3601,0,0,0,0,0,0
$GC,8129,-0.62,-194.6,872.4,-7.1,618,8133,0.00,1.92,0.00,0.000,4,0.000,0.038,2586,3269,3599,0,0,0,0,0,0
$GC,8170,-0.62,-194.6,875.0,-7.0,619,8177,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1978,3599,0,0,0,0,0,0
$GC,8487,-0.62,-194.6,895.0,-6.4,635,8491,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,507,3598,0,0,0,0,0,0
$GC,8515,-0.62,-194.6,897.1,-6.5,636,8519,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1995,3598,0,0,0,0,0,0
$GC,8838,-0.62,-194.6,919.4,-6.9,652,8841,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3267,3596,0,0,0,0,0,0
$GC,8884,-0.62,-194.6,922.5,-6.7,654,8888,0.00,1.75,0.00,0.000,6,0.000,0.019,2587,2015,3596,0,0,0,0,0,0
$GC,9219,-0.62,-194.6,944.6,-6.4,670,9224,0.00,2.25,0.00,0.000,4,0.000,0.031,2587,511,3595,0,0,0,0,0,0
$GC,9280,-0.62,-194.6,949.4,-7.5,672,9287,0.00,2.20,0.00,0.000,6,0.000,0.023,2586,2000,3594,0,0,0,0,0,0
$GC,9598,-0.62,-194.6,969.2,-6.2,688,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2000,3593,0,0,0,0,0,0
$GC,9906,-0.62,-194.6,988.7,-6.3,703,9911,0.00,1.92,0.00,0.000,4,0.000,0.040,2586,3255,3592,0,0,0,0,0,0
$STATE,9926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9927,begin apogee
$GC,9934,-0.20,0.0,990.2,6.2,704,10096,0.43,0.00,155.40,1.393,4,0.109,0.000,2731,2046,2838,0,0,0,0,0,0
$STATE,10097,end apogee,CONTROL_FINISHED_OK
$STATE,10097,begin climb
$GC,10099,0.62,194.6,995.3,0.0,711,10280,0.80,2.33,170.32,1.338,4,0.081,0.041,3000,3460,2044,0,0,0,0,0,0
$GC,10403,0.62,194.6,963.9,12.6,725,10408,0.00,2.12,0.00,0.000,6,0.000,0.021,3010,2048,2036,0,0,0,0,0,0
$GC,10728,0.62,194.6,923.4,13.1,741,10732,0.00,2.20,0.00,0.000,4,0.000,0.037,3010,3457,2033,0,0,0,0,0,0
$GC,10934,0.62,194.6,892.3,15.6,750,10938,0.00,2.10,0.00,0.000,6,0.000,0.021,3018,2027,2032,0,0,0,0,0,0
$GC,11263,0.62,194.6,846.3,14.0,766,11267,0.00,2.00,0.00,0.000,4,0.000,0.034,3028,686,2031,0,0,0,0,0,0
$GC,11385,0.62,194.6,829.3,12.7,771,11389,0.00,1.92,0.00,0.000,6,0.000,0.024,3028,1964,2031,0,0,0,0,0,0
$GC,11709,0.62,194.6,785.6,13.8,787,11713,0.00,2.28,0.00,0.000,4,0.000,0.039,3028,3462,2030,0,0,0,0,0,0
$GC,11749,0.62,194.6,779.6,15.2,789,11754,0.12,2.17,0.00,0.000,6,0.174,0.021,3003,1974,2030,0,0,0,0,0,0
$GC,12079,0.62,194.6,740.7,11.4,805,12082,0.00,1.92,0.00,0.000,4,0.000,0.034,3011,675,2029,0,0,0,0,0,0
$GC,12139,0.62,194.6,733.1,11.5,807,12146,0.00,1.90,0.00,0.000,6,0.000,0.023,3011,1948,2029,0,0,0,0,0,0
$GC,12456,0.62,194.6,694.2,12.8,823,12461,0.00,2.30,0.00,0.000,4,0.000,0.038,3011,3451,2029,0,0,0,0,0,0
$GC,12535,0.62,194.6,683.5,13.8,826,12539,0.00,2.15,0.00,0.000,6,0.000,0.021,3020,1979,2029,0,0,0,0,0,0
$GC,12851,0.62,194.6,640.6,13.4,841,12856,0.00,1.92,0.00,0.000,4,0.000,0.034,3030,691,2029,0,0,0,0,0,0
$GC,12919,0.62,194.6,631.7,12.8,844,12922,0.00,1.85,0.00,0.000,6,0.000,0.024,3030,1963,2028,0,0,0,0,0,0
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$STATE,18808,end climb,SURFACE_DEPTH_REACHED
$STATE,18808,begin surface coast
$FINISH,0.9,0.997519
$STATE,18832,end surface coast,CONTROL_FINISHED_OK
$STATE,18833,begin surface
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$XPDR_PINGS,72
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$10V_AH,9.9,48.908
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329648
$DATA_FILE_SIZE,86760,1463
$CAP_FILE_SIZE,211844,0
$CFSIZE,260165632,113123328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176, 57.0,1
$GPS,140811,205555,2009.234,12420.469,39,0.9,40,-2.5