version: 66.09
glider: 167
mission: 8
dive: 313
start: 8 17 111 19 37 25
data:
$ID,167
$MISSION,8
$DIVE,313
$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,-56784.648
$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,72
$R_STBD_OVSHOOT,83
$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
$GPS1,170811,192907,1942.956,12419.701,30,1.1,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.7
$GPS2,170811,193702,1943.003,12419.676,13,1.5,13,-2.4
$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,170.1,211019,-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,-194.6,0.0,0.0,0,114,0.00,0.00,-90.72,0.000,2,0.000,0.000,111,1909,2995,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.0,-6.0,12,150,9.95,2.12,-11.10,0.000,4,0.228,0.041,2592,481,3637,0,0,0,0,0,0
$GC,213,-0.62,-194.6,37.5,-22.4,27,221,0.00,2.00,0.00,0.000,6,0.000,0.020,2585,1857,3638,0,0,0,0,0,0
$GC,290,-0.62,-194.6,53.2,-22.0,40,299,0.00,2.10,0.00,0.000,4,0.000,0.031,2574,3265,3639,0,0,0,0,0,0
$GC,338,-0.62,-194.6,64.1,-22.2,47,346,0.00,1.83,0.00,0.000,6,0.000,0.017,2574,1969,3639,0,0,0,0,0,0
$GC,414,-0.62,-194.6,78.5,-20.4,60,421,0.00,2.17,0.00,0.000,4,0.000,0.026,2574,482,3639,0,0,0,0,0,0
$GC,452,-0.62,-194.6,86.4,-21.1,66,462,0.08,2.05,0.00,0.000,6,0.149,0.019,2589,1899,3639,0,0,0,0,0,0
$GC,532,-0.62,-194.6,101.8,-19.7,79,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1899,3640,0,0,0,0,0,0
$GC,608,-0.62,-194.6,115.2,-16.6,92,616,0.00,2.03,0.00,0.000,4,0.000,0.031,2581,3264,3640,0,0,0,0,0,0
$GC,627,-0.62,-194.6,117.7,-15.9,94,635,0.00,1.98,0.00,0.000,6,0.000,0.018,2581,1872,3640,0,0,0,0,0,0
$GC,701,-0.62,-194.6,131.1,-17.9,107,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1872,3639,0,0,0,0,0,0
$GC,780,-0.62,-194.6,144.7,-17.6,120,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1873,3639,0,0,0,0,0,0
$GC,855,-0.62,-194.6,158.3,-17.8,133,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1872,3640,0,0,0,0,0,0
$GC,931,-0.62,-194.6,171.9,-18.0,146,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1872,3640,0,0,0,0,0,0
$GC,1005,-0.62,-194.6,185.0,-17.4,159,1013,0.00,2.00,0.00,0.000,4,0.000,0.028,2581,501,3640,0,0,0,0,0,0
$GC,1026,-0.62,-194.6,188.9,-17.8,162,1035,0.00,2.05,0.00,0.000,6,0.000,0.021,2574,1914,3640,0,0,0,0,0,0
$GC,1102,-0.62,-194.6,202.0,-17.7,174,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1914,3640,0,0,0,0,0,0
$GC,1420,-0.62,-194.6,255.0,-15.1,204,1424,0.00,2.00,0.00,0.000,4,0.000,0.032,2564,3267,3639,0,0,0,0,0,0
$GC,1460,-0.62,-194.6,261.1,-15.1,207,1467,0.10,1.88,0.00,0.000,6,0.148,0.017,2608,1911,3639,0,0,0,0,0,0
$GC,1785,-0.62,-194.6,297.4,-11.0,238,1789,0.00,2.00,0.00,0.000,4,0.000,0.028,2608,525,3638,0,0,0,0,0,0
$GC,1814,-0.62,-194.6,300.8,-11.4,240,1821,0.00,2.05,0.00,0.000,6,0.000,0.020,2602,1965,3637,0,0,0,0,0,0
$GC,2141,-0.62,-194.6,341.5,-12.2,271,2145,0.00,1.92,0.00,0.000,4,0.000,0.034,2600,3274,3636,0,0,0,0,0,0
$GC,2188,-0.62,-194.6,346.9,-11.4,275,2192,0.00,1.77,0.00,0.000,6,0.000,0.018,2600,1973,3636,0,0,0,0,0,0
$GC,2519,-0.62,-194.6,388.2,-14.0,306,2523,0.00,2.10,0.00,0.000,4,0.000,0.028,2600,521,3635,0,0,0,0,0,0
$GC,2560,-0.62,-194.6,394.0,-14.4,309,2563,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1927,3635,0,0,0,0,0,0
$GC,2890,-0.62,-194.6,434.8,-10.8,340,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1927,3634,0,0,0,0,0,0
$GC,3215,-0.62,-194.6,466.5,-9.0,370,3219,0.00,1.98,0.00,0.000,4,0.000,0.034,2600,3267,3632,0,0,0,0,0,0
$GC,3273,-0.62,-194.6,471.8,-8.4,375,3276,0.00,1.83,0.00,0.000,6,0.000,0.018,2600,1935,3632,0,0,0,0,0,0
$GC,3604,-0.62,-194.6,500.5,-9.6,406,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1934,3631,0,0,0,0,0,0
$GC,3914,-0.62,-194.6,532.9,-10.3,421,3918,0.00,1.98,0.00,0.000,4,0.000,0.034,2600,3264,3629,0,0,0,0,0,0
$GC,3941,-0.62,-194.6,535.9,-10.3,422,3945,0.00,1.80,0.00,0.000,6,0.000,0.018,2600,1991,3629,0,0,0,0,0,0
$GC,4270,-0.62,-194.6,564.8,-8.0,438,4274,0.00,2.12,0.00,0.000,4,0.000,0.029,2600,531,3627,0,0,0,0,0,0
$GC,4320,-0.62,-194.6,569.0,-7.7,440,4325,0.00,2.08,0.00,0.000,6,0.000,0.021,2600,1948,3626,0,0,0,0,0,0
$GC,4642,-0.62,-194.6,590.7,-7.0,456,4645,0.00,1.92,0.00,0.000,4,0.000,0.035,2600,3263,3625,0,0,0,0,0,0
$GC,4690,-0.62,-194.6,594.0,-6.9,458,4694,0.00,1.80,0.00,0.000,6,0.000,0.018,2600,1957,3624,0,0,0,0,0,0
$GC,5024,-0.62,-194.6,621.5,-9.2,474,5028,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,543,3622,0,0,0,0,0,0
$GC,5102,-0.62,-194.6,628.8,-8.8,477,5107,0.00,2.03,0.00,0.000,6,0.000,0.022,2599,1914,3621,0,0,0,0,0,0
$GC,5425,-0.62,-194.6,652.2,-6.8,493,5429,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3269,3619,0,0,0,0,0,0
$GC,5503,-0.62,-194.6,656.8,-5.5,496,5507,0.00,1.83,0.00,0.000,6,0.000,0.018,2600,1951,3619,0,0,0,0,0,0
$GC,5826,-0.62,-194.6,674.1,-5.3,512,5830,0.00,2.05,0.00,0.000,4,0.000,0.030,2599,534,3616,0,0,0,0,0,0
$GC,5844,-0.62,-194.6,675.1,-5.3,513,5848,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1946,3616,0,0,0,0,0,0
$GC,6177,-0.62,-194.6,692.8,-5.2,529,6181,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3264,3613,0,0,0,0,0,0
$GC,6247,-0.62,-194.6,696.1,-4.9,532,6251,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,1987,3613,0,0,0,0,0,0
$GC,6581,-0.62,-194.6,715.9,-6.6,548,6586,0.00,2.15,0.00,0.000,4,0.000,0.030,2600,540,3611,0,0,0,0,0,0
$GC,6638,-0.62,-194.6,720.1,-7.5,550,6642,0.00,2.05,0.00,0.000,6,0.000,0.023,2600,1953,3610,0,0,0,0,0,0
$GC,6960,-0.62,-194.6,742.5,-7.1,566,6963,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3268,3608,0,0,0,0,0,0
$GC,7006,-0.62,-194.6,745.8,-7.0,568,7010,0.00,1.80,0.00,0.000,6,0.000,0.019,2600,1971,3608,0,0,0,0,0,0
$GC,7341,-0.62,-194.6,769.5,-7.3,584,7345,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,525,3606,0,0,0,0,0,0
$GC,7381,-0.62,-194.6,772.8,-7.7,586,7385,0.00,2.05,0.00,0.000,6,0.000,0.022,2599,1928,3606,0,0,0,0,0,0
$GC,7716,-0.62,-194.6,797.6,-7.4,602,7720,0.00,2.03,0.00,0.000,4,0.000,0.037,2599,3274,3604,0,0,0,0,0,0
$GC,7784,-0.62,-194.6,802.3,-6.7,605,7788,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1950,3604,0,0,0,0,0,0
$GC,8118,-0.62,-194.6,821.0,-4.9,621,8121,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3264,3601,0,0,0,0,0,0
$GC,8145,-0.62,-194.6,822.1,-4.8,622,8149,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1955,3601,0,0,0,0,0,0
$GC,8478,-0.62,-194.6,837.1,-4.4,638,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1954,3600,0,0,0,0,0,0
$GC,8789,-0.62,-194.6,849.3,-3.8,653,8794,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,531,3599,0,0,0,0,0,0
$GC,8828,-0.62,-194.6,850.9,-3.7,654,8836,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1928,3599,0,0,0,0,0,0
$GC,9144,-0.62,-194.6,861.3,-3.4,670,9148,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3266,3597,0,0,0,0,0,0
$GC,9184,-0.62,-194.6,862.8,-3.5,671,9191,0.00,1.85,0.00,0.000,6,0.000,0.019,2599,1964,3597,0,0,0,0,0,0
$GC,9501,-0.62,-194.6,878.7,-5.7,687,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1963,3595,0,0,0,0,0,0
$GC,9809,-0.62,-194.6,900.3,-7.5,702,9813,0.00,1.98,0.00,0.000,4,0.000,0.037,2599,3269,3594,0,0,0,0,0,0
$GC,9850,-0.62,-194.6,903.3,-7.4,703,9857,0.00,1.83,0.00,0.000,6,0.000,0.019,2599,1971,3594,0,0,0,0,0,0
$GC,10167,-0.62,-194.6,926.3,-7.0,719,10172,0.00,2.00,0.00,0.000,4,0.000,0.038,2600,3262,3593,0,0,0,0,0,0
$GC,10200,-0.62,-194.6,928.6,-6.8,720,10203,0.00,1.80,0.00,0.000,6,0.000,0.020,2599,1979,3593,0,0,0,0,0,0
$GC,10524,-0.62,-194.6,947.7,-5.7,736,10527,0.00,1.95,0.00,0.000,4,0.000,0.039,2600,3265,3592,0,0,0,0,0,0
$GC,10547,-0.62,-194.6,949.2,-5.6,737,10552,0.00,1.85,0.00,0.000,6,0.000,0.021,2599,1983,3592,0,0,0,0,0,0
$GC,10882,-0.62,-194.6,967.3,-5.4,753,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1982,3591,0,0,0,0,0,0
$GC,11189,-0.62,-194.6,985.5,-6.1,768,11193,0.00,1.95,0.00,0.000,4,0.000,0.041,2599,3265,3590,0,0,0,0,0,0
$GC,11239,-0.62,-194.6,988.8,-6.4,770,11244,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,2006,3590,0,0,0,0,0,0
$STATE,11275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11275,begin apogee
$GC,11283,-0.20,0.0,991.2,6.5,772,11445,0.38,0.00,156.62,1.405,4,0.113,0.000,2729,2068,2838,0,0,0,0,0,0
$STATE,11446,end apogee,CONTROL_FINISHED_OK
$STATE,11446,begin climb
$GC,11450,0.62,194.6,998.1,0.0,779,11629,0.82,2.30,171.60,1.346,4,0.083,0.041,3004,3466,2045,0,0,0,0,0,0
$GC,11774,0.62,194.6,965.1,13.4,794,11779,0.00,2.08,0.00,0.000,6,0.000,0.021,3013,2115,2036,0,0,0,0,0,0
$GC,12096,0.62,194.6,925.8,12.1,810,12099,0.00,2.10,0.00,0.000,4,0.000,0.037,3013,3475,2034,0,0,0,0,0,0
$GC,12330,0.62,194.6,895.6,12.4,820,12338,0.00,2.12,0.00,0.000,6,0.000,0.021,3021,2022,2032,0,0,0,0,0,0
$GC,12647,0.62,194.6,858.3,11.9,836,12650,0.00,2.00,0.00,0.000,4,0.000,0.034,3027,679,2032,0,0,0,0,0,0
$GC,12788,0.62,194.6,841.4,11.7,842,12791,0.00,1.90,0.00,0.000,6,0.000,0.023,3027,1976,2032,0,0,0,0,0,0
$GC,13115,0.62,194.6,801.9,12.2,858,13120,0.00,2.25,0.00,0.000,4,0.000,0.038,3027,3471,2031,0,0,0,0,0,0
$GC,13225,0.62,194.6,786.9,14.2,863,13230,0.12,2.12,0.00,0.000,6,0.174,0.021,3002,2000,2030,0,0,0,0,0,0
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$STATE,19858,end climb,SURFACE_DEPTH_REACHED
$STATE,19859,begin surface coast
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$10V_AH,9.8,51.157
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,86856,1474
$CAP_FILE_SIZE,215048,0
$CFSIZE,260165632,111722496
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