version: 66.09
glider: 167
mission: 8
dive: 428
start: 9 13 111 22 37 59
data:
$ID,167
$MISSION,8
$DIVE,428
$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,576.20972
$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,-123710.73
$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,78
$R_STBD_OVSHOOT,45
$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
$GPS1,130911,154707,1950.442,12119.195,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-62.1
$GPS2,130911,154707,1950.442,12119.195,901,99.0,901,-2.3
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,192.9,177472,-15.3,-9.706
$D_GRID,2123
$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,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,120,0.00,0.00,-97.43,0.000,2,0.000,0.000,107,1897,3243,0,0,0,0,0,0
$GC,124,-0.62,-194.6,6.4,-11.9,14,149,10.32,2.05,-6.10,0.000,4,0.231,0.035,2602,470,3634,0,0,0,0,0,0
$GC,268,-0.62,-194.6,55.4,-25.2,38,276,0.00,2.08,0.00,0.000,6,0.000,0.021,2594,1901,3636,0,0,0,0,0,0
$GC,417,-0.62,-194.6,84.7,-14.7,63,424,0.00,2.00,0.00,0.000,4,0.000,0.030,2584,3274,3636,0,0,0,0,0,0
$GC,456,-0.62,-194.6,92.4,-19.4,69,463,0.00,1.92,0.00,0.000,6,0.000,0.018,2584,1907,3635,0,0,0,0,0,0
$GC,598,-0.62,-194.6,117.3,-18.6,94,607,0.00,2.05,0.00,0.000,4,0.000,0.028,2584,504,3636,0,0,0,0,0,0
$GC,656,-0.62,-194.6,128.5,-20.1,103,663,0.00,2.03,0.00,0.000,6,0.000,0.020,2575,1900,3636,0,0,0,0,0,0
$GC,803,-0.62,-194.6,153.4,-17.0,128,811,0.00,2.03,0.00,0.000,4,0.000,0.031,2570,3266,3636,0,0,0,0,0,0
$GC,838,-0.62,-194.6,159.6,-18.5,133,844,0.00,1.83,0.00,0.000,6,0.000,0.017,2570,1935,3636,0,0,0,0,0,0
$GC,982,-0.62,-194.6,180.3,-14.3,158,990,0.00,2.10,0.00,0.000,4,0.000,0.028,2570,500,3636,0,0,0,0,0,0
$GC,1019,-0.62,-194.6,185.7,-14.5,164,1030,0.10,2.08,0.00,0.000,6,0.138,0.021,2594,1932,3636,0,0,0,0,0,0
$GC,1168,-0.62,-194.6,203.8,-11.3,186,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1932,3635,0,0,0,0,0,0
$GC,1495,-0.62,-194.6,235.7,-7.9,217,1499,0.00,1.98,0.00,0.000,4,0.000,0.033,2587,3273,3633,0,0,0,0,0,0
$GC,1581,-0.62,-194.6,242.9,-7.8,224,1589,0.00,1.90,0.00,0.000,6,0.000,0.017,2587,1910,3633,0,0,0,0,0,0
$GC,1907,-0.62,-194.6,273.1,-8.9,255,1910,0.00,2.05,0.00,0.000,4,0.000,0.029,2588,506,3631,0,0,0,0,0,0
$GC,1978,-0.62,-194.6,279.5,-9.0,261,1981,0.00,2.08,0.00,0.000,6,0.000,0.021,2588,1952,3630,0,0,0,0,0,0
$GC,2303,-0.62,-194.6,313.2,-10.2,291,2307,0.00,2.12,0.00,0.000,4,0.000,0.028,2587,507,3627,0,0,0,0,0,0
$GC,2336,-0.62,-194.6,316.8,-10.4,293,2343,0.00,2.05,0.00,0.000,6,0.000,0.021,2588,1932,3628,0,0,0,0,0,0
$GC,2664,-0.62,-194.6,348.4,-9.1,324,2668,0.00,1.98,0.00,0.000,4,0.000,0.035,2587,3263,3624,0,0,0,0,0,0
$GC,2745,-0.62,-194.6,355.6,-8.8,331,2748,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1959,3623,0,0,0,0,0,0
$GC,3076,-0.62,-194.6,385.4,-8.7,362,3080,0.00,2.12,0.00,0.000,4,0.000,0.031,2588,511,3620,0,0,0,0,0,0
$GC,3133,-0.62,-194.6,390.3,-8.9,366,3140,0.00,2.12,0.00,0.000,6,0.000,0.022,2588,1964,3620,0,0,0,0,0,0
$GC,3460,-0.62,-194.6,415.4,-8.0,397,3464,0.00,2.15,0.00,0.000,4,0.000,0.030,2588,515,3617,0,0,0,0,0,0
$GC,3525,-0.62,-194.6,421.1,-9.0,402,3528,0.00,2.05,0.00,0.000,6,0.000,0.022,2588,1925,3616,0,0,0,0,0,0
$GC,3856,-0.62,-194.6,450.5,-9.2,433,3861,0.00,2.03,0.00,0.000,4,0.000,0.035,2587,3265,3613,0,0,0,0,0,0
$GC,3880,-0.62,-194.6,452.7,-9.2,435,3883,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1935,3613,0,0,0,0,0,0
$GC,4211,-0.62,-194.6,474.8,-5.4,466,4215,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,516,3610,0,0,0,0,0,0
$GC,4235,-0.62,-194.6,476.2,-5.4,468,4240,0.00,2.10,0.00,0.000,6,0.000,0.023,2587,1931,3610,0,0,0,0,0,0
$GC,4566,-0.62,-194.6,497.6,-6.8,499,4570,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3272,3608,0,0,0,0,0,0
$GC,4616,-0.62,-194.6,501.4,-7.3,503,4620,0.00,1.85,0.00,0.000,6,0.000,0.018,2588,1944,3607,0,0,0,0,0,0
$GC,4946,-0.62,-194.6,525.9,-7.5,519,4950,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3271,3605,0,0,0,0,0,0
$GC,4976,-0.62,-194.6,528.1,-7.6,520,4980,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1961,3604,0,0,0,0,0,0
$GC,5304,-0.62,-194.6,553.7,-8.4,536,5308,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,509,3602,0,0,0,0,0,0
$GC,5324,-0.62,-194.6,555.2,-8.7,537,5328,0.00,2.10,0.00,0.000,6,0.000,0.023,2587,1954,3601,0,0,0,0,0,0
$GC,5652,-0.62,-194.6,580.0,-6.6,553,5656,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3270,3600,0,0,0,0,0,0
$GC,5755,-0.62,-194.6,586.4,-6.5,557,5758,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1982,3599,0,0,0,0,0,0
$GC,6077,-0.62,-194.6,609.5,-7.6,573,6081,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,515,3598,0,0,0,0,0,0
$GC,6121,-0.62,-194.6,613.6,-8.8,575,6125,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1969,3597,0,0,0,0,0,0
$GC,6445,-0.62,-194.6,642.3,-9.4,591,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1969,3595,0,0,0,0,0,0
$GC,6751,-0.62,-194.6,672.3,-9.7,606,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1969,3593,0,0,0,0,0,0
$GC,7063,-0.62,-194.6,700.3,-8.4,621,7067,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3263,3592,0,0,0,0,0,0
$GC,7118,-0.62,-194.6,704.8,-7.7,623,7122,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,1976,3591,0,0,0,0,0,0
$GC,7440,-0.62,-194.6,725.8,-6.3,639,7444,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3266,3590,0,0,0,0,0,0
$GC,7490,-0.62,-194.6,728.1,-5.3,641,7493,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1985,3590,0,0,0,0,0,0
$GC,7824,-0.62,-194.6,748.0,-6.1,657,7828,0.00,1.95,0.00,0.000,4,0.000,0.038,2587,3262,3588,0,0,0,0,0,0
$GC,7874,-0.62,-194.6,751.2,-6.3,659,7878,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,2009,3588,0,0,0,0,0,0
$GC,8204,-0.62,-194.6,773.0,-6.9,675,8208,0.00,2.25,0.00,0.000,4,0.000,0.033,2587,518,3586,0,0,0,0,0,0
$GC,8276,-0.62,-194.6,778.3,-7.2,678,8280,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1972,3586,0,0,0,0,0,0
$GC,8599,-0.62,-194.6,799.9,-6.8,694,8604,0.00,2.22,0.00,0.000,4,0.000,0.032,2588,515,3584,0,0,0,0,0,0
$GC,8622,-0.62,-194.6,801.8,-6.9,695,8626,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1967,3584,0,0,0,0,0,0
$GC,8951,-0.62,-194.6,823.8,-6.6,711,8955,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,521,3583,0,0,0,0,0,0
$GC,8975,-0.62,-194.6,825.4,-6.6,712,8979,0.00,2.15,0.00,0.000,6,0.000,0.026,2587,1945,3583,0,0,0,0,0,0
$GC,9302,-0.62,-194.6,847.4,-7.1,728,9305,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3262,3582,0,0,0,0,0,0
$GC,9376,-0.62,-194.6,852.8,-7.4,731,9381,0.00,1.88,0.00,0.000,6,0.000,0.022,2587,1982,3582,0,0,0,0,0,0
$GC,9703,-0.62,-194.6,877.5,-7.7,747,9707,0.00,2.20,0.00,0.000,4,0.000,0.034,2588,515,3580,0,0,0,0,0,0
$GC,9747,-0.62,-194.6,881.2,-8.8,749,9751,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1961,3580,0,0,0,0,0,0
$GC,10076,-0.62,-194.6,913.7,-10.9,765,10081,0.00,2.00,0.00,0.000,4,0.000,0.041,2587,3258,3579,0,0,0,0,0,0
$GC,10131,-0.62,-194.6,919.7,-10.2,767,10135,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1982,3580,0,0,0,0,0,0
$GC,10455,-0.62,-194.6,946.6,-7.4,783,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1982,3578,0,0,0,0,0,0
$GC,10763,-0.62,-194.6,965.5,-5.6,798,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1982,3578,0,0,0,0,0,0
$GC,11073,-0.62,-194.6,986.7,-6.6,813,11077,0.00,2.17,0.00,0.000,4,0.000,0.032,2587,512,3577,0,0,0,0,0,0
$STATE,11114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11114,begin apogee
$GC,11125,-0.20,0.0,990.4,7.9,815,11291,0.43,0.00,157.55,1.395,4,0.122,0.000,2727,2067,2839,0,0,0,0,0,0
$STATE,11291,end apogee,CONTROL_FINISHED_OK
$STATE,11292,begin climb
$GC,11296,0.62,194.6,996.3,0.0,823,11476,0.75,2.30,172.00,1.347,4,0.080,0.040,2999,3471,2045,0,0,0,0,0,0
$GC,11595,0.62,194.6,963.5,14.3,837,11599,0.00,2.05,0.00,0.000,6,0.000,0.021,3007,2106,2037,0,0,0,0,0,0
$GC,11923,0.62,194.6,916.5,14.5,853,11928,0.00,2.12,0.00,0.000,4,0.000,0.037,3006,3469,2034,0,0,0,0,0,0
$GC,12127,0.62,194.6,886.8,14.6,862,12131,0.00,2.12,0.00,0.000,6,0.000,0.023,3016,2039,2033,0,0,0,0,0,0
$GC,12453,0.62,194.6,841.4,13.9,878,12458,0.00,2.05,0.00,0.000,4,0.000,0.035,3025,685,2032,0,0,0,0,0,0
$GC,12532,0.62,194.6,830.0,14.7,881,12536,0.00,1.98,0.00,0.000,6,0.000,0.024,3025,2010,2032,0,0,0,0,0,0
$GC,12855,0.62,194.6,785.3,13.3,897,12859,0.00,2.22,0.00,0.000,4,0.000,0.038,3026,3482,2031,0,0,0,0,0,0
$GC,12892,0.62,194.6,780.8,12.6,898,12900,0.12,2.20,0.00,0.000,6,0.173,0.021,3002,1981,2031,0,0,0,0,0,0
$GC,13208,0.62,194.6,746.1,10.2,914,13212,0.00,1.98,0.00,0.000,4,0.000,0.035,3011,669,2030,0,0,0,0,0,0
$GC,13308,0.64,206.6,736.6,9.3,918,13323,0.00,1.95,9.75,1.106,6,0.000,0.024,3011,1980,1996,0,0,0,0,0,0
$GC,13656,0.69,252.3,706.3,8.2,935,13705,0.00,2.38,41.58,1.196,4,0.000,0.038,3011,3469,1809,0,0,0,0,0,0
$GC,13795,0.71,267.2,693.7,9.2,941,13815,0.00,2.20,14.68,1.109,6,0.000,0.021,3019,2010,1747,0,0,0,0,0,0
$GC,14145,0.71,267.2,659.1,10.7,958,14148,0.00,2.00,0.00,0.000,4,0.000,0.036,3029,680,1742,0,0,0,0,0,0
$GC,14269,0.71,267.2,645.1,11.6,963,14274,0.00,1.95,0.00,0.000,6,0.000,0.023,3029,1974,1742,0,0,0,0,0,0
$GC,14590,0.71,267.2,606.0,12.3,979,14594,0.00,2.28,0.00,0.000,4,0.000,0.037,3029,3473,1741,0,0,0,0,0,0
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