version: 66.09
glider: 167
mission: 8
dive: 69
start: 6 24 111 13 8 17
data:
$ID,167
$MISSION,8
$DIVE,69
$N_DIVES,75
$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,400
$T_MISSION,440
$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,4
$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,-56473.496
$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,77
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,240611,125807,1924.916,12424.311,26,1.4,27,-2.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.3
$GPS2,240611,130752,1925.032,12424.521,15,3.9,34,-2.4
$SPEED_LIMITS,0.143,0.276
$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,185.0,176966,-13.1,-8.250
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-194.6,0.0,0.0,0,107,0.00,0.00,-87.55,0.000,2,0.000,0.000,107,1871,3206,0,0,0,0,0,0
$GC,110,-0.57,-194.6,5.3,-8.2,12,134,9.70,2.08,-6.90,0.000,4,0.228,0.039,2595,3275,3634,0,0,0,0,0,0
$GC,164,-0.57,-194.6,34.0,-52.4,20,174,0.00,2.03,0.00,0.000,6,0.000,0.018,2595,1884,3635,0,0,0,0,0,0
$GC,304,-0.57,-194.6,82.9,-32.5,45,312,0.00,2.05,0.00,0.000,4,0.000,0.028,2594,485,3636,0,0,0,0,0,0
$GC,321,-0.57,-194.6,88.6,-32.4,47,330,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1862,3636,0,0,0,0,0,0
$GC,463,-0.57,-194.6,125.9,-23.1,72,471,0.00,2.10,0.00,0.000,4,0.000,0.031,2577,3274,3636,0,0,0,0,0,0
$GC,607,-0.57,-194.6,159.4,-20.2,98,616,0.10,2.03,0.00,0.000,6,0.152,0.018,2609,1841,3636,0,0,0,0,0,0
$GC,751,-0.57,-194.6,181.9,-14.7,123,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1840,3636,0,0,0,0,0,0
$GC,888,-0.57,-194.6,204.0,-16.4,146,892,0.00,2.10,0.00,0.000,4,0.000,0.029,2601,3273,3636,0,0,0,0,0,0
$GC,1009,-0.57,-194.6,224.5,-17.0,156,1017,0.00,1.98,0.00,0.000,6,0.000,0.018,2601,1884,3636,0,0,0,0,0,0
$GC,1336,-0.57,-194.6,270.5,-12.4,187,1340,0.00,1.98,0.00,0.000,4,0.000,0.029,2601,494,3636,0,0,0,0,0,0
$GC,1371,-0.57,-194.6,275.1,-12.7,190,1374,0.00,1.98,0.00,0.000,6,0.000,0.020,2601,1883,3636,0,0,0,0,0,0
$GC,1701,-0.57,-194.6,315.3,-11.1,221,1705,0.00,2.03,0.00,0.000,4,0.000,0.033,2600,3275,3635,0,0,0,0,0,0
$GC,1875,-0.57,-194.6,332.3,-10.1,236,1879,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1864,3635,0,0,0,0,0,0
$GC,2207,-0.57,-194.6,368.3,-11.0,267,2210,0.00,1.95,0.00,0.000,4,0.000,0.031,2600,493,3632,0,0,0,0,0,0
$GC,2286,-0.57,-194.6,377.3,-11.0,274,2290,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1881,3632,0,0,0,0,0,0
$GC,2617,-0.57,-194.6,408.5,-8.8,305,2622,0.00,2.05,0.00,0.000,4,0.000,0.033,2600,3269,3629,0,0,0,0,0,0
$GC,2686,-0.57,-194.6,414.0,-7.7,311,2690,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1872,3629,0,0,0,0,0,0
$GC,3018,-0.57,-194.6,443.7,-9.3,342,3021,0.00,1.95,0.00,0.000,4,0.000,0.030,2600,500,3627,0,0,0,0,0,0
$GC,3080,-0.57,-194.6,450.1,-10.4,347,3088,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1865,3627,0,0,0,0,0,0
$GC,3405,-0.57,-194.6,482.5,-10.0,378,3408,0.00,2.05,0.00,0.000,4,0.000,0.034,2599,3262,3624,0,0,0,0,0,0
$GC,3499,-0.57,-194.6,491.7,-9.2,386,3506,0.00,1.98,0.00,0.000,6,0.000,0.020,2599,1884,3624,0,0,0,0,0,0
$GC,3818,-0.57,-194.6,522.1,-9.6,406,3822,0.00,2.00,0.00,0.000,4,0.000,0.032,2600,489,3621,0,0,0,0,0,0
$GC,3856,-0.57,-194.6,526.4,-10.7,407,3864,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1894,3621,0,0,0,0,0,0
$GC,4174,-0.57,-194.6,555.4,-9.1,423,4178,0.00,2.05,0.00,0.000,4,0.000,0.036,2600,3269,3619,0,0,0,0,0,0
$GC,4241,-0.57,-194.6,561.4,-8.5,426,4245,0.00,1.95,0.00,0.000,6,0.000,0.020,2600,1869,3618,0,0,0,0,0,0
$GC,4576,-0.57,-194.6,588.0,-7.4,442,4580,0.00,1.98,0.00,0.000,4,0.000,0.032,2600,494,3616,0,0,0,0,0,0
$GC,4605,-0.57,-194.6,590.2,-7.3,443,4609,0.00,1.98,0.00,0.000,6,0.000,0.022,2600,1879,3616,0,0,0,0,0,0
$GC,4933,-0.57,-194.6,611.7,-6.3,459,4936,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3265,3613,0,0,0,0,0,0
$GC,4961,-0.57,-194.6,613.6,-6.3,460,4965,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1872,3613,0,0,0,0,0,0
$GC,5290,-0.57,-194.6,634.3,-6.7,476,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1871,3610,0,0,0,0,0,0
$GC,5599,-0.57,-194.6,657.8,-8.1,491,5603,0.00,2.08,0.00,0.000,4,0.000,0.035,2600,3264,3607,0,0,0,0,0,0
$GC,5624,-0.57,-194.6,659.6,-8.0,492,5628,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1875,3607,0,0,0,0,0,0
$GC,5960,-0.57,-194.6,686.5,-7.8,508,5964,0.00,2.03,0.00,0.000,4,0.000,0.033,2599,486,3605,0,0,0,0,0,0
$GC,6001,-0.57,-194.6,690.3,-7.9,509,6008,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1886,3604,0,0,0,0,0,0
$GC,6317,-0.57,-194.6,712.9,-6.7,525,6321,0.00,2.05,0.00,0.000,4,0.000,0.037,2599,3266,3603,0,0,0,0,0,0
$GC,6417,-0.57,-194.6,719.1,-6.0,529,6422,0.00,2.00,0.00,0.000,6,0.000,0.021,2599,1878,3602,0,0,0,0,0,0
$GC,6740,-0.57,-194.6,737.5,-5.8,545,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1878,3600,0,0,0,0,0,0
$GC,7048,-0.57,-194.6,757.3,-6.6,560,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1878,3598,0,0,0,0,0,0
$GC,7358,-0.57,-194.6,780.2,-7.6,575,7363,0.00,2.10,0.00,0.000,4,0.000,0.037,2600,3262,3595,0,0,0,0,0,0
$GC,7382,-0.57,-194.6,782.2,-7.7,576,7386,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1875,3596,0,0,0,0,0,0
$GC,7716,-0.57,-194.6,808.0,-7.6,592,7719,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,491,3594,0,0,0,0,0,0
$GC,7742,-0.57,-194.6,810.1,-7.6,593,7745,0.00,2.00,0.00,0.000,6,0.000,0.023,2599,1884,3594,0,0,0,0,0,0
$GC,8077,-0.57,-194.6,835.2,-7.2,609,8081,0.00,2.08,0.00,0.000,4,0.000,0.039,2600,3272,3593,0,0,0,0,0,0
$GC,8169,-0.57,-194.6,841.9,-7.2,613,8173,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1880,3592,0,0,0,0,0,0
$GC,8506,-0.57,-194.6,867.0,-7.6,629,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1880,3590,0,0,0,0,0,0
$GC,8812,-0.57,-194.6,888.9,-6.8,644,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1880,3589,0,0,0,0,0,0
$GC,9122,-0.57,-194.6,908.5,-6.1,659,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1879,3588,0,0,0,0,0,0
$GC,9433,-0.57,-194.6,925.2,-5.2,674,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1880,3587,0,0,0,0,0,0
$GC,9740,-0.57,-194.6,939.1,-4.3,689,9744,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,485,3586,0,0,0,0,0,0
$GC,9765,-0.57,-194.6,940.2,-4.2,690,9770,0.00,2.05,0.00,0.000,6,0.000,0.024,2599,1874,3586,0,0,0,0,0,0
$GC,10098,-0.57,-194.6,954.3,-4.0,706,10102,0.00,2.10,0.00,0.000,4,0.000,0.040,2600,3273,3585,0,0,0,0,0,0
$GC,10176,-0.57,-194.6,957.6,-4.1,709,10180,0.00,2.00,0.00,0.000,6,0.000,0.024,2600,1875,3585,0,0,0,0,0,0
$GC,10501,-0.57,-194.6,972.0,-4.7,725,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1875,3583,0,0,0,0,0,0
$GC,10807,-0.57,-194.6,987.2,-5.0,740,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1874,3583,0,0,0,0,0,0
$STATE,10866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10867,begin apogee
$GC,10874,-0.20,0.0,990.3,4.9,743,11027,0.38,0.00,148.50,1.405,6,0.122,0.000,2728,2086,2839,0,0,0,0,0,0
$STATE,11028,end apogee,CONTROL_FINISHED_OK
$STATE,11028,begin climb
$GC,11031,0.57,194.6,993.0,0.0,750,11203,0.73,2.33,163.12,1.349,4,0.083,0.041,2979,3458,2044,0,0,0,0,0,0
$GC,11256,0.57,194.6,970.6,14.0,760,11261,0.00,2.15,0.00,0.000,6,0.000,0.022,2986,2073,2037,0,0,0,0,0,0
$GC,11580,0.57,194.6,929.2,12.7,776,11583,0.00,2.12,0.00,0.000,4,0.000,0.035,2997,678,2032,0,0,0,0,0,0
$GC,11680,0.57,194.6,916.1,12.7,780,11687,0.00,2.12,0.00,0.000,6,0.000,0.026,2997,2068,2032,0,0,0,0,0,0
$GC,11998,0.57,194.6,876.0,12.4,796,12002,0.00,2.15,0.00,0.000,4,0.000,0.041,2996,3471,2030,0,0,0,0,0,0
$GC,12075,0.57,194.6,865.1,13.5,799,12083,0.00,2.08,0.00,0.000,6,0.000,0.023,3005,2070,2030,0,0,0,0,0,0
$GC,12392,0.57,194.6,824.7,12.8,815,12397,0.00,2.08,0.00,0.000,4,0.000,0.035,3015,694,2029,0,0,0,0,0,0
$GC,12460,0.57,194.6,815.6,13.4,818,12465,0.12,2.08,0.00,0.000,6,0.168,0.025,2984,2091,2029,0,0,0,0,0,0
$GC,12787,0.57,194.6,777.4,11.6,834,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2092,2029,0,0,0,0,0,0
$GC,13097,0.57,194.6,740.5,12.1,849,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2092,2028,0,0,0,0,0,0
$GC,13406,0.57,194.6,702.3,12.4,864,13410,0.00,2.08,0.00,0.000,4,0.000,0.041,2984,3474,2028,0,0,0,0,0,0
$GC,13438,0.57,194.6,697.5,14.1,865,13445,0.00,2.08,0.00,0.000,6,0.000,0.022,2990,2056,2027,0,0,0,0,0,0
$GC,13758,0.57,194.6,655.5,13.1,881,13761,0.00,2.03,0.00,0.000,4,0.000,0.037,3001,688,2027,0,0,0,0,0,0
$GC,13849,0.57,194.6,643.6,12.8,885,13852,0.00,2.05,0.00,0.000,6,0.000,0.025,3001,2072,2027,0,0,0,0,0,0
$GC,14185,0.57,194.6,606.6,10.4,901,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2072,2027,0,0,0,0,0,0
$GC,14491,0.57,194.6,577.5,9.2,916,14495,0.00,2.08,0.00,0.000,4,0.000,0.034,3009,679,2027,0,0,0,0,0,0
$GC,14523,0.57,194.6,574.3,9.4,917,14527,0.00,2.08,0.00,0.000,6,0.000,0.024,3009,2092,2026,0,0,0,0,0,0
$GC,14846,0.57,194.6,542.4,10.1,933,14848,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2092,2027,0,0,0,0,0,0
$GC,15155,0.57,194.6,509.3,11.2,948,15159,0.00,2.10,0.00,0.000,4,0.000,0.033,3018,677,2027,0,0,0,0,0,0
$GC,15205,0.57,194.6,503.0,11.9,950,15210,0.12,2.05,0.00,0.000,6,0.159,0.024,2985,2075,2027,0,0,0,0,0,0
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$STATE,20568,begin surface coast
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$10V_AH,10.2,11.510
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$FG_AHR_10Vo,0.000
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$MEM,329920
$DATA_FILE_SIZE,90176,1627
$CAP_FILE_SIZE,209794,0
$CFSIZE,260165632,135839744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,  8.7,1
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