version: 66.09
glider: 167
mission: 8
dive: 84
start: 6 28 111 10 57 5
data:
$ID,167
$MISSION,8
$DIVE,84
$N_DIVES,95
$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,150
$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,-56492.465
$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,63
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,280611,104706,1853.996,12426.004,25,1.7,25,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.1
$GPS2,280611,105643,1854.072,12425.854,17,1.4,34,-2.2
$SPEED_LIMITS,0.143,0.244
$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,169.2,119751,-15.4,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,104,0.00,0.00,-84.18,0.000,2,0.000,0.000,111,1884,3051,0,0,0,0,0,0
$GC,107,-0.56,-146.0,5.4,-9.6,11,131,9.93,2.08,-6.60,0.000,4,0.235,0.035,2616,451,3436,0,0,0,0,0,0
$GC,233,-0.56,-146.0,48.4,-27.9,32,241,0.00,2.10,0.00,0.000,6,0.000,0.021,2608,1884,3437,0,0,0,0,0,0
$GC,309,-0.56,-146.0,72.3,-30.0,45,318,0.00,2.08,0.00,0.000,4,0.000,0.026,2608,478,3437,0,0,0,0,0,0
$GC,337,-0.56,-146.0,80.2,-29.0,49,347,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1826,3437,0,0,0,0,0,0
$GC,417,-0.56,-146.0,97.4,-19.5,62,426,0.00,2.15,0.00,0.000,4,0.000,0.031,2589,3269,3437,0,0,0,0,0,0
$GC,548,-0.56,-146.0,133.2,-32.8,85,557,0.00,1.92,0.00,0.000,6,0.000,0.019,2589,1933,3437,0,0,0,0,0,0
$GC,624,-0.56,-146.0,149.3,-17.7,98,632,0.00,2.15,0.00,0.000,4,0.000,0.028,2589,464,3437,0,0,0,0,0,0
$GC,709,-0.56,-146.0,165.0,-17.2,113,718,0.10,2.12,0.00,0.000,6,0.144,0.021,2614,1929,3438,0,0,0,0,0,0
$GC,789,-0.56,-146.0,176.6,-13.8,126,796,0.00,2.00,0.00,0.000,4,0.000,0.032,2605,3283,3438,0,0,0,0,0,0
$GC,844,-0.56,-146.0,184.9,-15.3,135,853,0.00,1.95,0.00,0.000,6,0.000,0.017,2605,1908,3437,0,0,0,0,0,0
$GC,923,-0.56,-146.0,196.0,-14.8,148,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1909,3438,0,0,0,0,0,0
$GC,1003,-0.56,-146.0,207.6,-13.9,157,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1909,3438,0,0,0,0,0,0
$GC,1325,-0.56,-146.0,253.4,-14.2,187,1329,0.00,1.98,0.00,0.000,4,0.000,0.031,2602,3274,3438,0,0,0,0,0,0
$GC,1364,-0.56,-146.0,259.1,-13.1,190,1371,0.00,1.90,0.00,0.000,6,0.000,0.018,2602,1934,3438,0,0,0,0,0,0
$GC,1691,-0.56,-146.0,298.7,-11.1,221,1695,0.00,1.95,0.00,0.000,4,0.000,0.031,2601,3277,3437,0,0,0,0,0,0
$GC,1729,-0.56,-146.0,303.7,-11.8,224,1739,0.00,1.88,0.00,0.000,6,0.000,0.018,2601,1949,3437,0,0,0,0,0,0
$GC,2055,-0.56,-146.0,341.4,-12.4,255,2060,0.00,2.10,0.00,0.000,4,0.000,0.028,2601,505,3436,0,0,0,0,0,0
$GC,2284,-0.56,-146.0,370.3,-12.0,275,2291,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1919,3435,0,0,0,0,0,0
$GC,2610,-0.56,-146.0,401.3,-9.0,306,2614,0.00,2.08,0.00,0.000,4,0.000,0.029,2600,503,3433,0,0,0,0,0,0
$GC,2679,-0.56,-146.0,408.0,-9.9,312,2683,0.00,2.05,0.00,0.000,6,0.000,0.022,2600,1907,3433,0,0,0,0,0,0
$GC,3009,-0.56,-146.0,440.2,-10.5,343,3013,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,3274,3432,0,0,0,0,0,0
$GC,3180,-0.56,-146.0,457.4,-9.6,358,3184,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1940,3430,0,0,0,0,0,0
$GC,3511,-0.56,-146.0,487.5,-8.5,389,3515,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,516,3429,0,0,0,0,0,0
$GC,3646,-0.56,-146.0,500.2,-9.1,401,3650,0.00,2.05,0.00,0.000,6,0.000,0.022,2600,1944,3427,0,0,0,0,0,0
$GC,3982,-0.56,-146.0,528.7,-8.2,417,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1946,3425,0,0,0,0,0,0
$GC,4289,-0.56,-146.0,555.2,-8.3,432,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1945,3423,0,0,0,0,0,0
$GC,4600,-0.56,-146.0,579.3,-7.6,447,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1945,3420,0,0,0,0,0,0
$GC,4908,-0.56,-146.0,603.4,-7.7,462,4912,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3277,3418,0,0,0,0,0,0
$GC,4954,-0.56,-146.0,607.1,-8.0,464,4958,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1933,3418,0,0,0,0,0,0
$GC,5289,-0.56,-146.0,632.5,-7.4,480,5294,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,512,3415,0,0,0,0,0,0
$GC,5357,-0.56,-146.0,637.8,-7.9,483,5361,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1927,3415,0,0,0,0,0,0
$GC,5692,-0.56,-146.0,660.0,-6.4,499,5696,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3278,3411,0,0,0,0,0,0
$GC,5742,-0.56,-146.0,663.3,-6.4,501,5746,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1927,3411,0,0,0,0,0,0
$GC,6070,-0.56,-146.0,684.3,-6.4,517,6075,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,508,3409,0,0,0,0,0,0
$GC,6126,-0.56,-146.0,688.2,-6.8,519,6130,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1936,3409,0,0,0,0,0,0
$GC,6448,-0.56,-146.0,707.6,-6.0,535,6452,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3266,3406,0,0,0,0,0,0
$GC,6534,-0.56,-146.0,713.2,-6.5,538,6540,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1943,3405,0,0,0,0,0,0
$GC,6850,-0.56,-146.0,735.7,-7.4,554,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1941,3403,0,0,0,0,0,0
$GC,7159,-0.56,-146.0,758.8,-7.4,569,7164,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,511,3402,0,0,0,0,0,0
$GC,7244,-0.56,-146.0,765.6,-8.1,572,7250,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1955,3402,0,0,0,0,0,0
$GC,7560,-0.56,-146.0,787.6,-6.7,588,7565,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3265,3400,0,0,0,0,0,0
$GC,7616,-0.56,-146.0,791.7,-6.9,590,7620,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1945,3400,0,0,0,0,0,0
$GC,7939,-0.56,-146.0,814.1,-7.0,606,7943,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3277,3398,0,0,0,0,0,0
$GC,7972,-0.56,-146.0,816.6,-7.0,607,7976,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1962,3398,0,0,0,0,0,0
$GC,8295,-0.56,-146.0,838.6,-6.8,623,8300,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,515,3396,0,0,0,0,0,0
$GC,8392,-0.56,-146.0,845.9,-7.7,627,8395,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1951,3395,0,0,0,0,0,0
$GC,8720,-0.56,-146.0,867.5,-6.5,643,8724,0.00,1.95,0.00,0.000,4,0.000,0.039,2600,3274,3394,0,0,0,0,0,0
$GC,8759,-0.56,-146.0,870.1,-6.4,644,8766,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1956,3393,0,0,0,0,0,0
$GC,9076,-0.56,-146.0,889.4,-6.2,660,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1955,3393,0,0,0,0,0,0
$GC,9386,-0.56,-146.0,908.8,-6.4,675,9391,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,513,3391,0,0,0,0,0,0
$GC,9477,-0.56,-146.0,915.6,-7.7,679,9482,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1933,3391,0,0,0,0,0,0
$GC,9811,-0.56,-146.0,937.5,-6.7,695,9814,0.00,1.98,0.00,0.000,4,0.000,0.040,2600,3266,3390,0,0,0,0,0,0
$GC,9861,-0.56,-146.0,941.0,-6.5,697,9864,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1937,3390,0,0,0,0,0,0
$GC,10189,-0.56,-146.0,961.4,-6.2,713,10193,0.00,2.10,0.00,0.000,4,0.000,0.034,2599,511,3389,0,0,0,0,0,0
$GC,10232,-0.56,-146.0,964.3,-6.4,715,10235,0.00,2.08,0.00,0.000,6,0.000,0.024,2599,1944,3389,0,0,0,0,0,0
$GC,10565,-0.56,-146.0,985.8,-6.4,731,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1944,3388,0,0,0,0,0,0
$STATE,10644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10645,begin apogee
$GC,10653,-0.20,0.0,991.0,6.4,735,10769,0.38,0.00,109.28,1.413,4,0.125,0.000,2728,2087,2841,0,0,0,0,0,0
$STATE,10770,end apogee,CONTROL_FINISHED_OK
$STATE,10770,begin climb
$GC,10773,0.56,146.0,993.4,0.0,740,10904,0.70,0.00,123.57,1.360,6,0.079,0.000,2977,2087,2243,0,0,0,0,0,0
$GC,11227,0.56,146.0,946.8,11.8,762,11231,0.00,2.10,0.00,0.000,4,0.000,0.035,2982,708,2231,0,0,0,0,0,0
$GC,11299,0.56,146.0,937.7,11.9,765,11303,0.00,2.03,0.00,0.000,6,0.000,0.024,2982,2066,2231,0,0,0,0,0,0
$GC,11622,0.56,146.0,897.4,12.6,781,11626,0.00,2.15,0.00,0.000,4,0.000,0.040,2982,3470,2229,0,0,0,0,0,0
$GC,11663,0.56,146.0,891.6,14.4,783,11666,0.00,2.03,0.00,0.000,6,0.000,0.022,2991,2085,2228,0,0,0,0,0,0
$GC,11997,0.56,146.0,848.1,12.9,799,12002,0.00,2.10,0.00,0.000,4,0.000,0.036,3002,693,2227,0,0,0,0,0,0
$GC,12087,0.56,146.0,836.0,13.5,803,12092,0.00,2.05,0.00,0.000,6,0.000,0.025,3002,2059,2226,0,0,0,0,0,0
$GC,12421,0.56,146.0,792.9,12.7,819,12425,0.00,2.15,0.00,0.000,4,0.000,0.040,3002,3472,2226,0,0,0,0,0,0
$GC,12528,0.56,146.0,777.6,14.2,824,12533,0.00,2.10,0.00,0.000,6,0.000,0.023,3010,2063,2226,0,0,0,0,0,0
$GC,12861,0.56,146.0,734.3,13.0,840,12864,0.00,2.08,0.00,0.000,4,0.000,0.035,3019,673,2225,0,0,0,0,0,0
$GC,12997,0.56,146.0,716.6,13.2,846,13002,0.12,2.00,0.00,0.000,6,0.164,0.024,2987,2045,2225,0,0,0,0,0,0
$GC,13326,0.56,146.0,678.0,11.6,862,13330,0.00,2.15,0.00,0.000,4,0.000,0.039,2987,3471,2224,0,0,0,0,0,0
$GC,13414,0.56,146.0,667.3,12.0,866,13418,0.00,2.08,0.00,0.000,6,0.000,0.022,2994,2037,2224,0,0,0,0,0,0
$GC,13741,0.56,146.0,633.0,9.8,882,13745,0.00,2.00,0.00,0.000,4,0.000,0.035,3005,685,2224,0,0,0,0,0,0
$GC,13849,0.56,146.0,622.4,9.8,886,13856,0.00,2.03,0.00,0.000,6,0.000,0.025,3005,2072,2224,0,0,0,0,0,0
$GC,14165,0.56,146.0,590.7,10.2,902,14169,0.00,2.12,0.00,0.000,4,0.000,0.040,3004,3476,2224,0,0,0,0,0,0
$GC,14221,0.56,146.0,584.1,11.9,904,14228,0.00,2.08,0.00,0.000,6,0.000,0.022,3010,2057,2223,0,0,0,0,0,0
$GC,14537,0.56,146.0,548.9,10.9,920,14542,0.00,2.05,0.00,0.000,4,0.000,0.036,3020,686,2223,0,0,0,0,0,0
$GC,14665,0.56,146.0,534.4,11.4,925,14673,0.15,2.00,0.00,0.000,6,0.157,0.024,2980,2044,2222,0,0,0,0,0,0
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$STATE,20751,end climb,SURFACE_DEPTH_REACHED
$STATE,20751,begin surface coast
$FINISH,0.8,1.002501
$STATE,20792,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,15
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$10V_AH,10.2,14.354
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$FG_AHR_10Vo,0.000
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$MEM,329896
$DATA_FILE_SIZE,96728,1643
$CAP_FILE_SIZE,228828,0
$CFSIZE,260165632,134250496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,326.0,1
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