version: 66.09
glider: 167
mission: 8
dive: 107
start: 7 4 111 10 37 37
data:
$ID,167
$MISSION,8
$DIVE,107
$N_DIVES,115
$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,-56521.492
$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,71
$R_STBD_OVSHOOT,85
$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
$GPS1,040711,102706,1801.719,12433.430,38,1.6,43,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.3
$GPS2,040711,103714,1801.580,12433.460,13,1.7,13,-2.0
$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,198.0,21618,-15.4,-8.250
$D_GRID,4560
$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,18,-0.56,-146.0,0.0,0.0,0,107,0.00,0.00,-87.03,0.000,2,0.000,0.000,110,1927,3253,0,0,0,0,0,0
$GC,110,-0.56,-146.0,6.8,-11.9,11,135,9.88,2.15,-2.85,0.000,4,0.232,0.039,2616,467,3440,0,0,0,0,0,0
$GC,334,-0.56,-146.0,80.2,-19.0,50,343,0.00,2.03,0.00,0.000,6,0.000,0.019,2608,1861,3441,0,0,0,0,0,0
$GC,412,-0.56,-146.0,95.8,-20.3,63,420,0.00,2.08,0.00,0.000,4,0.000,0.031,2597,3256,3441,0,0,0,0,0,0
$GC,486,-0.56,-146.0,114.4,-24.7,75,495,0.00,1.85,0.00,0.000,6,0.000,0.018,2598,1965,3442,0,0,0,0,0,0
$GC,565,-0.56,-146.0,130.0,-21.0,88,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1965,3442,0,0,0,0,0,0
$GC,642,-0.56,-146.0,145.5,-18.4,101,651,0.00,2.17,0.00,0.000,4,0.000,0.029,2597,485,3442,0,0,0,0,0,0
$GC,677,-0.56,-146.0,152.1,-18.5,106,685,0.00,2.28,0.00,0.000,6,0.000,0.020,2588,2042,3442,0,0,0,0,0,0
$GC,755,-0.56,-146.0,166.8,-18.9,119,764,0.10,1.83,0.00,0.000,4,0.195,0.032,2603,3266,3442,0,0,0,0,0,0
$GC,807,-0.56,-146.0,176.2,-18.0,127,816,0.00,1.58,0.00,0.000,6,0.000,0.018,2604,2134,3442,0,0,0,0,0,0
$GC,884,-0.56,-146.0,188.5,-15.6,140,892,0.00,2.42,0.00,0.000,4,0.000,0.028,2603,478,3442,0,0,0,0,0,0
$GC,949,-0.56,-146.0,199.1,-16.0,151,957,0.00,2.35,0.00,0.000,6,0.000,0.022,2600,2085,3442,0,0,0,0,0,0
$GC,1021,-0.56,-146.0,209.4,-14.3,158,1026,0.00,1.75,0.00,0.000,4,0.000,0.032,2594,3264,3442,0,0,0,0,0,0
$GC,1070,-0.56,-146.0,216.4,-12.9,162,1079,0.00,1.52,0.00,0.000,6,0.000,0.017,2593,2154,3442,0,0,0,0,0,0
$GC,1397,-0.56,-146.0,260.6,-13.0,193,1401,0.00,2.42,0.00,0.000,4,0.000,0.028,2593,472,3442,0,0,0,0,0,0
$GC,1541,-0.56,-146.0,279.5,-13.3,205,1549,0.00,2.40,0.00,0.000,6,0.000,0.021,2588,2158,3442,0,0,0,0,0,0
$GC,1868,-0.56,-146.0,319.4,-12.1,236,1873,0.10,2.42,0.00,0.000,4,0.187,0.027,2612,486,3441,0,0,0,0,0,0
$GC,1922,-0.56,-146.0,325.9,-11.2,240,1930,0.00,2.38,0.00,0.000,6,0.000,0.020,2604,2129,3440,0,0,0,0,0,0
$GC,2249,-0.56,-146.0,358.1,-8.8,271,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2129,3438,0,0,0,0,0,0
$GC,2568,-0.56,-146.0,384.2,-7.7,301,2573,0.00,2.40,0.00,0.000,4,0.000,0.029,2604,486,3437,0,0,0,0,0,0
$GC,2728,-0.56,-146.0,398.6,-9.4,314,2734,0.00,2.38,0.00,0.000,6,0.000,0.021,2603,2146,3435,0,0,0,0,0,0
$GC,3053,-0.56,-146.0,426.0,-8.8,345,3058,0.00,2.45,0.00,0.000,4,0.000,0.029,2603,488,3433,0,0,0,0,0,0
$GC,3113,-0.56,-146.0,431.7,-9.6,350,3120,0.00,2.38,0.00,0.000,6,0.000,0.021,2601,2133,3432,0,0,0,0,0,0
$GC,3440,-0.56,-146.0,459.2,-8.1,381,3444,0.00,2.40,0.00,0.000,4,0.000,0.029,2600,478,3430,0,0,0,0,0,0
$GC,3503,-0.56,-146.0,465.0,-9.3,386,3507,0.00,2.35,0.00,0.000,6,0.000,0.022,2600,2115,3430,0,0,0,0,0,0
$GC,3829,-0.56,-146.0,491.8,-8.0,416,3833,0.00,2.40,0.00,0.000,4,0.000,0.028,2601,474,3427,0,0,0,0,0,0
$GC,3960,-0.56,-146.0,503.3,-8.6,426,3964,0.00,2.25,0.00,0.000,6,0.000,0.022,2600,2034,3426,0,0,0,0,0,0
$GC,4287,-0.56,-146.0,529.4,-7.8,442,4292,0.00,2.25,0.00,0.000,4,0.000,0.030,2600,486,3424,0,0,0,0,0,0
$GC,4351,-0.56,-146.0,535.1,-9.2,445,4355,0.00,2.20,0.00,0.000,6,0.000,0.022,2600,2011,3424,0,0,0,0,0,0
$GC,4680,-0.56,-146.0,560.6,-7.4,461,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2011,3422,0,0,0,0,0,0
$GC,4987,-0.56,-146.0,582.1,-6.8,476,4992,0.00,1.85,0.00,0.000,4,0.000,0.036,2600,3254,3420,0,0,0,0,0,0
$GC,5039,-0.56,-146.0,585.5,-6.6,478,5043,0.00,1.75,0.00,0.000,6,0.000,0.020,2600,1991,3420,0,0,0,0,0,0
$GC,5367,-0.56,-146.0,607.6,-6.8,494,5371,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,481,3417,0,0,0,0,0,0
$GC,5504,-0.56,-146.0,617.7,-7.2,500,5508,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1946,3416,0,0,0,0,0,0
$GC,5826,-0.56,-146.0,638.3,-6.2,516,5829,0.00,1.92,0.00,0.000,4,0.000,0.036,2600,3265,3414,0,0,0,0,0,0
$GC,5931,-0.56,-146.0,644.7,-5.8,520,5938,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,1967,3413,0,0,0,0,0,0
$GC,6249,-0.56,-146.0,661.9,-5.4,536,6253,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,478,3412,0,0,0,0,0,0
$GC,6306,-0.56,-146.0,665.4,-6.0,538,6313,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1962,3411,0,0,0,0,0,0
$GC,6625,-0.56,-146.0,684.4,-6.4,554,6628,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3262,3409,0,0,0,0,0,0
$GC,6648,-0.56,-146.0,686.1,-6.6,555,6652,0.00,1.80,0.00,0.000,6,0.000,0.020,2600,1967,3409,0,0,0,0,0,0
$GC,6982,-0.56,-146.0,709.4,-7.2,571,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1966,3407,0,0,0,0,0,0
$GC,7293,-0.56,-146.0,731.6,-7.1,586,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1966,3406,0,0,0,0,0,0
$GC,7600,-0.56,-146.0,751.7,-6.1,601,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1966,3404,0,0,0,0,0,0
$GC,7911,-0.56,-146.0,770.0,-5.7,616,7915,0.00,2.20,0.00,0.000,4,0.000,0.033,2600,488,3403,0,0,0,0,0,0
$GC,7961,-0.56,-146.0,773.4,-5.8,618,7965,0.00,2.20,0.00,0.000,6,0.000,0.023,2600,1996,3402,0,0,0,0,0,0
$GC,8284,-0.56,-146.0,790.9,-5.2,634,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1997,3400,0,0,0,0,0,0
$GC,8594,-0.56,-146.0,807.7,-5.6,649,8598,0.00,2.25,0.00,0.000,4,0.000,0.031,2600,477,3399,0,0,0,0,0,0
$GC,8626,-0.56,-146.0,809.9,-5.7,650,8633,0.00,2.17,0.00,0.000,6,0.000,0.023,2600,1983,3399,0,0,0,0,0,0
$GC,8943,-0.56,-146.0,826.9,-5.3,666,8948,0.00,1.92,0.00,0.000,4,0.000,0.038,2600,3257,3398,0,0,0,0,0,0
$GC,8995,-0.56,-146.0,829.6,-5.2,668,8999,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1991,3397,0,0,0,0,0,0
$GC,9323,-0.56,-146.0,847.2,-5.6,684,9327,0.00,2.20,0.00,0.000,4,0.000,0.032,2600,480,3397,0,0,0,0,0,0
$GC,9417,-0.56,-146.0,853.4,-6.9,688,9422,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,1964,3396,0,0,0,0,0,0
$GC,9739,-0.56,-146.0,872.6,-6.0,704,9743,0.00,1.92,0.00,0.000,4,0.000,0.039,2600,3256,3395,0,0,0,0,0,0
$GC,9785,-0.56,-146.0,875.3,-6.2,706,9789,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1990,3395,0,0,0,0,0,0
$GC,10121,-0.56,-146.0,896.0,-6.4,722,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1988,3394,0,0,0,0,0,0
$GC,10429,-0.56,-146.0,915.9,-6.5,737,10433,0.00,2.20,0.00,0.000,4,0.000,0.033,2600,481,3393,0,0,0,0,0,0
$GC,10502,-0.56,-146.0,921.4,-7.5,740,10507,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,1966,3393,0,0,0,0,0,0
$GC,10824,-0.56,-146.0,943.4,-6.8,756,10827,0.00,1.92,0.00,0.000,4,0.000,0.039,2600,3257,3392,0,0,0,0,0,0
$GC,10856,-0.56,-146.0,945.7,-6.9,757,10860,0.00,1.85,0.00,0.000,6,0.000,0.022,2601,1960,3392,0,0,0,0,0,0
$GC,11180,-0.56,-146.0,967.4,-6.7,773,11184,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,490,3391,0,0,0,0,0,0
$GC,11220,-0.56,-146.0,970.4,-6.7,775,11224,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1956,3391,0,0,0,0,0,0
$STATE,11546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11546,begin apogee
$GC,11553,-0.20,0.0,991.0,6.0,791,11670,0.38,0.00,111.28,1.414,4,0.123,0.000,2728,2085,2839,0,0,0,0,0,0
$STATE,11671,end apogee,CONTROL_FINISHED_OK
$STATE,11671,begin climb
$GC,11674,0.56,146.0,993.1,0.0,796,11809,0.68,2.25,123.93,1.366,4,0.078,0.034,2977,697,2241,0,0,0,0,0,0
$GC,12021,0.56,146.0,959.2,11.5,812,12025,0.00,2.08,0.00,0.000,6,0.000,0.024,2977,2065,2232,0,0,0,0,0,0
$GC,12343,0.56,146.0,921.4,11.8,828,12347,0.00,2.12,0.00,0.000,4,0.000,0.034,2984,690,2228,0,0,0,0,0,0
$GC,12577,0.56,146.0,893.1,11.8,838,12582,0.00,2.10,0.00,0.000,6,0.000,0.024,2984,2079,2227,0,0,0,0,0,0
$GC,12899,0.56,146.0,854.9,12.0,854,12903,0.00,2.10,0.00,0.000,4,0.000,0.039,2984,3475,2226,0,0,0,0,0,0
$GC,12955,0.56,146.0,847.4,13.5,856,12962,0.00,2.08,0.00,0.000,6,0.000,0.022,2992,2064,2225,0,0,0,0,0,0
$GC,13271,0.56,146.0,808.6,12.2,872,13276,0.00,2.08,0.00,0.000,4,0.000,0.034,3002,687,2225,0,0,0,0,0,0
$GC,13342,0.56,146.0,799.8,12.1,875,13346,0.00,2.03,0.00,0.000,6,0.000,0.024,3003,2067,2224,0,0,0,0,0,0
$GC,13672,0.56,146.0,760.1,11.8,891,13673,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2068,2224,0,0,0,0,0,0
$GC,13981,0.56,146.0,724.1,11.4,906,13985,0.00,2.10,0.00,0.000,4,0.000,0.038,3003,3473,2223,0,0,0,0,0,0
$GC,14072,0.56,146.0,712.4,12.4,910,14076,0.00,2.05,0.00,0.000,6,0.000,0.022,3012,2054,2223,0,0,0,0,0,0
$GC,14393,0.56,146.0,673.5,12.3,926,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2054,2222,0,0,0,0,0,0
$GC,14702,0.56,146.0,633.8,13.0,941,14706,0.00,2.03,0.00,0.000,4,0.000,0.035,3022,687,2222,0,0,0,0,0,0
$GC,14759,0.56,146.0,626.3,13.2,943,14764,0.10,2.03,0.00,0.000,6,0.140,0.024,2989,2057,2222,0,0,0,0,0,0
$GC,15081,0.56,146.0,591.3,10.4,959,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2057,2221,0,0,0,0,0,0
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$STATE,21850,end climb,SURFACE_DEPTH_REACHED
$STATE,21850,begin surface coast
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$10V_AH,10.2,18.601
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$FG_AHR_10Vo,0.000
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$MEM,329896
$DATA_FILE_SIZE,100269,1713
$CAP_FILE_SIZE,241766,0
$CFSIZE,260165632,131674112
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$CURRENT,0.028, 69.9,1
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