version: 66.09
glider: 167
mission: 8
dive: 389
start: 9 4 111 16 34 43
data:
$ID,167
$MISSION,8
$DIVE,389
$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,-58696.059
$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,52
$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
$GPS1,040911,162607,1812.704,12317.413,30,1.0,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.0
$GPS2,040911,163420,1812.745,12317.381,12,1.9,12,-2.0
$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,299.0,112611,-15.3,-9.706
$D_GRID,3686
$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,-90.28,0.000,2,0.000,0.000,110,1887,3014,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.2,-8.1,13,140,10.15,0.00,-10.40,0.000,6,0.231,0.000,2591,1885,3635,0,0,0,0,0,0
$GC,276,-0.62,-194.6,62.5,-29.8,40,284,0.00,2.08,0.00,0.000,4,0.000,0.027,2591,482,3637,0,0,0,0,0,0
$GC,313,-0.62,-194.6,73.4,-28.8,46,321,0.00,2.05,0.00,0.000,6,0.000,0.020,2583,1889,3638,0,0,0,0,0,0
$GC,456,-0.62,-194.6,104.8,-20.0,71,463,0.00,2.03,0.00,0.000,4,0.000,0.032,2572,3267,3638,0,0,0,0,0,0
$GC,553,-0.62,-194.6,125.5,-20.1,88,562,0.00,1.92,0.00,0.000,6,0.000,0.017,2572,1911,3638,0,0,0,0,0,0
$GC,695,-0.62,-194.6,154.2,-20.5,113,702,0.00,2.05,0.00,0.000,4,0.000,0.028,2572,492,3639,0,0,0,0,0,0
$GC,737,-0.62,-194.6,162.6,-20.2,120,745,0.12,2.10,0.00,0.000,6,0.167,0.021,2595,1932,3639,0,0,0,0,0,0
$GC,880,-0.62,-194.6,185.2,-15.0,145,887,0.00,1.98,0.00,0.000,4,0.000,0.033,2587,3260,3639,0,0,0,0,0,0
$GC,906,-0.62,-194.6,189.6,-15.4,149,913,0.00,1.95,0.00,0.000,6,0.000,0.017,2587,1870,3639,0,0,0,0,0,0
$GC,1045,-0.62,-194.6,209.3,-14.1,168,1048,0.00,1.98,0.00,0.000,4,0.000,0.029,2587,502,3639,0,0,0,0,0,0
$GC,1079,-0.62,-194.6,214.7,-14.5,171,1083,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1879,3639,0,0,0,0,0,0
$GC,1410,-0.62,-194.6,262.9,-13.6,202,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1880,3639,0,0,0,0,0,0
$GC,1731,-0.62,-194.6,304.2,-12.4,232,1735,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3266,3638,0,0,0,0,0,0
$GC,1873,-0.62,-194.6,321.5,-11.9,244,1879,0.00,1.95,0.00,0.000,6,0.000,0.017,2587,1882,3637,0,0,0,0,0,0
$GC,2198,-0.62,-194.6,363.7,-11.4,275,2203,0.00,2.03,0.00,0.000,4,0.000,0.030,2587,505,3636,0,0,0,0,0,0
$GC,2226,-0.62,-194.6,367.0,-11.1,277,2232,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1917,3636,0,0,0,0,0,0
$GC,2551,-0.62,-194.6,402.2,-11.2,308,2556,0.00,2.10,0.00,0.000,4,0.000,0.029,2587,506,3634,0,0,0,0,0,0
$GC,2578,-0.62,-194.6,405.3,-10.6,310,2585,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1878,3634,0,0,0,0,0,0
$GC,2905,-0.62,-194.6,435.1,-8.5,341,2908,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3262,3632,0,0,0,0,0,0
$GC,3039,-0.62,-194.6,446.4,-8.5,353,3043,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1944,3632,0,0,0,0,0,0
$GC,3371,-0.62,-194.6,478.1,-9.4,384,3376,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,507,3629,0,0,0,0,0,0
$GC,3474,-0.62,-194.6,487.5,-9.1,393,3478,0.00,2.05,0.00,0.000,6,0.000,0.021,2586,1925,3628,0,0,0,0,0,0
$GC,3802,-0.62,-194.6,514.7,-8.7,416,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1925,3626,0,0,0,0,0,0
$GC,4110,-0.62,-194.6,541.4,-9.0,431,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1925,3624,0,0,0,0,0,0
$GC,4420,-0.62,-194.6,571.2,-9.7,446,4425,0.00,2.03,0.00,0.000,4,0.000,0.036,2587,3266,3622,0,0,0,0,0,0
$GC,4470,-0.62,-194.6,576.0,-9.1,448,4474,0.00,1.92,0.00,0.000,6,0.000,0.019,2587,1911,3621,0,0,0,0,0,0
$GC,4800,-0.62,-194.6,602.9,-7.8,464,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1911,3618,0,0,0,0,0,0
$GC,5107,-0.62,-194.6,625.1,-7.3,479,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1911,3617,0,0,0,0,0,0
$GC,5416,-0.62,-194.6,651.0,-8.8,494,5420,0.00,2.05,0.00,0.000,4,0.000,0.036,2586,3265,3614,0,0,0,0,0,0
$GC,5465,-0.62,-194.6,655.3,-9.2,496,5470,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1893,3614,0,0,0,0,0,0
$GC,5798,-0.62,-194.6,686.1,-8.9,512,5802,0.00,2.08,0.00,0.000,4,0.000,0.033,2587,499,3611,0,0,0,0,0,0
$GC,5845,-0.62,-194.6,690.2,-8.8,514,5848,0.00,2.03,0.00,0.000,6,0.000,0.023,2587,1873,3611,0,0,0,0,0,0
$GC,6179,-0.62,-194.6,714.3,-6.7,530,6183,0.00,2.10,0.00,0.000,4,0.000,0.038,2587,3279,3609,0,0,0,0,0,0
$GC,6280,-0.62,-194.6,721.8,-7.3,534,6287,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1909,3608,0,0,0,0,0,0
$GC,6598,-0.62,-194.6,746.1,-7.7,550,6603,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,491,3607,0,0,0,0,0,0
$GC,6631,-0.62,-194.6,748.9,-7.6,551,6635,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1927,3606,0,0,0,0,0,0
$GC,6949,-0.62,-194.6,770.6,-6.7,566,6954,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3269,3604,0,0,0,0,0,0
$GC,7043,-0.62,-194.6,776.6,-5.8,570,7048,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1928,3604,0,0,0,0,0,0
$GC,7370,-0.62,-194.6,797.0,-6.6,586,7374,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,492,3602,0,0,0,0,0,0
$GC,7422,-0.62,-194.6,800.8,-7.1,588,7426,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1930,3601,0,0,0,0,0,0
$GC,7739,-0.62,-194.6,821.7,-6.3,603,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1930,3600,0,0,0,0,0,0
$GC,8049,-0.62,-194.6,837.7,-5.1,618,8054,0.00,2.05,0.00,0.000,4,0.000,0.038,2586,3269,3598,0,0,0,0,0,0
$GC,8112,-0.62,-194.6,841.1,-5.2,620,8119,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1908,3598,0,0,0,0,0,0
$GC,8431,-0.62,-194.6,859.7,-6.3,636,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1907,3598,0,0,0,0,0,0
$GC,8739,-0.62,-194.6,881.5,-7.2,651,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1907,3596,0,0,0,0,0,0
$GC,9047,-0.62,-194.6,904.9,-7.5,666,9051,0.00,2.10,0.00,0.000,4,0.000,0.038,2587,3263,3594,0,0,0,0,0,0
$GC,9085,-0.62,-194.6,907.8,-7.3,667,9093,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1917,3594,0,0,0,0,0,0
$GC,9403,-0.62,-194.6,929.2,-6.6,683,9407,0.00,2.12,0.00,0.000,4,0.000,0.033,2587,493,3593,0,0,0,0,0,0
$GC,9436,-0.62,-194.6,931.8,-6.8,684,9443,0.00,2.10,0.00,0.000,6,0.000,0.024,2586,1908,3593,0,0,0,0,0,0
$GC,9754,-0.62,-194.6,951.6,-6.2,700,9759,0.00,2.10,0.00,0.000,4,0.000,0.039,2587,3273,3592,0,0,0,0,0,0
$GC,9837,-0.62,-194.6,957.1,-6.3,703,9846,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1924,3592,0,0,0,0,0,0
$GC,10154,-0.62,-194.6,977.4,-6.7,719,10159,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,497,3591,0,0,0,0,0,0
$GC,10183,-0.62,-194.6,979.6,-7.1,720,10186,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1930,3590,0,0,0,0,0,0
$STATE,10322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10322,begin apogee
$GC,10328,-0.20,0.0,990.5,7.6,727,10493,0.43,0.00,159.60,1.395,4,0.121,0.000,2728,2087,2841,0,0,0,0,0,0
$STATE,10494,end apogee,CONTROL_FINISHED_OK
$STATE,10494,begin climb
$GC,10496,0.62,194.6,998.4,0.0,734,10677,0.77,0.00,174.27,1.340,6,0.082,0.000,2997,2087,2044,0,0,0,0,0,0
$GC,10985,0.62,194.6,954.6,10.9,758,10990,0.00,2.12,0.00,0.000,4,0.000,0.034,3005,708,2034,0,0,0,0,0,0
$GC,11031,0.62,194.6,949.3,11.5,760,11036,0.00,2.00,0.00,0.000,6,0.000,0.026,3005,2018,2034,0,0,0,0,0,0
$GC,11366,0.62,194.6,911.8,10.5,776,11370,0.00,2.20,0.00,0.000,4,0.000,0.039,3005,3464,2031,0,0,0,0,0,0
$GC,11438,0.62,194.6,902.4,12.4,779,11442,0.00,2.05,0.00,0.000,6,0.000,0.021,3014,2058,2031,0,0,0,0,0,0
$GC,11761,0.62,194.6,861.2,13.1,795,11764,0.00,2.03,0.00,0.000,4,0.000,0.035,3021,690,2030,0,0,0,0,0,0
$GC,11829,0.62,194.6,851.9,13.5,798,11833,0.00,1.95,0.00,0.000,6,0.000,0.025,3021,1995,2030,0,0,0,0,0,0
$GC,12162,0.62,194.6,807.1,12.8,814,12166,0.00,2.22,0.00,0.000,4,0.000,0.039,3021,3461,2030,0,0,0,0,0,0
$GC,12230,0.62,194.6,797.4,14.6,817,12234,0.12,2.10,0.00,0.000,6,0.165,0.021,2998,2020,2029,0,0,0,0,0,0
$GC,12551,0.62,194.6,762.1,10.6,833,12555,0.00,1.95,0.00,0.000,4,0.000,0.034,3006,694,2029,0,0,0,0,0,0
$GC,12625,0.62,194.6,753.8,11.2,836,12628,0.00,1.95,0.00,0.000,6,0.000,0.025,3006,2005,2029,0,0,0,0,0,0
$GC,12952,0.62,194.6,716.8,11.2,852,12957,0.00,2.22,0.00,0.000,4,0.000,0.038,3006,3456,2028,0,0,0,0,0,0
$GC,12975,0.62,194.6,714.1,11.1,853,12979,0.00,2.12,0.00,0.000,6,0.000,0.021,3016,2002,2028,0,0,0,0,0,0
$GC,13304,0.62,194.6,678.1,10.6,869,13308,0.00,1.95,0.00,0.000,4,0.000,0.035,3023,694,2027,0,0,0,0,0,0
$GC,13342,0.62,194.6,673.5,10.7,870,13349,0.00,1.88,0.00,0.000,6,0.000,0.024,3023,1946,2027,0,0,0,0,0,0
$GC,13660,0.62,194.6,638.9,11.4,886,13665,0.00,2.30,0.00,0.000,4,0.000,0.038,3024,3462,2028,0,0,0,0,0,0
$GC,13715,0.62,194.6,631.5,12.9,888,13723,0.08,2.17,0.00,0.000,6,0.145,0.021,3008,1989,2027,0,0,0,0,0,0
$GC,14032,0.62,194.6,598.6,9.8,904,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1989,2027,0,0,0,0,0,0
$GC,14342,0.62,194.6,566.0,10.7,919,14346,0.00,1.92,0.00,0.000,4,0.000,0.035,3016,694,2027,0,0,0,0,0,0
$GC,14367,0.62,194.6,563.3,10.8,920,14371,0.00,1.88,0.00,0.000,6,0.000,0.024,3016,1963,2027,0,0,0,0,0,0
$GC,14701,0.62,194.6,524.1,11.5,936,14705,0.00,2.25,0.00,0.000,4,0.000,0.037,3015,3462,2027,0,0,0,0,0,0
$GC,14752,0.62,194.6,517.8,12.5,938,14756,0.00,2.22,0.00,0.000,6,0.000,0.021,3026,1960,2027,0,0,0,0,0,0
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$CFSIZE,260165632,104173568
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