version: 66.09
glider: 167
mission: 8
dive: 95
start: 7 1 111 7 30 41
data:
$ID,167
$MISSION,8
$DIVE,95
$N_DIVES,110
$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,-56506.305
$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,79
$R_STBD_OVSHOOT,60
$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
$GPS1,010711,072036,1830.145,12427.155,27,1.1,27,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.6
$GPS2,010711,073019,1830.056,12427.012,9,1.1,14,-2.1
$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,162.9,75509,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,109,0.00,0.00,-88.18,0.000,2,0.000,0.000,111,1834,3204,0,0,0,0,0,0
$GC,112,-0.56,-146.0,6.7,-12.0,11,136,9.85,2.00,-3.67,0.000,4,0.232,0.043,2614,484,3437,0,0,0,0,0,0
$GC,198,-0.56,-146.0,45.0,-31.7,25,208,0.00,2.05,0.00,0.000,6,0.000,0.020,2606,1880,3439,0,0,0,0,0,0
$GC,275,-0.56,-146.0,66.7,-27.2,38,283,0.00,2.08,0.00,0.000,4,0.000,0.028,2607,488,3439,0,0,0,0,0,0
$GC,319,-0.56,-146.0,77.1,-25.6,44,327,0.00,1.95,0.00,0.000,6,0.000,0.021,2598,1823,3439,0,0,0,0,0,0
$GC,397,-0.56,-146.0,95.9,-22.5,57,406,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,3264,3438,0,0,0,0,0,0
$GC,455,-0.56,-146.0,112.0,-28.1,67,463,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1911,3439,0,0,0,0,0,0
$GC,532,-0.56,-146.0,130.0,-22.1,80,541,0.12,2.10,0.00,0.000,4,0.183,0.030,2618,495,3439,0,0,0,0,0,0
$GC,617,-0.56,-146.0,145.2,-17.1,94,625,0.00,1.95,0.00,0.000,6,0.000,0.021,2611,1841,3440,0,0,0,0,0,0
$GC,694,-0.56,-146.0,158.2,-18.3,107,702,0.00,2.00,0.00,0.000,4,0.000,0.028,2611,488,3440,0,0,0,0,0,0
$GC,758,-0.56,-146.0,169.0,-16.2,117,767,0.00,1.70,0.00,0.000,6,0.000,0.019,2603,1686,3440,0,0,0,0,0,0
$GC,834,-0.56,-146.0,180.7,-15.3,130,842,0.00,2.35,0.00,0.000,4,0.000,0.031,2593,3267,3440,0,0,0,0,0,0
$GC,898,-0.56,-146.0,190.7,-15.2,141,907,0.00,2.17,0.00,0.000,6,0.000,0.018,2593,1755,3441,0,0,0,0,0,0
$GC,982,-0.56,-146.0,203.5,-15.9,153,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1755,3440,0,0,0,0,0,0
$GC,1308,-0.56,-146.0,251.2,-13.5,184,1312,0.00,1.83,0.00,0.000,4,0.000,0.029,2593,482,3440,0,0,0,0,0,0
$GC,1413,-0.56,-146.0,265.1,-12.5,193,1416,0.00,1.75,0.00,0.000,6,0.000,0.019,2588,1741,3440,0,0,0,0,0,0
$GC,1745,-0.56,-146.0,305.2,-11.4,224,1750,0.10,2.25,0.00,0.000,4,0.193,0.031,2603,3267,3439,0,0,0,0,0,0
$GC,1889,-0.56,-146.0,319.4,-9.0,236,1896,0.00,2.15,0.00,0.000,6,0.000,0.018,2603,1747,3439,0,0,0,0,0,0
$GC,2215,-0.56,-146.0,347.7,-8.9,267,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1748,3437,0,0,0,0,0,0
$GC,2538,-0.56,-146.0,375.8,-8.7,297,2542,0.00,2.25,0.00,0.000,4,0.000,0.033,2602,3267,3435,0,0,0,0,0,0
$GC,2729,-0.56,-146.0,393.4,-9.5,313,2737,0.00,2.15,0.00,0.000,6,0.000,0.019,2602,1744,3434,0,0,0,0,0,0
$GC,3055,-0.56,-146.0,423.3,-8.5,344,3058,0.00,1.80,0.00,0.000,4,0.000,0.031,2602,490,3432,0,0,0,0,0,0
$GC,3082,-0.56,-146.0,426.0,-9.0,346,3089,0.00,1.80,0.00,0.000,6,0.000,0.020,2602,1750,3432,0,0,0,0,0,0
$GC,3408,-0.56,-146.0,450.9,-7.3,377,3412,0.00,2.20,0.00,0.000,4,0.000,0.033,2600,3267,3429,0,0,0,0,0,0
$GC,3493,-0.56,-146.0,457.2,-7.2,384,3497,0.00,2.10,0.00,0.000,6,0.000,0.019,2600,1776,3429,0,0,0,0,0,0
$GC,3824,-0.56,-146.0,484.4,-8.3,415,3828,0.00,2.22,0.00,0.000,4,0.000,0.033,2600,3268,3427,0,0,0,0,0,0
$GC,3931,-0.56,-146.0,493.1,-8.0,424,3935,0.00,2.12,0.00,0.000,6,0.000,0.019,2600,1791,3426,0,0,0,0,0,0
$GC,4256,-0.56,-146.0,517.8,-7.4,444,4260,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,3272,3423,0,0,0,0,0,0
$GC,4305,-0.56,-146.0,521.8,-7.9,446,4309,0.00,2.08,0.00,0.000,6,0.000,0.020,2600,1830,3423,0,0,0,0,0,0
$GC,4628,-0.56,-146.0,545.7,-7.2,462,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1830,3420,0,0,0,0,0,0
$GC,4935,-0.56,-146.0,566.6,-6.7,477,4939,0.00,1.95,0.00,0.000,4,0.000,0.032,2600,490,3419,0,0,0,0,0,0
$GC,4969,-0.56,-146.0,569.2,-6.9,478,4972,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1835,3418,0,0,0,0,0,0
$GC,5292,-0.56,-146.0,591.4,-7.1,494,5296,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3260,3416,0,0,0,0,0,0
$GC,5427,-0.56,-146.0,601.1,-7.1,500,5431,0.00,2.00,0.00,0.000,6,0.000,0.020,2600,1854,3416,0,0,0,0,0,0
$GC,5757,-0.56,-146.0,624.6,-7.3,516,5760,0.00,1.98,0.00,0.000,4,0.000,0.032,2600,498,3413,0,0,0,0,0,0
$GC,5791,-0.56,-146.0,627.6,-7.5,517,5794,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1868,3413,0,0,0,0,0,0
$GC,6114,-0.56,-146.0,652.4,-7.8,533,6117,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3262,3411,0,0,0,0,0,0
$GC,6183,-0.56,-146.0,657.8,-7.7,536,6186,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1907,3410,0,0,0,0,0,0
$GC,6516,-0.56,-146.0,683.0,-7.4,552,6519,0.00,2.05,0.00,0.000,4,0.000,0.033,2600,510,3408,0,0,0,0,0,0
$GC,6590,-0.56,-146.0,688.9,-8.2,555,6593,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1900,3408,0,0,0,0,0,0
$GC,6917,-0.56,-146.0,711.4,-6.8,571,6922,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3264,3406,0,0,0,0,0,0
$GC,6986,-0.56,-146.0,715.9,-6.6,574,6990,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1926,3405,0,0,0,0,0,0
$GC,7321,-0.56,-146.0,737.8,-6.5,590,7325,0.00,1.98,0.00,0.000,4,0.000,0.035,2600,3266,3404,0,0,0,0,0,0
$GC,7394,-0.56,-146.0,742.6,-6.2,593,7399,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1959,3403,0,0,0,0,0,0
$GC,7722,-0.56,-146.0,761.4,-5.8,609,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1958,3401,0,0,0,0,0,0
$GC,8030,-0.56,-146.0,779.7,-6.0,624,8034,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,500,3400,0,0,0,0,0,0
$GC,8096,-0.56,-146.0,784.0,-7.3,627,8100,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1954,3400,0,0,0,0,0,0
$GC,8424,-0.56,-146.0,804.0,-5.9,643,8428,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3264,3399,0,0,0,0,0,0
$GC,8493,-0.56,-146.0,807.9,-5.9,646,8497,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1977,3399,0,0,0,0,0,0
$GC,8829,-0.56,-146.0,826.7,-5.8,662,8833,0.00,2.17,0.00,0.000,4,0.000,0.033,2600,500,3397,0,0,0,0,0,0
$GC,8873,-0.56,-146.0,829.7,-5.8,664,8877,0.00,2.17,0.00,0.000,6,0.000,0.024,2600,1985,3397,0,0,0,0,0,0
$GC,9202,-0.56,-146.0,848.6,-5.8,680,9206,0.00,1.90,0.00,0.000,4,0.000,0.039,2600,3271,3396,0,0,0,0,0,0
$GC,9236,-0.56,-146.0,850.8,-5.8,681,9240,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1973,3395,0,0,0,0,0,0
$GC,9558,-0.56,-146.0,870.1,-6.4,697,9562,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,494,3394,0,0,0,0,0,0
$GC,9600,-0.56,-146.0,872.8,-6.3,699,9604,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1965,3395,0,0,0,0,0,0
$GC,9928,-0.56,-146.0,892.9,-6.0,715,9932,0.00,1.95,0.00,0.000,4,0.000,0.039,2600,3268,3393,0,0,0,0,0,0
$GC,10020,-0.56,-146.0,898.5,-6.0,719,10024,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1969,3393,0,0,0,0,0,0
$GC,10354,-0.56,-146.0,918.3,-5.8,735,10358,0.00,2.17,0.00,0.000,4,0.000,0.033,2600,510,3393,0,0,0,0,0,0
$GC,10386,-0.56,-146.0,920.4,-6.0,736,10390,0.00,2.15,0.00,0.000,6,0.000,0.023,2600,1993,3391,0,0,0,0,0,0
$GC,10704,-0.56,-146.0,938.5,-5.6,751,10709,0.00,1.92,0.00,0.000,4,0.000,0.040,2600,3264,3391,0,0,0,0,0,0
$GC,10750,-0.56,-146.0,941.3,-5.6,753,10755,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,2000,3391,0,0,0,0,0,0
$GC,11084,-0.56,-146.0,959.2,-5.3,769,11088,0.00,2.20,0.00,0.000,4,0.000,0.034,2600,510,3390,0,0,0,0,0,0
$GC,11150,-0.56,-146.0,963.4,-6.3,772,11154,0.00,2.17,0.00,0.000,6,0.000,0.024,2600,1990,3390,0,0,0,0,0,0
$GC,11473,-0.56,-146.0,980.2,-5.1,788,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1990,3389,0,0,0,0,0,0
$STATE,11676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11676,begin apogee
$GC,11682,-0.20,0.0,990.5,4.9,798,11801,0.38,0.00,110.72,1.411,4,0.124,0.000,2728,2071,2838,0,0,0,0,0,0
$STATE,11801,end apogee,CONTROL_FINISHED_OK
$STATE,11802,begin climb
$GC,11804,0.56,146.0,991.9,0.0,803,11934,0.70,0.00,123.57,1.363,6,0.080,0.000,2976,2071,2242,0,0,0,0,0,0
$GC,12252,0.56,146.0,944.6,11.4,825,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2071,2231,0,0,0,0,0,0
$GC,12559,0.56,146.0,909.8,11.3,840,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2071,2229,0,0,0,0,0,0
$GC,12869,0.56,146.0,875.1,11.2,855,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2071,2227,0,0,0,0,0,0
$GC,13180,0.56,146.0,840.3,11.4,870,13184,0.00,2.12,0.00,0.000,4,0.000,0.039,2976,3470,2226,0,0,0,0,0,0
$GC,13229,0.56,146.0,833.9,12.4,872,13233,0.00,2.03,0.00,0.000,6,0.000,0.023,2980,2077,2226,0,0,0,0,0,0
$GC,13551,0.56,146.0,796.2,11.8,888,13556,0.00,2.10,0.00,0.000,4,0.000,0.036,2991,687,2225,0,0,0,0,0,0
$GC,13635,0.56,146.0,786.4,11.5,891,13642,0.00,2.03,0.00,0.000,6,0.000,0.024,2991,2058,2225,0,0,0,0,0,0
$GC,13951,0.56,146.0,751.0,10.8,907,13955,0.00,2.15,0.00,0.000,4,0.000,0.039,2990,3465,2225,0,0,0,0,0,0
$GC,13984,0.56,146.0,747.1,11.4,908,13988,0.00,2.05,0.00,0.000,6,0.000,0.023,2997,2051,2225,0,0,0,0,0,0
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$GC,14615,0.56,146.0,679.0,10.7,939,14619,0.00,2.15,0.00,0.000,4,0.000,0.037,2997,3466,2224,0,0,0,0,0,0
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$STATE,21949,end climb,SURFACE_DEPTH_REACHED
$STATE,21949,begin surface coast
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$FG_AHR_10Vo,0.000
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