version: 66.09
glider: 167
mission: 8
dive: 108
start: 7 4 111 16 55 47
data:
$ID,167
$MISSION,8
$DIVE,108
$N_DIVES,125
$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,-56522.75
$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,73
$R_STBD_OVSHOOT,87
$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
$GPS1,040711,164501,1759.215,12433.218,38,1.7,39,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.2
$GPS2,040711,165523,1759.250,12433.160,26,1.4,42,-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,177.8,17435,-15.4,-8.250
$D_GRID,4416
$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,-0.56,-146.0,0.0,0.0,0,91,0.00,0.00,-72.10,0.000,2,0.000,0.000,110,1946,2994,0,0,0,0,0,0
$GC,94,-0.56,-146.0,5.3,-8.8,9,119,9.80,2.15,-7.62,0.000,4,0.230,0.035,2607,466,3437,0,0,0,0,0,0
$GC,188,-0.56,-146.0,41.3,-30.1,24,197,0.00,2.03,0.00,0.000,6,0.000,0.020,2599,1849,3438,0,0,0,0,0,0
$GC,265,-0.56,-146.0,60.7,-26.5,37,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1850,3438,0,0,0,0,0,0
$GC,343,-0.56,-146.0,80.8,-23.8,50,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1850,3439,0,0,0,0,0,0
$GC,420,-0.56,-146.0,100.0,-25.0,63,427,0.00,2.03,0.00,0.000,4,0.000,0.029,2599,489,3439,0,0,0,0,0,0
$GC,462,-0.56,-146.0,110.2,-23.2,70,471,0.00,1.95,0.00,0.000,6,0.000,0.019,2590,1839,3439,0,0,0,0,0,0
$GC,545,-0.56,-146.0,125.5,-20.8,83,552,0.00,2.10,0.00,0.000,4,0.000,0.031,2580,3256,3439,0,0,0,0,0,0
$GC,588,-0.56,-146.0,136.0,-21.5,90,599,0.10,2.03,0.00,0.000,6,0.156,0.018,2610,1830,3439,0,0,0,0,0,0
$GC,666,-0.56,-146.0,149.3,-16.3,103,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1829,3439,0,0,0,0,0,0
$GC,740,-0.56,-146.0,162.9,-18.5,116,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1829,3439,0,0,0,0,0,0
$GC,816,-0.56,-146.0,175.2,-16.0,129,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1829,3439,0,0,0,0,0,0
$GC,892,-0.56,-146.0,187.0,-15.5,142,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1829,3439,0,0,0,0,0,0
$GC,968,-0.56,-146.0,198.3,-14.4,155,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1829,3439,0,0,0,0,0,0
$GC,1050,-0.56,-146.0,210.8,-15.5,163,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1828,3439,0,0,0,0,0,0
$GC,1377,-0.56,-146.0,253.3,-12.2,194,1381,0.00,1.92,0.00,0.000,4,0.000,0.028,2610,507,3439,0,0,0,0,0,0
$GC,1458,-0.56,-146.0,262.7,-11.9,201,1463,0.00,1.98,0.00,0.000,6,0.000,0.019,2603,1883,3439,0,0,0,0,0,0
$GC,1789,-0.56,-146.0,299.8,-10.9,232,1793,0.00,2.00,0.00,0.000,4,0.000,0.032,2600,3271,3439,0,0,0,0,0,0
$GC,1835,-0.56,-146.0,304.9,-11.1,236,1840,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1870,3439,0,0,0,0,0,0
$GC,2166,-0.56,-146.0,339.0,-9.6,267,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1869,3437,0,0,0,0,0,0
$GC,2489,-0.56,-146.0,367.9,-9.3,297,2493,0.00,1.95,0.00,0.000,4,0.000,0.031,2600,505,3435,0,0,0,0,0,0
$GC,2516,-0.56,-146.0,371.0,-9.0,299,2523,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1859,3435,0,0,0,0,0,0
$GC,2841,-0.56,-146.0,401.9,-9.6,330,2845,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,3269,3433,0,0,0,0,0,0
$GC,2888,-0.56,-146.0,406.3,-9.4,334,2892,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1882,3433,0,0,0,0,0,0
$GC,3219,-0.56,-146.0,436.1,-8.9,365,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1881,3431,0,0,0,0,0,0
$GC,3541,-0.56,-146.0,462.8,-7.9,395,3545,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,501,3429,0,0,0,0,0,0
$GC,3621,-0.56,-146.0,470.1,-8.8,402,3625,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1876,3428,0,0,0,0,0,0
$GC,3952,-0.56,-146.0,495.5,-7.3,433,3956,0.00,2.03,0.00,0.000,4,0.000,0.036,2600,3265,3426,0,0,0,0,0,0
$GC,4001,-0.56,-146.0,499.2,-7.3,437,4008,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1902,3425,0,0,0,0,0,0
$GC,4331,-0.56,-146.0,521.8,-7.2,454,4334,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,493,3423,0,0,0,0,0,0
$GC,4447,-0.56,-146.0,531.7,-8.1,459,4452,0.00,2.03,0.00,0.000,6,0.000,0.021,2599,1880,3422,0,0,0,0,0,0
$GC,4776,-0.56,-146.0,556.0,-7.5,475,4780,0.00,2.03,0.00,0.000,4,0.000,0.035,2599,3263,3420,0,0,0,0,0,0
$GC,4832,-0.56,-146.0,560.4,-7.3,477,4836,0.00,1.92,0.00,0.000,6,0.000,0.020,2599,1886,3419,0,0,0,0,0,0
$GC,5154,-0.56,-146.0,584.9,-7.6,493,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1886,3417,0,0,0,0,0,0
$GC,5464,-0.56,-146.0,608.2,-7.6,508,5469,0.00,2.05,0.00,0.000,4,0.000,0.033,2599,500,3415,0,0,0,0,0,0
$GC,5525,-0.56,-146.0,613.5,-8.3,510,5533,0.00,1.95,0.00,0.000,6,0.000,0.022,2600,1868,3415,0,0,0,0,0,0
$GC,5843,-0.56,-146.0,637.1,-7.4,526,5846,0.00,2.08,0.00,0.000,4,0.000,0.037,2599,3266,3412,0,0,0,0,0,0
$GC,5943,-0.56,-146.0,644.8,-7.1,530,5948,0.00,2.00,0.00,0.000,6,0.000,0.020,2600,1881,3412,0,0,0,0,0,0
$GC,6265,-0.56,-146.0,666.4,-6.5,546,6269,0.00,2.00,0.00,0.000,4,0.000,0.031,2599,497,3409,0,0,0,0,0,0
$GC,6293,-0.56,-146.0,668.1,-6.5,547,6297,0.00,2.00,0.00,0.000,6,0.000,0.022,2599,1878,3409,0,0,0,0,0,0
$GC,6626,-0.56,-146.0,690.7,-6.4,563,6630,0.00,2.08,0.00,0.000,4,0.000,0.037,2599,3272,3408,0,0,0,0,0,0
$GC,6700,-0.56,-146.0,695.7,-6.7,566,6704,0.00,1.95,0.00,0.000,6,0.000,0.021,2599,1891,3407,0,0,0,0,0,0
$GC,7022,-0.56,-146.0,717.6,-7.1,582,7026,0.00,2.08,0.00,0.000,4,0.000,0.036,2600,3273,3405,0,0,0,0,0,0
$GC,7123,-0.56,-146.0,724.9,-7.0,586,7128,0.00,1.98,0.00,0.000,6,0.000,0.021,2599,1912,3405,0,0,0,0,0,0
$GC,7446,-0.56,-146.0,746.2,-6.7,602,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1911,3403,0,0,0,0,0,0
$GC,7754,-0.56,-146.0,767.8,-7.0,617,7758,0.00,2.08,0.00,0.000,4,0.000,0.033,2599,506,3402,0,0,0,0,0,0
$GC,7802,-0.56,-146.0,771.4,-7.6,619,7806,0.00,2.05,0.00,0.000,6,0.000,0.024,2599,1921,3401,0,0,0,0,0,0
$GC,8136,-0.56,-146.0,794.2,-6.6,635,8140,0.00,2.03,0.00,0.000,4,0.000,0.039,2599,3275,3400,0,0,0,0,0,0
$GC,8231,-0.56,-146.0,800.6,-6.5,639,8235,0.00,1.90,0.00,0.000,6,0.000,0.021,2599,1931,3399,0,0,0,0,0,0
$GC,8561,-0.56,-146.0,821.4,-6.3,655,8565,0.00,2.12,0.00,0.000,4,0.000,0.032,2599,501,3398,0,0,0,0,0,0
$GC,8644,-0.56,-146.0,827.9,-7.5,658,8652,0.00,2.08,0.00,0.000,6,0.000,0.024,2599,1919,3397,0,0,0,0,0,0
$GC,8962,-0.56,-146.0,848.8,-6.8,674,8966,0.00,2.05,0.00,0.000,4,0.000,0.040,2599,3271,3396,0,0,0,0,0,0
$GC,9012,-0.56,-146.0,852.4,-6.7,676,9015,0.00,1.90,0.00,0.000,6,0.000,0.021,2599,1937,3396,0,0,0,0,0,0
$GC,9341,-0.56,-146.0,874.0,-6.6,692,9345,0.00,2.12,0.00,0.000,4,0.000,0.033,2599,492,3395,0,0,0,0,0,0
$GC,9430,-0.56,-146.0,880.7,-7.3,696,9434,0.00,2.05,0.00,0.000,6,0.000,0.024,2599,1894,3395,0,0,0,0,0,0
$GC,9758,-0.56,-146.0,901.9,-6.4,712,9762,0.00,2.08,0.00,0.000,4,0.000,0.040,2599,3277,3394,0,0,0,0,0,0
$GC,9848,-0.56,-146.0,907.5,-6.1,716,9852,0.00,1.95,0.00,0.000,6,0.000,0.021,2599,1914,3393,0,0,0,0,0,0
$GC,10176,-0.56,-146.0,926.6,-5.9,732,10179,0.00,2.08,0.00,0.000,4,0.000,0.033,2599,490,3393,0,0,0,0,0,0
$GC,10210,-0.56,-146.0,928.9,-5.9,733,10217,0.00,2.05,0.00,0.000,6,0.000,0.024,2599,1907,3393,0,0,0,0,0,0
$GC,10526,-0.56,-146.0,948.2,-6.2,749,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1907,3392,0,0,0,0,0,0
$GC,10836,-0.56,-146.0,967.6,-6.3,764,10840,0.00,2.08,0.00,0.000,4,0.000,0.040,2599,3273,3391,0,0,0,0,0,0
$GC,10898,-0.56,-146.0,971.7,-6.6,766,10906,0.00,2.00,0.00,0.000,6,0.000,0.021,2599,1881,3391,0,0,0,0,0,0
$STATE,11191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11191,begin apogee
$GC,11197,-0.20,0.0,990.6,6.4,781,11316,0.38,0.00,110.90,1.411,4,0.124,0.000,2727,2077,2838,0,0,0,0,0,0
$STATE,11317,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11320,0.56,146.0,993.5,0.0,786,11455,0.70,2.22,123.47,1.361,4,0.080,0.031,2984,693,2242,0,0,0,0,0,0
$GC,11656,0.56,146.0,962.4,11.3,801,11663,0.00,2.10,0.00,0.000,6,0.000,0.024,2984,2066,2232,0,0,0,0,0,0
$GC,11974,0.56,146.0,926.2,11.4,817,11977,0.00,2.10,0.00,0.000,4,0.000,0.034,2992,697,2228,0,0,0,0,0,0
$GC,12179,0.56,146.0,902.0,11.1,826,12185,0.00,2.12,0.00,0.000,6,0.000,0.024,2993,2094,2228,0,0,0,0,0,0
$GC,12508,0.56,146.0,864.4,11.7,842,12512,0.00,2.08,0.00,0.000,4,0.000,0.039,2993,3472,2226,0,0,0,0,0,0
$GC,12540,0.56,146.0,860.0,12.4,843,12547,0.00,2.03,0.00,0.000,6,0.000,0.021,3002,2078,2226,0,0,0,0,0,0
$GC,12857,0.56,146.0,821.7,12.2,859,12860,0.00,2.08,0.00,0.000,4,0.000,0.035,3012,690,2225,0,0,0,0,0,0
$GC,12986,0.56,146.0,805.7,12.3,864,12993,0.00,2.05,0.00,0.000,6,0.000,0.024,3012,2077,2225,0,0,0,0,0,0
$GC,13302,0.56,146.0,766.3,12.6,880,13306,0.00,2.10,0.00,0.000,4,0.000,0.041,3012,3474,2224,0,0,0,0,0,0
$GC,13353,0.56,146.0,759.2,13.8,882,13359,0.10,2.08,0.00,0.000,6,0.144,0.021,2989,2069,2224,0,0,0,0,0,0
$GC,13675,0.56,146.0,723.4,10.9,898,13679,0.00,2.05,0.00,0.000,4,0.000,0.034,2997,686,2223,0,0,0,0,0,0
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$STATE,21309,end climb,SURFACE_DEPTH_REACHED
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