version: 66.06
glider: 146
mission: 5
dive: 33
start: 8 19 110 13 57 3
data:
$ID,146
$MISSION,5
$DIVE,33
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,375
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-247756.17
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,134925,2248.568,-15756.731,41,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.5
$GPS2,135608,2248.612,-15756.764,14,1.0,14,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,0.221
$KALMAN_X,-22012.1,-83.6,-56.3,45970.8,-987.0
$KALMAN_Y,41549.6,-590.6,-145.2,85191.7,1603.7
$MHEAD_RNG_PITCHd_Wd,13.2,17644,-14.1,-8.000
$D_GRID,900
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,97,0.00,0.00,-79.10,0.000,2,0.000,0.000,479,1793,3266,0,0,0,0,0,0
$GC,100,-1.06,-146.0,3.3,-4.2,10,126,11.93,2.50,-6.22,0.000,4,0.151,0.044,2760,3334,3599,0,0,0,0,0,0
$GC,196,-0.94,-146.0,24.8,-14.0,23,206,0.12,2.60,0.00,0.000,6,0.082,0.041,2792,1767,3601,0,0,0,0,0,0
$GC,473,-0.84,-146.0,60.7,-12.6,50,479,0.10,2.72,0.00,0.000,4,0.127,0.068,2813,185,3600,0,0,0,0,0,0
$GC,544,-0.84,-146.0,69.6,-11.4,55,548,0.00,2.40,0.00,0.000,6,0.000,0.015,2813,1777,3601,0,0,0,0,0,0
$GC,811,-0.84,-146.0,95.3,-10.3,79,815,0.00,2.47,0.00,0.000,4,0.000,0.034,2813,3330,3601,0,0,0,0,0,0
$GC,891,-0.89,-146.0,102.7,-8.4,85,895,0.00,2.50,0.00,0.000,6,0.000,0.036,2813,1765,3602,0,0,0,0,0,0
$GC,1158,-0.89,-146.0,124.9,-8.1,109,1162,0.00,2.67,0.00,0.000,4,0.000,0.068,2813,197,3602,0,0,0,0,0,0
$GC,1192,-0.93,-146.0,128.2,-8.7,111,1197,0.00,2.40,0.00,0.000,6,0.000,0.021,2814,1783,3602,0,0,0,0,0,0
$GC,1454,-0.93,-146.0,149.1,-8.5,136,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1783,3602,0,0,0,0,0,0
$GC,1713,-0.97,-146.0,171.8,-8.7,160,1718,0.12,2.72,0.00,0.000,4,0.071,0.066,2770,197,3602,0,0,0,0,0,0
$GC,1734,-0.97,-146.0,174.4,-9.3,161,1740,0.00,2.38,0.00,0.000,6,0.000,0.017,2770,1784,3602,0,0,0,0,0,0
$GC,1999,-0.92,-146.0,200.0,-9.4,186,2008,0.12,0.00,0.00,0.000,6,0.108,0.000,2798,1785,3602,0,0,0,0,0,0
$GC,2249,-0.92,-146.0,219.7,-7.6,193,2254,0.00,2.75,0.00,0.000,4,0.000,0.070,2797,191,3602,0,0,0,0,0,0
$GC,2282,-0.92,-146.0,222.5,-8.4,193,2288,0.00,2.38,0.00,0.000,6,0.000,0.018,2797,1764,3602,0,0,0,0,0,0
$GC,2534,-0.92,-146.0,239.7,-6.7,200,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1765,3602,0,0,0,0,0,0
$GC,2776,-0.92,-146.0,257.8,-7.6,206,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1765,3602,0,0,0,0,0,0
$GC,3019,-0.92,-146.0,277.8,-8.1,212,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1765,3602,0,0,0,0,0,0
$GC,3264,-0.97,-146.0,295.9,-7.3,218,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1765,3602,0,0,0,0,0,0
$GC,3509,-1.01,-146.0,314.7,-7.8,224,3513,0.00,2.47,0.00,0.000,4,0.000,0.041,2798,3318,3601,0,0,0,0,0,0
$GC,3559,-1.12,-146.0,318.9,-7.9,225,3564,0.17,2.55,0.00,0.000,6,0.063,0.044,2745,1768,3601,0,0,0,0,0,0
$GC,3833,-1.07,-146.0,346.9,-10.8,232,3838,0.10,2.88,0.00,0.000,4,0.123,0.094,2765,184,3600,0,0,0,0,0,0
$GC,3860,-1.07,-146.0,350.0,-10.5,232,3864,0.00,2.42,0.00,0.000,6,0.000,0.028,2765,1732,3600,0,0,0,0,0,0
$GC,4116,-1.07,-146.0,373.1,-8.6,239,4120,0.00,2.67,0.00,0.000,4,0.000,0.054,2765,3357,3599,0,0,0,0,0,0
$GC,4178,-1.12,-146.0,378.0,-7.6,240,4182,0.00,2.65,0.00,0.000,6,0.000,0.057,2765,1775,3599,0,0,0,0,0,0
$GC,4438,-1.12,-146.0,395.9,-6.6,247,4443,0.00,2.90,0.00,0.000,4,0.000,0.101,2765,184,3598,0,0,0,0,0,0
$GC,4478,-1.12,-146.0,398.6,-7.1,248,4482,0.00,2.55,0.00,0.000,6,0.000,0.036,2765,1771,3598,0,0,0,0,0,0
$GC,4762,-1.12,-146.0,417.3,-6.7,255,4767,0.00,2.88,0.00,0.000,4,0.000,0.091,2765,186,3596,0,0,0,0,0,0
$GC,4789,-1.12,-146.0,419.4,-7.5,255,4793,0.00,2.55,0.00,0.000,6,0.000,0.035,2765,1763,3596,0,0,0,0,0,0
$GC,5039,-1.12,-146.0,437.5,-7.4,261,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1763,3594,0,0,0,0,0,0
$GC,5284,-1.12,-146.0,458.4,-8.8,267,5288,0.00,2.72,0.00,0.000,4,0.000,0.071,2765,3357,3594,0,0,0,0,0,0
$GC,5311,-1.17,-146.0,460.9,-8.6,267,5315,0.00,2.72,0.00,0.000,6,0.000,0.061,2765,1765,3593,0,0,0,0,0,0
$GC,5561,-1.17,-146.0,479.0,-7.0,273,5565,0.00,2.67,0.00,0.000,4,0.000,0.050,2765,3362,3591,0,0,0,0,0,0
$GC,5589,-1.22,-146.0,480.9,-7.0,273,5594,0.15,2.75,0.00,0.000,6,0.070,0.067,2722,1774,3591,0,0,0,0,0,0
$GC,5839,-1.17,-146.0,501.2,-8.1,279,5845,0.10,3.12,0.00,0.000,4,0.128,0.131,2742,183,3589,0,0,0,0,0,0
$GC,5884,-1.17,-146.0,505.0,-8.4,280,5888,0.00,2.60,0.00,0.000,6,0.000,0.038,2742,1769,3589,0,0,0,0,0,0
$GC,6163,-1.17,-146.0,525.1,-7.5,287,6167,0.00,2.83,0.00,0.000,4,0.000,0.086,2742,3357,3587,0,0,0,0,0,0
$GC,6206,-1.17,-146.0,528.5,-7.3,288,6211,0.00,2.75,0.00,0.000,6,0.000,0.066,2743,1778,3587,0,0,0,0,0,0
$GC,6484,-1.17,-146.0,547.0,-6.6,295,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1778,3585,0,0,0,0,0,0
$GC,6729,-1.17,-146.0,563.5,-6.9,301,6733,0.00,2.75,0.00,0.000,4,0.000,0.074,2742,3359,3583,0,0,0,0,0,0
$GC,6784,-1.17,-146.0,567.6,-7.7,302,6788,0.00,2.75,0.00,0.000,6,0.000,0.078,2742,1789,3583,0,0,0,0,0,0
$GC,7050,-1.17,-146.0,587.4,-7.7,309,7055,0.00,3.20,0.00,0.000,4,0.000,0.145,2742,181,3581,0,0,0,0,0,0
$GC,7073,-1.17,-146.0,589.4,-8.4,309,7077,0.00,2.72,0.00,0.000,6,0.000,0.055,2742,1788,3581,0,0,0,0,0,0
$GC,7328,-1.17,-146.0,609.7,-7.9,316,7332,0.00,2.83,0.00,0.000,4,0.000,0.098,2742,3354,3579,0,0,0,0,0,0
$GC,7373,-1.22,-146.0,613.4,-8.4,317,7378,0.00,2.83,0.00,0.000,6,0.000,0.089,2743,1790,3579,0,0,0,0,0,0
$GC,7652,-1.22,-146.0,633.6,-7.2,324,7656,0.00,2.80,0.00,0.000,4,0.000,0.087,2742,3357,3578,0,0,0,0,0,0
$GC,7680,-1.22,-146.0,635.8,-7.6,324,7685,0.00,2.85,0.00,0.000,6,0.000,0.095,2742,1797,3578,0,0,0,0,0,0
$GC,7930,-1.22,-146.0,654.4,-7.6,330,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1797,3576,0,0,0,0,0,0
$GC,8175,-1.22,-146.0,673.7,-7.9,336,8180,0.00,3.35,0.00,0.000,4,0.000,0.161,2742,182,3574,0,0,0,0,0,0
$GC,8196,-1.22,-146.0,675.7,-8.6,336,8201,0.00,2.90,0.00,0.000,6,0.000,0.081,2743,1806,3574,0,0,0,0,0,0
$GC,8452,-1.22,-146.0,696.4,-7.9,343,8457,0.00,2.92,0.00,0.000,4,0.000,0.114,2743,3359,3573,0,0,0,0,0,0
$GC,8503,-1.27,-146.0,700.4,-8.3,344,8508,0.00,3.00,0.00,0.000,6,0.000,0.122,2742,1815,3573,0,0,0,0,0,0
$GC,8775,-1.27,-146.0,721.3,-7.6,351,8780,0.00,3.50,0.00,0.000,4,0.000,0.176,2742,178,3571,0,0,0,0,0,0
$GC,8825,-1.32,-146.0,725.4,-8.0,352,8831,0.12,3.00,0.00,0.000,6,0.085,0.100,2707,1805,3571,0,0,0,0,0,0
$GC,9099,-1.27,-146.0,749.1,-8.9,359,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1805,3569,0,0,0,0,0,0
$GC,9342,-1.22,-146.0,769.9,-8.4,365,9347,0.12,3.12,0.00,0.000,4,0.123,0.149,2731,3356,3568,0,0,0,0,0,0
$GC,9370,-1.22,-146.0,772.3,-7.5,365,9374,0.00,2.75,0.00,0.000,6,0.000,0.080,2732,1800,3568,0,0,0,0,0,0
$GC,9621,-1.22,-146.0,789.7,-6.7,371,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1800,3568,0,0,0,0,0,0
$GC,9863,-1.22,-146.0,803.4,-5.5,377,9868,0.00,2.70,0.00,0.000,4,0.000,0.065,2732,3362,3567,0,0,0,0,0,0
$GC,9896,-1.22,-146.0,805.2,-5.9,377,9901,0.00,2.75,0.00,0.000,6,0.000,0.073,2732,1806,3566,0,0,0,0,0,0
$GC,10147,-1.22,-146.0,817.9,-5.1,384,10152,0.00,3.22,0.00,0.000,4,0.000,0.138,2732,178,3565,0,0,0,0,0,0
$GC,10169,-1.22,-146.0,819.3,-6.1,384,10174,0.00,2.75,0.00,0.000,6,0.000,0.048,2732,1812,3565,0,0,0,0,0,0
$GC,10424,-1.22,-146.0,835.8,-6.6,391,10429,0.00,2.78,0.00,0.000,4,0.000,0.089,2732,3360,3564,0,0,0,0,0,0
$GC,10465,-1.26,-146.0,838.8,-7.4,392,10470,0.00,2.72,0.00,0.000,6,0.000,0.079,2731,1813,3564,0,0,0,0,0,0
$GC,10748,-1.26,-146.0,859.0,-7.1,399,10753,0.00,3.15,0.00,0.000,4,0.000,0.131,2732,183,3563,0,0,0,0,0,0
$GC,10781,-1.26,-146.0,861.6,-7.9,399,10787,0.00,2.72,0.00,0.000,6,0.000,0.048,2732,1812,3563,0,0,0,0,0,0
$GC,11032,-1.26,-146.0,879.2,-6.9,406,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1812,3563,0,0,0,0,0,0
$GC,11275,-1.26,-146.0,896.0,-6.7,412,11279,0.00,2.75,0.00,0.000,4,0.000,0.091,2732,3358,3562,0,0,0,0,0,0
$GC,11315,-1.30,-146.0,898.7,-6.5,413,11319,0.00,2.70,0.00,0.000,6,0.000,0.075,2732,1818,3562,0,0,0,0,0,0
$STATE,11333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11334,begin apogee
$GC,11340,-0.31,0.0,900.2,7.3,413,11467,0.88,0.00,123.05,1.264,6,0.090,0.000,2927,1818,3000,0,0,0,0,0,0
$STATE,11468,end apogee,CONTROL_FINISHED_OK
$STATE,11468,begin climb
$GC,11470,1.06,146.0,902.8,0.0,416,11612,1.27,2.88,132.77,1.226,4,0.046,0.066,3233,3407,2405,0,0,0,0,0,0
$GC,11686,0.88,146.0,891.4,10.3,421,11692,0.20,2.85,0.00,0.000,6,0.127,0.073,3195,1815,2397,0,0,0,0,0,0
$GC,11960,0.75,146.0,866.5,8.9,428,11966,0.15,2.75,0.00,0.000,4,0.138,0.058,3166,3409,2393,0,0,0,0,0,0
$GC,12016,0.72,162.8,861.7,7.4,429,12037,0.00,2.80,14.73,1.109,6,0.000,0.072,3166,1824,2337,0,0,0,0,0,0
$GC,12282,0.69,182.7,842.0,7.3,435,12303,0.00,0.00,19.88,1.138,6,0.000,0.000,3166,1824,2256,0,0,0,0,0,0
$GC,12527,0.67,208.7,824.9,7.0,441,12554,0.00,0.00,25.40,1.148,6,0.000,0.000,3166,1823,2150,0,0,0,0,0,0
$GC,12769,0.64,226.5,807.3,7.3,447,12789,0.12,0.00,17.70,1.112,6,0.157,0.000,3144,1823,2077,0,0,0,0,0,0
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$STATE,21972,end climb,SURFACE_DEPTH_REACHED
$STATE,21972,begin surface coast
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$STATE,22015,end surface coast,CONTROL_FINISHED_OK
$STATE,22015,begin surface
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$10V_AH,10.4,7.616
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$FG_AHR_10Vo,0.000
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$MEM,355624
$DATA_FILE_SIZE,63510,823
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$CFSIZE,260165632,180973568
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$GPS,190810,200625,2251.527,-15756.198,66,1.1,66,10.1