version: 66.06
glider: 148
mission: 10
dive: 671
start: 10 12 111 19 55 52
data:
$ID,148
$MISSION,10
$DIVE,671
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_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,300
$T_MISSION,660
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-891326.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-11.834597
$PRESSURE_SLOPE,0.00011637
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,194707,2241.240,-15800.307,33,1.6,33,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.6
$GPS2,195456,2241.207,-15800.323,15,1.6,15,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,south1
$TGT_LATLONG,2200.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.055,-0.235
$KALMAN_X,-190149.3,-126.5,55.5,132921.6,-957.3
$KALMAN_Y,-130131.2,8.0,77.1,80472.1,-618.6
$MHEAD_RNG_PITCHd_Wd,156.8,76316,-19.1,-10.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.34,-116.8,0.0,0.0,0,85,0.00,0.00,-64.93,0.000,2,0.000,0.000,413,1733,2999,0,0,0,0,0,0
$GC,89,-1.34,-116.8,3.1,-4.9,12,119,11.75,2.55,-8.80,0.000,4,0.146,0.037,2679,3301,3434,0,0,0,0,0,0
$GC,127,-0.49,-116.8,13.0,-22.7,18,134,0.80,2.58,0.00,0.000,6,0.080,0.024,2869,1714,3434,0,0,0,0,0,0
$GC,404,-0.82,-116.8,29.7,-6.4,67,411,0.25,2.53,0.00,0.000,4,0.035,0.025,2747,3297,3436,0,0,0,0,0,0
$GC,431,-0.96,-116.8,32.2,-9.4,70,436,0.10,2.53,0.00,0.000,6,0.114,0.024,2769,1726,3436,0,0,0,0,0,0
$GC,700,-1.05,-116.8,59.2,-8.6,94,704,0.00,2.53,0.00,0.000,4,0.000,0.041,2769,176,3437,0,0,0,0,0,0
$GC,746,-1.25,-116.8,64.6,-10.0,98,755,0.22,2.42,0.00,0.000,6,0.017,0.017,2639,1741,3437,0,0,0,0,0,0
$GC,1013,-1.03,-116.8,97.5,-11.4,123,1018,0.47,0.00,0.00,0.000,6,0.085,0.000,2748,1744,3438,0,0,0,0,0,0
$GC,1277,-1.16,-116.8,118.0,-8.0,148,1282,0.00,2.58,0.00,0.000,4,0.000,0.044,2748,174,3439,0,0,0,0,0,0
$GC,1294,-1.28,-116.8,119.3,-7.6,149,1299,0.20,2.35,0.00,0.000,6,0.042,0.017,2658,1716,3439,0,0,0,0,0,0
$GC,1559,-1.13,-116.8,146.6,-10.5,173,1565,0.30,2.50,0.00,0.000,4,0.086,0.023,2728,3279,3440,0,0,0,0,0,0
$GC,1589,-1.25,-116.8,149.7,-7.8,176,1594,0.00,2.50,0.00,0.000,6,0.000,0.023,2728,1698,3440,0,0,0,0,0,0
$GC,1853,-1.34,-116.8,169.2,-7.6,200,1855,0.17,0.00,0.00,0.000,6,0.049,0.000,2654,1699,3440,0,0,0,0,0,0
$GC,2109,-1.23,-116.8,192.8,-8.5,224,2114,0.25,2.50,0.00,0.000,4,0.085,0.022,2714,3279,3440,0,0,0,0,0,0
$GC,2120,-1.16,-116.8,194.2,-9.1,224,2126,0.00,2.53,0.00,0.000,6,0.000,0.022,2714,1711,3440,0,0,0,0,0,0
$GC,2386,-1.25,-116.8,210.8,-6.3,238,2391,0.00,2.53,0.00,0.000,4,0.000,0.025,2714,3277,3440,0,0,0,0,0,0
$GC,2411,-1.37,-116.8,212.8,-7.7,238,2416,0.15,2.50,0.00,0.000,6,0.054,0.023,2634,1715,3440,0,0,0,0,0,0
$GC,2676,-1.21,-116.8,240.2,-10.5,245,2683,0.35,2.50,0.00,0.000,4,0.084,0.041,2713,179,3440,0,0,0,0,0,0
$GC,2717,-1.35,-116.8,243.8,-6.9,245,2723,0.12,2.35,0.00,0.000,6,0.062,0.018,2647,1725,3440,0,0,0,0,0,0
$GC,2969,-1.26,-116.8,265.9,-8.9,252,2974,0.25,2.55,0.00,0.000,4,0.085,0.042,2708,173,3440,0,0,0,0,0,0
$GC,3018,-1.40,-116.8,269.5,-6.3,253,3023,0.15,2.33,0.00,0.000,6,0.054,0.018,2630,1691,3440,0,0,0,0,0,0
$GC,3303,-1.26,-116.8,295.3,-9.7,260,3312,0.30,2.58,0.00,0.000,4,0.085,0.028,2701,3293,3439,0,0,0,0,0,0
$GC,3361,-1.41,-116.8,300.2,-7.9,261,3366,0.12,2.53,0.00,0.000,6,0.062,0.026,2630,1714,3439,0,0,0,0,0,0
$GC,3640,-1.26,-116.8,329.4,-10.8,268,3645,0.30,2.55,0.00,0.000,4,0.084,0.047,2700,169,3437,0,0,0,0,0,0
$GC,3670,-1.37,-116.8,332.1,-8.6,268,3674,0.00,2.38,0.00,0.000,6,0.000,0.020,2700,1700,3437,0,0,0,0,0,0
$GC,3928,-1.45,-116.8,348.5,-6.0,275,3933,0.15,2.60,0.00,0.000,4,0.055,0.031,2631,3301,3436,0,0,0,0,0,0
$GC,3973,-1.38,-116.8,352.2,-8.1,276,3978,0.20,2.58,0.00,0.000,6,0.087,0.027,2676,1704,3435,0,0,0,0,0,0
$GC,4262,-1.38,-116.8,371.0,-6.4,283,4266,0.00,2.58,0.00,0.000,4,0.000,0.052,2676,169,3434,0,0,0,0,0,0
$GC,4290,-1.38,-116.8,373.2,-6.9,283,4294,0.00,2.40,0.00,0.000,6,0.000,0.021,2677,1700,3434,0,0,0,0,0,0
$GC,4547,-1.38,-116.8,391.0,-7.3,290,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1702,3433,0,0,0,0,0,0
$GC,4789,-1.38,-116.8,410.6,-8.1,296,4793,0.00,2.58,0.00,0.000,4,0.000,0.055,2676,177,3431,0,0,0,0,0,0
$GC,4817,-1.38,-116.8,413.1,-9.0,296,4821,0.00,2.40,0.00,0.000,6,0.000,0.022,2677,1695,3430,0,0,0,0,0,0
$GC,5074,-1.38,-116.8,432.5,-7.8,303,5078,0.00,2.62,0.00,0.000,4,0.000,0.038,2676,3300,3429,0,0,0,0,0,0
$GC,5121,-1.47,-116.8,436.4,-8.0,304,5125,0.00,2.58,0.00,0.000,6,0.000,0.031,2677,1710,3429,0,0,0,0,0,0
$GC,5403,-1.47,-116.8,458.7,-8.2,311,5407,0.00,2.60,0.00,0.000,4,0.000,0.041,2677,3294,3427,0,0,0,0,0,0
$GC,5418,-1.47,-116.8,460.1,-8.1,311,5423,0.00,2.55,0.00,0.000,6,0.000,0.031,2677,1720,3427,0,0,0,0,0,0
$GC,5688,-1.47,-116.8,482.3,-8.4,318,5692,0.00,2.70,0.00,0.000,4,0.000,0.070,2677,173,3425,0,0,0,0,0,0
$GC,5723,-1.47,-116.8,485.4,-8.7,318,5727,0.00,2.47,0.00,0.000,6,0.000,0.027,2677,1713,3425,0,0,0,0,0,0
$GC,5974,-1.47,-116.8,506.0,-8.2,324,5978,0.00,2.62,0.00,0.000,4,0.000,0.044,2677,3303,3424,0,0,0,0,0,0
$GC,6011,-1.55,-116.8,509.1,-7.3,324,6018,0.15,2.62,0.00,0.000,6,0.056,0.035,2596,1711,3423,0,0,0,0,0,0
$GC,6262,-1.35,-116.8,532.8,-9.5,331,6269,0.38,2.65,0.00,0.000,4,0.091,0.068,2682,176,3422,0,0,0,0,0,0
$GC,6313,-1.44,-116.8,536.4,-6.3,332,6319,0.00,2.50,0.00,0.000,6,0.000,0.030,2682,1705,3422,0,0,0,0,0,0
$GC,6603,-1.44,-116.8,551.9,-5.6,339,6607,0.00,2.65,0.00,0.000,4,0.000,0.049,2682,3305,3420,0,0,0,0,0,0
$GC,6625,-1.51,-116.8,553.3,-6.2,339,6631,0.10,2.67,0.00,0.000,6,0.032,0.036,2622,1705,3420,0,0,0,0,0,0
$GC,6897,-1.39,-116.8,576.9,-9.0,346,6903,0.25,2.70,0.00,0.000,4,0.091,0.071,2682,173,3418,0,0,0,0,0,0
$GC,6943,-1.49,-116.8,580.8,-7.7,346,6949,0.12,2.47,0.00,0.000,6,0.065,0.031,2625,1699,3418,0,0,0,0,0,0
$GC,7195,-1.39,-116.8,604.0,-9.6,353,7203,0.22,2.72,0.00,0.000,4,0.092,0.051,2675,3311,3416,0,0,0,0,0,0
$GC,7218,-1.39,-116.8,606.4,-9.5,353,7223,0.00,2.65,0.00,0.000,6,0.000,0.038,2675,1704,3416,0,0,0,0,0,0
$GC,7483,-1.39,-116.8,627.1,-7.9,360,7487,0.00,2.70,0.00,0.000,4,0.000,0.047,2675,3309,3415,0,0,0,0,0,0
$GC,7516,-1.49,-116.8,630.0,-8.2,360,7520,0.00,2.62,0.00,0.000,6,0.000,0.039,2675,1718,3415,0,0,0,0,0,0
$GC,7767,-1.49,-116.8,647.9,-7.0,366,7772,0.00,2.72,0.00,0.000,4,0.000,0.077,2674,171,3413,0,0,0,0,0,0
$GC,7784,-1.49,-116.8,649.0,-6.6,366,7790,0.00,2.55,0.00,0.000,6,0.000,0.035,2675,1714,3413,0,0,0,0,0,0
$GC,8062,-1.49,-116.8,666.8,-6.4,373,8066,0.00,2.70,0.00,0.000,4,0.000,0.058,2674,3315,3411,0,0,0,0,0,0
$GC,8097,-1.58,-116.8,669.1,-5.9,373,8102,0.17,2.65,0.00,0.000,6,0.051,0.039,2599,1722,3411,0,0,0,0,0,0
$GC,8349,-1.42,-116.8,691.6,-9.1,379,8354,0.30,2.75,0.00,0.000,4,0.091,0.074,2667,173,3410,0,0,0,0,0,0
$GC,8369,-1.42,-116.8,693.4,-7.9,379,8374,0.00,2.55,0.00,0.000,6,0.000,0.036,2668,1726,3410,0,0,0,0,0,0
$GC,8637,-1.42,-116.8,709.1,-5.8,386,8642,0.00,2.72,0.00,0.000,4,0.000,0.070,2668,172,3409,0,0,0,0,0,0
$GC,8658,-1.42,-116.8,710.5,-6.5,386,8662,0.00,2.50,0.00,0.000,6,0.000,0.035,2668,1714,3409,0,0,0,0,0,0
$GC,8923,-1.42,-116.8,728.0,-6.9,393,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1714,3408,0,0,0,0,0,0
$GC,9165,-1.42,-116.8,745.8,-7.4,399,9170,0.00,2.70,0.00,0.000,4,0.000,0.058,2669,3309,3407,0,0,0,0,0,0
$GC,9191,-1.48,-116.8,747.8,-9.2,399,9196,0.00,2.65,0.00,0.000,6,0.000,0.041,2669,1709,3407,0,0,0,0,0,0
$GC,9452,-1.48,-116.8,767.6,-7.6,406,9456,0.00,2.70,0.00,0.000,4,0.000,0.076,2668,173,3406,0,0,0,0,0,0
$GC,9477,-1.48,-116.8,769.8,-8.5,406,9481,0.00,2.53,0.00,0.000,6,0.000,0.036,2668,1710,3406,0,0,0,0,0,0
$GC,9738,-1.48,-116.8,789.2,-7.3,413,9742,0.00,2.70,0.00,0.000,4,0.000,0.060,2668,3304,3405,0,0,0,0,0,0
$GC,9767,-1.57,-116.8,791.5,-7.6,413,9772,0.12,2.67,0.00,0.000,6,0.064,0.041,2608,1706,3405,0,0,0,0,0,0
$GC,10024,-1.44,-116.8,815.0,-9.4,420,10031,0.25,2.70,0.00,0.000,4,0.090,0.074,2667,173,3404,0,0,0,0,0,0
$GC,10044,-1.44,-116.8,816.6,-8.5,420,10049,0.00,2.55,0.00,0.000,6,0.000,0.038,2667,1709,3404,0,0,0,0,0,0
$GC,10318,-1.44,-116.8,835.8,-6.9,427,10323,0.00,2.75,0.00,0.000,4,0.000,0.061,2667,3298,3403,0,0,0,0,0,0
$GC,10334,-1.50,-116.8,837.0,-6.7,427,10338,0.00,2.65,0.00,0.000,6,0.000,0.046,2668,1710,3403,0,0,0,0,0,0
$GC,10608,-1.50,-116.8,855.2,-6.8,434,10613,0.00,2.70,0.00,0.000,4,0.000,0.076,2666,173,3402,0,0,0,0,0,0
$GC,10637,-1.50,-116.8,857.5,-8.2,434,10641,0.00,2.50,0.00,0.000,6,0.000,0.037,2667,1705,3401,0,0,0,0,0,0
$GC,10894,-1.50,-116.8,874.5,-6.7,441,10899,0.00,2.75,0.00,0.000,4,0.000,0.062,2667,3311,3401,0,0,0,0,0,0
$GC,10923,-1.59,-116.8,876.7,-6.5,441,10930,0.15,2.70,0.00,0.000,6,0.058,0.041,2599,1700,3401,0,0,0,0,0,0
$GC,11181,-1.45,-116.8,900.0,-9.2,448,11186,0.25,2.72,0.00,0.000,4,0.094,0.076,2658,170,3400,0,0,0,0,0,0
$STATE,11189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11189,begin apogee
$GC,11199,-0.31,0.0,901.1,9.0,448,11300,1.10,0.00,96.90,1.169,6,0.077,0.000,2910,1702,2955,0,0,0,0,0,0
$STATE,11301,end apogee,CONTROL_FINISHED_OK
$STATE,11301,begin climb
$GC,11303,1.34,116.8,903.3,0.0,450,11417,1.48,0.00,108.97,1.146,6,0.028,0.000,3292,1702,2478,0,0,0,0,0,0
$GC,11634,0.99,116.8,876.6,12.1,458,11641,0.43,2.75,0.00,0.000,4,0.107,0.061,3201,3285,2468,0,0,0,0,0,0
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$STATE,19837,end climb,SURFACE_DEPTH_REACHED
$STATE,19837,begin surface coast
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$10V_AH,9.8,71.730
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,99934208
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