version: 66.07
glider: 23
mission: 5
dive: 177
start: 12 24 110 12 29 37
data:
$ID,23
$MISSION,5
$DIVE,177
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$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,550
$T_MISSION,1100
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54982.785
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2370
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2640
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$GPS1,241210,122236,1859.591,12456.315,54,1.0,54,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-53.9
$GPS2,241210,122844,1859.631,12456.304,16,1.3,16,-2.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.100,-0.174
$KALMAN_X,-302521.2,-741.6,63.5,191672.8,-280.8
$KALMAN_Y,128150.3,988.5,-496.5,-391214.2,1928.1
$MHEAD_RNG_PITCHd_Wd,212.2,98916,-10.2,-6.000
$D_GRID,990
$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,-0.84,-146.0,0.0,0.0,0,90,0.00,0.00,-71.25,0.000,2,0.000,0.000,360,2676,2691,0,0,0,0,0,0
$GC,92,-0.84,-146.0,3.1,-1.4,14,145,10.40,2.28,-34.72,0.000,4,0.157,0.048,2177,1587,3668,0,0,0,0,0,0
$GC,392,-0.84,-146.0,49.9,-18.4,58,396,0.00,2.12,0.00,0.000,6,0.000,0.025,2178,2638,3668,0,0,0,0,0,0
$GC,652,-0.84,-146.0,94.0,-15.1,82,656,0.00,2.20,0.00,0.000,4,0.000,0.039,2178,1588,3668,0,0,0,0,0,0
$GC,711,-0.84,-146.0,102.8,-14.6,87,718,0.00,2.15,0.00,0.000,6,0.000,0.025,2178,2630,3669,0,0,0,0,0,0
$GC,973,-0.84,-146.0,137.3,-14.3,112,976,0.00,1.70,0.00,0.000,4,0.000,0.039,2178,3696,3669,0,0,0,0,0,0
$GC,995,-0.84,-146.0,140.5,-14.5,114,998,0.00,1.73,0.00,0.000,6,0.000,0.025,2178,2593,3669,0,0,0,0,0,0
$GC,1261,-0.84,-146.0,173.4,-10.8,139,1264,0.00,1.77,0.00,0.000,4,0.000,0.039,2178,3697,3670,0,0,0,0,0,0
$GC,1283,-0.84,-146.0,175.8,-11.1,141,1286,0.00,1.70,0.00,0.000,6,0.000,0.024,2178,2625,3669,0,0,0,0,0,0
$GC,1548,-0.84,-146.0,199.8,-8.5,166,1552,0.00,2.08,0.00,0.000,4,0.000,0.038,2178,1603,3670,0,0,0,0,0,0
$GC,1648,-0.84,-146.0,208.7,-9.2,171,1653,0.00,2.10,0.00,0.000,6,0.000,0.027,2178,2624,3670,0,0,0,0,0,0
$GC,1969,-0.84,-146.0,239.7,-10.0,187,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2624,3670,0,0,0,0,0,0
$GC,2278,-0.84,-146.0,269.1,-8.9,202,2282,0.00,2.12,0.00,0.000,4,0.000,0.038,2178,1602,3670,0,0,0,0,0,0
$GC,2418,-0.84,-146.0,280.6,-7.5,208,2422,0.00,2.10,0.00,0.000,6,0.000,0.028,2178,2633,3669,0,0,0,0,0,0
$GC,2732,-0.84,-146.0,303.7,-7.4,222,2736,0.00,2.12,0.00,0.000,4,0.000,0.038,2178,1599,3667,0,0,0,0,0,0
$GC,2871,-0.84,-146.0,314.9,-7.8,225,2875,0.00,2.08,0.00,0.000,6,0.000,0.029,2178,2611,3666,0,0,0,0,0,0
$GC,3189,-0.84,-146.0,344.0,-9.4,233,3193,0.00,2.08,0.00,0.000,4,0.000,0.038,2178,1604,3666,0,0,0,0,0,0
$GC,3260,-0.84,-146.0,350.8,-9.2,234,3266,0.00,2.08,0.00,0.000,6,0.000,0.029,2178,2608,3665,0,0,0,0,0,0
$GC,3598,-0.84,-146.0,378.0,-7.8,243,3602,0.00,2.10,0.00,0.000,4,0.000,0.040,2178,1600,3664,0,0,0,0,0,0
$GC,3827,-0.84,-146.0,394.9,-7.5,248,3831,0.00,2.08,0.00,0.000,6,0.000,0.030,2177,2589,3662,0,0,0,0,0,0
$GC,4151,-0.84,-146.0,418.7,-7.1,256,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2589,3660,0,0,0,0,0,0
$GC,4476,-0.84,-146.0,438.3,-6.3,264,4480,0.00,2.05,0.00,0.000,4,0.000,0.040,2178,1602,3658,0,0,0,0,0,0
$GC,4605,-0.84,-146.0,447.6,-7.4,267,4609,0.00,2.05,0.00,0.000,6,0.000,0.031,2177,2596,3658,0,0,0,0,0,0
$GC,4932,-0.84,-146.0,471.8,-7.3,275,4935,0.00,2.05,0.00,0.000,4,0.000,0.039,2178,1604,3656,0,0,0,0,0,0
$GC,5071,-0.84,-146.0,481.2,-6.2,278,5075,0.00,2.03,0.00,0.000,6,0.000,0.031,2177,2571,3655,0,0,0,0,0,0
$GC,5391,-0.84,-146.0,498.9,-5.3,286,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2571,3652,0,0,0,0,0,0
$GC,5714,-0.84,-146.0,513.9,-4.4,294,5718,0.00,2.05,0.00,0.000,4,0.000,0.040,2178,1601,3650,0,0,0,0,0,0
$GC,5876,-0.84,-146.0,521.7,-5.2,297,5880,0.00,2.05,0.00,0.000,6,0.000,0.032,2177,2575,3648,0,0,0,0,0,0
$GC,6218,-0.84,-146.0,544.1,-7.2,306,6222,0.00,2.03,0.00,0.000,4,0.000,0.041,2178,1604,3645,0,0,0,0,0,0
$GC,6430,-0.84,-146.0,559.5,-6.4,310,6435,0.00,2.03,0.00,0.000,6,0.000,0.032,2177,2568,3644,0,0,0,0,0,0
$GC,6767,-0.84,-146.0,578.7,-5.3,319,6771,0.00,2.00,0.00,0.000,4,0.000,0.040,2177,1604,3642,0,0,0,0,0,0
$GC,6873,-0.84,-146.0,584.1,-5.6,321,6877,0.00,2.03,0.00,0.000,6,0.000,0.034,2178,2564,3642,0,0,0,0,0,0
$GC,7186,-0.84,-146.0,600.0,-5.2,329,7190,0.00,2.03,0.00,0.000,4,0.000,0.041,2178,1605,3640,0,0,0,0,0,0
$GC,7443,-0.84,-146.0,613.1,-5.4,334,7447,0.00,2.00,0.00,0.000,6,0.000,0.035,2178,2548,3638,0,0,0,0,0,0
$GC,7780,-0.84,-146.0,629.2,-4.6,343,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2547,3636,0,0,0,0,0,0
$GC,8105,-0.84,-146.0,643.5,-4.3,351,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2547,3634,0,0,0,0,0,0
$GC,8430,-0.84,-146.0,657.6,-4.3,359,8434,0.00,1.98,0.00,0.000,4,0.000,0.043,2178,1605,3632,0,0,0,0,0,0
$GC,8554,-0.84,-146.0,662.9,-4.7,361,8557,0.00,1.98,0.00,0.000,6,0.000,0.036,2177,2546,3631,0,0,0,0,0,0
$GC,8890,-0.84,-146.0,675.3,-3.7,370,8894,0.00,1.98,0.00,0.000,4,0.000,0.043,2177,1605,3629,0,0,0,0,0,0
$GC,9147,-0.84,-146.0,684.0,-3.3,375,9151,0.00,1.98,0.00,0.000,6,0.000,0.038,2178,2531,3629,0,0,0,0,0,0
$GC,9485,-0.84,-146.0,694.2,-3.0,384,9488,0.00,1.98,0.00,0.000,4,0.000,0.044,2178,1603,3626,0,0,0,0,0,0
$GC,9657,-0.84,-146.0,700.3,-4.0,387,9664,0.00,1.98,0.00,0.000,6,0.000,0.038,2177,2527,3626,0,0,0,0,0,0
$GC,9989,-0.84,-146.0,713.7,-4.4,396,9993,0.00,1.98,0.00,0.000,4,0.000,0.044,2177,1601,3624,0,0,0,0,0,0
$GC,10246,-0.84,-146.0,725.7,-4.6,401,10250,0.00,1.98,0.00,0.000,6,0.000,0.038,2177,2519,3623,0,0,0,0,0,0
$GC,10583,-0.84,-146.0,740.8,-4.4,410,10587,0.00,1.95,0.00,0.000,4,0.000,0.044,2177,1603,3622,0,0,0,0,0,0
$GC,10784,-0.84,-146.0,750.7,-5.2,414,10789,0.00,1.95,0.00,0.000,6,0.000,0.038,2177,2516,3622,0,0,0,0,0,0
$GC,11134,-0.84,-146.0,770.1,-5.6,423,11137,0.00,1.95,0.00,0.000,4,0.000,0.044,2178,1601,3620,0,0,0,0,0,0
$GC,11351,-0.84,-146.0,781.2,-4.9,427,11358,0.00,1.95,0.00,0.000,6,0.000,0.038,2178,2509,3620,0,0,0,0,0,0
$GC,11683,-0.84,-146.0,794.8,-3.9,436,11687,0.00,1.90,0.00,0.000,4,0.000,0.043,2177,1603,3618,0,0,0,0,0,0
$GC,11850,-0.84,-146.0,801.6,-4.5,439,11855,0.00,1.95,0.00,0.000,6,0.000,0.038,2178,2514,3618,0,0,0,0,0,0
$GC,12188,-0.84,-146.0,815.0,-4.1,448,12192,0.00,1.92,0.00,0.000,4,0.000,0.043,2178,1601,3617,0,0,0,0,0,0
$GC,12282,-0.84,-146.0,819.1,-4.2,450,12287,0.00,1.95,0.00,0.000,6,0.000,0.038,2177,2508,3617,0,0,0,0,0,0
$GC,12608,-0.84,-146.0,832.4,-4.2,458,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2508,3617,0,0,0,0,0,0
$GC,12932,-0.84,-146.0,846.0,-4.2,466,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2508,3616,0,0,0,0,0,0
$GC,13257,-0.84,-146.0,860.6,-4.6,474,13261,0.00,1.90,0.00,0.000,4,0.000,0.042,2177,1604,3616,0,0,0,0,0,0
$GC,13386,-0.84,-146.0,866.1,-4.4,476,13391,0.00,1.90,0.00,0.000,6,0.000,0.038,2178,2504,3616,0,0,0,0,0,0
$GC,13717,-0.84,-146.0,878.7,-3.9,485,13721,0.00,1.92,0.00,0.000,4,0.000,0.042,2177,1601,3614,0,0,0,0,0,0
$GC,13890,-0.84,-146.0,885.4,-3.7,488,13896,0.00,1.92,0.00,0.000,6,0.000,0.038,2177,2494,3614,0,0,0,0,0,0
$GC,14221,-0.84,-146.0,898.0,-3.9,497,14225,0.00,1.88,0.00,0.000,4,0.000,0.042,2178,1603,3613,0,0,0,0,0,0
$GC,14276,-0.84,-146.0,900.2,-4.2,498,14280,0.00,1.90,0.00,0.000,6,0.000,0.038,2177,2486,3613,0,0,0,0,0,0
$GC,14596,-0.84,-146.0,912.7,-4.0,506,14600,0.00,1.90,0.00,0.000,4,0.000,0.041,2177,1605,3612,0,0,0,0,0,0
$GC,14853,-0.84,-146.0,923.0,-3.7,511,14857,0.00,1.88,0.00,0.000,6,0.000,0.038,2177,2473,3612,0,0,0,0,0,0
$GC,15190,-0.84,-146.0,936.2,-3.9,520,15194,0.00,1.85,0.00,0.000,4,0.000,0.042,2178,1601,3612,0,0,0,0,0,0
$GC,15447,-0.84,-146.0,946.8,-3.8,525,15452,0.00,1.88,0.00,0.000,6,0.000,0.038,2177,2463,3612,0,0,0,0,0,0
$GC,15785,-0.84,-146.0,960.5,-4.1,534,15786,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2463,3611,0,0,0,0,0,0
$GC,16109,-0.84,-146.0,974.5,-4.5,542,16113,0.00,1.83,0.00,0.000,4,0.000,0.042,2178,1603,3611,0,0,0,0,0,0
$GC,16338,-0.84,-146.0,984.9,-4.2,547,16343,0.00,1.88,0.00,0.000,6,0.000,0.038,2177,2467,3610,0,0,0,0,0,0
$STATE,16458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16458,begin apogee
$GC,16463,-0.33,0.0,990.3,4.5,550,16581,0.57,0.00,114.22,1.513,6,0.098,0.000,2294,1966,3071,0,0,0,0,0,0
$STATE,16582,end apogee,CONTROL_FINISHED_OK
$STATE,16582,begin climb
$GC,16584,0.84,146.0,990.7,0.0,553,16720,1.20,2.42,126.20,1.455,4,0.064,0.050,2550,906,2474,0,0,0,0,0,0
$GC,16736,0.86,166.8,981.5,5.4,556,16761,0.00,2.30,19.45,1.338,6,0.000,0.032,2550,1961,2391,0,0,0,0,0,0
$GC,17074,0.86,166.8,955.7,7.9,565,17078,0.00,2.08,0.00,0.000,4,0.000,0.048,2550,3022,2386,0,0,0,0,0,0
$GC,17163,0.86,166.8,948.5,8.2,567,17167,0.00,2.10,0.00,0.000,6,0.000,0.033,2550,1925,2385,0,0,0,0,0,0
$GC,17486,0.86,166.8,920.7,8.8,575,17490,0.00,2.25,0.00,0.000,4,0.000,0.051,2550,894,2384,0,0,0,0,0,0
$GC,17558,0.86,166.8,913.0,10.9,576,17562,0.00,2.22,0.00,0.000,6,0.000,0.030,2550,1937,2384,0,0,0,0,0,0
$GC,17901,0.86,166.8,882.2,8.4,585,17905,0.00,2.30,0.00,0.000,4,0.000,0.051,2550,893,2384,0,0,0,0,0,0
$GC,17939,0.86,166.8,879.0,9.5,586,17943,0.00,2.17,0.00,0.000,6,0.000,0.030,2550,1922,2384,0,0,0,0,0,0
$GC,18263,0.86,166.8,853.0,7.8,594,18267,0.00,2.28,0.00,0.000,4,0.000,0.051,2550,894,2383,0,0,0,0,0,0
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$STATE,29792,end climb,SURFACE_DEPTH_REACHED
$STATE,29792,begin surface coast
$FINISH,1.8,1.005667
$STATE,29827,end surface coast,CONTROL_FINISHED_OK
$STATE,29827,begin surface
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$10V_AH,10.0,16.188
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,40004,1090
$CAP_FILE_SIZE,311689,0
$CFSIZE,260034560,245141504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241210,205006,1857.477,12454.494,51,1.5,51,-2.3