version: 66.06
glider: 146
mission: 9
dive: 212
start: 4 15 114 15 14 27
data:
$ID,146
$MISSION,9
$DIVE,212
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,1.0276999
$MASS,52418
$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,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-328190.44
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3004
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,40
$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,3060
$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,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.187134
$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,10
$ALTIM_PULSE,8
$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,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,145243,2254.635,-15806.562,82,2.2,101,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-66.8
$GPS2,151333,2254.521,-15806.686,18,99.0,37,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,0.240
$KALMAN_X,-182934.2,25.8,-41.1,163997.0,-1114.5
$KALMAN_Y,14652.4,-291.9,-7.0,-4648.9,-1383.5
$MHEAD_RNG_PITCHd_Wd,12.6,18754,-17.5,-10.025
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-88.60,0.000,6,0.000,0.000,457,2156,3657,0,0,0,0,0,0
$GC,114,-1.28,-146.0,3.9,-9.9,12,132,12.60,2.62,0.00,0.000,4,0.164,0.028,2717,3794,3657,0,0,0,0,0,0
$GC,202,-1.20,-146.0,25.5,-14.2,24,210,0.08,2.50,0.00,0.000,6,0.106,0.024,2737,2241,3659,0,0,0,0,0,0
$GC,478,-1.10,-146.0,62.2,-13.0,51,483,0.12,2.67,0.00,0.000,4,0.118,0.045,2761,625,3659,0,0,0,0,0,0
$GC,501,-1.02,-146.0,66.0,-13.8,52,505,0.00,2.45,0.00,0.000,6,0.000,0.018,2761,2221,3658,0,0,0,0,0,0
$GC,765,-0.97,-146.0,94.7,-11.2,76,770,0.15,2.53,0.00,0.000,4,0.106,0.035,2794,3776,3659,0,0,0,0,0,0
$GC,801,-1.02,-146.0,98.7,-9.8,78,812,0.00,2.50,0.00,0.000,6,0.000,0.022,2794,2206,3659,0,0,0,0,0,0
$GC,1070,-1.07,-146.0,122.4,-8.7,103,1074,0.00,2.55,0.00,0.000,4,0.000,0.045,2794,637,3659,0,0,0,0,0,0
$GC,1134,-1.15,-146.0,128.2,-8.0,108,1139,0.17,2.42,0.00,0.000,6,0.051,0.018,2728,2219,3659,0,0,0,0,0,0
$GC,1399,-1.09,-146.0,155.9,-9.9,132,1404,0.17,2.62,0.00,0.000,4,0.087,0.044,2765,636,3659,0,0,0,0,0,0
$GC,1420,-1.05,-146.0,158.0,-9.7,133,1424,0.00,2.40,0.00,0.000,6,0.000,0.018,2765,2203,3659,0,0,0,0,0,0
$GC,1688,-1.05,-146.0,180.7,-8.7,157,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2203,3659,0,0,0,0,0,0
$GC,1951,-1.09,-146.0,203.9,-8.2,182,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2202,3659,0,0,0,0,0,0
$GC,2207,-1.14,-146.0,222.9,-7.4,206,2211,0.00,2.58,0.00,0.000,4,0.000,0.048,2765,633,3659,0,0,0,0,0,0
$GC,2241,-1.19,-146.0,226.0,-8.0,208,2247,0.00,2.42,0.00,0.000,6,0.000,0.019,2765,2196,3659,0,0,0,0,0,0
$GC,2506,-1.25,-146.0,245.6,-7.1,233,2511,0.15,2.58,0.00,0.000,4,0.058,0.048,2706,637,3659,0,0,0,0,0,0
$GC,2523,-1.25,-146.0,247.3,-7.6,234,2528,0.12,2.40,0.00,0.000,6,0.099,0.027,2733,2197,3659,0,0,0,0,0,0
$GC,2787,-1.25,-146.0,268.5,-8.0,258,2791,0.00,2.58,0.00,0.000,4,0.000,0.039,2733,3778,3659,0,0,0,0,0,0
$GC,2827,-1.25,-146.0,272.2,-8.6,261,2832,0.00,2.50,0.00,0.000,6,0.000,0.022,2733,2197,3659,0,0,0,0,0,0
$GC,3090,-1.25,-146.0,293.9,-8.2,285,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2197,3658,0,0,0,0,0,0
$GC,3344,-1.25,-146.0,313.3,-6.9,309,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2196,3657,0,0,0,0,0,0
$GC,3598,-1.25,-146.0,332.4,-7.3,333,3602,0.00,2.60,0.00,0.000,4,0.000,0.045,2733,3774,3656,0,0,0,0,0,0
$GC,3644,-1.29,-146.0,336.1,-8.2,336,3653,0.00,2.55,0.00,0.000,6,0.000,0.028,2733,2215,3656,0,0,0,0,0,0
$GC,3911,-1.33,-146.0,356.2,-7.8,361,3915,0.00,2.58,0.00,0.000,4,0.000,0.048,2733,3771,3654,0,0,0,0,0,0
$GC,3969,-1.38,-146.0,361.6,-8.6,365,3975,0.12,2.50,0.00,0.000,6,0.068,0.035,2681,2225,3654,0,0,0,0,0,0
$GC,4232,-1.33,-146.0,386.8,-9.9,390,4237,0.15,2.83,0.00,0.000,4,0.095,0.079,2714,627,3652,0,0,0,0,0,0
$GC,4309,-1.33,-146.0,394.0,-9.6,396,4314,0.00,2.55,0.00,0.000,6,0.000,0.044,2715,2187,3652,0,0,0,0,0,0
$GC,4572,-1.33,-146.0,414.8,-7.9,420,4576,0.00,2.72,0.00,0.000,4,0.000,0.060,2714,3801,3651,0,0,0,0,0,0
$GC,4653,-1.33,-146.0,421.9,-8.4,426,4662,0.00,2.62,0.00,0.000,6,0.000,0.039,2714,2224,3650,0,0,0,0,0,0
$GC,4919,-1.33,-146.0,441.9,-7.2,451,4924,0.00,2.90,0.00,0.000,4,0.000,0.094,2714,621,3648,0,0,0,0,0,0
$GC,4949,-1.33,-146.0,444.5,-7.7,453,4953,0.00,2.65,0.00,0.000,6,0.000,0.049,2714,2222,3647,0,0,0,0,0,0
$GC,5212,-1.33,-146.0,463.2,-7.2,477,5216,0.00,2.67,0.00,0.000,4,0.000,0.058,2714,3801,3646,0,0,0,0,0,0
$GC,5275,-1.33,-146.0,468.2,-8.0,482,5280,0.00,2.60,0.00,0.000,6,0.000,0.046,2714,2222,3645,0,0,0,0,0,0
$GC,5540,-1.33,-146.0,487.2,-7.5,506,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2222,3644,0,0,0,0,0,0
$GC,5801,-1.33,-146.0,506.7,-7.8,531,5806,0.00,2.92,0.00,0.000,4,0.000,0.104,2714,628,3643,0,0,0,0,0,0
$GC,5824,-1.33,-146.0,508.0,-7.6,532,5829,0.00,2.67,0.00,0.000,6,0.000,0.048,2714,2222,3642,0,0,0,0,0,0
$GC,6091,-1.33,-146.0,528.5,-7.7,556,6095,0.00,2.72,0.00,0.000,4,0.000,0.069,2714,3797,3641,0,0,0,0,0,0
$GC,6136,-1.37,-146.0,532.2,-9.5,559,6141,0.00,2.65,0.00,0.000,6,0.000,0.046,2714,2221,3641,0,0,0,0,0,0
$GC,6403,-1.41,-146.0,552.2,-6.8,583,6408,0.00,2.75,0.00,0.000,4,0.000,0.067,2714,3802,3638,0,0,0,0,0,0
$GC,6448,-1.41,-146.0,555.7,-7.5,586,6452,0.00,2.65,0.00,0.000,6,0.000,0.056,2714,2233,3638,0,0,0,0,0,0
$GC,6716,-1.45,-146.0,574.5,-7.4,610,6722,0.12,0.00,0.00,0.000,6,0.067,0.000,2666,2234,3637,0,0,0,0,0,0
$GC,6981,-1.39,-146.0,597.2,-8.4,635,6986,0.15,2.80,0.00,0.000,4,0.095,0.082,2698,3793,3635,0,0,0,0,0,0
$GC,7043,-1.39,-146.0,602.6,-8.0,638,7048,0.00,2.70,0.00,0.000,6,0.000,0.067,2698,2237,3635,0,0,0,0,0,0
$GC,7304,-1.39,-146.0,621.2,-7.1,645,7309,0.00,3.10,0.00,0.000,4,0.000,0.122,2698,619,3633,0,0,0,0,0,0
$GC,7334,-1.39,-146.0,623.4,-7.6,645,7339,0.00,2.83,0.00,0.000,6,0.000,0.076,2698,2225,3633,0,0,0,0,0,0
$GC,7584,-1.39,-146.0,641.8,-7.3,651,7589,0.00,2.92,0.00,0.000,4,0.000,0.107,2698,3798,3632,0,0,0,0,0,0
$GC,7624,-1.39,-146.0,645.0,-8.6,652,7628,0.00,2.80,0.00,0.000,6,0.000,0.084,2698,2240,3631,0,0,0,0,0,0
$GC,7908,-1.39,-146.0,666.7,-7.8,659,7913,0.00,2.92,0.00,0.000,4,0.000,0.109,2698,3801,3631,0,0,0,0,0,0
$GC,7935,-1.39,-146.0,669.2,-8.4,659,7940,0.00,2.88,0.00,0.000,6,0.000,0.095,2698,2246,3630,0,0,0,0,0,0
$GC,8187,-1.39,-146.0,687.7,-7.2,665,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2246,3629,0,0,0,0,0,0
$GC,8429,-1.39,-146.0,703.4,-6.3,671,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2246,3628,0,0,0,0,0,0
$GC,8673,-1.39,-146.0,718.0,-5.9,677,8677,0.00,3.10,0.00,0.000,4,0.000,0.135,2698,3802,3627,0,0,0,0,0,0
$GC,8700,-1.39,-146.0,719.7,-6.5,677,8705,0.00,3.05,0.00,0.000,6,0.000,0.123,2698,2246,3627,0,0,0,0,0,0
$GC,8951,-1.39,-146.0,733.2,-5.3,683,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2246,3626,0,0,0,0,0,0
$GC,9193,-1.39,-146.0,746.7,-5.6,689,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2246,3625,0,0,0,0,0,0
$GC,9437,-1.39,-146.0,761.4,-6.1,695,9442,0.00,3.22,0.00,0.000,4,0.000,0.160,2698,3794,3624,0,0,0,0,0,0
$GC,9459,-1.39,-146.0,763.0,-7.1,695,9464,0.00,3.15,0.00,0.000,6,0.000,0.148,2698,2251,3624,0,0,1,0,0,0
$GC,9716,-1.39,-146.0,779.5,-6.4,702,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2252,3622,0,0,0,0,0,0
$GC,9958,-1.39,-146.0,794.6,-6.0,708,9963,0.00,3.38,0.00,0.000,4,0.000,0.179,2698,3794,3621,0,0,0,0,0,0
$GC,9980,-1.39,-146.0,796.1,-6.2,708,9985,0.00,3.30,0.00,0.000,6,0.000,0.169,2698,2257,3622,0,0,1,0,0,0
$STATE,10070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10070,begin apogee
$GC,10077,-0.31,0.0,801.8,6.3,711,10200,1.05,0.00,119.40,1.183,6,0.071,0.000,2937,2367,3060,0,0,0,0,0,0
$STATE,10201,end apogee,CONTROL_FINISHED_OK
$STATE,10201,begin climb
$GC,10204,1.28,146.0,803.1,0.0,714,10341,1.42,3.58,128.40,1.154,4,0.032,0.177,3290,3938,2463,0,0,0,0,0,0
$GC,10412,1.11,146.0,783.6,14.0,719,10418,0.22,3.35,0.00,0.000,6,0.101,0.157,3244,2368,2458,0,0,1,0,0,0
$GC,10698,1.05,146.0,752.6,10.4,726,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2368,2453,0,0,0,0,0,0
$GC,10940,1.00,146.0,727.5,10.1,732,10945,0.00,3.35,0.00,0.000,4,0.000,0.160,3243,776,2451,0,0,0,0,0,0
$GC,10957,0.93,146.0,725.6,10.2,732,10962,0.17,3.08,0.00,0.000,6,0.112,0.115,3209,2371,2450,0,0,0,0,0,0
$GC,11220,0.97,177.7,702.7,8.6,739,11250,0.00,0.00,28.17,1.082,6,0.000,0.000,3209,2371,2335,0,0,0,0,0,0
$GC,11462,0.99,190.9,680.0,9.4,745,11477,0.00,0.00,13.15,1.012,6,0.000,0.000,3209,2371,2281,0,0,0,0,0,0
$GC,11706,1.04,203.3,656.9,9.5,751,11726,0.10,3.17,12.57,1.000,4,0.087,0.116,3236,782,2230,0,0,0,0,0,0
$GC,11755,1.04,203.3,651.4,11.5,752,11760,0.00,2.85,0.00,0.000,6,0.000,0.077,3236,2366,2228,0,0,0,0,0,0
$GC,12032,1.04,203.3,621.0,10.9,759,12037,0.00,2.90,0.00,0.000,4,0.000,0.096,3236,3944,2227,0,0,0,0,0,0
$GC,12047,1.04,203.3,619.1,10.8,759,12052,0.00,2.80,0.00,0.000,6,0.000,0.064,3236,2351,2226,0,0,0,0,0,0
$GC,12303,1.04,203.3,592.2,10.3,771,12307,0.00,2.97,0.00,0.000,4,0.000,0.109,3236,776,2226,0,0,0,0,0,0
$GC,12324,1.04,203.3,590.3,10.7,772,12329,0.00,2.72,0.00,0.000,6,0.000,0.054,3236,2373,2224,0,0,0,0,0,0
$GC,12590,1.04,203.3,563.0,10.1,796,12595,0.00,2.80,0.00,0.000,4,0.000,0.079,3235,3941,2224,0,0,0,0,0,0
$GC,12608,1.04,203.3,560.7,10.7,797,12613,0.00,2.70,0.00,0.000,6,0.000,0.049,3236,2353,2224,0,0,0,0,0,0
$GC,12871,1.06,212.3,535.0,9.6,821,12885,0.00,2.83,8.70,0.894,4,0.000,0.064,3236,3937,2194,0,0,0,0,0,0
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$STATE,17924,end climb,SURFACE_DEPTH_REACHED
$STATE,17924,begin surface coast
$FINISH,-0.1,1.000643
$STATE,17970,end surface coast,CONTROL_FINISHED_OK
$STATE,17970,begin surface
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$10V_AH,10.1,35.228
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.725,251.125,383.525,75.000,0.000,115.253,145.166,571.919,6.000,0.000,39.790,2344.488,10737.865,632.967,4165.639,1419.148,33.366,1990.890,0.000,4160.607,0.000,0.537,0.000
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$MEM,355352
$DATA_FILE_SIZE,107880,1293
$CAP_FILE_SIZE,213387,0
$CFSIZE,260165632,164462592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,150414,201715,2256.067,-15805.817,38,2.4,57,10.1