version: 66.06
glider: 146
mission: 9
dive: 324
start: 5 9 114 19 55 31
data:
$ID,146
$MISSION,9
$DIVE,324
$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,-330620.03
$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,2996
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,194154,2250.284,-15753.994,40,1.2,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-71.5
$GPS2,195436,2250.273,-15753.963,9,1.7,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.189,-0.178
$KALMAN_X,-246555.5,-25.4,116.3,249230.3,-516.2
$KALMAN_Y,8648.1,-172.6,-17.4,-6618.4,-263.6
$MHEAD_RNG_PITCHd_Wd,216.5,27400,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,108,0.00,0.00,-85.93,0.000,2,0.000,0.000,457,2154,3613,0,0,0,0,0,0
$GC,111,-1.28,-146.0,3.3,-7.6,11,137,12.57,2.58,-0.75,0.000,4,0.166,0.053,2707,619,3658,0,0,0,0,0,0
$GC,222,-1.12,-146.0,30.4,-14.9,26,230,0.17,2.53,0.00,0.000,6,0.091,0.018,2747,2225,3659,0,0,0,0,0,0
$GC,490,-1.04,-146.0,65.4,-12.1,51,495,0.10,2.50,0.00,0.000,4,0.124,0.034,2767,3779,3659,0,0,0,0,0,0
$GC,537,-1.04,-146.0,70.8,-10.3,54,541,0.00,2.47,0.00,0.000,6,0.000,0.020,2767,2208,3659,0,0,0,0,0,0
$GC,801,-1.04,-146.0,96.0,-9.1,78,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2208,3660,0,0,0,0,0,0
$GC,1066,-1.04,-146.0,121.4,-9.5,103,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2208,3660,0,0,0,0,0,0
$GC,1329,-1.04,-146.0,144.4,-8.1,128,1333,0.00,2.55,0.00,0.000,4,0.000,0.036,2767,3779,3661,0,0,0,0,0,0
$GC,1351,-1.08,-146.0,146.5,-8.8,129,1357,0.00,2.45,0.00,0.000,6,0.000,0.021,2767,2222,3661,0,0,0,0,0,0
$GC,1616,-1.12,-146.0,168.0,-8.6,154,1621,0.00,2.60,0.00,0.000,4,0.000,0.050,2767,637,3661,0,0,0,0,0,0
$GC,1651,-1.17,-146.0,171.7,-9.3,156,1661,0.10,2.50,0.00,0.000,6,0.033,0.026,2714,2228,3661,0,0,0,0,0,0
$GC,1919,-1.11,-146.0,199.1,-10.0,181,1924,0.17,2.53,0.00,0.000,4,0.087,0.037,2753,3785,3660,0,0,0,0,0,0
$GC,1936,-1.11,-146.0,201.5,-9.8,182,1941,0.00,2.45,0.00,0.000,6,0.000,0.020,2753,2217,3661,0,0,0,0,0,0
$GC,2201,-1.11,-146.0,225.2,-9.7,206,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2217,3660,0,0,0,0,0,0
$GC,2464,-1.15,-146.0,248.4,-8.0,231,2468,0.00,2.62,0.00,0.000,4,0.000,0.055,2753,633,3660,0,0,0,0,0,0
$GC,2506,-1.22,-146.0,252.1,-9.2,234,2511,0.10,2.50,0.00,0.000,6,0.078,0.030,2705,2222,3660,0,0,0,0,0,0
$GC,2768,-1.18,-146.0,276.7,-9.5,258,2773,0.15,2.58,0.00,0.000,4,0.092,0.043,2738,3786,3660,0,0,0,0,0,0
$GC,2799,-1.18,-146.0,279.7,-9.9,260,2803,0.00,2.45,0.00,0.000,6,0.000,0.022,2738,2224,3660,0,0,0,0,0,0
$GC,3061,-1.18,-146.0,304.2,-9.6,284,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2225,3658,0,0,0,0,0,0
$GC,3318,-1.22,-146.0,326.1,-7.2,308,3323,0.00,2.72,0.00,0.000,4,0.000,0.070,2738,631,3658,0,0,0,0,0,0
$GC,3350,-1.26,-146.0,328.7,-9.0,310,3355,0.00,2.55,0.00,0.000,6,0.000,0.029,2738,2221,3658,0,0,0,0,0,0
$GC,3619,-1.31,-146.0,350.8,-8.6,334,3624,0.12,2.62,0.00,0.000,4,0.065,0.048,2687,3795,3656,0,0,0,0,0,0
$GC,3637,-1.31,-146.0,353.0,-8.5,335,3642,0.12,2.50,0.00,0.000,6,0.100,0.032,2714,2233,3656,0,0,0,0,0,0
$GC,3898,-1.31,-146.0,376.9,-8.5,359,3902,0.00,2.80,0.00,0.000,4,0.000,0.081,2714,631,3654,0,0,0,0,0,0
$GC,3921,-1.31,-146.0,378.9,-9.3,360,3930,0.00,2.60,0.00,0.000,6,0.000,0.036,2714,2221,3654,0,0,0,0,0,0
$GC,4187,-1.31,-146.0,400.5,-8.4,385,4192,0.00,2.75,0.00,0.000,4,0.000,0.071,2715,626,3653,0,0,0,0,0,0
$GC,4232,-1.31,-146.0,404.4,-8.8,388,4236,0.00,2.60,0.00,0.000,6,0.000,0.034,2714,2222,3653,0,0,0,0,0,0
$GC,4499,-1.31,-146.0,427.8,-9.5,412,4503,0.00,2.65,0.00,0.000,4,0.000,0.058,2714,3793,3651,0,0,0,0,0,0
$GC,4562,-1.31,-146.0,434.6,-9.7,417,4566,0.00,2.58,0.00,0.000,6,0.000,0.039,2714,2234,3650,0,0,0,0,0,0
$GC,4824,-1.31,-146.0,459.3,-9.1,441,4829,0.00,2.95,0.00,0.000,4,0.000,0.104,2715,623,3649,0,0,0,0,0,0
$GC,4847,-1.31,-146.0,461.5,-8.8,442,4853,0.00,2.65,0.00,0.000,6,0.000,0.046,2714,2226,3648,0,0,0,0,0,0
$GC,5111,-1.31,-146.0,482.5,-7.7,467,5116,0.00,2.67,0.00,0.000,4,0.000,0.067,2714,3800,3647,0,0,0,0,0,0
$GC,5152,-1.35,-146.0,486.0,-7.7,470,5157,0.00,2.62,0.00,0.000,6,0.000,0.050,2714,2232,3647,0,0,0,0,0,0
$GC,5415,-1.35,-146.0,506.1,-7.6,494,5420,0.00,2.97,0.00,0.000,4,0.000,0.108,2714,622,3645,0,0,0,0,0,0
$GC,5461,-1.39,-146.0,510.1,-8.7,497,5466,0.00,2.67,0.00,0.000,6,0.000,0.048,2714,2217,3644,0,0,0,0,0,0
$GC,5725,-1.39,-146.0,531.9,-9.1,522,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2218,3643,0,0,0,0,0,0
$GC,5990,-1.39,-146.0,554.0,-7.8,547,5995,0.00,2.78,0.00,0.000,4,0.000,0.080,2714,3793,3641,0,0,0,0,0,0
$GC,6020,-1.43,-146.0,556.6,-8.5,549,6026,0.12,2.67,0.00,0.000,6,0.068,0.061,2667,2226,3641,0,0,0,0,0,0
$GC,6282,-1.39,-146.0,579.4,-8.4,573,6288,0.12,3.05,0.00,0.000,4,0.102,0.119,2694,626,3640,0,0,0,0,0,0
$GC,6307,-1.39,-146.0,581.5,-8.4,574,6313,0.00,2.75,0.00,0.000,6,0.000,0.058,2694,2226,3639,0,0,0,0,0,0
$GC,6600,-1.39,-146.0,603.5,-7.9,599,6605,0.00,2.85,0.00,0.000,4,0.000,0.096,2694,3803,3637,0,0,0,0,0,0
$GC,6662,-1.39,-146.0,608.8,-8.9,600,6667,0.00,2.78,0.00,0.000,6,0.000,0.071,2694,2229,3637,0,0,0,0,0,0
$GC,6923,-1.39,-146.0,630.0,-8.1,607,6928,0.00,2.85,0.00,0.000,4,0.000,0.089,2694,3801,3635,0,0,0,0,0,0
$GC,6945,-1.39,-146.0,631.9,-8.7,607,6949,0.00,2.80,0.00,0.000,6,0.000,0.078,2694,2238,3635,0,0,0,0,0,0
$GC,7203,-1.39,-146.0,651.0,-7.2,614,7207,0.00,2.88,0.00,0.000,4,0.000,0.100,2694,3795,3634,0,0,0,0,0,0
$GC,7219,-1.39,-146.0,652.3,-7.0,614,7223,0.00,2.80,0.00,0.000,6,0.000,0.085,2694,2247,3634,0,0,0,0,0,0
$GC,7479,-1.39,-146.0,669.3,-6.4,621,7484,0.00,2.90,0.00,0.000,4,0.000,0.107,2694,3794,3632,0,0,0,0,0,0
$GC,7506,-1.39,-146.0,671.3,-7.2,621,7511,0.00,2.85,0.00,0.000,6,0.000,0.095,2694,2255,3632,0,0,0,0,0,0
$GC,7758,-1.39,-146.0,687.9,-6.8,627,7763,0.00,3.30,0.00,0.000,4,0.000,0.149,2694,621,3631,0,0,0,0,0,0
$GC,7780,-1.39,-146.0,689.8,-7.9,627,7785,0.00,3.00,0.00,0.000,6,0.000,0.097,2694,2245,3631,0,0,0,0,0,0
$GC,8035,-1.39,-146.0,708.8,-7.5,634,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2246,3629,0,0,0,0,0,0
$GC,8280,-1.39,-146.0,727.4,-7.7,640,8285,0.00,3.35,0.00,0.000,4,0.000,0.153,2694,619,3628,0,0,0,0,0,0
$GC,8302,-1.39,-146.0,729.3,-8.4,640,8307,0.00,3.12,0.00,0.000,6,0.000,0.114,2694,2253,3628,0,0,0,0,0,0
$GC,8557,-1.39,-146.0,748.1,-7.2,647,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2253,3628,0,0,0,0,0,0
$GC,8803,-1.39,-146.0,763.7,-6.2,653,8808,0.00,3.25,0.00,0.000,4,0.000,0.166,2694,3796,3627,0,0,0,0,0,0
$GC,8842,-1.39,-146.0,766.5,-6.4,654,8848,0.00,3.15,0.00,0.000,6,0.000,0.146,2694,2257,3627,0,0,1,0,0,0
$GC,9126,-1.39,-146.0,782.8,-5.5,661,9131,0.00,3.28,0.00,0.000,4,0.000,0.166,2694,3799,3625,0,0,0,0,0,0
$GC,9155,-1.39,-146.0,784.5,-6.2,661,9160,0.00,3.25,0.00,0.000,6,0.000,0.157,2694,2251,3625,0,0,1,0,0,0
$GC,9405,-1.39,-146.0,799.8,-6.2,667,9409,0.00,2.05,0.00,0.000,3,0.000,0.169,2694,3220,3624,0,0,0,0,0,0
$STATE,9410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9410,begin apogee
$GC,9417,-0.31,0.0,800.2,6.3,667,9542,1.02,0.00,120.45,1.170,6,0.073,0.000,2925,2371,3060,0,0,0,0,0,0
$STATE,9542,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9547,1.28,146.0,802.6,0.0,670,9688,1.48,3.55,130.75,1.144,4,0.035,0.173,3285,3937,2463,0,0,0,0,0,0
$GC,9712,1.12,146.0,791.4,12.0,674,9718,0.22,3.38,0.00,0.000,6,0.160,0.158,3240,2371,2459,0,0,1,0,0,0
$GC,9981,1.10,159.4,765.5,9.4,681,10000,0.00,3.40,11.82,1.012,4,0.000,0.158,3241,3928,2410,0,0,0,0,0,0
$GC,10041,1.05,159.4,759.0,10.7,682,10046,0.00,3.20,0.00,0.000,6,0.000,0.138,3240,2378,2408,0,0,0,0,0,0
$GC,10308,1.05,159.4,731.3,10.5,689,10313,0.00,3.15,0.00,0.000,4,0.000,0.139,3240,3938,2406,0,0,0,0,0,0
$GC,10358,1.01,159.4,725.5,11.5,690,10364,0.12,3.05,0.00,0.000,6,0.121,0.117,3216,2385,2405,0,0,0,0,0,0
$GC,10631,1.02,172.7,699.4,9.4,697,10650,0.00,3.30,13.27,1.019,4,0.000,0.142,3216,778,2354,0,0,0,0,0,0
$GC,10663,1.03,179.3,696.2,9.7,697,10677,0.00,3.05,7.70,0.909,6,0.000,0.100,3216,2395,2328,0,0,0,0,0,0
$GC,10962,1.05,192.5,667.6,9.4,705,10981,0.00,3.22,13.40,1.007,4,0.000,0.117,3216,772,2274,0,0,0,0,0,0
$GC,11007,1.06,200.8,663.4,9.6,706,11021,0.00,2.92,9.20,0.937,6,0.000,0.083,3216,2381,2241,0,0,0,0,0,0
$GC,11290,1.12,224.4,637.5,8.9,713,11320,0.10,2.97,22.90,1.030,4,0.088,0.098,3244,3932,2144,0,0,0,0,0,0
$GC,11344,1.12,224.4,632.0,11.0,714,11349,0.00,2.80,0.00,0.000,6,0.000,0.069,3244,2373,2142,0,0,0,0,0,0
$GC,11616,1.12,224.4,602.1,11.2,721,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2373,2140,0,0,0,0,0,0
$GC,11872,1.12,224.4,572.0,12.1,742,11877,0.00,2.78,0.00,0.000,4,0.000,0.071,3244,3942,2139,0,0,0,0,0,0
$GC,11925,1.12,224.4,564.8,13.0,746,11930,0.00,2.67,0.00,0.000,6,0.000,0.057,3244,2380,2138,0,0,0,0,0,0
$GC,12188,1.12,224.4,534.5,11.1,770,12193,0.00,3.05,0.00,0.000,4,0.000,0.117,3244,783,2137,0,0,0,0,0,0
$GC,12230,1.12,224.4,529.6,11.9,773,12234,0.00,2.72,0.00,0.000,6,0.000,0.050,3244,2387,2136,0,0,0,0,0,0
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$STATE,17195,end climb,SURFACE_DEPTH_REACHED
$STATE,17195,begin surface coast
$FINISH,0.0,1.023529
$STATE,17244,end surface coast,CONTROL_FINISHED_OK
$STATE,17244,begin surface
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$TT8_MAMPS,0.026078
$HUMID,63.11
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$TCM_TEMP,22.00
$XPDR_PINGS,92
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$10V_AH,9.8,61.572
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.550,243.675,410.075,62.100,0.000,57.571,71.162,371.053,23.000,0.000,15.623,2258.679,10094.136,644.671,4015.248,1059.715,33.373,1959.293,0.000,4033.115,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355288
$DATA_FILE_SIZE,101679,1242
$CAP_FILE_SIZE,199888,0
$CFSIZE,260165632,153620480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100514,004536,2248.747,-15755.853,34,1.1,34,10.1