version: 66.06
glider: 146
mission: 9
dive: 326
start: 5 10 114 6 4 12
data:
$ID,146
$MISSION,9
$DIVE,326
$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,-330671.19
$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,57
$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
$GPS1,055054,2247.211,-15757.474,35,2.0,35,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-73.1
$GPS2,060318,2247.279,-15757.431,16,1.8,33,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.208,-0.156
$KALMAN_X,-246551.3,-44.4,16.0,243419.5,117.0
$KALMAN_Y,8673.6,-7.6,139.9,-12514.2,-255.5
$MHEAD_RNG_PITCHd_Wd,223.0,19289,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-84.93,0.000,2,0.000,0.000,461,2176,3619,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.5,-8.2,11,126,12.45,2.55,-0.68,0.000,4,0.165,0.051,2708,647,3659,0,0,0,0,0,0
$GC,198,-1.09,-146.0,26.3,-16.7,23,206,0.20,2.47,0.00,0.000,6,0.089,0.019,2754,2224,3659,0,0,0,0,0,0
$GC,471,-1.01,-146.0,61.3,-12.3,49,476,0.10,2.58,0.00,0.000,4,0.120,0.043,2775,653,3660,0,0,0,0,0,0
$GC,507,-1.01,-146.0,65.7,-11.3,51,511,0.00,2.40,0.00,0.000,6,0.000,0.017,2775,2209,3660,0,0,0,0,0,0
$GC,774,-1.01,-146.0,91.7,-9.1,75,778,0.00,2.55,0.00,0.000,4,0.000,0.042,2775,653,3660,0,0,0,0,0,0
$GC,809,-1.01,-146.0,95.2,-8.6,77,816,0.00,2.35,0.00,0.000,6,0.000,0.017,2775,2190,3661,0,0,0,0,0,0
$GC,1072,-1.05,-146.0,116.1,-8.5,102,1076,0.00,2.55,0.00,0.000,4,0.000,0.035,2775,3776,3661,0,0,0,0,0,0
$GC,1094,-1.10,-146.0,118.2,-8.1,103,1100,0.00,2.47,0.00,0.000,6,0.000,0.021,2775,2203,3661,0,0,0,0,0,0
$GC,1359,-1.15,-146.0,140.2,-8.1,128,1364,0.12,2.58,0.00,0.000,4,0.064,0.049,2723,638,3661,0,0,0,0,0,0
$GC,1417,-1.11,-146.0,146.2,-10.0,132,1427,0.10,2.42,0.00,0.000,6,0.071,0.018,2750,2191,3661,0,0,0,0,0,0
$GC,1685,-1.11,-146.0,169.0,-8.8,157,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2192,3662,0,0,0,0,0,0
$GC,1948,-1.11,-146.0,192.3,-8.8,182,1952,0.00,2.55,0.00,0.000,4,0.000,0.036,2750,3777,3662,0,0,0,0,0,0
$GC,1970,-1.11,-146.0,194.4,-8.7,183,1976,0.00,2.50,0.00,0.000,6,0.000,0.020,2750,2175,3662,0,0,0,0,0,0
$GC,2237,-1.11,-146.0,216.3,-8.4,208,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2176,3662,0,0,0,0,0,0
$GC,2500,-1.11,-146.0,238.6,-8.6,233,2504,0.00,2.62,0.00,0.000,4,0.000,0.040,2750,3782,3661,0,0,0,0,0,0
$GC,2540,-1.15,-146.0,242.2,-8.6,236,2545,0.00,2.50,0.00,0.000,6,0.000,0.024,2750,2194,3661,0,0,0,0,0,0
$GC,2805,-1.19,-146.0,264.6,-8.9,260,2809,0.00,2.60,0.00,0.000,4,0.000,0.056,2750,638,3661,0,0,0,0,0,0
$GC,2839,-1.24,-146.0,268.4,-9.8,262,2847,0.08,2.40,0.00,0.000,6,0.038,0.029,2702,2177,3661,0,0,0,0,0,0
$GC,3104,-1.20,-146.0,296.7,-10.1,287,3109,0.15,0.00,0.00,0.000,6,0.094,0.000,2735,2178,3660,0,0,0,0,0,0
$GC,3367,-1.20,-146.0,317.6,-6.6,312,3371,0.00,2.65,0.00,0.000,4,0.000,0.046,2735,3788,3659,0,0,0,0,0,0
$GC,3402,-1.23,-146.0,320.2,-7.1,314,3408,0.00,2.55,0.00,0.000,6,0.000,0.025,2735,2191,3659,0,0,0,0,0,0
$GC,3665,-1.23,-146.0,338.8,-7.1,339,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2191,3657,0,0,0,0,0,0
$GC,3921,-1.28,-146.0,357.9,-6.8,363,3926,0.00,2.65,0.00,0.000,4,0.000,0.051,2735,3781,3655,0,0,0,0,0,0
$GC,3951,-1.33,-146.0,360.4,-7.7,365,3956,0.12,2.58,0.00,0.000,6,0.067,0.030,2685,2185,3656,0,0,0,0,0,0
$GC,4212,-1.28,-146.0,383.6,-8.9,389,4214,0.15,0.00,0.00,0.000,6,0.094,0.000,2717,2185,3654,0,0,0,0,0,0
$GC,4468,-1.28,-146.0,403.9,-7.8,413,4473,0.00,2.67,0.00,0.000,4,0.000,0.056,2717,3776,3652,0,0,0,0,0,0
$GC,4504,-1.28,-146.0,406.8,-8.1,415,4509,0.00,2.60,0.00,0.000,6,0.000,0.035,2718,2190,3652,0,0,0,0,0,0
$GC,4766,-1.28,-146.0,424.0,-6.5,440,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2190,3650,0,0,0,0,0,0
$GC,5021,-1.28,-146.0,442.5,-7.7,464,5026,0.00,2.85,0.00,0.000,4,0.000,0.097,2717,621,3648,0,0,0,0,0,0
$GC,5043,-1.28,-146.0,444.6,-8.7,465,5052,0.00,2.58,0.00,0.000,6,0.000,0.041,2718,2176,3648,0,0,0,0,0,0
$GC,5309,-1.28,-146.0,466.1,-8.3,490,5314,0.00,2.75,0.00,0.000,4,0.000,0.059,2717,3798,3647,0,0,0,0,0,0
$GC,5377,-1.33,-146.0,472.2,-7.9,495,5386,0.00,2.67,0.00,0.000,6,0.000,0.043,2718,2207,3646,0,0,0,0,0,0
$GC,5644,-1.36,-146.0,491.8,-7.6,520,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2207,3644,0,0,0,0,0,0
$GC,5909,-1.40,-146.0,512.1,-7.6,545,5914,0.12,2.72,0.00,0.000,4,0.069,0.063,2671,3792,3643,0,0,0,0,0,0
$GC,5942,-1.35,-146.0,515.2,-9.9,547,5947,0.12,2.70,0.00,0.000,6,0.103,0.058,2699,2199,3643,0,0,0,0,0,0
$GC,6209,-1.35,-146.0,536.1,-7.4,571,6213,0.00,2.97,0.00,0.000,4,0.000,0.114,2699,620,3641,0,0,0,0,0,0
$GC,6230,-1.35,-146.0,538.2,-7.5,572,6236,0.00,2.67,0.00,0.000,6,0.000,0.050,2699,2212,3641,0,0,0,0,0,0
$GC,6495,-1.35,-146.0,558.0,-8.2,597,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2213,3639,0,0,0,0,0,0
$GC,6760,-1.35,-146.0,580.4,-8.3,622,6764,0.00,2.85,0.00,0.000,4,0.000,0.091,2699,3797,3638,0,0,0,0,0,0
$GC,6818,-1.35,-146.0,585.9,-9.3,626,6824,0.00,2.75,0.00,0.000,6,0.000,0.062,2700,2209,3638,0,0,0,0,0,0
$GC,7075,-1.35,-146.0,606.3,-7.6,645,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2209,3636,0,0,0,0,0,0
$GC,7319,-1.35,-146.0,625.5,-7.8,651,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2209,3635,0,0,0,0,0,0
$GC,7564,-1.35,-146.0,645.6,-8.3,657,7569,0.00,2.90,0.00,0.000,4,0.000,0.096,2699,3793,3634,0,0,0,0,0,0
$GC,7599,-1.35,-146.0,648.9,-9.5,657,7604,0.00,2.83,0.00,0.000,6,0.000,0.083,2699,2225,3634,0,0,0,0,0,0
$GC,7849,-1.35,-146.0,667.4,-7.2,664,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2225,3633,0,0,0,0,0,0
$GC,8092,-1.35,-146.0,682.5,-6.1,670,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2225,3632,0,0,0,0,0,0
$GC,8338,-1.35,-146.0,696.9,-6.0,676,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2226,3630,0,0,0,0,0,0
$GC,8580,-1.35,-146.0,712.0,-6.1,682,8585,0.00,3.08,0.00,0.000,4,0.000,0.128,2700,3796,3629,0,0,0,0,0,0
$GC,8619,-1.35,-146.0,714.6,-6.6,683,8624,0.00,3.03,0.00,0.000,6,0.000,0.117,2699,2229,3629,0,0,0,0,0,0
$GC,8905,-1.39,-146.0,733.1,-6.6,690,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2229,3628,0,0,0,0,0,0
$GC,9146,-1.39,-146.0,749.3,-6.6,696,9151,0.00,3.20,0.00,0.000,4,0.000,0.154,2700,3790,3627,0,0,0,0,0,0
$GC,9207,-1.39,-146.0,753.6,-7.8,697,9212,0.00,3.15,0.00,0.000,6,0.000,0.140,2699,2232,3627,0,0,0,0,0,0
$GC,9470,-1.39,-146.0,770.6,-6.5,704,9475,0.00,3.28,0.00,0.000,4,0.000,0.160,2699,3790,3626,0,0,0,0,0,0
$GC,9515,-1.43,-146.0,773.8,-7.3,705,9520,0.00,3.20,0.00,0.000,6,0.000,0.151,2699,2241,3626,0,0,1,0,0,0
$GC,9795,-1.47,-146.0,791.8,-6.5,712,9801,0.10,3.35,0.00,0.000,4,0.084,0.170,2661,3787,3624,0,0,1,0,0,0
$GC,9812,-1.47,-146.0,793.3,-6.7,712,9817,0.00,3.28,0.00,0.000,6,0.000,0.163,2660,2244,3624,0,0,1,0,0,0
$STATE,9908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9908,begin apogee
$GC,9914,-0.31,0.0,800.7,7.6,715,10038,1.17,0.00,120.80,1.176,6,0.072,0.000,2925,2360,3060,0,0,0,0,0,0
$STATE,10039,end apogee,CONTROL_FINISHED_OK
$STATE,10039,begin climb
$GC,10043,1.28,146.0,802.7,0.0,718,10178,1.48,0.00,131.10,1.144,6,0.035,0.000,3286,2360,2464,0,0,0,0,0,0
$GC,10394,1.15,146.0,768.2,11.9,727,10400,0.20,3.30,0.00,0.000,4,0.112,0.151,3246,3942,2454,0,0,0,0,0,0
$GC,10428,1.08,146.0,764.1,11.6,727,10434,0.00,3.25,0.00,0.000,6,0.000,0.140,3245,2370,2453,0,0,0,0,0,0
$GC,10680,1.03,148.7,739.0,9.9,734,10682,0.12,0.00,0.00,0.000,6,0.225,0.000,3222,2370,2451,0,0,0,0,0,0
$GC,10922,1.07,183.0,718.2,8.4,740,10963,0.00,3.20,33.08,1.081,4,0.000,0.123,3222,3937,2313,0,0,0,0,0,0
$GC,10987,1.07,183.0,712.2,10.0,741,10992,0.00,3.08,0.00,0.000,6,0.000,0.110,3222,2362,2311,0,0,0,0,0,0
$GC,11247,1.09,196.3,687.4,9.4,748,11263,0.00,0.00,13.12,1.008,6,0.000,0.000,3222,2363,2259,0,0,0,0,0,0
$GC,11530,1.09,196.5,659.4,10.0,755,11534,0.00,3.08,0.00,0.000,4,0.000,0.123,3221,780,2255,0,0,0,0,0,0
$GC,11552,1.09,196.5,657.1,10.5,755,11557,0.00,2.88,0.00,0.000,6,0.000,0.077,3221,2377,2254,0,0,0,0,0,0
$GC,11807,1.09,196.5,631.5,10.1,762,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2377,2254,0,0,0,0,0,0
$GC,12051,1.09,196.5,606.7,10.2,768,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2377,2254,0,0,0,0,0,0
$GC,12304,1.09,198.5,581.1,9.9,786,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2377,2253,0,0,0,0,0,0
$GC,12557,1.13,229.2,557.3,8.6,810,12590,0.00,0.00,30.42,1.001,6,0.000,0.000,3221,2378,2124,0,0,0,0,0,0
$GC,12842,1.19,242.0,530.7,9.4,837,12862,0.15,2.97,13.05,0.927,4,0.071,0.087,3261,778,2071,0,0,0,0,0,0
$GC,12878,1.15,242.0,526.5,12.3,839,12884,0.00,2.75,0.00,0.000,6,0.000,0.046,3261,2389,2070,0,0,0,0,0,0
$GC,13143,1.15,242.0,494.8,12.5,864,13147,0.00,2.67,0.00,0.000,4,0.000,0.063,3261,3940,2069,0,0,0,0,0,0
$GC,13176,1.15,242.0,489.9,13.4,866,13182,0.00,2.62,0.00,0.000,6,0.000,0.040,3261,2376,2067,0,0,0,0,0,0
$GC,13438,1.15,242.0,457.3,11.9,891,13443,0.00,2.92,0.00,0.000,4,0.000,0.096,3261,779,2066,0,0,0,0,0,0
$GC,13462,1.15,242.0,455.0,12.3,892,13466,0.00,2.67,0.00,0.000,6,0.000,0.037,3261,2397,2066,0,0,0,0,0,0
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$STATE,17646,end climb,SURFACE_DEPTH_REACHED
$STATE,17646,begin surface coast
$FINISH,-0.2,1.013634
$STATE,17692,end surface coast,CONTROL_FINISHED_OK
$STATE,17692,begin surface
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$XPDR_PINGS,81
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$10V_AH,9.8,62.038
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355264
$DATA_FILE_SIZE,107856,1290
$CAP_FILE_SIZE,189626,0
$CFSIZE,260165632,153427968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100514,110136,2246.048,-15759.480,31,1.0,31,10.1