version: 66.06
glider: 148
mission: 9
dive: 629
start: 2 4 111 4 57 1
data:
$ID,148
$MISSION,9
$DIVE,629
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,650
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-871731.12
$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,2860
$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,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$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,-11.449877
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,044909,2225.447,-15802.359,30,1.1,31,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.0
$GPS2,045607,2225.495,-15802.287,10,1.2,15,10.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,TEN
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.088,-0.197
$KALMAN_X,-113890.7,-276.3,-167.4,127373.7,1083.8
$KALMAN_Y,-241950.4,269.1,-25.9,326157.7,345.3
$MHEAD_RNG_PITCHd_Wd,194.1,74966,-21.7,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-67.30,0.000,2,0.000,0.000,402,1844,3191,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.3,-3.9,9,118,11.35,2.70,-6.47,0.000,4,0.155,0.045,2530,196,3518,0,0,0,0,0,0
$GC,164,-1.40,-97.3,21.4,-19.7,19,174,0.08,2.53,0.00,0.000,6,0.102,0.019,2549,1783,3520,0,0,0,0,0,0
$GC,443,-1.34,-97.3,64.0,-15.5,48,447,0.00,2.53,0.00,0.000,4,0.000,0.028,2549,3367,3522,0,0,0,0,0,0
$GC,475,-1.34,-97.3,68.9,-15.3,50,479,0.00,2.50,0.00,0.000,6,0.000,0.022,2549,1785,3522,0,0,0,0,0,0
$GC,737,-1.34,-97.3,107.8,-14.0,74,742,0.00,2.55,0.00,0.000,4,0.000,0.028,2550,3368,3523,0,0,0,0,0,0
$GC,763,-1.34,-97.3,111.3,-12.4,76,768,0.00,2.50,0.00,0.000,6,0.000,0.023,2549,1788,3523,0,0,0,0,0,0
$GC,1024,-1.34,-97.3,140.9,-10.0,100,1028,0.00,2.58,0.00,0.000,4,0.000,0.039,2550,205,3524,0,0,0,0,0,0
$GC,1086,-1.44,-97.3,147.5,-12.1,105,1090,0.00,2.47,0.00,0.000,6,0.000,0.018,2550,1798,3524,0,0,0,0,0,0
$GC,1348,-1.44,-97.3,176.7,-11.0,129,1352,0.00,2.50,0.00,0.000,4,0.000,0.027,2550,3367,3525,0,0,0,0,0,0
$GC,1366,-1.44,-97.3,178.6,-11.2,130,1371,0.00,2.50,0.00,0.000,6,0.000,0.021,2549,1785,3525,0,0,0,0,0,0
$GC,1649,-1.51,-97.3,208.5,-10.3,150,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1785,3525,0,0,0,0,0,0
$GC,1889,-1.59,-97.3,232.5,-10.0,156,1891,0.15,0.00,0.00,0.000,6,0.056,0.000,2487,1785,3526,0,0,0,0,0,0
$GC,2134,-1.50,-97.3,264.4,-13.3,162,2140,0.20,2.58,0.00,0.000,4,0.101,0.040,2529,214,3525,0,0,0,0,0,0
$GC,2187,-1.59,-97.3,271.9,-11.6,163,2191,0.00,2.45,0.00,0.000,6,0.000,0.019,2529,1795,3526,0,0,0,0,0,0
$GC,2464,-1.67,-97.3,301.2,-10.6,170,2466,0.15,0.00,0.00,0.000,6,0.058,0.000,2468,1798,3526,0,0,0,0,0,0
$GC,2710,-1.57,-97.3,333.9,-13.8,176,2715,0.22,2.62,0.00,0.000,4,0.097,0.043,2517,213,3526,0,0,0,0,0,0
$GC,2739,-1.57,-97.3,338.1,-13.3,176,2743,0.00,2.47,0.00,0.000,6,0.000,0.021,2517,1777,3526,0,0,0,0,0,0
$GC,2993,-1.57,-97.3,366.5,-11.3,183,2998,0.00,2.62,0.00,0.000,4,0.000,0.048,2517,210,3525,0,0,0,0,0,0
$GC,3056,-1.64,-97.3,374.2,-12.6,184,3060,0.00,2.47,0.00,0.000,6,0.000,0.023,2517,1778,3525,0,0,0,0,0,0
$GC,3325,-1.70,-97.3,402.1,-10.3,191,3330,0.12,2.62,0.00,0.000,4,0.067,0.039,2463,3367,3524,0,0,0,0,0,0
$GC,3346,-1.70,-97.3,404.6,-11.6,191,3351,0.12,2.55,0.00,0.000,6,0.111,0.028,2490,1781,3524,0,0,0,0,0,0
$GC,3610,-1.70,-97.3,434.1,-10.9,198,3615,0.00,2.67,0.00,0.000,4,0.000,0.058,2490,206,3523,0,0,0,0,0,0
$GC,3671,-1.70,-97.3,441.3,-11.6,199,3675,0.00,2.53,0.00,0.000,6,0.000,0.028,2490,1770,3523,0,0,0,0,0,0
$GC,3941,-1.70,-97.3,470.3,-10.8,206,3945,0.00,2.65,0.00,0.000,4,0.000,0.059,2490,214,3521,0,0,0,0,0,0
$GC,3978,-1.70,-97.3,475.0,-11.6,206,3984,0.00,2.50,0.00,0.000,6,0.000,0.030,2490,1767,3520,0,0,0,0,0,0
$GC,4228,-1.70,-97.3,502.0,-10.7,213,4232,0.00,2.67,0.00,0.000,4,0.000,0.061,2490,208,3519,0,0,0,0,0,0
$GC,4295,-1.70,-97.3,509.9,-12.0,214,4299,0.00,2.53,0.00,0.000,6,0.000,0.033,2490,1762,3518,0,0,0,0,0,0
$GC,4558,-1.70,-97.3,538.3,-10.9,221,4563,0.00,2.70,0.00,0.000,4,0.000,0.049,2490,3373,3517,0,0,0,0,0,0
$GC,4579,-1.70,-97.3,540.4,-11.2,221,4583,0.00,2.62,0.00,0.000,6,0.000,0.035,2489,1770,3517,0,0,0,0,0,0
$GC,4845,-1.70,-97.3,569.6,-11.1,228,4849,0.00,2.70,0.00,0.000,4,0.000,0.045,2490,3381,3515,0,0,0,0,0,0
$GC,4859,-1.70,-97.3,571.7,-11.1,228,4863,0.00,2.65,0.00,0.000,6,0.000,0.035,2490,1766,3515,0,0,0,0,0,0
$GC,5127,-1.70,-97.3,601.2,-11.0,235,5131,0.00,2.72,0.00,0.000,4,0.000,0.071,2490,204,3513,0,0,0,0,0,0
$GC,5175,-1.70,-97.3,607.2,-13.0,236,5180,0.00,2.58,0.00,0.000,6,0.000,0.035,2489,1765,3513,0,0,0,0,0,0
$GC,5457,-1.70,-97.3,638.0,-10.6,243,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1765,3511,0,0,0,0,0,0
$GC,5701,-1.70,-97.3,662.0,-9.9,249,5706,0.00,2.72,0.00,0.000,4,0.000,0.058,2490,3374,3510,0,0,0,0,0,0
$GC,5727,-1.70,-97.3,664.3,-10.2,249,5731,0.00,2.65,0.00,0.000,6,0.000,0.039,2490,1774,3510,0,0,0,0,0,0
$GC,5986,-1.70,-97.3,689.5,-9.6,256,5991,0.00,2.75,0.00,0.000,4,0.000,0.074,2490,208,3508,0,0,0,0,0,0
$GC,6014,-1.70,-97.3,692.6,-10.8,256,6019,0.00,2.58,0.00,0.000,6,0.000,0.037,2489,1765,3508,0,0,0,0,0,0
$GC,6270,-1.70,-97.3,718.2,-10.2,263,6275,0.00,2.72,0.00,0.000,4,0.000,0.056,2490,3375,3506,0,0,0,0,0,0
$GC,6289,-1.70,-97.3,720.4,-10.4,263,6294,0.00,2.70,0.00,0.000,6,0.000,0.039,2490,1761,3506,0,0,0,0,0,0
$GC,6553,-1.70,-97.3,747.4,-10.4,270,6557,0.00,2.72,0.00,0.000,4,0.000,0.075,2490,207,3505,0,0,0,0,0,0
$GC,6573,-1.70,-97.3,749.6,-10.9,270,6578,0.00,2.55,0.00,0.000,6,0.000,0.036,2489,1768,3504,0,0,0,0,0,0
$GC,6839,-1.70,-97.3,776.1,-10.0,277,6844,0.00,2.72,0.00,0.000,4,0.000,0.070,2490,208,3502,0,0,0,0,0,0
$GC,6855,-1.70,-97.3,778.1,-10.0,277,6860,0.00,2.58,0.00,0.000,6,0.000,0.036,2490,1763,3502,0,0,0,0,0,0
$GC,7124,-1.70,-97.3,804.7,-9.8,284,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1763,3501,0,0,0,0,0,0
$GC,7369,-1.70,-97.3,828.7,-10.0,290,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1765,3499,0,0,0,0,0,0
$GC,7612,-1.76,-97.3,851.5,-9.1,296,7616,0.00,2.72,0.00,0.000,4,0.000,0.071,2490,204,3498,0,0,0,0,0,0
$GC,7631,-1.76,-97.3,853.5,-9.8,296,7635,0.00,2.58,0.00,0.000,6,0.000,0.037,2490,1766,3498,0,0,0,0,0,0
$GC,7897,-1.83,-97.3,876.8,-8.7,303,7904,0.12,2.75,0.00,0.000,4,0.070,0.070,2442,201,3497,0,0,0,0,0,0
$GC,7914,-1.83,-97.3,878.8,-9.8,303,7919,0.00,2.55,0.00,0.000,6,0.000,0.037,2442,1753,3497,0,0,0,0,0,0
$STATE,8139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8140,begin apogee
$GC,8146,-0.31,0.0,901.9,10.0,309,8232,1.60,0.00,82.55,1.175,6,0.087,0.000,2792,1661,3120,0,0,0,0,0,0
$STATE,8233,end apogee,CONTROL_FINISHED_OK
$STATE,8233,begin climb
$GC,8237,1.48,97.3,903.3,0.0,311,8331,1.62,0.00,89.20,1.154,6,0.028,0.000,3188,1661,2723,0,0,0,0,0,0
$GC,8546,1.18,120.9,888.5,8.4,319,8575,0.32,2.72,22.00,1.087,4,0.126,0.073,3121,184,2626,0,0,0,0,0,0
$GC,8612,0.91,120.9,882.9,10.0,320,8617,0.30,2.50,0.00,0.000,6,0.115,0.034,3061,1680,2623,0,0,0,0,0,0
$GC,8881,0.97,171.8,864.1,6.5,327,8935,0.00,2.72,47.55,1.119,4,0.000,0.070,3061,184,2419,0,0,0,0,0,0
$GC,8987,0.97,172.6,855.1,9.9,329,8991,0.00,2.47,0.00,0.000,6,0.000,0.033,3061,1677,2415,0,0,0,0,0,0
$GC,9251,1.00,192.8,832.3,8.6,336,9278,0.00,2.72,20.25,1.058,4,0.000,0.068,3060,180,2332,0,0,0,0,0,0
$GC,9339,1.00,192.8,823.9,10.5,337,9345,0.00,2.50,0.00,0.000,6,0.000,0.034,3061,1677,2330,0,0,0,0,0,0
$GC,9589,1.00,192.8,798.7,10.0,344,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1677,2327,0,0,0,0,0,0
$GC,9833,1.00,193.5,774.3,10.0,350,9837,0.00,2.62,0.00,0.000,4,0.000,0.068,3061,183,2326,0,0,0,0,0,0
$GC,9851,1.00,193.5,772.2,10.8,350,9856,0.00,2.47,0.00,0.000,6,0.000,0.033,3061,1677,2325,0,0,0,0,0,0
$GC,10118,1.07,195.9,746.0,9.8,357,10123,0.12,2.65,0.00,0.000,4,0.068,0.069,3115,183,2324,0,0,0,0,0,0
$GC,10210,0.91,195.9,733.7,14.6,359,10215,0.28,2.45,0.00,0.000,6,0.114,0.033,3060,1664,2323,0,0,0,0,0,0
$GC,10500,0.98,198.2,704.8,9.8,366,10511,0.00,2.62,4.57,0.715,4,0.000,0.067,3060,181,2310,0,0,0,0,0,0
$GC,10535,0.98,198.2,700.7,11.6,366,10539,0.00,2.45,0.00,0.000,6,0.000,0.032,3059,1663,2310,0,0,0,0,0,0
$GC,10787,1.07,201.6,675.8,9.8,372,10800,0.15,2.78,4.85,0.727,4,0.059,0.058,3123,3267,2297,0,0,0,0,0,0
$GC,10810,1.07,201.6,672.7,12.6,372,10817,0.15,2.65,0.00,0.000,6,0.119,0.036,3094,1679,2296,0,0,0,0,0,0
$GC,11076,1.07,201.6,641.7,11.6,379,11080,0.00,2.70,0.00,0.000,4,0.000,0.081,3094,168,2295,0,0,0,0,0,0
$GC,11163,0.98,201.6,631.3,12.4,380,11169,0.00,2.45,0.00,0.000,6,0.000,0.031,3094,1661,2294,0,0,0,0,0,0
$GC,11413,0.98,201.6,605.2,10.2,387,11417,0.00,2.62,0.00,0.000,4,0.000,0.066,3094,163,2294,0,0,0,0,0,0
$GC,11432,0.98,201.6,603.0,10.8,387,11436,0.00,2.47,0.00,0.000,6,0.000,0.032,3094,1665,2294,0,0,0,0,0,0
$GC,11697,0.99,206.6,577.1,9.7,394,11705,0.00,0.00,5.90,0.753,6,0.000,0.000,3094,1666,2277,0,0,0,0,0,0
$GC,11939,0.99,211.7,553.4,9.7,400,11951,0.00,2.67,6.40,0.765,4,0.000,0.064,3093,173,2256,0,0,0,0,0,0
$GC,12000,0.93,211.7,546.5,11.9,401,12005,0.15,2.45,0.00,0.000,6,0.123,0.029,3064,1665,2255,0,0,0,0,0,0
$GC,12275,1.04,220.6,520.1,9.4,408,12291,0.00,2.70,9.80,0.828,4,0.000,0.062,3064,167,2220,0,0,0,0,0,0
$GC,12301,1.11,227.0,517.3,9.6,408,12315,0.15,2.47,7.68,0.775,6,0.063,0.027,3118,1670,2194,0,0,0,0,0,0
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$STATE,17037,end climb,SURFACE_DEPTH_REACHED
$STATE,17037,begin surface coast
$FINISH,1.6,1.023822
$STATE,17057,end surface coast,CONTROL_FINISHED_OK
$STATE,17057,begin surface
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$HUMID,50.31
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$TCM_TEMP,21.60
$XPDR_PINGS,2
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$10V_AH,9.7,73.195
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355864
$DATA_FILE_SIZE,50933,658
$CAP_FILE_SIZE,172626,0
$CFSIZE,260165632,134787072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040211,094401,2223.740,-15802.911,40,1.0,40,10.0