version: 66.06
glider: 1
mission: 14
dive: 102
start: 10 13 109 19 11 2
data:
$ID,1
$MISSION,14
$DIVE,102
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,3
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-221299.89
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,4
$R_STBD_OVSHOOT,3
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,74.785278
$FG_AHR_24V,4.6384096
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,191137,6650.656,-5934.934,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-50.0
$GPS2,191656,6650.616,-5934.854,21,1.1,21,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.128,-0.195
$KALMAN_X,-36401.8,-761.8,-2244.0,-11609.7,1966.4
$KALMAN_Y,12279.3,523.7,-376.7,-16256.1,-412.4
$MHEAD_RNG_PITCHd_Wd,128.8,392530,-13.0,-7.021
$D_GRID,100
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,107,0.00,0.00,-77.07,0.000,2,0.007,0.000,349,1915,2937,0,0,0,0,0,0
$GC,111,-0.99,-146.6,3.2,-2.0,16,141,11.43,3.00,-5.72,0.000,4,0.000,0.000,2537,380,3103,13,0,15,0,0,0
$GC,241,-0.54,-146.6,24.9,-19.4,37,252,0.32,3.62,0.00,0.007,6,0.000,0.000,2575,2403,3105,1,0,20,0,0,0
$GC,451,-0.25,-146.6,50.5,-11.6,57,458,0.60,2.03,0.00,0.007,4,0.000,0.000,2706,3630,3105,1,0,13,0,0,0
$GC,626,-0.25,-146.6,66.3,-7.4,72,642,0.57,2.80,0.00,0.007,6,0.000,0.000,2528,1846,3103,2,0,16,0,0,0
$GC,956,-0.33,-146.6,90.8,-7.8,103,971,0.52,2.95,0.00,0.007,4,0.000,0.000,2668,3694,3105,1,0,18,0,0,0
$STATE,1075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1077,begin apogee
$GC,1088,-0.31,0.0,100.3,8.1,113,1220,0.68,0.00,118.68,0.000,6,0.000,0.007,2499,1769,2522,2,0,0,0,0,0
$STATE,1221,end apogee,CONTROL_FINISHED_OK
$STATE,1221,begin climb
$GC,1225,0.99,146.6,110.7,0.0,126,1371,2.22,2.58,118.65,0.000,4,0.000,0.000,2961,464,1926,2,0,17,0,0,0
$GC,1624,2.72,607.9,142.9,-7.7,161,1916,1.70,3.15,267.42,0.000,6,0.000,0.000,3336,2153,604,1,0,17,0,2,0
$GC,2241,4.36,1013.8,185.3,-6.0,221,2257,0.00,3.42,0.15,0.000,4,0.007,0.000,3343,486,601,0,0,16,0,0,0
$GC,2437,4.89,1439.3,198.5,-6.6,238,2453,0.00,3.28,0.70,0.000,6,0.007,0.000,3342,2216,599,0,0,19,0,0,0
$GC,2767,5.41,1863.7,220.8,-6.6,269,2785,0.00,3.12,0.12,0.007,4,0.000,0.000,3342,444,599,0,0,15,0,0,0
$GC,3037,5.96,2313.7,239.5,-7.4,292,3047,0.00,3.72,0.80,0.000,6,0.007,0.000,3339,2086,595,0,0,20,0,0,0
$GC,3372,6.47,2728.1,261.0,-6.2,324,3379,0.00,2.67,0.12,0.000,4,0.007,0.000,3341,504,600,0,0,13,0,0,0
$GC,3631,6.98,3138.7,276.4,-6.1,346,3641,0.00,2.75,1.77,0.000,6,0.007,0.000,3339,2227,599,0,0,10,0,0,0
$GC,3966,7.45,3525.3,296.8,-5.4,378,3983,0.00,3.03,0.12,0.000,4,0.007,0.000,3341,521,599,0,0,14,0,0,0
$GC,4235,8.00,3967.6,313.4,-7.1,401,4247,0.00,2.78,1.95,0.000,6,0.000,0.000,3339,2198,601,0,0,12,0,0,0
$GC,4572,8.51,4383.3,336.3,-6.3,433,4588,0.00,2.65,0.20,0.007,4,0.007,0.000,3339,3762,600,0,0,13,0,0,0
$GC,4611,9.03,4806.2,338.9,-6.5,436,4626,0.00,3.45,0.60,0.000,6,0.007,0.000,3340,1853,599,0,0,17,0,0,0
$GC,4940,9.51,5195.6,358.7,-5.4,467,4947,0.00,2.40,0.17,0.000,4,0.007,0.000,3337,450,592,0,0,10,0,0,0
$GC,5187,10.03,5617.6,374.3,-6.5,488,5197,0.00,3.17,1.50,0.000,6,0.007,0.000,3340,2213,598,0,0,13,0,0,0
$GC,5522,10.52,6018.8,391.7,-5.8,520,5538,0.00,3.78,0.12,0.007,4,0.007,0.000,3342,304,598,0,0,19,0,0,0
$GC,5791,11.04,6444.2,409.5,-6.6,543,5802,0.00,4.32,0.15,0.000,6,0.007,0.000,3343,2096,603,0,0,23,0,0,0
$GC,6127,11.51,6826.2,428.8,-5.2,575,6144,0.00,3.25,0.12,0.007,4,0.007,0.000,3343,413,593,0,0,14,0,0,0
$GC,6212,12.00,7225.9,433.7,-5.8,582,6227,0.00,2.83,1.33,0.000,6,0.007,0.000,3340,2050,600,0,0,13,0,0,0
$GC,6542,12.49,7625.3,452.2,-5.8,613,6557,0.00,3.08,0.12,0.007,4,0.007,0.000,3341,546,600,0,0,15,0,0,0
$GC,6810,12.97,8011.8,466.9,-5.4,636,6820,0.00,3.10,1.40,0.000,6,0.007,0.000,3341,2190,598,0,0,17,0,0,0
$GC,7145,13.48,8427.6,486.8,-6.3,668,7160,0.00,2.90,0.12,0.007,4,0.007,0.000,3340,344,597,0,0,16,0,0,0
$GC,7412,13.98,8834.9,503.5,-6.0,691,7421,0.00,3.35,0.00,0.007,6,0.007,0.000,3340,2251,601,0,0,17,0,0,0
$GC,7746,14.46,9219.8,523.4,-5.3,723,7762,0.00,3.45,0.00,0.007,4,0.000,0.000,3341,569,600,0,0,17,0,0,0
$GC,8014,14.99,9656.0,539.2,-6.9,746,8024,0.00,3.33,0.00,0.007,6,0.007,0.000,3337,2122,597,0,0,18,0,0,0
$GC,8349,15.47,10047.9,559.8,-5.5,778,8363,0.00,3.25,0.00,0.007,4,0.000,0.000,3340,418,602,0,0,15,0,0,0
$GC,8616,15.99,10470.1,574.8,-6.5,801,8625,0.00,3.62,0.00,0.007,6,0.007,0.000,3340,2193,603,0,0,19,0,0,0
$GC,8950,16.49,10875.7,594.6,-6.0,833,8965,0.00,3.47,0.00,0.007,4,0.007,0.000,3341,334,600,0,0,21,0,0,0
$GC,9218,16.99,11278.6,610.6,-5.9,856,9227,0.00,3.42,0.00,0.000,6,0.007,0.000,3341,2213,600,0,0,18,0,0,0
$GC,9552,17.50,11696.0,631.3,-6.3,888,9567,0.00,3.53,0.00,0.007,4,0.007,0.000,3342,459,600,0,0,18,0,0,0
$GC,9819,18.03,12122.1,647.9,-6.6,911,9825,0.00,2.78,0.00,0.007,6,0.000,0.000,3346,2193,600,0,0,11,0,0,0
$GC,10144,18.51,12517.0,667.6,-5.6,942,10150,0.00,2.30,0.00,0.007,4,0.000,0.000,3336,3659,597,0,0,11,0,0,0
$GC,10211,19.00,12911.5,671.3,-5.6,947,10220,0.00,3.58,0.00,0.007,6,0.000,0.000,3342,1987,598,0,0,19,0,0,0
$GC,10545,19.47,13297.4,689.0,-5.3,979,10551,0.00,2.53,0.00,0.007,4,0.007,0.000,3343,432,589,0,0,10,0,0,0
$GC,10804,20.00,13728.4,702.9,-6.8,1001,10813,0.00,3.15,0.00,0.007,6,0.000,0.000,3342,2222,672,0,0,15,0,0,0
$GC,11138,20.51,14143.1,726.2,-6.3,1033,11152,0.00,3.03,0.00,0.007,4,0.007,0.000,3338,420,598,0,0,11,0,0,0
$GC,11169,21.02,14552.7,728.2,-6.1,1035,11178,0.00,3.00,0.00,0.007,6,0.007,0.000,3343,2237,604,0,0,15,0,0,0
$GC,11503,21.50,14947.5,747.3,-5.6,1067,11518,0.00,2.97,0.00,0.007,4,0.007,0.000,3340,466,598,0,0,13,0,0,0
$GC,11770,22.00,15356.9,762.0,-6.1,1090,11777,0.00,3.17,0.00,0.007,6,0.007,0.000,3343,2295,599,0,0,16,0,0,0
$GC,12102,22.49,15750.2,780.4,-5.6,1122,12117,0.00,3.92,0.00,0.007,4,0.007,0.000,3342,585,591,0,0,21,0,0,0
$GC,12369,22.96,16136.5,795.1,-5.3,1145,12379,0.00,2.90,0.00,0.007,6,0.000,0.000,3341,2154,599,0,0,17,0,0,0
$GC,12703,23.44,16527.3,813.1,-5.5,1177,12710,0.00,2.60,0.00,0.007,4,0.007,0.000,3342,494,599,0,0,13,0,0,0
$GC,12962,23.93,16918.7,827.3,-5.5,1199,12972,0.00,3.22,1.33,0.000,6,0.007,0.000,3339,2030,603,0,0,16,0,0,0
$GC,13297,24.37,17283.7,842.9,-4.7,1231,13304,0.00,2.42,0.12,0.007,4,0.007,0.000,3339,428,600,0,0,13,0,0,0
$GC,13556,24.89,17699.5,858.7,-6.3,1253,13566,0.00,4.15,0.20,0.007,6,0.007,0.000,3339,2321,606,0,0,24,0,0,0
$GC,13891,25.37,18090.7,877.4,-5.5,1285,13907,0.00,3.17,0.12,0.007,4,0.007,0.000,3341,522,597,0,0,16,0,0,0
$GC,14160,25.83,18466.4,892.9,-5.0,1308,14169,0.00,2.85,1.45,0.000,6,0.007,0.000,3341,2213,599,0,0,13,0,0,0
$GC,14494,26.34,18878.9,910.5,-6.2,1340,14510,0.00,2.92,0.12,0.007,4,0.007,0.000,3339,462,601,0,0,13,0,0,0
$GC,14762,26.58,19076.5,921.2,0.7,1363,14772,0.00,3.42,1.02,0.000,6,0.007,0.000,3337,2292,602,0,0,18,0,0,0
$GC,15097,26.68,19076.8,894.1,7.0,1395,15113,0.00,3.30,0.12,0.007,4,0.000,0.000,3345,440,599,0,0,14,0,0,0
$GC,15365,26.68,19079.7,876.2,6.9,1418,15377,0.00,2.72,2.25,0.000,6,0.007,0.000,3340,2079,599,0,0,12,0,0,0
$GC,15702,26.62,19079.7,852.2,9.5,1450,15708,0.00,2.58,0.12,0.007,4,0.007,0.000,3340,517,598,0,0,13,0,0,0
$GC,15961,26.62,19080.9,835.0,7.0,1472,15971,0.00,3.30,1.20,0.000,6,0.007,0.000,3345,2193,593,0,0,17,0,0,0
$GC,16295,26.32,19080.9,800.1,12.2,1504,16302,0.00,2.40,0.12,0.007,4,0.007,0.000,3337,3582,598,0,0,12,0,0,0
$GC,16497,26.32,19080.9,777.5,8.8,1521,16509,0.00,2.85,2.62,0.000,6,0.007,0.000,3342,1821,600,0,0,11,0,0,0
$GC,16834,26.25,19080.9,747.5,9.0,1553,16841,0.00,2.42,0.12,0.007,4,0.007,0.000,3339,428,596,0,0,13,0,0,0
$GC,17093,26.25,19081.7,727.4,7.0,1575,17105,0.00,3.85,0.88,0.000,6,0.007,0.000,3348,2147,593,0,0,21,0,0,0
$GC,17430,26.50,19133.3,706.0,5.4,1607,17445,0.00,3.40,0.12,0.007,4,0.007,0.000,3341,475,603,0,0,22,0,0,0
$GC,17637,26.55,19172.2,693.4,5.8,1625,17654,0.00,2.95,1.27,0.000,6,0.007,0.000,3340,2187,595,0,0,15,0,0,0
$GC,17968,26.55,19172.2,661.8,8.1,1656,17983,0.00,3.05,0.15,0.007,4,0.007,0.000,3338,489,593,0,0,13,0,0,0
$GC,18235,26.55,19172.2,640.1,8.8,1679,18246,0.00,2.88,2.08,0.000,6,0.007,0.000,3342,2158,593,0,0,14,0,0,0
$GC,18570,26.55,19172.2,612.0,8.2,1711,18585,0.00,3.22,0.15,0.000,4,0.007,0.000,3345,343,598,0,0,20,0,0,0
$GC,18838,26.55,19172.2,591.9,8.3,1734,18848,0.00,2.88,2.00,0.000,6,0.007,0.000,3345,2212,588,0,0,13,0,0,0
$GC,19173,26.18,19172.2,547.5,14.3,1766,19179,0.00,2.53,0.12,0.007,4,0.007,0.000,3339,3635,594,0,0,12,0,0,0
$GC,19263,25.93,19172.2,534.7,11.4,1773,19273,0.00,3.08,1.67,0.000,6,0.007,0.000,3338,1843,594,0,0,15,0,0,0
$GC,19598,25.78,19172.2,500.5,9.8,1805,19614,0.00,2.72,0.17,0.000,4,0.007,0.000,3340,299,595,0,0,13,0,0,0
$GC,19867,25.93,19190.9,481.9,6.4,1828,19877,0.00,3.42,1.05,0.000,6,0.007,0.000,3340,2223,596,0,0,18,0,0,0
$GC,20202,26.16,19224.0,459.9,6.0,1860,20217,0.00,3.08,0.12,0.007,4,0.000,0.000,3341,634,592,0,0,15,0,0,0
$GC,20470,26.03,19224.0,438.3,11.6,1883,20481,0.00,3.35,1.00,0.000,6,0.007,0.000,3339,2119,592,0,0,19,0,0,0
$GC,20806,26.12,19224.0,405.0,7.7,1915,20823,0.00,2.90,0.17,0.000,4,0.007,0.000,3342,370,594,0,0,15,0,0,0
$GC,21075,26.35,19232.5,383.0,6.7,1938,21086,0.00,3.90,0.43,0.000,6,0.007,0.000,3341,2421,595,0,0,22,0,0,0
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$CAP_FILE_SIZE,298464,0
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