version: 66.10
glider: 201
mission: 5
dive: 25
start: 8 12 114 8 25 5
data:
$ID,201
$MISSION,5
$DIVE,25
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,30
$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,480
$T_MISSION,500
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52153
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$HEADING,-1
$ESCAPE_HEADING,48.400002
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3219.3999
$TGT_DEFAULT_LON,-6434.1001
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1550.7407
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3879
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2853
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2872
$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,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.568054
$PRESSURE_SLOPE,0.000115772
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.28
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923352
$SEABIRD_T_H,0.00063288247
$SEABIRD_T_I,2.48167e-05
$SEABIRD_T_J,2.9461089e-06
$SEABIRD_C_G,-9.7773972
$SEABIRD_C_H,1.1424111
$SEABIRD_C_I,-0.0015250822
$SEABIRD_C_J,0.00019393132
$GPS1,120814,081323,2731.524,-7056.440,38,1.3,38,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.5
$GPS2,120814,082408,2731.476,-7056.347,5,1.1,5,-11.8
$SPEED_LIMITS,0.119,0.205
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.161
$KALMAN_X,23726.0,-689.0,-216.5,-27902.6,5864.9
$KALMAN_Y,-21670.1,221.2,173.9,-31356.8,-7366.6
$MHEAD_RNG_PITCHd_Wd,333.5,3517,-13.2,-6.875
$D_GRID,990
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.82,-116.5,0.0,0.0,0,50,0.00,0.00,-33.12,0.000,2,0.000,0.000,191,2864,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.82,-116.8,2.0,-2.6,4,108,8.32,2.00,-40.85,0.000,4,0.201,0.034,2542,1449,3349,0,0,0,0,0,0,26.59,26.92,27.20
$GC,364,-0.82,-116.8,49.0,-14.7,56,373,0.00,2.08,0.00,0.000,6,0.000,0.030,2533,2859,3349,0,0,0,0,0,0,28.83,27.01,28.83
$GC,439,-0.82,-116.8,59.5,-14.2,65,447,0.00,2.00,0.00,0.000,4,0.000,0.021,2534,1462,3349,0,0,0,0,0,0,28.83,27.07,28.83
$GC,652,-0.82,-116.8,89.9,-12.8,101,661,0.00,2.05,0.00,0.000,6,0.000,0.031,2525,2859,3349,0,0,0,0,0,0,28.83,27.08,28.83
$GC,725,-0.82,-116.8,99.2,-12.3,110,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2859,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-0.82,-116.8,107.7,-11.4,119,807,0.00,2.00,0.00,0.000,4,0.000,0.021,2525,1459,3349,0,0,0,0,0,0,28.83,27.16,28.83
$GC,850,-0.82,-116.8,113.5,-11.3,127,858,0.00,2.05,0.00,0.000,6,0.000,0.030,2515,2859,3350,0,0,0,0,0,0,28.83,27.13,28.83
$GC,922,-0.82,-116.8,122.1,-12.0,136,931,0.12,0.00,0.00,0.000,6,0.161,0.000,2551,2859,3350,0,0,0,0,0,0,27.00,28.83,28.83
$GC,996,-0.82,-116.8,129.5,-9.6,145,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2860,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.82,-116.8,136.4,-9.5,154,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2859,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-0.82,-116.8,143.0,-9.0,163,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2859,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-0.82,-116.8,149.8,-9.8,172,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2859,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1286,-0.82,-116.8,157.1,-9.9,181,1295,0.00,2.00,0.00,0.000,4,0.000,0.023,2551,1458,3350,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1396,-0.82,-116.8,167.8,-9.9,199,1405,0.00,2.05,0.00,0.000,6,0.000,0.031,2545,2859,3350,0,0,0,0,0,0,28.83,27.19,28.83
$GC,1469,-0.82,-116.8,174.9,-9.9,208,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2858,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1537,-0.82,-116.8,181.7,-9.8,213,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2859,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1718,-0.82,-116.8,198.6,-9.2,225,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2859,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,-0.82,-116.8,215.6,-9.5,237,1903,0.00,1.95,0.00,0.000,4,0.000,0.023,2545,1461,3350,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1952,-0.82,-116.8,220.3,-10.0,240,1962,0.00,2.05,0.00,0.000,6,0.000,0.031,2537,2859,3349,0,0,0,0,0,0,28.83,27.23,28.83
$GC,2143,-0.82,-116.8,239.8,-9.7,253,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2859,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,-0.82,-116.8,257.1,-9.5,265,2327,0.00,1.98,0.00,0.000,4,0.000,0.024,2537,1461,3348,0,0,0,0,0,0,28.83,27.28,28.83
$GC,2443,-0.82,-116.8,267.9,-9.2,272,2452,0.00,2.03,0.00,0.000,6,0.000,0.031,2528,2845,3348,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2631,-0.82,-116.8,285.7,-9.0,285,2636,0.00,1.95,0.00,0.000,4,0.000,0.024,2528,1454,3347,0,0,0,0,0,0,28.83,27.28,28.83
$GC,2711,-0.82,-116.8,293.1,-9.2,290,2716,0.00,2.03,0.00,0.000,6,0.000,0.031,2519,2858,3347,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2904,-0.82,-116.8,311.6,-9.4,299,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2858,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,-0.82,-116.8,340.6,-9.7,309,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2858,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-0.82,-116.8,369.8,-9.7,319,3508,0.00,1.95,0.00,0.000,4,0.000,0.024,2519,1461,3344,0,0,0,0,0,0,28.83,27.31,28.83
$GC,3591,-0.82,-116.8,378.0,-9.7,322,3597,0.12,2.00,0.00,0.000,6,0.148,0.031,2547,2859,3343,0,0,0,0,0,0,27.12,27.27,28.83
$GC,3919,-0.82,-116.8,406.3,-8.5,333,3923,0.00,1.98,0.00,0.000,4,0.000,0.024,2547,1451,3342,0,0,0,0,0,0,28.83,27.30,28.83
$GC,3998,-0.82,-116.8,411.1,-8.6,335,4005,0.00,2.08,0.00,0.000,6,0.000,0.031,2540,2860,3342,0,0,0,0,0,0,28.83,27.27,28.83
$GC,4305,-0.82,-116.8,440.7,-9.1,346,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2860,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4605,-0.82,-116.8,467.7,-9.0,356,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2860,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4906,-0.82,-116.8,492.6,-8.0,366,4911,0.00,1.98,0.00,0.000,4,0.000,0.025,2540,1456,3339,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5093,-0.82,-116.8,507.2,-8.1,372,5097,0.00,2.05,0.00,0.000,6,0.000,0.032,2532,2849,3338,0,0,0,0,0,0,28.83,27.27,28.83
$GC,5415,-0.82,-116.8,534.2,-8.2,383,5418,0.00,1.95,0.00,0.000,4,0.000,0.025,2531,1461,3337,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5463,-0.82,-116.8,536.3,-8.1,384,5470,0.00,2.05,0.00,0.000,6,0.000,0.033,2524,2851,3336,0,0,0,0,0,0,28.83,27.27,28.83
$GC,5770,-0.82,-116.8,564.2,-8.4,395,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2850,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.82,-116.8,589.9,-8.6,405,6074,0.00,1.95,0.00,0.000,4,0.000,0.026,2523,1464,3334,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6199,-0.82,-116.8,600.2,-8.9,409,6204,0.12,2.03,0.00,0.000,6,0.149,0.033,2553,2867,3335,0,0,0,0,0,0,27.11,27.27,28.83
$GC,6517,-0.82,-116.8,625.7,-7.7,420,6522,0.00,1.98,0.00,0.000,4,0.000,0.026,2553,1467,3334,0,0,0,0,0,0,28.83,27.30,28.83
$GC,6568,-0.82,-116.8,628.0,-7.6,421,6576,0.00,2.05,0.00,0.000,6,0.000,0.034,2546,2851,3333,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6876,-0.82,-116.8,653.9,-7.8,432,6879,0.00,1.95,0.00,0.000,4,0.000,0.026,2546,1467,3332,0,0,0,0,0,0,28.83,27.30,28.83
$GC,6955,-0.82,-116.8,658.3,-8.0,434,6962,0.00,2.00,0.00,0.000,6,0.000,0.034,2539,2854,3332,0,0,0,0,0,0,28.83,27.25,28.83
$GC,7261,-0.82,-116.8,684.5,-7.8,445,7265,0.00,1.98,0.00,0.000,4,0.000,0.026,2539,1457,3332,0,0,0,0,0,0,28.83,27.30,28.83
$GC,7329,-0.82,-116.8,689.2,-8.0,447,7334,0.00,2.08,0.00,0.000,6,0.000,0.033,2531,2856,3331,0,0,0,0,0,0,28.83,27.27,28.83
$GC,7646,-0.82,-116.8,715.9,-8.3,458,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2856,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7947,-0.82,-116.8,740.6,-8.2,468,7950,0.00,1.98,0.00,0.000,4,0.000,0.026,2532,1459,3328,0,0,0,0,0,0,28.83,27.30,28.83
$GC,8050,-0.82,-116.8,747.7,-8.3,471,8054,0.00,2.05,0.00,0.000,6,0.000,0.033,2523,2847,3328,0,0,0,0,0,0,28.83,27.26,28.83
$GC,8363,-0.82,-116.8,774.4,-8.1,482,8366,0.00,1.95,0.00,0.000,4,0.000,0.027,2523,1470,3327,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8441,-0.82,-116.8,779.2,-8.2,484,8448,0.00,2.05,0.00,0.000,6,0.000,0.034,2515,2855,3326,0,0,0,0,0,0,28.83,27.24,28.83
$GC,8748,-0.82,-116.8,807.5,-8.8,495,8750,0.12,0.00,0.00,0.000,6,0.158,0.000,2552,2855,3326,0,0,0,0,0,0,27.15,28.83,28.83
$GC,9048,-0.82,-116.8,828.9,-6.9,505,9052,0.00,1.98,0.00,0.000,4,0.000,0.027,2552,1461,3324,0,0,0,0,0,0,28.83,27.29,28.83
$GC,9116,-0.82,-116.8,832.9,-7.0,507,9120,0.00,2.08,0.00,0.000,6,0.000,0.034,2546,2854,3324,0,0,0,0,0,0,28.83,27.25,28.83
$GC,9434,-0.82,-116.8,856.9,-7.3,518,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2854,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9733,-0.82,-116.8,879.3,-7.4,528,9737,0.00,1.98,0.00,0.000,4,0.000,0.028,2546,1464,3321,0,0,0,0,0,0,28.83,27.28,28.83
$GC,9812,-0.82,-116.8,883.5,-7.7,530,9819,0.00,2.08,0.00,0.000,6,0.000,0.035,2539,2857,3321,0,0,0,0,0,0,28.83,27.24,28.83
$GC,10119,-0.82,-116.8,908.8,-7.5,541,10123,0.00,1.98,0.00,0.000,4,0.000,0.028,2539,1472,3320,0,0,0,0,0,0,28.83,27.27,28.83
$GC,10178,-0.82,-116.8,912.9,-7.4,543,10182,0.00,2.08,0.00,0.000,6,0.000,0.035,2530,2860,3320,0,0,0,0,0,0,28.83,27.24,28.83
$GC,10504,-0.82,-116.8,937.1,-7.3,554,10508,0.00,2.00,0.00,0.000,4,0.000,0.028,2530,1463,3318,0,0,0,0,0,0,28.83,27.26,28.83
$GC,10603,-0.82,-116.8,943.5,-7.5,557,10607,0.00,2.08,0.00,0.000,6,0.000,0.035,2521,2853,3318,0,0,0,0,0,0,28.83,27.24,28.83
$GC,10920,-0.82,-116.8,967.9,-7.2,568,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2854,3317,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11219,begin apogee
$GC,11223,-0.26,0.0,990.0,-7.6,578,11311,0.57,0.00,84.30,1.229,6,0.102,0.000,2726,2389,2870,0,0,0,0,0,0,27.05,28.83,25.00
$STATE,11312,end apogee,CONTROL_FINISHED_OK
$STATE,11312,begin climb
$GC,11314,0.82,116.8,992.2,0.0,581,11413,0.95,2.22,91.82,1.200,4,0.064,0.044,3077,3740,2391,0,0,0,0,0,0,25.75,25.44,24.74
$GC,11479,0.82,120.2,984.3,6.7,586,11483,0.00,2.03,0.00,0.000,6,0.000,0.024,3085,2392,2389,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,24722,end climb,SURFACE_DEPTH_REACHED
$STATE,24722,begin surface coast
$FINISH,0.8,1.010732
$STATE,24756,end surface coast,CONTROL_FINISHED_OK
$STATE,24756,begin surface
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$TCM_TEMP,26.10
$XPDR_PINGS,0
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$10V_AH,10.5,3.596
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$FG_AHR_10Vo,0.000
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$MEM,334092
$DATA_FILE_SIZE,73489,1329
$CAP_FILE_SIZE,215079,0
$CFSIZE,260034560,254308352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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