version: 66.10
glider: 201
mission: 5
dive: 306
start: 10 14 114 3 44 38
data:
$ID,201
$MISSION,5
$DIVE,306
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,500
$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,250
$T_MISSION,280
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,7
$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,2
$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,65
$N_NOCOMM,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2371.7253
$T_RSLEEP,7
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3879
$C_PITCH,2840
$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,20
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,139
$R_STBD_OVSHOOT,53
$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
$GPS1,141014,032906,2634.791,-6959.863,26,1.1,26,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-62.0
$GPS2,141014,034415,2634.854,-6959.827,5,1.1,5,-12.1
$SPEED_LIMITS,0.115,0.203
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.075,0.222
$KALMAN_X,70971.9,31.7,-219.0,-81211.8,336.1
$KALMAN_Y,-63526.2,149.8,159.9,28139.1,-443.7
$MHEAD_RNG_PITCHd_Wd,7.3,102484,-12.7,-6.667
$D_GRID,500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.79,-116.8,0.0,0.0,0,44,0.00,0.00,-26.42,0.000,2,0.000,0.000,140,2629,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-0.79,-116.8,2.2,-3.2,3,118,8.62,1.05,-52.97,0.000,4,0.190,0.061,2566,3328,3347,0,0,0,0,0,0,26.16,26.68,27.13
$GC,233,-0.79,-116.8,19.6,-16.5,28,242,0.00,0.88,0.00,0.000,6,0.000,0.021,2566,2610,3347,0,0,0,0,0,0,28.83,26.94,28.83
$GC,323,-0.79,-116.8,35.1,-16.5,39,332,0.00,0.80,0.00,0.000,4,0.000,0.021,2566,1955,3348,0,0,0,0,0,0,28.83,26.98,28.83
$GC,439,-0.79,-116.8,53.1,-14.0,55,447,0.00,0.98,0.00,0.000,6,0.000,0.030,2562,2634,3348,0,0,0,0,0,0,28.83,26.92,28.83
$GC,529,-0.79,-116.8,63.5,-11.0,66,537,0.00,1.00,0.00,0.000,4,0.000,0.037,2557,3323,3347,0,0,0,0,0,0,28.83,26.89,28.83
$GC,771,-0.79,-116.8,87.6,-8.9,100,779,0.00,0.82,0.00,0.000,6,0.000,0.021,2556,2622,3348,0,0,0,0,0,0,28.83,27.13,28.83
$GC,860,-0.79,-116.8,95.4,-8.9,111,869,0.00,0.80,0.00,0.000,4,0.000,0.021,2557,1960,3349,0,0,0,0,0,0,28.83,27.14,28.83
$GC,1096,-0.79,-116.8,118.3,-9.1,144,1105,0.08,0.95,0.00,0.000,6,0.109,0.031,2584,2631,3349,0,0,0,0,0,0,26.77,27.05,28.83
$GC,1186,-0.79,-116.8,126.2,-8.8,155,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2631,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-0.79,-116.8,133.7,-8.2,166,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2631,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1364,-0.79,-116.8,141.1,-8.1,177,1374,0.00,0.82,0.00,0.000,4,0.000,0.021,2584,1965,3349,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1439,-0.79,-116.8,147.2,-8.0,187,1448,0.00,0.95,0.00,0.000,6,0.000,0.031,2584,2634,3349,0,0,0,0,0,0,28.83,27.07,28.83
$GC,1529,-0.79,-116.8,154.7,-8.5,198,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2634,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-0.79,-116.8,162.6,-8.8,209,1627,0.00,0.82,0.00,0.000,4,0.000,0.021,2583,1973,3349,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1691,-0.79,-116.8,169.4,-9.8,219,1700,0.00,0.95,0.00,0.000,6,0.000,0.030,2581,2635,3348,0,0,0,0,0,0,28.83,27.09,28.83
$GC,1782,-0.79,-116.8,177.1,-8.5,230,1790,0.00,1.00,0.00,0.000,4,0.000,0.037,2576,3322,3348,0,0,0,0,0,0,28.83,27.02,28.83
$GC,1827,-0.79,-116.8,181.2,-9.0,236,1836,0.00,0.82,0.00,0.000,6,0.000,0.021,2576,2623,3348,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1917,-0.79,-116.8,189.0,-8.5,247,1926,0.00,0.80,0.00,0.000,4,0.000,0.023,2576,1964,3348,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1984,-0.79,-116.8,194.7,-8.2,256,1992,0.00,0.95,0.00,0.000,6,0.000,0.031,2572,2629,3348,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2080,-0.79,-116.8,202.7,-8.4,266,2083,0.00,1.00,0.00,0.000,4,0.000,0.037,2568,3319,3347,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2166,-0.79,-116.8,210.0,-8.6,272,2169,0.00,0.85,0.00,0.000,6,0.000,0.021,2568,2637,3347,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2262,-0.79,-116.8,218.6,-8.8,278,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2625,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-0.79,-116.8,226.5,-8.7,284,2355,0.00,1.02,0.00,0.000,4,0.000,0.037,2564,3322,3347,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2421,-0.79,-116.8,232.6,-8.9,289,2424,0.00,0.85,0.00,0.000,6,0.000,0.021,2564,2611,3346,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2510,-0.79,-116.8,240.4,-8.6,295,2513,0.00,0.77,0.00,0.000,4,0.000,0.022,2564,1965,3346,0,0,0,0,0,0,28.83,27.21,28.83
$GC,2582,-0.79,-116.8,246.3,-8.4,300,2585,0.00,0.98,0.00,0.000,6,0.000,0.030,2561,2635,3345,0,0,0,0,0,0,28.83,27.09,28.83
$GC,2677,-0.79,-116.8,254.5,-8.5,306,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2634,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2767,-0.79,-116.8,262.2,-8.4,312,2770,0.00,1.00,0.00,0.000,4,0.000,0.037,2555,3322,3345,0,0,0,0,0,0,28.83,27.02,28.83
$GC,2851,-0.79,-116.8,269.3,-8.5,318,2854,0.00,0.85,0.00,0.000,6,0.000,0.021,2556,2628,3344,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2940,-0.79,-116.8,276.7,-8.3,324,2944,0.00,0.82,0.00,0.000,4,0.000,0.021,2556,1955,3344,0,0,0,0,0,0,28.83,27.22,28.83
$GC,3082,-0.79,-116.8,288.2,-8.1,334,3086,0.12,1.00,0.00,0.000,6,0.135,0.029,2591,2645,3343,0,0,0,0,0,0,26.82,27.10,28.83
$GC,3179,-0.79,-116.8,295.2,-7.1,340,3182,0.00,0.98,0.00,0.000,4,0.000,0.037,2589,3320,3343,0,0,0,0,0,0,28.83,27.03,28.83
$GC,3233,-0.79,-116.8,299.3,-7.3,344,3236,0.00,0.85,0.00,0.000,6,0.000,0.022,2589,2628,3343,0,0,0,0,0,0,28.83,27.23,28.83
$GC,3335,-0.79,-116.8,306.6,-7.0,348,3339,0.00,0.82,0.00,0.000,4,0.000,0.021,2588,1947,3342,0,0,0,0,0,0,28.83,27.22,28.83
$GC,3410,-0.79,-116.8,310.7,-7.3,350,3413,0.00,1.00,0.00,0.000,6,0.000,0.029,2586,2638,3341,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3503,-0.79,-116.8,319.1,-7.6,353,3506,0.00,1.00,0.00,0.000,4,0.000,0.037,2580,3323,3341,0,0,0,0,0,0,28.83,27.02,28.83
$GC,3535,-0.79,-116.8,321.1,-7.5,354,3538,0.00,0.88,0.00,0.000,6,0.000,0.021,2579,2622,3341,0,0,0,0,0,0,28.83,27.23,28.83
$GC,3642,-0.79,-116.8,329.9,-7.8,358,3646,0.00,0.80,0.00,0.000,4,0.000,0.022,2581,1949,3341,0,0,0,0,0,0,28.83,27.23,28.83
$GC,3738,-0.79,-116.8,336.6,-8.0,361,3743,0.00,1.00,0.00,0.000,6,0.000,0.029,2578,2638,3340,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3844,-0.79,-116.8,346.0,-8.0,365,3847,0.00,1.00,0.00,0.000,4,0.000,0.037,2573,3323,3340,0,0,0,0,0,0,28.83,27.02,28.83
$GC,3891,-0.79,-116.8,348.3,-8.0,366,3894,0.00,0.88,0.00,0.000,6,0.000,0.021,2573,2622,3340,0,0,0,0,0,0,28.83,27.23,28.83
$GC,3983,-0.79,-116.8,357.2,-8.1,369,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2615,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-0.79,-116.8,364.3,-7.9,372,4077,0.00,0.80,0.00,0.000,4,0.000,0.021,2573,1950,3340,0,0,0,0,0,0,28.83,27.23,28.83
$GC,4129,-0.79,-116.8,368.9,-8.0,374,4132,0.00,0.98,0.00,0.000,6,0.000,0.029,2570,2631,3339,0,0,0,0,0,0,28.83,27.10,28.83
$GC,4217,-0.79,-116.8,375.8,-7.9,377,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2630,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4307,-0.79,-116.8,382.9,-7.9,380,4310,0.00,0.85,0.00,0.000,4,0.000,0.021,2570,1942,3339,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4368,-0.79,-116.8,387.6,-8.1,382,4373,0.00,1.00,0.00,0.000,6,0.000,0.030,2569,2628,3339,0,0,0,0,0,0,28.83,27.08,28.83
$GC,4481,-0.79,-116.8,397.1,-8.1,386,4484,0.00,1.00,0.00,0.000,4,0.000,0.036,2564,3317,3338,0,0,0,0,0,0,28.83,27.03,28.83
$GC,4605,-0.79,-116.8,406.7,-8.6,390,4608,0.00,0.88,0.00,0.000,6,0.000,0.021,2564,2627,3338,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4705,-0.79,-116.8,416.3,-8.5,394,4709,0.00,0.82,0.00,0.000,4,0.000,0.021,2564,1945,3337,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4779,-0.79,-116.8,421.1,-8.6,396,4782,0.00,1.00,0.00,0.000,6,0.000,0.029,2562,2632,3337,0,0,0,0,0,0,28.83,27.09,28.83
$GC,4871,-0.79,-116.8,430.5,-8.5,399,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2631,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4961,-0.79,-116.8,438.1,-8.4,402,4965,0.00,0.88,0.00,0.000,4,0.000,0.020,2562,1933,3337,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5102,-0.79,-116.8,449.6,-8.2,407,5106,0.00,1.00,0.00,0.000,6,0.000,0.030,2560,2627,3336,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5190,-0.79,-116.8,457.1,-8.4,410,5193,0.00,1.00,0.00,0.000,4,0.000,0.036,2555,3319,3335,0,0,0,0,0,0,28.83,27.01,28.83
$GC,5273,-0.79,-116.8,464.4,-8.6,413,5278,0.08,0.85,0.00,0.000,6,0.102,0.022,2586,2638,3335,0,0,0,0,0,0,26.88,27.22,28.83
$GC,5362,-0.79,-116.8,471.1,-7.9,416,5366,0.00,0.88,0.00,0.000,4,0.000,0.021,2586,1939,3335,0,0,0,0,0,0,28.83,27.21,28.83
$GC,5451,-0.79,-116.8,477.2,-7.4,419,5453,0.00,1.00,0.00,0.000,6,0.000,0.029,2584,2631,3335,0,0,0,0,0,0,28.83,27.08,28.83
$GC,5557,-0.79,-116.8,485.2,-7.2,423,5561,0.00,1.00,0.00,0.000,4,0.000,0.037,2580,3316,3335,0,0,0,0,0,0,28.83,27.00,28.83
$GC,5605,-0.79,-116.8,487.2,-7.2,424,5613,0.00,0.88,0.00,0.000,6,0.000,0.021,2580,2624,3334,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5703,-0.79,-116.8,495.6,-7.2,428,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2624,3334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5792,begin apogee
$GC,5796,-0.26,0.0,501.8,-6.9,431,5883,0.47,0.00,83.88,0.934,6,0.088,0.000,2754,2620,2871,0,0,0,0,0,0,26.68,28.83,25.16
$STATE,5884,end apogee,CONTROL_FINISHED_OK
$STATE,5885,begin climb
$GC,5887,0.79,116.8,504.0,0.0,434,5978,0.90,0.00,87.45,0.917,6,0.057,0.000,3098,2621,2394,0,0,0,0,0,0,26.01,28.83,25.01
$GC,6049,0.79,117.0,494.9,6.7,440,6052,0.00,1.02,0.00,0.000,4,0.000,0.021,3104,1872,2391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6116,0.79,117.0,490.5,7.9,442,6119,0.00,0.98,0.00,0.000,6,0.000,0.028,3104,2524,2390,0,0,0,0,0,0,28.83,26.46,28.83
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$STATE,12445,end climb,SURFACE_DEPTH_REACHED
$STATE,12445,begin surface coast
$FINISH,0.9,0.996416
$STATE,12478,end surface coast,CONTROL_FINISHED_OK
$STATE,12478,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.57
$INTERNAL_PRESSURE,9.4919
$TCM_TEMP,25.10
$XPDR_PINGS,0
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$10V_AH,10.5,35.312
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354700
$DATA_FILE_SIZE,53606,959
$CAP_FILE_SIZE,191311,0
$CFSIZE,260034560,226934784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141014,071453,2636.354,-6959.207,38,0.8,38,-12.1