version: 66.06
glider: 146
mission: 8
dive: 40
start: 1 23 113 22 49 31
data:
$ID,146
$MISSION,8
$DIVE,40
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,300
$T_MISSION,600
$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,52423
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-308094.97
$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,3240
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,39
$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,3190
$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,-27.560358
$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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,222406,1924.830,-8109.399,39,1.5,40,-3.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.7
$GPS2,224837,1924.810,-8109.470,10,1.9,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.049
$KALMAN_X,20894.3,-153.4,-45.7,-17766.9,1661.5
$KALMAN_Y,-1516.6,-204.0,63.6,-2453.3,-83.2
$MHEAD_RNG_PITCHd_Wd,284.7,15439,-17.5,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.27,-146.0,0.0,0.0,0,96,0.00,0.00,-70.82,0.000,2,0.000,0.000,465,2170,3575,0,0,0,0,0,0
$GC,99,-1.27,-146.0,4.4,-8.0,9,124,13.80,2.62,-3.47,0.000,4,0.171,0.040,2957,3811,3786,0,0,0,0,0,0
$GC,201,-1.02,-146.0,36.1,-21.4,21,207,0.28,2.53,0.00,0.000,6,0.107,0.028,3015,2218,3787,0,0,0,0,0,0
$GC,468,-0.84,-146.0,83.4,-16.0,45,473,0.20,2.60,0.00,0.000,4,0.110,0.046,3057,644,3786,0,0,0,0,0,0
$GC,529,-0.84,-146.0,92.5,-11.9,49,535,0.00,2.47,0.00,0.000,6,0.000,0.019,3057,2232,3786,0,0,0,0,0,0
$GC,790,-0.84,-146.0,121.7,-11.4,74,791,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2233,3787,0,0,0,0,0,0
$GC,1047,-0.84,-146.0,145.7,-9.2,98,1052,0.00,2.60,0.00,0.000,4,0.000,0.046,3057,652,3787,0,0,0,0,0,0
$GC,1100,-0.92,-146.0,150.6,-8.8,102,1105,0.00,2.40,0.00,0.000,6,0.000,0.026,3057,2211,3787,0,0,0,0,0,0
$GC,1366,-0.98,-146.0,172.9,-8.0,126,1371,0.12,2.53,0.00,0.000,4,0.068,0.037,3007,3796,3788,0,0,0,0,0,0
$GC,1410,-0.98,-146.0,177.8,-10.8,129,1420,0.00,2.50,0.00,0.000,6,0.000,0.020,3007,2201,3788,0,0,0,0,0,0
$GC,1692,-0.98,-146.0,204.3,-8.8,153,1697,0.00,2.58,0.00,0.000,4,0.000,0.040,3007,3805,3787,0,0,0,0,0,0
$GC,1716,-0.98,-146.0,206.5,-9.0,153,1721,0.00,2.50,0.00,0.000,6,0.000,0.028,3007,2202,3788,0,0,0,0,0,0
$GC,1971,-0.98,-146.0,228.5,-8.4,160,1975,0.00,2.55,0.00,0.000,4,0.000,0.057,3007,658,3787,0,0,0,0,0,0
$GC,2026,-0.98,-146.0,233.5,-8.8,161,2031,0.00,2.40,0.00,0.000,6,0.000,0.025,3007,2203,3787,0,0,0,0,0,0
$GC,2295,-0.98,-146.0,257.1,-8.9,168,2300,0.00,2.58,0.00,0.000,4,0.000,0.047,3007,3798,3787,0,0,0,0,0,0
$GC,2323,-0.98,-146.0,259.9,-9.1,168,2327,0.00,2.53,0.00,0.000,6,0.000,0.021,3007,2187,3787,0,0,0,0,0,0
$GC,2573,-0.98,-146.0,279.9,-7.9,174,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2187,3786,0,0,0,0,0,0
$GC,2818,-0.98,-146.0,298.5,-7.6,180,2823,0.00,2.62,0.00,0.000,4,0.000,0.042,3007,3801,3785,0,0,0,0,0,0
$GC,2845,-0.98,-146.0,301.0,-8.0,180,2850,0.00,2.50,0.00,0.000,6,0.000,0.026,3007,2199,3785,0,0,0,0,0,0
$GC,3095,-0.98,-146.0,320.3,-7.8,186,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2199,3784,0,0,0,0,0,0
$GC,3341,-0.98,-146.0,339.4,-7.9,192,3343,0.10,0.00,0.00,0.000,6,0.115,0.000,3029,2199,3783,0,0,0,0,0,0
$GC,3583,-1.04,-146.0,356.6,-7.1,198,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2199,3782,0,0,0,0,0,0
$GC,3827,-1.11,-146.0,374.0,-7.1,204,3832,0.12,2.65,0.00,0.000,4,0.071,0.048,2981,3793,3781,0,0,0,0,0,0
$GC,3862,-1.11,-146.0,377.2,-9.8,204,3868,0.00,2.55,0.00,0.000,6,0.000,0.029,2981,2207,3781,0,0,0,0,0,0
$GC,4112,-1.11,-146.0,400.6,-9.4,211,4116,0.00,2.75,0.00,0.000,4,0.000,0.090,2981,645,3779,0,0,0,0,0,0
$GC,4133,-1.11,-146.0,402.9,-9.9,211,4138,0.00,2.47,0.00,0.000,6,0.000,0.037,2981,2190,3779,0,0,0,0,0,0
$GC,4391,-1.11,-146.0,426.1,-9.2,218,4395,0.00,2.70,0.00,0.000,4,0.000,0.062,2981,3813,3778,0,0,0,0,0,0
$GC,4418,-1.11,-146.0,428.9,-9.6,218,4422,0.00,2.62,0.00,0.000,6,0.000,0.037,2981,2203,3778,0,0,0,0,0,0
$GC,4668,-1.11,-146.0,451.6,-9.1,224,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2203,3777,0,0,0,0,0,0
$GC,4914,-1.11,-146.0,473.0,-8.5,230,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2203,3776,0,0,0,0,0,0
$GC,5157,-1.11,-146.0,493.8,-8.6,236,5162,0.00,2.75,0.00,0.000,4,0.000,0.072,2981,3805,3774,0,0,0,0,0,0
$GC,5207,-1.11,-146.0,498.7,-9.0,237,5211,0.00,2.67,0.00,0.000,6,0.000,0.056,2981,2210,3774,0,0,0,0,0,0
$GC,5479,-1.11,-146.0,521.1,-8.2,244,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3773,0,0,0,0,0,0
$GC,5724,-1.11,-146.0,540.7,-8.1,250,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3771,0,0,0,0,0,0
$GC,5966,-1.11,-146.0,560.5,-8.0,256,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3770,0,0,0,0,0,0
$GC,6210,-1.11,-146.0,581.2,-8.8,262,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3768,0,0,0,0,0,0
$GC,6456,-1.11,-146.0,601.9,-8.4,268,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3767,0,0,0,0,0,0
$GC,6697,-1.11,-146.0,621.5,-8.0,274,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3766,0,0,0,0,0,0
$GC,6941,-1.11,-146.0,641.1,-8.1,280,6946,0.00,3.00,0.00,0.000,4,0.000,0.118,2981,3803,3764,0,0,0,0,0,0
$GC,6968,-1.11,-146.0,643.4,-9.1,280,6973,0.00,2.83,0.00,0.000,6,0.000,0.082,2981,2216,3764,0,0,0,0,0,0
$GC,7220,-1.11,-146.0,663.8,-8.2,286,7225,0.00,2.92,0.00,0.000,4,0.000,0.102,2982,3803,3762,0,0,0,0,0,0
$GC,7253,-1.11,-146.0,666.8,-8.8,286,7259,0.00,2.88,0.00,0.000,6,0.000,0.089,2981,2219,3762,0,0,0,0,0,0
$GC,7503,-1.11,-146.0,687.4,-8.2,293,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2219,3761,0,0,0,0,0,0
$GC,7749,-1.11,-146.0,707.9,-8.4,299,7754,0.00,3.05,0.00,0.000,4,0.000,0.123,2981,3802,3761,0,0,0,0,0,0
$GC,7778,-1.11,-146.0,710.7,-9.0,299,7783,0.00,2.88,0.00,0.000,6,0.000,0.087,2981,2212,3760,0,0,0,0,0,0
$GC,8028,-1.11,-146.0,732.3,-8.6,305,8033,0.00,3.10,0.00,0.000,4,0.000,0.137,2981,640,3759,0,0,0,0,0,0
$GC,8057,-1.11,-146.0,734.7,-9.2,305,8062,0.00,2.78,0.00,0.000,6,0.000,0.079,2981,2208,3759,0,0,0,0,0,0
$GC,8307,-1.11,-146.0,755.1,-7.9,311,8312,0.00,3.00,0.00,0.000,4,0.000,0.114,2981,3822,3757,0,0,0,0,0,0
$GC,8340,-1.11,-146.0,758.1,-8.8,311,8345,0.00,2.78,0.00,0.000,6,0.000,0.073,2981,2229,3757,0,0,0,0,0,0
$GC,8592,-1.11,-146.0,778.3,-8.1,318,8596,0.00,3.03,0.00,0.000,4,0.000,0.122,2981,637,3755,0,0,0,0,0,0
$GC,8619,-1.11,-146.0,780.8,-8.9,318,8623,0.00,2.78,0.00,0.000,6,0.000,0.067,2981,2232,3756,0,0,0,0,0,0
$GC,8868,-1.11,-146.0,801.1,-8.0,324,8873,0.00,2.90,0.00,0.000,4,0.000,0.105,2981,3819,3755,0,0,0,0,0,0
$GC,8884,-1.11,-146.0,802.5,-7.9,324,8889,0.00,2.72,0.00,0.000,6,0.000,0.061,2981,2222,3754,0,0,0,0,0,0
$GC,9148,-1.11,-146.0,823.2,-7.9,331,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2222,3753,0,0,0,0,0,0
$GC,9389,-1.11,-146.0,842.7,-7.9,337,9394,0.00,2.85,0.00,0.000,4,0.000,0.082,2981,3825,3751,0,0,0,0,0,0
$GC,9423,-1.11,-146.0,845.6,-9.2,337,9429,0.00,2.75,0.00,0.000,6,0.000,0.060,2981,2230,3752,0,0,0,0,0,0
$GC,9675,-1.11,-146.0,866.0,-8.0,344,9680,0.00,2.83,0.00,0.000,4,0.000,0.083,2981,3819,3750,0,0,0,0,0,0
$GC,9702,-1.11,-146.0,868.6,-8.4,344,9707,0.00,2.72,0.00,0.000,6,0.000,0.069,2981,2244,3750,0,0,0,0,0,0
$GC,9952,-1.11,-146.0,888.8,-8.1,350,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2244,3750,0,0,0,0,0,0
$STATE,10112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10112,begin apogee
$GC,10120,-0.31,0.0,901.6,7.9,354,10240,0.85,0.00,116.85,1.226,6,0.079,0.000,3172,2373,3190,0,0,0,0,0,0
$STATE,10241,end apogee,CONTROL_FINISHED_OK
$STATE,10241,begin climb
$GC,10244,1.27,146.0,904.9,0.0,357,10375,1.50,0.00,127.62,1.193,6,0.047,0.000,3524,2373,2593,0,0,0,0,0,0
$GC,10599,1.24,160.7,879.1,9.3,366,10618,0.00,2.83,13.35,1.064,4,0.000,0.074,3524,3920,2534,0,0,0,0,0,0
$GC,10660,1.17,160.7,873.0,10.9,367,10665,0.15,2.70,0.00,0.000,6,0.115,0.051,3495,2360,2531,0,0,0,0,0,0
$GC,10927,1.21,189.7,849.3,8.7,374,10961,0.00,2.85,26.65,1.126,4,0.000,0.067,3495,3928,2416,0,0,0,0,0,0
$GC,10970,1.22,203.7,845.5,9.4,375,10990,0.00,2.70,14.40,1.058,6,0.000,0.047,3494,2363,2359,0,0,0,0,0,0
$GC,11251,1.23,210.3,817.9,9.7,382,11260,0.00,0.00,6.80,0.916,6,0.000,0.000,3494,2363,2332,0,0,0,0,0,0
$GC,11495,1.23,210.3,793.3,10.1,388,11496,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,2363,2329,0,0,0,0,0,0
$GC,11741,1.24,212.8,769.1,9.9,394,11745,0.00,3.03,0.00,0.000,4,0.000,0.112,3494,769,2328,0,0,0,0,0,0
$GC,11767,1.25,220.9,766.0,9.6,394,11784,0.00,2.67,11.00,1.011,6,0.000,0.048,3494,2362,2289,0,0,0,0,0,0
$GC,12066,1.29,227.1,737.2,9.7,402,12076,0.12,0.00,7.18,0.913,6,0.083,0.000,3527,2362,2264,0,0,0,0,0,0
$GC,12306,1.29,227.1,710.2,11.2,408,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2363,2262,0,0,0,0,0,0
$GC,12549,1.29,227.1,683.5,11.1,414,12554,0.00,2.75,0.00,0.000,4,0.000,0.072,3527,3935,2261,0,0,0,0,0,0
$GC,12617,1.29,227.1,675.4,11.5,415,12622,0.00,2.65,0.00,0.000,6,0.000,0.041,3527,2352,2260,0,0,0,0,0,0
$GC,12872,1.29,227.1,647.4,10.8,422,12876,0.00,2.70,0.00,0.000,4,0.000,0.062,3527,3933,2259,0,0,0,0,0,0
$GC,12921,1.29,227.1,641.4,12.2,423,12925,0.00,2.62,0.00,0.000,6,0.000,0.048,3527,2371,2259,0,0,0,0,0,0
$GC,13195,1.29,227.1,610.6,11.4,430,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2371,2259,0,0,0,0,0,0
$GC,13437,1.29,227.1,583.3,11.3,436,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2371,2259,0,0,0,0,0,0
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$STATE,18752,end climb,SURFACE_DEPTH_REACHED
$STATE,18753,begin surface coast
$FINISH,0.8,1.023247
$STATE,18795,end surface coast,CONTROL_FINISHED_OK
$STATE,18795,begin surface
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$HUMID,56.10
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$TCM_TEMP,24.60
$XPDR_PINGS,62
$24V_AH,23.2,6.431
$10V_AH,10.5,5.142
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,356072
$DATA_FILE_SIZE,54083,707
$CAP_FILE_SIZE,178123,0
$CFSIZE,260165632,125829120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240113,040531,1925.041,-8111.055,78,1.2,79,-3.8