version: 66.06
glider: 146
mission: 8
dive: 54
start: 1 27 113 0 55 14
data:
$ID,146
$MISSION,8
$DIVE,54
$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,-308364.34
$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,3250
$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,12
$R_STBD_OVSHOOT,15
$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,3200
$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
$GPS1,004723,1924.752,-8107.414,38,1.2,38,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.7
$GPS2,005419,1924.735,-8107.364,13,1.2,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.243,0.093
$KALMAN_X,42434.7,90.6,39.9,-35963.2,1183.7
$KALMAN_Y,-4181.6,156.3,259.2,-496.5,-947.4
$MHEAD_RNG_PITCHd_Wd,294.7,19042,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-71.05,0.000,2,0.000,0.000,466,2170,3556,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-6.3,9,123,13.85,2.72,-4.05,0.000,4,0.170,0.042,2966,3833,3797,0,0,0,0,0,0
$GC,249,-1.09,-146.0,43.6,-19.2,26,254,0.20,2.58,0.00,0.000,6,0.108,0.025,3008,2207,3798,0,0,0,0,0,0
$GC,514,-0.96,-146.0,87.3,-15.3,50,523,0.15,0.00,0.00,0.000,6,0.110,0.000,3040,2207,3798,0,0,0,0,0,0
$GC,781,-0.92,-146.0,120.5,-11.2,75,786,0.00,2.55,0.00,0.000,4,0.000,0.052,3040,645,3798,0,0,0,0,0,0
$GC,841,-0.92,-146.0,127.2,-11.7,79,845,0.00,2.53,0.00,0.000,6,0.000,0.025,3040,2270,3798,0,0,0,0,0,0
$GC,1108,-0.92,-146.0,153.5,-9.3,103,1112,0.00,2.42,0.00,0.000,4,0.000,0.043,3040,3798,3798,0,0,0,0,0,0
$GC,1129,-0.92,-146.0,156.3,-9.9,104,1135,0.00,2.40,0.00,0.000,6,0.000,0.021,3040,2248,3799,0,0,0,0,0,0
$GC,1395,-0.97,-146.0,179.1,-8.1,129,1399,0.00,2.62,0.00,0.000,4,0.000,0.052,3041,658,3799,0,0,0,0,0,0
$GC,1450,-1.02,-146.0,183.8,-8.2,133,1455,0.00,2.47,0.00,0.000,6,0.000,0.025,3041,2270,3799,0,0,0,0,0,0
$GC,1742,-1.09,-146.0,206.0,-7.2,154,1747,0.12,2.67,0.00,0.000,4,0.067,0.052,2988,655,3800,0,0,0,0,0,0
$GC,1781,-1.09,-146.0,209.9,-10.3,155,1786,0.10,2.47,0.00,0.000,6,0.115,0.019,3010,2255,3799,0,0,0,0,0,0
$GC,2067,-1.09,-146.0,232.8,-7.8,162,2071,0.00,2.47,0.00,0.000,4,0.000,0.044,3010,3796,3800,0,0,0,0,0,0
$GC,2088,-1.09,-146.0,234.9,-8.5,162,2092,0.00,2.40,0.00,0.000,6,0.000,0.021,3010,2243,3799,0,0,0,0,0,0
$GC,2343,-1.09,-146.0,254.6,-7.8,169,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2243,3799,0,0,0,0,0,0
$GC,2589,-1.13,-146.0,273.1,-7.5,175,2594,0.00,2.65,0.00,0.000,4,0.000,0.059,3010,656,3799,0,0,0,0,0,0
$GC,2634,-1.18,-146.0,276.8,-7.7,176,2638,0.00,2.50,0.00,0.000,6,0.000,0.028,3010,2255,3799,0,0,0,0,0,0
$GC,2914,-1.23,-146.0,296.9,-7.3,183,2916,0.12,0.00,0.00,0.000,6,0.121,0.000,2962,2255,3798,0,0,0,0,0,0
$GC,3156,-1.18,-146.0,319.9,-9.5,189,3161,0.12,2.70,0.00,0.000,4,0.103,0.061,2990,659,3798,0,0,0,0,0,0
$GC,3217,-1.18,-146.0,325.5,-8.6,190,3221,0.00,2.47,0.00,0.000,6,0.000,0.033,2991,2237,3797,0,0,0,0,0,0
$GC,3479,-1.18,-146.0,346.2,-7.8,197,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2237,3796,0,0,0,0,0,0
$GC,3721,-1.18,-146.0,366.0,-8.3,203,3725,0.00,2.65,0.00,0.000,4,0.000,0.061,2991,663,3796,0,0,0,0,0,0
$GC,3776,-1.18,-146.0,370.9,-8.8,204,3780,0.00,2.53,0.00,0.000,6,0.000,0.036,2990,2242,3796,0,0,0,0,0,0
$GC,4044,-1.18,-146.0,392.1,-8.0,211,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2242,3794,0,0,0,0,0,0
$GC,4286,-1.18,-146.0,410.1,-7.3,217,4290,0.00,2.62,0.00,0.000,4,0.000,0.058,2990,3814,3793,0,0,0,0,0,0
$GC,4313,-1.18,-146.0,412.4,-7.6,217,4317,0.00,2.53,0.00,0.000,6,0.000,0.035,2990,2251,3793,0,0,0,0,0,0
$GC,4565,-1.18,-146.0,431.1,-7.6,223,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2251,3792,0,0,0,0,0,0
$GC,4806,-1.18,-146.0,451.3,-8.4,229,4811,0.00,2.83,0.00,0.000,4,0.000,0.093,2991,649,3791,0,0,0,0,0,0
$GC,4828,-1.18,-146.0,453.2,-8.4,229,4832,0.00,2.60,0.00,0.000,6,0.000,0.046,2990,2238,3790,0,0,0,0,0,0
$GC,5083,-1.18,-146.0,473.8,-8.0,236,5087,0.00,2.72,0.00,0.000,4,0.000,0.071,2991,3819,3789,0,0,0,0,0,0
$GC,5106,-1.18,-146.0,475.5,-7.9,236,5111,0.00,2.58,0.00,0.000,6,0.000,0.045,2990,2243,3789,0,0,0,0,0,0
$GC,5361,-1.18,-146.0,495.1,-7.6,243,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2243,3788,0,0,0,0,0,0
$GC,5605,-1.18,-146.0,514.1,-7.8,249,5609,0.00,2.95,0.00,0.000,4,0.000,0.114,2990,645,3787,0,0,0,0,0,0
$GC,5651,-1.23,-146.0,517.7,-8.6,250,5656,0.00,2.67,0.00,0.000,6,0.000,0.058,2990,2240,3787,0,0,0,0,0,0
$GC,5928,-1.23,-146.0,539.4,-7.8,257,5933,0.00,2.80,0.00,0.000,4,0.000,0.093,2991,3814,3786,0,0,0,0,0,0
$GC,5950,-1.23,-146.0,541.3,-8.1,257,5954,0.00,2.62,0.00,0.000,6,0.000,0.052,2991,2247,3786,0,0,0,0,0,0
$GC,6207,-1.23,-146.0,560.7,-7.6,264,6211,0.00,2.97,0.00,0.000,4,0.000,0.115,2990,641,3785,0,0,0,0,0,0
$GC,6239,-1.23,-146.0,563.6,-8.7,264,6245,0.00,2.70,0.00,0.000,6,0.000,0.051,2990,2248,3784,0,0,0,0,0,0
$GC,6490,-1.27,-146.0,583.3,-7.9,271,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2247,3783,0,0,0,0,0,0
$GC,6735,-1.31,-146.0,602.5,-7.9,277,6737,0.12,0.00,0.00,0.000,6,0.217,0.000,2947,2247,3781,0,0,0,0,0,0
$GC,6977,-1.26,-146.0,625.3,-9.4,283,6979,0.12,0.00,0.00,0.000,6,0.173,0.000,2974,2247,3780,0,0,0,0,0,0
$GC,7220,-1.26,-146.0,645.7,-8.2,289,7225,0.00,3.00,0.00,0.000,4,0.000,0.112,2974,643,3778,0,0,0,0,0,0
$GC,7249,-1.26,-146.0,648.1,-9.1,289,7254,0.00,2.80,0.00,0.000,6,0.000,0.071,2974,2244,3778,0,0,0,0,0,0
$GC,7499,-1.26,-146.0,669.4,-8.5,295,7504,0.00,3.08,0.00,0.000,4,0.000,0.139,2974,3821,3777,0,0,0,0,0,0
$GC,7517,-1.26,-146.0,671.0,-8.5,295,7522,0.00,2.85,0.00,0.000,6,0.000,0.089,2974,2245,3777,0,0,0,0,0,0
$GC,7780,-1.26,-146.0,692.2,-8.1,302,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2245,3776,0,0,0,0,0,0
$GC,8022,-1.26,-146.0,711.8,-8.0,308,8027,0.00,3.25,0.00,0.000,4,0.000,0.151,2974,642,3774,0,0,0,0,0,0
$GC,8054,-1.26,-146.0,714.8,-9.6,308,8060,0.00,2.95,0.00,0.000,6,0.000,0.103,2973,2236,3775,0,0,0,0,0,0
$GC,8307,-1.26,-146.0,734.9,-8.0,315,8312,0.00,3.22,0.00,0.000,4,0.000,0.154,2973,3820,3773,0,0,0,0,0,0
$GC,8334,-1.26,-146.0,737.3,-8.1,315,8338,0.00,2.78,0.00,0.000,6,0.000,0.073,2974,2229,3773,0,0,0,0,0,0
$GC,8584,-1.26,-146.0,756.1,-7.5,321,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2229,3772,0,0,0,0,0,0
$GC,8827,-1.26,-146.0,775.2,-7.9,327,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2229,3770,0,0,0,0,0,0
$GC,9073,-1.26,-146.0,794.1,-7.7,333,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2228,3769,0,0,0,0,0,0
$GC,9315,-1.26,-146.0,814.0,-8.4,339,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2227,3768,0,0,0,0,0,0
$GC,9559,-1.26,-146.0,834.7,-8.3,345,9563,0.00,2.83,0.00,0.000,4,0.000,0.087,2973,3822,3767,0,0,0,0,0,0
$GC,9587,-1.26,-146.0,837.2,-9.4,345,9592,0.00,2.70,0.00,0.000,6,0.000,0.061,2974,2238,3767,0,0,0,0,0,0
$GC,9837,-1.26,-146.0,857.6,-8.0,351,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2237,3766,0,0,0,0,0,0
$GC,10081,-1.26,-146.0,875.7,-7.4,357,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2237,3765,0,0,0,0,0,0
$GC,10325,-1.26,-146.0,893.5,-7.4,363,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2237,3763,0,0,0,0,0,0
$STATE,10444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10444,begin apogee
$GC,10452,-0.31,0.0,902.5,7.5,366,10574,0.93,0.00,118.38,1.227,6,0.077,0.000,3182,2380,3200,0,0,0,0,0,0
$STATE,10575,end apogee,CONTROL_FINISHED_OK
$STATE,10575,begin climb
$GC,10577,1.27,146.0,905.0,0.0,369,10716,1.48,2.83,126.43,1.198,4,0.041,0.077,3533,3927,2603,0,0,0,0,0,0
$GC,10761,1.16,146.0,894.0,11.6,373,10766,0.15,2.72,0.00,0.000,6,0.118,0.055,3505,2356,2599,0,0,0,0,0,0
$GC,11011,1.19,172.2,871.4,8.8,379,11040,0.00,3.10,23.48,1.119,4,0.000,0.113,3505,772,2496,0,0,0,0,0,0
$GC,11055,1.17,188.5,867.4,9.2,380,11076,0.00,2.70,16.00,1.075,6,0.000,0.048,3505,2342,2431,0,0,0,0,0,0
$GC,11338,1.17,188.5,838.5,10.1,387,11342,0.00,2.85,0.00,0.000,4,0.000,0.078,3505,3936,2425,0,0,0,0,0,0
$GC,11394,1.17,188.5,832.6,11.2,388,11399,0.00,2.65,0.00,0.000,6,0.000,0.042,3505,2359,2424,0,0,0,0,0,0
$GC,11661,1.17,188.5,805.1,10.2,395,11665,0.00,2.72,0.00,0.000,4,0.000,0.061,3505,3942,2423,0,0,0,0,0,0
$GC,11682,1.17,188.5,802.7,11.0,395,11686,0.00,2.67,0.00,0.000,6,0.000,0.048,3505,2364,2423,0,0,0,0,0,0
$GC,11939,1.17,188.5,776.3,10.3,402,11943,0.00,2.72,0.00,0.000,4,0.000,0.060,3505,3943,2422,0,0,0,0,0,0
$GC,11954,1.17,188.5,774.3,10.2,402,11959,0.00,2.67,0.00,0.000,6,0.000,0.044,3505,2364,2421,0,0,0,0,0,0
$GC,12216,1.17,188.5,747.6,10.2,409,12220,0.00,2.70,0.00,0.000,4,0.000,0.058,3505,3935,2421,0,0,0,0,0,0
$GC,12231,1.17,188.5,745.9,10.1,409,12236,0.00,2.65,0.00,0.000,6,0.000,0.048,3505,2370,2421,0,0,0,0,0,0
$GC,12494,1.17,188.5,719.7,10.0,416,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2370,2420,0,0,0,0,0,0
$GC,12736,1.17,188.5,695.3,10.0,422,12740,0.00,2.67,0.00,0.000,4,0.000,0.064,3505,3937,2419,0,0,0,0,0,0
$GC,12751,1.17,188.5,693.4,10.3,422,12756,0.00,2.65,0.00,0.000,6,0.000,0.048,3505,2364,2419,0,0,0,0,0,0
$GC,13015,1.17,188.9,667.2,10.0,429,13019,0.00,2.70,0.00,0.000,4,0.000,0.064,3505,3937,2419,0,0,0,0,0,0
$GC,13036,1.17,188.9,664.6,10.6,429,13040,0.00,2.62,0.00,0.000,6,0.000,0.049,3505,2375,2419,0,0,0,0,0,0
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$GC,18254,1.52,290.3,130.7,8.5,605,18293,0.20,0.00,28.55,0.598,6,0.054,0.000,3595,2405,2015,0,0,0,0,0,0
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$GC,18871,1.52,290.3,64.9,10.4,661,18876,0.00,2.42,0.00,0.000,6,0.000,0.025,3595,2388,2012,0,0,0,0,0,0
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$STATE,19426,end climb,SURFACE_DEPTH_REACHED
$STATE,19426,begin surface coast
$FINISH,0.7,1.010877
$STATE,19471,end surface coast,CONTROL_FINISHED_OK
$STATE,19471,begin surface
$SM_CCo,19554,0.00,0.000,0,0,1615,388.31
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$10V_AH,10.4,6.909
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.425,230.150,463.025,0.000,0.000,27.315,32.528,193.104,18.250,0.000,15.206,1529.225,14820.791,570.876,2316.031,723.202,33.358,1624.746,0.000,2311.151,0.000,0.536,0.000
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$MEM,355908
$DATA_FILE_SIZE,57372,725
$CAP_FILE_SIZE,175895,0
$CFSIZE,260165632,124809216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270113,062229,1925.304,-8109.112,36,1.0,41,-3.8