version: 66.06
glider: 146
mission: 8
dive: 145
start: 2 14 113 10 33 18
data:
$ID,146
$MISSION,8
$DIVE,145
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$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,620
$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,-310169.25
$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,3260
$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,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,36
$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
$GPS1,101736,1931.647,-8059.992,32,1.4,32,-3.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.1
$GPS2,103224,1931.650,-8100.185,10,1.3,15,-3.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Tmp10
$TGT_LATLONG,1935.000,-8111.600
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.238,0.103
$KALMAN_X,6458.4,-421.1,-395.6,-28600.6,1171.0
$KALMAN_Y,-29463.3,45.3,-67.5,58273.5,-888.2
$MHEAD_RNG_PITCHd_Wd,297.3,20863,-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,21,begin dive
$GC,23,-1.27,-146.0,0.0,0.0,0,96,0.00,0.00,-70.55,0.000,2,0.000,0.000,468,2185,3483,0,0,0,0,0,0
$GC,99,-1.27,-146.0,3.4,-4.9,9,125,13.68,2.58,-5.75,0.000,4,0.167,0.038,2976,3801,3784,0,0,0,0,0,0
$GC,268,-1.12,-146.0,38.5,-16.8,30,273,0.17,2.47,0.00,0.000,6,0.106,0.024,3014,2226,3785,0,0,0,0,0,0
$GC,536,-1.00,-146.0,80.6,-15.0,54,541,0.12,2.65,0.00,0.000,4,0.113,0.044,3042,628,3785,0,0,0,0,0,0
$GC,586,-0.95,-146.0,87.5,-13.0,57,590,0.00,2.45,0.00,0.000,6,0.000,0.016,3041,2224,3785,0,0,0,0,0,0
$GC,852,-0.95,-146.0,118.2,-10.4,81,857,0.00,2.60,0.00,0.000,4,0.000,0.045,3041,634,3786,0,0,0,0,0,0
$GC,910,-1.00,-146.0,125.0,-10.8,85,915,0.00,2.40,0.00,0.000,6,0.000,0.024,3041,2201,3786,0,0,0,0,0,0
$GC,1175,-1.06,-146.0,145.0,-7.7,110,1179,0.00,2.55,0.00,0.000,4,0.000,0.051,3041,633,3786,0,0,0,0,0,0
$GC,1198,-1.12,-146.0,147.1,-7.8,111,1204,0.12,2.40,0.00,0.000,6,0.064,0.018,2987,2194,3786,0,0,0,0,0,0
$GC,1467,-1.12,-146.0,171.1,-8.3,136,1472,0.12,0.00,0.00,0.000,6,0.100,0.000,3016,2194,3786,0,0,0,0,0,0
$GC,1729,-1.16,-146.0,192.2,-7.4,161,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2194,3786,0,0,0,0,0,0
$GC,2008,-1.21,-146.0,212.3,-7.1,176,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2194,3786,0,0,0,0,0,0
$GC,2250,-1.26,-146.0,228.7,-6.9,182,2255,0.15,2.53,0.00,0.000,4,0.058,0.035,2956,3775,3786,0,0,0,0,0,0
$GC,2285,-1.21,-146.0,231.8,-10.2,182,2291,0.17,2.50,0.00,0.000,6,0.085,0.025,2997,2176,3786,0,0,0,0,0,0
$GC,2535,-1.21,-146.0,252.7,-8.2,189,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2176,3785,0,0,0,0,0,0
$GC,2779,-1.21,-146.0,271.8,-7.7,195,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2176,3785,0,0,0,0,0,0
$GC,3023,-1.21,-146.0,289.8,-7.4,201,3027,0.00,2.58,0.00,0.000,4,0.000,0.037,2998,3779,3784,0,0,0,0,0,0
$GC,3075,-1.25,-146.0,293.6,-7.6,202,3079,0.00,2.45,0.00,0.000,6,0.000,0.021,2997,2206,3784,0,0,0,0,0,0
$GC,3347,-1.25,-146.0,313.7,-7.4,209,3351,0.00,2.62,0.00,0.000,4,0.000,0.059,2997,631,3784,0,0,0,0,0,0
$GC,3373,-1.25,-146.0,315.8,-7.5,209,3378,0.00,2.42,0.00,0.000,6,0.000,0.024,2997,2183,3783,0,0,0,0,0,0
$GC,3626,-1.25,-146.0,333.9,-7.1,215,3630,0.00,2.58,0.00,0.000,4,0.000,0.046,2997,3786,3782,0,0,0,0,0,0
$GC,3653,-1.29,-146.0,336.1,-7.8,215,3657,0.00,2.47,0.00,0.000,6,0.000,0.022,2997,2205,3782,0,0,0,0,0,0
$GC,3903,-1.29,-146.0,354.2,-7.2,221,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2205,3781,0,0,0,0,0,0
$GC,4149,-1.32,-146.0,372.3,-7.5,227,4151,0.12,0.00,0.00,0.000,6,0.067,0.000,2945,2204,3781,0,0,0,0,0,0
$GC,4391,-1.26,-146.0,396.0,-9.9,233,4393,0.17,0.00,0.00,0.000,6,0.089,0.000,2985,2205,3780,0,0,0,0,0,0
$GC,4636,-1.26,-146.0,415.6,-7.8,239,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2205,3779,0,0,0,0,0,0
$GC,4880,-1.26,-146.0,434.6,-7.6,245,4884,0.00,2.60,0.00,0.000,4,0.000,0.052,2985,3783,3778,0,0,0,0,0,0
$GC,4912,-1.26,-146.0,437.5,-8.6,245,4918,0.00,2.58,0.00,0.000,6,0.000,0.035,2985,2202,3778,0,0,0,0,0,0
$GC,5162,-1.26,-146.0,456.4,-7.4,252,5167,0.00,2.62,0.00,0.000,4,0.000,0.051,2985,3778,3777,0,0,0,0,0,0
$GC,5197,-1.26,-146.0,459.0,-8.2,252,5203,0.00,2.60,0.00,0.000,6,0.000,0.044,2985,2199,3777,0,0,0,0,0,0
$GC,5447,-1.26,-146.0,477.3,-7.3,259,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3777,0,0,0,0,0,0
$GC,5691,-1.26,-146.0,496.2,-7.9,265,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3776,0,0,0,0,0,0
$GC,5934,-1.26,-146.0,516.1,-8.1,271,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3774,0,0,0,0,0,0
$GC,6180,-1.26,-146.0,535.3,-7.9,277,6185,0.00,2.72,0.00,0.000,4,0.000,0.071,2985,3773,3773,0,0,0,0,0,0
$GC,6207,-1.26,-146.0,537.7,-8.3,277,6212,0.00,2.65,0.00,0.000,6,0.000,0.051,2985,2199,3773,0,0,0,0,0,0
$GC,6459,-1.26,-146.0,557.5,-8.0,283,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3771,0,0,0,0,0,0
$GC,6703,-1.26,-146.0,577.1,-8.0,289,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3770,0,0,0,0,0,0
$GC,6945,-1.26,-146.0,596.1,-7.7,295,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3769,0,0,0,0,0,0
$GC,7188,-1.26,-146.0,614.6,-7.6,301,7193,0.00,2.80,0.00,0.000,4,0.000,0.085,2985,3772,3768,0,0,0,0,0,0
$GC,7224,-1.30,-146.0,617.2,-8.3,301,7229,0.00,2.72,0.00,0.000,6,0.000,0.069,2985,2203,3768,0,0,0,0,0,0
$GC,7474,-1.30,-146.0,635.9,-7.4,308,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2202,3767,0,0,0,0,0,0
$GC,7717,-1.30,-146.0,653.9,-7.3,314,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2202,3766,0,0,0,0,0,0
$GC,7961,-1.33,-146.0,671.6,-7.3,320,7966,0.00,2.88,0.00,0.000,4,0.000,0.100,2985,3778,3764,0,0,0,0,0,0
$GC,8003,-1.38,-146.0,674.7,-8.0,321,8009,0.12,2.85,0.00,0.000,6,0.068,0.093,2941,2213,3764,0,0,0,0,0,0
$GC,8290,-1.33,-146.0,701.1,-9.4,328,8292,0.12,0.00,0.00,0.000,6,0.108,0.000,2968,2213,3762,0,0,0,0,0,0
$GC,8535,-1.33,-146.0,721.8,-8.4,334,8540,0.00,3.03,0.00,0.000,4,0.000,0.128,2968,3770,3761,0,0,0,0,0,0
$GC,8562,-1.33,-146.0,724.5,-9.7,334,8567,0.00,2.75,0.00,0.000,6,0.000,0.081,2968,2210,3761,0,0,0,0,0,0
$GC,8812,-1.33,-146.0,745.8,-8.5,340,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2210,3761,0,0,0,0,0,0
$GC,9056,-1.33,-146.0,766.6,-8.6,346,9061,0.00,2.83,0.00,0.000,4,0.000,0.090,2968,3779,3760,0,0,0,0,0,0
$GC,9080,-1.33,-146.0,768.5,-8.3,346,9085,0.00,2.70,0.00,0.000,6,0.000,0.065,2968,2223,3759,0,0,0,0,0,0
$GC,9336,-1.33,-146.0,789.4,-8.0,353,9340,0.00,2.75,0.00,0.000,4,0.000,0.083,2968,3779,3758,0,0,0,0,0,0
$GC,9357,-1.33,-146.0,791.2,-8.3,353,9361,0.00,2.67,0.00,0.000,6,0.000,0.066,2968,2230,3758,0,0,0,0,0,0
$GC,9614,-1.33,-146.0,810.9,-7.7,360,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2230,3756,0,0,0,0,0,0
$GC,9856,-1.33,-146.0,829.5,-7.5,366,9860,0.00,2.72,0.00,0.000,4,0.000,0.077,2968,3773,3755,0,0,0,0,0,0
$GC,9883,-1.33,-146.0,831.8,-8.1,366,9887,0.00,2.67,0.00,0.000,6,0.000,0.063,2968,2226,3755,0,0,0,0,0,0
$GC,10135,-1.33,-146.0,850.7,-7.6,372,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2226,3754,0,0,0,0,0,0
$GC,10376,-1.33,-146.0,869.1,-7.5,378,10381,0.00,2.72,0.00,0.000,4,0.000,0.077,2968,3777,3753,0,0,0,0,0,0
$GC,10398,-1.33,-146.0,871.0,-8.4,378,10402,0.00,2.65,0.00,0.000,6,0.000,0.066,2968,2241,3753,0,0,0,0,0,0
$GC,10655,-1.33,-146.0,890.1,-7.5,385,10660,0.00,3.08,0.00,0.000,4,0.000,0.123,2968,623,3752,0,0,0,0,0,0
$GC,10676,-1.33,-146.0,892.0,-7.4,385,10681,0.00,2.72,0.00,0.000,6,0.000,0.058,2968,2225,3752,0,0,0,0,0,0
$STATE,10807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10807,begin apogee
$GC,10813,-0.31,0.0,901.8,7.4,389,10935,0.98,0.00,118.47,1.216,6,0.070,0.000,3191,2381,3190,0,0,0,0,0,0
$STATE,10936,end apogee,CONTROL_FINISHED_OK
$STATE,10936,begin climb
$GC,10941,1.27,146.0,904.9,0.0,392,11076,1.42,2.88,126.78,1.184,4,0.036,0.082,3543,3937,2593,0,0,0,0,0,0
$GC,11152,1.13,146.0,890.9,12.4,397,11158,0.17,2.70,0.00,0.000,6,0.116,0.047,3509,2364,2589,0,0,0,0,0,0
$GC,11436,1.11,161.6,863.7,9.3,404,11452,0.00,0.00,14.02,1.058,6,0.000,0.000,3509,2364,2531,0,0,0,0,0,0
$GC,11680,1.11,161.6,839.5,10.1,410,11684,0.00,2.95,0.00,0.000,4,0.000,0.100,3508,776,2527,0,0,0,0,0,0
$GC,11698,1.05,163.5,837.8,9.9,410,11702,0.00,2.67,0.00,0.000,6,0.000,0.044,3509,2368,2527,0,0,0,0,0,0
$GC,11958,1.05,164.7,811.6,9.9,417,11963,0.00,2.75,0.00,0.000,4,0.000,0.071,3509,3940,2526,0,0,0,0,0,0
$GC,11998,0.99,164.7,807.3,11.0,418,12003,0.15,2.62,0.00,0.000,6,0.117,0.043,3478,2370,2525,0,0,0,0,0,0
$GC,12283,1.03,196.0,782.7,8.6,425,12321,0.00,0.00,31.95,1.104,6,0.000,0.000,3478,2370,2390,0,0,0,0,0,0
$GC,12566,1.10,219.3,757.5,8.9,432,12595,0.00,2.80,22.15,1.071,4,0.000,0.060,3478,3937,2296,0,0,0,0,0,0
$GC,12614,1.10,220.1,752.9,10.0,433,12619,0.00,2.65,0.00,0.000,6,0.000,0.044,3478,2375,2294,0,0,0,0,0,0
$GC,12892,1.15,221.8,725.3,9.9,440,12898,0.12,3.05,0.00,0.000,4,0.079,0.114,3515,783,2292,0,0,0,0,0,0
$GC,12909,1.15,221.8,723.3,10.4,440,12913,0.00,2.67,0.00,0.000,6,0.000,0.040,3515,2381,2291,0,0,0,0,0,0
$GC,13171,1.15,221.8,692.2,12.0,447,13176,0.00,2.67,0.00,0.000,4,0.000,0.067,3515,3937,2290,0,0,0,0,0,0
$GC,13198,1.15,221.8,688.4,12.8,447,13202,0.00,2.60,0.00,0.000,6,0.000,0.040,3514,2376,2289,0,0,0,0,0,0
$GC,13448,1.15,221.8,658.8,11.7,453,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2376,2289,0,0,0,0,0,0
$GC,13693,1.15,221.8,630.6,11.5,459,13695,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2377,2289,0,0,0,0,0,0
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$STATE,19364,end climb,SURFACE_DEPTH_REACHED
$STATE,19364,begin surface coast
$FINISH,1.0,1.022837
$STATE,19413,end surface coast,CONTROL_FINISHED_OK
$STATE,19413,begin surface
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$10V_AH,10.4,17.886
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.750,185.575,404.500,20.475,0.000,83.638,107.615,370.988,13.750,0.000,16.522,1511.812,14983.629,532.830,2241.907,1066.585,33.358,1478.211,0.000,2239.469,0.000,0.535,0.000
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$MEM,355952
$DATA_FILE_SIZE,57487,735
$CAP_FILE_SIZE,169442,0
$CFSIZE,260165632,118566912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140213,155859,1932.089,-8103.303,39,1.1,39,-3.9