version: 66.06
glider: 146
mission: 8
dive: 233
start: 3 5 113 23 2 37
data:
$ID,146
$MISSION,8
$DIVE,233
$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,-312034.5
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,225406,1924.164,-8111.223,39,0.9,39,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.2
$GPS2,230143,1924.154,-8111.314,12,1.0,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.246,0.083
$KALMAN_X,1778.3,-492.1,-259.2,-7843.3,859.9
$KALMAN_Y,5014.3,-223.5,-67.0,-3622.9,107.4
$MHEAD_RNG_PITCHd_Wd,292.5,12811,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-63.33,0.000,2,0.000,0.000,465,2155,3302,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-5.0,8,124,13.65,2.67,-9.38,0.000,4,0.164,0.051,2978,3794,3789,0,0,0,0,0,0
$GC,307,-1.12,-146.0,47.4,-17.8,33,312,0.17,2.50,0.00,0.000,6,0.100,0.024,3016,2201,3789,0,0,0,0,0,0
$GC,576,-0.98,-146.0,88.9,-15.2,57,581,0.12,2.60,0.00,0.000,4,0.111,0.047,3043,632,3790,0,0,0,0,0,0
$GC,657,-0.93,-146.0,101.5,-14.2,63,662,0.00,2.47,0.00,0.000,6,0.000,0.021,3044,2243,3790,0,0,0,0,0,0
$GC,926,-0.93,-146.0,132.1,-10.6,87,931,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2243,3790,0,0,0,0,0,0
$GC,1191,-0.99,-146.0,153.9,-7.1,112,1196,0.00,2.62,0.00,0.000,4,0.000,0.051,3043,633,3791,0,0,0,0,0,0
$GC,1216,-1.04,-146.0,155.9,-7.4,113,1221,0.00,2.42,0.00,0.000,6,0.000,0.017,3044,2215,3791,0,0,0,0,0,0
$GC,1479,-1.12,-146.0,174.3,-6.9,138,1484,0.12,2.58,0.00,0.000,4,0.065,0.042,2983,636,3792,0,0,0,0,0,0
$GC,1504,-1.12,-146.0,176.5,-8.4,139,1510,0.15,2.42,0.00,0.000,6,0.097,0.021,3016,2211,3792,0,0,0,0,0,0
$GC,1766,-1.12,-146.0,197.0,-8.5,164,1771,0.00,2.50,0.00,0.000,4,0.000,0.041,3016,3781,3792,0,0,0,0,0,0
$GC,1791,-1.16,-146.0,199.1,-8.8,165,1801,0.00,2.47,0.00,0.000,6,0.000,0.021,3016,2204,3792,0,0,0,0,0,0
$GC,2052,-1.20,-146.0,221.8,-8.6,173,2057,0.00,2.55,0.00,0.000,4,0.000,0.052,3016,637,3792,0,0,0,0,0,0
$GC,2103,-1.25,-146.0,226.0,-7.9,174,2107,0.12,2.42,0.00,0.000,6,0.065,0.017,2960,2212,3792,0,0,0,0,0,0
$GC,2377,-1.19,-146.0,253.2,-10.0,181,2379,0.17,0.00,0.00,0.000,6,0.155,0.000,3000,2212,3792,0,0,0,0,0,0
$GC,2618,-1.19,-146.0,274.1,-8.3,187,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2212,3791,0,0,0,0,0,0
$GC,2862,-1.19,-146.0,293.6,-8.1,193,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2212,3791,0,0,0,0,0,0
$GC,3108,-1.19,-146.0,313.9,-8.4,199,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2212,3790,0,0,0,0,0,0
$GC,3350,-1.19,-146.0,334.3,-8.4,205,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2212,3790,0,0,0,0,0,0
$GC,3593,-1.19,-146.0,354.1,-8.0,211,3598,0.00,2.65,0.00,0.000,4,0.000,0.067,2999,639,3789,0,0,0,0,0,0
$GC,3628,-1.19,-146.0,357.0,-8.3,211,3634,0.00,2.45,0.00,0.000,6,0.000,0.031,3000,2193,3789,0,0,0,0,0,0
$GC,3881,-1.23,-146.0,376.4,-7.7,218,3885,0.00,2.58,0.00,0.000,4,0.000,0.050,3000,3788,3788,0,0,0,0,0,0
$GC,3920,-1.28,-146.0,379.8,-8.3,219,3925,0.00,2.47,0.00,0.000,6,0.000,0.031,3000,2217,3788,0,0,0,0,0,0
$GC,4206,-1.31,-146.0,401.0,-7.4,226,4208,0.12,0.00,0.00,0.000,6,0.068,0.000,2951,2217,3787,0,0,0,0,0,0
$GC,4448,-1.26,-146.0,422.9,-9.2,232,4450,0.15,0.00,0.00,0.000,6,0.091,0.000,2986,2216,3786,0,0,0,0,0,0
$GC,4694,-1.26,-146.0,441.6,-7.5,238,4698,0.00,2.75,0.00,0.000,4,0.000,0.087,2986,635,3785,0,0,0,0,0,0
$GC,4723,-1.26,-146.0,444.1,-8.0,238,4728,0.00,2.53,0.00,0.000,6,0.000,0.041,2986,2193,3785,0,0,0,0,0,0
$GC,4973,-1.26,-146.0,463.6,-7.7,244,4977,0.00,2.70,0.00,0.000,4,0.000,0.066,2986,3797,3784,0,0,0,0,0,0
$GC,4994,-1.26,-146.0,465.5,-8.4,244,4999,0.00,2.60,0.00,0.000,6,0.000,0.038,2986,2208,3785,0,0,0,0,0,0
$GC,5250,-1.26,-146.0,485.6,-7.9,251,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2208,3783,0,0,0,0,0,0
$GC,5496,-1.26,-146.0,505.3,-7.9,257,5500,0.00,2.70,0.00,0.000,4,0.000,0.066,2986,3792,3782,0,0,0,0,0,0
$GC,5524,-1.26,-146.0,507.8,-9.0,257,5529,0.00,2.60,0.00,0.000,6,0.000,0.049,2986,2221,3782,0,0,0,0,0,0
$GC,5774,-1.26,-146.0,527.6,-7.8,263,5779,0.00,3.00,0.00,0.000,4,0.000,0.118,2986,619,3781,0,0,0,0,0,0
$GC,5809,-1.26,-146.0,530.4,-8.6,263,5815,0.00,2.65,0.00,0.000,6,0.000,0.049,2986,2215,3780,0,0,0,0,0,0
$GC,6059,-1.26,-146.0,550.7,-8.1,270,6064,0.00,2.75,0.00,0.000,4,0.000,0.084,2986,3796,3779,0,0,0,0,0,0
$GC,6099,-1.30,-146.0,554.0,-8.4,271,6103,0.00,2.65,0.00,0.000,6,0.000,0.050,2986,2219,3779,0,0,0,0,0,0
$GC,6384,-1.30,-146.0,575.6,-7.7,278,6389,0.00,2.97,0.00,0.000,4,0.000,0.118,2986,624,3778,0,0,0,0,0,0
$GC,6440,-1.34,-146.0,580.4,-8.0,279,6444,0.00,2.67,0.00,0.000,6,0.000,0.056,2986,2220,3777,0,0,0,0,0,0
$GC,6708,-1.34,-146.0,600.5,-7.5,286,6713,0.00,2.83,0.00,0.000,4,0.000,0.091,2986,3793,3776,0,0,0,0,0,0
$GC,6741,-1.34,-146.0,603.3,-7.8,286,6746,0.00,2.67,0.00,0.000,6,0.000,0.060,2986,2215,3776,0,0,0,0,0,0
$GC,6991,-1.34,-146.0,621.5,-7.3,293,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2215,3775,0,0,0,0,0,0
$GC,7235,-1.34,-146.0,640.0,-7.5,299,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2215,3774,0,0,0,0,0,0
$GC,7480,-1.34,-146.0,658.6,-7.6,305,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2215,3773,0,0,0,0,0,0
$GC,7722,-1.34,-146.0,676.6,-7.3,311,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2215,3771,0,0,0,0,0,0
$GC,7966,-1.34,-146.0,694.5,-7.4,317,7971,0.00,3.15,0.00,0.000,4,0.000,0.143,2986,626,3770,0,0,0,0,0,0
$GC,7988,-1.34,-146.0,696.1,-7.4,317,7992,0.00,2.88,0.00,0.000,6,0.000,0.090,2986,2221,3770,0,0,0,0,0,0
$GC,8249,-1.38,-146.0,714.7,-7.2,324,8255,0.12,3.08,0.00,0.000,4,0.067,0.134,2940,3797,3768,0,0,0,0,0,0
$GC,8272,-1.38,-146.0,717.1,-8.4,324,8276,0.00,2.75,0.00,0.000,6,0.000,0.076,2940,2223,3768,0,0,0,0,0,0
$GC,8529,-1.33,-146.0,740.2,-9.0,331,8531,0.15,0.00,0.00,0.000,6,0.097,0.000,2973,2223,3767,0,0,0,0,0,0
$GC,8771,-1.33,-146.0,760.4,-8.3,337,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2222,3766,0,0,0,0,0,0
$GC,9014,-1.33,-146.0,779.9,-8.0,343,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2222,3765,0,0,0,0,0,0
$GC,9258,-1.33,-146.0,798.9,-7.7,349,9263,0.00,2.80,0.00,0.000,4,0.000,0.085,2973,3808,3763,0,0,0,0,0,0
$GC,9287,-1.33,-146.0,801.2,-7.7,349,9292,0.00,2.72,0.00,0.000,6,0.000,0.068,2973,2232,3763,0,0,0,0,0,0
$GC,9537,-1.33,-146.0,819.5,-7.1,355,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2232,3762,0,0,0,0,0,0
$GC,9781,-1.33,-146.0,834.6,-6.0,361,9785,0.00,2.78,0.00,0.000,4,0.000,0.081,2973,3808,3761,0,0,0,0,0,0
$GC,9804,-1.33,-146.0,836.0,-6.3,361,9809,0.00,2.70,0.00,0.000,6,0.000,0.064,2973,2237,3761,0,0,0,0,0,0
$GC,10062,-1.33,-146.0,852.7,-6.7,368,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2237,3761,0,0,0,0,0,0
$GC,10303,-1.33,-146.0,870.3,-7.3,374,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2235,3759,0,0,0,0,0,0
$GC,10547,-1.33,-146.0,887.6,-7.0,380,10551,0.00,2.75,0.00,0.000,4,0.000,0.076,2973,3803,3759,0,0,0,0,0,0
$GC,10593,-1.37,-146.0,891.1,-8.3,381,10597,0.00,2.70,0.00,0.000,6,0.000,0.063,2973,2238,3758,0,0,0,0,0,0
$STATE,10746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10746,begin apogee
$GC,10752,-0.31,0.0,902.2,7.0,385,10875,0.95,0.00,119.75,1.223,6,0.068,0.000,3191,2385,3190,0,0,0,0,0,0
$STATE,10876,end apogee,CONTROL_FINISHED_OK
$STATE,10876,begin climb
$GC,10881,1.27,146.0,905.2,0.0,388,11016,1.42,2.80,127.15,1.191,4,0.037,0.077,3542,3933,2593,0,0,0,0,0,0
$GC,11140,1.14,146.0,886.1,12.0,394,11146,0.15,2.70,0.00,0.000,6,0.117,0.051,3511,2369,2587,0,0,0,0,0,0
$GC,11419,1.11,159.1,859.6,9.4,401,11438,0.00,2.80,11.65,1.038,4,0.000,0.059,3511,3930,2541,0,0,0,0,0,0
$GC,11464,1.05,159.1,855.2,10.5,402,11470,0.12,2.67,0.00,0.000,6,0.125,0.050,3488,2366,2540,0,0,0,0,0,0
$GC,11748,1.07,182.0,829.1,8.9,409,11771,0.00,0.00,21.67,1.100,6,0.000,0.000,3488,2366,2448,0,0,0,0,0,0
$GC,11992,1.10,201.5,806.8,9.1,415,12013,0.00,0.00,19.20,1.083,6,0.000,0.000,3487,2366,2368,0,0,0,0,0,0
$GC,12238,1.10,203.4,782.9,9.9,421,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,2366,2364,0,0,0,0,0,0
$GC,12479,1.11,209.6,759.3,9.7,427,12494,0.00,2.72,8.27,0.954,4,0.000,0.052,3488,3924,2335,0,0,0,0,0,0
$GC,12510,1.11,209.6,755.9,10.0,427,12514,0.00,2.65,0.00,0.000,6,0.000,0.048,3488,2369,2335,0,0,0,0,0,0
$GC,12763,1.12,219.6,732.0,9.5,433,12781,0.00,3.15,11.07,0.992,4,0.000,0.122,3488,774,2293,0,0,0,0,0,0
$GC,12787,1.12,220.2,729.3,10.0,433,12792,0.00,2.65,0.00,0.000,6,0.000,0.043,3488,2371,2291,0,0,0,0,0,0
$GC,13042,1.16,220.2,703.8,10.1,440,13048,0.12,2.85,0.00,0.000,4,0.078,0.076,3524,780,2291,0,0,0,0,0,0
$GC,13061,1.16,220.2,701.8,10.6,440,13065,0.00,2.62,0.00,0.000,6,0.000,0.038,3524,2362,2289,0,0,0,0,0,0
$GC,13321,1.16,220.2,671.4,11.4,447,13325,0.00,2.72,0.00,0.000,4,0.000,0.067,3524,3941,2289,0,0,0,0,0,0
$GC,13336,1.12,220.2,669.4,11.6,447,13341,0.00,2.65,0.00,0.000,6,0.000,0.038,3524,2361,2289,0,0,0,0,0,0
$GC,13599,1.12,220.2,638.8,12.0,454,13603,0.00,2.67,0.00,0.000,4,0.000,0.056,3524,3940,2288,0,0,0,0,0,0
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$STATE,19330,end climb,SURFACE_DEPTH_REACHED
$STATE,19330,begin surface coast
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$STATE,19375,end surface coast,CONTROL_FINISHED_OK
$STATE,19375,begin surface
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$XPDR_PINGS,72
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$10V_AH,10.4,29.004
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.925,201.950,417.125,17.325,0.000,28.403,40.625,220.302,18.000,0.000,13.904,1526.027,14752.646,552.167,2268.676,768.318,33.372,1537.654,0.000,2262.446,0.000,0.536,0.000
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$MEM,355896
$DATA_FILE_SIZE,57392,726
$CAP_FILE_SIZE,171148,0
$CFSIZE,260165632,112197632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060313,042736,1924.750,-8114.221,38,1.1,38,-3.8