version: 66.06
glider: 146
mission: 8
dive: 238
start: 3 7 113 0 29 45
data:
$ID,146
$MISSION,8
$DIVE,238
$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,-312130.28
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,002136,1928.275,-8116.722,40,1.3,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.1
$GPS2,002849,1928.244,-8116.758,11,1.4,11,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.092
$KALMAN_X,-5650.4,-118.3,-46.8,-10520.6,-1177.9
$KALMAN_Y,6130.1,267.4,281.6,1977.0,211.1
$MHEAD_RNG_PITCHd_Wd,114.4,16796,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,2,0.000,0.000,464,2205,3480,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-4.8,9,122,13.85,2.58,-5.60,0.000,4,0.166,0.051,2977,624,3786,0,0,0,0,0,0
$GC,237,-1.06,-146.0,37.3,-18.6,26,242,0.22,2.50,0.00,0.000,6,0.104,0.017,3024,2249,3788,0,0,0,0,0,0
$GC,507,-0.95,-146.0,77.5,-14.5,50,512,0.12,2.65,0.00,0.000,4,0.107,0.044,3053,632,3788,0,0,0,0,0,0
$GC,530,-0.84,-146.0,81.6,-14.5,51,535,0.10,2.40,0.00,0.000,6,0.118,0.016,3076,2210,3788,0,0,0,0,0,0
$GC,799,-0.84,-146.0,110.9,-10.6,75,803,0.00,2.60,0.00,0.000,4,0.000,0.044,3076,634,3788,0,0,0,0,0,0
$GC,843,-0.84,-146.0,116.5,-10.2,78,855,0.00,2.38,0.00,0.000,6,0.000,0.015,3076,2177,3788,0,0,0,0,0,0
$GC,1112,-0.91,-146.0,139.6,-6.9,103,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2177,3789,0,0,0,0,0,0
$GC,1377,-1.03,-146.0,157.8,-5.2,128,1383,0.17,0.00,0.00,0.000,6,0.051,0.000,3006,2177,3789,0,0,0,0,0,0
$GC,1642,-1.03,-146.0,179.2,-8.2,153,1654,0.12,0.00,0.00,0.000,6,0.095,0.000,3036,2177,3790,0,0,0,0,0,0
$GC,1911,-1.11,-146.0,200.2,-7.9,178,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2177,3791,0,0,0,0,0,0
$GC,2149,-1.18,-146.0,217.7,-6.9,184,2151,0.15,0.00,0.00,0.000,6,0.059,0.000,2976,2177,3791,0,0,0,0,0,0
$GC,2394,-1.18,-146.0,238.0,-8.3,190,2396,0.12,0.00,0.00,0.000,6,0.097,0.000,3005,2178,3791,0,0,0,0,0,0
$GC,2636,-1.18,-146.0,256.3,-7.5,196,2640,0.00,2.58,0.00,0.000,4,0.000,0.040,3005,3775,3790,0,0,0,0,0,0
$GC,2657,-1.18,-146.0,258.1,-7.8,196,2662,0.00,2.47,0.00,0.000,6,0.000,0.021,3005,2183,3791,0,0,0,0,0,0
$GC,2916,-1.22,-146.0,277.7,-7.6,203,2920,0.00,2.53,0.00,0.000,4,0.000,0.052,3005,639,3790,0,0,0,0,0,0
$GC,2931,-1.22,-146.0,279.1,-7.4,203,2935,0.00,2.38,0.00,0.000,6,0.000,0.020,3005,2175,3791,0,0,0,0,0,0
$GC,3198,-1.26,-146.0,299.4,-7.7,210,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2175,3790,0,0,0,0,0,0
$GC,3445,-1.30,-146.0,317.5,-7.4,216,3450,0.12,2.62,0.00,0.000,4,0.065,0.048,2952,3780,3789,0,0,0,0,0,0
$GC,3461,-1.30,-146.0,319.1,-7.7,216,3466,0.10,2.47,0.00,0.000,6,0.107,0.029,2976,2188,3789,0,0,0,0,0,0
$GC,3722,-1.30,-146.0,341.7,-8.7,223,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2188,3788,0,0,0,0,0,0
$GC,3968,-1.30,-146.0,362.6,-8.4,229,3972,0.00,2.58,0.00,0.000,4,0.000,0.041,2976,3776,3787,0,0,0,0,0,0
$GC,3983,-1.30,-146.0,364.1,-8.3,229,3988,0.00,2.50,0.00,0.000,6,0.000,0.023,2976,2180,3787,0,0,0,0,0,0
$GC,4244,-1.30,-146.0,385.4,-8.2,236,4249,0.00,2.62,0.00,0.000,4,0.000,0.048,2976,3781,3786,0,0,0,0,0,0
$GC,4263,-1.30,-146.0,386.9,-8.5,236,4268,0.00,2.53,0.00,0.000,6,0.000,0.031,2976,2188,3786,0,0,0,0,0,0
$GC,4524,-1.30,-146.0,409.0,-8.5,243,4528,0.00,2.67,0.00,0.000,4,0.000,0.074,2977,633,3785,0,0,0,0,0,0
$GC,4540,-1.30,-146.0,410.5,-8.5,243,4544,0.00,2.47,0.00,0.000,6,0.000,0.035,2976,2178,3785,0,0,0,0,0,0
$GC,4802,-1.30,-146.0,432.7,-8.6,250,4807,0.00,2.67,0.00,0.000,4,0.000,0.054,2977,3790,3784,0,0,0,0,0,0
$GC,4818,-1.30,-146.0,434.4,-8.6,250,4823,0.00,2.58,0.00,0.000,6,0.000,0.038,2976,2182,3784,0,0,0,0,0,0
$GC,5079,-1.30,-146.0,456.2,-8.3,257,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2182,3783,0,0,0,0,0,0
$GC,5322,-1.30,-146.0,475.7,-8.1,263,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2182,3782,0,0,0,0,0,0
$GC,5569,-1.30,-146.0,495.8,-8.3,269,5573,0.00,2.72,0.00,0.000,4,0.000,0.066,2976,3785,3781,0,0,0,0,0,0
$GC,5612,-1.30,-146.0,500.0,-9.1,270,5617,0.00,2.62,0.00,0.000,6,0.000,0.048,2977,2199,3781,0,0,0,0,0,0
$GC,5890,-1.30,-146.0,523.5,-8.4,277,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2199,3780,0,0,0,0,0,0
$GC,6134,-1.30,-146.0,543.6,-8.2,283,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2199,3778,0,0,0,0,0,0
$GC,6377,-1.30,-146.0,563.1,-8.0,289,6382,0.00,2.75,0.00,0.000,4,0.000,0.072,2977,3785,3777,0,0,0,0,0,0
$GC,6399,-1.30,-146.0,565.1,-9.0,289,6403,0.00,2.65,0.00,0.000,6,0.000,0.059,2976,2200,3777,0,0,0,0,0,0
$GC,6656,-1.30,-146.0,585.1,-7.8,296,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3776,0,0,0,0,0,0
$GC,6897,-1.30,-146.0,604.0,-7.6,302,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3775,0,0,0,0,0,0
$GC,7141,-1.30,-146.0,623.4,-8.0,308,7146,0.00,2.83,0.00,0.000,4,0.000,0.086,2976,3783,3774,0,0,0,0,0,0
$GC,7157,-1.30,-146.0,625.0,-8.5,308,7161,0.00,2.78,0.00,0.000,6,0.000,0.068,2977,2189,3774,0,0,0,0,0,0
$GC,7420,-1.30,-146.0,646.8,-8.5,315,7424,0.00,2.83,0.00,0.000,4,0.000,0.084,2977,3783,3772,0,0,0,0,0,0
$GC,7441,-1.30,-146.0,648.8,-8.2,315,7446,0.00,2.80,0.00,0.000,6,0.000,0.081,2977,2196,3772,0,0,0,0,0,0
$GC,7696,-1.30,-146.0,670.1,-8.4,322,7701,0.00,2.90,0.00,0.000,4,0.000,0.097,2977,3790,3770,0,0,0,0,0,0
$GC,7709,-1.30,-146.0,671.3,-8.3,322,7713,0.00,2.88,0.00,0.000,6,0.000,0.091,2977,2199,3770,0,0,0,0,0,0
$GC,7975,-1.30,-146.0,693.4,-8.2,329,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2199,3769,0,0,0,0,0,0
$GC,8219,-1.30,-146.0,712.6,-7.8,335,8223,0.00,2.95,0.00,0.000,4,0.000,0.108,2977,3788,3768,0,0,0,0,0,0
$GC,8248,-1.30,-146.0,714.9,-8.3,335,8253,0.00,2.75,0.00,0.000,6,0.000,0.070,2976,2204,3768,0,0,0,0,0,0
$GC,8498,-1.30,-146.0,734.0,-7.6,341,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3767,0,0,0,0,0,0
$GC,8741,-1.30,-146.0,752.8,-7.7,347,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3766,0,0,0,0,0,0
$GC,8985,-1.30,-146.0,771.4,-7.6,353,8990,0.00,2.78,0.00,0.000,4,0.000,0.080,2977,3789,3764,0,0,0,0,0,0
$GC,9003,-1.30,-146.0,772.7,-7.4,353,9008,0.00,2.72,0.00,0.000,6,0.000,0.069,2976,2212,3764,0,0,0,0,0,0
$GC,9265,-1.30,-146.0,792.5,-7.7,360,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2212,3762,0,0,0,0,0,0
$GC,9508,-1.30,-146.0,811.0,-7.5,366,9513,0.00,2.78,0.00,0.000,4,0.000,0.078,2976,3789,3761,0,0,0,0,0,0
$GC,9532,-1.30,-146.0,812.8,-8.3,366,9537,0.00,2.70,0.00,0.000,6,0.000,0.068,2977,2213,3761,0,0,0,0,0,0
$GC,9787,-1.30,-146.0,832.2,-7.6,373,9792,0.00,3.05,0.00,0.000,4,0.000,0.127,2977,623,3761,0,0,0,0,0,0
$GC,9803,-1.30,-146.0,833.4,-7.6,373,9807,0.00,2.70,0.00,0.000,6,0.000,0.055,2977,2213,3760,0,0,0,0,0,0
$GC,10066,-1.30,-146.0,852.9,-7.4,380,10071,0.00,2.83,0.00,0.000,4,0.000,0.096,2977,3802,3760,0,0,0,0,0,0
$GC,10099,-1.34,-146.0,855.6,-8.0,380,10104,0.00,2.72,0.00,0.000,6,0.000,0.061,2976,2218,3760,0,0,0,0,0,0
$GC,10349,-1.34,-146.0,873.5,-7.1,387,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2217,3758,0,0,0,0,0,0
$GC,10595,-1.37,-146.0,890.7,-7.1,393,10600,0.00,2.75,0.00,0.000,4,0.000,0.078,2977,3803,3756,0,0,0,0,0,0
$GC,10628,-1.37,-146.0,893.5,-7.8,393,10634,0.00,2.67,0.00,0.000,6,0.000,0.059,2977,2228,3756,0,0,0,0,0,0
$STATE,10753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10754,begin apogee
$GC,10760,-0.31,0.0,902.8,7.3,397,10883,0.93,0.00,119.93,1.222,6,0.071,0.000,3190,2388,3190,0,0,0,0,0,0
$STATE,10884,end apogee,CONTROL_FINISHED_OK
$STATE,10884,begin climb
$GC,10889,1.27,146.0,905.6,0.0,400,11024,1.45,2.78,126.93,1.190,4,0.036,0.072,3544,3926,2594,0,0,0,0,0,0
$GC,11148,1.14,146.0,884.7,12.1,406,11154,0.17,2.70,0.00,0.000,6,0.113,0.054,3510,2362,2587,0,0,0,0,0,0
$GC,11426,1.15,157.2,857.7,9.5,413,11442,0.00,2.75,9.88,1.009,4,0.000,0.060,3509,3927,2550,0,0,0,0,0,0
$GC,11461,1.11,172.5,854.5,9.3,413,11482,0.00,2.67,15.60,1.068,6,0.000,0.051,3509,2368,2486,0,0,0,0,0,0
$GC,11749,1.11,172.5,823.8,10.7,421,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2369,2481,0,0,0,0,0,0
$GC,11992,1.11,172.5,798.7,10.3,427,11997,0.00,2.67,0.00,0.000,4,0.000,0.059,3509,3932,2480,0,0,0,0,0,0
$GC,12034,1.07,172.5,794.5,10.3,428,12039,0.00,2.62,0.00,0.000,6,0.000,0.043,3509,2378,2479,0,0,0,0,0,0
$GC,12317,1.08,181.0,767.3,9.6,435,12332,0.00,3.15,7.88,0.951,4,0.000,0.119,3509,780,2452,0,0,0,0,0,0
$GC,12344,1.08,182.5,764.5,9.9,435,12348,0.00,2.67,0.00,0.000,6,0.000,0.041,3509,2372,2451,0,0,0,0,0,0
$GC,12601,1.08,183.1,739.1,10.0,442,12605,0.00,2.70,0.00,0.000,4,0.000,0.067,3509,3933,2450,0,0,0,0,0,0
$GC,12633,1.04,183.1,735.2,11.1,442,12640,0.10,2.60,0.00,0.000,6,0.134,0.039,3489,2382,2449,0,0,0,0,0,0
$GC,12883,1.06,200.7,712.4,9.2,449,12905,0.00,0.00,19.55,1.049,6,0.000,0.000,3489,2382,2371,0,0,0,0,0,0
$GC,13130,1.11,209.5,689.3,9.6,455,13141,0.00,0.00,9.50,0.943,6,0.000,0.000,3489,2382,2335,0,0,0,0,0,0
$GC,13371,1.15,209.5,664.5,10.2,461,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2382,2333,0,0,0,0,0,0
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$STATE,19305,begin surface coast
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,172539,0
$CFSIZE,260165632,111841280
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