version: 66.06
glider: 146
mission: 8
dive: 292
start: 3 18 113 18 31 36
data:
$ID,146
$MISSION,8
$DIVE,292
$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,-313205
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,182330,1928.006,-8114.751,38,1.6,38,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.2
$GPS2,183043,1928.051,-8114.859,7,1.7,7,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.112
$KALMAN_X,-48244.2,-172.0,2.1,35398.1,-1248.5
$KALMAN_Y,22315.7,518.5,93.8,-14627.6,392.3
$MHEAD_RNG_PITCHd_Wd,119.4,13668,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.38,0.000,2,0.000,0.000,462,2204,3450,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-3.7,9,123,13.77,2.60,-6.43,0.000,4,0.163,0.052,2977,627,3786,0,0,0,0,0,0
$GC,135,-0.16,-146.0,15.8,-31.0,13,145,1.08,2.50,0.00,0.000,6,0.076,0.021,3218,2244,3787,0,0,0,0,0,0
$GC,457,-0.49,-146.0,33.3,-4.3,56,462,0.25,2.65,0.00,0.000,4,0.047,0.042,3145,629,3788,0,0,0,0,0,0
$GC,482,-0.74,-146.0,35.2,-5.3,57,492,0.17,2.42,0.00,0.000,6,0.030,0.016,3067,2191,3788,0,0,0,0,0,0
$GC,750,-0.74,-146.0,62.2,-10.5,82,759,0.15,0.00,0.00,0.000,6,0.090,0.000,3102,2192,3788,0,0,0,0,0,0
$GC,1016,-0.80,-146.0,86.0,-8.8,107,1021,0.00,2.55,0.00,0.000,4,0.000,0.046,3102,633,3788,0,0,0,0,0,0
$GC,1051,-0.87,-146.0,89.0,-9.1,109,1056,0.15,2.40,0.00,0.000,6,0.056,0.016,3037,2205,3788,0,0,0,0,0,0
$GC,1317,-0.87,-146.0,121.3,-11.2,133,1323,0.15,0.00,0.00,0.000,6,0.092,0.000,3072,2206,3789,0,0,0,0,0,0
$GC,1583,-0.96,-146.0,143.3,-7.3,158,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2206,3789,0,0,0,0,0,0
$GC,1846,-1.07,-146.0,161.7,-5.9,183,1851,0.17,2.60,0.00,0.000,4,0.051,0.046,2997,628,3790,0,0,0,0,0,0
$GC,1904,-1.07,-146.0,166.6,-10.6,187,1909,0.12,2.38,0.00,0.000,6,0.248,0.015,3026,2196,3791,0,0,0,0,0,0
$GC,2169,-1.12,-146.0,189.7,-7.9,211,2174,0.00,2.50,0.00,0.000,4,0.000,0.039,3026,3772,3791,0,0,0,0,0,0
$GC,2201,-1.19,-146.0,192.4,-8.1,213,2206,0.10,2.47,0.00,0.000,6,0.077,0.028,2969,2185,3791,0,0,0,0,0,0
$GC,2485,-1.14,-146.0,219.6,-9.5,225,2487,0.17,0.00,0.00,0.000,6,0.081,0.000,3013,2185,3791,0,0,0,0,0,0
$GC,2729,-1.18,-146.0,237.5,-7.2,231,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2185,3791,0,0,0,0,0,0
$GC,2975,-1.23,-146.0,255.4,-7.3,237,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2185,3790,0,0,0,0,0,0
$GC,3216,-1.28,-146.0,272.8,-7.1,243,3221,0.12,2.58,0.00,0.000,4,0.065,0.062,2956,637,3790,0,0,0,0,0,0
$GC,3232,-1.28,-146.0,274.1,-7.2,243,3237,0.10,2.40,0.00,0.000,6,0.110,0.021,2980,2185,3790,0,0,0,0,0,0
$GC,3496,-1.28,-146.0,296.4,-8.6,250,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2186,3789,0,0,0,0,0,0
$GC,3737,-1.28,-146.0,318.0,-8.9,256,3741,0.00,2.58,0.00,0.000,4,0.000,0.048,2981,3776,3789,0,0,0,0,0,0
$GC,3758,-1.28,-146.0,320.1,-9.4,256,3762,0.00,2.50,0.00,0.000,6,0.000,0.029,2980,2196,3789,0,0,0,0,0,0
$GC,4015,-1.28,-146.0,343.5,-9.1,263,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2196,3788,0,0,0,0,0,0
$GC,4257,-1.28,-146.0,364.5,-8.5,269,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2196,3787,0,0,0,0,0,0
$GC,4501,-1.28,-146.0,385.1,-8.4,275,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2196,3787,0,0,0,0,0,0
$GC,4744,-1.28,-146.0,405.5,-8.4,281,4749,0.00,2.62,0.00,0.000,4,0.000,0.051,2980,3778,3786,0,0,0,0,0,0
$GC,4769,-1.28,-146.0,407.4,-8.3,281,4773,0.00,2.55,0.00,0.000,6,0.000,0.035,2980,2204,3786,0,0,0,0,0,0
$GC,5024,-1.28,-146.0,427.6,-7.7,288,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2205,3785,0,0,0,0,0,0
$GC,5267,-1.28,-146.0,446.5,-7.7,294,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3784,0,0,0,0,0,0
$GC,5513,-1.28,-146.0,465.8,-8.0,300,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2205,3783,0,0,0,0,0,0
$GC,5755,-1.28,-146.0,485.8,-8.1,306,5759,0.00,2.62,0.00,0.000,4,0.000,0.058,2981,3764,3782,0,0,0,0,0,0
$GC,5782,-1.28,-146.0,488.2,-8.5,306,5786,0.00,2.60,0.00,0.000,6,0.000,0.052,2981,2206,3781,0,0,0,0,0,0
$GC,6032,-1.28,-146.0,507.5,-7.7,312,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2206,3780,0,0,0,0,0,0
$GC,6278,-1.28,-146.0,525.7,-7.4,318,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2206,3779,0,0,0,0,0,0
$GC,6519,-1.28,-146.0,543.9,-7.4,324,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2206,3778,0,0,0,0,0,0
$GC,6763,-1.28,-146.0,562.6,-7.7,330,6768,0.00,2.95,0.00,0.000,4,0.000,0.115,2980,626,3777,0,0,0,0,0,0
$GC,6792,-1.28,-146.0,565.0,-8.2,330,6797,0.00,2.60,0.00,0.000,6,0.000,0.057,2980,2172,3777,0,0,0,0,0,0
$GC,7042,-1.28,-146.0,585.4,-8.2,336,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2171,3776,0,0,0,0,0,0
$GC,7286,-1.28,-146.0,605.5,-8.2,342,7291,0.00,2.97,0.00,0.000,4,0.000,0.103,2980,3793,3775,0,0,0,0,0,0
$GC,7330,-1.33,-146.0,609.4,-9.0,343,7335,0.00,2.78,0.00,0.000,6,0.000,0.074,2981,2199,3775,0,0,0,0,0,0
$GC,7610,-1.33,-146.0,631.0,-7.7,350,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2199,3773,0,0,0,0,0,0
$GC,7851,-1.33,-146.0,650.0,-7.8,356,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2199,3772,0,0,0,0,0,0
$GC,8095,-1.33,-146.0,669.2,-7.9,362,8100,0.00,2.92,0.00,0.000,4,0.000,0.099,2980,3797,3771,0,0,0,0,0,0
$GC,8113,-1.33,-146.0,670.6,-7.8,362,8118,0.00,2.88,0.00,0.000,6,0.000,0.094,2980,2208,3770,0,0,0,0,0,0
$GC,8380,-1.33,-146.0,691.1,-7.7,369,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2208,3768,0,0,0,0,0,0
$GC,8620,-1.33,-146.0,709.7,-7.6,375,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2208,3767,0,0,0,0,0,0
$GC,8866,-1.33,-146.0,729.4,-8.1,381,8871,0.00,3.12,0.00,0.000,4,0.000,0.139,2980,3798,3766,0,0,0,0,0,0
$GC,8882,-1.33,-146.0,731.0,-8.2,381,8887,0.00,2.83,0.00,0.000,6,0.000,0.077,2980,2201,3766,0,0,0,0,0,0
$GC,9143,-1.33,-146.0,752.2,-7.9,388,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2200,3764,0,0,0,0,0,0
$GC,9386,-1.33,-146.0,770.3,-7.3,394,9391,0.00,2.83,0.00,0.000,4,0.000,0.084,2980,3799,3763,0,0,0,0,0,0
$GC,9428,-1.37,-146.0,773.3,-7.8,395,9433,0.00,2.78,0.00,0.000,6,0.000,0.075,2980,2211,3763,0,0,0,0,0,0
$GC,9712,-1.41,-146.0,793.4,-6.8,402,9717,0.12,3.03,0.00,0.000,4,0.072,0.118,2934,619,3762,0,0,0,0,0,0
$GC,9742,-1.36,-146.0,795.8,-9.1,402,9748,0.12,2.75,0.00,0.000,6,0.106,0.068,2961,2211,3761,0,0,0,0,0,0
$GC,9992,-1.36,-146.0,815.7,-7.8,408,9997,0.00,2.85,0.00,0.000,4,0.000,0.100,2961,3801,3761,0,0,0,0,0,0
$GC,10021,-1.36,-146.0,818.0,-8.4,408,10026,0.00,2.75,0.00,0.000,6,0.000,0.064,2961,2214,3761,0,0,0,0,0,0
$GC,10273,-1.36,-146.0,838.4,-8.2,414,10278,0.00,3.00,0.00,0.000,4,0.000,0.115,2961,620,3760,0,0,0,0,0,0
$GC,10289,-1.36,-146.0,839.9,-8.1,414,10294,0.00,2.75,0.00,0.000,6,0.000,0.058,2961,2225,3760,0,0,0,0,0,0
$GC,10550,-1.36,-146.0,860.4,-7.8,421,10554,0.00,2.83,0.00,0.000,4,0.000,0.096,2961,3798,3758,0,0,0,0,0,0
$GC,10591,-1.36,-146.0,863.8,-9.0,422,10596,0.00,2.72,0.00,0.000,6,0.000,0.064,2961,2221,3758,0,0,0,0,0,0
$GC,10874,-1.36,-146.0,886.5,-8.0,429,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2220,3757,0,0,0,0,0,0
$STATE,11034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11034,begin apogee
$GC,11041,-0.31,0.0,900.1,8.4,433,11164,1.00,0.00,119.68,1.214,6,0.068,0.000,3190,2391,3190,0,0,0,0,0,0
$STATE,11165,end apogee,CONTROL_FINISHED_OK
$STATE,11165,begin climb
$GC,11169,1.27,146.0,903.8,0.0,436,11305,1.40,2.78,126.65,1.183,4,0.034,0.080,3539,3927,2593,0,0,0,0,0,0
$GC,11381,1.15,146.0,891.8,10.9,441,11387,0.15,2.72,0.00,0.000,6,0.116,0.054,3510,2362,2588,0,0,0,0,0,0
$GC,11666,1.14,169.9,866.0,8.9,448,11689,0.00,0.00,21.50,1.100,6,0.000,0.000,3510,2362,2497,0,0,0,0,0,0
$GC,11911,1.15,176.7,843.0,9.7,454,11926,0.00,2.80,7.20,0.929,4,0.000,0.065,3510,3930,2469,0,0,0,0,0,0
$GC,11971,1.11,176.7,836.4,11.1,455,11976,0.00,2.65,0.00,0.000,6,0.000,0.043,3510,2370,2467,0,0,0,0,0,0
$GC,12238,1.11,180.3,810.4,9.8,462,12244,0.00,0.00,4.40,0.745,6,0.000,0.000,3510,2370,2455,0,0,0,0,0,0
$GC,12483,1.11,180.3,785.7,10.2,468,12488,0.00,2.67,0.00,0.000,4,0.000,0.061,3510,3931,2454,0,0,0,0,0,0
$GC,12499,1.11,180.3,783.7,10.4,468,12503,0.00,2.62,0.00,0.000,6,0.000,0.049,3510,2382,2453,0,0,0,0,0,0
$GC,12759,1.11,180.3,757.4,10.1,475,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2382,2452,0,0,0,0,0,0
$GC,13003,1.13,197.9,734.8,9.2,481,13023,0.00,0.00,17.67,1.046,6,0.000,0.000,3510,2382,2383,0,0,0,0,0,0
$GC,13249,1.15,209.4,711.9,9.5,487,13263,0.00,0.00,11.85,0.987,6,0.000,0.000,3510,2382,2337,0,0,0,0,0,0
$GC,13490,1.15,209.4,687.5,10.2,493,13492,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2382,2334,0,0,0,0,0,0
$GC,13734,1.15,209.4,661.5,10.7,499,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2382,2333,0,0,0,0,0,0
$GC,13980,1.15,209.4,634.7,11.0,505,13981,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2382,2332,0,0,0,0,0,0
$GC,14222,1.15,209.4,609.0,10.5,511,14226,0.00,3.03,0.00,0.000,4,0.000,0.112,3510,778,2332,0,0,0,0,0,0
$GC,14244,1.15,209.4,606.6,11.1,511,14249,0.00,2.67,0.00,0.000,6,0.000,0.047,3510,2385,2331,0,0,0,0,0,0
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$STATE,19940,begin surface coast
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$STATE,19976,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,57
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$10V_AH,10.3,36.364
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,60573,782
$CAP_FILE_SIZE,172598,0
$CFSIZE,260165632,107970560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190313,000635,1927.791,-8113.011,34,1.3,34,-3.8