version: 66.06
glider: 146
mission: 8
dive: 302
start: 3 21 113 3 4 19
data:
$ID,146
$MISSION,8
$DIVE,302
$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,-313383.94
$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,57
$R_STBD_OVSHOOT,47
$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
$GPS1,025335,1927.086,-8114.736,29,0.9,29,-3.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.6
$GPS2,030325,1927.002,-8114.672,11,1.8,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.257,-0.035
$KALMAN_X,-61018.0,112.4,-102.7,48322.6,-1162.3
$KALMAN_Y,33313.3,475.1,351.9,-27782.8,-750.9
$MHEAD_RNG_PITCHd_Wd,101.5,12542,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.15,0.000,2,0.000,0.000,462,2182,3505,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.7,-5.2,9,124,13.70,2.53,-5.07,0.000,4,0.164,0.054,2978,648,3785,0,0,0,0,0,0
$GC,175,-1.05,-146.0,26.2,-19.3,19,183,0.20,2.45,0.00,0.000,6,0.084,0.018,3026,2217,3785,0,0,0,0,0,0
$GC,450,-0.94,-146.0,64.4,-13.0,45,459,0.12,0.00,0.00,0.000,6,0.111,0.000,3054,2218,3786,0,0,0,0,0,0
$GC,712,-0.89,-146.0,97.1,-12.3,70,717,0.00,2.53,0.00,0.000,4,0.000,0.042,3054,658,3786,0,0,0,0,0,0
$GC,760,-0.85,-146.0,102.0,-12.2,73,764,0.00,2.38,0.00,0.000,6,0.000,0.018,3054,2208,3786,0,0,0,0,0,0
$GC,1027,-0.80,-146.0,133.1,-11.6,97,1032,0.15,0.00,0.00,0.000,6,0.101,0.000,3087,2209,3787,0,0,0,0,0,0
$GC,1292,-0.92,-146.0,153.9,-6.7,122,1298,0.12,0.00,0.00,0.000,6,0.065,0.000,3031,2209,3787,0,0,0,0,0,0
$GC,1555,-0.96,-146.0,175.1,-7.8,147,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2209,3788,0,0,0,0,0,0
$GC,1811,-1.01,-146.0,194.6,-7.9,171,1816,0.00,2.53,0.00,0.000,4,0.000,0.047,3031,656,3788,0,0,0,0,0,0
$GC,1834,-1.06,-146.0,196.1,-7.6,172,1838,0.00,2.38,0.00,0.000,6,0.000,0.016,3031,2211,3788,0,0,0,0,0,0
$GC,2089,-1.12,-146.0,214.6,-7.0,181,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2211,3788,0,0,0,0,0,0
$GC,2330,-1.19,-146.0,230.9,-6.4,187,2335,0.12,2.55,0.00,0.000,4,0.065,0.048,2977,659,3788,0,0,0,0,0,0
$GC,2380,-1.19,-146.0,235.2,-8.6,188,2385,0.10,2.38,0.00,0.000,6,0.111,0.019,2999,2201,3788,0,0,0,0,0,0
$GC,2654,-1.19,-146.0,256.7,-8.1,195,2659,0.00,2.50,0.00,0.000,4,0.000,0.043,3000,3773,3788,0,0,0,0,0,0
$GC,2670,-1.19,-146.0,258.1,-8.2,195,2674,0.00,2.40,0.00,0.000,6,0.000,0.027,2999,2213,3787,0,0,0,0,0,0
$GC,2932,-1.19,-146.0,277.9,-7.5,202,2936,0.00,2.60,0.00,0.000,4,0.000,0.060,2999,634,3787,0,0,0,0,0,0
$GC,2961,-1.19,-146.0,280.0,-7.3,202,2965,0.00,2.40,0.00,0.000,6,0.000,0.026,2999,2192,3786,0,0,0,0,0,0
$GC,3211,-1.19,-146.0,298.6,-7.5,208,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2192,3786,0,0,0,0,0,0
$GC,3455,-1.19,-146.0,316.8,-7.5,214,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2192,3786,0,0,0,0,0,0
$GC,3699,-1.19,-146.0,335.0,-7.4,220,3703,0.00,2.58,0.00,0.000,4,0.000,0.048,2999,3778,3784,0,0,0,0,0,0
$GC,3728,-1.19,-146.0,337.2,-7.9,220,3732,0.00,2.50,0.00,0.000,6,0.000,0.025,2999,2194,3785,0,0,0,0,0,0
$GC,3978,-1.19,-146.0,355.9,-7.4,226,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,3784,0,0,0,0,0,0
$GC,4221,-1.19,-146.0,373.8,-7.4,232,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,3783,0,0,0,0,0,0
$GC,4468,-1.19,-146.0,391.8,-7.4,238,4472,0.00,2.58,0.00,0.000,4,0.000,0.047,2999,3775,3782,0,0,0,0,0,0
$GC,4483,-1.19,-146.0,393.4,-7.6,238,4488,0.00,2.50,0.00,0.000,6,0.000,0.035,2999,2200,3782,0,0,0,0,0,0
$GC,4745,-1.19,-146.0,413.4,-7.7,245,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2200,3781,0,0,0,0,0,0
$GC,4991,-1.23,-146.0,431.0,-7.2,251,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2200,3780,0,0,0,0,0,0
$GC,5232,-1.28,-146.0,447.0,-6.6,257,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2199,3779,0,0,0,0,0,0
$GC,5476,-1.32,-146.0,464.6,-7.4,263,5478,0.12,0.00,0.00,0.000,6,0.069,0.000,2949,2200,3778,0,0,0,0,0,0
$GC,5720,-1.26,-146.0,488.2,-9.8,269,5725,0.15,2.70,0.00,0.000,4,0.091,0.063,2984,3776,3777,0,0,0,0,0,0
$GC,5744,-1.26,-146.0,490.3,-9.0,269,5749,0.00,2.60,0.00,0.000,6,0.000,0.044,2985,2210,3777,0,0,0,0,0,0
$GC,5999,-1.26,-146.0,510.8,-8.0,276,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2211,3776,0,0,0,0,0,0
$GC,6246,-1.26,-146.0,530.3,-8.0,282,6250,0.00,2.97,0.00,0.000,4,0.000,0.112,2984,619,3776,0,0,0,0,0,0
$GC,6269,-1.26,-146.0,532.4,-8.4,282,6274,0.00,2.58,0.00,0.000,6,0.000,0.044,2984,2187,3775,0,0,0,0,0,0
$GC,6525,-1.26,-146.0,553.4,-8.2,289,6530,0.00,2.85,0.00,0.000,4,0.000,0.090,2984,3798,3774,0,0,0,0,0,0
$GC,6565,-1.30,-146.0,556.7,-8.4,290,6569,0.00,2.67,0.00,0.000,6,0.000,0.055,2984,2209,3774,0,0,0,0,0,0
$GC,6850,-1.30,-146.0,577.8,-7.4,297,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2209,3772,0,0,0,0,0,0
$GC,7092,-1.30,-146.0,596.9,-8.0,303,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,3771,0,0,0,0,0,0
$GC,7335,-1.30,-146.0,616.3,-7.9,309,7340,0.00,2.85,0.00,0.000,4,0.000,0.091,2984,3796,3770,0,0,0,0,0,0
$GC,7355,-1.30,-146.0,617.6,-7.6,309,7359,0.00,2.75,0.00,0.000,6,0.000,0.077,2984,2208,3769,0,0,0,0,0,0
$GC,7616,-1.30,-146.0,638.7,-8.0,316,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3768,0,0,0,0,0,0
$GC,7859,-1.30,-146.0,657.3,-7.6,322,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3767,0,0,0,0,0,0
$GC,8105,-1.30,-146.0,675.2,-7.2,328,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3766,0,0,0,0,0,0
$GC,8347,-1.30,-146.0,692.1,-6.9,334,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3765,0,0,0,0,0,0
$GC,8591,-1.30,-146.0,709.0,-6.9,340,8595,0.00,3.05,0.00,0.000,4,0.000,0.124,2984,3794,3763,0,0,0,0,0,0
$GC,8607,-1.30,-146.0,710.2,-6.9,340,8612,0.00,2.95,0.00,0.000,6,0.000,0.110,2984,2218,3763,0,0,0,0,0,0
$GC,8870,-1.30,-146.0,728.7,-7.1,347,8875,0.00,3.08,0.00,0.000,4,0.000,0.135,2984,3791,3762,0,0,0,0,0,0
$GC,8886,-1.30,-146.0,730.1,-7.3,347,8891,0.00,3.03,0.00,0.000,6,0.000,0.121,2984,2212,3762,0,0,0,0,0,0
$GC,9147,-1.30,-146.0,749.2,-7.4,354,9152,0.00,3.12,0.00,0.000,4,0.000,0.146,2984,3789,3761,0,0,0,0,0,0
$GC,9167,-1.30,-146.0,750.6,-7.6,354,9172,0.00,3.10,0.00,0.000,6,0.000,0.135,2984,2218,3761,0,0,0,0,0,0
$GC,9428,-1.34,-146.0,770.1,-7.4,361,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2218,3760,0,0,0,0,0,0
$GC,9672,-1.38,-146.0,788.1,-7.5,367,9678,0.10,3.38,0.00,0.000,4,0.083,0.174,2946,3791,3759,0,0,0,0,0,0
$GC,9715,-1.38,-146.0,791.7,-9.4,368,9720,0.00,2.70,0.00,0.000,6,0.000,0.064,2945,2219,3758,0,0,0,0,0,0
$GC,9998,-1.38,-146.0,816.5,-8.5,375,10003,0.00,2.75,0.00,0.000,4,0.000,0.078,2946,3800,3757,0,0,0,0,0,0
$GC,10014,-1.34,-146.0,817.9,-8.3,375,10020,0.10,2.67,0.00,0.000,6,0.110,0.062,2968,2232,3757,0,0,0,0,0,0
$GC,10278,-1.34,-146.0,837.1,-7.3,382,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2232,3757,0,0,0,0,0,0
$GC,10519,-1.34,-146.0,855.0,-7.3,388,10524,0.00,2.78,0.00,0.000,4,0.000,0.087,2968,3800,3755,0,0,0,0,0,0
$GC,10546,-1.34,-146.0,857.2,-8.2,388,10551,0.00,2.70,0.00,0.000,6,0.000,0.067,2968,2236,3755,0,0,0,0,0,0
$GC,10799,-1.34,-146.0,875.1,-7.0,394,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2236,3753,0,0,0,0,0,0
$GC,11040,-1.34,-146.0,893.7,-7.7,400,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2236,3753,0,0,0,0,0,0
$STATE,11159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11159,begin apogee
$GC,11165,-0.31,0.0,903.2,7.8,403,11288,0.98,0.00,118.95,1.221,6,0.067,0.000,3193,2376,3190,0,0,0,0,0,0
$STATE,11289,end apogee,CONTROL_FINISHED_OK
$STATE,11289,begin climb
$GC,11293,1.27,146.0,906.5,0.0,406,11429,1.40,2.83,126.62,1.191,4,0.035,0.077,3542,3921,2593,0,0,0,0,0,0
$GC,11540,1.15,146.0,889.7,11.3,411,11545,0.15,2.67,0.00,0.000,6,0.114,0.058,3512,2368,2588,0,0,0,0,0,0
$GC,11790,1.12,155.1,865.2,9.6,417,11800,0.00,0.00,8.25,0.969,6,0.000,0.000,3512,2368,2556,0,0,0,0,0,0
$GC,12076,1.10,168.7,838.2,9.4,424,12091,0.00,0.00,13.55,1.058,6,0.000,0.000,3512,2368,2502,0,0,0,0,0,0
$GC,12317,1.12,186.5,815.8,9.2,430,12341,0.00,2.78,17.38,1.082,4,0.000,0.061,3512,3931,2428,0,0,0,0,0,0
$GC,12392,1.08,186.5,807.8,10.3,431,12396,0.00,2.65,0.00,0.000,6,0.000,0.048,3512,2368,2427,0,0,0,0,0,0
$GC,12644,1.08,186.5,782.3,10.2,437,12648,0.00,2.67,0.00,0.000,4,0.000,0.062,3512,3930,2425,0,0,0,0,0,0
$GC,12683,1.05,186.5,777.9,11.7,438,12688,0.12,2.62,0.00,0.000,6,0.120,0.045,3487,2376,2424,0,0,0,0,0,0
$GC,12967,1.08,210.6,752.2,8.9,445,12991,0.00,0.00,22.90,1.075,6,0.000,0.000,3487,2376,2331,0,0,0,0,0,0
$GC,13213,1.09,218.2,729.3,9.6,451,13223,0.00,0.00,8.12,0.928,6,0.000,0.000,3487,2376,2300,0,0,0,0,0,0
$GC,13454,1.13,221.0,705.6,9.9,457,13460,0.00,0.00,4.05,0.679,6,0.000,0.000,3487,2375,2289,0,0,0,0,0,0
$GC,13698,1.17,221.0,680.1,10.5,463,13700,0.12,0.00,0.00,0.000,6,0.077,0.000,3525,2376,2288,0,0,0,0,0,0
$GC,13944,1.17,221.0,651.5,11.8,469,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2376,2287,0,0,0,0,0,0
$GC,14185,1.17,221.0,623.0,11.7,475,14189,0.00,2.62,0.00,0.000,4,0.000,0.061,3524,3931,2287,0,0,0,0,0,0
$GC,14224,1.17,221.0,618.3,12.3,476,14228,0.00,2.62,0.00,0.000,6,0.000,0.050,3525,2364,2286,0,0,0,0,0,0
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$STATE,19976,end climb,SURFACE_DEPTH_REACHED
$STATE,19976,begin surface coast
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$STATE,20027,end surface coast,CONTROL_FINISHED_OK
$STATE,20027,begin surface
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$10V_AH,10.3,37.639
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,60374,768
$CAP_FILE_SIZE,164421,0
$CFSIZE,260165632,107257856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210313,084030,1927.743,-8113.084,39,1.3,39,-3.8