version: 66.06
glider: 146
mission: 8
dive: 304
start: 3 21 113 14 24 32
data:
$ID,146
$MISSION,8
$DIVE,304
$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,-313430.03
$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,58
$R_STBD_OVSHOOT,43
$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
$GPS1,141535,1927.598,-8111.828,38,1.5,38,-3.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-75.5
$GPS2,142339,1927.582,-8111.832,10,99.0,29,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.151
$KALMAN_X,-64247.7,-397.1,-96.2,57018.8,-743.7
$KALMAN_Y,37424.7,78.8,407.2,-30477.2,111.3
$MHEAD_RNG_PITCHd_Wd,129.4,8796,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.60,0.000,2,0.000,0.000,460,2178,3437,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.0,-2.8,9,124,13.80,2.58,-6.72,0.000,4,0.163,0.047,2977,3792,3787,0,0,0,0,0,0
$GC,148,-0.76,-146.0,18.8,-27.0,15,158,0.47,2.47,0.00,0.000,6,0.081,0.031,3086,2239,3788,0,0,0,0,0,0
$GC,433,-0.76,-146.0,48.8,-9.5,46,437,0.00,2.65,0.00,0.000,4,0.000,0.046,3086,626,3788,0,0,0,0,0,0
$GC,480,-0.76,-146.0,53.8,-9.9,49,485,0.00,2.42,0.00,0.000,6,0.000,0.018,3086,2210,3788,0,0,0,0,0,0
$GC,750,-0.76,-146.0,80.3,-10.9,73,755,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2210,3788,0,0,0,0,0,0
$GC,1012,-0.76,-146.0,107.7,-9.6,98,1016,0.00,2.60,0.00,0.000,4,0.000,0.045,3086,629,3788,0,0,0,0,0,0
$GC,1057,-0.82,-146.0,111.7,-10.1,101,1061,0.00,2.40,0.00,0.000,6,0.000,0.017,3086,2204,3789,0,0,0,0,0,0
$GC,1326,-0.82,-146.0,137.3,-10.0,125,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2204,3790,0,0,0,0,0,0
$GC,1589,-0.92,-146.0,158.7,-6.6,150,1591,0.12,0.00,0.00,0.000,6,0.065,0.000,3029,2204,3790,0,0,0,0,0,0
$GC,1845,-0.92,-146.0,182.0,-8.5,174,1850,0.12,2.60,0.00,0.000,4,0.096,0.046,3059,631,3791,0,0,0,0,0,0
$GC,1901,-1.04,-146.0,186.2,-7.2,178,1906,0.12,2.42,0.00,0.000,6,0.064,0.018,3002,2218,3791,0,0,0,0,0,0
$GC,2183,-1.04,-146.0,210.5,-8.1,195,2185,0.15,0.00,0.00,0.000,6,0.087,0.000,3037,2218,3791,0,0,0,0,0,0
$GC,2422,-1.11,-146.0,228.4,-7.2,201,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2218,3791,0,0,0,0,0,0
$GC,2668,-1.19,-146.0,244.8,-6.7,207,2673,0.15,2.65,0.00,0.000,4,0.058,0.051,2973,627,3791,0,0,0,0,0,0
$GC,2684,-1.19,-146.0,246.4,-7.0,207,2689,0.12,2.42,0.00,0.000,6,0.100,0.025,3002,2211,3791,0,0,0,0,0,0
$GC,2945,-1.19,-146.0,267.8,-8.1,214,2949,0.00,2.50,0.00,0.000,4,0.000,0.039,3002,3769,3790,0,0,0,0,0,0
$GC,2975,-1.19,-146.0,270.0,-8.2,214,2979,0.00,2.42,0.00,0.000,6,0.000,0.027,3002,2203,3791,0,0,0,0,0,0
$GC,3225,-1.19,-146.0,289.2,-7.7,220,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,3790,0,0,0,0,0,0
$GC,3469,-1.19,-146.0,309.2,-8.4,226,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,3790,0,0,0,0,0,0
$GC,3712,-1.19,-146.0,329.4,-8.2,232,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2203,3789,0,0,0,0,0,0
$GC,3959,-1.19,-146.0,348.8,-7.9,238,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,3788,0,0,0,0,0,0
$GC,4200,-1.19,-146.0,366.7,-7.3,244,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,3787,0,0,0,0,0,0
$GC,4444,-1.19,-146.0,383.5,-6.9,250,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,3787,0,0,0,0,0,0
$GC,4688,-1.23,-146.0,401.0,-7.2,256,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,3786,0,0,0,0,0,0
$GC,4934,-1.27,-146.0,420.4,-8.1,262,4938,0.00,2.58,0.00,0.000,4,0.000,0.050,3002,3769,3785,0,0,0,0,0,0
$GC,4956,-1.32,-146.0,422.4,-7.9,262,4961,0.12,2.50,0.00,0.000,6,0.065,0.038,2951,2216,3785,0,0,0,0,0,0
$GC,5213,-1.26,-146.0,448.1,-10.1,269,5215,0.15,0.00,0.00,0.000,6,0.093,0.000,2985,2216,3784,0,0,0,0,0,0
$GC,5455,-1.26,-146.0,468.8,-8.4,275,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2216,3783,0,0,0,0,0,0
$GC,5698,-1.26,-146.0,488.0,-7.7,281,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2216,3782,0,0,0,0,0,0
$GC,5942,-1.26,-146.0,506.5,-7.6,287,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2216,3780,0,0,0,0,0,0
$GC,6188,-1.26,-146.0,525.8,-8.0,293,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2216,3780,0,0,0,0,0,0
$GC,6430,-1.26,-146.0,545.3,-8.0,299,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2216,3779,0,0,0,0,0,0
$GC,6673,-1.26,-146.0,565.1,-8.1,305,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2216,3778,0,0,0,0,0,0
$GC,6917,-1.26,-146.0,584.5,-7.9,311,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2216,3777,0,0,0,0,0,0
$GC,7163,-1.26,-146.0,602.4,-7.2,317,7168,0.00,2.80,0.00,0.000,4,0.000,0.107,2985,3758,3775,0,0,0,0,0,0
$GC,7179,-1.26,-146.0,603.9,-7.1,317,7183,0.00,2.67,0.00,0.000,6,0.000,0.066,2985,2204,3776,0,0,0,0,0,0
$GC,7439,-1.26,-146.0,621.7,-6.8,324,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2204,3774,0,0,0,0,0,0
$GC,7686,-1.26,-146.0,638.7,-7.0,330,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2204,3773,0,0,0,0,0,0
$GC,7927,-1.26,-146.0,656.5,-7.4,336,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2204,3771,0,0,0,0,0,0
$GC,8171,-1.26,-146.0,675.4,-7.8,342,8176,0.00,2.90,0.00,0.000,4,0.000,0.113,2985,3762,3770,0,0,0,0,0,0
$GC,8187,-1.26,-146.0,676.9,-8.1,342,8191,0.00,2.85,0.00,0.000,6,0.000,0.099,2985,2206,3770,0,0,0,0,0,0
$GC,8449,-1.26,-146.0,697.9,-8.2,349,8454,0.00,3.20,0.00,0.000,4,0.000,0.148,2985,615,3769,0,0,0,0,0,0
$GC,8466,-1.26,-146.0,699.4,-8.2,349,8471,0.00,2.83,0.00,0.000,6,0.000,0.092,2985,2170,3769,0,0,0,0,0,0
$GC,8729,-1.26,-146.0,720.5,-7.9,356,8734,0.00,3.17,0.00,0.000,4,0.000,0.137,2985,3799,3767,0,0,0,0,0,0
$GC,8764,-1.30,-146.0,723.2,-8.0,356,8770,0.00,3.05,0.00,0.000,6,0.000,0.120,2985,2218,3768,0,0,0,0,0,0
$GC,9014,-1.30,-146.0,743.0,-7.8,363,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2218,3766,0,0,0,0,0,0
$GC,9258,-1.30,-146.0,761.7,-7.6,369,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2219,3764,0,0,0,0,0,0
$GC,9504,-1.34,-146.0,779.0,-7.0,375,9509,0.00,2.88,0.00,0.000,4,0.000,0.097,2985,3807,3763,0,0,0,0,0,0
$GC,9532,-1.38,-146.0,781.2,-8.0,375,9537,0.10,2.78,0.00,0.000,6,0.081,0.073,2945,2214,3763,0,0,0,0,0,0
$GC,9782,-1.33,-146.0,801.4,-8.1,381,9784,0.12,0.00,0.00,0.000,6,0.103,0.000,2973,2213,3762,0,0,0,0,0,0
$GC,10028,-1.33,-146.0,817.4,-6.4,387,10032,0.00,2.83,0.00,0.000,4,0.000,0.088,2973,3808,3761,0,0,0,0,0,0
$GC,10049,-1.33,-146.0,819.1,-7.1,387,10054,0.00,2.72,0.00,0.000,6,0.000,0.071,2973,2229,3761,0,0,0,0,0,0
$GC,10305,-1.33,-146.0,837.7,-7.4,394,10310,0.00,3.03,0.00,0.000,4,0.000,0.120,2973,619,3760,0,0,0,0,0,0
$GC,10329,-1.33,-146.0,839.4,-8.0,394,10333,0.00,2.75,0.00,0.000,6,0.000,0.064,2973,2235,3760,0,0,0,0,0,0
$GC,10584,-1.33,-146.0,858.8,-7.6,401,10588,0.00,2.83,0.00,0.000,4,0.000,0.097,2973,3806,3759,0,0,0,0,0,0
$GC,10599,-1.33,-146.0,860.2,-7.6,401,10604,0.00,2.70,0.00,0.000,6,0.000,0.060,2973,2221,3759,0,0,0,0,0,0
$GC,10863,-1.33,-146.0,879.8,-7.5,408,10867,0.00,2.78,0.00,0.000,4,0.000,0.077,2973,3802,3757,0,0,0,0,0,0
$GC,10884,-1.33,-146.0,881.8,-8.3,408,10888,0.00,2.70,0.00,0.000,6,0.000,0.065,2973,2230,3757,0,0,0,0,0,0
$STATE,11136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11136,begin apogee
$GC,11143,-0.31,0.0,900.4,7.3,415,11266,0.95,0.00,119.43,1.218,6,0.067,0.000,3191,2385,3190,0,0,0,0,0,0
$STATE,11266,end apogee,CONTROL_FINISHED_OK
$STATE,11266,begin climb
$GC,11271,1.27,146.0,903.4,0.0,418,11407,1.42,2.80,126.78,1.183,4,0.045,0.079,3542,3937,2593,0,0,0,0,0,0
$GC,11483,1.15,146.0,889.7,12.2,423,11488,0.15,2.72,0.00,0.000,6,0.114,0.054,3511,2367,2588,0,0,0,0,0,0
$GC,11767,1.12,148.7,860.8,9.9,430,11772,0.00,2.70,0.00,0.000,4,0.000,0.062,3512,3931,2585,0,0,0,0,0,0
$GC,11819,1.05,148.7,855.5,10.6,431,11824,0.10,2.65,0.00,0.000,6,0.130,0.051,3491,2374,2585,0,0,0,0,0,0
$GC,12091,1.09,181.4,831.8,8.5,438,12124,0.00,0.00,31.30,1.123,6,0.000,0.000,3491,2374,2450,0,0,0,0,0,0
$GC,12335,1.12,205.8,810.4,8.9,444,12364,0.00,3.10,23.52,1.092,4,0.000,0.110,3491,776,2349,0,0,0,0,0,0
$GC,12390,1.12,207.2,805.5,9.9,445,12395,0.00,2.70,0.00,0.000,6,0.000,0.041,3490,2374,2348,0,0,0,0,0,0
$GC,12664,1.13,214.6,779.1,9.7,452,12675,0.00,0.00,8.98,0.963,6,0.000,0.000,3491,2374,2315,0,0,0,0,0,0
$GC,12905,1.13,214.6,754.2,10.2,458,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2375,2313,0,0,0,0,0,0
$GC,13151,1.13,214.6,728.7,10.6,464,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2375,2311,0,0,0,0,0,0
$GC,13393,1.13,214.6,703.3,10.5,470,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2376,2310,0,0,0,0,0,0
$GC,13637,1.17,214.6,677.9,10.4,476,13639,0.10,0.00,0.00,0.000,6,0.084,0.000,3523,2377,2310,0,0,0,0,0,0
$GC,13880,1.17,214.6,649.7,11.6,482,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2377,2309,0,0,0,0,0,0
$GC,14126,1.17,214.6,621.5,11.5,488,14130,0.00,2.67,0.00,0.000,4,0.000,0.065,3523,3936,2308,0,0,0,0,0,0
$GC,14153,1.13,214.6,617.8,12.8,488,14157,0.00,2.60,0.00,0.000,6,0.000,0.043,3523,2370,2307,0,0,0,0,0,0
$GC,14405,1.13,214.6,587.7,12.1,494,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2370,2307,0,0,0,0,0,0
$GC,14648,1.13,214.6,559.0,11.7,500,14653,0.00,2.67,0.00,0.000,4,0.000,0.054,3523,3944,2307,0,0,0,0,0,0
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