version: 66.06
glider: 146
mission: 8
dive: 322
start: 3 25 113 8 32 39
data:
$ID,146
$MISSION,8
$DIVE,322
$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,-313798.81
$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,51
$R_STBD_OVSHOOT,41
$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
$GPS1,082429,1928.343,-8114.588,37,1.3,37,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.0
$GPS2,083143,1928.346,-8114.574,10,1.3,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,-0.124
$KALMAN_X,-98072.3,-277.5,-181.9,86015.6,-1161.5
$KALMAN_Y,59416.9,667.4,214.1,-51451.6,410.9
$MHEAD_RNG_PITCHd_Wd,122.4,13514,-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,-70.57,0.000,2,0.000,0.000,465,2191,3423,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.4,-4.2,9,124,13.62,2.55,-6.68,0.000,4,0.160,0.038,2979,3794,3787,0,0,0,0,0,0
$GC,214,-1.12,-146.0,33.2,-16.9,24,219,0.17,2.50,0.00,0.000,6,0.098,0.025,3017,2218,3788,0,0,0,0,0,0
$GC,484,-0.99,-146.0,72.7,-14.5,48,489,0.12,2.62,0.00,0.000,4,0.111,0.048,3044,626,3788,0,0,0,0,0,0
$GC,534,-0.94,-146.0,81.0,-13.3,51,539,0.00,2.45,0.00,0.000,6,0.000,0.017,3044,2223,3788,0,0,0,0,0,0
$GC,799,-0.87,-146.0,113.9,-12.5,76,804,0.12,2.62,0.00,0.000,4,0.107,0.046,3072,634,3789,0,0,0,0,0,0
$GC,843,-0.87,-146.0,119.0,-11.0,79,847,0.00,2.40,0.00,0.000,6,0.000,0.017,3072,2195,3789,0,0,0,0,0,0
$GC,1109,-0.87,-146.0,146.7,-10.7,103,1113,0.00,2.47,0.00,0.000,4,0.000,0.031,3072,3771,3790,0,0,0,0,0,0
$GC,1156,-0.94,-146.0,151.1,-9.2,106,1161,0.00,2.47,0.00,0.000,6,0.000,0.024,3072,2179,3790,0,0,0,0,0,0
$GC,1423,-1.05,-146.0,171.4,-6.6,130,1428,0.17,2.53,0.00,0.000,4,0.051,0.048,2999,635,3790,0,0,0,0,0,0
$GC,1481,-1.05,-146.0,177.3,-10.9,134,1488,0.15,2.38,0.00,0.000,6,0.092,0.024,3033,2192,3790,0,0,0,0,0,0
$GC,1745,-1.11,-146.0,200.3,-8.3,159,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2192,3791,0,0,0,0,0,0
$GC,1989,-1.18,-146.0,218.0,-6.9,165,1991,0.12,0.00,0.00,0.000,6,0.064,0.000,2971,2192,3791,0,0,0,0,0,0
$GC,2230,-1.18,-146.0,239.3,-9.0,171,2235,0.15,2.58,0.00,0.000,4,0.087,0.051,3007,633,3791,0,0,0,0,0,0
$GC,2246,-1.18,-146.0,240.9,-9.0,171,2250,0.00,2.38,0.00,0.000,6,0.000,0.021,3007,2180,3791,0,0,0,0,0,0
$GC,2510,-1.22,-146.0,261.2,-7.6,178,2515,0.00,2.55,0.00,0.000,4,0.000,0.042,3007,3775,3791,0,0,0,0,0,0
$GC,2527,-1.26,-146.0,262.7,-7.3,178,2531,0.00,2.50,0.00,0.000,6,0.000,0.028,3007,2173,3791,0,0,0,0,0,0
$GC,2788,-1.30,-146.0,281.4,-7.2,185,2793,0.12,2.55,0.00,0.000,4,0.066,0.061,2951,639,3791,0,0,0,0,0,0
$GC,2812,-1.30,-146.0,283.5,-8.7,185,2817,0.12,2.38,0.00,0.000,6,0.098,0.027,2980,2181,3791,0,0,0,0,0,0
$GC,3068,-1.30,-146.0,305.9,-8.7,192,3072,0.00,2.58,0.00,0.000,4,0.000,0.046,2980,3782,3790,0,0,0,0,0,0
$GC,3083,-1.30,-146.0,307.3,-8.7,192,3088,0.00,2.50,0.00,0.000,6,0.000,0.027,2980,2189,3790,0,0,0,0,0,0
$GC,3347,-1.30,-146.0,329.7,-8.5,199,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2189,3789,0,0,0,0,0,0
$GC,3588,-1.30,-146.0,350.1,-8.4,205,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2189,3788,0,0,0,0,0,0
$GC,3832,-1.30,-146.0,370.4,-8.2,211,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2190,3787,0,0,0,0,0,0
$GC,4078,-1.30,-146.0,391.9,-8.9,217,4082,0.00,2.60,0.00,0.000,4,0.000,0.053,2980,3774,3787,0,0,0,0,0,0
$GC,4099,-1.30,-146.0,394.2,-9.4,217,4104,0.00,2.55,0.00,0.000,6,0.000,0.034,2980,2183,3787,0,0,0,0,0,0
$GC,4355,-1.30,-146.0,416.9,-8.9,224,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2183,3786,0,0,0,0,0,0
$GC,4599,-1.30,-146.0,438.0,-8.8,230,4603,0.00,2.65,0.00,0.000,4,0.000,0.052,2980,3769,3785,0,0,0,0,0,0
$GC,4617,-1.30,-146.0,439.6,-8.8,230,4621,0.00,2.58,0.00,0.000,6,0.000,0.039,2980,2183,3785,0,0,0,0,0,0
$GC,4877,-1.30,-146.0,462.2,-8.6,237,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2183,3784,0,0,0,0,0,0
$GC,5121,-1.30,-146.0,482.1,-8.1,243,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2183,3782,0,0,0,0,0,0
$GC,5367,-1.30,-146.0,501.6,-8.0,249,5372,0.00,2.83,0.00,0.000,4,0.000,0.099,2980,621,3781,0,0,0,0,0,0
$GC,5383,-1.30,-146.0,503.1,-7.6,249,5387,0.00,2.53,0.00,0.000,6,0.000,0.044,2980,2165,3781,0,0,0,0,0,0
$GC,5643,-1.30,-146.0,523.8,-8.0,256,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2165,3780,0,0,0,0,0,0
$GC,5889,-1.30,-146.0,544.0,-8.3,262,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2165,3778,0,0,0,0,0,0
$GC,6131,-1.30,-146.0,564.3,-8.4,268,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2165,3778,0,0,0,0,0,0
$GC,6375,-1.30,-146.0,584.3,-8.1,274,6379,0.00,2.92,0.00,0.000,4,0.000,0.097,2980,3797,3777,0,0,0,0,0,0
$GC,6402,-1.30,-146.0,586.8,-9.0,274,6406,0.00,2.75,0.00,0.000,6,0.000,0.062,2980,2187,3777,0,0,0,0,0,0
$GC,6654,-1.30,-146.0,607.0,-8.1,280,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2187,3776,0,0,0,0,0,0
$GC,6895,-1.30,-146.0,625.9,-7.7,286,6900,0.00,2.85,0.00,0.000,4,0.000,0.089,2980,3790,3774,0,0,0,0,0,0
$GC,6917,-1.30,-146.0,627.7,-8.0,286,6921,0.00,2.80,0.00,0.000,6,0.000,0.076,2980,2183,3774,0,0,0,0,0,0
$GC,7174,-1.30,-146.0,646.6,-7.4,293,7179,0.00,2.88,0.00,0.000,4,0.000,0.090,2980,3790,3772,0,0,0,0,0,0
$GC,7195,-1.30,-146.0,648.5,-7.7,293,7200,0.00,2.85,0.00,0.000,6,0.000,0.087,2980,2189,3772,0,0,0,0,0,0
$GC,7451,-1.30,-146.0,667.4,-7.4,300,7455,0.00,2.90,0.00,0.000,4,0.000,0.097,2980,3789,3771,0,0,0,0,0,0
$GC,7474,-1.30,-146.0,669.4,-8.1,300,7479,0.00,2.90,0.00,0.000,6,0.000,0.091,2979,2194,3771,0,0,0,0,0,0
$GC,7729,-1.30,-146.0,688.9,-7.7,307,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2194,3770,0,0,0,0,0,0
$GC,7973,-1.30,-146.0,708.6,-8.2,313,7978,0.00,3.05,0.00,0.000,4,0.000,0.125,2980,3788,3769,0,0,0,0,0,0
$GC,8006,-1.34,-146.0,711.6,-9.2,313,8012,0.00,2.90,0.00,0.000,6,0.000,0.099,2979,2201,3769,0,0,0,0,0,0
$GC,8259,-1.34,-146.0,732.0,-8.2,320,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2201,3767,0,0,0,0,0,0
$GC,8500,-1.34,-146.0,751.3,-7.8,326,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2200,3766,0,0,0,0,0,0
$GC,8744,-1.34,-146.0,770.3,-7.8,332,8748,0.00,2.85,0.00,0.000,4,0.000,0.095,2980,3794,3764,0,0,0,0,0,0
$GC,8786,-1.38,-146.0,773.5,-8.6,333,8790,0.00,2.78,0.00,0.000,6,0.000,0.075,2980,2203,3764,0,0,0,0,0,0
$GC,9069,-1.38,-146.0,795.7,-7.9,340,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2203,3763,0,0,0,0,0,0
$GC,9312,-1.38,-146.0,814.9,-7.8,346,9317,0.00,2.83,0.00,0.000,4,0.000,0.086,2980,3794,3762,0,0,0,0,0,0
$GC,9354,-1.42,-146.0,818.1,-8.7,347,9360,0.12,2.78,0.00,0.000,6,0.067,0.069,2931,2207,3762,0,0,0,0,0,0
$GC,9639,-1.37,-146.0,845.5,-9.5,354,9644,0.12,2.83,0.00,0.000,4,0.102,0.082,2960,3793,3761,0,0,0,0,0,0
$GC,9663,-1.37,-146.0,847.7,-9.7,354,9668,0.00,2.75,0.00,0.000,6,0.000,0.074,2960,2217,3761,0,0,0,0,0,0
$GC,9918,-1.37,-146.0,867.9,-7.8,361,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2216,3760,0,0,0,0,0,0
$GC,10165,-1.37,-146.0,886.3,-7.6,367,10169,0.00,2.78,0.00,0.000,4,0.000,0.084,2960,3790,3759,0,0,0,0,0,0
$GC,10180,-1.37,-146.0,887.9,-7.9,367,10185,0.00,2.72,0.00,0.000,6,0.000,0.067,2961,2221,3759,0,0,0,0,0,0
$STATE,10357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10357,begin apogee
$GC,10366,-0.31,0.0,901.2,7.4,372,10489,1.00,0.00,120.18,1.210,6,0.067,0.000,3191,2376,3190,0,0,0,0,0,0
$STATE,10490,end apogee,CONTROL_FINISHED_OK
$STATE,10490,begin climb
$GC,10493,1.27,146.0,903.7,0.0,375,10630,1.42,2.75,127.07,1.183,4,0.042,0.074,3545,3930,2592,0,0,0,0,0,0
$GC,10715,1.14,146.0,886.7,13.0,380,10721,0.17,2.72,0.00,0.000,6,0.110,0.056,3510,2370,2587,0,0,0,0,0,0
$GC,10990,1.10,146.0,857.6,10.8,387,10992,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2370,2584,0,0,0,0,0,0
$GC,11231,1.10,146.0,831.7,10.5,393,11236,0.00,2.70,0.00,0.000,4,0.000,0.061,3510,3930,2583,0,0,0,0,0,0
$GC,11287,1.05,146.0,825.6,11.4,394,11291,0.00,2.65,0.00,0.000,6,0.000,0.050,3509,2371,2583,0,0,0,0,0,0
$GC,11556,1.05,147.6,799.0,9.9,401,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2371,2581,0,0,0,0,0,0
$GC,11797,1.06,153.4,775.3,9.7,407,11808,0.00,2.67,5.72,0.848,4,0.000,0.061,3510,3931,2563,0,0,0,0,0,0
$GC,11869,1.02,153.4,767.6,10.6,408,11875,0.12,2.62,0.00,0.000,6,0.120,0.048,3482,2377,2563,0,0,0,0,0,0
$GC,12122,1.07,194.1,746.7,8.1,414,12162,0.00,0.00,38.30,1.089,6,0.000,0.000,3483,2377,2398,0,0,0,0,0,0
$GC,12403,1.13,211.1,721.1,9.2,421,12423,0.10,0.00,16.52,1.019,6,0.084,0.000,3515,2378,2329,0,0,0,0,0,0
$GC,12647,1.13,211.1,695.2,10.8,427,12651,0.00,2.65,0.00,0.000,4,0.000,0.060,3515,3931,2325,0,0,0,0,0,0
$GC,12726,1.13,211.1,686.0,12.1,428,12732,0.00,2.62,0.00,0.000,6,0.000,0.044,3515,2387,2324,0,0,0,0,0,0
$GC,12976,1.13,211.1,658.9,10.8,435,12980,0.00,2.62,0.00,0.000,4,0.000,0.054,3515,3931,2323,0,0,0,0,0,0
$GC,13002,1.13,211.1,655.7,11.9,435,13007,0.00,2.58,0.00,0.000,6,0.000,0.044,3515,2401,2323,0,0,0,0,0,0
$GC,13255,1.13,211.1,628.1,11.1,441,13259,0.00,2.60,0.00,0.000,4,0.000,0.059,3515,3929,2323,0,0,0,0,0,0
$GC,13275,1.13,211.1,625.3,12.0,441,13280,0.00,2.58,0.00,0.000,6,0.000,0.046,3515,2398,2323,0,0,0,0,0,0
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$STATE,19043,end climb,SURFACE_DEPTH_REACHED
$STATE,19044,begin surface coast
$FINISH,0.9,0.998554
$STATE,19087,end surface coast,CONTROL_FINISHED_OK
$STATE,19087,begin surface
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$XPDR_PINGS,71
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$10V_AH,10.2,40.073
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.650,206.025,398.275,30.225,0.000,22.963,34.868,209.266,17.750,0.000,12.242,1505.375,14515.418,556.677,2239.770,749.444,33.376,1522.960,0.000,2238.046,0.000,0.537,0.000
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$MEM,355836
$DATA_FILE_SIZE,57179,723
$CAP_FILE_SIZE,166802,0
$CFSIZE,260165632,105857024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250313,135300,1928.735,-8114.103,38,1.5,38,-3.8