version: 66.06
glider: 146
mission: 8
dive: 366
start: 4 4 113 16 36 2
data:
$ID,146
$MISSION,8
$DIVE,366
$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,-314698.62
$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,70
$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
$GPS1,162736,1924.732,-8107.896,29,1.3,29,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.0
$GPS2,163507,1924.733,-8107.843,7,1.5,7,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.047
$KALMAN_X,-214084.1,88.2,163.7,213067.1,-1448.9
$KALMAN_Y,126526.7,50.4,-5.3,-124407.3,583.3
$MHEAD_RNG_PITCHd_Wd,284.3,18227,-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,-70.65,0.000,2,0.000,0.000,463,2170,3454,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-3.5,9,123,13.40,2.45,-6.40,0.000,4,0.154,0.051,2976,670,3786,0,0,0,0,0,0
$GC,321,-1.09,-146.0,48.7,-16.7,34,326,0.20,2.40,0.00,0.000,6,0.100,0.017,3020,2225,3788,0,0,0,0,0,0
$GC,586,-0.97,-146.0,87.0,-14.1,58,592,0.12,2.58,0.00,0.000,4,0.107,0.044,3048,671,3788,0,0,0,0,0,0
$GC,623,-0.91,-146.0,92.5,-13.0,60,632,0.00,2.38,0.00,0.000,6,0.000,0.017,3049,2204,3788,0,0,0,0,0,0
$GC,891,-0.87,-146.0,123.8,-11.6,85,896,0.10,2.55,0.00,0.000,4,0.117,0.044,3071,666,3789,0,0,0,0,0,0
$GC,914,-0.87,-146.0,127.1,-10.8,86,924,0.00,2.38,0.00,0.000,6,0.000,0.016,3071,2201,3788,0,0,0,0,0,0
$GC,1184,-0.96,-146.0,149.2,-7.8,111,1188,0.00,2.50,0.00,0.000,4,0.000,0.042,3072,660,3789,0,0,0,0,0,0
$GC,1213,-1.07,-146.0,152.0,-7.5,113,1218,0.17,2.35,0.00,0.000,6,0.050,0.017,2999,2197,3789,0,0,0,0,0,0
$GC,1474,-1.07,-146.0,177.3,-9.7,137,1479,0.12,2.50,0.00,0.000,4,0.096,0.034,3029,3772,3790,0,0,0,0,0,0
$GC,1526,-1.14,-146.0,181.8,-8.1,141,1531,0.00,2.40,0.00,0.000,6,0.000,0.019,3029,2217,3790,0,0,0,0,0,0
$GC,1811,-1.20,-146.0,203.2,-7.2,164,1816,0.12,2.62,0.00,0.000,4,0.065,0.048,2971,636,3790,0,0,0,0,0,0
$GC,1839,-1.16,-146.0,206.0,-9.3,164,1844,0.15,2.40,0.00,0.000,6,0.091,0.018,3006,2199,3790,0,0,0,0,0,0
$GC,2089,-1.16,-146.0,225.9,-7.8,170,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2198,3790,0,0,0,0,0,0
$GC,2336,-1.20,-146.0,243.2,-7.1,176,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,3790,0,0,0,0,0,0
$GC,2577,-1.24,-146.0,261.0,-7.3,182,2581,0.00,2.50,0.00,0.000,4,0.000,0.039,3006,3766,3790,0,0,0,0,0,0
$GC,2618,-1.30,-146.0,264.1,-7.5,183,2623,0.12,2.45,0.00,0.000,6,0.063,0.027,2946,2194,3790,0,0,0,0,0,0
$GC,2904,-1.22,-146.0,292.1,-10.2,190,2909,0.20,2.60,0.00,0.000,4,0.083,0.058,2993,639,3790,0,0,0,0,0,0
$GC,2944,-1.22,-146.0,296.0,-9.0,191,2948,0.00,2.42,0.00,0.000,6,0.000,0.028,2993,2190,3789,0,0,0,0,0,0
$GC,3229,-1.22,-146.0,318.5,-7.9,198,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2190,3788,0,0,0,0,0,0
$GC,3471,-1.22,-146.0,337.2,-7.6,204,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2190,3788,0,0,0,0,0,0
$GC,3715,-1.22,-146.0,354.9,-7.3,210,3719,0.00,2.58,0.00,0.000,4,0.000,0.052,2994,3777,3787,0,0,0,0,0,0
$GC,3748,-1.26,-146.0,357.6,-8.2,210,3753,0.00,2.50,0.00,0.000,6,0.000,0.026,2993,2214,3787,0,0,0,0,0,0
$GC,4000,-1.26,-146.0,375.7,-7.2,217,4004,0.00,2.75,0.00,0.000,4,0.000,0.074,2994,627,3785,0,0,0,0,0,0
$GC,4028,-1.26,-146.0,378.0,-7.9,217,4033,0.00,2.50,0.00,0.000,6,0.000,0.031,2994,2191,3786,0,0,0,0,0,0
$GC,4278,-1.26,-146.0,397.5,-7.7,223,4283,0.00,2.62,0.00,0.000,4,0.000,0.056,2994,3794,3785,0,0,0,0,0,0
$GC,4308,-1.31,-146.0,399.8,-8.1,223,4313,0.00,2.58,0.00,0.000,6,0.000,0.038,2994,2200,3785,0,0,0,0,0,0
$GC,4558,-1.34,-146.0,419.8,-7.9,229,4560,0.12,0.00,0.00,0.000,6,0.067,0.000,2945,2200,3783,0,0,0,0,0,0
$GC,4802,-1.28,-146.0,443.2,-9.6,235,4804,0.15,0.00,0.00,0.000,6,0.093,0.000,2979,2199,3783,0,0,0,0,0,0
$GC,5048,-1.28,-146.0,463.1,-8.1,241,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2199,3782,0,0,0,0,0,0
$GC,5289,-1.28,-146.0,483.0,-8.1,247,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2199,3780,0,0,0,0,0,0
$GC,5533,-1.28,-146.0,502.4,-7.9,253,5537,0.00,2.70,0.00,0.000,4,0.000,0.064,2979,3787,3779,0,0,0,0,0,0
$GC,5557,-1.28,-146.0,504.0,-7.5,253,5561,0.00,2.65,0.00,0.000,6,0.000,0.049,2979,2195,3778,0,0,0,0,0,0
$GC,5812,-1.28,-146.0,523.7,-7.6,260,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3778,0,0,0,0,0,0
$GC,6055,-1.28,-146.0,542.3,-7.7,266,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3777,0,0,0,0,0,0
$GC,6299,-1.28,-146.0,561.5,-7.9,272,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3776,0,0,0,0,0,0
$GC,6545,-1.28,-146.0,581.1,-8.1,278,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3774,0,0,0,0,0,0
$GC,6786,-1.28,-146.0,600.6,-8.0,284,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3773,0,0,0,0,0,0
$GC,7030,-1.28,-146.0,620.5,-8.2,290,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3772,0,0,0,0,0,0
$GC,7274,-1.28,-146.0,640.4,-8.2,296,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2196,3770,0,0,0,0,0,0
$GC,7520,-1.28,-146.0,660.5,-8.1,302,7525,0.00,2.92,0.00,0.000,4,0.000,0.110,2979,3781,3769,0,0,0,0,0,0
$GC,7614,-1.28,-146.0,668.7,-8.2,304,7619,0.00,2.83,0.00,0.000,6,0.000,0.089,2979,2205,3769,0,0,0,0,0,0
$GC,7889,-1.28,-146.0,689.9,-7.9,311,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2205,3768,0,0,0,0,0,0
$GC,8130,-1.28,-146.0,709.2,-7.9,317,8135,0.00,3.00,0.00,0.000,4,0.000,0.120,2979,3782,3767,0,0,0,0,0,0
$GC,8154,-1.28,-146.0,711.1,-8.2,317,8159,0.00,3.00,0.00,0.000,6,0.000,0.111,2980,2202,3767,0,0,0,0,0,0
$GC,8409,-1.28,-146.0,731.3,-7.9,324,8414,0.00,3.10,0.00,0.000,4,0.000,0.133,2979,3786,3766,0,0,0,0,0,0
$GC,8439,-1.28,-146.0,733.6,-8.5,324,8444,0.00,2.88,0.00,0.000,6,0.000,0.092,2979,2198,3766,0,0,0,0,0,0
$GC,8689,-1.28,-146.0,753.3,-7.7,330,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2197,3765,0,0,0,0,0,0
$GC,8933,-1.28,-146.0,771.1,-7.3,336,8937,0.00,2.85,0.00,0.000,4,0.000,0.092,2979,3782,3764,0,0,0,0,0,0
$GC,8956,-1.28,-146.0,772.8,-7.2,336,8961,0.00,2.78,0.00,0.000,6,0.000,0.079,2979,2206,3764,0,0,0,0,0,0
$GC,9211,-1.28,-146.0,792.2,-7.6,343,9216,0.00,3.10,0.00,0.000,4,0.000,0.131,2979,619,3762,0,0,0,0,0,0
$GC,9233,-1.28,-146.0,794.1,-8.3,343,9237,0.00,2.72,0.00,0.000,6,0.000,0.064,2979,2193,3762,0,0,0,0,0,0
$GC,9490,-1.28,-146.0,813.2,-7.3,350,9495,0.00,2.92,0.00,0.000,4,0.000,0.104,2979,3803,3762,0,0,0,0,0,0
$GC,9523,-1.32,-146.0,815.8,-7.7,350,9529,0.00,2.80,0.00,0.000,6,0.000,0.073,2979,2201,3762,0,0,0,0,0,0
$GC,9773,-1.32,-146.0,833.4,-7.0,357,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2199,3761,0,0,0,0,0,0
$GC,10019,-1.32,-146.0,851.0,-7.2,363,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2199,3761,0,0,0,0,0,0
$GC,10261,-1.36,-146.0,868.7,-7.4,369,10266,0.00,2.80,0.00,0.000,4,0.000,0.077,2979,3798,3760,0,0,0,0,0,0
$GC,10323,-1.41,-146.0,873.6,-8.2,370,10328,0.12,2.78,0.00,0.000,6,0.067,0.071,2933,2201,3759,0,0,0,0,0,0
$GC,10587,-1.36,-146.0,897.6,-9.3,377,10593,0.12,2.85,0.00,0.000,4,0.103,0.081,2961,3805,3758,0,0,0,0,0,0
$STATE,10612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10612,begin apogee
$GC,10621,-0.31,0.0,900.3,8.7,377,10745,0.98,0.00,120.40,1.204,6,0.067,0.000,3189,2361,3190,0,0,0,0,0,0
$STATE,10745,end apogee,CONTROL_FINISHED_OK
$STATE,10746,begin climb
$GC,10750,1.27,146.0,902.8,0.0,380,10886,1.42,2.88,127.10,1.177,4,0.035,0.074,3543,3938,2594,0,0,0,0,0,0
$GC,10991,1.16,146.0,886.8,11.6,385,10996,0.15,2.72,0.00,0.000,6,0.114,0.054,3514,2366,2588,0,0,0,0,0,0
$GC,11247,1.15,173.8,863.7,8.7,392,11277,0.00,2.80,25.05,1.106,4,0.000,0.063,3514,3940,2480,0,0,0,0,0,0
$GC,11337,1.11,173.8,854.7,11.7,394,11342,0.00,2.65,0.00,0.000,6,0.000,0.048,3513,2376,2478,0,0,0,0,0,0
$GC,11615,1.11,173.8,826.0,10.1,401,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2376,2475,0,0,0,0,0,0
$GC,11859,1.12,178.2,802.0,9.8,407,11868,0.00,2.72,4.38,0.738,4,0.000,0.057,3513,3944,2463,0,0,0,0,0,0
$GC,11881,1.13,191.6,799.8,9.4,407,11901,0.00,2.65,14.40,1.040,6,0.000,0.044,3514,2380,2408,0,0,0,0,0,0
$GC,12179,1.13,191.6,769.2,10.4,415,12184,0.00,2.67,0.00,0.000,4,0.000,0.055,3514,3941,2404,0,0,0,0,0,0
$GC,12207,1.13,191.6,766.1,11.1,415,12211,0.00,2.65,0.00,0.000,6,0.000,0.048,3513,2376,2403,0,0,0,0,0,0
$GC,12459,1.13,191.6,740.0,10.4,421,12463,0.00,2.67,0.00,0.000,4,0.000,0.061,3514,3946,2403,0,0,0,0,0,0
$GC,12498,1.13,191.6,735.3,11.7,422,12502,0.00,2.62,0.00,0.000,6,0.000,0.043,3514,2389,2402,0,0,0,0,0,0
$GC,12781,1.13,191.6,704.9,10.6,429,12785,0.00,2.67,0.00,0.000,4,0.000,0.061,3514,3948,2402,0,0,0,0,0,0
$GC,12826,1.13,191.6,699.8,11.6,430,12831,0.00,2.60,0.00,0.000,6,0.000,0.047,3514,2390,2401,0,0,0,0,0,0
$GC,13104,1.13,191.6,671.0,10.1,437,13108,0.00,2.65,0.00,0.000,4,0.000,0.061,3513,3940,2401,0,0,0,0,0,0
$GC,13124,1.13,191.6,668.6,10.3,437,13129,0.00,2.60,0.00,0.000,6,0.000,0.045,3514,2392,2400,0,0,0,0,0,0
$GC,13382,1.14,195.7,643.4,9.8,444,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2392,2400,0,0,0,0,0,0
$GC,13626,1.14,198.5,619.4,9.9,450,13640,0.00,2.72,6.68,0.828,4,0.000,0.059,3514,3940,2380,0,0,0,0,0,0
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$STATE,19547,end climb,SURFACE_DEPTH_REACHED
$STATE,19547,begin surface coast
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$STATE,19590,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,74
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$10V_AH,10.1,45.776
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355892
$DATA_FILE_SIZE,57169,733
$CAP_FILE_SIZE,176129,0
$CFSIZE,260165632,102682624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040413,220500,1924.686,-8111.497,39,1.6,39,-3.8