version: 66.06
glider: 146
mission: 8
dive: 378
start: 4 7 113 4 29 55
data:
$ID,146
$MISSION,8
$DIVE,378
$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,-314924.44
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,042135,1927.414,-8116.459,24,1.3,24,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.1
$GPS2,042900,1927.389,-8116.479,12,1.4,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.119
$KALMAN_X,-238721.7,29.2,231.6,222608.6,-2488.9
$KALMAN_Y,139741.6,-13.6,130.1,-132778.1,1533.7
$MHEAD_RNG_PITCHd_Wd,120.9,15748,-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,-70.62,0.000,2,0.000,0.000,461,2203,3447,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.2,-3.6,9,123,13.52,2.58,-6.43,0.000,4,0.154,0.050,2977,626,3785,0,0,0,0,0,0
$GC,238,-1.13,-146.0,34.6,-15.9,27,243,0.15,2.50,0.00,0.000,6,0.110,0.017,3010,2244,3786,0,0,0,0,0,0
$GC,509,-1.01,-146.0,72.7,-14.0,51,514,0.12,2.65,0.00,0.000,4,0.110,0.044,3038,633,3787,0,0,0,0,0,0
$GC,532,-0.90,-146.0,76.6,-13.4,52,537,0.12,2.42,0.00,0.000,6,0.107,0.015,3065,2214,3787,0,0,0,0,0,0
$GC,797,-0.90,-146.0,104.9,-10.4,76,805,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2214,3788,0,0,0,0,0,0
$GC,1062,-0.97,-146.0,130.4,-8.0,101,1067,0.00,2.58,0.00,0.000,4,0.000,0.044,3066,633,3788,0,0,0,0,0,0
$GC,1104,-1.08,-146.0,134.0,-8.5,104,1109,0.17,2.38,0.00,0.000,6,0.051,0.015,2996,2194,3789,0,0,0,0,0,0
$GC,1365,-1.08,-146.0,159.5,-9.2,128,1370,0.12,2.50,0.00,0.000,4,0.096,0.033,3025,3768,3789,0,0,0,0,0,0
$GC,1382,-1.08,-146.0,161.0,-8.9,129,1386,0.00,2.45,0.00,0.000,6,0.000,0.019,3025,2186,3789,0,0,0,0,0,0
$GC,1648,-1.14,-146.0,180.9,-7.2,153,1652,0.00,2.50,0.00,0.000,4,0.000,0.046,3025,646,3789,0,0,0,0,0,0
$GC,1673,-1.19,-146.0,183.1,-7.2,154,1680,0.10,2.40,0.00,0.000,6,0.077,0.025,2973,2207,3789,0,0,0,0,0,0
$GC,1957,-1.15,-146.0,207.4,-8.9,175,1962,0.15,2.58,0.00,0.000,4,0.089,0.045,3009,645,3789,0,0,0,0,0,0
$GC,1978,-1.15,-146.0,209.9,-9.4,175,1983,0.00,2.40,0.00,0.000,6,0.000,0.023,3009,2201,3790,0,0,0,0,0,0
$GC,2237,-1.19,-146.0,230.7,-8.2,182,2241,0.00,2.55,0.00,0.000,4,0.000,0.047,3009,642,3789,0,0,0,0,0,0
$GC,2253,-1.23,-146.0,232.2,-7.9,182,2257,0.00,2.40,0.00,0.000,6,0.000,0.022,3008,2198,3789,0,0,0,0,0,0
$GC,2514,-1.28,-146.0,251.3,-7.3,189,2519,0.12,2.53,0.00,0.000,4,0.067,0.038,2953,3770,3789,0,0,0,0,0,0
$GC,2546,-1.23,-146.0,253.9,-9.7,189,2551,0.17,2.42,0.00,0.000,6,0.081,0.021,2994,2206,3789,0,0,0,0,0,0
$GC,2796,-1.23,-146.0,274.2,-7.8,195,2801,0.00,2.58,0.00,0.000,4,0.000,0.059,2994,639,3789,0,0,0,0,0,0
$GC,2823,-1.23,-146.0,276.4,-8.5,195,2828,0.00,2.38,0.00,0.000,6,0.000,0.028,2994,2188,3789,0,0,0,0,0,0
$GC,3076,-1.23,-146.0,296.1,-7.8,201,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2188,3788,0,0,0,0,0,0
$GC,3317,-1.23,-146.0,314.8,-7.5,207,3322,0.00,2.60,0.00,0.000,4,0.000,0.058,2994,637,3787,0,0,0,0,0,0
$GC,3339,-1.23,-146.0,316.5,-7.7,207,3344,0.00,2.42,0.00,0.000,6,0.000,0.028,2994,2190,3787,0,0,0,0,0,0
$GC,3597,-1.23,-146.0,334.5,-7.0,214,3602,0.00,2.58,0.00,0.000,4,0.000,0.048,2994,3779,3786,0,0,0,0,0,0
$GC,3620,-1.23,-146.0,336.4,-7.2,214,3624,0.00,2.50,0.00,0.000,6,0.000,0.022,2994,2199,3786,0,0,0,0,0,0
$GC,3875,-1.23,-146.0,354.2,-7.1,221,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3785,0,0,0,0,0,0
$GC,4121,-1.23,-146.0,373.0,-7.9,227,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3785,0,0,0,0,0,0
$GC,4363,-1.27,-146.0,392.1,-7.7,233,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3784,0,0,0,0,0,0
$GC,4606,-1.31,-146.0,411.8,-8.1,239,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3783,0,0,0,0,0,0
$GC,4850,-1.35,-146.0,431.4,-8.0,245,4855,0.12,2.75,0.00,0.000,4,0.067,0.084,2943,634,3782,0,0,0,0,0,0
$GC,4880,-1.30,-146.0,434.0,-10.2,245,4885,0.15,2.50,0.00,0.000,6,0.093,0.041,2977,2175,3783,0,0,0,0,0,0
$GC,5130,-1.30,-146.0,456.0,-8.7,251,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2175,3781,0,0,0,0,0,0
$GC,5374,-1.30,-146.0,476.5,-8.4,257,5378,0.00,2.75,0.00,0.000,4,0.000,0.064,2977,3792,3780,0,0,0,0,0,0
$GC,5397,-1.30,-146.0,478.5,-8.8,257,5402,0.00,2.62,0.00,0.000,6,0.000,0.048,2977,2200,3779,0,0,0,0,0,0
$GC,5653,-1.30,-146.0,499.5,-8.2,264,5657,0.00,2.92,0.00,0.000,4,0.000,0.107,2977,618,3778,0,0,0,0,0,0
$GC,5680,-1.30,-146.0,501.9,-8.4,264,5684,0.00,2.58,0.00,0.000,6,0.000,0.041,2977,2181,3778,0,0,0,0,0,0
$GC,5932,-1.30,-146.0,522.6,-8.3,270,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2182,3777,0,0,0,0,0,0
$GC,6173,-1.30,-146.0,542.9,-8.4,276,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2182,3776,0,0,0,0,0,0
$GC,6417,-1.30,-146.0,562.9,-8.2,282,6422,0.00,2.83,0.00,0.000,4,0.000,0.081,2977,3794,3775,0,0,0,0,0,0
$GC,6435,-1.30,-146.0,564.3,-8.2,282,6440,0.00,2.72,0.00,0.000,6,0.000,0.055,2977,2187,3775,0,0,0,0,0,0
$GC,6696,-1.30,-146.0,586.7,-8.5,289,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2187,3773,0,0,0,0,0,0
$GC,6940,-1.30,-146.0,607.2,-8.4,295,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2187,3772,0,0,0,0,0,0
$GC,7184,-1.30,-146.0,626.5,-7.8,301,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2187,3771,0,0,0,0,0,0
$GC,7430,-1.30,-146.0,645.1,-7.6,307,7435,0.00,2.90,0.00,0.000,4,0.000,0.094,2977,3791,3770,0,0,0,0,0,0
$GC,7443,-1.30,-146.0,646.4,-7.5,307,7448,0.00,2.83,0.00,0.000,6,0.000,0.079,2977,2188,3770,0,0,0,0,0,0
$GC,7709,-1.30,-146.0,667.3,-8.0,314,7714,0.00,2.90,0.00,0.000,4,0.000,0.097,2977,3792,3769,0,0,0,0,0,0
$GC,7728,-1.30,-146.0,668.7,-7.8,314,7732,0.00,2.85,0.00,0.000,6,0.000,0.087,2977,2189,3769,0,0,0,0,0,0
$GC,7988,-1.30,-146.0,688.8,-7.6,321,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2190,3768,0,0,0,0,0,0
$GC,8232,-1.30,-146.0,706.7,-7.3,327,8237,0.00,3.00,0.00,0.000,4,0.000,0.116,2977,3790,3767,0,0,0,0,0,0
$GC,8274,-1.34,-146.0,709.7,-7.7,328,8279,0.00,2.88,0.00,0.000,6,0.000,0.096,2977,2206,3766,0,0,0,0,0,0
$GC,8558,-1.34,-146.0,730.2,-7.1,335,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3765,0,0,0,0,0,0
$GC,8801,-1.34,-146.0,748.0,-7.3,341,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2203,3764,0,0,0,0,0,0
$GC,9045,-1.34,-146.0,766.5,-7.6,347,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3763,0,0,0,0,0,0
$GC,9291,-1.34,-146.0,786.3,-8.1,353,9296,0.00,2.83,0.00,0.000,4,0.000,0.088,2977,3792,3762,0,0,0,0,0,0
$GC,9331,-1.38,-146.0,789.8,-8.6,354,9336,0.00,2.78,0.00,0.000,6,0.000,0.071,2977,2203,3762,0,0,0,0,0,0
$GC,9616,-1.38,-146.0,812.8,-8.0,361,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2202,3761,0,0,0,0,0,0
$GC,9858,-1.38,-146.0,831.9,-7.8,367,9862,0.00,2.83,0.00,0.000,4,0.000,0.083,2977,3800,3760,0,0,0,0,0,0
$GC,9892,-1.42,-146.0,834.9,-9.3,367,9901,0.08,2.75,0.00,0.000,6,0.041,0.069,2936,2209,3760,0,0,0,0,0,0
$GC,10145,-1.37,-146.0,858.1,-9.3,374,10147,0.12,0.00,0.00,0.000,6,0.103,0.000,2963,2209,3759,0,0,0,0,0,0
$GC,10386,-1.37,-146.0,878.0,-7.9,380,10391,0.00,2.80,0.00,0.000,4,0.000,0.082,2963,3793,3759,0,0,0,0,0,0
$GC,10420,-1.37,-146.0,880.7,-9.4,380,10426,0.00,2.75,0.00,0.000,6,0.000,0.067,2963,2212,3759,0,0,0,0,0,0
$GC,10670,-1.37,-146.0,899.5,-7.5,387,10675,0.00,2.80,0.00,0.000,4,0.000,0.078,2963,3795,3758,0,0,0,0,0,0
$STATE,10678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10678,begin apogee
$GC,10689,-0.31,0.0,900.3,7.5,387,10813,0.98,0.00,120.53,1.206,6,0.068,0.000,3190,2365,3190,0,0,0,0,0,0
$STATE,10814,end apogee,CONTROL_FINISHED_OK
$STATE,10814,begin climb
$GC,10817,1.27,146.0,903.3,0.0,390,10953,1.42,2.78,127.40,1.178,4,0.035,0.071,3542,3932,2593,0,0,0,0,0,0
$GC,11051,1.15,146.0,887.1,11.2,395,11056,0.15,2.72,0.00,0.000,6,0.115,0.056,3513,2368,2587,0,0,0,0,0,0
$GC,11314,1.17,166.7,862.5,9.0,402,11339,0.00,2.83,18.67,1.082,4,0.000,0.067,3512,3949,2510,0,0,0,0,0,0
$GC,11368,1.12,166.7,856.8,11.4,403,11372,0.00,2.70,0.00,0.000,6,0.000,0.051,3512,2378,2508,0,0,0,0,0,0
$GC,11642,1.13,175.5,830.5,9.6,410,11653,0.00,0.00,8.98,0.975,6,0.000,0.000,3512,2378,2474,0,0,0,0,0,0
$GC,11883,1.14,186.1,807.8,9.5,416,11896,0.00,0.00,11.10,1.012,6,0.000,0.000,3512,2378,2431,0,0,0,0,0,0
$GC,12127,1.14,186.1,783.4,10.1,422,12131,0.00,2.67,0.00,0.000,4,0.000,0.060,3512,3938,2428,0,0,0,0,0,0
$GC,12166,1.15,190.7,779.4,9.8,423,12176,0.00,2.65,5.57,0.835,6,0.000,0.044,3512,2376,2412,0,0,0,0,0,0
$GC,12452,1.15,194.3,751.4,9.8,430,12462,0.00,2.70,4.93,0.782,4,0.000,0.058,3513,3937,2397,0,0,0,0,0,0
$GC,12525,1.15,194.3,743.0,11.6,431,12529,0.00,2.62,0.00,0.000,6,0.000,0.049,3512,2392,2397,0,0,0,0,0,0
$GC,12777,1.15,194.3,716.4,10.6,437,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2392,2395,0,0,0,0,0,0
$GC,13018,1.15,194.3,691.4,10.1,443,13022,0.00,2.65,0.00,0.000,4,0.000,0.058,3512,3945,2395,0,0,0,0,0,0
$GC,13078,1.15,194.3,684.7,10.4,444,13083,0.00,2.62,0.00,0.000,6,0.000,0.048,3512,2392,2394,0,0,0,0,0,0
$GC,13347,1.16,202.1,659.4,9.6,451,13361,0.00,2.72,8.25,0.901,4,0.000,0.057,3512,3939,2366,0,0,0,0,0,0
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$STATE,19645,end climb,SURFACE_DEPTH_REACHED
$STATE,19645,begin surface coast
$FINISH,1.0,1.010821
$STATE,19698,end surface coast,CONTROL_FINISHED_OK
$STATE,19698,begin surface
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$TCM_TEMP,23.90
$XPDR_PINGS,79
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$10V_AH,10.1,47.250
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.600,215.650,391.950,45.225,0.000,29.923,35.589,206.215,19.750,0.000,13.956,1564.085,14964.088,556.878,2326.130,789.628,33.376,1565.597,0.000,2323.312,0.000,0.536,0.000
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$MEM,355928
$DATA_FILE_SIZE,57356,741
$CAP_FILE_SIZE,175164,0
$CFSIZE,260165632,101822464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070413,100036,1927.380,-8114.652,31,1.4,31,-3.8