version: 66.06
glider: 146
mission: 8
dive: 416
start: 4 15 113 18 55 19
data:
$ID,146
$MISSION,8
$DIVE,416
$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,-315651
$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,61
$R_STBD_OVSHOOT,46
$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
$GPS1,184305,1924.623,-8114.253,25,1.2,25,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.9
$GPS2,185425,1924.677,-8114.417,14,1.1,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,0.117
$KALMAN_X,-216724.4,-214.3,-373.2,205076.6,2172.7
$KALMAN_Y,144018.9,228.1,1.1,-142182.1,-723.0
$MHEAD_RNG_PITCHd_Wd,300.5,7594,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.27,-146.0,0.0,0.0,0,96,0.00,0.00,-70.38,0.000,2,0.000,0.000,465,2170,3486,0,0,0,0,0,0
$GC,99,-1.27,-146.0,3.7,-5.0,9,125,13.65,2.50,-5.70,0.000,4,0.159,0.054,2976,653,3786,0,0,0,0,0,0
$GC,304,-1.09,-146.0,46.0,-16.7,32,309,0.20,2.40,0.00,0.000,6,0.104,0.016,3019,2225,3786,0,0,0,0,0,0
$GC,569,-0.98,-146.0,83.6,-13.5,56,578,0.12,0.00,0.00,0.000,6,0.108,0.000,3047,2226,3787,0,0,0,0,0,0
$GC,837,-0.94,-146.0,115.6,-11.5,81,842,0.00,2.55,0.00,0.000,4,0.000,0.042,3047,662,3787,0,0,0,0,0,0
$GC,870,-0.94,-146.0,120.3,-11.9,83,876,0.00,2.38,0.00,0.000,6,0.000,0.023,3047,2202,3787,0,0,0,0,0,0
$GC,1136,-0.98,-146.0,145.9,-8.1,108,1141,0.00,2.50,0.00,0.000,4,0.000,0.039,3047,3783,3788,0,0,0,0,0,0
$GC,1158,-1.03,-146.0,147.7,-7.9,109,1162,0.00,2.42,0.00,0.000,6,0.000,0.020,3047,2227,3788,0,0,0,0,0,0
$GC,1427,-1.12,-146.0,167.0,-7.1,133,1433,0.12,0.00,0.00,0.000,6,0.066,0.000,2989,2227,3788,0,0,0,0,0,0
$GC,1689,-1.12,-146.0,188.6,-8.1,158,1695,0.12,2.60,0.00,0.000,4,0.096,0.047,3019,641,3788,0,0,0,0,0,0
$GC,1749,-1.17,-146.0,193.1,-7.7,162,1758,0.00,2.45,0.00,0.000,6,0.000,0.025,3019,2213,3788,0,0,0,0,0,0
$GC,2014,-1.22,-146.0,211.9,-7.1,176,2019,0.12,2.53,0.00,0.000,4,0.066,0.041,2962,3782,3788,0,0,0,0,0,0
$GC,2038,-1.22,-146.0,214.0,-8.6,176,2043,0.12,2.45,0.00,0.000,6,0.092,0.021,2994,2203,3788,0,0,0,0,0,0
$GC,2293,-1.22,-146.0,234.4,-7.8,183,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2203,3788,0,0,0,0,0,0
$GC,2537,-1.22,-146.0,252.0,-7.1,189,2541,0.00,2.55,0.00,0.000,4,0.000,0.037,2994,3776,3788,0,0,0,0,0,0
$GC,2558,-1.22,-146.0,253.8,-7.8,189,2563,0.00,2.45,0.00,0.000,6,0.000,0.020,2994,2200,3788,0,0,0,0,0,0
$GC,2816,-1.22,-146.0,272.8,-7.5,196,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3787,0,0,0,0,0,0
$GC,3058,-1.22,-146.0,290.7,-7.3,202,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3786,0,0,0,0,0,0
$GC,3301,-1.22,-146.0,309.4,-7.8,208,3306,0.00,2.58,0.00,0.000,4,0.000,0.038,2994,3780,3785,0,0,0,0,0,0
$GC,3337,-1.22,-146.0,312.2,-8.2,208,3342,0.00,2.47,0.00,0.000,6,0.000,0.028,2994,2218,3785,0,0,0,0,0,0
$GC,3587,-1.22,-146.0,332.2,-7.8,215,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2218,3784,0,0,0,0,0,0
$GC,3830,-1.22,-146.0,350.9,-7.7,221,3835,0.00,2.53,0.00,0.000,4,0.000,0.041,2994,3775,3783,0,0,0,0,0,0
$GC,3854,-1.22,-146.0,352.7,-8.1,221,3859,0.00,2.47,0.00,0.000,6,0.000,0.028,2994,2205,3783,0,0,0,0,0,0
$GC,4110,-1.22,-146.0,373.0,-7.8,228,4114,0.00,2.67,0.00,0.000,4,0.000,0.065,2994,631,3782,0,0,0,0,0,0
$GC,4171,-1.27,-146.0,377.8,-7.8,229,4176,0.00,2.50,0.00,0.000,6,0.000,0.028,2994,2195,3782,0,0,0,0,0,0
$GC,4434,-1.27,-146.0,397.1,-7.4,236,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2195,3781,0,0,0,0,0,0
$GC,4676,-1.27,-146.0,414.5,-7.1,242,4680,0.00,2.62,0.00,0.000,4,0.000,0.057,2994,3789,3780,0,0,0,0,0,0
$GC,4725,-1.33,-146.0,418.5,-7.8,243,4731,0.10,2.55,0.00,0.000,6,0.077,0.031,2944,2216,3780,0,0,0,0,0,0
$GC,5001,-1.28,-146.0,443.6,-9.3,250,5006,0.17,2.83,0.00,0.000,4,0.089,0.087,2985,627,3778,0,0,0,0,0,0
$GC,5024,-1.28,-146.0,445.9,-9.0,250,5029,0.00,2.58,0.00,0.000,6,0.000,0.038,2984,2211,3779,0,0,0,0,0,0
$GC,5280,-1.28,-146.0,465.5,-7.7,257,5284,0.00,2.65,0.00,0.000,4,0.000,0.062,2985,3793,3778,0,0,0,0,0,0
$GC,5326,-1.32,-146.0,469.2,-8.4,258,5331,0.00,2.58,0.00,0.000,6,0.000,0.038,2984,2228,3778,0,0,0,0,0,0
$GC,5605,-1.32,-146.0,491.2,-7.8,265,5609,0.00,2.90,0.00,0.000,4,0.000,0.095,2985,619,3776,0,0,0,0,0,0
$GC,5628,-1.32,-146.0,493.0,-7.8,265,5633,0.00,2.65,0.00,0.000,6,0.000,0.040,2985,2226,3776,0,0,0,0,0,0
$GC,5883,-1.32,-146.0,513.0,-7.8,272,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2226,3775,0,0,0,0,0,0
$GC,6127,-1.32,-146.0,531.1,-7.6,278,6132,0.00,2.70,0.00,0.000,4,0.000,0.073,2984,3798,3774,0,0,0,0,0,0
$GC,6150,-1.32,-146.0,532.8,-7.5,278,6154,0.00,2.62,0.00,0.000,6,0.000,0.044,2984,2225,3773,0,0,0,0,0,0
$GC,6408,-1.32,-146.0,552.1,-7.5,285,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2225,3772,0,0,0,0,0,0
$GC,6649,-1.32,-146.0,570.4,-7.5,291,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2225,3771,0,0,0,0,0,0
$GC,6892,-1.32,-146.0,590.4,-8.2,297,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2226,3769,0,0,0,0,0,0
$GC,7139,-1.32,-146.0,609.5,-7.9,303,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2225,3768,0,0,0,0,0,0
$GC,7380,-1.32,-146.0,628.6,-7.9,309,7385,0.00,2.83,0.00,0.000,4,0.000,0.093,2985,3797,3767,0,0,0,0,0,0
$GC,7407,-1.36,-146.0,631.1,-9.0,309,7412,0.00,2.72,0.00,0.000,6,0.000,0.069,2985,2227,3767,0,0,0,0,0,0
$GC,7660,-1.36,-146.0,650.6,-7.7,315,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2228,3766,0,0,0,0,0,0
$GC,7901,-1.36,-146.0,669.4,-7.7,321,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2227,3765,0,0,0,0,0,0
$GC,8146,-1.36,-146.0,687.8,-7.5,327,8151,0.00,2.90,0.00,0.000,4,0.000,0.110,2985,3797,3763,0,0,0,0,0,0
$GC,8180,-1.41,-146.0,690.4,-8.2,327,8186,0.12,2.85,0.00,0.000,6,0.067,0.095,2936,2234,3763,0,0,0,0,0,0
$GC,8433,-1.35,-146.0,712.0,-8.8,334,8434,0.15,0.00,0.00,0.000,6,0.097,0.000,2969,2234,3762,0,0,0,0,0,0
$GC,8673,-1.35,-146.0,731.7,-8.1,340,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2234,3761,0,0,0,0,0,0
$GC,8917,-1.35,-146.0,751.5,-8.0,346,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2234,3761,0,0,0,0,0,0
$GC,9163,-1.35,-146.0,771.2,-8.1,352,9168,0.00,3.25,0.00,0.000,4,0.000,0.163,2969,3786,3760,0,0,0,0,0,0
$GC,9196,-1.35,-146.0,774.2,-8.4,352,9202,0.00,2.75,0.00,0.000,6,0.000,0.083,2969,2239,3759,0,0,0,0,0,0
$GC,9446,-1.35,-146.0,792.7,-7.4,359,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2238,3759,0,0,0,0,0,0
$GC,9690,-1.35,-146.0,811.3,-7.6,365,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2237,3757,0,0,0,0,0,0
$GC,9936,-1.35,-146.0,830.8,-8.2,371,9941,0.00,2.78,0.00,0.000,4,0.000,0.084,2969,3795,3757,0,0,0,0,0,0
$GC,9953,-1.35,-146.0,832.6,-8.5,371,9957,0.00,2.70,0.00,0.000,6,0.000,0.071,2969,2240,3757,0,0,0,0,0,0
$GC,10213,-1.35,-146.0,853.9,-8.0,378,10218,0.00,2.75,0.00,0.000,4,0.000,0.082,2969,3792,3755,0,0,0,0,0,0
$GC,10243,-1.35,-146.0,856.2,-8.4,378,10247,0.00,2.67,0.00,0.000,6,0.000,0.071,2969,2245,3755,0,0,0,0,0,0
$GC,10493,-1.35,-146.0,876.2,-7.8,384,10497,0.00,2.72,0.00,0.000,4,0.000,0.081,2969,3793,3753,0,0,0,0,0,0
$GC,10542,-1.35,-146.0,880.5,-9.0,385,10547,0.00,2.65,0.00,0.000,6,0.000,0.070,2969,2266,3753,0,0,0,0,0,0
$STATE,10812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10813,begin apogee
$GC,10821,-0.31,0.0,900.9,7.4,392,10945,0.98,0.00,120.20,1.212,6,0.066,0.000,3194,2377,3190,0,0,0,0,0,0
$STATE,10946,end apogee,CONTROL_FINISHED_OK
$STATE,10946,begin climb
$GC,10948,1.27,146.0,904.1,0.0,395,11086,1.42,2.85,128.45,1.182,4,0.034,0.081,3545,3927,2593,0,0,0,0,0,0
$GC,11194,1.15,146.0,887.0,10.6,400,11199,0.17,2.72,0.00,0.000,6,0.116,0.063,3511,2369,2588,0,0,0,0,0,0
$GC,11447,1.15,176.8,864.7,8.6,406,11481,0.00,2.83,27.77,1.118,4,0.000,0.066,3511,3923,2468,0,0,0,0,0,0
$GC,11515,1.11,176.8,857.6,10.9,407,11520,0.00,2.67,0.00,0.000,6,0.000,0.051,3511,2381,2466,0,0,0,0,0,0
$GC,11773,1.12,180.5,832.6,9.8,414,11779,0.00,0.00,4.18,0.722,6,0.000,0.000,3511,2381,2454,0,0,0,0,0,0
$GC,12014,1.13,196.0,809.9,9.3,420,12032,0.00,0.00,15.93,1.065,6,0.000,0.000,3511,2381,2391,0,0,0,0,0,0
$GC,12258,1.14,199.2,786.1,9.9,426,12268,0.00,3.10,4.32,0.730,4,0.000,0.115,3511,781,2378,0,0,0,0,0,0
$GC,12286,1.14,199.2,783.3,10.3,426,12291,0.00,2.72,0.00,0.000,6,0.000,0.049,3511,2390,2377,0,0,0,0,0,0
$GC,12536,1.15,205.9,759.1,9.7,432,12546,0.00,0.00,8.02,0.940,6,0.000,0.000,3511,2391,2350,0,0,0,0,0,0
$GC,12780,1.15,205.9,733.3,10.7,438,12784,0.00,2.90,0.00,0.000,4,0.000,0.080,3510,779,2348,0,0,0,0,0,0
$GC,12801,1.15,205.9,730.6,12.6,438,12805,0.00,2.72,0.00,0.000,6,0.000,0.046,3511,2398,2347,0,0,0,0,0,0
$GC,13064,1.15,205.9,701.9,11.0,445,13068,0.00,2.67,0.00,0.000,4,0.000,0.074,3511,3938,2347,0,0,0,0,0,0
$GC,13079,1.15,205.9,699.8,11.2,445,13083,0.00,2.60,0.00,0.000,6,0.000,0.041,3511,2392,2347,0,0,0,0,0,0
$GC,13342,1.15,205.9,672.6,10.2,452,13347,0.00,3.08,0.00,0.000,4,0.000,0.119,3511,780,2346,0,0,0,0,0,0
$GC,13360,1.15,205.9,670.6,10.8,452,13365,0.00,2.67,0.00,0.000,6,0.000,0.041,3511,2393,2346,0,0,0,0,0,0
$GC,13620,1.15,205.9,643.3,10.3,459,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2394,2345,0,0,0,0,0,0
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$STATE,19640,end climb,SURFACE_DEPTH_REACHED
$STATE,19640,begin surface coast
$FINISH,1.0,1.010845
$STATE,19681,end surface coast,CONTROL_FINISHED_OK
$STATE,19681,begin surface
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$HUMID,63.03
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$XPDR_PINGS,103
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$10V_AH,10.1,52.145
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.725,192.175,423.300,17.900,0.000,28.348,43.819,422.454,25.750,0.000,15.579,1530.689,15029.944,555.740,2275.222,1000.107,33.372,1546.129,0.000,2271.015,0.000,0.535,0.000
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$MEM,355956
$DATA_FILE_SIZE,57280,744
$CAP_FILE_SIZE,170685,0
$CFSIZE,260165632,99065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160413,002523,1925.766,-8116.360,36,1.4,36,-3.7