version: 66.06
glider: 146
mission: 8
dive: 418
start: 4 16 113 5 42 20
data:
$ID,146
$MISSION,8
$DIVE,418
$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,-315697.88
$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,73
$R_STBD_OVSHOOT,20
$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
$GPS1,053236,1927.492,-8117.471,35,1.6,35,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.5
$GPS2,054125,1927.524,-8117.594,14,1.5,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.078
$KALMAN_X,-216283.1,216.4,121.7,198144.9,-189.3
$KALMAN_Y,144300.6,-38.9,43.9,-136973.2,-26.8
$MHEAD_RNG_PITCHd_Wd,111.1,17670,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-71.00,0.000,2,0.000,0.000,463,2164,3517,0,0,0,0,0,0
$GC,99,-1.27,-146.0,4.1,-5.8,9,125,13.57,2.45,-4.78,0.000,4,0.158,0.047,2976,673,3787,0,0,0,0,0,0
$GC,137,-0.11,-146.0,19.4,-38.7,13,147,1.12,2.45,0.00,0.000,6,0.074,0.016,3231,2244,3788,0,0,0,0,0,0
$GC,436,-0.68,-146.0,38.5,-8.0,50,441,0.47,2.45,0.00,0.000,4,0.049,0.032,3109,3782,3788,0,0,0,0,0,0
$GC,510,-0.80,-146.0,45.1,-8.8,55,514,0.00,2.38,0.00,0.000,6,0.000,0.018,3108,2260,3789,0,0,0,0,0,0
$GC,781,-0.88,-146.0,67.6,-7.6,79,786,0.17,2.65,0.00,0.000,4,0.051,0.044,3034,638,3789,0,0,0,0,0,0
$GC,843,-0.83,-146.0,75.5,-13.0,83,852,0.15,2.50,0.00,0.000,6,0.063,0.017,3075,2248,3789,0,0,0,0,0,0
$GC,1109,-0.83,-146.0,104.2,-11.0,108,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2247,3789,0,0,0,0,0,0
$GC,1375,-0.87,-146.0,130.6,-7.9,133,1379,0.00,2.60,0.00,0.000,4,0.000,0.041,3075,645,3790,0,0,0,0,0,0
$GC,1412,-0.95,-146.0,134.3,-9.5,135,1417,0.00,2.45,0.00,0.000,6,0.000,0.018,3075,2239,3790,0,0,0,0,0,0
$GC,1678,-1.05,-146.0,154.2,-6.9,160,1683,0.17,2.42,0.00,0.000,4,0.052,0.032,3005,3771,3790,0,0,0,0,0,0
$GC,1737,-1.05,-146.0,160.2,-10.0,164,1743,0.12,2.38,0.00,0.000,6,0.091,0.021,3036,2242,3791,0,0,0,0,0,0
$GC,2000,-1.11,-146.0,179.1,-6.8,189,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2242,3791,0,0,0,0,0,0
$GC,2258,-1.19,-146.0,195.8,-6.9,213,2267,0.15,0.00,0.00,0.000,6,0.058,0.000,2971,2242,3791,0,0,0,0,0,0
$GC,2510,-1.14,-146.0,219.1,-9.0,223,2515,0.17,2.62,0.00,0.000,4,0.081,0.048,3013,645,3791,0,0,0,0,0,0
$GC,2546,-1.18,-146.0,221.7,-7.2,223,2551,0.00,2.47,0.00,0.000,6,0.000,0.019,3013,2247,3791,0,0,0,0,0,0
$GC,2796,-1.23,-146.0,239.7,-7.2,230,2801,0.00,2.62,0.00,0.000,4,0.000,0.045,3013,641,3791,0,0,0,0,0,0
$GC,2818,-1.29,-146.0,241.6,-8.2,230,2823,0.15,2.50,0.00,0.000,6,0.056,0.023,2951,2253,3791,0,0,0,0,0,0
$GC,3074,-1.23,-146.0,266.6,-9.9,237,3076,0.17,0.00,0.00,0.000,6,0.087,0.000,2993,2253,3791,0,0,0,0,0,0
$GC,3317,-1.23,-146.0,286.3,-8.0,243,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2253,3790,0,0,0,0,0,0
$GC,3561,-1.23,-146.0,304.8,-7.5,249,3565,0.00,2.67,0.00,0.000,4,0.000,0.053,2993,644,3789,0,0,0,0,0,0
$GC,3590,-1.23,-146.0,307.0,-7.8,249,3595,0.00,2.50,0.00,0.000,6,0.000,0.031,2993,2241,3789,0,0,0,0,0,0
$GC,3840,-1.23,-146.0,326.3,-7.7,255,3845,0.00,2.67,0.00,0.000,4,0.000,0.058,2993,649,3788,0,0,0,0,0,0
$GC,3856,-1.23,-146.0,327.7,-7.8,255,3860,0.00,2.50,0.00,0.000,6,0.000,0.031,2992,2238,3788,0,0,0,0,0,0
$GC,4119,-1.23,-146.0,348.3,-7.9,262,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2238,3787,0,0,0,0,0,0
$GC,4360,-1.23,-146.0,367.6,-7.9,268,4365,0.00,2.53,0.00,0.000,4,0.000,0.044,2993,3792,3786,0,0,0,0,0,0
$GC,4382,-1.23,-146.0,369.4,-8.1,268,4387,0.00,2.45,0.00,0.000,6,0.000,0.028,2992,2246,3786,0,0,0,0,0,0
$GC,4638,-1.23,-146.0,388.1,-7.2,275,4642,0.00,2.75,0.00,0.000,4,0.000,0.073,2993,629,3785,0,0,0,0,0,0
$GC,4656,-1.23,-146.0,389.4,-7.2,275,4661,0.00,2.55,0.00,0.000,6,0.000,0.034,2993,2229,3784,0,0,0,0,0,0
$GC,4917,-1.23,-146.0,407.6,-6.9,282,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2229,3783,0,0,0,0,0,0
$GC,5160,-1.23,-146.0,424.8,-7.1,288,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2229,3783,0,0,0,0,0,0
$GC,5407,-1.26,-146.0,442.7,-7.4,294,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2229,3782,0,0,0,0,0,0
$GC,5648,-1.30,-146.0,460.3,-7.2,300,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2228,3781,0,0,0,0,0,0
$GC,5892,-1.34,-146.0,477.5,-7.1,306,5894,0.10,0.00,0.00,0.000,6,0.079,0.000,2949,2229,3780,0,0,0,0,0,0
$GC,6138,-1.29,-146.0,498.8,-9.0,312,6140,0.12,0.00,0.00,0.000,6,0.099,0.000,2977,2229,3778,0,0,0,0,0,0
$GC,6379,-1.29,-146.0,518.1,-7.9,318,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2229,3777,0,0,0,0,0,0
$GC,6623,-1.29,-146.0,536.9,-7.7,324,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2229,3776,0,0,0,0,0,0
$GC,6867,-1.29,-146.0,555.4,-7.6,330,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2229,3776,0,0,0,0,0,0
$GC,7113,-1.29,-146.0,574.1,-7.7,336,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2229,3774,0,0,0,0,0,0
$GC,7354,-1.29,-146.0,593.2,-7.8,342,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2229,3773,0,0,0,0,0,0
$GC,7598,-1.29,-146.0,612.7,-8.1,348,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2229,3772,0,0,0,0,0,0
$GC,7841,-1.29,-146.0,632.1,-8.0,354,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2229,3770,0,0,0,0,0,0
$GC,8088,-1.29,-146.0,651.7,-8.2,360,8092,0.00,2.88,0.00,0.000,4,0.000,0.113,2977,3777,3769,0,0,0,0,0,0
$GC,8120,-1.29,-146.0,654.8,-8.9,360,8126,0.00,2.72,0.00,0.000,6,0.000,0.087,2977,2253,3769,0,0,0,0,0,0
$GC,8370,-1.29,-146.0,675.6,-8.4,367,8375,0.00,3.17,0.00,0.000,4,0.000,0.133,2977,618,3768,0,0,0,0,0,0
$GC,8406,-1.29,-146.0,678.5,-8.8,367,8411,0.00,2.85,0.00,0.000,6,0.000,0.084,2977,2214,3767,0,0,0,0,0,0
$GC,8656,-1.29,-146.0,699.2,-8.1,374,8660,0.00,3.00,0.00,0.000,4,0.000,0.121,2977,3796,3766,0,0,0,0,0,0
$GC,8706,-1.34,-146.0,703.8,-9.1,375,8710,0.00,2.90,0.00,0.000,6,0.000,0.105,2977,2237,3766,0,0,0,0,0,0
$GC,8980,-1.34,-146.0,726.0,-8.2,382,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2237,3765,0,0,0,0,0,0
$GC,9221,-1.34,-146.0,745.0,-7.6,388,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2237,3763,0,0,0,0,0,0
$GC,9465,-1.34,-146.0,762.6,-7.2,394,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2237,3762,0,0,0,0,0,0
$GC,9709,-1.34,-146.0,781.3,-7.8,400,9714,0.00,3.17,0.00,0.000,4,0.000,0.149,2977,3807,3762,0,0,0,0,0,0
$GC,9733,-1.34,-146.0,783.1,-8.4,400,9738,0.00,2.75,0.00,0.000,6,0.000,0.077,2977,2241,3761,0,0,0,0,0,0
$GC,9988,-1.34,-146.0,801.8,-7.1,407,9993,0.00,2.78,0.00,0.000,4,0.000,0.087,2977,3801,3760,0,0,0,0,0,0
$GC,10009,-1.34,-146.0,803.5,-7.1,407,10014,0.00,2.70,0.00,0.000,6,0.000,0.071,2977,2245,3760,0,0,0,0,0,0
$GC,10267,-1.34,-146.0,822.6,-7.6,414,10272,0.00,3.08,0.00,0.000,4,0.000,0.116,2977,617,3759,0,0,0,0,0,0
$GC,10289,-1.34,-146.0,824.6,-7.9,414,10293,0.00,2.83,0.00,0.000,6,0.000,0.065,2977,2245,3759,0,0,0,0,0,0
$GC,10544,-1.34,-146.0,843.8,-7.4,421,10548,0.00,2.80,0.00,0.000,4,0.000,0.093,2977,3806,3758,0,0,0,0,0,0
$GC,10573,-1.34,-146.0,846.1,-8.2,421,10578,0.00,2.67,0.00,0.000,6,0.000,0.062,2977,2247,3757,0,0,0,0,0,0
$GC,10823,-1.34,-146.0,864.7,-7.3,427,10828,0.00,2.75,0.00,0.000,4,0.000,0.084,2977,3800,3757,0,0,0,0,0,0
$GC,10840,-1.34,-146.0,866.0,-7.6,427,10844,0.00,2.67,0.00,0.000,6,0.000,0.065,2977,2254,3756,0,0,0,0,0,0
$GC,11103,-1.38,-146.0,885.2,-7.3,434,11104,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2253,3755,0,0,0,0,0,0
$STATE,11342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11342,begin apogee
$GC,11348,-0.31,0.0,902.8,7.2,440,11472,0.93,0.00,121.07,1.216,6,0.064,0.000,3191,2391,3190,0,0,0,0,0,0
$STATE,11473,end apogee,CONTROL_FINISHED_OK
$STATE,11473,begin climb
$GC,11476,1.27,146.0,906.0,0.0,443,11613,1.42,2.75,128.48,1.183,4,0.034,0.077,3542,3934,2593,0,0,0,0,0,0
$GC,11669,1.15,146.0,894.9,10.8,447,11674,0.15,2.72,0.00,0.000,6,0.114,0.057,3512,2370,2588,0,0,0,0,0,0
$GC,11927,1.17,167.2,871.7,9.0,454,11948,0.00,0.00,19.33,1.102,6,0.000,0.000,3512,2369,2508,0,0,0,0,0,0
$GC,12168,1.18,172.7,848.4,9.7,460,12176,0.00,0.00,5.93,0.874,6,0.000,0.000,3512,2369,2486,0,0,0,0,0,0
$GC,12412,1.18,172.7,823.8,10.1,466,12416,0.00,2.70,0.00,0.000,4,0.000,0.062,3512,3935,2484,0,0,0,0,0,0
$GC,12453,1.14,172.7,819.5,11.0,467,12458,0.00,2.67,0.00,0.000,6,0.000,0.048,3512,2371,2483,0,0,0,0,0,0
$GC,12737,1.15,177.8,791.0,9.8,474,12750,0.00,3.15,5.93,0.874,4,0.000,0.128,3512,782,2465,0,0,0,0,0,0
$GC,12761,1.15,177.8,788.3,11.0,474,12766,0.00,2.70,0.00,0.000,6,0.000,0.047,3512,2379,2464,0,0,0,0,0,0
$GC,13019,1.16,186.5,763.5,9.6,481,13034,0.00,2.75,9.62,0.989,4,0.000,0.067,3512,3934,2429,0,0,0,0,0,0
$GC,13057,1.16,186.5,759.3,10.8,482,13062,0.00,2.65,0.00,0.000,6,0.000,0.048,3512,2375,2428,0,0,0,0,0,0
$GC,13343,1.17,198.3,732.4,9.5,489,13357,0.00,0.00,12.50,1.013,6,0.000,0.000,3512,2375,2381,0,0,0,0,0,0
$GC,13584,1.17,198.3,708.0,10.0,495,13589,0.00,3.10,0.00,0.000,4,0.000,0.122,3512,778,2378,0,0,0,0,0,0
$GC,13607,1.17,198.3,705.6,11.2,495,13611,0.00,2.70,0.00,0.000,6,0.000,0.044,3512,2380,2377,0,0,0,0,0,0
$GC,13864,1.18,204.1,680.8,9.7,502,13878,0.00,2.70,6.57,0.862,4,0.000,0.067,3512,3938,2357,0,0,0,0,0,0
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$STATE,20374,end climb,SURFACE_DEPTH_REACHED
$STATE,20374,begin surface coast
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$STATE,20423,end surface coast,CONTROL_FINISHED_OK
$STATE,20423,begin surface
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$10V_AH,10.0,52.407
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,60326,800
$CAP_FILE_SIZE,172929,0
$CFSIZE,260165632,98914304
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