version: 66.06
glider: 146
mission: 8
dive: 419
start: 4 16 113 11 34 37
data:
$ID,146
$MISSION,8
$DIVE,419
$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,-315709.88
$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,61
$R_STBD_OVSHOOT,40
$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
$GPS1,112505,1927.667,-8113.542,34,0.9,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-75.4
$GPS2,113343,1927.662,-8113.627,9,1.4,9,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.076
$KALMAN_X,-214546.0,303.8,676.2,202685.1,-843.1
$KALMAN_Y,145146.3,233.9,524.5,-138320.4,-778.4
$MHEAD_RNG_PITCHd_Wd,110.9,11443,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-70.28,0.000,2,0.000,0.000,462,2166,3504,0,0,0,0,0,0
$GC,99,-1.27,-146.0,4.1,-6.1,9,125,13.65,0.00,-4.93,0.000,6,0.158,0.000,2978,2166,3786,0,0,0,0,0,0
$GC,397,-1.07,-146.0,65.1,-15.9,41,402,0.22,2.60,0.00,0.000,4,0.101,0.031,3025,3792,3788,0,0,0,0,0,0
$GC,420,-0.90,-146.0,68.9,-16.5,42,425,0.17,2.45,0.00,0.000,6,0.088,0.020,3067,2229,3788,0,0,0,0,0,0
$GC,683,-0.90,-146.0,97.9,-10.5,66,687,0.00,2.60,0.00,0.000,4,0.000,0.044,3067,638,3788,0,0,0,0,0,0
$GC,742,-0.90,-146.0,104.6,-11.2,70,752,0.00,2.45,0.00,0.000,6,0.000,0.016,3067,2216,3789,0,0,0,0,0,0
$GC,1009,-0.90,-146.0,129.5,-9.8,95,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2216,3789,0,0,0,0,0,0
$GC,1274,-0.99,-146.0,151.2,-7.3,120,1278,0.00,2.58,0.00,0.000,4,0.000,0.043,3067,635,3789,0,0,0,0,0,0
$GC,1308,-1.10,-146.0,153.8,-6.6,122,1314,0.20,2.42,0.00,0.000,6,0.045,0.018,2989,2217,3790,0,0,0,0,0,0
$GC,1573,-1.10,-146.0,179.1,-8.4,147,1578,0.12,2.47,0.00,0.000,4,0.094,0.040,3020,3769,3790,0,0,0,0,0,0
$GC,1595,-1.10,-146.0,180.9,-8.1,148,1600,0.00,2.42,0.00,0.000,6,0.000,0.027,3020,2193,3790,0,0,0,0,0,0
$GC,1865,-1.15,-146.0,200.7,-7.7,172,1869,0.00,2.50,0.00,0.000,4,0.000,0.036,3020,3769,3790,0,0,0,0,0,0
$GC,1887,-1.20,-146.0,203.2,-7.7,172,1892,0.10,2.42,0.00,0.000,6,0.076,0.026,2967,2210,3790,0,0,0,0,0,0
$GC,2143,-1.16,-146.0,226.2,-9.1,179,2145,0.17,0.00,0.00,0.000,6,0.084,0.000,3008,2210,3790,0,0,0,0,0,0
$GC,2389,-1.20,-146.0,244.0,-7.2,185,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2210,3790,0,0,0,0,0,0
$GC,2631,-1.25,-146.0,262.5,-7.8,191,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2210,3790,0,0,0,0,0,0
$GC,2874,-1.29,-146.0,280.6,-7.4,197,2876,0.12,0.00,0.00,0.000,6,0.066,0.000,2952,2210,3789,0,0,0,0,0,0
$GC,3120,-1.23,-146.0,304.4,-9.9,203,3122,0.17,0.00,0.00,0.000,6,0.084,0.000,2993,2210,3788,0,0,0,0,0,0
$GC,3361,-1.23,-146.0,324.5,-8.1,209,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2210,3788,0,0,0,0,0,0
$GC,3605,-1.23,-146.0,343.6,-7.8,215,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2210,3787,0,0,0,0,0,0
$GC,3849,-1.23,-146.0,362.1,-7.6,221,3853,0.00,2.67,0.00,0.000,4,0.000,0.067,2993,641,3785,0,0,0,0,0,0
$GC,3873,-1.23,-146.0,363.7,-7.6,221,3877,0.00,2.47,0.00,0.000,6,0.000,0.030,2993,2201,3785,0,0,0,0,0,0
$GC,4128,-1.23,-146.0,382.2,-7.2,228,4132,0.00,2.60,0.00,0.000,4,0.000,0.051,2993,3794,3784,0,0,0,0,0,0
$GC,4149,-1.23,-146.0,383.9,-7.3,228,4153,0.00,2.47,0.00,0.000,6,0.000,0.028,2993,2233,3785,0,0,0,0,0,0
$GC,4406,-1.23,-146.0,403.0,-7.6,235,4411,0.00,2.75,0.00,0.000,4,0.000,0.079,2993,631,3783,0,0,0,0,0,0
$GC,4422,-1.23,-146.0,404.4,-7.4,235,4426,0.00,2.53,0.00,0.000,6,0.000,0.031,2993,2211,3783,0,0,0,0,0,0
$GC,4683,-1.23,-146.0,424.5,-7.8,242,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2211,3782,0,0,0,0,0,0
$GC,4929,-1.26,-146.0,443.1,-7.6,248,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2211,3782,0,0,0,0,0,0
$GC,5170,-1.26,-146.0,460.7,-7.2,254,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2211,3780,0,0,0,0,0,0
$GC,5414,-1.30,-146.0,478.4,-7.3,260,5419,0.00,2.65,0.00,0.000,4,0.000,0.067,2993,3783,3779,0,0,0,0,0,0
$GC,5431,-1.34,-146.0,479.7,-7.6,260,5436,0.12,2.58,0.00,0.000,6,0.065,0.041,2941,2221,3779,0,0,0,0,0,0
$GC,5695,-1.28,-146.0,504.1,-9.3,267,5697,0.17,0.00,0.00,0.000,6,0.088,0.000,2981,2221,3778,0,0,0,0,0,0
$GC,5936,-1.28,-146.0,522.4,-7.4,273,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2221,3777,0,0,0,0,0,0
$GC,6180,-1.28,-146.0,540.4,-7.4,279,6184,0.00,2.70,0.00,0.000,4,0.000,0.071,2981,3782,3776,0,0,0,0,0,0
$GC,6198,-1.28,-146.0,541.7,-7.5,279,6202,0.00,2.62,0.00,0.000,6,0.000,0.051,2981,2215,3776,0,0,0,0,0,0
$GC,6459,-1.28,-146.0,562.1,-7.9,286,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2216,3775,0,0,0,0,0,0
$GC,6702,-1.28,-146.0,581.4,-8.0,292,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2216,3773,0,0,0,0,0,0
$GC,6948,-1.28,-146.0,601.2,-8.2,298,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2215,3772,0,0,0,0,0,0
$GC,7190,-1.28,-146.0,619.6,-7.4,304,7194,0.00,2.78,0.00,0.000,4,0.000,0.091,2981,3781,3770,0,0,0,0,0,0
$GC,7211,-1.28,-146.0,621.4,-8.3,304,7215,0.00,2.72,0.00,0.000,6,0.000,0.071,2981,2214,3770,0,0,0,0,0,0
$GC,7466,-1.28,-146.0,641.3,-7.7,311,7471,0.00,2.80,0.00,0.000,4,0.000,0.091,2981,3790,3769,0,0,0,0,0,0
$GC,7495,-1.28,-146.0,643.4,-7.5,311,7500,0.00,2.75,0.00,0.000,6,0.000,0.076,2981,2222,3769,0,0,0,0,0,0
$GC,7746,-1.28,-146.0,661.5,-7.2,317,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2222,3768,0,0,0,0,0,0
$GC,7992,-1.28,-146.0,679.6,-7.4,323,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2223,3767,0,0,0,0,0,0
$GC,8235,-1.28,-146.0,698.6,-7.9,329,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2222,3766,0,0,0,0,0,0
$GC,8477,-1.28,-146.0,717.3,-7.5,335,8481,0.00,3.00,0.00,0.000,4,0.000,0.128,2981,3778,3764,0,0,0,0,0,0
$GC,8504,-1.28,-146.0,719.4,-8.1,335,8508,0.00,2.78,0.00,0.000,6,0.000,0.085,2981,2227,3764,0,0,0,0,0,0
$GC,8756,-1.28,-146.0,737.9,-7.4,341,8761,0.00,2.83,0.00,0.000,4,0.000,0.096,2981,3787,3763,0,0,0,0,0,0
$GC,8772,-1.28,-146.0,739.4,-7.4,341,8777,0.00,2.72,0.00,0.000,6,0.000,0.077,2981,2222,3764,0,0,0,0,0,0
$GC,9034,-1.28,-146.0,758.1,-7.2,348,9038,0.00,2.80,0.00,0.000,4,0.000,0.093,2981,3789,3762,0,0,0,0,0,0
$GC,9060,-1.28,-146.0,760.3,-7.8,348,9065,0.00,2.70,0.00,0.000,6,0.000,0.074,2981,2233,3762,0,0,0,0,0,0
$GC,9313,-1.28,-146.0,778.1,-7.1,354,9318,0.00,2.78,0.00,0.000,4,0.000,0.089,2981,3782,3761,0,0,0,0,0,0
$GC,9334,-1.28,-146.0,779.8,-7.4,354,9339,0.00,2.67,0.00,0.000,6,0.000,0.074,2981,2241,3761,0,0,0,0,0,0
$GC,9590,-1.28,-146.0,797.7,-7.0,361,9595,0.00,2.72,0.00,0.000,4,0.000,0.084,2981,3782,3760,0,0,0,0,0,0
$GC,9625,-1.32,-146.0,800.3,-7.8,361,9631,0.00,2.67,0.00,0.000,6,0.000,0.067,2981,2252,3760,0,0,0,0,0,0
$GC,9876,-1.36,-146.0,818.6,-7.1,368,9881,0.00,3.12,0.00,0.000,4,0.000,0.123,2981,623,3759,0,0,0,0,0,0
$GC,9909,-1.40,-146.0,821.0,-7.3,368,9916,0.12,2.80,0.00,0.000,6,0.068,0.069,2934,2235,3758,0,0,0,0,0,0
$GC,10162,-1.34,-146.0,842.8,-8.7,375,10167,0.15,2.83,0.00,0.000,4,0.097,0.094,2965,3798,3758,0,0,0,0,0,0
$GC,10178,-1.34,-146.0,844.6,-8.7,375,10183,0.00,2.67,0.00,0.000,6,0.000,0.067,2966,2244,3757,0,0,0,0,0,0
$GC,10442,-1.34,-146.0,864.5,-7.7,382,10446,0.00,2.75,0.00,0.000,4,0.000,0.082,2966,3800,3757,0,0,0,0,0,0
$GC,10485,-1.34,-146.0,868.3,-8.4,383,10490,0.00,2.65,0.00,0.000,6,0.000,0.064,2966,2254,3757,0,0,0,0,0,0
$GC,10763,-1.34,-146.0,889.5,-7.8,390,10768,0.00,3.08,0.00,0.000,4,0.000,0.116,2966,625,3755,0,0,0,0,0,0
$GC,10793,-1.34,-146.0,891.9,-9.0,390,10797,0.00,2.83,0.00,0.000,6,0.000,0.064,2966,2259,3755,0,0,0,0,0,0
$STATE,10918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10918,begin apogee
$GC,10924,-0.31,0.0,902.1,7.8,393,11049,0.98,0.00,120.85,1.215,6,0.070,0.000,3190,2384,3190,0,0,0,0,0,0
$STATE,11050,end apogee,CONTROL_FINISHED_OK
$STATE,11050,begin climb
$GC,11052,1.27,146.0,905.0,0.0,396,11189,1.42,2.80,128.65,1.181,4,0.035,0.088,3541,3934,2593,0,0,0,0,0,0
$GC,11258,1.15,146.0,892.7,11.6,400,11264,0.15,2.72,0.00,0.000,6,0.118,0.058,3512,2368,2588,0,0,0,0,0,0
$GC,11511,1.18,170.4,870.1,8.9,407,11540,0.00,3.12,21.83,1.100,4,0.000,0.109,3512,783,2495,0,0,0,0,0,0
$GC,11563,1.15,182.7,864.7,9.4,408,11583,0.00,2.70,12.90,1.038,6,0.000,0.055,3512,2363,2445,0,0,0,0,0,0
$GC,11841,1.15,182.7,836.2,10.4,415,11846,0.00,2.75,0.00,0.000,4,0.000,0.074,3512,3935,2440,0,0,0,0,0,0
$GC,11907,1.15,182.7,828.3,10.7,416,11911,0.00,2.70,0.00,0.000,6,0.000,0.046,3512,2351,2438,0,0,0,0,0,0
$GC,12163,1.15,185.4,802.5,9.9,423,12164,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2351,2438,0,0,0,0,0,0
$GC,12409,1.15,185.4,778.2,10.1,429,12413,0.00,2.72,0.00,0.000,4,0.000,0.057,3512,3945,2437,0,0,0,0,0,0
$GC,12435,1.15,185.4,775.0,10.6,429,12440,0.00,2.72,0.00,0.000,6,0.000,0.051,3512,2350,2437,0,0,0,0,0,0
$GC,12685,1.15,185.4,749.8,10.0,435,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2351,2436,0,0,0,0,0,0
$GC,12929,1.15,185.4,725.2,10.2,441,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2351,2435,0,0,0,0,0,0
$GC,13175,1.16,191.4,701.3,9.7,447,13190,0.00,2.80,7.80,0.917,4,0.000,0.062,3512,3936,2409,0,0,0,0,0,0
$GC,13219,1.16,191.4,696.4,10.3,448,13224,0.00,2.70,0.00,0.000,6,0.000,0.053,3512,2360,2408,0,0,0,0,0,0
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$STATE,19867,end climb,SURFACE_DEPTH_REACHED
$STATE,19867,begin surface coast
$FINISH,1.3,1.023231
$STATE,19916,end surface coast,CONTROL_FINISHED_OK
$STATE,19916,begin surface
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$10V_AH,10.0,52.536
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.900,229.900,393.300,44.625,0.000,22.365,32.889,291.250,28.000,0.000,11.388,1573.471,15122.670,567.077,2355.395,870.242,33.370,1601.733,0.000,2354.347,0.000,0.536,0.000
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$MEM,355996
$DATA_FILE_SIZE,57351,747
$CAP_FILE_SIZE,179480,0
$CFSIZE,260165632,98836480
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$GPS,160413,170905,1927.798,-8109.537,41,1.2,41,-3.8