version: 66.06
glider: 146
mission: 8
dive: 428
start: 4 18 113 13 2 24
data:
$ID,146
$MISSION,8
$DIVE,428
$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,-315868.28
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,125330,1925.886,-8115.895,41,1.4,41,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.3
$GPS2,130130,1925.900,-8115.928,9,1.7,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.224,0.053
$KALMAN_X,-196998.9,-59.8,316.1,181846.0,422.6
$KALMAN_Y,143753.5,-322.5,-357.7,-138738.2,1084.9
$MHEAD_RNG_PITCHd_Wd,287.0,4152,-20.2,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.40,-112.1,0.0,0.0,0,93,0.00,0.00,-70.82,0.000,2,0.000,0.000,460,2150,3517,0,0,0,0,0,0
$GC,98,-1.44,-146.0,4.0,-6.1,9,124,13.62,2.65,-4.70,0.000,4,0.160,0.036,2941,3809,3787,0,0,0,0,0,0
$GC,249,-1.30,-146.0,45.1,-18.1,26,259,0.12,2.58,0.00,0.000,6,0.087,0.025,2972,2205,3788,0,0,0,0,0,0
$GC,518,-1.17,-146.0,90.4,-17.2,51,523,0.15,0.00,0.00,0.000,6,0.107,0.000,3004,2205,3787,0,0,0,0,0,0
$GC,778,-1.17,-146.0,129.0,-13.0,76,780,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2206,3788,0,0,0,0,0,0
$GC,1040,-1.21,-146.0,155.9,-8.9,100,1045,0.00,2.58,0.00,0.000,4,0.000,0.048,3004,635,3789,0,0,0,0,0,0
$GC,1097,-1.26,-146.0,162.5,-10.3,104,1103,0.00,2.47,0.00,0.000,6,0.000,0.017,3004,2245,3789,0,0,0,0,0,0
$GC,1363,-1.34,-146.0,185.9,-8.6,129,1368,0.15,2.45,0.00,0.000,4,0.056,0.038,2941,3775,3790,0,0,0,0,0,0
$GC,1385,-1.34,-146.0,188.6,-9.8,130,1391,0.12,2.47,0.00,0.000,6,0.096,0.019,2970,2190,3789,0,0,0,0,0,0
$GC,1673,-1.34,-146.0,216.4,-9.6,146,1677,0.00,2.55,0.00,0.000,4,0.000,0.050,2970,637,3790,0,0,0,0,0,0
$GC,1717,-1.38,-146.0,221.2,-9.9,147,1721,0.00,2.40,0.00,0.000,6,0.000,0.021,2970,2203,3790,0,0,0,0,0,0
$GC,1995,-1.42,-146.0,245.6,-8.9,154,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2203,3790,0,0,0,0,0,0
$GC,2241,-1.47,-146.0,267.3,-8.9,160,2246,0.12,2.55,0.00,0.000,4,0.067,0.038,2915,3774,3789,0,0,0,0,0,0
$GC,2276,-1.40,-146.0,271.4,-12.2,160,2282,0.17,2.45,0.00,0.000,6,0.086,0.028,2954,2214,3789,0,0,0,0,0,0
$GC,2526,-1.40,-146.0,295.1,-9.3,167,2530,0.00,2.62,0.00,0.000,4,0.000,0.058,2954,641,3789,0,0,0,0,0,0
$GC,2567,-1.40,-146.0,298.9,-9.4,168,2572,0.00,2.45,0.00,0.000,6,0.000,0.025,2954,2198,3789,0,0,0,0,0,0
$GC,2851,-1.40,-146.0,325.7,-9.4,175,2855,0.00,2.58,0.00,0.000,4,0.000,0.043,2954,3785,3788,0,0,0,0,0,0
$GC,2873,-1.40,-146.0,327.8,-9.9,175,2877,0.00,2.50,0.00,0.000,6,0.000,0.028,2954,2207,3788,0,0,0,0,0,0
$GC,3130,-1.40,-146.0,352.1,-9.5,182,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2208,3787,0,0,0,0,0,0
$GC,3371,-1.40,-146.0,374.6,-9.1,188,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2208,3786,0,0,0,0,0,0
$GC,3615,-1.40,-146.0,396.3,-8.8,194,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2208,3785,0,0,0,0,0,0
$GC,3861,-1.40,-146.0,417.5,-8.6,200,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2208,3784,0,0,0,0,0,0
$GC,4103,-1.40,-146.0,438.8,-8.7,206,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2208,3783,0,0,0,0,0,0
$GC,4347,-1.44,-146.0,461.0,-9.2,212,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2208,3782,0,0,0,0,0,0
$GC,4590,-1.48,-146.0,483.4,-9.2,218,4595,0.00,2.67,0.00,0.000,4,0.000,0.064,2954,3779,3781,0,0,0,0,0,0
$GC,4615,-1.53,-146.0,485.4,-9.3,218,4620,0.12,2.58,0.00,0.000,6,0.068,0.048,2899,2220,3781,0,0,0,0,0,0
$GC,4870,-1.46,-146.0,514.7,-11.5,225,4876,0.17,2.67,0.00,0.000,4,0.093,0.061,2939,3779,3779,0,0,0,0,0,0
$GC,4892,-1.46,-146.0,517.2,-11.0,225,4896,0.00,2.62,0.00,0.000,6,0.000,0.051,2939,2218,3779,0,0,0,0,0,0
$GC,5151,-1.46,-146.0,541.7,-9.5,232,5155,0.00,3.03,0.00,0.000,4,0.000,0.122,2939,618,3777,0,0,0,0,0,0
$GC,5190,-1.46,-146.0,545.8,-10.0,233,5194,0.00,2.65,0.00,0.000,6,0.000,0.049,2939,2200,3778,0,0,0,0,0,0
$GC,5473,-1.46,-146.0,572.8,-9.6,240,5477,0.00,2.80,0.00,0.000,4,0.000,0.084,2939,3802,3776,0,0,0,0,0,0
$GC,5507,-1.46,-146.0,576.2,-10.2,240,5513,0.00,2.72,0.00,0.000,6,0.000,0.064,2939,2208,3776,0,0,0,0,0,0
$GC,5757,-1.46,-146.0,600.0,-9.4,247,5762,0.00,3.00,0.00,0.000,4,0.000,0.118,2939,619,3775,0,0,0,0,0,0
$GC,5779,-1.46,-146.0,602.2,-9.3,247,5783,0.00,2.72,0.00,0.000,6,0.000,0.058,2939,2222,3774,0,0,0,0,0,0
$GC,6036,-1.46,-146.0,625.3,-9.0,254,6041,0.00,2.85,0.00,0.000,4,0.000,0.094,2939,3800,3773,0,0,0,0,0,0
$GC,6058,-1.46,-146.0,627.7,-9.8,254,6062,0.00,2.78,0.00,0.000,6,0.000,0.078,2939,2222,3773,0,0,0,0,0,0
$GC,6313,-1.46,-146.0,651.0,-9.1,261,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2222,3772,0,0,0,0,0,0
$GC,6559,-1.46,-146.0,673.6,-9.3,267,6564,0.00,2.90,0.00,0.000,4,0.000,0.104,2939,3794,3770,0,0,0,0,0,0
$GC,6608,-1.50,-146.0,678.9,-10.2,268,6613,0.00,2.88,0.00,0.000,6,0.000,0.097,2939,2228,3770,0,0,0,0,0,0
$GC,6880,-1.50,-146.0,704.3,-9.3,275,6885,0.00,3.22,0.00,0.000,4,0.000,0.145,2939,622,3768,0,0,0,0,0,0
$GC,6916,-1.50,-146.0,707.3,-9.2,275,6921,0.00,2.95,0.00,0.000,6,0.000,0.096,2939,2222,3768,0,0,0,0,0,0
$GC,7168,-1.50,-146.0,729.5,-8.7,282,7173,0.00,3.15,0.00,0.000,4,0.000,0.142,2939,3800,3766,0,0,0,0,0,0
$GC,7196,-1.50,-146.0,732.4,-9.3,282,7200,0.00,2.80,0.00,0.000,6,0.000,0.081,2939,2221,3766,0,0,0,0,0,0
$GC,7448,-1.50,-146.0,754.5,-9.0,288,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2220,3765,0,0,0,0,0,0
$GC,7689,-1.50,-146.0,777.0,-9.2,294,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2220,3764,0,0,0,0,0,0
$GC,7933,-1.50,-146.0,799.7,-9.4,300,7938,0.00,2.83,0.00,0.000,4,0.000,0.082,2939,3804,3763,0,0,0,0,0,0
$GC,7955,-1.50,-146.0,801.9,-9.9,300,7960,0.00,2.75,0.00,0.000,6,0.000,0.067,2939,2233,3763,0,0,0,0,0,0
$GC,8212,-1.50,-146.0,825.7,-9.4,307,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2233,3761,0,0,0,0,0,0
$GC,8454,-1.50,-146.0,848.1,-9.1,313,8458,0.00,2.80,0.00,0.000,4,0.000,0.083,2939,3809,3760,0,0,0,0,0,0
$GC,8488,-1.54,-146.0,851.4,-9.8,313,8494,0.00,2.75,0.00,0.000,6,0.000,0.067,2939,2234,3760,0,0,0,0,0,0
$GC,8741,-1.58,-146.0,873.4,-8.7,320,8743,0.10,0.00,0.00,0.000,6,0.083,0.000,2899,2235,3759,0,0,0,0,0,0
$GC,8982,-1.58,-146.0,897.8,-10.0,326,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2233,3758,0,0,0,0,0,0
$STATE,9020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9020,begin apogee
$GC,9026,-0.31,0.0,901.8,10.0,327,9151,1.27,0.00,121.35,1.205,6,0.070,0.000,3189,2388,3190,0,0,0,0,0,0
$STATE,9152,end apogee,CONTROL_FINISHED_OK
$STATE,9152,begin climb
$GC,9157,1.44,146.0,904.0,0.0,330,9294,1.58,2.72,128.07,1.175,4,0.033,0.080,3580,3926,2593,0,0,0,0,0,0
$GC,9419,1.33,146.0,880.9,14.3,336,9424,0.15,2.72,0.00,0.000,6,0.121,0.055,3551,2364,2588,0,0,0,0,0,0
$GC,9703,1.33,146.0,850.6,10.2,343,9707,0.00,2.75,0.00,0.000,4,0.000,0.064,3552,3938,2585,0,0,0,0,0,0
$GC,9749,1.27,146.0,845.8,11.6,344,9754,0.00,2.67,0.00,0.000,6,0.000,0.048,3551,2376,2584,0,0,0,0,0,0
$GC,10026,1.27,146.0,817.7,10.2,351,10031,0.00,2.70,0.00,0.000,4,0.000,0.064,3551,3938,2583,0,0,0,0,0,0
$GC,10111,1.23,146.0,808.1,11.5,353,10116,0.12,2.65,0.00,0.000,6,0.133,0.050,3528,2378,2583,0,0,0,0,0,0
$GC,10397,1.24,154.4,780.9,9.5,360,10411,0.00,2.78,6.75,0.899,4,0.000,0.064,3528,3937,2560,0,0,0,0,0,0
$GC,10434,1.24,154.4,777.0,10.1,360,10440,0.00,2.65,0.00,0.000,6,0.000,0.054,3528,2389,2559,0,0,0,0,0,0
$GC,10686,1.24,160.0,752.5,9.7,367,10694,0.00,0.00,6.68,0.886,6,0.000,0.000,3528,2389,2537,0,0,0,0,0,0
$GC,10930,1.25,165.2,728.6,9.7,373,10942,0.00,2.67,6.18,0.854,4,0.000,0.058,3528,3936,2516,0,0,0,0,0,0
$GC,10980,1.25,165.2,723.2,10.7,374,10985,0.00,2.65,0.00,0.000,6,0.000,0.047,3528,2392,2515,0,0,0,0,0,0
$GC,11255,1.29,165.2,696.4,10.0,381,11260,0.00,2.65,0.00,0.000,4,0.000,0.058,3528,3934,2514,0,0,0,0,0,0
$GC,11288,1.29,165.2,692.5,11.6,381,11293,0.00,2.60,0.00,0.000,6,0.000,0.050,3528,2403,2514,0,0,0,0,0,0
$GC,11538,1.34,174.7,668.4,9.4,388,11551,0.10,0.00,10.10,0.940,6,0.087,0.000,3559,2404,2477,0,0,0,0,0,0
$GC,11784,1.34,174.7,642.6,10.5,394,11788,0.00,2.62,0.00,0.000,4,0.000,0.056,3559,3932,2475,0,0,0,0,0,0
$GC,11839,1.30,174.7,635.6,12.0,395,11843,0.00,2.60,0.00,0.000,6,0.000,0.048,3559,2407,2474,0,0,0,0,0,0
$GC,12105,1.30,174.7,604.2,11.8,402,12109,0.00,2.62,0.00,0.000,4,0.000,0.057,3559,3938,2474,0,0,0,0,0,0
$GC,12151,1.26,174.7,598.9,12.1,403,12156,0.12,2.58,0.00,0.000,6,0.127,0.044,3536,2416,2473,0,0,0,0,0,0
$GC,12429,1.27,177.8,571.1,9.8,410,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2416,2473,0,0,0,0,0,0
$GC,12673,1.31,177.8,546.7,10.0,416,12677,0.00,2.58,0.00,0.000,4,0.000,0.054,3535,3937,2473,0,0,0,0,0,0
$GC,12691,1.31,177.8,545.0,10.2,416,12695,0.00,2.58,0.00,0.000,6,0.000,0.048,3536,2405,2473,0,0,0,0,0,0
$GC,12951,1.34,177.8,517.5,10.5,423,12956,0.00,2.58,0.00,0.000,4,0.000,0.052,3536,3940,2473,0,0,0,0,0,0
$GC,12972,1.34,177.8,514.9,11.6,423,12977,0.00,2.55,0.00,0.000,6,0.000,0.038,3536,2408,2473,0,0,0,0,0,0
$GC,13230,1.38,177.8,488.1,10.6,430,13235,0.10,2.58,0.00,0.000,4,0.084,0.047,3570,3935,2473,0,0,0,0,0,0
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$STATE,17817,begin surface coast
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$STATE,17840,end surface coast,CONTROL_FINISHED_OK
$STATE,17840,begin surface
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$10V_AH,10.0,53.691
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355808
$DATA_FILE_SIZE,54235,685
$CAP_FILE_SIZE,167472,0
$CFSIZE,260165632,98201600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180413,180236,1925.871,-8117.543,35,1.5,35,-3.7