version: 66.06
glider: 146
mission: 8
dive: 448
start: 4 22 113 22 53 21
data:
$ID,146
$MISSION,8
$DIVE,448
$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,-316234.59
$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,50
$R_STBD_OVSHOOT,14
$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
$GPS1,224505,1924.440,-8107.289,41,1.1,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.9
$GPS2,225225,1924.428,-8107.236,11,1.2,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.252,0.061
$KALMAN_X,-153282.7,441.6,120.2,153009.1,2175.1
$KALMAN_Y,132726.9,211.0,-47.0,-131286.9,-499.7
$MHEAD_RNG_PITCHd_Wd,287.4,19392,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.12,0.000,2,0.000,0.000,463,2170,3534,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-6.1,9,123,13.65,2.50,-4.38,0.000,4,0.160,0.052,2977,643,3788,0,0,0,0,0,0
$GC,320,-1.05,-146.0,54.9,-16.9,32,325,0.25,2.47,0.00,0.000,6,0.097,0.016,3030,2250,3788,0,0,0,0,0,0
$GC,586,-0.95,-146.0,91.6,-13.6,56,591,0.10,2.65,0.00,0.000,4,0.119,0.043,3054,647,3789,0,0,0,0,0,0
$GC,617,-0.89,-146.0,96.3,-13.0,58,622,0.00,2.40,0.00,0.000,6,0.000,0.017,3054,2204,3790,0,0,0,0,0,0
$GC,881,-0.89,-146.0,126.1,-10.3,82,885,0.00,2.50,0.00,0.000,4,0.000,0.039,3054,3770,3790,0,0,0,0,0,0
$GC,902,-0.89,-146.0,128.7,-10.3,83,908,0.00,2.42,0.00,0.000,6,0.000,0.029,3054,2213,3790,0,0,0,0,0,0
$GC,1169,-0.95,-146.0,150.7,-7.4,108,1173,0.00,2.55,0.00,0.000,4,0.000,0.045,3054,640,3790,0,0,0,0,0,0
$GC,1225,-1.03,-146.0,155.5,-8.9,112,1229,0.00,2.42,0.00,0.000,6,0.000,0.019,3054,2210,3790,0,0,0,0,0,0
$GC,1494,-1.12,-146.0,173.4,-6.5,136,1499,0.15,2.50,0.00,0.000,4,0.057,0.042,2988,3777,3791,0,0,0,0,0,0
$GC,1538,-1.08,-146.0,177.2,-9.4,139,1543,0.15,2.42,0.00,0.000,6,0.084,0.020,3026,2210,3791,0,0,0,0,0,0
$GC,1805,-1.14,-146.0,197.3,-7.2,163,1810,0.00,2.55,0.00,0.000,4,0.000,0.047,3026,644,3791,0,0,0,0,0,0
$GC,1838,-1.19,-146.0,200.3,-7.7,165,1848,0.08,2.45,0.00,0.000,6,0.037,0.025,2969,2218,3791,0,0,0,0,0,0
$GC,2089,-1.14,-146.0,222.9,-9.0,172,2091,0.20,0.00,0.00,0.000,6,0.081,0.000,3016,2218,3791,0,0,0,0,0,0
$GC,2335,-1.18,-146.0,240.1,-7.1,178,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2218,3790,0,0,0,0,0,0
$GC,2576,-1.24,-146.0,256.3,-6.7,184,2581,0.12,2.62,0.00,0.000,4,0.064,0.050,2955,637,3789,0,0,0,0,0,0
$GC,2598,-1.24,-146.0,258.2,-8.1,184,2603,0.15,2.45,0.00,0.000,6,0.092,0.027,2990,2218,3789,0,0,0,0,0,0
$GC,2856,-1.24,-146.0,278.6,-8.0,191,2861,0.00,2.50,0.00,0.000,4,0.000,0.048,2989,3776,3789,0,0,0,0,0,0
$GC,2889,-1.24,-146.0,281.7,-8.5,191,2895,0.00,2.42,0.00,0.000,6,0.000,0.021,2989,2221,3789,0,0,0,0,0,0
$GC,3139,-1.24,-146.0,302.0,-8.1,198,3144,0.00,2.62,0.00,0.000,4,0.000,0.058,2990,639,3788,0,0,0,0,0,0
$GC,3181,-1.24,-146.0,305.3,-8.5,199,3186,0.00,2.45,0.00,0.000,6,0.000,0.031,2989,2199,3787,0,0,0,0,0,0
$GC,3465,-1.24,-146.0,328.5,-8.0,206,3469,0.00,2.55,0.00,0.000,4,0.000,0.042,2990,3782,3786,0,0,0,0,0,0
$GC,3492,-1.24,-146.0,330.7,-8.4,206,3496,0.00,2.47,0.00,0.000,6,0.000,0.022,2990,2209,3786,0,0,0,0,0,0
$GC,3744,-1.24,-146.0,350.7,-7.9,212,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2209,3785,0,0,0,0,0,0
$GC,3986,-1.24,-146.0,369.8,-7.9,218,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2209,3784,0,0,0,0,0,0
$GC,4230,-1.24,-146.0,388.0,-7.4,224,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2209,3783,0,0,0,0,0,0
$GC,4473,-1.24,-146.0,407.3,-8.0,230,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2209,3782,0,0,0,0,0,0
$GC,4717,-1.24,-146.0,425.7,-7.5,236,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2209,3781,0,0,0,0,0,0
$GC,4961,-1.24,-146.0,443.4,-7.2,242,4965,0.00,2.80,0.00,0.000,4,0.000,0.092,2989,634,3780,0,0,0,0,0,0
$GC,4993,-1.24,-146.0,446.0,-8.5,242,4999,0.00,2.55,0.00,0.000,6,0.000,0.036,2989,2200,3780,0,0,0,0,0,0
$GC,5246,-1.24,-146.0,465.3,-7.8,249,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2200,3778,0,0,0,0,0,0
$GC,5487,-1.24,-146.0,485.4,-8.3,255,5492,0.00,2.70,0.00,0.000,4,0.000,0.071,2989,3793,3777,0,0,0,0,0,0
$GC,5508,-1.24,-146.0,487.3,-8.5,255,5513,0.00,2.60,0.00,0.000,6,0.000,0.045,2990,2224,3777,0,0,0,0,0,0
$GC,5766,-1.24,-146.0,507.8,-8.0,262,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2224,3777,0,0,0,0,0,0
$GC,6007,-1.24,-146.0,526.1,-7.5,268,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2224,3776,0,0,0,0,0,0
$GC,6251,-1.24,-146.0,544.3,-7.5,274,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2224,3774,0,0,0,0,0,0
$GC,6495,-1.28,-146.0,562.9,-7.6,280,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2224,3772,0,0,0,0,0,0
$GC,6741,-1.28,-146.0,580.8,-7.2,286,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2224,3771,0,0,0,0,0,0
$GC,6983,-1.32,-146.0,598.0,-7.1,292,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2224,3770,0,0,0,0,0,0
$GC,7226,-1.35,-146.0,615.6,-7.2,298,7228,0.10,0.00,0.00,0.000,6,0.082,0.000,2946,2224,3769,0,0,0,0,0,0
$GC,7472,-1.31,-146.0,637.1,-8.8,304,7474,0.12,0.00,0.00,0.000,6,0.100,0.000,2975,2224,3768,0,0,0,0,0,0
$GC,7713,-1.31,-146.0,656.1,-7.7,310,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2224,3766,0,0,0,0,0,0
$GC,7957,-1.31,-146.0,675.2,-7.8,316,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2224,3765,0,0,0,0,0,0
$GC,8201,-1.31,-146.0,694.3,-7.8,322,8206,0.00,3.05,0.00,0.000,4,0.000,0.133,2974,3785,3763,0,0,0,0,0,0
$GC,8227,-1.31,-146.0,696.3,-8.4,322,8232,0.00,2.90,0.00,0.000,6,0.000,0.104,2974,2221,3764,0,0,0,0,0,0
$GC,8482,-1.31,-146.0,715.5,-7.4,329,8487,0.00,3.28,0.00,0.000,4,0.000,0.154,2975,620,3762,0,0,0,0,0,0
$GC,8510,-1.31,-146.0,717.7,-8.2,329,8515,0.00,2.95,0.00,0.000,6,0.000,0.103,2975,2205,3762,0,0,0,0,0,0
$GC,8762,-1.31,-146.0,737.0,-7.7,335,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3761,0,0,0,0,0,0
$GC,9003,-1.31,-146.0,756.0,-7.8,341,9008,0.00,3.28,0.00,0.000,4,0.000,0.157,2975,3796,3760,0,0,0,0,0,0
$GC,9043,-1.31,-146.0,759.2,-8.0,342,9048,0.00,2.80,0.00,0.000,6,0.000,0.079,2975,2212,3760,0,0,0,0,0,0
$GC,9329,-1.31,-146.0,779.9,-7.2,349,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2212,3758,0,0,0,0,0,0
$GC,9570,-1.31,-146.0,797.2,-7.0,355,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2212,3758,0,0,0,0,0,0
$GC,9814,-1.31,-146.0,814.6,-7.1,361,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2210,3757,0,0,0,0,0,0
$GC,10057,-1.31,-146.0,831.6,-7.0,367,10062,0.00,2.88,0.00,0.000,4,0.000,0.088,2974,3805,3755,0,0,0,0,0,0
$GC,10104,-1.35,-146.0,835.0,-7.8,368,10109,0.00,2.78,0.00,0.000,6,0.000,0.072,2975,2215,3755,0,0,0,0,0,0
$GC,10382,-1.35,-146.0,854.9,-7.2,375,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2215,3754,0,0,0,0,0,0
$GC,10626,-1.35,-146.0,872.9,-7.4,381,10630,0.00,2.85,0.00,0.000,4,0.000,0.085,2975,3804,3753,0,0,0,0,0,0
$GC,10672,-1.39,-146.0,876.4,-8.5,382,10677,0.00,2.75,0.00,0.000,6,0.000,0.074,2975,2233,3753,0,0,0,0,0,0
$GC,10951,-1.39,-146.0,896.5,-7.1,389,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2233,3751,0,0,0,0,0,0
$STATE,11031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11031,begin apogee
$GC,11039,-0.31,0.0,902.2,7.0,391,11163,0.95,0.00,120.43,1.214,6,0.067,0.000,3193,2384,3190,0,0,0,0,0,0
$STATE,11164,end apogee,CONTROL_FINISHED_OK
$STATE,11164,begin climb
$GC,11167,1.27,146.0,905.4,0.0,394,11304,1.42,2.85,128.95,1.181,4,0.035,0.084,3545,3931,2593,0,0,0,0,0,0
$GC,11409,1.15,146.0,888.6,12.7,399,11415,0.17,2.75,0.00,0.000,6,0.115,0.061,3511,2369,2588,0,0,0,0,0,0
$GC,11659,1.17,164.9,864.9,9.1,405,11684,0.00,2.88,17.15,1.078,4,0.000,0.067,3511,3935,2516,0,0,0,0,0,0
$GC,11721,1.13,169.8,859.1,9.8,406,11732,0.00,2.72,5.97,0.864,6,0.000,0.059,3511,2372,2497,0,0,0,0,0,0
$GC,11988,1.14,173.7,832.8,9.8,413,11995,0.00,0.00,4.75,0.783,6,0.000,0.000,3511,2372,2481,0,0,0,0,0,0
$GC,12234,1.15,180.5,809.3,9.7,419,12248,0.00,2.80,7.60,0.940,4,0.000,0.062,3511,3932,2454,0,0,0,0,0,0
$GC,12271,1.11,180.5,804.9,10.9,419,12277,0.00,2.67,0.00,0.000,6,0.000,0.051,3511,2387,2453,0,0,0,0,0,0
$GC,12521,1.12,186.6,780.3,9.7,426,12535,0.00,3.22,7.12,0.918,4,0.000,0.127,3511,783,2429,0,0,0,0,0,0
$GC,12549,1.12,186.6,777.6,10.3,426,12553,0.00,2.72,0.00,0.000,6,0.000,0.046,3511,2382,2428,0,0,0,0,0,0
$GC,12804,1.13,197.1,753.1,9.5,433,12822,0.00,2.78,11.50,1.002,4,0.000,0.069,3511,3941,2385,0,0,0,0,0,0
$GC,12857,1.13,197.1,747.5,11.4,434,12861,0.00,2.65,0.00,0.000,6,0.000,0.048,3511,2382,2384,0,0,0,0,0,0
$GC,13131,1.13,198.0,720.4,10.0,441,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2383,2382,0,0,0,0,0,0
$GC,13377,1.14,207.7,697.1,9.6,447,13390,0.00,0.00,11.07,0.968,6,0.000,0.000,3511,2382,2343,0,0,0,0,0,0
$GC,13616,1.14,210.1,672.9,9.9,453,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2382,2340,0,0,0,0,0,0
$GC,13862,1.14,210.1,647.4,10.7,459,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2382,2340,0,0,0,0,0,0
$GC,14103,1.14,210.1,620.8,10.8,465,14105,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2383,2339,0,0,0,0,0,0
$GC,14347,1.14,210.1,594.6,10.6,471,14352,0.00,2.67,0.00,0.000,4,0.000,0.058,3511,3944,2339,0,0,0,0,0,0
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$STATE,19983,end climb,SURFACE_DEPTH_REACHED
$STATE,19983,begin surface coast
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$STATE,20032,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.0,56.218
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$FG_AHR_10Vo,0.000
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$MEM,355796
$DATA_FILE_SIZE,57209,753
$CAP_FILE_SIZE,167385,0
$CFSIZE,260165632,96768000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230413,042935,1924.634,-8108.062,35,1.1,40,-3.8