version: 66.06
glider: 146
mission: 8
dive: 453
start: 4 24 113 3 13 26
data:
$ID,146
$MISSION,8
$DIVE,453
$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,-316308.34
$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,53
$R_STBD_OVSHOOT,19
$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
$GPS1,030505,1924.537,-8111.156,37,1.1,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.9
$GPS2,031231,1924.526,-8111.074,10,1.3,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.240,0.100
$KALMAN_X,-137197.6,243.5,123.0,130419.4,1603.9
$KALMAN_Y,128998.0,-36.5,-3.3,-127174.7,-770.4
$MHEAD_RNG_PITCHd_Wd,296.4,12934,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.65,0.000,2,0.000,0.000,459,2186,3527,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-6.1,9,122,13.73,2.62,-4.38,0.000,4,0.163,0.041,2976,3817,3787,0,0,0,0,0,0
$GC,224,-1.10,-146.0,38.5,-17.5,24,229,0.20,2.50,0.00,0.000,6,0.098,0.023,3020,2225,3788,0,0,0,0,0,0
$GC,494,-0.98,-146.0,79.4,-14.7,48,499,0.12,2.62,0.00,0.000,4,0.110,0.047,3047,632,3789,0,0,0,0,0,0
$GC,526,-0.89,-146.0,85.2,-13.5,50,530,0.00,2.47,0.00,0.000,6,0.000,0.015,3048,2248,3789,0,0,0,0,0,0
$GC,791,-0.85,-146.0,116.3,-11.2,74,797,0.12,2.65,0.00,0.000,4,0.105,0.045,3076,638,3790,0,0,0,0,0,0
$GC,825,-0.85,-146.0,120.5,-11.1,76,838,0.00,2.42,0.00,0.000,6,0.000,0.023,3076,2201,3790,0,0,0,0,0,0
$GC,1095,-0.95,-146.0,142.4,-7.4,101,1100,0.10,2.58,0.00,0.000,4,0.078,0.046,3022,637,3790,0,0,0,0,0,0
$GC,1119,-1.01,-146.0,144.8,-8.1,102,1128,0.00,2.42,0.00,0.000,6,0.000,0.024,3022,2201,3790,0,0,0,0,0,0
$GC,1386,-1.01,-146.0,168.5,-9.5,127,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2201,3790,0,0,0,0,0,0
$GC,1652,-1.05,-146.0,188.9,-7.5,152,1656,0.00,2.55,0.00,0.000,4,0.000,0.044,3022,638,3791,0,0,0,0,0,0
$GC,1684,-1.10,-146.0,191.4,-7.6,154,1689,0.00,2.40,0.00,0.000,6,0.000,0.026,3022,2190,3791,0,0,0,0,0,0
$GC,1962,-1.16,-146.0,210.9,-6.4,168,1966,0.00,2.55,0.00,0.000,4,0.000,0.038,3022,3778,3791,0,0,0,0,0,0
$GC,1984,-1.22,-146.0,212.7,-7.1,168,1989,0.12,2.47,0.00,0.000,6,0.064,0.020,2962,2182,3791,0,0,0,0,0,0
$GC,2240,-1.16,-146.0,237.7,-10.0,175,2242,0.20,0.00,0.00,0.000,6,0.079,0.000,3009,2182,3790,0,0,0,0,0,0
$GC,2486,-1.21,-146.0,256.5,-7.5,181,2490,0.00,2.55,0.00,0.000,4,0.000,0.056,3010,638,3790,0,0,0,0,0,0
$GC,2519,-1.25,-146.0,259.4,-8.7,181,2525,0.10,2.42,0.00,0.000,6,0.078,0.021,2961,2192,3790,0,0,0,0,0,0
$GC,2772,-1.21,-146.0,282.3,-9.3,188,2777,0.15,2.60,0.00,0.000,4,0.089,0.052,2998,644,3790,0,0,0,0,0,0
$GC,2799,-1.21,-146.0,285.2,-9.0,188,2804,0.00,2.42,0.00,0.000,6,0.000,0.028,2998,2184,3790,0,0,0,0,0,0
$GC,3050,-1.21,-146.0,306.5,-8.6,194,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2184,3789,0,0,0,0,0,0
$GC,3296,-1.21,-146.0,327.2,-8.4,200,3300,0.00,2.58,0.00,0.000,4,0.000,0.056,2998,644,3788,0,0,0,0,0,0
$GC,3345,-1.25,-146.0,331.8,-9.2,201,3350,0.00,2.42,0.00,0.000,6,0.000,0.030,2998,2172,3787,0,0,0,0,0,0
$GC,3617,-1.25,-146.0,352.6,-7.5,208,3622,0.00,2.65,0.00,0.000,4,0.000,0.047,2998,3785,3787,0,0,0,0,0,0
$GC,3648,-1.29,-146.0,354.9,-7.9,208,3652,0.00,2.53,0.00,0.000,6,0.000,0.025,2998,2188,3787,0,0,0,0,0,0
$GC,3898,-1.29,-146.0,374.4,-7.8,214,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2189,3785,0,0,0,0,0,0
$GC,4142,-1.33,-146.0,393.2,-7.7,220,4144,0.12,0.00,0.00,0.000,6,0.068,0.000,2944,2189,3785,0,0,0,0,0,0
$GC,4388,-1.26,-146.0,417.0,-9.9,226,4390,0.17,0.00,0.00,0.000,6,0.085,0.000,2986,2188,3784,0,0,0,0,0,0
$GC,4629,-1.26,-146.0,436.2,-7.7,232,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2189,3783,0,0,0,0,0,0
$GC,4873,-1.26,-146.0,455.5,-7.9,238,4877,0.00,2.67,0.00,0.000,4,0.000,0.060,2986,3779,3782,0,0,0,0,0,0
$GC,4894,-1.26,-146.0,457.3,-8.2,238,4899,0.00,2.62,0.00,0.000,6,0.000,0.040,2986,2188,3782,0,0,0,0,0,0
$GC,5152,-1.26,-146.0,477.2,-7.7,245,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2188,3781,0,0,0,0,0,0
$GC,5393,-1.26,-146.0,494.9,-7.2,251,5398,0.00,2.70,0.00,0.000,4,0.000,0.070,2986,3778,3779,0,0,0,0,0,0
$GC,5414,-1.26,-146.0,496.6,-7.6,251,5419,0.00,2.67,0.00,0.000,6,0.000,0.048,2986,2186,3779,0,0,0,0,0,0
$GC,5672,-1.26,-146.0,514.4,-7.0,258,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2187,3778,0,0,0,0,0,0
$GC,5913,-1.26,-146.0,531.2,-6.9,264,5918,0.00,2.72,0.00,0.000,4,0.000,0.071,2986,3778,3777,0,0,0,0,0,0
$GC,5957,-1.31,-146.0,534.6,-8.1,265,5962,0.00,2.67,0.00,0.000,6,0.000,0.060,2986,2198,3777,0,0,0,0,0,0
$GC,6237,-1.31,-146.0,554.6,-7.3,272,6242,0.00,3.00,0.00,0.000,4,0.000,0.124,2986,621,3776,0,0,0,0,0,0
$GC,6282,-1.36,-146.0,558.3,-8.4,273,6286,0.00,2.62,0.00,0.000,6,0.000,0.051,2986,2179,3776,0,0,0,0,0,0
$GC,6562,-1.36,-146.0,580.0,-7.8,280,6567,0.00,2.88,0.00,0.000,4,0.000,0.094,2986,3801,3774,0,0,0,0,0,0
$GC,6590,-1.39,-146.0,582.5,-8.6,280,6595,0.12,2.75,0.00,0.000,6,0.064,0.058,2934,2194,3774,0,0,0,0,0,0
$GC,6840,-1.32,-146.0,607.7,-10.2,286,6841,0.17,0.00,0.00,0.000,6,0.088,0.000,2974,2194,3772,0,0,0,0,0,0
$GC,7086,-1.32,-146.0,628.1,-8.1,292,7090,0.00,2.90,0.00,0.000,4,0.000,0.090,2974,3794,3771,0,0,0,0,0,0
$GC,7109,-1.32,-146.0,630.2,-8.6,292,7113,0.00,2.83,0.00,0.000,6,0.000,0.074,2974,2196,3771,0,0,0,0,0,0
$GC,7364,-1.32,-146.0,650.7,-8.0,299,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2196,3770,0,0,0,0,0,0
$GC,7607,-1.32,-146.0,669.4,-7.6,305,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2196,3769,0,0,0,0,0,0
$GC,7854,-1.32,-146.0,687.6,-7.5,311,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2196,3767,0,0,0,0,0,0
$GC,8095,-1.32,-146.0,705.8,-7.5,317,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2196,3766,0,0,0,0,0,0
$GC,8343,-1.32,-146.0,725.0,-8.0,323,8348,0.00,3.15,0.00,0.000,4,0.000,0.135,2974,3792,3765,0,0,0,0,0,0
$GC,8369,-1.32,-146.0,727.3,-8.4,323,8373,0.00,2.88,0.00,0.000,6,0.000,0.092,2974,2201,3765,0,0,0,0,0,0
$GC,8624,-1.32,-146.0,748.1,-7.9,330,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2201,3763,0,0,0,0,0,0
$GC,8868,-1.32,-146.0,767.7,-7.9,336,8872,0.00,2.90,0.00,0.000,4,0.000,0.094,2974,3796,3762,0,0,0,0,0,0
$GC,8889,-1.32,-146.0,769.5,-8.6,336,8894,0.00,2.83,0.00,0.000,6,0.000,0.081,2973,2200,3762,0,0,0,0,0,0
$GC,9147,-1.32,-146.0,789.1,-7.5,343,9151,0.00,2.88,0.00,0.000,4,0.000,0.089,2974,3801,3761,0,0,0,0,0,0
$GC,9168,-1.32,-146.0,791.1,-7.9,343,9173,0.00,2.80,0.00,0.000,6,0.000,0.077,2974,2210,3760,0,0,0,0,0,0
$GC,9423,-1.32,-146.0,809.3,-7.1,350,9428,0.00,3.08,0.00,0.000,4,0.000,0.123,2974,618,3760,0,0,0,0,0,0
$GC,9458,-1.32,-146.0,811.8,-7.4,350,9464,0.00,2.78,0.00,0.000,6,0.000,0.073,2974,2209,3759,0,0,0,0,0,0
$GC,9708,-1.32,-146.0,830.8,-7.5,357,9713,0.00,2.90,0.00,0.000,4,0.000,0.104,2974,3798,3759,0,0,0,0,0,0
$GC,9735,-1.32,-146.0,833.2,-9.1,357,9740,0.00,2.75,0.00,0.000,6,0.000,0.068,2974,2212,3758,0,0,0,0,0,0
$GC,9988,-1.32,-146.0,852.7,-7.9,363,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2212,3758,0,0,0,0,0,0
$GC,10229,-1.32,-146.0,872.2,-8.1,369,10233,0.00,2.83,0.00,0.000,4,0.000,0.086,2974,3798,3757,0,0,0,0,0,0
$GC,10269,-1.36,-146.0,875.5,-8.6,370,10273,0.00,2.75,0.00,0.000,6,0.000,0.066,2974,2221,3756,0,0,0,0,0,0
$GC,10554,-1.36,-146.0,897.8,-7.7,377,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2221,3755,0,0,0,0,0,0
$STATE,10589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10590,begin apogee
$GC,10596,-0.31,0.0,901.0,7.7,378,10720,0.95,0.00,120.95,1.213,6,0.067,0.000,3192,2386,3190,0,0,0,0,0,0
$STATE,10721,end apogee,CONTROL_FINISHED_OK
$STATE,10721,begin climb
$GC,10724,1.27,146.0,904.5,0.0,381,10861,1.42,2.85,128.57,1.177,4,0.035,0.084,3544,3924,2593,0,0,0,0,0,0
$GC,10958,1.15,146.0,888.9,12.4,386,10963,0.15,2.72,0.00,0.000,6,0.222,0.058,3514,2370,2588,0,0,0,0,0,0
$GC,11222,1.17,160.9,864.0,9.3,393,11241,0.00,2.83,13.38,1.052,4,0.000,0.068,3514,3927,2534,0,0,0,0,0,0
$GC,11253,1.15,182.0,860.9,9.0,393,11279,0.00,2.72,20.80,1.091,6,0.000,0.054,3514,2369,2448,0,0,0,0,0,0
$GC,11550,1.15,186.5,831.8,9.8,401,11561,0.00,2.75,5.10,0.809,4,0.000,0.066,3514,3937,2429,0,0,0,0,0,0
$GC,11577,1.11,186.5,828.5,10.8,401,11582,0.00,2.70,0.00,0.000,6,0.000,0.051,3514,2378,2428,0,0,0,0,0,0
$GC,11828,1.12,194.4,804.3,9.6,407,11838,0.00,0.00,8.98,0.973,6,0.000,0.000,3514,2378,2397,0,0,0,0,0,0
$GC,12073,1.13,200.7,780.8,9.7,413,12083,0.00,0.00,7.38,0.923,6,0.000,0.000,3514,2378,2371,0,0,0,0,0,0
$GC,12315,1.13,204.1,756.7,9.8,419,12325,0.00,2.75,4.68,0.759,4,0.000,0.062,3513,3939,2357,0,0,0,0,0,0
$GC,12358,1.13,204.1,751.8,11.7,420,12362,0.00,2.70,0.00,0.000,6,0.000,0.056,3514,2381,2356,0,0,0,0,0,0
$GC,12638,1.13,204.1,723.0,10.4,427,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2381,2356,0,0,0,0,0,0
$GC,12880,1.13,204.1,697.4,10.6,433,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2381,2355,0,0,0,0,0,0
$GC,13123,1.13,204.1,672.2,10.3,439,13128,0.00,2.67,0.00,0.000,4,0.000,0.064,3514,3934,2354,0,0,0,0,0,0
$GC,13147,1.13,204.1,669.7,10.7,439,13151,0.00,2.65,0.00,0.000,6,0.000,0.051,3514,2379,2354,0,0,0,0,0,0
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$STATE,19492,end climb,SURFACE_DEPTH_REACHED
$STATE,19492,begin surface coast
$FINISH,1.1,1.023245
$STATE,19534,end surface coast,CONTROL_FINISHED_OK
$STATE,19534,begin surface
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$XPDR_PINGS,128
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$10V_AH,10.0,56.846
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355852
$DATA_FILE_SIZE,57205,732
$CAP_FILE_SIZE,174476,0
$CFSIZE,260165632,96391168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240413,084106,1924.950,-8112.250,34,1.6,34,-3.8