version: 66.06
glider: 146
mission: 8
dive: 468
start: 4 27 113 15 24 14
data:
$ID,146
$MISSION,8
$DIVE,468
$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,-318138.66
$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,46
$R_STBD_OVSHOOT,18
$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
$GPS1,150326,1924.443,-8110.129,193,99.0,212,-3.8
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.9
$GPS2,152320,1924.304,-8109.989,61,2.2,80,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.048
$KALMAN_X,-98205.3,-75.0,-550.0,94324.0,2694.2
$KALMAN_Y,115956.6,-205.2,-337.0,-114039.6,-189.1
$MHEAD_RNG_PITCHd_Wd,284.5,14855,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.25,0.000,2,0.000,0.000,458,2195,3310,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-4.0,8,125,13.73,2.62,-9.18,0.000,4,0.161,0.043,2976,3801,3787,0,0,0,0,0,0
$GC,307,-1.12,-146.0,48.2,-17.1,32,312,0.17,2.47,0.00,0.000,6,0.098,0.024,3015,2218,3788,0,0,0,0,0,0
$GC,572,-0.99,-146.0,87.6,-13.3,56,577,0.12,2.62,0.00,0.000,4,0.107,0.047,3043,632,3788,0,0,0,0,0,0
$GC,597,-0.88,-146.0,91.0,-13.9,57,602,0.10,2.47,0.00,0.000,6,0.116,0.015,3066,2253,3788,0,0,0,0,0,0
$GC,866,-0.88,-146.0,120.1,-10.6,81,870,0.00,2.65,0.00,0.000,4,0.000,0.045,3066,632,3789,0,0,0,0,0,0
$GC,899,-0.88,-146.0,124.8,-10.5,83,905,0.00,2.35,0.00,0.000,6,0.000,0.016,3066,2193,3788,0,0,0,0,0,0
$GC,1165,-0.96,-146.0,147.1,-7.5,108,1170,0.00,2.55,0.00,0.000,4,0.000,0.045,3066,633,3789,0,0,0,0,0,0
$GC,1223,-1.08,-146.0,151.6,-7.6,112,1228,0.17,2.38,0.00,0.000,6,0.051,0.016,2996,2195,3789,0,0,0,0,0,0
$GC,1488,-1.08,-146.0,175.5,-8.4,136,1493,0.12,2.50,0.00,0.000,4,0.094,0.031,3026,3764,3789,0,0,0,0,0,0
$GC,1533,-1.15,-146.0,179.0,-7.3,139,1538,0.00,2.47,0.00,0.000,6,0.000,0.021,3026,2184,3789,0,0,0,0,0,0
$GC,1803,-1.21,-146.0,198.6,-7.4,163,1808,0.12,2.55,0.00,0.000,4,0.064,0.051,2963,640,3789,0,0,0,0,0,0
$GC,1847,-1.14,-146.0,203.5,-10.3,165,1852,0.20,2.35,0.00,0.000,6,0.081,0.025,3010,2184,3789,0,0,0,0,0,0
$GC,2125,-1.14,-146.0,224.9,-7.4,172,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2183,3789,0,0,0,0,0,0
$GC,2372,-1.19,-146.0,242.8,-7.3,178,2376,0.00,2.53,0.00,0.000,4,0.000,0.041,3010,3772,3788,0,0,0,0,0,0
$GC,2412,-1.25,-146.0,246.0,-7.6,179,2417,0.10,2.45,0.00,0.000,6,0.077,0.029,2959,2194,3788,0,0,0,0,0,0
$GC,2698,-1.20,-146.0,271.4,-9.1,186,2703,0.17,2.60,0.00,0.000,4,0.086,0.062,3000,634,3787,0,0,0,0,0,0
$GC,2749,-1.24,-146.0,275.9,-7.8,187,2753,0.00,2.42,0.00,0.000,6,0.000,0.028,3000,2194,3787,0,0,0,0,0,0
$GC,3021,-1.24,-146.0,296.4,-7.6,194,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2194,3785,0,0,0,0,0,0
$GC,3267,-1.24,-146.0,314.7,-7.6,200,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2194,3785,0,0,0,0,0,0
$GC,3508,-1.24,-146.0,332.7,-7.4,206,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2194,3783,0,0,0,0,0,0
$GC,3752,-1.28,-146.0,350.2,-7.2,212,3756,0.00,2.60,0.00,0.000,4,0.000,0.051,3000,3781,3782,0,0,0,0,0,0
$GC,3778,-1.32,-146.0,352.0,-8.1,212,3783,0.12,2.47,0.00,0.000,6,0.066,0.031,2944,2207,3783,0,0,0,0,0,0
$GC,4034,-1.24,-146.0,376.6,-9.7,219,4036,0.20,0.00,0.00,0.000,6,0.082,0.000,2991,2207,3781,0,0,0,0,0,0
$GC,4277,-1.24,-146.0,395.6,-7.7,225,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2207,3781,0,0,0,0,0,0
$GC,4523,-1.24,-146.0,414.9,-7.9,231,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2207,3779,0,0,0,0,0,0
$GC,4765,-1.24,-146.0,434.0,-7.9,237,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2207,3778,0,0,0,0,0,0
$GC,5008,-1.24,-146.0,453.3,-7.8,243,5013,0.00,2.62,0.00,0.000,4,0.000,0.062,2991,3772,3777,0,0,0,0,0,0
$GC,5036,-1.24,-146.0,455.6,-7.9,243,5040,0.00,2.55,0.00,0.000,6,0.000,0.036,2991,2207,3777,0,0,0,0,0,0
$GC,5289,-1.24,-146.0,474.1,-7.3,249,5293,0.00,2.83,0.00,0.000,4,0.000,0.092,2992,623,3776,0,0,0,0,0,0
$GC,5312,-1.24,-146.0,475.9,-7.0,249,5316,0.00,2.55,0.00,0.000,6,0.000,0.038,2992,2186,3776,0,0,0,0,0,0
$GC,5567,-1.24,-146.0,494.3,-7.2,256,5571,0.00,2.72,0.00,0.000,4,0.000,0.067,2992,3793,3775,0,0,0,0,0,0
$GC,5602,-1.29,-146.0,496.8,-7.4,256,5608,0.00,2.62,0.00,0.000,6,0.000,0.046,2991,2214,3775,0,0,0,0,0,0
$GC,5853,-1.32,-146.0,515.1,-7.3,263,5857,0.00,2.92,0.00,0.000,4,0.000,0.104,2992,625,3774,0,0,0,0,0,0
$GC,5886,-1.37,-146.0,517.7,-7.8,263,5892,0.12,2.62,0.00,0.000,6,0.067,0.049,2942,2204,3773,0,0,0,0,0,0
$GC,6139,-1.31,-146.0,540.3,-9.1,270,6144,0.15,2.80,0.00,0.000,4,0.093,0.079,2976,3794,3772,0,0,0,0,0,0
$GC,6179,-1.31,-146.0,544.0,-8.3,271,6183,0.00,2.65,0.00,0.000,6,0.000,0.057,2976,2207,3772,0,0,0,0,0,0
$GC,6465,-1.31,-146.0,566.6,-8.1,278,6469,0.00,2.92,0.00,0.000,4,0.000,0.109,2976,626,3770,0,0,0,0,0,0
$GC,6486,-1.31,-146.0,568.7,-8.6,278,6491,0.00,2.65,0.00,0.000,6,0.000,0.049,2976,2217,3770,0,0,0,0,0,0
$GC,6743,-1.31,-146.0,589.9,-8.3,285,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3769,0,0,0,0,0,0
$GC,6985,-1.31,-146.0,609.0,-7.7,291,6989,0.00,2.88,0.00,0.000,4,0.000,0.104,2976,3794,3768,0,0,0,0,0,0
$GC,7014,-1.31,-146.0,611.3,-8.2,291,7019,0.00,2.72,0.00,0.000,6,0.000,0.069,2976,2202,3768,0,0,0,0,0,0
$GC,7264,-1.31,-146.0,630.0,-7.4,297,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2202,3767,0,0,0,0,0,0
$GC,7508,-1.31,-146.0,648.1,-7.4,303,7513,0.00,2.90,0.00,0.000,4,0.000,0.099,2976,3794,3765,0,0,0,0,0,0
$GC,7536,-1.31,-146.0,650.0,-7.8,303,7541,0.00,2.80,0.00,0.000,6,0.000,0.084,2976,2213,3765,0,0,0,0,0,0
$GC,7791,-1.31,-146.0,669.5,-7.5,310,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3763,0,0,0,0,0,0
$GC,8035,-1.31,-146.0,688.2,-7.7,316,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3762,0,0,0,0,0,0
$GC,8281,-1.31,-146.0,706.3,-7.4,322,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3762,0,0,0,0,0,0
$GC,8522,-1.31,-146.0,724.5,-7.5,328,8527,0.00,3.08,0.00,0.000,4,0.000,0.128,2976,3792,3761,0,0,0,0,0,0
$GC,8544,-1.31,-146.0,726.2,-7.8,328,8549,0.00,2.83,0.00,0.000,6,0.000,0.085,2976,2214,3760,0,0,0,0,0,0
$GC,8799,-1.31,-146.0,744.8,-7.2,335,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2214,3759,0,0,0,0,0,0
$GC,9045,-1.31,-146.0,762.4,-7.2,341,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2214,3758,0,0,0,0,0,0
$GC,9286,-1.31,-146.0,779.6,-7.0,347,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3757,0,0,0,0,0,0
$GC,9530,-1.31,-146.0,796.9,-7.2,353,9535,0.00,2.85,0.00,0.000,4,0.000,0.087,2976,3794,3755,0,0,0,0,0,0
$GC,9577,-1.35,-146.0,800.3,-8.1,354,9581,0.00,2.78,0.00,0.000,6,0.000,0.074,2976,2216,3755,0,0,0,0,0,0
$GC,9854,-1.35,-146.0,820.4,-7.1,361,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2216,3754,0,0,0,0,0,0
$GC,10101,-1.35,-146.0,837.9,-7.1,367,10106,0.00,2.83,0.00,0.000,4,0.000,0.089,2976,3798,3753,0,0,0,0,0,0
$GC,10130,-1.35,-146.0,840.1,-7.8,367,10135,0.00,2.75,0.00,0.000,6,0.000,0.068,2976,2223,3752,0,0,0,0,0,0
$GC,10380,-1.35,-146.0,858.1,-7.1,373,10385,0.00,2.80,0.00,0.000,4,0.000,0.081,2976,3800,3751,0,0,0,0,0,0
$GC,10402,-1.35,-146.0,859.8,-7.6,373,10406,0.00,2.75,0.00,0.000,6,0.000,0.067,2976,2222,3751,0,0,0,0,0,0
$GC,10660,-1.39,-146.0,878.1,-7.2,380,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3749,0,0,0,0,0,0
$GC,10901,-1.42,-146.0,895.6,-7.3,386,10907,0.12,2.83,0.00,0.000,4,0.071,0.080,2934,3804,3749,0,0,0,0,0,0
$GC,10935,-1.38,-146.0,898.7,-9.8,386,10941,0.12,2.75,0.00,0.000,6,0.098,0.066,2962,2229,3749,0,0,0,0,0,0
$STATE,10979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10979,begin apogee
$GC,10988,-0.31,0.0,902.3,8.2,388,11111,1.00,0.00,119.72,1.208,6,0.068,0.000,3192,2384,3190,0,0,0,0,0,0
$STATE,11112,end apogee,CONTROL_FINISHED_OK
$STATE,11112,begin climb
$GC,11114,1.27,146.0,905.1,0.0,391,11252,1.42,2.83,128.98,1.180,4,0.039,0.082,3542,3927,2593,0,0,0,0,0,0
$GC,11359,1.16,146.0,887.4,11.4,396,11365,0.15,2.70,0.00,0.000,6,0.114,0.059,3513,2370,2587,0,0,0,0,0,0
$GC,11609,1.18,164.2,864.1,9.2,403,11627,0.00,0.00,16.70,1.075,6,0.000,0.000,3513,2370,2520,0,0,0,0,0,0
$GC,11855,1.19,169.5,840.7,9.8,409,11866,0.00,2.75,5.88,0.865,4,0.000,0.063,3513,3932,2498,0,0,0,0,0,0
$GC,11889,1.14,169.5,837.0,10.1,409,11894,0.00,2.70,0.00,0.000,6,0.000,0.054,3513,2368,2497,0,0,0,0,0,0
$GC,12139,1.14,172.3,812.5,9.9,416,12144,0.00,0.00,4.00,0.693,6,0.000,0.000,3514,2368,2487,0,0,0,0,0,0
$GC,12385,1.16,183.4,789.3,9.5,422,12398,0.00,0.00,11.85,1.014,6,0.000,0.000,3513,2369,2442,0,0,0,0,0,0
$GC,12626,1.16,188.7,765.8,9.8,428,12639,0.00,2.75,6.50,0.881,4,0.000,0.064,3513,3937,2419,0,0,0,0,0,0
$GC,12693,1.16,188.7,758.7,10.6,429,12698,0.00,2.67,0.00,0.000,6,0.000,0.053,3513,2375,2419,0,0,0,0,0,0
$GC,12953,1.16,188.7,731.7,10.3,436,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2375,2418,0,0,0,0,0,0
$GC,13197,1.16,188.8,707.1,10.0,442,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2375,2417,0,0,0,0,0,0
$GC,13441,1.17,195.1,683.3,9.7,448,13450,0.00,0.00,7.07,0.879,6,0.000,0.000,3514,2375,2394,0,0,0,0,0,0
$GC,13687,1.18,199.8,659.5,9.8,454,13700,0.00,2.70,6.18,0.828,4,0.000,0.062,3513,3935,2374,0,0,0,0,0,0
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$STATE,20023,end climb,SURFACE_DEPTH_REACHED
$STATE,20023,begin surface coast
$FINISH,1.1,1.023251
$STATE,20076,end surface coast,CONTROL_FINISHED_OK
$STATE,20076,begin surface
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$10V_AH,10.0,58.835
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355820
$DATA_FILE_SIZE,57417,744
$CAP_FILE_SIZE,183233,0
$CFSIZE,260165632,95289344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270413,210123,1924.171,-8111.636,59,1.9,59,-3.8