version: 66.06
glider: 146
mission: 7
dive: 66
start: 6 2 112 15 13 51
data:
$ID,146
$MISSION,7
$DIVE,66
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-289100.41
$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,3144
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,34
$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,2950
$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,-29.527605
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,144806,2259.015,-15808.107,37,0.9,42,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-68.7
$GPS2,151256,2259.110,-15808.040,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.133,0.214
$KALMAN_X,-97140.2,-35.5,-220.1,90025.3,-126.5
$KALMAN_Y,-26413.9,-259.7,-8.7,60987.6,-180.9
$MHEAD_RNG_PITCHd_Wd,21.7,11461,-18.2,-10.014
$D_GRID,700
$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,22,-1.31,-136.3,0.0,0.0,0,118,0.00,0.00,-88.72,0.000,6,0.000,0.000,470,2181,3506,0,0,0,0,0,0
$GC,121,-1.31,-136.3,2.4,-7.0,12,139,13.12,2.67,0.00,0.000,4,0.172,0.031,2852,3796,3506,0,0,0,0,0,0
$GC,323,-1.19,-136.3,33.6,-11.6,40,329,0.15,2.53,0.00,0.000,6,0.129,0.022,2882,2194,3508,0,0,0,0,0,0
$GC,590,-1.12,-136.3,59.4,-10.0,64,595,0.00,2.58,0.00,0.000,4,0.000,0.048,2882,630,3507,0,0,0,0,0,0
$GC,700,-1.04,-136.3,70.9,-10.1,72,710,0.12,2.47,0.00,0.000,6,0.091,0.016,2913,2217,3507,0,0,0,0,0,0
$GC,966,-1.04,-136.3,93.2,-8.6,97,970,0.00,2.50,0.00,0.000,4,0.000,0.038,2913,3772,3508,0,0,0,0,0,0
$GC,1037,-1.04,-136.3,99.7,-8.4,102,1046,0.00,2.50,0.00,0.000,6,0.000,0.022,2913,2203,3507,0,0,0,0,0,0
$GC,1303,-1.04,-136.3,121.5,-8.1,127,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2203,3507,0,0,0,0,0,0
$GC,1566,-1.04,-136.3,141.8,-6.9,152,1570,0.00,2.55,0.00,0.000,4,0.000,0.051,2913,637,3507,0,0,0,0,0,0
$GC,1656,-1.04,-136.3,148.5,-7.7,159,1660,0.00,2.42,0.00,0.000,6,0.000,0.024,2913,2206,3507,0,0,0,0,0,0
$GC,1921,-1.08,-136.3,165.9,-6.4,183,1926,0.00,2.58,0.00,0.000,4,0.000,0.047,2913,637,3507,0,0,0,0,0,0
$GC,1979,-1.13,-136.3,169.9,-6.8,187,1985,0.00,2.38,0.00,0.000,6,0.000,0.020,2913,2186,3508,0,0,0,0,0,0
$GC,2244,-1.18,-136.3,184.9,-5.6,212,2249,0.12,2.55,0.00,0.000,4,0.070,0.036,2868,3776,3508,0,0,0,0,0,0
$GC,2311,-1.18,-136.3,190.0,-8.2,217,2316,0.00,2.47,0.00,0.000,6,0.000,0.023,2867,2187,3507,0,0,0,0,0,0
$GC,2569,-1.18,-136.3,208.8,-7.2,232,2573,0.00,2.55,0.00,0.000,4,0.000,0.054,2867,634,3507,0,0,0,0,0,0
$GC,2654,-1.14,-136.3,215.3,-7.3,234,2659,0.12,2.42,0.00,0.000,6,0.117,0.024,2893,2196,3507,0,0,0,0,0,0
$GC,2937,-1.14,-136.3,232.3,-6.0,241,2942,0.00,2.55,0.00,0.000,4,0.000,0.044,2894,3771,3507,0,0,0,0,0,0
$GC,2984,-1.18,-136.3,235.3,-7.0,242,2988,0.00,2.47,0.00,0.000,6,0.000,0.025,2893,2207,3507,0,0,0,0,0,0
$GC,3262,-1.22,-136.3,252.5,-6.1,249,3266,0.00,2.62,0.00,0.000,4,0.000,0.061,2894,637,3506,0,0,0,0,0,0
$GC,3324,-1.22,-136.3,257.0,-7.0,250,3328,0.00,2.42,0.00,0.000,6,0.000,0.026,2894,2199,3506,0,0,0,0,0,0
$GC,3585,-1.27,-136.3,273.6,-6.2,257,3587,0.12,0.00,0.00,0.000,6,0.073,0.000,2851,2199,3505,0,0,0,0,0,0
$GC,3829,-1.23,-136.3,289.7,-6.5,263,3834,0.10,2.60,0.00,0.000,4,0.123,0.041,2873,3786,3503,0,0,0,0,0,0
$GC,3870,-1.23,-136.3,292.2,-6.1,264,3875,0.00,2.50,0.00,0.000,6,0.000,0.023,2872,2200,3503,0,0,0,0,0,0
$GC,4153,-1.23,-136.3,307.1,-4.9,271,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2201,3502,0,0,0,0,0,0
$GC,4397,-1.23,-136.3,319.0,-5.1,277,4401,0.00,2.67,0.00,0.000,4,0.000,0.069,2873,626,3501,0,0,0,0,0,0
$GC,4438,-1.23,-136.3,321.3,-6.0,278,4442,0.00,2.50,0.00,0.000,6,0.000,0.032,2873,2193,3501,0,0,0,0,0,0
$GC,4721,-1.23,-136.3,338.2,-6.0,285,4725,0.00,2.62,0.00,0.000,4,0.000,0.049,2873,3791,3499,0,0,0,0,0,0
$GC,4737,-1.23,-136.3,339.3,-6.4,285,4741,0.00,2.55,0.00,0.000,6,0.000,0.025,2873,2200,3499,0,0,0,0,0,0
$GC,4999,-1.23,-136.3,357.1,-6.9,292,5004,0.00,2.70,0.00,0.000,4,0.000,0.077,2872,631,3498,0,0,0,0,0,0
$GC,5039,-1.23,-136.3,360.0,-7.5,293,5043,0.00,2.50,0.00,0.000,6,0.000,0.026,2872,2197,3497,0,0,0,0,0,0
$GC,5324,-1.23,-136.3,377.7,-6.0,300,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2197,3496,0,0,0,0,0,0
$GC,5566,-1.23,-136.3,391.1,-5.3,306,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2197,3495,0,0,0,0,0,0
$GC,5810,-1.23,-136.3,403.5,-5.2,312,5814,0.00,2.65,0.00,0.000,4,0.000,0.058,2873,3783,3494,0,0,0,0,0,0
$GC,5825,-1.23,-136.3,404.4,-5.2,312,5830,0.00,2.58,0.00,0.000,6,0.000,0.041,2873,2199,3494,0,0,0,0,0,0
$GC,6088,-1.23,-136.3,419.7,-6.0,319,6093,0.00,2.65,0.00,0.000,4,0.000,0.049,2873,3785,3493,0,0,0,0,0,0
$GC,6174,-1.23,-136.3,425.5,-6.9,321,6179,0.00,2.58,0.00,0.000,6,0.000,0.039,2872,2220,3492,0,0,0,0,0,0
$GC,6460,-1.27,-136.3,441.4,-5.3,328,6464,0.00,2.85,0.00,0.000,4,0.000,0.090,2873,620,3491,0,0,0,0,0,0
$GC,6499,-1.27,-136.3,443.7,-6.1,329,6503,0.00,2.60,0.00,0.000,6,0.000,0.037,2872,2205,3490,0,0,0,0,0,0
$GC,6782,-1.31,-136.3,458.5,-5.1,336,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2206,3489,0,0,0,0,0,0
$GC,7028,-1.35,-136.3,471.3,-5.5,342,7033,0.10,2.83,0.00,0.000,4,0.091,0.081,2840,616,3488,0,0,0,0,0,0
$GC,7050,-1.35,-136.3,472.9,-6.3,342,7054,0.00,2.62,0.00,0.000,6,0.000,0.046,2840,2206,3488,0,0,0,0,0,0
$GC,7305,-1.35,-136.3,488.9,-6.3,349,7309,0.00,2.72,0.00,0.000,4,0.000,0.071,2840,3796,3487,0,0,0,0,0,0
$GC,7322,-1.35,-136.3,490.0,-6.5,349,7327,0.00,2.65,0.00,0.000,6,0.000,0.044,2840,2211,3487,0,0,0,0,0,0
$GC,7584,-1.35,-136.3,506.2,-6.0,356,7588,0.00,2.70,0.00,0.000,4,0.000,0.059,2840,3792,3485,0,0,0,0,0,0
$GC,7624,-1.35,-136.3,509.0,-6.9,357,7629,0.00,2.62,0.00,0.000,6,0.000,0.054,2840,2224,3485,0,0,0,0,0,0
$GC,7909,-1.35,-136.3,524.5,-5.4,364,7914,0.00,3.00,0.00,0.000,4,0.000,0.112,2840,623,3484,0,0,0,0,0,0
$GC,7983,-1.35,-136.3,528.8,-6.4,365,7988,0.00,2.67,0.00,0.000,6,0.000,0.046,2840,2219,3483,0,0,0,0,0,0
$GC,8233,-1.35,-136.3,541.2,-4.7,371,8237,0.00,2.78,0.00,0.000,4,0.000,0.084,2840,3791,3482,0,0,0,0,0,0
$GC,8357,-1.35,-136.3,548.3,-6.1,373,8363,0.00,2.65,0.00,0.000,6,0.000,0.057,2840,2225,3482,0,0,0,0,0,0
$GC,8607,-1.35,-136.3,561.2,-5.1,380,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2225,3481,0,0,0,0,0,0
$GC,8851,-1.35,-136.3,573.4,-4.9,386,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2225,3480,0,0,0,0,0,0
$GC,9096,-1.35,-136.3,584.8,-4.6,392,9101,0.00,2.75,0.00,0.000,4,0.000,0.083,2840,3790,3479,0,0,0,0,0,0
$GC,9123,-1.35,-136.3,586.2,-5.6,392,9128,0.00,2.70,0.00,0.000,6,0.000,0.062,2840,2217,3479,0,0,0,0,0,0
$GC,9373,-1.35,-136.3,598.1,-4.9,398,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2217,3478,0,0,0,0,0,0
$GC,9619,-1.35,-136.3,612.0,-5.9,404,9623,0.00,2.78,0.00,0.000,4,0.000,0.078,2840,3793,3476,0,0,0,0,0,0
$GC,9640,-1.35,-136.3,613.6,-6.6,404,9645,0.00,2.75,0.00,0.000,6,0.000,0.068,2840,2223,3476,0,0,0,0,0,0
$GC,9895,-1.35,-136.3,631.3,-7.1,411,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2222,3475,0,0,0,0,0,0
$GC,10139,-1.35,-136.3,648.0,-6.8,417,10144,0.00,3.15,0.00,0.000,4,0.000,0.137,2840,622,3474,0,0,0,0,0,0
$GC,10162,-1.35,-136.3,649.5,-6.3,417,10167,0.00,2.78,0.00,0.000,6,0.000,0.071,2840,2217,3475,0,0,0,0,0,0
$GC,10417,-1.35,-136.3,663.9,-5.3,424,10422,0.00,2.92,0.00,0.000,4,0.000,0.107,2840,3796,3474,0,0,0,0,0,0
$GC,10503,-1.35,-136.3,668.5,-5.3,426,10508,0.00,2.83,0.00,0.000,6,0.000,0.093,2840,2238,3474,0,0,0,0,0,0
$GC,10787,-1.35,-136.3,681.2,-4.3,433,10791,0.00,2.90,0.00,0.000,4,0.000,0.110,2840,3795,3473,0,0,0,0,0,0
$GC,10802,-1.35,-136.3,682.0,-4.5,433,10807,0.00,2.90,0.00,0.000,6,0.000,0.100,2841,2232,3473,0,0,0,0,0,0
$GC,11065,-1.35,-136.3,694.4,-4.9,440,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2232,3472,0,0,0,0,0,0
$STATE,11182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11182,begin apogee
$GC,11188,-0.31,0.0,701.0,5.3,443,11306,1.05,0.00,108.75,1.117,6,0.082,0.000,3077,2200,2950,0,0,0,0,0,0
$STATE,11307,end apogee,CONTROL_FINISHED_OK
$STATE,11307,begin climb
$GC,11309,1.31,136.3,701.7,0.0,446,11442,1.52,3.10,118.60,1.084,4,0.058,0.109,3429,3786,2392,0,0,0,0,0,0
$GC,11447,1.17,136.3,688.4,13.1,449,11453,0.15,3.08,0.00,0.000,6,0.150,0.106,3402,2199,2391,0,0,0,0,0,0
$GC,11709,1.09,136.3,657.5,11.6,456,11714,0.00,2.97,0.00,0.000,4,0.000,0.098,3402,3791,2383,0,0,0,0,0,0
$GC,11738,1.01,136.3,654.1,11.5,456,11744,0.20,2.95,0.00,0.000,6,0.122,0.091,3364,2203,2383,0,0,0,0,0,0
$GC,11988,1.01,142.4,629.1,9.7,462,11999,0.00,3.12,4.75,0.734,4,0.000,0.120,3364,609,2369,0,0,0,0,0,0
$GC,12009,1.01,142.4,626.8,10.1,462,12014,0.00,2.78,0.00,0.000,6,0.000,0.058,3364,2199,2368,0,0,0,0,0,0
$GC,12266,1.01,142.4,601.3,10.1,469,12271,0.00,2.88,0.00,0.000,4,0.000,0.089,3364,3788,2367,0,0,0,0,0,0
$GC,12287,1.01,143.4,598.8,10.0,469,12292,0.00,2.78,0.00,0.000,6,0.000,0.062,3364,2199,2367,0,0,0,0,0,0
$GC,12542,1.01,143.4,572.5,10.4,476,12547,0.00,2.97,0.00,0.000,4,0.000,0.110,3364,612,2366,0,0,0,0,0,0
$GC,12560,1.01,143.4,570.6,10.8,476,12564,0.00,2.67,0.00,0.000,6,0.000,0.048,3364,2210,2365,0,0,0,0,0,0
$GC,12820,1.01,143.4,543.0,10.3,483,12825,0.00,2.78,0.00,0.000,4,0.000,0.079,3364,3787,2365,0,0,0,0,0,0
$GC,12841,1.01,143.4,540.6,10.3,483,12845,0.00,2.67,0.00,0.000,6,0.000,0.054,3364,2217,2364,0,0,0,0,0,0
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$STATE,17817,end climb,SURFACE_DEPTH_REACHED
$STATE,17817,begin surface coast
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