version: 66.06
glider: 146
mission: 8
dive: 44
start: 1 24 113 20 39 37
data:
$ID,146
$MISSION,8
$DIVE,44
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,600
$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,-308152.94
$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,3240
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,35
$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
$GPS1,203030,1925.590,-8116.541,69,1.4,69,-3.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.8
$GPS2,203843,1925.550,-8116.571,9,1.7,9,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.175,0.187
$KALMAN_X,26367.2,-110.1,61.8,-35787.6,645.3
$KALMAN_Y,-3599.4,95.5,-15.2,777.6,-689.3
$MHEAD_RNG_PITCHd_Wd,320.7,3667,-17.8,-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,-1.29,-141.8,0.0,0.0,0,85,0.00,0.00,-63.47,0.000,2,0.000,0.000,468,2131,3316,0,0,0,0,0,0
$GC,88,-1.29,-146.0,3.2,-4.8,8,122,13.70,2.72,-9.15,0.000,4,0.171,0.044,2954,3809,3788,0,0,0,0,0,0
$GC,268,-1.04,-146.0,43.5,-20.9,29,273,0.25,2.50,0.00,0.000,6,0.107,0.025,3008,2227,3789,0,0,0,0,0,0
$GC,536,-0.88,-146.0,93.3,-16.9,53,541,0.17,2.60,0.00,0.000,4,0.110,0.051,3045,648,3789,0,0,0,0,0,0
$GC,607,-0.82,-146.0,105.0,-13.8,58,617,0.00,2.47,0.00,0.000,6,0.000,0.017,3045,2238,3790,0,0,0,0,0,0
$GC,876,-0.82,-146.0,134.0,-9.4,83,881,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2238,3790,0,0,0,0,0,0
$GC,1137,-0.82,-146.0,158.0,-8.9,108,1141,0.00,2.62,0.00,0.000,4,0.000,0.053,3045,647,3790,0,0,0,0,0,0
$GC,1195,-0.87,-146.0,162.9,-9.7,112,1199,0.00,2.42,0.00,0.000,6,0.000,0.018,3045,2230,3790,0,0,0,0,0,0
$GC,1462,-0.92,-146.0,185.2,-7.3,136,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2230,3791,0,0,0,0,0,0
$GC,1741,-0.99,-146.0,207.0,-7.7,157,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2230,3791,0,0,0,0,0,0
$GC,1984,-1.07,-146.0,224.4,-7.2,163,1989,0.17,2.55,0.00,0.000,4,0.054,0.044,2982,3805,3791,0,0,0,0,0,0
$GC,2008,-1.07,-146.0,226.5,-9.4,163,2013,0.10,2.47,0.00,0.000,6,0.110,0.029,3005,2222,3791,0,0,0,0,0,0
$GC,2263,-1.07,-146.0,248.9,-8.7,170,2268,0.00,2.60,0.00,0.000,4,0.000,0.062,3005,650,3790,0,0,0,0,0,0
$GC,2307,-1.07,-146.0,252.9,-9.2,171,2312,0.00,2.42,0.00,0.000,6,0.000,0.028,3005,2213,3790,0,0,0,0,0,0
$GC,2587,-1.07,-146.0,277.4,-8.8,178,2592,0.00,2.55,0.00,0.000,4,0.000,0.044,3005,3794,3790,0,0,0,0,0,0
$GC,2638,-1.12,-146.0,282.1,-8.9,179,2642,0.00,2.47,0.00,0.000,6,0.000,0.025,3005,2221,3790,0,0,0,0,0,0
$GC,2910,-1.12,-146.0,305.2,-8.5,186,2914,0.00,2.62,0.00,0.000,4,0.000,0.063,3005,658,3789,0,0,0,0,0,0
$GC,2944,-1.12,-146.0,308.1,-8.9,186,2950,0.00,2.45,0.00,0.000,6,0.000,0.032,3005,2212,3789,0,0,0,0,0,0
$GC,3194,-1.12,-146.0,329.4,-8.3,193,3198,0.00,2.60,0.00,0.000,4,0.000,0.052,3005,3815,3788,0,0,0,0,0,0
$GC,3234,-1.16,-146.0,332.7,-8.8,194,3238,0.00,2.50,0.00,0.000,6,0.000,0.025,3005,2234,3788,0,0,0,0,0,0
$GC,3519,-1.16,-146.0,355.7,-8.0,201,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2234,3788,0,0,0,0,0,0
$GC,3761,-1.16,-146.0,374.6,-7.5,207,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2234,3787,0,0,0,0,0,0
$GC,4004,-1.16,-146.0,392.8,-7.5,213,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2234,3786,0,0,0,0,0,0
$GC,4250,-1.20,-146.0,411.0,-7.4,219,4256,0.12,2.83,0.00,0.000,4,0.068,0.085,2958,646,3786,0,0,0,0,0,0
$GC,4290,-1.14,-146.0,414.9,-10.1,220,4296,0.15,2.58,0.00,0.000,6,0.100,0.042,2990,2234,3785,0,0,0,0,0,0
$GC,4574,-1.14,-146.0,438.5,-8.1,227,4579,0.00,2.65,0.00,0.000,4,0.000,0.068,2990,3812,3784,0,0,0,0,0,0
$GC,4609,-1.14,-146.0,441.3,-8.9,227,4614,0.00,2.58,0.00,0.000,6,0.000,0.038,2990,2241,3783,0,0,0,0,0,0
$GC,4859,-1.14,-146.0,462.3,-8.3,234,4863,0.00,2.90,0.00,0.000,4,0.000,0.101,2990,645,3782,0,0,0,0,0,0
$GC,4903,-1.17,-146.0,466.6,-9.3,235,4907,0.00,2.62,0.00,0.000,6,0.000,0.049,2990,2228,3782,0,0,0,0,0,0
$GC,5182,-1.17,-146.0,490.4,-8.4,242,5187,0.00,2.72,0.00,0.000,4,0.000,0.077,2990,3815,3781,0,0,0,0,0,0
$GC,5209,-1.17,-146.0,493.1,-8.9,242,5214,0.00,2.62,0.00,0.000,6,0.000,0.051,2990,2224,3780,0,0,0,0,0,0
$GC,5461,-1.17,-146.0,513.9,-8.4,248,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2224,3779,0,0,0,0,0,0
$GC,5703,-1.17,-146.0,533.7,-8.0,254,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2225,3778,0,0,0,0,0,0
$GC,5947,-1.17,-146.0,553.7,-8.2,260,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2224,3777,0,0,0,0,0,0
$GC,6191,-1.17,-146.0,573.4,-7.9,266,6195,0.00,3.00,0.00,0.000,4,0.000,0.122,2990,644,3776,0,0,0,0,0,0
$GC,6220,-1.17,-146.0,575.7,-8.5,266,6224,0.00,2.72,0.00,0.000,6,0.000,0.061,2990,2237,3776,0,0,0,0,0,0
$GC,6470,-1.17,-146.0,596.0,-8.1,272,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2237,3775,0,0,0,0,0,0
$GC,6713,-1.17,-146.0,615.6,-8.2,278,6718,0.00,2.97,0.00,0.000,4,0.000,0.120,2990,3814,3773,0,0,0,0,0,0
$GC,6742,-1.17,-146.0,618.1,-9.0,278,6747,0.00,2.78,0.00,0.000,6,0.000,0.073,2990,2227,3773,0,0,0,0,0,0
$GC,6992,-1.17,-146.0,639.3,-8.5,284,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2227,3771,0,0,0,0,0,0
$GC,7236,-1.17,-146.0,659.0,-8.1,290,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2227,3770,0,0,0,0,0,0
$GC,7480,-1.17,-146.0,678.2,-7.8,296,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2227,3768,0,0,0,0,0,0
$GC,7726,-1.17,-146.0,696.6,-7.6,302,7730,0.00,3.08,0.00,0.000,4,0.000,0.129,2990,3820,3768,0,0,0,0,0,0
$GC,7747,-1.17,-146.0,698.5,-7.7,302,7752,0.00,2.97,0.00,0.000,6,0.000,0.111,2990,2235,3768,0,0,0,0,0,0
$GC,8004,-1.17,-146.0,717.6,-7.4,309,8009,0.00,3.30,0.00,0.000,4,0.000,0.160,2990,640,3766,0,0,0,0,0,0
$GC,8046,-1.17,-146.0,720.7,-8.4,310,8051,0.00,2.97,0.00,0.000,6,0.000,0.108,2990,2227,3766,0,0,0,0,0,0
$GC,8330,-1.21,-146.0,742.1,-7.5,317,8335,0.00,3.28,0.00,0.000,4,0.000,0.156,2990,3824,3764,0,0,0,0,0,0
$GC,8370,-1.26,-146.0,745.3,-8.0,318,8375,0.10,2.75,0.00,0.000,6,0.084,0.064,2953,2222,3764,0,0,0,0,0,0
$GC,8656,-1.22,-146.0,771.1,-9.1,325,8658,0.10,0.00,0.00,0.000,6,0.119,0.000,2974,2222,3762,0,0,0,0,0,0
$GC,8897,-1.22,-146.0,792.0,-8.6,331,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2222,3761,0,0,0,0,0,0
$GC,9141,-1.22,-146.0,813.2,-8.7,337,9146,0.00,2.88,0.00,0.000,4,0.000,0.085,2974,3829,3761,0,0,0,0,0,0
$GC,9170,-1.22,-146.0,815.7,-9.2,337,9175,0.00,2.78,0.00,0.000,6,0.000,0.065,2974,2229,3761,0,0,0,0,0,0
$GC,9420,-1.22,-146.0,837.4,-8.6,343,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2228,3760,0,0,0,0,0,0
$GC,9664,-1.22,-146.0,858.4,-8.6,349,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2228,3759,0,0,0,0,0,0
$GC,9910,-1.22,-146.0,878.6,-8.2,355,9914,0.00,2.85,0.00,0.000,4,0.000,0.084,2974,3825,3758,0,0,0,0,0,0
$GC,9953,-1.22,-146.0,882.8,-9.7,356,9958,0.00,2.75,0.00,0.000,6,0.000,0.071,2974,2237,3758,0,0,0,0,0,0
$STATE,10188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10188,begin apogee
$GC,10194,-0.31,0.0,902.1,8.0,362,10316,0.88,0.00,118.53,1.227,6,0.077,0.000,3172,2377,3190,0,0,0,0,0,0
$STATE,10317,end apogee,CONTROL_FINISHED_OK
$STATE,10317,begin climb
$GC,10322,1.29,146.0,905.1,0.0,365,10459,1.48,2.90,126.40,1.191,4,0.045,0.080,3524,3930,2592,0,0,0,0,0,0
$GC,10522,1.22,146.0,893.2,10.1,369,10527,0.00,2.72,0.00,0.000,6,0.000,0.058,3524,2358,2588,0,0,0,0,0,0
$GC,10773,1.19,164.6,870.2,9.1,375,10792,0.12,0.00,16.67,1.091,6,0.120,0.000,3499,2358,2520,0,0,0,0,0,0
$GC,11018,1.22,186.7,848.4,8.9,381,11046,0.00,2.80,21.17,1.109,4,0.000,0.067,3500,3927,2427,0,0,0,0,0,0
$GC,11059,1.23,195.8,844.2,9.6,382,11074,0.00,2.70,9.62,0.995,6,0.000,0.051,3500,2360,2391,0,0,0,0,0,0
$GC,11341,1.23,195.8,816.0,10.0,389,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2360,2387,0,0,0,0,0,0
$GC,11587,1.23,195.8,791.5,10.1,395,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2360,2386,0,0,0,0,0,0
$GC,11829,1.23,197.0,767.1,9.9,401,11833,0.00,2.72,0.00,0.000,4,0.000,0.063,3499,3929,2385,0,0,0,0,0,0
$GC,11844,1.24,202.8,765.4,9.7,401,11858,0.00,2.65,6.80,0.917,6,0.000,0.048,3499,2363,2363,0,0,0,0,0,0
$GC,12110,1.24,202.8,739.0,10.0,408,12115,0.00,3.08,0.00,0.000,4,0.000,0.121,3499,771,2361,0,0,0,0,0,0
$GC,12126,1.24,202.8,737.1,10.1,408,12131,0.00,2.67,0.00,0.000,6,0.000,0.048,3499,2364,2360,0,0,0,0,0,0
$GC,12387,1.24,205.9,711.1,9.9,415,12393,0.00,0.00,4.25,0.722,6,0.000,0.000,3499,2365,2350,0,0,0,0,0,0
$GC,12631,1.25,213.2,687.6,9.7,421,12645,0.00,2.92,8.62,0.946,4,0.000,0.081,3499,763,2320,0,0,0,0,0,0
$GC,12654,1.25,215.5,685.5,9.9,421,12659,0.00,2.70,0.00,0.000,6,0.000,0.048,3499,2361,2319,0,0,0,0,0,0
$GC,12915,1.30,224.0,660.5,9.6,428,12929,0.10,0.00,11.50,0.976,6,0.087,0.000,3527,2361,2276,0,0,0,0,0,0
$GC,13160,1.30,224.0,633.9,11.1,434,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2362,2274,0,0,0,0,0,0
$GC,13402,1.30,224.0,606.7,11.3,440,13406,0.00,2.75,0.00,0.000,4,0.000,0.071,3528,3935,2273,0,0,0,0,0,0
$GC,13423,1.30,224.0,604.1,12.2,440,13427,0.00,2.62,0.00,0.000,6,0.000,0.038,3527,2356,2272,0,0,0,0,0,0
$GC,13678,1.30,224.0,574.7,11.6,447,13682,0.00,2.70,0.00,0.000,4,0.000,0.055,3527,3937,2272,0,0,0,0,0,0
$GC,13695,1.30,224.0,572.7,11.6,447,13700,0.00,2.62,0.00,0.000,6,0.000,0.046,3527,2360,2272,0,0,0,0,0,0
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$STATE,18916,end climb,SURFACE_DEPTH_REACHED
$STATE,18916,begin surface coast
$FINISH,0.8,1.009715
$STATE,18965,end surface coast,CONTROL_FINISHED_OK
$STATE,18965,begin surface
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$HUMID,55.31
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$TCM_TEMP,24.80
$XPDR_PINGS,56
$24V_AH,23.2,7.011
$10V_AH,10.4,5.628
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.375,210.200,401.050,35.950,0.000,28.098,35.148,273.648,14.000,0.000,10.660,1516.438,14365.514,556.960,2295.040,780.505,33.363,1549.778,0.000,2289.541,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,54385,719
$CAP_FILE_SIZE,170474,0
$CFSIZE,260165632,125558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250113,015806,1927.253,-8117.566,40,1.5,40,-3.7