version: 66.06
glider: 146
mission: 8
dive: 47
start: 1 25 113 13 45 49
data:
$ID,146
$MISSION,8
$DIVE,47
$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,-308207.84
$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,3250
$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,62
$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
$GPS1,133705,1926.703,-8109.781,58,1.3,58,-3.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.9
$GPS2,134455,1926.691,-8109.779,11,1.7,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.207
$KALMAN_X,31500.3,636.3,322.0,-30082.0,-7.7
$KALMAN_Y,-2294.3,480.8,122.1,1051.2,-277.3
$MHEAD_RNG_PITCHd_Wd,146.5,5410,-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,-63.35,0.000,2,0.000,0.000,466,2195,3328,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-4.8,8,122,13.62,2.55,-9.18,0.000,4,0.164,0.058,2969,680,3787,0,0,0,0,0,0
$GC,179,-1.01,-146.0,26.1,-21.2,20,189,0.25,2.45,0.00,0.000,6,0.094,0.018,3025,2245,3788,0,0,0,0,0,0
$GC,460,-0.86,-146.0,73.0,-16.3,46,465,0.17,2.60,0.00,0.000,4,0.107,0.045,3063,683,3789,0,0,0,0,0,0
$GC,496,-0.78,-146.0,80.2,-13.9,48,506,0.00,2.40,0.00,0.000,6,0.000,0.018,3063,2220,3789,0,0,0,0,0,0
$GC,763,-0.78,-146.0,111.9,-10.1,73,768,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2220,3789,0,0,0,0,0,0
$GC,1026,-0.82,-146.0,137.2,-8.5,98,1030,0.00,2.50,0.00,0.000,4,0.000,0.043,3063,681,3789,0,0,0,0,0,0
$GC,1096,-0.88,-146.0,143.1,-9.1,103,1100,0.00,2.38,0.00,0.000,6,0.000,0.018,3063,2230,3789,0,0,0,0,0,0
$GC,1363,-0.95,-146.0,165.6,-7.8,127,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2230,3790,0,0,0,0,0,0
$GC,1628,-1.04,-146.0,185.9,-8.0,152,1633,0.17,0.00,0.00,0.000,6,0.054,0.000,2998,2231,3790,0,0,0,0,0,0
$GC,1905,-1.04,-146.0,211.2,-8.7,170,1907,0.12,0.00,0.00,0.000,6,0.104,0.000,3026,2231,3790,0,0,0,0,0,0
$GC,2151,-1.08,-146.0,230.1,-7.5,176,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2231,3790,0,0,0,0,0,0
$GC,2393,-1.13,-146.0,248.3,-7.6,182,2398,0.10,2.58,0.00,0.000,4,0.080,0.056,2980,676,3791,0,0,0,0,0,0
$GC,2414,-1.13,-146.0,250.4,-8.7,182,2419,0.10,2.38,0.00,0.000,6,0.111,0.024,3002,2217,3790,0,0,0,0,0,0
$GC,2672,-1.13,-146.0,271.9,-8.3,189,2676,0.00,2.58,0.00,0.000,4,0.000,0.047,3002,3807,3790,0,0,0,0,0,0
$GC,2698,-1.13,-146.0,274.5,-8.1,189,2703,0.00,2.42,0.00,0.000,6,0.000,0.022,3002,2247,3790,0,0,0,0,0,0
$GC,2949,-1.13,-146.0,294.7,-8.4,195,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2247,3790,0,0,0,0,0,0
$GC,3192,-1.13,-146.0,313.9,-7.8,201,3197,0.00,2.67,0.00,0.000,4,0.000,0.068,3002,659,3789,0,0,0,0,0,0
$GC,3216,-1.13,-146.0,315.7,-7.7,201,3220,0.00,2.45,0.00,0.000,6,0.000,0.028,3002,2209,3789,0,0,0,0,0,0
$GC,3471,-1.13,-146.0,336.8,-8.4,208,3475,0.00,2.62,0.00,0.000,4,0.000,0.064,3002,659,3787,0,0,0,0,0,0
$GC,3498,-1.13,-146.0,339.3,-8.9,208,3502,0.00,2.47,0.00,0.000,6,0.000,0.036,3002,2210,3787,0,0,0,0,0,0
$GC,3750,-1.13,-146.0,359.5,-7.8,214,3754,0.00,2.62,0.00,0.000,4,0.000,0.058,3002,3812,3786,0,0,0,0,0,0
$GC,3771,-1.13,-146.0,361.4,-8.0,214,3775,0.00,2.50,0.00,0.000,6,0.000,0.026,3002,2227,3787,0,0,0,0,0,0
$GC,4026,-1.13,-146.0,380.7,-7.6,221,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2227,3786,0,0,0,0,0,0
$GC,4272,-1.13,-146.0,399.5,-7.7,227,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2227,3785,0,0,0,0,0,0
$GC,4514,-1.17,-146.0,417.4,-7.4,233,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2227,3784,0,0,0,0,0,0
$GC,4758,-1.21,-146.0,437.3,-8.3,239,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2227,3783,0,0,0,0,0,0
$GC,5003,-1.25,-146.0,455.0,-7.0,245,5005,0.12,0.00,0.00,0.000,6,0.070,0.000,2957,2227,3782,0,0,0,0,0,0
$GC,5245,-1.21,-146.0,478.4,-10.0,251,5250,0.12,2.72,0.00,0.000,4,0.104,0.074,2986,3807,3781,0,0,0,0,0,0
$GC,5261,-1.21,-146.0,480.1,-9.9,251,5266,0.00,2.62,0.00,0.000,6,0.000,0.045,2986,2225,3780,0,0,0,0,0,0
$GC,5524,-1.21,-146.0,502.4,-8.6,258,5528,0.00,2.95,0.00,0.000,4,0.000,0.114,2986,639,3779,0,0,0,0,0,0
$GC,5539,-1.21,-146.0,504.1,-8.8,258,5544,0.00,2.60,0.00,0.000,6,0.000,0.046,2986,2218,3779,0,0,0,0,0,0
$GC,5801,-1.21,-146.0,526.4,-8.4,265,5805,0.00,2.83,0.00,0.000,4,0.000,0.086,2985,3816,3778,0,0,0,0,0,0
$GC,5816,-1.21,-146.0,527.8,-8.2,265,5821,0.00,2.65,0.00,0.000,6,0.000,0.050,2986,2227,3778,0,0,0,0,0,0
$GC,6079,-1.21,-146.0,548.3,-7.8,272,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2227,3776,0,0,0,0,0,0
$GC,6321,-1.21,-146.0,566.2,-7.2,278,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2227,3775,0,0,0,0,0,0
$GC,6564,-1.21,-146.0,584.5,-7.7,284,6569,0.00,2.85,0.00,0.000,4,0.000,0.092,2986,3814,3774,0,0,0,0,0,0
$GC,6588,-1.21,-146.0,586.4,-8.3,284,6592,0.00,2.72,0.00,0.000,6,0.000,0.062,2985,2227,3774,0,0,0,0,0,0
$GC,6843,-1.21,-146.0,607.0,-8.0,291,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2227,3772,0,0,0,0,0,0
$GC,7086,-1.21,-146.0,626.1,-8.0,297,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2227,3772,0,0,0,0,0,0
$GC,7330,-1.21,-146.0,646.2,-8.2,303,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2227,3770,0,0,0,0,0,0
$GC,7576,-1.21,-146.0,666.0,-8.1,309,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2227,3768,0,0,0,0,0,0
$GC,7818,-1.21,-146.0,684.7,-7.6,315,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3767,0,0,0,0,0,0
$GC,8061,-1.21,-146.0,703.2,-7.7,321,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2227,3766,0,0,0,0,0,0
$GC,8307,-1.21,-146.0,721.7,-7.5,327,8312,0.00,3.17,0.00,0.000,4,0.000,0.149,2986,3809,3765,0,0,0,0,0,0
$GC,8334,-1.21,-146.0,724.0,-8.1,327,8339,0.00,2.70,0.00,0.000,6,0.000,0.067,2986,2232,3764,0,0,0,0,0,0
$GC,8584,-1.21,-146.0,741.1,-6.7,333,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2232,3764,0,0,0,0,0,0
$GC,8828,-1.21,-146.0,758.3,-7.2,339,8833,0.00,2.78,0.00,0.000,4,0.000,0.088,2986,3812,3763,0,0,0,0,0,0
$GC,8851,-1.21,-146.0,760.1,-7.9,339,8856,0.00,2.70,0.00,0.000,6,0.000,0.064,2986,2237,3763,0,0,0,0,0,0
$GC,9106,-1.21,-146.0,780.1,-7.7,346,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2237,3762,0,0,0,0,0,0
$GC,9350,-1.21,-146.0,797.1,-6.9,352,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2237,3760,0,0,0,0,0,0
$GC,9596,-1.21,-146.0,816.8,-8.2,358,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2236,3759,0,0,0,0,0,0
$GC,9837,-1.21,-146.0,835.2,-7.4,364,9842,0.00,2.78,0.00,0.000,4,0.000,0.084,2986,3812,3758,0,0,0,0,0,0
$GC,9853,-1.21,-146.0,836.5,-7.3,364,9857,0.00,2.70,0.00,0.000,6,0.000,0.066,2985,2236,3758,0,0,0,0,0,0
$GC,10114,-1.21,-146.0,855.5,-7.3,371,10118,0.00,2.78,0.00,0.000,4,0.000,0.081,2986,3820,3757,0,0,0,0,0,0
$GC,10137,-1.21,-146.0,857.4,-8.5,371,10142,0.00,2.72,0.00,0.000,6,0.000,0.065,2986,2234,3757,0,0,0,0,0,0
$GC,10393,-1.24,-146.0,875.7,-7.0,378,10394,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2234,3756,0,0,0,0,0,0
$GC,10636,-1.28,-146.0,891.3,-6.3,384,10641,0.00,2.80,0.00,0.000,4,0.000,0.085,2986,3820,3755,0,0,0,0,0,0
$GC,10678,-1.33,-146.0,894.2,-7.4,385,10683,0.10,2.70,0.00,0.000,6,0.083,0.064,2951,2238,3755,0,0,0,0,0,0
$STATE,10756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10756,begin apogee
$GC,10762,-0.31,0.0,901.0,8.5,387,10884,1.02,0.00,118.40,1.224,6,0.077,0.000,3182,2368,3190,0,0,0,0,0,0
$STATE,10885,end apogee,CONTROL_FINISHED_OK
$STATE,10885,begin climb
$GC,10889,1.27,146.0,903.8,0.0,390,11025,1.45,2.88,126.30,1.193,4,0.043,0.077,3531,3926,2593,0,0,0,0,0,0
$GC,11077,1.17,146.0,893.0,11.0,394,11083,0.12,2.72,0.00,0.000,6,0.126,0.052,3508,2359,2588,0,0,0,0,0,0
$GC,11339,1.20,169.6,869.5,8.9,401,11362,0.00,0.00,21.23,1.116,6,0.000,0.000,3508,2358,2497,0,0,0,0,0,0
$GC,11625,1.20,169.6,840.5,10.3,408,11630,0.00,2.72,0.00,0.000,4,0.000,0.064,3507,3927,2493,0,0,0,0,0,0
$GC,11682,1.20,169.6,834.3,10.9,409,11686,0.00,2.67,0.00,0.000,6,0.000,0.046,3508,2360,2491,0,0,0,0,0,0
$GC,11948,1.20,173.2,807.7,9.8,416,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2360,2490,0,0,0,0,0,0
$GC,12192,1.21,176.5,783.5,9.8,422,12205,0.00,2.72,6.47,0.904,4,0.000,0.058,3508,3926,2469,0,0,0,0,0,0
$GC,12237,1.17,176.5,779.1,10.8,423,12241,0.00,2.65,0.00,0.000,6,0.000,0.049,3508,2369,2468,0,0,0,0,0,0
$GC,12520,1.18,185.3,750.9,9.6,430,12531,0.00,0.00,9.45,0.983,6,0.000,0.000,3508,2369,2434,0,0,0,0,0,0
$GC,12763,1.18,185.3,726.3,10.2,436,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2369,2432,0,0,0,0,0,0
$GC,13009,1.18,185.3,701.7,10.1,442,13013,0.00,2.67,0.00,0.000,4,0.000,0.064,3508,3926,2431,0,0,0,0,0,0
$GC,13048,1.18,185.3,697.3,10.8,443,13052,0.00,2.62,0.00,0.000,6,0.000,0.051,3508,2366,2430,0,0,0,0,0,0
$GC,13331,1.19,193.5,669.5,9.6,450,13341,0.00,0.00,8.65,0.935,6,0.000,0.000,3508,2366,2401,0,0,0,0,0,0
$GC,13577,1.20,199.3,645.9,9.7,456,13585,0.00,0.00,6.95,0.870,6,0.000,0.000,3508,2366,2377,0,0,0,0,0,0
$GC,13818,1.20,199.3,620.8,10.4,462,13819,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2366,2375,0,0,0,0,0,0
$GC,14062,1.20,200.8,596.5,9.9,468,14066,0.00,2.65,0.00,0.000,4,0.000,0.057,3508,3929,2375,0,0,0,0,0,0
$GC,14085,1.20,200.8,594.0,11.1,468,14089,0.00,2.62,0.00,0.000,6,0.000,0.049,3508,2366,2374,0,0,0,0,0,0
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$STATE,19724,end climb,SURFACE_DEPTH_REACHED
$STATE,19724,begin surface coast
$FINISH,0.7,1.021719
$STATE,19767,end surface coast,CONTROL_FINISHED_OK
$STATE,19767,begin surface
$SM_CCo,19792,27.95,0.487,0,0,1763,350.04
$SM_GC,1.39,0.00,0.00,27.95,0.000,0.000,0.487,467,2202,1763,-12.80,-0.79,350.04
$IRIDIUM_FIX,1920.65,-8112.10,210402,080817
$TT8_MAMPS,0.026078
$HUMID,54.96
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.80
$XPDR_PINGS,48
$24V_AH,23.2,7.484
$10V_AH,10.5,6.029
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.400,157.950,404.425,27.950,0.000,22.259,34.328,249.131,12.000,0.000,12.784,1514.788,15249.839,529.566,2243.145,744.323,33.359,1483.151,0.000,2242.207,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,505.287,344.813,441.263,562.859,1072.971,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,57257,746
$CAP_FILE_SIZE,161256,0
$CFSIZE,260165632,125345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250113,191805,1924.902,-8106.484,76,1.7,76,-3.8