version: 66.06
glider: 146
mission: 8
dive: 63
start: 1 29 113 2 54 38
data:
$ID,146
$MISSION,8
$DIVE,63
$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,-308555.16
$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,31
$R_STBD_OVSHOOT,25
$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,3200
$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
$GPS1,024659,1926.285,-8117.583,40,1.7,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.6
$GPS2,025343,1926.291,-8117.593,10,1.8,10,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.246,-0.084
$KALMAN_X,65412.8,74.3,-86.0,-76662.2,3104.8
$KALMAN_Y,-7196.8,33.0,-178.6,5980.6,-144.8
$MHEAD_RNG_PITCHd_Wd,112.6,17158,-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,-70.82,0.000,2,0.000,0.000,466,2156,3567,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-7.0,9,123,13.80,0.00,-3.88,0.000,6,0.170,0.000,2966,2156,3795,0,0,0,0,0,0
$GC,392,-1.01,-146.0,74.4,-20.3,40,402,0.25,0.00,0.00,0.000,6,0.114,0.000,3021,2156,3796,0,0,0,0,0,0
$GC,661,-0.91,-146.0,115.4,-14.4,65,666,0.15,2.47,0.00,0.000,4,0.110,0.048,3054,652,3796,0,0,0,0,0,0
$GC,696,-0.91,-146.0,119.9,-11.2,67,700,0.00,2.47,0.00,0.000,6,0.000,0.018,3054,2257,3796,0,0,0,0,0,0
$GC,965,-0.95,-146.0,143.9,-7.9,91,970,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2257,3797,0,0,0,0,0,0
$GC,1227,-1.01,-146.0,165.1,-7.1,116,1232,0.10,2.65,0.00,0.000,4,0.078,0.046,3005,647,3797,0,0,0,0,0,0
$GC,1245,-1.01,-146.0,166.5,-7.8,117,1250,0.12,2.45,0.00,0.000,6,0.104,0.018,3033,2239,3797,0,0,0,0,0,0
$GC,1507,-1.06,-146.0,186.9,-7.7,141,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2240,3798,0,0,0,0,0,0
$GC,1771,-1.12,-146.0,206.8,-7.6,160,1773,0.12,0.00,0.00,0.000,6,0.067,0.000,2978,2240,3797,0,0,0,0,0,0
$GC,2012,-1.12,-146.0,229.5,-9.3,166,2014,0.12,0.00,0.00,0.000,6,0.103,0.000,3006,2240,3798,0,0,0,0,0,0
$GC,2256,-1.12,-146.0,249.2,-7.9,172,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2239,3797,0,0,0,0,0,0
$GC,2499,-1.12,-146.0,268.5,-7.8,178,2504,0.00,2.62,0.00,0.000,4,0.000,0.060,3006,653,3797,0,0,0,0,0,0
$GC,2546,-1.17,-146.0,272.5,-9.1,179,2550,0.00,2.47,0.00,0.000,6,0.000,0.025,3006,2227,3797,0,0,0,0,0,0
$GC,2823,-1.17,-146.0,294.6,-7.8,186,2827,0.00,2.58,0.00,0.000,4,0.000,0.049,3006,3809,3797,0,0,0,0,0,0
$GC,2845,-1.22,-146.0,296.5,-8.3,186,2849,0.00,2.50,0.00,0.000,6,0.000,0.027,3006,2224,3797,0,0,0,0,0,0
$GC,3102,-1.25,-146.0,316.1,-7.7,193,3104,0.12,0.00,0.00,0.000,6,0.065,0.000,2953,2224,3797,0,0,0,0,0,0
$GC,3343,-1.20,-146.0,340.7,-10.3,199,3349,0.15,2.65,0.00,0.000,4,0.096,0.055,2987,3810,3796,0,0,0,0,0,0
$GC,3367,-1.20,-146.0,342.8,-9.5,199,3372,0.00,2.50,0.00,0.000,6,0.000,0.033,2987,2239,3796,0,0,0,0,0,0
$GC,3623,-1.20,-146.0,364.5,-8.3,206,3628,0.00,2.75,0.00,0.000,4,0.000,0.079,2987,645,3794,0,0,0,0,0,0
$GC,3644,-1.20,-146.0,366.4,-8.3,206,3649,0.00,2.53,0.00,0.000,6,0.000,0.031,2987,2227,3794,0,0,0,0,0,0
$GC,3902,-1.20,-146.0,386.6,-7.8,213,3906,0.00,2.65,0.00,0.000,4,0.000,0.062,2987,3814,3794,0,0,0,0,0,0
$GC,3929,-1.20,-146.0,388.9,-7.5,213,3933,0.00,2.50,0.00,0.000,6,0.000,0.035,2988,2246,3794,0,0,0,0,0,0
$GC,4179,-1.20,-146.0,409.0,-8.2,219,4183,0.00,2.62,0.00,0.000,4,0.000,0.059,2987,3808,3793,0,0,0,0,0,0
$GC,4195,-1.20,-146.0,410.5,-8.5,219,4199,0.00,2.50,0.00,0.000,6,0.000,0.032,2987,2251,3792,0,0,0,0,0,0
$GC,4458,-1.20,-146.0,431.4,-7.8,226,4462,0.00,2.85,0.00,0.000,4,0.000,0.087,2987,640,3791,0,0,0,0,0,0
$GC,4484,-1.20,-146.0,433.7,-8.1,226,4489,0.00,2.62,0.00,0.000,6,0.000,0.044,2987,2243,3791,0,0,0,0,0,0
$GC,4735,-1.20,-146.0,452.0,-7.2,232,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2243,3791,0,0,0,0,0,0
$GC,4984,-1.20,-146.0,470.6,-7.7,238,4989,0.00,2.83,0.00,0.000,4,0.000,0.080,2987,641,3789,0,0,0,0,0,0
$GC,5013,-1.20,-146.0,473.4,-8.3,238,5017,0.00,2.65,0.00,0.000,6,0.000,0.052,2988,2239,3789,0,0,0,0,0,0
$GC,5262,-1.20,-146.0,494.1,-8.2,244,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2239,3788,0,0,0,0,0,0
$GC,5508,-1.20,-146.0,512.6,-7.6,250,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2239,3787,0,0,0,0,0,0
$GC,5750,-1.20,-146.0,531.4,-7.8,256,5754,0.00,2.80,0.00,0.000,4,0.000,0.088,2987,3818,3786,0,0,0,0,0,0
$GC,5765,-1.20,-146.0,532.8,-8.3,256,5770,0.00,2.62,0.00,0.000,6,0.000,0.049,2987,2249,3786,0,0,0,0,0,0
$GC,6028,-1.20,-146.0,553.8,-8.1,263,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2249,3785,0,0,0,0,0,0
$GC,6270,-1.20,-146.0,572.2,-7.6,269,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2249,3783,0,0,0,0,0,0
$GC,6514,-1.20,-146.0,592.1,-8.2,275,6518,0.00,3.03,0.00,0.000,4,0.000,0.124,2988,644,3782,0,0,0,0,0,0
$GC,6529,-1.20,-146.0,593.6,-8.3,275,6534,0.00,2.72,0.00,0.000,6,0.000,0.065,2987,2241,3782,0,0,0,0,0,0
$GC,6790,-1.20,-146.0,615.4,-8.3,282,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2241,3781,0,0,0,0,0,0
$GC,7034,-1.20,-146.0,633.0,-7.1,288,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2242,3779,0,0,0,0,0,0
$GC,7277,-1.20,-146.0,649.6,-6.9,294,7282,0.00,3.03,0.00,0.000,4,0.000,0.118,2987,638,3778,0,0,0,0,0,0
$GC,7304,-1.20,-146.0,651.6,-7.7,294,7309,0.00,2.83,0.00,0.000,6,0.000,0.080,2987,2239,3778,0,0,0,0,0,0
$GC,7557,-1.20,-146.0,669.1,-7.0,300,7562,0.00,3.10,0.00,0.000,4,0.000,0.134,2987,3822,3776,0,0,0,0,0,0
$GC,7579,-1.24,-146.0,670.8,-7.5,300,7583,0.00,2.85,0.00,0.000,6,0.000,0.090,2987,2239,3776,0,0,0,0,0,0
$GC,7838,-1.27,-146.0,689.6,-7.4,307,7843,0.00,3.15,0.00,0.000,4,0.000,0.140,2987,642,3775,0,0,0,0,0,0
$GC,7871,-1.27,-146.0,692.5,-8.2,307,7877,0.00,2.90,0.00,0.000,6,0.000,0.095,2987,2234,3775,0,0,0,0,0,0
$GC,8122,-1.32,-146.0,711.4,-7.6,314,8123,0.10,0.00,0.00,0.000,6,0.081,0.000,2951,2234,3774,0,0,0,0,0,0
$GC,8367,-1.32,-146.0,734.0,-9.2,320,8372,0.00,3.25,0.00,0.000,4,0.000,0.158,2951,3822,3773,0,0,0,0,0,0
$GC,8388,-1.32,-146.0,736.3,-9.0,320,8393,0.00,2.80,0.00,0.000,6,0.000,0.078,2951,2231,3773,0,0,0,0,0,0
$GC,8644,-1.32,-146.0,757.6,-8.2,327,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2230,3772,0,0,0,0,0,0
$GC,8887,-1.32,-146.0,778.2,-8.5,333,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2230,3770,0,0,0,0,0,0
$GC,9133,-1.32,-146.0,799.8,-9.0,339,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2229,3769,0,0,0,0,0,0
$GC,9375,-1.32,-146.0,821.7,-8.9,345,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2229,3768,0,0,0,0,0,0
$GC,9618,-1.32,-146.0,841.1,-7.9,351,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2228,3767,0,0,0,0,0,0
$GC,9862,-1.32,-146.0,860.9,-8.2,357,9867,0.00,2.80,0.00,0.000,4,0.000,0.081,2951,3822,3766,0,0,0,0,0,0
$GC,9897,-1.32,-146.0,863.9,-9.0,357,9902,0.00,2.72,0.00,0.000,6,0.000,0.067,2951,2230,3766,0,0,0,0,0,0
$GC,10147,-1.32,-146.0,885.0,-8.2,364,10151,0.00,2.85,0.00,0.000,4,0.000,0.082,2952,3822,3765,0,0,0,0,0,0
$GC,10173,-1.32,-146.0,887.4,-9.3,364,10178,0.00,2.72,0.00,0.000,6,0.000,0.068,2951,2240,3764,0,0,0,0,0,0
$STATE,10339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10340,begin apogee
$GC,10346,-0.31,0.0,901.5,8.4,368,10468,1.02,0.00,118.78,1.226,6,0.074,0.000,3183,2382,3200,0,0,0,0,0,0
$STATE,10469,end apogee,CONTROL_FINISHED_OK
$STATE,10469,begin climb
$GC,10471,1.27,146.0,904.2,0.0,371,10608,1.42,2.78,126.40,1.193,4,0.038,0.076,3528,3928,2602,0,0,0,0,0,0
$GC,10722,1.17,146.0,886.0,11.0,376,10728,0.12,2.72,0.00,0.000,6,0.123,0.054,3505,2353,2597,0,0,0,0,0,0
$GC,10974,1.19,160.1,862.6,9.3,383,10993,0.00,2.85,12.60,1.055,4,0.000,0.065,3504,3925,2546,0,0,0,0,0,0
$GC,11033,1.14,160.1,856.2,10.7,384,11037,0.00,2.67,0.00,0.000,6,0.000,0.051,3505,2365,2545,0,0,0,0,0,0
$GC,11299,1.14,163.9,829.7,9.8,391,11309,0.00,2.75,4.47,0.758,4,0.000,0.062,3504,3930,2531,0,0,0,0,0,0
$GC,11333,1.10,163.9,826.4,10.1,391,11339,0.00,2.65,0.00,0.000,6,0.000,0.048,3504,2368,2531,0,0,0,0,0,0
$GC,11583,1.11,175.2,802.2,9.5,398,11597,0.00,0.00,11.68,1.030,6,0.000,0.000,3504,2368,2486,0,0,0,0,0,0
$GC,11826,1.11,175.2,778.1,10.0,404,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2368,2483,0,0,0,0,0,0
$GC,12073,1.12,183.0,754.4,9.6,410,12087,0.00,2.78,7.97,0.943,4,0.000,0.061,3504,3927,2454,0,0,0,0,0,0
$GC,12109,1.12,185.0,750.5,9.9,410,12115,0.00,2.65,0.00,0.000,6,0.000,0.045,3505,2367,2453,0,0,0,0,0,0
$GC,12359,1.12,185.0,725.1,10.2,417,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2367,2451,0,0,0,0,0,0
$GC,12605,1.12,185.0,700.0,10.2,423,12609,0.00,2.70,0.00,0.000,4,0.000,0.061,3504,3934,2451,0,0,0,0,0,0
$GC,12654,1.12,185.0,694.6,10.3,424,12658,0.00,2.65,0.00,0.000,6,0.000,0.046,3505,2367,2450,0,0,0,0,0,0
$GC,12926,1.12,185.0,667.3,10.1,431,12931,0.00,3.03,0.00,0.000,4,0.000,0.116,3504,768,2450,0,0,0,0,0,0
$GC,12961,1.12,185.0,663.7,10.0,431,12966,0.00,2.67,0.00,0.000,6,0.000,0.041,3504,2372,2450,0,0,0,0,0,0
$GC,13210,1.12,185.0,638.3,10.2,438,13215,0.00,2.70,0.00,0.000,4,0.000,0.072,3504,3932,2450,0,0,0,0,0,0
$GC,13253,1.12,185.0,633.4,11.3,439,13258,0.00,2.60,0.00,0.000,6,0.000,0.043,3504,2366,2449,0,0,0,0,0,0
$GC,13533,1.12,185.0,605.0,10.2,446,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2367,2450,0,0,0,0,0,0
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$STATE,19429,end climb,SURFACE_DEPTH_REACHED
$STATE,19430,begin surface coast
$FINISH,0.9,1.023434
$STATE,19472,end surface coast,CONTROL_FINISHED_OK
$STATE,19472,begin surface
$SM_CCo,19497,42.17,0.489,0,0,1772,350.04
$SM_GC,1.69,0.00,0.00,42.17,0.000,0.000,0.489,465,2205,1772,-12.81,-0.71,350.04
$IRIDIUM_FIX,1918.37,-8114.71,240402,212102
$TT8_MAMPS,0.026078
$HUMID,55.19
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.90
$XPDR_PINGS,65
$24V_AH,23.2,9.676
$10V_AH,10.4,8.033
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.500,209.350,391.275,42.175,0.000,24.698,34.695,186.276,16.250,0.000,13.335,1533.596,14831.541,564.641,2301.879,706.139,33.358,1572.032,0.000,2299.470,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.879,341.320,435.927,557.783,1063.213,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,57417,734
$CAP_FILE_SIZE,171265,0
$CFSIZE,260165632,124149760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290113,082159,1926.014,-8112.820,59,1.9,59,-3.8