version: 66.06
glider: 146
mission: 8
dive: 140
start: 2 13 113 7 2 56
data:
$ID,146
$MISSION,8
$DIVE,140
$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,290
$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,-310041.88
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,065436,1927.429,-8051.126,35,1.6,35,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-75.6
$GPS2,070201,1927.382,-8051.047,11,1.4,11,-4.0
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tmp9
$TGT_LATLONG,1933.000,-8103.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.192,0.179
$KALMAN_X,4487.7,121.3,81.0,-11693.1,-114.3
$KALMAN_Y,-21572.0,-209.0,-131.2,42808.5,-1395.5
$MHEAD_RNG_PITCHd_Wd,317.0,23312,-18.1,-10.345
$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,-1.31,-146.0,0.0,0.0,0,93,0.00,0.00,-71.30,0.000,2,0.000,0.000,470,2144,3530,0,0,0,0,0,0
$GC,98,-1.31,-146.0,3.8,-5.5,9,124,13.62,2.67,-4.50,0.000,4,0.168,0.041,2968,3787,3786,0,0,0,0,0,0
$GC,286,-1.15,-146.0,47.8,-17.1,29,291,0.17,2.50,0.00,0.000,6,0.107,0.023,3007,2207,3787,0,0,0,0,0,0
$GC,555,-1.02,-146.0,90.1,-15.8,53,560,0.12,2.58,0.00,0.000,4,0.113,0.045,3036,637,3788,0,0,0,0,0,0
$GC,613,-0.97,-146.0,99.5,-14.5,57,617,0.00,2.45,0.00,0.000,6,0.000,0.017,3035,2227,3787,0,0,0,0,0,0
$GC,882,-1.02,-146.0,129.0,-8.6,81,887,0.00,2.60,0.00,0.000,4,0.000,0.050,3036,634,3788,0,0,0,0,0,0
$GC,927,-1.08,-146.0,134.0,-9.3,84,937,0.00,2.40,0.00,0.000,6,0.000,0.015,3035,2189,3788,0,0,0,0,0,0
$GC,1196,-1.15,-146.0,156.2,-8.2,109,1201,0.12,0.00,0.00,0.000,6,0.068,0.000,2981,2189,3789,0,0,0,0,0,0
$GC,1458,-1.15,-146.0,183.5,-9.9,134,1463,0.12,2.53,0.00,0.000,4,0.102,0.037,3009,3776,3789,0,0,0,0,0,0
$GC,1483,-1.15,-146.0,185.6,-8.9,135,1492,0.00,2.53,0.00,0.000,6,0.000,0.019,3009,2173,3790,0,0,0,0,0,0
$GC,1763,-1.19,-146.0,206.5,-7.1,156,1767,0.00,2.55,0.00,0.000,4,0.000,0.035,3009,3774,3790,0,0,0,0,0,0
$GC,1790,-1.24,-146.0,208.6,-7.7,156,1794,0.00,2.50,0.00,0.000,6,0.000,0.019,3009,2174,3789,0,0,0,0,0,0
$GC,2043,-1.30,-146.0,226.3,-7.2,162,2044,0.12,0.00,0.00,0.000,6,0.068,0.000,2958,2174,3790,0,0,0,0,0,0
$GC,2284,-1.26,-146.0,248.3,-9.1,168,2286,0.12,0.00,0.00,0.000,6,0.104,0.000,2986,2173,3790,0,0,0,0,0,0
$GC,2527,-1.26,-146.0,266.7,-7.5,174,2532,0.00,2.58,0.00,0.000,4,0.000,0.043,2986,3768,3789,0,0,0,0,0,0
$GC,2552,-1.26,-146.0,268.6,-7.9,174,2556,0.00,2.47,0.00,0.000,6,0.000,0.025,2986,2191,3789,0,0,0,0,0,0
$GC,2807,-1.26,-146.0,288.3,-7.8,181,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2190,3789,0,0,0,0,0,0
$GC,3050,-1.26,-146.0,307.4,-7.7,187,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2190,3788,0,0,0,0,0,0
$GC,3296,-1.26,-146.0,324.8,-7.0,193,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2190,3787,0,0,0,0,0,0
$GC,3538,-1.26,-146.0,343.0,-7.5,199,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2190,3787,0,0,0,0,0,0
$GC,3781,-1.26,-146.0,362.2,-8.0,205,3786,0.00,2.55,0.00,0.000,4,0.000,0.045,2986,3768,3786,0,0,0,0,0,0
$GC,3803,-1.26,-146.0,364.2,-8.7,205,3808,0.00,2.50,0.00,0.000,6,0.000,0.028,2986,2198,3786,0,0,0,0,0,0
$GC,4061,-1.26,-146.0,385.1,-8.3,212,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2198,3785,0,0,0,0,0,0
$GC,4303,-1.26,-146.0,406.3,-8.6,218,4307,0.00,2.55,0.00,0.000,4,0.000,0.041,2986,3765,3784,0,0,0,0,0,0
$GC,4335,-1.30,-146.0,409.3,-9.8,218,4341,0.00,2.55,0.00,0.000,6,0.000,0.037,2986,2189,3784,0,0,0,0,0,0
$GC,4588,-1.33,-146.0,430.7,-8.5,225,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2189,3783,0,0,0,0,0,0
$GC,4830,-1.37,-146.0,449.7,-7.7,231,4831,0.12,0.00,0.00,0.000,6,0.067,0.000,2937,2189,3782,0,0,0,0,0,0
$GC,5073,-1.32,-146.0,473.0,-9.8,237,5079,0.15,2.65,0.00,0.000,4,0.097,0.058,2971,3761,3781,0,0,0,0,0,0
$GC,5110,-1.32,-146.0,476.2,-8.7,237,5118,0.00,2.55,0.00,0.000,6,0.000,0.048,2971,2209,3781,0,0,0,0,0,0
$GC,5360,-1.32,-146.0,497.1,-8.1,244,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3780,0,0,0,0,0,0
$GC,5604,-1.32,-146.0,515.7,-7.5,250,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3779,0,0,0,0,0,0
$GC,5850,-1.32,-146.0,534.1,-7.6,256,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3778,0,0,0,0,0,0
$GC,6091,-1.32,-146.0,553.2,-7.8,262,6096,0.00,2.70,0.00,0.000,4,0.000,0.074,2971,3761,3777,0,0,0,0,0,0
$GC,6124,-1.32,-146.0,555.9,-8.5,262,6129,0.00,2.65,0.00,0.000,6,0.000,0.060,2971,2199,3777,0,0,0,0,0,0
$GC,6374,-1.32,-146.0,574.8,-7.6,269,6379,0.00,3.00,0.00,0.000,4,0.000,0.121,2971,618,3776,0,0,0,0,0,0
$GC,6398,-1.32,-146.0,576.7,-8.0,269,6402,0.00,2.60,0.00,0.000,6,0.000,0.057,2971,2164,3776,0,0,0,0,0,0
$GC,6653,-1.32,-146.0,596.2,-7.6,276,6657,0.00,2.90,0.00,0.000,4,0.000,0.096,2971,3795,3775,0,0,0,0,0,0
$GC,6685,-1.32,-146.0,598.9,-8.3,276,6691,0.00,2.72,0.00,0.000,6,0.000,0.059,2971,2204,3775,0,0,0,0,0,0
$GC,6939,-1.32,-146.0,618.9,-8.2,283,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2204,3773,0,0,0,0,0,0
$GC,7179,-1.32,-146.0,639.2,-8.2,289,7184,0.00,2.88,0.00,0.000,4,0.000,0.091,2971,3797,3772,0,0,0,0,0,0
$GC,7206,-1.32,-146.0,641.6,-9.5,289,7211,0.00,2.83,0.00,0.000,6,0.000,0.083,2971,2204,3772,0,0,0,0,0,0
$GC,7458,-1.32,-146.0,662.3,-8.2,295,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2204,3771,0,0,0,0,0,0
$GC,7699,-1.32,-146.0,681.2,-7.4,301,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2203,3769,0,0,0,0,0,0
$GC,7943,-1.32,-146.0,698.6,-7.1,307,7948,0.00,3.00,0.00,0.000,4,0.000,0.120,2971,3793,3768,0,0,0,0,0,0
$GC,7967,-1.32,-146.0,700.4,-7.3,307,7972,0.00,2.97,0.00,0.000,6,0.000,0.108,2970,2209,3768,0,0,0,0,0,0
$GC,8224,-1.32,-146.0,717.9,-6.9,314,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3767,0,0,0,0,0,0
$GC,8466,-1.32,-146.0,734.5,-6.7,320,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3766,0,0,0,0,0,0
$GC,8709,-1.32,-146.0,751.0,-6.7,326,8714,0.00,3.20,0.00,0.000,4,0.000,0.149,2970,3792,3764,0,0,0,0,0,0
$GC,8733,-1.32,-146.0,752.6,-7.2,326,8738,0.00,2.72,0.00,0.000,6,0.000,0.071,2971,2216,3764,0,0,0,0,0,0
$GC,8988,-1.32,-146.0,770.2,-6.9,333,8993,0.00,2.75,0.00,0.000,4,0.000,0.076,2971,3794,3763,0,0,0,0,0,0
$GC,9010,-1.32,-146.0,772.1,-7.7,333,9015,0.00,2.72,0.00,0.000,6,0.000,0.069,2970,2224,3762,0,0,0,0,0,0
$GC,9267,-1.32,-146.0,791.6,-7.8,340,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2223,3762,0,0,0,0,0,0
$GC,9509,-1.32,-146.0,810.9,-7.9,346,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2224,3761,0,0,0,0,0,0
$GC,9753,-1.32,-146.0,830.3,-8.0,352,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2222,3761,0,0,0,0,0,0
$GC,9997,-1.36,-146.0,849.1,-7.6,358,10001,0.00,2.78,0.00,0.000,4,0.000,0.078,2971,3794,3759,0,0,0,0,0,0
$GC,10033,-1.36,-146.0,851.8,-8.0,358,10039,0.00,2.72,0.00,0.000,6,0.000,0.068,2971,2218,3759,0,0,0,0,0,0
$GC,10284,-1.39,-146.0,871.6,-7.8,365,10288,0.00,2.78,0.00,0.000,4,0.000,0.082,2971,3794,3758,0,0,0,0,0,0
$GC,10317,-1.43,-146.0,874.3,-8.6,365,10323,0.10,2.70,0.00,0.000,6,0.082,0.061,2934,2231,3758,0,0,0,0,0,0
$GC,10569,-1.43,-146.0,897.6,-9.3,372,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2231,3756,0,0,0,0,0,0
$STATE,10604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10604,begin apogee
$GC,10611,-0.31,0.0,901.1,9.0,373,10734,1.12,0.00,119.57,1.217,6,0.074,0.000,3189,2388,3189,0,0,0,0,0,0
$STATE,10735,end apogee,CONTROL_FINISHED_OK
$STATE,10735,begin climb
$GC,10737,1.31,146.0,903.8,0.0,376,10874,1.48,2.85,126.68,1.181,4,0.036,0.078,3550,3939,2593,0,0,0,0,0,0
$GC,10988,1.17,146.0,884.5,12.0,381,10995,0.17,2.72,0.00,0.000,6,0.117,0.051,3516,2366,2588,0,0,0,0,0,0
$GC,11239,1.16,166.6,860.4,9.4,388,11263,0.00,2.80,18.55,1.088,4,0.000,0.066,3517,3927,2510,0,0,0,0,0,0
$GC,11286,1.09,166.6,855.6,10.6,389,11291,0.00,2.65,0.00,0.000,6,0.000,0.044,3516,2376,2508,0,0,0,0,0,0
$GC,11566,1.11,176.7,828.2,9.9,396,11581,0.00,2.70,10.12,1.011,4,0.000,0.054,3516,3932,2469,0,0,0,0,0,0
$GC,11615,1.06,176.7,822.7,11.1,397,11620,0.12,2.62,0.00,0.000,6,0.123,0.041,3492,2384,2467,0,0,0,0,0,0
$GC,11889,1.08,194.4,796.8,9.5,404,11909,0.00,0.00,17.45,1.069,6,0.000,0.000,3492,2384,2397,0,0,0,0,0,0
$GC,12131,1.08,195.7,772.0,10.3,410,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2383,2393,0,0,0,0,0,0
$GC,12374,1.08,195.7,746.5,10.4,416,12379,0.00,2.65,0.00,0.000,4,0.000,0.060,3492,3934,2392,0,0,0,0,0,0
$GC,12397,1.08,195.7,744.2,11.0,416,12401,0.00,2.62,0.00,0.000,6,0.000,0.041,3492,2376,2392,0,0,0,0,0,0
$GC,12653,1.08,195.7,717.4,10.4,423,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2375,2391,0,0,0,0,0,0
$GC,12896,1.13,203.5,692.8,10.0,429,12906,0.00,0.00,8.65,0.930,6,0.000,0.000,3492,2375,2360,0,0,0,0,0,0
$GC,13182,1.18,213.3,664.9,9.9,436,13198,0.10,2.70,10.95,0.953,4,0.085,0.058,3524,3930,2319,0,0,0,0,0,0
$GC,13222,1.15,213.3,659.8,12.0,437,13226,0.00,2.62,0.00,0.000,6,0.000,0.044,3523,2385,2318,0,0,0,0,0,0
$GC,13505,1.15,213.3,625.5,12.0,444,13506,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2385,2317,0,0,0,0,0,0
$GC,13751,1.15,213.3,596.2,12.0,450,13752,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2385,2316,0,0,0,0,0,0
$GC,13992,1.15,213.3,566.9,11.9,456,13996,0.00,2.62,0.00,0.000,4,0.000,0.055,3524,3935,2316,0,0,0,0,0,0
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$STATE,18834,end climb,SURFACE_DEPTH_REACHED
$STATE,18834,begin surface coast
$FINISH,0.9,1.013875
$STATE,18877,end surface coast,CONTROL_FINISHED_OK
$STATE,18877,begin surface
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$HUMID,57.63
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$TCM_TEMP,24.00
$XPDR_PINGS,58
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$10V_AH,10.4,17.239
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,54193,700
$CAP_FILE_SIZE,161729,0
$CFSIZE,260165632,118947840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130213,121935,1928.066,-8052.627,34,1.4,34,-4.0