version: 66.06
glider: 146
mission: 8
dive: 154
start: 2 16 113 10 53 13
data:
$ID,146
$MISSION,8
$DIVE,154
$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,300
$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,-310338.56
$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,36
$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
$GPS1,104205,1927.737,-8115.470,34,1.2,34,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.5
$GPS2,105219,1927.691,-8115.624,13,1.4,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.257,-0.037
$KALMAN_X,-5853.5,95.6,-42.0,-44162.2,-1250.2
$KALMAN_Y,-37670.3,374.4,220.2,58526.5,-832.5
$MHEAD_RNG_PITCHd_Wd,101.9,14570,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-69.72,0.000,2,0.000,0.000,467,2124,3463,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.5,-4.5,9,123,13.80,2.42,-6.10,0.000,4,0.170,0.050,2977,630,3787,0,0,0,0,0,0
$GC,288,-1.07,-146.0,45.7,-17.2,30,293,0.22,2.47,0.00,0.000,6,0.102,0.015,3025,2247,3787,0,0,0,0,0,0
$GC,553,-0.97,-146.0,84.2,-14.0,54,558,0.10,2.65,0.00,0.000,4,0.120,0.044,3047,635,3788,0,0,0,0,0,0
$GC,590,-0.90,-146.0,89.9,-13.2,56,600,0.00,2.40,0.00,0.000,6,0.000,0.015,3047,2189,3788,0,0,0,0,0,0
$GC,855,-0.90,-146.0,120.9,-10.2,81,860,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2190,3788,0,0,0,0,0,0
$GC,1119,-0.96,-146.0,144.1,-8.2,106,1123,0.00,2.50,0.00,0.000,4,0.000,0.033,3047,3772,3789,0,0,0,0,0,0
$GC,1164,-1.05,-146.0,147.7,-8.4,109,1169,0.00,2.45,0.00,0.000,6,0.000,0.027,3047,2189,3789,0,0,0,0,0,0
$GC,1434,-1.14,-146.0,165.4,-6.2,133,1439,0.15,2.53,0.00,0.000,4,0.060,0.046,2988,642,3790,0,0,0,0,0,0
$GC,1462,-1.14,-146.0,168.1,-7.8,135,1467,0.10,2.35,0.00,0.000,6,0.111,0.017,3011,2194,3789,0,0,0,0,0,0
$GC,1727,-1.14,-146.0,188.3,-7.9,159,1731,0.00,2.53,0.00,0.000,4,0.000,0.044,3011,641,3790,0,0,0,0,0,0
$GC,1767,-1.18,-146.0,192.0,-8.8,162,1772,0.00,2.35,0.00,0.000,6,0.000,0.020,3011,2177,3790,0,0,0,0,0,0
$GC,2034,-1.22,-146.0,212.8,-7.7,175,2039,0.00,2.53,0.00,0.000,4,0.000,0.034,3011,3778,3790,0,0,0,0,0,0
$GC,2051,-1.26,-146.0,214.2,-7.2,175,2056,0.12,2.50,0.00,0.000,6,0.065,0.019,2956,2167,3790,0,0,0,0,0,0
$GC,2312,-1.21,-146.0,240.0,-10.2,182,2314,0.17,0.00,0.00,0.000,6,0.092,0.000,2997,2167,3790,0,0,0,0,0,0
$GC,2558,-1.21,-146.0,260.6,-8.2,188,2562,0.00,2.55,0.00,0.000,4,0.000,0.042,2996,3767,3790,0,0,0,0,0,0
$GC,2579,-1.21,-146.0,262.8,-8.8,188,2584,0.00,2.47,0.00,0.000,6,0.000,0.021,2997,2182,3789,0,0,0,0,0,0
$GC,2835,-1.21,-146.0,283.8,-8.0,195,2839,0.00,2.53,0.00,0.000,4,0.000,0.035,2997,3765,3789,0,0,0,0,0,0
$GC,2852,-1.21,-146.0,285.2,-7.9,195,2857,0.00,2.47,0.00,0.000,6,0.000,0.022,2997,2172,3788,0,0,0,0,0,0
$GC,3114,-1.21,-146.0,306.1,-7.9,202,3118,0.00,2.53,0.00,0.000,4,0.000,0.056,2996,644,3789,0,0,0,0,0,0
$GC,3129,-1.21,-146.0,307.4,-7.9,202,3133,0.00,2.38,0.00,0.000,6,0.000,0.020,2997,2172,3789,0,0,0,0,0,0
$GC,3392,-1.21,-146.0,327.1,-7.5,209,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2172,3787,0,0,0,0,0,0
$GC,3635,-1.25,-146.0,345.0,-7.4,215,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2172,3787,0,0,0,0,0,0
$GC,3878,-1.28,-146.0,363.6,-7.6,221,3883,0.00,2.58,0.00,0.000,4,0.000,0.043,2997,3778,3786,0,0,0,0,0,0
$GC,3906,-1.32,-146.0,365.7,-7.8,221,3911,0.10,2.50,0.00,0.000,6,0.076,0.027,2948,2191,3786,0,0,0,0,0,0
$GC,4158,-1.27,-146.0,389.2,-9.6,227,4163,0.15,2.58,0.00,0.000,4,0.097,0.041,2983,3776,3785,0,0,0,0,0,0
$GC,4186,-1.27,-146.0,391.9,-8.8,227,4190,0.00,2.53,0.00,0.000,6,0.000,0.035,2983,2199,3785,0,0,0,0,0,0
$GC,4438,-1.27,-146.0,412.1,-8.1,233,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3784,0,0,0,0,0,0
$GC,4679,-1.27,-146.0,431.6,-8.0,239,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3783,0,0,0,0,0,0
$GC,4923,-1.27,-146.0,450.7,-7.8,245,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3782,0,0,0,0,0,0
$GC,5167,-1.27,-146.0,469.7,-7.7,251,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3781,0,0,0,0,0,0
$GC,5413,-1.27,-146.0,488.0,-7.6,257,5417,0.00,2.65,0.00,0.000,4,0.000,0.060,2983,3769,3780,0,0,0,0,0,0
$GC,5434,-1.27,-146.0,490.0,-8.0,257,5439,0.00,2.58,0.00,0.000,6,0.000,0.048,2983,2203,3780,0,0,0,0,0,0
$GC,5690,-1.27,-146.0,509.1,-7.5,264,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2203,3779,0,0,0,0,0,0
$GC,5936,-1.27,-146.0,528.3,-7.9,270,5940,0.00,2.67,0.00,0.000,4,0.000,0.068,2983,3768,3777,0,0,0,0,0,0
$GC,5957,-1.27,-146.0,530.3,-8.3,270,5961,0.00,2.65,0.00,0.000,6,0.000,0.049,2983,2189,3777,0,0,0,0,0,0
$GC,6212,-1.27,-146.0,550.5,-8.0,277,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2189,3777,0,0,0,0,0,0
$GC,6456,-1.27,-146.0,569.7,-7.8,283,6460,0.00,2.72,0.00,0.000,4,0.000,0.076,2983,3766,3775,0,0,0,0,0,0
$GC,6497,-1.31,-146.0,572.8,-7.9,284,6502,0.00,2.67,0.00,0.000,6,0.000,0.055,2983,2193,3775,0,0,0,0,0,0
$GC,6781,-1.31,-146.0,594.4,-7.5,291,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2193,3774,0,0,0,0,0,0
$GC,7024,-1.31,-146.0,613.0,-7.6,297,7029,0.00,3.03,0.00,0.000,4,0.000,0.128,2983,625,3773,0,0,0,0,0,0
$GC,7053,-1.31,-146.0,615.3,-8.5,297,7058,0.00,2.62,0.00,0.000,6,0.000,0.056,2983,2179,3772,0,0,0,0,0,0
$GC,7303,-1.31,-146.0,634.6,-7.7,303,7308,0.00,2.95,0.00,0.000,4,0.000,0.103,2983,3800,3771,0,0,0,0,0,0
$GC,7325,-1.31,-146.0,636.5,-7.8,303,7329,0.00,2.78,0.00,0.000,6,0.000,0.071,2983,2205,3771,0,0,0,0,0,0
$GC,7584,-1.31,-146.0,656.0,-7.6,310,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2205,3769,0,0,0,0,0,0
$GC,7826,-1.35,-146.0,674.0,-7.4,316,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2206,3768,0,0,0,0,0,0
$GC,8072,-1.39,-146.0,691.9,-7.4,322,8074,0.12,0.00,0.00,0.000,6,0.189,0.000,2941,2206,3767,0,0,0,0,0,0
$GC,8315,-1.34,-146.0,714.5,-9.3,328,8317,0.12,0.00,0.00,0.000,6,0.107,0.000,2968,2206,3766,0,0,0,0,0,0
$GC,8557,-1.34,-146.0,735.2,-8.5,334,8561,0.00,3.12,0.00,0.000,4,0.000,0.134,2969,3792,3764,0,0,0,0,0,0
$GC,8596,-1.34,-146.0,738.7,-9.6,335,8601,0.00,3.10,0.00,0.000,6,0.000,0.133,2968,2214,3764,0,0,0,0,0,0
$GC,8882,-1.34,-146.0,761.3,-7.9,342,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2215,3763,0,0,0,0,0,0
$GC,9123,-1.34,-146.0,780.7,-8.1,348,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2214,3762,0,0,0,0,0,0
$GC,9367,-1.34,-146.0,799.5,-7.7,354,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2214,3761,0,0,0,0,0,0
$GC,9611,-1.34,-146.0,818.2,-7.7,360,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2213,3760,0,0,0,0,0,0
$GC,9854,-1.34,-146.0,836.5,-7.5,366,9860,0.00,3.72,0.00,0.000,4,0.000,0.217,2969,3788,3759,0,0,0,0,0,0
$GC,9877,-1.34,-146.0,838.2,-7.4,366,9881,0.00,2.70,0.00,0.000,6,0.000,0.054,2969,2198,3759,0,0,0,0,0,0
$GC,10132,-1.34,-146.0,857.5,-7.5,373,10136,0.00,2.72,0.00,0.000,4,0.000,0.064,2969,3798,3758,0,0,0,0,0,0
$GC,10149,-1.34,-146.0,858.9,-7.7,373,10154,0.00,2.70,0.00,0.000,6,0.000,0.058,2968,2205,3758,0,0,0,0,0,0
$GC,10410,-1.34,-146.0,878.6,-7.5,380,10415,0.00,2.72,0.00,0.000,4,0.000,0.071,2969,3797,3757,0,0,0,0,0,0
$GC,10438,-1.34,-146.0,880.9,-7.9,380,10443,0.00,2.70,0.00,0.000,6,0.000,0.062,2969,2208,3756,0,0,0,0,0,0
$GC,10690,-1.34,-146.0,899.2,-7.3,386,10695,0.00,2.75,0.00,0.000,4,0.000,0.071,2969,3796,3755,0,0,0,0,0,0
$STATE,10698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10698,begin apogee
$GC,10706,-0.31,0.0,900.0,7.1,386,10829,0.95,0.00,118.85,1.217,6,0.072,0.000,3189,2369,3190,0,0,0,0,0,0
$STATE,10830,end apogee,CONTROL_FINISHED_OK
$STATE,10830,begin climb
$GC,10832,1.27,146.0,902.9,0.0,389,10969,1.42,2.78,126.75,1.184,4,0.035,0.068,3542,3934,2592,0,0,0,0,0,0
$GC,11060,1.13,146.0,886.4,11.8,394,11066,0.17,2.70,0.00,0.000,6,0.113,0.053,3507,2367,2588,0,0,0,0,0,0
$GC,11330,1.10,157.6,860.8,9.5,401,11346,0.00,2.78,10.43,1.015,4,0.000,0.061,3507,3937,2546,0,0,0,0,0,0
$GC,11390,1.04,157.6,854.2,10.9,402,11395,0.00,2.65,0.00,0.000,6,0.000,0.048,3507,2372,2545,0,0,0,0,0,0
$GC,11653,1.04,159.7,828.4,9.9,409,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2372,2543,0,0,0,0,0,0
$GC,11895,1.05,161.9,804.3,9.9,415,11901,0.00,0.00,4.62,0.771,6,0.000,0.000,3507,2372,2530,0,0,0,0,0,0
$GC,12138,1.05,161.9,779.7,10.1,421,12143,0.00,2.67,0.00,0.000,4,0.000,0.057,3507,3938,2529,0,0,0,0,0,0
$GC,12190,1.00,161.9,774.2,10.5,422,12195,0.15,2.62,0.00,0.000,6,0.116,0.041,3477,2383,2528,0,0,0,0,0,0
$GC,12462,1.03,186.5,749.7,8.9,429,12488,0.00,0.00,23.80,1.078,6,0.000,0.000,3477,2383,2429,0,0,0,0,0,0
$GC,12706,1.08,198.7,726.7,9.4,435,12725,0.00,3.17,12.10,1.000,4,0.000,0.119,3477,787,2379,0,0,0,0,0,0
$GC,12739,1.11,222.8,723.6,8.9,435,12769,0.10,2.70,23.88,1.051,6,0.085,0.041,3508,2391,2280,0,0,0,0,0,0
$GC,13038,1.11,222.8,690.5,11.1,443,13042,0.00,2.70,0.00,0.000,4,0.000,0.071,3508,3942,2277,0,0,0,0,0,0
$GC,13079,1.11,222.8,685.5,12.9,444,13084,0.00,2.62,0.00,0.000,6,0.000,0.044,3508,2376,2276,0,0,0,0,0,0
$GC,13362,1.11,222.8,652.9,11.3,451,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2376,2275,0,0,0,0,0,0
$GC,13605,1.11,222.8,625.3,11.3,457,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2376,2275,0,0,0,0,0,0
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$STATE,19286,end climb,SURFACE_DEPTH_REACHED
$STATE,19286,begin surface coast
$FINISH,0.9,1.010432
$STATE,19335,end surface coast,CONTROL_FINISHED_OK
$STATE,19335,begin surface
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$TT8_MAMPS,0.026078
$HUMID,57.32
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$TCM_TEMP,24.40
$XPDR_PINGS,65
$24V_AH,23.3,21.921
$10V_AH,10.4,18.991
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.850,200.375,386.200,43.625,0.000,45.737,81.009,254.324,16.250,0.000,15.182,1538.811,14744.311,540.140,2326.896,858.110,33.368,1529.439,0.000,2322.330,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,499.307,343.592,442.984,575.517,1097.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,57085,736
$CAP_FILE_SIZE,172498,0
$CFSIZE,260165632,117927936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160213,161800,1927.868,-8113.647,40,1.1,40,-3.8