version: 66.06
glider: 146
mission: 8
dive: 181
start: 2 22 113 8 39 25
data:
$ID,146
$MISSION,8
$DIVE,181
$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,-310912.41
$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,43
$R_STBD_OVSHOOT,22
$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
$GPS1,083129,1927.394,-8111.225,37,1.6,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.6
$GPS2,083831,1927.409,-8111.263,11,1.6,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.119
$KALMAN_X,-7265.0,389.8,188.1,12580.2,-1450.1
$KALMAN_Y,2656.0,180.7,326.8,-3612.3,-409.1
$MHEAD_RNG_PITCHd_Wd,121.0,7844,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.20,0.000,2,0.000,0.000,464,2170,3474,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.3,-4.2,9,123,13.75,2.62,-5.88,0.000,4,0.169,0.038,2976,3816,3786,0,0,0,0,0,0
$GC,142,-0.50,-146.0,17.7,-32.0,14,152,0.73,2.55,0.00,0.000,6,0.074,0.021,3144,2215,3787,0,0,0,0,0,0
$GC,434,-0.64,-146.0,41.3,-6.3,48,439,0.10,2.60,0.00,0.000,4,0.080,0.046,3097,632,3787,0,0,0,0,0,0
$GC,518,-0.74,-146.0,49.1,-9.4,54,522,0.00,2.45,0.00,0.000,6,0.000,0.016,3097,2235,3787,0,0,0,0,0,0
$GC,788,-0.79,-146.0,75.2,-9.6,78,793,0.00,2.62,0.00,0.000,4,0.000,0.044,3097,630,3788,0,0,0,0,0,0
$GC,862,-0.87,-146.0,83.5,-9.4,83,868,0.12,2.38,0.00,0.000,6,0.065,0.016,3042,2181,3788,0,0,0,0,0,0
$GC,1127,-0.82,-146.0,115.9,-11.9,108,1132,0.17,2.53,0.00,0.000,4,0.089,0.044,3082,637,3788,0,0,0,0,0,0
$GC,1180,-0.91,-146.0,121.5,-9.1,112,1184,0.00,2.33,0.00,0.000,6,0.000,0.025,3082,2160,3788,0,0,0,0,0,0
$GC,1446,-1.01,-146.0,141.7,-7.1,136,1451,0.17,2.50,0.00,0.000,4,0.050,0.045,3012,634,3789,0,0,0,0,0,0
$GC,1490,-1.01,-146.0,145.4,-9.2,139,1495,0.12,2.30,0.00,0.000,6,0.097,0.020,3042,2155,3789,0,0,0,0,0,0
$GC,1756,-1.07,-146.0,165.8,-7.4,163,1760,0.00,2.47,0.00,0.000,4,0.000,0.045,3042,636,3790,0,0,0,0,0,0
$GC,1834,-1.18,-146.0,171.8,-7.7,169,1839,0.17,2.28,0.00,0.000,6,0.051,0.024,2972,2122,3790,0,0,0,0,0,0
$GC,2099,-1.13,-146.0,197.6,-9.4,193,2105,0.17,0.00,0.00,0.000,6,0.088,0.000,3013,2122,3790,0,0,0,0,0,0
$GC,2371,-1.17,-146.0,218.9,-7.7,202,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2122,3790,0,0,0,0,0,0
$GC,2615,-1.21,-146.0,235.9,-6.8,208,2619,0.00,2.45,0.00,0.000,4,0.000,0.049,3013,634,3790,0,0,0,0,0,0
$GC,2650,-1.28,-146.0,238.4,-7.1,208,2656,0.12,2.28,0.00,0.000,6,0.065,0.025,2960,2113,3791,0,0,0,0,0,0
$GC,2901,-1.23,-146.0,259.9,-8.6,215,2903,0.15,0.00,0.00,0.000,6,0.093,0.000,2995,2113,3790,0,0,0,0,0,0
$GC,3146,-1.23,-146.0,278.6,-7.8,221,3150,0.00,2.42,0.00,0.000,4,0.000,0.056,2994,638,3790,0,0,0,0,0,0
$GC,3186,-1.26,-146.0,282.0,-8.0,222,3190,0.00,2.25,0.00,0.000,6,0.000,0.020,2994,2093,3790,0,0,0,0,0,0
$GC,3469,-1.26,-146.0,304.2,-7.7,229,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2094,3789,0,0,0,0,0,0
$GC,3715,-1.26,-146.0,321.8,-7.1,235,3720,0.00,2.42,0.00,0.000,4,0.000,0.059,2994,631,3788,0,0,0,0,0,0
$GC,3748,-1.26,-146.0,324.7,-8.1,235,3757,0.00,2.25,0.00,0.000,6,0.000,0.029,2995,2089,3788,0,0,0,0,0,0
$GC,3999,-1.26,-146.0,344.4,-8.0,242,4003,0.00,2.42,0.00,0.000,4,0.000,0.055,2995,641,3788,0,0,0,0,0,0
$GC,4020,-1.26,-146.0,346.3,-7.8,242,4024,0.00,2.25,0.00,0.000,6,0.000,0.023,2995,2081,3788,0,0,0,0,0,0
$GC,4278,-1.26,-146.0,366.7,-8.0,249,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2081,3787,0,0,0,0,0,0
$GC,4520,-1.26,-146.0,385.9,-7.8,255,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2080,3786,0,0,0,0,0,0
$GC,4764,-1.30,-146.0,403.3,-7.1,261,4768,0.00,2.75,0.00,0.000,4,0.000,0.051,2994,3762,3785,0,0,0,0,0,0
$GC,4782,-1.34,-146.0,404.7,-7.1,261,4787,0.12,2.65,0.00,0.000,6,0.065,0.034,2943,2106,3785,0,0,0,0,0,0
$GC,5044,-1.28,-146.0,427.5,-8.8,268,5049,0.17,2.55,0.00,0.000,4,0.091,0.079,2983,643,3784,0,0,0,0,0,0
$GC,5084,-1.28,-146.0,430.7,-7.4,269,5088,0.00,2.25,0.00,0.000,6,0.000,0.039,2983,2061,3784,0,0,0,0,0,0
$GC,5369,-1.28,-146.0,451.6,-7.5,276,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2061,3783,0,0,0,0,0,0
$GC,5611,-1.28,-146.0,470.6,-7.8,282,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2061,3782,0,0,0,0,0,0
$GC,5855,-1.28,-146.0,489.3,-7.6,288,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2061,3780,0,0,0,0,0,0
$GC,6100,-1.28,-146.0,507.8,-7.5,294,6105,0.00,2.92,0.00,0.000,4,0.000,0.075,2983,3758,3779,0,0,0,0,0,0
$GC,6122,-1.28,-146.0,509.8,-7.9,294,6126,0.00,2.75,0.00,0.000,6,0.000,0.049,2983,2101,3779,0,0,0,0,0,0
$GC,6377,-1.28,-146.0,529.5,-7.8,301,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2102,3778,0,0,0,0,0,0
$GC,6623,-1.28,-146.0,547.6,-7.3,307,6627,0.00,2.67,0.00,0.000,4,0.000,0.113,2983,642,3777,0,0,0,0,0,0
$GC,6650,-1.28,-146.0,550.0,-8.5,307,6654,0.00,2.33,0.00,0.000,6,0.000,0.050,2983,2052,3777,0,0,0,0,0,0
$GC,6900,-1.28,-146.0,568.7,-7.5,313,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2052,3775,0,0,0,0,0,0
$GC,7144,-1.28,-146.0,586.7,-7.3,319,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2052,3775,0,0,0,0,0,0
$GC,7391,-1.28,-146.0,604.5,-7.3,325,7396,0.00,3.10,0.00,0.000,4,0.000,0.100,2983,3754,3774,0,0,0,0,0,0
$GC,7414,-1.28,-146.0,606.5,-7.2,325,7419,0.00,2.83,0.00,0.000,6,0.000,0.063,2983,2113,3773,0,0,0,0,0,0
$GC,7669,-1.28,-146.0,625.3,-7.5,332,7674,0.00,2.80,0.00,0.000,4,0.000,0.120,2983,641,3772,0,0,0,0,0,0
$GC,7693,-1.28,-146.0,627.3,-8.1,332,7697,0.00,2.38,0.00,0.000,6,0.000,0.056,2983,2048,3772,0,0,0,0,0,0
$GC,7948,-1.32,-146.0,647.0,-7.7,339,7953,0.00,3.10,0.00,0.000,4,0.000,0.102,2983,3756,3770,0,0,0,0,0,0
$GC,7976,-1.36,-146.0,649.5,-9.1,339,7981,0.00,2.92,0.00,0.000,6,0.000,0.086,2983,2116,3770,0,0,0,0,0,0
$GC,8229,-1.40,-146.0,669.8,-8.2,345,8230,0.12,0.00,0.00,0.000,6,0.071,0.000,2940,2115,3769,0,0,0,0,0,0
$GC,8470,-1.35,-146.0,693.0,-9.6,351,8475,0.12,2.92,0.00,0.000,4,0.105,0.143,2968,645,3768,0,0,0,0,0,0
$GC,8503,-1.35,-146.0,696.1,-9.0,351,8509,0.00,2.53,0.00,0.000,6,0.000,0.090,2968,2052,3767,0,0,0,0,0,0
$GC,8756,-1.35,-146.0,716.4,-8.1,358,8761,0.00,3.30,0.00,0.000,4,0.000,0.132,2967,3750,3766,0,0,0,0,0,0
$GC,8777,-1.35,-146.0,718.4,-8.0,358,8782,0.00,2.90,0.00,0.000,6,0.000,0.081,2967,2127,3766,0,0,0,0,0,0
$GC,9035,-1.35,-146.0,738.4,-8.0,365,9040,0.00,2.85,0.00,0.000,4,0.000,0.127,2968,640,3765,0,0,0,0,0,0
$GC,9053,-1.35,-146.0,740.1,-7.9,365,9057,0.00,2.47,0.00,0.000,6,0.000,0.070,2967,2058,3765,0,0,0,0,0,0
$GC,9314,-1.35,-146.0,760.9,-7.9,372,9318,0.00,3.12,0.00,0.000,4,0.000,0.103,2967,3759,3763,0,0,0,0,0,0
$GC,9335,-1.35,-146.0,763.0,-9.0,372,9340,0.00,2.85,0.00,0.000,6,0.000,0.071,2967,2127,3763,0,0,0,0,0,0
$GC,9592,-1.35,-146.0,783.5,-8.0,379,9597,0.00,2.80,0.00,0.000,4,0.000,0.117,2967,646,3762,0,0,0,0,0,0
$GC,9608,-1.35,-146.0,785.0,-7.9,379,9612,0.00,2.42,0.00,0.000,6,0.000,0.058,2967,2062,3762,0,0,0,0,0,0
$GC,9869,-1.35,-146.0,805.5,-7.6,386,9874,0.00,3.05,0.00,0.000,4,0.000,0.097,2967,3753,3761,0,0,0,0,0,0
$GC,9910,-1.35,-146.0,808.5,-7.7,387,9915,0.00,2.83,0.00,0.000,6,0.000,0.071,2968,2131,3761,0,0,0,0,0,0
$GC,10193,-1.35,-146.0,829.6,-7.3,394,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2130,3760,0,0,0,0,0,0
$GC,10437,-1.35,-146.0,848.0,-7.6,400,10442,0.00,2.78,0.00,0.000,4,0.000,0.116,2967,648,3759,0,0,0,0,0,0
$GC,10453,-1.35,-146.0,849.3,-7.5,400,10457,0.00,2.42,0.00,0.000,6,0.000,0.055,2967,2074,3758,0,0,0,0,0,0
$GC,10722,-1.35,-146.0,868.7,-7.2,407,10726,0.00,3.05,0.00,0.000,4,0.000,0.094,2967,3759,3757,0,0,0,0,0,0
$GC,10737,-1.35,-146.0,870.2,-7.5,407,10742,0.00,2.83,0.00,0.000,6,0.000,0.068,2967,2124,3757,0,0,0,0,0,0
$GC,10998,-1.35,-146.0,888.8,-7.1,414,11003,0.00,2.88,0.00,0.000,4,0.000,0.079,2967,3754,3756,0,0,0,0,0,0
$GC,11022,-1.35,-146.0,890.4,-7.3,414,11026,0.00,2.80,0.00,0.000,6,0.000,0.064,2968,2138,3755,0,0,0,0,0,0
$STATE,11193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11193,begin apogee
$GC,11199,-0.31,0.0,902.7,7.0,419,11322,0.98,0.00,119.57,1.220,6,0.071,0.000,3191,2334,3190,0,0,0,0,0,0
$STATE,11323,end apogee,CONTROL_FINISHED_OK
$STATE,11323,begin climb
$GC,11328,1.27,146.0,905.6,0.0,422,11463,1.42,2.92,126.80,1.188,4,0.037,0.084,3541,3928,2593,0,0,0,0,0,0
$GC,11620,1.13,146.0,881.9,11.5,428,11627,0.17,2.65,0.00,0.000,6,0.114,0.056,3506,2390,2587,0,0,0,0,0,0
$GC,11871,1.11,154.8,858.1,9.6,435,11885,0.00,2.78,7.60,0.946,4,0.000,0.064,3506,3931,2559,0,0,0,0,0,0
$GC,11951,1.04,154.8,850.1,11.1,436,11955,0.00,2.65,0.00,0.000,6,0.000,0.044,3506,2375,2558,0,0,0,0,0,0
$GC,12201,1.07,171.7,826.4,9.2,442,12225,0.00,2.80,16.73,1.077,4,0.000,0.058,3506,3934,2489,0,0,0,0,0,0
$GC,12253,1.01,171.7,821.1,10.5,443,12259,0.12,2.65,0.00,0.000,6,0.124,0.044,3482,2381,2488,0,0,0,0,0,0
$GC,12526,1.03,189.2,796.0,9.2,450,12550,0.00,2.78,16.85,1.071,4,0.000,0.054,3482,3932,2417,0,0,0,0,0,0
$GC,12584,1.03,189.2,789.9,10.3,451,12588,0.00,2.62,0.00,0.000,6,0.000,0.042,3482,2391,2416,0,0,0,0,0,0
$GC,12852,1.04,196.3,763.9,9.7,458,12867,0.00,2.72,7.57,0.932,4,0.000,0.062,3482,3929,2389,0,0,0,0,0,0
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$STATE,19720,end climb,SURFACE_DEPTH_REACHED
$STATE,19721,begin surface coast
$FINISH,1.0,1.011495
$STATE,19759,end surface coast,CONTROL_FINISHED_OK
$STATE,19759,begin surface
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$SM_GC,1.90,0.00,0.00,36.95,0.000,0.000,0.488,463,2178,1762,-12.87,-0.90,350.04
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$HUMID,57.91
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$TCM_TEMP,24.50
$XPDR_PINGS,79
$24V_AH,23.3,25.622
$10V_AH,10.4,22.427
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.025,259.350,400.775,36.950,0.000,30.595,33.004,189.727,19.750,0.000,14.184,1665.471,14552.560,578.924,2679.813,754.352,33.361,1724.629,0.000,2666.760,0.000,0.536,0.000
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$SENSOR_SECS,517.192,360.054,465.622,633.821,1207.030,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,60417,763
$CAP_FILE_SIZE,192481,0
$CFSIZE,260165632,115949568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220213,141129,1926.842,-8108.649,60,1.0,60,-3.8