version: 66.06
glider: 146
mission: 8
dive: 182
start: 2 22 113 14 19 54
data:
$ID,146
$MISSION,8
$DIVE,182
$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,-310928.75
$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,39
$R_STBD_OVSHOOT,21
$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
$GPS1,141129,1926.842,-8108.649,60,1.0,60,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.9
$GPS2,141900,1926.841,-8108.675,9,1.0,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.130,-0.225
$KALMAN_X,-6917.0,194.6,382.0,16751.1,-1437.7
$KALMAN_Y,4176.3,1.5,62.3,-5738.4,735.9
$MHEAD_RNG_PITCHd_Wd,153.7,4493,-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,-71.15,0.000,2,0.000,0.000,463,2178,3527,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.9,-6.2,9,124,13.75,2.55,-4.60,0.000,4,0.168,0.049,2976,612,3786,0,0,0,0,0,0
$GC,274,-1.11,-146.0,47.2,-18.3,29,282,0.15,2.55,0.00,0.000,6,0.091,0.018,3013,2245,3787,0,0,0,0,0,0
$GC,539,-0.97,-146.0,86.2,-14.8,54,544,0.15,2.65,0.00,0.000,4,0.107,0.044,3046,637,3787,0,0,0,0,0,0
$GC,564,-0.87,-146.0,90.7,-14.9,55,570,0.10,2.42,0.00,0.000,6,0.120,0.018,3069,2218,3787,0,0,0,0,0,0
$GC,827,-0.87,-146.0,119.9,-11.2,80,828,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2219,3787,0,0,0,0,0,0
$GC,1081,-0.93,-146.0,143.3,-8.1,104,1085,0.00,2.60,0.00,0.000,4,0.000,0.044,3068,638,3788,0,0,0,0,0,0
$GC,1135,-1.03,-146.0,147.5,-7.9,108,1141,0.15,2.38,0.00,0.000,6,0.058,0.022,3006,2202,3788,0,0,0,0,0,0
$GC,1397,-1.03,-146.0,172.1,-9.7,132,1402,0.12,2.58,0.00,0.000,4,0.096,0.054,3037,637,3789,0,0,0,0,0,0
$GC,1444,-1.11,-146.0,176.1,-8.4,135,1453,0.00,2.42,0.00,0.000,6,0.000,0.024,3037,2198,3789,0,0,0,0,0,0
$GC,1711,-1.20,-146.0,195.0,-6.9,160,1716,0.15,2.50,0.00,0.000,4,0.059,0.041,2978,3772,3790,0,0,0,0,0,0
$GC,1776,-1.20,-146.0,201.3,-9.4,164,1781,0.10,2.45,0.00,0.000,6,0.104,0.027,3003,2198,3790,0,0,0,0,0,0
$GC,2037,-1.20,-146.0,221.7,-7.6,171,2041,0.00,2.50,0.00,0.000,4,0.000,0.035,3002,3773,3790,0,0,0,0,0,0
$GC,2058,-1.20,-146.0,223.8,-8.9,171,2062,0.00,2.45,0.00,0.000,6,0.000,0.021,3003,2190,3790,0,0,0,0,0,0
$GC,2315,-1.20,-146.0,244.5,-8.1,178,2320,0.00,2.53,0.00,0.000,4,0.000,0.055,3002,644,3790,0,0,0,0,0,0
$GC,2337,-1.20,-146.0,246.6,-8.6,178,2341,0.00,2.38,0.00,0.000,6,0.000,0.017,3002,2203,3790,0,0,0,0,0,0
$GC,2593,-1.23,-146.0,266.4,-7.4,185,2598,0.00,2.58,0.00,0.000,4,0.000,0.048,3003,639,3789,0,0,0,0,0,0
$GC,2612,-1.23,-146.0,267.7,-7.0,185,2616,0.00,2.38,0.00,0.000,6,0.000,0.019,3003,2189,3789,0,0,0,0,0,0
$GC,2873,-1.27,-146.0,286.9,-7.6,192,2877,0.00,2.53,0.00,0.000,4,0.000,0.038,3002,3773,3788,0,0,0,0,0,0
$GC,2902,-1.31,-146.0,289.1,-7.7,192,2907,0.12,2.47,0.00,0.000,6,0.064,0.023,2950,2195,3788,0,0,0,0,0,0
$GC,3154,-1.26,-146.0,313.2,-9.7,198,3156,0.15,0.00,0.00,0.000,6,0.096,0.000,2985,2195,3788,0,0,0,0,0,0
$GC,3395,-1.26,-146.0,333.7,-8.3,204,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2195,3788,0,0,0,0,0,0
$GC,3639,-1.26,-146.0,352.9,-7.9,210,3643,0.00,2.55,0.00,0.000,4,0.000,0.047,2985,3772,3786,0,0,0,0,0,0
$GC,3657,-1.26,-146.0,354.3,-8.2,210,3661,0.00,2.47,0.00,0.000,6,0.000,0.025,2985,2198,3786,0,0,0,0,0,0
$GC,3917,-1.26,-146.0,376.3,-8.4,217,3922,0.00,2.65,0.00,0.000,4,0.000,0.071,2985,631,3786,0,0,0,0,0,0
$GC,3939,-1.26,-146.0,378.1,-7.8,217,3943,0.00,2.45,0.00,0.000,6,0.000,0.033,2985,2172,3785,0,0,0,0,0,0
$GC,4196,-1.26,-146.0,398.7,-8.2,224,4201,0.00,2.65,0.00,0.000,4,0.000,0.048,2985,3786,3785,0,0,0,0,0,0
$GC,4224,-1.26,-146.0,401.3,-8.4,224,4228,0.00,2.55,0.00,0.000,6,0.000,0.028,2985,2195,3785,0,0,0,0,0,0
$GC,4474,-1.26,-146.0,421.2,-8.1,230,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2195,3784,0,0,0,0,0,0
$GC,4720,-1.26,-146.0,440.6,-7.8,236,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2194,3783,0,0,0,0,0,0
$GC,4961,-1.26,-146.0,458.4,-7.4,242,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2195,3782,0,0,0,0,0,0
$GC,5205,-1.26,-146.0,476.3,-7.4,248,5209,0.00,2.70,0.00,0.000,4,0.000,0.063,2985,3789,3781,0,0,0,0,0,0
$GC,5232,-1.26,-146.0,478.3,-7.6,248,5236,0.00,2.60,0.00,0.000,6,0.000,0.041,2985,2198,3780,0,0,0,0,0,0
$GC,5484,-1.26,-146.0,494.9,-6.7,254,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2198,3779,0,0,0,0,0,0
$GC,5726,-1.26,-146.0,514.1,-8.1,260,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2198,3778,0,0,0,0,0,0
$GC,5969,-1.26,-146.0,533.5,-7.9,266,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2198,3777,0,0,0,0,0,0
$GC,6215,-1.26,-146.0,552.4,-7.6,272,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2198,3776,0,0,0,0,0,0
$GC,6457,-1.26,-146.0,570.3,-7.5,278,6461,0.00,2.80,0.00,0.000,4,0.000,0.084,2985,3780,3775,0,0,0,0,0,0
$GC,6478,-1.26,-146.0,572.1,-8.4,278,6483,0.00,2.70,0.00,0.000,6,0.000,0.054,2985,2187,3775,0,0,0,0,0,0
$GC,6733,-1.26,-146.0,591.2,-7.4,285,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2187,3774,0,0,0,0,0,0
$GC,6979,-1.30,-146.0,608.2,-6.9,291,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2187,3773,0,0,0,0,0,0
$GC,7221,-1.33,-146.0,627.0,-7.9,297,7226,0.00,2.85,0.00,0.000,4,0.000,0.093,2985,3777,3771,0,0,0,0,0,0
$GC,7261,-1.38,-146.0,630.2,-8.1,298,7266,0.12,2.78,0.00,0.000,6,0.067,0.073,2940,2191,3771,0,0,0,0,0,0
$GC,7547,-1.34,-146.0,657.5,-9.5,305,7553,0.12,2.90,0.00,0.000,4,0.106,0.098,2967,3778,3770,0,0,0,0,0,0
$GC,7566,-1.34,-146.0,659.5,-9.2,305,7571,0.00,2.85,0.00,0.000,6,0.000,0.084,2967,2193,3769,0,0,0,0,0,0
$GC,7829,-1.34,-146.0,680.0,-7.9,312,7834,0.00,2.92,0.00,0.000,4,0.000,0.102,2967,3776,3768,0,0,0,0,0,0
$GC,7851,-1.34,-146.0,682.0,-8.2,312,7855,0.00,2.90,0.00,0.000,6,0.000,0.097,2967,2202,3768,0,0,0,0,0,0
$GC,8106,-1.34,-146.0,701.8,-7.8,319,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2202,3767,0,0,0,0,0,0
$GC,8349,-1.34,-146.0,720.4,-7.6,325,8354,0.00,3.05,0.00,0.000,4,0.000,0.125,2968,3776,3766,0,0,0,0,0,0
$GC,8373,-1.34,-146.0,722.1,-7.6,325,8378,0.00,2.83,0.00,0.000,6,0.000,0.082,2967,2197,3765,0,0,0,0,0,0
$GC,8628,-1.34,-146.0,741.5,-7.5,332,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2197,3764,0,0,0,0,0,0
$GC,8872,-1.34,-146.0,760.0,-7.6,338,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2196,3762,0,0,0,0,0,0
$GC,9118,-1.34,-146.0,778.7,-7.6,344,9122,0.00,2.83,0.00,0.000,4,0.000,0.088,2967,3783,3762,0,0,0,0,0,0
$GC,9157,-1.34,-146.0,781.9,-8.0,345,9161,0.00,2.78,0.00,0.000,6,0.000,0.071,2967,2200,3761,0,0,0,0,0,0
$GC,9440,-1.34,-146.0,803.5,-7.6,352,9445,0.00,2.80,0.00,0.000,4,0.000,0.086,2967,3787,3761,0,0,0,0,0,0
$GC,9516,-1.34,-146.0,809.6,-8.7,353,9520,0.00,2.78,0.00,0.000,6,0.000,0.073,2967,2199,3760,0,0,0,0,0,0
$GC,9766,-1.34,-146.0,829.4,-7.8,359,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2199,3759,0,0,0,0,0,0
$GC,10009,-1.34,-146.0,848.2,-7.7,365,10014,0.00,2.80,0.00,0.000,4,0.000,0.082,2966,3783,3758,0,0,0,0,0,0
$GC,10066,-1.34,-146.0,852.7,-7.5,366,10071,0.00,2.72,0.00,0.000,6,0.000,0.069,2967,2214,3757,0,0,0,0,0,0
$GC,10333,-1.34,-146.0,872.0,-7.1,373,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2214,3756,0,0,0,0,0,0
$GC,10577,-1.34,-146.0,890.3,-7.7,379,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2214,3755,0,0,0,0,0,0
$STATE,10736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10736,begin apogee
$GC,10745,-0.31,0.0,902.6,7.5,383,10867,0.98,0.00,119.07,1.224,6,0.070,0.000,3190,2368,3190,0,0,0,0,0,0
$STATE,10868,end apogee,CONTROL_FINISHED_OK
$STATE,10868,begin climb
$GC,10870,1.27,146.0,905.8,0.0,386,11011,1.48,2.90,127.28,1.192,4,0.036,0.079,3547,3931,2592,0,0,0,0,0,0
$GC,11028,1.13,146.0,897.5,10.4,390,11034,0.20,2.72,0.00,0.000,6,0.110,0.062,3508,2366,2590,0,0,0,0,0,0
$GC,11307,1.11,161.8,871.6,9.3,397,11323,0.00,0.00,14.38,1.065,6,0.000,0.000,3508,2367,2530,0,0,0,0,0,0
$GC,11550,1.11,162.4,847.5,10.0,403,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2366,2526,0,0,0,0,0,0
$GC,11796,1.11,162.4,823.3,10.0,409,11800,0.00,2.70,0.00,0.000,4,0.000,0.061,3508,3931,2525,0,0,0,0,0,0
$GC,11823,1.05,162.4,820.1,11.3,409,11827,0.00,2.65,0.00,0.000,6,0.000,0.043,3508,2364,2524,0,0,0,0,0,0
$GC,12073,1.07,178.3,796.4,9.3,415,12094,0.00,2.72,15.57,1.065,4,0.000,0.059,3508,3930,2461,0,0,0,0,0,0
$GC,12140,1.03,178.3,789.5,10.3,416,12146,0.10,2.62,0.00,0.000,6,0.133,0.043,3487,2384,2460,0,0,0,0,0,0
$GC,12396,1.06,203.9,766.6,8.8,423,12423,0.00,0.00,24.70,1.086,6,0.000,0.000,3487,2384,2358,0,0,0,0,0,0
$GC,12642,1.07,212.8,743.4,9.6,429,12653,0.00,0.00,9.27,0.963,6,0.000,0.000,3487,2383,2322,0,0,0,0,0,0
$GC,12883,1.11,212.8,719.4,10.0,435,12888,0.00,3.08,0.00,0.000,4,0.000,0.121,3487,781,2319,0,0,0,0,0,0
$GC,12916,1.11,212.8,715.9,11.0,435,12922,0.00,2.67,0.00,0.000,6,0.000,0.042,3486,2385,2318,0,0,0,0,0,0
$GC,13168,1.15,212.8,690.2,10.3,442,13174,0.10,2.67,0.00,0.000,4,0.090,0.067,3516,3933,2318,0,0,0,0,0,0
$GC,13190,1.15,212.8,687.3,11.2,442,13194,0.00,2.60,0.00,0.000,6,0.000,0.038,3516,2375,2317,0,0,0,0,0,0
$GC,13445,1.15,212.8,658.0,11.5,449,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2376,2317,0,0,0,0,0,0
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$STATE,19426,end climb,SURFACE_DEPTH_REACHED
$STATE,19426,begin surface coast
$FINISH,1.0,1.009463
$STATE,19469,end surface coast,CONTROL_FINISHED_OK
$STATE,19469,begin surface
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$HUMID,57.36
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$XPDR_PINGS,62
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$10V_AH,10.3,22.552
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.800,185.250,384.800,46.250,0.000,27.943,37.955,211.985,15.500,0.000,15.715,1522.687,14905.587,566.277,2246.172,737.726,33.351,1505.776,0.000,2237.923,0.000,0.535,0.000
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$MEM,355844
$DATA_FILE_SIZE,57446,735
$CAP_FILE_SIZE,165859,0
$CFSIZE,260165632,115900416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220213,194729,1924.448,-8106.520,66,1.4,72,-3.8