version: 66.06
glider: 146
mission: 8
dive: 227
start: 3 4 113 14 57 29
data:
$ID,146
$MISSION,8
$DIVE,227
$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,665.4989
$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,-311919.75
$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,53
$R_STBD_OVSHOOT,44
$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
$GPS1,142630,1927.667,-8114.563,37,1.8,37,-3.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-72.4
$GPS2,145636,1927.619,-8114.858,13,1.7,18,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.069
$KALMAN_X,1682.3,-70.4,-34.0,-14595.1,-1054.6
$KALMAN_Y,2731.0,566.1,203.6,4001.5,-410.7
$MHEAD_RNG_PITCHd_Wd,109.3,13300,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.30,0.000,2,0.000,0.000,459,2181,3505,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.3,-4.1,9,120,13.68,2.50,-5.40,0.000,4,0.164,0.051,2977,653,3786,0,0,0,0,0,0
$GC,244,-1.08,-146.0,38.8,-16.1,27,249,0.22,2.42,0.00,0.000,6,0.104,0.017,3025,2224,3787,0,0,0,0,0,0
$GC,512,-0.96,-146.0,78.9,-14.1,51,517,0.12,2.60,0.00,0.000,4,0.110,0.044,3052,648,3787,0,0,0,0,0,0
$GC,536,-0.85,-146.0,83.6,-14.1,52,546,0.05,2.40,0.00,0.000,6,0.097,0.016,3069,2207,3787,0,0,0,0,0,0
$GC,802,-0.85,-146.0,113.3,-11.1,77,806,0.00,2.53,0.00,0.000,4,0.000,0.043,3069,654,3787,0,0,0,0,0,0
$GC,820,-0.85,-146.0,115.8,-10.9,78,825,0.00,2.35,0.00,0.000,6,0.000,0.018,3069,2209,3787,0,0,0,0,0,0
$GC,1083,-0.91,-146.0,141.8,-7.9,102,1087,0.00,2.47,0.00,0.000,4,0.000,0.038,3069,3768,3787,0,0,0,0,0,0
$GC,1142,-1.04,-146.0,146.2,-7.2,106,1151,0.12,2.45,0.00,0.000,6,0.029,0.019,3005,2209,3788,0,0,0,0,0,0
$GC,1404,-1.04,-146.0,169.5,-8.5,131,1409,0.12,2.58,0.00,0.000,4,0.099,0.054,3035,635,3788,0,0,0,0,0,0
$GC,1473,-1.11,-146.0,175.1,-9.2,136,1478,0.00,2.38,0.00,0.000,6,0.000,0.018,3035,2185,3788,0,0,0,0,0,0
$GC,1740,-1.17,-146.0,196.2,-8.2,160,1745,0.12,2.55,0.00,0.000,4,0.066,0.054,2974,633,3788,0,0,0,0,0,0
$GC,1760,-1.17,-146.0,198.3,-8.7,161,1765,0.15,2.38,0.00,0.000,6,0.097,0.022,3008,2192,3788,0,0,0,0,0,0
$GC,2020,-1.17,-146.0,219.4,-7.6,168,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2192,3787,0,0,0,0,0,0
$GC,2264,-1.17,-146.0,239.5,-8.6,174,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2192,3787,0,0,0,0,0,0
$GC,2508,-1.17,-146.0,257.7,-7.5,180,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2192,3787,0,0,0,0,0,0
$GC,2754,-1.20,-146.0,275.4,-7.0,186,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2192,3786,0,0,0,0,0,0
$GC,2996,-1.24,-146.0,293.6,-7.6,192,3000,0.00,2.53,0.00,0.000,4,0.000,0.048,3008,3764,3786,0,0,0,0,0,0
$GC,3017,-1.28,-146.0,295.4,-7.9,192,3023,0.12,2.45,0.00,0.000,6,0.067,0.021,2953,2185,3786,0,0,0,0,0,0
$GC,3276,-1.22,-146.0,320.0,-9.8,199,3278,0.17,0.00,0.00,0.000,6,0.092,0.000,2994,2185,3785,0,0,0,0,0,0
$GC,3517,-1.22,-146.0,340.6,-8.3,205,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2185,3783,0,0,0,0,0,0
$GC,3760,-1.22,-146.0,360.7,-8.4,211,3765,0.00,2.58,0.00,0.000,4,0.000,0.049,2994,3762,3783,0,0,0,0,0,0
$GC,3779,-1.22,-146.0,362.3,-8.6,211,3783,0.00,2.47,0.00,0.000,6,0.000,0.023,2994,2195,3782,0,0,0,0,0,0
$GC,4039,-1.22,-146.0,383.8,-8.0,218,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2195,3781,0,0,0,0,0,0
$GC,4283,-1.22,-146.0,402.6,-7.8,224,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2195,3780,0,0,0,0,0,0
$GC,4529,-1.22,-146.0,421.4,-7.7,230,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2195,3780,0,0,0,0,0,0
$GC,4771,-1.22,-146.0,439.8,-7.5,236,4775,0.00,2.60,0.00,0.000,4,0.000,0.047,2994,3762,3778,0,0,0,0,0,0
$GC,4787,-1.22,-146.0,441.2,-7.5,236,4791,0.00,2.55,0.00,0.000,6,0.000,0.035,2994,2192,3778,0,0,0,0,0,0
$GC,5047,-1.22,-146.0,461.3,-7.7,243,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2192,3777,0,0,0,0,0,0
$GC,5293,-1.22,-146.0,479.0,-7.2,249,5298,0.00,2.65,0.00,0.000,4,0.000,0.055,2994,3762,3776,0,0,0,0,0,0
$GC,5321,-1.22,-146.0,481.6,-8.2,249,5325,0.00,2.60,0.00,0.000,6,0.000,0.044,2994,2186,3776,0,0,0,0,0,0
$GC,5571,-1.25,-146.0,501.3,-8.0,255,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2186,3775,0,0,0,0,0,0
$GC,5817,-1.25,-146.0,518.8,-7.0,261,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2186,3774,0,0,0,0,0,0
$GC,6059,-1.29,-146.0,537.8,-7.8,267,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2186,3772,0,0,0,0,0,0
$GC,6302,-1.33,-146.0,556.2,-7.5,273,6308,0.10,2.78,0.00,0.000,4,0.081,0.081,2953,3761,3771,0,0,0,0,0,0
$GC,6332,-1.33,-146.0,558.7,-9.8,273,6337,0.00,2.65,0.00,0.000,6,0.000,0.058,2954,2192,3771,0,0,0,0,0,0
$GC,6583,-1.29,-146.0,581.1,-8.9,279,6588,0.12,2.72,0.00,0.000,4,0.100,0.071,2982,3753,3769,0,0,0,0,0,0
$GC,6599,-1.29,-146.0,582.7,-9.1,279,6603,0.00,2.65,0.00,0.000,6,0.000,0.058,2982,2193,3769,0,0,0,0,0,0
$GC,6862,-1.29,-146.0,604.1,-8.3,286,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2193,3768,0,0,0,0,0,0
$GC,7103,-1.29,-146.0,624.4,-8.3,292,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2193,3767,0,0,0,0,0,0
$GC,7347,-1.29,-146.0,645.3,-8.6,298,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2193,3766,0,0,0,0,0,0
$GC,7591,-1.29,-146.0,665.0,-8.0,304,7595,0.00,2.88,0.00,0.000,4,0.000,0.108,2982,3751,3764,0,0,0,0,0,0
$GC,7620,-1.29,-146.0,667.3,-8.5,304,7625,0.00,2.78,0.00,0.000,6,0.000,0.085,2982,2203,3764,0,0,0,0,0,0
$GC,7870,-1.29,-146.0,687.6,-8.1,310,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3763,0,0,0,0,0,0
$GC,8114,-1.29,-146.0,706.1,-7.4,316,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3762,0,0,0,0,0,0
$GC,8360,-1.29,-146.0,722.9,-6.9,322,8364,0.00,2.88,0.00,0.000,4,0.000,0.109,2981,3752,3761,0,0,0,0,0,0
$GC,8381,-1.29,-146.0,724.6,-7.5,322,8385,0.00,2.75,0.00,0.000,6,0.000,0.081,2982,2194,3761,0,0,0,0,0,0
$GC,8638,-1.29,-146.0,742.2,-6.9,329,8642,0.00,2.80,0.00,0.000,4,0.000,0.091,2981,3756,3760,0,0,0,0,0,0
$GC,8680,-1.33,-146.0,745.4,-7.7,330,8684,0.00,2.70,0.00,0.000,6,0.000,0.072,2982,2205,3760,0,0,0,0,0,0
$GC,8963,-1.33,-146.0,766.7,-7.4,337,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2205,3758,0,0,0,0,0,0
$GC,9206,-1.33,-146.0,785.1,-7.6,343,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2205,3756,0,0,0,0,0,0
$GC,9450,-1.33,-146.0,803.6,-7.5,349,9455,0.00,2.75,0.00,0.000,4,0.000,0.080,2982,3758,3756,0,0,0,0,0,0
$GC,9485,-1.36,-146.0,806.4,-8.2,349,9491,0.00,2.70,0.00,0.000,6,0.000,0.065,2982,2204,3755,0,0,0,0,0,0
$GC,9736,-1.40,-146.0,824.9,-7.4,356,9741,0.12,2.75,0.00,0.000,4,0.073,0.078,2939,3753,3754,0,0,0,0,0,0
$GC,9783,-1.36,-146.0,829.2,-9.8,357,9788,0.12,2.67,0.00,0.000,6,0.102,0.067,2966,2211,3754,0,0,0,0,0,0
$GC,10061,-1.36,-146.0,852.3,-8.2,364,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2211,3753,0,0,0,0,0,0
$GC,10304,-1.36,-146.0,871.6,-7.8,370,10309,0.00,2.75,0.00,0.000,4,0.000,0.077,2966,3758,3751,0,0,0,0,0,0
$GC,10351,-1.36,-146.0,875.3,-8.2,371,10355,0.00,2.65,0.00,0.000,6,0.000,0.067,2966,2219,3751,0,0,0,0,0,0
$GC,10628,-1.36,-146.0,896.6,-7.6,378,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2219,3750,0,0,0,0,0,0
$STATE,10708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10708,begin apogee
$GC,10714,-0.31,0.0,902.7,7.6,380,10836,0.98,0.00,118.40,1.219,6,0.070,0.000,3190,2342,3190,0,0,0,0,0,0
$STATE,10837,end apogee,CONTROL_FINISHED_OK
$STATE,10837,begin climb
$GC,10842,1.27,146.0,905.8,0.0,383,10978,1.42,2.85,127.72,1.188,4,0.036,0.077,3542,3932,2593,0,0,0,0,0,0
$GC,11083,1.14,146.0,888.8,11.4,388,11089,0.15,2.70,0.00,0.000,6,0.117,0.056,3512,2369,2586,0,0,0,0,0,0
$GC,11334,1.12,164.6,864.9,9.1,394,11352,0.00,0.00,16.88,1.081,6,0.000,0.000,3511,2370,2518,0,0,0,0,0,0
$GC,11577,1.13,174.0,841.7,9.6,400,11591,0.00,2.75,9.38,0.996,4,0.000,0.057,3512,3933,2480,0,0,0,0,0,0
$GC,11617,1.08,174.0,837.8,10.4,401,11622,0.00,2.65,0.00,0.000,6,0.000,0.048,3511,2375,2479,0,0,0,0,0,0
$GC,11900,1.08,174.0,808.9,10.0,408,11904,0.00,2.67,0.00,0.000,4,0.000,0.059,3511,3935,2477,0,0,0,0,0,0
$GC,11935,1.03,174.0,805.3,11.8,408,11941,0.12,2.60,0.00,0.000,6,0.126,0.042,3487,2381,2476,0,0,0,0,0,0
$GC,12185,1.04,179.1,781.0,9.8,415,12196,0.00,3.12,5.40,0.837,4,0.000,0.125,3487,780,2460,0,0,0,0,0,0
$GC,12224,1.04,179.1,776.9,10.7,416,12229,0.00,2.67,0.00,0.000,6,0.000,0.040,3487,2375,2459,0,0,0,0,0,0
$GC,12510,1.04,181.2,747.9,9.9,423,12514,0.00,2.70,0.00,0.000,4,0.000,0.064,3487,3938,2458,0,0,0,0,0,0
$GC,12549,1.04,181.2,743.6,10.8,424,12553,0.00,2.60,0.00,0.000,6,0.000,0.036,3487,2379,2457,0,0,0,0,0,0
$GC,12832,1.09,219.4,719.5,8.2,431,12872,0.00,0.00,38.45,1.083,6,0.000,0.000,3487,2379,2295,0,0,0,0,0,0
$GC,13118,1.15,234.7,694.0,9.3,438,13135,0.10,0.00,14.95,1.005,6,0.090,0.000,3516,2379,2233,0,0,0,0,0,0
$GC,13359,1.15,234.7,666.2,11.5,444,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2380,2229,0,0,0,0,0,0
$GC,13605,1.15,234.7,638.7,11.3,450,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2379,2228,0,0,0,0,0,0
$GC,13848,1.15,234.7,611.1,11.3,456,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2379,2227,0,0,0,0,0,0
$GC,14090,1.15,234.7,583.0,11.6,462,14094,0.00,2.62,0.00,0.000,4,0.000,0.055,3517,3934,2227,0,0,0,0,0,0
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$STATE,19224,end climb,SURFACE_DEPTH_REACHED
$STATE,19224,begin surface coast
$FINISH,1.0,0.999802
$STATE,19273,end surface coast,CONTROL_FINISHED_OK
$STATE,19273,begin surface
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$IRIDIUM_FIX,1918.37,-8114.71,290502,141448
$TT8_MAMPS,0.026078
$HUMID,55.04
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.40
$XPDR_PINGS,53
$24V_AH,23.3,32.229
$10V_AH,10.4,28.257
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.950,167.700,391.625,287.825,0.000,138.875,174.263,1026.270,13.250,0.000,19.546,1490.649,15059.187,791.165,2187.108,1851.652,33.367,1703.199,0.000,2180.060,0.000,0.538,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356076
$DATA_FILE_SIZE,57146,724
$CAP_FILE_SIZE,181227,0
$CFSIZE,260165632,112607232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040313,202506,1927.507,-8112.631,30,1.3,30,-3.8