version: 66.06
glider: 146
mission: 8
dive: 262
start: 3 12 113 8 29 21
data:
$ID,146
$MISSION,8
$DIVE,262
$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,-312600.75
$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,52
$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
$GPS1,082124,1927.656,-8115.827,38,1.4,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.8
$GPS2,082825,1927.660,-8115.828,13,1.2,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,-0.043
$KALMAN_X,-22146.0,-214.6,-4.2,7655.9,-834.5
$KALMAN_Y,14279.9,275.3,479.6,-7459.7,-831.4
$MHEAD_RNG_PITCHd_Wd,103.4,14873,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.60,0.000,2,0.000,0.000,458,2185,3435,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.1,-3.0,9,123,13.73,2.60,-6.72,0.000,4,0.163,0.041,2977,3805,3785,0,0,0,0,0,0
$GC,168,-1.11,-146.0,22.0,-18.4,18,178,0.15,2.53,0.00,0.000,6,0.079,0.023,3015,2229,3786,0,0,0,0,0,0
$GC,447,-0.99,-146.0,64.0,-14.7,46,453,0.12,2.62,0.00,0.000,4,0.112,0.045,3042,630,3787,0,0,0,0,0,0
$GC,472,-0.88,-146.0,68.8,-13.9,47,482,0.08,2.47,0.00,0.000,6,0.084,0.016,3064,2233,3786,0,0,0,0,0,0
$GC,734,-0.88,-146.0,98.9,-11.6,72,739,0.00,2.62,0.00,0.000,4,0.000,0.043,3064,634,3787,0,0,0,0,0,0
$GC,766,-0.88,-146.0,102.6,-12.0,74,770,0.00,2.38,0.00,0.000,6,0.000,0.016,3064,2196,3787,0,0,0,0,0,0
$GC,1029,-0.92,-146.0,130.7,-9.9,98,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2196,3787,0,0,0,0,0,0
$GC,1284,-1.00,-146.0,149.9,-7.1,122,1289,0.10,2.60,0.00,0.000,4,0.079,0.044,3016,626,3788,0,0,0,0,0,0
$GC,1318,-1.00,-146.0,152.6,-8.8,124,1323,0.12,2.42,0.00,0.000,6,0.098,0.018,3045,2205,3788,0,0,0,0,0,0
$GC,1583,-1.07,-146.0,174.2,-7.8,148,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2206,3789,0,0,0,0,0,0
$GC,1846,-1.15,-146.0,194.5,-7.1,173,1851,0.15,2.50,0.00,0.000,4,0.058,0.036,2980,3776,3789,0,0,0,0,0,0
$GC,1866,-1.15,-146.0,196.1,-7.6,174,1871,0.12,2.47,0.00,0.000,6,0.092,0.021,3011,2179,3789,0,0,0,0,0,0
$GC,2118,-1.15,-146.0,216.3,-7.6,183,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2179,3789,0,0,0,0,0,0
$GC,2361,-1.15,-146.0,235.3,-7.8,189,2366,0.00,2.50,0.00,0.000,4,0.000,0.048,3010,644,3789,0,0,0,0,0,0
$GC,2385,-1.15,-146.0,237.3,-8.5,189,2390,0.00,2.40,0.00,0.000,6,0.000,0.022,3011,2205,3789,0,0,0,0,0,0
$GC,2641,-1.19,-146.0,257.3,-7.7,196,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2206,3789,0,0,0,0,0,0
$GC,2885,-1.24,-146.0,276.4,-7.8,202,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2205,3789,0,0,0,0,0,0
$GC,3131,-1.29,-146.0,295.6,-8.0,208,3133,0.12,0.00,0.00,0.000,6,0.067,0.000,2960,2205,3789,0,0,0,0,0,0
$GC,3373,-1.24,-146.0,319.1,-9.7,214,3374,0.12,0.00,0.00,0.000,6,0.099,0.000,2989,2205,3788,0,0,0,0,0,0
$GC,3616,-1.24,-146.0,340.5,-8.7,220,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2205,3787,0,0,0,0,0,0
$GC,3860,-1.24,-146.0,360.7,-8.3,226,3864,0.00,2.62,0.00,0.000,4,0.000,0.061,2989,647,3787,0,0,0,0,0,0
$GC,3877,-1.24,-146.0,362.1,-8.2,226,3882,0.00,2.40,0.00,0.000,6,0.000,0.025,2989,2183,3787,0,0,0,0,0,0
$GC,4138,-1.24,-146.0,382.7,-7.9,233,4143,0.00,2.62,0.00,0.000,4,0.000,0.044,2989,3794,3786,0,0,0,0,0,0
$GC,4171,-1.24,-146.0,385.5,-8.5,233,4177,0.00,2.50,0.00,0.000,6,0.000,0.027,2989,2219,3786,0,0,0,0,0,0
$GC,4421,-1.24,-146.0,406.2,-8.3,240,4426,0.00,2.72,0.00,0.000,4,0.000,0.072,2989,628,3785,0,0,0,0,0,0
$GC,4448,-1.24,-146.0,408.6,-8.5,240,4452,0.00,2.47,0.00,0.000,6,0.000,0.028,2989,2194,3785,0,0,0,0,0,0
$GC,4698,-1.24,-146.0,428.1,-7.8,246,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2195,3784,0,0,0,0,0,0
$GC,4944,-1.24,-146.0,446.0,-7.3,252,4948,0.00,2.67,0.00,0.000,4,0.000,0.061,2989,3790,3783,0,0,0,0,0,0
$GC,4965,-1.24,-146.0,447.7,-7.4,252,4970,0.00,2.58,0.00,0.000,6,0.000,0.040,2989,2207,3783,0,0,0,0,0,0
$GC,5221,-1.24,-146.0,466.8,-7.6,259,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2207,3782,0,0,0,0,0,0
$GC,5467,-1.24,-146.0,485.3,-7.4,265,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2207,3781,0,0,0,0,0,0
$GC,5708,-1.24,-146.0,503.5,-7.5,271,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2207,3779,0,0,0,0,0,0
$GC,5952,-1.24,-146.0,522.1,-7.6,277,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2207,3779,0,0,0,0,0,0
$GC,6196,-1.24,-146.0,541.1,-7.8,283,6200,0.00,2.75,0.00,0.000,4,0.000,0.071,2989,3787,3778,0,0,0,0,0,0
$GC,6220,-1.28,-146.0,542.9,-8.2,283,6224,0.00,2.65,0.00,0.000,6,0.000,0.051,2989,2197,3777,0,0,0,0,0,0
$GC,6475,-1.28,-146.0,563.5,-7.9,290,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2197,3776,0,0,0,0,0,0
$GC,6719,-1.31,-146.0,583.6,-8.4,296,6723,0.00,2.78,0.00,0.000,4,0.000,0.077,2989,3787,3775,0,0,0,0,0,0
$GC,6748,-1.35,-146.0,586.0,-8.7,296,6754,0.10,2.70,0.00,0.000,6,0.079,0.061,2946,2201,3775,0,0,0,0,0,0
$GC,6999,-1.31,-146.0,609.9,-9.4,302,7001,0.12,0.00,0.00,0.000,6,0.100,0.000,2974,2201,3774,0,0,0,0,0,0
$GC,7242,-1.31,-146.0,630.5,-8.4,308,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2201,3772,0,0,0,0,0,0
$GC,7488,-1.31,-146.0,650.4,-8.1,314,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2202,3771,0,0,0,0,0,0
$GC,7729,-1.31,-146.0,669.8,-7.9,320,7734,0.00,2.92,0.00,0.000,4,0.000,0.105,2974,3780,3770,0,0,0,0,0,0
$GC,7751,-1.31,-146.0,671.6,-8.1,320,7755,0.00,2.85,0.00,0.000,6,0.000,0.090,2974,2209,3769,0,0,0,0,0,0
$GC,8008,-1.31,-146.0,691.5,-7.7,327,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3768,0,0,0,0,0,0
$GC,8254,-1.31,-146.0,709.5,-7.4,333,8259,0.00,3.03,0.00,0.000,4,0.000,0.127,2974,3783,3767,0,0,0,0,0,0
$GC,8276,-1.31,-146.0,711.5,-8.1,333,8280,0.00,2.78,0.00,0.000,6,0.000,0.080,2974,2204,3767,0,0,0,0,0,0
$GC,8531,-1.31,-146.0,730.7,-7.6,340,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3766,0,0,0,0,0,0
$GC,8777,-1.31,-146.0,749.0,-7.4,346,8781,0.00,2.83,0.00,0.000,4,0.000,0.092,2974,3782,3764,0,0,0,0,0,0
$GC,8792,-1.31,-146.0,750.6,-7.6,346,8797,0.00,2.75,0.00,0.000,6,0.000,0.072,2973,2203,3764,0,0,0,0,0,0
$GC,9053,-1.31,-146.0,771.6,-8.1,353,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3763,0,0,0,0,0,0
$GC,9299,-1.31,-146.0,791.5,-8.1,359,9304,0.00,2.80,0.00,0.000,4,0.000,0.081,2974,3783,3762,0,0,0,0,0,0
$GC,9320,-1.31,-146.0,793.5,-8.1,359,9325,0.00,2.72,0.00,0.000,6,0.000,0.066,2974,2209,3762,0,0,0,0,0,0
$GC,9576,-1.31,-146.0,813.6,-7.8,366,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3761,0,0,0,0,0,0
$GC,9820,-1.31,-146.0,832.1,-7.7,372,9824,0.00,2.80,0.00,0.000,4,0.000,0.084,2974,3791,3760,0,0,0,0,0,0
$GC,9849,-1.31,-146.0,834.3,-8.4,372,9853,0.00,2.72,0.00,0.000,6,0.000,0.065,2973,2220,3760,0,0,0,0,0,0
$GC,10099,-1.31,-146.0,853.1,-7.5,378,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2220,3759,0,0,0,0,0,0
$GC,10343,-1.31,-146.0,872.0,-7.8,384,10347,0.00,2.72,0.00,0.000,4,0.000,0.081,2974,3786,3757,0,0,0,0,0,0
$GC,10366,-1.31,-146.0,873.7,-8.1,384,10371,0.00,2.67,0.00,0.000,6,0.000,0.065,2974,2221,3757,0,0,0,0,0,0
$GC,10621,-1.31,-146.0,892.3,-7.1,391,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2222,3756,0,0,0,0,0,0
$STATE,10740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10740,begin apogee
$GC,10746,-0.31,0.0,900.8,7.0,394,10869,0.95,0.00,119.30,1.217,6,0.069,0.000,3191,2368,3190,0,0,0,0,0,0
$STATE,10870,end apogee,CONTROL_FINISHED_OK
$STATE,10870,begin climb
$GC,10875,1.27,146.0,903.3,0.0,397,11010,1.45,2.83,126.65,1.183,4,0.038,0.075,3544,3926,2593,0,0,0,0,0,0
$GC,11080,1.14,146.0,889.2,13.1,401,11086,0.17,2.70,0.00,0.000,6,0.113,0.052,3509,2370,2589,0,0,0,0,0,0
$GC,11330,1.10,146.0,862.8,10.3,408,11331,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2370,2585,0,0,0,0,0,0
$GC,11574,1.11,154.0,839.1,9.6,414,11583,0.00,0.00,7.05,0.926,6,0.000,0.000,3509,2370,2562,0,0,0,0,0,0
$GC,11820,1.13,166.3,815.7,9.4,420,11839,0.00,2.78,12.43,1.039,4,0.000,0.059,3509,3927,2511,0,0,0,0,0,0
$GC,11873,1.08,166.3,810.1,10.3,421,11878,0.00,2.65,0.00,0.000,6,0.000,0.042,3509,2362,2510,0,0,0,0,0,0
$GC,12145,1.11,187.4,785.3,9.0,428,12167,0.00,0.00,20.62,1.078,6,0.000,0.000,3509,2362,2425,0,0,0,0,0,0
$GC,12391,1.11,190.1,762.0,9.9,434,12395,0.00,2.67,0.00,0.000,4,0.000,0.055,3509,3934,2421,0,0,0,0,0,0
$GC,12418,1.11,190.1,758.6,10.9,434,12422,0.00,2.62,0.00,0.000,6,0.000,0.048,3509,2371,2420,0,0,0,0,0,0
$GC,12673,1.11,190.1,732.5,10.3,441,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2371,2419,0,0,0,0,0,0
$GC,12919,1.12,196.7,708.8,9.7,447,12930,0.00,0.00,9.00,0.943,6,0.000,0.000,3509,2371,2388,0,0,0,0,0,0
$GC,13160,1.12,197.0,684.4,10.0,453,13165,0.00,2.67,0.00,0.000,4,0.000,0.054,3509,3933,2386,0,0,0,0,0,0
$GC,13210,1.12,197.0,678.8,11.0,454,13214,0.00,2.62,0.00,0.000,6,0.000,0.050,3509,2370,2385,0,0,0,0,0,0
$GC,13485,1.12,197.0,650.7,10.3,461,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2370,2384,0,0,0,0,0,0
$GC,13726,1.12,197.0,624.9,10.6,467,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2370,2384,0,0,0,0,0,0
$GC,13970,1.12,197.0,599.1,10.5,473,13974,0.00,2.67,0.00,0.000,4,0.000,0.056,3509,3933,2384,0,0,0,0,0,0
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$STATE,19731,end climb,SURFACE_DEPTH_REACHED
$STATE,19732,begin surface coast
$FINISH,1.0,1.008788
$STATE,19784,end surface coast,CONTROL_FINISHED_OK
$STATE,19784,begin surface
$SM_CCo,19807,31.83,0.488,0,0,1762,350.04
$SM_GC,1.60,0.00,0.00,31.83,0.000,0.000,0.488,459,2183,1762,-12.89,-0.76,350.04
$IRIDIUM_FIX,1922.94,-8109.84,060602,020222
$TT8_MAMPS,0.026078
$HUMID,58.42
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$TCM_TEMP,24.30
$XPDR_PINGS,47
$24V_AH,23.3,37.043
$10V_AH,10.3,32.639
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.575,168.550,404.775,31.825,0.000,28.430,39.395,184.442,11.750,0.000,15.271,1530.143,15201.548,547.779,2249.039,723.491,33.362,1490.500,0.000,2247.887,0.000,0.537,0.000
$DEVICE_MAMPS,190.216,126.555,1217.229,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,511.598,348.363,451.456,583.123,1111.228,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355896
$DATA_FILE_SIZE,57273,755
$CAP_FILE_SIZE,162842,0
$CFSIZE,260165632,110129152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120313,140129,1928.152,-8113.881,40,1.1,46,-3.8