version: 66.06
glider: 146
mission: 8
dive: 272
start: 3 14 113 12 32 8
data:
$ID,146
$MISSION,8
$DIVE,272
$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,-312787.25
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,122323,1926.326,-8117.684,35,1.0,51,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.2
$GPS2,123113,1926.281,-8117.749,12,1.9,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,0.012
$KALMAN_X,-24935.9,-406.8,-208.2,7500.0,95.0
$KALMAN_Y,14504.2,199.0,140.4,-9810.4,-1132.4
$MHEAD_RNG_PITCHd_Wd,91.1,17346,-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,-70.80,0.000,2,0.000,0.000,461,2134,3502,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-6.0,9,123,13.70,2.45,-5.12,0.000,4,0.163,0.050,2978,627,3786,0,0,0,0,0,0
$GC,200,-1.10,-146.0,30.3,-17.2,23,205,0.17,2.47,0.00,0.000,6,0.107,0.018,3016,2240,3786,0,0,0,0,0,0
$GC,470,-0.98,-146.0,70.2,-14.9,47,475,0.12,2.65,0.00,0.000,4,0.113,0.043,3043,629,3786,0,0,0,0,0,0
$GC,505,-0.90,-146.0,76.1,-13.9,49,510,0.00,2.42,0.00,0.000,6,0.000,0.017,3044,2215,3787,0,0,0,0,0,0
$GC,774,-0.83,-146.0,110.3,-13.0,73,779,0.15,2.62,0.00,0.000,4,0.100,0.043,3077,630,3787,0,0,0,0,0,0
$GC,792,-0.77,-146.0,113.6,-13.0,74,796,0.00,2.40,0.00,0.000,6,0.000,0.015,3077,2206,3787,0,0,0,0,0,0
$GC,1057,-0.85,-146.0,138.0,-8.2,98,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2207,3788,0,0,0,0,0,0
$GC,1320,-0.95,-146.0,157.5,-7.0,123,1325,0.12,2.62,0.00,0.000,4,0.065,0.044,3021,621,3788,0,0,0,0,0,0
$GC,1361,-0.95,-146.0,161.2,-9.3,126,1366,0.12,2.38,0.00,0.000,6,0.099,0.019,3051,2178,3788,0,0,0,0,0,0
$GC,1623,-1.04,-146.0,179.7,-7.0,150,1627,0.00,2.53,0.00,0.000,4,0.000,0.035,3051,3779,3789,0,0,0,0,0,0
$GC,1663,-1.15,-146.0,182.8,-7.7,153,1669,0.17,2.47,0.00,0.000,6,0.051,0.028,2979,2182,3789,0,0,0,0,0,0
$GC,1936,-1.11,-146.0,208.6,-9.5,172,1941,0.17,2.53,0.00,0.000,4,0.083,0.048,3020,644,3789,0,0,0,0,0,0
$GC,1957,-1.11,-146.0,211.1,-9.1,172,1962,0.00,2.40,0.00,0.000,6,0.000,0.019,3020,2208,3789,0,0,0,0,0,0
$GC,2216,-1.16,-146.0,230.8,-7.5,179,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2208,3789,0,0,0,0,0,0
$GC,2457,-1.22,-146.0,250.5,-8.1,185,2462,0.12,2.50,0.00,0.000,4,0.067,0.044,2967,3766,3789,0,0,0,0,0,0
$GC,2496,-1.22,-146.0,254.3,-10.6,186,2501,0.12,2.45,0.00,0.000,6,0.096,0.027,2996,2191,3789,0,0,0,0,0,0
$GC,2782,-1.22,-146.0,277.8,-8.2,193,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2191,3789,0,0,0,0,0,0
$GC,3024,-1.22,-146.0,298.0,-8.3,199,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2191,3788,0,0,0,0,0,0
$GC,3268,-1.22,-146.0,318.4,-8.3,205,3272,0.00,2.55,0.00,0.000,4,0.000,0.045,2996,3772,3788,0,0,0,0,0,0
$GC,3291,-1.22,-146.0,320.3,-8.3,205,3295,0.00,2.47,0.00,0.000,6,0.000,0.027,2996,2197,3788,0,0,0,0,0,0
$GC,3546,-1.22,-146.0,341.2,-8.1,212,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2197,3787,0,0,0,0,0,0
$GC,3790,-1.22,-146.0,360.4,-7.8,218,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2197,3786,0,0,0,0,0,0
$GC,4036,-1.22,-146.0,380.9,-8.5,224,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2197,3786,0,0,0,0,0,0
$GC,4277,-1.22,-146.0,400.7,-8.1,230,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2197,3785,0,0,0,0,0,0
$GC,4521,-1.22,-146.0,420.2,-8.0,236,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2197,3784,0,0,0,0,0,0
$GC,4765,-1.26,-146.0,439.4,-7.8,242,4769,0.00,2.60,0.00,0.000,4,0.000,0.057,2996,3766,3783,0,0,0,0,0,0
$GC,4783,-1.30,-146.0,440.7,-7.7,242,4788,0.00,2.53,0.00,0.000,6,0.000,0.039,2996,2201,3783,0,0,0,0,0,0
$GC,5044,-1.34,-146.0,459.4,-7.0,249,5046,0.12,0.00,0.00,0.000,6,0.067,0.000,2946,2201,3782,0,0,0,0,0,0
$GC,5288,-1.28,-146.0,481.5,-9.2,255,5293,0.15,2.65,0.00,0.000,4,0.094,0.054,2981,3761,3780,0,0,0,0,0,0
$GC,5307,-1.28,-146.0,483.3,-9.4,255,5311,0.00,2.60,0.00,0.000,6,0.000,0.041,2981,2184,3780,0,0,0,0,0,0
$GC,5567,-1.28,-146.0,504.3,-7.8,262,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2184,3780,0,0,0,0,0,0
$GC,5811,-1.28,-146.0,522.6,-7.4,268,5815,0.00,2.67,0.00,0.000,4,0.000,0.067,2980,3754,3778,0,0,0,0,0,0
$GC,5834,-1.28,-146.0,524.3,-7.9,268,5839,0.00,2.60,0.00,0.000,6,0.000,0.047,2981,2199,3778,0,0,0,0,0,0
$GC,6090,-1.28,-146.0,543.4,-7.5,275,6094,0.00,2.65,0.00,0.000,4,0.000,0.066,2981,3755,3777,0,0,0,0,0,0
$GC,6122,-1.28,-146.0,546.1,-8.0,275,6128,0.00,2.62,0.00,0.000,6,0.000,0.054,2981,2200,3777,0,0,0,0,0,0
$GC,6374,-1.28,-146.0,565.9,-8.0,282,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2200,3776,0,0,0,0,0,0
$GC,6616,-1.28,-146.0,585.4,-7.9,288,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2200,3775,0,0,0,0,0,0
$GC,6860,-1.28,-146.0,604.6,-7.9,294,6864,0.00,3.08,0.00,0.000,4,0.000,0.133,2981,617,3774,0,0,0,0,0,0
$GC,6875,-1.28,-146.0,605.9,-8.0,294,6880,0.00,2.62,0.00,0.000,6,0.000,0.059,2981,2171,3774,0,0,0,0,0,0
$GC,7138,-1.28,-146.0,625.6,-7.4,301,7143,0.00,2.92,0.00,0.000,4,0.000,0.100,2981,3794,3772,0,0,0,0,0,0
$GC,7178,-1.28,-146.0,628.8,-7.8,302,7182,0.00,2.75,0.00,0.000,6,0.000,0.067,2981,2209,3772,0,0,0,0,0,0
$GC,7461,-1.28,-146.0,649.3,-7.1,309,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2209,3770,0,0,0,0,0,0
$GC,7707,-1.28,-146.0,666.7,-7.2,315,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3770,0,0,0,0,0,0
$GC,7948,-1.28,-146.0,685.0,-7.6,321,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3768,0,0,0,0,0,0
$GC,8192,-1.28,-146.0,704.8,-8.2,327,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3767,0,0,0,0,0,0
$GC,8438,-1.28,-146.0,724.3,-7.9,333,8443,0.00,3.12,0.00,0.000,4,0.000,0.140,2981,3794,3766,0,0,0,0,0,0
$GC,8482,-1.33,-146.0,728.2,-8.3,334,8487,0.00,2.75,0.00,0.000,6,0.000,0.074,2981,2217,3766,0,0,0,0,0,0
$GC,8760,-1.33,-146.0,749.8,-7.8,341,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2217,3765,0,0,0,0,0,0
$GC,9006,-1.33,-146.0,768.9,-7.7,347,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2216,3763,0,0,0,0,0,0
$GC,9247,-1.33,-146.0,787.3,-7.6,353,9252,0.00,2.80,0.00,0.000,4,0.000,0.090,2981,3795,3762,0,0,0,0,0,0
$GC,9274,-1.33,-146.0,789.5,-8.2,353,9279,0.00,2.70,0.00,0.000,6,0.000,0.067,2981,2221,3762,0,0,0,0,0,0
$GC,9525,-1.37,-146.0,807.7,-7.1,359,9529,0.00,2.78,0.00,0.000,4,0.000,0.086,2981,3798,3761,0,0,0,0,0,0
$GC,9548,-1.37,-146.0,809.3,-7.4,359,9553,0.00,2.72,0.00,0.000,6,0.000,0.066,2981,2229,3761,0,0,0,0,0,0
$GC,9804,-1.40,-146.0,828.0,-7.3,366,9806,0.12,0.00,0.00,0.000,6,0.074,0.000,2937,2229,3760,0,0,0,0,0,0
$GC,10047,-1.36,-146.0,849.3,-8.8,372,10053,0.12,2.80,0.00,0.000,4,0.104,0.083,2964,3796,3759,0,0,0,0,0,0
$GC,10077,-1.36,-146.0,851.7,-8.1,372,10082,0.00,2.70,0.00,0.000,6,0.000,0.070,2964,2229,3759,0,0,0,0,0,0
$GC,10327,-1.36,-146.0,870.3,-7.3,378,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2228,3757,0,0,0,0,0,0
$GC,10571,-1.36,-146.0,887.9,-7.2,384,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2228,3756,0,0,0,0,0,0
$STATE,10771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10771,begin apogee
$GC,10780,-0.31,0.0,903.0,7.5,389,10903,1.00,0.00,119.88,1.221,6,0.074,0.000,3191,2385,3190,0,0,0,0,0,0
$STATE,10904,end apogee,CONTROL_FINISHED_OK
$STATE,10904,begin climb
$GC,10907,1.27,146.0,906.0,0.0,392,11043,1.42,2.78,127.30,1.187,4,0.038,0.081,3539,3920,2592,0,0,0,0,0,0
$GC,11118,1.15,146.0,892.3,11.3,397,11123,0.15,2.70,0.00,0.000,6,0.117,0.058,3509,2368,2588,0,0,0,0,0,0
$GC,11404,1.14,163.8,865.5,9.2,404,11426,0.00,2.78,16.02,1.075,4,0.000,0.068,3509,3930,2521,0,0,0,0,0,0
$GC,11444,1.11,179.4,861.5,9.3,405,11464,0.00,2.67,15.45,1.065,6,0.000,0.051,3510,2375,2458,0,0,0,0,0,0
$GC,11726,1.11,179.4,832.0,10.4,412,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2375,2453,0,0,0,0,0,0
$GC,11972,1.11,179.4,806.9,10.2,418,11976,0.00,2.67,0.00,0.000,4,0.000,0.058,3509,3929,2452,0,0,0,0,0,0
$GC,11993,1.07,182.4,804.4,9.9,418,11998,0.00,2.62,0.00,0.000,6,0.000,0.044,3509,2380,2451,0,0,0,0,0,0
$GC,12249,1.07,182.4,778.5,10.0,425,12253,0.00,2.65,0.00,0.000,4,0.000,0.061,3509,3938,2450,0,0,0,0,0,0
$GC,12272,1.04,182.4,776.2,10.1,425,12277,0.12,2.62,0.00,0.000,6,0.120,0.042,3485,2386,2450,0,0,0,0,0,0
$GC,12528,1.07,209.3,753.3,8.8,432,12562,0.00,3.20,27.40,1.088,4,0.000,0.120,3485,783,2336,0,0,0,0,0,0
$GC,12573,1.07,214.0,748.9,9.8,433,12585,0.00,2.72,6.00,0.844,6,0.000,0.045,3484,2388,2317,0,0,0,0,0,0
$GC,12854,1.12,214.0,721.7,10.0,440,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2389,2314,0,0,0,0,0,0
$GC,13096,1.17,214.0,697.1,10.1,446,13098,0.12,0.00,0.00,0.000,6,0.077,0.000,3520,2389,2313,0,0,0,0,0,0
$GC,13341,1.17,214.0,668.5,11.9,452,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2389,2312,0,0,0,0,0,0
$GC,13583,1.17,214.0,639.9,11.6,458,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2390,2312,0,0,0,0,0,0
$GC,13826,1.17,214.0,611.1,11.7,464,13831,0.00,2.67,0.00,0.000,4,0.000,0.063,3521,3944,2311,0,0,0,0,0,0
$GC,13848,1.17,214.0,608.2,12.2,464,13852,0.00,2.58,0.00,0.000,6,0.000,0.038,3521,2377,2311,0,0,0,0,0,0
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$STATE,19334,end climb,SURFACE_DEPTH_REACHED
$STATE,19334,begin surface coast
$FINISH,1.1,1.010465
$STATE,19363,end surface coast,CONTROL_FINISHED_OK
$STATE,19363,begin surface
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$HUMID,58.89
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$TCM_TEMP,24.30
$XPDR_PINGS,55
$24V_AH,23.3,38.350
$10V_AH,10.3,33.858
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.175,189.225,392.500,41.300,0.000,29.807,34.237,233.348,13.750,0.000,14.371,1507.475,14869.955,534.055,2205.525,776.011,33.368,1485.881,0.000,2203.247,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,57297,732
$CAP_FILE_SIZE,166685,0
$CFSIZE,260165632,109416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140313,175756,1927.009,-8115.720,52,99.0,71,-3.8