version: 66.06
glider: 146
mission: 8
dive: 273
start: 3 14 113 18 9 55
data:
$ID,146
$MISSION,8
$DIVE,273
$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,-312805.06
$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,35
$R_STBD_OVSHOOT,18
$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
$GPS1,175756,1927.009,-8115.720,52,99.0,71,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.7
$GPS2,180901,1926.924,-8115.811,15,1.4,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.008
$KALMAN_X,-26438.6,-147.8,-243.1,12155.8,-186.3
$KALMAN_Y,15041.3,321.6,431.5,-9581.7,-1324.8
$MHEAD_RNG_PITCHd_Wd,95.6,14364,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.28,0.000,2,0.000,0.000,463,2204,3284,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.5,8,122,13.55,2.60,-10.45,0.000,4,0.159,0.051,2977,638,3786,0,0,0,0,0,0
$GC,194,-1.09,-146.0,25.1,-17.4,22,204,0.17,2.50,0.00,0.000,6,0.081,0.016,3020,2243,3787,0,0,0,0,0,0
$GC,475,-0.96,-146.0,66.1,-14.3,49,480,0.12,2.65,0.00,0.000,4,0.114,0.044,3048,632,3787,0,0,0,0,0,0
$GC,513,-0.89,-146.0,71.3,-13.8,51,517,0.00,2.40,0.00,0.000,6,0.000,0.016,3048,2208,3787,0,0,0,0,0,0
$GC,779,-0.82,-146.0,106.2,-12.9,75,785,0.15,2.62,0.00,0.000,4,0.102,0.054,3082,636,3787,0,0,0,0,0,0
$GC,816,-0.82,-146.0,111.1,-11.9,77,821,0.00,2.40,0.00,0.000,6,0.000,0.016,3082,2198,3787,0,0,0,0,0,0
$GC,1078,-0.90,-146.0,134.6,-7.7,102,1082,0.00,2.55,0.00,0.000,4,0.000,0.044,3082,632,3787,0,0,0,0,0,0
$GC,1116,-1.00,-146.0,137.4,-8.2,104,1124,0.12,2.42,0.00,0.000,6,0.029,0.025,3017,2192,3788,0,0,0,0,0,0
$GC,1376,-1.00,-146.0,163.3,-10.0,129,1381,0.10,2.50,0.00,0.000,4,0.109,0.039,3042,3772,3788,0,0,0,0,0,0
$GC,1398,-1.00,-146.0,164.8,-9.2,130,1403,0.00,2.45,0.00,0.000,6,0.000,0.020,3042,2184,3788,0,0,0,0,0,0
$GC,1668,-1.07,-146.0,184.3,-7.3,154,1672,0.00,2.50,0.00,0.000,4,0.000,0.046,3042,644,3789,0,0,0,0,0,0
$GC,1685,-1.14,-146.0,185.9,-6.8,155,1690,0.12,2.38,0.00,0.000,6,0.064,0.021,2982,2200,3788,0,0,0,0,0,0
$GC,1966,-1.14,-146.0,211.1,-9.0,172,1971,0.12,2.50,0.00,0.000,4,0.097,0.040,3011,3765,3789,0,0,0,0,0,0
$GC,1993,-1.14,-146.0,213.8,-7.5,172,1997,0.00,2.42,0.00,0.000,6,0.000,0.021,3011,2193,3789,0,0,0,0,0,0
$GC,2246,-1.18,-146.0,231.0,-6.9,178,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2193,3789,0,0,0,0,0,0
$GC,2487,-1.22,-146.0,249.4,-7.6,184,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2193,3789,0,0,0,0,0,0
$GC,2731,-1.27,-146.0,267.6,-7.2,190,2736,0.12,2.55,0.00,0.000,4,0.066,0.044,2960,3770,3788,0,0,0,0,0,0
$GC,2752,-1.27,-146.0,269.6,-8.2,190,2758,0.10,2.47,0.00,0.000,6,0.104,0.024,2984,2196,3788,0,0,0,0,0,0
$GC,3010,-1.27,-146.0,290.5,-8.3,197,3015,0.00,2.60,0.00,0.000,4,0.000,0.058,2984,631,3788,0,0,0,0,0,0
$GC,3026,-1.27,-146.0,292.3,-8.7,197,3030,0.00,2.40,0.00,0.000,6,0.000,0.027,2984,2189,3787,0,0,0,0,0,0
$GC,3289,-1.27,-146.0,315.9,-9.1,204,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2189,3787,0,0,0,0,0,0
$GC,3530,-1.27,-146.0,337.9,-9.2,210,3535,0.00,2.58,0.00,0.000,4,0.000,0.041,2984,3779,3786,0,0,0,0,0,0
$GC,3563,-1.27,-146.0,341.1,-9.1,210,3569,0.00,2.47,0.00,0.000,6,0.000,0.028,2984,2205,3785,0,0,0,0,0,0
$GC,3814,-1.27,-146.0,363.3,-8.9,217,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3785,0,0,0,0,0,0
$GC,4059,-1.27,-146.0,383.7,-8.4,223,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3784,0,0,0,0,0,0
$GC,4301,-1.27,-146.0,402.6,-7.8,229,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3783,0,0,0,0,0,0
$GC,4545,-1.27,-146.0,421.9,-7.9,235,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3782,0,0,0,0,0,0
$GC,4788,-1.27,-146.0,441.1,-8.0,241,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3781,0,0,0,0,0,0
$GC,5034,-1.27,-146.0,461.1,-8.0,247,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3781,0,0,0,0,0,0
$GC,5276,-1.27,-146.0,481.1,-8.3,253,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3779,0,0,0,0,0,0
$GC,5520,-1.27,-146.0,501.0,-8.2,259,5524,0.00,2.65,0.00,0.000,4,0.000,0.067,2984,3767,3778,0,0,0,0,0,0
$GC,5535,-1.27,-146.0,502.4,-8.4,259,5540,0.00,2.58,0.00,0.000,6,0.000,0.044,2984,2206,3778,0,0,0,0,0,0
$GC,5799,-1.27,-146.0,523.1,-7.8,266,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2206,3777,0,0,0,0,0,0
$GC,6040,-1.27,-146.0,542.2,-7.9,272,6045,0.00,2.97,0.00,0.000,4,0.000,0.117,2984,621,3776,0,0,0,0,0,0
$GC,6062,-1.27,-146.0,544.0,-7.9,272,6066,0.00,2.58,0.00,0.000,6,0.000,0.053,2984,2176,3776,0,0,0,0,0,0
$GC,6319,-1.27,-146.0,563.5,-7.7,279,6324,0.00,2.83,0.00,0.000,4,0.000,0.086,2984,3796,3775,0,0,0,0,0,0
$GC,6340,-1.27,-146.0,565.5,-8.1,279,6345,0.00,2.65,0.00,0.000,6,0.000,0.056,2984,2210,3775,0,0,0,0,0,0
$GC,6596,-1.27,-146.0,585.8,-8.0,286,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,3774,0,0,0,0,0,0
$GC,6842,-1.27,-146.0,605.2,-8.0,292,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,3773,0,0,0,0,0,0
$GC,7083,-1.27,-146.0,624.6,-7.9,298,7088,0.00,2.88,0.00,0.000,4,0.000,0.095,2984,3800,3771,0,0,0,0,0,0
$GC,7105,-1.27,-146.0,626.4,-8.3,298,7109,0.00,2.75,0.00,0.000,6,0.000,0.076,2984,2215,3771,0,0,0,0,0,0
$GC,7362,-1.27,-146.0,645.7,-7.5,305,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2215,3769,0,0,0,0,0,0
$GC,7604,-1.27,-146.0,664.0,-7.5,311,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2215,3768,0,0,0,0,0,0
$GC,7847,-1.27,-146.0,682.3,-7.6,317,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2215,3767,0,0,0,0,0,0
$GC,8093,-1.27,-146.0,701.6,-8.0,323,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2215,3766,0,0,0,0,0,0
$GC,8337,-1.27,-146.0,720.1,-7.5,329,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2215,3764,0,0,0,0,0,0
$GC,8579,-1.30,-146.0,738.0,-7.3,335,8584,0.00,3.15,0.00,0.000,4,0.000,0.143,2984,3795,3763,0,0,0,0,0,0
$GC,8601,-1.34,-146.0,739.8,-7.8,335,8605,0.00,2.83,0.00,0.000,6,0.000,0.087,2984,2209,3762,0,0,0,0,0,0
$GC,8859,-1.38,-146.0,758.8,-7.4,342,8864,0.10,2.88,0.00,0.000,4,0.083,0.091,2946,3794,3762,0,0,0,0,0,0
$GC,8886,-1.38,-146.0,761.6,-9.5,342,8891,0.00,2.78,0.00,0.000,6,0.000,0.074,2945,2213,3761,0,0,0,0,0,0
$GC,9137,-1.34,-146.0,783.7,-8.9,348,9139,0.10,0.00,0.00,0.000,6,0.113,0.000,2967,2213,3761,0,0,0,0,0,0
$GC,9382,-1.34,-146.0,802.7,-7.7,354,9387,0.00,2.85,0.00,0.000,4,0.000,0.088,2967,3804,3760,0,0,0,0,0,0
$GC,9404,-1.34,-146.0,804.5,-8.0,354,9408,0.00,2.78,0.00,0.000,6,0.000,0.075,2967,2214,3760,0,0,0,0,0,0
$GC,9659,-1.34,-146.0,824.5,-7.9,361,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2214,3759,0,0,0,0,0,0
$GC,9904,-1.34,-146.0,844.2,-8.1,367,9909,0.00,2.83,0.00,0.000,4,0.000,0.084,2967,3800,3757,0,0,0,0,0,0
$GC,9940,-1.34,-146.0,847.4,-9.6,367,9946,0.00,2.75,0.00,0.000,6,0.000,0.072,2967,2223,3757,0,0,0,0,0,0
$GC,10190,-1.34,-146.0,866.8,-7.6,374,10195,0.00,2.80,0.00,0.000,4,0.000,0.087,2967,3797,3756,0,0,0,0,0,0
$GC,10212,-1.34,-146.0,868.6,-8.1,374,10216,0.00,2.67,0.00,0.000,6,0.000,0.064,2967,2239,3755,0,0,0,0,0,0
$GC,10469,-1.34,-146.0,887.1,-7.0,381,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2239,3754,0,0,0,0,0,0
$STATE,10667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10667,begin apogee
$GC,10673,-0.31,0.0,901.2,7.0,386,10797,0.98,0.00,119.65,1.217,6,0.086,0.000,3190,2380,3190,0,0,0,0,0,0
$STATE,10797,end apogee,CONTROL_FINISHED_OK
$STATE,10798,begin climb
$GC,10800,1.27,146.0,904.0,0.0,389,10937,1.45,2.75,127.32,1.182,4,0.037,0.077,3544,3921,2592,0,0,0,0,0,0
$GC,10987,1.14,146.0,892.7,11.2,393,10993,0.17,2.70,0.00,0.000,6,0.112,0.056,3509,2369,2588,0,0,0,0,0,0
$GC,11251,1.12,161.4,868.0,9.3,400,11267,0.00,0.00,13.88,1.056,6,0.000,0.000,3509,2369,2532,0,0,0,0,0,0
$GC,11492,1.12,165.6,844.3,9.8,406,11503,0.00,2.72,5.10,0.812,4,0.000,0.063,3510,3929,2514,0,0,0,0,0,0
$GC,11534,1.06,167.5,840.2,9.9,407,11539,0.00,2.67,0.00,0.000,6,0.000,0.051,3509,2364,2513,0,0,0,0,0,0
$GC,11818,1.06,168.5,811.6,10.0,414,11824,0.00,0.00,3.88,0.683,6,0.000,0.000,3509,2364,2503,0,0,0,0,0,0
$GC,12062,1.07,170.6,787.5,9.9,420,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2364,2502,0,0,0,0,0,0
$GC,12308,1.09,189.5,765.0,9.1,426,12333,0.00,2.75,20.23,1.075,4,0.000,0.061,3509,3937,2418,0,0,0,0,0,0
$GC,12372,1.09,189.5,758.2,11.5,427,12376,0.00,2.65,0.00,0.000,6,0.000,0.048,3509,2369,2416,0,0,0,0,0,0
$GC,12628,1.09,189.5,732.8,10.0,434,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2370,2414,0,0,0,0,0,0
$GC,12873,1.09,189.5,708.3,10.0,440,12875,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2369,2413,0,0,0,0,0,0
$GC,13115,1.10,195.1,684.2,9.7,446,13129,0.00,2.70,6.22,0.851,4,0.000,0.060,3509,3940,2394,0,0,0,0,0,0
$GC,13146,1.10,195.1,680.8,10.6,446,13150,0.00,2.65,0.00,0.000,6,0.000,0.044,3510,2383,2393,0,0,0,0,0,0
$GC,13396,1.10,195.1,655.0,10.3,452,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2382,2392,0,0,0,0,0,0
$GC,13642,1.10,195.1,630.0,10.3,458,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2383,2392,0,0,0,0,0,0
$GC,13883,1.10,195.1,605.2,10.1,464,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2382,2392,0,0,0,0,0,0
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$STATE,19693,end climb,SURFACE_DEPTH_REACHED
$STATE,19693,begin surface coast
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$STATE,19735,end surface coast,CONTROL_FINISHED_OK
$STATE,19735,begin surface
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$TCM_TEMP,24.30
$XPDR_PINGS,59
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$10V_AH,10.3,33.986
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.300,194.125,385.125,52.400,0.000,54.866,73.788,298.014,14.750,0.000,17.199,1542.067,15198.604,547.622,2264.233,913.045,33.365,1514.819,0.000,2256.879,0.000,0.536,0.000
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$MEM,355848
$DATA_FILE_SIZE,57297,742
$CAP_FILE_SIZE,171799,0
$CFSIZE,260165632,109346816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140313,234136,1927.437,-8113.731,47,1.1,47,-3.8