version: 66.06
glider: 146
mission: 8
dive: 325
start: 3 26 113 1 25 23
data:
$ID,146
$MISSION,8
$DIVE,325
$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,-313841.19
$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,47
$R_STBD_OVSHOOT,20
$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
$GPS1,011253,1928.596,-8113.144,23,1.0,40,-3.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-76.6
$GPS2,012425,1928.603,-8113.139,11,1.8,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.186
$KALMAN_X,-106991.3,-21.5,-224.7,97233.9,-1550.5
$KALMAN_Y,68334.6,109.5,32.0,-59145.6,1889.6
$MHEAD_RNG_PITCHd_Wd,139.5,11761,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.57,0.000,2,0.000,0.000,461,2190,3512,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.1,-5.9,9,121,13.55,2.55,-4.95,0.000,4,0.157,0.056,2978,647,3787,0,0,0,0,0,0
$GC,174,-1.05,-146.0,27.3,-19.0,19,183,0.20,2.50,0.00,0.000,6,0.085,0.019,3027,2241,3787,0,0,0,0,0,0
$GC,451,-0.94,-146.0,65.7,-13.3,45,456,0.12,2.65,0.00,0.000,4,0.110,0.044,3054,641,3788,0,0,0,0,0,0
$GC,489,-0.88,-146.0,70.6,-12.4,47,493,0.00,2.40,0.00,0.000,6,0.000,0.017,3054,2214,3788,0,0,0,0,0,0
$GC,756,-0.83,-146.0,102.6,-12.3,71,761,0.12,2.60,0.00,0.000,4,0.107,0.044,3082,641,3789,0,0,0,0,0,0
$GC,779,-0.83,-146.0,105.8,-11.2,72,788,0.00,2.40,0.00,0.000,6,0.000,0.016,3082,2194,3789,0,0,0,0,0,0
$GC,1045,-0.83,-146.0,132.3,-8.6,97,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2194,3789,0,0,0,0,0,0
$GC,1311,-0.91,-146.0,154.0,-7.0,122,1315,0.00,2.53,0.00,0.000,4,0.000,0.044,3082,639,3789,0,0,0,0,0,0
$GC,1343,-1.00,-146.0,156.4,-7.7,124,1348,0.17,2.38,0.00,0.000,6,0.050,0.020,3011,2192,3789,0,0,0,0,0,0
$GC,1608,-1.00,-146.0,184.0,-9.0,148,1613,0.15,2.50,0.00,0.000,4,0.091,0.041,3046,3769,3790,0,0,0,0,0,0
$GC,1676,-1.10,-146.0,189.9,-7.5,153,1688,0.08,2.45,0.00,0.000,6,0.041,0.020,2994,2206,3790,0,0,0,0,0,0
$GC,1955,-1.10,-146.0,214.8,-8.9,168,1960,0.12,2.60,0.00,0.000,4,0.096,0.048,3024,634,3790,0,0,0,0,0,0
$GC,2000,-1.18,-146.0,218.6,-7.7,169,2004,0.00,2.38,0.00,0.000,6,0.000,0.018,3023,2190,3789,0,0,0,0,0,0
$GC,2278,-1.24,-146.0,238.7,-7.4,176,2283,0.15,2.53,0.00,0.000,4,0.057,0.038,2957,3771,3790,0,0,0,0,0,0
$GC,2296,-1.24,-146.0,240.2,-7.4,176,2301,0.15,2.45,0.00,0.000,6,0.088,0.019,2992,2184,3790,0,0,0,0,0,0
$GC,2557,-1.24,-146.0,261.7,-7.8,183,2561,0.00,2.55,0.00,0.000,4,0.000,0.052,2992,639,3789,0,0,0,0,0,0
$GC,2578,-1.24,-146.0,263.5,-7.9,183,2582,0.00,2.38,0.00,0.000,6,0.000,0.020,2992,2188,3789,0,0,0,0,0,0
$GC,2842,-1.24,-146.0,283.6,-7.8,190,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2188,3789,0,0,0,0,0,0
$GC,3084,-1.24,-146.0,302.8,-7.8,196,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2189,3787,0,0,0,0,0,0
$GC,3327,-1.24,-146.0,322.7,-8.2,202,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2188,3787,0,0,0,0,0,0
$GC,3573,-1.24,-146.0,343.0,-8.5,208,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2189,3787,0,0,0,0,0,0
$GC,3814,-1.24,-146.0,363.5,-8.3,214,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2189,3785,0,0,0,0,0,0
$GC,4058,-1.24,-146.0,384.0,-8.5,220,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2189,3784,0,0,0,0,0,0
$GC,4302,-1.24,-146.0,403.6,-8.0,226,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2189,3784,0,0,0,0,0,0
$GC,4548,-1.24,-146.0,422.2,-7.6,232,4552,0.00,2.60,0.00,0.000,4,0.000,0.062,2992,3765,3782,0,0,0,0,0,0
$GC,4581,-1.28,-146.0,425.0,-7.8,232,4587,0.00,2.50,0.00,0.000,6,0.000,0.035,2992,2209,3782,0,0,0,0,0,0
$GC,4831,-1.28,-146.0,443.7,-7.6,239,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2209,3782,0,0,0,0,0,0
$GC,5077,-1.28,-146.0,463.3,-8.2,245,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2209,3780,0,0,0,0,0,0
$GC,5318,-1.28,-146.0,483.0,-8.1,251,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2209,3779,0,0,0,0,0,0
$GC,5563,-1.32,-146.0,501.9,-7.9,257,5567,0.00,2.65,0.00,0.000,4,0.000,0.065,2992,3762,3778,0,0,0,0,0,0
$GC,5602,-1.37,-146.0,505.5,-9.4,258,5608,0.12,2.60,0.00,0.000,6,0.067,0.048,2942,2205,3778,0,0,0,0,0,0
$GC,5889,-1.31,-146.0,534.9,-10.3,265,5891,0.15,0.00,0.00,0.000,6,0.094,0.000,2976,2205,3777,0,0,0,0,0,0
$GC,6130,-1.31,-146.0,554.0,-7.6,271,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2205,3776,0,0,0,0,0,0
$GC,6376,-1.31,-146.0,572.2,-7.5,277,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2205,3775,0,0,0,0,0,0
$GC,6620,-1.31,-146.0,591.5,-8.0,283,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3773,0,0,0,0,0,0
$GC,6861,-1.31,-146.0,611.7,-8.3,289,6866,0.00,2.83,0.00,0.000,4,0.000,0.102,2976,3759,3772,0,0,0,0,0,0
$GC,6877,-1.31,-146.0,613.2,-8.4,289,6881,0.00,2.70,0.00,0.000,6,0.000,0.070,2977,2199,3772,0,0,0,0,0,0
$GC,7140,-1.31,-146.0,635.4,-8.6,296,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2199,3771,0,0,0,0,0,0
$GC,7381,-1.31,-146.0,655.5,-8.3,302,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2199,3769,0,0,0,0,0,0
$GC,7625,-1.31,-146.0,673.9,-7.4,308,7629,0.00,2.88,0.00,0.000,4,0.000,0.107,2976,3758,3768,0,0,0,0,0,0
$GC,7652,-1.31,-146.0,676.0,-7.5,308,7656,0.00,2.85,0.00,0.000,6,0.000,0.093,2977,2199,3768,0,0,0,0,0,0
$GC,7904,-1.31,-146.0,693.7,-7.0,314,7909,0.00,2.90,0.00,0.000,4,0.000,0.110,2976,3758,3767,0,0,0,0,0,0
$GC,7926,-1.31,-146.0,695.6,-7.2,314,7931,0.00,2.88,0.00,0.000,6,0.000,0.108,2976,2215,3767,0,0,0,0,0,0
$GC,8183,-1.31,-146.0,714.4,-7.4,321,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2215,3766,0,0,0,0,0,0
$GC,8427,-1.31,-146.0,733.0,-7.7,327,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2215,3764,0,0,0,0,0,0
$GC,8671,-1.31,-146.0,751.8,-7.7,333,8676,0.00,3.42,0.00,0.000,4,0.000,0.179,2976,622,3762,0,0,0,0,0,0
$GC,8687,-1.31,-146.0,753.1,-7.4,333,8692,0.00,2.97,0.00,0.000,6,0.000,0.123,2976,2168,3762,0,0,0,0,0,0
$GC,8950,-1.31,-146.0,772.7,-7.5,340,8955,0.00,3.28,0.00,0.000,4,0.000,0.146,2976,3808,3762,0,0,0,0,0,0
$GC,8983,-1.31,-146.0,775.5,-7.8,340,8989,0.00,2.78,0.00,0.000,6,0.000,0.072,2976,2212,3762,0,0,0,0,0,0
$GC,9233,-1.31,-146.0,794.8,-7.8,347,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2212,3761,0,0,0,0,0,0
$GC,9479,-1.31,-146.0,814.2,-8.1,353,9484,0.00,3.03,0.00,0.000,4,0.000,0.124,2976,623,3760,0,0,0,0,0,0
$GC,9512,-1.31,-146.0,817.0,-8.6,353,9518,0.00,2.75,0.00,0.000,6,0.000,0.070,2977,2226,3759,0,0,0,0,0,0
$GC,9762,-1.31,-146.0,836.6,-7.6,360,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2226,3759,0,0,0,0,0,0
$GC,10006,-1.31,-146.0,854.4,-7.2,366,10011,0.00,2.83,0.00,0.000,4,0.000,0.094,2976,3804,3757,0,0,0,0,0,0
$GC,10035,-1.31,-146.0,856.4,-7.5,366,10040,0.00,2.75,0.00,0.000,6,0.000,0.069,2976,2212,3757,0,0,0,0,0,0
$GC,10287,-1.31,-146.0,873.1,-6.5,372,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2212,3756,0,0,0,0,0,0
$GC,10529,-1.31,-146.0,888.7,-6.3,378,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2212,3755,0,0,0,0,0,0
$STATE,10770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10770,begin apogee
$GC,10779,-0.31,0.0,902.0,5.3,384,10902,0.93,0.00,119.43,1.216,6,0.069,0.000,3190,2382,3190,0,0,0,0,0,0
$STATE,10902,end apogee,CONTROL_FINISHED_OK
$STATE,10902,begin climb
$GC,10905,1.27,146.0,903.3,0.0,387,11042,1.42,2.72,127.10,1.184,4,0.038,0.075,3540,3931,2592,0,0,0,0,0,0
$GC,11116,1.16,146.0,888.4,11.9,392,11121,0.15,2.72,0.00,0.000,6,0.114,0.058,3510,2364,2587,0,0,0,0,0,0
$GC,11402,1.17,153.7,860.3,9.6,399,11416,0.00,3.08,6.90,0.916,4,0.000,0.109,3510,783,2562,0,0,0,0,0,0
$GC,11428,1.15,181.0,857.5,8.7,399,11459,0.00,2.70,25.85,1.108,6,0.000,0.048,3510,2363,2452,0,0,0,0,0,0
$GC,11728,1.16,186.6,828.6,9.7,407,11739,0.00,2.78,5.95,0.867,4,0.000,0.072,3510,3935,2430,0,0,0,0,0,0
$GC,11826,1.16,186.6,818.1,11.0,409,11830,0.00,2.62,0.00,0.000,6,0.000,0.041,3510,2378,2428,0,0,0,0,0,0
$GC,12097,1.16,186.6,790.8,10.0,416,12102,0.00,3.10,0.00,0.000,4,0.000,0.123,3510,779,2427,0,0,0,0,0,0
$GC,12132,1.12,186.6,787.2,10.5,416,12138,0.00,2.67,0.00,0.000,6,0.000,0.050,3510,2370,2427,0,0,0,0,0,0
$GC,12382,1.12,186.6,760.5,10.7,423,12387,0.00,2.72,0.00,0.000,4,0.000,0.077,3510,3933,2426,0,0,0,0,0,0
$GC,12437,1.12,186.6,754.0,11.1,424,12441,0.00,2.62,0.00,0.000,6,0.000,0.046,3510,2372,2425,0,0,0,0,0,0
$GC,12705,1.12,186.6,724.4,11.1,431,12710,0.00,2.67,0.00,0.000,4,0.000,0.062,3510,3932,2425,0,0,0,0,0,0
$GC,12738,1.12,186.6,720.3,11.6,431,12744,0.00,2.62,0.00,0.000,6,0.000,0.045,3510,2381,2424,0,0,0,0,0,0
$GC,12988,1.12,186.6,693.1,10.6,438,12992,0.00,2.67,0.00,0.000,4,0.000,0.063,3510,3941,2424,0,0,0,0,0,0
$GC,13022,1.12,186.6,689.4,11.1,438,13028,0.00,2.60,0.00,0.000,6,0.000,0.043,3510,2395,2423,0,0,0,0,0,0
$GC,13272,1.12,189.5,664.2,9.9,445,13276,0.00,2.62,0.00,0.000,4,0.000,0.055,3510,3935,2423,0,0,0,0,0,0
$GC,13327,1.12,189.5,658.1,10.5,446,13331,0.00,2.58,0.00,0.000,6,0.000,0.044,3510,2403,2423,0,0,0,0,0,0
$GC,13596,1.15,208.4,633.4,9.1,453,13618,0.00,0.00,20.55,0.996,6,0.000,0.000,3510,2403,2340,0,0,0,0,0,0
$GC,13837,1.15,213.0,610.0,9.8,459,13848,0.00,2.65,5.75,0.779,4,0.000,0.054,3510,3934,2320,0,0,0,0,0,0
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$STATE,19419,end climb,SURFACE_DEPTH_REACHED
$STATE,19419,begin surface coast
$FINISH,1.0,1.011741
$STATE,19474,end surface coast,CONTROL_FINISHED_OK
$STATE,19474,begin surface
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$TT8_MAMPS,0.026078
$HUMID,60.04
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.50
$XPDR_PINGS,59
$24V_AH,23.2,45.497
$10V_AH,10.3,40.455
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.350,176.125,380.375,54.825,0.000,29.728,33.338,462.801,14.750,0.000,12.856,1515.466,14863.407,560.069,2302.258,1001.754,33.358,1517.675,0.000,2304.906,0.000,0.537,0.000
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$SENSOR_SECS,501.712,350.907,441.782,587.785,1118.813,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,57523,741
$CAP_FILE_SIZE,165803,0
$CFSIZE,260165632,105644032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,065236,1927.839,-8113.264,37,1.2,37,-3.8