version: 66.06
glider: 146
mission: 8
dive: 491
start: 5 2 113 22 34 14
data:
$ID,146
$MISSION,8
$DIVE,491
$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,-318608.97
$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,44
$R_STBD_OVSHOOT,22
$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
$GPS1,222606,1923.877,-8106.706,28,1.5,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-76.1
$GPS2,223318,1923.875,-8106.642,11,1.6,16,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.057
$KALMAN_X,-44827.6,298.0,-77.4,45929.3,3014.8
$KALMAN_Y,101886.2,-448.4,-128.8,-100723.1,-275.2
$MHEAD_RNG_PITCHd_Wd,286.5,2639,-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,-70.45,0.000,2,0.000,0.000,462,2175,3486,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.1,9,122,13.65,2.50,-5.38,0.000,4,0.161,0.050,2976,645,3788,0,0,0,0,0,0
$GC,319,-1.05,-146.0,56.1,-18.3,32,324,0.25,2.45,0.00,0.000,6,0.092,0.017,3031,2244,3788,0,0,0,0,0,0
$GC,584,-0.96,-146.0,95.0,-13.8,56,593,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2244,3789,0,0,0,0,0,0
$GC,850,-0.91,-146.0,128.3,-12.3,81,855,0.15,2.67,0.00,0.000,4,0.093,0.046,3066,638,3790,0,0,0,0,0,0
$GC,910,-0.95,-146.0,134.4,-9.5,85,914,0.00,2.38,0.00,0.000,6,0.000,0.018,3067,2189,3790,0,0,0,0,0,0
$GC,1177,-1.03,-146.0,156.8,-7.4,109,1182,0.12,2.55,0.00,0.000,4,0.064,0.038,3006,3775,3790,0,0,0,0,0,0
$GC,1225,-1.03,-146.0,161.7,-10.8,112,1231,0.12,2.42,0.00,0.000,6,0.089,0.021,3038,2206,3790,0,0,0,0,0,0
$GC,1488,-1.09,-146.0,181.6,-7.1,137,1492,0.00,2.55,0.00,0.000,4,0.000,0.051,3038,634,3790,0,0,0,0,0,0
$GC,1524,-1.15,-146.0,183.8,-7.3,139,1529,0.12,2.40,0.00,0.000,6,0.064,0.016,2980,2207,3790,0,0,0,0,0,0
$GC,1783,-1.11,-146.0,207.8,-9.2,157,1785,0.17,0.00,0.00,0.000,6,0.081,0.000,3022,2207,3790,0,0,0,0,0,0
$GC,2028,-1.16,-146.0,228.6,-8.8,163,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2207,3790,0,0,0,0,0,0
$GC,2269,-1.22,-146.0,247.0,-7.4,169,2271,0.12,0.00,0.00,0.000,6,0.064,0.000,2962,2207,3790,0,0,0,0,0,0
$GC,2513,-1.18,-146.0,270.6,-10.0,175,2515,0.17,0.00,0.00,0.000,6,0.081,0.000,3004,2207,3790,0,0,0,0,0,0
$GC,2756,-1.22,-146.0,290.5,-8.0,181,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2207,3789,0,0,0,0,0,0
$GC,3003,-1.26,-146.0,309.5,-7.8,187,3007,0.00,2.62,0.00,0.000,4,0.000,0.053,3004,634,3789,0,0,0,0,0,0
$GC,3036,-1.31,-146.0,312.4,-7.8,187,3042,0.12,2.40,0.00,0.000,6,0.064,0.023,2948,2188,3788,0,0,0,0,0,0
$GC,3288,-1.25,-146.0,337.1,-10.1,194,3290,0.17,0.00,0.00,0.000,6,0.084,0.000,2989,2189,3788,0,0,0,0,0,0
$GC,3529,-1.25,-146.0,357.4,-8.1,200,3534,0.00,2.58,0.00,0.000,4,0.000,0.057,2989,641,3787,0,0,0,0,0,0
$GC,3551,-1.25,-146.0,359.2,-8.2,200,3556,0.00,2.42,0.00,0.000,6,0.000,0.032,2989,2183,3787,0,0,0,0,0,0
$GC,3807,-1.25,-146.0,379.5,-7.9,207,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2184,3785,0,0,0,0,0,0
$GC,4053,-1.25,-146.0,398.0,-7.5,213,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2184,3784,0,0,0,0,0,0
$GC,4294,-1.25,-146.0,416.1,-7.5,219,4299,0.00,2.65,0.00,0.000,4,0.000,0.052,2989,3790,3784,0,0,0,0,0,0
$GC,4321,-1.25,-146.0,418.4,-8.2,219,4326,0.00,2.55,0.00,0.000,6,0.000,0.038,2989,2200,3784,0,0,0,0,0,0
$GC,4574,-1.25,-146.0,437.4,-7.7,225,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2200,3783,0,0,0,0,0,0
$GC,4815,-1.25,-146.0,455.7,-7.5,231,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2200,3781,0,0,0,0,0,0
$GC,5059,-1.25,-146.0,473.7,-7.3,237,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2200,3781,0,0,0,0,0,0
$GC,5304,-1.25,-146.0,491.0,-7.2,243,5309,0.00,2.67,0.00,0.000,4,0.000,0.062,2989,3781,3780,0,0,0,0,0,0
$GC,5356,-1.30,-146.0,495.0,-7.8,244,5361,0.00,2.65,0.00,0.000,6,0.000,0.051,2989,2185,3780,0,0,0,0,0,0
$GC,5629,-1.30,-146.0,514.0,-6.9,251,5633,0.00,2.85,0.00,0.000,4,0.000,0.107,2989,623,3777,0,0,0,0,0,0
$GC,5681,-1.36,-146.0,517.9,-8.1,252,5686,0.10,2.55,0.00,0.000,6,0.077,0.050,2942,2164,3777,0,0,0,0,0,0
$GC,5954,-1.30,-146.0,542.8,-9.3,259,5959,0.15,2.85,0.00,0.000,4,0.090,0.082,2977,3793,3777,0,0,0,0,0,0
$GC,5981,-1.30,-146.0,545.3,-9.3,259,5986,0.00,2.70,0.00,0.000,6,0.000,0.054,2978,2177,3777,0,0,0,0,0,0
$GC,6234,-1.30,-146.0,565.5,-8.0,265,6238,0.00,2.80,0.00,0.000,4,0.000,0.074,2977,3798,3776,0,0,0,0,0,0
$GC,6255,-1.30,-146.0,567.6,-8.5,265,6260,0.00,2.72,0.00,0.000,6,0.000,0.060,2977,2170,3776,0,0,0,0,0,0
$GC,6511,-1.30,-146.0,588.2,-8.1,272,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2170,3774,0,0,0,0,0,0
$GC,6757,-1.30,-146.0,607.8,-8.0,278,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2170,3773,0,0,0,0,0,0
$GC,7000,-1.30,-146.0,627.0,-7.9,284,7005,0.00,2.90,0.00,0.000,4,0.000,0.093,2977,3791,3772,0,0,0,0,0,0
$GC,7039,-1.30,-146.0,630.3,-8.4,285,7044,0.00,2.80,0.00,0.000,6,0.000,0.077,2977,2185,3771,0,0,0,0,0,0
$GC,7325,-1.30,-146.0,651.7,-7.5,292,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2185,3770,0,0,0,0,0,0
$GC,7566,-1.30,-146.0,670.0,-7.6,298,7571,0.00,2.95,0.00,0.000,4,0.000,0.100,2977,3792,3768,0,0,0,0,0,0
$GC,7611,-1.34,-146.0,673.5,-7.5,299,7615,0.00,2.92,0.00,0.000,6,0.000,0.096,2977,2183,3769,0,0,0,0,0,0
$GC,7891,-1.34,-146.0,694.6,-7.6,306,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2183,3767,0,0,0,0,0,0
$GC,8132,-1.34,-146.0,713.3,-7.7,312,8137,0.00,3.17,0.00,0.000,4,0.000,0.150,2977,616,3766,0,0,0,0,0,0
$GC,8156,-1.34,-146.0,715.2,-7.7,312,8161,0.00,2.88,0.00,0.000,6,0.000,0.103,2977,2177,3766,0,0,0,0,0,0
$GC,8411,-1.34,-146.0,735.2,-7.8,319,8416,0.00,3.25,0.00,0.000,4,0.000,0.145,2977,3804,3764,0,0,0,0,0,0
$GC,8454,-1.38,-146.0,738.5,-8.2,320,8459,0.00,2.90,0.00,0.000,6,0.000,0.087,2977,2182,3764,0,0,0,0,0,0
$GC,8737,-1.38,-146.0,760.9,-7.9,327,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2182,3762,0,0,0,0,0,0
$GC,8983,-1.38,-146.0,779.8,-7.6,333,8988,0.00,2.92,0.00,0.000,4,0.000,0.092,2977,3808,3761,0,0,0,0,0,0
$GC,9023,-1.43,-146.0,783.1,-8.3,334,9029,0.12,2.85,0.00,0.000,6,0.066,0.075,2926,2190,3761,0,0,0,0,0,0
$GC,9307,-1.36,-146.0,810.6,-9.7,341,9309,0.15,0.00,0.00,0.000,6,0.093,0.000,2962,2190,3761,0,0,0,0,0,0
$GC,9553,-1.36,-146.0,830.7,-8.1,347,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2190,3760,0,0,0,0,0,0
$GC,9794,-1.36,-146.0,850.0,-7.8,353,9799,0.00,2.90,0.00,0.000,4,0.000,0.086,2962,3809,3759,0,0,0,0,0,0
$GC,9827,-1.36,-146.0,852.9,-9.2,353,9833,0.00,2.83,0.00,0.000,6,0.000,0.073,2962,2199,3758,0,0,0,0,0,0
$GC,10080,-1.36,-146.0,872.8,-8.1,360,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2199,3757,0,0,0,0,0,0
$GC,10321,-1.36,-146.0,892.5,-8.1,366,10326,0.00,2.88,0.00,0.000,4,0.000,0.085,2962,3809,3756,0,0,0,0,0,0
$GC,10350,-1.36,-146.0,894.9,-8.6,366,10354,0.00,2.78,0.00,0.000,6,0.000,0.069,2962,2211,3755,0,0,0,0,0,0
$STATE,10434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10435,begin apogee
$GC,10443,-0.31,0.0,902.0,8.2,368,10568,1.00,0.00,121.25,1.203,6,0.064,0.000,3194,2392,3190,0,0,0,0,0,0
$STATE,10569,end apogee,CONTROL_FINISHED_OK
$STATE,10569,begin climb
$GC,10571,1.27,146.0,905.7,0.0,371,10709,1.40,2.83,128.62,1.174,4,0.033,0.084,3543,3930,2592,0,0,0,0,0,0
$GC,10833,1.15,146.0,887.3,12.2,377,10838,0.15,2.72,0.00,0.000,6,0.111,0.059,3513,2370,2587,0,0,0,0,0,0
$GC,11105,1.18,168.5,862.8,9.0,384,11127,0.00,0.00,20.23,1.083,6,0.000,0.000,3513,2371,2503,0,0,0,0,0,0
$GC,11351,1.19,176.1,839.7,9.6,390,11361,0.00,0.00,8.15,0.952,6,0.000,0.000,3513,2371,2472,0,0,0,0,0,0
$GC,11593,1.20,180.1,815.7,9.8,396,11603,0.00,2.75,5.00,0.796,4,0.000,0.069,3513,3930,2455,0,0,0,0,0,0
$GC,11647,1.20,180.1,809.9,10.7,397,11652,0.00,2.67,0.00,0.000,6,0.000,0.046,3513,2369,2455,0,0,0,0,0,0
$GC,11917,1.20,186.3,783.9,9.7,404,11932,0.00,2.80,7.22,0.915,4,0.000,0.063,3513,3931,2430,0,0,0,0,0,0
$GC,11954,1.20,186.3,779.7,10.3,404,11960,0.00,2.67,0.00,0.000,6,0.000,0.048,3513,2375,2429,0,0,0,0,0,0
$GC,12204,1.21,195.3,755.5,9.6,411,12219,0.00,2.75,10.07,0.976,4,0.000,0.064,3513,3933,2393,0,0,0,0,0,0
$GC,12239,1.22,198.3,752.1,9.9,411,12248,0.00,2.65,4.43,0.724,6,0.000,0.049,3513,2388,2381,0,0,0,0,0,0
$GC,12527,1.22,202.1,723.3,9.8,419,12533,0.00,0.00,4.88,0.768,6,0.000,0.000,3513,2388,2366,0,0,0,0,0,0
$GC,12773,1.22,202.1,697.9,10.6,425,12777,0.00,2.67,0.00,0.000,4,0.000,0.059,3513,3938,2365,0,0,0,0,0,0
$GC,12788,1.22,202.1,695.9,10.5,425,12793,0.00,2.60,0.00,0.000,6,0.000,0.051,3513,2391,2364,0,0,0,0,0,0
$GC,13049,1.22,202.1,668.2,10.6,432,13054,0.00,3.12,0.00,0.000,4,0.000,0.124,3513,780,2364,0,0,0,0,0,0
$GC,13065,1.22,202.1,666.4,10.8,432,13070,0.00,2.70,0.00,0.000,6,0.000,0.048,3513,2390,2363,0,0,0,0,0,0
$GC,13329,1.22,202.1,639.3,10.3,439,13333,0.00,2.67,0.00,0.000,4,0.000,0.067,3513,3945,2363,0,0,0,0,0,0
$GC,13361,1.22,202.1,635.3,11.7,439,13367,0.00,2.60,0.00,0.000,6,0.000,0.044,3513,2392,2363,0,0,0,0,0,0
$GC,13611,1.22,202.1,609.8,10.1,446,13615,0.00,2.65,0.00,0.000,4,0.000,0.059,3513,3940,2363,0,0,0,0,0,0
$GC,13634,1.22,202.1,607.4,10.9,446,13639,0.00,2.58,0.00,0.000,6,0.000,0.048,3513,2399,2363,0,0,0,0,0,0
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$STATE,19320,end climb,SURFACE_DEPTH_REACHED
$STATE,19320,begin surface coast
$FINISH,1.0,1.009348
$STATE,19363,end surface coast,CONTROL_FINISHED_OK
$STATE,19363,begin surface
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$HUMID,61.81
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$XPDR_PINGS,151
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$10V_AH,9.9,61.766
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.275,188.475,417.750,29.125,0.000,27.993,39.663,188.749,37.750,0.000,17.804,1516.677,14766.037,561.652,2245.756,752.913,33.370,1533.286,0.000,2238.291,0.000,0.538,0.000
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$SENSOR_SECS,487.962,333.254,420.961,540.089,1026.018,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,57303,722
$CAP_FILE_SIZE,167381,0
$CFSIZE,260165632,93630464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030513,035906,1923.990,-8107.501,35,1.0,35,-3.8