version: 66.06
glider: 146
mission: 8
dive: 494
start: 5 3 113 15 27 44
data:
$ID,146
$MISSION,8
$DIVE,494
$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,-318651.97
$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,47
$R_STBD_OVSHOOT,36
$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
$GPS1,151936,1923.514,-8109.741,25,1.7,25,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-76.4
$GPS2,152649,1923.498,-8109.671,12,1.8,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.247,0.079
$KALMAN_X,-35736.5,-59.0,-237.0,32077.2,3293.3
$KALMAN_Y,98516.6,274.4,-69.5,-98833.6,-908.1
$MHEAD_RNG_PITCHd_Wd,291.5,15926,-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,-70.60,0.000,2,0.000,0.000,457,2184,3491,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.0,9,123,13.70,2.53,-5.20,0.000,4,0.160,0.053,2976,648,3787,0,0,0,0,0,0
$GC,249,-1.06,-146.0,42.7,-19.3,26,255,0.25,2.45,0.00,0.000,6,0.096,0.018,3029,2233,3787,0,0,0,0,0,0
$GC,515,-0.92,-146.0,85.0,-15.5,50,520,0.12,2.62,0.00,0.000,4,0.107,0.045,3057,640,3788,0,0,0,0,0,0
$GC,562,-0.88,-146.0,91.4,-12.4,53,566,0.00,2.40,0.00,0.000,6,0.000,0.016,3057,2203,3788,0,0,0,0,0,0
$GC,831,-0.88,-146.0,121.9,-10.9,77,835,0.00,2.50,0.00,0.000,4,0.000,0.032,3057,3772,3789,0,0,0,0,0,0
$GC,852,-0.88,-146.0,125.3,-11.3,78,861,0.00,2.47,0.00,0.000,6,0.000,0.021,3057,2206,3789,0,0,0,0,0,0
$GC,1119,-0.88,-146.0,152.7,-9.8,103,1123,0.00,2.58,0.00,0.000,4,0.000,0.046,3057,632,3789,0,0,0,0,0,0
$GC,1185,-0.94,-146.0,159.1,-9.7,108,1189,0.00,2.40,0.00,0.000,6,0.000,0.026,3057,2191,3790,0,0,0,0,0,0
$GC,1448,-1.02,-146.0,178.5,-7.3,132,1453,0.00,2.53,0.00,0.000,4,0.000,0.038,3057,3776,3790,0,0,0,0,0,0
$GC,1481,-1.12,-146.0,180.9,-7.5,134,1486,0.17,2.47,0.00,0.000,6,0.049,0.019,2983,2170,3790,0,0,0,0,0,0
$GC,1762,-1.08,-146.0,208.2,-9.6,154,1763,0.17,0.00,0.00,0.000,6,0.084,0.000,3026,2170,3790,0,0,0,0,0,0
$GC,2006,-1.13,-146.0,227.1,-7.7,160,2011,0.00,2.58,0.00,0.000,4,0.000,0.041,3025,3777,3790,0,0,0,0,0,0
$GC,2034,-1.21,-146.0,229.6,-7.7,160,2039,0.12,2.47,0.00,0.000,6,0.064,0.023,2962,2192,3790,0,0,0,0,0,0
$GC,2285,-1.15,-146.0,253.9,-9.9,166,2290,0.20,2.58,0.00,0.000,4,0.079,0.049,3010,640,3790,0,0,0,0,0,0
$GC,2311,-1.15,-146.0,255.9,-8.5,166,2315,0.00,2.42,0.00,0.000,6,0.000,0.025,3010,2208,3790,0,0,0,0,0,0
$GC,2566,-1.20,-146.0,276.2,-7.9,173,2571,0.00,2.53,0.00,0.000,4,0.000,0.044,3010,3775,3790,0,0,0,0,0,0
$GC,2600,-1.25,-146.0,279.0,-8.4,173,2606,0.10,2.42,0.00,0.000,6,0.077,0.028,2957,2218,3790,0,0,0,0,0,0
$GC,2853,-1.19,-146.0,303.1,-9.7,180,2858,0.20,2.65,0.00,0.000,4,0.080,0.057,3003,638,3789,0,0,0,0,0,0
$GC,2880,-1.19,-146.0,305.8,-8.3,180,2885,0.00,2.45,0.00,0.000,6,0.000,0.022,3004,2202,3789,0,0,0,0,0,0
$GC,3133,-1.23,-146.0,324.2,-7.2,186,3138,0.00,2.58,0.00,0.000,4,0.000,0.043,3004,3780,3788,0,0,0,0,0,0
$GC,3155,-1.28,-146.0,326.2,-7.6,186,3160,0.00,2.47,0.00,0.000,6,0.000,0.023,3004,2216,3788,0,0,0,0,0,0
$GC,3411,-1.32,-146.0,345.4,-7.6,193,3413,0.15,0.00,0.00,0.000,6,0.057,0.000,2942,2215,3787,0,0,0,0,0,0
$GC,3657,-1.24,-146.0,370.7,-10.6,199,3659,0.20,0.00,0.00,0.000,6,0.078,0.000,2989,2216,3786,0,0,0,0,0,0
$GC,3898,-1.24,-146.0,391.4,-8.3,205,3903,0.00,2.58,0.00,0.000,4,0.000,0.052,2989,3780,3785,0,0,0,0,0,0
$GC,3926,-1.24,-146.0,393.7,-8.9,205,3930,0.00,2.47,0.00,0.000,6,0.000,0.035,2989,2221,3785,0,0,0,0,0,0
$GC,4178,-1.24,-146.0,413.1,-7.7,211,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2221,3784,0,0,0,0,0,0
$GC,4420,-1.24,-146.0,432.7,-8.0,217,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2221,3783,0,0,0,0,0,0
$GC,4663,-1.24,-146.0,452.6,-8.2,223,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2221,3782,0,0,0,0,0,0
$GC,4907,-1.24,-146.0,471.7,-7.9,229,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2221,3781,0,0,0,0,0,0
$GC,5153,-1.24,-146.0,490.9,-7.8,235,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2221,3780,0,0,0,0,0,0
$GC,5394,-1.24,-146.0,509.5,-7.7,241,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2220,3779,0,0,0,0,0,0
$GC,5638,-1.24,-146.0,529.3,-8.1,247,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2221,3778,0,0,0,0,0,0
$GC,5882,-1.24,-146.0,549.0,-8.1,253,5886,0.00,2.72,0.00,0.000,4,0.000,0.083,2989,3772,3777,0,0,0,0,0,0
$GC,5917,-1.29,-146.0,551.7,-8.8,253,5923,0.00,2.58,0.00,0.000,6,0.000,0.054,2989,2229,3777,0,0,0,0,0,0
$GC,6168,-1.32,-146.0,571.7,-7.9,260,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2229,3776,0,0,0,0,0,0
$GC,6412,-1.37,-146.0,590.8,-7.8,266,6417,0.12,3.08,0.00,0.000,4,0.070,0.123,2936,626,3775,0,0,0,0,0,0
$GC,6436,-1.37,-146.0,592.9,-8.9,266,6442,0.12,2.65,0.00,0.000,6,0.100,0.055,2965,2201,3774,0,0,0,0,0,0
$GC,6692,-1.37,-146.0,614.7,-8.4,273,6697,0.00,2.88,0.00,0.000,4,0.000,0.100,2965,3803,3774,0,0,0,0,0,0
$GC,6725,-1.37,-146.0,617.8,-9.2,273,6731,0.00,2.72,0.00,0.000,6,0.000,0.065,2964,2222,3773,0,0,0,0,0,0
$GC,6977,-1.37,-146.0,639.4,-8.6,280,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2222,3772,0,0,0,0,0,0
$GC,7219,-1.37,-146.0,661.1,-8.8,286,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2222,3770,0,0,0,0,0,0
$GC,7462,-1.37,-146.0,681.5,-8.3,292,7467,0.00,2.92,0.00,0.000,4,0.000,0.106,2965,3796,3769,0,0,0,0,0,0
$GC,7486,-1.37,-146.0,683.6,-9.5,292,7491,0.00,2.88,0.00,0.000,6,0.000,0.095,2965,2233,3769,0,0,0,0,0,0
$GC,7744,-1.37,-146.0,705.2,-8.3,299,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2233,3768,0,0,0,0,0,0
$GC,7988,-1.37,-146.0,725.7,-8.4,305,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2233,3767,0,0,0,0,0,0
$GC,8231,-1.37,-146.0,745.8,-8.1,311,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2233,3766,0,0,0,0,0,0
$GC,8478,-1.37,-146.0,766.2,-8.4,317,8483,0.00,3.22,0.00,0.000,4,0.000,0.164,2965,3790,3764,0,0,0,0,0,0
$GC,8505,-1.37,-146.0,769.0,-8.8,317,8510,0.00,2.78,0.00,0.000,6,0.000,0.087,2965,2230,3764,0,0,0,0,0,0
$GC,8755,-1.37,-146.0,789.7,-8.3,323,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2230,3762,0,0,0,0,0,0
$GC,9001,-1.37,-146.0,810.6,-8.7,329,9006,0.00,3.08,0.00,0.000,4,0.000,0.126,2964,622,3761,0,0,0,0,0,0
$GC,9023,-1.37,-146.0,812.8,-8.7,329,9027,0.00,2.78,0.00,0.000,6,0.000,0.071,2965,2228,3761,0,0,0,0,0,0
$GC,9278,-1.37,-146.0,833.8,-8.2,336,9282,0.00,2.83,0.00,0.000,4,0.000,0.101,2965,3798,3760,0,0,0,0,0,0
$GC,9307,-1.37,-146.0,836.3,-8.9,336,9312,0.00,2.70,0.00,0.000,6,0.000,0.067,2965,2229,3760,0,0,0,0,0,0
$GC,9557,-1.37,-146.0,856.2,-7.9,342,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2229,3759,0,0,0,0,0,0
$GC,9801,-1.37,-146.0,875.5,-7.9,348,9806,0.00,2.78,0.00,0.000,4,0.000,0.081,2965,3798,3758,0,0,0,0,0,0
$GC,9834,-1.37,-146.0,878.3,-8.6,348,9839,0.00,2.70,0.00,0.000,6,0.000,0.075,2965,2234,3757,0,0,0,0,0,0
$GC,10086,-1.37,-146.0,897.6,-7.7,355,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2234,3756,0,0,0,0,0,0
$STATE,10121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10122,begin apogee
$GC,10128,-0.31,0.0,900.7,7.6,356,10253,0.98,0.00,121.25,1.201,6,0.085,0.000,3190,2387,3190,0,0,0,0,0,0
$STATE,10253,end apogee,CONTROL_FINISHED_OK
$STATE,10253,begin climb
$GC,10256,1.27,146.0,903.4,0.0,359,10393,1.42,2.83,128.65,1.167,4,0.034,0.083,3544,3931,2594,0,0,0,0,0,0
$GC,10490,1.16,146.0,886.7,11.7,364,10496,0.15,2.75,0.00,0.000,6,0.113,0.065,3514,2360,2588,0,0,0,0,0,0
$GC,10754,1.17,155.0,861.2,9.6,371,10769,0.00,2.80,8.18,0.953,4,0.000,0.069,3514,3922,2557,0,0,0,0,0,0
$GC,10803,1.12,155.0,855.7,11.6,372,10807,0.00,2.67,0.00,0.000,6,0.000,0.057,3514,2366,2557,0,0,0,0,0,0
$GC,11083,1.14,167.8,829.1,9.4,379,11102,0.00,2.80,13.15,1.033,4,0.000,0.062,3514,3933,2504,0,0,0,0,0,0
$GC,11130,1.09,167.8,824.0,11.1,380,11135,0.00,2.65,0.00,0.000,6,0.000,0.052,3515,2374,2503,0,0,0,0,0,0
$GC,11411,1.11,179.3,797.4,9.5,387,11425,0.00,0.00,11.68,1.009,6,0.000,0.000,3515,2374,2458,0,0,0,0,0,0
$GC,11652,1.12,187.7,773.9,9.6,393,11663,0.00,0.00,9.23,0.963,6,0.000,0.000,3514,2374,2424,0,0,0,0,0,0
$GC,11896,1.13,194.3,750.6,9.7,399,11905,0.00,0.00,7.60,0.915,6,0.000,0.000,3515,2374,2397,0,0,0,0,0,0
$GC,12139,1.13,194.3,725.5,10.4,405,12144,0.00,2.67,0.00,0.000,4,0.000,0.062,3514,3937,2395,0,0,0,0,0,0
$GC,12158,1.13,194.3,723.5,10.9,405,12162,0.00,2.65,0.00,0.000,6,0.000,0.048,3514,2371,2394,0,0,0,0,0,0
$GC,12418,1.13,194.3,696.0,10.4,412,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2371,2393,0,0,0,0,0,0
$GC,12662,1.13,194.8,671.5,10.0,418,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2371,2393,0,0,0,0,0,0
$GC,12908,1.13,194.9,647.0,10.0,424,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2372,2392,0,0,0,0,0,0
$GC,13150,1.13,195.5,622.9,10.0,430,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2372,2392,0,0,0,0,0,0
$GC,13393,1.13,195.5,598.6,10.0,436,13397,0.00,2.62,0.00,0.000,4,0.000,0.057,3514,3934,2392,0,0,0,0,0,0
$GC,13416,1.13,195.5,596.2,11.1,436,13420,0.00,2.62,0.00,0.000,6,0.000,0.043,3514,2366,2392,0,0,0,0,0,0
$GC,13673,1.13,195.5,570.2,10.2,443,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2366,2392,0,0,0,0,0,0
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$STATE,19370,end climb,SURFACE_DEPTH_REACHED
$STATE,19371,begin surface coast
$FINISH,1.0,1.009725
$STATE,19426,end surface coast,CONTROL_FINISHED_OK
$STATE,19426,begin surface
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$HUMID,60.35
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$TCM_TEMP,25.50
$XPDR_PINGS,146
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$10V_AH,10.0,62.146
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.025,189.425,388.875,53.300,0.000,28.144,33.070,196.341,36.500,0.000,13.875,1518.778,14844.452,561.202,2233.159,766.899,33.377,1507.703,0.000,2235.367,0.000,0.537,0.000
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$SENSOR_SECS,496.071,347.932,439.516,583.229,1107.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,57197,734
$CAP_FILE_SIZE,166937,0
$CFSIZE,260165632,93405184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030513,205406,1923.867,-8110.896,36,1.3,36,-3.8