version: 66.06
glider: 146
mission: 8
dive: 17
start: 1 19 113 1 44 36
data:
$ID,146
$MISSION,8
$DIVE,17
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,500
$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,300
$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,-307621.41
$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,3075
$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,2100
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,51
$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
$GPS1,013842,1924.551,-8117.936,16,1.3,16,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.5
$GPS2,014343,1924.528,-8117.916,12,1.2,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1926.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.257,0.036
$KALMAN_X,-25097.3,-856.3,4259.2,13749.3,-11039.4
$KALMAN_Y,13120.3,-237.4,-170.1,-7416.7,1207.1
$MHEAD_RNG_PITCHd_Wd,85.8,2730,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-62.92,0.000,2,0.000,0.000,467,2060,3443,0,0,0,0,0,0
$GC,87,-1.27,-146.0,3.6,-6.5,8,112,12.90,2.47,-6.03,0.000,4,0.176,0.053,2787,549,3786,0,0,0,0,0,0
$GC,163,-0.62,-146.0,33.2,-37.3,18,168,0.75,2.40,0.00,0.000,6,0.127,0.018,2937,2112,3786,0,0,0,0,0,0
$GC,427,-0.27,-146.0,103.1,-24.1,42,437,0.35,0.00,0.00,0.000,6,0.104,0.000,3012,2113,3785,0,0,0,0,0,0
$GC,695,-0.16,-146.0,144.2,-14.4,67,700,0.12,2.58,0.00,0.000,4,0.128,0.048,3037,554,3785,0,0,0,0,0,0
$GC,714,-0.05,-146.0,147.1,-13.0,68,719,0.12,2.35,0.00,0.000,6,0.121,0.018,3063,2106,3785,0,0,0,0,0,0
$GC,977,-0.05,-146.0,173.3,-8.7,92,981,0.00,2.42,0.00,0.000,4,0.000,0.035,3063,3652,3785,0,0,0,0,0,0
$GC,1030,-0.09,-146.0,177.9,-8.5,96,1035,0.00,2.35,0.00,0.000,6,0.000,0.021,3063,2129,3786,0,0,0,0,0,0
$GC,1294,-0.13,-146.0,200.2,-8.2,120,1298,0.00,2.42,0.00,0.000,4,0.000,0.039,3063,3662,3786,0,0,0,0,0,0
$GC,1318,-0.17,-146.0,202.2,-8.0,120,1323,0.10,2.40,0.00,0.000,6,0.082,0.025,3019,2112,3786,0,0,0,0,0,0
$GC,1573,-0.17,-146.0,227.7,-9.9,127,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2113,3785,0,0,0,0,0,0
$GC,1817,-0.17,-146.0,251.6,-9.8,133,1821,0.00,2.47,0.00,0.000,4,0.000,0.038,3019,3650,3784,0,0,0,0,0,0
$GC,1868,-0.17,-146.0,256.6,-10.2,134,1872,0.00,2.40,0.00,0.000,6,0.000,0.031,3019,2121,3784,0,0,0,0,0,0
$GC,2140,-0.17,-146.0,282.8,-9.5,141,2144,0.00,2.47,0.00,0.000,4,0.000,0.041,3019,3649,3783,0,0,0,0,0,0
$GC,2183,-0.17,-146.0,287.4,-10.2,142,2187,0.00,2.42,0.00,0.000,6,0.000,0.035,3019,2124,3783,0,0,0,0,0,0
$GC,2469,-0.17,-146.0,313.9,-9.2,149,2473,0.00,2.45,0.00,0.000,4,0.000,0.044,3019,3648,3781,0,0,0,0,0,0
$GC,2490,-0.17,-146.0,316.2,-9.4,149,2494,0.00,2.42,0.00,0.000,6,0.000,0.035,3020,2113,3781,0,0,0,0,0,0
$GC,2746,-0.17,-146.0,340.4,-9.5,156,2750,0.00,2.50,0.00,0.000,4,0.000,0.045,3020,3648,3780,0,0,0,0,0,0
$GC,2774,-0.17,-146.0,343.3,-10.0,156,2779,0.00,2.45,0.00,0.000,6,0.000,0.038,3019,2127,3780,0,0,0,0,0,0
$GC,3024,-0.17,-146.0,367.2,-9.5,162,3029,0.00,2.50,0.00,0.000,4,0.000,0.044,3019,3650,3778,0,0,0,0,0,0
$GC,3040,-0.17,-146.0,368.9,-9.4,162,3045,0.00,2.42,0.00,0.000,6,0.000,0.035,3019,2135,3778,0,0,0,0,0,0
$GC,3304,-0.17,-146.0,392.7,-9.0,169,3308,0.00,2.47,0.00,0.000,4,0.000,0.048,3019,3645,3777,0,0,0,0,0,0
$GC,3353,-0.17,-146.0,397.6,-8.5,170,3358,0.00,2.47,0.00,0.000,6,0.000,0.050,3019,2141,3776,0,0,0,0,0,0
$GC,3626,-0.17,-146.0,421.5,-8.8,177,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2141,3775,0,0,0,0,0,0
$GC,3871,-0.17,-146.0,442.9,-8.9,183,3876,0.00,2.53,0.00,0.000,4,0.000,0.062,3019,3645,3774,0,0,0,0,0,0
$GC,3933,-0.17,-146.0,448.9,-9.4,184,3937,0.00,2.45,0.00,0.000,6,0.000,0.048,3019,2159,3773,0,0,0,0,0,0
$GC,4194,-0.17,-146.0,471.4,-8.5,191,4199,0.00,3.05,0.00,0.000,4,0.000,0.107,3019,515,3772,0,0,0,0,0,0
$GC,4211,-0.17,-146.0,473.0,-8.4,191,4216,0.00,2.65,0.00,0.000,6,0.000,0.050,3019,2118,3772,0,0,0,0,0,0
$GC,4472,-0.17,-146.0,495.3,-8.6,198,4477,0.00,2.70,0.00,0.000,4,0.000,0.073,3019,3682,3770,0,0,0,0,0,0
$GC,4516,-0.17,-146.0,499.3,-8.9,199,4520,0.00,2.55,0.00,0.000,6,0.000,0.058,3019,2166,3770,0,0,0,0,0,0
$GC,4795,-0.17,-146.0,523.5,-8.7,206,4800,0.00,2.60,0.00,0.000,4,0.000,0.071,3019,3682,3768,0,0,0,0,0,0
$GC,4822,-0.17,-146.0,526.1,-8.8,206,4827,0.00,2.58,0.00,0.000,6,0.000,0.057,3019,2166,3768,0,0,0,0,0,0
$GC,5072,-0.17,-146.0,547.6,-8.6,212,5077,0.00,2.62,0.00,0.000,4,0.000,0.074,3019,3681,3766,0,0,0,0,0,0
$GC,5090,-0.17,-146.0,549.0,-8.3,212,5094,0.00,2.58,0.00,0.000,6,0.000,0.062,3019,2174,3766,0,0,0,0,0,0
$GC,5351,-0.17,-146.0,572.5,-8.8,219,5355,0.00,2.65,0.00,0.000,4,0.000,0.076,3019,3682,3764,0,0,0,0,0,0
$GC,5366,-0.17,-146.0,574.1,-9.1,219,5371,0.00,2.60,0.00,0.000,6,0.000,0.070,3019,2174,3764,0,0,0,0,0,0
$GC,5629,-0.17,-146.0,597.7,-9.2,226,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2174,3762,0,0,0,0,0,0
$GC,5871,-0.17,-146.0,619.7,-9.0,232,5876,0.00,2.72,0.00,0.000,4,0.000,0.094,3019,3681,3761,0,0,0,0,0,0
$GC,5892,-0.17,-146.0,621.8,-9.3,232,5897,0.00,2.67,0.00,0.000,6,0.000,0.084,3019,2181,3760,0,0,0,0,0,0
$GC,6148,-0.17,-146.0,644.4,-8.9,239,6153,0.00,2.75,0.00,0.000,4,0.000,0.104,3019,3678,3759,0,0,0,0,0,0
$GC,6166,-0.17,-146.0,646.0,-9.0,239,6170,0.00,2.67,0.00,0.000,6,0.000,0.091,3019,2184,3759,0,0,0,0,0,0
$GC,6426,-0.17,-146.0,669.1,-8.8,246,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2184,3757,0,0,0,0,0,0
$GC,6670,-0.17,-146.0,690.4,-8.7,252,6674,0.00,2.83,0.00,0.000,4,0.000,0.120,3019,3678,3756,0,0,0,0,0,0
$GC,6699,-0.17,-146.0,692.9,-9.6,252,6703,0.00,2.67,0.00,0.000,6,0.000,0.089,3019,2189,3756,0,0,0,0,0,0
$GC,6948,-0.17,-146.0,714.2,-8.5,258,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2189,3754,0,0,0,0,0,0
$GC,7192,-0.17,-146.0,735.1,-8.6,264,7197,0.00,2.72,0.00,0.000,4,0.000,0.096,3019,3679,3753,0,0,0,0,0,0
$GC,7216,-0.17,-146.0,737.1,-9.7,264,7220,0.00,2.62,0.00,0.000,6,0.000,0.078,3019,2192,3753,0,0,0,0,0,0
$GC,7471,-0.17,-146.0,759.5,-8.7,271,7475,0.00,2.67,0.00,0.000,4,0.000,0.090,3019,3680,3751,0,0,0,0,0,0
$GC,7503,-0.17,-146.0,762.5,-9.7,271,7509,0.00,2.62,0.00,0.000,6,0.000,0.081,3019,2203,3750,0,0,0,0,0,0
$GC,7753,-0.17,-146.0,783.8,-8.4,278,7758,0.00,3.30,0.00,0.000,4,0.000,0.133,3019,520,3749,0,0,0,0,0,0
$GC,7788,-0.17,-146.0,786.8,-8.7,278,7794,0.00,2.90,0.00,0.000,6,0.000,0.071,3019,2186,3749,0,0,0,0,0,0
$GC,8040,-0.17,-146.0,806.8,-7.8,285,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2186,3748,0,0,0,0,0,0
$GC,8282,-0.17,-146.0,827.3,-8.5,291,8287,0.00,2.72,0.00,0.000,4,0.000,0.102,3019,3684,3747,0,0,0,0,0,0
$GC,8305,-0.17,-146.0,829.1,-8.1,291,8310,0.00,2.60,0.00,0.000,6,0.000,0.067,3019,2196,3746,0,0,0,0,0,0
$GC,8560,-0.17,-146.0,850.8,-8.3,298,8565,0.00,2.62,0.00,0.000,4,0.000,0.078,3019,3684,3745,0,0,0,0,0,0
$GC,8582,-0.17,-146.0,852.7,-8.1,298,8586,0.00,2.58,0.00,0.000,6,0.000,0.074,3019,2201,3745,0,0,0,0,0,0
$GC,8839,-0.17,-146.0,872.9,-7.8,305,8844,0.00,2.62,0.00,0.000,4,0.000,0.086,3019,3681,3743,0,0,0,0,0,0
$GC,8856,-0.17,-146.0,874.4,-8.1,305,8861,0.00,2.60,0.00,0.000,6,0.000,0.071,3019,2202,3743,0,0,0,0,0,0
$GC,9117,-0.17,-146.0,895.8,-8.1,312,9122,0.00,2.62,0.00,0.000,4,0.000,0.084,3019,3681,3742,0,0,0,0,0,0
$STATE,9165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9165,begin apogee
$GC,9175,-0.31,0.0,900.1,8.9,313,9291,0.00,0.00,114.10,1.253,6,0.000,0.000,3019,2175,3190,0,0,0,0,0,0
$STATE,9292,end apogee,CONTROL_FINISHED_OK
$STATE,9292,begin climb
$GC,9294,1.27,146.0,908.4,0.0,316,9425,1.55,0.00,126.30,1.220,6,0.096,0.000,3351,2175,2594,0,0,0,0,0,0
$GC,9652,1.86,265.0,896.4,4.5,325,9768,0.50,3.20,105.75,1.197,4,0.042,0.127,3485,581,2108,0,0,0,0,0,0
$GC,9871,2.02,274.4,879.0,9.6,330,9886,0.12,2.75,9.00,0.999,6,0.084,0.052,3516,2165,2071,0,0,0,0,0,0
$GC,10150,2.12,277.8,851.6,9.8,337,10159,0.00,2.90,4.15,0.733,4,0.000,0.083,3516,3763,2057,0,0,0,0,0,0
$GC,10258,2.23,277.8,840.2,11.4,339,10264,0.17,2.72,0.00,0.000,6,0.067,0.058,3562,2187,2055,0,0,0,0,0,0
$GC,10519,2.23,277.8,808.7,12.0,346,10524,0.00,2.70,0.00,0.000,4,0.000,0.062,3562,3758,2055,0,0,0,0,0,0
$GC,10569,2.23,277.8,802.4,12.3,347,10574,0.00,2.70,0.00,0.000,6,0.000,0.058,3562,2207,2054,0,0,0,0,0,0
$GC,10843,2.23,277.8,770.0,11.9,354,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2207,2053,0,0,0,0,0,0
$GC,11085,2.23,277.8,740.3,12.0,360,11090,0.00,2.70,0.00,0.000,4,0.000,0.061,3562,3763,2052,0,0,0,0,0,0
$GC,11179,2.23,277.8,728.1,13.5,362,11183,0.00,2.67,0.00,0.000,6,0.000,0.058,3562,2205,2052,0,0,0,0,0,0
$GC,11454,2.23,277.8,695.1,12.0,369,11458,0.00,2.65,0.00,0.000,4,0.000,0.064,3562,3758,2052,0,0,0,0,0,0
$GC,11519,2.23,277.8,686.5,12.7,370,11524,0.00,2.65,0.00,0.000,6,0.000,0.060,3562,2217,2051,0,0,0,0,0,0
$GC,11781,2.23,277.8,655.5,11.9,377,11785,0.00,2.62,0.00,0.000,4,0.000,0.060,3562,3759,2051,0,0,0,0,0,0
$GC,11826,2.23,277.8,649.8,12.5,378,11831,0.00,2.60,0.00,0.000,6,0.000,0.058,3562,2235,2050,0,0,0,0,0,0
$GC,12103,2.23,277.8,617.7,11.4,385,12108,0.00,2.62,0.00,0.000,4,0.000,0.059,3562,3762,2050,0,0,0,0,0,0
$GC,12158,2.23,277.8,611.0,11.6,386,12163,0.00,2.60,0.00,0.000,6,0.000,0.056,3562,2247,2049,0,0,0,0,0,0
$GC,12427,2.23,277.8,579.9,11.7,393,12431,0.00,2.60,0.00,0.000,4,0.000,0.058,3562,3767,2049,0,0,0,0,0,0
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$STATE,17268,end climb,SURFACE_DEPTH_REACHED
$STATE,17268,begin surface coast
$FINISH,0.6,1.019293
$STATE,17313,end surface coast,CONTROL_FINISHED_OK
$STATE,17317,begin surface
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$HUMID,59.60
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$TCM_TEMP,24.70
$XPDR_PINGS,85
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$10V_AH,10.5,2.374
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.100,246.025,400.675,0.000,0.000,0.000,0.000,0.000,21.250,0.000,13.864,1432.329,12910.183,541.150,2231.227,352.754,33.342,1546.601,0.000,2212.443,0.000,0.538,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356044
$DATA_FILE_SIZE,50893,641
$CAP_FILE_SIZE,194799,0
$CFSIZE,260165632,127459328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190113,063608,1925.599,-8115.169,53,1.0,53,-3.8