version: 66.06
glider: 146
mission: 8
dive: 19
start: 1 19 113 12 17 41
data:
$ID,146
$MISSION,8
$DIVE,19
$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,-307700.88
$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,3125
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,14
$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
$GPS1,121032,1924.550,-8116.817,14,1.2,14,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.9
$GPS2,121648,1924.520,-8116.778,10,1.2,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1928.000,-8118.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.059,0.252
$KALMAN_X,-21341.3,1146.9,257.3,14006.6,-1079.5
$KALMAN_Y,14021.7,-207.7,-621.8,-7907.4,1900.4
$MHEAD_RNG_PITCHd_Wd,350.5,6790,-17.6,-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,-1.28,-145.2,0.0,0.0,0,92,0.00,0.00,-70.60,0.000,2,0.000,0.000,473,2225,3433,0,0,0,0,0,0
$GC,97,-1.28,-146.0,3.6,-5.7,9,123,13.27,2.38,-6.20,0.000,4,0.177,0.047,2839,3711,3786,0,0,0,0,0,0
$GC,248,-0.79,-146.0,54.0,-31.3,25,254,0.52,2.53,0.00,0.000,6,0.121,0.027,2946,2114,3787,0,0,0,0,0,0
$GC,517,-0.53,-146.0,112.8,-17.5,49,522,0.25,0.00,0.00,0.000,6,0.116,0.000,3000,2114,3787,0,0,0,0,0,0
$GC,779,-0.41,-146.0,152.0,-13.3,74,781,0.15,0.00,0.00,0.000,6,0.121,0.000,3031,2114,3787,0,0,0,0,0,0
$GC,1034,-0.41,-146.0,180.5,-10.9,98,1038,0.00,2.53,0.00,0.000,4,0.000,0.035,3032,3702,3787,0,0,0,0,0,0
$GC,1078,-0.41,-146.0,185.5,-11.1,101,1084,0.00,2.53,0.00,0.000,6,0.000,0.023,3031,2085,3787,0,0,0,0,0,0
$GC,1357,-0.41,-146.0,212.3,-9.4,119,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2085,3787,0,0,0,0,0,0
$GC,1599,-0.41,-146.0,233.8,-9.0,125,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2085,3786,0,0,0,0,0,0
$GC,1843,-0.41,-146.0,254.4,-8.5,131,1847,0.00,2.60,0.00,0.000,4,0.000,0.038,3031,3703,3786,0,0,0,0,0,0
$GC,1884,-0.41,-146.0,258.0,-9.4,132,1888,0.00,2.53,0.00,0.000,6,0.000,0.030,3032,2096,3786,0,0,0,0,0,0
$GC,2167,-0.41,-146.0,281.6,-8.1,139,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2096,3785,0,0,0,0,0,0
$GC,2411,-0.41,-146.0,302.4,-8.7,145,2415,0.00,2.60,0.00,0.000,4,0.000,0.042,3031,3700,3784,0,0,0,0,0,0
$GC,2440,-0.41,-146.0,304.9,-9.3,145,2444,0.00,2.53,0.00,0.000,6,0.000,0.028,3031,2104,3784,0,0,0,0,0,0
$GC,2689,-0.41,-146.0,326.8,-8.7,151,2694,0.00,2.58,0.00,0.000,4,0.000,0.047,3031,3696,3783,0,0,0,0,0,0
$GC,2711,-0.41,-146.0,328.7,-8.6,151,2715,0.00,2.53,0.00,0.000,6,0.000,0.034,3031,2100,3782,0,0,0,0,0,0
$GC,2967,-0.41,-146.0,349.4,-8.1,158,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2100,3781,0,0,0,0,0,0
$GC,3211,-0.41,-146.0,368.7,-8.1,164,3216,0.00,2.62,0.00,0.000,4,0.000,0.050,3031,3700,3780,0,0,0,0,0,0
$GC,3267,-0.45,-146.0,373.6,-8.7,165,3271,0.00,2.55,0.00,0.000,6,0.000,0.039,3032,2116,3780,0,0,0,0,0,0
$GC,3535,-0.45,-146.0,395.4,-8.2,172,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2116,3779,0,0,0,0,0,0
$GC,3777,-0.45,-146.0,415.5,-8.3,178,3781,0.00,2.62,0.00,0.000,4,0.000,0.054,3031,3693,3778,0,0,0,0,0,0
$GC,3798,-0.45,-146.0,417.6,-9.0,178,3802,0.00,2.60,0.00,0.000,6,0.000,0.046,3031,2109,3778,0,0,0,0,0,0
$GC,4054,-0.49,-146.0,439.3,-8.5,185,4058,0.00,2.65,0.00,0.000,4,0.000,0.052,3031,3695,3776,0,0,0,0,0,0
$GC,4107,-0.54,-146.0,443.8,-8.8,186,4112,0.12,2.60,0.00,0.000,6,0.073,0.047,2988,2123,3776,0,0,0,0,0,0
$GC,4380,-0.50,-146.0,470.0,-9.3,193,4382,0.12,0.00,0.00,0.000,6,0.115,0.000,3015,2123,3775,0,0,0,0,0,0
$GC,4625,-0.50,-146.0,489.8,-8.1,199,4630,0.00,2.65,0.00,0.000,4,0.000,0.062,3015,3689,3773,0,0,0,0,0,0
$GC,4675,-0.50,-146.0,494.5,-8.5,200,4680,0.00,2.58,0.00,0.000,6,0.000,0.052,3015,2141,3773,0,0,0,0,0,0
$GC,4948,-0.50,-146.0,518.7,-9.1,207,4952,0.00,2.65,0.00,0.000,4,0.000,0.067,3015,3691,3771,0,0,0,0,0,0
$GC,4982,-0.50,-146.0,521.7,-9.3,207,4988,0.00,2.65,0.00,0.000,6,0.000,0.059,3015,2142,3771,0,0,0,0,0,0
$GC,5232,-0.50,-146.0,544.0,-8.9,214,5237,0.00,2.70,0.00,0.000,4,0.000,0.077,3015,3691,3770,0,0,0,0,0,0
$GC,5266,-0.50,-146.0,547.3,-9.8,214,5272,0.00,2.62,0.00,0.000,6,0.000,0.066,3015,2149,3769,0,0,0,0,0,0
$GC,5518,-0.50,-146.0,569.8,-9.0,221,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2149,3768,0,0,0,0,0,0
$GC,5760,-0.50,-146.0,590.4,-8.4,227,5765,0.00,2.72,0.00,0.000,4,0.000,0.089,3015,3689,3767,0,0,0,0,0,0
$GC,5787,-0.50,-146.0,592.9,-8.9,227,5791,0.00,2.65,0.00,0.000,6,0.000,0.068,3015,2156,3766,0,0,0,0,0,0
$GC,6037,-0.50,-146.0,614.1,-8.6,233,6041,0.00,2.72,0.00,0.000,4,0.000,0.090,3015,3690,3765,0,0,0,0,0,0
$GC,6066,-0.50,-146.0,616.6,-9.1,233,6070,0.00,2.67,0.00,0.000,6,0.000,0.078,3015,2169,3764,0,0,0,0,0,0
$GC,6320,-0.50,-146.0,638.2,-8.7,239,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2168,3763,0,0,0,0,0,0
$GC,6559,-0.50,-146.0,658.4,-8.1,245,6564,0.00,2.80,0.00,0.000,4,0.000,0.104,3015,3689,3762,0,0,0,0,0,0
$GC,6611,-0.50,-146.0,662.8,-8.7,246,6615,0.00,2.72,0.00,0.000,6,0.000,0.087,3015,2175,3762,0,0,0,0,0,0
$GC,6883,-0.50,-146.0,685.7,-8.5,253,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2175,3760,0,0,0,0,0,0
$GC,7126,-0.50,-146.0,706.0,-8.3,259,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2175,3759,0,0,0,0,0,0
$GC,7372,-0.50,-146.0,726.3,-8.3,265,7377,0.00,2.78,0.00,0.000,4,0.000,0.102,3015,3688,3758,0,0,0,0,0,0
$GC,7399,-0.50,-146.0,728.8,-8.5,265,7403,0.00,2.67,0.00,0.000,6,0.000,0.077,3015,2182,3757,0,0,0,0,0,0
$GC,7649,-0.50,-146.0,748.8,-8.1,271,7654,0.00,3.28,0.00,0.000,4,0.000,0.133,3015,510,3756,0,0,0,0,0,0
$GC,7669,-0.50,-146.0,750.5,-8.2,271,7674,0.00,2.90,0.00,0.000,6,0.000,0.069,3015,2178,3756,0,0,0,0,0,0
$GC,7930,-0.50,-146.0,771.7,-8.0,278,7934,0.00,2.78,0.00,0.000,4,0.000,0.102,3015,3691,3755,0,0,0,0,0,0
$GC,7951,-0.50,-146.0,773.7,-8.8,278,7956,0.00,2.60,0.00,0.000,6,0.000,0.068,3015,2184,3755,0,0,0,0,0,0
$GC,8209,-0.50,-146.0,795.4,-8.5,285,8213,0.00,2.65,0.00,0.000,4,0.000,0.087,3015,3687,3754,0,0,0,0,0,0
$GC,8230,-0.50,-146.0,797.5,-8.8,285,8235,0.00,2.62,0.00,0.000,6,0.000,0.074,3015,2185,3753,0,0,0,0,0,0
$GC,8486,-0.50,-146.0,819.7,-8.8,292,8490,0.00,2.67,0.00,0.000,4,0.000,0.081,3015,3691,3752,0,0,0,0,0,0
$GC,8525,-0.50,-146.0,823.2,-9.6,293,8529,0.00,2.60,0.00,0.000,6,0.000,0.070,3015,2205,3752,0,0,0,0,0,0
$GC,8810,-0.50,-146.0,846.9,-8.2,300,8815,0.00,2.62,0.00,0.000,4,0.000,0.087,3015,3690,3750,0,0,0,0,0,0
$GC,8837,-0.50,-146.0,849.5,-8.6,300,8841,0.00,2.62,0.00,0.000,6,0.000,0.071,3015,2200,3750,0,0,0,0,0,0
$GC,9087,-0.50,-146.0,869.6,-8.1,306,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3749,0,0,0,0,0,0
$GC,9333,-0.50,-146.0,888.8,-7.8,312,9337,0.00,2.62,0.00,0.000,4,0.000,0.083,3014,3694,3748,0,0,0,0,0,0
$GC,9359,-0.50,-146.0,891.3,-9.1,312,9364,0.00,2.58,0.00,0.000,6,0.000,0.071,3015,2210,3748,0,0,0,0,0,0
$STATE,9485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9485,begin apogee
$GC,9490,-0.31,0.0,901.5,8.0,315,9609,0.17,0.00,116.35,1.234,6,0.110,0.000,3053,2210,3190,0,0,0,0,0,0
$STATE,9610,end apogee,CONTROL_FINISHED_OK
$STATE,9610,begin climb
$GC,9615,1.28,146.0,907.7,0.0,318,9748,1.58,0.00,126.03,1.201,6,0.081,0.000,3398,2210,2594,0,0,0,0,0,0
$GC,10023,1.72,251.0,890.2,5.1,328,10126,0.38,3.22,93.55,1.183,4,0.046,0.123,3501,609,2165,0,0,0,0,0,0
$GC,10246,1.82,251.1,870.7,10.0,333,10251,0.00,2.83,0.00,0.000,6,0.000,0.053,3501,2241,2160,0,0,0,0,0,0
$GC,10518,1.94,268.2,845.6,9.2,340,10540,0.20,2.80,15.62,1.080,4,0.065,0.081,3551,3789,2096,0,0,0,0,0,0
$GC,10587,1.94,268.2,837.5,13.1,341,10591,0.00,2.67,0.00,0.000,6,0.000,0.049,3551,2238,2094,0,0,0,0,0,0
$GC,10841,1.94,268.2,807.3,11.6,348,10846,0.00,2.70,0.00,0.000,4,0.000,0.057,3551,3798,2092,0,0,0,0,0,0
$GC,10902,1.94,268.2,799.7,12.0,349,10906,0.00,2.62,0.00,0.000,6,0.000,0.055,3551,2259,2091,0,0,0,0,0,0
$GC,11164,1.94,268.2,769.9,11.4,356,11169,0.00,2.67,0.00,0.000,4,0.000,0.062,3551,3799,2091,0,0,0,0,0,0
$GC,11196,1.94,268.2,765.7,13.3,356,11202,0.00,2.62,0.00,0.000,6,0.000,0.055,3551,2275,2090,0,0,0,0,0,0
$GC,11446,1.94,268.2,736.8,11.6,363,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2275,2090,0,0,0,0,0,0
$GC,11690,1.94,268.2,708.1,11.8,369,11695,0.00,2.62,0.00,0.000,4,0.000,0.066,3551,3792,2089,0,0,0,0,0,0
$GC,11736,1.94,268.2,702.5,12.4,370,11741,0.00,2.58,0.00,0.000,6,0.000,0.050,3551,2276,2089,0,0,0,0,0,0
$GC,12014,1.94,268.2,668.6,12.2,377,12019,0.00,2.62,0.00,0.000,4,0.000,0.065,3551,3794,2089,0,0,0,0,0,0
$GC,12036,1.94,268.2,665.7,13.5,377,12041,0.00,2.58,0.00,0.000,6,0.000,0.054,3551,2285,2088,0,0,0,0,0,0
$GC,12293,1.94,268.2,634.8,11.8,384,12298,0.00,2.60,0.00,0.000,4,0.000,0.063,3551,3795,2088,0,0,0,0,0,0
$GC,12333,1.94,268.2,629.6,12.4,385,12337,0.00,2.55,0.00,0.000,6,0.000,0.051,3551,2295,2087,0,0,0,0,0,0
$GC,12615,1.94,268.2,596.2,11.8,392,12620,0.00,2.58,0.00,0.000,4,0.000,0.062,3551,3794,2088,0,0,0,0,0,0
$GC,12672,1.94,268.2,589.3,11.9,393,12676,0.00,2.47,0.00,0.000,6,0.000,0.044,3552,2317,2087,0,0,0,0,0,0
$GC,12938,1.94,268.2,559.0,11.2,400,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2317,2087,0,0,0,0,0,0
$GC,13182,1.94,268.2,530.6,11.7,406,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2317,2087,0,0,0,0,0,0
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$STATE,17646,end climb,SURFACE_DEPTH_REACHED
$STATE,17646,begin surface coast
$FINISH,0.6,1.023485
$STATE,17682,end surface coast,CONTROL_FINISHED_OK
$STATE,17682,begin surface
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$TT8_MAMPS,0.026078
$HUMID,56.53
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,69
$24V_AH,23.2,3.525
$10V_AH,10.5,2.618
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.125,207.925,397.175,0.000,0.000,0.000,0.000,0.000,17.250,0.000,15.921,1407.211,13405.178,509.648,2171.379,344.175,33.353,1482.003,0.000,2153.815,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,50918,651
$CAP_FILE_SIZE,178612,0
$CFSIZE,260165632,127324160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190113,171536,1926.752,-8117.167,71,0.9,71,-3.7