version: 66.06
glider: 146
mission: 8
dive: 33
start: 1 22 113 9 12 7
data:
$ID,146
$MISSION,8
$DIVE,33
$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,600
$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,-307944.22
$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,3200
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,19
$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
$GPS1,090036,1925.085,-8113.979,33,1.1,33,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.4
$GPS2,091113,1925.068,-8113.990,11,1.2,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.240,0.100
$KALMAN_X,7347.2,-91.2,-88.6,-12128.9,2086.2
$KALMAN_Y,-2326.7,7.3,36.8,-1354.1,-663.0
$MHEAD_RNG_PITCHd_Wd,296.5,7865,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-63.40,0.000,2,0.000,0.000,469,2175,3399,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.4,-5.2,8,115,13.65,2.67,-7.18,0.000,4,0.174,0.044,2916,3831,3785,0,0,0,0,0,0
$GC,193,-0.91,-146.0,34.7,-25.4,21,198,0.40,2.53,0.00,0.000,6,0.113,0.024,2998,2229,3786,0,0,0,0,0,0
$GC,459,-0.65,-146.0,89.3,-19.8,45,464,0.25,2.60,0.00,0.000,4,0.114,0.044,3053,654,3786,0,0,0,0,0,0
$GC,532,-0.57,-146.0,101.4,-13.0,50,541,0.05,2.50,0.00,0.000,6,0.107,0.018,3069,2254,3787,0,0,0,0,0,0
$GC,798,-0.57,-146.0,130.1,-9.3,75,802,0.00,2.47,0.00,0.000,4,0.000,0.034,3069,3800,3787,0,0,0,0,0,0
$GC,833,-0.57,-146.0,134.0,-9.9,77,839,0.00,2.45,0.00,0.000,6,0.000,0.028,3069,2222,3787,0,0,0,0,0,0
$GC,1096,-0.61,-146.0,156.8,-8.6,102,1101,0.00,2.55,0.00,0.000,4,0.000,0.048,3069,659,3788,0,0,0,0,0,0
$GC,1153,-0.68,-146.0,161.4,-8.8,106,1157,0.00,2.45,0.00,0.000,6,0.000,0.026,3069,2243,3789,0,0,0,0,0,0
$GC,1422,-0.76,-146.0,180.4,-6.7,130,1427,0.15,0.00,0.00,0.000,6,0.061,0.000,3014,2243,3789,0,0,0,0,0,0
$GC,1683,-0.76,-146.0,203.8,-8.6,152,1688,0.00,2.60,0.00,0.000,4,0.000,0.050,3014,659,3789,0,0,0,0,0,0
$GC,1711,-0.76,-146.0,206.6,-8.9,152,1715,0.00,2.45,0.00,0.000,6,0.000,0.025,3013,2235,3789,0,0,0,0,0,0
$GC,1961,-0.76,-146.0,228.5,-8.7,158,1963,0.10,0.00,0.00,0.000,6,0.118,0.000,3036,2236,3789,0,0,0,0,0,0
$GC,2207,-0.80,-146.0,246.6,-7.4,164,2211,0.00,2.50,0.00,0.000,4,0.000,0.044,3036,3798,3789,0,0,0,0,0,0
$GC,2240,-0.86,-146.0,249.6,-8.5,164,2246,0.10,2.47,0.00,0.000,6,0.082,0.026,2992,2216,3789,0,0,0,0,0,0
$GC,2490,-0.82,-146.0,273.5,-9.7,171,2495,0.12,2.60,0.00,0.000,4,0.109,0.060,3019,660,3788,0,0,0,0,0,0
$GC,2532,-0.82,-146.0,277.3,-9.1,172,2536,0.00,2.42,0.00,0.000,6,0.000,0.029,3020,2213,3788,0,0,0,0,0,0
$GC,2815,-0.82,-146.0,300.9,-8.1,179,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2213,3788,0,0,0,0,0,0
$GC,3059,-0.82,-146.0,320.3,-7.9,185,3063,0.00,2.58,0.00,0.000,4,0.000,0.050,3019,3798,3787,0,0,0,0,0,0
$GC,3082,-0.82,-146.0,322.2,-8.6,185,3087,0.00,2.50,0.00,0.000,6,0.000,0.030,3019,2219,3787,0,0,0,0,0,0
$GC,3337,-0.82,-146.0,342.2,-7.8,192,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2220,3785,0,0,0,0,0,0
$GC,3581,-0.82,-146.0,361.0,-7.8,198,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2220,3785,0,0,0,0,0,0
$GC,3824,-0.82,-146.0,379.2,-7.4,204,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2220,3784,0,0,0,0,0,0
$GC,4070,-0.82,-146.0,397.2,-7.3,210,4075,0.00,2.60,0.00,0.000,4,0.000,0.055,3020,3798,3782,0,0,0,0,0,0
$GC,4086,-0.82,-146.0,398.6,-7.4,210,4091,0.00,2.55,0.00,0.000,6,0.000,0.031,3019,2214,3782,0,0,0,0,0,0
$GC,4347,-0.82,-146.0,418.1,-7.7,217,4352,0.00,2.75,0.00,0.000,4,0.000,0.087,3019,651,3781,0,0,0,0,0,0
$GC,4377,-0.86,-146.0,420.3,-8.2,217,4381,0.00,2.53,0.00,0.000,6,0.000,0.042,3019,2201,3781,0,0,0,0,0,0
$GC,4627,-0.90,-146.0,439.6,-7.6,223,4631,0.00,2.72,0.00,0.000,4,0.000,0.067,3019,3818,3780,0,0,0,0,0,0
$GC,4654,-0.94,-146.0,441.8,-7.9,223,4660,0.10,2.62,0.00,0.000,6,0.085,0.039,2980,2216,3780,0,0,0,0,0,0
$GC,4906,-0.94,-146.0,464.2,-9.1,229,4911,0.00,2.85,0.00,0.000,4,0.000,0.097,2980,638,3778,0,0,0,0,0,0
$GC,4928,-0.90,-146.0,466.5,-9.2,229,4933,0.10,2.60,0.00,0.000,6,0.119,0.041,3002,2216,3778,0,0,0,0,0,0
$GC,5186,-0.90,-146.0,487.6,-8.2,236,5190,0.00,2.78,0.00,0.000,4,0.000,0.077,3002,3822,3777,0,0,0,0,0,0
$GC,5218,-0.90,-146.0,490.6,-8.9,236,5224,0.00,2.67,0.00,0.000,6,0.000,0.048,3002,2220,3778,0,0,0,0,0,0
$GC,5468,-0.90,-146.0,510.2,-7.8,243,5473,0.00,2.90,0.00,0.000,4,0.000,0.107,3002,643,3776,0,0,0,0,0,0
$GC,5497,-0.90,-146.0,512.6,-8.6,243,5501,0.00,2.65,0.00,0.000,6,0.000,0.054,3001,2225,3776,0,0,0,0,0,0
$GC,5749,-0.90,-146.0,532.9,-8.2,249,5753,0.00,2.83,0.00,0.000,4,0.000,0.084,3002,3821,3775,0,0,0,0,0,0
$GC,5770,-0.90,-146.0,535.0,-8.8,249,5774,0.00,2.67,0.00,0.000,6,0.000,0.055,3001,2217,3774,0,0,0,0,0,0
$GC,6025,-0.90,-146.0,555.9,-8.2,256,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2217,3773,0,0,0,0,0,0
$GC,6271,-0.90,-146.0,576.8,-8.5,262,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2217,3772,0,0,0,0,0,0
$GC,6513,-0.90,-146.0,597.9,-8.7,268,6517,0.00,2.88,0.00,0.000,4,0.000,0.091,3001,3815,3770,0,0,0,0,0,0
$GC,6534,-0.90,-146.0,600.1,-9.4,268,6538,0.00,2.75,0.00,0.000,6,0.000,0.071,3002,2225,3770,0,0,0,0,0,0
$GC,6791,-0.90,-146.0,622.4,-8.7,275,6796,0.00,3.03,0.00,0.000,4,0.000,0.122,3001,637,3769,0,0,0,0,0,0
$GC,6812,-0.90,-146.0,624.6,-9.1,275,6817,0.00,2.78,0.00,0.000,6,0.000,0.067,3001,2232,3769,0,0,0,0,0,0
$GC,7067,-0.90,-146.0,645.3,-8.0,282,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2232,3767,0,0,0,0,0,0
$GC,7313,-0.90,-146.0,664.3,-7.8,288,7318,0.00,3.00,0.00,0.000,4,0.000,0.121,3002,3820,3766,0,0,0,0,0,0
$GC,7334,-0.90,-146.0,666.3,-7.7,288,7339,0.00,2.88,0.00,0.000,6,0.000,0.091,3001,2223,3766,0,0,0,0,0,0
$GC,7589,-0.90,-146.0,686.0,-7.8,295,7594,0.00,3.12,0.00,0.000,4,0.000,0.139,3002,634,3765,0,0,0,0,0,0
$GC,7616,-0.90,-146.0,688.3,-8.1,295,7621,0.00,2.90,0.00,0.000,6,0.000,0.090,3001,2230,3765,0,0,0,0,0,0
$GC,7869,-0.90,-146.0,707.5,-7.7,301,7874,0.00,3.12,0.00,0.000,4,0.000,0.137,3001,3818,3763,0,0,0,0,0,0
$GC,7896,-0.90,-146.0,709.7,-8.5,301,7901,0.00,2.80,0.00,0.000,6,0.000,0.082,3001,2231,3762,0,0,0,0,0,0
$GC,8146,-0.90,-146.0,728.5,-7.5,307,8151,0.00,3.08,0.00,0.000,4,0.000,0.126,3001,638,3762,0,0,0,0,0,0
$GC,8181,-0.90,-146.0,731.2,-8.2,307,8186,0.00,2.83,0.00,0.000,6,0.000,0.080,3002,2237,3762,0,0,0,0,0,0
$GC,8431,-0.90,-146.0,748.9,-6.9,314,8435,0.00,2.95,0.00,0.000,4,0.000,0.113,3001,3823,3761,0,0,0,0,0,0
$GC,8470,-0.94,-146.0,751.8,-7.6,315,8475,0.00,2.78,0.00,0.000,6,0.000,0.066,3002,2229,3761,0,0,0,0,0,0
$GC,8755,-0.94,-146.0,772.0,-7.3,322,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2229,3760,0,0,0,0,0,0
$GC,8999,-0.94,-146.0,790.0,-7.3,328,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2229,3759,0,0,0,0,0,0
$GC,9241,-0.94,-146.0,807.8,-7.3,334,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2228,3758,0,0,0,0,0,0
$GC,9487,-0.94,-146.0,826.1,-7.7,340,9491,0.00,2.85,0.00,0.000,4,0.000,0.084,3002,3827,3756,0,0,0,0,0,0
$GC,9508,-0.94,-146.0,828.0,-8.1,340,9512,0.00,2.75,0.00,0.000,6,0.000,0.061,3002,2231,3756,0,0,0,0,0,0
$GC,9763,-0.94,-146.0,848.0,-7.8,347,9768,0.00,2.85,0.00,0.000,4,0.000,0.085,3001,3825,3755,0,0,0,0,0,0
$GC,9792,-0.94,-146.0,850.2,-9.1,347,9796,0.00,2.75,0.00,0.000,6,0.000,0.062,3001,2234,3755,0,0,0,0,0,0
$GC,10042,-0.94,-146.0,870.0,-7.8,353,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2234,3754,0,0,0,0,0,0
$GC,10285,-0.94,-146.0,889.1,-7.8,359,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2234,3753,0,0,0,0,0,0
$STATE,10445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10445,begin apogee
$GC,10454,-0.31,0.0,901.2,7.5,363,10574,0.57,0.00,117.57,1.230,6,0.082,0.000,3131,2374,3190,0,0,0,0,0,0
$STATE,10575,end apogee,CONTROL_FINISHED_OK
$STATE,10575,begin climb
$GC,10577,1.27,146.0,905.2,0.0,366,10709,1.52,0.00,127.38,1.198,6,0.060,0.000,3476,2374,2594,0,0,0,0,0,0
$GC,10932,1.41,202.7,884.9,7.4,375,10986,0.12,0.00,51.08,1.164,6,0.083,0.000,3509,2374,2363,0,0,0,0,0,0
$GC,11218,1.42,212.0,858.4,9.6,382,11233,0.00,3.12,9.23,0.999,4,0.000,0.110,3509,771,2324,0,0,0,0,0,0
$GC,11249,1.42,212.0,854.8,10.3,382,11255,0.00,2.67,0.00,0.000,6,0.000,0.054,3509,2341,2323,0,0,0,0,0,0
$GC,11499,1.43,219.6,830.6,9.7,389,11513,0.00,2.92,8.30,0.973,4,0.000,0.081,3509,3935,2294,0,0,0,0,0,0
$GC,11538,1.43,219.6,826.6,10.6,389,11544,0.00,2.70,0.00,0.000,6,0.000,0.040,3509,2341,2292,0,0,0,0,0,0
$GC,11788,1.43,219.6,801.2,10.1,396,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2341,2291,0,0,0,0,0,0
$GC,12031,1.43,219.6,776.2,10.1,402,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2340,2290,0,0,0,0,0,0
$GC,12278,1.47,219.6,751.3,10.3,408,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2341,2289,0,0,0,0,0,0
$GC,12519,1.52,219.6,726.3,10.3,414,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2341,2289,0,0,0,0,0,0
$GC,12763,1.55,219.6,701.7,10.0,420,12765,0.12,0.00,0.00,0.000,6,0.081,0.000,3542,2341,2288,0,0,0,0,0,0
$GC,13006,1.55,219.6,674.1,11.4,426,13011,0.00,2.92,0.00,0.000,4,0.000,0.107,3542,774,2288,0,0,0,0,0,0
$GC,13024,1.52,219.6,672.2,11.6,426,13029,0.00,2.62,0.00,0.000,6,0.000,0.043,3542,2362,2287,0,0,0,0,0,0
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$STATE,19117,end climb,SURFACE_DEPTH_REACHED
$STATE,19117,begin surface coast
$FINISH,0.7,1.010118
$STATE,19163,end surface coast,CONTROL_FINISHED_OK
$STATE,19163,begin surface
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$HUMID,56.02
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$TCM_TEMP,24.60
$XPDR_PINGS,51
$24V_AH,23.2,5.327
$10V_AH,10.4,4.265
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.675,199.675,413.800,0.000,0.000,40.261,36.397,400.751,12.750,0.000,13.095,1478.446,14781.258,580.620,2107.295,926.306,33.360,1486.394,0.000,2111.584,0.000,0.536,0.000
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$SENSOR_SECS,484.011,327.974,421.513,532.248,1013.726,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,54146,716
$CAP_FILE_SIZE,165742,0
$CFSIZE,260165632,126345216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220113,143406,1925.899,-8115.554,33,1.3,33,-3.8