version: 66.06
glider: 146
mission: 8
dive: 42
start: 1 24 113 9 39 49
data:
$ID,146
$MISSION,8
$DIVE,42
$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,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,-308124.81
$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,3240
$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,27
$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
$GPS1,093036,1924.722,-8112.659,42,1.5,42,-3.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.2
$GPS2,093855,1924.718,-8112.711,14,1.4,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.014
$KALMAN_X,24339.9,43.6,-87.3,-27028.8,1915.7
$KALMAN_Y,-2032.3,-247.5,-258.2,-1734.9,1008.2
$MHEAD_RNG_PITCHd_Wd,276.8,10156,-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,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-69.65,0.000,2,0.000,0.000,466,2113,3539,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.5,-8.6,9,122,13.82,2.80,-4.18,0.000,4,0.173,0.043,2957,3819,3787,0,0,0,0,0,0
$GC,247,-1.04,-146.0,45.5,-20.0,25,252,0.25,2.55,0.00,0.000,6,0.106,0.027,3010,2222,3787,0,0,0,0,0,0
$GC,516,-0.86,-146.0,93.8,-17.0,49,521,0.20,2.60,0.00,0.000,4,0.103,0.045,3053,652,3788,0,0,0,0,0,0
$GC,620,-0.86,-146.0,107.6,-11.6,57,625,0.00,2.47,0.00,0.000,6,0.000,0.018,3053,2249,3788,0,0,0,0,0,0
$GC,889,-0.86,-146.0,135.6,-10.0,81,894,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2249,3789,0,0,0,0,0,0
$GC,1154,-0.86,-146.0,159.8,-9.3,106,1158,0.00,2.60,0.00,0.000,4,0.000,0.045,3053,652,3789,0,0,0,0,0,0
$GC,1173,-0.86,-146.0,161.6,-9.3,107,1177,0.00,2.38,0.00,0.000,6,0.000,0.025,3053,2210,3789,0,0,0,0,0,0
$GC,1436,-0.92,-146.0,182.7,-7.5,131,1440,0.00,2.55,0.00,0.000,4,0.000,0.042,3053,3801,3789,0,0,0,0,0,0
$GC,1483,-0.99,-146.0,186.6,-8.2,134,1489,0.12,2.50,0.00,0.000,6,0.067,0.021,2999,2203,3790,0,0,0,0,0,0
$GC,1760,-0.99,-146.0,211.4,-8.8,152,1765,0.12,2.58,0.00,0.000,4,0.107,0.053,3027,656,3790,0,0,0,0,0,0
$GC,1828,-0.99,-146.0,217.1,-8.1,153,1833,0.00,2.38,0.00,0.000,6,0.000,0.024,3027,2209,3789,0,0,0,0,0,0
$GC,2084,-1.03,-146.0,236.1,-7.2,160,2089,0.00,2.55,0.00,0.000,4,0.000,0.043,3027,3796,3790,0,0,0,0,0,0
$GC,2145,-1.09,-146.0,240.7,-7.4,161,2150,0.10,2.47,0.00,0.000,6,0.083,0.027,2981,2203,3790,0,0,0,0,0,0
$GC,2409,-1.05,-146.0,263.9,-9.1,168,2411,0.15,0.00,0.00,0.000,6,0.101,0.000,3014,2203,3789,0,0,0,0,0,0
$GC,2650,-1.05,-146.0,283.7,-8.0,174,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2203,3789,0,0,0,0,0,0
$GC,2894,-1.05,-146.0,303.5,-8.1,180,2898,0.00,2.60,0.00,0.000,4,0.000,0.044,3014,3793,3788,0,0,0,0,0,0
$GC,2917,-1.08,-146.0,305.3,-8.0,180,2922,0.00,2.47,0.00,0.000,6,0.000,0.023,3014,2213,3788,0,0,0,0,0,0
$GC,3173,-1.12,-146.0,325.7,-7.9,187,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2213,3787,0,0,0,0,0,0
$GC,3416,-1.12,-146.0,344.7,-7.8,193,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2213,3787,0,0,0,0,0,0
$GC,3662,-1.16,-146.0,362.8,-7.3,199,3664,0.12,0.00,0.00,0.000,6,0.068,0.000,2965,2213,3786,0,0,0,0,0,0
$GC,3904,-1.11,-146.0,385.3,-9.3,205,3906,0.15,0.00,0.00,0.000,6,0.099,0.000,2997,2213,3785,0,0,0,0,0,0
$GC,4147,-1.11,-146.0,405.0,-8.1,211,4152,0.00,2.62,0.00,0.000,4,0.000,0.054,2997,3789,3784,0,0,0,0,0,0
$GC,4189,-1.11,-146.0,408.5,-9.3,212,4194,0.00,2.53,0.00,0.000,6,0.000,0.035,2997,2224,3784,0,0,0,0,0,0
$GC,4473,-1.11,-146.0,433.1,-8.7,219,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2224,3783,0,0,0,0,0,0
$GC,4717,-1.11,-146.0,454.1,-8.6,225,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2224,3781,0,0,0,0,0,0
$GC,4962,-1.11,-146.0,474.6,-8.5,231,4967,0.00,2.67,0.00,0.000,4,0.000,0.070,2997,3784,3780,0,0,0,0,0,0
$GC,4984,-1.11,-146.0,476.7,-8.2,231,4988,0.00,2.58,0.00,0.000,6,0.000,0.046,2997,2220,3780,0,0,0,0,0,0
$GC,5239,-1.11,-146.0,497.2,-8.0,238,5244,0.00,2.92,0.00,0.000,4,0.000,0.110,2997,638,3779,0,0,0,0,0,0
$GC,5262,-1.11,-146.0,499.1,-8.7,238,5267,0.00,2.55,0.00,0.000,6,0.000,0.047,2997,2186,3778,0,0,0,0,0,0
$GC,5517,-1.11,-146.0,519.5,-7.9,245,5522,0.00,2.88,0.00,0.000,4,0.000,0.083,2997,3816,3778,0,0,0,0,0,0
$GC,5557,-1.15,-146.0,522.8,-8.5,246,5561,0.00,2.67,0.00,0.000,6,0.000,0.051,2997,2223,3777,0,0,0,0,0,0
$GC,5842,-1.15,-146.0,545.0,-7.9,253,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2223,3776,0,0,0,0,0,0
$GC,6084,-1.15,-146.0,565.1,-8.3,259,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2223,3775,0,0,0,0,0,0
$GC,6327,-1.15,-146.0,584.8,-8.0,265,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2223,3774,0,0,0,0,0,0
$GC,6571,-1.15,-146.0,604.5,-8.1,271,6576,0.00,2.88,0.00,0.000,4,0.000,0.100,2997,3812,3772,0,0,0,0,0,0
$GC,6594,-1.15,-146.0,606.5,-8.5,271,6599,0.00,2.75,0.00,0.000,6,0.000,0.073,2997,2225,3772,0,0,0,0,0,0
$GC,6849,-1.15,-146.0,627.8,-8.3,278,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2225,3770,0,0,0,0,0,0
$GC,7093,-1.15,-146.0,648.0,-8.2,284,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2225,3769,0,0,0,0,0,0
$GC,7339,-1.15,-146.0,667.8,-8.2,290,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2225,3768,0,0,0,0,0,0
$GC,7581,-1.15,-146.0,687.9,-8.2,296,7585,0.00,3.05,0.00,0.000,4,0.000,0.126,2997,3818,3766,0,0,0,0,0,0
$GC,7602,-1.15,-146.0,689.9,-8.7,296,7607,0.00,2.95,0.00,0.000,6,0.000,0.101,2997,2228,3767,0,0,0,0,0,0
$GC,7857,-1.15,-146.0,710.7,-8.2,303,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2228,3765,0,0,0,0,0,0
$GC,8103,-1.15,-146.0,730.1,-7.9,309,8108,0.00,3.20,0.00,0.000,4,0.000,0.144,2998,3817,3764,0,0,0,0,0,0
$GC,8138,-1.18,-146.0,733.3,-8.8,309,8144,0.00,3.12,0.00,0.000,6,0.000,0.128,2997,2228,3763,0,0,0,0,0,0
$GC,8389,-1.22,-146.0,753.6,-8.1,316,8395,0.10,3.45,0.00,0.000,4,0.084,0.180,2961,637,3762,0,0,0,0,0,0
$GC,8419,-1.22,-146.0,756.3,-9.6,316,8424,0.00,3.10,0.00,0.000,6,0.000,0.132,2961,2219,3762,0,0,0,0,0,0
$GC,8669,-1.22,-146.0,780.0,-9.2,322,8674,0.00,3.47,0.00,0.000,4,0.000,0.181,2961,3819,3761,0,0,0,0,0,0
$GC,8691,-1.22,-146.0,782.0,-9.2,322,8695,0.00,2.70,0.00,0.000,6,0.000,0.054,2961,2227,3761,0,0,0,0,0,0
$GC,8950,-1.22,-146.0,805.3,-9.1,329,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2227,3761,0,0,0,0,0,0
$GC,9189,-1.22,-146.0,827.1,-8.9,335,9194,0.00,2.83,0.00,0.000,4,0.000,0.080,2961,3833,3760,0,0,0,0,0,0
$GC,9205,-1.22,-146.0,828.6,-9.2,335,9210,0.00,2.78,0.00,0.000,6,0.000,0.065,2962,2229,3759,0,0,0,0,0,0
$GC,9468,-1.22,-146.0,851.5,-8.7,342,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2229,3758,0,0,0,0,0,0
$GC,9709,-1.22,-146.0,872.7,-8.8,348,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2229,3756,0,0,0,0,0,0
$GC,9953,-1.22,-146.0,893.8,-8.6,354,9958,0.00,2.85,0.00,0.000,4,0.000,0.084,2961,3826,3755,0,0,0,0,0,0
$GC,9986,-1.22,-146.0,896.8,-9.3,354,9991,0.00,2.75,0.00,0.000,6,0.000,0.063,2961,2238,3755,0,0,0,0,0,0
$STATE,10030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10030,begin apogee
$GC,10038,-0.31,0.0,900.7,8.8,356,10160,0.93,0.00,118.55,1.226,6,0.077,0.000,3170,2380,3190,0,0,0,0,0,0
$STATE,10161,end apogee,CONTROL_FINISHED_OK
$STATE,10161,begin climb
$GC,10163,1.27,146.0,903.8,0.0,359,10300,1.45,2.90,126.43,1.193,4,0.046,0.083,3516,3932,2593,0,0,0,0,0,0
$GC,10334,1.21,146.0,894.8,10.1,363,10338,0.00,2.75,0.00,0.000,6,0.000,0.057,3515,2360,2589,0,0,0,0,0,0
$GC,10611,1.24,169.2,870.1,8.9,370,10638,0.00,2.83,20.70,1.116,4,0.000,0.069,3516,3930,2499,0,0,0,0,0,0
$GC,10650,1.22,193.3,866.6,8.9,371,10680,0.00,2.72,23.23,1.114,6,0.000,0.055,3515,2359,2401,0,0,0,0,0,0
$GC,10936,1.22,193.3,837.2,10.3,378,10941,0.00,2.75,0.00,0.000,4,0.000,0.067,3516,3932,2395,0,0,0,0,0,0
$GC,10953,1.22,193.3,835.6,10.1,378,10958,0.00,2.67,0.00,0.000,6,0.000,0.051,3515,2362,2394,0,0,0,0,0,0
$GC,11214,1.22,193.3,808.8,10.2,385,11219,0.00,3.08,0.00,0.000,4,0.000,0.121,3516,768,2393,0,0,0,0,0,0
$GC,11229,1.22,193.3,806.9,10.1,385,11234,0.00,2.70,0.00,0.000,6,0.000,0.049,3515,2364,2392,0,0,0,0,0,0
$GC,11493,1.22,193.3,780.7,10.1,392,11497,0.00,2.78,0.00,0.000,4,0.000,0.077,3515,3933,2392,0,0,0,0,0,0
$GC,11531,1.22,193.3,776.1,10.9,393,11536,0.00,2.62,0.00,0.000,6,0.000,0.038,3516,2365,2391,0,0,0,0,0,0
$GC,11814,1.22,193.3,747.1,10.3,400,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2365,2390,0,0,0,0,0,0
$GC,12060,1.22,193.3,722.0,10.4,406,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2366,2389,0,0,0,0,0,0
$GC,12302,1.22,193.9,697.3,10.0,412,12306,0.00,2.70,0.00,0.000,4,0.000,0.058,3515,3937,2389,0,0,0,0,0,0
$GC,12328,1.22,193.9,694.4,10.9,412,12333,0.00,2.60,0.00,0.000,6,0.000,0.044,3516,2371,2389,0,0,0,0,0,0
$GC,12579,1.22,196.6,669.4,9.9,418,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2371,2389,0,0,0,0,0,0
$GC,12824,1.22,197.4,645.2,10.0,424,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2371,2388,0,0,0,0,0,0
$GC,13066,1.23,199.5,621.1,9.9,430,13072,0.00,0.00,4.57,0.727,6,0.000,0.000,3515,2371,2376,0,0,0,0,0,0
$GC,13310,1.24,208.5,597.6,9.6,436,13325,0.00,2.75,9.93,0.920,4,0.000,0.061,3515,3937,2340,0,0,0,0,0,0
$GC,13343,1.24,208.5,594.1,10.1,436,13349,0.00,2.65,0.00,0.000,6,0.000,0.044,3516,2374,2339,0,0,0,0,0,0
$GC,13593,1.24,208.5,567.9,10.4,443,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2374,2337,0,0,0,0,0,0
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$STATE,19105,end climb,SURFACE_DEPTH_REACHED
$STATE,19105,begin surface coast
$FINISH,0.8,1.022972
$STATE,19154,end surface coast,CONTROL_FINISHED_OK
$STATE,19154,begin surface
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$HUMID,54.96
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$TCM_TEMP,24.90
$XPDR_PINGS,55
$24V_AH,23.2,6.718
$10V_AH,10.5,5.385
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.525,194.600,426.025,10.100,0.000,30.931,35.075,269.762,13.750,0.000,16.365,1493.122,14653.336,530.353,2211.103,791.285,33.353,1496.445,0.000,2208.354,0.000,0.537,0.000
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$SENSOR_SECS,487.401,331.959,425.089,542.186,1033.015,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,54232,720
$CAP_FILE_SIZE,166547,0
$CFSIZE,260165632,125702144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240113,150135,1924.586,-8114.693,77,1.3,77,-3.8