version: 66.06
glider: 146
mission: 8
dive: 56
start: 1 27 113 12 4 7
data:
$ID,146
$MISSION,8
$DIVE,56
$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,-308398.69
$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,3250
$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,75
$R_STBD_OVSHOOT,42
$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,3200
$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
$GPS1,115605,1925.281,-8110.982,40,1.2,40,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.2
$GPS2,120313,1925.284,-8110.973,11,1.6,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.254,0.053
$KALMAN_X,45109.9,7.4,154.9,-44969.1,634.7
$KALMAN_Y,-4733.7,-227.4,-18.8,1749.4,62.3
$MHEAD_RNG_PITCHd_Wd,285.6,12676,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.22,0.000,2,0.000,0.000,468,2185,3544,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.6,-5.5,9,124,13.82,2.62,-4.35,0.000,4,0.170,0.041,2967,3797,3797,0,0,0,0,0,0
$GC,311,-1.11,-146.0,52.5,-16.6,31,316,0.17,2.42,0.00,0.000,6,0.110,0.023,3005,2266,3797,0,0,0,0,0,0
$GC,579,-0.97,-146.0,93.5,-15.1,55,584,0.15,2.65,0.00,0.000,4,0.114,0.046,3036,653,3797,0,0,0,0,0,0
$GC,622,-0.89,-146.0,101.1,-14.1,58,626,0.00,2.42,0.00,0.000,6,0.000,0.018,3036,2241,3797,0,0,0,0,0,0
$GC,886,-0.89,-146.0,134.6,-10.8,82,891,0.00,2.62,0.00,0.000,4,0.000,0.054,3036,652,3799,0,0,0,0,0,0
$GC,943,-0.94,-146.0,141.1,-10.3,86,953,0.00,2.40,0.00,0.000,6,0.000,0.020,3036,2196,3799,0,0,0,0,0,0
$GC,1208,-0.94,-146.0,163.5,-8.8,111,1212,0.00,2.53,0.00,0.000,4,0.000,0.035,3036,3793,3799,0,0,0,0,0,0
$GC,1239,-0.98,-146.0,166.4,-9.2,113,1244,0.00,2.50,0.00,0.000,6,0.000,0.021,3036,2181,3799,0,0,0,0,0,0
$GC,1504,-1.05,-146.0,187.4,-7.5,137,1509,0.00,2.47,0.00,0.000,4,0.000,0.050,3037,660,3799,0,0,0,0,0,0
$GC,1537,-1.11,-146.0,189.9,-7.7,139,1542,0.12,2.38,0.00,0.000,6,0.069,0.026,2983,2200,3799,0,0,0,0,0,0
$GC,1812,-1.11,-146.0,215.4,-9.2,153,1814,0.10,0.00,0.00,0.000,6,0.110,0.000,3007,2200,3799,0,0,0,0,0,0
$GC,2058,-1.11,-146.0,235.0,-7.9,159,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2200,3799,0,0,0,0,0,0
$GC,2300,-1.11,-146.0,254.5,-8.0,165,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2200,3799,0,0,0,0,0,0
$GC,2543,-1.11,-146.0,273.3,-7.8,171,2548,0.00,2.58,0.00,0.000,4,0.000,0.041,3007,3801,3799,0,0,0,0,0,0
$GC,2590,-1.17,-146.0,277.1,-8.1,172,2595,0.00,2.50,0.00,0.000,6,0.000,0.028,3007,2198,3799,0,0,0,0,0,0
$GC,2868,-1.21,-146.0,298.3,-7.5,179,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2198,3798,0,0,0,0,0,0
$GC,3112,-1.25,-146.0,315.9,-7.2,185,3114,0.12,0.00,0.00,0.000,6,0.069,0.000,2957,2198,3797,0,0,0,0,0,0
$GC,3358,-1.20,-146.0,338.0,-9.3,191,3359,0.15,0.00,0.00,0.000,6,0.095,0.000,2991,2198,3797,0,0,0,0,0,0
$GC,3599,-1.20,-146.0,357.7,-8.1,197,3603,0.00,2.60,0.00,0.000,4,0.000,0.046,2991,3786,3796,0,0,0,0,0,0
$GC,3620,-1.20,-146.0,359.7,-9.0,197,3624,0.00,2.50,0.00,0.000,6,0.000,0.027,2991,2202,3796,0,0,0,0,0,0
$GC,3877,-1.20,-146.0,380.6,-8.3,204,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2202,3794,0,0,0,0,0,0
$GC,4119,-1.20,-146.0,400.8,-8.1,210,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2202,3794,0,0,0,0,0,0
$GC,4363,-1.20,-146.0,419.9,-7.9,216,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2202,3793,0,0,0,0,0,0
$GC,4606,-1.20,-146.0,440.0,-8.2,222,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2202,3792,0,0,0,0,0,0
$GC,4852,-1.20,-146.0,460.2,-8.2,228,4856,0.00,2.75,0.00,0.000,4,0.000,0.096,2991,653,3791,0,0,0,0,0,0
$GC,4873,-1.20,-146.0,462.1,-8.3,228,4877,0.00,2.47,0.00,0.000,6,0.000,0.041,2991,2170,3790,0,0,0,0,0,0
$GC,5129,-1.20,-146.0,482.0,-7.7,235,5133,0.00,2.75,0.00,0.000,4,0.000,0.070,2991,3781,3789,0,0,0,0,0,0
$GC,5181,-1.24,-146.0,486.3,-8.9,236,5185,0.00,2.60,0.00,0.000,6,0.000,0.048,2991,2213,3789,0,0,0,0,0,0
$GC,5453,-1.24,-146.0,508.6,-8.3,243,5457,0.00,2.88,0.00,0.000,4,0.000,0.113,2991,645,3788,0,0,0,0,0,0
$GC,5485,-1.24,-146.0,511.5,-8.7,243,5491,0.00,2.55,0.00,0.000,6,0.000,0.048,2991,2177,3787,0,0,0,0,0,0
$GC,5737,-1.24,-146.0,530.6,-7.6,250,5742,0.00,2.80,0.00,0.000,4,0.000,0.083,2991,3780,3786,0,0,0,0,0,0
$GC,5777,-1.29,-146.0,533.8,-7.8,251,5781,0.00,2.62,0.00,0.000,6,0.000,0.050,2991,2210,3786,0,0,0,0,0,0
$GC,6060,-1.29,-146.0,554.9,-7.5,258,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2210,3785,0,0,0,0,0,0
$GC,6306,-1.33,-146.0,573.4,-7.6,264,6312,0.12,2.97,0.00,0.000,4,0.072,0.117,2946,642,3785,0,0,0,0,0,0
$GC,6334,-1.29,-146.0,576.2,-9.3,264,6339,0.10,2.60,0.00,0.000,6,0.114,0.059,2968,2180,3784,0,0,0,0,0,0
$GC,6586,-1.29,-146.0,597.3,-8.3,270,6591,0.00,3.00,0.00,0.000,4,0.000,0.107,2968,3816,3783,0,0,0,0,0,0
$GC,6619,-1.29,-146.0,600.2,-8.3,270,6625,0.00,2.75,0.00,0.000,6,0.000,0.061,2968,2210,3783,0,0,0,0,0,0
$GC,6869,-1.29,-146.0,620.4,-8.1,277,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2210,3781,0,0,0,0,0,0
$GC,7112,-1.29,-146.0,640.7,-8.4,283,7117,0.00,2.92,0.00,0.000,4,0.000,0.095,2968,3819,3779,0,0,0,0,0,0
$GC,7141,-1.29,-146.0,643.1,-9.1,283,7146,0.00,2.85,0.00,0.000,6,0.000,0.081,2968,2217,3779,0,0,0,0,0,0
$GC,7391,-1.29,-146.0,664.3,-8.4,289,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2216,3779,0,0,0,0,0,0
$GC,7635,-1.29,-146.0,684.3,-8.3,295,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2216,3777,0,0,0,0,0,0
$GC,7881,-1.29,-146.0,703.9,-7.9,301,7886,0.00,3.20,0.00,0.000,4,0.000,0.151,2968,640,3776,0,0,0,0,0,0
$GC,7910,-1.29,-146.0,706.6,-9.0,301,7915,0.00,2.90,0.00,0.000,6,0.000,0.103,2968,2210,3776,0,0,0,0,0,0
$GC,8160,-1.29,-146.0,727.1,-8.1,307,8165,0.00,3.20,0.00,0.000,4,0.000,0.146,2968,3819,3775,0,0,0,0,0,0
$GC,8195,-1.29,-146.0,729.9,-8.9,307,8200,0.00,2.83,0.00,0.000,6,0.000,0.074,2968,2209,3775,0,0,0,0,0,0
$GC,8445,-1.29,-146.0,750.2,-8.0,314,8449,0.00,3.00,0.00,0.000,4,0.000,0.123,2968,637,3773,0,0,0,0,0,0
$GC,8472,-1.29,-146.0,752.5,-8.7,314,8476,0.00,2.78,0.00,0.000,6,0.000,0.074,2968,2228,3773,0,0,0,0,0,0
$GC,8722,-1.29,-146.0,772.2,-7.9,320,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2228,3772,0,0,0,0,0,0
$GC,8967,-1.29,-146.0,791.7,-8.1,326,8972,0.00,2.90,0.00,0.000,4,0.000,0.105,2968,3819,3771,0,0,0,0,0,0
$GC,9022,-1.29,-146.0,796.7,-9.0,327,9027,0.00,2.78,0.00,0.000,6,0.000,0.061,2968,2207,3771,0,0,0,0,0,0
$GC,9289,-1.29,-146.0,818.1,-8.0,334,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2206,3769,0,0,0,0,0,0
$GC,9535,-1.29,-146.0,838.1,-8.2,340,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2206,3768,0,0,0,0,0,0
$GC,9776,-1.29,-146.0,857.0,-7.6,346,9781,0.00,2.85,0.00,0.000,4,0.000,0.078,2968,3820,3767,0,0,0,0,0,0
$GC,9815,-1.29,-146.0,860.3,-8.2,347,9820,0.00,2.75,0.00,0.000,6,0.000,0.064,2968,2220,3767,0,0,0,0,0,0
$GC,10101,-1.29,-146.0,883.3,-8.2,354,10105,0.00,2.83,0.00,0.000,4,0.000,0.077,2968,3825,3766,0,0,0,0,0,0
$GC,10133,-1.29,-146.0,886.4,-8.9,354,10139,0.00,2.75,0.00,0.000,6,0.000,0.066,2968,2228,3766,0,0,0,0,0,0
$STATE,10299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10299,begin apogee
$GC,10305,-0.31,0.0,900.6,8.4,359,10427,0.93,0.00,118.65,1.226,6,0.074,0.000,3179,2373,3200,0,0,0,0,0,0
$STATE,10428,end apogee,CONTROL_FINISHED_OK
$STATE,10428,begin climb
$GC,10433,1.27,146.0,904.4,0.0,362,10568,1.45,2.85,126.38,1.197,4,0.041,0.076,3528,3920,2603,0,0,0,0,0,0
$GC,10619,1.16,146.0,895.3,10.4,366,10624,0.12,2.70,0.00,0.000,6,0.123,0.057,3505,2357,2599,0,0,0,0,0,0
$GC,10880,1.21,183.3,873.0,8.3,373,10921,0.00,2.85,33.28,1.144,4,0.000,0.065,3505,3923,2451,0,0,0,0,0,0
$GC,10962,1.21,183.3,865.1,11.3,374,10967,0.00,2.70,0.00,0.000,6,0.000,0.049,3505,2364,2448,0,0,0,0,0,0
$GC,11212,1.21,185.8,840.4,9.9,381,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2364,2446,0,0,0,0,0,0
$GC,11455,1.22,194.2,816.7,9.6,387,11467,0.00,0.00,10.35,1.015,6,0.000,0.000,3505,2364,2408,0,0,0,0,0,0
$GC,11701,1.24,205.3,793.7,9.5,393,11715,0.00,0.00,11.73,1.029,6,0.000,0.000,3505,2364,2362,0,0,0,0,0,0
$GC,11942,1.24,205.3,769.2,10.2,399,11947,0.00,2.70,0.00,0.000,4,0.000,0.063,3505,3928,2359,0,0,0,0,0,0
$GC,11991,1.24,205.3,763.7,10.7,400,11996,0.00,2.65,0.00,0.000,6,0.000,0.045,3505,2362,2357,0,0,0,0,0,0
$GC,12266,1.24,206.7,736.5,9.9,407,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2362,2357,0,0,0,0,0,0
$GC,12507,1.24,206.7,711.8,10.2,413,12512,0.00,2.70,0.00,0.000,4,0.000,0.058,3505,3935,2357,0,0,0,0,0,0
$GC,12528,1.24,206.7,709.4,10.4,413,12532,0.00,2.60,0.00,0.000,6,0.000,0.048,3505,2374,2356,0,0,0,0,0,0
$GC,12784,1.24,206.7,682.5,10.5,420,12788,0.00,2.65,0.00,0.000,4,0.000,0.062,3505,3927,2356,0,0,0,0,0,0
$GC,12818,1.24,206.7,678.7,11.4,420,12824,0.00,2.62,0.00,0.000,6,0.000,0.045,3505,2372,2355,0,0,0,0,0,0
$GC,13067,1.24,206.7,652.4,10.5,427,13072,0.00,3.08,0.00,0.000,4,0.000,0.124,3505,769,2355,0,0,0,0,0,0
$GC,13083,1.24,206.7,650.6,10.6,427,13087,0.00,2.67,0.00,0.000,6,0.000,0.043,3504,2381,2355,0,0,0,0,0,0
$GC,13352,1.24,209.4,623.7,9.9,434,13357,0.00,2.70,0.00,0.000,4,0.000,0.071,3505,3934,2354,0,0,0,0,0,0
$GC,13373,1.26,224.1,621.4,9.3,434,13398,0.00,2.60,17.35,0.993,6,0.000,0.039,3505,2373,2286,0,0,0,0,0,0
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$STATE,19096,end climb,SURFACE_DEPTH_REACHED
$STATE,19096,begin surface coast
$FINISH,0.8,1.023351
$STATE,19145,end surface coast,CONTROL_FINISHED_OK
$STATE,19145,begin surface
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$HUMID,55.98
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$TCM_TEMP,24.80
$XPDR_PINGS,57
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$10V_AH,10.4,7.159
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.400,203.475,404.900,20.700,0.000,28.980,32.709,204.631,14.250,0.000,13.369,1495.593,14579.604,543.250,2271.784,720.164,33.370,1523.595,0.000,2267.940,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,54088,714
$CAP_FILE_SIZE,166968,0
$CFSIZE,260165632,124678144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270113,172506,1925.823,-8112.844,26,1.3,26,-3.8