version: 66.06
glider: 146
mission: 8
dive: 60
start: 1 28 113 10 25 31
data:
$ID,146
$MISSION,8
$DIVE,60
$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,-308507.72
$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,58
$R_STBD_OVSHOOT,38
$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
$GPS1,101726,1927.132,-8114.954,35,3.5,54,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.4
$GPS2,102437,1927.120,-8114.943,13,1.4,13,-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,-0.015
$KALMAN_X,55294.3,790.4,372.8,-63108.6,511.9
$KALMAN_Y,-4746.0,-154.3,-98.0,5162.9,101.0
$MHEAD_RNG_PITCHd_Wd,270.4,5344,-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,19,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.22,0.000,2,0.000,0.000,468,2190,3578,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.2,-7.5,9,124,13.73,2.67,-3.67,0.000,4,0.170,0.047,2967,3807,3798,0,0,0,0,0,0
$GC,286,-1.09,-146.0,49.6,-18.1,29,292,0.20,2.47,0.00,0.000,6,0.104,0.025,3010,2256,3798,0,0,0,0,0,0
$GC,555,-0.94,-146.0,91.8,-15.2,53,560,0.15,2.67,0.00,0.000,4,0.111,0.048,3041,651,3799,0,0,0,0,0,0
$GC,602,-0.87,-146.0,100.1,-14.2,56,612,0.00,2.47,0.00,0.000,6,0.000,0.017,3042,2235,3799,0,0,0,0,0,0
$GC,871,-0.87,-146.0,131.6,-11.2,81,875,0.00,2.60,0.00,0.000,4,0.000,0.046,3042,649,3799,0,0,0,0,0,0
$GC,928,-0.92,-146.0,138.7,-10.6,85,933,0.00,2.40,0.00,0.000,6,0.000,0.025,3041,2196,3799,0,0,0,0,0,0
$GC,1192,-0.92,-146.0,162.6,-8.9,110,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3800,0,0,0,0,0,0
$GC,1455,-0.98,-146.0,183.4,-7.2,135,1460,0.00,2.55,0.00,0.000,4,0.000,0.051,3042,652,3801,0,0,0,0,0,0
$GC,1478,-1.05,-146.0,185.2,-7.2,136,1484,0.00,2.38,0.00,0.000,6,0.000,0.018,3041,2201,3801,0,0,0,0,0,0
$GC,1771,-1.12,-146.0,206.5,-7.4,158,1777,0.15,2.58,0.00,0.000,4,0.059,0.042,2981,3804,3801,0,0,0,0,0,0
$GC,1799,-1.12,-146.0,209.2,-9.0,158,1804,0.12,2.50,0.00,0.000,6,0.098,0.019,3010,2186,3801,0,0,0,0,0,0
$GC,2051,-1.12,-146.0,230.0,-8.2,164,2055,0.00,2.50,0.00,0.000,4,0.000,0.051,3010,657,3801,0,0,0,0,0,0
$GC,2090,-1.12,-146.0,233.5,-8.7,165,2094,0.00,2.35,0.00,0.000,6,0.000,0.028,3010,2191,3801,0,0,0,0,0,0
$GC,2373,-1.12,-146.0,256.0,-7.9,172,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2191,3801,0,0,0,0,0,0
$GC,2619,-1.16,-146.0,274.6,-7.7,178,2624,0.00,2.55,0.00,0.000,4,0.000,0.056,3010,663,3801,0,0,0,0,0,0
$GC,2653,-1.21,-146.0,277.5,-8.0,178,2659,0.10,2.35,0.00,0.000,6,0.081,0.026,2966,2176,3801,0,0,0,0,0,0
$GC,2905,-1.17,-146.0,299.5,-8.8,185,2910,0.12,2.65,0.00,0.000,4,0.103,0.050,2995,3791,3800,0,0,0,0,0,0
$GC,2938,-1.17,-146.0,302.7,-9.1,185,2944,0.00,2.53,0.00,0.000,6,0.000,0.024,2995,2194,3800,0,0,0,0,0,0
$GC,3188,-1.17,-146.0,322.0,-7.6,192,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2194,3799,0,0,0,0,0,0
$GC,3432,-1.17,-146.0,339.9,-7.3,198,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2195,3798,0,0,0,0,0,0
$GC,3678,-1.17,-146.0,358.8,-7.8,204,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2194,3797,0,0,0,0,0,0
$GC,3919,-1.17,-146.0,379.3,-8.4,210,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2194,3797,0,0,0,0,0,0
$GC,4163,-1.17,-146.0,399.2,-8.1,216,4168,0.00,2.65,0.00,0.000,4,0.000,0.054,2995,3790,3795,0,0,0,0,0,0
$GC,4187,-1.17,-146.0,401.1,-8.2,216,4192,0.00,2.58,0.00,0.000,6,0.000,0.039,2995,2200,3795,0,0,0,0,0,0
$GC,4442,-1.17,-146.0,421.8,-8.2,223,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2200,3794,0,0,0,0,0,0
$GC,4686,-1.17,-146.0,440.9,-7.7,229,4690,0.00,2.65,0.00,0.000,4,0.000,0.059,2995,3783,3793,0,0,0,0,0,0
$GC,4719,-1.21,-146.0,443.7,-8.0,229,4724,0.00,2.62,0.00,0.000,6,0.000,0.038,2995,2189,3793,0,0,0,0,0,0
$GC,4971,-1.21,-146.0,462.8,-7.6,236,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2190,3792,0,0,0,0,0,0
$GC,5213,-1.25,-146.0,480.6,-7.2,242,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2190,3791,0,0,0,0,0,0
$GC,5457,-1.28,-146.0,497.8,-7.0,248,5458,0.10,0.00,0.00,0.000,6,0.080,0.000,2954,2189,3790,0,0,0,0,0,0
$GC,5702,-1.25,-146.0,519.1,-8.8,254,5708,0.12,2.83,0.00,0.000,4,0.103,0.078,2982,3785,3788,0,0,0,0,0,0
$GC,5742,-1.25,-146.0,522.6,-8.5,255,5747,0.00,2.65,0.00,0.000,6,0.000,0.054,2981,2201,3788,0,0,0,0,0,0
$GC,6028,-1.25,-146.0,544.1,-7.6,262,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2201,3787,0,0,0,0,0,0
$GC,6270,-1.25,-146.0,563.4,-8.0,268,6274,0.00,2.80,0.00,0.000,4,0.000,0.085,2981,3787,3786,0,0,0,0,0,0
$GC,6291,-1.25,-146.0,565.2,-8.5,268,6295,0.00,2.70,0.00,0.000,6,0.000,0.058,2981,2201,3786,0,0,0,0,0,0
$GC,6546,-1.25,-146.0,586.2,-8.3,275,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2201,3784,0,0,0,0,0,0
$GC,6790,-1.25,-146.0,606.2,-8.2,281,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2201,3783,0,0,0,0,0,0
$GC,7033,-1.25,-146.0,625.3,-7.6,287,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2201,3782,0,0,0,0,0,0
$GC,7277,-1.25,-146.0,644.4,-8.0,293,7282,0.00,2.92,0.00,0.000,4,0.000,0.105,2981,3785,3780,0,0,0,0,0,0
$GC,7306,-1.25,-146.0,646.7,-8.7,293,7310,0.00,2.83,0.00,0.000,6,0.000,0.086,2982,2205,3780,0,0,0,0,0,0
$GC,7558,-1.25,-146.0,666.7,-8.0,299,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3779,0,0,0,0,0,0
$GC,7799,-1.25,-146.0,686.3,-8.1,305,7804,0.00,2.97,0.00,0.000,4,0.000,0.112,2981,3782,3778,0,0,0,0,0,0
$GC,7828,-1.25,-146.0,688.6,-8.7,305,7833,0.00,2.92,0.00,0.000,6,0.000,0.107,2982,2197,3777,0,0,0,0,0,0
$GC,8080,-1.25,-146.0,708.9,-8.0,311,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2197,3776,0,0,0,0,0,0
$GC,8321,-1.25,-146.0,728.2,-7.9,317,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2197,3775,0,0,0,0,0,0
$GC,8567,-1.25,-146.0,746.9,-7.6,323,8572,0.00,3.17,0.00,0.000,4,0.000,0.150,2982,3776,3774,0,0,0,0,0,0
$GC,8602,-1.25,-146.0,749.8,-8.5,323,8608,0.00,2.75,0.00,0.000,6,0.000,0.071,2982,2206,3774,0,0,0,0,0,0
$GC,8852,-1.25,-146.0,769.1,-7.6,330,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2206,3772,0,0,0,0,0,0
$GC,9096,-1.25,-146.0,787.9,-7.7,336,9101,0.00,2.80,0.00,0.000,4,0.000,0.091,2982,3782,3772,0,0,0,0,0,0
$GC,9123,-1.25,-146.0,790.2,-8.6,336,9127,0.00,2.72,0.00,0.000,6,0.000,0.068,2982,2214,3771,0,0,0,0,0,0
$GC,9375,-1.25,-146.0,810.2,-8.0,342,9380,0.00,2.80,0.00,0.000,4,0.000,0.090,2982,3781,3770,0,0,0,0,0,0
$GC,9408,-1.25,-146.0,813.3,-8.6,342,9413,0.00,2.72,0.00,0.000,6,0.000,0.066,2982,2214,3770,0,0,0,0,0,0
$GC,9657,-1.25,-146.0,833.0,-7.9,349,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2215,3768,0,0,0,0,0,0
$GC,9904,-1.28,-146.0,852.1,-7.8,355,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2214,3767,0,0,0,0,0,0
$GC,10145,-1.28,-146.0,870.9,-7.7,361,10150,0.00,2.78,0.00,0.000,4,0.000,0.087,2981,3781,3766,0,0,0,0,0,0
$GC,10178,-1.33,-146.0,873.6,-8.0,361,10183,0.00,2.70,0.00,0.000,6,0.000,0.069,2982,2224,3766,0,0,0,0,0,0
$GC,10430,-1.37,-146.0,893.1,-7.8,368,10436,0.12,3.03,0.00,0.000,4,0.074,0.124,2941,642,3765,0,0,0,0,0,0
$GC,10449,-1.37,-146.0,895.0,-8.3,368,10453,0.00,2.65,0.00,0.000,6,0.000,0.061,2941,2191,3765,0,0,0,0,0,0
$STATE,10503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10503,begin apogee
$GC,10510,-0.31,0.0,900.7,9.8,370,10632,1.05,0.00,118.72,1.229,6,0.075,0.000,3179,2364,3200,0,0,0,0,0,0
$STATE,10633,end apogee,CONTROL_FINISHED_OK
$STATE,10633,begin climb
$GC,10637,1.27,146.0,903.9,0.0,373,10776,1.48,2.95,126.75,1.197,4,0.040,0.096,3532,3931,2601,0,0,0,0,0,0
$GC,10795,1.16,157.9,896.8,9.4,377,10815,0.15,2.72,11.70,1.039,6,0.118,0.054,3504,2358,2556,0,0,0,0,0,0
$GC,11078,1.17,169.9,870.3,9.4,384,11097,0.00,2.80,11.38,1.037,4,0.000,0.067,3504,3936,2506,0,0,0,0,0,0
$GC,11111,1.15,182.5,867.0,9.4,384,11130,0.00,2.70,12.95,1.052,6,0.000,0.045,3504,2367,2455,0,0,0,0,0,0
$GC,11409,1.16,190.2,837.4,9.6,392,11419,0.00,0.00,8.07,0.963,6,0.000,0.000,3504,2367,2424,0,0,0,0,0,0
$GC,11652,1.17,197.5,813.7,9.7,398,11662,0.00,0.00,7.95,0.958,6,0.000,0.000,3504,2367,2394,0,0,0,0,0,0
$GC,11898,1.17,198.6,789.5,9.9,404,11903,0.00,2.72,0.00,0.000,4,0.000,0.060,3504,3940,2392,0,0,0,0,0,0
$GC,11925,1.17,198.6,786.2,11.0,404,11929,0.00,2.65,0.00,0.000,6,0.000,0.048,3504,2364,2391,0,0,0,0,0,0
$GC,12181,1.17,199.7,760.8,9.9,411,12185,0.00,2.72,0.00,0.000,4,0.000,0.064,3504,3943,2390,0,0,0,0,0,0
$GC,12209,1.17,199.7,757.9,10.3,411,12214,0.00,2.65,0.00,0.000,6,0.000,0.045,3503,2371,2390,0,0,0,0,0,0
$GC,12459,1.17,200.9,733.1,9.9,417,12469,0.00,3.12,4.20,0.719,4,0.000,0.121,3503,769,2380,0,0,0,0,0,0
$GC,12480,1.18,207.0,730.8,9.7,417,12496,0.00,2.67,7.47,0.917,6,0.000,0.041,3504,2368,2356,0,0,0,0,0,0
$GC,12742,1.18,207.0,704.5,10.1,424,12746,0.00,2.75,0.00,0.000,4,0.000,0.074,3504,3934,2354,0,0,0,0,0,0
$GC,12757,1.18,207.0,702.5,10.5,424,12762,0.00,2.65,0.00,0.000,6,0.000,0.043,3504,2351,2353,0,0,0,0,0,0
$GC,13018,1.18,207.0,676.1,10.0,431,13023,0.00,2.70,0.00,0.000,4,0.000,0.056,3504,3932,2353,0,0,0,0,0,0
$GC,13034,1.18,207.0,674.3,10.2,431,13038,0.00,2.62,0.00,0.000,6,0.000,0.046,3504,2363,2353,0,0,0,0,0,0
$GC,13302,1.18,207.0,647.5,10.2,438,13307,0.00,2.70,0.00,0.000,4,0.000,0.058,3503,3933,2353,0,0,0,0,0,0
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$STATE,19264,end climb,SURFACE_DEPTH_REACHED
$STATE,19264,begin surface coast
$FINISH,0.8,1.016796
$STATE,19307,end surface coast,CONTROL_FINISHED_OK
$STATE,19307,begin surface
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$HUMID,55.07
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$TCM_TEMP,24.70
$XPDR_PINGS,60
$24V_AH,23.2,9.259
$10V_AH,10.5,7.663
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.650,207.950,415.000,28.525,0.000,28.341,35.433,200.498,15.000,0.000,15.466,1518.605,14703.354,582.545,2246.954,730.017,33.361,1559.502,0.000,2245.442,0.000,0.537,0.000
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$SENSOR_SECS,492.010,336.721,431.369,550.166,1048.717,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,57141,727
$CAP_FILE_SIZE,171228,0
$CFSIZE,260165632,124375040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280113,154959,1926.554,-8115.950,65,0.9,65,-3.8