version: 66.06
glider: 146
mission: 8
dive: 124
start: 2 9 113 16 19 55
data:
$ID,146
$MISSION,8
$DIVE,124
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$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,620
$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,-309755.97
$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,3270
$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,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,32
$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
$GPS1,161129,1916.385,-8048.733,39,1.1,39,-4.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.8
$GPS2,161901,1916.312,-8048.724,11,1.5,11,-4.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Tp5
$TGT_LATLONG,1928.000,-8048.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.044,0.256
$KALMAN_X,256421.7,-115.5,-292.5,-216862.6,5505.3
$KALMAN_Y,-74074.9,-105.3,-327.8,54681.9,-3222.2
$MHEAD_RNG_PITCHd_Wd,354.3,21684,-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,-71.22,0.000,2,0.000,0.000,466,2157,3542,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.9,-6.0,9,124,13.85,2.65,-4.45,0.000,4,0.170,0.041,2986,3815,3796,0,0,0,0,0,0
$GC,181,-1.12,-146.0,28.1,-17.9,20,190,0.15,2.50,0.00,0.000,6,0.086,0.023,3024,2253,3797,0,0,0,0,0,0
$GC,452,-0.99,-146.0,69.3,-15.1,45,457,0.12,2.67,0.00,0.000,4,0.117,0.051,3051,633,3796,0,0,0,0,0,0
$GC,523,-0.99,-146.0,80.0,-12.3,50,527,0.00,2.42,0.00,0.000,6,0.000,0.017,3051,2226,3796,0,0,0,0,0,0
$GC,787,-0.94,-146.0,110.3,-10.1,74,796,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2226,3797,0,0,0,0,0,0
$GC,1053,-0.94,-146.0,133.6,-7.7,99,1057,0.00,2.45,0.00,0.000,4,0.000,0.041,3051,3776,3798,0,0,0,0,0,0
$GC,1087,-0.98,-146.0,136.2,-8.3,101,1091,0.00,2.45,0.00,0.000,6,0.000,0.019,3051,2187,3798,0,0,0,0,0,0
$GC,1350,-1.05,-146.0,159.1,-8.9,125,1354,0.00,2.50,0.00,0.000,4,0.000,0.054,3051,644,3798,0,0,0,0,0,0
$GC,1372,-1.14,-146.0,161.2,-8.7,126,1380,0.10,2.40,0.00,0.000,6,0.036,0.021,2997,2195,3798,0,0,0,0,0,0
$GC,1640,-1.14,-146.0,187.1,-10.0,151,1645,0.10,2.55,0.00,0.000,4,0.110,0.044,3021,636,3798,0,0,0,0,0,0
$GC,1673,-1.20,-146.0,190.6,-8.0,153,1683,0.00,2.38,0.00,0.000,6,0.000,0.018,3020,2174,3799,0,0,0,0,0,0
$GC,1941,-1.25,-146.0,207.6,-5.8,170,1946,0.10,2.55,0.00,0.000,4,0.081,0.036,2974,3775,3799,0,0,0,0,0,0
$GC,1986,-1.25,-146.0,211.2,-8.0,171,1990,0.10,2.47,0.00,0.000,6,0.109,0.025,2997,2178,3799,0,0,0,0,0,0
$GC,2265,-1.25,-146.0,230.9,-7.2,178,2270,0.00,2.50,0.00,0.000,4,0.000,0.051,2997,645,3799,0,0,0,0,0,0
$GC,2293,-1.25,-146.0,233.4,-8.1,178,2297,0.00,2.33,0.00,0.000,6,0.000,0.024,2997,2176,3799,0,0,0,0,0,0
$GC,2543,-1.25,-146.0,252.8,-7.9,184,2547,0.00,2.58,0.00,0.000,4,0.000,0.038,2997,3778,3799,0,0,0,0,0,0
$GC,2578,-1.25,-146.0,255.7,-8.7,184,2583,0.00,2.47,0.00,0.000,6,0.000,0.021,2997,2183,3799,0,0,0,0,0,0
$GC,2828,-1.25,-146.0,277.9,-8.9,191,2832,0.00,2.58,0.00,0.000,4,0.000,0.062,2997,637,3798,0,0,0,0,0,0
$GC,2849,-1.25,-146.0,279.8,-8.6,191,2853,0.00,2.38,0.00,0.000,6,0.000,0.028,2997,2180,3798,0,0,0,0,0,0
$GC,3106,-1.25,-146.0,302.0,-8.7,198,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2180,3797,0,0,0,0,0,0
$GC,3348,-1.25,-146.0,322.5,-8.2,204,3352,0.00,2.58,0.00,0.000,4,0.000,0.046,2997,3783,3797,0,0,0,0,0,0
$GC,3381,-1.29,-146.0,325.3,-8.9,204,3386,0.00,2.47,0.00,0.000,6,0.000,0.028,2997,2201,3796,0,0,0,0,0,0
$GC,3633,-1.29,-146.0,345.2,-7.8,211,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2201,3796,0,0,0,0,0,0
$GC,3874,-1.29,-146.0,363.2,-7.2,217,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2201,3794,0,0,0,0,0,0
$GC,4118,-1.33,-146.0,381.3,-7.6,223,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2201,3794,0,0,0,0,0,0
$GC,4362,-1.33,-146.0,399.7,-7.5,229,4366,0.00,2.70,0.00,0.000,4,0.000,0.071,2997,635,3792,0,0,0,0,0,0
$GC,4385,-1.37,-146.0,401.5,-8.3,229,4391,0.12,2.45,0.00,0.000,6,0.067,0.033,2946,2177,3793,0,0,0,0,0,0
$GC,4646,-1.31,-146.0,425.4,-9.4,236,4647,0.17,0.00,0.00,0.000,6,0.091,0.000,2985,2177,3791,0,0,0,0,0,0
$GC,4885,-1.31,-146.0,444.5,-7.7,242,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2177,3791,0,0,0,0,0,0
$GC,5131,-1.31,-146.0,463.1,-7.6,248,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2177,3790,0,0,0,0,0,0
$GC,5372,-1.31,-146.0,481.7,-7.6,254,5377,0.00,2.72,0.00,0.000,4,0.000,0.068,2985,3788,3788,0,0,0,0,0,0
$GC,5399,-1.31,-146.0,483.8,-7.8,254,5404,0.00,2.62,0.00,0.000,6,0.000,0.041,2985,2199,3788,0,0,0,0,0,0
$GC,5651,-1.31,-146.0,502.4,-7.4,260,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2199,3787,0,0,0,0,0,0
$GC,5893,-1.31,-146.0,521.5,-7.9,266,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3786,0,0,0,0,0,0
$GC,6136,-1.31,-146.0,541.8,-8.6,272,6141,0.00,2.72,0.00,0.000,4,0.000,0.074,2984,3784,3785,0,0,0,0,0,0
$GC,6163,-1.31,-146.0,544.4,-9.0,272,6168,0.00,2.67,0.00,0.000,6,0.000,0.057,2984,2198,3785,0,0,0,0,0,0
$GC,6416,-1.31,-146.0,565.9,-8.6,278,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2198,3784,0,0,0,0,0,0
$GC,6657,-1.31,-146.0,586.4,-8.3,284,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2198,3782,0,0,0,0,0,0
$GC,6901,-1.31,-146.0,605.4,-7.5,290,6905,0.00,2.80,0.00,0.000,4,0.000,0.087,2985,3783,3782,0,0,0,0,0,0
$GC,6919,-1.31,-146.0,606.6,-7.4,290,6923,0.00,2.72,0.00,0.000,6,0.000,0.070,2984,2193,3781,0,0,0,0,0,0
$GC,7179,-1.31,-146.0,626.3,-7.6,297,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2192,3780,0,0,0,0,0,0
$GC,7423,-1.31,-146.0,645.1,-7.8,303,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2192,3779,0,0,0,0,0,0
$GC,7667,-1.31,-146.0,663.6,-7.6,309,7671,0.00,2.92,0.00,0.000,4,0.000,0.107,2985,3781,3778,0,0,0,0,0,0
$GC,7694,-1.35,-146.0,665.5,-7.8,309,7699,0.00,2.83,0.00,0.000,6,0.000,0.093,2985,2207,3777,0,0,0,0,0,0
$GC,7949,-1.35,-146.0,685.6,-7.7,316,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2207,3776,0,0,0,0,0,0
$GC,8196,-1.39,-146.0,704.4,-7.7,322,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3775,0,0,0,0,0,0
$GC,8439,-1.43,-146.0,722.8,-7.5,328,8445,0.10,3.08,0.00,0.000,4,0.083,0.131,2946,3781,3774,0,0,0,0,0,0
$GC,8462,-1.43,-146.0,724.9,-8.5,328,8466,0.00,2.80,0.00,0.000,6,0.000,0.082,2946,2204,3774,0,0,0,0,0,0
$GC,8717,-1.43,-146.0,747.0,-8.5,335,8721,0.00,2.85,0.00,0.000,4,0.000,0.097,2946,3783,3773,0,0,0,0,0,0
$GC,8740,-1.38,-146.0,749.1,-9.2,335,8746,0.10,2.75,0.00,0.000,6,0.114,0.071,2968,2202,3773,0,0,0,0,0,0
$GC,8996,-1.38,-146.0,769.3,-7.8,342,9001,0.00,3.08,0.00,0.000,4,0.000,0.130,2967,617,3772,0,0,0,0,0,0
$GC,9023,-1.38,-146.0,771.6,-8.8,342,9028,0.00,2.75,0.00,0.000,6,0.000,0.072,2967,2205,3771,0,0,0,0,0,0
$GC,9276,-1.38,-146.0,790.9,-7.6,348,9280,0.00,2.88,0.00,0.000,4,0.000,0.103,2967,3799,3770,0,0,0,0,0,0
$GC,9302,-1.38,-146.0,793.5,-8.9,348,9307,0.00,2.72,0.00,0.000,6,0.000,0.066,2967,2206,3770,0,0,0,0,0,0
$GC,9552,-1.38,-146.0,812.0,-7.4,354,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2206,3769,0,0,0,0,0,0
$GC,9798,-1.38,-146.0,829.8,-7.3,360,9803,0.00,2.80,0.00,0.000,4,0.000,0.085,2968,3801,3768,0,0,0,0,0,0
$GC,9848,-1.38,-146.0,833.9,-7.8,361,9852,0.00,2.72,0.00,0.000,6,0.000,0.063,2967,2223,3767,0,0,0,0,0,0
$GC,10120,-1.38,-146.0,853.3,-7.1,368,10124,0.00,2.78,0.00,0.000,4,0.000,0.080,2967,3807,3766,0,0,0,0,0,0
$GC,10154,-1.38,-146.0,855.7,-7.4,368,10160,0.00,2.70,0.00,0.000,6,0.000,0.064,2968,2231,3767,0,0,0,0,0,0
$GC,10404,-1.38,-146.0,873.2,-6.8,375,10409,0.00,2.78,0.00,0.000,4,0.000,0.080,2967,3798,3765,0,0,0,0,0,0
$GC,10454,-1.38,-146.0,876.9,-8.3,376,10458,0.00,2.67,0.00,0.000,6,0.000,0.067,2968,2238,3765,0,0,0,0,0,0
$GC,10728,-1.38,-146.0,895.8,-7.0,383,10733,0.00,3.08,0.00,0.000,4,0.000,0.124,2967,623,3764,0,0,0,0,0,0
$GC,10761,-1.38,-146.0,898.6,-8.3,383,10766,0.00,2.78,0.00,0.000,6,0.000,0.064,2967,2246,3764,0,0,0,0,0,0
$STATE,10805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10805,begin apogee
$GC,10811,-0.31,0.0,901.9,7.3,385,10934,1.02,0.00,119.00,1.216,6,0.073,0.000,3201,2375,3200,0,0,0,0,0,0
$STATE,10934,end apogee,CONTROL_FINISHED_OK
$STATE,10934,begin climb
$GC,10939,1.27,146.0,904.9,0.0,388,11075,1.42,2.92,126.15,1.188,4,0.035,0.092,3551,3932,2604,0,0,0,0,0,0
$GC,11146,1.12,146.0,891.0,13.2,392,11152,0.17,2.70,0.00,0.000,6,0.114,0.047,3517,2362,2599,0,0,0,0,0,0
$GC,11396,1.09,161.5,866.5,9.3,399,11412,0.00,0.00,14.32,1.067,6,0.000,0.000,3517,2362,2541,0,0,0,0,0,0
$GC,11640,1.04,165.3,842.8,9.8,405,11649,0.00,2.78,4.38,0.749,4,0.000,0.061,3517,3944,2526,0,0,0,0,0,0
$GC,11707,0.97,165.3,835.4,11.0,406,11713,0.17,2.62,0.00,0.000,6,0.110,0.044,3481,2373,2525,0,0,0,0,0,0
$GC,11963,1.00,192.6,812.5,8.7,413,11996,0.00,2.75,26.02,1.109,4,0.000,0.056,3481,3943,2414,0,0,0,0,0,0
$GC,12027,1.00,192.6,806.6,11.4,414,12032,0.00,2.65,0.00,0.000,6,0.000,0.046,3481,2387,2413,0,0,0,0,0,0
$GC,12288,1.02,203.8,781.8,9.5,421,12307,0.00,3.15,11.38,1.019,4,0.000,0.122,3481,782,2368,0,0,0,0,0,0
$GC,12320,1.02,209.1,778.7,9.8,421,12334,0.00,2.70,6.53,0.884,6,0.000,0.040,3481,2391,2347,0,0,0,0,0,0
$GC,12620,1.07,209.1,748.1,10.3,429,12625,0.00,2.88,0.00,0.000,4,0.000,0.078,3481,774,2345,0,0,0,0,0,0
$GC,12647,1.07,211.9,744.8,9.9,429,12653,0.10,2.65,0.00,0.000,6,0.082,0.044,3513,2376,2343,0,0,0,0,0,0
$GC,12899,1.07,211.9,715.5,11.9,435,12904,0.00,2.70,0.00,0.000,4,0.000,0.072,3513,3933,2343,0,0,0,0,0,0
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$STATE,19331,end climb,SURFACE_DEPTH_REACHED
$STATE,19331,begin surface coast
$FINISH,0.9,1.011023
$STATE,19375,end surface coast,CONTROL_FINISHED_OK
$STATE,19375,begin surface
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$TCM_TEMP,24.40
$XPDR_PINGS,69
$24V_AH,23.3,17.583
$10V_AH,10.4,15.250
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,57201,731
$CAP_FILE_SIZE,172894,0
$CFSIZE,260165632,120094720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090213,214505,1916.192,-8047.036,40,1.1,40,-4.0