version: 66.06
glider: 146
mission: 8
dive: 149
start: 2 15 113 8 50 55
data:
$ID,146
$MISSION,8
$DIVE,149
$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,-310243.22
$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,3260
$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,44
$R_STBD_OVSHOOT,43
$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
$GPS1,084306,1932.056,-8113.017,35,0.9,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.3
$GPS2,085001,1932.078,-8113.134,11,1.0,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Tmp11
$TGT_LATLONG,1932.000,-8119.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.051
$KALMAN_X,446.6,-127.3,-69.6,-45851.3,-1102.4
$KALMAN_Y,-34869.8,-113.0,13.0,64559.6,-994.6
$MHEAD_RNG_PITCHd_Wd,285.1,10239,-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,-71.05,0.000,2,0.000,0.000,462,2194,3520,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.9,-6.1,9,124,13.77,2.55,-4.62,0.000,4,0.168,0.048,2976,620,3787,0,0,0,0,0,0
$GC,311,-1.04,-146.0,54.6,-18.5,31,316,0.25,2.47,0.00,0.000,6,0.106,0.016,3029,2233,3787,0,0,0,0,0,0
$GC,580,-0.94,-146.0,95.0,-13.7,55,585,0.12,2.60,0.00,0.000,4,0.111,0.043,3057,645,3788,0,0,0,0,0,0
$GC,615,-0.89,-146.0,99.8,-12.4,57,620,0.00,2.40,0.00,0.000,6,0.000,0.016,3057,2206,3788,0,0,0,0,0,0
$GC,884,-0.89,-146.0,129.0,-10.6,81,888,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2207,3788,0,0,0,0,0,0
$GC,1145,-0.98,-146.0,149.5,-7.0,106,1150,0.00,2.58,0.00,0.000,4,0.000,0.044,3057,639,3789,0,0,0,0,0,0
$GC,1201,-1.09,-146.0,153.5,-7.8,110,1206,0.15,2.38,0.00,0.000,6,0.058,0.018,2997,2203,3789,0,0,0,0,0,0
$GC,1462,-1.09,-146.0,178.2,-9.5,134,1467,0.12,2.55,0.00,0.000,4,0.100,0.044,3026,647,3790,0,0,0,0,0,0
$GC,1505,-1.14,-146.0,181.6,-8.7,137,1509,0.00,2.38,0.00,0.000,6,0.000,0.017,3026,2199,3790,0,0,0,0,0,0
$GC,1787,-1.20,-146.0,203.3,-7.5,160,1792,0.12,2.53,0.00,0.000,4,0.067,0.041,2969,3771,3790,0,0,0,0,0,0
$GC,1845,-1.17,-146.0,208.9,-10.0,161,1850,0.15,2.45,0.00,0.000,6,0.088,0.022,3006,2193,3790,0,0,0,0,0,0
$GC,2112,-1.17,-146.0,230.3,-7.7,168,2116,0.00,2.55,0.00,0.000,4,0.000,0.048,3006,641,3791,0,0,0,0,0,0
$GC,2161,-1.22,-146.0,234.1,-8.1,169,2166,0.00,2.38,0.00,0.000,6,0.000,0.018,3006,2181,3791,0,0,0,0,0,0
$GC,2436,-1.26,-146.0,254.1,-7.3,176,2441,0.00,2.55,0.00,0.000,4,0.000,0.038,3006,3776,3790,0,0,0,0,0,0
$GC,2492,-1.32,-146.0,258.5,-7.3,177,2497,0.15,2.45,0.00,0.000,6,0.055,0.019,2943,2198,3790,0,0,0,0,0,0
$GC,2761,-1.24,-146.0,285.2,-10.3,184,2763,0.20,0.00,0.00,0.000,6,0.087,0.000,2990,2198,3789,0,0,0,0,0,0
$GC,3002,-1.24,-146.0,305.4,-8.1,190,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2198,3789,0,0,0,0,0,0
$GC,3246,-1.24,-146.0,324.0,-7.6,196,3250,0.00,2.58,0.00,0.000,4,0.000,0.043,2990,3778,3788,0,0,0,0,0,0
$GC,3287,-1.24,-146.0,327.1,-8.0,197,3292,0.00,2.50,0.00,0.000,6,0.000,0.023,2990,2200,3788,0,0,0,0,0,0
$GC,3571,-1.24,-146.0,350.8,-8.4,204,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2200,3787,0,0,0,0,0,0
$GC,3815,-1.24,-146.0,371.2,-8.3,210,3819,0.00,2.65,0.00,0.000,4,0.000,0.066,2990,627,3786,0,0,0,0,0,0
$GC,3836,-1.24,-146.0,373.0,-8.2,210,3840,0.00,2.45,0.00,0.000,6,0.000,0.028,2990,2180,3786,0,0,0,0,0,0
$GC,4093,-1.24,-146.0,392.8,-7.7,217,4098,0.00,2.67,0.00,0.000,4,0.000,0.048,2990,3800,3786,0,0,0,0,0,0
$GC,4114,-1.24,-146.0,394.8,-8.3,217,4119,0.00,2.55,0.00,0.000,6,0.000,0.035,2990,2198,3785,0,0,0,0,0,0
$GC,4370,-1.24,-146.0,414.0,-7.5,224,4374,0.00,2.72,0.00,0.000,4,0.000,0.083,2990,630,3785,0,0,0,0,0,0
$GC,4416,-1.28,-146.0,417.5,-7.9,225,4420,0.00,2.50,0.00,0.000,6,0.000,0.032,2990,2199,3785,0,0,0,0,0,0
$GC,4693,-1.28,-146.0,437.7,-7.1,232,4698,0.00,2.65,0.00,0.000,4,0.000,0.054,2990,3791,3784,0,0,0,0,0,0
$GC,4740,-1.32,-146.0,441.1,-7.8,233,4744,0.00,2.60,0.00,0.000,6,0.000,0.041,2990,2196,3784,0,0,0,0,0,0
$GC,5019,-1.32,-146.0,460.9,-7.3,240,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2197,3782,0,0,0,0,0,0
$GC,5261,-1.32,-146.0,479.2,-7.5,246,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2196,3781,0,0,0,0,0,0
$GC,5507,-1.32,-146.0,497.5,-7.5,252,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2196,3780,0,0,0,0,0,0
$GC,5749,-1.36,-146.0,516.2,-7.6,258,5754,0.12,2.72,0.00,0.000,4,0.072,0.063,2944,3783,3779,0,0,0,0,0,0
$GC,5776,-1.36,-146.0,518.9,-10.0,258,5781,0.00,2.65,0.00,0.000,6,0.000,0.056,2943,2209,3779,0,0,0,0,0,0
$GC,6029,-1.30,-146.0,542.0,-9.2,264,6034,0.15,3.00,0.00,0.000,4,0.097,0.112,2977,616,3778,0,0,0,0,0,0
$GC,6057,-1.30,-146.0,544.8,-9.1,264,6061,0.00,2.60,0.00,0.000,6,0.000,0.052,2977,2194,3778,0,0,0,0,0,0
$GC,6307,-1.30,-146.0,563.6,-7.4,270,6311,0.00,2.83,0.00,0.000,4,0.000,0.086,2977,3801,3777,0,0,0,0,0,0
$GC,6348,-1.30,-146.0,566.7,-7.8,271,6353,0.00,2.70,0.00,0.000,6,0.000,0.059,2977,2202,3777,0,0,0,0,0,0
$GC,6631,-1.30,-146.0,588.2,-7.6,278,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2202,3775,0,0,0,0,0,0
$GC,6875,-1.30,-146.0,606.5,-7.6,284,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3774,0,0,0,0,0,0
$GC,7119,-1.30,-146.0,626.2,-8.1,290,7123,0.00,2.85,0.00,0.000,4,0.000,0.088,2977,3793,3773,0,0,0,0,0,0
$GC,7142,-1.30,-146.0,628.0,-8.4,290,7147,0.00,2.78,0.00,0.000,6,0.000,0.070,2977,2204,3773,0,0,0,0,0,0
$GC,7397,-1.30,-146.0,647.8,-7.6,297,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3771,0,0,0,0,0,0
$GC,7641,-1.30,-146.0,667.3,-8.0,303,7645,0.00,2.90,0.00,0.000,4,0.000,0.096,2977,3794,3770,0,0,0,0,0,0
$GC,7661,-1.30,-146.0,668.7,-8.0,303,7665,0.00,2.85,0.00,0.000,6,0.000,0.093,2977,2207,3770,0,0,0,0,0,0
$GC,7921,-1.30,-146.0,690.4,-8.3,310,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3769,0,0,0,0,0,0
$GC,8165,-1.30,-146.0,710.7,-8.2,316,8170,0.00,3.03,0.00,0.000,4,0.000,0.122,2977,3792,3767,0,0,0,0,0,0
$GC,8200,-1.30,-146.0,713.7,-9.1,316,8205,0.00,2.83,0.00,0.000,6,0.000,0.077,2977,2200,3767,0,0,0,0,0,0
$GC,8450,-1.30,-146.0,733.8,-7.8,323,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3766,0,0,0,0,0,0
$GC,8693,-1.30,-146.0,752.5,-7.7,329,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2199,3765,0,0,0,0,0,0
$GC,8937,-1.30,-146.0,771.4,-7.8,335,8942,0.00,2.83,0.00,0.000,4,0.000,0.081,2977,3794,3763,0,0,0,0,0,0
$GC,8966,-1.30,-146.0,773.7,-8.7,335,8971,0.00,2.78,0.00,0.000,6,0.000,0.068,2977,2199,3763,0,0,0,0,0,0
$GC,9216,-1.30,-146.0,792.8,-7.5,341,9221,0.00,2.80,0.00,0.000,4,0.000,0.079,2977,3794,3763,0,0,0,0,0,0
$GC,9243,-1.30,-146.0,795.1,-8.5,341,9248,0.00,2.72,0.00,0.000,6,0.000,0.068,2977,2215,3762,0,0,0,0,0,0
$GC,9495,-1.30,-146.0,813.8,-7.4,347,9500,0.00,3.05,0.00,0.000,4,0.000,0.128,2977,620,3761,0,0,0,0,0,0
$GC,9528,-1.30,-146.0,816.8,-8.5,347,9534,0.00,2.72,0.00,0.000,6,0.000,0.061,2977,2217,3761,0,0,0,0,0,0
$GC,9778,-1.30,-146.0,835.9,-7.6,354,9783,0.00,2.83,0.00,0.000,4,0.000,0.093,2977,3798,3760,0,0,0,0,0,0
$GC,9807,-1.30,-146.0,838.2,-8.8,354,9812,0.00,2.70,0.00,0.000,6,0.000,0.064,2977,2210,3760,0,0,0,0,0,0
$GC,10057,-1.30,-146.0,857.6,-7.6,360,10062,0.00,2.80,0.00,0.000,4,0.000,0.075,2977,3801,3759,0,0,0,0,0,0
$GC,10090,-1.30,-146.0,860.2,-8.2,360,10095,0.00,2.70,0.00,0.000,6,0.000,0.063,2977,2231,3759,0,0,0,0,0,0
$GC,10342,-1.34,-146.0,878.8,-7.4,367,10347,0.00,2.75,0.00,0.000,4,0.000,0.082,2977,3796,3758,0,0,0,0,0,0
$GC,10371,-1.34,-146.0,881.1,-7.9,367,10375,0.00,2.67,0.00,0.000,6,0.000,0.061,2977,2237,3758,0,0,0,0,0,0
$GC,10621,-1.38,-146.0,898.8,-6.9,373,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2237,3757,0,0,0,0,0,0
$STATE,10660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10660,begin apogee
$GC,10669,-0.31,0.0,901.6,6.9,374,10792,0.93,0.00,119.47,1.212,6,0.071,0.000,3189,2381,3190,0,0,0,0,0,0
$STATE,10792,end apogee,CONTROL_FINISHED_OK
$STATE,10792,begin climb
$GC,10795,1.27,146.0,904.6,0.0,377,10930,1.42,2.83,126.68,1.183,4,0.035,0.077,3541,3923,2594,0,0,0,0,0,0
$GC,11035,1.13,146.0,886.5,12.7,382,11040,0.17,2.70,0.00,0.000,6,0.115,0.057,3508,2365,2589,0,0,0,0,0,0
$GC,11291,1.10,155.7,861.2,9.6,389,11305,0.00,2.78,8.77,0.979,4,0.000,0.065,3507,3933,2555,0,0,0,0,0,0
$GC,11377,1.05,165.9,852.9,9.5,390,11393,0.00,2.65,10.75,1.018,6,0.000,0.048,3508,2376,2513,0,0,0,0,0,0
$GC,11666,1.07,177.8,825.4,9.4,398,11685,0.00,2.78,11.82,1.032,4,0.000,0.055,3507,3935,2465,0,0,0,0,0,0
$GC,11716,1.01,177.8,820.3,11.5,399,11721,0.12,2.65,0.00,0.000,6,0.124,0.041,3483,2377,2464,0,0,0,0,0,0
$GC,11994,1.04,196.0,794.7,9.2,406,12018,0.00,3.17,17.62,1.071,4,0.000,0.119,3482,787,2390,0,0,0,0,0,0
$GC,12038,1.05,205.4,790.5,9.6,407,12054,0.00,2.67,10.50,0.997,6,0.000,0.041,3482,2376,2352,0,0,0,0,0,0
$GC,12321,1.06,213.5,762.6,9.6,414,12332,0.00,0.00,8.75,0.957,6,0.000,0.000,3482,2376,2318,0,0,0,0,0,0
$GC,12568,1.12,227.3,739.5,9.4,420,12584,0.00,0.00,14.23,1.023,6,0.000,0.000,3482,2377,2263,0,0,0,0,0,0
$GC,12809,1.17,227.3,715.1,10.2,426,12814,0.15,2.88,0.00,0.000,4,0.067,0.077,3525,778,2260,0,0,0,0,0,0
$GC,12825,1.17,227.3,713.1,10.6,426,12829,0.00,2.65,0.00,0.000,6,0.000,0.041,3525,2372,2259,0,0,0,0,0,0
$GC,13086,1.17,227.3,681.2,12.3,433,13091,0.00,2.70,0.00,0.000,4,0.000,0.067,3525,3932,2259,0,0,0,0,0,0
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$STATE,19195,end climb,SURFACE_DEPTH_REACHED
$STATE,19195,begin surface coast
$FINISH,0.9,1.011074
$STATE,19238,end surface coast,CONTROL_FINISHED_OK
$STATE,19238,begin surface
$SM_CCo,19263,15.43,0.470,0,0,1763,350.04
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$TT8_MAMPS,0.026078
$HUMID,57.87
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,66
$24V_AH,23.3,21.236
$10V_AH,10.3,18.389
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.250,223.325,425.450,15.425,0.000,30.700,35.754,185.614,16.500,0.000,14.745,1548.782,14502.444,555.972,2347.543,730.332,33.355,1585.739,0.000,2338.765,0.000,0.535,0.000
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$SENSOR_SECS,488.922,339.059,432.039,555.245,1058.421,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,57251,722
$CAP_FILE_SIZE,177908,0
$CFSIZE,260165632,118272000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150213,141336,1932.109,-8116.712,39,1.4,39,-3.8