version: 66.06
glider: 146
mission: 8
dive: 153
start: 2 16 113 5 15 20
data:
$ID,146
$MISSION,8
$DIVE,153
$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,-310322.75
$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,56
$R_STBD_OVSHOOT,21
$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
$GPS1,050654,1927.608,-8117.299,40,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.5
$GPS2,051427,1927.579,-8117.427,9,2.1,28,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.026
$KALMAN_X,-4730.4,428.7,-8.2,-48811.5,-1394.4
$KALMAN_Y,-37886.0,97.7,46.5,58987.4,-656.3
$MHEAD_RNG_PITCHd_Wd,99.5,17426,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.45,0.000,2,0.000,0.000,465,2163,3486,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-4.9,9,122,13.85,2.62,-5.32,0.000,4,0.168,0.038,2976,3810,3786,0,0,0,0,0,0
$GC,272,-1.12,-146.0,43.9,-16.1,29,277,0.17,2.50,0.00,0.000,6,0.104,0.025,3014,2224,3787,0,0,0,0,0,0
$GC,540,-1.01,-146.0,84.3,-14.7,53,545,0.12,2.62,0.00,0.000,4,0.110,0.045,3042,624,3788,0,0,0,0,0,0
$GC,560,-0.90,-146.0,88.3,-14.8,54,565,0.10,2.47,0.00,0.000,6,0.122,0.015,3063,2249,3788,0,0,0,0,0,0
$GC,825,-0.90,-146.0,118.3,-10.9,78,829,0.00,2.62,0.00,0.000,4,0.000,0.043,3064,634,3788,0,0,0,0,0,0
$GC,857,-0.90,-146.0,122.4,-10.7,80,867,0.00,2.40,0.00,0.000,6,0.000,0.021,3064,2185,3788,0,0,0,0,0,0
$GC,1127,-1.00,-146.0,142.9,-5.7,105,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2187,3789,0,0,0,0,0,0
$GC,1393,-1.11,-146.0,159.7,-6.2,130,1399,0.20,2.58,0.00,0.000,4,0.049,0.045,2989,630,3789,0,0,0,0,0,0
$GC,1445,-1.11,-146.0,165.1,-10.4,134,1450,0.12,2.40,0.00,0.000,6,0.100,0.023,3017,2205,3790,0,0,0,0,0,0
$GC,1707,-1.16,-146.0,185.6,-7.4,158,1711,0.00,2.45,0.00,0.000,4,0.000,0.035,3017,3766,3790,0,0,0,0,0,0
$GC,1740,-1.21,-146.0,187.8,-8.2,160,1745,0.00,2.42,0.00,0.000,6,0.000,0.025,3017,2187,3790,0,0,0,0,0,0
$GC,2032,-1.27,-146.0,209.4,-7.4,178,2037,0.15,2.55,0.00,0.000,4,0.058,0.054,2959,635,3790,0,0,0,0,0,0
$GC,2048,-1.27,-146.0,211.2,-7.7,178,2053,0.12,2.38,0.00,0.000,6,0.107,0.025,2986,2192,3790,0,0,0,0,0,0
$GC,2311,-1.27,-146.0,232.5,-8.1,185,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2192,3790,0,0,0,0,0,0
$GC,2553,-1.27,-146.0,252.2,-8.1,191,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2192,3790,0,0,0,0,0,0
$GC,2797,-1.27,-146.0,272.6,-8.5,197,2801,0.00,2.50,0.00,0.000,4,0.000,0.036,2986,3767,3789,0,0,0,0,0,0
$GC,2820,-1.27,-146.0,274.7,-9.5,197,2824,0.00,2.42,0.00,0.000,6,0.000,0.021,2986,2206,3789,0,0,0,0,0,0
$GC,3075,-1.27,-146.0,296.3,-8.3,204,3079,0.00,2.62,0.00,0.000,4,0.000,0.056,2986,635,3789,0,0,0,0,0,0
$GC,3096,-1.27,-146.0,298.1,-8.1,204,3101,0.00,2.42,0.00,0.000,6,0.000,0.027,2986,2189,3789,0,0,0,0,0,0
$GC,3354,-1.27,-146.0,317.6,-7.5,211,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2189,3788,0,0,0,0,0,0
$GC,3596,-1.27,-146.0,337.3,-8.1,217,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2189,3787,0,0,0,0,0,0
$GC,3839,-1.27,-146.0,356.8,-7.9,223,3844,0.00,2.58,0.00,0.000,4,0.000,0.048,2986,3787,3786,0,0,0,0,0,0
$GC,3867,-1.27,-146.0,359.1,-8.0,223,3871,0.00,2.50,0.00,0.000,6,0.000,0.030,2986,2201,3786,0,0,0,0,0,0
$GC,4119,-1.27,-146.0,378.9,-7.9,229,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3786,0,0,0,0,0,0
$GC,4361,-1.27,-146.0,398.6,-8.0,235,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3784,0,0,0,0,0,0
$GC,4604,-1.27,-146.0,417.5,-7.9,241,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3784,0,0,0,0,0,0
$GC,4848,-1.27,-146.0,436.6,-7.7,247,4852,0.00,2.60,0.00,0.000,4,0.000,0.051,2986,3775,3783,0,0,0,0,0,0
$GC,4866,-1.27,-146.0,437.9,-7.8,247,4870,0.00,2.58,0.00,0.000,6,0.000,0.041,2986,2195,3783,0,0,0,0,0,0
$GC,5127,-1.27,-146.0,458.1,-7.6,254,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2195,3782,0,0,0,0,0,0
$GC,5370,-1.27,-146.0,476.8,-7.6,260,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2195,3780,0,0,0,0,0,0
$GC,5616,-1.27,-146.0,495.9,-7.8,266,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2195,3779,0,0,0,0,0,0
$GC,5858,-1.27,-146.0,515.5,-8.0,272,5862,0.00,2.70,0.00,0.000,4,0.000,0.063,2987,3778,3778,0,0,0,0,0,0
$GC,5885,-1.31,-146.0,517.8,-8.6,272,5890,0.00,2.62,0.00,0.000,6,0.000,0.048,2986,2209,3778,0,0,0,0,0,0
$GC,6138,-1.35,-146.0,537.2,-7.8,278,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2209,3777,0,0,0,0,0,0
$GC,6379,-1.39,-146.0,556.2,-7.8,284,6381,0.12,0.00,0.00,0.000,6,0.067,0.000,2938,2209,3776,0,0,0,0,0,0
$GC,6623,-1.33,-146.0,579.7,-9.7,290,6625,0.15,0.00,0.00,0.000,6,0.225,0.000,2970,2209,3775,0,0,0,0,0,0
$GC,6868,-1.33,-146.0,600.4,-8.4,296,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2209,3774,0,0,0,0,0,0
$GC,7110,-1.33,-146.0,620.3,-8.1,302,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2209,3772,0,0,0,0,0,0
$GC,7353,-1.33,-146.0,640.2,-8.1,308,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2209,3771,0,0,0,0,0,0
$GC,7597,-1.33,-146.0,659.9,-8.1,314,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3770,0,0,0,0,0,0
$GC,7843,-1.33,-146.0,679.1,-7.8,320,7848,0.00,2.97,0.00,0.000,4,0.000,0.120,2970,3766,3768,0,0,0,0,0,0
$GC,7864,-1.33,-146.0,681.2,-8.5,320,7869,0.00,2.88,0.00,0.000,6,0.000,0.101,2970,2198,3768,0,0,0,0,0,0
$GC,8120,-1.33,-146.0,701.2,-7.9,327,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2198,3767,0,0,0,0,0,0
$GC,8363,-1.33,-146.0,719.8,-7.6,333,8368,0.00,3.00,0.00,0.000,4,0.000,0.124,2970,3765,3766,0,0,0,0,0,0
$GC,8387,-1.33,-146.0,721.6,-8.0,333,8392,0.00,3.00,0.00,0.000,6,0.000,0.117,2970,2202,3766,0,0,0,0,0,0
$GC,8642,-1.33,-146.0,741.1,-7.5,340,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2201,3764,0,0,0,0,0,0
$GC,8885,-1.33,-146.0,760.2,-7.8,346,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2202,3763,0,0,0,0,0,0
$GC,9131,-1.33,-146.0,779.1,-7.7,352,9136,0.00,3.30,0.00,0.000,4,0.000,0.166,2970,3764,3762,0,0,0,0,0,0
$GC,9153,-1.33,-146.0,781.1,-8.1,352,9158,0.00,2.65,0.00,0.000,6,0.000,0.061,2970,2202,3762,0,0,0,0,0,0
$GC,9408,-1.33,-146.0,802.4,-8.3,359,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2202,3761,0,0,0,0,0,0
$GC,9654,-1.33,-146.0,822.2,-8.1,365,9659,0.00,2.75,0.00,0.000,4,0.000,0.079,2970,3776,3761,0,0,0,0,0,0
$GC,9670,-1.33,-146.0,823.7,-7.9,365,9674,0.00,2.67,0.00,0.000,6,0.000,0.063,2970,2199,3761,0,0,0,0,0,0
$GC,9931,-1.33,-146.0,844.0,-7.6,372,9935,0.00,2.75,0.00,0.000,4,0.000,0.081,2970,3769,3759,0,0,0,0,0,0
$GC,9946,-1.33,-146.0,845.4,-7.5,372,9951,0.00,2.70,0.00,0.000,6,0.000,0.062,2970,2204,3759,0,0,0,0,0,0
$GC,10209,-1.33,-146.0,864.8,-7.4,379,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2203,3758,0,0,0,0,0,0
$GC,10451,-1.33,-146.0,882.0,-7.0,385,10455,0.00,2.75,0.00,0.000,4,0.000,0.082,2970,3770,3756,0,0,0,0,0,0
$GC,10466,-1.33,-146.0,883.4,-7.1,385,10471,0.00,2.67,0.00,0.000,6,0.000,0.064,2970,2212,3756,0,0,0,0,0,0
$STATE,10725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10725,begin apogee
$GC,10733,-0.31,0.0,901.7,7.0,392,10856,0.95,0.00,119.45,1.214,6,0.068,0.000,3190,2351,3190,0,0,0,0,0,0
$STATE,10857,end apogee,CONTROL_FINISHED_OK
$STATE,10857,begin climb
$GC,10859,1.27,146.0,904.5,0.0,395,10996,1.42,2.80,127.15,1.184,4,0.035,0.074,3540,3931,2593,0,0,0,0,0,0
$GC,11058,1.14,146.0,891.2,13.0,399,11063,0.15,2.70,0.00,0.000,6,0.119,0.058,3510,2370,2588,0,0,0,0,0,0
$GC,11310,1.10,156.0,866.8,9.5,405,11325,0.00,2.78,9.00,0.988,4,0.000,0.063,3510,3940,2553,0,0,0,0,0,0
$GC,11342,1.05,170.2,863.3,9.3,405,11362,0.10,2.67,14.20,1.056,6,0.133,0.048,3491,2372,2496,0,0,0,0,0,0
$GC,11637,1.07,187.4,836.1,9.2,413,11655,0.00,0.00,16.60,1.078,6,0.000,0.000,3491,2371,2426,0,0,0,0,0,0
$GC,11881,1.07,188.2,812.4,10.0,419,11885,0.00,2.67,0.00,0.000,4,0.000,0.064,3491,3935,2422,0,0,0,0,0,0
$GC,11920,1.07,188.2,808.2,11.1,420,11924,0.00,2.65,0.00,0.000,6,0.000,0.048,3490,2372,2421,0,0,0,0,0,0
$GC,12203,1.08,197.5,780.9,9.6,427,12215,0.00,0.00,10.27,1.002,6,0.000,0.000,3491,2372,2384,0,0,0,0,0,0
$GC,12449,1.09,207.1,757.6,9.6,433,12461,0.00,0.00,10.23,0.992,6,0.000,0.000,3491,2372,2345,0,0,0,0,0,0
$GC,12690,1.11,218.5,734.3,9.5,439,12704,0.00,0.00,12.07,1.003,6,0.000,0.000,3491,2372,2298,0,0,0,0,0,0
$GC,12934,1.11,218.5,710.0,10.0,445,12938,0.00,2.67,0.00,0.000,4,0.000,0.055,3491,3937,2295,0,0,0,0,0,0
$GC,12962,1.11,218.5,707.0,11.3,445,12967,0.00,2.60,0.00,0.000,6,0.000,0.046,3491,2383,2295,0,0,0,0,0,0
$GC,13212,1.11,218.5,681.8,10.1,451,13217,0.00,3.05,0.00,0.000,4,0.000,0.114,3491,776,2295,0,0,0,0,0,0
$GC,13244,1.11,218.5,678.1,11.3,451,13250,0.00,2.65,0.00,0.000,6,0.000,0.039,3491,2374,2294,0,0,0,0,0,0
$GC,13496,1.11,218.5,652.9,10.1,458,13501,0.00,2.67,0.00,0.000,4,0.000,0.065,3491,3934,2294,0,0,0,0,0,0
$GC,13517,1.11,218.5,650.4,10.9,458,13522,0.00,2.58,0.00,0.000,6,0.000,0.041,3491,2366,2293,0,0,0,0,0,0
$GC,13774,1.15,219.9,624.9,9.9,465,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2366,2294,0,0,0,0,0,0
$GC,14019,1.19,223.3,600.9,9.8,471,14027,0.12,0.00,5.32,0.765,6,0.074,0.000,3528,2367,2279,0,0,0,0,0,0
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$STATE,19427,end climb,SURFACE_DEPTH_REACHED
$STATE,19427,begin surface coast
$FINISH,0.8,1.023102
$STATE,19476,end surface coast,CONTROL_FINISHED_OK
$STATE,19477,begin surface
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$HUMID,57.75
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$TCM_TEMP,24.50
$XPDR_PINGS,61
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$10V_AH,10.4,18.863
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.025,188.725,406.425,29.525,0.000,23.907,44.135,204.696,15.250,0.000,30.824,1517.910,14926.138,549.954,2249.854,730.842,33.361,1501.367,0.000,2226.846,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,57341,736
$CAP_FILE_SIZE,166967,0
$CFSIZE,260165632,118005760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160213,104205,1927.737,-8115.470,34,1.2,34,-3.8