version: 66.06
glider: 146
mission: 8
dive: 159
start: 2 17 113 12 54 10
data:
$ID,146
$MISSION,8
$DIVE,159
$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,-310431.06
$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,61
$R_STBD_OVSHOOT,17
$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
$GPS1,123354,1924.167,-8107.847,144,1.0,144,-3.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.5
$GPS2,125319,1924.051,-8107.995,14,1.2,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.059
$KALMAN_X,71.9,71.9,71.9,-2463.5,-130.9
$KALMAN_Y,-214.6,-214.6,-214.6,209.7,390.4
$MHEAD_RNG_PITCHd_Wd,287.0,18306,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.50,0.000,2,0.000,0.000,470,2172,3304,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-3.5,8,116,13.60,0.00,-9.65,0.000,6,0.164,0.000,2979,2172,3787,0,0,0,0,0,0
$GC,393,-1.07,-146.0,63.6,-18.8,42,398,0.22,2.62,0.00,0.000,4,0.107,0.028,3027,3818,3788,0,0,0,0,0,0
$GC,418,-0.92,-146.0,68.6,-17.5,43,427,0.10,2.50,0.00,0.000,6,0.076,0.022,3056,2242,3789,0,0,0,0,0,0
$GC,681,-0.87,-146.0,101.7,-12.1,68,686,0.00,2.62,0.00,0.000,4,0.000,0.044,3056,637,3789,0,0,0,0,0,0
$GC,751,-0.87,-146.0,109.5,-11.7,73,755,0.00,2.45,0.00,0.000,6,0.000,0.022,3056,2241,3788,0,0,0,0,0,0
$GC,1018,-0.91,-146.0,136.9,-9.0,97,1022,0.00,2.65,0.00,0.000,4,0.000,0.044,3056,628,3789,0,0,0,0,0,0
$GC,1060,-0.98,-146.0,140.7,-7.9,100,1065,0.00,2.40,0.00,0.000,6,0.000,0.025,3056,2199,3789,0,0,0,0,0,0
$GC,1327,-1.07,-146.0,160.3,-6.7,124,1332,0.12,2.50,0.00,0.000,4,0.067,0.038,3001,3778,3789,0,0,0,0,0,0
$GC,1375,-1.07,-146.0,164.5,-9.3,127,1381,0.12,2.47,0.00,0.000,6,0.094,0.019,3031,2192,3789,0,0,0,0,0,0
$GC,1638,-1.13,-146.0,185.1,-8.3,152,1642,0.00,2.53,0.00,0.000,4,0.000,0.056,3031,643,3789,0,0,0,0,0,0
$GC,1694,-1.22,-146.0,189.7,-8.5,156,1699,0.15,2.40,0.00,0.000,6,0.058,0.025,2971,2208,3789,0,0,0,0,0,0
$GC,1971,-1.17,-146.0,215.5,-9.4,170,1976,0.15,2.50,0.00,0.000,4,0.092,0.041,3006,3769,3789,0,0,0,0,0,0
$GC,2023,-1.22,-146.0,220.4,-9.5,171,2027,0.00,2.45,0.00,0.000,6,0.000,0.020,3006,2203,3789,0,0,0,0,0,0
$GC,2297,-1.22,-146.0,242.3,-7.9,178,2301,0.00,2.58,0.00,0.000,4,0.000,0.052,3006,637,3788,0,0,0,0,0,0
$GC,2324,-1.22,-146.0,244.8,-8.1,178,2328,0.00,2.40,0.00,0.000,6,0.000,0.018,3006,2216,3789,0,0,0,0,0,0
$GC,2577,-1.26,-146.0,263.3,-7.5,184,2581,0.00,2.47,0.00,0.000,4,0.000,0.041,3006,3778,3788,0,0,0,0,0,0
$GC,2598,-1.29,-146.0,265.2,-7.3,184,2603,0.12,2.45,0.00,0.000,6,0.064,0.021,2950,2200,3787,0,0,0,0,0,0
$GC,2854,-1.23,-146.0,289.7,-9.7,191,2859,0.20,2.60,0.00,0.000,4,0.087,0.058,2996,639,3787,0,0,0,0,0,0
$GC,2878,-1.23,-146.0,292.0,-9.5,191,2883,0.00,2.42,0.00,0.000,6,0.000,0.020,2996,2201,3787,0,0,0,0,0,0
$GC,3133,-1.23,-146.0,311.6,-7.6,198,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2202,3786,0,0,0,0,0,0
$GC,3377,-1.23,-146.0,330.4,-7.8,204,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2201,3785,0,0,0,0,0,0
$GC,3621,-1.23,-146.0,350.1,-8.1,210,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2201,3784,0,0,0,0,0,0
$GC,3867,-1.23,-146.0,369.9,-8.1,216,3871,0.00,2.55,0.00,0.000,4,0.000,0.047,2996,3773,3783,0,0,0,0,0,0
$GC,3911,-1.28,-146.0,373.6,-7.8,217,3915,0.00,2.50,0.00,0.000,6,0.000,0.033,2996,2207,3783,0,0,0,0,0,0
$GC,4188,-1.28,-146.0,394.7,-7.6,224,4193,0.00,2.72,0.00,0.000,4,0.000,0.083,2996,627,3782,0,0,0,0,0,0
$GC,4217,-1.28,-146.0,396.8,-7.5,224,4222,0.00,2.50,0.00,0.000,6,0.000,0.027,2996,2198,3782,0,0,0,0,0,0
$GC,4468,-1.32,-146.0,416.1,-7.7,230,4469,0.10,0.00,0.00,0.000,6,0.078,0.000,2952,2197,3780,0,0,0,0,0,0
$GC,4714,-1.28,-146.0,439.7,-9.8,236,4719,0.12,2.65,0.00,0.000,4,0.100,0.056,2981,3787,3779,0,0,0,0,0,0
$GC,4758,-1.28,-146.0,444.2,-9.3,237,4762,0.00,2.58,0.00,0.000,6,0.000,0.041,2981,2211,3780,0,0,0,0,0,0
$GC,5036,-1.28,-146.0,467.5,-8.3,244,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2211,3778,0,0,0,0,0,0
$GC,5281,-1.28,-146.0,486.5,-7.7,250,5286,0.00,2.88,0.00,0.000,4,0.000,0.096,2981,627,3777,0,0,0,0,0,0
$GC,5303,-1.28,-146.0,488.3,-7.2,250,5307,0.00,2.60,0.00,0.000,6,0.000,0.046,2981,2211,3777,0,0,0,0,0,0
$GC,5558,-1.28,-146.0,508.0,-8.0,257,5562,0.00,2.70,0.00,0.000,4,0.000,0.076,2981,3793,3776,0,0,0,0,0,0
$GC,5579,-1.28,-146.0,509.8,-7.8,257,5584,0.00,2.62,0.00,0.000,6,0.000,0.049,2981,2218,3776,0,0,0,0,0,0
$GC,5836,-1.28,-146.0,531.1,-8.3,264,5841,0.00,2.92,0.00,0.000,4,0.000,0.105,2981,623,3774,0,0,0,0,0,0
$GC,5863,-1.28,-146.0,533.7,-8.7,264,5868,0.00,2.62,0.00,0.000,6,0.000,0.044,2981,2211,3774,0,0,0,0,0,0
$GC,6115,-1.28,-146.0,554.4,-8.2,270,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2212,3773,0,0,0,0,0,0
$GC,6357,-1.28,-146.0,573.7,-7.8,276,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3771,0,0,0,0,0,0
$GC,6603,-1.28,-146.0,592.5,-7.7,282,6608,0.00,2.88,0.00,0.000,4,0.000,0.097,2981,3794,3770,0,0,0,0,0,0
$GC,6635,-1.28,-146.0,595.3,-8.1,282,6641,0.00,2.70,0.00,0.000,6,0.000,0.060,2981,2204,3770,0,0,0,0,0,0
$GC,6888,-1.28,-146.0,613.4,-7.3,289,6892,0.00,3.03,0.00,0.000,4,0.000,0.123,2981,620,3769,0,0,0,0,0,0
$GC,6909,-1.28,-146.0,615.3,-7.6,289,6914,0.00,2.70,0.00,0.000,6,0.000,0.058,2981,2209,3768,0,0,0,0,0,0
$GC,7164,-1.28,-146.0,634.6,-7.6,296,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3767,0,0,0,0,0,0
$GC,7410,-1.28,-146.0,653.5,-7.8,302,7415,0.00,2.92,0.00,0.000,4,0.000,0.108,2981,3800,3766,0,0,0,0,0,0
$GC,7454,-1.32,-146.0,657.3,-8.5,303,7459,0.00,2.85,0.00,0.000,6,0.000,0.089,2981,2210,3765,0,0,0,0,0,0
$GC,7732,-1.32,-146.0,678.4,-7.6,310,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3764,0,0,0,0,0,0
$GC,7978,-1.32,-146.0,696.9,-7.6,316,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3762,0,0,0,0,0,0
$GC,8219,-1.32,-146.0,714.4,-7.1,322,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3761,0,0,0,0,0,0
$GC,8463,-1.32,-146.0,731.4,-7.0,328,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3761,0,0,0,0,0,0
$GC,8707,-1.32,-146.0,748.5,-7.1,334,8712,0.00,3.22,0.00,0.000,4,0.000,0.148,2981,3793,3760,0,0,0,0,0,0
$GC,8742,-1.36,-146.0,751.1,-8.2,334,8748,0.00,2.72,0.00,0.000,6,0.000,0.071,2981,2213,3760,0,0,0,0,0,0
$GC,8992,-1.36,-146.0,770.0,-7.4,341,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3758,0,0,0,0,0,0
$GC,9236,-1.40,-146.0,788.6,-7.7,347,9241,0.12,2.85,0.00,0.000,4,0.075,0.089,2939,3802,3756,0,0,0,0,0,0
$GC,9266,-1.36,-146.0,791.2,-10.3,347,9271,0.12,2.75,0.00,0.000,6,0.104,0.070,2966,2219,3757,0,0,0,0,0,0
$GC,9516,-1.36,-146.0,811.5,-7.9,353,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2218,3756,0,0,0,0,0,0
$GC,9759,-1.36,-146.0,830.6,-7.8,359,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2219,3754,0,0,0,0,0,0
$GC,10005,-1.36,-146.0,849.8,-8.0,365,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2217,3753,0,0,0,0,0,0
$GC,10247,-1.36,-146.0,868.9,-7.7,371,10252,0.00,2.78,0.00,0.000,4,0.000,0.080,2966,3800,3752,0,0,0,0,0,0
$GC,10291,-1.36,-146.0,872.6,-8.2,372,10295,0.00,2.70,0.00,0.000,6,0.000,0.062,2966,2231,3752,0,0,0,0,0,0
$GC,10570,-1.36,-146.0,893.3,-7.4,379,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2231,3751,0,0,0,0,0,0
$STATE,10687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10687,begin apogee
$GC,10694,-0.31,0.0,902.4,7.5,382,10815,0.98,0.00,117.97,1.218,6,0.071,0.000,3190,2386,3190,0,0,0,0,0,0
$STATE,10816,end apogee,CONTROL_FINISHED_OK
$STATE,10816,begin climb
$GC,10818,1.27,146.0,904.7,0.0,385,10955,1.45,2.85,126.57,1.186,4,0.037,0.077,3544,3935,2593,0,0,0,0,0,0
$GC,11006,1.13,146.0,891.7,12.1,389,11011,0.17,2.72,0.00,0.000,6,0.116,0.052,3508,2368,2589,0,0,0,0,0,0
$GC,11269,1.09,146.0,864.9,10.1,396,11274,0.00,2.72,0.00,0.000,4,0.000,0.067,3508,3931,2585,0,0,0,0,0,0
$GC,11296,1.02,146.0,861.8,10.6,396,11302,0.12,2.65,0.00,0.000,6,0.126,0.051,3483,2372,2585,0,0,0,0,0,0
$GC,11546,1.06,183.7,840.5,8.3,402,11585,0.00,0.00,33.60,1.122,6,0.000,0.000,3483,2372,2440,0,0,0,0,0,0
$GC,11832,1.08,197.9,814.3,9.3,409,11847,0.00,0.00,13.85,1.051,6,0.000,0.000,3483,2372,2383,0,0,0,0,0,0
$GC,12073,1.09,205.4,791.0,9.7,415,12084,0.00,0.00,8.32,0.958,6,0.000,0.000,3483,2372,2352,0,0,0,0,0,0
$GC,12318,1.13,206.0,766.9,10.0,421,12323,0.10,2.70,0.00,0.000,4,0.086,0.056,3513,3934,2350,0,0,0,0,0,0
$GC,12335,1.13,206.0,764.8,10.3,421,12340,0.00,2.65,0.00,0.000,6,0.000,0.041,3513,2365,2349,0,0,0,0,0,0
$GC,12596,1.13,206.0,735.6,11.1,428,12600,0.00,2.67,0.00,0.000,4,0.000,0.060,3513,3932,2348,0,0,0,0,0,0
$GC,12611,1.13,206.0,733.7,11.1,428,12615,0.00,2.62,0.00,0.000,6,0.000,0.043,3513,2364,2348,0,0,0,0,0,0
$GC,12880,1.13,206.0,704.6,10.9,435,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2364,2347,0,0,0,0,0,0
$GC,13121,1.13,206.0,678.2,10.7,441,13126,0.00,2.67,0.00,0.000,4,0.000,0.058,3513,3937,2347,0,0,0,0,0,0
$GC,13156,1.09,206.0,674.2,12.3,441,13161,0.00,2.62,0.00,0.000,6,0.000,0.047,3514,2374,2346,0,0,0,0,0,0
$GC,13405,1.09,206.0,646.7,11.0,448,13410,0.00,2.65,0.00,0.000,4,0.000,0.053,3513,3937,2346,0,0,0,0,0,0
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$STATE,19471,end climb,SURFACE_DEPTH_REACHED
$STATE,19471,begin surface coast
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$STATE,19513,end surface coast,CONTROL_FINISHED_OK
$STATE,19514,begin surface
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$TCM_TEMP,24.40
$XPDR_PINGS,64
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$10V_AH,10.4,19.617
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.150,189.900,385.150,44.750,0.000,153.825,208.122,361.229,16.000,0.000,16.311,1541.041,15127.111,555.950,2292.141,1225.776,30.193,1525.840,0.000,2289.055,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355824
$DATA_FILE_SIZE,57344,744
$CAP_FILE_SIZE,177883,0
$CFSIZE,260165632,117567488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170213,182219,1924.385,-8110.672,43,99.0,62,-3.8