version: 66.06
glider: 146
mission: 8
dive: 161
start: 2 18 113 0 20 12
data:
$ID,146
$MISSION,8
$DIVE,161
$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,-310481.09
$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,77
$R_STBD_OVSHOOT,45
$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
$GPS1,000736,1924.953,-8113.562,118,1.0,118,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.8
$GPS2,001919,1924.966,-8113.667,10,1.0,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.227,0.125
$KALMAN_X,-359.8,-215.2,-27.9,-11539.1,-70.1
$KALMAN_Y,-1397.4,103.1,-97.5,2634.3,-188.0
$MHEAD_RNG_PITCHd_Wd,302.7,8454,-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,-71.25,0.000,2,0.000,0.000,466,2158,3426,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.6,-5.7,9,124,13.70,2.58,-6.50,0.000,4,0.166,0.035,2979,3781,3788,0,0,0,0,0,0
$GC,181,-1.12,-146.0,28.6,-22.0,20,190,0.15,2.45,0.00,0.000,6,0.081,0.024,3017,2250,3789,0,0,0,0,0,0
$GC,451,-0.99,-146.0,69.2,-14.7,45,457,0.12,2.70,0.00,0.000,4,0.110,0.048,3044,631,3789,0,0,0,0,0,0
$GC,549,-0.99,-146.0,84.3,-12.3,52,559,0.00,2.42,0.00,0.000,6,0.000,0.016,3044,2196,3789,0,0,0,0,0,0
$GC,818,-0.99,-146.0,115.0,-9.5,77,823,0.00,2.58,0.00,0.000,4,0.000,0.044,3044,627,3789,0,0,0,0,0,0
$GC,851,-0.99,-146.0,119.2,-11.6,79,856,0.00,2.40,0.00,0.000,6,0.000,0.021,3045,2193,3789,0,0,0,0,0,0
$GC,1121,-1.05,-146.0,144.5,-8.4,103,1125,0.00,2.47,0.00,0.000,4,0.000,0.038,3044,3769,3790,0,0,0,0,0,0
$GC,1166,-1.14,-146.0,149.0,-8.2,106,1175,0.10,2.50,0.00,0.000,6,0.033,0.021,2988,2185,3790,0,0,0,0,0,0
$GC,1429,-1.14,-146.0,174.3,-9.3,131,1431,0.10,0.00,0.00,0.000,6,0.116,0.000,3012,2185,3790,0,0,0,0,0,0
$GC,1683,-1.14,-146.0,192.3,-6.9,155,1687,0.00,2.53,0.00,0.000,4,0.000,0.032,3012,3778,3790,0,0,0,0,0,0
$GC,1717,-1.18,-146.0,194.5,-7.5,157,1721,0.00,2.47,0.00,0.000,6,0.000,0.019,3012,2187,3791,0,0,0,0,0,0
$GC,2003,-1.21,-146.0,215.2,-7.2,169,2007,0.00,2.55,0.00,0.000,4,0.000,0.050,3011,642,3791,0,0,0,0,0,0
$GC,2064,-1.28,-146.0,220.0,-7.7,170,2069,0.12,2.38,0.00,0.000,6,0.066,0.018,2960,2187,3790,0,0,0,0,0,0
$GC,2327,-1.23,-146.0,243.1,-9.1,177,2332,0.15,2.53,0.00,0.000,4,0.092,0.035,2995,3768,3791,0,0,0,0,0,0
$GC,2367,-1.23,-146.0,246.9,-8.8,178,2371,0.00,2.47,0.00,0.000,6,0.000,0.021,2995,2187,3791,0,0,0,0,0,0
$GC,2650,-1.23,-146.0,269.7,-8.1,185,2654,0.00,2.55,0.00,0.000,4,0.000,0.035,2995,3767,3789,0,0,0,0,0,0
$GC,2693,-1.23,-146.0,272.9,-8.6,186,2697,0.00,2.47,0.00,0.000,6,0.000,0.024,2994,2190,3790,0,0,0,0,0,0
$GC,2977,-1.23,-146.0,296.3,-8.1,193,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2190,3789,0,0,0,0,0,0
$GC,3220,-1.23,-146.0,315.9,-8.0,199,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2190,3788,0,0,0,0,0,0
$GC,3466,-1.23,-146.0,334.9,-7.7,205,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2190,3787,0,0,0,0,0,0
$GC,3707,-1.23,-146.0,353.6,-7.7,211,3712,0.00,2.65,0.00,0.000,4,0.000,0.064,2995,635,3787,0,0,0,0,0,0
$GC,3734,-1.23,-146.0,355.9,-8.7,211,3739,0.00,2.42,0.00,0.000,6,0.000,0.025,2994,2175,3786,0,0,0,0,0,0
$GC,3986,-1.23,-146.0,375.3,-7.7,217,3991,0.00,2.60,0.00,0.000,4,0.000,0.044,2994,3787,3785,0,0,0,0,0,0
$GC,4014,-1.27,-146.0,377.8,-8.4,217,4018,0.00,2.53,0.00,0.000,6,0.000,0.025,2994,2208,3785,0,0,0,0,0,0
$GC,4264,-1.27,-146.0,396.9,-7.6,223,4268,0.00,2.72,0.00,0.000,4,0.000,0.081,2995,627,3784,0,0,0,0,0,0
$GC,4287,-1.27,-146.0,398.6,-8.3,223,4291,0.00,2.47,0.00,0.000,6,0.000,0.027,2995,2195,3784,0,0,0,0,0,0
$GC,4542,-1.31,-146.0,417.9,-7.5,230,4547,0.00,2.62,0.00,0.000,4,0.000,0.048,2994,3787,3783,0,0,0,0,0,0
$GC,4570,-1.35,-146.0,420.1,-7.7,230,4575,0.12,2.58,0.00,0.000,6,0.066,0.038,2944,2199,3783,0,0,0,0,0,0
$GC,4823,-1.29,-146.0,443.3,-9.5,236,4828,0.15,2.67,0.00,0.000,4,0.098,0.051,2978,3790,3782,0,0,0,0,0,0
$GC,4863,-1.29,-146.0,447.3,-9.6,237,4867,0.00,2.60,0.00,0.000,6,0.000,0.042,2978,2204,3782,0,0,0,0,0,0
$GC,5146,-1.29,-146.0,471.0,-8.4,244,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2204,3780,0,0,0,0,0,0
$GC,5392,-1.29,-146.0,491.2,-8.3,250,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2204,3779,0,0,0,0,0,0
$GC,5634,-1.29,-146.0,511.0,-8.0,256,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2204,3778,0,0,0,0,0,0
$GC,5877,-1.29,-146.0,531.1,-8.4,262,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2204,3777,0,0,0,0,0,0
$GC,6121,-1.29,-146.0,551.1,-8.1,268,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2204,3776,0,0,0,0,0,0
$GC,6367,-1.29,-146.0,570.6,-7.9,274,6371,0.00,2.80,0.00,0.000,4,0.000,0.090,2978,3785,3775,0,0,0,0,0,0
$GC,6406,-1.29,-146.0,574.1,-8.5,275,6411,0.00,2.70,0.00,0.000,6,0.000,0.058,2978,2202,3774,0,0,0,0,0,0
$GC,6689,-1.29,-146.0,596.3,-7.7,282,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2202,3773,0,0,0,0,0,0
$GC,6935,-1.29,-146.0,615.1,-7.6,288,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2202,3771,0,0,0,0,0,0
$GC,7177,-1.29,-146.0,633.7,-7.6,294,7182,0.00,3.10,0.00,0.000,4,0.000,0.136,2978,626,3770,0,0,0,0,0,0
$GC,7198,-1.29,-146.0,635.4,-7.8,294,7203,0.00,2.67,0.00,0.000,6,0.000,0.064,2978,2185,3769,0,0,0,0,0,0
$GC,7456,-1.29,-146.0,654.9,-7.7,301,7460,0.00,2.97,0.00,0.000,4,0.000,0.108,2978,3794,3768,0,0,0,0,0,0
$GC,7500,-1.33,-146.0,658.7,-8.4,302,7505,0.00,2.85,0.00,0.000,6,0.000,0.087,2978,2204,3769,0,0,0,0,0,0
$GC,7780,-1.33,-146.0,680.2,-7.6,309,7785,0.00,3.10,0.00,0.000,4,0.000,0.134,2978,621,3767,0,0,0,0,0,0
$GC,7815,-1.33,-146.0,683.0,-8.1,309,7820,0.00,2.83,0.00,0.000,6,0.000,0.084,2978,2203,3766,0,0,0,0,0,0
$GC,8065,-1.33,-146.0,702.6,-7.8,316,8069,0.00,3.05,0.00,0.000,4,0.000,0.127,2978,3797,3766,0,0,0,0,0,0
$GC,8104,-1.33,-146.0,705.9,-8.5,317,8109,0.00,2.83,0.00,0.000,6,0.000,0.076,2978,2189,3765,0,0,0,0,0,0
$GC,8387,-1.33,-146.0,727.6,-7.6,324,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2189,3763,0,0,0,0,0,0
$GC,8631,-1.33,-146.0,746.0,-7.5,330,8635,0.00,2.90,0.00,0.000,4,0.000,0.093,2978,3803,3762,0,0,0,0,0,0
$GC,8670,-1.33,-146.0,749.2,-8.6,331,8675,0.00,2.78,0.00,0.000,6,0.000,0.070,2978,2206,3762,0,0,0,0,0,0
$GC,8955,-1.33,-146.0,770.3,-7.3,338,8960,0.00,3.03,0.00,0.000,4,0.000,0.125,2978,623,3761,0,0,0,0,0,0
$GC,8977,-1.33,-146.0,772.2,-7.7,338,8982,0.00,2.72,0.00,0.000,6,0.000,0.067,2978,2208,3761,0,0,0,0,0,0
$GC,9232,-1.33,-146.0,790.1,-6.9,345,9237,0.00,2.88,0.00,0.000,4,0.000,0.096,2978,3797,3760,0,0,0,0,0,0
$GC,9284,-1.37,-146.0,794.0,-7.6,346,9289,0.00,2.75,0.00,0.000,6,0.000,0.062,2978,2205,3760,0,0,0,0,0,0
$GC,9556,-1.37,-146.0,814.4,-7.5,353,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2205,3759,0,0,0,0,0,0
$GC,9800,-1.37,-146.0,833.3,-7.8,359,9804,0.00,2.80,0.00,0.000,4,0.000,0.083,2978,3804,3758,0,0,0,0,0,0
$GC,9823,-1.37,-146.0,835.1,-8.1,359,9828,0.00,2.75,0.00,0.000,6,0.000,0.064,2978,2210,3757,0,0,0,0,0,0
$GC,10078,-1.37,-146.0,855.4,-8.0,366,10083,0.00,2.80,0.00,0.000,4,0.000,0.078,2978,3797,3756,0,0,0,0,0,0
$GC,10122,-1.42,-146.0,859.2,-8.6,367,10128,0.12,2.70,0.00,0.000,6,0.070,0.064,2934,2227,3756,0,0,0,0,0,0
$GC,10403,-1.37,-146.0,884.9,-9.4,374,10409,0.12,3.10,0.00,0.000,4,0.110,0.123,2961,618,3755,0,0,0,0,0,0
$GC,10443,-1.37,-146.0,888.7,-8.8,375,10448,0.00,2.75,0.00,0.000,6,0.000,0.061,2961,2232,3755,0,0,0,0,0,0
$STATE,10603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10603,begin apogee
$GC,10612,-0.31,0.0,901.9,8.0,379,10734,1.00,0.00,119.05,1.220,6,0.070,0.000,3191,2374,3190,0,0,0,0,0,0
$STATE,10735,end apogee,CONTROL_FINISHED_OK
$STATE,10735,begin climb
$GC,10738,1.27,146.0,904.9,0.0,382,10875,1.42,2.92,127.38,1.187,4,0.035,0.089,3542,3931,2593,0,0,0,0,0,0
$GC,10942,1.13,146.0,890.5,13.0,386,10949,0.17,2.70,0.00,0.000,6,0.113,0.051,3507,2365,2589,0,0,0,0,0,0
$GC,11193,1.10,146.0,864.8,10.2,393,11194,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2364,2585,0,0,0,0,0,0
$GC,11438,1.11,155.8,841.0,9.5,399,11452,0.00,2.80,8.40,0.972,4,0.000,0.061,3507,3941,2555,0,0,0,0,0,0
$GC,11498,1.05,155.8,834.3,11.6,400,11503,0.00,2.65,0.00,0.000,6,0.000,0.043,3508,2366,2554,0,0,0,0,0,0
$GC,11767,1.05,157.2,807.9,9.9,407,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2366,2552,0,0,0,0,0,0
$GC,12009,1.07,171.3,784.7,9.3,413,12029,0.00,2.78,15.15,1.059,4,0.000,0.055,3507,3947,2491,0,0,0,0,0,0
$GC,12052,1.01,171.3,780.4,10.5,414,12057,0.12,2.67,0.00,0.000,6,0.123,0.044,3483,2369,2490,0,0,0,0,0,0
$GC,12332,1.05,199.2,755.8,8.7,421,12360,0.00,0.00,26.62,1.087,6,0.000,0.000,3483,2369,2378,0,0,0,0,0,0
$GC,12574,1.10,210.5,732.9,9.5,427,12592,0.00,2.75,11.45,0.997,4,0.000,0.058,3483,3941,2332,0,0,0,0,0,0
$GC,12604,1.10,210.5,729.8,10.0,427,12609,0.00,2.65,0.00,0.000,6,0.000,0.045,3483,2383,2331,0,0,0,0,0,0
$GC,12857,1.14,210.5,704.5,10.2,433,12859,0.10,0.00,0.00,0.000,6,0.087,0.000,3515,2383,2329,0,0,0,0,0,0
$GC,13098,1.14,210.5,678.2,10.7,439,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2383,2328,0,0,0,0,0,0
$GC,13341,1.14,210.5,652.2,10.6,445,13346,0.00,2.62,0.00,0.000,4,0.000,0.054,3515,3939,2327,0,0,0,0,0,0
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$STATE,19407,end climb,SURFACE_DEPTH_REACHED
$STATE,19407,begin surface coast
$FINISH,1.1,1.003866
$STATE,19451,end surface coast,CONTROL_FINISHED_OK
$STATE,19452,begin surface
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$HUMID,56.53
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$TCM_TEMP,24.40
$XPDR_PINGS,71
$24V_AH,23.3,22.903
$10V_AH,10.4,19.879
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.550,217.975,371.375,56.875,0.000,54.419,74.353,332.934,17.750,0.000,11.489,1580.938,14738.573,558.742,2395.784,952.864,32.346,1588.206,0.000,2391.649,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,57305,740
$CAP_FILE_SIZE,180837,0
$CFSIZE,260165632,117415936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180213,054751,1925.963,-8116.458,63,2.2,82,-3.7