version: 66.06
glider: 146
mission: 8
dive: 167
start: 2 19 113 7 54 54
data:
$ID,146
$MISSION,8
$DIVE,167
$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,0
$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,-310656.81
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,073936,1927.627,-8114.440,28,1.9,28,-3.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.2
$GPS2,075405,1927.645,-8114.643,30,1.4,35,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.117
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,120.5,12983,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-71.00,0.000,2,0.000,0.000,464,2193,3519,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.6,-4.8,9,120,13.77,2.55,-5.05,0.000,4,0.168,0.050,2977,629,3786,0,0,0,0,0,0
$GC,192,-1.08,-146.0,27.7,-18.4,22,202,0.17,2.50,0.00,0.000,6,0.087,0.016,3019,2234,3787,0,0,0,0,0,0
$GC,460,-0.95,-146.0,70.1,-15.2,47,465,0.15,2.65,0.00,0.000,4,0.103,0.045,3053,637,3787,0,0,0,0,0,0
$GC,508,-0.87,-146.0,77.5,-15.0,50,512,0.00,2.42,0.00,0.000,6,0.000,0.016,3053,2210,3787,0,0,0,0,0,0
$GC,771,-0.82,-146.0,110.6,-11.8,74,773,0.12,0.00,0.00,0.000,6,0.104,0.000,3083,2212,3788,0,0,0,0,0,0
$GC,1027,-0.90,-146.0,134.5,-8.5,98,1032,0.00,2.60,0.00,0.000,4,0.000,0.044,3083,632,3788,0,0,0,0,0,0
$GC,1104,-1.03,-146.0,140.8,-7.8,104,1109,0.20,2.38,0.00,0.000,6,0.048,0.024,3008,2200,3788,0,0,0,0,0,0
$GC,1365,-1.03,-146.0,166.4,-8.5,128,1370,0.12,2.58,0.00,0.000,4,0.095,0.046,3038,630,3789,0,0,0,0,0,0
$GC,1382,-1.03,-146.0,167.8,-8.1,129,1387,0.00,2.38,0.00,0.000,6,0.000,0.015,3038,2200,3789,0,0,0,0,0,0
$GC,1646,-1.10,-146.0,185.9,-7.3,153,1650,0.00,2.55,0.00,0.000,4,0.000,0.048,3038,634,3789,0,0,0,0,0,0
$GC,1703,-1.21,-146.0,190.8,-8.1,157,1709,0.17,2.38,0.00,0.000,6,0.052,0.016,2971,2183,3789,0,0,0,0,0,0
$GC,1981,-1.16,-146.0,215.3,-9.2,172,1982,0.15,0.00,0.00,0.000,6,0.092,0.000,3005,2184,3789,0,0,0,0,0,0
$GC,2222,-1.16,-146.0,233.6,-7.3,178,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2184,3789,0,0,0,0,0,0
$GC,2465,-1.16,-146.0,252.4,-7.7,184,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2184,3788,0,0,0,0,0,0
$GC,2710,-1.21,-146.0,270.2,-7.2,190,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2184,3788,0,0,0,0,0,0
$GC,2955,-1.25,-146.0,288.6,-7.6,196,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2183,3787,0,0,0,0,0,0
$GC,3197,-1.29,-146.0,307.4,-7.8,202,3202,0.12,2.60,0.00,0.000,4,0.064,0.060,2952,631,3786,0,0,0,0,0,0
$GC,3231,-1.22,-146.0,310.7,-9.9,202,3237,0.17,2.42,0.00,0.000,6,0.088,0.028,2994,2177,3787,0,0,0,0,0,0
$GC,3483,-1.22,-146.0,331.3,-8.1,209,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2177,3785,0,0,0,0,0,0
$GC,3724,-1.22,-146.0,349.8,-7.5,215,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2177,3784,0,0,0,0,0,0
$GC,3968,-1.22,-146.0,367.9,-7.4,221,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2177,3784,0,0,0,0,0,0
$GC,4214,-1.22,-146.0,386.7,-7.9,227,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2177,3783,0,0,0,0,0,0
$GC,4455,-1.22,-146.0,405.7,-7.7,233,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2177,3782,0,0,0,0,0,0
$GC,4699,-1.22,-146.0,424.4,-7.6,239,4703,0.00,2.65,0.00,0.000,4,0.000,0.068,2994,642,3781,0,0,0,0,0,0
$GC,4720,-1.22,-146.0,426.2,-8.0,239,4725,0.00,2.47,0.00,0.000,6,0.000,0.033,2994,2181,3781,0,0,0,0,0,0
$GC,4979,-1.25,-146.0,445.6,-7.6,246,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2181,3780,0,0,0,0,0,0
$GC,5220,-1.29,-146.0,464.4,-7.8,252,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2181,3779,0,0,0,0,0,0
$GC,5464,-1.33,-146.0,482.8,-7.4,258,5469,0.10,2.75,0.00,0.000,4,0.081,0.067,2953,3790,3778,0,0,0,0,0,0
$GC,5482,-1.33,-146.0,484.4,-7.8,258,5487,0.00,2.60,0.00,0.000,6,0.000,0.040,2953,2209,3778,0,0,0,0,0,0
$GC,5744,-1.29,-146.0,508.6,-9.3,265,5749,0.12,2.88,0.00,0.000,4,0.102,0.097,2982,623,3777,0,0,0,0,0,0
$GC,5766,-1.29,-146.0,510.7,-8.6,265,5770,0.00,2.58,0.00,0.000,6,0.000,0.044,2982,2196,3777,0,0,0,0,0,0
$GC,6023,-1.29,-146.0,531.8,-8.4,272,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2196,3776,0,0,0,0,0,0
$GC,6264,-1.29,-146.0,553.1,-8.7,278,6269,0.00,2.83,0.00,0.000,4,0.000,0.092,2982,624,3775,0,0,0,0,0,0
$GC,6280,-1.29,-146.0,554.5,-8.6,278,6285,0.00,2.60,0.00,0.000,6,0.000,0.051,2982,2200,3775,0,0,0,0,0,0
$GC,6543,-1.29,-146.0,575.7,-7.9,285,6548,0.00,2.83,0.00,0.000,4,0.000,0.089,2981,628,3773,0,0,0,0,0,0
$GC,6559,-1.29,-146.0,577.2,-7.7,285,6563,0.00,2.62,0.00,0.000,6,0.000,0.047,2981,2201,3773,0,0,0,0,0,0
$GC,6819,-1.29,-146.0,597.2,-7.7,292,6824,0.00,2.85,0.00,0.000,4,0.000,0.092,2982,3796,3771,0,0,0,0,0,0
$GC,6837,-1.29,-146.0,598.5,-7.7,292,6842,0.00,2.72,0.00,0.000,6,0.000,0.064,2981,2201,3771,0,0,0,0,0,0
$GC,7098,-1.29,-146.0,619.0,-7.9,299,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3770,0,0,0,0,0,0
$GC,7342,-1.29,-146.0,637.5,-7.6,305,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3769,0,0,0,0,0,0
$GC,7585,-1.29,-146.0,655.8,-7.6,311,7590,0.00,3.05,0.00,0.000,4,0.000,0.127,2982,624,3767,0,0,0,0,0,0
$GC,7603,-1.29,-146.0,657.1,-7.5,311,7608,0.00,2.75,0.00,0.000,6,0.000,0.067,2982,2206,3767,0,0,0,0,0,0
$GC,7864,-1.29,-146.0,676.6,-7.4,318,7869,0.00,2.95,0.00,0.000,4,0.000,0.114,2982,3802,3766,0,0,0,0,0,0
$GC,7882,-1.29,-146.0,678.2,-7.6,318,7887,0.00,2.80,0.00,0.000,6,0.000,0.072,2981,2203,3766,0,0,0,0,0,0
$GC,8143,-1.29,-146.0,698.2,-7.7,325,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3765,0,0,0,0,0,0
$GC,8386,-1.29,-146.0,717.0,-7.7,331,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2202,3763,0,0,0,0,0,0
$GC,8630,-1.29,-146.0,735.3,-7.5,337,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2200,3762,0,0,0,0,0,0
$GC,8876,-1.29,-146.0,753.2,-7.3,343,8881,0.00,2.85,0.00,0.000,4,0.000,0.087,2981,3804,3761,0,0,0,0,0,0
$GC,8903,-1.29,-146.0,755.6,-8.2,343,8907,0.00,2.78,0.00,0.000,6,0.000,0.064,2982,2202,3761,0,0,0,0,0,0
$GC,9153,-1.29,-146.0,773.8,-7.2,349,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3761,0,0,0,0,0,0
$GC,9397,-1.33,-146.0,791.7,-7.3,355,9402,0.00,2.80,0.00,0.000,4,0.000,0.082,2982,3801,3759,0,0,0,0,0,0
$GC,9421,-1.33,-146.0,793.4,-7.7,355,9425,0.00,2.75,0.00,0.000,6,0.000,0.068,2982,2203,3759,0,0,0,0,0,0
$GC,9676,-1.37,-146.0,811.9,-7.3,362,9681,0.00,3.00,0.00,0.000,4,0.000,0.117,2982,619,3758,0,0,0,0,0,0
$GC,9697,-1.37,-146.0,813.6,-7.6,362,9702,0.00,2.70,0.00,0.000,6,0.000,0.061,2982,2211,3757,0,0,0,0,0,0
$GC,9957,-1.41,-146.0,832.0,-7.1,369,9962,0.12,2.85,0.00,0.000,4,0.073,0.094,2938,3796,3756,0,0,0,0,0,0
$GC,9979,-1.41,-146.0,834.2,-8.3,369,9983,0.00,2.70,0.00,0.000,6,0.000,0.058,2937,2213,3756,0,0,0,0,0,0
$GC,10237,-1.37,-146.0,856.1,-8.6,376,10242,0.10,3.03,0.00,0.000,4,0.118,0.114,2959,615,3755,0,0,0,0,0,0
$GC,10259,-1.37,-146.0,858.5,-9.4,376,10263,0.00,2.70,0.00,0.000,6,0.000,0.055,2959,2209,3754,0,0,0,0,0,0
$GC,10514,-1.37,-146.0,879.3,-8.1,383,10519,0.00,2.85,0.00,0.000,4,0.000,0.096,2959,3802,3754,0,0,0,0,0,0
$GC,10530,-1.37,-146.0,880.6,-7.8,383,10534,0.00,2.72,0.00,0.000,6,0.000,0.060,2959,2210,3753,0,0,0,0,0,0
$STATE,10788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10788,begin apogee
$GC,10796,-0.31,0.0,902.3,8.3,390,10918,1.00,0.00,118.65,1.220,6,0.070,0.000,3189,2382,3190,0,0,0,0,0,0
$STATE,10919,end apogee,CONTROL_FINISHED_OK
$STATE,10919,begin climb
$GC,10922,1.27,146.0,906.0,0.0,393,11058,1.45,2.78,127.47,1.187,4,0.035,0.074,3545,3927,2593,0,0,0,0,0,0
$GC,11161,1.13,146.0,888.6,12.4,398,11166,0.20,2.70,0.00,0.000,6,0.114,0.053,3507,2368,2587,0,0,0,0,0,0
$GC,11419,1.09,152.0,863.3,9.7,405,11430,0.00,2.72,5.20,0.825,4,0.000,0.066,3506,3927,2570,0,0,0,0,0,0
$GC,11480,1.03,152.0,856.8,10.6,406,11485,0.10,2.65,0.00,0.000,6,0.133,0.047,3487,2372,2569,0,0,0,0,0,0
$GC,11743,1.07,183.6,834.1,8.5,413,11779,0.00,3.12,29.85,1.120,4,0.000,0.123,3487,783,2440,0,0,0,0,0,0
$GC,11796,1.08,195.4,829.2,9.5,413,11815,0.00,2.70,12.07,1.029,6,0.000,0.047,3487,2377,2393,0,0,0,0,0,0
$GC,12068,1.10,210.3,804.0,9.3,420,12088,0.00,2.78,14.75,1.056,4,0.000,0.074,3487,3937,2331,0,0,0,0,0,0
$GC,12138,1.10,210.3,796.2,10.1,421,12142,0.00,2.62,0.00,0.000,6,0.000,0.040,3487,2377,2329,0,0,0,0,0,0
$GC,12388,1.10,210.3,771.0,10.1,427,12392,0.00,2.67,0.00,0.000,4,0.000,0.052,3487,3942,2327,0,0,0,0,0,0
$GC,12422,1.10,210.3,767.3,10.6,427,12428,0.00,2.62,0.00,0.000,6,0.000,0.041,3487,2390,2327,0,0,0,0,0,0
$GC,12672,1.14,210.3,741.2,10.3,434,12674,0.10,0.00,0.00,0.000,6,0.089,0.000,3517,2390,2326,0,0,0,0,0,0
$GC,12916,1.14,210.3,713.1,11.6,440,12920,0.00,2.62,0.00,0.000,4,0.000,0.060,3517,3940,2325,0,0,0,0,0,0
$GC,12968,1.14,210.3,707.0,11.8,441,12973,0.00,2.60,0.00,0.000,6,0.000,0.046,3517,2394,2325,0,0,0,0,0,0
$GC,13241,1.14,210.3,676.6,10.8,448,13245,0.00,2.62,0.00,0.000,4,0.000,0.056,3517,3934,2324,0,0,0,0,0,0
$GC,13284,1.14,210.3,672.1,11.4,449,13288,0.00,2.55,0.00,0.000,6,0.000,0.040,3517,2399,2323,0,0,0,0,0,0
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$STATE,19560,end climb,SURFACE_DEPTH_REACHED
$STATE,19560,begin surface coast
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$STATE,19590,end surface coast,CONTROL_FINISHED_OK
$STATE,19590,begin surface
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$XPDR_PINGS,63
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$10V_AH,10.4,20.651
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.350,222.275,382.575,48.850,0.000,53.246,73.504,479.789,15.750,0.000,36.928,1575.443,14902.503,558.098,2391.835,1095.502,29.243,1586.476,0.000,2362.044,0.000,0.537,0.000
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$MEM,355824
$DATA_FILE_SIZE,57295,746
$CAP_FILE_SIZE,183925,0
$CFSIZE,260165632,116977664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190213,132407,1927.161,-8112.651,46,1.5,46,-3.8