version: 66.06
glider: 146
mission: 8
dive: 180
start: 2 22 113 2 59 32
data:
$ID,146
$MISSION,8
$DIVE,180
$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,-310897.59
$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,70
$R_STBD_OVSHOOT,22
$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
$GPS1,025136,1927.498,-8113.692,28,1.3,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.4
$GPS2,025837,1927.509,-8113.737,12,1.6,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,-0.087
$KALMAN_X,-6978.7,300.0,85.0,8170.5,-1134.3
$KALMAN_Y,1229.3,463.1,104.4,-2058.3,-253.1
$MHEAD_RNG_PITCHd_Wd,113.3,11467,-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,-71.10,0.000,2,0.000,0.000,464,2161,3474,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-4.2,9,123,13.73,2.65,-5.88,0.000,4,0.167,0.041,2976,3812,3786,0,0,0,0,0,0
$GC,168,-1.12,-146.0,22.4,-17.9,18,178,0.15,2.50,0.00,0.000,6,0.083,0.022,3014,2248,3787,0,0,0,0,0,0
$GC,445,-1.00,-146.0,61.8,-13.9,46,450,0.12,2.65,0.00,0.000,4,0.117,0.046,3042,635,3787,0,0,0,0,0,0
$GC,553,-0.96,-146.0,76.0,-12.3,54,557,0.00,2.45,0.00,0.000,6,0.000,0.016,3042,2224,3787,0,0,0,0,0,0
$GC,818,-0.90,-146.0,108.0,-11.7,78,823,0.10,2.62,0.00,0.000,4,0.117,0.044,3064,627,3788,0,0,0,0,0,0
$GC,899,-0.94,-146.0,117.1,-9.2,84,909,0.00,2.40,0.00,0.000,6,0.000,0.017,3065,2176,3788,0,0,0,0,0,0
$GC,1168,-1.02,-146.0,139.1,-8.0,109,1173,0.12,0.00,0.00,0.000,6,0.067,0.000,3009,2176,3788,0,0,0,0,0,0
$GC,1430,-1.02,-146.0,163.1,-8.0,134,1435,0.12,2.53,0.00,0.000,4,0.096,0.045,3039,636,3789,0,0,0,0,0,0
$GC,1545,-1.08,-146.0,171.3,-7.4,143,1549,0.00,2.35,0.00,0.000,6,0.000,0.022,3039,2188,3789,0,0,0,0,0,0
$GC,1808,-1.17,-146.0,189.0,-7.2,167,1810,0.15,0.00,0.00,0.000,6,0.058,0.000,2979,2188,3790,0,0,0,0,0,0
$GC,2087,-1.17,-146.0,214.8,-8.8,182,2092,0.12,2.58,0.00,0.000,4,0.098,0.051,3008,634,3790,0,0,0,0,0,0
$GC,2127,-1.17,-146.0,218.6,-8.4,183,2131,0.00,2.38,0.00,0.000,6,0.000,0.018,3008,2179,3789,0,0,0,0,0,0
$GC,2412,-1.21,-146.0,238.5,-6.9,190,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2178,3790,0,0,0,0,0,0
$GC,2654,-1.26,-146.0,256.6,-7.4,196,2658,0.00,2.53,0.00,0.000,4,0.000,0.054,3008,637,3790,0,0,0,0,0,0
$GC,2681,-1.30,-146.0,258.8,-8.2,196,2686,0.12,2.38,0.00,0.000,6,0.067,0.024,2954,2178,3790,0,0,0,0,0,0
$GC,2934,-1.24,-146.0,281.8,-9.2,202,2939,0.15,2.58,0.00,0.000,4,0.093,0.058,2988,630,3789,0,0,0,0,0,0
$GC,2984,-1.24,-146.0,286.2,-8.1,203,2988,0.00,2.40,0.00,0.000,6,0.000,0.025,2988,2171,3789,0,0,0,0,0,0
$GC,3256,-1.24,-146.0,306.7,-7.7,210,3260,0.00,2.55,0.00,0.000,4,0.000,0.057,2988,630,3788,0,0,0,0,0,0
$GC,3285,-1.24,-146.0,309.2,-8.8,210,3289,0.00,2.40,0.00,0.000,6,0.000,0.026,2988,2170,3788,0,0,0,0,0,0
$GC,3535,-1.24,-146.0,329.9,-8.2,216,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2170,3788,0,0,0,0,0,0
$GC,3778,-1.24,-146.0,349.7,-8.0,222,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2170,3787,0,0,0,0,0,0
$GC,4024,-1.24,-146.0,369.0,-7.9,228,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2170,3786,0,0,0,0,0,0
$GC,4266,-1.24,-146.0,387.9,-7.6,234,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2170,3785,0,0,0,0,0,0
$GC,4511,-1.24,-146.0,406.2,-7.4,240,4516,0.00,2.60,0.00,0.000,4,0.000,0.066,2988,632,3784,0,0,0,0,0,0
$GC,4527,-1.24,-146.0,407.6,-7.4,240,4532,0.00,2.42,0.00,0.000,6,0.000,0.035,2988,2158,3784,0,0,0,0,0,0
$GC,4791,-1.24,-146.0,427.2,-7.5,247,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2158,3784,0,0,0,0,0,0
$GC,5033,-1.24,-146.0,446.2,-7.8,253,5037,0.00,2.60,0.00,0.000,4,0.000,0.069,2988,638,3783,0,0,0,0,0,0
$GC,5054,-1.24,-146.0,448.2,-8.5,253,5058,0.00,2.45,0.00,0.000,6,0.000,0.033,2988,2152,3782,0,0,0,0,0,0
$GC,5311,-1.24,-146.0,468.2,-7.7,260,5316,0.00,2.62,0.00,0.000,4,0.000,0.072,2988,643,3781,0,0,0,0,0,0
$GC,5327,-1.24,-146.0,469.8,-7.7,260,5332,0.00,2.45,0.00,0.000,6,0.000,0.041,2988,2149,3781,0,0,0,0,0,0
$GC,5589,-1.24,-146.0,489.2,-7.4,267,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2150,3780,0,0,0,0,0,0
$GC,5835,-1.28,-146.0,507.8,-7.6,273,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2149,3779,0,0,0,0,0,0
$GC,6077,-1.32,-146.0,526.6,-7.8,279,6081,0.00,2.83,0.00,0.000,4,0.000,0.083,2988,3771,3778,0,0,0,0,0,0
$GC,6104,-1.37,-146.0,529.0,-8.4,279,6109,0.10,2.65,0.00,0.000,6,0.077,0.051,2943,2183,3778,0,0,0,0,0,0
$GC,6357,-1.32,-146.0,552.4,-9.5,285,6362,0.12,2.90,0.00,0.000,4,0.155,0.107,2971,626,3777,0,0,0,0,0,0
$GC,6379,-1.32,-146.0,554.8,-9.5,285,6383,0.00,2.53,0.00,0.000,6,0.000,0.044,2971,2144,3776,0,0,0,0,0,0
$GC,6634,-1.32,-146.0,576.1,-8.3,292,6639,0.00,2.72,0.00,0.000,4,0.000,0.091,2971,626,3775,0,0,0,0,0,0
$GC,6652,-1.32,-146.0,577.6,-8.3,292,6656,0.00,2.53,0.00,0.000,6,0.000,0.050,2971,2135,3775,0,0,0,0,0,0
$GC,6912,-1.32,-146.0,598.7,-7.9,299,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2135,3774,0,0,0,0,0,0
$GC,7156,-1.32,-146.0,618.9,-8.4,305,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2135,3773,0,0,0,0,0,0
$GC,7400,-1.32,-146.0,639.6,-8.5,311,7405,0.00,2.83,0.00,0.000,4,0.000,0.110,2971,618,3771,0,0,0,0,0,0
$GC,7423,-1.32,-146.0,641.6,-9.2,311,7428,0.00,2.60,0.00,0.000,6,0.000,0.067,2971,2130,3771,0,0,0,0,0,0
$GC,7679,-1.32,-146.0,661.1,-7.4,318,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2130,3769,0,0,0,0,0,0
$GC,7923,-1.32,-146.0,678.4,-7.1,324,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2130,3768,0,0,0,0,0,0
$GC,8169,-1.32,-146.0,696.5,-7.6,330,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2130,3767,0,0,0,0,0,0
$GC,8410,-1.32,-146.0,715.2,-7.7,336,8415,0.00,3.20,0.00,0.000,4,0.000,0.137,2971,3762,3766,0,0,0,0,0,0
$GC,8437,-1.32,-146.0,717.5,-8.3,336,8442,0.00,2.88,0.00,0.000,6,0.000,0.093,2971,2160,3766,0,0,0,0,0,0
$GC,8687,-1.32,-146.0,737.0,-7.9,342,8692,0.00,2.97,0.00,0.000,4,0.000,0.130,2971,622,3764,0,0,0,0,0,0
$GC,8722,-1.32,-146.0,739.6,-8.9,342,8728,0.00,2.65,0.00,0.000,6,0.000,0.071,2971,2132,3764,0,0,0,0,0,0
$GC,8972,-1.32,-146.0,758.8,-7.5,349,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2133,3763,0,0,0,0,0,0
$GC,9216,-1.32,-146.0,776.6,-7.2,355,9221,0.00,2.97,0.00,0.000,4,0.000,0.104,2971,3764,3762,0,0,0,0,0,0
$GC,9268,-1.36,-146.0,780.5,-7.9,356,9273,0.00,2.80,0.00,0.000,6,0.000,0.071,2971,2163,3761,0,0,0,0,0,0
$GC,9540,-1.36,-146.0,800.8,-7.3,363,9545,0.00,2.90,0.00,0.000,4,0.000,0.117,2971,616,3761,0,0,0,0,0,0
$GC,9556,-1.36,-146.0,802.1,-7.2,363,9560,0.00,2.60,0.00,0.000,6,0.000,0.064,2971,2137,3761,0,0,0,0,0,0
$GC,9820,-1.36,-146.0,821.1,-7.3,370,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2137,3760,0,0,0,0,0,0
$GC,10060,-1.36,-146.0,838.4,-7.0,376,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2137,3758,0,0,0,0,0,0
$GC,10304,-1.36,-146.0,855.1,-6.9,382,10308,0.00,2.95,0.00,0.000,4,0.000,0.093,2971,3772,3757,0,0,0,0,0,0
$GC,10327,-1.36,-146.0,856.8,-7.1,382,10332,0.00,2.78,0.00,0.000,6,0.000,0.063,2971,2164,3757,0,0,0,0,0,0
$GC,10582,-1.36,-146.0,874.9,-7.1,389,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2164,3755,0,0,0,0,0,0
$GC,10826,-1.36,-146.0,892.8,-7.3,395,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2164,3755,0,0,0,0,0,0
$STATE,10947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10947,begin apogee
$GC,10955,-0.31,0.0,901.5,7.1,398,11078,0.95,0.00,119.40,1.221,6,0.070,0.000,3190,2347,3190,0,0,0,0,0,0
$STATE,11079,end apogee,CONTROL_FINISHED_OK
$STATE,11079,begin climb
$GC,11081,1.27,146.0,904.6,0.0,401,11217,1.45,2.90,127.25,1.189,4,0.036,0.079,3545,3927,2593,0,0,0,0,0,0
$GC,11470,1.13,146.0,869.4,11.9,410,11476,0.17,2.67,0.00,0.000,6,0.114,0.053,3509,2367,2586,0,0,0,0,0,0
$GC,11751,1.12,173.6,844.5,8.7,417,11781,0.00,2.78,24.40,1.110,4,0.000,0.059,3509,3931,2481,0,0,0,0,0,0
$GC,12037,1.06,173.6,814.8,11.2,423,12042,0.00,2.58,0.00,0.000,6,0.000,0.038,3509,2388,2477,0,0,0,0,0,0
$GC,12298,1.07,179.8,788.9,9.7,430,12311,0.00,2.67,6.22,0.885,4,0.000,0.054,3509,3937,2456,0,0,0,0,0,0
$GC,12500,1.01,179.8,766.1,10.6,434,12505,0.12,2.58,0.00,0.000,6,0.124,0.044,3483,2411,2455,0,0,0,0,0,0
$GC,12761,1.04,202.5,742.3,9.0,441,12791,0.00,2.72,22.25,1.070,4,0.000,0.061,3483,3938,2363,0,0,0,0,0,0
$GC,12879,1.04,202.5,730.8,10.2,443,12883,0.00,2.55,0.00,0.000,6,0.000,0.041,3483,2432,2361,0,0,0,0,0,0
$GC,13134,1.07,224.0,707.0,9.0,450,13160,0.00,2.62,20.95,1.045,4,0.000,0.058,3483,3931,2276,0,0,0,0,0,0
$GC,13243,1.08,230.5,696.4,9.7,452,13257,0.00,2.50,7.43,0.890,6,0.000,0.045,3483,2449,2250,0,0,0,0,0,0
$GC,13508,1.12,230.5,669.1,10.1,459,13513,0.00,2.55,0.00,0.000,4,0.000,0.058,3483,3940,2247,0,0,0,0,0,0
$GC,13548,1.12,230.5,664.8,11.1,460,13552,0.00,2.47,0.00,0.000,6,0.000,0.043,3483,2463,2246,0,0,0,0,0,0
$GC,13834,1.17,232.3,636.4,9.9,467,13839,0.15,2.50,0.00,0.000,4,0.068,0.054,3525,3934,2246,0,0,0,0,0,0
$GC,13883,1.11,232.3,629.9,12.5,468,13888,0.12,2.45,0.00,0.000,6,0.120,0.042,3500,2468,2245,0,0,0,0,0,0
$GC,14157,1.11,232.3,600.7,10.5,475,14162,0.00,2.50,0.00,0.000,4,0.000,0.057,3501,3940,2245,0,0,0,0,0,0
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$STATE,19735,end climb,SURFACE_DEPTH_REACHED
$STATE,19735,begin surface coast
$FINISH,1.0,1.002037
$STATE,19781,end surface coast,CONTROL_FINISHED_OK
$STATE,19781,begin surface
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$TT8_MAMPS,0.025311
$HUMID,57.24
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,64
$24V_AH,23.3,25.479
$10V_AH,10.4,22.289
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.850,220.600,401.375,32.700,0.000,30.028,40.536,183.540,16.000,0.000,14.976,1635.815,14660.319,545.861,2662.675,743.474,33.359,1693.091,0.000,2645.649,0.000,0.535,0.000
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$SENSOR_SECS,510.753,348.883,453.121,598.332,1140.532,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,57136,753
$CAP_FILE_SIZE,183674,0
$CFSIZE,260165632,116039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220213,083129,1927.394,-8111.225,37,1.6,37,-3.8