version: 66.06
glider: 146
mission: 8
dive: 191
start: 2 24 113 13 1 45
data:
$ID,146
$MISSION,8
$DIVE,191
$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,-311096.81
$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,52
$R_STBD_OVSHOOT,39
$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
$GPS1,125335,1926.969,-8116.034,33,1.1,33,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.1
$GPS2,130051,1926.944,-8116.037,8,2.1,27,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.011
$KALMAN_X,-1375.6,-27.5,-4.1,-13662.3,-510.2
$KALMAN_Y,-2489.6,175.7,407.4,8159.6,-1148.6
$MHEAD_RNG_PITCHd_Wd,96.1,14751,-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,-71.25,0.000,2,0.000,0.000,458,2180,3500,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.6,-4.9,9,124,13.75,2.58,-5.15,0.000,4,0.166,0.038,2976,3797,3786,0,0,0,0,0,0
$GC,202,-1.11,-146.0,32.4,-17.4,23,212,0.15,2.50,0.00,0.000,6,0.083,0.024,3014,2232,3788,0,0,0,0,0,0
$GC,472,-0.98,-146.0,71.7,-14.8,48,477,0.15,2.62,0.00,0.000,4,0.104,0.045,3048,635,3788,0,0,0,0,0,0
$GC,507,-0.90,-146.0,77.7,-14.3,50,511,0.00,2.42,0.00,0.000,6,0.000,0.017,3048,2225,3787,0,0,0,0,0,0
$GC,772,-0.85,-146.0,111.3,-12.3,74,777,0.12,2.65,0.00,0.000,4,0.110,0.045,3076,631,3788,0,0,0,0,0,0
$GC,816,-0.85,-146.0,116.3,-11.2,77,820,0.00,2.40,0.00,0.000,6,0.000,0.016,3076,2196,3788,0,0,0,0,0,0
$GC,1083,-0.92,-146.0,139.0,-8.0,101,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2196,3788,0,0,0,0,0,0
$GC,1348,-1.03,-146.0,157.6,-6.5,126,1353,0.17,2.55,0.00,0.000,4,0.052,0.044,3007,635,3789,0,0,0,0,0,0
$GC,1423,-1.03,-146.0,165.1,-10.0,132,1428,0.12,2.38,0.00,0.000,6,0.100,0.017,3036,2205,3789,0,0,0,0,0,0
$GC,1685,-1.09,-146.0,185.1,-7.3,156,1689,0.00,2.45,0.00,0.000,4,0.000,0.033,3036,3769,3790,0,0,0,0,0,0
$GC,1707,-1.15,-146.0,186.3,-7.4,157,1712,0.12,2.42,0.00,0.000,6,0.133,0.018,2979,2191,3790,0,0,0,0,0,0
$GC,1990,-1.11,-146.0,212.3,-9.4,174,1995,0.17,2.55,0.00,0.000,4,0.087,0.048,3020,647,3790,0,0,0,0,0,0
$GC,2000,-1.11,-146.0,213.9,-9.4,174,2004,0.00,2.38,0.00,0.000,6,0.000,0.018,3020,2219,3790,0,0,0,0,0,0
$GC,2269,-1.17,-146.0,234.4,-7.5,181,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2220,3790,0,0,0,0,0,0
$GC,2510,-1.23,-146.0,252.2,-7.4,187,2512,0.12,0.00,0.00,0.000,6,0.067,0.000,2968,2220,3790,0,0,0,0,0,0
$GC,2754,-1.23,-146.0,274.2,-9.1,193,2759,0.10,2.50,0.00,0.000,4,0.112,0.039,2992,3767,3790,0,0,0,0,0,0
$GC,2783,-1.23,-146.0,276.6,-8.0,193,2788,0.00,2.45,0.00,0.000,6,0.000,0.021,2992,2203,3790,0,0,0,0,0,0
$GC,3033,-1.23,-146.0,295.3,-7.5,199,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2203,3790,0,0,0,0,0,0
$GC,3277,-1.23,-146.0,313.9,-7.6,205,3281,0.00,2.60,0.00,0.000,4,0.000,0.065,2992,640,3789,0,0,0,0,0,0
$GC,3293,-1.23,-146.0,315.2,-7.7,205,3297,0.00,2.40,0.00,0.000,6,0.000,0.027,2992,2191,3789,0,0,0,0,0,0
$GC,3556,-1.23,-146.0,335.4,-7.7,212,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2190,3788,0,0,0,0,0,0
$GC,3797,-1.23,-146.0,354.2,-7.9,218,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2190,3787,0,0,0,0,0,0
$GC,4041,-1.23,-146.0,374.4,-8.1,224,4045,0.00,2.58,0.00,0.000,4,0.000,0.048,2992,3777,3786,0,0,0,0,0,0
$GC,4059,-1.23,-146.0,375.8,-7.9,224,4063,0.00,2.47,0.00,0.000,6,0.000,0.026,2992,2208,3787,0,0,0,0,0,0
$GC,4319,-1.23,-146.0,394.9,-7.2,231,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2208,3785,0,0,0,0,0,0
$GC,4563,-1.23,-146.0,412.9,-7.5,237,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2207,3785,0,0,0,0,0,0
$GC,4807,-1.23,-146.0,431.0,-7.4,243,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2208,3784,0,0,0,0,0,0
$GC,5053,-1.26,-146.0,449.8,-7.7,249,5057,0.00,2.62,0.00,0.000,4,0.000,0.053,2993,3778,3782,0,0,0,0,0,0
$GC,5075,-1.30,-146.0,451.8,-8.2,249,5079,0.00,2.55,0.00,0.000,6,0.000,0.040,2993,2202,3782,0,0,0,0,0,0
$GC,5330,-1.34,-146.0,470.9,-7.3,256,5332,0.10,0.00,0.00,0.000,6,0.081,0.000,2950,2203,3781,0,0,0,0,0,0
$GC,5576,-1.30,-146.0,492.1,-8.8,262,5578,0.12,0.00,0.00,0.000,6,0.100,0.000,2979,2203,3780,0,0,0,0,0,0
$GC,5817,-1.30,-146.0,511.1,-7.7,268,5821,0.00,2.67,0.00,0.000,4,0.000,0.064,2979,3769,3779,0,0,0,0,0,0
$GC,5838,-1.30,-146.0,512.9,-8.0,268,5843,0.00,2.60,0.00,0.000,6,0.000,0.048,2979,2206,3779,0,0,0,0,0,0
$GC,6096,-1.30,-146.0,532.1,-7.5,275,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2206,3778,0,0,0,0,0,0
$GC,6340,-1.30,-146.0,550.3,-7.4,281,6345,0.00,2.70,0.00,0.000,4,0.000,0.071,2979,3774,3778,0,0,0,0,0,0
$GC,6373,-1.30,-146.0,553.3,-7.9,281,6378,0.00,2.62,0.00,0.000,6,0.000,0.057,2979,2204,3777,0,0,0,0,0,0
$GC,6625,-1.30,-146.0,572.0,-7.5,288,6629,0.00,2.67,0.00,0.000,4,0.000,0.072,2980,3767,3776,0,0,0,0,0,0
$GC,6641,-1.30,-146.0,573.4,-7.7,288,6645,0.00,2.62,0.00,0.000,6,0.000,0.059,2979,2199,3776,0,0,0,0,0,0
$GC,6901,-1.30,-146.0,593.1,-7.5,295,6906,0.00,2.70,0.00,0.000,4,0.000,0.074,2979,3766,3774,0,0,0,0,0,0
$GC,6931,-1.30,-146.0,595.1,-8.2,295,6935,0.00,2.67,0.00,0.000,6,0.000,0.062,2979,2206,3774,0,0,0,0,0,0
$GC,7181,-1.30,-146.0,613.5,-7.2,301,7186,0.00,3.05,0.00,0.000,4,0.000,0.128,2979,624,3773,0,0,0,0,0,0
$GC,7202,-1.30,-146.0,615.2,-7.9,301,7207,0.00,2.62,0.00,0.000,6,0.000,0.061,2979,2188,3773,0,0,0,0,0,0
$GC,7460,-1.30,-146.0,634.7,-7.6,308,7465,0.00,2.90,0.00,0.000,4,0.000,0.099,2979,3799,3771,0,0,0,0,0,0
$GC,7478,-1.30,-146.0,636.3,-7.8,308,7483,0.00,2.78,0.00,0.000,6,0.000,0.074,2979,2211,3771,0,0,0,0,0,0
$GC,7739,-1.30,-146.0,656.0,-7.5,315,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2211,3770,0,0,0,0,0,0
$GC,7982,-1.30,-146.0,674.2,-7.4,321,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2211,3769,0,0,0,0,0,0
$GC,8226,-1.30,-146.0,691.1,-6.9,327,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2211,3768,0,0,0,0,0,0
$GC,8470,-1.30,-146.0,708.5,-7.3,333,8475,0.00,3.03,0.00,0.000,4,0.000,0.125,2979,3793,3766,0,0,0,0,0,0
$GC,8493,-1.30,-146.0,710.4,-8.3,333,8498,0.00,2.78,0.00,0.000,6,0.000,0.080,2979,2208,3766,0,0,0,0,0,0
$GC,8750,-1.34,-146.0,730.8,-8.1,340,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2208,3765,0,0,0,0,0,0
$GC,8992,-1.34,-146.0,750.1,-7.9,346,8996,0.00,2.83,0.00,0.000,4,0.000,0.092,2979,3799,3764,0,0,0,0,0,0
$GC,9020,-1.34,-146.0,752.4,-8.1,346,9025,0.00,2.75,0.00,0.000,6,0.000,0.072,2979,2220,3762,0,0,0,0,0,0
$GC,9273,-1.38,-146.0,771.9,-7.7,352,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2220,3762,0,0,0,0,0,0
$GC,9514,-1.38,-146.0,789.8,-7.2,358,9518,0.00,2.78,0.00,0.000,4,0.000,0.081,2979,3794,3761,0,0,0,0,0,0
$GC,9535,-1.38,-146.0,791.5,-8.5,358,9540,0.00,2.70,0.00,0.000,6,0.000,0.067,2979,2218,3762,0,0,0,0,0,0
$GC,9791,-1.42,-146.0,811.6,-8.0,365,9796,0.12,3.05,0.00,0.000,4,0.069,0.123,2934,616,3760,0,0,0,0,0,0
$GC,9821,-1.37,-146.0,814.3,-9.1,365,9826,0.12,2.75,0.00,0.000,6,0.105,0.061,2961,2222,3760,0,0,0,0,0,0
$GC,10071,-1.37,-146.0,836.1,-8.5,371,10076,0.00,2.83,0.00,0.000,4,0.000,0.095,2961,3805,3759,0,0,0,0,0,0
$GC,10095,-1.37,-146.0,838.1,-8.6,371,10099,0.00,2.70,0.00,0.000,6,0.000,0.066,2961,2221,3759,0,0,0,0,0,0
$GC,10349,-1.37,-146.0,859.4,-8.3,378,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2221,3757,0,0,0,0,0,0
$GC,10593,-1.37,-146.0,879.2,-8.1,384,10598,0.00,2.78,0.00,0.000,4,0.000,0.078,2961,3806,3756,0,0,0,0,0,0
$GC,10615,-1.37,-146.0,881.1,-8.6,384,10619,0.00,2.70,0.00,0.000,6,0.000,0.067,2961,2235,3756,0,0,0,0,0,0
$STATE,10867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10867,begin apogee
$GC,10876,-0.31,0.0,901.5,7.8,391,10999,1.00,0.00,119.68,1.220,6,0.070,0.000,3190,2390,3190,0,0,0,0,0,0
$STATE,11000,end apogee,CONTROL_FINISHED_OK
$STATE,11000,begin climb
$GC,11002,1.27,146.0,904.9,0.0,394,11139,1.42,2.72,126.93,1.189,4,0.035,0.079,3542,3927,2592,0,0,0,0,0,0
$GC,11208,1.13,146.0,891.7,12.1,398,11214,0.17,2.70,0.00,0.000,6,0.115,0.054,3507,2370,2587,0,0,0,0,0,0
$GC,11461,1.10,153.2,867.1,9.7,405,11474,0.00,2.75,6.60,0.910,4,0.000,0.067,3507,3928,2564,0,0,0,0,0,0
$GC,11492,1.05,160.6,863.5,9.7,405,11506,0.00,2.62,8.30,0.967,6,0.000,0.045,3508,2378,2535,0,0,0,0,0,0
$GC,11793,1.05,162.0,833.8,9.9,413,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2378,2531,0,0,0,0,0,0
$GC,12034,1.06,172.5,810.5,9.5,419,12053,0.00,2.72,11.48,1.029,4,0.000,0.061,3507,3932,2486,0,0,0,0,0,0
$GC,12071,1.02,176.0,806.8,9.8,419,12082,0.12,2.65,4.93,0.793,6,0.126,0.044,3483,2383,2472,0,0,0,0,0,0
$GC,12364,1.05,200.1,781.0,8.9,427,12393,0.00,3.22,23.20,1.088,4,0.000,0.123,3483,780,2374,0,0,0,0,0,0
$GC,12433,1.06,204.8,774.1,9.8,428,12444,0.00,2.67,5.78,0.846,6,0.000,0.041,3483,2379,2355,0,0,0,0,0,0
$GC,12690,1.07,215.8,750.1,9.5,434,12703,0.00,0.00,11.65,1.004,6,0.000,0.000,3483,2380,2310,0,0,0,0,0,0
$GC,12931,1.11,215.8,725.7,10.0,440,12936,0.00,2.85,0.00,0.000,4,0.000,0.083,3483,773,2307,0,0,0,0,0,0
$GC,12953,1.11,218.3,723.3,9.9,440,12957,0.00,2.65,0.00,0.000,6,0.000,0.039,3483,2375,2306,0,0,0,0,0,0
$GC,13210,1.16,224.2,698.3,9.7,447,13222,0.12,0.00,9.00,0.938,6,0.076,0.000,3518,2376,2276,0,0,0,0,0,0
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$STATE,19432,end climb,SURFACE_DEPTH_REACHED
$STATE,19432,begin surface coast
$FINISH,1.1,1.023477
$STATE,19481,end surface coast,CONTROL_FINISHED_OK
$STATE,19481,begin surface
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$HUMID,56.97
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$TCM_TEMP,24.60
$XPDR_PINGS,58
$24V_AH,23.3,26.945
$10V_AH,10.3,23.679
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.925,200.925,397.225,40.075,0.000,29.465,33.267,189.831,14.500,0.000,31.647,1547.434,14831.393,553.499,2315.424,722.707,33.353,1535.121,0.000,2293.996,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,57338,744
$CAP_FILE_SIZE,171458,0
$CFSIZE,260165632,115253248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240213,182854,1927.296,-8113.473,41,1.6,41,-3.8