version: 66.06
glider: 146
mission: 8
dive: 248
start: 3 9 113 4 44 11
data:
$ID,146
$MISSION,8
$DIVE,248
$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,-312314.47
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,043230,1925.590,-8114.243,37,1.2,37,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.5
$GPS2,044318,1925.570,-8114.347,11,1.2,22,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.220,0.138
$KALMAN_X,-9392.3,38.9,-241.9,-2515.7,-116.8
$KALMAN_Y,8954.2,126.2,94.1,-5456.2,-790.4
$MHEAD_RNG_PITCHd_Wd,305.8,6907,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,459,2154,3456,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.3,-3.7,9,121,13.82,2.65,-6.55,0.000,4,0.165,0.039,2976,3811,3786,0,0,0,0,0,0
$GC,286,-1.12,-146.0,41.1,-16.4,32,296,0.12,2.58,0.00,0.000,6,0.084,0.024,3009,2203,3787,0,0,0,0,0,0
$GC,554,-0.98,-146.0,81.8,-16.3,57,559,0.17,2.58,0.00,0.000,4,0.100,0.046,3047,636,3787,0,0,0,0,0,0
$GC,614,-0.98,-146.0,90.6,-12.7,61,618,0.00,2.45,0.00,0.000,6,0.000,0.017,3047,2223,3787,0,0,0,0,0,0
$GC,881,-0.98,-146.0,122.1,-9.9,85,885,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2223,3787,0,0,0,0,0,0
$GC,1144,-1.03,-146.0,147.8,-8.3,110,1149,0.00,2.60,0.00,0.000,4,0.000,0.044,3047,627,3788,0,0,0,0,0,0
$GC,1174,-1.09,-146.0,150.3,-8.2,112,1179,0.12,2.38,0.00,0.000,6,0.065,0.016,2990,2197,3788,0,0,0,0,0,0
$GC,1439,-1.09,-146.0,174.5,-9.6,136,1444,0.12,2.53,0.00,0.000,4,0.094,0.031,3021,3776,3789,0,0,0,0,0,0
$GC,1502,-1.15,-146.0,180.4,-8.3,141,1507,0.00,2.47,0.00,0.000,6,0.000,0.019,3021,2186,3788,0,0,0,0,0,0
$GC,1768,-1.19,-146.0,199.0,-6.8,165,1772,0.00,2.55,0.00,0.000,4,0.000,0.054,3021,636,3789,0,0,0,0,0,0
$GC,1818,-1.26,-146.0,203.2,-7.7,167,1823,0.15,2.40,0.00,0.000,6,0.057,0.017,2960,2201,3789,0,0,0,0,0,0
$GC,2093,-1.19,-146.0,230.2,-10.2,174,2098,0.17,2.50,0.00,0.000,4,0.087,0.041,3000,3769,3789,0,0,0,0,0,0
$GC,2138,-1.23,-146.0,234.8,-9.2,175,2142,0.00,2.45,0.00,0.000,6,0.000,0.027,3000,2205,3789,0,0,0,0,0,0
$GC,2417,-1.23,-146.0,257.4,-8.0,182,2422,0.00,2.60,0.00,0.000,4,0.000,0.052,3000,638,3789,0,0,0,0,0,0
$GC,2445,-1.23,-146.0,259.9,-8.1,182,2449,0.00,2.40,0.00,0.000,6,0.000,0.019,3000,2195,3789,0,0,0,0,0,0
$GC,2695,-1.23,-146.0,279.3,-8.0,188,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2195,3789,0,0,0,0,0,0
$GC,2938,-1.23,-146.0,297.9,-7.5,194,2943,0.00,2.55,0.00,0.000,4,0.000,0.039,3000,3778,3788,0,0,0,0,0,0
$GC,2974,-1.27,-146.0,300.5,-7.9,194,2980,0.00,2.47,0.00,0.000,6,0.000,0.025,3000,2203,3787,0,0,0,0,0,0
$GC,3224,-1.27,-146.0,320.1,-7.9,201,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2203,3786,0,0,0,0,0,0
$GC,3468,-1.27,-146.0,339.8,-8.1,207,3472,0.00,2.55,0.00,0.000,4,0.000,0.038,3000,3770,3787,0,0,0,0,0,0
$GC,3486,-1.27,-146.0,341.0,-7.6,207,3490,0.00,2.47,0.00,0.000,6,0.000,0.028,3000,2197,3786,0,0,0,0,0,0
$GC,3747,-1.31,-146.0,361.7,-7.8,214,3749,0.12,0.00,0.00,0.000,6,0.068,0.000,2951,2197,3785,0,0,0,0,0,0
$GC,3990,-1.25,-146.0,384.1,-9.2,220,3992,0.15,0.00,0.00,0.000,6,0.091,0.000,2986,2197,3784,0,0,0,0,0,0
$GC,4236,-1.25,-146.0,402.6,-7.6,226,4240,0.00,2.67,0.00,0.000,4,0.000,0.072,2987,634,3784,0,0,0,0,0,0
$GC,4268,-1.25,-146.0,405.4,-7.8,226,4274,0.00,2.47,0.00,0.000,6,0.000,0.029,2987,2186,3783,0,0,0,0,0,0
$GC,4518,-1.25,-146.0,424.2,-7.5,233,4523,0.00,2.62,0.00,0.000,4,0.000,0.054,2987,3787,3782,0,0,0,0,0,0
$GC,4553,-1.25,-146.0,426.8,-8.0,233,4559,0.00,2.55,0.00,0.000,6,0.000,0.033,2987,2214,3782,0,0,0,0,0,0
$GC,4803,-1.25,-146.0,446.4,-7.8,240,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2214,3781,0,0,0,0,0,0
$GC,5047,-1.25,-146.0,465.7,-7.9,246,5051,0.00,2.80,0.00,0.000,4,0.000,0.087,2987,628,3780,0,0,0,0,0,0
$GC,5079,-1.25,-146.0,468.5,-8.2,246,5085,0.00,2.55,0.00,0.000,6,0.000,0.043,2987,2194,3780,0,0,0,0,0,0
$GC,5332,-1.25,-146.0,488.3,-7.8,253,5336,0.00,2.72,0.00,0.000,4,0.000,0.062,2987,3800,3778,0,0,0,0,0,0
$GC,5371,-1.29,-146.0,491.8,-8.1,254,5376,0.00,2.62,0.00,0.000,6,0.000,0.048,2987,2207,3778,0,0,0,0,0,0
$GC,5657,-1.29,-146.0,513.4,-7.5,261,5662,0.00,2.88,0.00,0.000,4,0.000,0.099,2987,619,3777,0,0,0,0,0,0
$GC,5684,-1.29,-146.0,515.8,-8.0,261,5688,0.00,2.60,0.00,0.000,6,0.000,0.041,2986,2200,3777,0,0,0,0,0,0
$GC,5934,-1.29,-146.0,535.3,-7.8,267,5938,0.00,2.78,0.00,0.000,4,0.000,0.074,2987,3797,3776,0,0,0,0,0,0
$GC,5963,-1.29,-146.0,537.6,-7.9,267,5968,0.00,2.67,0.00,0.000,6,0.000,0.051,2987,2196,3776,0,0,0,0,0,0
$GC,6213,-1.29,-146.0,557.0,-7.7,273,6218,0.00,2.92,0.00,0.000,4,0.000,0.118,2986,623,3775,0,0,0,0,0,0
$GC,6246,-1.29,-146.0,559.7,-8.6,273,6251,0.00,2.62,0.00,0.000,6,0.000,0.046,2987,2201,3775,0,0,0,0,0,0
$GC,6496,-1.29,-146.0,579.1,-7.9,280,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3774,0,0,0,0,0,0
$GC,6743,-1.29,-146.0,598.9,-8.2,286,6748,0.00,2.85,0.00,0.000,4,0.000,0.092,2986,3791,3773,0,0,0,0,0,0
$GC,6777,-1.33,-146.0,602.0,-8.3,286,6782,0.00,2.72,0.00,0.000,6,0.000,0.061,2987,2196,3772,0,0,0,0,0,0
$GC,7026,-1.33,-146.0,622.2,-8.1,293,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2196,3771,0,0,0,0,0,0
$GC,7273,-1.33,-146.0,641.5,-7.8,299,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2196,3770,0,0,0,0,0,0
$GC,7514,-1.33,-146.0,660.0,-7.5,305,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2196,3769,0,0,0,0,0,0
$GC,7758,-1.37,-146.0,677.9,-7.3,311,7764,0.10,2.97,0.00,0.000,4,0.080,0.105,2946,3793,3768,0,0,0,0,0,0
$GC,7794,-1.33,-146.0,680.9,-9.2,311,7801,0.12,2.90,0.00,0.000,6,0.099,0.094,2974,2206,3767,0,0,0,0,0,0
$GC,8044,-1.33,-146.0,700.8,-7.7,318,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2206,3766,0,0,0,0,0,0
$GC,8288,-1.33,-146.0,719.2,-7.6,324,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2206,3765,0,0,0,0,0,0
$GC,8534,-1.33,-146.0,738.7,-8.1,330,8539,0.00,3.12,0.00,0.000,4,0.000,0.143,2974,3788,3764,0,0,0,0,0,0
$GC,8578,-1.33,-146.0,742.8,-8.8,331,8583,0.00,2.78,0.00,0.000,6,0.000,0.081,2974,2215,3763,0,0,0,0,0,0
$GC,8856,-1.33,-146.0,765.2,-7.8,338,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2215,3762,0,0,0,0,0,0
$GC,9101,-1.33,-146.0,783.4,-7.5,344,9106,0.00,2.83,0.00,0.000,4,0.000,0.086,2973,3793,3761,0,0,0,0,0,0
$GC,9128,-1.33,-146.0,785.9,-8.6,344,9133,0.00,2.75,0.00,0.000,6,0.000,0.068,2973,2213,3761,0,0,0,0,0,0
$GC,9379,-1.33,-146.0,804.9,-7.5,350,9383,0.00,3.05,0.00,0.000,4,0.000,0.125,2974,623,3760,0,0,0,0,0,0
$GC,9406,-1.33,-146.0,807.1,-8.3,350,9411,0.00,2.72,0.00,0.000,6,0.000,0.061,2973,2210,3760,0,0,0,0,0,0
$GC,9658,-1.33,-146.0,826.0,-7.6,356,9663,0.00,2.90,0.00,0.000,4,0.000,0.100,2974,3804,3759,0,0,0,0,0,0
$GC,9691,-1.33,-146.0,828.8,-8.5,356,9696,0.00,2.75,0.00,0.000,6,0.000,0.068,2974,2212,3759,0,0,0,0,0,0
$GC,9941,-1.33,-146.0,847.7,-7.3,363,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2212,3758,0,0,0,0,0,0
$GC,10184,-1.33,-146.0,865.8,-7.5,369,10189,0.00,2.80,0.00,0.000,4,0.000,0.081,2974,3804,3757,0,0,0,0,0,0
$GC,10229,-1.37,-146.0,869.5,-8.8,370,10233,0.00,2.72,0.00,0.000,6,0.000,0.067,2974,2220,3757,0,0,0,0,0,0
$GC,10506,-1.37,-146.0,890.5,-7.6,377,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2220,3755,0,0,0,0,0,0
$STATE,10666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10666,begin apogee
$GC,10674,-0.31,0.0,902.9,7.7,381,10797,0.95,0.00,119.45,1.218,6,0.074,0.000,3189,2381,3190,0,0,0,0,0,0
$STATE,10798,end apogee,CONTROL_FINISHED_OK
$STATE,10798,begin climb
$GC,10801,1.27,146.0,906.5,0.0,384,10938,1.45,2.83,127.03,1.187,4,0.038,0.075,3542,3919,2593,0,0,0,0,0,0
$GC,11023,1.14,146.0,891.5,12.1,389,11029,0.17,2.70,0.00,0.000,6,0.110,0.052,3507,2363,2588,0,0,0,0,0,0
$GC,11298,1.16,159.2,865.4,9.4,396,11312,0.00,0.00,12.18,1.039,6,0.000,0.000,3507,2363,2540,0,0,0,0,0,0
$GC,11540,1.16,161.9,841.3,9.9,402,11544,0.00,2.72,0.00,0.000,4,0.000,0.064,3508,3937,2537,0,0,0,0,0,0
$GC,11583,1.11,161.9,836.6,11.1,403,11588,0.00,2.65,0.00,0.000,6,0.000,0.042,3507,2373,2536,0,0,0,0,0,0
$GC,11864,1.13,170.3,809.8,9.6,410,11880,0.00,2.72,10.93,1.019,4,0.000,0.055,3507,3935,2493,0,0,0,0,0,0
$GC,11892,1.10,180.5,806.7,9.5,410,11907,0.00,2.65,10.68,1.008,6,0.000,0.041,3507,2380,2454,0,0,0,0,0,0
$GC,12188,1.10,180.5,776.5,10.3,418,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2380,2450,0,0,0,0,0,0
$GC,12429,1.10,181.2,751.9,10.0,424,12434,0.00,2.65,0.00,0.000,4,0.000,0.059,3507,3934,2448,0,0,0,0,0,0
$GC,12450,1.10,181.2,749.5,10.7,424,12455,0.00,2.62,0.00,0.000,6,0.000,0.047,3507,2381,2448,0,0,0,0,0,0
$GC,12706,1.11,190.7,725.0,9.6,431,12722,0.00,2.70,10.05,0.976,4,0.000,0.054,3507,3932,2411,0,0,0,0,0,0
$GC,12751,1.11,190.7,720.5,10.9,432,12756,0.00,2.60,0.00,0.000,6,0.000,0.043,3507,2391,2410,0,0,0,0,0,0
$GC,13029,1.11,190.7,691.5,10.5,439,13033,0.00,2.62,0.00,0.000,4,0.000,0.057,3507,3930,2409,0,0,0,0,0,0
$GC,13044,1.11,190.7,689.7,10.6,439,13049,0.00,2.60,0.00,0.000,6,0.000,0.044,3507,2389,2409,0,0,0,0,0,0
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$STATE,19574,end climb,SURFACE_DEPTH_REACHED
$STATE,19574,begin surface coast
$FINISH,1.0,1.023893
$STATE,19614,end surface coast,CONTROL_FINISHED_OK
$STATE,19614,begin surface
$SM_CCo,19637,35.67,0.492,0,0,1763,350.04
$SM_GC,1.62,0.00,0.00,35.67,0.000,0.000,0.492,457,2157,1763,-12.89,-1.53,350.04
$IRIDIUM_FIX,1918.37,-8116.97,030602,040455
$TT8_MAMPS,0.026078
$HUMID,58.62
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.30
$XPDR_PINGS,66
$24V_AH,23.3,35.089
$10V_AH,10.3,30.860
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.600,226.975,398.600,35.675,0.000,53.247,72.208,271.351,16.500,0.000,24.356,1550.061,14946.559,569.686,2345.635,898.049,33.366,1605.664,0.000,2327.348,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,57445,733
$CAP_FILE_SIZE,179949,0
$CFSIZE,260165632,111120384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090313,101326,1926.871,-8117.629,38,2.0,39,-3.7