version: 66.06
glider: 146
mission: 8
dive: 277
start: 3 15 113 17 39 53
data:
$ID,146
$MISSION,8
$DIVE,277
$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,665.4989
$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,-312894.78
$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,59
$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
$GPS1,170836,1925.123,-8107.587,109,1.1,109,-3.8
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.6
$GPS2,173900,1924.964,-8107.792,14,1.3,25,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,-0.014
$KALMAN_X,-30221.5,164.3,208.8,29170.3,-1009.1
$KALMAN_Y,18683.1,-65.5,-284.2,-15738.2,1455.3
$MHEAD_RNG_PITCHd_Wd,270.7,18220,-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,-71.18,0.000,2,0.000,0.000,457,2172,3547,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.0,-6.0,9,124,13.62,2.62,-4.22,0.000,4,0.163,0.048,2977,3777,3787,0,0,0,0,0,0
$GC,175,-1.12,-146.0,27.3,-18.2,19,184,0.12,2.47,0.00,0.000,6,0.083,0.025,3010,2238,3788,0,0,0,0,0,0
$GC,454,-0.98,-146.0,71.3,-15.3,45,459,0.17,2.67,0.00,0.000,4,0.104,0.051,3048,630,3787,0,0,0,0,0,0
$GC,491,-0.90,-146.0,78.7,-15.2,47,500,0.00,2.47,0.00,0.000,6,0.000,0.017,3048,2218,3787,0,0,0,0,0,0
$GC,755,-0.90,-146.0,109.8,-10.9,72,759,0.00,2.62,0.00,0.000,4,0.000,0.044,3048,623,3788,0,0,0,0,0,0
$GC,800,-0.90,-146.0,115.4,-11.2,75,809,0.00,2.40,0.00,0.000,6,0.000,0.025,3048,2197,3787,0,0,0,0,0,0
$GC,1064,-0.90,-146.0,139.8,-8.8,100,1068,0.00,2.58,0.00,0.000,4,0.000,0.045,3048,633,3788,0,0,0,0,0,0
$GC,1088,-0.90,-146.0,141.9,-8.8,101,1094,0.00,2.38,0.00,0.000,6,0.000,0.018,3048,2185,3788,0,0,0,0,0,0
$GC,1352,-0.96,-146.0,162.0,-7.6,126,1356,0.00,2.50,0.00,0.000,4,0.000,0.034,3048,3772,3788,0,0,0,0,0,0
$GC,1388,-1.05,-146.0,165.1,-8.7,128,1394,0.00,2.50,0.00,0.000,6,0.000,0.021,3048,2176,3788,0,0,0,0,0,0
$GC,1651,-1.13,-146.0,185.4,-6.9,153,1656,0.15,2.53,0.00,0.000,4,0.057,0.049,2986,640,3788,0,0,0,0,0,0
$GC,1676,-1.13,-146.0,187.6,-8.1,154,1683,0.12,2.38,0.00,0.000,6,0.101,0.018,3015,2196,3788,0,0,0,0,0,0
$GC,1953,-1.13,-146.0,209.3,-7.5,172,1957,0.00,2.50,0.00,0.000,4,0.000,0.034,3015,3767,3787,0,0,0,0,0,0
$GC,2004,-1.16,-146.0,213.3,-8.5,173,2008,0.00,2.47,0.00,0.000,6,0.000,0.021,3015,2180,3788,0,0,0,0,0,0
$GC,2278,-1.16,-146.0,232.6,-7.0,180,2282,0.00,2.53,0.00,0.000,4,0.000,0.048,3015,643,3788,0,0,0,0,0,0
$GC,2328,-1.23,-146.0,236.4,-7.2,181,2333,0.10,2.38,0.00,0.000,6,0.075,0.022,2958,2185,3787,0,0,0,0,0,0
$GC,2603,-1.16,-146.0,261.9,-9.5,188,2608,0.20,2.53,0.00,0.000,4,0.084,0.043,3006,3769,3786,0,0,0,0,0,0
$GC,2630,-1.16,-146.0,264.7,-8.9,188,2635,0.00,2.50,0.00,0.000,6,0.000,0.021,3006,2179,3787,0,0,0,0,0,0
$GC,2880,-1.16,-146.0,283.5,-7.6,194,2885,0.00,2.55,0.00,0.000,4,0.000,0.060,3006,633,3786,0,0,0,0,0,0
$GC,2904,-1.16,-146.0,285.5,-8.4,194,2909,0.00,2.40,0.00,0.000,6,0.000,0.025,3006,2179,3786,0,0,0,0,0,0
$GC,3161,-1.20,-146.0,306.2,-8.0,201,3165,0.00,2.58,0.00,0.000,4,0.000,0.048,3006,3776,3785,0,0,0,0,0,0
$GC,3200,-1.26,-146.0,309.5,-8.7,202,3205,0.00,2.47,0.00,0.000,6,0.000,0.026,3006,2197,3785,0,0,0,0,0,0
$GC,3487,-1.30,-146.0,331.3,-7.5,209,3489,0.12,0.00,0.00,0.000,6,0.066,0.000,2953,2196,3784,0,0,0,0,0,0
$GC,3728,-1.24,-146.0,355.6,-10.3,215,3730,0.17,0.00,0.00,0.000,6,0.085,0.000,2994,2196,3783,0,0,0,0,0,0
$GC,3971,-1.24,-146.0,376.5,-8.4,221,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2196,3782,0,0,0,0,0,0
$GC,4218,-1.24,-146.0,396.1,-8.0,227,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2196,3781,0,0,0,0,0,0
$GC,4459,-1.24,-146.0,414.7,-7.6,233,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2196,3780,0,0,0,0,0,0
$GC,4703,-1.24,-146.0,433.2,-7.4,239,4707,0.00,2.60,0.00,0.000,4,0.000,0.047,2994,3779,3779,0,0,0,0,0,0
$GC,4732,-1.24,-146.0,435.4,-8.2,239,4736,0.00,2.58,0.00,0.000,6,0.000,0.041,2994,2204,3779,0,0,0,0,0,0
$GC,4982,-1.24,-146.0,453.6,-7.2,245,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2204,3778,0,0,0,0,0,0
$GC,5225,-1.24,-146.0,470.4,-6.9,251,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2204,3777,0,0,0,0,0,0
$GC,5469,-1.24,-146.0,487.6,-7.1,257,5474,0.00,2.65,0.00,0.000,4,0.000,0.058,2994,3773,3776,0,0,0,0,0,0
$GC,5493,-1.24,-146.0,489.2,-6.8,257,5497,0.00,2.62,0.00,0.000,6,0.000,0.051,2994,2200,3776,0,0,0,0,0,0
$GC,5748,-1.27,-146.0,507.3,-7.0,264,5753,0.00,2.90,0.00,0.000,4,0.000,0.104,2994,620,3774,0,0,0,0,0,0
$GC,5776,-1.31,-146.0,509.5,-8.0,264,5780,0.00,2.55,0.00,0.000,6,0.000,0.048,2994,2174,3775,0,0,0,0,0,0
$GC,6028,-1.31,-146.0,527.3,-7.1,270,6032,0.00,2.80,0.00,0.000,4,0.000,0.074,2994,3795,3773,0,0,0,0,0,0
$GC,6061,-1.36,-146.0,529.9,-7.6,270,6068,0.12,2.67,0.00,0.000,6,0.067,0.049,2944,2204,3772,0,0,0,0,0,0
$GC,6314,-1.30,-146.0,552.1,-9.0,277,6319,0.15,2.72,0.00,0.000,4,0.094,0.064,2978,3794,3771,0,0,0,0,0,0
$GC,6336,-1.30,-146.0,554.3,-8.5,277,6340,0.00,2.65,0.00,0.000,6,0.000,0.056,2978,2210,3771,0,0,0,0,0,0
$GC,6591,-1.30,-146.0,574.4,-7.9,284,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2209,3770,0,0,0,0,0,0
$GC,6835,-1.30,-146.0,594.0,-7.9,290,6840,0.00,3.03,0.00,0.000,4,0.000,0.126,2978,623,3769,0,0,0,0,0,0
$GC,6881,-1.30,-146.0,597.6,-7.7,291,6886,0.00,2.70,0.00,0.000,6,0.000,0.064,2978,2207,3769,0,0,0,0,0,0
$GC,7159,-1.30,-146.0,619.3,-7.7,298,7163,0.00,2.90,0.00,0.000,4,0.000,0.098,2979,3797,3767,0,0,0,0,0,0
$GC,7196,-1.30,-146.0,622.2,-8.6,298,7202,0.00,2.75,0.00,0.000,6,0.000,0.074,2978,2219,3767,0,0,0,0,0,0
$GC,7446,-1.30,-146.0,641.4,-7.6,305,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2219,3766,0,0,0,0,0,0
$GC,7690,-1.30,-146.0,660.1,-7.7,311,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2219,3764,0,0,0,0,0,0
$GC,7933,-1.30,-146.0,678.9,-7.8,317,7938,0.00,2.90,0.00,0.000,4,0.000,0.108,2978,3797,3762,0,0,0,0,0,0
$GC,7968,-1.30,-146.0,681.6,-8.4,317,7974,0.00,2.83,0.00,0.000,6,0.000,0.080,2978,2217,3762,0,0,0,0,0,0
$GC,8218,-1.30,-146.0,700.9,-7.7,324,8223,0.00,3.10,0.00,0.000,4,0.000,0.131,2978,615,3762,0,0,0,0,0,0
$GC,8246,-1.30,-146.0,703.3,-8.5,324,8250,0.00,2.83,0.00,0.000,6,0.000,0.077,2978,2211,3761,0,0,0,0,0,0
$GC,8498,-1.30,-146.0,722.4,-7.7,330,8503,0.00,2.95,0.00,0.000,4,0.000,0.110,2978,3800,3760,0,0,0,0,0,0
$GC,8537,-1.30,-146.0,725.8,-8.4,331,8542,0.00,2.78,0.00,0.000,6,0.000,0.073,2978,2207,3760,0,0,0,0,0,0
$GC,8820,-1.30,-146.0,746.2,-7.2,338,8825,0.00,3.03,0.00,0.000,4,0.000,0.123,2978,616,3759,0,0,0,0,0,0
$GC,8855,-1.30,-146.0,748.8,-7.9,338,8861,0.00,2.78,0.00,0.000,6,0.000,0.072,2978,2217,3758,0,0,0,0,0,0
$GC,9105,-1.30,-146.0,767.1,-7.2,345,9110,0.00,2.88,0.00,0.000,4,0.000,0.100,2978,3798,3757,0,0,0,0,0,0
$GC,9134,-1.30,-146.0,769.3,-8.0,345,9139,0.00,2.78,0.00,0.000,6,0.000,0.072,2978,2207,3757,0,0,0,0,0,0
$GC,9386,-1.30,-146.0,788.1,-7.4,351,9391,0.00,2.80,0.00,0.000,4,0.000,0.086,2978,3797,3756,0,0,0,0,0,0
$GC,9408,-1.30,-146.0,790.0,-7.8,351,9412,0.00,2.75,0.00,0.000,6,0.000,0.066,2978,2216,3756,0,0,0,0,0,0
$GC,9663,-1.30,-146.0,809.3,-7.6,358,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2216,3754,0,0,0,0,0,0
$GC,9909,-1.30,-146.0,827.5,-7.4,364,9914,0.00,2.80,0.00,0.000,4,0.000,0.079,2978,3798,3753,0,0,0,0,0,0
$GC,9942,-1.30,-146.0,830.4,-8.3,364,9947,0.00,2.72,0.00,0.000,6,0.000,0.064,2978,2228,3753,0,0,0,0,0,0
$GC,10192,-1.30,-146.0,849.5,-7.7,371,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2228,3752,0,0,0,0,0,0
$GC,10436,-1.30,-146.0,867.8,-7.4,377,10440,0.00,2.78,0.00,0.000,4,0.000,0.077,2978,3803,3751,0,0,0,0,0,0
$GC,10459,-1.30,-146.0,869.4,-7.9,377,10464,0.00,2.72,0.00,0.000,6,0.000,0.070,2978,2231,3751,0,0,0,0,0,0
$GC,10715,-1.30,-146.0,887.4,-6.8,384,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2231,3749,0,0,0,0,0,0
$STATE,10915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10915,begin apogee
$GC,10922,-0.31,0.0,900.9,6.6,389,11043,0.93,0.00,118.00,1.217,6,0.069,0.000,3191,2386,3190,0,0,0,0,0,0
$STATE,11044,end apogee,CONTROL_FINISHED_OK
$STATE,11044,begin climb
$GC,11049,1.27,146.0,903.0,0.0,392,11184,1.42,2.83,126.72,1.186,4,0.035,0.081,3542,3920,2593,0,0,0,0,0,0
$GC,11284,1.15,146.0,885.5,13.0,397,11289,0.15,2.70,0.00,0.000,6,0.114,0.055,3512,2366,2588,0,0,0,0,0,0
$GC,11545,1.16,160.5,860.2,9.3,404,11560,0.00,0.00,13.27,1.048,6,0.000,0.000,3512,2366,2535,0,0,0,0,0,0
$GC,11791,1.16,160.5,836.1,10.1,410,11795,0.00,2.70,0.00,0.000,4,0.000,0.064,3512,3930,2531,0,0,0,0,0,0
$GC,11806,1.12,160.5,834.1,10.5,410,11811,0.00,2.65,0.00,0.000,6,0.000,0.048,3512,2365,2531,0,0,0,0,0,0
$GC,12067,1.12,166.2,808.3,9.7,417,12075,0.00,0.00,5.78,0.860,6,0.000,0.000,3513,2365,2512,0,0,0,0,0,0
$GC,12311,1.13,173.1,784.7,9.7,423,12325,0.00,2.75,7.85,0.947,4,0.000,0.055,3512,3930,2483,0,0,0,0,0,0
$GC,12340,1.09,176.6,782.1,9.8,423,12350,0.00,2.67,4.93,0.786,6,0.000,0.044,3512,2364,2470,0,0,0,0,0,0
$GC,12595,1.10,182.4,756.7,9.7,429,12609,0.00,2.78,6.72,0.899,4,0.000,0.060,3512,3933,2446,0,0,0,0,0,0
$GC,12673,1.10,182.4,748.2,11.5,430,12678,0.00,2.65,0.00,0.000,6,0.000,0.044,3512,2375,2445,0,0,0,0,0,0
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$STATE,19885,end climb,SURFACE_DEPTH_REACHED
$STATE,19885,begin surface coast
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$STATE,19928,end surface coast,CONTROL_FINISHED_OK
$STATE,19928,begin surface
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$HUMID,55.31
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$TCM_TEMP,24.10
$XPDR_PINGS,80
$24V_AH,23.3,39.203
$10V_AH,10.3,34.526
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,499.578,339.873,436.878,550.023,1047.674,0.000,0.000,0.000
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$MEM,356012
$DATA_FILE_SIZE,57217,738
$CAP_FILE_SIZE,205314,0
$CFSIZE,260165632,109002752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150313,231853,1924.401,-8110.606,40,2.2,59,-3.8