version: 66.06
glider: 146
mission: 8
dive: 303
start: 3 21 113 8 48 21
data:
$ID,146
$MISSION,8
$DIVE,303
$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,-313397.62
$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,71
$R_STBD_OVSHOOT,36
$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
$GPS1,084030,1927.743,-8113.084,39,1.3,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.9
$GPS2,084725,1927.733,-8113.051,11,1.3,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,-0.122
$KALMAN_X,-62462.4,-109.3,-222.5,52936.8,-507.2
$KALMAN_Y,35343.0,303.6,397.6,-28335.6,-246.8
$MHEAD_RNG_PITCHd_Wd,121.9,10663,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.53,0.000,2,0.000,0.000,462,2157,3429,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.1,-3.0,9,123,13.65,0.00,-6.90,0.000,6,0.163,0.000,2979,2157,3787,0,0,0,0,0,0
$GC,397,-1.05,-146.0,65.7,-17.8,42,406,0.22,0.00,0.00,0.000,6,0.104,0.000,3027,2157,3788,0,0,0,0,0,0
$GC,665,-0.94,-146.0,104.2,-13.7,67,670,0.12,2.42,0.00,0.000,4,0.119,0.044,3054,668,3788,0,0,0,0,0,0
$GC,686,-0.84,-146.0,107.9,-13.5,68,691,0.10,2.40,0.00,0.000,6,0.121,0.016,3075,2239,3789,0,0,0,0,0,0
$GC,951,-0.84,-146.0,134.9,-10.2,92,960,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2239,3789,0,0,0,0,0,0
$GC,1214,-0.92,-146.0,157.7,-7.2,117,1219,0.00,2.58,0.00,0.000,4,0.000,0.044,3076,662,3789,0,0,0,0,0,0
$GC,1256,-1.03,-146.0,161.1,-8.5,120,1261,0.17,2.33,0.00,0.000,6,0.051,0.025,3006,2197,3790,0,0,0,0,0,0
$GC,1517,-1.03,-146.0,186.2,-9.7,144,1519,0.12,0.00,0.00,0.000,6,0.097,0.000,3035,2198,3790,0,0,0,0,0,0
$GC,1771,-1.09,-146.0,206.3,-7.6,162,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2198,3790,0,0,0,0,0,0
$GC,2012,-1.16,-146.0,222.7,-6.6,168,2014,0.12,0.00,0.00,0.000,6,0.065,0.000,2978,2198,3790,0,0,0,0,0,0
$GC,2256,-1.13,-146.0,245.1,-9.5,174,2261,0.15,2.55,0.00,0.000,4,0.087,0.058,3014,665,3790,0,0,0,0,0,0
$GC,2292,-1.17,-146.0,248.3,-9.2,174,2297,0.00,2.35,0.00,0.000,6,0.000,0.020,3014,2203,3791,0,0,0,0,0,0
$GC,2542,-1.21,-146.0,266.8,-7.2,181,2546,0.00,2.50,0.00,0.000,4,0.000,0.040,3014,3773,3791,0,0,0,0,0,0
$GC,2570,-1.27,-146.0,269.0,-7.6,181,2575,0.12,2.40,0.00,0.000,6,0.064,0.022,2959,2235,3791,0,0,0,0,0,0
$GC,2822,-1.21,-146.0,291.7,-9.2,187,2824,0.17,0.00,0.00,0.000,6,0.087,0.000,3000,2235,3790,0,0,0,0,0,0
$GC,3063,-1.21,-146.0,310.2,-7.4,193,3068,0.00,2.65,0.00,0.000,4,0.000,0.062,3000,640,3789,0,0,0,0,0,0
$GC,3080,-1.21,-146.0,311.5,-7.7,193,3084,0.00,2.42,0.00,0.000,6,0.000,0.028,3000,2194,3789,0,0,0,0,0,0
$GC,3343,-1.21,-146.0,332.4,-8.1,200,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2194,3789,0,0,0,0,0,0
$GC,3584,-1.21,-146.0,352.1,-8.1,206,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2194,3788,0,0,0,0,0,0
$GC,3828,-1.21,-146.0,371.3,-7.8,212,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2194,3787,0,0,0,0,0,0
$GC,4072,-1.24,-146.0,389.6,-7.5,218,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2194,3786,0,0,0,0,0,0
$GC,4318,-1.28,-146.0,407.5,-7.4,224,4323,0.00,2.62,0.00,0.000,4,0.000,0.051,3000,3787,3786,0,0,0,0,0,0
$GC,4335,-1.32,-146.0,409.1,-7.2,224,4340,0.12,2.50,0.00,0.000,6,0.067,0.038,2948,2219,3785,0,0,0,0,0,0
$GC,4599,-1.26,-146.0,433.1,-9.4,231,4604,0.15,2.83,0.00,0.000,4,0.091,0.087,2984,620,3784,0,0,0,0,0,0
$GC,4616,-1.22,-146.0,434.8,-9.0,231,4620,0.00,2.53,0.00,0.000,6,0.000,0.036,2984,2187,3784,0,0,0,0,0,0
$GC,4876,-1.22,-146.0,455.3,-8.0,238,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2187,3783,0,0,0,0,0,0
$GC,5120,-1.22,-146.0,475.4,-8.3,244,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2187,3782,0,0,0,0,0,0
$GC,5366,-1.22,-146.0,495.0,-8.0,250,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2188,3781,0,0,0,0,0,0
$GC,5607,-1.22,-146.0,514.6,-8.0,256,5612,0.00,2.78,0.00,0.000,4,0.000,0.079,2984,3793,3780,0,0,0,0,0,0
$GC,5634,-1.22,-146.0,516.9,-8.7,256,5639,0.00,2.65,0.00,0.000,6,0.000,0.051,2984,2206,3780,0,0,0,0,0,0
$GC,5887,-1.22,-146.0,536.6,-7.9,262,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2206,3779,0,0,0,0,0,0
$GC,6128,-1.22,-146.0,555.2,-7.6,268,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2206,3778,0,0,0,0,0,0
$GC,6372,-1.22,-146.0,573.8,-7.7,274,6376,0.00,2.75,0.00,0.000,4,0.000,0.085,2984,3786,3777,0,0,0,0,0,0
$GC,6387,-1.22,-146.0,575.2,-7.6,274,6392,0.00,2.67,0.00,0.000,6,0.000,0.058,2984,2201,3777,0,0,0,0,0,0
$GC,6651,-1.22,-146.0,594.7,-7.5,281,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2201,3776,0,0,0,0,0,0
$GC,6892,-1.22,-146.0,612.2,-7.2,287,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2201,3774,0,0,0,0,0,0
$GC,7136,-1.22,-146.0,630.3,-7.4,293,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2201,3773,0,0,0,0,0,0
$GC,7382,-1.22,-146.0,649.1,-7.7,299,7386,0.00,2.88,0.00,0.000,4,0.000,0.101,2984,3791,3772,0,0,0,0,0,0
$GC,7397,-1.22,-146.0,650.6,-7.8,299,7402,0.00,2.83,0.00,0.000,6,0.000,0.083,2984,2208,3771,0,0,0,0,0,0
$GC,7658,-1.22,-146.0,671.4,-7.9,306,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3770,0,0,0,0,0,0
$GC,7902,-1.22,-146.0,690.8,-8.0,312,7906,0.00,2.92,0.00,0.000,4,0.000,0.115,2984,3785,3769,0,0,0,0,0,0
$GC,7931,-1.22,-146.0,693.1,-8.6,312,7936,0.00,2.92,0.00,0.000,6,0.000,0.103,2984,2211,3769,0,0,0,0,0,0
$GC,8181,-1.22,-146.0,712.7,-7.9,318,8186,0.00,3.25,0.00,0.000,4,0.000,0.155,2984,619,3768,0,0,0,0,0,0
$GC,8199,-1.22,-146.0,714.2,-7.7,318,8204,0.00,2.90,0.00,0.000,6,0.000,0.097,2984,2194,3768,0,0,0,0,0,0
$GC,8462,-1.22,-146.0,733.8,-7.4,325,8467,0.00,3.20,0.00,0.000,4,0.000,0.144,2984,3800,3766,0,0,0,0,0,0
$GC,8484,-1.22,-146.0,735.7,-7.5,325,8489,0.00,3.10,0.00,0.000,6,0.000,0.126,2984,2211,3766,0,0,0,0,0,0
$GC,8739,-1.22,-146.0,752.9,-6.7,332,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2210,3765,0,0,0,0,0,0
$GC,8985,-1.22,-146.0,770.1,-7.0,338,8990,0.00,3.30,0.00,0.000,4,0.000,0.159,2984,3799,3763,0,0,0,0,0,0
$GC,9007,-1.22,-146.0,772.0,-7.6,338,9012,0.00,2.78,0.00,0.000,6,0.000,0.075,2984,2206,3763,0,0,0,0,0,0
$GC,9262,-1.22,-146.0,789.9,-6.9,345,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2206,3762,0,0,0,0,0,0
$GC,9509,-1.26,-146.0,807.2,-7.0,351,9513,0.00,2.85,0.00,0.000,4,0.000,0.086,2984,3802,3761,0,0,0,0,0,0
$GC,9559,-1.31,-146.0,811.1,-7.4,352,9563,0.00,2.75,0.00,0.000,6,0.000,0.068,2984,2224,3761,0,0,0,0,0,0
$GC,9830,-1.31,-146.0,829.8,-6.8,359,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2224,3760,0,0,0,0,0,0
$GC,10077,-1.35,-146.0,847.5,-7.4,365,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2223,3759,0,0,0,0,0,0
$GC,10318,-1.39,-146.0,865.4,-7.3,371,10324,0.12,2.78,0.00,0.000,4,0.072,0.081,2942,3802,3758,0,0,0,0,0,0
$GC,10347,-1.39,-146.0,867.9,-8.4,371,10352,0.00,2.75,0.00,0.000,6,0.000,0.069,2942,2220,3758,0,0,0,0,0,0
$GC,10600,-1.39,-146.0,889.9,-8.7,377,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2220,3757,0,0,0,0,0,0
$STATE,10717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10717,begin apogee
$GC,10723,-0.31,0.0,900.2,8.5,380,10846,1.10,0.00,119.85,1.215,6,0.074,0.000,3191,2389,3190,0,0,0,0,0,0
$STATE,10847,end apogee,CONTROL_FINISHED_OK
$STATE,10847,begin climb
$GC,10850,1.27,146.0,902.9,0.0,383,10986,1.42,2.70,127.03,1.184,4,0.036,0.073,3542,3929,2592,0,0,0,0,0,0
$GC,11067,1.15,146.0,887.2,12.5,388,11072,0.15,2.72,0.00,0.000,6,0.114,0.061,3512,2365,2587,0,0,0,0,0,0
$GC,11347,1.11,146.0,859.3,10.1,395,11352,0.00,3.00,0.00,0.000,4,0.000,0.110,3512,780,2585,0,0,0,0,0,0
$GC,11369,1.05,146.0,856.5,11.0,395,11374,0.12,2.67,0.00,0.000,6,0.120,0.048,3488,2365,2583,0,0,0,0,0,0
$GC,11625,1.09,176.2,833.9,8.6,402,11659,0.00,2.88,26.52,1.108,4,0.000,0.074,3488,3933,2470,0,0,0,0,0,0
$GC,11717,1.09,176.2,825.1,10.7,404,11722,0.00,2.62,0.00,0.000,6,0.000,0.045,3488,2375,2468,0,0,0,0,0,0
$GC,11995,1.11,198.2,799.8,9.0,411,12018,0.00,0.00,21.08,1.085,6,0.000,0.000,3488,2375,2381,0,0,0,0,0,0
$GC,12240,1.12,201.5,776.2,9.8,417,12246,0.00,0.00,3.92,0.676,6,0.000,0.000,3488,2375,2369,0,0,0,0,0,0
$GC,12482,1.12,207.0,752.4,9.7,423,12490,0.00,0.00,6.62,0.887,6,0.000,0.000,3488,2375,2346,0,0,0,0,0,0
$GC,12726,1.16,207.0,727.5,10.2,429,12727,0.10,0.00,0.00,0.000,6,0.085,0.000,3520,2375,2345,0,0,0,0,0,0
$GC,12971,1.16,207.0,700.3,11.2,435,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2375,2344,0,0,0,0,0,0
$GC,13213,1.16,207.0,673.5,10.9,441,13217,0.00,2.65,0.00,0.000,4,0.000,0.055,3520,3939,2343,0,0,0,0,0,0
$GC,13245,1.12,207.0,669.6,11.5,441,13251,0.00,2.62,0.00,0.000,6,0.000,0.046,3519,2376,2342,0,0,0,0,0,0
$GC,13495,1.12,207.0,642.5,10.8,448,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2377,2342,0,0,0,0,0,0
$GC,13741,1.12,207.0,616.2,10.7,454,13745,0.00,2.65,0.00,0.000,4,0.000,0.060,3520,3938,2342,0,0,0,0,0,0
$GC,13762,1.12,207.0,613.6,10.3,454,13767,0.00,2.62,0.00,0.000,6,0.000,0.047,3520,2377,2341,0,0,0,0,0,0
$GC,14017,1.12,207.0,587.0,10.1,461,14019,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2377,2342,0,0,0,0,0,0
$GC,14264,1.12,207.0,562.2,10.2,467,14268,0.00,2.62,0.00,0.000,4,0.000,0.058,3520,3937,2342,0,0,0,0,0,0
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$STATE,19438,end climb,SURFACE_DEPTH_REACHED
$STATE,19438,begin surface coast
$FINISH,1.0,1.014318
$STATE,19480,end surface coast,CONTROL_FINISHED_OK
$STATE,19481,begin surface
$SM_CCo,19503,49.40,0.494,0,0,1762,350.04
$SM_GC,1.73,0.00,0.00,49.40,0.000,0.000,0.494,461,2178,1762,-12.88,-0.90,350.04
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$HUMID,59.29
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$TCM_TEMP,24.20
$XPDR_PINGS,55
$24V_AH,23.2,42.627
$10V_AH,10.3,37.760
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.075,175.575,383.725,49.400,0.000,30.678,32.914,184.680,13.750,0.000,13.072,1507.228,15000.420,540.646,2190.869,725.277,33.369,1474.911,0.000,2191.142,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,57188,726
$CAP_FILE_SIZE,164308,0
$CFSIZE,260165632,107192320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210313,141535,1927.598,-8111.828,38,1.5,38,-3.8