version: 66.06
glider: 146
mission: 8
dive: 329
start: 3 27 113 0 0 18
data:
$ID,146
$MISSION,8
$DIVE,329
$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,-313899.44
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,234400,1929.103,-8112.885,43,1.6,43,-3.8
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.9
$GPS2,235924,1928.953,-8112.969,10,1.6,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,-0.163
$KALMAN_X,-120839.4,-83.1,-246.4,111461.1,-1582.0
$KALMAN_Y,79728.0,739.6,224.4,-70725.5,983.7
$MHEAD_RNG_PITCHd_Wd,132.7,11973,-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,-71.10,0.000,2,0.000,0.000,461,2206,3520,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-5.7,9,122,13.43,2.58,-4.90,0.000,4,0.155,0.048,2977,619,3787,0,0,0,0,0,0
$GC,228,-1.06,-146.0,35.3,-17.6,26,237,0.20,2.53,0.00,0.000,6,0.080,0.017,3026,2246,3787,0,0,0,0,0,0
$GC,496,-0.95,-146.0,73.4,-14.6,51,501,0.12,2.67,0.00,0.000,4,0.110,0.046,3054,634,3787,0,0,0,0,0,0
$GC,522,-0.85,-146.0,77.0,-13.9,52,526,0.00,2.40,0.00,0.000,6,0.000,0.016,3054,2213,3787,0,0,0,0,0,0
$GC,785,-0.80,-146.0,109.7,-12.8,76,790,0.15,2.62,0.00,0.000,4,0.097,0.047,3088,634,3788,0,0,0,0,0,0
$GC,816,-0.80,-146.0,113.4,-12.0,78,820,0.00,2.38,0.00,0.000,6,0.000,0.016,3088,2195,3788,0,0,0,0,0,0
$GC,1079,-0.80,-146.0,138.9,-9.6,102,1083,0.00,2.55,0.00,0.000,4,0.000,0.046,3088,634,3788,0,0,0,0,0,0
$GC,1099,-0.80,-146.0,140.7,-9.8,103,1104,0.00,2.35,0.00,0.000,6,0.000,0.015,3088,2195,3788,0,0,0,0,0,0
$GC,1369,-0.90,-146.0,161.4,-7.1,127,1374,0.12,2.58,0.00,0.000,4,0.064,0.047,3024,636,3789,0,0,0,0,0,0
$GC,1391,-0.94,-146.0,164.0,-8.2,128,1398,0.12,2.38,0.00,0.000,6,0.099,0.024,3054,2192,3789,0,0,0,0,0,0
$GC,1657,-1.01,-146.0,184.9,-6.9,153,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2192,3789,0,0,0,0,0,0
$GC,1953,-1.11,-146.0,203.1,-6.7,178,1955,0.15,0.00,0.00,0.000,6,0.056,0.000,2988,2193,3789,0,0,0,0,0,0
$GC,2192,-1.11,-146.0,225.5,-9.4,184,2194,0.12,0.00,0.00,0.000,6,0.094,0.000,3018,2193,3790,0,0,0,0,0,0
$GC,2437,-1.16,-146.0,243.2,-7.3,190,2441,0.00,2.55,0.00,0.000,4,0.000,0.048,3018,636,3789,0,0,0,0,0,0
$GC,2470,-1.21,-146.0,245.8,-7.8,190,2476,0.10,2.38,0.00,0.000,6,0.080,0.027,2970,2176,3789,0,0,0,0,0,0
$GC,2722,-1.17,-146.0,267.9,-8.9,197,2724,0.15,0.00,0.00,0.000,6,0.089,0.000,3005,2176,3788,0,0,0,0,0,0
$GC,2964,-1.21,-146.0,286.1,-7.5,203,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2176,3788,0,0,0,0,0,0
$GC,3210,-1.25,-146.0,304.0,-7.3,209,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2176,3788,0,0,0,0,0,0
$GC,3451,-1.29,-146.0,320.6,-6.7,215,3453,0.12,0.00,0.00,0.000,6,0.064,0.000,2950,2176,3787,0,0,0,0,0,0
$GC,3695,-1.22,-146.0,343.4,-9.7,221,3700,0.20,2.60,0.00,0.000,4,0.081,0.050,2997,3766,3786,0,0,0,0,0,0
$GC,3725,-1.22,-146.0,346.0,-8.9,221,3729,0.00,2.53,0.00,0.000,6,0.000,0.026,2997,2180,3786,0,0,0,0,0,0
$GC,3975,-1.22,-146.0,366.3,-8.1,227,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2180,3785,0,0,0,0,0,0
$GC,4218,-1.22,-146.0,384.9,-7.6,233,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2179,3784,0,0,0,0,0,0
$GC,4462,-1.22,-146.0,403.9,-7.8,239,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2180,3783,0,0,0,0,0,0
$GC,4708,-1.22,-146.0,422.3,-7.5,245,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2180,3782,0,0,0,0,0,0
$GC,4950,-1.26,-146.0,440.8,-7.6,251,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2180,3781,0,0,0,0,0,0
$GC,5194,-1.30,-146.0,458.0,-7.1,257,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2180,3780,0,0,0,0,0,0
$GC,5440,-1.34,-146.0,474.5,-6.8,263,5442,0.12,0.00,0.00,0.000,6,0.064,0.000,2943,2179,3779,0,0,0,0,0,0
$GC,5681,-1.28,-146.0,497.0,-9.3,269,5686,0.17,2.72,0.00,0.000,4,0.085,0.070,2984,3757,3778,0,0,0,0,0,0
$GC,5703,-1.28,-146.0,499.2,-9.1,269,5708,0.00,2.60,0.00,0.000,6,0.000,0.053,2984,2199,3777,0,0,0,0,0,0
$GC,5961,-1.28,-146.0,518.5,-7.6,276,5966,0.00,2.95,0.00,0.000,4,0.000,0.112,2984,619,3777,0,0,0,0,0,0
$GC,5988,-1.28,-146.0,520.9,-8.7,276,5993,0.00,2.53,0.00,0.000,6,0.000,0.048,2984,2149,3776,0,0,0,0,0,0
$GC,6238,-1.28,-146.0,540.1,-7.8,282,6243,0.00,2.80,0.00,0.000,4,0.000,0.085,2984,3764,3775,0,0,0,0,0,0
$GC,6265,-1.28,-146.0,542.4,-8.6,282,6270,0.00,2.65,0.00,0.000,6,0.000,0.051,2984,2187,3775,0,0,0,0,0,0
$GC,6518,-1.28,-146.0,562.0,-7.9,288,6522,0.00,2.67,0.00,0.000,4,0.000,0.073,2984,3757,3773,0,0,0,0,0,0
$GC,6535,-1.28,-146.0,563.6,-8.0,288,6540,0.00,2.65,0.00,0.000,6,0.000,0.058,2984,2189,3773,0,0,0,0,0,0
$GC,6796,-1.28,-146.0,584.2,-7.9,295,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2189,3771,0,0,0,0,0,0
$GC,7043,-1.28,-146.0,602.7,-7.6,301,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2189,3770,0,0,0,0,0,0
$GC,7284,-1.28,-146.0,620.6,-7.4,307,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2189,3769,0,0,0,0,0,0
$GC,7528,-1.28,-146.0,638.6,-7.4,313,7532,0.00,2.80,0.00,0.000,4,0.000,0.087,2984,3760,3768,0,0,0,0,0,0
$GC,7557,-1.28,-146.0,640.7,-7.5,313,7562,0.00,2.78,0.00,0.000,6,0.000,0.074,2984,2190,3768,0,0,0,0,0,0
$GC,7807,-1.28,-146.0,659.3,-7.4,319,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2190,3767,0,0,0,0,0,0
$GC,8051,-1.28,-146.0,678.0,-7.7,325,8055,0.00,2.88,0.00,0.000,4,0.000,0.097,2984,3761,3766,0,0,0,0,0,0
$GC,8069,-1.28,-146.0,679.5,-8.1,325,8073,0.00,2.85,0.00,0.000,6,0.000,0.091,2984,2195,3765,0,0,0,0,0,0
$GC,8332,-1.28,-146.0,701.0,-8.4,332,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2195,3764,0,0,0,0,0,0
$GC,8573,-1.28,-146.0,720.5,-8.0,338,8578,0.00,2.83,0.00,0.000,4,0.000,0.097,2984,3757,3763,0,0,0,0,0,0
$GC,8589,-1.28,-146.0,722.0,-8.0,338,8593,0.00,2.72,0.00,0.000,6,0.000,0.077,2984,2203,3762,0,0,0,0,0,0
$GC,8852,-1.28,-146.0,742.0,-7.6,345,8856,0.00,2.75,0.00,0.000,4,0.000,0.088,2984,3757,3762,0,0,0,0,0,0
$GC,8873,-1.28,-146.0,744.0,-8.1,345,8878,0.00,2.70,0.00,0.000,6,0.000,0.072,2984,2212,3762,0,0,0,0,0,0
$GC,9129,-1.32,-146.0,762.6,-7.2,352,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2212,3761,0,0,0,0,0,0
$GC,9375,-1.32,-146.0,780.0,-7.2,358,9380,0.00,2.72,0.00,0.000,4,0.000,0.081,2984,3763,3760,0,0,0,0,0,0
$GC,9396,-1.32,-146.0,781.8,-7.6,358,9401,0.00,2.70,0.00,0.000,6,0.000,0.071,2984,2215,3760,0,0,0,0,0,0
$GC,9652,-1.32,-146.0,800.9,-7.4,365,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2215,3759,0,0,0,0,0,0
$GC,9898,-1.36,-146.0,820.2,-7.9,371,9902,0.00,2.72,0.00,0.000,4,0.000,0.084,2984,3760,3758,0,0,0,0,0,0
$GC,9914,-1.40,-146.0,821.8,-8.0,371,9919,0.12,2.67,0.00,0.000,6,0.069,0.066,2938,2221,3759,0,0,0,0,0,0
$GC,10176,-1.35,-146.0,845.1,-8.7,378,10178,0.12,0.00,0.00,0.000,6,0.103,0.000,2966,2220,3757,0,0,0,0,0,0
$GC,10421,-1.35,-146.0,864.3,-7.7,384,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2220,3756,0,0,0,0,0,0
$GC,10663,-1.35,-146.0,882.4,-7.4,390,10667,0.00,2.70,0.00,0.000,4,0.000,0.082,2966,3758,3756,0,0,0,0,0,0
$GC,10690,-1.35,-146.0,884.4,-7.9,390,10694,0.00,2.67,0.00,0.000,6,0.000,0.067,2966,2216,3755,0,0,0,0,0,0
$STATE,10896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10896,begin apogee
$GC,10905,-0.31,0.0,900.6,7.8,395,11028,0.98,0.00,119.43,1.207,6,0.067,0.000,3191,2339,3190,0,0,0,0,0,0
$STATE,11029,end apogee,CONTROL_FINISHED_OK
$STATE,11029,begin climb
$GC,11031,1.27,146.0,904.4,0.0,398,11167,1.42,2.90,126.43,1.178,4,0.036,0.080,3542,3925,2594,0,0,0,0,0,0
$GC,11226,1.15,150.2,895.2,9.8,402,11236,0.15,2.72,4.68,0.761,6,0.113,0.058,3513,2362,2577,0,0,0,0,0,0
$GC,11481,1.15,176.2,873.3,8.8,408,11511,0.00,2.80,24.40,1.106,4,0.000,0.069,3513,3930,2470,0,0,0,0,0,0
$GC,11553,1.10,176.2,866.2,10.6,409,11557,0.00,2.67,0.00,0.000,6,0.000,0.051,3513,2377,2468,0,0,0,0,0,0
$GC,11802,1.10,176.2,840.6,10.1,415,11807,0.00,2.67,0.00,0.000,4,0.000,0.058,3513,3934,2466,0,0,0,0,0,0
$GC,11824,1.05,176.2,838.1,10.3,415,11829,0.10,2.60,0.00,0.000,6,0.130,0.043,3491,2384,2465,0,0,0,0,0,0
$GC,12082,1.06,185.2,813.6,9.6,422,12096,0.00,3.17,8.50,0.965,4,0.000,0.128,3491,781,2435,0,0,0,0,0,0
$GC,12126,1.08,198.5,808.9,9.4,423,12146,0.00,2.70,14.20,1.045,6,0.000,0.048,3491,2386,2380,0,0,0,0,0,0
$GC,12416,1.08,198.5,780.1,10.0,430,12420,0.00,2.70,0.00,0.000,4,0.000,0.068,3491,3935,2376,0,0,0,0,0,0
$GC,12521,1.08,198.5,767.5,11.8,432,12525,0.00,2.58,0.00,0.000,6,0.000,0.039,3491,2397,2375,0,0,0,0,0,0
$GC,12784,1.08,198.5,740.7,10.1,439,12788,0.00,2.60,0.00,0.000,4,0.000,0.060,3491,3934,2374,0,0,0,0,0,0
$GC,12827,1.08,198.5,735.9,10.3,440,12832,0.00,2.58,0.00,0.000,6,0.000,0.048,3491,2402,2374,0,0,0,0,0,0
$GC,13106,1.09,207.0,709.0,9.6,447,13120,0.00,3.22,8.07,0.916,4,0.000,0.123,3491,779,2346,0,0,0,0,0,0
$GC,13134,1.09,207.9,706.3,10.0,447,13138,0.00,2.72,0.00,0.000,6,0.000,0.044,3491,2405,2345,0,0,0,0,0,0
$GC,13390,1.10,216.0,681.4,9.6,454,13406,0.00,2.72,10.15,0.945,4,0.000,0.071,3491,3940,2308,0,0,0,0,0,0
$GC,13445,1.14,216.0,675.7,10.3,455,13449,0.00,2.58,0.00,0.000,6,0.000,0.038,3491,2409,2307,0,0,0,0,0,0
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$STATE,19613,end climb,SURFACE_DEPTH_REACHED
$STATE,19613,begin surface coast
$FINISH,1.1,1.023670
$STATE,19656,end surface coast,CONTROL_FINISHED_OK
$STATE,19656,begin surface
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$IRIDIUM_FIX,1920.65,-8112.10,210602,000017
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$HUMID,59.92
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$TCM_TEMP,24.50
$XPDR_PINGS,67
$24V_AH,23.2,46.092
$10V_AH,10.2,40.973
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.125,203.650,396.550,35.475,0.000,72.977,111.854,430.909,16.750,0.000,11.934,1548.199,15096.649,547.775,2305.768,1133.063,33.363,1547.547,0.000,2308.945,0.000,0.537,0.000
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$SENSOR_SECS,503.339,350.360,447.950,575.395,1095.846,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,57254,743
$CAP_FILE_SIZE,179568,0
$CFSIZE,260165632,105345024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,053024,1929.067,-8112.481,46,1.2,46,-3.8