version: 66.06
glider: 146
mission: 8
dive: 343
start: 3 30 113 6 21 5
data:
$ID,146
$MISSION,8
$DIVE,343
$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,-314196.38
$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,38
$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
$GPS1,054629,1929.051,-8116.193,63,1.9,63,-3.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.4
$GPS2,062012,1928.809,-8116.382,30,1.4,36,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.107
$KALMAN_X,-158192.6,119.4,-39.2,142431.6,-2405.9
$KALMAN_Y,102001.6,243.0,42.4,-92580.6,921.9
$MHEAD_RNG_PITCHd_Wd,118.2,16675,-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,-70.22,0.000,2,0.000,0.000,461,2170,3392,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.2,-3.8,9,131,13.48,2.55,-7.88,0.000,4,0.156,0.058,2977,657,3788,0,0,0,0,0,0
$GC,150,-0.78,-146.0,16.8,-22.0,15,160,0.47,2.42,0.00,0.000,6,0.084,0.016,3085,2227,3788,0,0,0,0,0,0
$GC,441,-0.78,-146.0,51.0,-9.1,47,445,0.00,2.58,0.00,0.000,4,0.000,0.045,3085,654,3788,0,0,0,0,0,0
$GC,476,-0.78,-146.0,54.3,-9.3,49,480,0.00,2.38,0.00,0.000,6,0.000,0.017,3085,2200,3788,0,0,0,0,0,0
$GC,742,-0.78,-146.0,79.8,-10.6,73,746,0.00,2.53,0.00,0.000,4,0.000,0.044,3085,651,3788,0,0,0,0,0,0
$GC,765,-0.78,-146.0,82.7,-10.4,74,774,0.00,2.38,0.00,0.000,6,0.000,0.017,3085,2192,3788,0,0,0,0,0,0
$GC,1031,-0.78,-146.0,108.7,-9.6,99,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2193,3788,0,0,0,0,0,0
$GC,1296,-0.83,-146.0,134.5,-9.1,124,1300,0.00,2.53,0.00,0.000,4,0.000,0.047,3085,644,3788,0,0,0,0,0,0
$GC,1349,-0.89,-146.0,139.8,-9.1,128,1353,0.00,2.38,0.00,0.000,6,0.000,0.022,3085,2197,3788,0,0,0,0,0,0
$GC,1615,-0.99,-146.0,163.1,-7.5,152,1620,0.17,0.00,0.00,0.000,6,0.051,0.000,3014,2197,3788,0,0,0,0,0,0
$GC,1877,-0.99,-146.0,189.4,-8.9,177,1882,0.15,2.50,0.00,0.000,4,0.092,0.033,3050,3775,3788,0,0,0,0,0,0
$GC,1921,-1.12,-146.0,192.4,-7.3,180,1926,0.15,2.47,0.00,0.000,6,0.056,0.021,2985,2188,3788,0,0,0,0,0,0
$GC,2175,-1.12,-146.0,213.6,-8.1,192,2180,0.12,2.55,0.00,0.000,4,0.097,0.049,3016,633,3788,0,0,0,0,0,0
$GC,2217,-1.16,-146.0,216.4,-6.9,193,2221,0.00,2.33,0.00,0.000,6,0.000,0.017,3016,2175,3789,0,0,0,0,0,0
$GC,2501,-1.20,-146.0,236.1,-6.9,200,2505,0.00,2.53,0.00,0.000,4,0.000,0.041,3016,3772,3789,0,0,0,0,0,0
$GC,2562,-1.27,-146.0,241.1,-7.9,201,2567,0.15,2.47,0.00,0.000,6,0.057,0.020,2950,2184,3788,0,0,0,0,0,0
$GC,2826,-1.20,-146.0,265.2,-9.3,208,2831,0.20,2.55,0.00,0.000,4,0.081,0.057,2998,638,3787,0,0,0,0,0,0
$GC,2853,-1.20,-146.0,267.7,-8.1,208,2857,0.00,2.38,0.00,0.000,6,0.000,0.019,2998,2175,3788,0,0,0,0,0,0
$GC,3105,-1.20,-146.0,285.5,-7.2,214,3110,0.00,2.58,0.00,0.000,4,0.000,0.044,2998,3772,3787,0,0,0,0,0,0
$GC,3122,-1.20,-146.0,286.8,-7.3,214,3126,0.00,2.47,0.00,0.000,6,0.000,0.026,2998,2181,3787,0,0,0,0,0,0
$GC,3382,-1.20,-146.0,307.2,-7.9,221,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2180,3786,0,0,0,0,0,0
$GC,3626,-1.20,-146.0,327.4,-8.4,227,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2180,3785,0,0,0,0,0,0
$GC,3872,-1.20,-146.0,347.7,-8.3,233,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2180,3784,0,0,0,0,0,0
$GC,4113,-1.20,-146.0,366.7,-7.7,239,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2180,3783,0,0,0,0,0,0
$GC,4358,-1.25,-146.0,384.6,-7.3,245,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2180,3782,0,0,0,0,0,0
$GC,4604,-1.29,-146.0,402.1,-7.3,251,4608,0.00,2.62,0.00,0.000,4,0.000,0.048,2998,3772,3781,0,0,0,0,0,0
$GC,4625,-1.33,-146.0,404.0,-7.4,251,4631,0.12,2.53,0.00,0.000,6,0.066,0.031,2945,2187,3781,0,0,0,0,0,0
$GC,4881,-1.27,-146.0,428.5,-9.9,258,4887,0.17,2.65,0.00,0.000,4,0.087,0.055,2985,3774,3779,0,0,0,0,0,0
$GC,4900,-1.27,-146.0,430.3,-9.7,258,4905,0.00,2.58,0.00,0.000,6,0.000,0.036,2985,2189,3780,0,0,0,0,0,0
$GC,5161,-1.27,-146.0,450.3,-7.4,265,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2189,3778,0,0,0,0,0,0
$GC,5404,-1.27,-146.0,467.6,-7.0,271,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2188,3777,0,0,0,0,0,0
$GC,5648,-1.27,-146.0,484.1,-6.8,277,5653,0.00,2.67,0.00,0.000,4,0.000,0.066,2985,3771,3776,0,0,0,0,0,0
$GC,5672,-1.27,-146.0,485.8,-7.5,277,5676,0.00,2.62,0.00,0.000,6,0.000,0.045,2985,2179,3776,0,0,0,0,0,0
$GC,5928,-1.27,-146.0,504.3,-7.3,284,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2180,3774,0,0,0,0,0,0
$GC,6170,-1.27,-146.0,523.0,-7.7,290,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2180,3773,0,0,0,0,0,0
$GC,6417,-1.27,-146.0,542.8,-8.1,296,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2180,3771,0,0,0,0,0,0
$GC,6658,-1.27,-146.0,563.2,-8.5,302,6662,0.00,2.78,0.00,0.000,4,0.000,0.082,2985,3761,3770,0,0,0,0,0,0
$GC,6679,-1.27,-146.0,565.2,-8.7,302,6684,0.00,2.65,0.00,0.000,6,0.000,0.054,2985,2188,3770,0,0,0,0,0,0
$GC,6937,-1.27,-146.0,585.5,-7.8,309,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2188,3769,0,0,0,0,0,0
$GC,7178,-1.27,-146.0,603.6,-7.4,315,7183,0.00,2.78,0.00,0.000,4,0.000,0.078,2985,3764,3767,0,0,0,0,0,0
$GC,7194,-1.27,-146.0,604.8,-7.4,315,7198,0.00,2.70,0.00,0.000,6,0.000,0.061,2985,2188,3767,0,0,0,0,0,0
$GC,7454,-1.27,-146.0,623.8,-7.3,322,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2188,3766,0,0,0,0,0,0
$GC,7700,-1.27,-146.0,641.7,-7.4,328,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2188,3764,0,0,0,0,0,0
$GC,7942,-1.27,-146.0,660.7,-7.9,334,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2189,3763,0,0,0,0,0,0
$GC,8186,-1.27,-146.0,680.1,-8.0,340,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2188,3762,0,0,0,0,0,0
$GC,8429,-1.27,-146.0,699.7,-8.1,346,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2188,3761,0,0,0,0,0,0
$GC,8676,-1.31,-146.0,720.6,-8.7,352,8681,0.00,3.05,0.00,0.000,4,0.000,0.129,2985,3761,3760,0,0,0,0,0,0
$GC,8703,-1.31,-146.0,723.4,-9.7,352,8708,0.00,2.97,0.00,0.000,6,0.000,0.114,2985,2189,3760,0,0,0,0,0,0
$GC,8953,-1.31,-146.0,745.0,-8.7,358,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2189,3759,0,0,0,0,0,0
$GC,9199,-1.34,-146.0,765.0,-8.1,364,9204,0.00,3.20,0.00,0.000,4,0.000,0.155,2985,3761,3759,0,0,0,0,0,0
$GC,9221,-1.38,-146.0,767.0,-8.1,364,9227,0.12,2.80,0.00,0.000,6,0.068,0.084,2939,2182,3758,0,0,0,0,0,0
$GC,9478,-1.33,-146.0,791.4,-9.5,371,9483,0.15,2.88,0.00,0.000,4,0.096,0.098,2972,3769,3757,0,0,0,0,0,0
$GC,9525,-1.33,-146.0,795.4,-8.0,372,9529,0.00,2.78,0.00,0.000,6,0.000,0.080,2972,2186,3757,0,0,0,0,0,0
$GC,9802,-1.33,-146.0,818.9,-8.4,379,9807,0.00,3.03,0.00,0.000,4,0.000,0.130,2972,619,3756,0,0,0,0,0,0
$GC,9820,-1.33,-146.0,820.3,-8.6,379,9825,0.00,2.65,0.00,0.000,6,0.000,0.069,2972,2160,3756,0,0,0,0,0,0
$GC,10081,-1.33,-146.0,843.0,-8.6,386,10086,0.00,2.95,0.00,0.000,4,0.000,0.104,2972,3796,3755,0,0,0,0,0,0
$GC,10114,-1.33,-146.0,845.9,-9.1,386,10119,0.00,2.78,0.00,0.000,6,0.000,0.074,2972,2195,3755,0,0,0,0,0,0
$GC,10366,-1.33,-146.0,865.8,-7.9,393,10371,0.00,2.83,0.00,0.000,4,0.000,0.085,2972,3798,3754,0,0,0,0,0,0
$GC,10387,-1.33,-146.0,867.8,-7.8,393,10392,0.00,2.78,0.00,0.000,6,0.000,0.068,2972,2198,3754,0,0,0,0,0,0
$GC,10642,-1.33,-146.0,886.6,-7.3,400,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2198,3753,0,0,0,0,0,0
$STATE,10843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10843,begin apogee
$GC,10851,-0.31,0.0,900.2,6.7,405,10974,0.95,0.00,118.78,1.202,6,0.069,0.000,3191,2381,3189,0,0,0,0,0,0
$STATE,10974,end apogee,CONTROL_FINISHED_OK
$STATE,10974,begin climb
$GC,10977,1.27,146.0,902.2,0.0,408,11112,1.42,2.83,126.47,1.176,4,0.035,0.084,3542,3930,2593,0,0,0,0,0,0
$GC,11212,1.15,146.0,884.2,11.4,413,11217,0.15,2.72,0.00,0.000,6,0.112,0.062,3512,2362,2587,0,0,0,0,0,0
$GC,11473,1.13,160.2,859.0,9.3,420,11488,0.00,0.00,12.90,1.035,6,0.000,0.000,3512,2362,2537,0,0,0,0,0,0
$GC,11719,1.15,175.1,836.6,9.3,426,11739,0.00,2.78,14.55,1.047,4,0.000,0.066,3512,3931,2476,0,0,0,0,0,0
$GC,11773,1.11,175.1,831.0,10.6,427,11777,0.00,2.65,0.00,0.000,6,0.000,0.044,3512,2368,2474,0,0,0,0,0,0
$GC,12039,1.11,177.3,804.5,9.9,434,12043,0.00,2.67,0.00,0.000,4,0.000,0.056,3512,3940,2472,0,0,0,0,0,0
$GC,12068,1.07,177.3,801.6,10.2,434,12073,0.00,2.62,0.00,0.000,6,0.000,0.043,3512,2376,2471,0,0,0,0,0,0
$GC,12318,1.08,180.3,776.5,9.9,440,12329,0.00,2.67,5.45,0.821,4,0.000,0.055,3512,3939,2455,0,0,0,0,0,0
$GC,12394,1.08,180.3,768.8,11.0,441,12399,0.00,2.62,0.00,0.000,6,0.000,0.051,3512,2381,2454,0,0,0,0,0,0
$GC,12644,1.08,185.2,744.0,9.8,447,12652,0.00,0.00,6.22,0.856,6,0.000,0.000,3512,2381,2434,0,0,0,0,0,0
$GC,12888,1.09,188.5,719.9,9.8,453,12897,0.00,2.67,4.43,0.720,4,0.000,0.062,3512,3937,2421,0,0,0,0,0,0
$GC,12922,1.09,188.5,716.4,10.4,453,12927,0.00,2.60,0.00,0.000,6,0.000,0.044,3512,2389,2421,0,0,0,0,0,0
$GC,13172,1.09,192.0,691.4,9.8,460,13178,0.00,0.00,4.80,0.750,6,0.000,0.000,3512,2388,2407,0,0,0,0,0,0
$GC,13415,1.09,192.0,667.2,10.0,466,13416,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2388,2406,0,0,0,0,0,0
$GC,13659,1.09,192.0,642.4,10.2,472,13663,0.00,2.60,0.00,0.000,4,0.000,0.058,3512,3932,2406,0,0,0,0,0,0
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$STATE,19703,end climb,SURFACE_DEPTH_REACHED
$STATE,19703,begin surface coast
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$STATE,19739,end surface coast,CONTROL_FINISHED_OK
$STATE,19739,begin surface
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$HUMID,60.35
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$TCM_TEMP,24.20
$XPDR_PINGS,63
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$10V_AH,10.1,42.770
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.775,205.150,396.575,41.675,0.000,134.290,186.080,1225.441,15.750,0.000,37.809,1553.422,15237.647,572.053,2372.905,2079.911,33.371,1577.944,0.000,2346.503,0.000,0.536,0.000
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$MEM,355980
$DATA_FILE_SIZE,57295,749
$CAP_FILE_SIZE,194205,0
$CFSIZE,260165632,104333312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,115347,1928.602,-8115.231,93,2.1,112,-3.8