version: 66.06
glider: 146
mission: 8
dive: 349
start: 3 31 113 17 35 19
data:
$ID,146
$MISSION,8
$DIVE,349
$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,-314373.66
$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,46
$R_STBD_OVSHOOT,31
$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
$GPS1,172336,1924.426,-8108.636,68,1.5,68,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.2
$GPS2,173424,1924.396,-8108.599,9,1.9,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.021
$KALMAN_X,-168004.4,-366.9,469.6,165821.9,-1713.0
$KALMAN_Y,107166.2,22.2,-420.1,-105222.4,1491.0
$MHEAD_RNG_PITCHd_Wd,278.4,17111,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-71.25,0.000,2,0.000,0.000,462,2186,3526,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-6.9,9,123,13.43,2.60,-4.88,0.000,4,0.153,0.045,2979,3796,3787,0,0,0,0,0,0
$GC,298,-1.14,-146.0,45.9,-17.2,32,303,0.15,2.47,0.00,0.000,6,0.102,0.023,3012,2212,3787,0,0,0,0,0,0
$GC,563,-1.02,-146.0,86.6,-14.9,56,568,0.12,2.60,0.00,0.000,4,0.114,0.047,3038,637,3787,0,0,0,0,0,0
$GC,610,-0.97,-146.0,93.4,-13.2,59,614,0.00,2.42,0.00,0.000,6,0.000,0.017,3038,2226,3787,0,0,0,0,0,0
$GC,879,-0.92,-146.0,126.7,-12.2,83,884,0.10,0.00,0.00,0.000,6,0.120,0.000,3061,2227,3788,0,0,0,0,0,0
$GC,1142,-0.92,-146.0,155.5,-9.7,108,1146,0.00,2.58,0.00,0.000,4,0.000,0.044,3061,637,3788,0,0,0,0,0,0
$GC,1177,-0.97,-146.0,158.9,-10.1,110,1182,0.00,2.38,0.00,0.000,6,0.000,0.023,3061,2205,3788,0,0,0,0,0,0
$GC,1442,-1.07,-146.0,177.4,-6.1,135,1451,0.15,0.00,0.00,0.000,6,0.056,0.000,2997,2205,3788,0,0,0,0,0,0
$GC,1738,-1.07,-146.0,204.0,-9.7,160,1739,0.12,0.00,0.00,0.000,6,0.099,0.000,3026,2206,3789,0,0,0,0,0,0
$GC,1978,-1.13,-146.0,220.3,-6.4,166,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2206,3789,0,0,0,0,0,0
$GC,2222,-1.21,-146.0,237.0,-6.9,172,2227,0.12,2.53,0.00,0.000,4,0.065,0.039,2969,3772,3789,0,0,0,0,0,0
$GC,2268,-1.21,-146.0,241.1,-9.9,173,2273,0.12,2.42,0.00,0.000,6,0.094,0.026,2999,2202,3789,0,0,0,0,0,0
$GC,2546,-1.21,-146.0,263.3,-7.5,180,2550,0.00,2.58,0.00,0.000,4,0.000,0.055,2999,635,3788,0,0,0,0,0,0
$GC,2579,-1.21,-146.0,266.0,-8.3,180,2584,0.00,2.42,0.00,0.000,6,0.000,0.025,3000,2204,3788,0,0,0,0,0,0
$GC,2831,-1.21,-146.0,284.4,-7.3,187,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2204,3788,0,0,0,0,0,0
$GC,3072,-1.21,-146.0,303.4,-8.0,193,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2204,3788,0,0,0,0,0,0
$GC,3316,-1.21,-146.0,322.9,-7.9,199,3320,0.00,2.55,0.00,0.000,4,0.000,0.046,3000,3777,3786,0,0,0,0,0,0
$GC,3343,-1.25,-146.0,325.4,-8.5,199,3348,0.00,2.47,0.00,0.000,6,0.000,0.024,2999,2209,3786,0,0,0,0,0,0
$GC,3596,-1.29,-146.0,345.0,-7.8,205,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2209,3786,0,0,0,0,0,0
$GC,3838,-1.33,-146.0,362.6,-7.2,211,3839,0.12,0.00,0.00,0.000,6,0.068,0.000,2949,2209,3784,0,0,0,0,0,0
$GC,4084,-1.27,-146.0,383.7,-8.8,217,4089,0.15,2.72,0.00,0.000,4,0.092,0.074,2983,636,3784,0,0,0,0,0,0
$GC,4117,-1.27,-146.0,386.8,-8.3,217,4122,0.00,2.50,0.00,0.000,6,0.000,0.038,2983,2199,3784,0,0,0,0,0,0
$GC,4367,-1.27,-146.0,407.1,-8.3,224,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3782,0,0,0,0,0,0
$GC,4611,-1.27,-146.0,426.1,-7.8,230,4615,0.00,2.65,0.00,0.000,4,0.000,0.063,2983,3790,3781,0,0,0,0,0,0
$GC,4646,-1.27,-146.0,428.8,-8.0,230,4651,0.00,2.55,0.00,0.000,6,0.000,0.040,2983,2217,3781,0,0,0,0,0,0
$GC,4896,-1.27,-146.0,448.6,-7.9,237,4900,0.00,2.80,0.00,0.000,4,0.000,0.087,2983,620,3780,0,0,0,0,0,0
$GC,4928,-1.27,-146.0,451.3,-8.5,237,4934,0.00,2.58,0.00,0.000,6,0.000,0.042,2984,2205,3780,0,0,0,0,0,0
$GC,5181,-1.27,-146.0,470.0,-7.4,244,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2205,3779,0,0,0,0,0,0
$GC,5422,-1.27,-146.0,487.9,-7.4,250,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2205,3778,0,0,0,0,0,0
$GC,5666,-1.27,-146.0,506.3,-7.6,256,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2205,3777,0,0,0,0,0,0
$GC,5912,-1.27,-146.0,525.2,-7.8,262,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2205,3776,0,0,0,0,0,0
$GC,6153,-1.27,-146.0,543.6,-7.4,268,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3774,0,0,0,0,0,0
$GC,6397,-1.27,-146.0,561.9,-7.6,274,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2205,3773,0,0,0,0,0,0
$GC,6641,-1.27,-146.0,581.2,-7.9,280,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2205,3771,0,0,0,0,0,0
$GC,6887,-1.27,-146.0,601.6,-8.5,286,6891,0.00,2.95,0.00,0.000,4,0.000,0.114,2983,631,3770,0,0,0,0,0,0
$GC,6908,-1.27,-146.0,603.9,-9.0,286,6913,0.00,2.65,0.00,0.000,6,0.000,0.055,2983,2197,3770,0,0,0,0,0,0
$GC,7163,-1.27,-146.0,625.5,-8.4,293,7168,0.00,2.88,0.00,0.000,4,0.000,0.104,2983,3794,3769,0,0,0,0,0,0
$GC,7184,-1.27,-146.0,627.5,-8.8,293,7189,0.00,2.75,0.00,0.000,6,0.000,0.073,2984,2207,3769,0,0,0,0,0,0
$GC,7442,-1.27,-146.0,647.7,-7.8,300,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2207,3768,0,0,0,0,0,0
$GC,7683,-1.27,-146.0,665.8,-7.3,306,7688,0.00,2.88,0.00,0.000,4,0.000,0.091,2983,3801,3767,0,0,0,0,0,0
$GC,7705,-1.27,-146.0,667.5,-7.8,306,7709,0.00,2.83,0.00,0.000,6,0.000,0.088,2983,2207,3766,0,0,0,0,0,0
$GC,7962,-1.27,-146.0,686.9,-7.6,313,7967,0.00,2.90,0.00,0.000,4,0.000,0.106,2983,3793,3765,0,0,0,0,0,0
$GC,7983,-1.27,-146.0,688.9,-7.9,313,7988,0.00,2.90,0.00,0.000,6,0.000,0.092,2983,2205,3765,0,0,0,0,0,0
$GC,8241,-1.27,-146.0,708.2,-7.5,320,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2205,3764,0,0,0,0,0,0
$GC,8487,-1.27,-146.0,726.1,-7.3,326,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2206,3763,0,0,0,0,0,0
$GC,8728,-1.27,-146.0,744.8,-7.8,332,8733,0.00,3.12,0.00,0.000,4,0.000,0.142,2983,3792,3762,0,0,0,0,0,0
$GC,8773,-1.32,-146.0,748.5,-8.7,333,8777,0.00,2.83,0.00,0.000,6,0.000,0.085,2983,2207,3762,0,0,0,0,0,0
$GC,9052,-1.32,-146.0,771.3,-8.2,340,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2206,3761,0,0,0,0,0,0
$GC,9294,-1.36,-146.0,791.2,-8.0,346,9299,0.00,2.85,0.00,0.000,4,0.000,0.091,2983,3797,3761,0,0,0,0,0,0
$GC,9334,-1.41,-146.0,794.5,-8.7,347,9339,0.12,2.78,0.00,0.000,6,0.068,0.071,2937,2214,3761,0,0,0,0,0,0
$GC,9621,-1.36,-146.0,821.0,-9.2,354,9623,0.12,0.00,0.00,0.000,6,0.101,0.000,2964,2213,3759,0,0,0,0,0,0
$GC,9862,-1.36,-146.0,840.5,-7.9,360,9866,0.00,2.80,0.00,0.000,4,0.000,0.082,2964,3800,3759,0,0,0,0,0,0
$GC,9889,-1.36,-146.0,842.9,-8.5,360,9893,0.00,2.72,0.00,0.000,6,0.000,0.071,2964,2224,3759,0,0,0,0,0,0
$GC,10141,-1.36,-146.0,862.3,-7.7,366,10146,0.00,2.78,0.00,0.000,4,0.000,0.079,2964,3795,3758,0,0,0,0,0,0
$GC,10168,-1.36,-146.0,864.7,-8.7,366,10173,0.00,2.72,0.00,0.000,6,0.000,0.066,2964,2227,3758,0,0,0,0,0,0
$GC,10420,-1.36,-146.0,883.9,-7.8,372,10425,0.00,3.08,0.00,0.000,4,0.000,0.123,2964,619,3757,0,0,0,0,0,0
$GC,10444,-1.36,-146.0,885.9,-8.5,372,10449,0.00,2.75,0.00,0.000,6,0.000,0.061,2964,2229,3757,0,0,0,0,0,0
$STATE,10655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10656,begin apogee
$GC,10662,-0.31,0.0,903.2,8.0,378,10785,0.98,0.00,120.00,1.206,6,0.068,0.000,3189,2381,3190,0,0,0,0,0,0
$STATE,10786,end apogee,CONTROL_FINISHED_OK
$STATE,10786,begin climb
$GC,10789,1.27,146.0,906.5,0.0,381,10921,1.48,0.00,127.28,1.180,6,0.034,0.000,3550,2381,2594,0,0,0,0,0,0
$GC,11143,1.17,146.0,878.5,10.8,390,11148,0.17,2.80,0.00,0.000,4,0.107,0.082,3514,3935,2587,0,0,0,0,0,0
$GC,11218,1.10,146.0,870.8,10.1,391,11222,0.00,2.67,0.00,0.000,6,0.000,0.054,3515,2375,2586,0,0,0,0,0,0
$GC,11468,1.13,167.2,847.8,9.0,397,11492,0.00,2.80,18.77,1.082,4,0.000,0.064,3514,3934,2508,0,0,0,0,0,0
$GC,11515,1.09,174.6,843.1,9.7,398,11529,0.00,2.62,8.27,0.953,6,0.000,0.048,3514,2386,2477,0,0,0,0,0,0
$GC,11799,1.09,174.6,814.0,10.4,405,11804,0.00,2.67,0.00,0.000,4,0.000,0.061,3514,3946,2474,0,0,0,0,0,0
$GC,11832,1.05,174.6,810.1,10.6,405,11838,0.12,2.62,0.00,0.000,6,0.117,0.044,3490,2392,2474,0,0,0,0,0,0
$GC,12084,1.07,193.8,787.1,9.1,412,12104,0.00,0.00,18.65,1.067,6,0.000,0.000,3490,2392,2399,0,0,0,0,0,0
$GC,12326,1.13,210.2,764.7,9.2,418,12344,0.00,0.00,16.42,1.042,6,0.000,0.000,3490,2392,2332,0,0,0,0,0,0
$GC,12569,1.19,224.6,741.9,9.3,424,12587,0.12,0.00,14.65,1.015,6,0.071,0.000,3528,2392,2274,0,0,0,0,0,0
$GC,12815,1.19,224.6,713.9,11.9,430,12819,0.00,2.65,0.00,0.000,4,0.000,0.054,3528,3944,2271,0,0,0,0,0,0
$GC,12842,1.19,224.6,710.2,12.2,430,12846,0.00,2.62,0.00,0.000,6,0.000,0.048,3528,2391,2270,0,0,0,0,0,0
$GC,13097,1.19,224.6,680.4,11.6,437,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2392,2270,0,0,0,0,0,0
$GC,13340,1.19,224.6,651.9,11.8,443,13345,0.00,2.65,0.00,0.000,4,0.000,0.060,3528,3946,2270,0,0,0,0,0,0
$GC,13375,1.19,224.6,647.6,12.4,443,13381,0.00,2.62,0.00,0.000,6,0.000,0.043,3528,2387,2269,0,0,0,0,0,0
$GC,13625,1.19,224.6,616.8,12.3,450,13630,0.00,2.65,0.00,0.000,4,0.000,0.055,3528,3945,2269,0,0,0,0,0,0
$GC,13641,1.19,224.6,614.5,12.5,450,13646,0.00,2.58,0.00,0.000,6,0.000,0.042,3528,2394,2269,0,0,0,0,0,0
$GC,13905,1.19,224.6,582.2,12.3,457,13906,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2394,2269,0,0,0,0,0,0
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$STATE,19134,end climb,SURFACE_DEPTH_REACHED
$STATE,19134,begin surface coast
$FINISH,1.1,1.018004
$STATE,19178,end surface coast,CONTROL_FINISHED_OK
$STATE,19178,begin surface
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$HUMID,60.04
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$TCM_TEMP,24.20
$XPDR_PINGS,62
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$10V_AH,10.1,43.588
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.350,196.150,388.100,44.525,0.000,54.657,67.058,287.370,15.500,0.000,16.137,1509.004,14684.976,576.685,2216.852,900.744,33.361,1508.453,0.000,2213.988,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,54175,726
$CAP_FILE_SIZE,168789,0
$CFSIZE,260165632,103915520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310313,225729,1923.997,-8112.200,39,1.5,39,-3.8