version: 66.06
glider: 146
mission: 8
dive: 358
start: 4 2 113 19 18 31
data:
$ID,146
$MISSION,8
$DIVE,358
$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,-314544.94
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,190705,1926.706,-8117.863,35,1.1,35,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.5
$GPS2,191737,1926.635,-8117.946,13,1.2,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.078
$KALMAN_X,-195840.4,-374.6,-371.9,178183.3,-673.4
$KALMAN_Y,117079.9,161.5,73.7,-111618.1,539.9
$MHEAD_RNG_PITCHd_Wd,111.2,17818,-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,-70.88,0.000,2,0.000,0.000,465,2202,3479,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.4,-4.1,9,121,13.38,2.58,-6.05,0.000,4,0.155,0.051,2977,629,3786,0,0,0,0,0,0
$GC,155,-0.99,-146.0,18.7,-21.6,16,165,0.25,2.50,0.00,0.000,6,0.082,0.019,3036,2230,3786,0,0,0,0,0,0
$GC,437,-0.91,-146.0,56.9,-13.1,46,442,0.10,2.65,0.00,0.000,4,0.118,0.045,3059,636,3787,0,0,0,0,0,0
$GC,487,-0.91,-146.0,63.0,-11.6,49,491,0.00,2.42,0.00,0.000,6,0.000,0.017,3060,2211,3787,0,0,0,0,0,0
$GC,753,-0.91,-146.0,93.7,-11.3,73,758,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2212,3787,0,0,0,0,0,0
$GC,1016,-0.91,-146.0,124.0,-11.4,98,1021,0.00,2.58,0.00,0.000,4,0.000,0.052,3059,636,3788,0,0,0,0,0,0
$GC,1073,-0.91,-146.0,130.9,-11.7,102,1083,0.00,2.40,0.00,0.000,6,0.000,0.021,3059,2203,3788,0,0,0,0,0,0
$GC,1343,-0.97,-146.0,156.6,-9.0,127,1347,0.00,2.45,0.00,0.000,4,0.000,0.035,3060,3762,3788,0,0,0,0,0,0
$GC,1371,-1.03,-146.0,159.6,-7.9,129,1376,0.10,2.45,0.00,0.000,6,0.076,0.020,3006,2186,3788,0,0,0,0,0,0
$GC,1635,-1.03,-146.0,183.1,-8.7,153,1640,0.12,2.53,0.00,0.000,4,0.099,0.048,3035,642,3789,0,0,0,0,0,0
$GC,1705,-1.11,-146.0,188.8,-7.2,158,1711,0.00,2.33,0.00,0.000,6,0.000,0.024,3035,2171,3789,0,0,0,0,0,0
$GC,1983,-1.18,-146.0,209.4,-7.4,176,1988,0.15,2.55,0.00,0.000,4,0.056,0.041,2968,3769,3788,0,0,0,0,0,0
$GC,2007,-1.18,-146.0,211.6,-9.3,176,2012,0.15,2.45,0.00,0.000,6,0.088,0.027,3003,2177,3789,0,0,0,0,0,0
$GC,2262,-1.18,-146.0,233.0,-7.9,183,2266,0.00,2.53,0.00,0.000,4,0.000,0.048,3004,639,3789,0,0,0,0,0,0
$GC,2304,-1.18,-146.0,236.0,-8.1,184,2308,0.00,2.33,0.00,0.000,6,0.000,0.027,3003,2159,3789,0,0,0,0,0,0
$GC,2587,-1.18,-146.0,257.5,-7.7,191,2591,0.00,2.58,0.00,0.000,4,0.000,0.046,3004,3769,3789,0,0,0,0,0,0
$GC,2627,-1.23,-146.0,260.7,-8.3,192,2631,0.00,2.47,0.00,0.000,6,0.000,0.025,3003,2166,3788,0,0,0,0,0,0
$GC,2912,-1.23,-146.0,282.5,-7.5,199,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2167,3788,0,0,0,0,0,0
$GC,3154,-1.26,-146.0,299.8,-7.1,205,3158,0.00,2.60,0.00,0.000,4,0.000,0.040,3004,3767,3787,0,0,0,0,0,0
$GC,3170,-1.30,-146.0,301.1,-7.5,205,3175,0.12,2.50,0.00,0.000,6,0.064,0.027,2949,2162,3787,0,0,0,0,0,0
$GC,3434,-1.24,-146.0,327.0,-10.1,212,3439,0.17,2.62,0.00,0.000,4,0.086,0.042,2989,3761,3787,0,0,0,0,0,0
$GC,3473,-1.24,-146.0,331.2,-9.6,213,3478,0.00,2.47,0.00,0.000,6,0.000,0.026,2989,2181,3787,0,0,0,0,0,0
$GC,3757,-1.24,-146.0,354.8,-8.2,220,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2181,3785,0,0,0,0,0,0
$GC,4003,-1.24,-146.0,373.8,-7.7,226,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2181,3784,0,0,0,0,0,0
$GC,4244,-1.24,-146.0,392.4,-7.5,232,4248,0.00,2.60,0.00,0.000,4,0.000,0.048,2989,3761,3784,0,0,0,0,0,0
$GC,4260,-1.24,-146.0,393.8,-7.8,232,4264,0.00,2.53,0.00,0.000,6,0.000,0.035,2989,2185,3784,0,0,0,0,0,0
$GC,4523,-1.24,-146.0,414.4,-7.9,239,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2185,3782,0,0,0,0,0,0
$GC,4764,-1.24,-146.0,434.1,-8.0,245,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2185,3782,0,0,0,0,0,0
$GC,5008,-1.24,-146.0,453.3,-7.7,251,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2185,3780,0,0,0,0,0,0
$GC,5251,-1.24,-146.0,471.4,-7.4,257,5256,0.00,2.65,0.00,0.000,4,0.000,0.058,2989,3751,3779,0,0,0,0,0,0
$GC,5270,-1.24,-146.0,472.6,-7.4,257,5274,0.00,2.58,0.00,0.000,6,0.000,0.040,2989,2188,3779,0,0,0,0,0,0
$GC,5530,-1.24,-146.0,491.5,-7.2,264,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2188,3778,0,0,0,0,0,0
$GC,5774,-1.24,-146.0,509.6,-7.4,270,5778,0.00,2.65,0.00,0.000,4,0.000,0.061,2989,3757,3777,0,0,0,0,0,0
$GC,5804,-1.28,-146.0,511.8,-8.0,270,5808,0.00,2.60,0.00,0.000,6,0.000,0.054,2989,2189,3777,0,0,0,0,0,0
$GC,6054,-1.32,-146.0,531.3,-7.8,276,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2189,3776,0,0,0,0,0,0
$GC,6300,-1.36,-146.0,550.7,-8.0,282,6302,0.10,0.00,0.00,0.000,6,0.081,0.000,2948,2189,3774,0,0,0,0,0,0
$GC,6544,-1.31,-146.0,573.7,-9.6,288,6546,0.12,0.00,0.00,0.000,6,0.099,0.000,2976,2189,3773,0,0,0,0,0,0
$GC,6785,-1.31,-146.0,594.0,-8.3,294,6790,0.00,2.75,0.00,0.000,4,0.000,0.083,2976,3750,3771,0,0,0,0,0,0
$GC,6801,-1.31,-146.0,595.5,-8.2,294,6805,0.00,2.62,0.00,0.000,6,0.000,0.063,2976,2196,3771,0,0,0,0,0,0
$GC,7064,-1.31,-146.0,617.0,-8.2,301,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2196,3770,0,0,0,0,0,0
$GC,7305,-1.31,-146.0,636.9,-8.2,307,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2196,3769,0,0,0,0,0,0
$GC,7549,-1.31,-146.0,656.4,-8.0,313,7553,0.00,2.80,0.00,0.000,4,0.000,0.096,2976,3749,3768,0,0,0,0,0,0
$GC,7576,-1.31,-146.0,658.7,-8.9,313,7580,0.00,2.75,0.00,0.000,6,0.000,0.088,2976,2210,3768,0,0,0,0,0,0
$GC,7828,-1.31,-146.0,678.7,-8.0,319,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2210,3766,0,0,0,0,0,0
$GC,8069,-1.31,-146.0,698.0,-7.9,325,8074,0.00,2.88,0.00,0.000,4,0.000,0.110,2976,3747,3765,0,0,0,0,0,0
$GC,8085,-1.31,-146.0,699.4,-8.1,325,8090,0.00,2.85,0.00,0.000,6,0.000,0.098,2976,2204,3765,0,0,0,0,0,0
$GC,8349,-1.31,-146.0,719.9,-7.8,332,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3764,0,0,0,0,0,0
$GC,8590,-1.31,-146.0,738.6,-7.6,338,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3763,0,0,0,0,0,0
$GC,8834,-1.31,-146.0,757.2,-7.6,344,8839,0.00,3.08,0.00,0.000,4,0.000,0.144,2976,3751,3762,0,0,0,0,0,0
$GC,8856,-1.31,-146.0,759.0,-7.9,344,8860,0.00,2.78,0.00,0.000,6,0.000,0.081,2976,2199,3762,0,0,0,0,0,0
$GC,9113,-1.31,-146.0,778.7,-7.7,351,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2198,3761,0,0,0,0,0,0
$GC,9354,-1.31,-146.0,796.3,-7.1,357,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2198,3761,0,0,0,0,0,0
$GC,9598,-1.31,-146.0,813.2,-7.0,363,9603,0.00,2.72,0.00,0.000,4,0.000,0.087,2976,3751,3760,0,0,0,0,0,0
$GC,9634,-1.31,-146.0,815.7,-7.2,363,9640,0.00,2.70,0.00,0.000,6,0.000,0.075,2976,2206,3760,0,0,0,0,0,0
$GC,9884,-1.31,-146.0,833.0,-6.9,370,9889,0.00,2.75,0.00,0.000,4,0.000,0.081,2976,3758,3759,0,0,0,0,0,0
$GC,9918,-1.31,-146.0,835.6,-7.8,370,9924,0.00,2.67,0.00,0.000,6,0.000,0.069,2976,2224,3759,0,0,0,0,0,0
$GC,10171,-1.31,-146.0,854.5,-7.6,377,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2224,3758,0,0,0,0,0,0
$GC,10412,-1.31,-146.0,872.9,-7.6,383,10416,0.00,2.70,0.00,0.000,4,0.000,0.080,2976,3751,3757,0,0,0,0,0,0
$GC,10427,-1.31,-146.0,874.2,-7.5,383,10432,0.00,2.65,0.00,0.000,6,0.000,0.067,2976,2211,3757,0,0,0,0,0,0
$GC,10691,-1.31,-146.0,893.4,-7.3,390,10695,0.00,2.70,0.00,0.000,4,0.000,0.078,2976,3751,3756,0,0,0,0,0,0
$GC,10718,-1.35,-146.0,895.7,-7.5,390,10722,0.00,2.67,0.00,0.000,6,0.000,0.067,2976,2214,3756,0,0,0,0,0,0
$STATE,10803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10803,begin apogee
$GC,10809,-0.31,0.0,902.1,7.4,392,10932,0.93,0.00,119.30,1.210,6,0.069,0.000,3190,2337,3190,0,0,0,0,0,0
$STATE,10933,end apogee,CONTROL_FINISHED_OK
$STATE,10933,begin climb
$GC,10938,1.27,146.0,905.1,0.0,395,11073,1.42,2.92,126.62,1.180,4,0.035,0.081,3541,3927,2593,0,0,0,0,0,0
$GC,11150,1.16,146.0,891.9,12.4,400,11155,0.15,2.72,0.00,0.000,6,0.111,0.057,3511,2369,2588,0,0,0,0,0,0
$GC,11433,1.18,164.5,865.1,9.1,407,11457,0.00,2.85,16.80,1.074,4,0.000,0.064,3511,3937,2518,0,0,0,0,0,0
$GC,11517,1.14,164.5,856.9,10.2,408,11523,0.00,2.67,0.00,0.000,6,0.000,0.047,3511,2376,2516,0,0,0,0,0,0
$GC,11767,1.15,169.9,832.2,9.7,415,11774,0.00,0.00,5.57,0.847,6,0.000,0.000,3511,2377,2497,0,0,0,0,0,0
$GC,12010,1.15,169.9,807.0,10.6,421,12015,0.00,2.67,0.00,0.000,4,0.000,0.062,3511,3932,2495,0,0,0,0,0,0
$GC,12077,1.15,169.9,799.4,11.1,422,12081,0.00,2.60,0.00,0.000,6,0.000,0.041,3511,2389,2495,0,0,0,0,0,0
$GC,12335,1.15,172.6,773.8,9.9,429,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2389,2494,0,0,0,0,0,0
$GC,12576,1.17,187.0,750.9,9.3,435,12600,0.00,2.75,16.73,1.045,4,0.000,0.055,3511,3933,2426,0,0,0,0,0,0
$GC,12637,1.17,187.0,745.0,10.2,436,12641,0.00,2.62,0.00,0.000,6,0.000,0.048,3511,2395,2425,0,0,0,0,0,0
$GC,12903,1.17,187.5,718.7,10.0,443,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2395,2423,0,0,0,0,0,0
$GC,13147,1.17,189.8,694.8,9.9,449,13152,0.00,3.12,0.00,0.000,4,0.000,0.123,3510,777,2422,0,0,0,0,0,0
$GC,13168,1.17,189.8,692.4,10.6,449,13173,0.00,2.72,0.00,0.000,6,0.000,0.043,3511,2402,2422,0,0,0,0,0,0
$GC,13428,1.17,189.8,667.2,10.0,456,13432,0.00,2.67,0.00,0.000,4,0.000,0.070,3511,3939,2421,0,0,0,0,0,0
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$STATE,19812,end climb,SURFACE_DEPTH_REACHED
$STATE,19812,begin surface coast
$FINISH,1.1,1.003936
$STATE,19861,end surface coast,CONTROL_FINISHED_OK
$STATE,19861,begin surface
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$TCM_TEMP,24.40
$XPDR_PINGS,81
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$10V_AH,10.1,44.747
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.400,221.575,393.725,47.150,0.000,49.698,66.973,275.367,20.250,0.000,14.733,1581.952,15092.076,569.270,2413.006,897.979,33.373,1614.449,0.000,2406.894,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,57187,749
$CAP_FILE_SIZE,182008,0
$CFSIZE,260165632,103251968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,005206,1926.791,-8117.454,38,1.6,38,-3.7