version: 66.06
glider: 146
mission: 8
dive: 362
start: 4 3 113 18 1 57
data:
$ID,146
$MISSION,8
$DIVE,362
$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,-314605.78
$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,28
$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
$GPS1,175406,1926.848,-8114.382,29,1.3,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.8
$GPS2,180101,1926.833,-8114.398,10,1.4,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.241,-0.096
$KALMAN_X,-208088.1,91.3,-60.1,195843.4,-1899.4
$KALMAN_Y,123131.5,-60.9,114.3,-117128.6,792.3
$MHEAD_RNG_PITCHd_Wd,115.6,11982,-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,-70.45,0.000,2,0.000,0.000,463,2210,3453,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.4,-3.8,9,120,13.57,0.00,-6.57,0.000,6,0.158,0.000,2977,2210,3786,0,0,0,0,0,0
$GC,397,-1.06,-146.0,62.0,-17.0,43,402,0.22,2.62,0.00,0.000,4,0.103,0.047,3024,623,3788,0,0,0,0,0,0
$GC,433,-0.91,-146.0,67.6,-15.7,45,438,0.17,2.45,0.00,0.000,6,0.098,0.016,3064,2237,3788,0,0,0,0,0,0
$GC,699,-0.91,-146.0,98.4,-11.7,69,703,0.00,2.62,0.00,0.000,4,0.000,0.046,3063,630,3788,0,0,0,0,0,0
$GC,720,-0.91,-146.0,101.7,-11.9,70,729,0.00,2.42,0.00,0.000,6,0.000,0.019,3063,2200,3788,0,0,0,0,0,0
$GC,987,-0.91,-146.0,132.4,-11.4,95,991,0.00,2.60,0.00,0.000,4,0.000,0.044,3063,622,3788,0,0,0,0,0,0
$GC,1026,-0.91,-146.0,137.5,-11.1,98,1031,0.00,2.42,0.00,0.000,6,0.000,0.018,3063,2202,3788,0,0,0,0,0,0
$GC,1292,-0.99,-146.0,159.2,-7.5,122,1296,0.00,2.55,0.00,0.000,4,0.000,0.043,3063,630,3789,0,0,0,0,0,0
$GC,1333,-1.08,-146.0,162.5,-7.7,125,1338,0.17,2.40,0.00,0.000,6,0.050,0.022,2993,2201,3789,0,0,0,0,0,0
$GC,1594,-1.08,-146.0,187.2,-9.1,149,1599,0.15,2.47,0.00,0.000,4,0.091,0.038,3028,3768,3789,0,0,0,0,0,0
$GC,1628,-1.13,-146.0,189.4,-7.4,151,1632,0.00,2.45,0.00,0.000,6,0.000,0.020,3028,2177,3790,0,0,0,0,0,0
$GC,1908,-1.20,-146.0,208.5,-6.8,168,1913,0.12,2.53,0.00,0.000,4,0.067,0.048,2971,635,3790,0,0,0,0,0,0
$GC,1963,-1.20,-146.0,214.2,-10.1,169,1968,0.12,2.38,0.00,0.000,6,0.098,0.021,3000,2191,3790,0,0,0,0,0,0
$GC,2229,-1.20,-146.0,236.0,-8.1,176,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2191,3790,0,0,0,0,0,0
$GC,2476,-1.20,-146.0,255.4,-8.0,182,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2191,3790,0,0,0,0,0,0
$GC,2717,-1.20,-146.0,274.7,-7.9,188,2721,0.00,2.53,0.00,0.000,4,0.000,0.038,2999,3764,3789,0,0,0,0,0,0
$GC,2733,-1.20,-146.0,275.9,-7.7,188,2737,0.00,2.45,0.00,0.000,6,0.000,0.021,3000,2187,3790,0,0,0,0,0,0
$GC,2996,-1.20,-146.0,296.4,-7.9,195,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2187,3788,0,0,0,0,0,0
$GC,3237,-1.24,-146.0,315.2,-7.6,201,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2187,3788,0,0,0,0,0,0
$GC,3481,-1.28,-146.0,332.9,-7.2,207,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2187,3787,0,0,0,0,0,0
$GC,3725,-1.31,-146.0,351.1,-7.5,213,3727,0.12,0.00,0.00,0.000,6,0.067,0.000,2947,2187,3786,0,0,0,0,0,0
$GC,3971,-1.25,-146.0,374.0,-9.7,219,3976,0.17,2.60,0.00,0.000,4,0.085,0.048,2987,3756,3785,0,0,0,0,0,0
$GC,3993,-1.25,-146.0,376.4,-9.0,219,3997,0.00,2.50,0.00,0.000,6,0.000,0.036,2987,2192,3785,0,0,0,0,0,0
$GC,4248,-1.25,-146.0,397.1,-8.2,226,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2192,3784,0,0,0,0,0,0
$GC,4494,-1.25,-146.0,416.8,-8.0,232,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2192,3783,0,0,0,0,0,0
$GC,4735,-1.25,-146.0,435.8,-7.7,238,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2192,3782,0,0,0,0,0,0
$GC,4979,-1.25,-146.0,454.5,-7.7,244,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2192,3781,0,0,0,0,0,0
$GC,5223,-1.25,-146.0,473.7,-8.0,250,5227,0.00,2.65,0.00,0.000,4,0.000,0.064,2987,3757,3780,0,0,0,0,0,0
$GC,5258,-1.29,-146.0,476.4,-8.5,250,5264,0.00,2.58,0.00,0.000,6,0.000,0.050,2987,2190,3779,0,0,0,0,0,0
$GC,5508,-1.29,-146.0,497.2,-8.2,257,5513,0.00,2.83,0.00,0.000,4,0.000,0.104,2987,621,3778,0,0,0,0,0,0
$GC,5524,-1.29,-146.0,498.6,-8.2,257,5528,0.00,2.53,0.00,0.000,6,0.000,0.041,2987,2161,3777,0,0,0,0,0,0
$GC,5787,-1.29,-146.0,519.7,-8.0,264,5792,0.00,2.80,0.00,0.000,4,0.000,0.074,2987,3793,3777,0,0,0,0,0,0
$GC,5803,-1.29,-146.0,521.3,-7.9,264,5808,0.00,2.67,0.00,0.000,6,0.000,0.048,2987,2187,3776,0,0,0,0,0,0
$GC,6064,-1.29,-146.0,542.1,-7.9,271,6068,0.00,2.72,0.00,0.000,4,0.000,0.065,2987,3790,3776,0,0,0,0,0,0
$GC,6087,-1.29,-146.0,544.0,-8.3,271,6092,0.00,2.70,0.00,0.000,6,0.000,0.054,2987,2187,3776,0,0,0,0,0,0
$GC,6343,-1.29,-146.0,564.8,-8.2,278,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2188,3774,0,0,0,0,0,0
$GC,6586,-1.29,-146.0,584.2,-7.9,284,6591,0.00,2.80,0.00,0.000,4,0.000,0.073,2987,3791,3773,0,0,0,0,0,0
$GC,6604,-1.29,-146.0,585.5,-8.1,284,6609,0.00,2.72,0.00,0.000,6,0.000,0.062,2987,2190,3772,0,0,0,0,0,0
$GC,6865,-1.29,-146.0,605.8,-7.6,291,6869,0.00,2.80,0.00,0.000,4,0.000,0.073,2987,3790,3771,0,0,0,0,0,0
$GC,6881,-1.29,-146.0,607.1,-7.8,291,6885,0.00,2.70,0.00,0.000,6,0.000,0.061,2987,2201,3771,0,0,0,0,0,0
$GC,7144,-1.29,-146.0,627.7,-7.9,298,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3770,0,0,0,0,0,0
$GC,7385,-1.29,-146.0,646.5,-7.7,304,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2201,3769,0,0,0,0,0,0
$GC,7629,-1.29,-146.0,665.3,-7.8,310,7633,0.00,2.90,0.00,0.000,4,0.000,0.100,2987,3793,3768,0,0,0,0,0,0
$GC,7647,-1.29,-146.0,666.8,-7.8,310,7652,0.00,2.85,0.00,0.000,6,0.000,0.087,2987,2203,3767,0,0,0,0,0,0
$GC,7910,-1.29,-146.0,687.2,-7.8,317,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2203,3767,0,0,0,0,0,0
$GC,8152,-1.33,-146.0,706.5,-7.8,323,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2203,3766,0,0,0,0,0,0
$GC,8395,-1.37,-146.0,724.8,-7.5,329,8401,0.12,3.08,0.00,0.000,4,0.067,0.127,2940,3786,3765,0,0,0,0,0,0
$GC,8432,-1.32,-146.0,728.1,-9.8,329,8438,0.15,2.85,0.00,0.000,6,0.091,0.090,2974,2206,3765,0,0,0,0,0,0
$GC,8682,-1.32,-146.0,747.9,-7.7,336,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2206,3764,0,0,0,0,0,0
$GC,8925,-1.32,-146.0,767.0,-7.8,342,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3762,0,0,0,0,0,0
$GC,9172,-1.32,-146.0,786.7,-8.2,348,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3762,0,0,0,0,0,0
$GC,9413,-1.32,-146.0,807.1,-8.2,354,9417,0.00,2.83,0.00,0.000,4,0.000,0.087,2974,3794,3762,0,0,0,0,0,0
$GC,9446,-1.32,-146.0,810.2,-9.7,354,9451,0.00,2.78,0.00,0.000,6,0.000,0.071,2974,2213,3761,0,0,0,0,0,0
$GC,9696,-1.32,-146.0,831.4,-8.5,361,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2212,3761,0,0,0,0,0,0
$GC,9942,-1.32,-146.0,851.3,-8.1,367,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2212,3760,0,0,0,0,0,0
$GC,10183,-1.32,-146.0,870.4,-7.7,373,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2211,3759,0,0,0,0,0,0
$GC,10427,-1.32,-146.0,888.4,-7.5,379,10431,0.00,2.78,0.00,0.000,4,0.000,0.077,2974,3795,3758,0,0,0,0,0,0
$GC,10507,-1.36,-146.0,894.7,-8.0,380,10513,0.00,2.75,0.00,0.000,6,0.000,0.067,2974,2216,3758,0,0,0,0,0,0
$STATE,10592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10592,begin apogee
$GC,10598,-0.31,0.0,901.5,7.6,383,10722,0.95,0.00,120.12,1.205,6,0.068,0.000,3192,2374,3190,0,0,0,0,0,0
$STATE,10723,end apogee,CONTROL_FINISHED_OK
$STATE,10723,begin climb
$GC,10725,1.27,146.0,904.7,0.0,386,10862,1.40,2.75,126.95,1.177,4,0.040,0.077,3538,3927,2592,0,0,0,0,0,0
$GC,11005,1.16,146.0,884.1,11.5,392,11010,0.12,2.72,0.00,0.000,6,0.122,0.054,3514,2363,2587,0,0,0,0,0,0
$GC,11267,1.14,167.7,860.1,9.0,399,11291,0.00,2.78,19.38,1.084,4,0.000,0.061,3514,3930,2506,0,0,0,0,0,0
$GC,11368,1.10,167.7,850.0,11.2,401,11373,0.00,2.65,0.00,0.000,6,0.000,0.047,3514,2377,2503,0,0,0,0,0,0
$GC,11640,1.11,174.2,823.2,9.7,408,11649,0.00,0.00,6.90,0.908,6,0.000,0.000,3514,2377,2479,0,0,0,0,0,0
$GC,11884,1.11,176.7,799.3,9.9,414,11888,0.00,2.65,0.00,0.000,4,0.000,0.061,3514,3934,2477,0,0,0,0,0,0
$GC,11913,1.07,176.7,796.3,10.5,414,11919,0.10,2.62,0.00,0.000,6,0.130,0.046,3493,2377,2476,0,0,0,0,0,0
$GC,12163,1.09,194.9,773.1,9.2,420,12185,0.00,0.00,20.15,1.067,6,0.000,0.000,3493,2377,2395,0,0,0,0,0,0
$GC,12407,1.10,204.9,749.9,9.5,426,12419,0.00,0.00,10.65,0.983,6,0.000,0.000,3494,2377,2354,0,0,0,0,0,0
$GC,12653,1.10,208.3,725.9,9.8,432,12659,0.00,0.00,4.50,0.728,6,0.000,0.000,3493,2377,2340,0,0,0,0,0,0
$GC,12895,1.15,213.3,701.9,9.8,438,12903,0.00,0.00,6.28,0.842,6,0.000,0.000,3493,2377,2320,0,0,0,0,0,0
$GC,13138,1.19,213.3,677.7,10.0,444,13140,0.10,0.00,0.00,0.000,6,0.085,0.000,3526,2377,2318,0,0,0,0,0,0
$GC,13384,1.19,213.3,649.6,11.6,450,13388,0.00,2.65,0.00,0.000,4,0.000,0.054,3526,3932,2318,0,0,0,0,0,0
$GC,13461,1.19,213.3,639.5,12.3,451,13467,0.00,2.65,0.00,0.000,6,0.000,0.049,3526,2366,2317,0,0,0,0,0,0
$GC,13711,1.19,213.3,611.1,11.3,458,13712,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2366,2317,0,0,0,0,0,0
$GC,13954,1.19,213.3,584.1,11.1,464,13959,0.00,2.65,0.00,0.000,4,0.000,0.058,3526,3930,2317,0,0,0,0,0,0
$GC,14017,1.19,213.3,576.6,12.2,465,14022,0.00,2.62,0.00,0.000,6,0.000,0.048,3527,2373,2317,0,0,0,0,0,0
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$STATE,19296,end climb,SURFACE_DEPTH_REACHED
$STATE,19297,begin surface coast
$FINISH,1.0,1.023693
$STATE,19343,end surface coast,CONTROL_FINISHED_OK
$STATE,19343,begin surface
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$HUMID,60.35
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$TCM_TEMP,24.10
$XPDR_PINGS,80
$24V_AH,23.1,51.196
$10V_AH,10.1,45.271
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.600,173.900,397.825,37.850,0.000,22.644,35.252,188.526,20.000,0.000,11.887,1512.414,14742.768,548.734,2277.916,728.334,33.395,1511.596,0.000,2276.372,0.000,0.535,0.000
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$SENSOR_SECS,500.467,344.929,440.841,570.461,1086.878,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,57271,739
$CAP_FILE_SIZE,163485,0
$CFSIZE,260165632,102989824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,232635,1926.439,-8113.063,34,1.6,34,-3.8