version: 66.06
glider: 146
mission: 8
dive: 367
start: 4 4 113 22 17 3
data:
$ID,146
$MISSION,8
$DIVE,367
$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,-314715.78
$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,54
$R_STBD_OVSHOOT,13
$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
$GPS1,220500,1924.686,-8111.497,39,1.6,39,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.6
$GPS2,221606,1924.703,-8111.428,11,1.7,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.023
$KALMAN_X,-215247.6,-1.5,-240.0,208465.8,-556.6
$KALMAN_Y,126443.9,-206.6,-518.1,-123598.4,1512.6
$MHEAD_RNG_PITCHd_Wd,278.9,12240,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.65,0.000,2,0.000,0.000,464,2179,3470,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.5,-4.4,9,121,13.38,2.47,-6.15,0.000,4,0.156,0.047,2978,651,3786,0,0,0,0,0,0
$GC,300,-1.10,-146.0,45.6,-17.7,32,305,0.20,2.45,0.00,0.000,6,0.101,0.022,3021,2257,3787,0,0,0,0,0,0
$GC,563,-0.98,-146.0,84.1,-14.1,56,568,0.10,2.62,0.00,0.000,4,0.122,0.044,3045,655,3788,0,0,0,0,0,0
$GC,614,-0.94,-146.0,90.7,-13.0,59,619,0.00,2.35,0.00,0.000,6,0.000,0.016,3045,2202,3788,0,0,0,0,0,0
$GC,876,-0.89,-146.0,121.4,-11.5,84,878,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2202,3788,0,0,0,0,0,0
$GC,1132,-0.89,-146.0,144.7,-8.1,108,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2202,3788,0,0,0,0,0,0
$GC,1386,-0.96,-146.0,164.9,-7.8,132,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2202,3789,0,0,0,0,0,0
$GC,1640,-1.04,-146.0,183.9,-7.3,156,1644,0.00,2.53,0.00,0.000,4,0.000,0.054,3045,656,3789,0,0,0,0,0,0
$GC,1674,-1.13,-146.0,186.7,-8.1,158,1680,0.12,2.35,0.00,0.000,6,0.066,0.024,2988,2198,3789,0,0,0,0,0,0
$GC,1965,-1.13,-146.0,210.6,-8.3,177,1967,0.12,0.00,0.00,0.000,6,0.095,0.000,3018,2199,3789,0,0,0,0,0,0
$GC,2206,-1.19,-146.0,228.8,-7.4,183,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2199,3789,0,0,0,0,0,0
$GC,2449,-1.24,-146.0,247.2,-7.5,189,2451,0.12,0.00,0.00,0.000,6,0.067,0.000,2963,2199,3789,0,0,0,0,0,0
$GC,2695,-1.20,-146.0,270.4,-9.7,195,2697,0.15,0.00,0.00,0.000,6,0.090,0.000,2999,2199,3789,0,0,0,0,0,0
$GC,2936,-1.20,-146.0,288.6,-7.2,201,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2199,3788,0,0,0,0,0,0
$GC,3180,-1.20,-146.0,305.7,-7.1,207,3184,0.00,2.58,0.00,0.000,4,0.000,0.059,2998,654,3787,0,0,0,0,0,0
$GC,3207,-1.20,-146.0,307.7,-7.2,207,3211,0.00,2.38,0.00,0.000,6,0.000,0.028,2999,2188,3787,0,0,0,0,0,0
$GC,3459,-1.20,-146.0,326.5,-7.7,213,3463,0.00,2.55,0.00,0.000,4,0.000,0.040,2999,3779,3786,0,0,0,0,0,0
$GC,3503,-1.25,-146.0,330.6,-8.7,214,3508,0.00,2.47,0.00,0.000,6,0.000,0.025,2999,2218,3786,0,0,0,0,0,0
$GC,3784,-1.25,-146.0,353.7,-8.4,221,3788,0.00,2.72,0.00,0.000,4,0.000,0.069,2999,632,3785,0,0,0,0,0,0
$GC,3805,-1.25,-146.0,355.8,-8.4,221,3809,0.00,2.47,0.00,0.000,6,0.000,0.027,2999,2193,3785,0,0,0,0,0,0
$GC,4061,-1.28,-146.0,374.5,-7.2,228,4065,0.00,2.60,0.00,0.000,4,0.000,0.048,2999,3787,3784,0,0,0,0,0,0
$GC,4096,-1.33,-146.0,376.9,-6.9,228,4102,0.12,2.55,0.00,0.000,6,0.066,0.035,2945,2198,3784,0,0,0,0,0,0
$GC,4346,-1.27,-146.0,400.1,-9.4,235,4348,0.17,0.00,0.00,0.000,6,0.087,0.000,2985,2198,3782,0,0,0,0,0,0
$GC,4590,-1.27,-146.0,419.0,-7.7,241,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2198,3782,0,0,0,0,0,0
$GC,4836,-1.27,-146.0,438.1,-7.7,247,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2198,3781,0,0,0,0,0,0
$GC,5077,-1.27,-146.0,457.1,-7.7,253,5081,0.00,2.65,0.00,0.000,4,0.000,0.056,2984,3782,3780,0,0,0,0,0,0
$GC,5098,-1.27,-146.0,458.9,-8.3,253,5103,0.00,2.58,0.00,0.000,6,0.000,0.041,2985,2205,3780,0,0,0,0,0,0
$GC,5354,-1.27,-146.0,479.4,-8.1,260,5359,0.00,2.85,0.00,0.000,4,0.000,0.095,2984,626,3779,0,0,0,0,0,0
$GC,5383,-1.27,-146.0,481.8,-8.6,260,5388,0.00,2.55,0.00,0.000,6,0.000,0.038,2984,2183,3778,0,0,0,0,0,0
$GC,5633,-1.27,-146.0,502.2,-8.0,266,5638,0.00,2.72,0.00,0.000,4,0.000,0.071,2985,3793,3777,0,0,0,0,0,0
$GC,5673,-1.31,-146.0,505.4,-8.8,267,5678,0.00,2.65,0.00,0.000,6,0.000,0.048,2985,2201,3777,0,0,0,0,0,0
$GC,5959,-1.31,-146.0,527.7,-7.8,274,5963,0.00,2.92,0.00,0.000,4,0.000,0.108,2984,617,3776,0,0,0,0,0,0
$GC,5980,-1.31,-146.0,529.7,-8.2,274,5984,0.00,2.62,0.00,0.000,6,0.000,0.044,2985,2202,3776,0,0,0,0,0,0
$GC,6242,-1.31,-146.0,549.5,-7.7,281,6246,0.00,2.75,0.00,0.000,4,0.000,0.083,2985,3791,3775,0,0,0,0,0,0
$GC,6263,-1.31,-146.0,551.8,-7.9,281,6267,0.00,2.67,0.00,0.000,6,0.000,0.050,2984,2200,3775,0,0,0,0,0,0
$GC,6518,-1.31,-146.0,571.5,-7.8,288,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2200,3774,0,0,0,0,0,0
$GC,6762,-1.31,-146.0,590.2,-7.7,294,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2199,3772,0,0,0,0,0,0
$GC,7008,-1.31,-146.0,609.0,-7.7,300,7013,0.00,2.80,0.00,0.000,4,0.000,0.083,2984,3796,3771,0,0,0,0,0,0
$GC,7035,-1.31,-146.0,611.4,-7.9,300,7040,0.00,2.72,0.00,0.000,6,0.000,0.071,2985,2208,3771,0,0,0,0,0,0
$GC,7285,-1.31,-146.0,630.7,-7.7,306,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3769,0,0,0,0,0,0
$GC,7531,-1.31,-146.0,649.8,-7.9,312,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3768,0,0,0,0,0,0
$GC,7772,-1.31,-146.0,668.3,-7.5,318,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3768,0,0,0,0,0,0
$GC,8016,-1.31,-146.0,686.7,-7.5,324,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3766,0,0,0,0,0,0
$GC,8260,-1.31,-146.0,704.8,-7.4,330,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,3765,0,0,0,0,0,0
$GC,8506,-1.31,-146.0,721.7,-7.0,336,8511,0.00,3.10,0.00,0.000,4,0.000,0.134,2985,3793,3765,0,0,0,0,0,0
$GC,8546,-1.36,-146.0,724.9,-7.2,337,8550,0.00,2.88,0.00,0.000,6,0.000,0.088,2985,2205,3764,0,0,0,0,0,0
$GC,8829,-1.36,-146.0,745.1,-7.3,344,8834,0.00,3.12,0.00,0.000,4,0.000,0.134,2984,615,3763,0,0,0,0,0,0
$GC,8864,-1.36,-146.0,747.9,-8.0,344,8870,0.00,2.80,0.00,0.000,6,0.000,0.077,2985,2209,3762,0,0,0,0,0,0
$GC,9114,-1.36,-146.0,766.9,-7.5,351,9119,0.00,2.92,0.00,0.000,4,0.000,0.105,2984,3797,3762,0,0,0,0,0,0
$GC,9170,-1.42,-146.0,771.4,-7.7,352,9175,0.15,2.75,0.00,0.000,6,0.060,0.076,2932,2215,3762,0,0,0,0,0,0
$GC,9439,-1.36,-146.0,796.7,-9.6,359,9445,0.12,3.05,0.00,0.000,4,0.103,0.120,2962,623,3761,0,0,0,0,0,0
$GC,9473,-1.36,-146.0,800.2,-9.7,359,9478,0.00,2.75,0.00,0.000,6,0.000,0.067,2962,2218,3761,0,0,0,0,0,0
$GC,9723,-1.36,-146.0,820.4,-8.0,366,9727,0.00,2.88,0.00,0.000,4,0.000,0.103,2962,3798,3760,0,0,0,0,0,0
$GC,9746,-1.36,-146.0,822.3,-8.7,366,9751,0.00,2.72,0.00,0.000,6,0.000,0.068,2962,2216,3760,0,0,0,0,0,0
$GC,10002,-1.36,-146.0,841.8,-7.5,373,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2216,3759,0,0,0,0,0,0
$GC,10246,-1.36,-146.0,860.2,-7.6,379,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2215,3759,0,0,0,0,0,0
$GC,10492,-1.36,-146.0,879.3,-7.8,385,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2215,3757,0,0,0,0,0,0
$GC,10733,-1.36,-146.0,897.8,-7.5,391,10738,0.00,2.80,0.00,0.000,4,0.000,0.080,2961,3808,3757,0,0,0,0,0,0
$STATE,10758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10758,begin apogee
$GC,10766,-0.31,0.0,900.0,8.4,391,10890,0.98,0.00,120.28,1.206,6,0.068,0.000,3189,2368,3190,0,0,0,0,0,0
$STATE,10891,end apogee,CONTROL_FINISHED_OK
$STATE,10891,begin climb
$GC,10896,1.27,146.0,902.6,0.0,394,11031,1.42,2.88,127.25,1.177,4,0.035,0.077,3542,3940,2593,0,0,0,0,0,0
$GC,11125,1.15,146.0,888.9,11.6,399,11130,0.15,2.72,0.00,0.000,6,0.113,0.053,3513,2370,2588,0,0,0,0,0,0
$GC,11386,1.19,177.6,865.5,8.5,406,11417,0.00,0.00,28.58,1.118,6,0.000,0.000,3512,2370,2466,0,0,0,0,0,0
$GC,11630,1.21,193.0,843.5,9.3,412,11647,0.00,0.00,15.10,1.066,6,0.000,0.000,3512,2369,2403,0,0,0,0,0,0
$GC,11876,1.21,193.0,819.2,10.0,418,11880,0.00,2.75,0.00,0.000,4,0.000,0.057,3513,3948,2399,0,0,0,0,0,0
$GC,11902,1.21,193.0,815.9,10.3,418,11907,0.00,2.67,0.00,0.000,6,0.000,0.041,3513,2366,2398,0,0,0,0,0,0
$GC,12158,1.21,193.0,788.8,10.7,425,12163,0.00,2.72,0.00,0.000,4,0.000,0.057,3513,3948,2398,0,0,0,0,0,0
$GC,12181,1.21,193.0,786.3,11.7,425,12186,0.00,2.65,0.00,0.000,6,0.000,0.044,3513,2373,2397,0,0,0,0,0,0
$GC,12436,1.21,193.0,759.1,10.5,432,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2373,2397,0,0,0,0,0,0
$GC,12680,1.21,193.0,733.3,10.5,438,12684,0.00,2.70,0.00,0.000,4,0.000,0.058,3512,3945,2396,0,0,0,0,0,0
$GC,12731,1.21,193.0,727.7,11.5,439,12736,0.00,2.65,0.00,0.000,6,0.000,0.042,3512,2374,2395,0,0,0,0,0,0
$GC,13003,1.21,193.0,699.1,10.5,446,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2374,2394,0,0,0,0,0,0
$GC,13246,1.21,193.0,674.0,10.3,452,13251,0.00,2.67,0.00,0.000,4,0.000,0.062,3513,3942,2394,0,0,0,0,0,0
$GC,13267,1.21,193.0,671.6,11.2,452,13272,0.00,2.62,0.00,0.000,6,0.000,0.041,3513,2374,2394,0,0,0,0,0,0
$GC,13525,1.21,193.0,645.8,10.1,459,13529,0.00,2.67,0.00,0.000,4,0.000,0.061,3513,3949,2393,0,0,0,0,0,0
$GC,13540,1.21,193.0,643.7,10.5,459,13544,0.00,2.62,0.00,0.000,6,0.000,0.044,3513,2377,2393,0,0,0,0,0,0
$GC,13801,1.21,193.0,616.9,10.4,466,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2378,2393,0,0,0,0,0,0
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$STATE,19587,end climb,SURFACE_DEPTH_REACHED
$STATE,19587,begin surface coast
$FINISH,1.0,1.010182
$STATE,19636,end surface coast,CONTROL_FINISHED_OK
$STATE,19636,begin surface
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$IRIDIUM_FIX,1918.37,-8112.45,290602,222233
$TT8_MAMPS,0.026078
$HUMID,60.94
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$TCM_TEMP,24.00
$XPDR_PINGS,79
$24V_AH,23.1,51.901
$10V_AH,10.1,45.906
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.550,206.325,385.750,44.500,0.000,52.469,77.315,294.072,19.750,0.000,16.543,1555.314,14985.081,558.814,2338.449,925.680,33.371,1544.784,0.000,2332.891,0.000,0.535,0.000
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$SENSOR_SECS,504.628,349.015,444.278,573.001,1091.635,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,57310,744
$CAP_FILE_SIZE,173683,0
$CFSIZE,260165632,102612992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050413,034653,1924.862,-8115.498,23,1.0,41,-3.8