version: 66.06
glider: 146
mission: 8
dive: 388
start: 4 9 113 12 48 54
data:
$ID,146
$MISSION,8
$DIVE,388
$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,-315090.25
$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,42
$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
$GPS1,124035,1929.028,-8112.569,36,1.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.3
$GPS2,124759,1928.970,-8112.572,12,1.7,17,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.164
$KALMAN_X,-241839.8,132.9,63.7,232611.2,-650.4
$KALMAN_Y,146466.1,496.2,288.3,-137258.7,-106.9
$MHEAD_RNG_PITCHd_Wd,133.1,11503,-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,-70.62,0.000,2,0.000,0.000,463,2190,3476,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-5.0,9,123,13.52,2.55,-5.70,0.000,4,0.155,0.051,2978,635,3786,0,0,0,0,0,0
$GC,155,-0.95,-146.0,22.0,-24.3,16,163,0.30,2.47,0.00,0.000,6,0.078,0.016,3049,2224,3786,0,0,0,0,0,0
$GC,431,-0.89,-146.0,58.5,-12.1,44,435,0.00,2.60,0.00,0.000,4,0.000,0.043,3049,634,3787,0,0,0,0,0,0
$GC,467,-0.84,-146.0,63.3,-13.0,46,472,0.12,2.40,0.00,0.000,6,0.109,0.016,3076,2205,3787,0,0,0,0,0,0
$GC,730,-0.84,-146.0,92.3,-10.7,70,731,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2205,3788,0,0,0,0,0,0
$GC,986,-0.89,-146.0,117.9,-9.2,94,990,0.00,2.55,0.00,0.000,4,0.000,0.042,3076,637,3788,0,0,0,0,0,0
$GC,1032,-1.00,-146.0,121.6,-7.9,97,1038,0.15,2.38,0.00,0.000,6,0.056,0.016,3010,2181,3789,0,0,0,0,0,0
$GC,1297,-1.00,-146.0,146.3,-9.7,122,1302,0.15,2.53,0.00,0.000,4,0.087,0.035,3046,3771,3789,0,0,0,0,0,0
$GC,1385,-1.11,-146.0,153.5,-7.4,129,1390,0.12,2.42,0.00,0.000,6,0.064,0.028,2987,2199,3789,0,0,0,0,0,0
$GC,1647,-1.11,-146.0,177.6,-9.3,153,1652,0.12,2.55,0.00,0.000,4,0.096,0.047,3018,642,3790,0,0,0,0,0,0
$GC,1705,-1.16,-146.0,182.0,-8.0,157,1710,0.00,2.40,0.00,0.000,6,0.000,0.025,3019,2208,3790,0,0,0,0,0,0
$GC,1975,-1.22,-146.0,199.9,-6.2,181,1980,0.10,2.60,0.00,0.000,4,0.078,0.053,2968,641,3790,0,0,0,0,0,0
$GC,1999,-1.22,-146.0,202.3,-7.5,181,2003,0.12,2.38,0.00,0.000,6,0.099,0.017,2997,2196,3790,0,0,0,0,0,0
$GC,2256,-1.22,-146.0,221.2,-7.4,188,2260,0.00,2.53,0.00,0.000,4,0.000,0.038,2997,3772,3790,0,0,0,0,0,0
$GC,2272,-1.22,-146.0,222.7,-7.3,188,2277,0.00,2.47,0.00,0.000,6,0.000,0.019,2997,2181,3790,0,0,0,0,0,0
$GC,2533,-1.22,-146.0,241.6,-7.2,195,2538,0.00,2.55,0.00,0.000,4,0.000,0.039,2998,3769,3790,0,0,0,0,0,0
$GC,2552,-1.22,-146.0,242.9,-7.4,195,2556,0.00,2.47,0.00,0.000,6,0.000,0.026,2997,2185,3790,0,0,0,0,0,0
$GC,2813,-1.22,-146.0,264.2,-8.2,202,2817,0.00,2.55,0.00,0.000,4,0.000,0.057,2998,643,3789,0,0,0,0,0,0
$GC,2834,-1.22,-146.0,266.2,-8.7,202,2838,0.00,2.40,0.00,0.000,6,0.000,0.024,2997,2198,3789,0,0,0,0,0,0
$GC,3097,-1.22,-146.0,287.1,-8.0,209,3101,0.00,2.60,0.00,0.000,4,0.000,0.058,2998,637,3788,0,0,0,0,0,0
$GC,3113,-1.22,-146.0,288.8,-8.1,209,3117,0.00,2.40,0.00,0.000,6,0.000,0.026,2998,2198,3788,0,0,0,0,0,0
$GC,3373,-1.22,-146.0,309.7,-8.1,216,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2198,3788,0,0,0,0,0,0
$GC,3620,-1.22,-146.0,329.5,-8.1,222,3624,0.00,2.55,0.00,0.000,4,0.000,0.048,2998,3775,3787,0,0,0,0,0,0
$GC,3647,-1.25,-146.0,332.0,-8.1,222,3652,0.00,2.47,0.00,0.000,6,0.000,0.021,2998,2200,3787,0,0,0,0,0,0
$GC,3897,-1.29,-146.0,350.9,-7.3,228,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2200,3786,0,0,0,0,0,0
$GC,4144,-1.34,-146.0,368.4,-7.3,234,4149,0.12,2.70,0.00,0.000,4,0.067,0.070,2943,636,3785,0,0,0,0,0,0
$GC,4166,-1.34,-146.0,370.6,-8.6,234,4171,0.10,2.45,0.00,0.000,6,0.108,0.030,2967,2171,3785,0,0,0,0,0,0
$GC,4423,-1.34,-146.0,393.1,-8.7,241,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2171,3784,0,0,0,0,0,0
$GC,4667,-1.34,-146.0,413.9,-8.5,247,4672,0.00,2.70,0.00,0.000,4,0.000,0.052,2967,3792,3783,0,0,0,0,0,0
$GC,4684,-1.34,-146.0,415.5,-8.3,247,4689,0.00,2.60,0.00,0.000,6,0.000,0.032,2967,2192,3783,0,0,0,0,0,0
$GC,4945,-1.34,-146.0,436.7,-8.1,254,4950,0.00,2.78,0.00,0.000,4,0.000,0.087,2967,623,3782,0,0,0,0,0,0
$GC,4987,-1.34,-146.0,440.2,-9.5,255,4991,0.00,2.53,0.00,0.000,6,0.000,0.035,2967,2177,3781,0,0,0,0,0,0
$GC,5270,-1.34,-146.0,464.5,-8.5,262,5275,0.00,2.72,0.00,0.000,4,0.000,0.061,2967,3791,3780,0,0,0,0,0,0
$GC,5286,-1.34,-146.0,466.0,-8.6,262,5290,0.00,2.65,0.00,0.000,6,0.000,0.044,2967,2181,3780,0,0,0,0,0,0
$GC,5549,-1.34,-146.0,488.2,-8.4,269,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2181,3779,0,0,0,0,0,0
$GC,5790,-1.34,-146.0,508.7,-8.5,275,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2181,3777,0,0,0,0,0,0
$GC,6037,-1.34,-146.0,529.2,-8.4,281,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2180,3777,0,0,0,0,0,0
$GC,6278,-1.34,-146.0,550.0,-8.5,287,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2181,3775,0,0,0,0,0,0
$GC,6524,-1.34,-146.0,570.9,-8.5,293,6529,0.00,2.83,0.00,0.000,4,0.000,0.081,2967,3790,3774,0,0,0,0,0,0
$GC,6551,-1.34,-146.0,573.6,-8.6,293,6556,0.00,2.72,0.00,0.000,6,0.000,0.061,2967,2184,3774,0,0,0,0,0,0
$GC,6801,-1.34,-146.0,594.5,-8.3,299,6806,0.00,2.78,0.00,0.000,4,0.000,0.076,2967,3790,3772,0,0,0,0,0,0
$GC,6825,-1.34,-146.0,596.3,-8.7,299,6829,0.00,2.75,0.00,0.000,6,0.000,0.066,2967,2188,3772,0,0,0,0,0,0
$GC,7080,-1.34,-146.0,617.2,-8.1,306,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2188,3771,0,0,0,0,0,0
$GC,7324,-1.34,-146.0,637.7,-8.5,312,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2188,3770,0,0,0,0,0,0
$GC,7567,-1.34,-146.0,659.4,-8.9,318,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2188,3769,0,0,0,0,0,0
$GC,7813,-1.34,-146.0,681.2,-8.9,324,7818,0.00,2.97,0.00,0.000,4,0.000,0.107,2967,3790,3768,0,0,0,0,0,0
$GC,7840,-1.34,-146.0,683.9,-9.3,324,7845,0.00,2.92,0.00,0.000,6,0.000,0.094,2967,2196,3768,0,0,0,0,0,0
$GC,8091,-1.34,-146.0,705.0,-8.4,330,8095,0.00,2.97,0.00,0.000,4,0.000,0.110,2967,3782,3767,0,0,0,0,0,0
$GC,8109,-1.34,-146.0,706.4,-8.3,330,8113,0.00,2.97,0.00,0.000,6,0.000,0.105,2967,2197,3767,0,0,0,0,0,0
$GC,8369,-1.34,-146.0,727.8,-8.1,337,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2197,3766,0,0,0,0,0,0
$GC,8613,-1.34,-146.0,747.4,-8.1,343,8618,0.00,3.12,0.00,0.000,4,0.000,0.136,2967,3780,3765,0,0,0,0,0,0
$GC,8643,-1.34,-146.0,749.5,-8.3,343,8647,0.00,2.88,0.00,0.000,6,0.000,0.088,2967,2198,3765,0,0,0,0,0,0
$GC,8893,-1.34,-146.0,770.4,-8.3,349,8898,0.00,2.90,0.00,0.000,4,0.000,0.094,2967,3790,3764,0,0,0,0,0,0
$GC,8921,-1.34,-146.0,772.9,-8.7,349,8926,0.00,2.83,0.00,0.000,6,0.000,0.082,2967,2197,3764,0,0,0,0,0,0
$GC,9172,-1.34,-146.0,795.2,-8.8,355,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2198,3762,0,0,0,0,0,0
$GC,9418,-1.34,-146.0,816.3,-8.7,361,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2196,3762,0,0,0,0,0,0
$GC,9659,-1.34,-146.0,837.1,-8.4,367,9663,0.00,2.83,0.00,0.000,4,0.000,0.087,2967,3785,3761,0,0,0,0,0,0
$GC,9686,-1.34,-146.0,839.6,-8.7,367,9690,0.00,2.78,0.00,0.000,6,0.000,0.067,2967,2192,3760,0,0,0,0,0,0
$GC,9938,-1.34,-146.0,859.5,-7.8,373,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2192,3760,0,0,0,0,0,0
$GC,10180,-1.34,-146.0,878.2,-7.7,379,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2191,3759,0,0,0,0,0,0
$GC,10423,-1.34,-146.0,896.4,-7.6,385,10428,0.00,2.85,0.00,0.000,4,0.000,0.087,2967,3792,3758,0,0,0,0,0,0
$STATE,10464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10464,begin apogee
$GC,10475,-0.31,0.0,900.1,8.3,386,10600,0.95,0.00,120.93,1.205,6,0.067,0.000,3189,2368,3190,0,0,0,0,0,0
$STATE,10601,end apogee,CONTROL_FINISHED_OK
$STATE,10601,begin climb
$GC,10603,1.27,146.0,903.9,0.0,389,10740,1.45,2.80,127.90,1.177,4,0.035,0.077,3545,3924,2593,0,0,0,0,0,0
$GC,10821,1.15,146.0,889.5,12.0,394,10826,0.17,2.72,0.00,0.000,6,0.112,0.057,3510,2368,2588,0,0,0,0,0,0
$GC,11101,1.16,160.2,863.0,9.3,401,11116,0.00,0.00,13.10,1.044,6,0.000,0.000,3510,2368,2536,0,0,0,0,0,0
$GC,11342,1.18,174.5,840.4,9.3,407,11358,0.00,0.00,14.15,1.053,6,0.000,0.000,3510,2368,2478,0,0,0,0,0,0
$GC,11586,1.20,191.4,818.0,9.2,413,11610,0.00,2.72,16.42,1.065,4,0.000,0.055,3511,3929,2410,0,0,0,0,0,0
$GC,11657,1.20,191.4,810.9,10.0,414,11662,0.00,2.67,0.00,0.000,6,0.000,0.046,3510,2367,2408,0,0,0,0,0,0
$GC,11912,1.20,191.4,784.9,10.2,421,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2368,2407,0,0,0,0,0,0
$GC,12155,1.20,191.4,760.4,10.0,427,12160,0.00,2.67,0.00,0.000,4,0.000,0.058,3510,3932,2406,0,0,0,0,0,0
$GC,12212,1.20,191.4,754.6,10.6,428,12217,0.00,2.67,0.00,0.000,6,0.000,0.050,3510,2366,2405,0,0,0,0,0,0
$GC,12479,1.22,204.2,729.3,9.4,435,12498,0.00,2.75,12.75,1.006,4,0.000,0.054,3510,3926,2356,0,0,0,0,0,0
$GC,12515,1.22,204.2,725.5,10.2,435,12521,0.00,2.67,0.00,0.000,6,0.000,0.051,3510,2372,2356,0,0,0,0,0,0
$GC,12767,1.22,204.2,700.2,10.2,442,12772,0.00,2.65,0.00,0.000,4,0.000,0.058,3510,3929,2355,0,0,0,0,0,0
$GC,12794,1.22,204.2,696.8,11.0,442,12799,0.00,2.62,0.00,0.000,6,0.000,0.047,3510,2386,2354,0,0,0,0,0,0
$GC,13045,1.22,204.2,670.8,10.4,448,13049,0.00,2.62,0.00,0.000,4,0.000,0.053,3510,3929,2354,0,0,0,0,0,0
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$STATE,19504,end climb,SURFACE_DEPTH_REACHED
$STATE,19505,begin surface coast
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$STATE,19555,end surface coast,CONTROL_FINISHED_OK
$STATE,19555,begin surface
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$HUMID,59.80
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$TCM_TEMP,24.00
$XPDR_PINGS,82
$24V_AH,23.1,54.707
$10V_AH,10.0,48.546
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355948
$DATA_FILE_SIZE,57478,745
$CAP_FILE_SIZE,172821,0
$CFSIZE,260165632,101093376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090413,181730,1927.891,-8109.730,37,2.0,37,-3.8