version: 66.06
glider: 146
mission: 8
dive: 404
start: 4 13 113 0 33 33
data:
$ID,146
$MISSION,8
$DIVE,404
$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,-315433.47
$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,39
$R_STBD_OVSHOOT,21
$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
$GPS1,002536,1923.896,-8108.303,41,1.3,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.0
$GPS2,003237,1923.908,-8108.339,13,1.3,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.247,0.080
$KALMAN_X,-232413.9,95.3,-117.6,230811.3,1544.6
$KALMAN_Y,147168.0,-343.4,-9.6,-146168.3,-460.5
$MHEAD_RNG_PITCHd_Wd,291.8,17817,-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,19,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.07,0.000,2,0.000,0.000,464,2174,3484,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.8,-5.5,9,121,13.43,2.50,-5.72,0.000,4,0.155,0.049,2976,638,3786,0,0,0,0,0,0
$GC,359,-1.11,-146.0,59.0,-16.9,37,369,0.15,2.50,0.00,0.000,6,0.085,0.016,3013,2252,3787,0,0,0,0,0,0
$GC,624,-1.00,-146.0,96.4,-13.8,62,629,0.12,2.67,0.00,0.000,4,0.105,0.044,3042,631,3788,0,0,0,0,0,0
$GC,672,-1.00,-146.0,102.8,-10.6,65,678,0.00,2.42,0.00,0.000,6,0.000,0.016,3042,2206,3788,0,0,0,0,0,0
$GC,938,-1.00,-146.0,129.7,-9.9,90,942,0.00,2.50,0.00,0.000,4,0.000,0.031,3042,3778,3789,0,0,0,0,0,0
$GC,959,-1.05,-146.0,131.7,-9.3,91,963,0.00,2.45,0.00,0.000,6,0.000,0.019,3042,2193,3789,0,0,0,0,0,0
$GC,1229,-1.12,-146.0,151.4,-7.1,115,1234,0.12,2.53,0.00,0.000,4,0.064,0.045,2980,645,3789,0,0,0,0,0,0
$GC,1273,-1.07,-146.0,155.9,-10.0,118,1278,0.20,2.38,0.00,0.000,6,0.085,0.021,3026,2206,3790,0,0,0,0,0,0
$GC,1538,-1.13,-146.0,176.7,-7.1,142,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2206,3790,0,0,0,0,0,0
$GC,1801,-1.21,-146.0,196.2,-7.3,167,1803,0.12,0.00,0.00,0.000,6,0.064,0.000,2964,2206,3790,0,0,0,0,0,0
$GC,2058,-1.16,-146.0,220.0,-9.4,177,2060,0.17,0.00,0.00,0.000,6,0.084,0.000,3006,2206,3790,0,0,0,0,0,0
$GC,2299,-1.20,-146.0,239.6,-8.0,183,2304,0.00,2.60,0.00,0.000,4,0.000,0.049,3006,641,3790,0,0,0,0,0,0
$GC,2321,-1.24,-146.0,241.5,-8.1,183,2325,0.00,2.40,0.00,0.000,6,0.000,0.018,3006,2194,3790,0,0,0,0,0,0
$GC,2579,-1.29,-146.0,261.4,-7.8,190,2584,0.12,2.58,0.00,0.000,4,0.065,0.040,2952,3775,3789,0,0,0,0,0,0
$GC,2607,-1.25,-146.0,264.2,-9.4,190,2612,0.15,2.45,0.00,0.000,6,0.086,0.026,2988,2202,3790,0,0,0,0,0,0
$GC,2857,-1.25,-146.0,285.0,-8.3,196,2861,0.00,2.58,0.00,0.000,4,0.000,0.052,2988,634,3789,0,0,0,0,0,0
$GC,2892,-1.25,-146.0,287.9,-8.6,196,2897,0.00,2.42,0.00,0.000,6,0.000,0.028,2988,2180,3789,0,0,0,0,0,0
$GC,3142,-1.25,-146.0,308.0,-7.9,203,3146,0.00,2.60,0.00,0.000,4,0.000,0.043,2988,3782,3788,0,0,0,0,0,0
$GC,3169,-1.25,-146.0,310.3,-8.5,203,3173,0.00,2.50,0.00,0.000,6,0.000,0.029,2988,2186,3788,0,0,0,0,0,0
$GC,3421,-1.25,-146.0,331.0,-8.4,209,3425,0.00,2.60,0.00,0.000,4,0.000,0.060,2988,637,3787,0,0,0,0,0,0
$GC,3454,-1.25,-146.0,334.1,-8.5,209,3459,0.00,2.45,0.00,0.000,6,0.000,0.029,2988,2186,3787,0,0,0,0,0,0
$GC,3704,-1.25,-146.0,354.7,-8.1,216,3708,0.00,2.60,0.00,0.000,4,0.000,0.046,2988,3789,3786,0,0,0,0,0,0
$GC,3733,-1.25,-146.0,356.9,-8.4,216,3738,0.00,2.55,0.00,0.000,6,0.000,0.026,2988,2187,3786,0,0,0,0,0,0
$GC,3983,-1.25,-146.0,377.3,-8.2,222,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2188,3785,0,0,0,0,0,0
$GC,4227,-1.25,-146.0,397.0,-8.1,228,4231,0.00,2.65,0.00,0.000,4,0.000,0.052,2988,3787,3784,0,0,0,0,0,0
$GC,4254,-1.25,-146.0,399.3,-8.4,228,4258,0.00,2.55,0.00,0.000,6,0.000,0.030,2988,2199,3784,0,0,0,0,0,0
$GC,4506,-1.25,-146.0,419.4,-8.1,234,4511,0.00,2.75,0.00,0.000,4,0.000,0.084,2988,625,3783,0,0,0,0,0,0
$GC,4539,-1.25,-146.0,422.6,-8.9,234,4545,0.00,2.50,0.00,0.000,6,0.000,0.029,2988,2180,3783,0,0,0,0,0,0
$GC,4789,-1.25,-146.0,443.2,-8.2,241,4793,0.00,2.67,0.00,0.000,4,0.000,0.061,2988,3794,3782,0,0,0,0,0,0
$GC,4847,-1.30,-146.0,448.0,-8.6,242,4852,0.00,2.60,0.00,0.000,6,0.000,0.043,2988,2198,3782,0,0,0,0,0,0
$GC,5114,-1.30,-146.0,468.9,-7.8,249,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2198,3781,0,0,0,0,0,0
$GC,5358,-1.30,-146.0,487.8,-7.7,255,5363,0.00,2.85,0.00,0.000,4,0.000,0.099,2988,625,3780,0,0,0,0,0,0
$GC,5393,-1.30,-146.0,490.3,-7.9,255,5399,0.00,2.58,0.00,0.000,6,0.000,0.045,2988,2194,3779,0,0,0,0,0,0
$GC,5643,-1.30,-146.0,509.2,-7.4,262,5648,0.00,2.75,0.00,0.000,4,0.000,0.072,2988,3796,3778,0,0,0,0,0,0
$GC,5676,-1.34,-146.0,511.9,-8.3,262,5682,0.00,2.65,0.00,0.000,6,0.000,0.046,2988,2198,3778,0,0,0,0,0,0
$GC,5929,-1.34,-146.0,530.2,-7.2,269,5933,0.00,2.92,0.00,0.000,4,0.000,0.107,2988,620,3777,0,0,0,0,0,0
$GC,5961,-1.34,-146.0,533.0,-7.7,269,5967,0.00,2.62,0.00,0.000,6,0.000,0.046,2988,2208,3777,0,0,0,0,0,0
$GC,6212,-1.38,-146.0,551.7,-7.4,276,6217,0.12,2.78,0.00,0.000,4,0.065,0.079,2937,3799,3777,0,0,0,0,0,0
$GC,6230,-1.38,-146.0,553.4,-7.9,276,6236,0.10,2.67,0.00,0.000,6,0.109,0.048,2959,2193,3776,0,0,0,0,0,0
$GC,6492,-1.38,-146.0,577.5,-9.3,283,6496,0.00,2.92,0.00,0.000,4,0.000,0.117,2959,621,3775,0,0,0,0,0,0
$GC,6531,-1.38,-146.0,581.4,-10.0,284,6536,0.00,2.65,0.00,0.000,6,0.000,0.051,2959,2197,3775,0,0,0,0,0,0
$GC,6816,-1.38,-146.0,607.4,-9.0,291,6821,0.00,2.85,0.00,0.000,4,0.000,0.093,2959,3796,3773,0,0,0,0,0,0
$GC,6849,-1.38,-146.0,610.8,-9.9,291,6855,0.00,2.75,0.00,0.000,6,0.000,0.068,2959,2201,3773,0,0,0,0,0,0
$GC,7102,-1.38,-146.0,633.0,-9.0,298,7106,0.00,2.85,0.00,0.000,4,0.000,0.082,2959,3800,3772,0,0,0,0,0,0
$GC,7134,-1.38,-146.0,636.4,-9.9,298,7140,0.00,2.80,0.00,0.000,6,0.000,0.074,2959,2205,3772,0,0,0,0,0,0
$GC,7384,-1.38,-146.0,658.8,-9.0,305,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2205,3770,0,0,0,0,0,0
$GC,7628,-1.38,-146.0,680.6,-8.9,311,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2205,3769,0,0,0,0,0,0
$GC,7874,-1.38,-146.0,701.9,-8.6,317,7879,0.00,3.20,0.00,0.000,4,0.000,0.147,2959,620,3768,0,0,0,0,0,0
$GC,7907,-1.38,-146.0,705.0,-8.5,317,7913,0.00,2.88,0.00,0.000,6,0.000,0.091,2959,2195,3768,0,0,0,0,0,0
$GC,8157,-1.38,-146.0,725.3,-8.1,324,8162,0.00,3.15,0.00,0.000,4,0.000,0.134,2959,3803,3767,0,0,0,0,0,0
$GC,8186,-1.38,-146.0,727.7,-8.9,324,8191,0.00,2.88,0.00,0.000,6,0.000,0.087,2959,2205,3767,0,0,0,0,0,0
$GC,8437,-1.38,-146.0,748.1,-8.0,330,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2205,3766,0,0,0,0,0,0
$GC,8680,-1.38,-146.0,767.5,-7.9,336,8685,0.00,2.90,0.00,0.000,4,0.000,0.094,2959,3807,3765,0,0,0,0,0,0
$GC,8711,-1.38,-146.0,770.0,-8.9,336,8716,0.00,2.80,0.00,0.000,6,0.000,0.077,2959,2207,3764,0,0,0,0,0,0
$GC,8961,-1.38,-146.0,789.6,-7.7,342,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2206,3763,0,0,0,0,0,0
$GC,9205,-1.38,-146.0,808.7,-7.8,348,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2205,3762,0,0,0,0,0,0
$GC,9448,-1.38,-146.0,828.7,-8.4,354,9453,0.00,2.88,0.00,0.000,4,0.000,0.087,2959,3810,3762,0,0,0,0,0,0
$GC,9506,-1.38,-146.0,833.8,-9.3,355,9511,0.00,2.80,0.00,0.000,6,0.000,0.076,2959,2218,3761,0,0,0,0,0,0
$GC,9772,-1.38,-146.0,856.8,-8.7,362,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2218,3761,0,0,0,0,0,0
$GC,10016,-1.38,-146.0,877.4,-8.5,368,10021,0.00,3.10,0.00,0.000,4,0.000,0.127,2959,615,3760,0,0,0,0,0,0
$GC,10051,-1.38,-146.0,880.2,-9.1,368,10057,0.00,2.78,0.00,0.000,6,0.000,0.065,2959,2227,3759,0,0,0,0,0,0
$STATE,10299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10299,begin apogee
$GC,10305,-0.31,0.0,900.4,7.9,375,10430,1.00,0.00,121.62,1.206,6,0.065,0.000,3190,2381,3190,0,0,0,0,0,0
$STATE,10431,end apogee,CONTROL_FINISHED_OK
$STATE,10431,begin climb
$GC,10433,1.27,146.0,903.5,0.0,378,10571,1.42,2.90,128.48,1.175,4,0.036,0.088,3545,3937,2593,0,0,0,0,0,0
$GC,10632,1.14,146.0,890.6,12.5,382,10638,0.17,2.75,0.00,0.000,6,0.112,0.061,3510,2362,2588,0,0,0,0,0,0
$GC,10885,1.16,157.7,866.5,9.5,388,10901,0.00,2.80,10.90,1.013,4,0.000,0.062,3510,3937,2546,0,0,0,0,0,0
$GC,10907,1.17,170.1,864.1,9.4,388,10926,0.00,2.70,12.93,1.032,6,0.000,0.045,3510,2369,2495,0,0,0,0,0,0
$GC,11213,1.18,176.7,834.8,9.7,396,11222,0.00,0.00,7.00,0.920,6,0.000,0.000,3510,2369,2469,0,0,0,0,0,0
$GC,11454,1.18,178.5,810.8,9.9,402,11459,0.00,2.72,0.00,0.000,4,0.000,0.058,3510,3945,2467,0,0,0,0,0,0
$GC,11521,1.18,178.5,803.5,11.2,403,11525,0.00,2.67,0.00,0.000,6,0.000,0.051,3510,2380,2466,0,0,0,0,0,0
$GC,11779,1.20,191.9,779.2,9.4,410,11800,0.00,2.75,15.35,1.043,4,0.000,0.059,3510,3948,2406,0,0,0,0,0,0
$GC,11839,1.20,191.9,772.5,11.3,411,11843,0.00,2.65,0.00,0.000,6,0.000,0.051,3510,2397,2405,0,0,0,0,0,0
$GC,12103,1.20,191.9,746.0,10.1,418,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2397,2403,0,0,0,0,0,0
$GC,12344,1.21,197.8,722.2,9.7,424,12357,0.00,2.67,6.35,0.861,4,0.000,0.059,3510,3946,2383,0,0,0,0,0,0
$GC,12380,1.21,197.8,718.2,10.5,424,12386,0.00,2.62,0.00,0.000,6,0.000,0.044,3510,2404,2382,0,0,0,0,0,0
$GC,12631,1.21,202.3,693.5,9.8,431,12638,0.00,0.00,5.68,0.813,6,0.000,0.000,3510,2404,2365,0,0,0,0,0,0
$GC,12877,1.22,205.6,669.6,9.8,437,12888,0.00,3.20,4.85,0.747,4,0.000,0.127,3510,779,2351,0,0,0,0,0,0
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$STATE,19174,end climb,SURFACE_DEPTH_REACHED
$STATE,19174,begin surface coast
$FINISH,1.1,1.010945
$STATE,19217,end surface coast,CONTROL_FINISHED_OK
$STATE,19217,begin surface
$SM_CCo,19240,35.40,0.489,0,0,1762,350.04
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$IRIDIUM_FIX,1900.10,-8104.13,070702,202040
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$HUMID,61.81
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$TCM_TEMP,23.80
$XPDR_PINGS,110
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$10V_AH,10.0,50.564
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.350,234.850,404.450,35.400,0.000,28.394,46.195,174.525,27.500,0.000,14.632,1531.585,14480.770,580.334,2348.894,749.889,33.402,1607.320,0.000,2338.810,0.000,0.536,0.000
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$SENSOR_SECS,489.898,337.290,433.462,562.844,1070.570,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355872
$DATA_FILE_SIZE,57317,724
$CAP_FILE_SIZE,176384,0
$CFSIZE,260165632,99942400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130413,055605,1924.330,-8110.284,31,1.3,31,-3.8