version: 66.06
glider: 146
mission: 8
dive: 406
start: 4 13 113 11 39 39
data:
$ID,146
$MISSION,8
$DIVE,406
$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,-315460.31
$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,12
$R_STBD_OVSHOOT,23
$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
$GPS1,113136,1924.690,-8112.430,34,1.3,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-76.0
$GPS2,113843,1924.665,-8112.446,10,1.6,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.238,0.105
$KALMAN_X,-230082.5,-477.5,-99.8,221863.9,1773.1
$KALMAN_Y,145380.8,224.5,-38.2,-143522.5,-772.9
$MHEAD_RNG_PITCHd_Wd,297.6,10620,-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,-70.30,0.000,2,0.000,0.000,466,2151,3440,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.3,-3.3,9,121,13.48,2.55,-6.72,0.000,4,0.159,0.054,2976,606,3786,0,0,0,0,0,0
$GC,305,-1.09,-146.0,48.2,-17.2,33,310,0.20,2.53,0.00,0.000,6,0.103,0.015,3020,2256,3787,0,0,0,0,0,0
$GC,574,-0.99,-146.0,85.1,-13.6,57,579,0.10,2.72,0.00,0.000,4,0.120,0.046,3042,606,3788,0,0,0,0,0,0
$GC,610,-0.91,-146.0,90.3,-13.0,59,615,0.00,2.45,0.00,0.000,6,0.000,0.018,3042,2203,3788,0,0,0,0,0,0
$GC,879,-0.91,-146.0,120.9,-10.0,83,883,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2203,3788,0,0,0,0,0,0
$GC,1140,-0.96,-146.0,143.8,-7.7,108,1145,0.00,2.60,0.00,0.000,4,0.000,0.044,3042,610,3789,0,0,0,0,0,0
$GC,1170,-1.04,-146.0,146.1,-7.7,110,1174,0.00,2.42,0.00,0.000,6,0.000,0.017,3042,2200,3789,0,0,0,0,0,0
$GC,1436,-1.12,-146.0,165.7,-6.8,134,1441,0.12,0.00,0.00,0.000,6,0.064,0.000,2981,2200,3790,0,0,0,0,0,0
$GC,1701,-1.12,-146.0,189.5,-8.8,159,1706,0.15,2.53,0.00,0.000,4,0.091,0.039,3016,3778,3790,0,0,0,0,0,0
$GC,1735,-1.19,-146.0,192.7,-8.0,161,1741,0.00,2.53,0.00,0.000,6,0.000,0.019,3016,2161,3790,0,0,0,0,0,0
$GC,2010,-1.24,-146.0,211.6,-6.7,176,2015,0.12,2.50,0.00,0.000,4,0.065,0.048,2960,642,3790,0,0,0,0,0,0
$GC,2046,-1.20,-146.0,214.5,-9.5,176,2052,0.17,2.40,0.00,0.000,6,0.087,0.025,2999,2196,3790,0,0,0,0,0,0
$GC,2296,-1.20,-146.0,235.4,-8.2,183,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2196,3790,0,0,0,0,0,0
$GC,2540,-1.20,-146.0,254.1,-7.6,189,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2196,3790,0,0,0,0,0,0
$GC,2786,-1.20,-146.0,272.5,-7.5,195,2791,0.00,2.58,0.00,0.000,4,0.000,0.057,2999,638,3789,0,0,0,0,0,0
$GC,2807,-1.20,-146.0,274.4,-7.8,195,2812,0.00,2.42,0.00,0.000,6,0.000,0.027,2999,2193,3789,0,0,0,0,0,0
$GC,3063,-1.20,-146.0,293.2,-7.3,202,3068,0.00,2.55,0.00,0.000,4,0.000,0.040,2999,3778,3788,0,0,0,0,0,0
$GC,3088,-1.24,-146.0,295.0,-7.2,202,3092,0.00,2.50,0.00,0.000,6,0.000,0.025,2999,2195,3788,0,0,0,0,0,0
$GC,3343,-1.28,-146.0,314.1,-7.6,209,3348,0.00,2.60,0.00,0.000,4,0.000,0.058,2999,635,3788,0,0,0,0,0,0
$GC,3365,-1.28,-146.0,315.9,-7.6,209,3370,0.00,2.45,0.00,0.000,6,0.000,0.028,2999,2196,3788,0,0,0,0,0,0
$GC,3624,-1.31,-146.0,336.3,-8.0,216,3626,0.12,0.00,0.00,0.000,6,0.067,0.000,2947,2196,3787,0,0,0,0,0,0
$GC,3865,-1.25,-146.0,360.1,-9.8,222,3870,0.17,2.60,0.00,0.000,4,0.087,0.048,2986,3789,3786,0,0,0,0,0,0
$GC,3905,-1.25,-146.0,363.6,-8.8,223,3910,0.00,2.53,0.00,0.000,6,0.000,0.033,2986,2204,3786,0,0,0,0,0,0
$GC,4191,-1.25,-146.0,384.3,-7.1,230,4195,0.00,2.67,0.00,0.000,4,0.000,0.068,2986,634,3784,0,0,0,0,0,0
$GC,4230,-1.25,-146.0,387.5,-7.7,231,4234,0.00,2.50,0.00,0.000,6,0.000,0.034,2986,2209,3784,0,0,0,0,0,0
$GC,4516,-1.25,-146.0,408.9,-7.7,238,4520,0.00,2.58,0.00,0.000,4,0.000,0.057,2986,3779,3784,0,0,0,0,0,0
$GC,4571,-1.30,-146.0,413.8,-8.9,239,4576,0.00,2.55,0.00,0.000,6,0.000,0.038,2986,2203,3783,0,0,0,0,0,0
$GC,4838,-1.30,-146.0,434.5,-7.8,246,4843,0.00,2.78,0.00,0.000,4,0.000,0.090,2986,623,3782,0,0,0,0,0,0
$GC,4868,-1.30,-146.0,436.8,-8.2,246,4872,0.00,2.55,0.00,0.000,6,0.000,0.034,2986,2196,3782,0,0,0,0,0,0
$GC,5118,-1.30,-146.0,456.2,-7.6,252,5122,0.00,2.67,0.00,0.000,4,0.000,0.058,2986,3791,3781,0,0,0,0,0,0
$GC,5144,-1.30,-146.0,458.6,-8.9,252,5149,0.00,2.60,0.00,0.000,6,0.000,0.042,2986,2201,3781,0,0,0,0,0,0
$GC,5397,-1.30,-146.0,478.8,-8.1,258,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2200,3780,0,0,0,0,0,0
$GC,5638,-1.30,-146.0,498.0,-7.9,264,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3778,0,0,0,0,0,0
$GC,5882,-1.30,-146.0,516.6,-7.5,270,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3777,0,0,0,0,0,0
$GC,6126,-1.30,-146.0,535.2,-7.7,276,6130,0.00,2.72,0.00,0.000,4,0.000,0.071,2986,3786,3777,0,0,0,0,0,0
$GC,6161,-1.35,-146.0,538.1,-8.9,276,6167,0.00,2.65,0.00,0.000,6,0.000,0.057,2986,2214,3777,0,0,0,0,0,0
$GC,6411,-1.35,-146.0,558.2,-8.0,283,6416,0.00,3.00,0.00,0.000,4,0.000,0.117,2986,617,3776,0,0,0,0,0,0
$GC,6438,-1.35,-146.0,560.6,-8.5,283,6443,0.00,2.65,0.00,0.000,6,0.000,0.052,2986,2209,3775,0,0,0,0,0,0
$GC,6691,-1.38,-146.0,580.5,-7.9,289,6696,0.12,2.80,0.00,0.000,4,0.067,0.084,2937,3794,3774,0,0,0,0,0,0
$GC,6719,-1.34,-146.0,583.4,-10.0,289,6724,0.12,2.70,0.00,0.000,6,0.097,0.061,2966,2211,3774,0,0,0,0,0,0
$GC,6971,-1.34,-146.0,604.4,-8.4,295,6976,0.00,3.03,0.00,0.000,4,0.000,0.124,2966,623,3772,0,0,0,0,0,0
$GC,7015,-1.34,-146.0,608.6,-8.9,296,7020,0.00,2.70,0.00,0.000,6,0.000,0.061,2966,2212,3772,0,0,0,0,0,0
$GC,7293,-1.34,-146.0,631.6,-8.3,303,7298,0.00,2.88,0.00,0.000,4,0.000,0.098,2966,3803,3771,0,0,0,0,0,0
$GC,7319,-1.34,-146.0,633.7,-8.7,303,7324,0.00,2.78,0.00,0.000,6,0.000,0.075,2966,2218,3771,0,0,0,0,0,0
$GC,7574,-1.34,-146.0,655.6,-8.6,310,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2218,3769,0,0,0,0,0,0
$GC,7818,-1.34,-146.0,674.8,-7.6,316,7823,0.00,2.90,0.00,0.000,4,0.000,0.102,2966,3796,3768,0,0,0,0,0,0
$GC,7839,-1.34,-146.0,676.6,-8.0,316,7844,0.00,2.88,0.00,0.000,6,0.000,0.089,2966,2216,3768,0,0,0,0,0,0
$GC,8097,-1.34,-146.0,696.1,-7.7,323,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2216,3768,0,0,0,0,0,0
$GC,8338,-1.34,-146.0,715.0,-7.9,329,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2216,3766,0,0,0,0,0,0
$GC,8582,-1.34,-146.0,734.3,-8.0,335,8587,0.00,3.35,0.00,0.000,4,0.000,0.167,2966,619,3765,0,0,0,0,0,0
$GC,8617,-1.34,-146.0,737.4,-9.1,335,8623,0.00,3.05,0.00,0.000,6,0.000,0.113,2966,2217,3765,0,0,0,0,0,0
$GC,8867,-1.34,-146.0,757.8,-8.0,342,8872,0.00,3.25,0.00,0.000,4,0.000,0.160,2966,3798,3764,0,0,0,0,0,0
$GC,8895,-1.34,-146.0,760.1,-8.4,342,8899,0.00,2.83,0.00,0.000,6,0.000,0.085,2966,2220,3764,0,0,0,0,0,0
$GC,9147,-1.34,-146.0,779.9,-7.9,348,9152,0.00,3.08,0.00,0.000,4,0.000,0.123,2966,618,3762,0,0,0,0,0,0
$GC,9180,-1.34,-146.0,782.9,-8.3,348,9186,0.00,2.83,0.00,0.000,6,0.000,0.071,2966,2226,3762,0,0,0,0,0,0
$GC,9430,-1.34,-146.0,802.1,-7.5,355,9435,0.00,2.88,0.00,0.000,4,0.000,0.097,2966,3800,3762,0,0,0,0,0,0
$GC,9454,-1.34,-146.0,803.8,-7.9,355,9458,0.00,2.80,0.00,0.000,6,0.000,0.072,2966,2212,3762,0,0,0,0,0,0
$GC,9709,-1.34,-146.0,822.9,-7.5,362,9713,0.00,3.03,0.00,0.000,4,0.000,0.120,2965,620,3761,0,0,0,0,0,0
$GC,9736,-1.34,-146.0,825.1,-8.1,362,9741,0.00,2.78,0.00,0.000,6,0.000,0.069,2966,2218,3760,0,0,0,0,0,0
$GC,9986,-1.34,-146.0,842.8,-7.1,368,9991,0.00,2.85,0.00,0.000,4,0.000,0.100,2966,3799,3760,0,0,0,0,0,0
$GC,10021,-1.34,-146.0,845.4,-8.4,368,10027,0.00,2.78,0.00,0.000,6,0.000,0.067,2966,2212,3759,0,0,0,0,0,0
$GC,10271,-1.34,-146.0,864.8,-7.7,375,10276,0.00,3.03,0.00,0.000,4,0.000,0.119,2966,623,3759,0,0,0,0,0,0
$GC,10292,-1.34,-146.0,866.6,-7.4,375,10297,0.00,2.75,0.00,0.000,6,0.000,0.065,2966,2223,3759,0,0,0,0,0,0
$GC,10550,-1.34,-146.0,886.9,-7.9,382,10555,0.00,2.85,0.00,0.000,4,0.000,0.098,2966,3800,3757,0,0,0,0,0,0
$GC,10624,-1.34,-146.0,893.2,-8.5,383,10628,0.00,2.72,0.00,0.000,6,0.000,0.064,2966,2223,3758,0,0,0,0,0,0
$STATE,10708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10708,begin apogee
$GC,10717,-0.31,0.0,900.3,8.1,385,10842,0.98,0.00,121.35,1.206,6,0.067,0.000,3190,2381,3190,0,0,0,0,0,0
$STATE,10843,end apogee,CONTROL_FINISHED_OK
$STATE,10843,begin climb
$GC,10845,1.27,146.0,903.8,0.0,388,10983,1.42,2.83,128.55,1.177,4,0.035,0.081,3543,3928,2593,0,0,0,0,0,0
$GC,11134,1.15,146.0,881.5,11.2,394,11141,0.15,2.72,0.00,0.000,6,0.114,0.058,3512,2364,2587,0,0,0,0,0,0
$GC,11384,1.18,171.9,858.9,8.8,401,11414,0.00,2.83,23.40,1.100,4,0.000,0.064,3512,3921,2488,0,0,0,0,0,0
$GC,11475,1.14,171.9,850.0,10.8,403,11480,0.00,2.62,0.00,0.000,6,0.000,0.054,3512,2382,2486,0,0,0,0,0,0
$GC,11759,1.15,180.6,822.2,9.6,410,11773,0.00,2.72,8.80,0.976,4,0.000,0.059,3512,3930,2453,0,0,0,0,0,0
$GC,11804,1.15,180.6,817.7,11.1,411,11809,0.00,2.62,0.00,0.000,6,0.000,0.050,3512,2392,2452,0,0,0,0,0,0
$GC,12088,1.15,180.6,789.1,10.1,418,12093,0.00,3.15,0.00,0.000,4,0.000,0.126,3511,783,2450,0,0,0,0,0,0
$GC,12103,1.15,180.6,787.2,10.6,418,12108,0.00,2.67,0.00,0.000,6,0.000,0.046,3512,2385,2450,0,0,0,0,0,0
$GC,12367,1.17,192.4,761.9,9.5,425,12386,0.00,2.83,12.07,1.013,4,0.000,0.075,3512,3938,2404,0,0,0,0,0,0
$GC,12403,1.18,201.5,758.0,9.6,425,12418,0.00,2.62,9.98,0.972,6,0.000,0.043,3512,2389,2368,0,0,0,0,0,0
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$STATE,19716,end climb,SURFACE_DEPTH_REACHED
$STATE,19716,begin surface coast
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$STATE,19772,end surface coast,CONTROL_FINISHED_OK
$STATE,19772,begin surface
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$XPDR_PINGS,115
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$10V_AH,10.0,50.826
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.175,232.225,376.325,56.550,0.000,27.015,37.040,188.281,28.750,0.000,12.352,1598.779,14833.187,578.070,2499.502,761.227,33.406,1633.259,0.000,2492.950,0.000,0.535,0.000
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$SENSOR_SECS,515.843,364.665,464.157,621.181,1180.101,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,57365,761
$CAP_FILE_SIZE,178289,0
$CFSIZE,260165632,99790848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130413,171159,1925.391,-8114.389,37,1.6,43,-3.8