version: 66.06
glider: 146
mission: 8
dive: 411
start: 4 14 113 15 29 37
data:
$ID,146
$MISSION,8
$DIVE,411
$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,-315553.47
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,152106,1926.689,-8109.750,42,1.4,42,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.3
$GPS2,152843,1926.682,-8109.771,10,1.6,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.209
$KALMAN_X,-223776.0,217.8,217.9,219196.4,798.5
$KALMAN_Y,145217.6,490.7,33.3,-139975.7,-273.1
$MHEAD_RNG_PITCHd_Wd,152.2,5090,-18.8,-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,20,-1.33,-128.4,0.0,0.0,0,93,0.00,0.00,-70.88,0.000,2,0.000,0.000,461,2143,3478,0,0,0,0,0,0
$GC,98,-1.35,-146.0,3.6,-4.4,9,123,13.27,2.47,-5.75,0.000,4,0.153,0.051,2958,628,3787,0,0,0,0,0,0
$GC,135,-0.21,-146.0,17.2,-34.0,13,145,1.12,2.47,0.00,0.000,6,0.082,0.015,3209,2228,3787,0,0,0,0,0,0
$GC,447,-0.55,-146.0,35.7,-4.5,52,452,0.28,2.45,0.00,0.000,4,0.044,0.032,3125,3770,3789,0,0,0,0,0,0
$GC,483,-0.76,-146.0,38.1,-7.5,54,488,0.15,2.47,0.00,0.000,6,0.059,0.020,3062,2190,3789,0,0,0,0,0,0
$GC,753,-0.76,-146.0,67.3,-11.4,78,758,0.12,2.53,0.00,0.000,4,0.100,0.043,3093,641,3789,0,0,0,0,0,0
$GC,787,-0.83,-146.0,71.5,-10.5,80,791,0.00,2.38,0.00,0.000,6,0.000,0.015,3092,2202,3789,0,0,0,0,0,0
$GC,1053,-0.91,-146.0,95.8,-9.7,104,1062,0.12,0.00,0.00,0.000,6,0.067,0.000,3034,2203,3790,0,0,0,0,0,0
$GC,1318,-0.91,-146.0,127.4,-11.3,129,1324,0.12,0.00,0.00,0.000,6,0.096,0.000,3063,2203,3790,0,0,0,0,0,0
$GC,1584,-1.03,-146.0,149.5,-6.7,154,1593,0.12,0.00,0.00,0.000,6,0.064,0.000,3005,2203,3791,0,0,0,0,0,0
$GC,1847,-1.07,-146.0,172.5,-8.0,179,1848,0.10,0.00,0.00,0.000,6,0.107,0.000,3030,2203,3791,0,0,0,0,0,0
$GC,2104,-1.17,-146.0,191.2,-7.6,203,2109,0.10,2.50,0.00,0.000,4,0.078,0.041,2978,3772,3792,0,0,0,0,0,0
$GC,2136,-1.17,-146.0,194.2,-9.7,205,2141,0.12,2.45,0.00,0.000,6,0.093,0.018,3009,2190,3792,0,0,0,0,0,0
$GC,2412,-1.23,-146.0,215.9,-7.7,216,2416,0.00,2.53,0.00,0.000,4,0.000,0.035,3009,3769,3791,0,0,0,0,0,0
$GC,2439,-1.31,-146.0,218.3,-7.6,216,2445,0.15,2.42,0.00,0.000,6,0.056,0.019,2945,2208,3792,0,0,0,0,0,0
$GC,2690,-1.26,-146.0,241.4,-9.7,222,2692,0.17,0.00,0.00,0.000,6,0.087,0.000,2985,2208,3792,0,0,0,0,0,0
$GC,2936,-1.26,-146.0,261.3,-8.1,228,2940,0.00,2.53,0.00,0.000,4,0.000,0.038,2985,3771,3792,0,0,0,0,0,0
$GC,2952,-1.26,-146.0,263.0,-8.0,228,2956,0.00,2.45,0.00,0.000,6,0.000,0.025,2985,2206,3791,0,0,0,0,0,0
$GC,3213,-1.30,-146.0,283.8,-7.9,235,3217,0.00,2.50,0.00,0.000,4,0.000,0.040,2985,3767,3791,0,0,0,0,0,0
$GC,3243,-1.34,-146.0,286.1,-8.7,235,3247,0.00,2.42,0.00,0.000,6,0.000,0.021,2985,2212,3791,0,0,0,0,0,0
$GC,3495,-1.34,-146.0,306.2,-7.9,241,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2212,3790,0,0,0,0,0,0
$GC,3737,-1.38,-146.0,325.9,-8.1,247,3742,0.12,2.53,0.00,0.000,4,0.066,0.045,2935,3769,3789,0,0,0,0,0,0
$GC,3767,-1.33,-146.0,328.5,-9.9,247,3773,0.15,2.45,0.00,0.000,6,0.088,0.029,2969,2222,3789,0,0,0,0,0,0
$GC,4017,-1.33,-146.0,349.9,-8.2,253,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2222,3788,0,0,0,0,0,0
$GC,4261,-1.33,-146.0,370.5,-8.6,259,4265,0.00,2.53,0.00,0.000,4,0.000,0.042,2969,3767,3787,0,0,0,0,0,0
$GC,4297,-1.33,-146.0,373.5,-9.3,259,4302,0.00,2.47,0.00,0.000,6,0.000,0.030,2969,2217,3787,0,0,0,0,0,0
$GC,4547,-1.33,-146.0,396.0,-9.0,266,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2218,3787,0,0,0,0,0,0
$GC,4790,-1.33,-146.0,417.0,-8.6,272,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2218,3785,0,0,0,0,0,0
$GC,5037,-1.33,-146.0,436.4,-7.9,278,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2217,3784,0,0,0,0,0,0
$GC,5278,-1.33,-146.0,456.5,-8.3,284,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2217,3783,0,0,0,0,0,0
$GC,5522,-1.33,-146.0,477.5,-8.6,290,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2217,3782,0,0,0,0,0,0
$GC,5765,-1.33,-146.0,498.2,-8.5,296,5770,0.00,2.62,0.00,0.000,4,0.000,0.064,2969,3761,3780,0,0,0,0,0,0
$GC,5789,-1.33,-146.0,500.2,-9.0,296,5794,0.00,2.55,0.00,0.000,6,0.000,0.045,2969,2236,3781,0,0,0,0,0,0
$GC,6044,-1.33,-146.0,522.1,-8.4,303,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2236,3779,0,0,0,0,0,0
$GC,6288,-1.33,-146.0,542.9,-8.5,309,6292,0.00,2.60,0.00,0.000,4,0.000,0.072,2969,3756,3778,0,0,0,0,0,0
$GC,6312,-1.33,-146.0,544.8,-8.8,309,6316,0.00,2.58,0.00,0.000,6,0.000,0.054,2969,2232,3778,0,0,0,0,0,0
$GC,6567,-1.33,-146.0,565.8,-8.2,316,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2232,3777,0,0,0,0,0,0
$GC,6810,-1.33,-146.0,585.7,-8.1,322,6815,0.00,2.65,0.00,0.000,4,0.000,0.081,2969,3756,3775,0,0,0,0,0,0
$GC,6826,-1.33,-146.0,587.1,-8.3,322,6831,0.00,2.60,0.00,0.000,6,0.000,0.055,2969,2231,3776,0,0,0,0,0,0
$GC,7092,-1.33,-146.0,607.9,-7.9,329,7096,0.00,2.70,0.00,0.000,4,0.000,0.081,2969,3761,3774,0,0,0,0,0,0
$GC,7120,-1.33,-146.0,610.5,-8.6,329,7125,0.00,2.65,0.00,0.000,6,0.000,0.070,2969,2236,3774,0,0,0,0,0,0
$GC,7370,-1.33,-146.0,629.5,-7.5,335,7375,0.00,2.70,0.00,0.000,4,0.000,0.081,2969,3755,3772,0,0,0,0,0,0
$GC,7389,-1.33,-146.0,630.7,-7.3,335,7393,0.00,2.65,0.00,0.000,6,0.000,0.076,2969,2243,3772,0,0,0,0,0,0
$GC,7649,-1.33,-146.0,650.0,-7.3,342,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2244,3770,0,0,0,0,0,0
$GC,7893,-1.33,-146.0,669.0,-7.8,348,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2243,3770,0,0,0,0,0,0
$GC,8139,-1.33,-146.0,688.4,-8.2,354,8144,0.00,2.85,0.00,0.000,4,0.000,0.114,2969,3758,3769,0,0,0,0,0,0
$GC,8155,-1.33,-146.0,690.0,-8.1,354,8159,0.00,2.80,0.00,0.000,6,0.000,0.097,2969,2247,3768,0,0,0,0,0,0
$GC,8416,-1.37,-146.0,710.5,-7.9,361,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2246,3767,0,0,0,0,0,0
$GC,8662,-1.41,-146.0,729.3,-7.6,367,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2246,3766,0,0,0,0,0,0
$GC,8903,-1.45,-146.0,748.0,-7.7,373,8909,0.12,3.03,0.00,0.000,4,0.069,0.142,2923,3755,3765,0,0,0,0,0,0
$GC,8931,-1.41,-146.0,750.7,-10.3,373,8936,0.12,2.72,0.00,0.000,6,0.100,0.090,2951,2241,3765,0,0,0,0,0,0
$GC,9184,-1.41,-146.0,772.9,-8.9,379,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2241,3763,0,0,0,0,0,0
$GC,9425,-1.41,-146.0,794.4,-8.7,385,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2240,3762,0,0,0,0,0,0
$GC,9669,-1.41,-146.0,815.4,-8.6,391,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2239,3761,0,0,0,0,0,0
$GC,9912,-1.41,-146.0,834.6,-7.8,397,9917,0.00,2.70,0.00,0.000,4,0.000,0.089,2951,3755,3761,0,0,0,0,0,0
$GC,9964,-1.41,-146.0,839.0,-8.8,398,9969,0.00,2.67,0.00,0.000,6,0.000,0.070,2951,2233,3760,0,0,0,0,0,0
$GC,10237,-1.41,-146.0,861.9,-8.2,405,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2233,3759,0,0,0,0,0,0
$GC,10481,-1.41,-146.0,881.7,-8.2,411,10485,0.00,2.72,0.00,0.000,4,0.000,0.083,2951,3760,3758,0,0,0,0,0,0
$GC,10505,-1.41,-146.0,883.6,-8.2,411,10509,0.00,2.65,0.00,0.000,6,0.000,0.067,2951,2242,3758,0,0,0,0,0,0
$STATE,10716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10716,begin apogee
$GC,10723,-0.31,0.0,901.0,7.9,417,10848,1.05,0.00,121.43,1.210,6,0.070,0.000,3190,2335,3190,0,0,0,0,0,0
$STATE,10848,end apogee,CONTROL_FINISHED_OK
$STATE,10848,begin climb
$GC,10851,1.35,146.0,904.2,0.0,420,10988,1.50,2.95,128.05,1.178,4,0.044,0.081,3562,3932,2593,0,0,0,0,0,0
$GC,11039,1.23,146.0,892.9,12.2,424,11044,0.17,2.75,0.00,0.000,6,0.141,0.059,3528,2362,2589,0,0,0,0,0,0
$GC,11303,1.20,157.6,868.0,9.4,431,11319,0.00,2.80,10.82,1.019,4,0.000,0.064,3528,3940,2546,0,0,0,0,0,0
$GC,11336,1.17,170.9,864.2,9.3,431,11356,0.00,2.72,13.55,1.042,6,0.000,0.054,3528,2372,2492,0,0,0,0,0,0
$GC,11632,1.17,170.9,833.0,10.7,439,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2372,2488,0,0,0,0,0,0
$GC,11873,1.17,170.9,808.1,10.1,445,11878,0.00,2.70,0.00,0.000,4,0.000,0.065,3528,3935,2487,0,0,0,0,0,0
$GC,11945,1.13,170.9,800.0,11.1,446,11950,0.10,2.65,0.00,0.000,6,0.136,0.047,3508,2388,2486,0,0,0,0,0,0
$GC,12202,1.15,185.1,776.7,9.3,452,12217,0.00,0.00,13.27,1.028,6,0.000,0.000,3508,2388,2435,0,0,0,0,0,0
$GC,12439,1.15,188.7,753.4,9.8,458,12445,0.00,0.00,4.80,0.770,6,0.000,0.000,3509,2388,2420,0,0,0,0,0,0
$GC,12682,1.16,191.6,729.5,9.8,464,12692,0.00,2.70,4.32,0.721,4,0.000,0.058,3508,3935,2407,0,0,0,0,0,0
$GC,12716,1.16,191.6,726.0,10.3,464,12722,0.00,2.65,0.00,0.000,6,0.000,0.048,3508,2392,2407,0,0,0,0,0,0
$GC,12967,1.20,195.4,701.4,9.8,471,12974,0.00,0.00,5.22,0.791,6,0.000,0.000,3508,2392,2393,0,0,0,0,0,0
$GC,13210,1.23,195.4,676.6,10.1,477,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2392,2392,0,0,0,0,0,0
$GC,13456,1.27,195.4,651.7,10.2,483,13462,0.12,3.17,0.00,0.000,4,0.087,0.129,3545,779,2392,0,0,0,0,0,0
$GC,13490,1.21,195.4,647.4,12.5,483,13496,0.00,2.70,0.00,0.000,6,0.000,0.041,3545,2393,2392,0,0,0,0,0,0
$GC,13740,1.21,195.4,618.7,11.4,490,13744,0.00,2.65,0.00,0.000,4,0.000,0.069,3545,3938,2391,0,0,0,0,0,0
$GC,13792,1.17,195.4,612.6,12.5,491,13797,0.15,2.58,0.00,0.000,6,0.117,0.045,3515,2392,2390,0,0,0,0,0,0
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$STATE,19684,end climb,SURFACE_DEPTH_REACHED
$STATE,19684,begin surface coast
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$STATE,19731,end surface coast,CONTROL_FINISHED_OK
$STATE,19731,begin surface
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$XPDR_PINGS,96
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$10V_AH,10.1,51.501
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.750,172.700,379.175,63.750,0.000,22.712,35.409,213.708,24.000,0.000,12.443,1590.798,14876.580,555.349,2440.344,798.330,33.379,1536.055,0.000,2450.353,0.000,0.536,0.000
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$SENSOR_SECS,527.797,391.526,491.642,689.435,1310.298,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,60537,779
$CAP_FILE_SIZE,170016,0
$CFSIZE,260165632,99434496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140413,210106,1924.488,-8106.685,28,1.3,28,-3.8