version: 66.06
glider: 146
mission: 8
dive: 424
start: 4 17 113 13 58 7
data:
$ID,146
$MISSION,8
$DIVE,424
$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,-315806.88
$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,51
$R_STBD_OVSHOOT,45
$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
$GPS1,134606,1923.477,-8110.684,36,1.0,36,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-73.9
$GPS2,135713,1923.446,-8110.775,12,1.4,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.045
$KALMAN_X,-203671.4,-750.9,-36.5,198588.2,2128.0
$KALMAN_Y,146085.6,54.5,-166.4,-146177.8,474.2
$MHEAD_RNG_PITCHd_Wd,283.8,14230,-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,18,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-70.30,0.000,2,0.000,0.000,465,2180,3502,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.8,-4.9,9,122,13.52,2.53,-5.32,0.000,4,0.157,0.051,2980,643,3787,0,0,0,0,0,0
$GC,349,-1.10,-146.0,55.5,-16.8,36,354,0.17,2.42,0.00,0.000,6,0.104,0.016,3018,2219,3788,0,0,0,0,0,0
$GC,614,-0.98,-146.0,94.9,-13.6,60,619,0.12,2.58,0.00,0.000,4,0.105,0.044,3047,652,3788,0,0,0,0,0,0
$GC,647,-0.91,-146.0,99.5,-12.9,62,651,0.00,2.40,0.00,0.000,6,0.000,0.015,3047,2216,3788,0,0,0,0,0,0
$GC,909,-0.91,-146.0,129.7,-10.7,86,914,0.00,2.45,0.00,0.000,4,0.000,0.032,3047,3769,3789,0,0,0,0,0,0
$GC,958,-0.95,-146.0,134.9,-10.2,89,964,0.00,2.45,0.00,0.000,6,0.000,0.022,3047,2215,3789,0,0,0,0,0,0
$GC,1222,-1.00,-146.0,156.3,-7.8,114,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2215,3789,0,0,0,0,0,0
$GC,1479,-1.08,-146.0,174.6,-7.5,138,1483,0.00,2.58,0.00,0.000,4,0.000,0.048,3046,635,3789,0,0,0,0,0,0
$GC,1508,-1.16,-146.0,177.1,-7.5,140,1513,0.17,2.45,0.00,0.000,6,0.051,0.020,2978,2224,3789,0,0,0,0,0,0
$GC,1788,-1.12,-146.0,204.4,-10.1,163,1793,0.17,2.62,0.00,0.000,4,0.084,0.046,3019,631,3790,0,0,0,0,0,0
$GC,1833,-1.17,-146.0,208.5,-8.1,164,1837,0.00,2.45,0.00,0.000,6,0.000,0.020,3019,2215,3790,0,0,0,0,0,0
$GC,2113,-1.22,-146.0,229.1,-7.5,171,2118,0.10,2.53,0.00,0.000,4,0.080,0.041,2969,3778,3790,0,0,0,0,0,0
$GC,2153,-1.22,-146.0,232.9,-9.7,172,2158,0.10,2.42,0.00,0.000,6,0.103,0.023,2995,2210,3789,0,0,0,0,0,0
$GC,2437,-1.22,-146.0,254.8,-7.6,179,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2210,3790,0,0,0,0,0,0
$GC,2683,-1.22,-146.0,273.7,-7.8,185,2687,0.00,2.53,0.00,0.000,4,0.000,0.040,2995,3771,3789,0,0,0,0,0,0
$GC,2715,-1.22,-146.0,276.6,-8.4,185,2721,0.00,2.42,0.00,0.000,6,0.000,0.026,2995,2230,3789,0,0,0,0,0,0
$GC,2965,-1.22,-146.0,295.8,-7.7,192,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2230,3788,0,0,0,0,0,0
$GC,3212,-1.22,-146.0,315.1,-8.1,198,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2230,3787,0,0,0,0,0,0
$GC,3453,-1.22,-146.0,335.0,-8.2,204,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2229,3786,0,0,0,0,0,0
$GC,3697,-1.22,-146.0,353.6,-7.4,210,3701,0.00,2.67,0.00,0.000,4,0.000,0.061,2995,635,3785,0,0,0,0,0,0
$GC,3723,-1.22,-146.0,355.6,-6.9,210,3728,0.00,2.53,0.00,0.000,6,0.000,0.026,2995,2225,3784,0,0,0,0,0,0
$GC,3976,-1.22,-146.0,374.3,-7.7,216,3980,0.00,2.55,0.00,0.000,4,0.000,0.050,2995,3792,3784,0,0,0,0,0,0
$GC,4003,-1.26,-146.0,376.7,-8.7,216,4008,0.00,2.47,0.00,0.000,6,0.000,0.030,2995,2238,3784,0,0,0,0,0,0
$GC,4253,-1.26,-146.0,396.4,-7.8,222,4258,0.00,2.75,0.00,0.000,4,0.000,0.071,2995,634,3783,0,0,0,0,0,0
$GC,4295,-1.31,-146.0,399.5,-8.1,223,4300,0.00,2.55,0.00,0.000,6,0.000,0.035,2995,2225,3782,0,0,0,0,0,0
$GC,4579,-1.31,-146.0,420.8,-7.4,230,4583,0.00,2.58,0.00,0.000,4,0.000,0.048,2995,3798,3782,0,0,0,0,0,0
$GC,4621,-1.36,-146.0,423.9,-8.1,231,4626,0.12,2.53,0.00,0.000,6,0.064,0.033,2941,2227,3781,0,0,0,0,0,0
$GC,4905,-1.29,-146.0,451.4,-9.7,238,4910,0.15,2.88,0.00,0.000,4,0.094,0.087,2977,620,3780,0,0,0,0,0,0
$GC,4938,-1.29,-146.0,454.7,-9.5,238,4947,0.00,2.60,0.00,0.000,6,0.000,0.036,2977,2229,3780,0,0,0,0,0,0
$GC,5191,-1.29,-146.0,474.8,-8.0,245,5195,0.00,2.62,0.00,0.000,4,0.000,0.057,2977,3792,3779,0,0,0,0,0,0
$GC,5212,-1.29,-146.0,476.8,-8.3,245,5216,0.00,2.58,0.00,0.000,6,0.000,0.039,2978,2225,3779,0,0,0,0,0,0
$GC,5467,-1.29,-146.0,498.0,-8.4,252,5472,0.00,2.92,0.00,0.000,4,0.000,0.097,2977,621,3777,0,0,0,0,0,0
$GC,5513,-1.29,-146.0,502.1,-9.3,253,5518,0.00,2.62,0.00,0.000,6,0.000,0.041,2977,2224,3777,0,0,0,0,0,0
$GC,5791,-1.29,-146.0,526.1,-8.6,260,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2224,3776,0,0,0,0,0,0
$GC,6035,-1.29,-146.0,546.5,-8.3,266,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2224,3775,0,0,0,0,0,0
$GC,6281,-1.29,-146.0,567.3,-8.1,272,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2224,3774,0,0,0,0,0,0
$GC,6522,-1.29,-146.0,587.2,-8.3,278,6527,0.00,2.78,0.00,0.000,4,0.000,0.084,2978,3790,3772,0,0,0,0,0,0
$GC,6561,-1.29,-146.0,590.6,-8.9,279,6566,0.00,2.67,0.00,0.000,6,0.000,0.057,2977,2221,3772,0,0,0,0,0,0
$GC,6847,-1.29,-146.0,611.6,-7.5,286,6852,0.00,3.03,0.00,0.000,4,0.000,0.117,2977,626,3771,0,0,0,0,0,0
$GC,6886,-1.29,-146.0,615.1,-8.6,287,6891,0.00,2.72,0.00,0.000,6,0.000,0.061,2977,2214,3770,0,0,0,0,0,0
$GC,7169,-1.29,-146.0,639.4,-8.4,294,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2215,3769,0,0,0,0,0,0
$GC,7416,-1.29,-146.0,660.1,-8.4,300,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2215,3768,0,0,0,0,0,0
$GC,7657,-1.29,-146.0,680.1,-8.3,306,7662,0.00,2.97,0.00,0.000,4,0.000,0.120,2977,3794,3767,0,0,0,0,0,0
$GC,7681,-1.29,-146.0,682.2,-8.3,306,7685,0.00,2.85,0.00,0.000,6,0.000,0.094,2977,2230,3767,0,0,0,0,0,0
$GC,7938,-1.29,-146.0,701.5,-7.4,313,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2230,3765,0,0,0,0,0,0
$GC,8180,-1.29,-146.0,720.6,-7.8,319,8185,0.00,3.33,0.00,0.000,4,0.000,0.156,2977,617,3764,0,0,0,0,0,0
$GC,8207,-1.29,-146.0,722.9,-8.4,319,8212,0.00,2.97,0.00,0.000,6,0.000,0.106,2978,2215,3764,0,0,0,0,0,0
$GC,8459,-1.29,-146.0,743.3,-8.2,325,8464,0.00,3.20,0.00,0.000,4,0.000,0.153,2978,3796,3763,0,0,0,0,0,0
$GC,8488,-1.29,-146.0,745.7,-8.1,325,8493,0.00,2.85,0.00,0.000,6,0.000,0.082,2977,2211,3762,0,0,0,0,0,0
$GC,8738,-1.29,-146.0,765.1,-7.6,331,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2211,3762,0,0,0,0,0,0
$GC,8982,-1.29,-146.0,783.1,-7.5,337,8987,0.00,2.88,0.00,0.000,4,0.000,0.094,2977,3803,3761,0,0,0,0,0,0
$GC,9011,-1.29,-146.0,785.3,-8.8,337,9016,0.00,2.78,0.00,0.000,6,0.000,0.077,2977,2226,3760,0,0,0,0,0,0
$GC,9261,-1.29,-146.0,805.3,-7.9,343,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2226,3760,0,0,0,0,0,0
$GC,9505,-1.29,-146.0,824.6,-7.8,349,9509,0.00,2.83,0.00,0.000,4,0.000,0.091,2977,3801,3759,0,0,0,0,0,0
$GC,9534,-1.29,-146.0,826.8,-8.6,349,9539,0.00,2.78,0.00,0.000,6,0.000,0.074,2977,2218,3758,0,0,0,0,0,0
$GC,9784,-1.29,-146.0,844.9,-7.3,355,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2217,3757,0,0,0,0,0,0
$GC,10028,-1.29,-146.0,863.1,-7.6,361,10033,0.00,2.85,0.00,0.000,4,0.000,0.091,2977,3805,3756,0,0,0,0,0,0
$GC,10055,-1.29,-146.0,865.3,-8.0,361,10059,0.00,2.75,0.00,0.000,6,0.000,0.067,2978,2232,3756,0,0,0,0,0,0
$GC,10308,-1.29,-146.0,883.9,-7.4,367,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2231,3755,0,0,0,0,0,0
$STATE,10546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10546,begin apogee
$GC,10552,-0.31,0.0,901.7,7.3,373,10676,0.93,0.00,120.50,1.212,6,0.066,0.000,3190,2383,3190,0,0,0,0,0,0
$STATE,10677,end apogee,CONTROL_FINISHED_OK
$STATE,10677,begin climb
$GC,10680,1.27,146.0,905.0,0.0,376,10817,1.42,2.88,128.23,1.179,4,0.034,0.082,3543,3929,2593,0,0,0,0,0,0
$GC,10862,1.16,146.0,894.8,11.8,380,10867,0.15,2.72,0.00,0.000,6,0.116,0.065,3513,2369,2589,0,0,0,0,0,0
$GC,11132,1.14,159.5,869.4,9.4,387,11151,0.00,2.83,12.52,1.044,4,0.000,0.066,3513,3925,2539,0,0,0,0,0,0
$GC,11175,1.08,159.5,864.9,10.1,388,11179,0.00,2.67,0.00,0.000,6,0.000,0.051,3514,2372,2537,0,0,0,0,0,0
$GC,11460,1.08,159.5,836.7,10.1,395,11465,0.00,2.72,0.00,0.000,4,0.000,0.064,3513,3933,2535,0,0,0,0,0,0
$GC,11487,1.04,159.5,833.3,10.9,395,11492,0.12,2.65,0.00,0.000,6,0.121,0.049,3488,2378,2534,0,0,0,0,0,0
$GC,11737,1.06,177.5,810.0,9.2,401,11761,0.00,3.25,16.88,1.071,4,0.000,0.130,3488,785,2466,0,0,0,0,0,0
$GC,11775,1.09,201.2,806.6,8.9,401,11804,0.00,2.75,23.60,1.084,6,0.000,0.050,3488,2386,2369,0,0,0,0,0,0
$GC,12068,1.14,203.3,777.7,9.9,409,12073,0.00,2.72,0.00,0.000,4,0.000,0.068,3488,3941,2364,0,0,0,0,0,0
$GC,12097,1.14,203.3,774.4,10.5,409,12102,0.00,2.62,0.00,0.000,6,0.000,0.047,3487,2389,2363,0,0,0,0,0,0
$GC,12348,1.19,212.3,750.0,9.6,415,12367,0.12,3.20,10.90,0.986,4,0.077,0.123,3525,780,2323,0,0,0,0,0,0
$GC,12395,1.14,212.3,744.9,10.8,416,12400,0.00,2.72,0.00,0.000,6,0.000,0.045,3525,2388,2322,0,0,0,0,0,0
$GC,12674,1.14,212.3,713.9,11.6,423,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2388,2321,0,0,0,0,0,0
$GC,12916,1.14,212.3,687.4,10.8,429,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2389,2320,0,0,0,0,0,0
$GC,13159,1.14,212.3,660.8,11.0,435,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2389,2320,0,0,0,0,0,0
$GC,13406,1.14,212.3,634.4,10.8,441,13410,0.00,2.67,0.00,0.000,4,0.000,0.070,3525,3935,2319,0,0,0,0,0,0
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$STATE,19157,end climb,SURFACE_DEPTH_REACHED
$STATE,19157,begin surface coast
$FINISH,1.1,0.999442
$STATE,19202,end surface coast,CONTROL_FINISHED_OK
$STATE,19202,begin surface
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$HUMID,61.93
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$TCM_TEMP,24.40
$XPDR_PINGS,106
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$10V_AH,10.0,53.160
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.825,230.325,429.375,11.675,0.000,52.381,74.325,291.294,26.500,0.000,14.179,1544.022,14485.964,546.797,2380.510,937.322,33.381,1605.633,0.000,2366.082,0.000,0.536,0.000
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$SENSOR_SECS,488.076,331.353,431.846,567.964,1078.897,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,57418,721
$CAP_FILE_SIZE,180916,0
$CFSIZE,260165632,98476032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170413,192005,1923.842,-8112.320,35,1.5,35,-3.8