version: 66.06
glider: 146
mission: 8
dive: 425
start: 4 17 113 19 42 31
data:
$ID,146
$MISSION,8
$DIVE,425
$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,-315819.94
$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,61
$R_STBD_OVSHOOT,42
$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
$GPS1,192005,1923.842,-8112.320,35,1.5,35,-3.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.1
$GPS2,194137,1923.762,-8112.608,10,1.6,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.229,0.123
$KALMAN_X,-202709.7,-76.1,-275.5,193981.0,2266.9
$KALMAN_Y,145356.1,404.7,-15.2,-145370.4,-1032.7
$MHEAD_RNG_PITCHd_Wd,302.0,11164,-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,20,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-63.15,0.000,2,0.000,0.000,459,2178,3293,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.0,-3.4,8,122,13.55,2.62,-10.23,0.000,4,0.156,0.043,2978,3785,3788,0,0,0,0,0,0
$GC,270,-1.12,-146.0,36.8,-16.6,31,275,0.17,2.42,0.00,0.000,6,0.097,0.023,3017,2236,3788,0,0,0,0,0,0
$GC,538,-1.00,-146.0,76.4,-14.4,55,543,0.10,2.65,0.00,0.000,4,0.117,0.046,3040,634,3788,0,0,0,0,0,0
$GC,631,-1.00,-146.0,89.2,-12.3,62,635,0.00,2.42,0.00,0.000,6,0.000,0.015,3040,2222,3788,0,0,0,0,0,0
$GC,894,-0.94,-146.0,120.5,-11.8,86,898,0.00,2.58,0.00,0.000,4,0.000,0.044,3040,637,3788,0,0,0,0,0,0
$GC,939,-0.90,-146.0,125.2,-11.2,89,944,0.10,2.38,0.00,0.000,6,0.116,0.018,3063,2185,3788,0,0,0,0,0,0
$GC,1205,-0.98,-146.0,148.5,-7.4,113,1209,0.00,2.50,0.00,0.000,4,0.000,0.040,3063,3772,3788,0,0,0,0,0,0
$GC,1272,-1.10,-146.0,153.2,-7.2,118,1277,0.17,2.47,0.00,0.000,6,0.050,0.023,2988,2166,3788,0,0,0,0,0,0
$GC,1537,-1.10,-146.0,177.8,-9.2,142,1542,0.15,0.00,0.00,0.000,6,0.089,0.000,3024,2166,3788,0,0,0,0,0,0
$GC,1802,-1.16,-146.0,198.0,-7.1,167,1807,0.00,2.47,0.00,0.000,4,0.000,0.056,3024,645,3788,0,0,0,0,0,0
$GC,1854,-1.23,-146.0,202.2,-7.4,170,1859,0.12,2.38,0.00,0.000,6,0.062,0.026,2957,2185,3788,0,0,0,0,0,0
$GC,2126,-1.16,-146.0,229.1,-10.3,177,2131,0.22,2.55,0.00,0.000,4,0.079,0.041,3010,3775,3788,0,0,0,0,0,0
$GC,2169,-1.22,-146.0,232.5,-8.2,178,2173,0.00,2.47,0.00,0.000,6,0.000,0.028,3010,2186,3788,0,0,0,0,0,0
$GC,2453,-1.26,-146.0,253.3,-7.0,185,2454,0.10,0.00,0.00,0.000,6,0.080,0.000,2961,2187,3787,0,0,0,0,0,0
$GC,2699,-1.21,-146.0,275.4,-9.1,191,2704,0.15,2.58,0.00,0.000,4,0.089,0.038,2997,3771,3786,0,0,0,0,0,0
$GC,2732,-1.25,-146.0,278.6,-8.1,191,2738,0.00,2.47,0.00,0.000,6,0.000,0.025,2996,2192,3786,0,0,0,0,0,0
$GC,2982,-1.25,-146.0,297.7,-7.7,198,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2192,3786,0,0,0,0,0,0
$GC,3228,-1.25,-146.0,316.5,-7.7,204,3233,0.00,2.58,0.00,0.000,4,0.000,0.045,2996,3779,3784,0,0,0,0,0,0
$GC,3268,-1.30,-146.0,319.9,-8.5,205,3273,0.00,2.50,0.00,0.000,6,0.000,0.030,2997,2196,3785,0,0,0,0,0,0
$GC,3552,-1.30,-146.0,342.6,-7.9,212,3556,0.00,2.62,0.00,0.000,4,0.000,0.061,2996,630,3784,0,0,0,0,0,0
$GC,3632,-1.34,-146.0,349.2,-8.5,213,3639,0.12,2.45,0.00,0.000,6,0.063,0.025,2937,2179,3783,0,0,0,0,0,0
$GC,3882,-1.26,-146.0,374.6,-10.1,220,3888,0.22,2.60,0.00,0.000,4,0.081,0.041,2989,3786,3782,0,0,0,0,0,0
$GC,3918,-1.26,-146.0,377.4,-8.1,220,3924,0.00,2.55,0.00,0.000,6,0.000,0.030,2989,2188,3782,0,0,0,0,0,0
$GC,4168,-1.26,-146.0,396.5,-7.4,227,4173,0.00,2.70,0.00,0.000,4,0.000,0.079,2988,626,3781,0,0,0,0,0,0
$GC,4223,-1.26,-146.0,401.0,-7.9,228,4228,0.00,2.50,0.00,0.000,6,0.000,0.035,2989,2191,3780,0,0,0,0,0,0
$GC,4492,-1.26,-146.0,421.5,-7.8,235,4496,0.00,2.62,0.00,0.000,4,0.000,0.047,2989,3799,3779,0,0,0,0,0,0
$GC,4526,-1.26,-146.0,424.4,-8.3,235,4534,0.00,2.60,0.00,0.000,6,0.000,0.038,2989,2186,3779,0,0,0,0,0,0
$GC,4776,-1.26,-146.0,443.6,-7.5,242,4780,0.00,2.65,0.00,0.000,4,0.000,0.048,2989,3795,3777,0,0,0,0,0,0
$GC,4806,-1.29,-146.0,445.8,-8.2,242,4810,0.00,2.60,0.00,0.000,6,0.000,0.044,2989,2194,3778,0,0,0,0,0,0
$GC,5056,-1.29,-146.0,463.6,-6.9,248,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2194,3777,0,0,0,0,0,0
$GC,5299,-1.29,-146.0,480.5,-7.0,254,5304,0.00,2.67,0.00,0.000,4,0.000,0.061,2989,3782,3775,0,0,0,0,0,0
$GC,5321,-1.29,-146.0,482.2,-7.2,254,5325,0.00,2.62,0.00,0.000,6,0.000,0.048,2989,2196,3775,0,0,0,0,0,0
$GC,5578,-1.29,-146.0,500.0,-7.0,261,5583,0.00,2.83,0.00,0.000,4,0.000,0.097,2989,627,3774,0,0,0,0,0,0
$GC,5605,-1.29,-146.0,502.3,-7.9,261,5610,0.00,2.55,0.00,0.000,6,0.000,0.046,2989,2191,3773,0,0,0,0,0,0
$GC,5855,-1.29,-146.0,519.4,-6.8,267,5860,0.00,2.72,0.00,0.000,4,0.000,0.067,2989,3792,3772,0,0,0,0,0,0
$GC,5890,-1.29,-146.0,521.8,-7.8,267,5896,0.00,2.65,0.00,0.000,6,0.000,0.048,2989,2206,3772,0,0,0,0,0,0
$GC,6140,-1.29,-146.0,538.7,-6.5,274,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2206,3770,0,0,0,0,0,0
$GC,6384,-1.29,-146.0,554.1,-6.2,280,6389,0.00,2.95,0.00,0.000,4,0.000,0.109,2989,623,3770,0,0,0,0,0,0
$GC,6408,-1.29,-146.0,555.4,-6.0,280,6412,0.00,2.65,0.00,0.000,6,0.000,0.051,2989,2211,3769,0,0,0,0,0,0
$GC,6664,-1.33,-146.0,571.9,-6.4,287,6668,0.00,2.80,0.00,0.000,4,0.000,0.086,2989,3792,3768,0,0,0,0,0,0
$GC,6703,-1.38,-146.0,574.2,-6.0,288,6708,0.12,2.70,0.00,0.000,6,0.067,0.055,2938,2199,3768,0,0,0,0,0,0
$GC,6990,-1.33,-146.0,598.3,-8.9,295,6992,0.15,0.00,0.00,0.000,6,0.120,0.000,2972,2199,3766,0,0,0,0,0,0
$GC,7231,-1.33,-146.0,618.2,-8.0,301,7235,0.00,2.85,0.00,0.000,4,0.000,0.087,2972,3797,3765,0,0,0,0,0,0
$GC,7260,-1.33,-146.0,620.8,-9.2,301,7265,0.00,2.78,0.00,0.000,6,0.000,0.075,2972,2212,3764,0,0,0,0,0,0
$GC,7513,-1.33,-146.0,641.3,-8.1,307,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2212,3763,0,0,0,0,0,0
$GC,7754,-1.33,-146.0,661.1,-8.1,313,7759,0.00,3.08,0.00,0.000,4,0.000,0.128,2971,623,3762,0,0,0,0,0,0
$GC,7787,-1.33,-146.0,663.9,-8.8,313,7792,0.00,2.80,0.00,0.000,6,0.000,0.081,2972,2208,3762,0,0,0,0,0,0
$GC,8039,-1.33,-146.0,682.5,-7.3,320,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2208,3761,0,0,0,0,0,0
$GC,8280,-1.33,-146.0,700.7,-7.6,326,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2208,3760,0,0,0,0,0,0
$GC,8524,-1.33,-146.0,719.4,-7.5,332,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2208,3759,0,0,0,0,0,0
$GC,8768,-1.33,-146.0,737.2,-7.3,338,8773,0.00,3.20,0.00,0.000,4,0.000,0.146,2972,3801,3758,0,0,0,0,0,0
$GC,8792,-1.33,-146.0,739.1,-8.2,338,8797,0.00,2.83,0.00,0.000,6,0.000,0.077,2972,2210,3758,0,0,0,0,0,0
$GC,9047,-1.33,-146.0,759.2,-7.7,345,9052,0.00,3.05,0.00,0.000,4,0.000,0.122,2972,614,3757,0,0,0,0,0,0
$GC,9087,-1.33,-146.0,762.6,-8.9,346,9091,0.00,2.80,0.00,0.000,6,0.000,0.075,2972,2213,3756,0,0,0,0,0,0
$GC,9372,-1.33,-146.0,783.9,-7.4,353,9377,0.00,2.88,0.00,0.000,4,0.000,0.101,2972,3798,3755,0,0,0,0,0,0
$GC,9399,-1.33,-146.0,786.1,-8.0,353,9404,0.00,2.78,0.00,0.000,6,0.000,0.068,2972,2206,3755,0,0,0,0,0,0
$GC,9649,-1.33,-146.0,804.0,-7.1,359,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2207,3754,0,0,0,0,0,0
$GC,9896,-1.33,-146.0,821.8,-7.3,365,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2205,3752,0,0,0,0,0,0
$GC,10137,-1.33,-146.0,840.3,-7.5,371,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2205,3752,0,0,0,0,0,0
$GC,10380,-1.33,-146.0,858.3,-7.5,377,10385,0.00,2.83,0.00,0.000,4,0.000,0.081,2972,3800,3750,0,0,0,0,0,0
$GC,10427,-1.36,-146.0,861.9,-8.3,378,10432,0.00,2.75,0.00,0.000,6,0.000,0.072,2972,2204,3750,0,0,0,0,0,0
$GC,10705,-1.36,-146.0,882.8,-7.3,385,10709,0.00,2.85,0.00,0.000,4,0.000,0.087,2971,3806,3749,0,0,0,0,0,0
$GC,10726,-1.36,-146.0,884.5,-7.7,385,10731,0.00,2.78,0.00,0.000,6,0.000,0.068,2972,2212,3749,0,0,0,0,0,0
$STATE,10938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10938,begin apogee
$GC,10946,-0.31,0.0,900.9,7.7,391,11069,0.95,0.00,119.25,1.215,6,0.070,0.000,3189,2381,3190,0,0,0,0,0,0
$STATE,11070,end apogee,CONTROL_FINISHED_OK
$STATE,11070,begin climb
$GC,11073,1.27,146.0,905.0,0.0,394,11210,1.42,2.88,128.38,1.182,4,0.038,0.084,3542,3942,2594,0,0,0,0,0,0
$GC,11344,1.16,146.0,885.9,10.6,400,11350,0.15,2.75,0.00,0.000,6,0.119,0.056,3513,2370,2587,0,0,0,0,0,0
$GC,11614,1.19,170.3,861.7,8.9,407,11643,0.00,2.85,21.83,1.101,4,0.000,0.067,3513,3931,2494,0,0,0,0,0,0
$GC,11666,1.13,172.2,856.5,9.9,408,11671,0.00,2.70,0.00,0.000,6,0.000,0.056,3513,2375,2493,0,0,0,0,0,0
$GC,11938,1.15,183.9,831.1,9.5,415,11958,0.00,2.78,13.23,1.049,4,0.000,0.063,3513,3925,2440,0,0,0,0,0,0
$GC,11988,1.10,183.9,826.2,10.4,416,11993,0.00,2.65,0.00,0.000,6,0.000,0.054,3513,2389,2438,0,0,0,0,0,0
$GC,12266,1.10,183.9,797.2,10.3,423,12271,0.00,3.17,0.00,0.000,4,0.000,0.129,3513,775,2436,0,0,0,0,0,0
$GC,12284,1.10,183.9,795.3,10.3,423,12288,0.00,2.72,0.00,0.000,6,0.000,0.048,3513,2379,2436,0,0,0,0,0,0
$GC,12544,1.12,194.5,769.8,9.5,430,12561,0.00,2.78,11.00,1.007,4,0.000,0.067,3513,3939,2396,0,0,0,0,0,0
$GC,12584,1.12,194.5,765.9,10.7,431,12588,0.00,2.65,0.00,0.000,6,0.000,0.041,3513,2378,2395,0,0,0,0,0,0
$GC,12869,1.13,204.5,738.8,9.5,438,12882,0.00,0.00,10.55,0.988,6,0.000,0.000,3513,2378,2356,0,0,0,0,0,0
$GC,13110,1.13,204.5,714.3,10.3,444,13115,0.00,3.08,0.00,0.000,4,0.000,0.120,3513,782,2354,0,0,0,0,0,0
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$STATE,19939,end climb,SURFACE_DEPTH_REACHED
$STATE,19939,begin surface coast
$FINISH,1.0,1.022987
$STATE,19994,end surface coast,CONTROL_FINISHED_OK
$STATE,19994,begin surface
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$HUMID,61.89
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$TCM_TEMP,24.40
$XPDR_PINGS,123
$24V_AH,23.1,59.948
$10V_AH,9.9,53.300
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.825,255.825,414.525,25.900,0.000,140.802,190.980,480.785,30.750,0.000,12.445,1629.753,15232.726,572.286,2492.891,1399.707,33.378,1668.691,0.000,2485.200,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,57293,754
$CAP_FILE_SIZE,198316,0
$CFSIZE,260165632,98390016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180413,011759,1924.605,-8113.348,39,1.1,39,-3.8