version: 66.06
glider: 146
mission: 8
dive: 432
start: 4 19 113 10 25 27
data:
$ID,146
$MISSION,8
$DIVE,432
$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,-315931.69
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,101735,1926.745,-8111.352,39,1.0,44,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.8
$GPS2,102431,1926.758,-8111.366,15,1.1,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.148
$KALMAN_X,-191977.7,360.8,32.7,184660.2,604.7
$KALMAN_Y,141686.0,406.9,30.3,-136219.6,-476.6
$MHEAD_RNG_PITCHd_Wd,128.6,7215,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.22,0.000,2,0.000,0.000,458,2182,3472,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-4.6,9,122,13.50,2.50,-5.70,0.000,4,0.156,0.051,2976,652,3786,0,0,0,0,0,0
$GC,134,-0.13,-146.0,18.1,-36.1,13,142,1.12,2.45,0.00,0.000,6,0.075,0.015,3228,2233,3787,0,0,0,0,0,0
$GC,440,-0.71,-146.0,38.2,-8.3,52,446,0.50,2.45,0.00,0.000,4,0.048,0.031,3098,3772,3788,0,0,0,0,0,0
$GC,488,-0.90,-146.0,42.5,-8.2,55,493,0.15,2.40,0.00,0.000,6,0.058,0.017,3030,2230,3788,0,0,0,0,0,0
$GC,759,-0.80,-146.0,76.5,-13.2,79,764,0.25,2.58,0.00,0.000,4,0.077,0.042,3092,647,3788,0,0,0,0,0,0
$GC,817,-0.87,-146.0,83.5,-9.7,83,821,0.00,2.42,0.00,0.000,6,0.000,0.017,3092,2235,3788,0,0,0,0,0,0
$GC,1086,-0.92,-146.0,108.2,-9.7,107,1091,0.15,2.62,0.00,0.000,4,0.058,0.044,3025,638,3789,0,0,0,0,0,0
$GC,1108,-0.92,-146.0,111.5,-10.4,108,1118,0.10,2.45,0.00,0.000,6,0.067,0.023,3055,2220,3789,0,0,0,0,0,0
$GC,1376,-0.92,-146.0,138.2,-8.9,133,1381,0.00,2.55,0.00,0.000,4,0.000,0.043,3055,647,3789,0,0,0,0,0,0
$GC,1411,-0.97,-146.0,141.8,-7.9,135,1417,0.00,2.42,0.00,0.000,6,0.000,0.019,3055,2219,3789,0,0,0,0,0,0
$GC,1678,-1.06,-146.0,162.0,-7.0,160,1684,0.10,0.00,0.00,0.000,6,0.078,0.000,3000,2220,3790,0,0,0,0,0,0
$GC,1943,-1.06,-146.0,187.0,-8.8,185,1948,0.12,2.60,0.00,0.000,4,0.092,0.046,3030,637,3790,0,0,0,0,0,0
$GC,1965,-1.06,-146.0,189.4,-8.9,186,1975,0.00,2.45,0.00,0.000,6,0.000,0.023,3030,2216,3791,0,0,0,0,0,0
$GC,2234,-1.12,-146.0,209.1,-7.2,203,2239,0.00,2.47,0.00,0.000,4,0.000,0.035,3030,3775,3791,0,0,0,0,0,0
$GC,2251,-1.19,-146.0,210.4,-6.6,203,2256,0.12,2.42,0.00,0.000,6,0.064,0.019,2969,2221,3791,0,0,0,0,0,0
$GC,2515,-1.15,-146.0,233.5,-9.2,210,2520,0.17,2.60,0.00,0.000,4,0.083,0.049,3012,643,3791,0,0,0,0,0,0
$GC,2537,-1.15,-146.0,235.7,-8.5,210,2541,0.00,2.45,0.00,0.000,6,0.000,0.025,3012,2229,3791,0,0,0,0,0,0
$GC,2792,-1.20,-146.0,254.8,-7.4,217,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2229,3791,0,0,0,0,0,0
$GC,3038,-1.25,-146.0,272.6,-7.2,223,3043,0.10,2.65,0.00,0.000,4,0.079,0.050,2962,637,3791,0,0,0,0,0,0
$GC,3079,-1.21,-146.0,276.4,-9.3,224,3084,0.15,2.42,0.00,0.000,6,0.091,0.027,2997,2207,3790,0,0,0,0,0,0
$GC,3362,-1.21,-146.0,298.8,-7.8,231,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2207,3790,0,0,0,0,0,0
$GC,3613,-1.21,-146.0,317.4,-7.6,237,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2207,3789,0,0,0,0,0,0
$GC,3850,-1.21,-146.0,336.0,-7.6,243,3854,0.00,2.62,0.00,0.000,4,0.000,0.061,2997,644,3788,0,0,0,0,0,0
$GC,3871,-1.21,-146.0,337.8,-8.1,243,3875,0.00,2.47,0.00,0.000,6,0.000,0.030,2997,2209,3788,0,0,0,0,0,0
$GC,4129,-1.21,-146.0,357.0,-7.5,250,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2209,3787,0,0,0,0,0,0
$GC,4370,-1.25,-146.0,375.4,-7.6,256,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2209,3786,0,0,0,0,0,0
$GC,4614,-1.29,-146.0,394.1,-7.5,262,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2209,3785,0,0,0,0,0,0
$GC,4858,-1.34,-146.0,411.6,-7.2,268,4859,0.12,0.00,0.00,0.000,6,0.068,0.000,2944,2209,3784,0,0,0,0,0,0
$GC,5104,-1.28,-146.0,434.3,-9.5,274,5109,0.17,2.75,0.00,0.000,4,0.085,0.074,2984,645,3784,0,0,0,0,0,0
$GC,5121,-1.24,-146.0,436.2,-9.7,274,5125,0.00,2.55,0.00,0.000,6,0.000,0.037,2985,2207,3783,0,0,0,0,0,0
$GC,5381,-1.24,-146.0,456.6,-7.7,281,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3783,0,0,0,0,0,0
$GC,5625,-1.24,-146.0,475.1,-7.6,287,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3781,0,0,0,0,0,0
$GC,5869,-1.24,-146.0,493.3,-7.4,293,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3780,0,0,0,0,0,0
$GC,6112,-1.24,-146.0,510.8,-7.1,299,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3779,0,0,0,0,0,0
$GC,6358,-1.24,-146.0,529.0,-7.7,305,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3778,0,0,0,0,0,0
$GC,6600,-1.24,-146.0,548.6,-8.1,311,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3777,0,0,0,0,0,0
$GC,6844,-1.24,-146.0,568.3,-8.1,317,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3776,0,0,0,0,0,0
$GC,7090,-1.24,-146.0,587.7,-7.9,323,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3775,0,0,0,0,0,0
$GC,7333,-1.24,-146.0,606.6,-7.7,329,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3774,0,0,0,0,0,0
$GC,7575,-1.24,-146.0,624.8,-7.4,335,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2207,3772,0,0,0,0,0,0
$GC,7819,-1.28,-146.0,642.9,-7.4,341,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3770,0,0,0,0,0,0
$GC,8063,-1.32,-146.0,661.3,-7.5,347,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3769,0,0,0,0,0,0
$GC,8309,-1.36,-146.0,679.3,-7.4,353,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2207,3768,0,0,0,0,0,0
$GC,8550,-1.40,-146.0,698.1,-7.8,359,8552,0.12,0.00,0.00,0.000,6,0.068,0.000,2937,2207,3767,0,0,0,0,0,0
$GC,8794,-1.34,-146.0,721.6,-9.8,365,8796,0.12,0.00,0.00,0.000,6,0.100,0.000,2967,2207,3766,0,0,0,0,0,0
$GC,9040,-1.34,-146.0,741.6,-8.1,371,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2207,3765,0,0,0,0,0,0
$GC,9281,-1.34,-146.0,760.0,-7.5,377,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2208,3763,0,0,0,0,0,0
$GC,9525,-1.34,-146.0,778.2,-7.6,383,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2208,3762,0,0,0,0,0,0
$GC,9768,-1.34,-146.0,797.5,-8.0,389,9774,0.00,3.53,0.00,0.000,4,0.000,0.197,2967,3786,3761,0,0,0,0,0,0
$GC,9787,-1.34,-146.0,798.9,-8.0,389,9792,0.00,2.70,0.00,0.000,6,0.000,0.074,2967,2236,3762,0,0,0,0,0,0
$GC,10048,-1.34,-146.0,818.1,-7.2,396,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2236,3761,0,0,0,0,0,0
$GC,10291,-1.34,-146.0,836.0,-7.4,402,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2236,3759,0,0,0,0,0,0
$GC,10538,-1.34,-146.0,854.2,-7.6,408,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2236,3758,0,0,0,0,0,0
$GC,10779,-1.34,-146.0,873.6,-7.9,414,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2235,3757,0,0,0,0,0,0
$GC,11023,-1.34,-146.0,892.1,-7.5,420,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2234,3756,0,0,0,0,0,0
$STATE,11143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11143,begin apogee
$GC,11150,-0.31,0.0,901.2,7.4,423,11274,0.98,0.00,121.00,1.215,6,0.067,0.000,3191,2372,3190,0,0,0,0,0,0
$STATE,11275,end apogee,CONTROL_FINISHED_OK
$STATE,11275,begin climb
$GC,11280,1.27,146.0,904.3,0.0,426,11417,1.42,2.83,128.62,1.182,4,0.044,0.078,3544,3931,2592,0,0,0,0,0,0
$GC,11517,1.15,146.0,888.5,11.8,431,11522,0.15,2.72,0.00,0.000,6,0.117,0.061,3513,2370,2587,0,0,0,0,0,0
$GC,11772,1.14,168.1,864.9,9.0,438,11794,0.00,0.00,20.08,1.086,6,0.000,0.000,3513,2370,2504,0,0,0,0,0,0
$GC,12018,1.14,168.1,840.5,10.2,444,12023,0.00,2.75,0.00,0.000,4,0.000,0.063,3514,3934,2500,0,0,0,0,0,0
$GC,12062,1.10,168.1,835.5,11.3,445,12066,0.00,2.67,0.00,0.000,6,0.000,0.052,3513,2371,2499,0,0,0,0,0,0
$GC,12342,1.10,175.9,808.5,9.6,452,12356,0.00,2.78,7.62,0.940,4,0.000,0.061,3514,3931,2472,0,0,0,0,0,0
$GC,12398,1.07,175.9,802.4,11.7,453,12404,0.10,2.67,0.00,0.000,6,0.137,0.050,3494,2376,2471,0,0,0,0,0,0
$GC,12671,1.10,200.7,777.4,8.9,460,12697,0.00,0.00,24.55,1.082,6,0.000,0.000,3494,2376,2371,0,0,0,0,0,0
$GC,12915,1.11,212.3,754.7,9.5,466,12934,0.00,2.80,11.95,1.002,4,0.000,0.064,3494,3931,2324,0,0,0,0,0,0
$GC,12948,1.12,222.6,751.3,9.5,466,12967,0.00,2.67,11.57,0.988,6,0.000,0.053,3494,2381,2282,0,0,0,0,0,0
$GC,13245,1.12,222.6,720.7,10.3,474,13250,0.00,3.10,0.00,0.000,4,0.000,0.126,3494,781,2278,0,0,0,0,0,0
$GC,13275,1.12,222.6,717.7,11.6,474,13279,0.00,2.72,0.00,0.000,6,0.000,0.048,3494,2382,2277,0,0,0,0,0,0
$GC,13524,1.12,222.6,692.1,10.1,480,13529,0.00,2.67,0.00,0.000,4,0.000,0.070,3494,3937,2277,0,0,0,0,0,0
$GC,13551,1.12,222.6,689.2,10.0,480,13555,0.00,2.62,0.00,0.000,6,0.000,0.046,3493,2384,2276,0,0,0,0,0,0
$GC,13804,1.13,225.9,664.4,9.8,486,13809,0.00,3.08,0.00,0.000,4,0.000,0.117,3494,781,2276,0,0,0,0,0,0
$GC,13825,1.13,228.4,661.7,9.9,486,13836,0.00,2.70,6.10,0.826,6,0.000,0.049,3494,2382,2258,0,0,0,0,0,0
$GC,14080,1.17,228.4,635.8,10.3,492,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,2383,2257,0,0,0,0,0,0
$GC,14327,1.21,228.4,610.4,10.5,498,14329,0.12,0.00,0.00,0.000,6,0.075,0.000,3531,2384,2256,0,0,0,0,0,0
$GC,14567,1.21,228.4,580.5,12.4,504,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2385,2256,0,0,0,0,0,0
$GC,14811,1.21,228.4,550.1,12.4,510,14815,0.00,2.65,0.00,0.000,4,0.000,0.058,3531,3940,2255,0,0,0,0,0,0
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$STATE,19809,end climb,SURFACE_DEPTH_REACHED
$STATE,19809,begin surface coast
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$STATE,19853,end surface coast,CONTROL_FINISHED_OK
$STATE,19853,begin surface
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$HUMID,61.73
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$TCM_TEMP,24.30
$XPDR_PINGS,85
$24V_AH,23.0,60.922
$10V_AH,10.1,54.204
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.800,151.925,404.675,33.750,0.000,24.371,33.182,181.270,21.250,0.000,16.819,1553.695,15147.044,542.514,2353.303,721.924,33.380,1481.419,0.000,2353.711,0.000,0.536,0.000
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$MEM,355852
$DATA_FILE_SIZE,60463,771
$CAP_FILE_SIZE,162092,0
$CFSIZE,260165632,97910784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190413,155836,1925.554,-8107.345,35,1.3,35,-3.8