version: 66.06
glider: 146
mission: 8
dive: 439
start: 4 20 113 22 4 10
data:
$ID,146
$MISSION,8
$DIVE,439
$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,-316079.56
$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,63
$R_STBD_OVSHOOT,39
$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
$GPS1,215400,1924.847,-8111.181,42,1.7,42,-3.8
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-74.7
$GPS2,220313,1924.832,-8111.140,11,1.2,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,0.112
$KALMAN_X,-175449.3,129.2,37.3,168766.6,1451.5
$KALMAN_Y,138002.6,12.0,65.5,-135730.5,-1091.1
$MHEAD_RNG_PITCHd_Wd,299.4,12635,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.80,0.000,2,0.000,0.000,459,2163,3528,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.1,-6.4,9,121,13.75,2.47,-4.60,0.000,4,0.162,0.048,2979,663,3787,0,0,0,0,0,0
$GC,359,-1.08,-146.0,63.8,-17.4,35,364,0.20,2.40,0.00,0.000,6,0.101,0.015,3023,2231,3788,0,0,0,0,0,0
$GC,625,-0.97,-146.0,102.0,-13.6,59,631,0.12,2.58,0.00,0.000,4,0.105,0.044,3052,664,3788,0,0,0,0,0,0
$GC,671,-0.97,-146.0,108.1,-12.2,62,675,0.00,2.38,0.00,0.000,6,0.000,0.015,3052,2206,3789,0,0,0,0,0,0
$GC,933,-0.97,-146.0,136.4,-9.5,86,937,0.00,2.53,0.00,0.000,4,0.000,0.043,3052,659,3789,0,0,0,0,0,0
$GC,981,-1.05,-146.0,139.9,-8.4,89,985,0.00,2.38,0.00,0.000,6,0.000,0.017,3052,2200,3789,0,0,0,0,0,0
$GC,1244,-1.12,-146.0,160.0,-7.4,113,1249,0.15,2.53,0.00,0.000,4,0.055,0.039,2982,3781,3790,0,0,0,0,0,0
$GC,1292,-1.08,-146.0,164.4,-10.0,116,1298,0.17,2.45,0.00,0.000,6,0.080,0.020,3024,2213,3789,0,0,0,0,0,0
$GC,1555,-1.13,-146.0,185.1,-7.3,141,1560,0.00,2.55,0.00,0.000,4,0.000,0.046,3025,645,3790,0,0,0,0,0,0
$GC,1599,-1.19,-146.0,188.5,-7.5,144,1604,0.10,2.40,0.00,0.000,6,0.076,0.026,2969,2198,3790,0,0,0,0,0,0
$GC,1858,-1.14,-146.0,212.2,-9.4,159,1863,0.17,2.53,0.00,0.000,4,0.085,0.036,3011,3775,3790,0,0,0,0,0,0
$GC,1901,-1.19,-146.0,215.7,-7.6,160,1905,0.00,2.42,0.00,0.000,6,0.000,0.018,3011,2201,3790,0,0,0,0,0,0
$GC,2185,-1.23,-146.0,236.5,-7.1,167,2189,0.00,2.58,0.00,0.000,4,0.000,0.053,3011,637,3790,0,0,0,0,0,0
$GC,2257,-1.30,-146.0,242.1,-7.6,168,2262,0.15,2.40,0.00,0.000,6,0.056,0.018,2950,2187,3790,0,0,0,0,0,0
$GC,2510,-1.23,-146.0,265.8,-9.9,174,2515,0.17,2.55,0.00,0.000,4,0.087,0.046,2991,3772,3789,0,0,0,0,0,0
$GC,2549,-1.23,-146.0,269.7,-8.9,175,2554,0.00,2.47,0.00,0.000,6,0.000,0.029,2991,2183,3789,0,0,0,0,0,0
$GC,2835,-1.23,-146.0,292.9,-8.1,182,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2183,3788,0,0,0,0,0,0
$GC,3076,-1.23,-146.0,312.5,-8.1,188,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2183,3788,0,0,0,0,0,0
$GC,3320,-1.23,-146.0,331.1,-7.6,194,3325,0.00,2.60,0.00,0.000,4,0.000,0.044,2990,3773,3787,0,0,0,0,0,0
$GC,3360,-1.23,-146.0,334.2,-7.5,195,3365,0.00,2.47,0.00,0.000,6,0.000,0.031,2991,2197,3787,0,0,0,0,0,0
$GC,3646,-1.23,-146.0,355.3,-7.4,202,3650,0.00,2.65,0.00,0.000,4,0.000,0.066,2991,627,3786,0,0,0,0,0,0
$GC,3673,-1.23,-146.0,357.7,-7.8,202,3677,0.00,2.45,0.00,0.000,6,0.000,0.031,2991,2170,3785,0,0,0,0,0,0
$GC,3925,-1.23,-146.0,376.0,-7.3,208,3930,0.00,2.65,0.00,0.000,4,0.000,0.050,2991,3795,3784,0,0,0,0,0,0
$GC,3965,-1.27,-146.0,379.2,-7.7,209,3970,0.00,2.58,0.00,0.000,6,0.000,0.029,2991,2187,3784,0,0,0,0,0,0
$GC,4248,-1.27,-146.0,400.6,-7.6,216,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2188,3783,0,0,0,0,0,0
$GC,4494,-1.27,-146.0,419.9,-7.8,222,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2187,3782,0,0,0,0,0,0
$GC,4736,-1.27,-146.0,439.7,-8.1,228,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2187,3782,0,0,0,0,0,0
$GC,4979,-1.27,-146.0,458.4,-7.5,234,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2187,3780,0,0,0,0,0,0
$GC,5223,-1.27,-146.0,477.0,-7.6,240,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2187,3779,0,0,0,0,0,0
$GC,5469,-1.27,-146.0,494.7,-7.2,246,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2187,3778,0,0,0,0,0,0
$GC,5711,-1.30,-146.0,511.7,-7.0,252,5715,0.00,2.75,0.00,0.000,4,0.000,0.064,2991,3784,3777,0,0,0,0,0,0
$GC,5755,-1.36,-146.0,515.1,-7.8,253,5760,0.12,2.65,0.00,0.000,6,0.067,0.047,2941,2203,3777,0,0,0,0,0,0
$GC,6036,-1.30,-146.0,541.3,-9.7,260,6038,0.15,0.00,0.00,0.000,6,0.094,0.000,2976,2203,3776,0,0,0,0,0,0
$GC,6277,-1.30,-146.0,561.1,-8.0,266,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2202,3775,0,0,0,0,0,0
$GC,6521,-1.30,-146.0,580.4,-7.9,272,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2202,3774,0,0,0,0,0,0
$GC,6767,-1.30,-146.0,599.2,-7.7,278,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2202,3772,0,0,0,0,0,0
$GC,7008,-1.30,-146.0,617.6,-7.5,284,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2202,3771,0,0,0,0,0,0
$GC,7252,-1.30,-146.0,636.0,-7.5,290,7257,0.00,2.90,0.00,0.000,4,0.000,0.100,2977,3783,3770,0,0,0,0,0,0
$GC,7279,-1.30,-146.0,638.2,-8.1,290,7284,0.00,2.80,0.00,0.000,6,0.000,0.078,2976,2196,3770,0,0,0,0,0,0
$GC,7531,-1.30,-146.0,657.5,-7.6,296,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2197,3768,0,0,0,0,0,0
$GC,7773,-1.30,-146.0,676.8,-7.9,302,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2196,3767,0,0,0,0,0,0
$GC,8016,-1.30,-146.0,696.4,-8.0,308,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2197,3766,0,0,0,0,0,0
$GC,8260,-1.30,-146.0,715.4,-7.8,314,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2196,3765,0,0,0,0,0,0
$GC,8506,-1.30,-146.0,734.1,-7.6,320,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2196,3763,0,0,0,0,0,0
$GC,8748,-1.30,-146.0,752.3,-7.4,326,8753,0.00,3.22,0.00,0.000,4,0.000,0.148,2976,3776,3762,0,0,0,0,0,0
$GC,8769,-1.30,-146.0,754.0,-7.6,326,8774,0.00,2.85,0.00,0.000,6,0.000,0.091,2977,2190,3762,0,0,0,0,0,0
$GC,9028,-1.30,-146.0,773.2,-7.6,333,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2190,3761,0,0,0,0,0,0
$GC,9269,-1.30,-146.0,792.1,-7.8,339,9273,0.00,2.90,0.00,0.000,4,0.000,0.095,2976,3779,3760,0,0,0,0,0,0
$GC,9302,-1.34,-146.0,795.0,-9.2,339,9307,0.00,2.78,0.00,0.000,6,0.000,0.076,2977,2199,3760,0,0,0,0,0,0
$GC,9554,-1.34,-146.0,814.9,-7.9,346,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2197,3759,0,0,0,0,0,0
$GC,9795,-1.34,-146.0,833.8,-7.7,352,9800,0.00,2.85,0.00,0.000,4,0.000,0.086,2977,3787,3758,0,0,0,0,0,0
$GC,9822,-1.34,-146.0,836.0,-8.1,352,9827,0.00,2.78,0.00,0.000,6,0.000,0.070,2977,2205,3758,0,0,0,0,0,0
$GC,10072,-1.34,-146.0,855.0,-7.6,358,10077,0.00,3.03,0.00,0.000,4,0.000,0.122,2976,622,3757,0,0,0,0,0,0
$GC,10096,-1.34,-146.0,856.8,-8.0,358,10101,0.00,2.72,0.00,0.000,6,0.000,0.069,2977,2193,3757,0,0,0,0,0,0
$GC,10352,-1.38,-146.0,875.7,-7.1,365,10357,0.00,2.88,0.00,0.000,4,0.000,0.094,2977,3798,3756,0,0,0,0,0,0
$GC,10404,-1.43,-146.0,879.5,-7.6,366,10410,0.12,2.72,0.00,0.000,6,0.068,0.070,2933,2212,3755,0,0,0,0,0,0
$STATE,10675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10675,begin apogee
$GC,10681,-0.31,0.0,903.7,9.0,373,10806,1.12,0.00,121.00,1.211,6,0.074,0.000,3189,2379,3190,0,0,0,0,0,0
$STATE,10806,end apogee,CONTROL_FINISHED_OK
$STATE,10806,begin climb
$GC,10809,1.27,146.0,906.9,0.0,376,10946,1.42,2.85,128.80,1.180,4,0.036,0.085,3543,3928,2594,0,0,0,0,0,0
$GC,11052,1.15,146.0,890.7,11.6,381,11057,0.15,2.72,0.00,0.000,6,0.114,0.061,3513,2370,2588,0,0,0,0,0,0
$GC,11307,1.18,164.7,866.7,9.1,388,11331,0.00,2.88,17.05,1.079,4,0.000,0.069,3513,3937,2517,0,0,0,0,0,0
$GC,11355,1.13,164.7,861.9,10.1,389,11359,0.00,2.72,0.00,0.000,6,0.000,0.054,3513,2366,2517,0,0,0,0,0,0
$GC,11635,1.14,175.3,835.4,9.5,396,11647,0.00,0.00,10.52,1.017,6,0.000,0.000,3513,2366,2475,0,0,0,0,0,0
$GC,11876,1.14,179.6,811.6,9.8,402,11887,0.00,2.78,5.50,0.840,4,0.000,0.061,3513,3941,2457,0,0,0,0,0,0
$GC,11920,1.14,179.6,806.9,10.4,403,11925,0.00,2.72,0.00,0.000,6,0.000,0.054,3513,2365,2456,0,0,0,0,0,0
$GC,12201,1.15,184.6,779.6,9.8,410,12212,0.00,2.72,6.00,0.867,4,0.000,0.060,3513,3932,2437,0,0,0,0,0,0
$GC,12223,1.15,186.6,776.9,9.9,410,12228,0.00,2.70,0.00,0.000,6,0.000,0.051,3513,2369,2436,0,0,0,0,0,0
$GC,12481,1.15,186.6,751.4,10.0,417,12486,0.00,2.70,0.00,0.000,4,0.000,0.061,3513,3932,2435,0,0,0,0,0,0
$GC,12496,1.15,186.6,749.4,10.1,417,12501,0.00,2.67,0.00,0.000,6,0.000,0.051,3513,2373,2435,0,0,0,0,0,0
$GC,12758,1.15,188.0,723.2,9.9,424,12768,0.00,2.75,4.45,0.739,4,0.000,0.061,3513,3942,2423,0,0,0,0,0,0
$GC,12784,1.15,188.0,720.3,10.7,424,12789,0.00,2.67,0.00,0.000,6,0.000,0.052,3513,2380,2423,0,0,0,0,0,0
$GC,13037,1.16,193.5,695.8,9.7,430,13051,0.00,2.78,6.93,0.884,4,0.000,0.063,3513,3941,2400,0,0,0,0,0,0
$GC,13057,1.18,210.3,693.5,9.2,430,13082,0.00,2.67,17.27,1.014,6,0.000,0.049,3513,2383,2332,0,0,0,0,0,0
$GC,13370,1.18,210.7,662.4,10.0,438,13371,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2383,2329,0,0,0,0,0,0
$GC,13609,1.18,210.7,637.8,10.2,444,13611,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2383,2329,0,0,0,0,0,0
$GC,13853,1.18,210.7,612.5,10.4,450,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2384,2328,0,0,0,0,0,0
$GC,14097,1.18,210.7,586.8,10.5,456,14101,0.00,2.65,0.00,0.000,4,0.000,0.058,3513,3935,2328,0,0,0,0,0,0
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$STATE,19678,end climb,SURFACE_DEPTH_REACHED
$STATE,19678,begin surface coast
$FINISH,1.1,0.999973
$STATE,19727,end surface coast,CONTROL_FINISHED_OK
$STATE,19727,begin surface
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$IRIDIUM_FIX,1918.37,-8112.45,150702,161630
$TT8_MAMPS,0.026078
$HUMID,61.93
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$TCM_TEMP,24.40
$XPDR_PINGS,115
$24V_AH,23.0,61.851
$10V_AH,10.0,55.064
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.075,195.725,414.775,27.100,0.000,30.698,37.234,312.049,28.750,0.000,16.816,1539.264,15033.736,543.352,2313.928,895.745,33.374,1552.678,0.000,2314.529,0.000,0.536,0.000
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$SENSOR_SECS,499.585,336.534,436.309,555.278,1057.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,57244,738
$CAP_FILE_SIZE,172905,0
$CFSIZE,260165632,97402880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210413,033505,1925.452,-8112.277,32,1.1,32,-3.8