version: 66.06
glider: 146
mission: 8
dive: 442
start: 4 21 113 15 3 39
data:
$ID,146
$MISSION,8
$DIVE,442
$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,-316126.91
$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,66
$R_STBD_OVSHOOT,40
$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
$GPS1,145536,1925.759,-8114.837,30,1.5,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-76.7
$GPS2,150243,1925.704,-8114.777,12,2.0,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,0.090
$KALMAN_X,-168720.8,97.1,175.1,155563.9,1248.9
$KALMAN_Y,135547.7,9.2,-142.5,-131443.2,-279.4
$MHEAD_RNG_PITCHd_Wd,294.0,6118,-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,-70.30,0.000,2,0.000,0.000,462,2164,3505,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-5.1,9,123,13.70,2.60,-4.97,0.000,4,0.160,0.039,2976,3789,3787,0,0,0,0,0,0
$GC,274,-1.13,-146.0,44.1,-16.0,29,279,0.17,2.42,0.00,0.000,6,0.101,0.024,3015,2239,3787,0,0,0,0,0,0
$GC,545,-1.00,-146.0,82.3,-14.8,53,550,0.12,2.65,0.00,0.000,4,0.109,0.046,3043,632,3788,0,0,0,0,0,0
$GC,581,-0.92,-146.0,89.0,-13.6,55,587,0.00,2.45,0.00,0.000,6,0.000,0.016,3043,2229,3788,0,0,0,0,0,0
$GC,847,-0.87,-146.0,122.3,-12.5,80,856,0.12,0.00,0.00,0.000,6,0.103,0.000,3072,2230,3789,0,0,0,0,0,0
$GC,1113,-0.94,-146.0,146.1,-7.6,105,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2230,3789,0,0,0,0,0,0
$GC,1383,-1.05,-146.0,164.0,-6.8,130,1388,0.17,2.65,0.00,0.000,4,0.049,0.048,2997,633,3789,0,0,0,0,0,0
$GC,1435,-1.05,-146.0,169.5,-10.2,134,1440,0.15,2.42,0.00,0.000,6,0.091,0.025,3031,2205,3789,0,0,0,0,0,0
$GC,1696,-1.10,-146.0,190.3,-7.6,158,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2206,3789,0,0,0,0,0,0
$GC,1958,-1.17,-146.0,208.9,-7.0,174,1963,0.12,2.58,0.00,0.000,4,0.064,0.046,2972,638,3789,0,0,0,0,0,0
$GC,1980,-1.17,-146.0,211.0,-8.3,174,1985,0.15,2.42,0.00,0.000,6,0.094,0.022,3005,2213,3789,0,0,0,0,0,0
$GC,2238,-1.17,-146.0,230.7,-7.6,181,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2213,3790,0,0,0,0,0,0
$GC,2479,-1.17,-146.0,249.2,-7.7,187,2483,0.00,2.53,0.00,0.000,4,0.000,0.044,3006,3780,3789,0,0,0,0,0,0
$GC,2501,-1.21,-146.0,251.1,-8.2,187,2505,0.00,2.45,0.00,0.000,6,0.000,0.020,3005,2200,3789,0,0,0,0,0,0
$GC,2759,-1.25,-146.0,271.3,-7.9,194,2764,0.00,2.60,0.00,0.000,4,0.000,0.058,3005,634,3789,0,0,0,0,0,0
$GC,2787,-1.29,-146.0,273.9,-8.4,194,2792,0.12,2.40,0.00,0.000,6,0.062,0.023,2944,2189,3789,0,0,0,0,0,0
$GC,3039,-1.21,-146.0,299.5,-10.4,200,3045,0.22,2.58,0.00,0.000,4,0.081,0.039,2996,3777,3788,0,0,0,0,0,0
$GC,3084,-1.24,-146.0,303.8,-8.6,201,3089,0.00,2.50,0.00,0.000,6,0.000,0.025,2996,2194,3788,0,0,0,0,0,0
$GC,3362,-1.24,-146.0,325.0,-7.6,208,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2194,3787,0,0,0,0,0,0
$GC,3608,-1.24,-146.0,343.8,-7.7,214,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2194,3786,0,0,0,0,0,0
$GC,3849,-1.24,-146.0,362.6,-7.7,220,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2194,3785,0,0,0,0,0,0
$GC,4093,-1.24,-146.0,381.0,-7.5,226,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2194,3784,0,0,0,0,0,0
$GC,4337,-1.24,-146.0,399.0,-7.4,232,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2193,3783,0,0,0,0,0,0
$GC,4581,-1.29,-146.0,416.6,-7.2,238,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2194,3782,0,0,0,0,0,0
$GC,4824,-1.33,-146.0,434.6,-7.4,244,4826,0.12,0.00,0.00,0.000,6,0.065,0.000,2943,2193,3781,0,0,0,0,0,0
$GC,5068,-1.26,-146.0,457.8,-9.7,250,5073,0.17,2.70,0.00,0.000,4,0.087,0.063,2984,3777,3780,0,0,0,0,0,0
$GC,5093,-1.26,-146.0,459.9,-8.7,250,5097,0.00,2.58,0.00,0.000,6,0.000,0.044,2984,2212,3781,0,0,0,0,0,0
$GC,5348,-1.26,-146.0,480.5,-7.9,257,5352,0.00,2.85,0.00,0.000,4,0.000,0.094,2984,626,3779,0,0,0,0,0,0
$GC,5375,-1.26,-146.0,482.7,-8.4,257,5379,0.00,2.55,0.00,0.000,6,0.000,0.046,2984,2178,3779,0,0,0,0,0,0
$GC,5627,-1.26,-146.0,502.2,-7.8,263,5632,0.00,2.75,0.00,0.000,4,0.000,0.066,2984,3792,3778,0,0,0,0,0,0
$GC,5667,-1.26,-146.0,505.6,-8.2,264,5672,0.00,2.65,0.00,0.000,6,0.000,0.052,2984,2203,3778,0,0,0,0,0,0
$GC,5950,-1.26,-146.0,527.4,-7.7,271,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2203,3777,0,0,0,0,0,0
$GC,6197,-1.26,-146.0,546.8,-8.0,277,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2203,3776,0,0,0,0,0,0
$GC,6438,-1.26,-146.0,565.6,-7.8,283,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2203,3774,0,0,0,0,0,0
$GC,6682,-1.26,-146.0,583.9,-7.5,289,6686,0.00,2.80,0.00,0.000,4,0.000,0.080,2984,3796,3772,0,0,0,0,0,0
$GC,6708,-1.26,-146.0,586.0,-7.8,289,6713,0.00,2.72,0.00,0.000,6,0.000,0.059,2984,2202,3773,0,0,0,0,0,0
$GC,6961,-1.26,-146.0,604.8,-7.5,295,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,3771,0,0,0,0,0,0
$GC,7202,-1.26,-146.0,623.5,-7.8,301,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,3770,0,0,0,0,0,0
$GC,7446,-1.26,-146.0,641.7,-7.4,307,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,3769,0,0,0,0,0,0
$GC,7692,-1.26,-146.0,659.4,-7.3,313,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,3767,0,0,0,0,0,0
$GC,7933,-1.26,-146.0,677.8,-7.5,319,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,3766,0,0,0,0,0,0
$GC,8177,-1.26,-146.0,697.1,-7.9,325,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,3765,0,0,0,0,0,0
$GC,8421,-1.26,-146.0,715.9,-7.7,331,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,3763,0,0,0,0,0,0
$GC,8667,-1.26,-146.0,733.9,-7.4,337,8672,0.00,3.20,0.00,0.000,4,0.000,0.150,2984,3785,3762,0,0,0,0,0,0
$GC,8702,-1.30,-146.0,736.7,-8.6,337,8708,0.00,2.88,0.00,0.000,6,0.000,0.091,2984,2200,3762,0,0,0,0,0,0
$GC,8952,-1.30,-146.0,754.7,-7.1,344,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2199,3761,0,0,0,0,0,0
$GC,9198,-1.30,-146.0,771.7,-6.9,350,9203,0.00,2.90,0.00,0.000,4,0.000,0.094,2984,3793,3760,0,0,0,0,0,0
$GC,9238,-1.35,-146.0,774.7,-7.0,351,9243,0.00,2.83,0.00,0.000,6,0.000,0.076,2984,2198,3760,0,0,0,0,0,0
$GC,9522,-1.39,-146.0,795.0,-7.3,358,9527,0.12,3.05,0.00,0.000,4,0.070,0.128,2941,622,3759,0,0,0,0,0,0
$GC,9541,-1.39,-146.0,796.6,-7.3,358,9545,0.00,2.75,0.00,0.000,6,0.000,0.074,2941,2193,3758,0,0,0,0,0,0
$GC,9802,-1.35,-146.0,819.7,-8.7,365,9807,0.10,2.92,0.00,0.000,4,0.117,0.098,2965,3800,3757,0,0,0,0,0,0
$GC,9835,-1.35,-146.0,822.8,-8.2,365,9844,0.00,2.78,0.00,0.000,6,0.000,0.067,2966,2202,3757,0,0,0,0,0,0
$GC,10088,-1.35,-146.0,842.0,-7.6,372,10093,0.00,2.85,0.00,0.000,4,0.000,0.084,2965,3798,3757,0,0,0,0,0,0
$GC,10109,-1.35,-146.0,843.9,-8.0,372,10114,0.00,2.78,0.00,0.000,6,0.000,0.072,2965,2208,3757,0,0,0,0,0,0
$GC,10365,-1.35,-146.0,863.2,-7.5,379,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2207,3755,0,0,0,0,0,0
$GC,10611,-1.35,-146.0,881.8,-7.7,385,10615,0.00,2.85,0.00,0.000,4,0.000,0.087,2965,3801,3754,0,0,0,0,0,0
$GC,10632,-1.35,-146.0,883.8,-7.7,385,10637,0.00,2.78,0.00,0.000,6,0.000,0.067,2965,2211,3754,0,0,0,0,0,0
$STATE,10885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10885,begin apogee
$GC,10891,-0.31,0.0,903.0,7.5,392,11016,0.98,0.00,121.18,1.217,6,0.067,0.000,3189,2380,3190,0,0,0,0,0,0
$STATE,11016,end apogee,CONTROL_FINISHED_OK
$STATE,11017,begin climb
$GC,11021,1.27,146.0,906.1,0.0,395,11161,1.42,2.85,129.40,1.182,4,0.037,0.080,3542,3933,2592,0,0,0,0,0,0
$GC,11255,1.16,146.0,890.9,11.3,400,11261,0.15,2.75,0.00,0.000,6,0.114,0.058,3512,2366,2588,0,0,0,0,0,0
$GC,11517,1.18,165.4,866.3,9.1,407,11541,0.00,2.85,17.60,1.085,4,0.000,0.071,3512,3928,2514,0,0,0,0,0,0
$GC,11566,1.13,165.4,861.8,10.2,408,11571,0.00,2.70,0.00,0.000,6,0.000,0.058,3513,2376,2513,0,0,0,0,0,0
$GC,11843,1.15,181.0,835.7,9.3,415,11861,0.00,0.00,15.35,1.068,6,0.000,0.000,3512,2376,2451,0,0,0,0,0,0
$GC,12087,1.16,190.3,812.4,9.6,421,12102,0.00,2.78,9.73,0.996,4,0.000,0.067,3512,3937,2413,0,0,0,0,0,0
$GC,12132,1.16,190.3,807.7,10.7,422,12137,0.00,2.70,0.00,0.000,6,0.000,0.049,3512,2374,2413,0,0,0,0,0,0
$GC,12410,1.16,190.4,779.4,10.0,429,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2373,2411,0,0,0,0,0,0
$GC,12654,1.16,190.4,754.3,10.3,435,12658,0.00,2.70,0.00,0.000,4,0.000,0.067,3512,3932,2410,0,0,0,0,0,0
$GC,12695,1.16,190.4,750.0,11.9,436,12700,0.00,2.65,0.00,0.000,6,0.000,0.051,3512,2385,2409,0,0,0,0,0,0
$GC,12979,1.16,190.4,720.3,10.4,443,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2385,2408,0,0,0,0,0,0
$GC,13227,1.16,190.4,694.8,10.4,449,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2385,2408,0,0,0,0,0,0
$GC,13469,1.16,190.4,669.7,10.3,455,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2385,2408,0,0,0,0,0,0
$GC,13710,1.16,190.4,644.8,10.1,461,13714,0.00,2.67,0.00,0.000,4,0.000,0.058,3512,3938,2407,0,0,0,0,0,0
$GC,13725,1.16,190.4,643.0,10.4,461,13730,0.00,2.62,0.00,0.000,6,0.000,0.048,3512,2386,2407,0,0,0,0,0,0
$GC,13986,1.16,190.4,616.1,10.3,468,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2386,2406,0,0,0,0,0,0
$GC,14233,1.16,190.4,591.5,10.1,474,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2386,2406,0,0,0,0,0,0
$GC,14474,1.17,201.0,567.9,9.5,480,14490,0.00,2.70,10.35,0.893,4,0.000,0.057,3512,3938,2369,0,0,0,0,0,0
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$STATE,19941,end climb,SURFACE_DEPTH_REACHED
$STATE,19941,begin surface coast
$FINISH,1.1,1.023125
$STATE,20019,end surface coast,CONTROL_FINISHED_OK
$STATE,20019,begin surface
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$TCM_TEMP,24.80
$XPDR_PINGS,125
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$10V_AH,10.0,55.448
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.950,170.575,411.500,29.100,0.000,28.837,44.316,181.391,31.250,0.000,14.068,1555.766,15313.174,541.529,2331.948,751.250,33.374,1525.336,0.000,2331.174,0.000,0.538,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,60202,766
$CAP_FILE_SIZE,164387,0
$CFSIZE,260165632,97193984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210413,203929,1926.094,-8116.049,35,1.3,35,-3.8