version: 66.06
glider: 146
mission: 8
dive: 452
start: 4 23 113 21 34 3
data:
$ID,146
$MISSION,8
$DIVE,452
$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,-316296.22
$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,57
$R_STBD_OVSHOOT,34
$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
$GPS1,212559,1923.900,-8110.301,37,1.4,37,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.6
$GPS2,213307,1923.891,-8110.237,11,1.7,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.236,0.108
$KALMAN_X,-140158.9,385.0,168.4,134653.8,1775.3
$KALMAN_Y,129676.1,80.6,-27.6,-129112.2,-884.1
$MHEAD_RNG_PITCHd_Wd,298.3,14728,-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,-70.35,0.000,2,0.000,0.000,458,2181,3513,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-6.0,9,123,13.77,2.60,-4.75,0.000,4,0.163,0.040,2976,3800,3787,0,0,0,0,0,0
$GC,274,-1.10,-146.0,46.9,-16.9,28,284,0.15,2.50,0.00,0.000,6,0.081,0.025,3014,2236,3788,0,0,0,0,0,0
$GC,543,-0.97,-146.0,86.3,-14.7,53,548,0.15,2.67,0.00,0.000,4,0.099,0.048,3049,631,3788,0,0,0,0,0,0
$GC,601,-0.92,-146.0,94.9,-13.0,57,606,0.00,2.45,0.00,0.000,6,0.000,0.015,3049,2227,3789,0,0,0,0,0,0
$GC,870,-0.92,-146.0,125.5,-11.3,81,874,0.00,2.62,0.00,0.000,4,0.000,0.048,3049,628,3789,0,0,0,0,0,0
$GC,910,-0.92,-146.0,130.3,-9.9,84,914,0.00,2.40,0.00,0.000,6,0.000,0.023,3049,2203,3789,0,0,0,0,0,0
$GC,1176,-0.97,-146.0,152.3,-8.8,108,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2203,3789,0,0,0,0,0,0
$GC,1443,-1.05,-146.0,172.4,-6.5,133,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2204,3790,0,0,0,0,0,0
$GC,1708,-1.15,-146.0,189.3,-6.7,158,1714,0.17,0.00,0.00,0.000,6,0.051,0.000,2978,2204,3790,0,0,0,0,0,0
$GC,1984,-1.11,-146.0,215.0,-9.3,173,1989,0.17,2.62,0.00,0.000,4,0.083,0.048,3019,628,3790,0,0,0,0,0,0
$GC,2034,-1.17,-146.0,219.4,-8.9,174,2038,0.00,2.40,0.00,0.000,6,0.000,0.021,3019,2181,3790,0,0,0,0,0,0
$GC,2309,-1.22,-146.0,239.1,-7.3,181,2314,0.12,2.58,0.00,0.000,4,0.066,0.040,2964,3781,3790,0,0,0,0,0,0
$GC,2331,-1.22,-146.0,241.2,-8.4,181,2336,0.12,2.50,0.00,0.000,6,0.094,0.028,2994,2181,3790,0,0,0,0,0,0
$GC,2589,-1.22,-146.0,261.9,-7.9,188,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2180,3790,0,0,0,0,0,0
$GC,2830,-1.22,-146.0,280.6,-7.8,194,2834,0.00,2.58,0.00,0.000,4,0.000,0.047,2994,3774,3789,0,0,0,0,0,0
$GC,2857,-1.22,-146.0,282.9,-8.1,194,2861,0.00,2.50,0.00,0.000,6,0.000,0.028,2994,2185,3789,0,0,0,0,0,0
$GC,3109,-1.22,-146.0,302.9,-8.0,200,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2184,3789,0,0,0,0,0,0
$GC,3351,-1.22,-146.0,322.0,-7.7,206,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2184,3787,0,0,0,0,0,0
$GC,3594,-1.22,-146.0,340.1,-7.5,212,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2184,3787,0,0,0,0,0,0
$GC,3838,-1.22,-146.0,358.8,-7.8,218,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2184,3786,0,0,0,0,0,0
$GC,4084,-1.22,-146.0,377.7,-7.7,224,4089,0.00,2.62,0.00,0.000,4,0.000,0.045,2994,3771,3785,0,0,0,0,0,0
$GC,4120,-1.26,-146.0,380.6,-8.0,224,4125,0.00,2.53,0.00,0.000,6,0.000,0.026,2994,2191,3785,0,0,0,0,0,0
$GC,4370,-1.26,-146.0,399.0,-7.4,231,4374,0.00,2.70,0.00,0.000,4,0.000,0.078,2994,629,3784,0,0,0,0,0,0
$GC,4422,-1.31,-146.0,402.9,-8.3,232,4426,0.00,2.45,0.00,0.000,6,0.000,0.031,2994,2166,3783,0,0,0,0,0,0
$GC,4694,-1.35,-146.0,424.1,-7.9,239,4699,0.12,2.72,0.00,0.000,4,0.067,0.058,2944,3794,3782,0,0,0,0,0,0
$GC,4734,-1.29,-146.0,428.1,-10.2,240,4740,0.15,2.58,0.00,0.000,6,0.089,0.034,2979,2194,3783,0,0,0,0,0,0
$GC,5020,-1.29,-146.0,452.1,-8.3,247,5025,0.00,2.80,0.00,0.000,4,0.000,0.095,2979,628,3781,0,0,0,0,0,0
$GC,5053,-1.29,-146.0,455.5,-9.9,247,5059,0.00,2.53,0.00,0.000,6,0.000,0.036,2979,2179,3781,0,0,0,0,0,0
$GC,5306,-1.29,-146.0,476.4,-8.2,254,5310,0.00,2.70,0.00,0.000,4,0.000,0.058,2979,3792,3780,0,0,0,0,0,0
$GC,5366,-1.29,-146.0,481.5,-7.5,255,5371,0.00,2.62,0.00,0.000,6,0.000,0.048,2979,2191,3780,0,0,0,0,0,0
$GC,5628,-1.29,-146.0,499.5,-6.9,262,5632,0.00,2.85,0.00,0.000,4,0.000,0.102,2979,627,3778,0,0,0,0,0,0
$GC,5657,-1.29,-146.0,501.6,-7.8,262,5662,0.00,2.58,0.00,0.000,6,0.000,0.046,2979,2193,3778,0,0,0,0,0,0
$GC,5907,-1.29,-146.0,520.4,-7.6,268,5912,0.00,2.78,0.00,0.000,4,0.000,0.072,2979,3800,3777,0,0,0,0,0,0
$GC,5929,-1.29,-146.0,522.2,-8.0,268,5933,0.00,2.70,0.00,0.000,6,0.000,0.049,2979,2190,3777,0,0,0,0,0,0
$GC,6186,-1.29,-146.0,543.7,-8.5,275,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2190,3776,0,0,0,0,0,0
$GC,6427,-1.29,-146.0,563.2,-7.9,281,6432,0.00,2.80,0.00,0.000,4,0.000,0.079,2979,3801,3775,0,0,0,0,0,0
$GC,6449,-1.29,-146.0,565.0,-8.0,281,6453,0.00,2.75,0.00,0.000,6,0.000,0.058,2979,2189,3775,0,0,0,0,0,0
$GC,6704,-1.29,-146.0,584.4,-7.7,288,6708,0.00,2.80,0.00,0.000,4,0.000,0.073,2979,3794,3773,0,0,0,0,0,0
$GC,6746,-1.29,-146.0,587.8,-9.1,289,6750,0.00,2.75,0.00,0.000,6,0.000,0.064,2979,2197,3773,0,0,0,0,0,0
$GC,7029,-1.29,-146.0,611.3,-8.3,296,7034,0.00,3.03,0.00,0.000,4,0.000,0.128,2979,623,3772,0,0,0,0,0,0
$GC,7061,-1.29,-146.0,614.2,-8.8,296,7067,0.00,2.70,0.00,0.000,6,0.000,0.066,2979,2198,3771,0,0,0,0,0,0
$GC,7314,-1.29,-146.0,634.5,-8.0,303,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2198,3770,0,0,0,0,0,0
$GC,7555,-1.29,-146.0,653.3,-7.5,309,7560,0.00,2.97,0.00,0.000,4,0.000,0.107,2979,3800,3769,0,0,0,0,0,0
$GC,7579,-1.29,-146.0,655.4,-8.2,309,7584,0.00,2.88,0.00,0.000,6,0.000,0.081,2979,2197,3769,0,0,0,0,0,0
$GC,7837,-1.29,-146.0,675.7,-7.9,316,7842,0.00,3.08,0.00,0.000,4,0.000,0.131,2979,620,3768,0,0,0,0,0,0
$GC,7864,-1.29,-146.0,678.5,-8.8,316,7869,0.00,2.80,0.00,0.000,6,0.000,0.086,2979,2190,3768,0,0,0,0,0,0
$GC,8114,-1.29,-146.0,699.6,-8.5,322,8119,0.00,3.10,0.00,0.000,4,0.000,0.127,2979,3794,3766,0,0,0,0,0,0
$GC,8144,-1.29,-146.0,702.1,-9.3,322,8149,0.00,3.03,0.00,0.000,6,0.000,0.106,2979,2191,3766,0,0,0,0,0,0
$GC,8394,-1.29,-146.0,722.9,-8.3,328,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2190,3765,0,0,0,0,0,0
$GC,8638,-1.29,-146.0,742.1,-7.8,334,8643,0.00,3.20,0.00,0.000,4,0.000,0.143,2979,3799,3763,0,0,0,0,0,0
$GC,8668,-1.29,-146.0,744.5,-8.5,334,8673,0.00,2.90,0.00,0.000,6,0.000,0.084,2979,2194,3763,0,0,0,0,0,0
$GC,8918,-1.29,-146.0,763.7,-7.6,340,8922,0.00,3.03,0.00,0.000,4,0.000,0.123,2979,616,3762,0,0,0,0,0,0
$GC,8939,-1.29,-146.0,765.4,-7.6,340,8944,0.00,2.80,0.00,0.000,6,0.000,0.074,2979,2205,3762,0,0,0,0,0,0
$GC,9197,-1.29,-146.0,784.7,-7.6,347,9201,0.00,2.92,0.00,0.000,4,0.000,0.104,2979,3800,3761,0,0,0,0,0,0
$GC,9230,-1.33,-146.0,787.7,-8.7,347,9236,0.00,2.80,0.00,0.000,6,0.000,0.075,2979,2204,3761,0,0,0,0,0,0
$GC,9480,-1.33,-146.0,807.5,-8.1,354,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2204,3760,0,0,0,0,0,0
$GC,9723,-1.33,-146.0,826.9,-8.0,360,9728,0.00,2.88,0.00,0.000,4,0.000,0.092,2979,3800,3759,0,0,0,0,0,0
$GC,9748,-1.33,-146.0,828.8,-8.6,360,9752,0.00,2.80,0.00,0.000,6,0.000,0.070,2979,2210,3759,0,0,0,0,0,0
$GC,10005,-1.37,-146.0,848.3,-7.5,367,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2210,3758,0,0,0,0,0,0
$GC,10247,-1.40,-146.0,865.7,-7.0,373,10249,0.10,0.00,0.00,0.000,6,0.080,0.000,2939,2209,3756,0,0,0,0,0,0
$GC,10493,-1.36,-146.0,886.1,-8.5,379,10498,0.12,2.88,0.00,0.000,4,0.103,0.089,2966,3801,3755,0,0,0,0,0,0
$GC,10526,-1.36,-146.0,889.3,-8.3,379,10532,0.00,2.78,0.00,0.000,6,0.000,0.076,2966,2211,3755,0,0,0,0,0,0
$STATE,10692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10692,begin apogee
$GC,10701,-0.31,0.0,902.0,7.6,384,10826,0.98,0.00,120.97,1.210,6,0.071,0.000,3189,2386,3190,0,0,0,0,0,0
$STATE,10826,end apogee,CONTROL_FINISHED_OK
$STATE,10827,begin climb
$GC,10829,1.27,146.0,905.6,0.0,387,10966,1.45,2.88,128.88,1.177,4,0.038,0.084,3546,3938,2593,0,0,0,0,0,0
$GC,11049,1.15,146.0,892.2,11.7,392,11054,0.17,2.78,0.00,0.000,6,0.111,0.061,3511,2368,2588,0,0,0,0,0,0
$GC,11322,1.17,161.7,866.0,9.3,399,11341,0.00,2.85,14.30,1.055,4,0.000,0.075,3511,3934,2530,0,0,0,0,0,0
$GC,11362,1.14,175.6,862.5,9.4,400,11382,0.00,2.72,14.32,1.050,6,0.000,0.060,3511,2376,2473,0,0,0,0,0,0
$GC,11649,1.14,175.6,832.2,10.4,407,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2376,2467,0,0,0,0,0,0
$GC,11893,1.14,175.6,807.4,10.1,413,11898,0.00,2.72,0.00,0.000,4,0.000,0.066,3511,3939,2467,0,0,0,0,0,0
$GC,11923,1.10,178.6,804.5,9.9,413,11927,0.00,2.67,0.00,0.000,6,0.000,0.056,3512,2384,2465,0,0,0,0,0,0
$GC,12173,1.10,178.6,779.2,10.1,419,12178,0.00,3.10,0.00,0.000,4,0.000,0.129,3511,781,2465,0,0,0,0,0,0
$GC,12188,1.10,178.6,777.5,10.3,419,12193,0.00,2.70,0.00,0.000,6,0.000,0.048,3511,2379,2465,0,0,0,0,0,0
$GC,12452,1.10,178.6,751.0,10.3,426,12456,0.00,2.72,0.00,0.000,4,0.000,0.072,3511,3935,2464,0,0,0,0,0,0
$GC,12473,1.10,178.6,748.3,10.6,426,12477,0.00,2.65,0.00,0.000,6,0.000,0.044,3511,2371,2463,0,0,0,0,0,0
$GC,12729,1.10,178.6,722.5,10.0,433,12733,0.00,2.70,0.00,0.000,4,0.000,0.058,3511,3937,2463,0,0,0,0,0,0
$GC,12752,1.10,178.6,720.3,10.2,433,12756,0.00,2.65,0.00,0.000,6,0.000,0.049,3511,2381,2463,0,0,0,0,0,0
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$STATE,19666,end climb,SURFACE_DEPTH_REACHED
$STATE,19666,begin surface coast
$FINISH,1.0,1.023007
$STATE,19715,end surface coast,CONTROL_FINISHED_OK
$STATE,19715,begin surface
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$IRIDIUM_FIX,1916.08,-8110.19,180702,161636
$TT8_MAMPS,0.025311
$HUMID,61.30
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$TCM_TEMP,24.70
$XPDR_PINGS,141
$24V_AH,23.1,63.646
$10V_AH,10.0,56.721
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.600,211.275,403.050,40.475,0.000,24.674,34.806,194.719,35.250,0.000,12.853,1559.545,14965.941,572.126,2342.513,760.333,33.370,1579.968,0.000,2336.616,0.000,0.537,0.000
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$SENSOR_SECS,505.919,350.962,449.232,579.677,1104.042,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,57450,748
$CAP_FILE_SIZE,172996,0
$CFSIZE,260165632,96460800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240413,030505,1924.537,-8111.156,37,1.1,37,-3.8