version: 66.06
glider: 146
mission: 8
dive: 469
start: 4 27 113 21 10 23
data:
$ID,146
$MISSION,8
$DIVE,469
$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,-318158.53
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,210123,1924.171,-8111.636,59,1.9,59,-3.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.0
$GPS2,210930,1924.173,-8111.626,12,1.9,17,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.118
$KALMAN_X,-96997.9,-373.1,318.1,89689.3,911.0
$KALMAN_Y,114660.8,-443.6,134.7,-113214.0,-607.5
$MHEAD_RNG_PITCHd_Wd,300.9,12301,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-62.62,0.000,2,0.000,0.000,456,2142,3277,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.3,8,123,13.65,2.53,-9.85,0.000,4,0.162,0.055,2978,631,3788,0,0,0,0,0,0
$GC,367,-1.10,-146.0,61.3,-17.0,37,377,0.15,2.47,0.00,0.000,6,0.085,0.017,3016,2226,3788,0,0,0,0,0,0
$GC,630,-0.97,-146.0,99.5,-14.5,62,632,0.15,0.00,0.00,0.000,6,0.097,0.000,3051,2227,3789,0,0,0,0,0,0
$GC,887,-0.97,-146.0,128.3,-10.1,86,891,0.00,2.60,0.00,0.000,4,0.000,0.044,3051,634,3789,0,0,0,0,0,0
$GC,933,-1.04,-146.0,132.5,-9.5,89,937,0.00,2.40,0.00,0.000,6,0.000,0.016,3051,2207,3790,0,0,0,0,0,0
$GC,1199,-1.10,-146.0,154.2,-7.7,113,1204,0.12,0.00,0.00,0.000,6,0.064,0.000,2990,2208,3790,0,0,0,0,0,0
$GC,1461,-1.10,-146.0,180.0,-9.5,138,1466,0.12,2.53,0.00,0.000,4,0.091,0.041,3021,3775,3790,0,0,0,0,0,0
$GC,1484,-1.10,-146.0,182.3,-9.1,139,1490,0.00,2.50,0.00,0.000,6,0.000,0.022,3021,2186,3791,0,0,0,0,0,0
$GC,1758,-1.15,-146.0,203.4,-7.8,162,1762,0.00,2.53,0.00,0.000,4,0.000,0.050,3021,642,3791,0,0,0,0,0,0
$GC,1798,-1.22,-146.0,207.0,-8.7,163,1803,0.12,2.40,0.00,0.000,6,0.064,0.025,2963,2197,3791,0,0,0,0,0,0
$GC,2084,-1.17,-146.0,234.8,-10.0,170,2086,0.17,0.00,0.00,0.000,6,0.086,0.000,3005,2198,3791,0,0,0,0,0,0
$GC,2325,-1.21,-146.0,253.9,-7.6,176,2330,0.00,2.58,0.00,0.000,4,0.000,0.048,3005,637,3791,0,0,0,0,0,0
$GC,2347,-1.21,-146.0,255.7,-7.6,176,2352,0.00,2.40,0.00,0.000,6,0.000,0.027,3005,2182,3791,0,0,0,0,0,0
$GC,2606,-1.25,-146.0,274.7,-7.4,183,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2182,3790,0,0,0,0,0,0
$GC,2847,-1.29,-146.0,292.7,-7.5,189,2849,0.12,0.00,0.00,0.000,6,0.064,0.000,2945,2182,3789,0,0,0,0,0,0
$GC,3091,-1.22,-146.0,316.7,-10.0,195,3096,0.22,2.60,0.00,0.000,4,0.078,0.048,2997,3779,3788,0,0,0,0,0,0
$GC,3127,-1.26,-146.0,319.8,-8.7,195,3133,0.00,2.50,0.00,0.000,6,0.000,0.028,2997,2192,3788,0,0,0,0,0,0
$GC,3377,-1.26,-146.0,339.7,-8.0,202,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2192,3787,0,0,0,0,0,0
$GC,3621,-1.26,-146.0,358.8,-7.8,208,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2192,3786,0,0,0,0,0,0
$GC,3867,-1.26,-146.0,377.3,-7.5,214,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2192,3785,0,0,0,0,0,0
$GC,4108,-1.26,-146.0,395.7,-7.6,220,4113,0.00,2.60,0.00,0.000,4,0.000,0.048,2997,3775,3784,0,0,0,0,0,0
$GC,4135,-1.30,-146.0,398.0,-7.9,220,4140,0.00,2.55,0.00,0.000,6,0.000,0.034,2997,2188,3784,0,0,0,0,0,0
$GC,4388,-1.34,-146.0,417.2,-7.6,226,4394,0.12,2.70,0.00,0.000,4,0.066,0.074,2944,626,3784,0,0,0,0,0,0
$GC,4416,-1.28,-146.0,420.1,-10.0,226,4421,0.17,2.50,0.00,0.000,6,0.087,0.038,2983,2179,3783,0,0,0,0,0,0
$GC,4666,-1.28,-146.0,440.4,-8.1,232,4671,0.00,2.70,0.00,0.000,4,0.000,0.061,2984,3796,3783,0,0,0,0,0,0
$GC,4730,-1.28,-146.0,445.5,-8.8,233,4734,0.00,2.60,0.00,0.000,6,0.000,0.035,2983,2199,3782,0,0,0,0,0,0
$GC,4990,-1.28,-146.0,465.8,-7.7,240,4995,0.00,2.80,0.00,0.000,4,0.000,0.089,2984,620,3781,0,0,0,0,0,0
$GC,5030,-1.28,-146.0,469.0,-8.1,241,5034,0.00,2.55,0.00,0.000,6,0.000,0.040,2984,2195,3781,0,0,0,0,0,0
$GC,5315,-1.28,-146.0,492.0,-8.1,248,5320,0.00,2.72,0.00,0.000,4,0.000,0.071,2984,3791,3780,0,0,0,0,0,0
$GC,5349,-1.28,-146.0,495.1,-8.7,248,5354,0.00,2.65,0.00,0.000,6,0.000,0.048,2984,2205,3780,0,0,0,0,0,0
$GC,5601,-1.28,-146.0,514.5,-7.7,255,5606,0.00,2.92,0.00,0.000,4,0.000,0.106,2984,620,3779,0,0,0,0,0,0
$GC,5623,-1.28,-146.0,516.4,-7.6,255,5627,0.00,2.60,0.00,0.000,6,0.000,0.043,2984,2194,3778,0,0,0,0,0,0
$GC,5878,-1.28,-146.0,536.2,-7.7,262,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2194,3777,0,0,0,0,0,0
$GC,6121,-1.28,-146.0,555.2,-7.8,268,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2194,3777,0,0,0,0,0,0
$GC,6368,-1.28,-146.0,573.7,-7.6,274,6372,0.00,2.85,0.00,0.000,4,0.000,0.094,2984,3792,3776,0,0,0,0,0,0
$GC,6394,-1.28,-146.0,575.9,-8.1,274,6399,0.00,2.72,0.00,0.000,6,0.000,0.062,2984,2188,3776,0,0,0,0,0,0
$GC,6645,-1.28,-146.0,594.3,-7.3,280,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2188,3774,0,0,0,0,0,0
$GC,6891,-1.28,-146.0,612.1,-7.2,286,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2188,3773,0,0,0,0,0,0
$GC,7132,-1.28,-146.0,630.5,-7.6,292,7137,0.00,2.90,0.00,0.000,4,0.000,0.092,2983,3794,3772,0,0,0,0,0,0
$GC,7153,-1.28,-146.0,632.2,-7.6,292,7158,0.00,2.80,0.00,0.000,6,0.000,0.071,2984,2198,3772,0,0,0,0,0,0
$GC,7408,-1.28,-146.0,651.3,-7.6,299,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2198,3770,0,0,0,0,0,0
$GC,7655,-1.28,-146.0,670.1,-7.8,305,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2198,3770,0,0,0,0,0,0
$GC,7896,-1.28,-146.0,689.4,-7.9,311,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2198,3768,0,0,0,0,0,0
$GC,8140,-1.32,-146.0,708.3,-7.7,317,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2198,3767,0,0,0,0,0,0
$GC,8386,-1.36,-146.0,726.5,-7.5,323,8391,0.00,3.10,0.00,0.000,4,0.000,0.137,2984,3787,3766,0,0,0,0,0,0
$GC,8408,-1.40,-146.0,728.4,-7.3,323,8414,0.12,2.88,0.00,0.000,6,0.067,0.091,2936,2206,3766,0,0,0,0,0,0
$GC,8664,-1.35,-146.0,752.1,-9.4,330,8666,0.15,0.00,0.00,0.000,6,0.095,0.000,2970,2206,3764,0,0,0,0,0,0
$GC,8910,-1.35,-146.0,771.5,-7.8,336,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2205,3763,0,0,0,0,0,0
$GC,9152,-1.35,-146.0,790.0,-7.6,342,9156,0.00,2.88,0.00,0.000,4,0.000,0.097,2970,3796,3762,0,0,0,0,0,0
$GC,9173,-1.35,-146.0,791.6,-7.6,342,9177,0.00,2.80,0.00,0.000,6,0.000,0.074,2970,2207,3761,0,0,0,0,0,0
$GC,9431,-1.35,-146.0,810.7,-7.5,349,9435,0.00,2.85,0.00,0.000,4,0.000,0.092,2970,3792,3761,0,0,0,0,0,0
$GC,9463,-1.35,-146.0,813.5,-7.9,349,9469,0.00,2.78,0.00,0.000,6,0.000,0.073,2969,2212,3761,0,0,0,0,0,0
$GC,9713,-1.35,-146.0,832.1,-7.4,356,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2212,3761,0,0,0,0,0,0
$GC,9957,-1.35,-146.0,850.8,-7.8,362,9961,0.00,2.83,0.00,0.000,4,0.000,0.091,2970,3791,3759,0,0,0,0,0,0
$GC,9999,-1.35,-146.0,854.0,-8.2,363,10003,0.00,2.75,0.00,0.000,6,0.000,0.071,2970,2223,3758,0,0,0,0,0,0
$GC,10282,-1.35,-146.0,876.7,-7.8,370,10287,0.00,3.05,0.00,0.000,4,0.000,0.122,2970,623,3757,0,0,0,0,0,0
$GC,10314,-1.35,-146.0,879.4,-8.7,370,10320,0.00,2.75,0.00,0.000,6,0.000,0.067,2970,2218,3756,0,0,0,0,0,0
$GC,10567,-1.35,-146.0,899.2,-7.8,377,10572,0.00,2.88,0.00,0.000,4,0.000,0.099,2970,3803,3756,0,0,0,0,0,0
$STATE,10575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10575,begin apogee
$GC,10583,-0.31,0.0,900.2,8.0,377,10708,0.93,0.00,121.05,1.207,6,0.067,0.000,3187,2369,3190,0,0,0,0,0,0
$STATE,10709,end apogee,CONTROL_FINISHED_OK
$STATE,10709,begin climb
$GC,10714,1.27,146.0,903.6,0.0,380,10853,1.42,2.88,129.40,1.180,4,0.035,0.074,3541,3939,2592,0,0,0,0,0,0
$GC,10912,1.15,146.0,893.4,11.5,384,10917,0.15,2.75,0.00,0.000,6,0.115,0.058,3511,2369,2587,0,0,0,0,0,0
$GC,11162,1.18,166.4,870.3,9.1,390,11183,0.00,0.00,18.55,1.081,6,0.000,0.000,3512,2369,2511,0,0,0,0,0,0
$GC,11406,1.19,173.8,847.1,9.7,396,11416,0.00,0.00,7.95,0.948,6,0.000,0.000,3511,2370,2481,0,0,0,0,0,0
$GC,11652,1.19,173.8,822.6,10.0,402,11656,0.00,2.75,0.00,0.000,4,0.000,0.064,3512,3944,2478,0,0,0,0,0,0
$GC,11685,1.15,173.8,818.8,10.8,402,11690,0.00,2.70,0.00,0.000,6,0.000,0.050,3512,2366,2477,0,0,0,0,0,0
$GC,11935,1.16,179.8,794.1,9.7,409,11948,0.00,2.78,6.53,0.894,4,0.000,0.064,3512,3948,2456,0,0,0,0,0,0
$GC,11991,1.16,181.0,788.5,9.9,410,11996,0.00,2.70,0.00,0.000,6,0.000,0.051,3512,2380,2456,0,0,0,0,0,0
$GC,12263,1.18,197.1,763.0,9.3,417,12283,0.00,0.00,17.85,1.052,6,0.000,0.000,3511,2380,2386,0,0,0,0,0,0
$GC,12506,1.18,197.1,738.7,10.1,423,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2380,2383,0,0,0,0,0,0
$GC,12753,1.18,197.1,713.1,10.5,429,12757,0.00,2.70,0.00,0.000,4,0.000,0.064,3511,3943,2382,0,0,0,0,0,0
$GC,12779,1.18,197.1,709.8,11.6,429,12784,0.00,2.67,0.00,0.000,6,0.000,0.054,3512,2382,2381,0,0,0,0,0,0
$GC,13029,1.18,197.1,683.6,10.4,435,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2382,2380,0,0,0,0,0,0
$GC,13273,1.18,197.1,658.2,10.4,441,13277,0.00,2.67,0.00,0.000,4,0.000,0.058,3511,3942,2380,0,0,0,0,0,0
$GC,13296,1.18,197.1,655.8,11.2,441,13301,0.00,2.65,0.00,0.000,6,0.000,0.048,3512,2387,2380,0,0,0,0,0,0
$GC,13552,1.18,197.1,628.9,10.5,448,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2387,2379,0,0,0,0,0,0
$GC,13795,1.18,197.1,604.1,10.0,454,13800,0.00,2.65,0.00,0.000,4,0.000,0.058,3512,3945,2379,0,0,0,0,0,0
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$STATE,19697,end climb,SURFACE_DEPTH_REACHED
$STATE,19697,begin surface coast
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$STATE,19752,end surface coast,CONTROL_FINISHED_OK
$STATE,19752,begin surface
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$HUMID,61.65
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$TCM_TEMP,25.00
$XPDR_PINGS,143
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$10V_AH,9.9,58.965
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,57272,748
$CAP_FILE_SIZE,171850,0
$CFSIZE,260165632,95232000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280413,024206,1925.028,-8113.479,40,1.2,40,-3.8