version: 66.06
glider: 146
mission: 8
dive: 477
start: 4 29 113 17 36 14
data:
$ID,146
$MISSION,8
$DIVE,477
$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,-318303.91
$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,57
$R_STBD_OVSHOOT,16
$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
$GPS1,172436,1923.597,-8106.936,25,1.6,25,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.9
$GPS2,173521,1923.560,-8106.827,11,99.0,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,0.051
$KALMAN_X,-80418.2,-155.8,248.2,81329.6,2097.5
$KALMAN_Y,112546.1,-644.2,-248.1,-111650.2,820.7
$MHEAD_RNG_PITCHd_Wd,286.2,2689,-19.7,-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,17,begin dive
$GC,19,-1.37,-117.7,0.0,0.0,0,92,0.00,0.00,-70.30,0.000,2,0.000,0.000,460,2170,3504,0,0,0,0,0,0
$GC,95,-1.41,-146.0,3.9,-5.3,9,121,13.55,2.47,-5.20,0.000,4,0.160,0.051,2946,651,3787,0,0,0,0,0,0
$GC,322,-1.22,-146.0,58.4,-19.4,32,328,0.22,2.45,0.00,0.000,6,0.101,0.016,2993,2249,3788,0,0,0,0,0,0
$GC,588,-1.14,-146.0,98.9,-14.4,56,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2249,3789,0,0,0,0,0,0
$GC,853,-1.09,-146.0,137.5,-14.2,81,858,0.12,2.65,0.00,0.000,4,0.106,0.046,3022,651,3789,0,0,0,0,0,0
$GC,932,-1.16,-146.0,146.9,-11.2,87,937,0.00,2.38,0.00,0.000,6,0.000,0.019,3022,2202,3790,0,0,0,0,0,0
$GC,1198,-1.25,-146.0,170.9,-8.3,111,1203,0.15,2.50,0.00,0.000,4,0.056,0.040,2957,3776,3790,0,0,0,0,0,0
$GC,1232,-1.25,-146.0,174.7,-10.5,113,1241,0.15,2.42,0.00,0.000,6,0.088,0.023,2992,2223,3790,0,0,0,0,0,0
$GC,1497,-1.30,-146.0,197.6,-8.3,138,1502,0.00,2.60,0.00,0.000,4,0.000,0.048,2993,640,3790,0,0,0,0,0,0
$GC,1566,-1.36,-146.0,204.1,-9.1,141,1570,0.12,2.40,0.00,0.000,6,0.064,0.026,2935,2210,3790,0,0,0,0,0,0
$GC,1823,-1.32,-146.0,230.8,-10.5,148,1828,0.15,2.50,0.00,0.000,4,0.090,0.038,2971,3775,3790,0,0,0,0,0,0
$GC,1857,-1.36,-146.0,234.4,-9.7,148,1862,0.00,2.47,0.00,0.000,6,0.000,0.028,2971,2189,3790,0,0,0,0,0,0
$GC,2111,-1.40,-146.0,255.4,-8.4,155,2116,0.00,2.58,0.00,0.000,4,0.000,0.054,2971,636,3789,0,0,0,0,0,0
$GC,2151,-1.40,-146.0,259.4,-9.5,156,2156,0.00,2.42,0.00,0.000,6,0.000,0.021,2971,2198,3789,0,0,0,0,0,0
$GC,2435,-1.44,-146.0,284.9,-9.0,163,2437,0.10,0.00,0.00,0.000,6,0.080,0.000,2920,2199,3789,0,0,0,0,0,0
$GC,2681,-1.38,-146.0,312.4,-11.5,169,2686,0.17,2.60,0.00,0.000,4,0.087,0.050,2960,3783,3788,0,0,0,0,0,0
$GC,2703,-1.38,-146.0,315.3,-10.9,169,2707,0.00,2.50,0.00,0.000,6,0.000,0.025,2960,2196,3788,0,0,0,0,0,0
$GC,2958,-1.38,-146.0,340.3,-9.9,176,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2196,3787,0,0,0,0,0,0
$GC,3204,-1.38,-146.0,363.5,-9.5,182,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2196,3786,0,0,0,0,0,0
$GC,3446,-1.38,-146.0,385.7,-9.1,188,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2196,3785,0,0,0,0,0,0
$GC,3689,-1.38,-146.0,407.4,-8.8,194,3694,0.00,2.62,0.00,0.000,4,0.000,0.052,2960,3775,3784,0,0,0,0,0,0
$GC,3711,-1.38,-146.0,409.4,-8.9,194,3716,0.00,2.53,0.00,0.000,6,0.000,0.036,2960,2201,3784,0,0,0,0,0,0
$GC,3970,-1.38,-146.0,431.8,-8.7,201,3974,0.00,2.62,0.00,0.000,4,0.000,0.053,2960,3772,3783,0,0,0,0,0,0
$GC,4003,-1.43,-146.0,435.2,-9.1,201,4008,0.00,2.55,0.00,0.000,6,0.000,0.038,2960,2204,3783,0,0,0,0,0,0
$GC,4253,-1.47,-146.0,457.8,-9.1,208,4257,0.00,2.65,0.00,0.000,4,0.000,0.058,2960,3772,3782,0,0,0,0,0,0
$GC,4277,-1.50,-146.0,460.0,-9.6,208,4283,0.12,2.58,0.00,0.000,6,0.064,0.039,2899,2203,3782,0,0,0,0,0,0
$GC,4533,-1.43,-146.0,489.8,-11.8,215,4538,0.22,2.88,0.00,0.000,4,0.081,0.096,2951,623,3781,0,0,0,0,0,0
$GC,4575,-1.43,-146.0,494.1,-10.5,216,4580,0.00,2.58,0.00,0.000,6,0.000,0.043,2951,2187,3780,0,0,0,0,0,0
$GC,4859,-1.43,-146.0,521.1,-9.3,223,4864,0.00,2.75,0.00,0.000,4,0.000,0.074,2951,3794,3779,0,0,0,0,0,0
$GC,4893,-1.43,-146.0,524.4,-9.6,223,4898,0.00,2.65,0.00,0.000,6,0.000,0.050,2951,2211,3779,0,0,0,0,0,0
$GC,5145,-1.43,-146.0,546.2,-8.6,230,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2210,3778,0,0,0,0,0,0
$GC,5386,-1.43,-146.0,567.2,-8.7,236,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2210,3777,0,0,0,0,0,0
$GC,5630,-1.43,-146.0,588.9,-9.0,242,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2210,3776,0,0,0,0,0,0
$GC,5874,-1.43,-146.0,611.5,-9.3,248,5878,0.00,2.88,0.00,0.000,4,0.000,0.096,2951,3791,3775,0,0,0,0,0,0
$GC,5909,-1.47,-146.0,614.7,-10.3,248,5915,0.00,2.72,0.00,0.000,6,0.000,0.070,2951,2217,3774,0,0,0,0,0,0
$GC,6160,-1.50,-146.0,638.3,-9.2,255,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2218,3773,0,0,0,0,0,0
$GC,6403,-1.54,-146.0,660.6,-9.0,261,6405,0.12,0.00,0.00,0.000,6,0.065,0.000,2894,2218,3771,0,0,0,0,0,0
$GC,6649,-1.48,-146.0,688.1,-11.4,267,6655,0.20,3.03,0.00,0.000,4,0.163,0.118,2940,3795,3770,0,0,0,0,0,0
$GC,6677,-1.48,-146.0,691.6,-11.1,267,6681,0.00,2.95,0.00,0.000,6,0.000,0.105,2940,2217,3770,0,0,0,0,0,0
$GC,6927,-1.48,-146.0,715.1,-9.1,273,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2217,3769,0,0,0,0,0,0
$GC,7173,-1.48,-146.0,736.8,-9.0,279,7178,0.00,3.15,0.00,0.000,4,0.000,0.145,2940,3791,3767,0,0,0,0,0,0
$GC,7195,-1.48,-146.0,739.0,-8.9,279,7199,0.00,2.88,0.00,0.000,6,0.000,0.095,2940,2212,3767,0,0,0,0,0,0
$GC,7450,-1.48,-146.0,761.5,-8.9,286,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2212,3765,0,0,0,0,0,0
$GC,7694,-1.48,-146.0,783.1,-8.9,292,7698,0.00,2.92,0.00,0.000,4,0.000,0.097,2940,3796,3764,0,0,0,0,0,0
$GC,7720,-1.48,-146.0,785.7,-10.3,292,7724,0.00,2.80,0.00,0.000,6,0.000,0.082,2940,2215,3764,0,0,0,0,0,0
$GC,7975,-1.48,-146.0,809.2,-9.0,299,7979,0.00,3.05,0.00,0.000,4,0.000,0.123,2940,621,3762,0,0,0,0,0,0
$GC,7998,-1.48,-146.0,811.2,-8.7,299,8002,0.00,2.78,0.00,0.000,6,0.000,0.071,2940,2217,3762,0,0,0,0,0,0
$GC,8255,-1.48,-146.0,833.4,-8.7,306,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2218,3761,0,0,0,0,0,0
$GC,8496,-1.48,-146.0,854.7,-8.7,312,8501,0.00,2.90,0.00,0.000,4,0.000,0.100,2940,3806,3760,0,0,0,0,0,0
$GC,8529,-1.48,-146.0,857.8,-9.2,312,8535,0.00,2.75,0.00,0.000,6,0.000,0.071,2940,2220,3760,0,0,0,0,0,0
$GC,8782,-1.48,-146.0,880.1,-9.0,319,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2220,3758,0,0,0,0,0,0
$STATE,9020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9020,begin apogee
$GC,9027,-0.31,0.0,901.6,8.8,325,9152,1.10,0.00,121.35,1.199,6,0.068,0.000,3191,2387,3190,0,0,0,0,0,0
$STATE,9153,end apogee,CONTROL_FINISHED_OK
$STATE,9153,begin climb
$GC,9155,1.41,146.0,905.0,0.0,328,9295,1.55,2.78,128.73,1.168,4,0.035,0.080,3577,3924,2592,0,0,0,0,0,0
$GC,9329,1.28,146.0,895.5,12.1,332,9334,0.17,2.72,0.00,0.000,6,0.112,0.065,3544,2371,2589,0,0,0,0,0,0
$GC,9609,1.28,146.0,866.7,10.3,339,9614,0.00,2.75,0.00,0.000,4,0.000,0.067,3543,3931,2585,0,0,0,0,0,0
$GC,9687,1.23,146.0,857.4,12.4,340,9693,0.00,2.67,0.00,0.000,6,0.000,0.057,3543,2377,2584,0,0,0,0,0,0
$GC,9937,1.23,146.0,830.5,10.8,347,9941,0.00,2.70,0.00,0.000,4,0.000,0.068,3543,3931,2583,0,0,0,0,0,0
$GC,10006,1.19,146.0,822.9,10.8,348,10011,0.12,2.62,0.00,0.000,6,0.126,0.055,3519,2386,2582,0,0,0,0,0,0
$GC,10261,1.21,165.3,799.2,8.9,355,10279,0.00,0.00,16.70,1.059,6,0.000,0.000,3519,2387,2516,0,0,0,0,0,0
$GC,10505,1.26,175.6,776.5,9.4,361,10517,0.00,0.00,10.55,0.989,6,0.000,0.000,3519,2387,2474,0,0,0,0,0,0
$GC,10751,1.31,175.6,751.8,10.2,367,10756,0.12,2.67,0.00,0.000,4,0.074,0.064,3557,3932,2472,0,0,0,0,0,0
$GC,10785,1.25,175.6,747.4,12.7,367,10791,0.12,2.65,0.00,0.000,6,0.124,0.049,3533,2385,2471,0,0,0,0,0,0
$GC,11037,1.25,175.6,719.9,10.9,374,11041,0.00,2.67,0.00,0.000,4,0.000,0.064,3533,3938,2470,0,0,0,0,0,0
$GC,11063,1.25,175.6,716.3,12.1,374,11068,0.00,2.62,0.00,0.000,6,0.000,0.056,3533,2392,2470,0,0,0,0,0,0
$GC,11313,1.25,175.6,688.8,10.9,380,11318,0.00,2.65,0.00,0.000,4,0.000,0.064,3533,3940,2470,0,0,0,0,0,0
$GC,11340,1.25,175.6,685.7,11.8,380,11344,0.00,2.62,0.00,0.000,6,0.000,0.049,3533,2399,2469,0,0,0,0,0,0
$GC,11592,1.25,175.6,657.6,11.2,386,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2399,2469,0,0,0,0,0,0
$GC,11834,1.25,175.6,632.4,10.2,392,11838,0.00,2.65,0.00,0.000,4,0.000,0.061,3533,3938,2468,0,0,0,0,0,0
$GC,11866,1.25,175.6,628.9,10.5,392,11872,0.00,2.58,0.00,0.000,6,0.000,0.047,3533,2399,2468,0,0,0,0,0,0
$GC,12118,1.25,175.6,603.9,10.1,399,12123,0.00,2.62,0.00,0.000,4,0.000,0.061,3533,3937,2467,0,0,0,0,0,0
$GC,12139,1.25,175.6,601.4,10.4,399,12144,0.00,2.60,0.00,0.000,6,0.000,0.047,3533,2399,2467,0,0,0,0,0,0
$GC,12395,1.25,175.6,575.8,10.0,406,12399,0.00,2.62,0.00,0.000,4,0.000,0.058,3533,3932,2467,0,0,0,0,0,0
$GC,12410,1.25,175.6,574.0,10.1,406,12415,0.00,2.58,0.00,0.000,6,0.000,0.047,3533,2393,2467,0,0,0,0,0,0
$GC,12674,1.26,178.9,548.3,9.8,413,12679,0.00,2.62,0.00,0.000,4,0.000,0.061,3533,3931,2467,0,0,0,0,0,0
$GC,12714,1.26,178.9,543.5,11.5,414,12718,0.00,2.53,0.00,0.000,6,0.000,0.044,3533,2408,2467,0,0,0,0,0,0
$GC,12997,1.26,178.9,514.5,10.1,421,13001,0.00,2.58,0.00,0.000,4,0.000,0.057,3533,3933,2467,0,0,0,0,0,0
$GC,13015,1.26,178.9,512.7,10.3,421,13019,0.00,2.53,0.00,0.000,6,0.000,0.038,3533,2413,2467,0,0,0,0,0,0
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$STATE,17728,end climb,SURFACE_DEPTH_REACHED
$STATE,17733,begin surface coast
$FINISH,1.1,1.017316
$STATE,17791,end surface coast,CONTROL_FINISHED_OK
$STATE,17791,begin surface
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$HUMID,60.86
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$TCM_TEMP,24.90
$XPDR_PINGS,149
$24V_AH,23.1,67.380
$10V_AH,9.9,59.984
$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,355788
$DATA_FILE_SIZE,54291,681
$CAP_FILE_SIZE,168055,0
$CFSIZE,260165632,94654464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290413,223536,1923.404,-8107.404,33,1.1,33,-3.8