version: 66.06
glider: 146
mission: 8
dive: 486
start: 5 1 113 20 7 59
data:
$ID,146
$MISSION,8
$DIVE,486
$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,-318522.22
$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,55
$R_STBD_OVSHOOT,43
$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
$GPS1,195236,1926.172,-8116.323,24,1.4,24,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-73.8
$GPS2,200706,1926.200,-8116.229,39,1.0,39,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.241,0.097
$KALMAN_X,-57793.4,-175.1,-67.6,42620.8,2256.3
$KALMAN_Y,103233.3,146.6,-126.3,-98369.0,-753.5
$MHEAD_RNG_PITCHd_Wd,295.7,3431,-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,-70.47,0.000,2,0.000,0.000,460,2179,3519,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-5.7,9,124,13.70,2.50,-4.70,0.000,4,0.156,0.048,2977,659,3788,0,0,0,0,0,0
$GC,298,-1.08,-146.0,51.7,-17.5,30,303,0.20,2.40,0.00,0.000,6,0.100,0.016,3021,2224,3789,0,0,0,0,0,0
$GC,564,-0.97,-146.0,91.6,-12.7,54,569,0.12,2.58,0.00,0.000,4,0.107,0.044,3050,654,3790,0,0,0,0,0,0
$GC,589,-0.88,-146.0,94.6,-12.6,55,593,0.00,2.35,0.00,0.000,6,0.000,0.015,3050,2190,3790,0,0,0,0,0,0
$GC,858,-0.88,-146.0,125.4,-11.8,79,862,0.00,2.50,0.00,0.000,4,0.000,0.044,3050,654,3790,0,0,0,0,0,0
$GC,881,-0.84,-146.0,128.9,-11.6,80,891,0.08,2.35,0.00,0.000,6,0.084,0.015,3073,2183,3790,0,0,0,0,0,0
$GC,1146,-0.94,-146.0,153.3,-7.8,105,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2183,3790,0,0,0,0,0,0
$GC,1413,-1.06,-146.0,169.7,-6.3,130,1418,0.20,2.50,0.00,0.000,4,0.046,0.044,2990,652,3791,0,0,0,0,0,0
$GC,1433,-1.12,-146.0,171.4,-6.9,131,1438,0.12,2.33,0.00,0.000,6,0.097,0.019,3019,2179,3791,0,0,0,0,0,0
$GC,1694,-1.16,-146.0,192.3,-8.7,155,1699,0.00,2.47,0.00,0.000,4,0.000,0.044,3019,657,3791,0,0,0,0,0,0
$GC,1731,-1.19,-146.0,194.8,-9.0,157,1736,0.00,2.33,0.00,0.000,6,0.000,0.024,3019,2171,3790,0,0,0,0,0,0
$GC,1994,-1.24,-146.0,214.4,-6.9,167,1999,0.12,2.60,0.00,0.000,4,0.066,0.044,2960,3782,3791,0,0,0,0,0,0
$GC,2016,-1.24,-146.0,216.5,-9.1,167,2021,0.12,2.47,0.00,0.000,6,0.092,0.027,2990,2179,3790,0,0,0,0,0,0
$GC,2274,-1.24,-146.0,238.8,-8.8,174,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2179,3790,0,0,0,0,0,0
$GC,2515,-1.24,-146.0,259.2,-8.5,180,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2179,3789,0,0,0,0,0,0
$GC,2759,-1.24,-146.0,279.6,-8.1,186,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2180,3789,0,0,0,0,0,0
$GC,3005,-1.24,-146.0,298.6,-7.9,192,3010,0.00,2.58,0.00,0.000,4,0.000,0.041,2990,3767,3788,0,0,0,0,0,0
$GC,3038,-1.24,-146.0,301.7,-8.3,192,3044,0.00,2.47,0.00,0.000,6,0.000,0.027,2990,2183,3788,0,0,0,0,0,0
$GC,3289,-1.24,-146.0,322.3,-8.2,199,3293,0.00,2.58,0.00,0.000,4,0.000,0.061,2990,639,3787,0,0,0,0,0,0
$GC,3310,-1.24,-146.0,324.1,-8.5,199,3314,0.00,2.40,0.00,0.000,6,0.000,0.022,2990,2167,3786,0,0,0,0,0,0
$GC,3568,-1.24,-146.0,344.0,-8.0,206,3572,0.00,2.65,0.00,0.000,4,0.000,0.048,2990,3787,3786,0,0,0,0,0,0
$GC,3612,-1.28,-146.0,347.9,-7.9,207,3616,0.00,2.55,0.00,0.000,6,0.000,0.024,2990,2183,3786,0,0,0,0,0,0
$GC,3892,-1.28,-146.0,369.9,-7.9,214,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2183,3784,0,0,0,0,0,0
$GC,4133,-1.28,-146.0,390.2,-8.4,220,4138,0.00,2.67,0.00,0.000,4,0.000,0.076,2990,628,3783,0,0,0,0,0,0
$GC,4166,-1.28,-146.0,393.1,-9.1,220,4171,0.00,2.45,0.00,0.000,6,0.000,0.028,2990,2167,3783,0,0,0,0,0,0
$GC,4416,-1.28,-146.0,413.3,-8.0,227,4420,0.00,2.67,0.00,0.000,4,0.000,0.056,2990,3789,3782,0,0,0,0,0,0
$GC,4463,-1.33,-146.0,417.0,-8.6,228,4467,0.00,2.58,0.00,0.000,6,0.000,0.031,2990,2180,3782,0,0,0,0,0,0
$GC,4740,-1.33,-146.0,438.2,-7.6,235,4745,0.00,2.72,0.00,0.000,4,0.000,0.082,2990,625,3781,0,0,0,0,0,0
$GC,4782,-1.33,-146.0,441.4,-8.2,236,4786,0.00,2.50,0.00,0.000,6,0.000,0.037,2990,2179,3781,0,0,0,0,0,0
$GC,5067,-1.33,-146.0,463.3,-7.7,243,5071,0.00,2.70,0.00,0.000,4,0.000,0.061,2990,3795,3779,0,0,0,0,0,0
$GC,5088,-1.33,-146.0,465.2,-7.9,243,5092,0.00,2.60,0.00,0.000,6,0.000,0.040,2990,2188,3779,0,0,0,0,0,0
$GC,5346,-1.36,-146.0,484.7,-7.7,250,5348,0.12,0.00,0.00,0.000,6,0.068,0.000,2939,2187,3778,0,0,0,0,0,0
$GC,5587,-1.31,-146.0,507.8,-9.6,256,5589,0.15,0.00,0.00,0.000,6,0.090,0.000,2974,2188,3777,0,0,0,0,0,0
$GC,5830,-1.31,-146.0,527.9,-8.2,262,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2187,3776,0,0,0,0,0,0
$GC,6077,-1.31,-146.0,547.8,-8.3,268,6081,0.00,2.78,0.00,0.000,4,0.000,0.077,2974,3789,3775,0,0,0,0,0,0
$GC,6098,-1.31,-146.0,549.9,-8.3,268,6103,0.00,2.67,0.00,0.000,6,0.000,0.057,2974,2186,3775,0,0,0,0,0,0
$GC,6353,-1.31,-146.0,570.4,-8.0,275,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2186,3774,0,0,0,0,0,0
$GC,6597,-1.31,-146.0,590.0,-8.2,281,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2186,3772,0,0,0,0,0,0
$GC,6843,-1.31,-146.0,609.2,-7.9,287,6848,0.00,2.85,0.00,0.000,4,0.000,0.087,2974,3785,3771,0,0,0,0,0,0
$GC,6876,-1.31,-146.0,612.1,-8.8,287,6881,0.00,2.75,0.00,0.000,6,0.000,0.068,2974,2189,3771,0,0,0,0,0,0
$GC,7126,-1.31,-146.0,631.4,-7.6,294,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2189,3769,0,0,0,0,0,0
$GC,7372,-1.31,-146.0,649.1,-7.1,300,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2189,3768,0,0,0,0,0,0
$GC,7613,-1.31,-146.0,666.8,-7.3,306,7618,0.00,2.95,0.00,0.000,4,0.000,0.104,2974,3783,3767,0,0,0,0,0,0
$GC,7637,-1.31,-146.0,668.7,-7.8,306,7642,0.00,2.90,0.00,0.000,6,0.000,0.096,2974,2193,3767,0,0,0,0,0,0
$GC,7892,-1.31,-146.0,688.7,-7.8,313,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2193,3765,0,0,0,0,0,0
$GC,8138,-1.31,-146.0,707.7,-7.7,319,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2193,3764,0,0,0,0,0,0
$GC,8382,-1.31,-146.0,725.8,-7.5,325,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2193,3762,0,0,0,0,0,0
$GC,8623,-1.31,-146.0,743.5,-7.1,331,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2193,3761,0,0,0,0,0,0
$GC,8869,-1.31,-146.0,760.5,-7.0,337,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2193,3760,0,0,0,0,0,0
$GC,9111,-1.31,-146.0,777.8,-7.1,343,9116,0.00,3.38,0.00,0.000,4,0.000,0.172,2974,3782,3759,0,0,0,0,0,0
$GC,9144,-1.31,-146.0,780.4,-8.3,343,9149,0.00,2.83,0.00,0.000,6,0.000,0.091,2974,2199,3759,0,0,0,0,0,0
$GC,9394,-1.31,-146.0,798.5,-7.2,350,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2200,3758,0,0,0,0,0,0
$GC,9640,-1.31,-146.0,816.5,-7.3,356,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2200,3757,0,0,0,0,0,0
$GC,9881,-1.31,-146.0,834.7,-7.6,362,9886,0.00,2.83,0.00,0.000,4,0.000,0.090,2974,3785,3756,0,0,0,0,0,0
$GC,9909,-1.35,-146.0,837.0,-8.2,362,9913,0.00,2.78,0.00,0.000,6,0.000,0.072,2974,2204,3756,0,0,0,0,0,0
$GC,10161,-1.35,-146.0,854.9,-7.1,368,10166,0.00,2.83,0.00,0.000,4,0.000,0.084,2974,3785,3754,0,0,0,0,0,0
$GC,10183,-1.35,-146.0,856.9,-8.0,368,10187,0.00,2.75,0.00,0.000,6,0.000,0.071,2974,2205,3753,0,0,0,0,0,0
$GC,10438,-1.35,-146.0,876.3,-7.7,375,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2206,3753,0,0,0,0,0,0
$GC,10684,-1.35,-146.0,894.9,-7.5,381,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3752,0,0,0,0,0,0
$STATE,10760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10760,begin apogee
$GC,10766,-0.31,0.0,900.8,7.4,383,10890,0.95,0.00,120.10,1.208,6,0.077,0.000,3193,2373,3190,0,0,0,0,0,0
$STATE,10890,end apogee,CONTROL_FINISHED_OK
$STATE,10891,begin climb
$GC,10893,1.27,146.0,903.9,0.0,386,11030,1.42,2.88,128.45,1.177,4,0.035,0.082,3544,3926,2594,0,0,0,0,0,0
$GC,11100,1.16,146.0,891.3,11.5,390,11106,0.15,2.75,0.00,0.000,6,0.173,0.060,3514,2366,2589,0,0,0,0,0,0
$GC,11352,1.19,169.4,868.2,8.9,397,11375,0.00,0.00,21.40,1.089,6,0.000,0.000,3514,2366,2499,0,0,0,0,0,0
$GC,11593,1.19,172.2,844.7,9.9,403,11598,0.00,2.75,0.00,0.000,4,0.000,0.071,3514,3933,2495,0,0,0,0,0,0
$GC,11620,1.14,172.2,841.8,10.5,403,11625,0.00,2.67,0.00,0.000,6,0.000,0.048,3514,2365,2494,0,0,0,0,0,0
$GC,11873,1.15,173.9,817.2,9.9,409,11883,0.00,2.72,4.90,0.791,4,0.000,0.062,3514,3934,2480,0,0,0,0,0,0
$GC,11893,1.15,173.9,814.5,10.9,409,11898,0.00,2.67,0.00,0.000,6,0.000,0.046,3514,2371,2479,0,0,0,0,0,0
$GC,12149,1.15,173.9,788.4,10.3,416,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2372,2478,0,0,0,0,0,0
$GC,12393,1.15,174.6,764.0,10.0,422,12397,0.00,2.70,0.00,0.000,4,0.000,0.058,3514,3938,2477,0,0,0,0,0,0
$GC,12416,1.15,174.6,761.7,10.4,422,12421,0.00,2.67,0.00,0.000,6,0.000,0.055,3514,2374,2477,0,0,0,0,0,0
$GC,12671,1.16,185.9,737.4,9.5,429,12685,0.00,0.00,12.10,1.002,6,0.000,0.000,3514,2374,2432,0,0,0,0,0,0
$GC,12915,1.17,190.9,713.5,9.8,435,12923,0.00,0.00,6.15,0.851,6,0.000,0.000,3514,2374,2411,0,0,0,0,0,0
$GC,13161,1.17,194.1,689.5,9.9,441,13167,0.00,0.00,4.53,0.728,6,0.000,0.000,3514,2374,2398,0,0,0,0,0,0
$GC,13402,1.17,196.4,665.4,9.9,447,13407,0.00,2.67,0.00,0.000,4,0.000,0.064,3514,3930,2397,0,0,0,0,0,0
$GC,13424,1.17,196.4,662.9,10.4,447,13428,0.00,2.65,0.00,0.000,6,0.000,0.052,3514,2373,2396,0,0,0,0,0,0
$GC,13682,1.18,204.1,637.9,9.6,454,13698,0.00,2.72,10.40,0.923,4,0.000,0.058,3514,3938,2359,0,0,0,0,0,0
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$STATE,19699,end climb,SURFACE_DEPTH_REACHED
$STATE,19699,begin surface coast
$FINISH,1.1,1.009916
$STATE,19741,end surface coast,CONTROL_FINISHED_OK
$STATE,19742,begin surface
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$HUMID,61.41
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$TCM_TEMP,24.80
$XPDR_PINGS,151
$24V_AH,23.1,68.749
$10V_AH,9.8,61.139
$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,355828
$DATA_FILE_SIZE,57374,732
$CAP_FILE_SIZE,174577,0
$CFSIZE,260165632,93974528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,013935,1926.594,-8117.667,38,0.9,38,-3.7