version: 66.06
glider: 146
mission: 8
dive: 488
start: 5 2 113 7 35 43
data:
$ID,146
$MISSION,8
$DIVE,488
$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,-318555.75
$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,58
$R_STBD_OVSHOOT,21
$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
$GPS1,072254,1926.634,-8113.585,52,1.0,52,-3.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.1
$GPS2,073449,1926.591,-8113.470,14,1.1,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.029
$KALMAN_X,-54220.1,322.2,346.0,42955.6,201.9
$KALMAN_Y,102150.8,21.9,462.2,-97034.5,-1441.5
$MHEAD_RNG_PITCHd_Wd,100.2,10309,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-62.70,0.000,2,0.000,0.000,459,2170,3263,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.1,-3.4,8,126,13.73,2.65,-10.40,0.000,4,0.160,0.041,2979,3796,3786,0,0,0,0,0,0
$GC,217,-1.11,-146.0,30.8,-18.3,25,227,0.12,2.50,0.00,0.000,6,0.077,0.025,3012,2240,3787,0,0,0,0,0,0
$GC,487,-0.97,-146.0,73.5,-15.1,50,493,0.15,2.65,0.00,0.000,4,0.100,0.048,3047,635,3787,0,0,0,0,0,0
$GC,605,-0.97,-146.0,89.5,-12.5,59,610,0.00,2.45,0.00,0.000,6,0.000,0.015,3047,2237,3788,0,0,0,0,0,0
$GC,875,-0.93,-146.0,121.3,-11.9,83,879,0.00,2.62,0.00,0.000,4,0.000,0.044,3047,628,3788,0,0,0,0,0,0
$GC,919,-0.93,-146.0,128.2,-13.1,86,929,0.00,2.40,0.00,0.000,6,0.000,0.023,3047,2183,3788,0,0,0,0,0,0
$GC,1182,-0.93,-146.0,155.9,-8.6,111,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2184,3788,0,0,0,0,0,0
$GC,1440,-1.00,-146.0,175.6,-7.6,135,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2184,3789,0,0,0,0,0,0
$GC,1706,-1.08,-146.0,193.6,-6.5,160,1711,0.00,2.55,0.00,0.000,4,0.000,0.045,3047,630,3788,0,0,0,0,0,0
$GC,1731,-1.17,-146.0,195.7,-7.3,161,1737,0.17,2.40,0.00,0.000,6,0.050,0.019,2976,2195,3788,0,0,0,0,0,0
$GC,1984,-1.13,-146.0,218.0,-8.6,171,1989,0.17,2.53,0.00,0.000,4,0.082,0.041,3017,3778,3788,0,0,0,0,0,0
$GC,2026,-1.20,-146.0,221.1,-7.9,172,2031,0.00,2.47,0.00,0.000,6,0.000,0.019,3017,2167,3788,0,0,0,0,0,0
$GC,2310,-1.26,-146.0,241.7,-7.2,179,2312,0.15,0.00,0.00,0.000,6,0.056,0.000,2952,2167,3788,0,0,0,0,0,0
$GC,2554,-1.20,-146.0,265.3,-9.9,185,2559,0.20,2.60,0.00,0.000,4,0.077,0.041,3000,3766,3788,0,0,0,0,0,0
$GC,2579,-1.20,-146.0,267.4,-9.0,185,2583,0.00,2.45,0.00,0.000,6,0.000,0.021,3000,2201,3788,0,0,0,0,0,0
$GC,2834,-1.20,-146.0,286.4,-7.4,192,2838,0.00,2.60,0.00,0.000,4,0.000,0.056,3000,641,3787,0,0,0,0,0,0
$GC,2861,-1.20,-146.0,288.8,-8.5,192,2865,0.00,2.40,0.00,0.000,6,0.000,0.022,3000,2177,3786,0,0,0,0,0,0
$GC,3114,-1.24,-146.0,309.0,-8.1,198,3118,0.00,2.60,0.00,0.000,4,0.000,0.044,3000,3785,3786,0,0,0,0,0,0
$GC,3129,-1.24,-146.0,310.7,-8.3,198,3134,0.00,2.50,0.00,0.000,6,0.000,0.022,3000,2192,3786,0,0,0,0,0,0
$GC,3391,-1.28,-146.0,331.3,-7.8,205,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2192,3785,0,0,0,0,0,0
$GC,3637,-1.32,-146.0,349.6,-7.6,211,3643,0.12,2.62,0.00,0.000,4,0.067,0.067,2945,634,3784,0,0,0,0,0,0
$GC,3654,-1.32,-146.0,351.4,-7.8,211,3659,0.12,2.45,0.00,0.000,6,0.097,0.032,2972,2179,3783,0,0,0,0,0,0
$GC,3917,-1.32,-146.0,375.1,-9.0,218,3922,0.00,2.65,0.00,0.000,4,0.000,0.054,2973,3794,3783,0,0,0,0,0,0
$GC,3939,-1.32,-146.0,377.3,-8.9,218,3943,0.00,2.55,0.00,0.000,6,0.000,0.025,2972,2191,3783,0,0,0,0,0,0
$GC,4194,-1.32,-146.0,398.9,-8.4,225,4198,0.00,2.65,0.00,0.000,4,0.000,0.070,2973,634,3781,0,0,0,0,0,0
$GC,4210,-1.32,-146.0,400.4,-8.4,225,4214,0.00,2.47,0.00,0.000,6,0.000,0.035,2973,2186,3782,0,0,0,0,0,0
$GC,4473,-1.32,-146.0,423.0,-8.6,232,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2186,3781,0,0,0,0,0,0
$GC,4717,-1.32,-146.0,444.4,-8.8,238,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2186,3780,0,0,0,0,0,0
$GC,4958,-1.32,-146.0,464.7,-8.2,244,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2186,3778,0,0,0,0,0,0
$GC,5204,-1.32,-146.0,484.5,-8.2,250,5209,0.00,2.72,0.00,0.000,4,0.000,0.064,2973,3787,3777,0,0,0,0,0,0
$GC,5227,-1.32,-146.0,486.8,-8.8,250,5231,0.00,2.62,0.00,0.000,6,0.000,0.046,2973,2199,3777,0,0,0,0,0,0
$GC,5482,-1.32,-146.0,507.8,-8.2,257,5486,0.00,2.85,0.00,0.000,4,0.000,0.098,2973,626,3777,0,0,0,0,0,0
$GC,5517,-1.32,-146.0,510.6,-9.0,257,5523,0.00,2.58,0.00,0.000,6,0.000,0.049,2973,2178,3776,0,0,0,0,0,0
$GC,5767,-1.32,-146.0,530.6,-7.8,264,5771,0.00,2.80,0.00,0.000,4,0.000,0.078,2973,3797,3776,0,0,0,0,0,0
$GC,5782,-1.32,-146.0,532.0,-7.7,264,5787,0.00,2.67,0.00,0.000,6,0.000,0.044,2973,2176,3775,0,0,0,0,0,0
$GC,6043,-1.32,-146.0,552.5,-8.0,271,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2177,3774,0,0,0,0,0,0
$GC,6289,-1.32,-146.0,572.6,-8.4,277,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2176,3773,0,0,0,0,0,0
$GC,6533,-1.32,-146.0,593.2,-8.4,283,6537,0.00,2.88,0.00,0.000,4,0.000,0.084,2973,3799,3771,0,0,0,0,0,0
$GC,6559,-1.32,-146.0,595.8,-8.5,283,6564,0.00,2.78,0.00,0.000,6,0.000,0.062,2973,2183,3771,0,0,0,0,0,0
$GC,6812,-1.32,-146.0,617.3,-8.7,289,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2183,3769,0,0,0,0,0,0
$GC,7053,-1.32,-146.0,637.7,-8.2,295,7058,0.00,2.90,0.00,0.000,4,0.000,0.090,2973,3796,3768,0,0,0,0,0,0
$GC,7080,-1.32,-146.0,640.0,-8.7,295,7085,0.00,2.85,0.00,0.000,6,0.000,0.081,2973,2188,3768,0,0,0,0,0,0
$GC,7333,-1.32,-146.0,660.2,-8.1,301,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2188,3767,0,0,0,0,0,0
$GC,7574,-1.32,-146.0,678.8,-7.6,307,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2188,3766,0,0,0,0,0,0
$GC,7818,-1.32,-146.0,697.7,-7.8,313,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2188,3764,0,0,0,0,0,0
$GC,8062,-1.32,-146.0,716.5,-7.7,319,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2188,3763,0,0,0,0,0,0
$GC,8308,-1.32,-146.0,734.6,-7.3,325,8313,0.00,3.15,0.00,0.000,4,0.000,0.139,2973,3790,3762,0,0,0,0,0,0
$GC,8341,-1.32,-146.0,737.5,-8.4,325,8347,0.00,2.85,0.00,0.000,6,0.000,0.089,2973,2201,3762,0,0,0,0,0,0
$GC,8591,-1.32,-146.0,757.3,-8.0,332,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2201,3761,0,0,0,0,0,0
$GC,8835,-1.32,-146.0,777.7,-8.4,338,8840,0.00,2.88,0.00,0.000,4,0.000,0.091,2973,3793,3760,0,0,0,0,0,0
$GC,8855,-1.32,-146.0,779.2,-8.4,338,8860,0.00,2.80,0.00,0.000,6,0.000,0.074,2973,2202,3759,0,0,0,0,0,0
$GC,9116,-1.32,-146.0,801.7,-8.5,345,9121,0.00,3.05,0.00,0.000,4,0.000,0.127,2973,615,3758,0,0,0,0,0,0
$GC,9132,-1.32,-146.0,803.2,-8.5,345,9136,0.00,2.75,0.00,0.000,6,0.000,0.073,2973,2197,3758,0,0,0,0,0,0
$GC,9395,-1.32,-146.0,824.1,-7.9,352,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2197,3757,0,0,0,0,0,0
$GC,9636,-1.32,-146.0,843.3,-7.8,358,9641,0.00,2.92,0.00,0.000,4,0.000,0.106,2973,3798,3755,0,0,0,0,0,0
$GC,9663,-1.32,-146.0,845.7,-9.3,358,9668,0.00,2.75,0.00,0.000,6,0.000,0.067,2973,2205,3756,0,0,0,0,0,0
$GC,9916,-1.32,-146.0,865.6,-8.1,364,9920,0.00,2.83,0.00,0.000,4,0.000,0.087,2973,3799,3754,0,0,0,0,0,0
$GC,9937,-1.32,-146.0,867.6,-8.1,364,9942,0.00,2.78,0.00,0.000,6,0.000,0.073,2973,2205,3754,0,0,0,0,0,0
$GC,10193,-1.32,-146.0,887.1,-7.5,371,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2206,3753,0,0,0,0,0,0
$STATE,10393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10393,begin apogee
$GC,10402,-0.31,0.0,901.9,7.3,376,10527,0.95,0.00,121.03,1.200,6,0.067,0.000,3191,2386,3190,0,0,0,0,0,0
$STATE,10527,end apogee,CONTROL_FINISHED_OK
$STATE,10528,begin climb
$GC,10530,1.27,146.0,905.1,0.0,379,10667,1.42,2.80,128.80,1.170,4,0.034,0.081,3544,3931,2592,0,0,0,0,0,0
$GC,10787,1.15,146.0,886.6,11.4,385,10793,0.15,2.72,0.00,0.000,6,0.115,0.064,3513,2370,2587,0,0,0,0,0,0
$GC,11068,1.18,170.3,861.6,8.9,392,11092,0.00,0.00,21.98,1.090,6,0.000,0.000,3513,2370,2495,0,0,0,0,0,0
$GC,11309,1.18,171.9,837.9,9.9,398,11314,0.00,2.72,0.00,0.000,4,0.000,0.070,3513,3932,2491,0,0,0,0,0,0
$GC,11336,1.14,171.9,834.9,10.9,398,11341,0.00,2.65,0.00,0.000,6,0.000,0.049,3513,2374,2490,0,0,0,0,0,0
$GC,11586,1.14,171.9,810.0,10.1,404,11590,0.00,2.70,0.00,0.000,4,0.000,0.059,3513,3935,2489,0,0,0,0,0,0
$GC,11609,1.14,171.9,807.6,10.6,404,11614,0.00,2.65,0.00,0.000,6,0.000,0.048,3513,2379,2488,0,0,0,0,0,0
$GC,11865,1.15,179.4,782.5,9.6,411,11879,0.00,3.17,8.75,0.960,4,0.000,0.130,3513,783,2458,0,0,0,0,0,0
$GC,11896,1.15,179.4,779.2,10.1,411,11900,0.00,2.72,0.00,0.000,6,0.000,0.047,3512,2384,2456,0,0,0,0,0,0
$GC,12149,1.15,180.1,754.2,10.0,417,12153,0.00,2.72,0.00,0.000,4,0.000,0.072,3513,3937,2456,0,0,0,0,0,0
$GC,12198,1.15,180.1,748.4,11.1,418,12202,0.00,2.60,0.00,0.000,6,0.000,0.044,3513,2382,2454,0,0,0,0,0,0
$GC,12471,1.16,182.9,721.2,9.9,425,12477,0.00,0.00,4.15,0.693,6,0.000,0.000,3513,2383,2444,0,0,0,0,0,0
$GC,12717,1.16,189.3,697.5,9.7,431,12731,0.00,2.72,7.75,0.899,4,0.000,0.058,3513,3927,2418,0,0,0,0,0,0
$GC,12761,1.17,191.4,692.7,9.9,432,12770,0.00,2.62,3.88,0.644,6,0.000,0.047,3513,2388,2409,0,0,0,0,0,0
$GC,13052,1.17,191.4,663.8,10.0,439,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2388,2407,0,0,0,0,0,0
$GC,13293,1.18,199.9,640.2,9.6,445,13307,0.00,2.70,9.20,0.907,4,0.000,0.057,3513,3932,2375,0,0,0,0,0,0
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$STATE,19343,end climb,SURFACE_DEPTH_REACHED
$STATE,19343,begin surface coast
$FINISH,1.2,1.023277
$STATE,19397,end surface coast,CONTROL_FINISHED_OK
$STATE,19397,begin surface
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$SM_GC,1.91,0.00,0.00,35.78,0.000,0.000,0.474,458,2188,1762,-12.89,-0.59,350.04
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$HUMID,61.49
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$TCM_TEMP,25.00
$XPDR_PINGS,160
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$10V_AH,9.9,61.400
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.525,223.550,411.425,35.775,0.000,30.980,33.880,474.811,40.000,0.000,15.599,1531.273,14725.791,570.008,2269.992,1066.673,33.368,1576.447,0.000,2270.882,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,57414,725
$CAP_FILE_SIZE,177929,0
$CFSIZE,260165632,93822976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020513,130124,1926.655,-8109.443,39,1.3,39,-3.8