version: 66.06
glider: 146
mission: 8
dive: 495
start: 5 3 113 21 2 19
data:
$ID,146
$MISSION,8
$DIVE,495
$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,-318665.53
$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,47
$R_STBD_OVSHOOT,41
$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
$GPS1,205406,1923.867,-8110.896,36,1.3,36,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.9
$GPS2,210124,1923.849,-8110.839,11,1.5,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.215,0.145
$KALMAN_X,-33826.4,92.5,128.8,27614.5,1593.8
$KALMAN_Y,97726.7,39.1,171.1,-97408.3,-1542.4
$MHEAD_RNG_PITCHd_Wd,307.7,13801,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.78,0.000,2,0.000,0.000,457,2194,3497,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-5.3,9,123,13.62,2.55,-5.15,0.000,4,0.160,0.053,2976,648,3787,0,0,0,0,0,0
$GC,168,-0.98,-146.0,27.1,-23.2,18,176,0.28,2.45,0.00,0.000,6,0.081,0.017,3041,2221,3787,0,0,0,0,0,0
$GC,447,-0.88,-146.0,69.4,-14.4,44,452,0.12,2.62,0.00,0.000,4,0.106,0.044,3069,642,3787,0,0,0,0,0,0
$GC,483,-0.84,-146.0,74.7,-12.8,46,487,0.00,2.40,0.00,0.000,6,0.000,0.016,3069,2203,3787,0,0,0,0,0,0
$GC,743,-0.84,-146.0,103.6,-10.6,70,744,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2203,3788,0,0,0,0,0,0
$GC,1001,-0.84,-146.0,130.3,-10.0,94,1005,0.00,2.55,0.00,0.000,4,0.000,0.044,3069,649,3789,0,0,0,0,0,0
$GC,1022,-0.84,-146.0,132.2,-9.5,95,1026,0.00,2.38,0.00,0.000,6,0.000,0.018,3069,2196,3789,0,0,0,0,0,0
$GC,1287,-0.91,-146.0,154.3,-8.0,119,1292,0.00,2.55,0.00,0.000,4,0.000,0.044,3069,640,3789,0,0,0,0,0,0
$GC,1305,-1.00,-146.0,156.1,-7.9,120,1310,0.12,2.38,0.00,0.000,6,0.064,0.025,3007,2193,3789,0,0,0,0,0,0
$GC,1567,-1.00,-146.0,179.6,-8.0,144,1572,0.15,2.53,0.00,0.000,4,0.087,0.035,3043,3769,3789,0,0,0,0,0,0
$GC,1589,-1.00,-146.0,180.9,-7.5,145,1594,0.00,2.47,0.00,0.000,6,0.000,0.020,3043,2176,3789,0,0,0,0,0,0
$GC,1859,-1.09,-146.0,198.6,-6.4,169,1863,0.00,2.50,0.00,0.000,4,0.000,0.048,3043,636,3789,0,0,0,0,0,0
$GC,1903,-1.20,-146.0,202.1,-6.7,171,1908,0.20,2.35,0.00,0.000,6,0.044,0.017,2961,2169,3789,0,0,0,0,0,0
$GC,2181,-1.14,-146.0,229.9,-10.2,178,2186,0.22,2.55,0.00,0.000,4,0.074,0.037,3015,3772,3789,0,0,0,0,0,0
$GC,2213,-1.14,-146.0,232.6,-9.7,178,2217,0.00,2.50,0.00,0.000,6,0.000,0.027,3015,2166,3789,0,0,0,0,0,0
$GC,2463,-1.19,-146.0,251.5,-7.3,184,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2166,3789,0,0,0,0,0,0
$GC,2707,-1.25,-146.0,268.5,-7.0,190,2712,0.12,2.62,0.00,0.000,4,0.063,0.041,2951,3766,3789,0,0,0,0,0,0
$GC,2737,-1.21,-146.0,271.2,-9.9,190,2742,0.20,2.50,0.00,0.000,6,0.075,0.027,2999,2170,3789,0,0,0,0,0,0
$GC,2987,-1.21,-146.0,291.4,-7.8,196,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2171,3788,0,0,0,0,0,0
$GC,3231,-1.21,-146.0,311.1,-8.2,202,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2171,3787,0,0,0,0,0,0
$GC,3477,-1.21,-146.0,330.9,-8.1,208,3482,0.00,2.62,0.00,0.000,4,0.000,0.050,2999,3764,3786,0,0,0,0,0,0
$GC,3498,-1.21,-146.0,333.1,-8.4,208,3503,0.00,2.53,0.00,0.000,6,0.000,0.025,2999,2170,3786,0,0,0,0,0,0
$GC,3753,-1.21,-146.0,352.4,-7.4,215,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2170,3785,0,0,0,0,0,0
$GC,4000,-1.25,-146.0,370.5,-7.4,221,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2170,3784,0,0,0,0,0,0
$GC,4241,-1.29,-146.0,388.4,-7.3,227,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2170,3783,0,0,0,0,0,0
$GC,4485,-1.33,-146.0,405.3,-6.8,233,4487,0.12,0.00,0.00,0.000,6,0.068,0.000,2945,2170,3782,0,0,0,0,0,0
$GC,4731,-1.27,-146.0,427.4,-9.2,239,4737,0.17,2.70,0.00,0.000,4,0.082,0.054,2986,3766,3781,0,0,0,0,0,0
$GC,4772,-1.31,-146.0,431.1,-8.1,240,4776,0.00,2.58,0.00,0.000,6,0.000,0.032,2986,2180,3781,0,0,0,0,0,0
$GC,5055,-1.31,-146.0,453.9,-8.0,247,5059,0.00,2.70,0.00,0.000,4,0.000,0.079,2986,626,3780,0,0,0,0,0,0
$GC,5079,-1.31,-146.0,455.9,-8.6,247,5083,0.00,2.45,0.00,0.000,6,0.000,0.036,2986,2139,3780,0,0,0,0,0,0
$GC,5334,-1.31,-146.0,476.0,-7.7,254,5339,0.00,2.72,0.00,0.000,4,0.000,0.067,2986,3768,3779,0,0,0,0,0,0
$GC,5355,-1.31,-146.0,477.8,-8.1,254,5360,0.00,2.62,0.00,0.000,6,0.000,0.038,2986,2165,3779,0,0,0,0,0,0
$GC,5613,-1.31,-146.0,496.4,-7.2,261,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2165,3778,0,0,0,0,0,0
$GC,5854,-1.31,-146.0,514.8,-7.6,267,5859,0.00,2.70,0.00,0.000,4,0.000,0.062,2986,3758,3777,0,0,0,0,0,0
$GC,5881,-1.31,-146.0,517.0,-8.2,267,5886,0.00,2.65,0.00,0.000,6,0.000,0.053,2986,2166,3776,0,0,0,0,0,0
$GC,6134,-1.31,-146.0,536.3,-7.6,273,6138,0.00,2.70,0.00,0.000,4,0.000,0.062,2986,3757,3776,0,0,0,0,0,0
$GC,6155,-1.31,-146.0,538.2,-7.7,273,6160,0.00,2.65,0.00,0.000,6,0.000,0.049,2986,2178,3775,0,0,0,0,0,0
$GC,6412,-1.31,-146.0,557.2,-7.4,280,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2178,3774,0,0,0,0,0,0
$GC,6654,-1.31,-146.0,575.2,-7.3,286,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2178,3773,0,0,0,0,0,0
$GC,6900,-1.31,-146.0,593.3,-7.4,292,6905,0.00,2.78,0.00,0.000,4,0.000,0.079,2986,3755,3772,0,0,0,0,0,0
$GC,6922,-1.35,-146.0,595.2,-7.7,292,6926,0.00,2.70,0.00,0.000,6,0.000,0.064,2986,2181,3771,0,0,0,0,0,0
$GC,7177,-1.35,-146.0,613.7,-7.1,299,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2182,3770,0,0,0,0,0,0
$GC,7423,-1.35,-146.0,630.4,-6.8,305,7428,0.00,2.80,0.00,0.000,4,0.000,0.087,2986,3755,3769,0,0,0,0,0,0
$GC,7453,-1.39,-146.0,632.7,-6.8,305,7459,0.12,2.75,0.00,0.000,6,0.064,0.078,2934,2188,3768,0,0,0,0,0,0
$GC,7704,-1.33,-146.0,655.5,-9.3,311,7706,0.15,0.00,0.00,0.000,6,0.090,0.000,2969,2189,3767,0,0,0,0,0,0
$GC,7949,-1.33,-146.0,676.0,-8.4,317,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2189,3766,0,0,0,0,0,0
$GC,8191,-1.33,-146.0,696.4,-8.4,323,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2189,3765,0,0,0,0,0,0
$GC,8434,-1.33,-146.0,717.3,-8.6,329,8439,0.00,3.05,0.00,0.000,4,0.000,0.133,2969,3756,3763,0,0,0,0,0,0
$GC,8470,-1.33,-146.0,720.3,-9.3,329,8475,0.00,3.03,0.00,0.000,6,0.000,0.118,2968,2186,3763,0,0,0,0,0,0
$GC,8720,-1.33,-146.0,740.8,-8.1,336,8725,0.00,3.30,0.00,0.000,4,0.000,0.169,2969,621,3762,0,0,0,0,0,0
$GC,8741,-1.33,-146.0,742.5,-7.6,336,8746,0.00,2.88,0.00,0.000,6,0.000,0.118,2969,2140,3762,0,0,0,0,0,0
$GC,8996,-1.33,-146.0,762.4,-7.9,343,9002,0.00,3.35,0.00,0.000,4,0.000,0.166,2969,3753,3761,0,0,0,0,0,0
$GC,9039,-1.33,-146.0,765.5,-7.7,344,9044,0.00,2.80,0.00,0.000,6,0.000,0.081,2969,2188,3761,0,0,0,0,0,0
$GC,9322,-1.33,-146.0,787.0,-7.4,351,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2189,3760,0,0,0,0,0,0
$GC,9566,-1.33,-146.0,804.8,-7.4,357,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2188,3758,0,0,0,0,0,0
$GC,9812,-1.33,-146.0,823.6,-7.8,363,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2188,3757,0,0,0,0,0,0
$GC,10053,-1.33,-146.0,842.0,-7.5,369,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2187,3756,0,0,0,0,0,0
$GC,10297,-1.33,-146.0,859.9,-7.4,375,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2186,3755,0,0,0,0,0,0
$GC,10543,-1.33,-146.0,878.5,-7.7,381,10548,0.00,2.80,0.00,0.000,4,0.000,0.084,2969,3757,3754,0,0,0,0,0,0
$GC,10609,-1.33,-146.0,884.3,-8.4,382,10614,0.00,2.75,0.00,0.000,6,0.000,0.076,2969,2190,3754,0,0,0,0,0,0
$STATE,10821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10821,begin apogee
$GC,10827,-0.31,0.0,900.6,7.6,388,10952,0.98,0.00,120.72,1.202,6,0.066,0.000,3194,2339,3190,0,0,0,0,0,0
$STATE,10952,end apogee,CONTROL_FINISHED_OK
$STATE,10952,begin climb
$GC,10957,1.27,146.0,904.0,0.0,391,11095,1.40,2.90,129.05,1.170,4,0.042,0.083,3543,3934,2593,0,0,0,0,0,0
$GC,11195,1.16,146.0,889.6,10.6,396,11200,0.15,2.75,0.00,0.000,6,0.115,0.065,3514,2368,2587,0,0,0,0,0,0
$GC,11451,1.20,177.6,867.0,8.5,403,11485,0.00,2.85,28.27,1.104,4,0.000,0.069,3514,3935,2466,0,0,0,0,0,0
$GC,11557,1.15,177.6,857.4,10.2,405,11562,0.00,2.65,0.00,0.000,6,0.000,0.055,3514,2387,2463,0,0,0,0,0,0
$GC,11823,1.17,191.5,832.0,9.4,412,11839,0.00,0.00,13.73,1.037,6,0.000,0.000,3514,2387,2409,0,0,0,0,0,0
$GC,12067,1.18,196.3,808.3,9.8,418,12081,0.00,3.10,6.15,0.871,4,0.000,0.114,3514,781,2388,0,0,0,0,0,0
$GC,12100,1.18,196.3,804.9,10.0,418,12105,0.00,2.72,0.00,0.000,6,0.000,0.048,3514,2388,2387,0,0,0,0,0,0
$GC,12350,1.18,196.3,779.4,10.2,424,12355,0.00,2.70,0.00,0.000,4,0.000,0.073,3515,3938,2386,0,0,0,0,0,0
$GC,12372,1.18,196.3,777.0,10.1,424,12376,0.00,2.60,0.00,0.000,6,0.000,0.047,3514,2391,2384,0,0,0,0,0,0
$GC,12630,1.18,203.4,751.8,9.7,431,12640,0.00,0.00,7.75,0.921,6,0.000,0.000,3514,2391,2360,0,0,0,0,0,0
$GC,12872,1.19,210.3,728.2,9.7,437,12881,0.00,0.00,7.95,0.917,6,0.000,0.000,3514,2391,2332,0,0,0,0,0,0
$GC,13115,1.19,210.8,704.1,10.0,443,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2391,2331,0,0,0,0,0,0
$GC,13361,1.19,210.8,678.7,10.5,449,13366,0.00,2.65,0.00,0.000,4,0.000,0.057,3514,3937,2330,0,0,0,0,0,0
$GC,13378,1.19,210.8,676.6,10.7,449,13383,0.00,2.60,0.00,0.000,6,0.000,0.042,3514,2391,2329,0,0,0,0,0,0
$GC,13639,1.19,210.8,649.0,10.5,456,13644,0.00,2.65,0.00,0.000,4,0.000,0.058,3514,3941,2329,0,0,0,0,0,0
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$STATE,19842,end climb,SURFACE_DEPTH_REACHED
$STATE,19843,begin surface coast
$FINISH,1.1,1.003072
$STATE,19892,end surface coast,CONTROL_FINISHED_OK
$STATE,19892,begin surface
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$HUMID,62.01
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$TCM_TEMP,25.10
$XPDR_PINGS,163
$24V_AH,23.1,70.072
$10V_AH,10.0,62.274
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.900,196.200,401.500,36.025,0.000,30.421,37.408,196.238,40.750,0.000,12.950,1558.078,15209.981,547.836,2294.013,770.242,33.373,1525.838,0.000,2293.855,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,509.545,353.577,448.281,585.547,1110.946,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,57248,753
$CAP_FILE_SIZE,169464,0
$CFSIZE,260165632,93331456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,023605,1924.864,-8111.998,30,1.1,30,-3.8