version: 66.06
glider: 146
mission: 8
dive: 498
start: 5 4 113 14 16 6
data:
$ID,146
$MISSION,8
$DIVE,498
$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,-318714.78
$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,30
$R_STBD_OVSHOOT,19
$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
$GPS1,140235,1925.380,-8115.545,32,1.5,32,-3.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-74.6
$GPS2,141512,1925.371,-8115.554,10,1.6,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRa
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.237,0.107
$KALMAN_X,-28672.0,-173.2,-210.1,14825.1,1854.0
$KALMAN_Y,95491.5,-17.6,-105.0,-92015.7,-229.9
$MHEAD_RNG_PITCHd_Wd,298.1,5229,-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,20,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-62.65,0.000,2,0.000,0.000,457,2152,3272,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.6,8,122,13.57,2.70,-10.50,0.000,4,0.156,0.041,2977,3803,3788,0,0,0,0,0,0
$GC,154,-1.04,-146.0,19.0,-21.1,16,164,0.22,2.58,0.00,0.000,6,0.075,0.025,3031,2201,3789,0,0,0,0,0,0
$GC,434,-0.89,-146.0,63.9,-16.2,45,439,0.15,2.62,0.00,0.000,4,0.105,0.049,3064,629,3789,0,0,0,0,0,0
$GC,493,-0.89,-146.0,72.8,-12.9,49,497,0.00,2.47,0.00,0.000,6,0.000,0.017,3064,2239,3789,0,0,0,0,0,0
$GC,762,-0.89,-146.0,104.2,-11.2,73,766,0.00,2.62,0.00,0.000,4,0.000,0.045,3064,633,3789,0,0,0,0,0,0
$GC,802,-0.89,-146.0,109.6,-11.9,76,806,0.00,2.42,0.00,0.000,6,0.000,0.016,3064,2218,3789,0,0,0,0,0,0
$GC,1067,-0.89,-146.0,136.4,-9.5,100,1071,0.00,2.60,0.00,0.000,4,0.000,0.044,3064,634,3789,0,0,0,0,0,0
$GC,1135,-0.93,-146.0,143.1,-9.6,105,1139,0.00,2.40,0.00,0.000,6,0.000,0.017,3064,2202,3790,0,0,0,0,0,0
$GC,1401,-1.01,-146.0,163.9,-7.3,129,1406,0.10,2.50,0.00,0.000,4,0.077,0.039,3007,3775,3790,0,0,0,0,0,0
$GC,1424,-1.01,-146.0,166.1,-8.0,130,1430,0.15,2.45,0.00,0.000,6,0.081,0.021,3045,2190,3791,0,0,0,0,0,0
$GC,1689,-1.08,-146.0,185.7,-7.3,155,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2191,3791,0,0,0,0,0,0
$GC,1968,-1.16,-146.0,206.1,-7.4,176,1973,0.15,2.55,0.00,0.000,4,0.058,0.048,2977,644,3791,0,0,0,0,0,0
$GC,1995,-1.16,-146.0,208.8,-10.4,176,2000,0.15,2.40,0.00,0.000,6,0.089,0.021,3011,2207,3791,0,0,0,0,0,0
$GC,2248,-1.16,-146.0,228.9,-7.6,182,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2207,3791,0,0,0,0,0,0
$GC,2490,-1.20,-146.0,246.7,-7.4,188,2494,0.00,2.58,0.00,0.000,4,0.000,0.047,3012,636,3791,0,0,0,0,0,0
$GC,2511,-1.24,-146.0,248.6,-8.2,188,2516,0.00,2.42,0.00,0.000,6,0.000,0.020,3012,2202,3791,0,0,0,0,0,0
$GC,2770,-1.29,-146.0,267.0,-7.1,195,2775,0.12,2.58,0.00,0.000,4,0.065,0.048,2952,644,3790,0,0,0,0,0,0
$GC,2798,-1.23,-146.0,269.7,-8.8,195,2803,0.17,2.40,0.00,0.000,6,0.085,0.025,2992,2190,3790,0,0,0,0,0,0
$GC,3050,-1.23,-146.0,288.6,-7.5,201,3055,0.00,2.55,0.00,0.000,4,0.000,0.045,2993,3778,3790,0,0,0,0,0,0
$GC,3072,-1.23,-146.0,290.5,-7.7,201,3076,0.00,2.50,0.00,0.000,6,0.000,0.025,2993,2185,3789,0,0,0,0,0,0
$GC,3327,-1.23,-146.0,311.0,-8.0,208,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2185,3788,0,0,0,0,0,0
$GC,3571,-1.23,-146.0,329.8,-7.6,214,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2185,3787,0,0,0,0,0,0
$GC,3817,-1.23,-146.0,348.0,-7.4,220,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2185,3786,0,0,0,0,0,0
$GC,4058,-1.23,-146.0,366.5,-7.6,226,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2185,3785,0,0,0,0,0,0
$GC,4302,-1.23,-146.0,386.0,-7.9,232,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2185,3784,0,0,0,0,0,0
$GC,4548,-1.23,-146.0,404.9,-7.8,238,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2185,3784,0,0,0,0,0,0
$GC,4792,-1.23,-146.0,424.2,-8.0,244,4796,0.00,2.67,0.00,0.000,4,0.000,0.061,2993,3777,3782,0,0,0,0,0,0
$GC,4813,-1.23,-146.0,426.1,-7.6,244,4818,0.00,2.55,0.00,0.000,6,0.000,0.033,2993,2200,3782,0,0,0,0,0,0
$GC,5068,-1.23,-146.0,445.8,-7.6,251,5073,0.00,2.75,0.00,0.000,4,0.000,0.079,2993,621,3781,0,0,0,0,0,0
$GC,5092,-1.23,-146.0,447.5,-8.0,251,5096,0.00,2.47,0.00,0.000,6,0.000,0.035,2992,2164,3781,0,0,0,0,0,0
$GC,5347,-1.23,-146.0,465.8,-7.1,258,5351,0.00,2.72,0.00,0.000,4,0.000,0.057,2993,3790,3780,0,0,0,0,0,0
$GC,5375,-1.28,-146.0,468.0,-8.3,258,5379,0.00,2.62,0.00,0.000,6,0.000,0.037,2993,2186,3779,0,0,0,0,0,0
$GC,5627,-1.32,-146.0,486.5,-7.5,264,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2186,3778,0,0,0,0,0,0
$GC,5869,-1.36,-146.0,505.0,-7.6,270,5874,0.12,2.83,0.00,0.000,4,0.066,0.098,2942,626,3777,0,0,0,0,0,0
$GC,5891,-1.36,-146.0,507.1,-8.8,270,5896,0.10,2.55,0.00,0.000,6,0.110,0.041,2965,2178,3777,0,0,0,0,0,0
$GC,6149,-1.36,-146.0,528.2,-8.1,277,6153,0.00,2.78,0.00,0.000,4,0.000,0.071,2965,3800,3776,0,0,0,0,0,0
$GC,6170,-1.36,-146.0,530.2,-8.1,277,6174,0.00,2.70,0.00,0.000,6,0.000,0.044,2965,2180,3776,0,0,0,0,0,0
$GC,6425,-1.36,-146.0,550.6,-8.0,284,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2181,3775,0,0,0,0,0,0
$GC,6671,-1.36,-146.0,570.9,-8.4,290,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2181,3774,0,0,0,0,0,0
$GC,6912,-1.36,-146.0,592.1,-8.8,296,6917,0.00,2.85,0.00,0.000,4,0.000,0.082,2965,3794,3773,0,0,0,0,0,0
$GC,6962,-1.36,-146.0,596.9,-9.3,297,6967,0.00,2.75,0.00,0.000,6,0.000,0.061,2965,2192,3772,0,0,0,0,0,0
$GC,7236,-1.36,-146.0,620.2,-8.4,304,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2192,3770,0,0,0,0,0,0
$GC,7478,-1.36,-146.0,640.6,-8.4,310,7482,0.00,3.00,0.00,0.000,4,0.000,0.126,2965,623,3769,0,0,0,0,0,0
$GC,7501,-1.36,-146.0,642.8,-8.4,310,7506,0.00,2.70,0.00,0.000,6,0.000,0.066,2965,2185,3769,0,0,0,0,0,0
$GC,7757,-1.36,-146.0,664.6,-8.6,317,7761,0.00,3.00,0.00,0.000,4,0.000,0.110,2965,3794,3768,0,0,0,0,0,0
$GC,7780,-1.36,-146.0,666.6,-9.0,317,7785,0.00,2.90,0.00,0.000,6,0.000,0.092,2965,2190,3768,0,0,0,0,0,0
$GC,8038,-1.36,-146.0,688.9,-8.7,324,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2190,3767,0,0,0,0,0,0
$GC,8279,-1.36,-146.0,709.3,-8.3,330,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2191,3766,0,0,0,0,0,0
$GC,8525,-1.36,-146.0,728.8,-7.9,336,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2190,3764,0,0,0,0,0,0
$GC,8767,-1.36,-146.0,748.9,-8.3,342,8772,0.00,3.22,0.00,0.000,4,0.000,0.148,2965,3793,3763,0,0,0,0,0,0
$GC,8789,-1.36,-146.0,750.8,-8.2,342,8793,0.00,2.88,0.00,0.000,6,0.000,0.084,2965,2196,3763,0,0,0,0,0,0
$GC,9046,-1.36,-146.0,772.3,-8.3,349,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2194,3761,0,0,0,0,0,0
$GC,9288,-1.36,-146.0,792.2,-8.1,355,9292,0.00,2.92,0.00,0.000,4,0.000,0.100,2965,3796,3760,0,0,0,0,0,0
$GC,9309,-1.36,-146.0,794.1,-8.8,355,9314,0.00,2.83,0.00,0.000,6,0.000,0.080,2965,2197,3760,0,0,0,0,0,0
$GC,9564,-1.36,-146.0,814.0,-7.7,362,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2198,3759,0,0,0,0,0,0
$GC,9812,-1.36,-146.0,833.1,-7.9,368,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2197,3758,0,0,0,0,0,0
$GC,10051,-1.36,-146.0,852.6,-8.1,374,10056,0.00,2.88,0.00,0.000,4,0.000,0.087,2965,3797,3757,0,0,0,0,0,0
$GC,10095,-1.36,-146.0,856.5,-9.6,375,10100,0.00,2.83,0.00,0.000,6,0.000,0.078,2965,2198,3757,0,0,0,0,0,0
$GC,10375,-1.36,-146.0,877.7,-7.3,382,10380,0.00,2.85,0.00,0.000,4,0.000,0.089,2965,3798,3756,0,0,0,0,0,0
$GC,10408,-1.36,-146.0,880.5,-8.6,382,10414,0.00,2.80,0.00,0.000,6,0.000,0.077,2965,2208,3755,0,0,0,0,0,0
$GC,10658,-1.36,-146.0,898.8,-7.3,389,10663,0.00,3.05,0.00,0.000,4,0.000,0.124,2965,620,3754,0,0,0,0,0,0
$STATE,10671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10671,begin apogee
$GC,10683,-0.31,0.0,900.1,7.5,389,10807,0.95,0.00,120.85,1.195,6,0.067,0.000,3187,2371,3190,0,0,0,0,0,0
$STATE,10808,end apogee,CONTROL_FINISHED_OK
$STATE,10808,begin climb
$GC,10811,1.27,146.0,902.8,0.0,392,10948,1.45,2.95,129.07,1.166,4,0.035,0.097,3544,3941,2593,0,0,0,0,0,0
$GC,11023,1.15,146.0,889.3,11.6,397,11029,0.15,2.78,0.00,0.000,6,0.113,0.064,3513,2361,2588,0,0,0,0,0,0
$GC,11304,1.19,175.7,864.5,8.6,404,11338,0.00,2.90,27.02,1.099,4,0.000,0.070,3513,3945,2472,0,0,0,0,0,0
$GC,11403,1.19,175.7,855.0,10.4,406,11407,0.00,2.70,0.00,0.000,6,0.000,0.055,3513,2379,2470,0,0,0,0,0,0
$GC,11677,1.20,184.1,829.0,9.6,413,11691,0.00,2.78,8.32,0.956,4,0.000,0.063,3513,3933,2438,0,0,0,0,0,0
$GC,11714,1.20,184.1,824.8,10.7,413,11720,0.00,2.65,0.00,0.000,6,0.000,0.050,3513,2381,2438,0,0,0,0,0,0
$GC,11964,1.20,184.1,799.7,10.1,420,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2381,2437,0,0,0,0,0,0
$GC,12209,1.20,185.6,775.5,9.9,426,12213,0.00,2.67,0.00,0.000,4,0.000,0.058,3513,3940,2435,0,0,0,0,0,0
$GC,12245,1.20,185.6,771.9,11.0,426,12250,0.00,2.65,0.00,0.000,6,0.000,0.048,3513,2386,2435,0,0,0,0,0,0
$GC,12495,1.21,194.5,747.2,9.6,433,12507,0.00,0.00,10.52,0.977,6,0.000,0.000,3513,2387,2397,0,0,0,0,0,0
$GC,12739,1.22,198.8,723.5,9.8,439,12750,0.00,2.70,5.68,0.821,4,0.000,0.063,3513,3948,2379,0,0,0,0,0,0
$GC,12768,1.22,198.8,720.6,11.1,439,12773,0.00,2.67,0.00,0.000,6,0.000,0.050,3513,2388,2378,0,0,0,0,0,0
$GC,13018,1.22,198.8,695.5,10.0,445,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2388,2377,0,0,0,0,0,0
$GC,13262,1.23,204.7,671.7,9.7,451,13271,0.00,0.00,6.72,0.851,6,0.000,0.000,3513,2388,2355,0,0,0,0,0,0
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$STATE,19690,end climb,SURFACE_DEPTH_REACHED
$STATE,19690,begin surface coast
$FINISH,1.3,1.023193
$STATE,19732,end surface coast,CONTROL_FINISHED_OK
$STATE,19733,begin surface
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$HUMID,62.40
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$TCM_TEMP,25.20
$XPDR_PINGS,150
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$10V_AH,9.9,62.662
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.350,218.525,425.150,23.100,0.000,57.642,71.175,382.289,37.500,0.000,17.395,1568.291,15005.561,561.629,2347.991,1040.652,33.376,1589.228,0.000,2344.909,0.000,0.537,0.000
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$MEM,355824
$DATA_FILE_SIZE,57431,754
$CAP_FILE_SIZE,180087,0
$CFSIZE,260165632,93097984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,194735,1925.999,-8117.514,62,1.0,67,-3.7