version: 66.06
glider: 146
mission: 8
dive: 169
start: 2 19 113 19 11 59
data:
$ID,146
$MISSION,8
$DIVE,169
$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,0
$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,-310689.44
$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,40
$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
$GPS1,185930,1926.767,-8110.468,42,1.1,42,-3.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-74.1
$GPS2,191107,1926.786,-8110.544,9,1.8,9,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.151
$KALMAN_X,-748.1,-144.4,-35.1,8090.2,68.1
$KALMAN_Y,1235.9,244.4,396.3,-3482.0,-972.6
$MHEAD_RNG_PITCHd_Wd,129.3,6138,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.12,0.000,2,0.000,0.000,467,2199,3562,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.2,-7.1,9,124,13.73,2.58,-3.88,0.000,4,0.168,0.050,2976,642,3786,0,0,0,0,0,0
$GC,149,-0.73,-146.0,22.7,-31.7,15,157,0.52,2.50,0.00,0.000,6,0.081,0.017,3097,2246,3786,0,0,0,0,0,0
$GC,424,-0.73,-146.0,53.9,-10.1,43,428,0.00,2.65,0.00,0.000,4,0.000,0.043,3097,640,3787,0,0,0,0,0,0
$GC,474,-0.80,-146.0,59.4,-10.0,46,483,0.00,2.42,0.00,0.000,6,0.000,0.017,3097,2201,3787,0,0,0,0,0,0
$GC,740,-0.80,-146.0,84.3,-9.7,71,745,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2201,3787,0,0,0,0,0,0
$GC,1002,-0.85,-146.0,108.8,-8.7,96,1007,0.10,2.58,0.00,0.000,4,0.077,0.047,3044,633,3788,0,0,0,0,0,0
$GC,1037,-0.81,-146.0,112.3,-10.7,98,1046,0.12,2.42,0.00,0.000,6,0.068,0.021,3079,2194,3788,0,0,0,0,0,0
$GC,1303,-0.90,-146.0,134.8,-7.8,123,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2195,3788,0,0,0,0,0,0
$GC,1572,-1.03,-146.0,153.0,-6.6,148,1577,0.17,2.58,0.00,0.000,4,0.049,0.050,3005,639,3789,0,0,0,0,0,0
$GC,1615,-1.03,-146.0,157.1,-9.6,151,1621,0.15,2.38,0.00,0.000,6,0.094,0.018,3039,2194,3788,0,0,0,0,0,0
$GC,1883,-1.09,-146.0,177.1,-7.1,175,1887,0.00,2.47,0.00,0.000,4,0.000,0.032,3040,3769,3789,0,0,0,0,0,0
$GC,1916,-1.16,-146.0,180.1,-7.1,177,1925,0.10,2.47,0.00,0.000,6,0.032,0.026,2982,2192,3789,0,0,0,0,0,0
$GC,2200,-1.16,-146.0,204.4,-9.1,201,2205,0.10,2.55,0.00,0.000,4,0.111,0.051,3006,645,3789,0,0,0,0,0,0
$GC,2227,-1.16,-146.0,207.2,-8.9,201,2232,0.00,2.35,0.00,0.000,6,0.000,0.018,3006,2195,3789,0,0,0,0,0,0
$GC,2477,-1.16,-146.0,226.6,-7.7,207,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,3789,0,0,0,0,0,0
$GC,2721,-1.16,-146.0,244.1,-7.0,213,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,3788,0,0,0,0,0,0
$GC,2968,-1.20,-146.0,261.3,-7.2,219,2972,0.00,2.58,0.00,0.000,4,0.000,0.051,3006,637,3788,0,0,0,0,0,0
$GC,2995,-1.23,-146.0,263.8,-8.2,219,2999,0.00,2.38,0.00,0.000,6,0.000,0.027,3006,2189,3788,0,0,0,0,0,0
$GC,3245,-1.28,-146.0,283.0,-7.6,225,3247,0.10,0.00,0.00,0.000,6,0.078,0.000,2961,2189,3788,0,0,0,0,0,0
$GC,3491,-1.24,-146.0,304.9,-9.0,231,3493,0.12,0.00,0.00,0.000,6,0.100,0.000,2990,2189,3787,0,0,0,0,0,0
$GC,3732,-1.24,-146.0,323.9,-7.6,237,3737,0.00,2.58,0.00,0.000,4,0.000,0.060,2991,647,3786,0,0,0,0,0,0
$GC,3748,-1.24,-146.0,325.2,-8.0,237,3752,0.00,2.38,0.00,0.000,6,0.000,0.029,2990,2187,3786,0,0,0,0,0,0
$GC,4011,-1.24,-146.0,345.9,-8.0,244,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2187,3786,0,0,0,0,0,0
$GC,4252,-1.24,-146.0,365.2,-7.9,250,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2187,3784,0,0,0,0,0,0
$GC,4496,-1.24,-146.0,384.6,-7.8,256,4500,0.00,2.60,0.00,0.000,4,0.000,0.044,2990,3779,3783,0,0,0,0,0,0
$GC,4519,-1.24,-146.0,386.4,-8.4,256,4524,0.00,2.50,0.00,0.000,6,0.000,0.026,2991,2215,3783,0,0,0,0,0,0
$GC,4775,-1.24,-146.0,404.8,-6.9,263,4780,0.00,2.72,0.00,0.000,4,0.000,0.071,2991,625,3782,0,0,0,0,0,0
$GC,4796,-1.24,-146.0,406.6,-7.7,263,4801,0.00,2.47,0.00,0.000,6,0.000,0.037,2991,2187,3782,0,0,0,0,0,0
$GC,5054,-1.24,-146.0,425.4,-7.4,270,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2186,3781,0,0,0,0,0,0
$GC,5296,-1.24,-146.0,444.2,-7.8,276,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2186,3781,0,0,0,0,0,0
$GC,5541,-1.24,-146.0,463.1,-7.7,282,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2186,3779,0,0,0,0,0,0
$GC,5784,-1.27,-146.0,482.1,-7.9,288,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2186,3779,0,0,0,0,0,0
$GC,6030,-1.31,-146.0,501.0,-7.8,294,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2186,3777,0,0,0,0,0,0
$GC,6271,-1.35,-146.0,519.3,-7.4,300,6273,0.10,0.00,0.00,0.000,6,0.083,0.000,2951,2187,3776,0,0,0,0,0,0
$GC,6514,-1.35,-146.0,541.3,-9.2,306,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2187,3775,0,0,0,0,0,0
$GC,6760,-1.35,-146.0,562.8,-8.9,312,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2186,3774,0,0,0,0,0,0
$GC,7002,-1.35,-146.0,584.8,-9.0,318,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2187,3773,0,0,0,0,0,0
$GC,7247,-1.35,-146.0,606.8,-9.0,324,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2187,3771,0,0,0,0,0,0
$GC,7489,-1.35,-146.0,628.5,-9.0,330,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2186,3770,0,0,0,0,0,0
$GC,7735,-1.35,-146.0,649.9,-8.8,336,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2187,3769,0,0,0,0,0,0
$GC,7977,-1.35,-146.0,671.1,-8.7,342,7981,0.00,3.03,0.00,0.000,4,0.000,0.128,2951,3777,3768,0,0,0,0,0,0
$GC,7992,-1.35,-146.0,672.6,-8.8,342,7997,0.00,2.85,0.00,0.000,6,0.000,0.093,2951,2208,3767,0,0,0,0,0,0
$GC,8253,-1.35,-146.0,694.9,-8.6,349,8258,0.00,2.92,0.00,0.000,4,0.000,0.114,2951,3780,3766,0,0,0,0,0,0
$GC,8273,-1.35,-146.0,696.5,-8.4,349,8278,0.00,2.80,0.00,0.000,6,0.000,0.079,2951,2202,3766,0,0,0,0,0,0
$GC,8534,-1.35,-146.0,718.5,-8.2,356,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2202,3765,0,0,0,0,0,0
$GC,8778,-1.35,-146.0,738.3,-8.3,362,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2202,3763,0,0,0,0,0,0
$GC,9024,-1.35,-146.0,759.2,-8.6,368,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2200,3762,0,0,0,0,0,0
$GC,9265,-1.35,-146.0,780.5,-8.8,374,9270,0.00,2.80,0.00,0.000,4,0.000,0.087,2951,3786,3761,0,0,0,0,0,0
$GC,9281,-1.35,-146.0,782.1,-8.8,374,9285,0.00,2.75,0.00,0.000,6,0.000,0.069,2951,2197,3761,0,0,0,0,0,0
$GC,9541,-1.35,-146.0,804.8,-8.6,381,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2197,3761,0,0,0,0,0,0
$GC,9787,-1.35,-146.0,824.6,-8.0,387,9792,0.00,2.80,0.00,0.000,4,0.000,0.077,2951,3786,3759,0,0,0,0,0,0
$GC,9820,-1.35,-146.0,827.5,-8.6,387,9825,0.00,2.72,0.00,0.000,6,0.000,0.064,2951,2206,3759,0,0,0,0,0,0
$GC,10070,-1.35,-146.0,848.1,-8.3,394,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2206,3757,0,0,0,0,0,0
$GC,10316,-1.35,-146.0,868.3,-8.3,400,10320,0.00,2.75,0.00,0.000,4,0.000,0.079,2951,3780,3756,0,0,0,0,0,0
$GC,10337,-1.35,-146.0,870.4,-8.1,400,10341,0.00,2.70,0.00,0.000,6,0.000,0.067,2951,2212,3756,0,0,0,0,0,0
$GC,10592,-1.35,-146.0,891.0,-8.1,407,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2212,3755,0,0,0,0,0,0
$STATE,10711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10711,begin apogee
$GC,10720,-0.31,0.0,900.7,7.9,410,10842,1.05,0.00,118.82,1.216,6,0.070,0.000,3191,2366,3190,0,0,0,0,0,0
$STATE,10843,end apogee,CONTROL_FINISHED_OK
$STATE,10843,begin climb
$GC,10845,1.27,146.0,903.1,0.0,413,10981,1.42,2.88,126.60,1.185,4,0.034,0.081,3543,3948,2593,0,0,0,0,0,0
$GC,11028,1.13,146.0,891.9,10.9,417,11033,0.17,2.72,0.00,0.000,6,0.114,0.058,3508,2369,2589,0,0,0,0,0,0
$GC,11295,1.11,163.8,866.5,9.2,424,11313,0.00,0.00,16.17,1.073,6,0.000,0.000,3508,2369,2522,0,0,0,0,0,0
$GC,11541,1.11,166.5,842.6,9.9,430,11545,0.00,2.72,0.00,0.000,4,0.000,0.066,3509,3933,2517,0,0,0,0,0,0
$GC,11596,1.07,166.5,836.3,11.1,431,11600,0.00,2.65,0.00,0.000,6,0.000,0.043,3508,2376,2517,0,0,0,0,0,0
$GC,11862,1.07,166.5,808.0,10.6,438,11866,0.00,2.65,0.00,0.000,4,0.000,0.061,3509,3931,2515,0,0,0,0,0,0
$GC,11903,1.01,166.5,803.7,12.5,439,11909,0.12,2.62,0.00,0.000,6,0.121,0.041,3482,2380,2515,0,0,0,0,0,0
$GC,12187,1.04,190.1,777.1,8.9,446,12213,0.00,0.00,23.92,1.088,6,0.000,0.000,3482,2381,2415,0,0,0,0,0,0
$GC,12433,1.07,215.0,755.3,8.9,452,12462,0.00,2.75,24.10,1.074,4,0.000,0.061,3482,3937,2313,0,0,0,0,0,0
$GC,12490,1.07,215.0,749.4,10.4,453,12495,0.00,2.62,0.00,0.000,6,0.000,0.044,3482,2392,2311,0,0,0,0,0,0
$GC,12758,1.12,223.2,723.9,9.6,460,12773,0.10,3.20,8.85,0.943,4,0.084,0.123,3513,777,2278,0,0,0,0,0,0
$GC,12792,1.12,223.2,720.1,11.6,460,12797,0.00,2.72,0.00,0.000,6,0.000,0.041,3513,2397,2277,0,0,0,0,0,0
$GC,13041,1.12,223.2,691.8,11.2,467,13046,0.00,2.67,0.00,0.000,4,0.000,0.073,3514,3934,2276,0,0,0,0,0,0
$GC,13093,1.12,223.2,685.7,12.2,468,13097,0.00,2.60,0.00,0.000,6,0.000,0.043,3514,2385,2275,0,0,0,0,0,0
$GC,13366,1.12,223.2,655.3,11.0,475,13371,0.00,2.62,0.00,0.000,4,0.000,0.060,3513,3934,2274,0,0,0,0,0,0
$GC,13388,1.12,223.2,652.3,12.6,475,13392,0.00,2.58,0.00,0.000,6,0.000,0.045,3513,2401,2274,0,0,0,0,0,0
$GC,13643,1.12,223.2,622.5,11.7,482,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2401,2273,0,0,0,0,0,0
$GC,13889,1.12,223.2,594.1,11.7,488,13890,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2401,2273,0,0,0,0,0,0
$GC,14133,1.12,223.2,565.8,11.6,494,14137,0.00,2.60,0.00,0.000,4,0.000,0.055,3514,3942,2273,0,0,0,0,0,0
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$STATE,19197,end climb,SURFACE_DEPTH_REACHED
$STATE,19197,begin surface coast
$FINISH,1.0,1.019476
$STATE,19250,end surface coast,CONTROL_FINISHED_OK
$STATE,19250,begin surface
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$HUMID,58.38
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$TCM_TEMP,24.40
$XPDR_PINGS,58
$24V_AH,23.3,24.076
$10V_AH,10.4,20.914
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.950,188.450,395.400,34.175,0.000,61.023,74.081,328.817,14.500,0.000,11.349,1533.184,14655.188,552.123,2314.024,939.189,31.433,1518.626,0.000,2315.438,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,57172,750
$CAP_FILE_SIZE,170277,0
$CFSIZE,260165632,116842496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200213,003506,1925.670,-8107.875,37,1.4,37,-3.8