version: 66.06
glider: 146
mission: 8
dive: 207
start: 2 28 113 1 44 56
data:
$ID,146
$MISSION,8
$DIVE,207
$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,-311409.47
$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,63
$R_STBD_OVSHOOT,25
$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
$GPS1,013629,1922.786,-8107.436,36,1.1,41,-3.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.6
$GPS2,014401,1922.808,-8107.492,13,1.1,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TIN
$TGT_LATLONG,1922.800,-8113.500
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.218,-0.141
$KALMAN_X,10569.2,102.9,-16.8,-10809.0,783.4
$KALMAN_Y,1732.3,-479.6,-645.5,-2003.2,2541.2
$MHEAD_RNG_PITCHd_Wd,240.8,10497,-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,-70.93,0.000,2,0.000,0.000,465,2162,3510,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.8,-5.5,9,120,13.68,2.42,-5.10,0.000,4,0.166,0.046,2978,658,3786,0,0,0,0,0,0
$GC,282,-1.07,-146.0,44.2,-17.8,31,287,0.22,2.42,0.00,0.000,6,0.101,0.016,3026,2245,3787,0,0,0,0,0,0
$GC,551,-0.95,-146.0,83.9,-14.2,55,556,0.12,2.62,0.00,0.000,4,0.107,0.044,3054,662,3788,0,0,0,0,0,0
$GC,587,-0.88,-146.0,89.2,-13.2,57,591,0.00,2.38,0.00,0.000,6,0.000,0.015,3054,2210,3788,0,0,0,0,0,0
$GC,856,-0.84,-146.0,122.0,-11.6,81,861,0.10,0.00,0.00,0.000,6,0.117,0.000,3076,2210,3788,0,0,0,0,0,0
$GC,1121,-0.93,-146.0,145.4,-6.7,106,1125,0.00,2.55,0.00,0.000,4,0.000,0.044,3076,660,3789,0,0,0,0,0,0
$GC,1168,-1.06,-146.0,148.9,-7.0,109,1174,0.20,2.35,0.00,0.000,6,0.047,0.016,3001,2199,3788,0,0,0,0,0,0
$GC,1431,-1.06,-146.0,174.1,-9.6,134,1436,0.12,2.55,0.00,0.000,4,0.095,0.052,3030,659,3789,0,0,0,0,0,0
$GC,1467,-1.06,-146.0,176.9,-9.1,136,1471,0.00,2.35,0.00,0.000,6,0.000,0.025,3030,2191,3789,0,0,0,0,0,0
$GC,1734,-1.12,-146.0,196.4,-6.5,160,1738,0.00,2.50,0.00,0.000,4,0.000,0.038,3030,3776,3790,0,0,0,0,0,0
$GC,1781,-1.21,-146.0,199.5,-7.3,163,1786,0.15,2.42,0.00,0.000,6,0.056,0.018,2967,2215,3790,0,0,0,0,0,0
$GC,2031,-1.15,-146.0,223.2,-9.2,169,2037,0.17,2.53,0.00,0.000,4,0.088,0.035,3010,3776,3790,0,0,0,0,0,0
$GC,2061,-1.15,-146.0,225.5,-8.3,169,2065,0.00,2.45,0.00,0.000,6,0.000,0.019,3010,2203,3790,0,0,0,0,0,0
$GC,2311,-1.15,-146.0,244.9,-7.9,175,2315,0.00,2.55,0.00,0.000,4,0.000,0.052,3009,644,3789,0,0,0,0,0,0
$GC,2378,-1.19,-146.0,250.3,-7.9,176,2382,0.00,2.38,0.00,0.000,6,0.000,0.019,3010,2195,3789,0,0,0,0,0,0
$GC,2635,-1.23,-146.0,270.0,-7.8,183,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2195,3789,0,0,0,0,0,0
$GC,2877,-1.28,-146.0,290.1,-8.2,189,2879,0.12,0.00,0.00,0.000,6,0.069,0.000,2960,2195,3789,0,0,0,0,0,0
$GC,3120,-1.23,-146.0,313.3,-9.6,195,3126,0.15,2.58,0.00,0.000,4,0.091,0.048,2995,3771,3788,0,0,0,0,0,0
$GC,3167,-1.26,-146.0,317.5,-9.1,196,3172,0.00,2.47,0.00,0.000,6,0.000,0.028,2995,2201,3788,0,0,0,0,0,0
$GC,3445,-1.26,-146.0,341.0,-8.5,203,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,3787,0,0,0,0,0,0
$GC,3689,-1.26,-146.0,361.5,-8.4,209,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,3786,0,0,0,0,0,0
$GC,3935,-1.26,-146.0,381.3,-8.2,215,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,3785,0,0,0,0,0,0
$GC,4177,-1.26,-146.0,400.8,-8.0,221,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,3785,0,0,0,0,0,0
$GC,4420,-1.26,-146.0,419.6,-7.8,227,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,3784,0,0,0,0,0,0
$GC,4664,-1.30,-146.0,437.2,-7.0,233,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,3783,0,0,0,0,0,0
$GC,4908,-1.34,-146.0,453.4,-6.7,239,4910,0.12,0.00,0.00,0.000,6,0.067,0.000,2946,2201,3782,0,0,0,0,0,0
$GC,5152,-1.28,-146.0,475.0,-9.0,245,5157,0.15,2.67,0.00,0.000,4,0.094,0.064,2981,3765,3781,0,0,0,0,0,0
$GC,5179,-1.28,-146.0,477.3,-8.3,245,5184,0.00,2.58,0.00,0.000,6,0.000,0.047,2980,2198,3781,0,0,0,0,0,0
$GC,5432,-1.28,-146.0,496.0,-7.4,251,5436,0.00,2.88,0.00,0.000,4,0.000,0.101,2980,622,3780,0,0,0,0,0,0
$GC,5464,-1.28,-146.0,498.7,-7.5,251,5470,0.00,2.53,0.00,0.000,6,0.000,0.044,2980,2161,3780,0,0,0,0,0,0
$GC,5714,-1.28,-146.0,517.4,-7.4,258,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2161,3778,0,0,0,0,0,0
$GC,5960,-1.28,-146.0,536.4,-7.8,264,5965,0.00,2.85,0.00,0.000,4,0.000,0.078,2980,3797,3777,0,0,0,0,0,0
$GC,5999,-1.28,-146.0,539.9,-8.9,265,6004,0.00,2.70,0.00,0.000,6,0.000,0.054,2981,2187,3777,0,0,0,0,0,0
$GC,6282,-1.28,-146.0,562.5,-8.0,272,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3776,0,0,0,0,0,0
$GC,6528,-1.28,-146.0,582.6,-8.3,278,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3775,0,0,0,0,0,0
$GC,6772,-1.28,-146.0,601.3,-7.6,284,6776,0.00,2.85,0.00,0.000,4,0.000,0.083,2980,3792,3774,0,0,0,0,0,0
$GC,6798,-1.28,-146.0,603.8,-8.4,284,6803,0.00,2.75,0.00,0.000,6,0.000,0.064,2980,2192,3774,0,0,0,0,0,0
$GC,7051,-1.28,-146.0,622.4,-7.6,290,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2192,3772,0,0,0,0,0,0
$GC,7292,-1.28,-146.0,641.8,-7.9,296,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2192,3771,0,0,0,0,0,0
$GC,7536,-1.28,-146.0,660.2,-7.5,302,7541,0.00,2.92,0.00,0.000,4,0.000,0.100,2980,3790,3770,0,0,0,0,0,0
$GC,7569,-1.32,-146.0,662.8,-8.9,302,7575,0.00,2.85,0.00,0.000,6,0.000,0.094,2980,2209,3769,0,0,0,0,0,0
$GC,7821,-1.32,-146.0,682.9,-8.0,309,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3768,0,0,0,0,0,0
$GC,8063,-1.32,-146.0,700.9,-7.3,315,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3767,0,0,0,0,0,0
$GC,8307,-1.32,-146.0,717.1,-6.6,321,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3766,0,0,0,0,0,0
$GC,8553,-1.32,-146.0,733.7,-6.8,327,8558,0.00,3.12,0.00,0.000,4,0.000,0.142,2980,3785,3764,0,0,0,0,0,0
$GC,8568,-1.32,-146.0,734.9,-6.7,327,8573,0.00,2.83,0.00,0.000,6,0.000,0.081,2980,2202,3764,0,0,0,0,0,0
$GC,8829,-1.32,-146.0,752.4,-6.7,334,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2202,3762,0,0,0,0,0,0
$GC,9073,-1.32,-146.0,770.0,-7.3,340,9077,0.00,2.83,0.00,0.000,4,0.000,0.092,2980,3793,3761,0,0,0,0,0,0
$GC,9096,-1.32,-146.0,771.6,-7.1,340,9101,0.00,2.78,0.00,0.000,6,0.000,0.076,2980,2204,3761,0,0,0,0,0,0
$GC,9351,-1.32,-146.0,790.3,-7.5,347,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2204,3761,0,0,0,0,0,0
$GC,9595,-1.36,-146.0,808.8,-7.5,353,9600,0.00,2.80,0.00,0.000,4,0.000,0.086,2980,3787,3760,0,0,0,0,0,0
$GC,9625,-1.39,-146.0,810.9,-8.0,353,9630,0.10,2.75,0.00,0.000,6,0.082,0.074,2942,2210,3760,0,0,0,0,0,0
$GC,9875,-1.39,-146.0,831.7,-8.0,359,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2210,3758,0,0,0,0,0,0
$GC,10119,-1.56,-146.0,842.3,-2.6,365,10124,0.00,2.78,0.00,0.000,4,0.000,0.073,2942,3790,3757,0,0,0,0,0,0
$STATE,10249,end dive,NO_VERTICAL_VELOCITY
$STATE,10250,begin apogee
$GC,10258,-0.31,0.0,842.3,0.0,368,10380,1.05,0.00,118.35,1.171,6,0.054,0.000,3191,2367,3190,0,0,0,0,0,0
$STATE,10380,end apogee,CONTROL_FINISHED_OK
$STATE,10381,begin climb
$GC,10383,1.27,146.0,842.1,0.0,371,10520,1.45,3.15,125.93,1.138,4,0.039,0.111,3544,776,2592,0,0,0,0,0,0
$GC,10565,1.20,193.7,832.6,7.8,375,10615,0.12,2.75,42.92,1.098,6,0.123,0.054,3521,2369,2399,0,0,0,0,0,0
$GC,10876,1.20,193.7,796.3,12.2,383,10881,0.00,2.78,0.00,0.000,4,0.000,0.080,3520,3938,2392,0,0,0,0,0,0
$GC,10943,1.15,193.7,787.7,13.6,384,10947,0.00,2.62,0.00,0.000,6,0.000,0.045,3520,2376,2391,0,0,0,0,0,0
$GC,11200,1.15,193.7,757.4,11.9,391,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2376,2390,0,0,0,0,0,0
$GC,11441,1.15,193.7,730.4,11.2,397,11445,0.00,2.65,0.00,0.000,4,0.000,0.051,3520,3942,2388,0,0,0,0,0,0
$GC,11468,1.11,193.7,727.0,12.3,397,11472,0.00,2.60,0.00,0.000,6,0.000,0.039,3520,2382,2387,0,0,0,0,0,0
$GC,11720,1.11,193.7,700.2,10.7,403,11721,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2382,2387,0,0,0,0,0,0
$GC,11961,1.11,193.7,675.3,10.1,409,11962,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2382,2387,0,0,0,0,0,0
$GC,12205,1.11,194.5,650.5,10.0,415,12210,0.00,2.65,0.00,0.000,4,0.000,0.058,3520,3945,2386,0,0,0,0,0,0
$GC,12237,1.11,194.5,646.6,11.2,415,12243,0.00,2.62,0.00,0.000,6,0.000,0.046,3520,2383,2385,0,0,0,0,0,0
$GC,12489,1.11,194.5,618.9,11.1,422,12494,0.00,2.65,0.00,0.000,4,0.000,0.052,3520,3945,2385,0,0,0,0,0,0
$GC,12516,1.06,194.5,615.3,11.9,422,12521,0.15,2.62,0.00,0.000,6,0.111,0.044,3489,2375,2385,0,0,0,0,0,0
$GC,12766,1.08,207.7,591.6,9.4,428,12779,0.00,0.00,11.32,0.919,6,0.000,0.000,3489,2375,2343,0,0,0,0,0,0
$GC,13012,1.15,265.5,572.7,7.3,434,13072,0.00,2.75,53.78,0.979,4,0.000,0.064,3489,3937,2107,0,0,0,0,0,0
$GC,13102,1.11,298.8,566.0,8.5,436,13141,0.00,2.62,31.38,0.944,6,0.000,0.040,3489,2385,1970,0,0,0,0,0,0
$GC,13429,1.17,298.8,535.0,10.9,444,13435,0.10,3.03,0.00,0.000,4,0.085,0.108,3521,781,1965,0,0,0,0,0,0
$GC,13457,1.17,298.8,530.9,13.1,444,13461,0.00,2.65,0.00,0.000,6,0.000,0.036,3521,2386,1964,0,0,0,0,0,0
$GC,13710,2.18,515.0,525.6,0.0,450,13906,0.88,2.83,186.30,0.933,4,0.055,0.079,3732,3927,1089,0,0,0,0,0,0
$GC,14163,2.90,725.6,525.6,0.3,460,14295,0.12,2.50,124.62,0.915,6,0.078,0.024,3770,2365,477,0,0,0,0,0,0
$GC,14551,4.02,942.5,525.5,-0.0,470,14556,0.00,2.67,0.00,0.000,4,0.000,0.056,3770,3932,473,0,0,0,0,0,0
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$STATE,25504,end climb,SURFACE_DEPTH_REACHED
$STATE,25504,begin surface coast
$FINISH,1.0,1.009755
$STATE,25521,end surface coast,CONTROL_FINISHED_OK
$STATE,25521,begin surface
$SM_CCo,25606,0.00,0.000,0,0,473,666.48
$SM_GC,1.79,13.23,0.00,0.00,0.021,0.000,0.000,466,2155,473,-12.72,-1.55,666.48
$IRIDIUM_FIX,1916.08,-8105.33,240502,212125
$TT8_MAMPS,0.025311
$HUMID,66.61
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,19.50
$XPDR_PINGS,84
$24V_AH,23.3,29.171
$10V_AH,10.3,25.673
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.525,252.575,694.600,0.000,0.000,30.274,33.877,219.901,21.000,0.000,14.914,1882.327,19278.459,769.816,3258.392,858.908,33.361,2364.082,0.000,3203.317,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,518.346,260.382,332.371,344.837,655.347,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,57278,767
$CAP_FILE_SIZE,235997,0
$CFSIZE,260165632,114024448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280213,085259,1921.616,-8109.163,38,1.4,39,-3.8