version: 66.06
glider: 146
mission: 8
dive: 239
start: 3 7 113 6 5 58
data:
$ID,146
$MISSION,8
$DIVE,239
$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,-312149.66
$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,41
$R_STBD_OVSHOOT,43
$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
$GPS1,055359,1928.063,-8114.657,41,1.2,41,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.2
$GPS2,060501,1928.025,-8114.722,13,1.1,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.117
$KALMAN_X,-6925.2,184.0,109.9,-6151.0,-1430.4
$KALMAN_Y,7516.8,433.1,-11.9,319.6,580.0
$MHEAD_RNG_PITCHd_Wd,120.5,13435,-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,-70.88,0.000,2,0.000,0.000,466,2199,3475,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.3,-3.8,9,121,13.68,2.55,-6.07,0.000,4,0.166,0.050,2979,635,3787,0,0,0,0,0,0
$GC,214,-1.10,-146.0,29.3,-16.1,25,223,0.15,2.47,0.00,0.000,6,0.087,0.017,3015,2223,3787,0,0,0,0,0,0
$GC,482,-0.97,-146.0,70.8,-15.5,50,487,0.15,2.60,0.00,0.000,4,0.103,0.043,3050,643,3787,0,0,0,0,0,0
$GC,519,-0.89,-146.0,76.5,-14.8,52,524,0.00,2.38,0.00,0.000,6,0.000,0.016,3050,2205,3787,0,0,0,0,0,0
$GC,782,-0.83,-146.0,109.7,-12.6,76,787,0.12,2.58,0.00,0.000,4,0.106,0.044,3078,638,3788,0,0,0,0,0,0
$GC,811,-0.83,-146.0,113.5,-11.9,78,815,0.00,2.38,0.00,0.000,6,0.000,0.016,3078,2201,3788,0,0,0,0,0,0
$GC,1077,-0.89,-146.0,138.9,-8.5,102,1081,0.00,2.45,0.00,0.000,4,0.000,0.031,3078,3765,3788,0,0,0,0,0,0
$GC,1099,-0.98,-146.0,141.1,-8.0,103,1105,0.12,2.40,0.00,0.000,6,0.064,0.022,3017,2211,3788,0,0,0,0,0,0
$GC,1364,-0.98,-146.0,164.9,-9.1,128,1369,0.12,2.58,0.00,0.000,4,0.098,0.051,3047,636,3789,0,0,0,0,0,0
$GC,1417,-1.08,-146.0,169.4,-7.8,132,1422,0.10,2.40,0.00,0.000,6,0.078,0.019,2996,2209,3789,0,0,0,0,0,0
$GC,1678,-1.08,-146.0,192.8,-8.8,156,1680,0.12,0.00,0.00,0.000,6,0.096,0.000,3026,2209,3789,0,0,0,0,0,0
$GC,1936,-1.13,-146.0,212.4,-7.3,169,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2209,3790,0,0,0,0,0,0
$GC,2182,-1.19,-146.0,230.5,-7.2,175,2184,0.10,0.00,0.00,0.000,6,0.077,0.000,2972,2209,3790,0,0,0,0,0,0
$GC,2423,-1.19,-146.0,252.8,-9.3,181,2425,0.12,0.00,0.00,0.000,6,0.095,0.000,3001,2209,3790,0,0,0,0,0,0
$GC,2667,-1.19,-146.0,271.6,-7.7,187,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2209,3789,0,0,0,0,0,0
$GC,2913,-1.19,-146.0,291.4,-8.3,193,2917,0.00,2.53,0.00,0.000,4,0.000,0.041,3001,3769,3789,0,0,0,0,0,0
$GC,2929,-1.19,-146.0,292.9,-8.4,193,2933,0.00,2.42,0.00,0.000,6,0.000,0.027,3001,2213,3789,0,0,0,0,0,0
$GC,3189,-1.19,-146.0,314.2,-8.1,200,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2213,3789,0,0,0,0,0,0
$GC,3433,-1.19,-146.0,332.3,-7.3,206,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2213,3788,0,0,0,0,0,0
$GC,3680,-1.23,-146.0,349.3,-7.0,212,3684,0.00,2.62,0.00,0.000,4,0.000,0.067,3001,641,3786,0,0,0,0,0,0
$GC,3695,-1.23,-146.0,350.7,-7.2,212,3700,0.00,2.45,0.00,0.000,6,0.000,0.032,3001,2189,3787,0,0,0,0,0,0
$GC,3957,-1.27,-146.0,369.4,-7.1,219,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2189,3786,0,0,0,0,0,0
$GC,4203,-1.31,-146.0,386.8,-7.1,225,4205,0.12,0.00,0.00,0.000,6,0.067,0.000,2951,2189,3785,0,0,0,0,0,0
$GC,4444,-1.25,-146.0,409.9,-9.7,231,4446,0.15,0.00,0.00,0.000,6,0.091,0.000,2986,2189,3784,0,0,0,0,0,0
$GC,4688,-1.25,-146.0,431.9,-9.1,237,4692,0.00,2.65,0.00,0.000,4,0.000,0.067,2986,637,3784,0,0,0,0,0,0
$GC,4706,-1.25,-146.0,433.5,-9.1,237,4710,0.00,2.53,0.00,0.000,6,0.000,0.038,2986,2200,3783,0,0,0,0,0,0
$GC,4966,-1.25,-146.0,456.4,-8.5,244,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2200,3782,0,0,0,0,0,0
$GC,5210,-1.25,-146.0,475.4,-7.7,250,5214,0.00,2.70,0.00,0.000,4,0.000,0.071,2986,3798,3781,0,0,0,0,0,0
$GC,5245,-1.25,-146.0,478.1,-8.3,250,5250,0.00,2.60,0.00,0.000,6,0.000,0.046,2986,2217,3780,0,0,0,0,0,0
$GC,5495,-1.25,-146.0,497.8,-7.9,257,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2217,3780,0,0,0,0,0,0
$GC,5738,-1.25,-146.0,517.9,-8.4,263,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2217,3778,0,0,0,0,0,0
$GC,5982,-1.25,-146.0,538.2,-8.2,269,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2217,3777,0,0,0,0,0,0
$GC,6228,-1.25,-146.0,557.5,-7.9,275,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2217,3777,0,0,0,0,0,0
$GC,6469,-1.25,-146.0,575.6,-7.3,281,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2217,3775,0,0,0,0,0,0
$GC,6713,-1.25,-146.0,593.2,-7.3,287,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2217,3774,0,0,0,0,0,0
$GC,6957,-1.25,-146.0,611.2,-7.4,293,6962,0.00,2.85,0.00,0.000,4,0.000,0.097,2986,3796,3773,0,0,0,0,0,0
$GC,6980,-1.25,-146.0,613.0,-8.1,293,6985,0.00,2.75,0.00,0.000,6,0.000,0.071,2986,2204,3773,0,0,0,0,0,0
$GC,7235,-1.25,-146.0,632.5,-7.6,300,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2204,3771,0,0,0,0,0,0
$GC,7479,-1.25,-146.0,650.6,-7.4,306,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2204,3770,0,0,0,0,0,0
$GC,7725,-1.25,-146.0,669.2,-7.6,312,7730,0.00,2.90,0.00,0.000,4,0.000,0.104,2986,3786,3769,0,0,0,0,0,0
$GC,7741,-1.25,-146.0,670.7,-7.7,312,7746,0.00,2.85,0.00,0.000,6,0.000,0.092,2986,2204,3768,0,0,0,0,0,0
$GC,8002,-1.29,-146.0,691.2,-7.9,319,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2203,3767,0,0,0,0,0,0
$GC,8248,-1.29,-146.0,710.7,-8.0,325,8253,0.00,3.00,0.00,0.000,4,0.000,0.121,2986,3786,3766,0,0,0,0,0,0
$GC,8277,-1.34,-146.0,713.3,-8.4,325,8282,0.00,2.78,0.00,0.000,6,0.000,0.078,2986,2203,3766,0,0,0,0,0,0
$GC,8528,-1.38,-146.0,733.2,-7.8,331,8530,0.12,0.00,0.00,0.000,6,0.067,0.000,2941,2203,3765,0,0,0,0,0,0
$GC,8774,-1.33,-146.0,755.2,-9.1,337,8776,0.12,0.00,0.00,0.000,6,0.103,0.000,2968,2201,3764,0,0,0,0,0,0
$GC,9015,-1.33,-146.0,775.1,-8.1,343,9020,0.00,2.83,0.00,0.000,4,0.000,0.087,2968,3795,3762,0,0,0,0,0,0
$GC,9036,-1.33,-146.0,776.9,-8.3,343,9041,0.00,2.75,0.00,0.000,6,0.000,0.067,2968,2205,3762,0,0,0,0,0,0
$GC,9291,-1.33,-146.0,797.2,-7.9,350,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2205,3761,0,0,0,0,0,0
$GC,9537,-1.33,-146.0,816.0,-7.7,356,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2205,3761,0,0,0,0,0,0
$GC,9779,-1.33,-146.0,834.0,-7.2,362,9783,0.00,2.80,0.00,0.000,4,0.000,0.082,2968,3796,3760,0,0,0,0,0,0
$GC,9811,-1.33,-146.0,836.4,-7.8,362,9817,0.00,2.75,0.00,0.000,6,0.000,0.068,2968,2202,3760,0,0,0,0,0,0
$GC,10064,-1.33,-146.0,854.3,-7.2,369,10068,0.00,2.75,0.00,0.000,4,0.000,0.074,2968,3790,3758,0,0,0,0,0,0
$GC,10085,-1.33,-146.0,856.1,-7.8,369,10090,0.00,2.72,0.00,0.000,6,0.000,0.062,2968,2206,3758,0,0,0,0,0,0
$GC,10340,-1.33,-146.0,874.7,-7.3,376,10345,0.00,2.78,0.00,0.000,4,0.000,0.074,2968,3790,3757,0,0,0,0,0,0
$GC,10358,-1.33,-146.0,876.1,-7.3,376,10363,0.00,2.72,0.00,0.000,6,0.000,0.061,2968,2212,3756,0,0,0,0,0,0
$GC,10620,-1.33,-146.0,895.6,-7.5,383,10624,0.00,2.78,0.00,0.000,4,0.000,0.074,2968,3796,3756,0,0,0,0,0,0
$GC,10635,-1.33,-146.0,896.7,-7.6,383,10640,0.00,2.70,0.00,0.000,6,0.000,0.061,2968,2226,3756,0,0,0,0,0,0
$STATE,10691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10691,begin apogee
$GC,10699,-0.31,0.0,901.2,7.8,385,10823,0.98,0.00,119.80,1.219,6,0.067,0.000,3192,2377,3190,0,0,0,0,0,0
$STATE,10823,end apogee,CONTROL_FINISHED_OK
$STATE,10824,begin climb
$GC,10826,1.27,146.0,904.3,0.0,388,10961,1.42,2.80,126.95,1.187,4,0.035,0.077,3542,3925,2593,0,0,0,0,0,0
$GC,11066,1.14,146.0,887.6,11.0,393,11072,0.17,2.70,0.00,0.000,6,0.110,0.053,3508,2368,2588,0,0,0,0,0,0
$GC,11322,1.16,164.7,863.6,9.1,400,11341,0.00,0.00,16.92,1.084,6,0.000,0.000,3508,2368,2518,0,0,0,0,0,0
$GC,11568,1.18,177.7,841.0,9.4,406,11587,0.00,2.75,12.68,1.049,4,0.000,0.055,3508,3917,2465,0,0,0,0,0,0
$GC,11627,1.14,177.7,834.7,10.7,407,11631,0.00,2.62,0.00,0.000,6,0.000,0.044,3508,2376,2463,0,0,0,0,0,0
$GC,11895,1.15,184.9,808.8,9.7,414,11910,0.00,2.72,7.50,0.943,4,0.000,0.053,3507,3929,2436,0,0,0,0,0,0
$GC,11927,1.13,198.9,805.1,9.4,414,11947,0.00,2.65,14.73,1.055,6,0.000,0.044,3508,2376,2379,0,0,0,0,0,0
$GC,12219,1.13,198.9,774.5,10.5,422,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2376,2375,0,0,0,0,0,0
$GC,12466,1.13,198.9,748.8,10.7,428,12470,0.00,2.65,0.00,0.000,4,0.000,0.052,3508,3932,2374,0,0,0,0,0,0
$GC,12504,1.13,198.9,744.0,11.2,429,12509,0.00,2.65,0.00,0.000,6,0.000,0.046,3508,2373,2373,0,0,0,0,0,0
$GC,12787,1.13,198.9,713.4,10.7,436,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2374,2372,0,0,0,0,0,0
$GC,13033,1.13,198.9,688.7,10.1,442,13038,0.00,2.62,0.00,0.000,4,0.000,0.056,3507,3926,2372,0,0,0,0,0,0
$GC,13093,1.13,198.9,682.0,10.5,443,13098,0.00,2.58,0.00,0.000,6,0.000,0.045,3507,2386,2371,0,0,0,0,0,0
$GC,13361,1.15,214.2,656.9,9.3,450,13377,0.00,0.00,14.52,0.990,6,0.000,0.000,3508,2386,2316,0,0,0,0,0,0
$GC,13607,1.15,217.5,633.0,9.8,456,13613,0.00,0.00,4.25,0.682,6,0.000,0.000,3508,2386,2303,0,0,0,0,0,0
$GC,13848,1.15,217.5,607.7,10.4,462,13849,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2386,2302,0,0,0,0,0,0
$GC,14091,1.15,217.5,581.3,10.9,468,14096,0.00,2.60,0.00,0.000,4,0.000,0.054,3508,3927,2301,0,0,0,0,0,0
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$STATE,19556,end climb,SURFACE_DEPTH_REACHED
$STATE,19556,begin surface coast
$FINISH,1.0,1.010357
$STATE,19599,end surface coast,CONTROL_FINISHED_OK
$STATE,19599,begin surface
$SM_CCo,19623,39.40,0.491,0,0,1762,350.04
$SM_GC,2.06,0.00,0.00,39.40,0.000,0.000,0.491,464,2161,1762,-12.86,-1.39,350.04
$IRIDIUM_FIX,1920.65,-8116.97,010602,060627
$TT8_MAMPS,0.026078
$HUMID,58.89
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.40
$XPDR_PINGS,50
$24V_AH,23.3,33.872
$10V_AH,10.3,29.742
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.500,158.275,392.325,39.400,0.000,51.217,76.433,291.390,12.500,0.000,18.760,1505.339,15134.470,540.212,2244.968,892.518,33.372,1467.779,0.000,2244.820,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,508.299,352.257,447.135,587.966,1119.003,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,57147,750
$CAP_FILE_SIZE,161219,0
$CFSIZE,260165632,111783936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070313,113500,1927.510,-8112.717,38,1.3,38,-3.8