version: 66.06
glider: 146
mission: 8
dive: 253
start: 3 10 113 9 17 55
data:
$ID,146
$MISSION,8
$DIVE,253
$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,-312408.09
$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,39
$R_STBD_OVSHOOT,33
$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
$GPS1,090036,1927.173,-8110.249,37,1.5,37,-3.8
$_CALLS,4
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.0
$GPS2,091701,1927.144,-8110.369,12,1.3,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,-0.136
$KALMAN_X,-17116.8,369.4,241.2,11329.1,-1956.9
$KALMAN_Y,14391.8,-138.1,328.3,-7958.9,46.3
$MHEAD_RNG_PITCHd_Wd,125.3,6412,-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,-71.12,0.000,2,0.000,0.000,463,2198,3493,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.4,-4.3,9,123,13.62,2.55,-5.30,0.000,4,0.163,0.050,2978,638,3787,0,0,0,0,0,0
$GC,249,-1.11,-146.0,39.2,-17.4,28,258,0.15,2.50,0.00,0.000,6,0.084,0.018,3016,2231,3787,0,0,0,0,0,0
$GC,520,-0.99,-146.0,78.2,-14.9,53,525,0.12,2.65,0.00,0.000,4,0.107,0.044,3044,640,3788,0,0,0,0,0,0
$GC,554,-0.89,-146.0,83.9,-14.1,55,559,0.10,2.40,0.00,0.000,6,0.117,0.016,3066,2205,3788,0,0,0,0,0,0
$GC,823,-0.89,-146.0,113.7,-9.3,79,827,0.00,2.58,0.00,0.000,4,0.000,0.044,3066,641,3788,0,0,0,0,0,0
$GC,856,-0.89,-146.0,117.0,-9.4,81,860,0.00,2.38,0.00,0.000,6,0.000,0.019,3066,2190,3788,0,0,0,0,0,0
$GC,1125,-0.96,-146.0,141.1,-8.4,105,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2190,3789,0,0,0,0,0,0
$GC,1392,-1.06,-146.0,161.4,-7.1,130,1397,0.15,0.00,0.00,0.000,6,0.058,0.000,3006,2189,3789,0,0,0,0,0,0
$GC,1654,-1.06,-146.0,183.7,-8.6,155,1656,0.10,0.00,0.00,0.000,6,0.104,0.000,3031,2189,3789,0,0,0,0,0,0
$GC,1907,-1.12,-146.0,203.3,-7.5,176,1911,0.00,2.58,0.00,0.000,4,0.000,0.048,3031,634,3789,0,0,0,0,0,0
$GC,1925,-1.19,-146.0,204.7,-7.3,176,1930,0.12,2.38,0.00,0.000,6,0.064,0.025,2976,2185,3789,0,0,0,0,0,0
$GC,2186,-1.15,-146.0,227.7,-8.7,183,2188,0.15,0.00,0.00,0.000,6,0.090,0.000,3012,2185,3789,0,0,0,0,0,0
$GC,2430,-1.19,-146.0,245.5,-7.3,189,2435,0.00,2.55,0.00,0.000,4,0.000,0.041,3012,3780,3789,0,0,0,0,0,0
$GC,2455,-1.23,-146.0,247.3,-8.1,189,2459,0.00,2.50,0.00,0.000,6,0.000,0.024,3012,2182,3789,0,0,0,0,0,0
$GC,2710,-1.27,-146.0,266.5,-7.4,196,2715,0.12,2.58,0.00,0.000,4,0.066,0.056,2960,636,3788,0,0,0,0,0,0
$GC,2726,-1.27,-146.0,268.0,-7.8,196,2731,0.10,2.38,0.00,0.000,6,0.109,0.021,2983,2183,3788,0,0,0,0,0,0
$GC,2989,-1.27,-146.0,292.4,-9.4,203,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2183,3788,0,0,0,0,0,0
$GC,3231,-1.27,-146.0,314.6,-9.0,209,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2183,3787,0,0,0,0,0,0
$GC,3475,-1.27,-146.0,335.3,-8.4,215,3479,0.00,2.58,0.00,0.000,4,0.000,0.041,2983,3782,3787,0,0,0,0,0,0
$GC,3492,-1.27,-146.0,336.7,-8.3,215,3497,0.00,2.53,0.00,0.000,6,0.000,0.028,2983,2188,3786,0,0,0,0,0,0
$GC,3753,-1.27,-146.0,358.5,-8.4,222,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2188,3785,0,0,0,0,0,0
$GC,3997,-1.27,-146.0,379.0,-8.3,228,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2188,3784,0,0,0,0,0,0
$GC,4240,-1.27,-146.0,398.6,-8.0,234,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2188,3783,0,0,0,0,0,0
$GC,4488,-1.27,-146.0,418.4,-8.3,240,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2188,3782,0,0,0,0,0,0
$GC,4728,-1.27,-146.0,438.3,-8.1,246,4732,0.00,2.60,0.00,0.000,4,0.000,0.055,2983,3769,3782,0,0,0,0,0,0
$GC,4744,-1.27,-146.0,439.8,-8.3,246,4748,0.00,2.55,0.00,0.000,6,0.000,0.040,2983,2200,3782,0,0,0,0,0,0
$GC,5007,-1.27,-146.0,461.3,-8.2,253,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3781,0,0,0,0,0,0
$GC,5248,-1.27,-146.0,479.8,-7.5,259,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2200,3780,0,0,0,0,0,0
$GC,5492,-1.27,-146.0,498.1,-7.5,265,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2200,3778,0,0,0,0,0,0
$GC,5736,-1.27,-146.0,516.5,-7.6,271,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2200,3778,0,0,0,0,0,0
$GC,5982,-1.27,-146.0,535.5,-7.7,277,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2200,3777,0,0,0,0,0,0
$GC,6223,-1.27,-146.0,556.0,-8.6,283,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2200,3776,0,0,0,0,0,0
$GC,6467,-1.27,-146.0,576.6,-8.4,289,6471,0.00,2.80,0.00,0.000,4,0.000,0.089,2983,3770,3774,0,0,0,0,0,0
$GC,6482,-1.27,-146.0,578.0,-7.9,289,6487,0.00,2.65,0.00,0.000,6,0.000,0.059,2983,2197,3774,0,0,0,0,0,0
$GC,6745,-1.27,-146.0,597.3,-7.2,296,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2197,3773,0,0,0,0,0,0
$GC,6987,-1.27,-146.0,614.4,-7.1,302,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2197,3772,0,0,0,0,0,0
$GC,7231,-1.27,-146.0,633.5,-7.9,308,7235,0.00,2.80,0.00,0.000,4,0.000,0.091,2983,3763,3770,0,0,0,0,0,0
$GC,7255,-1.27,-146.0,635.3,-8.4,308,7259,0.00,2.75,0.00,0.000,6,0.000,0.078,2983,2200,3770,0,0,0,0,0,0
$GC,7510,-1.27,-146.0,656.1,-8.0,315,7515,0.00,3.05,0.00,0.000,4,0.000,0.128,2983,618,3769,0,0,0,0,0,0
$GC,7525,-1.27,-146.0,657.5,-7.7,315,7530,0.00,2.70,0.00,0.000,6,0.000,0.076,2983,2164,3769,0,0,0,0,0,0
$GC,7789,-1.27,-146.0,678.2,-7.9,322,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2164,3767,0,0,0,0,0,0
$GC,8030,-1.27,-146.0,695.7,-7.0,328,8035,0.00,3.10,0.00,0.000,4,0.000,0.120,2983,3797,3767,0,0,0,0,0,0
$GC,8074,-1.32,-146.0,699.1,-8.0,329,8079,0.00,2.80,0.00,0.000,6,0.000,0.076,2983,2198,3766,0,0,0,0,0,0
$GC,8356,-1.32,-146.0,719.5,-7.4,336,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2198,3765,0,0,0,0,0,0
$GC,8598,-1.35,-146.0,738.7,-8.1,342,8603,0.00,2.88,0.00,0.000,4,0.000,0.088,2983,3806,3763,0,0,0,0,0,0
$GC,8631,-1.39,-146.0,741.6,-8.4,342,8637,0.12,2.78,0.00,0.000,6,0.070,0.072,2939,2206,3763,0,0,0,0,0,0
$GC,8884,-1.34,-146.0,766.1,-9.8,349,8886,0.12,0.00,0.00,0.000,6,0.104,0.000,2966,2206,3762,0,0,0,0,0,0
$GC,9125,-1.34,-146.0,786.5,-8.1,355,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2206,3762,0,0,0,0,0,0
$GC,9368,-1.34,-146.0,805.7,-7.8,361,9373,0.00,2.83,0.00,0.000,4,0.000,0.084,2967,3798,3760,0,0,0,0,0,0
$GC,9398,-1.34,-146.0,807.9,-8.5,361,9402,0.00,2.75,0.00,0.000,6,0.000,0.064,2966,2210,3760,0,0,0,0,0,0
$GC,9652,-1.34,-146.0,827.3,-7.6,367,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2210,3759,0,0,0,0,0,0
$GC,9891,-1.34,-146.0,844.9,-7.2,373,9896,0.00,2.80,0.00,0.000,4,0.000,0.079,2966,3805,3757,0,0,0,0,0,0
$GC,9918,-1.34,-146.0,847.0,-7.3,373,9923,0.00,2.75,0.00,0.000,6,0.000,0.067,2967,2214,3757,0,0,0,0,0,0
$GC,10171,-1.34,-146.0,864.8,-7.2,379,10175,0.00,2.78,0.00,0.000,4,0.000,0.081,2967,3801,3756,0,0,0,0,0,0
$GC,10192,-1.34,-146.0,866.7,-7.3,379,10197,0.00,2.72,0.00,0.000,6,0.000,0.061,2966,2218,3756,0,0,0,0,0,0
$GC,10448,-1.34,-146.0,886.3,-7.8,386,10453,0.00,2.78,0.00,0.000,4,0.000,0.081,2967,3800,3755,0,0,0,0,0,0
$GC,10466,-1.34,-146.0,887.8,-7.8,386,10470,0.00,2.72,0.00,0.000,6,0.000,0.064,2966,2220,3755,0,0,0,0,0,0
$STATE,10643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10643,begin apogee
$GC,10649,-0.31,0.0,901.9,7.8,391,10772,0.98,0.00,119.30,1.216,6,0.069,0.000,3190,2391,3190,0,0,0,0,0,0
$STATE,10773,end apogee,CONTROL_FINISHED_OK
$STATE,10773,begin climb
$GC,10775,1.27,146.0,905.0,0.0,394,10912,1.45,2.70,127.12,1.183,4,0.038,0.075,3544,3924,2593,0,0,0,0,0,0
$GC,10986,1.14,146.0,891.2,12.4,399,10991,0.17,2.70,0.00,0.000,6,0.111,0.056,3508,2366,2588,0,0,0,0,0,0
$GC,11272,1.12,157.3,864.3,9.5,406,11288,0.00,2.75,10.32,1.017,4,0.000,0.067,3509,3927,2547,0,0,0,0,0,0
$GC,11316,1.06,157.3,859.3,10.7,407,11321,0.00,2.67,0.00,0.000,6,0.000,0.051,3508,2370,2546,0,0,0,0,0,0
$GC,11596,1.06,157.3,831.1,10.2,414,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2370,2543,0,0,0,0,0,0
$GC,11837,1.07,171.0,807.9,9.4,420,11856,0.00,2.78,12.77,1.045,4,0.000,0.058,3508,3927,2493,0,0,0,0,0,0
$GC,11897,1.03,171.0,801.8,10.2,421,11902,0.12,2.65,0.00,0.000,6,0.121,0.043,3484,2375,2491,0,0,0,0,0,0
$GC,12166,1.08,211.8,779.6,8.1,428,12206,0.00,0.00,38.78,1.111,6,0.000,0.000,3484,2376,2326,0,0,0,0,0,0
$GC,12448,1.14,223.5,753.4,9.5,435,12462,0.10,0.00,11.88,1.003,6,0.085,0.000,3516,2376,2278,0,0,0,0,0,0
$GC,12693,1.14,223.5,726.2,11.3,441,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2376,2275,0,0,0,0,0,0
$GC,12934,1.14,223.5,698.3,11.4,447,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2376,2273,0,0,0,0,0,0
$GC,13178,1.14,223.5,670.0,11.7,453,13182,0.00,2.65,0.00,0.000,4,0.000,0.057,3515,3930,2273,0,0,0,0,0,0
$GC,13221,1.14,223.5,664.4,13.1,454,13226,0.00,2.62,0.00,0.000,6,0.000,0.048,3515,2378,2272,0,0,0,0,0,0
$GC,13501,1.14,223.5,631.8,11.7,461,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2378,2272,0,0,0,0,0,0
$GC,13743,1.14,223.5,603.7,11.5,467,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2378,2271,0,0,0,0,0,0
$GC,13987,1.14,223.5,575.9,11.5,473,13991,0.00,3.00,0.00,0.000,4,0.000,0.110,3515,775,2271,0,0,0,0,0,0
$GC,14002,1.14,223.5,574.0,11.5,473,14006,0.00,2.65,0.00,0.000,6,0.000,0.041,3515,2382,2271,0,0,0,0,0,0
$GC,14271,1.14,223.5,543.2,11.5,480,14276,0.00,2.65,0.00,0.000,4,0.000,0.059,3515,3939,2270,0,0,0,0,0,0
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$STATE,19166,end climb,SURFACE_DEPTH_REACHED
$STATE,19166,begin surface coast
$FINISH,0.9,1.011215
$STATE,19202,end surface coast,CONTROL_FINISHED_OK
$STATE,19202,begin surface
$SM_CCo,19225,55.50,0.493,0,0,1762,350.04
$SM_GC,2.02,0.00,0.00,55.50,0.000,0.000,0.493,462,2180,1762,-12.87,-0.85,350.04
$IRIDIUM_FIX,1920.65,-8109.84,040602,090902
$TT8_MAMPS,0.026078
$HUMID,58.70
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.20
$XPDR_PINGS,49
$24V_AH,23.3,35.827
$10V_AH,10.3,31.516
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.600,169.750,373.925,55.500,0.000,117.424,180.495,326.147,12.250,0.000,13.670,1503.798,14863.726,544.897,2240.820,1105.994,33.365,1475.597,0.000,2240.718,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.386,338.881,441.076,567.727,1079.529,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,57279,735
$CAP_FILE_SIZE,164839,0
$CFSIZE,260165632,110776320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100313,144036,1926.402,-8108.100,37,1.2,37,-3.8