version: 66.06
glider: 146
mission: 8
dive: 254
start: 3 10 113 14 55 59
data:
$ID,146
$MISSION,8
$DIVE,254
$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,-312439.88
$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,55
$R_STBD_OVSHOOT,38
$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
$GPS1,144036,1926.402,-8108.100,37,1.2,37,-3.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.5
$GPS2,145506,1926.339,-8108.149,12,1.6,29,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.238
$KALMAN_X,-17179.9,196.8,313.7,15362.8,-1680.7
$KALMAN_Y,15826.6,-155.7,-158.7,-10375.6,1821.2
$MHEAD_RNG_PITCHd_Wd,160.1,3415,-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,19,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-62.72,0.000,2,0.000,0.000,462,2181,3278,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.8,8,123,13.57,0.00,-10.18,0.000,6,0.163,0.000,2978,2181,3786,0,0,0,0,0,0
$GC,400,-1.07,-146.0,62.4,-16.7,43,405,0.22,2.50,0.00,0.000,4,0.102,0.042,3027,647,3788,0,0,0,0,0,0
$GC,425,-0.90,-146.0,67.1,-16.5,44,435,0.12,2.45,0.00,0.000,6,0.081,0.016,3059,2228,3787,0,0,0,0,0,0
$GC,693,-0.90,-146.0,99.2,-12.2,69,697,0.00,2.60,0.00,0.000,4,0.000,0.042,3059,648,3787,0,0,0,0,0,0
$GC,716,-0.86,-146.0,102.6,-12.2,70,725,0.00,2.42,0.00,0.000,6,0.000,0.016,3059,2216,3787,0,0,0,0,0,0
$GC,981,-0.86,-146.0,132.4,-10.6,95,985,0.00,2.55,0.00,0.000,4,0.000,0.050,3059,652,3787,0,0,0,0,0,0
$GC,1013,-0.86,-146.0,135.2,-8.8,97,1017,0.00,2.38,0.00,0.000,6,0.000,0.015,3059,2219,3787,0,0,0,0,0,0
$GC,1282,-0.92,-146.0,158.1,-7.9,121,1286,0.00,2.45,0.00,0.000,4,0.000,0.031,3059,3775,3788,0,0,0,0,0,0
$GC,1310,-1.01,-146.0,160.8,-7.4,123,1315,0.00,2.40,0.00,0.000,6,0.000,0.019,3059,2221,3788,0,0,0,0,0,0
$GC,1576,-1.11,-146.0,179.4,-7.2,147,1581,0.17,2.60,0.00,0.000,4,0.051,0.054,2989,636,3788,0,0,0,0,0,0
$GC,1610,-1.11,-146.0,183.2,-11.1,149,1616,0.12,2.38,0.00,0.000,6,0.102,0.023,3018,2210,3788,0,0,0,0,0,0
$GC,1903,-1.11,-146.0,207.3,-8.1,171,1907,0.00,2.58,0.00,0.000,4,0.000,0.044,3018,644,3789,0,0,0,0,0,0
$GC,1936,-1.11,-146.0,210.1,-7.7,171,1941,0.00,2.40,0.00,0.000,6,0.000,0.019,3017,2207,3789,0,0,0,0,0,0
$GC,2186,-1.15,-146.0,228.9,-7.7,178,2190,0.00,2.50,0.00,0.000,4,0.000,0.041,3018,3779,3789,0,0,0,0,0,0
$GC,2205,-1.20,-146.0,230.4,-8.2,178,2210,0.00,2.45,0.00,0.000,6,0.000,0.026,3017,2205,3789,0,0,0,0,0,0
$GC,2466,-1.25,-146.0,249.6,-7.1,185,2468,0.12,0.00,0.00,0.000,6,0.066,0.000,2961,2205,3789,0,0,0,0,0,0
$GC,2710,-1.20,-146.0,272.2,-9.5,191,2712,0.15,0.00,0.00,0.000,6,0.090,0.000,2998,2205,3788,0,0,0,0,0,0
$GC,2955,-1.20,-146.0,292.4,-8.3,197,2960,0.00,2.53,0.00,0.000,4,0.000,0.037,2998,3769,3787,0,0,0,0,0,0
$GC,2977,-1.20,-146.0,294.5,-8.1,197,2982,0.00,2.42,0.00,0.000,6,0.000,0.021,2998,2212,3788,0,0,0,0,0,0
$GC,3233,-1.20,-146.0,313.8,-7.5,204,3237,0.00,2.65,0.00,0.000,4,0.000,0.058,2998,636,3787,0,0,0,0,0,0
$GC,3268,-1.20,-146.0,316.5,-8.2,204,3274,0.00,2.42,0.00,0.000,6,0.000,0.026,2998,2194,3787,0,0,0,0,0,0
$GC,3518,-1.20,-146.0,335.9,-7.8,211,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3785,0,0,0,0,0,0
$GC,3761,-1.20,-146.0,355.4,-7.9,217,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3785,0,0,0,0,0,0
$GC,4007,-1.20,-146.0,374.0,-7.6,223,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3784,0,0,0,0,0,0
$GC,4249,-1.20,-146.0,392.5,-7.6,229,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3784,0,0,0,0,0,0
$GC,4493,-1.24,-146.0,412.0,-8.1,235,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3782,0,0,0,0,0,0
$GC,4737,-1.28,-146.0,431.9,-8.1,241,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3781,0,0,0,0,0,0
$GC,4983,-1.32,-146.0,451.2,-7.9,247,4985,0.12,0.00,0.00,0.000,6,0.067,0.000,2948,2194,3781,0,0,0,0,0,0
$GC,5224,-1.27,-146.0,474.3,-9.7,253,5226,0.15,0.00,0.00,0.000,6,0.092,0.000,2983,2194,3779,0,0,0,0,0,0
$GC,5468,-1.27,-146.0,494.4,-8.0,259,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2194,3778,0,0,0,0,0,0
$GC,5714,-1.27,-146.0,513.5,-7.8,265,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2194,3778,0,0,0,0,0,0
$GC,5955,-1.27,-146.0,531.5,-7.5,271,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2194,3777,0,0,0,0,0,0
$GC,6199,-1.27,-146.0,550.3,-7.7,277,6203,0.00,2.80,0.00,0.000,4,0.000,0.088,2983,3777,3776,0,0,0,0,0,0
$GC,6216,-1.27,-146.0,551.6,-7.9,277,6221,0.00,2.60,0.00,0.000,6,0.000,0.044,2983,2219,3775,0,0,0,0,0,0
$GC,6477,-1.27,-146.0,572.2,-7.8,284,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2219,3775,0,0,0,0,0,0
$GC,6720,-1.27,-146.0,591.6,-7.9,290,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2219,3773,0,0,0,0,0,0
$GC,6964,-1.27,-146.0,610.5,-7.8,296,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2219,3771,0,0,0,0,0,0
$GC,7210,-1.27,-146.0,629.8,-7.9,302,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2219,3770,0,0,0,0,0,0
$GC,7452,-1.27,-146.0,649.1,-7.8,308,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2219,3769,0,0,0,0,0,0
$GC,7695,-1.27,-146.0,667.1,-7.3,314,7700,0.00,3.15,0.00,0.000,4,0.000,0.141,2983,627,3768,0,0,0,0,0,0
$GC,7711,-1.27,-146.0,668.3,-7.2,314,7716,0.00,2.72,0.00,0.000,6,0.000,0.079,2983,2170,3768,0,0,0,0,0,0
$GC,7974,-1.27,-146.0,687.8,-7.6,321,7979,0.00,3.10,0.00,0.000,4,0.000,0.121,2983,3797,3766,0,0,0,0,0,0
$GC,7990,-1.27,-146.0,689.3,-7.7,321,7995,0.00,2.80,0.00,0.000,6,0.000,0.071,2983,2196,3766,0,0,0,0,0,0
$GC,8253,-1.27,-146.0,709.8,-7.6,328,8258,0.00,2.88,0.00,0.000,4,0.000,0.093,2984,3802,3765,0,0,0,0,0,0
$GC,8289,-1.31,-146.0,712.3,-7.9,328,8294,0.00,2.80,0.00,0.000,6,0.000,0.072,2983,2196,3765,0,0,0,0,0,0
$GC,8539,-1.31,-146.0,730.2,-7.0,335,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2196,3764,0,0,0,0,0,0
$GC,8782,-1.31,-146.0,747.7,-7.3,341,8787,0.00,2.85,0.00,0.000,4,0.000,0.084,2983,3802,3762,0,0,0,0,0,0
$GC,8817,-1.31,-146.0,750.3,-8.5,341,8823,0.00,2.80,0.00,0.000,6,0.000,0.071,2983,2191,3762,0,0,0,0,0,0
$GC,9068,-1.35,-146.0,768.0,-6.9,348,9069,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2191,3761,0,0,0,0,0,0
$GC,9312,-1.38,-146.0,786.4,-7.7,354,9317,0.10,2.85,0.00,0.000,4,0.084,0.078,2946,3803,3761,0,0,0,0,0,0
$GC,9358,-1.38,-146.0,790.5,-9.5,355,9363,0.00,2.78,0.00,0.000,6,0.000,0.068,2945,2201,3760,0,0,0,0,0,0
$GC,9636,-1.38,-146.0,814.8,-8.5,362,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2201,3758,0,0,0,0,0,0
$GC,9879,-1.38,-146.0,835.6,-8.6,368,9884,0.00,2.80,0.00,0.000,4,0.000,0.081,2946,3801,3757,0,0,0,0,0,0
$GC,9897,-1.38,-146.0,837.2,-8.9,368,9902,0.00,2.75,0.00,0.000,6,0.000,0.067,2946,2207,3757,0,0,0,0,0,0
$GC,10158,-1.38,-146.0,859.7,-8.4,375,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2207,3755,0,0,0,0,0,0
$GC,10402,-1.38,-146.0,879.8,-8.4,381,10406,0.00,2.80,0.00,0.000,4,0.000,0.079,2946,3801,3754,0,0,0,0,0,0
$GC,10441,-1.38,-146.0,883.4,-9.6,382,10445,0.00,2.75,0.00,0.000,6,0.000,0.067,2946,2206,3754,0,0,0,0,0,0
$STATE,10640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10640,begin apogee
$GC,10649,-0.31,0.0,900.1,8.2,387,10771,1.08,0.00,118.93,1.216,6,0.072,0.000,3190,2394,3190,0,0,0,0,0,0
$STATE,10772,end apogee,CONTROL_FINISHED_OK
$STATE,10772,begin climb
$GC,10774,1.27,146.0,902.6,0.0,390,10911,1.45,2.83,126.72,1.183,4,0.037,0.074,3543,3927,2593,0,0,0,0,0,0
$GC,11024,1.14,146.0,882.1,11.9,395,11030,0.17,2.70,0.00,0.000,6,0.112,0.051,3509,2363,2588,0,0,0,0,0,0
$GC,11276,1.15,154.4,857.7,9.6,402,11290,0.00,2.80,7.47,0.943,4,0.000,0.064,3509,3928,2560,0,0,0,0,0,0
$GC,11325,1.09,154.4,852.3,10.8,403,11329,0.00,2.62,0.00,0.000,6,0.000,0.044,3508,2377,2559,0,0,0,0,0,0
$GC,11605,1.10,166.1,825.9,9.5,410,11624,0.00,3.22,11.93,1.036,4,0.000,0.127,3508,781,2512,0,0,0,0,0,0
$GC,11636,1.08,182.7,822.7,9.2,410,11660,0.00,2.70,16.38,1.067,6,0.000,0.046,3508,2366,2445,0,0,0,0,0,0
$GC,11932,1.08,182.7,793.0,10.1,418,11937,0.00,2.75,0.00,0.000,4,0.000,0.068,3508,3941,2440,0,0,0,0,0,0
$GC,11978,1.08,182.7,788.1,10.8,419,11983,0.00,2.65,0.00,0.000,6,0.000,0.039,3508,2367,2439,0,0,0,0,0,0
$GC,12255,1.08,183.4,759.9,10.0,426,12260,0.00,2.70,0.00,0.000,4,0.000,0.055,3508,3939,2438,0,0,0,0,0,0
$GC,12290,1.04,183.4,756.2,10.5,426,12296,0.00,2.65,0.00,0.000,6,0.000,0.048,3508,2374,2438,0,0,0,0,0,0
$GC,12540,1.05,188.4,731.0,9.8,433,12548,0.00,0.00,5.78,0.845,6,0.000,0.000,3508,2374,2421,0,0,0,0,0,0
$GC,12784,1.05,191.3,707.2,9.9,439,12793,0.00,2.70,4.00,0.683,4,0.000,0.058,3508,3937,2410,0,0,0,0,0,0
$GC,12816,1.06,194.0,703.8,9.9,439,12827,0.00,2.65,4.57,0.743,6,0.000,0.049,3508,2376,2398,0,0,0,0,0,0
$GC,13073,1.06,194.0,678.4,10.1,446,13077,0.00,2.67,0.00,0.000,4,0.000,0.055,3508,3937,2397,0,0,0,0,0,0
$GC,13112,1.06,194.0,674.0,10.5,447,13116,0.00,2.62,0.00,0.000,6,0.000,0.049,3508,2385,2396,0,0,0,0,0,0
$GC,13397,1.06,197.7,645.6,9.8,454,13408,0.00,3.10,4.80,0.749,4,0.000,0.118,3508,782,2383,0,0,0,0,0,0
$GC,13429,1.06,197.7,641.9,10.6,454,13435,0.00,2.67,0.00,0.000,6,0.000,0.039,3508,2389,2383,0,0,0,0,0,0
$GC,13679,1.06,197.7,616.7,10.2,461,13684,0.00,2.67,0.00,0.000,4,0.000,0.073,3508,3934,2382,0,0,0,0,0,0
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$STATE,19719,end climb,SURFACE_DEPTH_REACHED
$STATE,19719,begin surface coast
$FINISH,1.0,1.011337
$STATE,19783,end surface coast,CONTROL_FINISHED_OK
$STATE,19783,begin surface
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$HUMID,57.87
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$TCM_TEMP,24.60
$XPDR_PINGS,60
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$10V_AH,10.3,31.650
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.275,185.975,376.800,63.400,0.000,86.835,150.059,317.975,15.000,0.000,31.144,1558.081,15169.899,571.174,2380.318,1050.841,33.364,1575.065,0.000,2369.287,0.000,0.537,0.000
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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,355868
$DATA_FILE_SIZE,57266,760
$CAP_FILE_SIZE,173229,0
$CFSIZE,260165632,110694400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100313,202924,1923.936,-8106.718,72,1.8,91,-3.8