version: 66.06
glider: 146
mission: 8
dive: 269
start: 3 13 113 19 39 45
data:
$ID,146
$MISSION,8
$DIVE,269
$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,-312742.69
$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,53
$R_STBD_OVSHOOT,22
$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
$GPS1,193154,1924.372,-8108.475,39,1.1,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.5
$GPS2,193849,1924.321,-8108.445,14,1.1,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.249,0.073
$KALMAN_X,-21779.1,-219.4,-23.0,20211.7,672.0
$KALMAN_Y,17170.2,-265.8,-114.6,-15379.7,-183.0
$MHEAD_RNG_PITCHd_Wd,290.1,17409,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.30,0.000,2,0.000,0.000,458,2157,3484,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.4,-3.7,9,121,13.73,2.65,-5.88,0.000,4,0.165,0.045,2977,3807,3786,0,0,0,0,0,0
$GC,272,-1.13,-146.0,39.7,-15.6,31,277,0.17,2.50,0.00,0.000,6,0.100,0.024,3015,2228,3787,0,0,0,0,0,0
$GC,542,-1.00,-146.0,79.2,-14.8,55,547,0.12,2.62,0.00,0.000,4,0.114,0.046,3042,633,3788,0,0,0,0,0,0
$GC,590,-0.94,-146.0,87.2,-13.1,58,599,0.00,2.50,0.00,0.000,6,0.000,0.017,3042,2243,3788,0,0,0,0,0,0
$GC,858,-0.88,-146.0,119.2,-12.9,83,863,0.12,2.67,0.00,0.000,4,0.109,0.052,3070,632,3788,0,0,0,0,0,0
$GC,903,-0.88,-146.0,125.5,-10.4,86,913,0.00,2.42,0.00,0.000,6,0.000,0.017,3070,2204,3788,0,0,0,0,0,0
$GC,1173,-0.96,-146.0,147.0,-7.6,111,1177,0.00,2.47,0.00,0.000,4,0.000,0.035,3070,3770,3789,0,0,0,0,0,0
$GC,1190,-1.05,-146.0,149.0,-7.7,112,1195,0.17,2.45,0.00,0.000,6,0.050,0.023,2997,2191,3789,0,0,0,0,0,0
$GC,1455,-1.05,-146.0,173.8,-9.0,136,1460,0.15,0.00,0.00,0.000,6,0.090,0.000,3033,2191,3790,0,0,0,0,0,0
$GC,1720,-1.11,-146.0,193.0,-7.3,161,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3790,0,0,0,0,0,0
$GC,1975,-1.18,-146.0,212.5,-7.7,174,1976,0.12,0.00,0.00,0.000,6,0.064,0.000,2972,2190,3790,0,0,0,0,0,0
$GC,2221,-1.14,-146.0,236.4,-9.9,180,2222,0.17,0.00,0.00,0.000,6,0.084,0.000,3013,2190,3790,0,0,0,0,0,0
$GC,2462,-1.19,-146.0,254.9,-7.4,186,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,3790,0,0,0,0,0,0
$GC,2706,-1.24,-146.0,271.6,-6.9,192,2711,0.10,2.55,0.00,0.000,4,0.078,0.043,2964,3771,3789,0,0,0,0,0,0
$GC,2735,-1.24,-146.0,274.1,-9.4,192,2740,0.12,2.42,0.00,0.000,6,0.094,0.023,2994,2218,3789,0,0,0,0,0,0
$GC,2985,-1.24,-146.0,294.1,-8.0,198,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2219,3788,0,0,0,0,0,0
$GC,3229,-1.24,-146.0,313.4,-8.0,204,3233,0.00,2.62,0.00,0.000,4,0.000,0.061,2994,637,3788,0,0,0,0,0,0
$GC,3271,-1.24,-146.0,316.7,-8.6,205,3275,0.00,2.42,0.00,0.000,6,0.000,0.021,2994,2194,3788,0,0,0,0,0,0
$GC,3554,-1.24,-146.0,338.6,-7.7,212,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2194,3787,0,0,0,0,0,0
$GC,3797,-1.24,-146.0,358.1,-8.1,218,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2194,3786,0,0,0,0,0,0
$GC,4043,-1.24,-146.0,377.3,-8.0,224,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2194,3785,0,0,0,0,0,0
$GC,4285,-1.24,-146.0,396.8,-8.1,230,4289,0.00,2.60,0.00,0.000,4,0.000,0.046,2993,3787,3784,0,0,0,0,0,0
$GC,4306,-1.24,-146.0,398.8,-8.7,230,4311,0.00,2.50,0.00,0.000,6,0.000,0.031,2994,2213,3784,0,0,0,0,0,0
$GC,4561,-1.24,-146.0,419.2,-7.9,237,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2213,3783,0,0,0,0,0,0
$GC,4807,-1.24,-146.0,438.2,-7.8,243,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2213,3783,0,0,0,0,0,0
$GC,5049,-1.24,-146.0,456.9,-7.5,249,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2213,3782,0,0,0,0,0,0
$GC,5292,-1.24,-146.0,475.6,-7.8,255,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2213,3781,0,0,0,0,0,0
$GC,5538,-1.24,-146.0,494.9,-8.0,261,5543,0.00,2.65,0.00,0.000,4,0.000,0.058,2993,3778,3780,0,0,0,0,0,0
$GC,5572,-1.28,-146.0,497.9,-7.9,261,5578,0.00,2.60,0.00,0.000,6,0.000,0.044,2994,2205,3780,0,0,0,0,0,0
$GC,5822,-1.32,-146.0,517.7,-7.8,268,5827,0.00,2.90,0.00,0.000,4,0.000,0.104,2994,622,3778,0,0,0,0,0,0
$GC,5864,-1.37,-146.0,521.0,-8.6,269,5870,0.15,2.58,0.00,0.000,6,0.058,0.048,2937,2194,3778,0,0,0,0,0,0
$GC,6149,-1.31,-146.0,548.1,-9.4,276,6154,0.17,2.83,0.00,0.000,4,0.122,0.077,2976,3800,3777,0,0,0,0,0,0
$GC,6189,-1.31,-146.0,551.6,-8.4,277,6193,0.00,2.65,0.00,0.000,6,0.000,0.048,2976,2214,3777,0,0,0,0,0,0
$GC,6476,-1.31,-146.0,572.7,-7.4,284,6480,0.00,2.97,0.00,0.000,4,0.000,0.120,2976,623,3776,0,0,0,0,0,0
$GC,6508,-1.31,-146.0,575.8,-9.2,284,6514,0.00,2.67,0.00,0.000,6,0.000,0.058,2976,2209,3776,0,0,0,0,0,0
$GC,6758,-1.31,-146.0,595.5,-7.9,291,6763,0.00,2.85,0.00,0.000,4,0.000,0.097,2976,3794,3775,0,0,0,0,0,0
$GC,6782,-1.31,-146.0,597.3,-8.1,291,6786,0.00,2.70,0.00,0.000,6,0.000,0.064,2977,2206,3775,0,0,0,0,0,0
$GC,7037,-1.31,-146.0,618.0,-8.1,298,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2206,3773,0,0,0,0,0,0
$GC,7280,-1.31,-146.0,638.5,-8.4,304,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2206,3772,0,0,0,0,0,0
$GC,7526,-1.31,-146.0,658.7,-8.2,310,7531,0.00,2.92,0.00,0.000,4,0.000,0.102,2976,3799,3771,0,0,0,0,0,0
$GC,7559,-1.31,-146.0,661.7,-8.8,310,7565,0.00,2.83,0.00,0.000,6,0.000,0.084,2976,2220,3771,0,0,0,0,0,0
$GC,7809,-1.31,-146.0,681.7,-8.0,317,7814,0.00,3.15,0.00,0.000,4,0.000,0.138,2976,615,3769,0,0,0,0,0,0
$GC,7833,-1.31,-146.0,683.6,-8.5,317,7838,0.00,2.88,0.00,0.000,6,0.000,0.091,2976,2209,3769,0,0,0,0,0,0
$GC,8093,-1.31,-146.0,704.3,-7.9,324,8098,0.00,3.08,0.00,0.000,4,0.000,0.124,2976,3797,3768,0,0,0,0,0,0
$GC,8126,-1.31,-146.0,707.3,-8.5,324,8131,0.00,2.75,0.00,0.000,6,0.000,0.071,2976,2213,3767,0,0,0,0,0,0
$GC,8378,-1.31,-146.0,727.3,-8.0,331,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3766,0,0,0,0,0,0
$GC,8619,-1.31,-146.0,746.1,-7.7,337,8624,0.00,2.85,0.00,0.000,4,0.000,0.084,2976,3808,3765,0,0,0,0,0,0
$GC,8641,-1.31,-146.0,747.9,-7.7,337,8645,0.00,2.75,0.00,0.000,6,0.000,0.070,2976,2213,3765,0,0,0,0,0,0
$GC,8896,-1.31,-146.0,767.2,-7.6,344,8901,0.00,3.05,0.00,0.000,4,0.000,0.122,2977,616,3763,0,0,0,0,0,0
$GC,8931,-1.31,-146.0,769.9,-7.9,344,8936,0.00,2.78,0.00,0.000,6,0.000,0.071,2976,2219,3763,0,0,0,0,0,0
$GC,9181,-1.31,-146.0,788.7,-7.3,351,9185,0.00,2.85,0.00,0.000,4,0.000,0.098,2976,3798,3762,0,0,0,0,0,0
$GC,9220,-1.34,-146.0,791.7,-7.9,352,9225,0.00,2.72,0.00,0.000,6,0.000,0.064,2976,2211,3762,0,0,0,0,0,0
$GC,9506,-1.34,-146.0,813.4,-7.5,359,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2211,3761,0,0,0,0,0,0
$GC,9747,-1.34,-146.0,832.4,-7.7,365,9752,0.00,2.80,0.00,0.000,4,0.000,0.083,2976,3797,3759,0,0,0,0,0,0
$GC,9774,-1.34,-146.0,834.7,-8.2,365,9779,0.00,2.72,0.00,0.000,6,0.000,0.064,2976,2222,3760,0,0,0,0,0,0
$GC,10028,-1.34,-146.0,853.2,-7.2,371,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3758,0,0,0,0,0,0
$GC,10268,-1.34,-146.0,869.7,-6.8,377,10272,0.00,2.78,0.00,0.000,4,0.000,0.081,2976,3798,3757,0,0,0,0,0,0
$GC,10295,-1.34,-146.0,871.8,-8.4,377,10299,0.00,2.72,0.00,0.000,6,0.000,0.062,2976,2223,3757,0,0,0,0,0,0
$GC,10547,-1.34,-146.0,888.9,-6.9,383,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2224,3756,0,0,0,0,0,0
$STATE,10705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10705,begin apogee
$GC,10711,-0.31,0.0,900.4,7.1,387,10834,0.95,0.00,119.38,1.216,6,0.070,0.000,3194,2384,3190,0,0,0,0,0,0
$STATE,10835,end apogee,CONTROL_FINISHED_OK
$STATE,10835,begin climb
$GC,10837,1.27,146.0,903.3,0.0,390,10974,1.42,2.85,126.90,1.184,4,0.048,0.074,3542,3925,2593,0,0,0,0,0,0
$GC,11043,1.14,146.0,890.1,11.0,394,11049,0.17,2.70,0.00,0.000,6,0.112,0.057,3507,2371,2589,0,0,0,0,0,0
$GC,11295,1.16,164.5,866.8,9.1,401,11319,0.00,2.83,16.80,1.081,4,0.000,0.064,3507,3926,2517,0,0,0,0,0,0
$GC,11332,1.13,173.4,862.9,9.6,401,11346,0.00,2.67,9.38,0.983,6,0.000,0.047,3508,2371,2483,0,0,0,0,0,0
$GC,11622,1.13,173.4,833.2,10.4,409,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2371,2478,0,0,0,0,0,0
$GC,11863,1.13,174.9,808.7,9.9,415,11868,0.00,2.67,0.00,0.000,4,0.000,0.060,3507,3934,2477,0,0,0,0,0,0
$GC,11890,1.09,174.9,805.8,10.1,415,11895,0.00,2.65,0.00,0.000,6,0.000,0.048,3507,2375,2477,0,0,0,0,0,0
$GC,12140,1.10,182.2,781.6,9.7,421,12154,0.00,2.75,8.30,0.965,4,0.000,0.063,3507,3928,2447,0,0,0,0,0,0
$GC,12173,1.10,182.2,778.3,10.1,421,12178,0.00,2.65,0.00,0.000,6,0.000,0.046,3507,2381,2446,0,0,0,0,0,0
$GC,12423,1.10,182.2,752.9,10.1,427,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2381,2445,0,0,0,0,0,0
$GC,12667,1.10,187.1,728.9,9.8,433,12675,0.00,0.00,5.93,0.855,6,0.000,0.000,3507,2381,2427,0,0,0,0,0,0
$GC,12913,1.12,195.8,705.7,9.6,439,12926,0.00,0.00,9.75,0.962,6,0.000,0.000,3507,2381,2390,0,0,0,0,0,0
$GC,13200,1.12,195.8,676.5,10.3,446,13205,0.00,2.65,0.00,0.000,4,0.000,0.056,3507,3935,2388,0,0,0,0,0,0
$GC,13233,1.12,195.8,672.8,10.9,446,13238,0.00,2.62,0.00,0.000,6,0.000,0.042,3507,2380,2388,0,0,0,0,0,0
$GC,13487,1.12,195.8,646.7,10.3,453,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2381,2388,0,0,0,0,0,0
$GC,13726,1.12,195.8,622.2,10.1,459,13731,0.00,2.62,0.00,0.000,4,0.000,0.054,3507,3935,2388,0,0,0,0,0,0
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$STATE,19538,end climb,SURFACE_DEPTH_REACHED
$STATE,19538,begin surface coast
$FINISH,1.0,1.021011
$STATE,19580,end surface coast,CONTROL_FINISHED_OK
$STATE,19581,begin surface
$SM_CCo,19603,40.33,0.492,0,0,1763,350.04
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$TT8_MAMPS,0.026078
$HUMID,59.17
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$TCM_TEMP,24.20
$XPDR_PINGS,57
$24V_AH,23.3,37.916
$10V_AH,10.3,33.483
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.700,187.575,401.275,40.325,0.000,29.237,43.326,174.410,14.250,0.000,16.324,1534.188,14865.646,559.047,2366.358,728.019,33.367,1572.546,0.000,2359.426,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.619,341.583,435.553,565.383,1076.756,0.000,0.000,0.000
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$MEM,355856
$DATA_FILE_SIZE,57286,735
$CAP_FILE_SIZE,167870,0
$CFSIZE,260165632,109641728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140313,010830,1924.529,-8111.299,40,1.1,40,-3.8