version: 66.06
glider: 146
mission: 8
dive: 291
start: 3 18 113 12 50 4
data:
$ID,146
$MISSION,8
$DIVE,291
$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,-313194.22
$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,37
$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
$GPS1,123805,1927.801,-8116.378,39,1.0,39,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.6
$GPS2,124907,1927.780,-8116.414,12,0.9,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.071
$KALMAN_X,-46536.7,0.5,-90.8,30888.9,-1240.6
$KALMAN_Y,20678.5,156.3,279.3,-13314.3,-71.9
$MHEAD_RNG_PITCHd_Wd,109.6,15903,-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,-70.93,0.000,2,0.000,0.000,462,2175,3468,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.2,-3.8,9,121,13.75,2.58,-6.30,0.000,4,0.164,0.045,2976,3792,3787,0,0,0,0,0,0
$GC,155,-1.03,-146.0,18.6,-21.1,16,165,0.22,2.50,0.00,0.000,6,0.074,0.025,3032,2235,3788,0,0,0,0,0,0
$GC,442,-0.96,-146.0,58.5,-14.0,46,446,0.00,2.62,0.00,0.000,4,0.000,0.047,3032,631,3788,0,0,0,0,0,0
$GC,504,-0.90,-146.0,67.1,-13.8,50,509,0.15,2.45,0.00,0.000,6,0.103,0.016,3065,2225,3787,0,0,0,0,0,0
$GC,766,-0.90,-146.0,97.9,-11.3,74,771,0.00,2.62,0.00,0.000,4,0.000,0.046,3065,626,3788,0,0,0,0,0,0
$GC,802,-0.90,-146.0,102.3,-12.2,76,811,0.00,2.42,0.00,0.000,6,0.000,0.016,3065,2193,3788,0,0,0,0,0,0
$GC,1070,-0.90,-146.0,127.5,-8.3,101,1074,0.00,2.55,0.00,0.000,4,0.000,0.044,3065,627,3789,0,0,0,0,0,0
$GC,1111,-0.96,-146.0,131.6,-8.8,104,1115,0.00,2.40,0.00,0.000,6,0.000,0.017,3065,2192,3789,0,0,0,0,0,0
$GC,1376,-1.04,-146.0,152.4,-7.7,128,1381,0.15,2.58,0.00,0.000,4,0.057,0.045,3000,623,3789,0,0,0,0,0,0
$GC,1418,-1.00,-146.0,156.4,-9.8,131,1423,0.17,2.38,0.00,0.000,6,0.087,0.021,3041,2176,3789,0,0,0,0,0,0
$GC,1682,-1.07,-146.0,178.9,-7.5,155,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2176,3789,0,0,0,0,0,0
$GC,1945,-1.14,-146.0,197.4,-7.2,180,1947,0.12,0.00,0.00,0.000,6,0.064,0.000,2983,2176,3790,0,0,0,0,0,0
$GC,2221,-1.14,-146.0,222.2,-8.8,189,2223,0.12,0.00,0.00,0.000,6,0.094,0.000,3013,2176,3790,0,0,0,0,0,0
$GC,2463,-1.19,-146.0,239.8,-7.2,195,2467,0.00,2.55,0.00,0.000,4,0.000,0.056,3013,630,3790,0,0,0,0,0,0
$GC,2479,-1.23,-146.0,241.1,-7.1,195,2484,0.00,2.38,0.00,0.000,6,0.000,0.019,3013,2175,3791,0,0,0,0,0,0
$GC,2743,-1.28,-146.0,260.5,-7.4,202,2749,0.15,2.58,0.00,0.000,4,0.057,0.046,2952,3768,3790,0,0,0,0,0,0
$GC,2760,-1.28,-146.0,262.1,-7.5,202,2765,0.12,2.50,0.00,0.000,6,0.092,0.026,2981,2161,3790,0,0,0,0,0,0
$GC,3023,-1.28,-146.0,285.1,-8.9,209,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2160,3789,0,0,0,0,0,0
$GC,3264,-1.28,-146.0,306.3,-8.7,215,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2160,3789,0,0,0,0,0,0
$GC,3508,-1.28,-146.0,327.5,-8.6,221,3513,0.00,2.58,0.00,0.000,4,0.000,0.045,2981,3766,3788,0,0,0,0,0,0
$GC,3530,-1.28,-146.0,329.5,-8.7,221,3535,0.00,2.50,0.00,0.000,6,0.000,0.026,2981,2184,3788,0,0,0,0,0,0
$GC,3788,-1.28,-146.0,351.2,-8.6,228,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2184,3787,0,0,0,0,0,0
$GC,4030,-1.28,-146.0,373.0,-8.8,234,4034,0.00,2.60,0.00,0.000,4,0.000,0.048,2982,3773,3786,0,0,0,0,0,0
$GC,4045,-1.28,-146.0,374.4,-8.8,234,4050,0.00,2.53,0.00,0.000,6,0.000,0.031,2982,2176,3786,0,0,0,0,0,0
$GC,4309,-1.28,-146.0,397.0,-8.4,241,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2176,3786,0,0,0,0,0,0
$GC,4550,-1.28,-146.0,417.1,-8.2,247,4555,0.00,2.62,0.00,0.000,4,0.000,0.048,2981,3768,3785,0,0,0,0,0,0
$GC,4595,-1.28,-146.0,421.0,-8.6,248,4599,0.00,2.55,0.00,0.000,6,0.000,0.038,2981,2183,3784,0,0,0,0,0,0
$GC,4875,-1.28,-146.0,443.9,-8.2,255,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2183,3784,0,0,0,0,0,0
$GC,5116,-1.28,-146.0,463.2,-7.8,261,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2183,3783,0,0,0,0,0,0
$GC,5360,-1.28,-146.0,483.5,-8.5,267,5364,0.00,2.67,0.00,0.000,4,0.000,0.058,2982,3762,3781,0,0,0,0,0,0
$GC,5375,-1.28,-146.0,485.0,-8.9,267,5380,0.00,2.60,0.00,0.000,6,0.000,0.051,2982,2183,3781,0,0,0,0,0,0
$GC,5639,-1.28,-146.0,506.6,-8.2,274,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2183,3781,0,0,0,0,0,0
$GC,5880,-1.28,-146.0,525.6,-7.7,280,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2183,3779,0,0,0,0,0,0
$GC,6124,-1.28,-146.0,544.5,-7.7,286,6129,0.00,2.75,0.00,0.000,4,0.000,0.076,2981,3765,3778,0,0,0,0,0,0
$GC,6148,-1.28,-146.0,546.3,-8.3,286,6152,0.00,2.65,0.00,0.000,6,0.000,0.059,2982,2181,3778,0,0,0,0,0,0
$GC,6403,-1.28,-146.0,565.7,-7.5,293,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2181,3777,0,0,0,0,0,0
$GC,6646,-1.28,-146.0,584.3,-7.6,299,6651,0.00,2.75,0.00,0.000,4,0.000,0.077,2982,3762,3776,0,0,0,0,0,0
$GC,6668,-1.28,-146.0,586.0,-7.5,299,6672,0.00,2.67,0.00,0.000,6,0.000,0.066,2981,2186,3776,0,0,0,0,0,0
$GC,6925,-1.28,-146.0,604.7,-7.3,306,6930,0.00,2.78,0.00,0.000,4,0.000,0.079,2981,3762,3774,0,0,0,0,0,0
$GC,6941,-1.28,-146.0,606.1,-7.2,306,6945,0.00,2.70,0.00,0.000,6,0.000,0.065,2982,2196,3775,0,0,0,0,0,0
$GC,7201,-1.28,-146.0,625.3,-7.4,313,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3773,0,0,0,0,0,0
$GC,7448,-1.28,-146.0,644.3,-7.8,319,7452,0.00,2.80,0.00,0.000,4,0.000,0.093,2982,3754,3771,0,0,0,0,0,0
$GC,7463,-1.28,-146.0,645.8,-7.8,319,7468,0.00,2.78,0.00,0.000,6,0.000,0.082,2981,2189,3771,0,0,0,0,0,0
$GC,7726,-1.28,-146.0,666.7,-7.9,326,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2190,3770,0,0,0,0,0,0
$GC,7972,-1.28,-146.0,686.0,-7.9,332,7977,0.00,2.92,0.00,0.000,4,0.000,0.108,2982,3757,3768,0,0,0,0,0,0
$GC,7993,-1.28,-146.0,688.1,-8.2,332,7998,0.00,2.88,0.00,0.000,6,0.000,0.100,2982,2200,3769,0,0,0,0,0,0
$GC,8248,-1.28,-146.0,708.2,-7.9,339,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2200,3767,0,0,0,0,0,0
$GC,8495,-1.28,-146.0,727.1,-7.7,345,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2200,3766,0,0,0,0,0,0
$GC,8736,-1.32,-146.0,745.3,-7.4,351,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3764,0,0,0,0,0,0
$GC,8980,-1.32,-146.0,763.0,-7.2,357,8984,0.00,2.80,0.00,0.000,4,0.000,0.092,2981,3755,3763,0,0,0,0,0,0
$GC,9024,-1.37,-146.0,766.4,-7.7,358,9029,0.00,2.78,0.00,0.000,6,0.000,0.080,2981,2186,3763,0,0,0,0,0,0
$GC,9304,-1.41,-146.0,785.6,-6.8,365,9306,0.12,0.00,0.00,0.000,6,0.072,0.000,2935,2186,3762,0,0,0,0,0,0
$GC,9545,-1.35,-146.0,807.5,-9.2,371,9551,0.12,2.83,0.00,0.000,4,0.100,0.084,2963,3757,3761,0,0,0,0,0,0
$GC,9588,-1.35,-146.0,811.2,-9.0,372,9592,0.00,2.72,0.00,0.000,6,0.000,0.077,2963,2198,3761,0,0,0,0,0,0
$GC,9871,-1.35,-146.0,834.3,-8.0,379,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2198,3759,0,0,0,0,0,0
$GC,10115,-1.35,-146.0,854.1,-8.1,385,10119,0.00,2.78,0.00,0.000,4,0.000,0.086,2963,3765,3758,0,0,0,0,0,0
$GC,10138,-1.35,-146.0,855.9,-8.1,385,10143,0.00,2.72,0.00,0.000,6,0.000,0.071,2963,2197,3758,0,0,0,0,0,0
$GC,10394,-1.35,-146.0,877.1,-8.1,392,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2197,3757,0,0,0,0,0,0
$GC,10638,-1.35,-146.0,896.3,-7.9,398,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2197,3756,0,0,0,0,0,0
$STATE,10716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10716,begin apogee
$GC,10722,-0.31,0.0,902.6,7.8,400,10846,1.00,0.00,119.55,1.215,6,0.070,0.000,3192,2337,3190,0,0,0,0,0,0
$STATE,10846,end apogee,CONTROL_FINISHED_OK
$STATE,10846,begin climb
$GC,10851,1.27,146.0,905.3,0.0,403,10987,1.42,2.92,126.60,1.183,4,0.035,0.081,3544,3940,2593,0,0,0,0,0,0
$GC,11051,1.14,146.0,892.8,11.6,407,11056,0.17,2.72,0.00,0.000,6,0.111,0.055,3509,2369,2589,0,0,0,0,0,0
$GC,11301,1.12,158.0,868.8,9.4,413,11314,0.00,0.00,11.30,1.025,6,0.000,0.000,3509,2369,2545,0,0,0,0,0,0
$GC,11547,1.12,164.1,845.5,9.7,419,11555,0.00,0.00,6.40,0.892,6,0.000,0.000,3508,2369,2522,0,0,0,0,0,0
$GC,11788,1.13,171.7,821.9,9.6,425,11802,0.00,2.78,8.20,0.958,4,0.000,0.059,3509,3930,2490,0,0,0,0,0,0
$GC,11843,1.10,171.7,815.9,11.7,426,11847,0.00,2.65,0.00,0.000,6,0.000,0.050,3509,2374,2489,0,0,0,0,0,0
$GC,12117,1.10,179.1,789.3,9.7,433,12131,0.00,2.75,8.02,0.946,4,0.000,0.057,3509,3930,2460,0,0,0,0,0,0
$GC,12176,1.10,179.1,782.6,11.5,434,12180,0.00,2.65,0.00,0.000,6,0.000,0.049,3509,2378,2459,0,0,0,0,0,0
$GC,12443,1.12,188.7,756.7,9.6,441,12455,0.00,0.00,10.57,0.992,6,0.000,0.000,3509,2378,2420,0,0,0,0,0,0
$GC,12689,1.12,191.6,732.8,9.9,447,12694,0.00,2.67,0.00,0.000,4,0.000,0.057,3509,3934,2417,0,0,0,0,0,0
$GC,12721,1.12,191.6,728.9,11.3,447,12727,0.00,2.62,0.00,0.000,6,0.000,0.051,3509,2385,2417,0,0,0,0,0,0
$GC,12971,1.12,191.6,703.1,10.4,454,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2386,2416,0,0,0,0,0,0
$GC,13217,1.12,191.6,678.1,10.3,460,13222,0.00,2.65,0.00,0.000,4,0.000,0.056,3509,3935,2415,0,0,0,0,0,0
$GC,13266,1.12,191.6,672.3,11.1,461,13271,0.00,2.60,0.00,0.000,6,0.000,0.048,3509,2390,2414,0,0,0,0,0,0
$GC,13539,1.12,191.6,643.4,10.6,468,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2390,2414,0,0,0,0,0,0
$GC,13782,1.12,191.6,617.8,10.4,474,13787,0.00,2.62,0.00,0.000,4,0.000,0.054,3509,3934,2414,0,0,0,0,0,0
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$STATE,19779,end climb,SURFACE_DEPTH_REACHED
$STATE,19779,begin surface coast
$FINISH,0.9,1.023741
$STATE,19830,end surface coast,CONTROL_FINISHED_OK
$STATE,19831,begin surface
$SM_CCo,19857,67.45,0.494,0,0,1763,350.04
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$IRIDIUM_FIX,1920.65,-8114.36,120602,121245
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$HUMID,58.70
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$TCM_TEMP,24.40
$XPDR_PINGS,70
$24V_AH,23.3,40.909
$10V_AH,10.3,36.226
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.525,188.275,368.725,67.450,0.000,56.687,80.833,286.040,17.500,0.000,17.717,1571.841,15138.146,565.376,2379.720,924.363,33.365,1548.069,0.000,2378.610,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,519.562,363.397,463.914,613.534,1169.708,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,60410,766
$CAP_FILE_SIZE,171008,0
$CFSIZE,260165632,108048384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180313,182330,1928.006,-8114.751,38,1.6,38,-3.8