version: 66.06
glider: 146
mission: 8
dive: 298
start: 3 20 113 4 19 27
data:
$ID,146
$MISSION,8
$DIVE,298
$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,-313292.97
$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,75
$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
$GPS1,041106,1924.575,-8111.399,37,1.2,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.4
$GPS2,041831,1924.580,-8111.441,13,1.8,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.021
$KALMAN_X,-54660.5,-8.3,-482.1,48107.8,305.9
$KALMAN_Y,30906.8,-280.2,-244.5,-28491.5,1319.8
$MHEAD_RNG_PITCHd_Wd,278.5,12299,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,100,0.00,0.00,-78.38,0.000,2,0.000,0.000,461,2164,3706,0,0,0,0,0,0
$GC,105,-1.27,-146.0,4.4,-6.8,10,131,13.77,2.45,-1.38,0.000,4,0.165,0.049,2976,669,3787,0,0,0,0,0,0
$GC,365,-1.09,-146.0,61.7,-16.3,35,370,0.20,2.38,0.00,0.000,6,0.103,0.018,3019,2223,3788,0,0,0,0,0,0
$GC,634,-0.97,-146.0,100.3,-14.5,59,639,0.12,2.55,0.00,0.000,4,0.113,0.043,3046,666,3789,0,0,0,0,0,0
$GC,656,-0.86,-146.0,104.2,-14.3,60,661,0.12,2.35,0.00,0.000,6,0.110,0.015,3074,2225,3789,0,0,0,0,0,0
$GC,920,-0.86,-146.0,132.2,-10.5,84,929,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2225,3789,0,0,0,0,0,0
$GC,1186,-0.94,-146.0,154.8,-8.0,109,1190,0.00,2.53,0.00,0.000,4,0.000,0.044,3074,670,3789,0,0,0,0,0,0
$GC,1233,-1.03,-146.0,158.4,-8.2,112,1238,0.17,2.30,0.00,0.000,6,0.051,0.015,3004,2196,3790,0,0,0,0,0,0
$GC,1498,-1.03,-146.0,182.5,-9.4,136,1503,0.12,0.00,0.00,0.000,6,0.097,0.000,3034,2197,3790,0,0,0,0,0,0
$GC,1772,-1.10,-146.0,203.8,-7.6,159,1776,0.00,2.47,0.00,0.000,4,0.000,0.035,3034,3765,3790,0,0,0,0,0,0
$GC,1812,-1.18,-146.0,207.2,-7.4,160,1817,0.12,2.38,0.00,0.000,6,0.068,0.019,2973,2219,3791,0,0,0,0,0,0
$GC,2098,-1.13,-146.0,234.1,-9.2,167,2103,0.17,2.58,0.00,0.000,4,0.083,0.055,3014,645,3791,0,0,0,0,0,0
$GC,2138,-1.18,-146.0,237.7,-8.4,168,2143,0.00,2.35,0.00,0.000,6,0.000,0.023,3014,2192,3791,0,0,0,0,0,0
$GC,2423,-1.22,-146.0,259.0,-7.5,175,2427,0.00,2.53,0.00,0.000,4,0.000,0.043,3014,3766,3791,0,0,0,0,0,0
$GC,2458,-1.29,-146.0,261.5,-7.4,175,2464,0.15,2.42,0.00,0.000,6,0.056,0.028,2948,2200,3790,0,0,0,0,0,0
$GC,2708,-1.21,-146.0,286.6,-10.2,182,2710,0.20,0.00,0.00,0.000,6,0.081,0.000,2997,2201,3791,0,0,0,0,0,0
$GC,2954,-1.21,-146.0,305.9,-7.6,188,2958,0.00,2.60,0.00,0.000,4,0.000,0.064,2997,636,3790,0,0,0,0,0,0
$GC,2981,-1.21,-146.0,308.4,-8.1,188,2985,0.00,2.42,0.00,0.000,6,0.000,0.025,2997,2207,3790,0,0,0,0,0,0
$GC,3236,-1.21,-146.0,328.1,-7.7,195,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2207,3789,0,0,0,0,0,0
$GC,3480,-1.21,-146.0,346.9,-7.5,201,3484,0.00,2.58,0.00,0.000,4,0.000,0.051,2997,3789,3789,0,0,0,0,0,0
$GC,3509,-1.21,-146.0,348.9,-7.4,201,3514,0.00,2.50,0.00,0.000,6,0.000,0.025,2997,2213,3789,0,0,0,0,0,0
$GC,3759,-1.21,-146.0,367.1,-7.3,207,3763,0.00,2.67,0.00,0.000,4,0.000,0.072,2997,634,3787,0,0,0,0,0,0
$GC,3780,-1.21,-146.0,368.9,-7.7,207,3785,0.00,2.47,0.00,0.000,6,0.000,0.027,2997,2204,3787,0,0,0,0,0,0
$GC,4038,-1.21,-146.0,388.2,-7.6,214,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2204,3787,0,0,0,0,0,0
$GC,4280,-1.21,-146.0,406.7,-7.7,220,4284,0.00,2.62,0.00,0.000,4,0.000,0.055,2997,3794,3786,0,0,0,0,0,0
$GC,4307,-1.25,-146.0,409.0,-8.0,220,4311,0.00,2.55,0.00,0.000,6,0.000,0.030,2997,2209,3785,0,0,0,0,0,0
$GC,4560,-1.29,-146.0,429.1,-8.1,226,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2210,3785,0,0,0,0,0,0
$GC,4801,-1.33,-146.0,448.2,-7.8,232,4806,0.12,2.65,0.00,0.000,4,0.064,0.058,2942,3785,3783,0,0,0,0,0,0
$GC,4829,-1.28,-146.0,450.9,-9.3,232,4834,0.17,2.58,0.00,0.000,6,0.084,0.045,2982,2214,3784,0,0,0,0,0,0
$GC,5081,-1.28,-146.0,471.2,-7.9,238,5086,0.00,2.85,0.00,0.000,4,0.000,0.097,2982,626,3783,0,0,0,0,0,0
$GC,5108,-1.28,-146.0,473.7,-9.2,238,5113,0.00,2.58,0.00,0.000,6,0.000,0.047,2982,2207,3783,0,0,0,0,0,0
$GC,5360,-1.28,-146.0,494.0,-8.0,244,5365,0.00,2.72,0.00,0.000,4,0.000,0.074,2983,3797,3782,0,0,0,0,0,0
$GC,5406,-1.28,-146.0,497.7,-8.3,245,5411,0.00,2.65,0.00,0.000,6,0.000,0.048,2982,2213,3782,0,0,0,0,0,0
$GC,5684,-1.28,-146.0,519.2,-7.5,252,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2213,3780,0,0,0,0,0,0
$GC,5927,-1.28,-146.0,538.1,-7.9,258,5932,0.00,2.97,0.00,0.000,4,0.000,0.114,2982,624,3779,0,0,0,0,0,0
$GC,5969,-1.28,-146.0,541.5,-8.7,259,5974,0.00,2.65,0.00,0.000,6,0.000,0.051,2983,2213,3778,0,0,0,0,0,0
$GC,6252,-1.28,-146.0,564.0,-7.8,266,6257,0.00,2.80,0.00,0.000,4,0.000,0.090,2983,3799,3777,0,0,0,0,0,0
$GC,6297,-1.32,-146.0,567.7,-8.2,267,6301,0.00,2.70,0.00,0.000,6,0.000,0.057,2982,2213,3777,0,0,0,0,0,0
$GC,6576,-1.32,-146.0,589.5,-7.9,274,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2213,3776,0,0,0,0,0,0
$GC,6818,-1.32,-146.0,609.3,-8.1,280,6822,0.00,2.80,0.00,0.000,4,0.000,0.083,2983,3793,3775,0,0,0,0,0,0
$GC,6845,-1.32,-146.0,611.7,-8.8,280,6849,0.00,2.75,0.00,0.000,6,0.000,0.071,2982,2212,3775,0,0,0,0,0,0
$GC,7097,-1.32,-146.0,631.6,-7.9,286,7102,0.00,3.00,0.00,0.000,4,0.000,0.121,2982,616,3773,0,0,0,0,0,0
$GC,7130,-1.32,-146.0,634.5,-8.0,286,7136,0.00,2.75,0.00,0.000,6,0.000,0.066,2983,2218,3773,0,0,0,0,0,0
$GC,7380,-1.32,-146.0,653.4,-7.6,293,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2218,3772,0,0,0,0,0,0
$GC,7626,-1.32,-146.0,671.7,-7.5,299,7630,0.00,2.95,0.00,0.000,4,0.000,0.112,2982,3795,3770,0,0,0,0,0,0
$GC,7647,-1.32,-146.0,673.8,-8.4,299,7652,0.00,2.85,0.00,0.000,6,0.000,0.089,2982,2213,3770,0,0,0,0,0,0
$GC,7903,-1.32,-146.0,693.3,-7.6,306,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2212,3769,0,0,0,0,0,0
$GC,8148,-1.32,-146.0,712.6,-8.0,312,8153,0.00,3.05,0.00,0.000,4,0.000,0.127,2983,3799,3768,0,0,0,0,0,0
$GC,8181,-1.32,-146.0,715.7,-8.6,312,8187,0.00,3.00,0.00,0.000,6,0.000,0.114,2982,2218,3768,0,0,0,0,0,0
$GC,8431,-1.32,-146.0,734.7,-7.6,319,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2218,3766,0,0,0,0,0,0
$GC,8675,-1.32,-146.0,753.1,-7.4,325,8680,0.00,3.12,0.00,0.000,4,0.000,0.148,2983,3793,3765,0,0,0,0,0,0
$GC,8704,-1.32,-146.0,755.4,-8.1,325,8709,0.00,2.75,0.00,0.000,6,0.000,0.073,2982,2220,3765,0,0,0,0,0,0
$GC,8954,-1.32,-146.0,774.0,-7.3,331,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2220,3763,0,0,0,0,0,0
$GC,9198,-1.32,-146.0,791.6,-7.3,337,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2219,3762,0,0,0,0,0,0
$GC,9444,-1.36,-146.0,809.2,-7.2,343,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2219,3762,0,0,0,0,0,0
$GC,9686,-1.40,-146.0,827.5,-7.5,349,9688,0.12,0.00,0.00,0.000,6,0.074,0.000,2940,2219,3761,0,0,0,0,0,0
$GC,9930,-1.36,-146.0,849.5,-9.2,355,9935,0.10,2.80,0.00,0.000,4,0.113,0.084,2962,3797,3759,0,0,0,0,0,0
$GC,9960,-1.36,-146.0,852.1,-9.0,355,9964,0.00,2.72,0.00,0.000,6,0.000,0.065,2962,2223,3759,0,0,0,0,0,0
$GC,10210,-1.36,-146.0,873.2,-8.5,361,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2223,3758,0,0,0,0,0,0
$GC,10453,-1.36,-146.0,893.5,-8.2,367,10458,0.00,2.78,0.00,0.000,4,0.000,0.078,2962,3801,3757,0,0,0,0,0,0
$GC,10482,-1.36,-146.0,895.8,-8.4,367,10487,0.00,2.72,0.00,0.000,6,0.000,0.066,2962,2226,3757,0,0,0,0,0,0
$STATE,10567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10567,begin apogee
$GC,10573,-0.31,0.0,903.2,8.3,369,10697,1.00,0.00,120.00,1.220,6,0.069,0.000,3191,2383,3190,0,0,0,0,0,0
$STATE,10698,end apogee,CONTROL_FINISHED_OK
$STATE,10698,begin climb
$GC,10700,1.27,146.0,906.4,0.0,372,10837,1.45,2.85,126.75,1.189,4,0.048,0.078,3545,3930,2593,0,0,0,0,0,0
$GC,10961,1.14,146.0,887.3,11.8,378,10967,0.17,2.70,0.00,0.000,6,0.110,0.054,3510,2369,2587,0,0,0,0,0,0
$GC,11242,1.13,166.4,862.1,9.1,385,11267,0.00,2.80,18.23,1.093,4,0.000,0.064,3510,3925,2511,0,0,0,0,0,0
$GC,11306,1.08,166.4,855.4,11.0,386,11310,0.00,2.67,0.00,0.000,6,0.000,0.048,3510,2367,2509,0,0,0,0,0,0
$GC,11569,1.11,186.4,831.5,9.1,393,11593,0.00,2.75,18.95,1.093,4,0.000,0.059,3510,3936,2430,0,0,0,0,0,0
$GC,11605,1.12,196.1,827.6,9.6,393,11620,0.00,2.67,10.55,1.005,6,0.000,0.044,3510,2369,2390,0,0,0,0,0,0
$GC,11895,1.12,196.1,797.8,10.4,401,11900,0.00,3.05,0.00,0.000,4,0.000,0.117,3510,775,2386,0,0,0,0,0,0
$GC,11916,1.12,196.1,795.2,10.2,401,11921,0.00,2.67,0.00,0.000,6,0.000,0.047,3510,2373,2384,0,0,0,0,0,0
$GC,12172,1.12,196.1,768.6,10.6,408,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2374,2384,0,0,0,0,0,0
$GC,12415,1.12,196.1,742.3,10.8,414,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2374,2383,0,0,0,0,0,0
$GC,12661,1.12,196.1,716.7,10.4,420,12666,0.00,2.70,0.00,0.000,4,0.000,0.074,3510,3933,2382,0,0,0,0,0,0
$GC,12693,1.12,196.1,712.8,11.2,420,12699,0.00,2.62,0.00,0.000,6,0.000,0.041,3510,2353,2381,0,0,0,0,0,0
$GC,12943,1.12,196.1,686.8,10.4,427,12948,0.00,2.67,0.00,0.000,4,0.000,0.059,3510,3934,2381,0,0,0,0,0,0
$GC,12959,1.12,196.1,684.9,10.5,427,12963,0.00,2.60,0.00,0.000,6,0.000,0.044,3510,2367,2381,0,0,0,0,0,0
$GC,13222,1.12,196.1,658.0,10.2,434,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2367,2381,0,0,0,0,0,0
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$STATE,19455,end climb,SURFACE_DEPTH_REACHED
$STATE,19455,begin surface coast
$FINISH,1.0,1.020993
$STATE,19497,end surface coast,CONTROL_FINISHED_OK
$STATE,19497,begin surface
$SM_CCo,19522,38.95,0.494,0,0,1763,350.04
$SM_GC,2.01,0.00,0.00,38.95,0.000,0.000,0.494,459,2174,1763,-12.89,-1.02,350.04
$IRIDIUM_FIX,1918.37,-8107.58,130602,222231
$TT8_MAMPS,0.026078
$HUMID,59.41
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.30
$XPDR_PINGS,63
$24V_AH,23.2,41.914
$10V_AH,10.3,37.125
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.175,196.675,399.775,38.950,0.000,39.324,35.394,197.090,15.750,0.000,15.240,1513.287,14912.353,561.361,2257.244,754.458,33.394,1555.358,0.000,2248.086,0.000,0.536,0.000
$DEVICE_MAMPS,164.905,148.031,1220.297,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.105,325.133,418.269,529.877,1010.031,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,54307,716
$CAP_FILE_SIZE,169713,0
$CFSIZE,260165632,107544576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200313,094653,1924.917,-8115.130,24,2.0,41,-3.8