version: 66.06
glider: 146
mission: 8
dive: 299
start: 3 20 113 9 57 28
data:
$ID,146
$MISSION,8
$DIVE,299
$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,-313326.62
$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,62
$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
$GPS1,094653,1924.917,-8115.130,24,2.0,41,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.6
$GPS2,095635,1924.958,-8114.983,15,1.0,31,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.225,0.130
$KALMAN_X,-56383.6,-239.1,-6.9,43403.6,-874.7
$KALMAN_Y,31167.1,-335.2,-104.6,-28137.5,1177.0
$MHEAD_RNG_PITCHd_Wd,303.9,6485,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.53,0.000,2,0.000,0.000,458,2174,3475,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-4.8,9,122,13.77,2.45,-5.68,0.000,4,0.163,0.044,2976,651,3786,0,0,0,0,0,0
$GC,272,-1.07,-146.0,42.9,-17.7,29,277,0.22,2.40,0.00,0.000,6,0.100,0.017,3025,2226,3787,0,0,0,0,0,0
$GC,542,-0.95,-146.0,81.5,-14.7,53,547,0.12,2.58,0.00,0.000,4,0.111,0.046,3052,659,3788,0,0,0,0,0,0
$GC,590,-0.90,-146.0,89.7,-14.1,56,599,0.00,2.40,0.00,0.000,6,0.000,0.018,3052,2207,3788,0,0,0,0,0,0
$GC,859,-0.86,-146.0,121.1,-10.9,81,864,0.10,0.00,0.00,0.000,6,0.119,0.000,3074,2207,3789,0,0,0,0,0,0
$GC,1122,-0.90,-146.0,146.3,-8.7,106,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2207,3789,0,0,0,0,0,0
$GC,1382,-1.00,-146.0,165.8,-7.2,130,1387,0.15,2.53,0.00,0.000,4,0.058,0.045,3012,663,3789,0,0,0,0,0,0
$GC,1411,-1.00,-146.0,168.9,-9.5,132,1416,0.12,2.35,0.00,0.000,6,0.099,0.025,3041,2203,3789,0,0,0,0,0,0
$GC,1675,-1.06,-146.0,189.5,-7.1,156,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2204,3789,0,0,0,0,0,0
$GC,1937,-1.14,-146.0,206.0,-6.4,175,1942,0.12,2.53,0.00,0.000,4,0.065,0.037,2987,3776,3790,0,0,0,0,0,0
$GC,1979,-1.14,-146.0,209.7,-9.6,176,1984,0.12,2.42,0.00,0.000,6,0.094,0.023,3018,2206,3790,0,0,0,0,0,0
$GC,2263,-1.18,-146.0,233.4,-7.8,183,2267,0.00,2.55,0.00,0.000,4,0.000,0.055,3017,640,3790,0,0,0,0,0,0
$GC,2326,-1.23,-146.0,238.4,-8.2,184,2331,0.12,2.38,0.00,0.000,6,0.065,0.021,2962,2192,3790,0,0,0,0,0,0
$GC,2587,-1.17,-146.0,263.8,-9.7,191,2593,0.20,2.53,0.00,0.000,4,0.081,0.041,3009,3765,3790,0,0,0,0,0,0
$GC,2615,-1.17,-146.0,266.4,-8.5,191,2619,0.00,2.45,0.00,0.000,6,0.000,0.026,3009,2192,3790,0,0,0,0,0,0
$GC,2868,-1.21,-146.0,285.7,-7.8,197,2872,0.00,2.53,0.00,0.000,4,0.000,0.040,3009,3768,3790,0,0,0,0,0,0
$GC,2901,-1.26,-146.0,288.7,-8.7,197,2907,0.10,2.47,0.00,0.000,6,0.077,0.028,2959,2187,3790,0,0,0,0,0,0
$GC,3151,-1.21,-146.0,312.0,-9.2,204,3153,0.15,0.00,0.00,0.000,6,0.088,0.000,2997,2187,3789,0,0,0,0,0,0
$GC,3397,-1.21,-146.0,329.5,-7.2,210,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2187,3788,0,0,0,0,0,0
$GC,3638,-1.21,-146.0,348.2,-7.8,216,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2187,3788,0,0,0,0,0,0
$GC,3882,-1.21,-146.0,367.0,-7.6,222,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2187,3786,0,0,0,0,0,0
$GC,4128,-1.21,-146.0,385.9,-7.7,228,4132,0.00,2.58,0.00,0.000,4,0.000,0.051,2998,3761,3785,0,0,0,0,0,0
$GC,4150,-1.24,-146.0,388.0,-8.3,228,4154,0.00,2.47,0.00,0.000,6,0.000,0.032,2998,2210,3785,0,0,0,0,0,0
$GC,4405,-1.24,-146.0,407.7,-7.7,235,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2210,3784,0,0,0,0,0,0
$GC,4651,-1.28,-146.0,427.4,-8.1,241,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2210,3783,0,0,0,0,0,0
$GC,4892,-1.32,-146.0,447.3,-8.2,247,4898,0.10,2.80,0.00,0.000,4,0.079,0.092,2952,631,3783,0,0,0,0,0,0
$GC,4920,-1.27,-146.0,450.1,-10.5,247,4925,0.15,2.50,0.00,0.000,6,0.091,0.041,2987,2173,3783,0,0,0,0,0,0
$GC,5172,-1.27,-146.0,469.3,-7.4,253,5177,0.00,2.72,0.00,0.000,4,0.000,0.067,2987,3793,3781,0,0,0,0,0,0
$GC,5233,-1.31,-146.0,474.1,-7.9,254,5238,0.00,2.60,0.00,0.000,6,0.000,0.048,2987,2216,3781,0,0,0,0,0,0
$GC,5494,-1.31,-146.0,492.1,-6.9,261,5499,0.00,2.90,0.00,0.000,4,0.000,0.100,2987,625,3780,0,0,0,0,0,0
$GC,5523,-1.31,-146.0,494.1,-7.7,261,5528,0.00,2.62,0.00,0.000,6,0.000,0.041,2987,2215,3780,0,0,0,0,0,0
$GC,5773,-1.31,-146.0,514.4,-8.3,267,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2215,3779,0,0,0,0,0,0
$GC,6017,-1.31,-146.0,534.2,-7.9,273,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2215,3778,0,0,0,0,0,0
$GC,6261,-1.31,-146.0,552.3,-7.5,279,6265,0.00,2.78,0.00,0.000,4,0.000,0.085,2987,3800,3777,0,0,0,0,0,0
$GC,6295,-1.31,-146.0,555.0,-7.8,279,6301,0.00,2.70,0.00,0.000,6,0.000,0.054,2986,2205,3777,0,0,0,0,0,0
$GC,6545,-1.31,-146.0,574.0,-7.5,286,6550,0.00,2.92,0.00,0.000,4,0.000,0.111,2987,623,3776,0,0,0,0,0,0
$GC,6567,-1.31,-146.0,575.7,-7.6,286,6571,0.00,2.65,0.00,0.000,6,0.000,0.055,2987,2205,3776,0,0,0,0,0,0
$GC,6824,-1.31,-146.0,594.5,-7.4,293,6829,0.00,2.85,0.00,0.000,4,0.000,0.092,2987,3803,3774,0,0,0,0,0,0
$GC,6845,-1.31,-146.0,596.6,-8.1,293,6850,0.00,2.75,0.00,0.000,6,0.000,0.065,2987,2199,3774,0,0,0,0,0,0
$GC,7100,-1.31,-146.0,616.6,-7.9,300,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2199,3773,0,0,0,0,0,0
$GC,7347,-1.31,-146.0,636.1,-7.9,306,7351,0.00,2.85,0.00,0.000,4,0.000,0.088,2987,3800,3771,0,0,0,0,0,0
$GC,7374,-1.35,-146.0,638.6,-8.4,306,7379,0.00,2.80,0.00,0.000,6,0.000,0.082,2988,2213,3771,0,0,0,0,0,0
$GC,7624,-1.35,-146.0,657.9,-7.8,312,7629,0.00,3.08,0.00,0.000,4,0.000,0.129,2987,621,3770,0,0,0,0,0,0
$GC,7662,-1.39,-146.0,660.8,-8.7,312,7668,0.12,2.78,0.00,0.000,6,0.067,0.076,2938,2202,3769,0,0,0,0,0,0
$GC,7912,-1.34,-146.0,683.7,-9.1,319,7918,0.12,3.00,0.00,0.000,4,0.100,0.114,2968,3797,3769,0,0,0,0,0,0
$GC,7940,-1.34,-146.0,686.1,-8.3,319,7945,0.00,2.92,0.00,0.000,6,0.000,0.097,2968,2208,3769,0,0,0,0,0,0
$GC,8191,-1.34,-146.0,705.7,-7.9,325,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2208,3767,0,0,0,0,0,0
$GC,8434,-1.34,-146.0,725.2,-8.0,331,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2208,3766,0,0,0,0,0,0
$GC,8678,-1.34,-146.0,744.8,-7.9,337,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2208,3765,0,0,0,0,0,0
$GC,8924,-1.34,-146.0,763.5,-7.6,343,8929,0.00,3.30,0.00,0.000,4,0.000,0.163,2968,3800,3763,0,0,0,0,0,0
$GC,8968,-1.34,-146.0,767.5,-8.4,344,8973,0.00,2.78,0.00,0.000,6,0.000,0.064,2968,2193,3763,0,0,0,0,0,0
$GC,9246,-1.34,-146.0,790.6,-8.5,351,9250,0.00,2.83,0.00,0.000,4,0.000,0.083,2968,3801,3762,0,0,0,0,0,0
$GC,9275,-1.34,-146.0,793.2,-9.7,351,9279,0.00,2.78,0.00,0.000,6,0.000,0.068,2968,2209,3762,0,0,0,0,0,0
$GC,9525,-1.34,-146.0,814.6,-8.5,357,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2209,3761,0,0,0,0,0,0
$GC,9768,-1.34,-146.0,835.6,-8.5,363,9773,0.00,3.03,0.00,0.000,4,0.000,0.120,2968,620,3760,0,0,0,0,0,0
$GC,9796,-1.34,-146.0,838.1,-9.0,363,9801,0.00,2.75,0.00,0.000,6,0.000,0.065,2968,2218,3760,0,0,0,0,0,0
$GC,10046,-1.34,-146.0,858.7,-8.1,369,10051,0.00,2.83,0.00,0.000,4,0.000,0.100,2968,3797,3759,0,0,0,0,0,0
$GC,10085,-1.34,-146.0,861.9,-8.5,370,10090,0.00,2.75,0.00,0.000,6,0.000,0.064,2968,2208,3759,0,0,0,0,0,0
$GC,10371,-1.34,-146.0,882.9,-7.4,377,10375,0.00,3.00,0.00,0.000,4,0.000,0.117,2968,619,3757,0,0,0,0,0,0
$GC,10392,-1.34,-146.0,884.8,-7.9,377,10397,0.00,2.70,0.00,0.000,6,0.000,0.059,2968,2214,3757,0,0,0,0,0,0
$STATE,10604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10605,begin apogee
$GC,10611,-0.31,0.0,900.4,7.2,383,10734,0.98,0.00,119.57,1.218,6,0.070,0.000,3191,2382,3190,0,0,0,0,0,0
$STATE,10735,end apogee,CONTROL_FINISHED_OK
$STATE,10735,begin climb
$GC,10739,1.27,146.0,903.0,0.0,386,10878,1.45,2.90,127.07,1.183,4,0.035,0.090,3545,3933,2593,0,0,0,0,0,0
$GC,10890,1.14,146.0,895.1,10.4,390,10896,0.17,2.72,0.00,0.000,6,0.109,0.056,3510,2365,2591,0,0,0,0,0,0
$GC,11177,1.12,159.7,867.5,9.4,397,11196,0.00,2.83,12.65,1.044,4,0.000,0.064,3510,3938,2538,0,0,0,0,0,0
$GC,11208,1.09,177.9,864.2,9.2,397,11232,0.00,2.70,17.90,1.078,6,0.000,0.051,3510,2365,2464,0,0,0,0,0,0
$GC,11507,1.10,184.7,835.4,9.7,405,11516,0.00,0.00,6.80,0.913,6,0.000,0.000,3510,2365,2437,0,0,0,0,0,0
$GC,11749,1.10,184.7,810.7,10.1,411,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2365,2435,0,0,0,0,0,0
$GC,11993,1.11,190.1,786.8,9.8,417,12004,0.00,2.70,6.15,0.877,4,0.000,0.057,3510,3938,2414,0,0,0,0,0,0
$GC,12035,1.11,190.1,782.5,10.4,418,12040,0.00,2.65,0.00,0.000,6,0.000,0.043,3510,2371,2414,0,0,0,0,0,0
$GC,12318,1.11,190.1,753.1,10.3,425,12322,0.00,2.67,0.00,0.000,4,0.000,0.054,3510,3938,2413,0,0,0,0,0,0
$GC,12373,1.11,190.1,747.0,11.1,426,12377,0.00,2.60,0.00,0.000,6,0.000,0.049,3510,2386,2412,0,0,0,0,0,0
$GC,12641,1.11,190.1,720.3,10.0,433,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2386,2411,0,0,0,0,0,0
$GC,12883,1.11,194.3,696.5,9.8,439,12890,0.00,0.00,5.12,0.792,6,0.000,0.000,3510,2386,2397,0,0,0,0,0,0
$GC,13126,1.11,194.3,671.1,10.4,445,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2386,2396,0,0,0,0,0,0
$GC,13371,1.12,196.2,646.8,9.9,451,13375,0.00,3.00,0.00,0.000,4,0.000,0.113,3510,782,2396,0,0,0,0,0,0
$GC,13386,1.12,198.4,645.0,9.9,451,13397,0.00,2.65,5.22,0.779,6,0.000,0.038,3510,2385,2381,0,0,0,0,0,0
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$STATE,19366,end climb,SURFACE_DEPTH_REACHED
$STATE,19366,begin surface coast
$FINISH,1.0,1.010292
$STATE,19415,end surface coast,CONTROL_FINISHED_OK
$STATE,19415,begin surface
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$HUMID,59.76
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$TCM_TEMP,24.30
$XPDR_PINGS,68
$24V_AH,23.3,42.058
$10V_AH,10.3,37.251
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.275,213.500,401.575,39.325,0.000,56.970,83.107,192.844,17.000,0.000,33.025,1550.905,14771.572,570.891,2341.302,815.051,33.364,1561.062,0.000,2312.803,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.119,340.372,436.587,562.708,1069.894,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,57223,732
$CAP_FILE_SIZE,175515,0
$CFSIZE,260165632,107466752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200313,152329,1926.403,-8118.457,36,1.1,41,-3.7