version: 66.06
glider: 146
mission: 8
dive: 311
start: 3 23 113 3 23 20
data:
$ID,146
$MISSION,8
$DIVE,311
$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,-313592.5
$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,34
$R_STBD_OVSHOOT,17
$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
$GPS1,031505,1927.386,-8118.854,36,1.4,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.6
$GPS2,032224,1927.396,-8118.839,9,1.6,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,-0.081
$KALMAN_X,-78244.9,98.3,-33.1,58216.0,-2662.0
$KALMAN_Y,44168.4,153.9,249.9,-37477.0,720.2
$MHEAD_RNG_PITCHd_Wd,113.1,1638,-19.0,-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,-1.34,-125.7,0.0,0.0,0,92,0.00,0.00,-70.62,0.000,2,0.000,0.000,465,2185,3527,0,0,0,0,0,0
$GC,97,-1.37,-146.0,4.2,-6.1,9,123,13.65,2.62,-4.45,0.000,4,0.163,0.061,2955,638,3787,0,0,0,0,0,0
$GC,261,-1.18,-146.0,46.4,-19.2,27,266,0.22,2.47,0.00,0.000,6,0.104,0.018,3003,2242,3786,0,0,0,0,0,0
$GC,530,-1.06,-146.0,87.9,-15.4,51,535,0.12,2.67,0.00,0.000,4,0.114,0.046,3030,634,3787,0,0,0,0,0,0
$GC,566,-0.97,-146.0,93.7,-14.5,53,571,0.00,2.40,0.00,0.000,6,0.000,0.016,3030,2216,3788,0,0,0,0,0,0
$GC,835,-0.92,-146.0,129.4,-12.8,77,840,0.12,2.60,0.00,0.000,4,0.112,0.045,3057,635,3788,0,0,0,0,0,0
$GC,856,-0.92,-146.0,132.4,-12.4,78,861,0.00,2.38,0.00,0.000,6,0.000,0.024,3057,2199,3788,0,0,0,0,0,0
$GC,1119,-1.01,-146.0,155.4,-7.2,102,1124,0.00,2.47,0.00,0.000,4,0.000,0.035,3057,3772,3789,0,0,0,0,0,0
$GC,1152,-1.13,-146.0,157.7,-7.7,104,1157,0.17,2.47,0.00,0.000,6,0.051,0.021,2985,2187,3789,0,0,0,0,0,0
$GC,1413,-1.13,-146.0,184.6,-10.1,128,1418,0.12,2.55,0.00,0.000,4,0.097,0.048,3015,634,3789,0,0,0,0,0,0
$GC,1472,-1.18,-146.0,189.6,-8.4,132,1481,0.00,2.40,0.00,0.000,6,0.000,0.020,3015,2184,3789,0,0,0,0,0,0
$GC,1738,-1.26,-146.0,210.5,-8.0,149,1743,0.12,2.53,0.00,0.000,4,0.064,0.042,2954,3768,3789,0,0,0,0,0,0
$GC,1757,-1.26,-146.0,212.3,-8.4,149,1762,0.15,2.42,0.00,0.000,6,0.086,0.027,2989,2190,3789,0,0,0,0,0,0
$GC,2018,-1.26,-146.0,236.7,-9.2,156,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2190,3789,0,0,0,0,0,0
$GC,2262,-1.30,-146.0,258.1,-8.7,162,2266,0.00,2.55,0.00,0.000,4,0.000,0.056,2989,641,3789,0,0,0,0,0,0
$GC,2281,-1.34,-146.0,259.5,-8.2,162,2285,0.00,2.42,0.00,0.000,6,0.000,0.019,2989,2211,3789,0,0,0,0,0,0
$GC,2542,-1.39,-146.0,282.5,-8.7,169,2547,0.15,2.62,0.00,0.000,4,0.059,0.056,2927,637,3789,0,0,0,0,0,0
$GC,2569,-1.33,-146.0,285.5,-10.5,169,2575,0.17,2.42,0.00,0.000,6,0.090,0.029,2968,2195,3788,0,0,0,0,0,0
$GC,2822,-1.33,-146.0,309.2,-9.4,175,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2195,3788,0,0,0,0,0,0
$GC,3063,-1.33,-146.0,331.7,-9.2,181,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2195,3788,0,0,0,0,0,0
$GC,3307,-1.33,-146.0,353.6,-8.9,187,3311,0.00,2.55,0.00,0.000,4,0.000,0.041,2968,3779,3786,0,0,0,0,0,0
$GC,3325,-1.33,-146.0,355.2,-8.8,187,3329,0.00,2.47,0.00,0.000,6,0.000,0.024,2968,2218,3786,0,0,0,0,0,0
$GC,3585,-1.33,-146.0,378.4,-8.9,194,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2218,3785,0,0,0,0,0,0
$GC,3829,-1.33,-146.0,399.7,-8.7,200,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2218,3784,0,0,0,0,0,0
$GC,4073,-1.33,-146.0,421.1,-8.9,206,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2219,3784,0,0,0,0,0,0
$GC,4319,-1.33,-146.0,443.2,-9.1,212,4323,0.00,2.80,0.00,0.000,4,0.000,0.091,2968,634,3783,0,0,0,0,0,0
$GC,4346,-1.33,-146.0,446.0,-9.4,212,4350,0.00,2.50,0.00,0.000,6,0.000,0.041,2968,2181,3783,0,0,0,0,0,0
$GC,4596,-1.33,-146.0,468.4,-8.8,218,4600,0.00,2.70,0.00,0.000,4,0.000,0.066,2968,3792,3782,0,0,0,0,0,0
$GC,4625,-1.33,-146.0,470.9,-9.1,218,4630,0.00,2.60,0.00,0.000,6,0.000,0.050,2968,2219,3782,0,0,0,0,0,0
$GC,4875,-1.33,-146.0,492.4,-8.5,224,4880,0.00,2.90,0.00,0.000,4,0.000,0.103,2968,620,3780,0,0,0,0,0,0
$GC,4896,-1.33,-146.0,494.3,-8.6,224,4901,0.00,2.58,0.00,0.000,6,0.000,0.046,2968,2200,3780,0,0,0,0,0,0
$GC,5154,-1.33,-146.0,515.3,-8.2,231,5158,0.00,2.78,0.00,0.000,4,0.000,0.078,2969,3801,3779,0,0,0,0,0,0
$GC,5170,-1.33,-146.0,516.8,-7.9,231,5174,0.00,2.67,0.00,0.000,6,0.000,0.047,2968,2198,3779,0,0,0,0,0,0
$GC,5430,-1.33,-146.0,538.0,-8.1,238,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2198,3778,0,0,0,0,0,0
$GC,5676,-1.33,-146.0,558.3,-8.4,244,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2199,3777,0,0,0,0,0,0
$GC,5918,-1.37,-146.0,577.8,-8.1,250,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2198,3776,0,0,0,0,0,0
$GC,6162,-1.41,-146.0,598.0,-8.3,256,6166,0.00,2.85,0.00,0.000,4,0.000,0.092,2968,3793,3774,0,0,0,0,0,0
$GC,6184,-1.45,-146.0,600.0,-8.7,256,6189,0.10,2.72,0.00,0.000,6,0.077,0.073,2922,2208,3774,0,0,0,0,0,0
$GC,6442,-1.41,-146.0,625.9,-10.2,263,6447,0.15,2.85,0.00,0.000,4,0.092,0.091,2957,3791,3773,0,0,0,0,0,0
$GC,6458,-1.41,-146.0,627.9,-10.2,263,6463,0.00,2.80,0.00,0.000,6,0.000,0.081,2957,2204,3773,0,0,0,0,0,0
$GC,6722,-1.41,-146.0,650.6,-8.7,270,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2204,3771,0,0,0,0,0,0
$GC,6963,-1.41,-146.0,671.0,-8.3,276,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2204,3770,0,0,0,0,0,0
$GC,7207,-1.41,-146.0,691.0,-8.1,282,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2204,3769,0,0,0,0,0,0
$GC,7451,-1.41,-146.0,711.4,-8.5,288,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2204,3767,0,0,0,0,0,0
$GC,7697,-1.41,-146.0,733.1,-8.9,294,7702,0.00,3.12,0.00,0.000,4,0.000,0.141,2957,3788,3766,0,0,0,0,0,0
$GC,7718,-1.41,-146.0,735.2,-8.9,294,7723,0.00,2.78,0.00,0.000,6,0.000,0.079,2957,2216,3766,0,0,0,0,0,0
$GC,7973,-1.41,-146.0,758.0,-8.9,301,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2216,3764,0,0,0,0,0,0
$GC,8217,-1.41,-146.0,779.1,-8.7,307,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2216,3762,0,0,0,0,0,0
$GC,8463,-1.41,-146.0,799.7,-8.5,313,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2215,3762,0,0,0,0,0,0
$GC,8704,-1.41,-146.0,819.6,-8.0,319,8709,0.00,2.78,0.00,0.000,4,0.000,0.081,2957,3792,3761,0,0,0,0,0,0
$GC,8720,-1.41,-146.0,821.0,-8.0,319,8725,0.00,2.75,0.00,0.000,6,0.000,0.067,2957,2202,3761,0,0,0,0,0,0
$GC,8988,-1.41,-146.0,841.9,-8.0,326,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2202,3759,0,0,0,0,0,0
$GC,9226,-1.45,-146.0,862.5,-8.4,332,9230,0.00,2.78,0.00,0.000,4,0.000,0.083,2957,3793,3759,0,0,0,0,0,0
$GC,9247,-1.45,-146.0,864.5,-9.1,332,9252,0.00,2.72,0.00,0.000,6,0.000,0.066,2957,2212,3758,0,0,0,0,0,0
$GC,9505,-1.48,-146.0,885.3,-8.2,339,9509,0.00,2.78,0.00,0.000,4,0.000,0.080,2957,3792,3757,0,0,0,0,0,0
$GC,9520,-1.48,-146.0,886.9,-7.8,339,9525,0.00,2.72,0.00,0.000,6,0.000,0.071,2957,2219,3757,0,0,0,0,0,0
$STATE,9697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9697,begin apogee
$GC,9704,-0.31,0.0,900.6,7.7,344,9827,1.02,0.00,119.57,1.216,6,0.071,0.000,3191,2375,3190,0,0,0,0,0,0
$STATE,9827,end apogee,CONTROL_FINISHED_OK
$STATE,9828,begin climb
$GC,9832,1.37,146.0,903.1,0.0,347,9969,1.52,2.80,126.82,1.182,4,0.048,0.077,3565,3933,2593,0,0,0,0,0,0
$GC,10099,1.24,146.0,879.6,13.2,353,10104,0.17,2.70,0.00,0.000,6,0.114,0.054,3531,2368,2587,0,0,0,0,0,0
$GC,10376,1.24,146.0,849.0,10.5,360,10381,0.00,2.70,0.00,0.000,4,0.000,0.065,3531,3931,2584,0,0,0,0,0,0
$GC,10409,1.18,146.0,845.4,11.1,360,10415,0.00,2.65,0.00,0.000,6,0.000,0.044,3531,2372,2584,0,0,0,0,0,0
$GC,10661,1.18,146.0,820.1,10.1,367,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2372,2583,0,0,0,0,0,0
$GC,10903,1.19,155.4,797.0,9.5,373,10917,0.00,2.75,7.62,0.941,4,0.000,0.062,3532,3934,2556,0,0,0,0,0,0
$GC,10946,1.14,155.4,792.4,10.8,374,10951,0.10,2.65,0.00,0.000,6,0.133,0.044,3511,2372,2555,0,0,0,0,0,0
$GC,11232,1.17,181.3,767.4,8.6,381,11262,0.00,2.75,24.65,1.085,4,0.000,0.058,3511,3933,2449,0,0,0,0,0,0
$GC,11284,1.17,181.3,762.0,10.0,382,11289,0.00,2.65,0.00,0.000,6,0.000,0.044,3511,2382,2448,0,0,0,0,0,0
$GC,11553,1.17,181.8,735.8,10.0,389,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2382,2445,0,0,0,0,0,0
$GC,11795,1.18,185.4,711.7,9.8,395,11804,0.00,2.67,4.28,0.708,4,0.000,0.055,3511,3931,2434,0,0,0,0,0,0
$GC,11832,1.18,185.4,707.6,10.9,395,11838,0.00,2.62,0.00,0.000,6,0.000,0.044,3511,2382,2433,0,0,0,0,0,0
$GC,12084,1.18,185.4,682.1,10.3,402,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2383,2433,0,0,0,0,0,0
$GC,12325,1.18,185.4,657.3,10.2,408,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2383,2432,0,0,0,0,0,0
$GC,12570,1.23,198.0,634.0,9.3,414,12589,0.00,2.72,13.23,0.963,4,0.000,0.061,3511,3932,2382,0,0,0,0,0,0
$GC,12642,1.23,198.0,626.6,10.3,415,12646,0.00,2.60,0.00,0.000,6,0.000,0.045,3511,2386,2380,0,0,0,0,0,0
$GC,12897,1.28,198.0,601.1,10.0,422,12899,0.12,0.00,0.00,0.000,6,0.075,0.000,3547,2386,2379,0,0,0,0,0,0
$GC,13140,1.28,198.0,572.2,12.0,428,13145,0.00,2.62,0.00,0.000,4,0.000,0.054,3547,3937,2379,0,0,0,0,0,0
$GC,13174,1.23,198.0,568.0,12.5,428,13179,0.00,2.60,0.00,0.000,6,0.000,0.041,3547,2384,2378,0,0,0,0,0,0
$GC,13426,1.23,198.0,538.0,11.9,435,13430,0.00,2.60,0.00,0.000,4,0.000,0.051,3547,3932,2378,0,0,0,0,0,0
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$STATE,18257,end climb,SURFACE_DEPTH_REACHED
$STATE,18257,begin surface coast
$FINISH,1.1,1.023255
$STATE,18317,end surface coast,CONTROL_FINISHED_OK
$STATE,18317,begin surface
$SM_CCo,18339,43.70,0.492,0,0,1763,350.04
$SM_GC,2.08,0.00,0.00,43.70,0.000,0.000,0.492,460,2138,1763,-12.88,-2.04,350.04
$IRIDIUM_FIX,1922.94,-8118.88,160602,232349
$TT8_MAMPS,0.025311
$HUMID,59.52
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.30
$XPDR_PINGS,69
$24V_AH,23.3,43.722
$10V_AH,10.2,38.754
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.375,194.175,387.350,43.700,0.000,24.101,41.345,201.654,17.250,0.000,16.376,1472.808,13834.627,531.409,2241.110,738.673,33.357,1505.818,0.000,2231.578,0.000,0.537,0.000
$DEVICE_MAMPS,163.371,141.128,1216.462,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,468.200,319.505,408.641,540.016,1029.355,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,54346,691
$CAP_FILE_SIZE,164847,0
$CFSIZE,260165632,106631168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230313,083106,1927.907,-8117.752,40,1.0,40,-3.7