version: 66.06
glider: 146
mission: 8
dive: 335
start: 3 28 113 10 11 3
data:
$ID,146
$MISSION,8
$DIVE,335
$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,665.4989
$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,-314024.81
$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,30
$R_STBD_OVSHOOT,44
$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
$GPS1,094838,1926.506,-8110.321,26,1.1,27,-3.8
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.0
$GPS2,101006,1926.377,-8110.270,11,1.2,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.175
$KALMAN_X,-136973.2,-24.6,-57.6,132057.5,-1824.3
$KALMAN_Y,94105.6,-2.2,-50.9,-88847.8,1717.5
$MHEAD_RNG_PITCHd_Wd,136.1,5273,-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,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-70.80,0.000,2,0.000,0.000,458,2258,3521,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-6.2,9,121,13.30,2.65,-4.93,0.000,4,0.152,0.048,2980,629,3785,0,0,0,0,0,0
$GC,271,-1.08,-146.0,42.4,-17.4,30,276,0.20,2.45,0.00,0.000,6,0.099,0.017,3023,2219,3785,0,0,0,0,0,0
$GC,534,-0.96,-146.0,82.7,-15.1,54,536,0.12,0.00,0.00,0.000,6,0.112,0.000,3050,2219,3786,0,0,0,0,0,0
$GC,793,-0.91,-146.0,115.9,-12.7,78,797,0.00,2.60,0.00,0.000,4,0.000,0.044,3050,624,3786,0,0,0,0,0,0
$GC,845,-0.91,-146.0,123.6,-13.7,82,849,0.00,2.45,0.00,0.000,6,0.000,0.017,3050,2215,3786,0,0,0,0,0,0
$GC,1115,-0.91,-146.0,155.1,-11.6,106,1119,0.00,2.60,0.00,0.000,4,0.000,0.043,3050,628,3787,0,0,0,0,0,0
$GC,1142,-0.91,-146.0,158.9,-10.5,108,1147,0.00,2.45,0.00,0.000,6,0.000,0.021,3050,2222,3787,0,0,0,0,0,0
$GC,1408,-0.97,-146.0,180.5,-6.8,132,1412,0.00,2.45,0.00,0.000,4,0.000,0.038,3050,3782,3787,0,0,0,0,0,0
$GC,1419,-1.04,-146.0,181.7,-7.0,132,1428,0.00,2.45,0.00,0.000,6,0.000,0.018,3050,2213,3787,0,0,0,0,0,0
$GC,1701,-1.12,-146.0,202.9,-6.9,156,1706,0.15,2.55,0.00,0.000,4,0.057,0.045,2988,646,3788,0,0,0,0,0,0
$GC,1743,-1.12,-146.0,206.6,-10.0,157,1748,0.12,2.42,0.00,0.000,6,0.098,0.025,3017,2229,3788,0,0,0,0,0,0
$GC,2027,-1.16,-146.0,228.2,-7.2,164,2031,0.00,2.62,0.00,0.000,4,0.000,0.046,3017,637,3788,0,0,0,0,0,0
$GC,2056,-1.21,-146.0,230.5,-8.5,164,2061,0.00,2.42,0.00,0.000,6,0.000,0.025,3017,2211,3788,0,0,0,0,0,0
$GC,2307,-1.26,-146.0,247.2,-6.5,170,2309,0.12,0.00,0.00,0.000,6,0.065,0.000,2960,2211,3788,0,0,0,0,0,0
$GC,2550,-1.20,-146.0,271.6,-10.2,176,2552,0.17,0.00,0.00,0.000,6,0.081,0.000,3002,2211,3787,0,0,0,0,0,0
$GC,2796,-1.20,-146.0,290.1,-7.4,182,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2211,3787,0,0,0,0,0,0
$GC,3037,-1.20,-146.0,309.0,-7.9,188,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2211,3786,0,0,0,0,0,0
$GC,3281,-1.20,-146.0,328.4,-8.0,194,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2211,3785,0,0,0,0,0,0
$GC,3525,-1.24,-146.0,346.0,-7.1,200,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2211,3784,0,0,0,0,0,0
$GC,3771,-1.28,-146.0,363.7,-7.3,206,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2211,3784,0,0,0,0,0,0
$GC,4013,-1.33,-146.0,382.5,-7.6,212,4015,0.12,0.00,0.00,0.000,6,0.067,0.000,2951,2211,3782,0,0,0,0,0,0
$GC,4257,-1.28,-146.0,405.6,-9.6,218,4262,0.12,2.70,0.00,0.000,4,0.095,0.071,2982,649,3782,0,0,0,0,0,0
$GC,4281,-1.28,-146.0,407.7,-9.2,218,4285,0.00,2.47,0.00,0.000,6,0.000,0.031,2982,2190,3782,0,0,0,0,0,0
$GC,4536,-1.28,-146.0,430.7,-9.0,225,4540,0.00,2.67,0.00,0.000,4,0.000,0.060,2982,3797,3781,0,0,0,0,0,0
$GC,4557,-1.28,-146.0,432.8,-8.9,225,4562,0.00,2.53,0.00,0.000,6,0.000,0.041,2982,2228,3780,0,0,0,0,0,0
$GC,4815,-1.28,-146.0,455.0,-8.8,232,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2228,3779,0,0,0,0,0,0
$GC,5057,-1.28,-146.0,475.7,-8.5,238,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2227,3777,0,0,0,0,0,0
$GC,5302,-1.28,-146.0,495.8,-8.2,244,5306,0.00,2.88,0.00,0.000,4,0.000,0.099,2982,624,3776,0,0,0,0,0,0
$GC,5329,-1.28,-146.0,498.3,-8.7,244,5333,0.00,2.58,0.00,0.000,6,0.000,0.041,2982,2202,3777,0,0,0,0,0,0
$GC,5581,-1.28,-146.0,518.1,-7.9,250,5586,0.00,2.72,0.00,0.000,4,0.000,0.076,2982,3799,3775,0,0,0,0,0,0
$GC,5608,-1.28,-146.0,520.6,-7.9,250,5613,0.00,2.62,0.00,0.000,6,0.000,0.051,2982,2214,3775,0,0,0,0,0,0
$GC,5858,-1.28,-146.0,540.3,-7.8,256,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2214,3774,0,0,0,0,0,0
$GC,6104,-1.28,-146.0,560.3,-8.3,262,6109,0.00,2.72,0.00,0.000,4,0.000,0.071,2982,3793,3772,0,0,0,0,0,0
$GC,6126,-1.28,-146.0,562.5,-8.8,262,6130,0.00,2.65,0.00,0.000,6,0.000,0.056,2982,2220,3772,0,0,0,0,0,0
$GC,6381,-1.28,-146.0,583.4,-8.1,269,6386,0.00,3.05,0.00,0.000,4,0.000,0.126,2982,622,3771,0,0,0,0,0,0
$GC,6410,-1.28,-146.0,585.9,-9.1,269,6415,0.00,2.65,0.00,0.000,6,0.000,0.050,2982,2213,3770,0,0,0,0,0,0
$GC,6660,-1.28,-146.0,606.6,-8.2,275,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3769,0,0,0,0,0,0
$GC,6904,-1.28,-146.0,626.2,-8.0,281,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3768,0,0,0,0,0,0
$GC,7150,-1.28,-146.0,645.4,-7.7,287,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3767,0,0,0,0,0,0
$GC,7391,-1.28,-146.0,664.2,-7.7,293,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3766,0,0,0,0,0,0
$GC,7635,-1.28,-146.0,682.9,-7.6,299,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3765,0,0,0,0,0,0
$GC,7879,-1.28,-146.0,701.6,-7.7,305,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3764,0,0,0,0,0,0
$GC,8125,-1.28,-146.0,720.7,-7.8,311,8130,0.00,3.20,0.00,0.000,4,0.000,0.141,2981,617,3762,0,0,0,0,0,0
$GC,8143,-1.28,-146.0,722.4,-7.7,311,8148,0.00,2.92,0.00,0.000,6,0.000,0.094,2982,2213,3762,0,0,0,0,0,0
$GC,8404,-1.28,-146.0,743.3,-7.9,318,8409,0.00,3.03,0.00,0.000,4,0.000,0.116,2982,623,3761,0,0,0,0,0,0
$GC,8420,-1.28,-146.0,744.7,-8.0,318,8424,0.00,2.78,0.00,0.000,6,0.000,0.074,2982,2214,3761,0,0,0,0,0,0
$GC,8683,-1.28,-146.0,764.7,-7.6,325,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2214,3760,0,0,0,0,0,0
$GC,8924,-1.28,-146.0,782.7,-7.4,331,8929,0.00,2.95,0.00,0.000,4,0.000,0.100,2982,616,3760,0,0,0,0,0,0
$GC,8945,-1.28,-146.0,784.6,-8.1,331,8950,0.00,2.75,0.00,0.000,6,0.000,0.064,2982,2214,3759,0,0,0,0,0,0
$GC,9203,-1.28,-146.0,803.0,-7.2,338,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2214,3759,0,0,0,0,0,0
$GC,9444,-1.28,-146.0,821.2,-7.5,344,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2214,3758,0,0,0,0,0,0
$GC,9688,-1.31,-146.0,839.4,-7.5,350,9693,0.00,2.92,0.00,0.000,4,0.000,0.098,2982,622,3757,0,0,0,0,0,0
$GC,9712,-1.31,-146.0,841.3,-8.4,350,9717,0.00,2.72,0.00,0.000,6,0.000,0.064,2982,2211,3757,0,0,0,0,0,0
$GC,9967,-1.31,-146.0,860.0,-7.1,357,9972,0.00,2.90,0.00,0.000,4,0.000,0.103,2982,3796,3756,0,0,0,0,0,0
$GC,10007,-1.37,-146.0,863.0,-6.8,358,10011,0.00,2.72,0.00,0.000,6,0.000,0.063,2982,2216,3756,0,0,0,0,0,0
$GC,10293,-1.40,-146.0,882.4,-6.9,365,10295,0.12,0.00,0.00,0.000,6,0.074,0.000,2937,2216,3755,0,0,0,0,0,0
$STATE,10534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10534,begin apogee
$GC,10540,-0.31,0.0,903.3,8.8,371,10663,1.10,0.00,119.03,1.212,6,0.070,0.000,3189,2385,3190,0,0,0,0,0,0
$STATE,10664,end apogee,CONTROL_FINISHED_OK
$STATE,10664,begin climb
$GC,10668,1.27,146.0,906.7,0.0,374,10804,1.42,2.83,126.82,1.180,4,0.035,0.077,3542,3931,2593,0,0,0,0,0,0
$GC,10887,1.15,146.0,892.4,11.6,379,10892,0.15,2.72,0.00,0.000,6,0.111,0.061,3512,2368,2589,0,0,0,0,0,0
$GC,11165,1.16,154.4,865.1,9.6,386,11179,0.00,2.80,7.70,0.944,4,0.000,0.067,3512,3928,2559,0,0,0,0,0,0
$GC,11241,1.11,154.4,857.0,10.1,387,11246,0.00,2.62,0.00,0.000,6,0.000,0.051,3512,2380,2558,0,0,0,0,0,0
$GC,11493,1.13,169.2,833.4,9.3,393,11513,0.00,2.72,14.40,1.057,4,0.000,0.061,3512,3930,2500,0,0,0,0,0,0
$GC,11558,1.09,169.2,826.2,11.0,394,11563,0.00,2.62,0.00,0.000,6,0.000,0.042,3512,2384,2498,0,0,0,0,0,0
$GC,11815,1.10,174.1,801.2,9.8,401,11826,0.00,2.67,5.70,0.851,4,0.000,0.060,3512,3929,2480,0,0,0,0,0,0
$GC,11848,1.10,174.1,797.2,10.7,401,11854,0.00,2.60,0.00,0.000,6,0.000,0.043,3512,2397,2479,0,0,0,0,0,0
$GC,12099,1.12,197.3,774.3,8.9,408,12123,0.00,0.00,22.52,1.078,6,0.000,0.000,3512,2397,2385,0,0,0,0,0,0
$GC,12381,1.13,199.4,747.2,9.9,415,12386,0.00,2.62,0.00,0.000,4,0.000,0.054,3513,3934,2381,0,0,0,0,0,0
$GC,12420,1.13,199.4,742.9,11.3,416,12425,0.00,2.60,0.00,0.000,6,0.000,0.044,3512,2396,2380,0,0,0,0,0,0
$GC,12704,1.13,199.4,714.5,10.1,423,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2396,2380,0,0,0,0,0,0
$GC,12950,1.13,199.4,689.5,10.4,429,12954,0.00,2.62,0.00,0.000,4,0.000,0.061,3512,3934,2379,0,0,0,0,0,0
$GC,12971,1.13,199.4,686.8,11.0,429,12975,0.00,2.58,0.00,0.000,6,0.000,0.042,3512,2404,2379,0,0,0,0,0,0
$GC,13226,1.13,199.4,660.2,10.4,436,13230,0.00,2.58,0.00,0.000,4,0.000,0.056,3513,3927,2379,0,0,0,0,0,0
$GC,13255,1.13,199.4,657.1,10.7,436,13259,0.00,2.55,0.00,0.000,6,0.000,0.042,3512,2410,2378,0,0,0,0,0,0
$GC,13504,1.13,199.4,630.5,10.6,442,13505,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2410,2378,0,0,0,0,0,0
$GC,13748,1.13,199.4,604.4,10.7,448,13753,0.00,2.58,0.00,0.000,4,0.000,0.060,3512,3928,2378,0,0,0,0,0,0
$GC,13775,1.13,199.4,601.3,10.9,448,13779,0.00,2.53,0.00,0.000,6,0.000,0.048,3512,2411,2377,0,0,0,0,0,0
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$STATE,19516,end climb,SURFACE_DEPTH_REACHED
$STATE,19516,begin surface coast
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$STATE,19552,end surface coast,CONTROL_FINISHED_OK
$STATE,19552,begin surface
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$TT8_MAMPS,0.026078
$HUMID,55.78
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$TCM_TEMP,24.30
$XPDR_PINGS,66
$24V_AH,23.2,47.125
$10V_AH,10.2,41.743
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.900,200.750,392.725,282.500,0.000,149.683,236.679,452.702,16.500,0.000,16.971,1514.690,15204.561,785.823,2270.340,1366.917,33.367,1777.295,0.000,2263.668,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,54199,727
$CAP_FILE_SIZE,179877,0
$CFSIZE,260165632,104906752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280313,154324,1925.427,-8109.410,38,1.6,38,-3.8