version: 66.06
glider: 146
mission: 8
dive: 351
start: 4 1 113 4 44 47
data:
$ID,146
$MISSION,8
$DIVE,351
$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,-314421.81
$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,46
$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
$GPS1,043505,1924.841,-8116.785,37,1.4,37,-3.7
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.6
$GPS2,044354,1924.852,-8116.814,14,1.7,31,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.119,0.217
$KALMAN_X,-172002.6,-202.5,-718.8,156510.6,44.4
$KALMAN_Y,106257.1,-307.4,201.6,-103761.9,67.6
$MHEAD_RNG_PITCHd_Wd,335.0,4485,-18.5,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.32,-131.3,0.0,0.0,0,96,0.00,0.00,-70.85,0.000,2,0.000,0.000,459,2184,3465,0,0,0,0,0,0
$GC,99,-1.34,-146.0,3.3,-3.2,9,124,13.30,2.58,-6.30,0.000,4,0.151,0.038,2962,3799,3786,0,0,0,0,0,0
$GC,229,-1.21,-146.0,33.3,-17.4,27,238,0.12,2.50,0.00,0.000,6,0.084,0.023,2994,2227,3787,0,0,0,0,0,0
$GC,500,-1.08,-146.0,75.7,-16.2,52,505,0.12,2.62,0.00,0.000,4,0.114,0.046,3022,627,3787,0,0,0,0,0,0
$GC,574,-1.03,-146.0,88.7,-14.4,57,580,0.00,2.42,0.00,0.000,6,0.000,0.017,3022,2221,3788,0,0,0,0,0,0
$GC,837,-0.96,-146.0,125.7,-13.4,82,842,0.12,2.45,0.00,0.000,4,0.110,0.031,3049,3772,3788,0,0,0,0,0,0
$GC,858,-0.92,-146.0,128.0,-12.9,83,862,0.00,2.45,0.00,0.000,6,0.000,0.023,3049,2198,3788,0,0,0,0,0,0
$GC,1123,-0.96,-146.0,155.6,-8.3,107,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2198,3788,0,0,0,0,0,0
$GC,1386,-1.05,-146.0,177.9,-7.8,132,1391,0.00,2.55,0.00,0.000,4,0.000,0.046,3049,636,3789,0,0,0,0,0,0
$GC,1423,-1.15,-146.0,180.8,-8.2,134,1429,0.17,2.40,0.00,0.000,6,0.051,0.018,2979,2216,3789,0,0,0,0,0,0
$GC,1695,-1.15,-146.0,207.9,-9.8,154,1697,0.12,0.00,0.00,0.000,6,0.097,0.000,3009,2216,3789,0,0,0,0,0,0
$GC,1938,-1.21,-146.0,229.0,-8.7,160,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2216,3789,0,0,0,0,0,0
$GC,2179,-1.27,-146.0,248.0,-7.6,166,2184,0.12,2.47,0.00,0.000,4,0.066,0.041,2952,3768,3790,0,0,0,0,0,0
$GC,2206,-1.27,-146.0,250.7,-9.9,166,2211,0.12,2.40,0.00,0.000,6,0.092,0.021,2983,2206,3789,0,0,0,0,0,0
$GC,2459,-1.27,-146.0,271.5,-8.0,172,2463,0.00,2.58,0.00,0.000,4,0.000,0.061,2983,640,3789,0,0,0,0,0,0
$GC,2514,-1.27,-146.0,276.3,-8.6,173,2518,0.00,2.40,0.00,0.000,6,0.000,0.020,2983,2200,3789,0,0,0,0,0,0
$GC,2780,-1.27,-146.0,299.0,-8.7,180,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2200,3789,0,0,0,0,0,0
$GC,3026,-1.27,-146.0,320.8,-9.0,186,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2200,3788,0,0,0,0,0,0
$GC,3268,-1.31,-146.0,340.8,-8.0,192,3272,0.00,2.55,0.00,0.000,4,0.000,0.052,2983,3777,3788,0,0,0,0,0,0
$GC,3309,-1.37,-146.0,343.9,-8.1,193,3313,0.00,2.47,0.00,0.000,6,0.000,0.028,2983,2212,3787,0,0,0,0,0,0
$GC,3595,-1.41,-146.0,367.4,-8.5,200,3600,0.12,2.70,0.00,0.000,4,0.067,0.069,2930,632,3786,0,0,0,0,0,0
$GC,3629,-1.34,-146.0,371.1,-10.7,200,3635,0.17,2.47,0.00,0.000,6,0.089,0.036,2969,2192,3786,0,0,0,0,0,0
$GC,3881,-1.34,-146.0,393.4,-8.9,207,3885,0.00,2.62,0.00,0.000,4,0.000,0.051,2969,3794,3785,0,0,0,0,0,0
$GC,3920,-1.34,-146.0,397.3,-9.0,208,3925,0.00,2.53,0.00,0.000,6,0.000,0.029,2970,2219,3785,0,0,0,0,0,0
$GC,4204,-1.34,-146.0,421.2,-8.1,215,4209,0.00,2.80,0.00,0.000,4,0.000,0.081,2969,622,3784,0,0,0,0,0,0
$GC,4239,-1.34,-146.0,424.1,-8.8,215,4245,0.00,2.58,0.00,0.000,6,0.000,0.041,2969,2212,3784,0,0,0,0,0,0
$GC,4489,-1.34,-146.0,445.6,-8.4,222,4494,0.00,2.65,0.00,0.000,4,0.000,0.063,2970,3792,3783,0,0,0,0,0,0
$GC,4516,-1.34,-146.0,448.1,-8.9,222,4521,0.00,2.58,0.00,0.000,6,0.000,0.035,2969,2204,3783,0,0,0,0,0,0
$GC,4768,-1.34,-146.0,469.2,-8.5,228,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2204,3782,0,0,0,0,0,0
$GC,5010,-1.34,-146.0,490.0,-8.7,234,5014,0.00,2.85,0.00,0.000,4,0.000,0.097,2969,623,3780,0,0,0,0,0,0
$GC,5031,-1.34,-146.0,492.0,-8.8,234,5036,0.00,2.58,0.00,0.000,6,0.000,0.042,2969,2201,3780,0,0,0,0,0,0
$GC,5289,-1.34,-146.0,514.4,-8.8,241,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2201,3779,0,0,0,0,0,0
$GC,5533,-1.34,-146.0,535.6,-8.7,247,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2201,3777,0,0,0,0,0,0
$GC,5774,-1.34,-146.0,556.8,-8.7,253,5779,0.00,2.85,0.00,0.000,4,0.000,0.093,2969,629,3776,0,0,0,0,0,0
$GC,5801,-1.34,-146.0,559.3,-9.2,253,5806,0.00,2.60,0.00,0.000,6,0.000,0.047,2969,2201,3776,0,0,0,0,0,0
$GC,6054,-1.34,-146.0,581.5,-9.0,259,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2201,3775,0,0,0,0,0,0
$GC,6295,-1.34,-146.0,602.6,-8.6,265,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2201,3774,0,0,0,0,0,0
$GC,6539,-1.34,-146.0,623.2,-8.4,271,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2201,3773,0,0,0,0,0,0
$GC,6782,-1.34,-146.0,643.8,-8.5,277,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2201,3771,0,0,0,0,0,0
$GC,7029,-1.34,-146.0,664.6,-8.4,283,7033,0.00,2.97,0.00,0.000,4,0.000,0.116,2969,3795,3770,0,0,0,0,0,0
$GC,7056,-1.34,-146.0,667.2,-8.5,283,7061,0.00,2.85,0.00,0.000,6,0.000,0.091,2969,2206,3769,0,0,0,0,0,0
$GC,7306,-1.34,-146.0,687.9,-8.3,289,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2206,3769,0,0,0,0,0,0
$GC,7552,-1.37,-146.0,707.7,-8.1,295,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2206,3768,0,0,0,0,0,0
$GC,7794,-1.41,-146.0,727.2,-8.0,301,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2206,3766,0,0,0,0,0,0
$GC,8037,-1.45,-146.0,747.7,-8.5,307,8043,0.10,3.20,0.00,0.000,4,0.081,0.143,2926,3795,3765,0,0,0,0,0,0
$GC,8080,-1.41,-146.0,751.8,-10.7,308,8085,0.12,2.85,0.00,0.000,6,0.098,0.079,2955,2194,3766,0,0,0,0,0,0
$GC,8364,-1.41,-146.0,777.1,-8.6,315,8369,0.00,2.88,0.00,0.000,4,0.000,0.089,2955,3794,3764,0,0,0,0,0,0
$GC,8385,-1.41,-146.0,779.1,-8.9,315,8390,0.00,2.80,0.00,0.000,6,0.000,0.078,2955,2202,3764,0,0,0,0,0,0
$GC,8643,-1.41,-146.0,802.3,-9.2,322,8647,0.00,2.83,0.00,0.000,4,0.000,0.087,2955,3794,3763,0,0,0,0,0,0
$GC,8682,-1.41,-146.0,806.3,-9.7,323,8687,0.00,2.78,0.00,0.000,6,0.000,0.076,2955,2211,3763,0,0,0,0,0,0
$GC,8965,-1.41,-146.0,830.4,-8.2,330,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2211,3762,0,0,0,0,0,0
$GC,9211,-1.41,-146.0,850.2,-8.2,336,9216,0.00,2.80,0.00,0.000,4,0.000,0.087,2955,3794,3761,0,0,0,0,0,0
$GC,9251,-1.41,-146.0,853.7,-8.7,337,9255,0.00,2.75,0.00,0.000,6,0.000,0.071,2955,2217,3761,0,0,0,0,0,0
$GC,9534,-1.41,-146.0,878.0,-8.9,344,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2217,3759,0,0,0,0,0,0
$GC,9780,-1.41,-146.0,899.2,-8.5,350,9784,0.00,2.78,0.00,0.000,4,0.000,0.081,2955,3794,3759,0,0,0,0,0,0
$STATE,9787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9787,begin apogee
$GC,9796,-0.31,0.0,900.3,8.3,350,9920,1.00,0.00,120.28,1.199,6,0.068,0.000,3188,2362,3190,0,0,0,0,0,0
$STATE,9920,end apogee,CONTROL_FINISHED_OK
$STATE,9920,begin climb
$GC,9923,1.34,146.0,903.7,0.0,353,10060,1.50,2.78,127.10,1.170,4,0.034,0.076,3561,3932,2592,0,0,0,0,0,0
$GC,10185,1.21,146.0,882.7,12.7,359,10190,0.17,2.70,0.00,0.000,6,0.110,0.058,3526,2363,2587,0,0,0,0,0,0
$GC,10463,1.22,154.8,855.4,9.5,366,10473,0.00,0.00,7.78,0.940,6,0.000,0.000,3526,2363,2559,0,0,0,0,0,0
$GC,10707,1.24,170.5,832.7,9.2,372,10728,0.00,2.78,15.80,1.057,4,0.000,0.058,3526,3935,2493,0,0,0,0,0,0
$GC,10786,1.24,170.5,824.5,11.7,373,10792,0.00,2.65,0.00,0.000,6,0.000,0.041,3526,2373,2491,0,0,0,0,0,0
$GC,11036,1.24,170.5,799.4,10.0,380,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2373,2489,0,0,0,0,0,0
$GC,11279,1.24,170.5,774.6,10.2,386,11284,0.00,2.67,0.00,0.000,4,0.000,0.059,3527,3938,2488,0,0,0,0,0,0
$GC,11359,1.24,170.5,766.2,11.0,387,11365,0.00,2.62,0.00,0.000,6,0.000,0.042,3526,2380,2487,0,0,0,0,0,0
$GC,11609,1.25,182.1,742.2,9.4,394,11625,0.00,2.70,10.90,0.979,4,0.000,0.054,3526,3937,2447,0,0,0,0,0,0
$GC,11653,1.22,182.1,737.5,10.7,395,11658,0.00,2.62,0.00,0.000,6,0.000,0.042,3526,2389,2445,0,0,0,0,0,0
$GC,11933,1.22,182.1,708.9,10.2,402,11938,0.00,2.65,0.00,0.000,4,0.000,0.055,3526,3938,2443,0,0,0,0,0,0
$GC,11949,1.22,182.1,706.9,10.2,402,11953,0.00,2.58,0.00,0.000,6,0.000,0.046,3527,2390,2443,0,0,0,0,0,0
$GC,12211,1.22,183.0,680.8,10.0,409,12215,0.00,2.62,0.00,0.000,4,0.000,0.061,3526,3935,2442,0,0,0,0,0,0
$GC,12229,1.22,184.3,679.0,9.9,409,12233,0.00,2.58,0.00,0.000,6,0.000,0.046,3526,2397,2442,0,0,0,0,0,0
$GC,12489,1.22,184.3,651.6,10.6,416,12493,0.00,2.62,0.00,0.000,4,0.000,0.062,3526,3934,2442,0,0,0,0,0,0
$GC,12512,1.22,184.3,649.1,11.1,416,12516,0.00,2.55,0.00,0.000,6,0.000,0.046,3526,2400,2442,0,0,0,0,0,0
$GC,12769,1.22,184.3,620.5,11.1,423,12773,0.00,2.62,0.00,0.000,4,0.000,0.058,3526,3937,2441,0,0,0,0,0,0
$GC,12795,1.22,184.3,617.0,12.2,423,12800,0.00,2.55,0.00,0.000,6,0.000,0.041,3526,2398,2441,0,0,0,0,0,0
$GC,13045,1.22,184.3,589.7,10.9,429,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2398,2441,0,0,0,0,0,0
$GC,13289,1.22,184.3,564.3,10.3,435,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2398,2441,0,0,0,0,0,0
$GC,13535,1.22,184.3,539.3,10.4,441,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2398,2441,0,0,0,0,0,0
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$STATE,18500,end climb,SURFACE_DEPTH_REACHED
$STATE,18500,begin surface coast
$FINISH,1.1,1.023816
$STATE,18540,end surface coast,CONTROL_FINISHED_OK
$STATE,18540,begin surface
$SM_CCo,18563,47.47,0.493,0,0,1763,350.04
$SM_GC,1.70,0.00,0.00,47.47,0.000,0.000,0.493,458,2123,1763,-12.89,-2.46,350.04
$IRIDIUM_FIX,1918.37,-8107.58,250602,232353
$TT8_MAMPS,0.026078
$HUMID,60.47
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.30
$XPDR_PINGS,77
$24V_AH,23.2,49.661
$10V_AH,10.2,43.835
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.400,198.700,382.550,47.475,0.000,25.440,42.361,270.444,19.250,0.000,33.388,1470.217,14016.286,552.403,2277.157,811.463,33.358,1542.844,0.000,2247.336,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,471.473,321.651,413.968,532.263,1012.534,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,54237,697
$CAP_FILE_SIZE,166330,0
$CFSIZE,260165632,103780352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010413,095606,1927.454,-8120.593,28,1.1,28,-3.7