version: 66.06
glider: 146
mission: 8
dive: 357
start: 4 2 113 13 31 26
data:
$ID,146
$MISSION,8
$DIVE,357
$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,-314529.59
$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,47
$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
$GPS1,132305,1927.669,-8118.065,40,1.5,40,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.5
$GPS2,133031,1927.638,-8118.092,12,1.5,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.168
$KALMAN_X,-192785.2,-520.4,-14.4,174651.2,-1915.2
$KALMAN_Y,116395.1,30.9,-312.9,-108564.8,2480.6
$MHEAD_RNG_PITCHd_Wd,134.0,18562,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.82,0.000,2,0.000,0.000,463,2184,3470,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.4,-4.5,9,122,13.38,2.50,-6.05,0.000,4,0.153,0.051,2976,648,3787,0,0,0,0,0,0
$GC,173,-1.08,-146.0,23.7,-19.1,19,182,0.17,2.45,0.00,0.000,6,0.084,0.017,3019,2223,3786,0,0,0,0,0,0
$GC,446,-0.97,-146.0,64.6,-14.5,46,452,0.12,2.62,0.00,0.000,4,0.110,0.044,3047,641,3788,0,0,0,0,0,0
$GC,482,-0.89,-146.0,69.8,-13.7,48,486,0.00,2.38,0.00,0.000,6,0.000,0.015,3048,2209,3788,0,0,0,0,0,0
$GC,747,-0.82,-146.0,104.6,-11.9,72,756,0.15,0.00,0.00,0.000,6,0.100,0.000,3082,2210,3788,0,0,0,0,0,0
$GC,1011,-0.82,-146.0,131.0,-10.2,97,1015,0.00,2.58,0.00,0.000,4,0.000,0.048,3082,649,3788,0,0,0,0,0,0
$GC,1042,-0.82,-146.0,134.2,-10.5,99,1046,0.00,2.38,0.00,0.000,6,0.000,0.018,3082,2208,3789,0,0,0,0,0,0
$GC,1308,-0.92,-146.0,157.0,-7.4,123,1312,0.00,2.55,0.00,0.000,4,0.000,0.045,3081,643,3789,0,0,0,0,0,0
$GC,1330,-1.03,-146.0,158.5,-7.0,124,1335,0.20,2.38,0.00,0.000,6,0.045,0.021,3000,2199,3789,0,0,0,0,0,0
$GC,1595,-1.03,-146.0,184.0,-9.9,148,1600,0.15,2.55,0.00,0.000,4,0.091,0.045,3036,645,3789,0,0,0,0,0,0
$GC,1648,-1.09,-146.0,188.8,-8.1,152,1652,0.00,2.35,0.00,0.000,6,0.000,0.024,3036,2188,3790,0,0,0,0,0,0
$GC,1927,-1.15,-146.0,209.7,-7.5,169,1929,0.12,0.00,0.00,0.000,6,0.066,0.000,2978,2189,3789,0,0,0,0,0,0
$GC,2168,-1.15,-146.0,231.9,-9.2,175,2173,0.12,2.55,0.00,0.000,4,0.096,0.044,3009,645,3790,0,0,0,0,0,0
$GC,2204,-1.20,-146.0,234.7,-7.8,175,2210,0.00,2.35,0.00,0.000,6,0.000,0.018,3009,2178,3790,0,0,0,0,0,0
$GC,2454,-1.25,-146.0,252.8,-7.2,182,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2178,3790,0,0,0,0,0,0
$GC,2698,-1.29,-146.0,270.6,-7.3,188,2700,0.12,0.00,0.00,0.000,6,0.067,0.000,2954,2178,3790,0,0,0,0,0,0
$GC,2944,-1.24,-146.0,293.2,-9.4,194,2946,0.17,0.00,0.00,0.000,6,0.084,0.000,2994,2178,3789,0,0,0,0,0,0
$GC,3185,-1.24,-146.0,312.2,-7.6,200,3189,0.00,2.55,0.00,0.000,4,0.000,0.047,2994,3767,3789,0,0,0,0,0,0
$GC,3212,-1.24,-146.0,314.5,-8.5,200,3216,0.00,2.47,0.00,0.000,6,0.000,0.028,2994,2188,3789,0,0,0,0,0,0
$GC,3462,-1.24,-146.0,334.1,-7.9,206,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2188,3788,0,0,0,0,0,0
$GC,3708,-1.24,-146.0,353.8,-8.2,212,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2188,3787,0,0,0,0,0,0
$GC,3950,-1.24,-146.0,373.0,-8.0,218,3954,0.00,2.58,0.00,0.000,4,0.000,0.052,2995,3765,3786,0,0,0,0,0,0
$GC,3983,-1.28,-146.0,375.8,-8.6,218,3988,0.00,2.53,0.00,0.000,6,0.000,0.033,2994,2185,3786,0,0,0,0,0,0
$GC,4235,-1.28,-146.0,395.2,-7.9,225,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2185,3785,0,0,0,0,0,0
$GC,4477,-1.32,-146.0,413.9,-7.7,231,4481,0.00,2.60,0.00,0.000,4,0.000,0.051,2995,3762,3784,0,0,0,0,0,0
$GC,4493,-1.36,-146.0,415.3,-7.4,231,4498,0.12,2.53,0.00,0.000,6,0.065,0.034,2942,2186,3784,0,0,0,0,0,0
$GC,4757,-1.30,-146.0,440.6,-10.0,238,4762,0.15,2.78,0.00,0.000,4,0.089,0.084,2977,623,3783,0,0,0,0,0,0
$GC,4773,-1.30,-146.0,442.7,-10.1,238,4777,0.00,2.47,0.00,0.000,6,0.000,0.040,2977,2159,3783,0,0,0,0,0,0
$GC,5035,-1.30,-146.0,464.9,-8.5,245,5039,0.00,2.67,0.00,0.000,4,0.000,0.064,2978,3760,3782,0,0,0,0,0,0
$GC,5070,-1.30,-146.0,468.0,-9.6,245,5075,0.00,2.58,0.00,0.000,6,0.000,0.040,2977,2192,3782,0,0,0,0,0,0
$GC,5320,-1.30,-146.0,489.0,-8.4,252,5324,0.00,2.62,0.00,0.000,4,0.000,0.058,2977,3762,3780,0,0,0,0,0,0
$GC,5343,-1.30,-146.0,491.0,-8.8,252,5347,0.00,2.60,0.00,0.000,6,0.000,0.051,2977,2201,3780,0,0,0,0,0,0
$GC,5600,-1.30,-146.0,513.0,-8.6,259,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3778,0,0,0,0,0,0
$GC,5841,-1.30,-146.0,533.0,-8.1,265,5846,0.00,2.62,0.00,0.000,4,0.000,0.063,2977,3754,3777,0,0,0,0,0,0
$GC,5874,-1.30,-146.0,535.9,-8.2,265,5880,0.00,2.62,0.00,0.000,6,0.000,0.052,2977,2200,3778,0,0,0,0,0,0
$GC,6127,-1.30,-146.0,556.2,-8.1,272,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2200,3776,0,0,0,0,0,0
$GC,6368,-1.30,-146.0,575.3,-7.8,278,6372,0.00,2.70,0.00,0.000,4,0.000,0.075,2977,3754,3775,0,0,0,0,0,0
$GC,6389,-1.30,-146.0,577.0,-7.6,278,6393,0.00,2.62,0.00,0.000,6,0.000,0.054,2978,2205,3775,0,0,0,0,0,0
$GC,6644,-1.30,-146.0,597.1,-8.0,285,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2205,3774,0,0,0,0,0,0
$GC,6890,-1.30,-146.0,616.7,-8.1,291,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3772,0,0,0,0,0,0
$GC,7131,-1.30,-146.0,636.4,-8.1,297,7136,0.00,2.78,0.00,0.000,4,0.000,0.087,2977,3760,3771,0,0,0,0,0,0
$GC,7147,-1.30,-146.0,637.8,-8.4,297,7152,0.00,2.70,0.00,0.000,6,0.000,0.073,2977,2205,3771,0,0,0,0,0,0
$GC,7411,-1.30,-146.0,659.1,-8.2,304,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3770,0,0,0,0,0,0
$GC,7652,-1.30,-146.0,678.5,-8.0,310,7657,0.00,2.83,0.00,0.000,4,0.000,0.100,2977,3751,3769,0,0,0,0,0,0
$GC,7674,-1.30,-146.0,680.3,-8.0,310,7678,0.00,2.78,0.00,0.000,6,0.000,0.093,2977,2206,3769,0,0,0,0,0,0
$GC,7929,-1.30,-146.0,700.4,-7.8,317,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2206,3768,0,0,0,0,0,0
$GC,8175,-1.30,-146.0,719.5,-7.9,323,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3766,0,0,0,0,0,0
$GC,8416,-1.30,-146.0,738.9,-8.0,329,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2206,3766,0,0,0,0,0,0
$GC,8660,-1.30,-146.0,758.3,-7.8,335,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3765,0,0,0,0,0,0
$GC,8904,-1.30,-146.0,775.5,-6.9,341,8909,0.00,3.05,0.00,0.000,4,0.000,0.130,2977,623,3763,0,0,0,0,0,0
$GC,8928,-1.30,-146.0,777.1,-7.0,341,8932,0.00,2.70,0.00,0.000,6,0.000,0.071,2977,2170,3763,0,0,0,0,0,0
$GC,9183,-1.30,-146.0,793.7,-6.3,348,9187,0.00,2.95,0.00,0.000,4,0.000,0.100,2977,3801,3762,0,0,0,0,0,0
$GC,9216,-1.30,-146.0,796.0,-7.2,348,9221,0.00,2.75,0.00,0.000,6,0.000,0.068,2978,2220,3762,0,0,0,0,0,0
$GC,9468,-1.30,-146.0,812.1,-6.5,355,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2220,3762,0,0,0,0,0,0
$GC,9709,-1.30,-146.0,827.0,-6.1,361,9714,0.00,2.80,0.00,0.000,4,0.000,0.081,2977,3800,3761,0,0,0,0,0,0
$GC,9731,-1.30,-146.0,828.5,-6.8,361,9735,0.00,2.72,0.00,0.000,6,0.000,0.070,2977,2226,3761,0,0,0,0,0,0
$GC,9988,-1.30,-146.0,844.7,-6.4,368,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2226,3761,0,0,0,0,0,0
$GC,10230,-1.34,-146.0,861.1,-6.8,374,10235,0.00,2.80,0.00,0.000,4,0.000,0.087,2978,3808,3760,0,0,0,0,0,0
$GC,10251,-1.34,-146.0,862.7,-7.2,374,10256,0.00,2.75,0.00,0.000,6,0.000,0.067,2977,2227,3760,0,0,0,0,0,0
$GC,10509,-1.34,-146.0,879.5,-6.6,381,10514,0.00,2.80,0.00,0.000,4,0.000,0.082,2977,3802,3759,0,0,0,0,0,0
$GC,10526,-1.34,-146.0,880.9,-6.9,381,10530,0.00,2.72,0.00,0.000,6,0.000,0.071,2977,2235,3759,0,0,0,0,0,0
$GC,10787,-1.38,-146.0,899.5,-7.2,388,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2235,3757,0,0,0,0,0,0
$STATE,10824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10824,begin apogee
$GC,10833,-0.31,0.0,902.5,7.3,389,10956,0.93,0.00,120.10,1.205,6,0.065,0.000,3192,2386,3190,0,0,0,0,0,0
$STATE,10957,end apogee,CONTROL_FINISHED_OK
$STATE,10957,begin climb
$GC,10960,1.27,146.0,905.8,0.0,392,11095,1.42,2.83,127.05,1.181,4,0.034,0.077,3545,3930,2593,0,0,0,0,0,0
$GC,11183,1.15,146.0,891.2,12.4,397,11189,0.17,2.72,0.00,0.000,6,0.110,0.062,3510,2369,2588,0,0,0,0,0,0
$GC,11456,1.16,157.0,864.9,9.5,404,11471,0.00,3.08,10.07,1.006,4,0.000,0.114,3509,781,2549,0,0,0,0,0,0
$GC,11491,1.12,164.0,861.8,9.7,404,11505,0.00,2.72,7.97,0.947,6,0.000,0.050,3510,2370,2520,0,0,0,0,0,0
$GC,11784,1.13,168.2,832.7,9.8,412,11794,0.00,2.75,4.80,0.783,4,0.000,0.076,3510,3933,2504,0,0,0,0,0,0
$GC,11847,1.09,168.2,826.3,10.4,413,11852,0.00,2.60,0.00,0.000,6,0.000,0.037,3510,2379,2503,0,0,0,0,0,0
$GC,12108,1.10,171.7,800.3,9.8,420,12117,0.00,2.70,4.45,0.747,4,0.000,0.059,3510,3941,2490,0,0,0,0,0,0
$GC,12146,1.10,171.7,796.2,10.6,421,12151,0.00,2.62,0.00,0.000,6,0.000,0.045,3510,2386,2489,0,0,0,0,0,0
$GC,12431,1.10,171.7,767.4,10.0,428,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2386,2488,0,0,0,0,0,0
$GC,12673,1.10,172.5,743.0,10.0,434,12678,0.00,3.10,0.00,0.000,4,0.000,0.123,3510,782,2488,0,0,0,0,0,0
$GC,12700,1.10,172.5,739.9,10.0,434,12704,0.00,2.67,0.00,0.000,6,0.000,0.043,3509,2387,2487,0,0,0,0,0,0
$GC,12952,1.11,181.8,715.8,9.6,440,12965,0.00,0.00,10.65,0.972,6,0.000,0.000,3510,2387,2448,0,0,0,0,0,0
$GC,13194,1.11,181.9,691.7,10.0,446,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2388,2446,0,0,0,0,0,0
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$STATE,19938,end climb,SURFACE_DEPTH_REACHED
$STATE,19938,begin surface coast
$FINISH,1.0,1.010487
$STATE,19988,end surface coast,CONTROL_FINISHED_OK
$STATE,19988,begin surface
$SM_CCo,20012,48.47,0.491,0,0,1763,350.04
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$IRIDIUM_FIX,1922.94,-8119.23,270602,080846
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$TCM_TEMP,24.40
$XPDR_PINGS,68
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$10V_AH,10.2,44.615
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.175,205.150,391.675,48.475,0.000,23.672,33.899,215.275,17.000,0.000,13.748,1575.332,15232.948,564.937,2346.257,777.211,33.368,1563.170,0.000,2346.500,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,512.306,358.794,449.033,587.950,1117.131,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,57255,756
$CAP_FILE_SIZE,175333,0
$CFSIZE,260165632,103333888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020413,190705,1926.706,-8117.863,35,1.1,35,-3.7