version: 66.06
glider: 146
mission: 8
dive: 383
start: 4 8 113 8 40 33
data:
$ID,146
$MISSION,8
$DIVE,383
$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,-314997
$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,71
$R_STBD_OVSHOOT,24
$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
$GPS1,083235,1923.820,-8110.690,37,1.6,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.5
$GPS2,083937,1923.814,-8110.665,11,1.6,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,-0.005
$KALMAN_X,-239656.9,-157.9,-119.8,234243.4,313.2
$KALMAN_Y,144672.5,-422.0,-606.0,-143162.5,2100.3
$MHEAD_RNG_PITCHd_Wd,272.6,14103,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.20,0.000,2,0.000,0.000,463,2166,3449,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-4.5,9,123,13.40,2.45,-6.32,0.000,4,0.153,0.052,2976,670,3786,0,0,0,0,0,0
$GC,336,-1.09,-146.0,54.0,-16.8,35,346,0.15,2.42,0.00,0.000,6,0.087,0.017,3013,2242,3787,0,0,0,0,0,0
$GC,601,-0.97,-146.0,92.2,-14.7,60,606,0.15,2.60,0.00,0.000,4,0.103,0.044,3047,672,3788,0,0,0,0,0,0
$GC,637,-0.93,-146.0,97.8,-13.2,62,647,0.00,2.35,0.00,0.000,6,0.000,0.016,3047,2197,3788,0,0,0,0,0,0
$GC,906,-0.93,-146.0,125.9,-9.9,87,911,0.00,2.47,0.00,0.000,4,0.000,0.044,3047,672,3788,0,0,0,0,0,0
$GC,930,-0.93,-146.0,128.6,-8.8,88,939,0.00,2.38,0.00,0.000,6,0.000,0.015,3047,2215,3788,0,0,0,0,0,0
$GC,1199,-1.01,-146.0,148.1,-7.2,113,1203,0.00,2.45,0.00,0.000,4,0.000,0.033,3047,3768,3789,0,0,0,0,0,0
$GC,1216,-1.09,-146.0,149.9,-7.3,114,1221,0.10,2.38,0.00,0.000,6,0.077,0.023,2993,2230,3789,0,0,0,0,0,0
$GC,1477,-1.09,-146.0,174.5,-9.5,138,1479,0.12,0.00,0.00,0.000,6,0.097,0.000,3023,2230,3790,0,0,0,0,0,0
$GC,1736,-1.15,-146.0,192.2,-6.6,162,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2230,3790,0,0,0,0,0,0
$GC,2022,-1.22,-146.0,211.3,-6.7,178,2027,0.12,2.62,0.00,0.000,4,0.064,0.051,2965,644,3790,0,0,0,0,0,0
$GC,2065,-1.17,-146.0,214.9,-9.9,179,2070,0.17,2.38,0.00,0.000,6,0.089,0.025,3003,2203,3790,0,0,0,0,0,0
$GC,2348,-1.17,-146.0,239.3,-8.7,186,2353,0.00,2.50,0.00,0.000,4,0.000,0.044,3004,3771,3790,0,0,0,0,0,0
$GC,2378,-1.22,-146.0,241.8,-8.7,186,2383,0.00,2.45,0.00,0.000,6,0.000,0.026,3004,2206,3790,0,0,0,0,0,0
$GC,2629,-1.26,-146.0,262.5,-8.0,192,2633,0.00,2.58,0.00,0.000,4,0.000,0.051,3004,637,3790,0,0,0,0,0,0
$GC,2662,-1.31,-146.0,265.2,-8.2,192,2668,0.12,2.40,0.00,0.000,6,0.065,0.021,2949,2193,3789,0,0,0,0,0,0
$GC,2915,-1.24,-146.0,288.9,-9.5,199,2920,0.17,2.58,0.00,0.000,4,0.086,0.048,2989,3776,3789,0,0,0,0,0,0
$GC,2936,-1.24,-146.0,291.4,-9.5,199,2941,0.00,2.47,0.00,0.000,6,0.000,0.028,2989,2202,3789,0,0,0,0,0,0
$GC,3191,-1.24,-146.0,311.9,-8.1,206,3196,0.00,2.60,0.00,0.000,4,0.000,0.063,2989,638,3788,0,0,0,0,0,0
$GC,3221,-1.24,-146.0,314.3,-9.0,206,3225,0.00,2.45,0.00,0.000,6,0.000,0.026,2989,2193,3788,0,0,0,0,0,0
$GC,3471,-1.24,-146.0,334.2,-7.8,212,3475,0.00,2.60,0.00,0.000,4,0.000,0.044,2989,3787,3787,0,0,0,0,0,0
$GC,3492,-1.24,-146.0,336.0,-8.3,212,3496,0.00,2.50,0.00,0.000,6,0.000,0.030,2989,2203,3787,0,0,0,0,0,0
$GC,3750,-1.24,-146.0,356.1,-8.0,219,3754,0.00,2.65,0.00,0.000,4,0.000,0.065,2989,634,3786,0,0,0,0,0,0
$GC,3777,-1.24,-146.0,358.6,-8.5,219,3781,0.00,2.47,0.00,0.000,6,0.000,0.028,2989,2206,3786,0,0,0,0,0,0
$GC,4027,-1.24,-146.0,378.4,-8.0,225,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2206,3785,0,0,0,0,0,0
$GC,4273,-1.24,-146.0,398.4,-8.2,231,4277,0.00,2.62,0.00,0.000,4,0.000,0.057,2989,3793,3784,0,0,0,0,0,0
$GC,4294,-1.24,-146.0,400.7,-9.0,231,4299,0.00,2.55,0.00,0.000,6,0.000,0.029,2989,2207,3784,0,0,0,0,0,0
$GC,4552,-1.24,-146.0,421.5,-8.2,238,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2207,3783,0,0,0,0,0,0
$GC,4795,-1.24,-146.0,440.3,-7.7,244,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2208,3782,0,0,0,0,0,0
$GC,5037,-1.24,-146.0,458.5,-7.4,250,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2208,3781,0,0,0,0,0,0
$GC,5280,-1.24,-146.0,476.9,-7.5,256,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2207,3780,0,0,0,0,0,0
$GC,5524,-1.24,-146.0,495.1,-7.5,262,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2207,3778,0,0,0,0,0,0
$GC,5770,-1.24,-146.0,513.0,-7.3,268,5775,0.00,2.70,0.00,0.000,4,0.000,0.065,2989,3788,3778,0,0,0,0,0,0
$GC,5791,-1.24,-146.0,514.9,-7.5,268,5796,0.00,2.62,0.00,0.000,6,0.000,0.045,2989,2215,3778,0,0,0,0,0,0
$GC,6046,-1.24,-146.0,534.5,-7.8,275,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2215,3776,0,0,0,0,0,0
$GC,6290,-1.24,-146.0,554.7,-8.3,281,6295,0.00,3.03,0.00,0.000,4,0.000,0.120,2989,620,3775,0,0,0,0,0,0
$GC,6316,-1.24,-146.0,556.7,-8.7,281,6320,0.00,2.62,0.00,0.000,6,0.000,0.052,2989,2206,3775,0,0,0,0,0,0
$GC,6571,-1.24,-146.0,578.3,-8.3,288,6575,0.00,2.78,0.00,0.000,4,0.000,0.085,2988,3797,3774,0,0,0,0,0,0
$GC,6592,-1.28,-146.0,580.3,-9.1,288,6597,0.00,2.70,0.00,0.000,6,0.000,0.058,2989,2205,3773,0,0,0,0,0,0
$GC,6850,-1.28,-146.0,601.7,-8.4,295,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2205,3773,0,0,0,0,0,0
$GC,7091,-1.32,-146.0,622.3,-8.5,301,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2205,3771,0,0,0,0,0,0
$GC,7335,-1.35,-146.0,642.5,-8.3,307,7337,0.10,0.00,0.00,0.000,6,0.081,0.000,2945,2205,3770,0,0,0,0,0,0
$GC,7581,-1.31,-146.0,666.2,-9.7,313,7583,0.12,0.00,0.00,0.000,6,0.100,0.000,2975,2205,3769,0,0,0,0,0,0
$GC,7822,-1.31,-146.0,687.0,-8.4,319,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2205,3768,0,0,0,0,0,0
$GC,8066,-1.31,-146.0,706.5,-8.0,325,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2205,3768,0,0,0,0,0,0
$GC,8312,-1.31,-146.0,725.0,-7.6,331,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2205,3767,0,0,0,0,0,0
$GC,8553,-1.31,-146.0,744.2,-8.0,337,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2204,3766,0,0,0,0,0,0
$GC,8797,-1.31,-146.0,765.0,-8.7,343,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2204,3765,0,0,0,0,0,0
$GC,9041,-1.31,-146.0,786.0,-8.6,349,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2204,3764,0,0,0,0,0,0
$GC,9287,-1.31,-146.0,806.6,-8.5,355,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2204,3762,0,0,0,0,0,0
$GC,9528,-1.31,-146.0,825.7,-7.7,361,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2200,3762,0,0,0,0,0,0
$GC,9772,-1.31,-146.0,843.7,-7.2,367,9777,0.00,2.88,0.00,0.000,4,0.000,0.100,2975,3793,3762,0,0,0,0,0,0
$GC,9841,-1.35,-146.0,848.9,-7.6,368,9846,0.00,2.78,0.00,0.000,6,0.000,0.070,2975,2207,3761,0,0,0,0,0,0
$GC,10097,-1.35,-146.0,867.5,-7.1,375,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2207,3760,0,0,0,0,0,0
$GC,10341,-1.35,-146.0,884.7,-7.1,381,10345,0.00,2.80,0.00,0.000,4,0.000,0.084,2975,3793,3759,0,0,0,0,0,0
$GC,10393,-1.40,-146.0,888.7,-8.1,382,10398,0.00,2.75,0.00,0.000,6,0.000,0.067,2975,2215,3759,0,0,0,0,0,0
$STATE,10540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10540,begin apogee
$GC,10547,-0.31,0.0,900.0,7.5,386,10671,0.95,0.00,121.25,1.206,6,0.067,0.000,3195,2383,3190,0,0,0,0,0,0
$STATE,10672,end apogee,CONTROL_FINISHED_OK
$STATE,10672,begin climb
$GC,10675,1.27,146.0,903.2,0.0,389,10812,1.42,2.85,128.00,1.177,4,0.034,0.081,3547,3930,2593,0,0,0,0,0,0
$GC,10909,1.15,146.0,886.7,12.7,394,10914,0.17,2.72,0.00,0.000,6,0.113,0.058,3513,2370,2587,0,0,0,0,0,0
$GC,11173,1.13,161.0,861.9,9.3,401,11193,0.00,2.80,13.60,1.055,4,0.000,0.063,3512,3924,2533,0,0,0,0,0,0
$GC,11243,1.08,161.0,854.4,10.6,402,11248,0.00,2.67,0.00,0.000,6,0.000,0.053,3513,2367,2532,0,0,0,0,0,0
$GC,11501,1.10,179.5,830.8,9.1,409,11526,0.00,2.78,17.88,1.077,4,0.000,0.056,3513,3924,2457,0,0,0,0,0,0
$GC,11577,1.10,179.5,822.2,12.0,410,11581,0.00,2.60,0.00,0.000,6,0.000,0.042,3513,2384,2456,0,0,0,0,0,0
$GC,11827,1.12,195.7,798.4,9.3,416,11845,0.00,0.00,16.08,1.054,6,0.000,0.000,3513,2384,2392,0,0,0,0,0,0
$GC,12073,1.12,195.7,773.9,10.1,422,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2384,2388,0,0,0,0,0,0
$GC,12314,1.12,195.7,748.8,10.3,428,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2384,2388,0,0,0,0,0,0
$GC,12558,1.12,200.8,724.6,9.8,434,12565,0.00,0.00,5.53,0.815,6,0.000,0.000,3513,2384,2371,0,0,0,0,0,0
$GC,12802,1.12,200.8,699.8,10.2,440,12806,0.00,3.05,0.00,0.000,4,0.000,0.113,3512,777,2370,0,0,0,0,0,0
$GC,12819,1.12,200.8,698.0,10.4,440,12824,0.00,2.70,0.00,0.000,6,0.000,0.048,3512,2388,2369,0,0,0,0,0,0
$GC,13080,1.12,200.8,671.7,10.2,447,13084,0.00,2.70,0.00,0.000,4,0.000,0.069,3513,3940,2369,0,0,0,0,0,0
$GC,13112,1.12,200.8,668.0,11.1,447,13118,0.00,2.60,0.00,0.000,6,0.000,0.044,3513,2383,2367,0,0,0,0,0,0
$GC,13366,1.13,208.7,643.6,9.6,454,13377,0.00,0.00,8.82,0.897,6,0.000,0.000,3513,2384,2339,0,0,0,0,0,0
$GC,13606,1.14,211.4,619.6,9.9,460,13615,0.00,2.67,4.00,0.637,4,0.000,0.057,3512,3937,2328,0,0,0,0,0,0
$GC,13626,1.14,211.4,617.4,10.1,460,13631,0.00,2.58,0.00,0.000,6,0.000,0.042,3512,2383,2328,0,0,0,0,0,0
$GC,13890,1.14,211.4,590.7,10.2,467,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2384,2327,0,0,0,0,0,0
$GC,14131,1.14,211.4,564.9,10.6,473,14135,0.00,2.62,0.00,0.000,4,0.000,0.051,3512,3935,2327,0,0,0,0,0,0
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$STATE,19539,end climb,SURFACE_DEPTH_REACHED
$STATE,19539,begin surface coast
$FINISH,1.1,1.023072
$STATE,19590,end surface coast,CONTROL_FINISHED_OK
$STATE,19590,begin surface
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$SM_GC,1.73,0.00,0.00,43.78,0.000,0.000,0.492,466,2072,1763,-12.85,-3.90,350.04
$IRIDIUM_FIX,1916.08,-8107.94,030702,030338
$TT8_MAMPS,0.026078
$HUMID,60.27
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$TCM_TEMP,23.80
$XPDR_PINGS,81
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$10V_AH,10.1,47.899
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.050,172.300,398.250,43.775,0.000,29.461,34.699,185.412,20.250,0.000,12.700,1531.021,14960.803,542.408,2297.502,740.261,33.367,1523.770,0.000,2291.676,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,508.306,352.611,450.505,588.180,1120.528,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,57481,749
$CAP_FILE_SIZE,163859,0
$CFSIZE,260165632,101474304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080413,140929,1923.562,-8114.117,36,1.8,36,-3.8