version: 66.06
glider: 146
mission: 8
dive: 413
start: 4 15 113 1 37 8
data:
$ID,146
$MISSION,8
$DIVE,413
$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,-315583.16
$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,15
$R_STBD_OVSHOOT,51
$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
$GPS1,012836,1924.129,-8107.514,30,0.9,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.6
$GPS2,013612,1924.181,-8107.604,13,1.6,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.050
$KALMAN_X,-219359.2,193.8,-92.3,218909.2,1571.4
$KALMAN_Y,145421.1,-505.1,90.0,-143857.5,-32.6
$MHEAD_RNG_PITCHd_Wd,284.9,18891,-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,-71.18,0.000,2,0.000,0.000,464,2253,3493,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.7,-4.8,9,124,13.48,2.67,-5.38,0.000,4,0.157,0.048,2979,615,3787,0,0,0,0,0,0
$GC,289,-1.10,-146.0,45.6,-15.9,31,299,0.15,2.47,0.00,0.000,6,0.089,0.016,3015,2216,3787,0,0,0,0,0,0
$GC,553,-0.98,-146.0,82.7,-14.2,56,563,0.15,0.00,0.00,0.000,6,0.102,0.000,3050,2216,3788,0,0,0,0,0,0
$GC,822,-0.94,-146.0,115.0,-11.4,81,826,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2216,3789,0,0,0,0,0,0
$GC,1086,-0.98,-146.0,141.0,-8.0,106,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2216,3789,0,0,0,0,0,0
$GC,1349,-1.06,-146.0,160.6,-7.1,131,1353,0.00,2.47,0.00,0.000,4,0.000,0.040,3050,3776,3790,0,0,0,0,0,0
$GC,1385,-1.17,-146.0,163.4,-7.5,133,1392,0.20,2.50,0.00,0.000,6,0.045,0.020,2971,2177,3790,0,0,0,0,0,0
$GC,1648,-1.12,-146.0,189.7,-10.3,158,1653,0.20,2.53,0.00,0.000,4,0.082,0.044,3018,639,3790,0,0,0,0,0,0
$GC,1672,-1.12,-146.0,192.0,-9.2,159,1682,0.00,2.42,0.00,0.000,6,0.000,0.019,3018,2200,3789,0,0,0,0,0,0
$GC,1948,-1.18,-146.0,212.0,-6.9,174,1952,0.00,2.53,0.00,0.000,4,0.000,0.040,3018,3778,3789,0,0,0,0,0,0
$GC,2003,-1.25,-146.0,216.1,-7.3,175,2008,0.12,2.45,0.00,0.000,6,0.066,0.018,2960,2203,3789,0,0,0,0,0,0
$GC,2273,-1.20,-146.0,240.6,-9.6,182,2278,0.17,2.58,0.00,0.000,4,0.088,0.054,2999,635,3789,0,0,0,0,0,0
$GC,2313,-1.20,-146.0,244.1,-7.9,183,2317,0.00,2.42,0.00,0.000,6,0.000,0.019,2999,2209,3790,0,0,0,0,0,0
$GC,2598,-1.20,-146.0,265.3,-7.4,190,2602,0.00,2.53,0.00,0.000,4,0.000,0.044,2999,3777,3789,0,0,0,0,0,0
$GC,2632,-1.20,-146.0,268.0,-7.6,190,2638,0.00,2.45,0.00,0.000,6,0.000,0.028,2999,2214,3789,0,0,0,0,0,0
$GC,2882,-1.20,-146.0,287.4,-7.7,197,2887,0.00,2.50,0.00,0.000,4,0.000,0.038,2999,3771,3788,0,0,0,0,0,0
$GC,2907,-1.20,-146.0,289.1,-7.8,197,2911,0.00,2.45,0.00,0.000,6,0.000,0.021,2999,2213,3788,0,0,0,0,0,0
$GC,3162,-1.20,-146.0,308.7,-7.6,204,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2213,3787,0,0,0,0,0,0
$GC,3406,-1.20,-146.0,327.4,-7.7,210,3410,0.00,2.53,0.00,0.000,4,0.000,0.044,2999,3775,3786,0,0,0,0,0,0
$GC,3427,-1.20,-146.0,329.1,-7.6,210,3431,0.00,2.42,0.00,0.000,6,0.000,0.026,2999,2225,3786,0,0,0,0,0,0
$GC,3685,-1.20,-146.0,347.3,-7.1,217,3689,0.00,2.53,0.00,0.000,4,0.000,0.047,2999,3769,3785,0,0,0,0,0,0
$GC,3724,-1.25,-146.0,350.5,-8.0,218,3729,0.00,2.45,0.00,0.000,6,0.000,0.026,2999,2229,3785,0,0,0,0,0,0
$GC,4011,-1.28,-146.0,371.8,-7.5,225,4015,0.00,2.72,0.00,0.000,4,0.000,0.069,2999,633,3784,0,0,0,0,0,0
$GC,4044,-1.34,-146.0,374.7,-8.3,225,4050,0.12,2.53,0.00,0.000,6,0.066,0.032,2945,2223,3783,0,0,0,0,0,0
$GC,4294,-1.27,-146.0,399.6,-10.0,232,4299,0.17,2.60,0.00,0.000,4,0.088,0.053,2984,3792,3782,0,0,0,0,0,0
$GC,4341,-1.27,-146.0,403.6,-8.3,233,4345,0.00,2.47,0.00,0.000,6,0.000,0.035,2984,2244,3782,0,0,0,0,0,0
$GC,4618,-1.27,-146.0,425.7,-7.8,240,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2244,3781,0,0,0,0,0,0
$GC,4862,-1.27,-146.0,444.1,-7.6,246,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2244,3780,0,0,0,0,0,0
$GC,5108,-1.27,-146.0,463.3,-7.9,252,5113,0.00,2.88,0.00,0.000,4,0.000,0.089,2984,625,3779,0,0,0,0,0,0
$GC,5130,-1.27,-146.0,465.3,-8.1,252,5134,0.00,2.60,0.00,0.000,6,0.000,0.043,2984,2236,3779,0,0,0,0,0,0
$GC,5385,-1.27,-146.0,485.2,-7.8,259,5389,0.00,2.65,0.00,0.000,4,0.000,0.067,2984,3793,3778,0,0,0,0,0,0
$GC,5431,-1.27,-146.0,489.0,-8.0,260,5436,0.00,2.58,0.00,0.000,6,0.000,0.047,2984,2242,3778,0,0,0,0,0,0
$GC,5709,-1.27,-146.0,510.1,-7.4,267,5713,0.00,2.97,0.00,0.000,4,0.000,0.100,2985,616,3776,0,0,0,0,0,0
$GC,5748,-1.27,-146.0,513.1,-7.9,268,5753,0.00,2.67,0.00,0.000,6,0.000,0.048,2985,2246,3776,0,0,0,0,0,0
$GC,6034,-1.27,-146.0,534.1,-7.3,275,6038,0.00,2.67,0.00,0.000,4,0.000,0.072,2985,3792,3775,0,0,0,0,0,0
$GC,6060,-1.27,-146.0,536.6,-8.5,275,6065,0.00,2.58,0.00,0.000,6,0.000,0.044,2985,2247,3775,0,0,0,0,0,0
$GC,6311,-1.27,-146.0,556.6,-7.9,281,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2247,3773,0,0,0,0,0,0
$GC,6557,-1.27,-146.0,575.8,-8.0,287,6562,0.00,3.00,0.00,0.000,4,0.000,0.109,2985,626,3772,0,0,0,0,0,0
$GC,6578,-1.27,-146.0,577.9,-7.9,287,6583,0.00,2.72,0.00,0.000,6,0.000,0.056,2985,2247,3772,0,0,0,0,0,0
$GC,6834,-1.27,-146.0,597.9,-7.8,294,6838,0.00,2.75,0.00,0.000,4,0.000,0.086,2985,3798,3771,0,0,0,0,0,0
$GC,6869,-1.27,-146.0,600.7,-8.7,294,6874,0.00,2.65,0.00,0.000,6,0.000,0.059,2985,2247,3771,0,0,0,0,0,0
$GC,7118,-1.27,-146.0,620.9,-8.0,301,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2247,3769,0,0,0,0,0,0
$GC,7362,-1.27,-146.0,639.8,-7.7,307,7367,0.00,2.75,0.00,0.000,4,0.000,0.091,2984,3794,3768,0,0,0,0,0,0
$GC,7386,-1.27,-146.0,641.8,-8.3,307,7390,0.00,2.72,0.00,0.000,6,0.000,0.073,2984,2245,3768,0,0,0,0,0,0
$GC,7643,-1.27,-146.0,661.1,-7.5,314,7648,0.00,3.12,0.00,0.000,4,0.000,0.124,2985,622,3767,0,0,0,0,0,0
$GC,7665,-1.27,-146.0,663.1,-8.0,314,7670,0.00,2.88,0.00,0.000,6,0.000,0.074,2984,2255,3767,0,0,0,0,0,0
$GC,7920,-1.27,-146.0,681.9,-7.4,321,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2255,3766,0,0,0,0,0,0
$GC,8166,-1.27,-146.0,698.7,-6.9,327,8171,0.00,2.95,0.00,0.000,4,0.000,0.127,2984,3797,3765,0,0,0,0,0,0
$GC,8199,-1.31,-146.0,701.5,-8.6,327,8205,0.00,2.85,0.00,0.000,6,0.000,0.101,2984,2258,3765,0,0,0,0,0,0
$GC,8449,-1.31,-146.0,720.1,-7.4,334,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2258,3763,0,0,0,0,0,0
$GC,8695,-1.31,-146.0,738.2,-7.5,340,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2258,3762,0,0,0,0,0,0
$GC,8937,-1.31,-146.0,756.1,-7.3,346,8942,0.00,3.12,0.00,0.000,4,0.000,0.155,2984,3794,3762,0,0,0,0,0,0
$GC,8959,-1.35,-146.0,757.9,-7.7,346,8964,0.00,2.75,0.00,0.000,6,0.000,0.085,2985,2256,3762,0,0,0,0,0,0
$GC,9216,-1.35,-146.0,776.3,-7.2,353,9221,0.00,3.12,0.00,0.000,4,0.000,0.123,2985,621,3761,0,0,0,0,0,0
$GC,9258,-1.40,-146.0,779.6,-7.8,354,9263,0.12,2.88,0.00,0.000,6,0.067,0.073,2937,2265,3760,0,0,0,0,0,0
$GC,9542,-1.34,-146.0,804.9,-8.8,361,9548,0.15,2.80,0.00,0.000,4,0.097,0.101,2970,3799,3759,0,0,0,0,0,0
$GC,9578,-1.34,-146.0,807.8,-8.8,361,9584,0.00,2.67,0.00,0.000,6,0.000,0.071,2970,2250,3759,0,0,0,0,0,0
$GC,9828,-1.34,-146.0,826.3,-7.2,368,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2250,3758,0,0,0,0,0,0
$GC,10072,-1.34,-146.0,844.4,-7.5,374,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2250,3757,0,0,0,0,0,0
$GC,10318,-1.34,-146.0,861.7,-7.1,380,10323,0.00,2.72,0.00,0.000,4,0.000,0.084,2969,3800,3756,0,0,0,0,0,0
$GC,10367,-1.34,-146.0,865.7,-8.0,381,10372,0.00,2.67,0.00,0.000,6,0.000,0.068,2969,2259,3756,0,0,0,0,0,0
$GC,10639,-1.34,-146.0,885.2,-7.1,388,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2259,3755,0,0,0,0,0,0
$STATE,10880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10881,begin apogee
$GC,10889,-0.31,0.0,901.9,6.8,394,11014,0.95,0.00,120.78,1.215,6,0.066,0.000,3191,2382,3190,0,0,0,0,0,0
$STATE,11014,end apogee,CONTROL_FINISHED_OK
$STATE,11014,begin climb
$GC,11017,1.27,146.0,904.5,0.0,397,11154,1.42,2.85,128.48,1.183,4,0.035,0.083,3543,3937,2593,0,0,0,0,0,0
$GC,11218,1.14,146.0,891.6,12.4,401,11223,0.17,2.75,0.00,0.000,6,0.111,0.058,3508,2370,2589,0,0,0,0,0,0
$GC,11467,1.18,176.8,869.1,8.6,407,11497,0.00,0.00,28.12,1.121,6,0.000,0.000,3508,2370,2469,0,0,0,0,0,0
$GC,11714,1.20,190.0,846.5,9.4,413,11729,0.00,0.00,13.05,1.040,6,0.000,0.000,3508,2370,2415,0,0,0,0,0,0
$GC,11955,1.20,190.2,822.3,10.0,419,11959,0.00,2.72,0.00,0.000,4,0.000,0.060,3508,3939,2413,0,0,0,0,0,0
$GC,11981,1.20,190.2,819.2,10.7,419,11986,0.00,2.67,0.00,0.000,6,0.000,0.048,3508,2374,2412,0,0,0,0,0,0
$GC,12240,1.20,190.2,793.4,10.2,426,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2374,2410,0,0,0,0,0,0
$GC,12481,1.20,190.2,768.6,10.1,432,12486,0.00,3.10,0.00,0.000,4,0.000,0.127,3508,782,2409,0,0,0,0,0,0
$GC,12496,1.20,190.2,766.9,10.2,432,12501,0.00,2.65,0.00,0.000,6,0.000,0.042,3508,2382,2409,0,0,0,0,0,0
$GC,12760,1.21,197.2,741.1,9.7,439,12774,0.00,2.97,7.10,0.907,4,0.000,0.081,3508,781,2386,0,0,0,0,0,0
$GC,12786,1.22,208.7,738.1,9.5,439,12806,0.00,2.67,12.85,1.003,6,0.000,0.045,3508,2372,2338,0,0,0,0,0,0
$GC,13090,1.22,208.7,706.7,10.4,447,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2374,2335,0,0,0,0,0,0
$GC,13338,1.22,208.7,680.7,10.7,453,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2374,2335,0,0,0,0,0,0
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$STATE,19817,end climb,SURFACE_DEPTH_REACHED
$STATE,19818,begin surface coast
$FINISH,1.0,1.023570
$STATE,19868,end surface coast,CONTROL_FINISHED_OK
$STATE,19868,begin surface
$SM_CCo,19893,45.22,0.492,0,0,1762,350.04
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$IRIDIUM_FIX,1916.08,-8107.94,090702,212142
$TT8_MAMPS,0.026078
$HUMID,62.12
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$TCM_TEMP,24.10
$XPDR_PINGS,111
$24V_AH,23.0,58.205
$10V_AH,10.0,51.754
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.475,213.300,394.475,45.225,0.000,24.957,48.574,210.590,27.750,0.000,14.940,1571.033,15061.368,581.483,2390.856,784.427,33.397,1618.232,0.000,2378.407,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,509.872,350.074,446.775,585.658,1113.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,57237,753
$CAP_FILE_SIZE,173685,0
$CFSIZE,260165632,99282944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150413,071036,1924.517,-8109.571,26,1.3,26,-3.8