version: 66.06
glider: 146
mission: 8
dive: 438
start: 4 20 113 16 21 58
data:
$ID,146
$MISSION,8
$DIVE,438
$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,-316062.12
$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,53
$R_STBD_OVSHOOT,33
$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
$GPS1,161259,1924.434,-8109.925,35,1.7,41,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.8
$GPS2,162105,1924.419,-8109.880,13,1.5,29,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,0.088
$KALMAN_X,-177036.2,-228.9,-196.8,173150.2,2982.6
$KALMAN_Y,138600.4,323.8,-16.7,-137319.2,-1117.4
$MHEAD_RNG_PITCHd_Wd,293.7,14964,-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,-70.07,0.000,2,0.000,0.000,464,2179,3473,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-4.1,9,123,13.62,2.60,-5.75,0.000,4,0.160,0.039,2977,3799,3787,0,0,0,0,0,0
$GC,263,-1.10,-146.0,42.3,-16.4,28,271,0.15,2.53,0.00,0.000,6,0.110,0.024,3015,2220,3788,0,0,0,0,0,0
$GC,533,-0.97,-146.0,80.3,-14.0,53,538,0.15,2.60,0.00,0.000,4,0.101,0.045,3049,638,3788,0,0,0,0,0,0
$GC,576,-0.91,-146.0,87.5,-12.7,56,581,0.00,2.45,0.00,0.000,6,0.000,0.016,3049,2231,3788,0,0,0,0,0,0
$GC,839,-0.86,-146.0,119.3,-11.8,80,844,0.10,2.62,0.00,0.000,4,0.116,0.044,3072,637,3789,0,0,0,0,0,0
$GC,862,-0.86,-146.0,122.3,-12.0,81,868,0.00,2.40,0.00,0.000,6,0.000,0.023,3071,2200,3789,0,0,0,0,0,0
$GC,1128,-0.95,-146.0,146.0,-7.6,106,1132,0.00,2.47,0.00,0.000,4,0.000,0.037,3071,3768,3789,0,0,0,0,0,0
$GC,1157,-1.06,-146.0,148.3,-6.9,108,1162,0.17,2.45,0.00,0.000,6,0.050,0.021,2998,2203,3789,0,0,0,0,0,0
$GC,1418,-1.06,-146.0,173.3,-9.1,132,1423,0.12,2.55,0.00,0.000,4,0.096,0.051,3029,641,3789,0,0,0,0,0,0
$GC,1475,-1.14,-146.0,177.7,-8.0,136,1479,0.00,2.40,0.00,0.000,6,0.000,0.025,3029,2213,3790,0,0,0,0,0,0
$GC,1743,-1.20,-146.0,197.3,-7.3,160,1748,0.12,2.50,0.00,0.000,4,0.066,0.040,2971,3783,3790,0,0,0,0,0,0
$GC,1772,-1.20,-146.0,200.4,-9.4,162,1777,0.12,2.45,0.00,0.000,6,0.093,0.025,3002,2206,3790,0,0,0,0,0,0
$GC,2022,-1.20,-146.0,221.0,-8.0,168,2026,0.00,2.55,0.00,0.000,4,0.000,0.051,3001,637,3790,0,0,0,0,0,0
$GC,2051,-1.20,-146.0,223.1,-7.8,168,2056,0.00,2.42,0.00,0.000,6,0.000,0.019,3001,2204,3789,0,0,0,0,0,0
$GC,2301,-1.20,-146.0,242.9,-8.2,174,2306,0.00,2.53,0.00,0.000,4,0.000,0.043,3001,3779,3789,0,0,0,0,0,0
$GC,2323,-1.20,-146.0,244.9,-8.8,174,2328,0.00,2.42,0.00,0.000,6,0.000,0.025,3001,2209,3789,0,0,0,0,0,0
$GC,2581,-1.20,-146.0,266.2,-8.4,181,2586,0.00,2.58,0.00,0.000,4,0.000,0.051,3001,638,3789,0,0,0,0,0,0
$GC,2610,-1.20,-146.0,268.9,-9.4,181,2614,0.00,2.45,0.00,0.000,6,0.000,0.024,3001,2214,3789,0,0,0,0,0,0
$GC,2860,-1.20,-146.0,288.2,-7.7,187,2864,0.00,2.53,0.00,0.000,4,0.000,0.047,3002,3778,3789,0,0,0,0,0,0
$GC,2879,-1.24,-146.0,289.5,-7.6,187,2883,0.00,2.47,0.00,0.000,6,0.000,0.028,3002,2201,3788,0,0,0,0,0,0
$GC,3140,-1.24,-146.0,308.8,-7.3,194,3144,0.00,2.60,0.00,0.000,4,0.000,0.055,3001,638,3788,0,0,0,0,0,0
$GC,3166,-1.24,-146.0,311.0,-7.8,194,3171,0.00,2.45,0.00,0.000,6,0.000,0.023,3002,2197,3788,0,0,0,0,0,0
$GC,3419,-1.24,-146.0,330.6,-8.0,200,3423,0.00,2.58,0.00,0.000,4,0.000,0.046,3001,3794,3787,0,0,0,0,0,0
$GC,3454,-1.29,-146.0,333.5,-7.8,200,3459,0.00,2.47,0.00,0.000,6,0.000,0.030,3001,2213,3786,0,0,0,0,0,0
$GC,3704,-1.33,-146.0,353.4,-7.9,207,3706,0.15,0.00,0.00,0.000,6,0.058,0.000,2944,2213,3786,0,0,0,0,0,0
$GC,3950,-1.26,-146.0,377.7,-10.1,213,3952,0.17,0.00,0.00,0.000,6,0.085,0.000,2986,2213,3785,0,0,0,0,0,0
$GC,4191,-1.26,-146.0,396.9,-7.6,219,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2213,3784,0,0,0,0,0,0
$GC,4435,-1.26,-146.0,415.5,-7.6,225,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2214,3783,0,0,0,0,0,0
$GC,4678,-1.26,-146.0,434.8,-8.0,231,4683,0.00,2.75,0.00,0.000,4,0.000,0.079,2986,634,3782,0,0,0,0,0,0
$GC,4702,-1.26,-146.0,436.7,-8.2,231,4707,0.00,2.53,0.00,0.000,6,0.000,0.039,2985,2192,3782,0,0,0,0,0,0
$GC,4957,-1.26,-146.0,456.9,-7.9,238,4962,0.00,2.67,0.00,0.000,4,0.000,0.065,2985,3794,3781,0,0,0,0,0,0
$GC,5000,-1.30,-146.0,460.3,-8.9,239,5005,0.00,2.55,0.00,0.000,6,0.000,0.042,2986,2220,3781,0,0,0,0,0,0
$GC,5286,-1.30,-146.0,482.4,-7.6,246,5291,0.00,2.88,0.00,0.000,4,0.000,0.100,2985,621,3779,0,0,0,0,0,0
$GC,5326,-1.34,-146.0,485.8,-8.2,247,5330,0.00,2.60,0.00,0.000,6,0.000,0.041,2986,2199,3779,0,0,0,0,0,0
$GC,5611,-1.34,-146.0,508.0,-8.0,254,5616,0.00,2.72,0.00,0.000,4,0.000,0.067,2986,3797,3778,0,0,0,0,0,0
$GC,5645,-1.34,-146.0,511.1,-8.4,254,5650,0.00,2.65,0.00,0.000,6,0.000,0.044,2986,2205,3778,0,0,0,0,0,0
$GC,5895,-1.34,-146.0,529.8,-7.4,261,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2205,3777,0,0,0,0,0,0
$GC,6141,-1.34,-146.0,546.5,-6.7,267,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2205,3776,0,0,0,0,0,0
$GC,6382,-1.34,-146.0,562.8,-6.6,273,6387,0.00,2.75,0.00,0.000,4,0.000,0.074,2986,3791,3775,0,0,0,0,0,0
$GC,6403,-1.34,-146.0,564.4,-7.2,273,6408,0.00,2.67,0.00,0.000,6,0.000,0.057,2985,2209,3775,0,0,0,0,0,0
$GC,6658,-1.34,-146.0,582.5,-7.1,280,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2209,3773,0,0,0,0,0,0
$GC,6905,-1.34,-146.0,600.6,-7.5,286,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2209,3772,0,0,0,0,0,0
$GC,7146,-1.34,-146.0,617.9,-7.2,292,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2209,3770,0,0,0,0,0,0
$GC,7390,-1.34,-146.0,635.9,-7.4,298,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2209,3769,0,0,0,0,0,0
$GC,7633,-1.34,-146.0,653.8,-7.3,304,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2209,3768,0,0,0,0,0,0
$GC,7879,-1.34,-146.0,672.1,-7.5,310,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2209,3767,0,0,0,0,0,0
$GC,8121,-1.34,-146.0,691.1,-7.9,316,8126,0.00,3.05,0.00,0.000,4,0.000,0.127,2985,3791,3766,0,0,0,0,0,0
$GC,8143,-1.38,-146.0,692.8,-7.5,316,8148,0.12,2.92,0.00,0.000,6,0.067,0.101,2937,2216,3766,0,0,0,0,0,0
$GC,8401,-1.32,-146.0,716.9,-9.4,323,8407,0.15,3.28,0.00,0.000,4,0.094,0.156,2971,619,3764,0,0,0,0,0,0
$GC,8419,-1.29,-146.0,718.7,-9.3,323,8424,0.00,2.95,0.00,0.000,6,0.000,0.106,2972,2204,3764,0,0,0,0,0,0
$GC,8680,-1.29,-146.0,739.0,-7.8,330,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2203,3763,0,0,0,0,0,0
$GC,8926,-1.29,-146.0,758.0,-7.8,336,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2204,3762,0,0,0,0,0,0
$GC,9167,-1.29,-146.0,777.0,-8.0,342,9172,0.00,3.38,0.00,0.000,4,0.000,0.171,2971,3796,3761,0,0,0,0,0,0
$GC,9194,-1.29,-146.0,779.5,-8.9,342,9199,0.00,2.83,0.00,0.000,6,0.000,0.079,2971,2202,3761,0,0,0,0,0,0
$GC,9447,-1.29,-146.0,799.6,-8.0,348,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2201,3760,0,0,0,0,0,0
$GC,9688,-1.29,-146.0,818.3,-7.6,354,9693,0.00,2.90,0.00,0.000,4,0.000,0.091,2970,3809,3759,0,0,0,0,0,0
$GC,9710,-1.29,-146.0,820.1,-7.9,354,9714,0.00,2.80,0.00,0.000,6,0.000,0.077,2971,2207,3759,0,0,0,0,0,0
$GC,9967,-1.29,-146.0,838.8,-7.2,361,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3757,0,0,0,0,0,0
$GC,10208,-1.29,-146.0,856.3,-7.1,367,10213,0.00,2.83,0.00,0.000,4,0.000,0.084,2971,3802,3756,0,0,0,0,0,0
$GC,10253,-1.32,-146.0,859.7,-8.4,368,10257,0.00,2.78,0.00,0.000,6,0.000,0.070,2971,2208,3756,0,0,0,0,0,0
$GC,10533,-1.32,-146.0,879.1,-7.0,375,10537,0.00,2.88,0.00,0.000,4,0.000,0.086,2971,3809,3755,0,0,0,0,0,0
$GC,10572,-1.32,-146.0,882.5,-8.2,376,10576,0.00,2.78,0.00,0.000,6,0.000,0.072,2971,2223,3755,0,0,0,0,0,0
$STATE,10852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10853,begin apogee
$GC,10859,-0.31,0.0,902.9,7.2,383,10983,0.98,0.00,120.90,1.216,6,0.070,0.000,3193,2389,3190,0,0,0,0,0,0
$STATE,10984,end apogee,CONTROL_FINISHED_OK
$STATE,10984,begin climb
$GC,10989,1.27,146.0,906.1,0.0,386,11126,1.42,2.83,128.48,1.187,4,0.035,0.083,3544,3930,2593,0,0,0,0,0,0
$GC,11256,1.15,146.0,886.1,12.1,392,11261,0.17,2.75,0.00,0.000,6,0.113,0.062,3510,2364,2587,0,0,0,0,0,0
$GC,11523,1.18,168.7,861.6,8.9,399,11549,0.00,2.83,20.58,1.098,4,0.000,0.070,3510,3938,2501,0,0,0,0,0,0
$GC,11573,1.13,168.7,856.7,10.3,400,11578,0.00,2.72,0.00,0.000,6,0.000,0.056,3511,2374,2499,0,0,0,0,0,0
$GC,11845,1.14,174.3,829.8,9.7,407,11856,0.00,2.75,5.70,0.860,4,0.000,0.063,3510,3940,2480,0,0,0,0,0,0
$GC,11867,1.16,186.5,827.5,9.4,407,11887,0.00,2.70,13.65,1.049,6,0.000,0.050,3510,2378,2428,0,0,0,0,0,0
$GC,12174,1.17,198.4,798.2,9.4,415,12188,0.00,0.00,11.98,1.025,6,0.000,0.000,3510,2378,2381,0,0,0,0,0,0
$GC,12415,1.18,204.3,774.9,9.7,421,12429,0.00,2.75,6.43,0.886,4,0.000,0.064,3510,3941,2358,0,0,0,0,0,0
$GC,12443,1.18,204.3,772.1,10.3,421,12447,0.00,2.72,0.00,0.000,6,0.000,0.059,3510,2377,2357,0,0,0,0,0,0
$GC,12697,1.18,204.3,745.3,10.4,428,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2377,2356,0,0,0,0,0,0
$GC,12941,1.18,204.3,719.6,10.7,434,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2377,2356,0,0,0,0,0,0
$GC,13185,1.18,204.3,693.8,10.6,440,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2377,2355,0,0,0,0,0,0
$GC,13431,1.18,204.3,668.3,10.3,446,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2376,2354,0,0,0,0,0,0
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$STATE,19746,end climb,SURFACE_DEPTH_REACHED
$STATE,19746,begin surface coast
$FINISH,1.0,1.023162
$STATE,19789,end surface coast,CONTROL_FINISHED_OK
$STATE,19789,begin surface
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$TT8_MAMPS,0.026078
$HUMID,62.32
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.30
$XPDR_PINGS,120
$24V_AH,23.0,61.701
$10V_AH,9.9,54.937
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.750,211.675,417.675,22.700,0.000,24.156,33.455,235.538,30.000,0.000,30.569,1541.590,15111.336,550.390,2305.551,801.047,33.374,1555.781,0.000,2280.381,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.948,329.514,427.773,545.019,1036.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,57403,734
$CAP_FILE_SIZE,174375,0
$CFSIZE,260165632,97472512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200413,215400,1924.847,-8111.181,42,1.7,42,-3.8