version: 66.06
glider: 146
mission: 8
dive: 9
start: 1 17 113 23 48 37
data:
$ID,146
$MISSION,8
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,500
$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,300
$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,-302517.38
$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,3075
$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,2100
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,34
$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
$GPS1,234100,1922.587,-8112.299,8,2.0,26,-3.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.9
$GPS2,234743,1922.600,-8112.295,12,1.1,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,FOUR
$TGT_LATLONG,1923.350,-8109.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.258,0.024
$KALMAN_X,-2187.9,-559.5,245.8,4393.5,-269.1
$KALMAN_Y,661.3,-70.2,271.5,858.8,806.8
$MHEAD_RNG_PITCHd_Wd,88.4,5077,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-62.85,0.000,2,0.000,0.000,474,2107,3519,0,0,0,0,0,0
$GC,87,-1.27,-146.0,3.5,-5.4,8,113,12.98,2.58,-4.85,0.000,4,0.176,0.043,2790,3682,3786,0,0,0,0,0,0
$GC,140,-0.94,-146.0,19.2,-25.2,14,150,0.32,2.47,0.00,0.000,6,0.084,0.021,2866,2121,3787,0,0,0,0,0,0
$GC,429,-1.03,-146.0,47.6,-9.2,46,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2121,3787,0,0,0,0,0,0
$GC,696,-1.11,-146.0,73.4,-9.6,71,701,0.15,2.62,0.00,0.000,4,0.061,0.049,2809,529,3787,0,0,0,0,0,0
$GC,719,-1.16,-146.0,75.9,-9.8,72,723,0.00,2.42,0.00,0.000,6,0.000,0.016,2809,2129,3787,0,0,0,0,0,0
$GC,984,-1.20,-146.0,106.0,-8.5,96,988,0.00,2.62,0.00,0.000,4,0.000,0.046,2809,522,3787,0,0,0,0,0,0
$GC,1013,-1.23,-146.0,109.2,-9.7,98,1017,0.00,2.40,0.00,0.000,6,0.000,0.021,2809,2107,3787,0,0,0,0,0,0
$GC,1278,-1.30,-146.0,133.5,-9.3,122,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2107,3788,0,0,0,0,0,0
$GC,1541,-1.38,-146.0,156.3,-8.4,147,1546,0.15,2.47,0.00,0.000,4,0.062,0.034,2758,3670,3788,0,0,0,0,0,0
$GC,1566,-1.42,-146.0,158.0,-8.8,148,1570,0.00,2.45,0.00,0.000,6,0.000,0.027,2758,2101,3788,0,0,0,0,0,0
$GC,1832,-1.42,-146.0,182.9,-9.1,172,1837,0.00,2.60,0.00,0.000,4,0.000,0.060,2757,522,3788,0,0,0,0,0,0
$GC,1844,-1.42,-146.0,184.3,-9.4,172,1850,0.00,2.45,0.00,0.000,6,0.000,0.025,2757,2120,3788,0,0,0,0,0,0
$GC,2125,-1.47,-146.0,206.0,-7.3,193,2129,0.00,2.42,0.00,0.000,4,0.000,0.036,2757,3659,3788,0,0,0,0,0,0
$GC,2146,-1.52,-146.0,207.8,-7.5,193,2151,0.00,2.40,0.00,0.000,6,0.000,0.028,2757,2110,3788,0,0,0,0,0,0
$GC,2404,-1.57,-146.0,226.4,-7.1,200,2409,0.12,2.50,0.00,0.000,4,0.071,0.041,2713,3659,3788,0,0,0,0,0,0
$GC,2426,-1.57,-146.0,228.4,-7.9,200,2430,0.00,2.40,0.00,0.000,6,0.000,0.023,2713,2110,3788,0,0,0,0,0,0
$GC,2681,-1.57,-146.0,251.6,-9.2,207,2685,0.00,2.47,0.00,0.000,4,0.000,0.042,2713,3660,3787,0,0,0,0,0,0
$GC,2704,-1.57,-146.0,253.6,-9.1,207,2708,0.00,2.42,0.00,0.000,6,0.000,0.028,2713,2104,3787,0,0,0,0,0,0
$GC,2959,-1.57,-146.0,275.9,-8.6,214,2963,0.00,2.53,0.00,0.000,4,0.000,0.041,2713,3663,3786,0,0,0,0,0,0
$GC,2975,-1.57,-146.0,277.4,-8.5,214,2979,0.00,2.42,0.00,0.000,6,0.000,0.025,2713,2109,3786,0,0,0,0,0,0
$GC,3237,-1.57,-146.0,299.2,-8.3,221,3242,0.00,2.47,0.00,0.000,4,0.000,0.043,2713,3655,3786,0,0,0,0,0,0
$GC,3253,-1.57,-146.0,300.9,-8.7,221,3257,0.00,2.42,0.00,0.000,6,0.000,0.026,2713,2118,3786,0,0,0,0,0,0
$GC,3520,-1.57,-146.0,324.4,-9.0,228,3525,0.00,2.50,0.00,0.000,4,0.000,0.047,2713,3658,3784,0,0,0,0,0,0
$GC,3544,-1.57,-146.0,326.6,-9.7,228,3548,0.00,2.42,0.00,0.000,6,0.000,0.028,2713,2121,3784,0,0,0,0,0,0
$GC,3799,-1.57,-146.0,349.2,-8.7,235,3803,0.00,2.47,0.00,0.000,4,0.000,0.048,2713,3653,3783,0,0,0,0,0,0
$GC,3814,-1.57,-146.0,350.6,-8.3,235,3819,0.00,2.42,0.00,0.000,6,0.000,0.034,2713,2120,3783,0,0,0,0,0,0
$GC,4077,-1.57,-146.0,371.9,-8.2,242,4082,0.00,2.53,0.00,0.000,4,0.000,0.043,2713,3659,3782,0,0,0,0,0,0
$GC,4105,-1.57,-146.0,374.6,-8.9,242,4109,0.00,2.45,0.00,0.000,6,0.000,0.033,2713,2128,3781,0,0,0,0,0,0
$GC,4355,-1.57,-146.0,396.8,-8.9,248,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2128,3780,0,0,0,0,0,0
$GC,4598,-1.57,-146.0,419.0,-9.1,254,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2128,3779,0,0,0,0,0,0
$GC,4844,-1.57,-146.0,440.1,-8.7,260,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2128,3777,0,0,0,0,0,0
$GC,5086,-1.57,-146.0,460.1,-8.0,266,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2128,3776,0,0,0,0,0,0
$GC,5329,-1.57,-146.0,478.9,-7.7,272,5334,0.00,2.58,0.00,0.000,4,0.000,0.061,2713,3653,3775,0,0,0,0,0,0
$GC,5354,-1.57,-146.0,480.7,-8.4,272,5359,0.00,2.53,0.00,0.000,6,0.000,0.048,2714,2127,3775,0,0,0,0,0,0
$GC,5609,-1.57,-146.0,501.3,-8.1,279,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2127,3773,0,0,0,0,0,0
$GC,5853,-1.57,-146.0,520.3,-7.7,285,5857,0.00,2.60,0.00,0.000,4,0.000,0.070,2713,3648,3772,0,0,0,0,0,0
$GC,5885,-1.57,-146.0,523.1,-8.6,285,5891,0.00,2.58,0.00,0.000,6,0.000,0.058,2713,2131,3771,0,0,0,0,0,0
$GC,6137,-1.57,-146.0,542.9,-8.0,292,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2131,3770,0,0,0,0,0,0
$GC,6379,-1.57,-146.0,562.6,-8.1,298,6383,0.00,2.65,0.00,0.000,4,0.000,0.076,2713,3644,3769,0,0,0,0,0,0
$GC,6400,-1.57,-146.0,564.5,-8.6,298,6405,0.00,2.60,0.00,0.000,6,0.000,0.060,2713,2128,3769,0,0,0,0,0,0
$GC,6658,-1.57,-146.0,585.7,-8.3,305,6662,0.00,2.65,0.00,0.000,4,0.000,0.082,2713,3644,3767,0,0,0,0,0,0
$GC,6674,-1.57,-146.0,587.3,-8.4,305,6678,0.00,2.60,0.00,0.000,6,0.000,0.066,2713,2137,3767,0,0,0,0,0,0
$GC,6934,-1.57,-146.0,609.0,-8.3,312,6939,0.00,2.67,0.00,0.000,4,0.000,0.085,2713,3642,3765,0,0,0,0,0,0
$GC,6959,-1.57,-146.0,611.1,-8.7,312,6964,0.00,2.65,0.00,0.000,6,0.000,0.080,2713,2138,3764,0,0,0,0,0,0
$GC,7214,-1.57,-146.0,632.0,-8.0,319,7219,0.00,2.72,0.00,0.000,4,0.000,0.094,2713,3644,3763,0,0,0,0,0,0
$GC,7247,-1.57,-146.0,634.7,-8.3,319,7252,0.00,2.67,0.00,0.000,6,0.000,0.083,2713,2153,3762,0,0,0,0,0,0
$GC,7499,-1.57,-146.0,655.1,-8.2,326,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2153,3762,0,0,0,0,0,0
$GC,7741,-1.57,-146.0,675.6,-8.4,332,7745,0.00,2.83,0.00,0.000,4,0.000,0.119,2713,3641,3761,0,0,0,0,0,0
$GC,7773,-1.57,-146.0,678.6,-9.7,332,7779,0.00,2.70,0.00,0.000,6,0.000,0.092,2713,2157,3760,0,0,0,0,0,0
$GC,8023,-1.57,-146.0,700.6,-8.8,339,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2157,3759,0,0,0,0,0,0
$GC,8269,-1.57,-146.0,721.1,-8.4,345,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2156,3758,0,0,0,0,0,0
$GC,8510,-1.57,-146.0,741.5,-8.3,351,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2155,3756,0,0,0,0,0,0
$GC,8754,-1.57,-146.0,761.4,-8.1,357,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2154,3755,0,0,0,0,0,0
$GC,8998,-1.57,-146.0,780.3,-7.7,363,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2154,3754,0,0,0,0,0,0
$GC,9244,-1.57,-146.0,799.0,-7.6,369,9248,0.00,2.65,0.00,0.000,4,0.000,0.094,2713,3644,3752,0,0,0,0,0,0
$GC,9283,-1.57,-146.0,802.3,-8.9,370,9287,0.00,2.62,0.00,0.000,6,0.000,0.078,2713,2153,3752,0,0,0,0,0,0
$GC,9566,-1.57,-146.0,823.1,-7.1,377,9570,0.00,2.67,0.00,0.000,4,0.000,0.090,2713,3650,3751,0,0,0,0,0,0
$GC,9589,-1.57,-146.0,824.8,-7.9,377,9594,0.00,2.62,0.00,0.000,6,0.000,0.073,2713,2158,3750,0,0,0,0,0,0
$GC,9845,-1.57,-146.0,843.6,-7.5,384,9849,0.00,2.65,0.00,0.000,4,0.000,0.091,2713,3649,3749,0,0,0,0,0,0
$GC,9872,-1.57,-146.0,845.7,-7.6,384,9876,0.00,2.60,0.00,0.000,6,0.000,0.072,2713,2164,3749,0,0,0,0,0,0
$GC,10124,-1.57,-146.0,864.6,-7.5,390,10128,0.00,2.65,0.00,0.000,4,0.000,0.088,2713,3648,3748,0,0,0,0,0,0
$GC,10145,-1.57,-146.0,866.4,-8.2,390,10149,0.00,2.60,0.00,0.000,6,0.000,0.072,2713,2171,3748,0,0,0,0,0,0
$GC,10400,-1.57,-146.0,885.8,-7.5,397,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2171,3747,0,0,0,0,0,0
$STATE,10600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10601,begin apogee
$GC,10609,-0.31,0.0,901.2,7.6,402,10728,1.33,0.00,115.28,1.248,6,0.084,0.000,3007,2149,3190,0,0,0,0,0,0
$STATE,10728,end apogee,CONTROL_FINISHED_OK
$STATE,10729,begin climb
$GC,10731,1.27,146.0,904.7,0.0,405,10865,1.42,0.00,125.93,1.216,6,0.035,0.000,3355,2149,2594,0,0,0,0,0,0
$GC,11097,1.04,146.0,869.0,13.3,414,11102,0.25,2.75,0.00,0.000,4,0.130,0.067,3303,3695,2586,0,0,0,0,0,0
$GC,11257,0.89,146.0,850.0,11.4,417,11262,0.17,2.70,0.00,0.000,6,0.131,0.063,3270,2151,2584,0,0,0,0,0,0
$GC,11513,0.84,165.7,825.3,9.1,424,11537,0.00,2.80,17.10,1.101,4,0.000,0.067,3270,3703,2513,0,0,0,0,0,0
$GC,11647,0.77,165.7,811.3,10.9,427,11653,0.12,2.67,0.00,0.000,6,0.138,0.061,3245,2165,2510,0,0,0,0,0,0
$GC,11931,0.80,187.8,785.3,9.0,434,11957,0.00,2.70,20.73,1.107,4,0.000,0.061,3246,3701,2423,0,0,0,0,0,0
$GC,12054,0.80,187.8,772.8,10.6,436,12060,0.00,2.62,0.00,0.000,6,0.000,0.062,3246,2180,2420,0,0,0,0,0,0
$GC,12304,0.80,190.1,747.8,9.9,443,12308,0.00,2.60,0.00,0.000,4,0.000,0.064,3246,3699,2419,0,0,0,0,0,0
$GC,12370,0.80,190.1,740.6,11.2,444,12374,0.00,2.60,0.00,0.000,6,0.000,0.059,3246,2184,2418,0,0,0,0,0,0
$GC,12628,0.80,190.1,714.8,10.1,451,12632,0.00,2.62,0.00,0.000,4,0.000,0.062,3246,3707,2417,0,0,0,0,0,0
$GC,12688,0.80,190.1,707.8,10.1,452,12692,0.00,2.58,0.00,0.000,6,0.000,0.059,3246,2201,2417,0,0,0,0,0,0
$GC,12949,0.81,192.5,681.9,9.9,459,12959,0.00,2.60,4.70,0.771,4,0.000,0.061,3246,3699,2404,0,0,0,0,0,0
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$STATE,19409,end climb,SURFACE_DEPTH_REACHED
$STATE,19409,begin surface coast
$FINISH,0.8,1.023155
$STATE,19458,end surface coast,CONTROL_FINISHED_OK
$STATE,19458,begin surface
$SM_CCo,19542,0.00,0.000,0,0,1889,318.89
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$IRIDIUM_FIX,1916.08,-8112.45,130402,222214
$TT8_MAMPS,0.025311
$HUMID,59.01
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.80
$XPDR_PINGS,76
$24V_AH,23.2,1.753
$10V_AH,10.4,1.491
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.125,234.825,401.775,0.000,0.000,24.854,34.960,216.015,19.000,0.000,13.806,1626.367,14444.858,519.101,2628.094,730.166,33.348,1639.855,0.000,2618.441,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,512.912,364.471,464.411,628.816,1198.614,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,57281,758
$CAP_FILE_SIZE,182413,0
$CFSIZE,260165632,127791104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180113,051536,1923.697,-8109.491,38,1.9,38,-3.8