version: 66.06
glider: 146
mission: 8
dive: 10
start: 1 18 113 5 29 17
data:
$ID,146
$MISSION,8
$DIVE,10
$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,-302550.38
$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,2170
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,57
$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
$GPS1,052343,1923.726,-8109.480,8,1.9,8,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.8
$GPS2,052824,1923.744,-8109.478,10,2.0,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,THREE
$TGT_LATLONG,1921.800,-8109.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.010,-0.259
$KALMAN_X,-2598.2,369.6,15.6,9032.4,-207.6
$KALMAN_Y,2334.1,256.5,-26.8,1277.7,1250.6
$MHEAD_RNG_PITCHd_Wd,181.7,3601,-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,-145.8,0.0,0.0,0,85,0.00,0.00,-63.47,0.000,2,0.000,0.000,469,2049,3443,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-4.5,8,113,13.05,2.47,-6.47,0.000,4,0.176,0.057,2788,547,3787,0,0,0,0,0,0
$GC,254,-1.22,-146.0,35.5,-14.3,30,264,0.08,2.42,0.00,0.000,6,0.107,0.016,2807,2104,3787,0,0,0,0,0,0
$GC,521,-1.22,-146.0,69.6,-13.0,55,526,0.00,2.58,0.00,0.000,4,0.000,0.045,2807,538,3787,0,0,0,0,0,0
$GC,558,-1.22,-146.0,74.5,-13.5,57,562,0.00,2.38,0.00,0.000,6,0.000,0.016,2807,2096,3787,0,0,0,0,0,0
$GC,824,-1.22,-146.0,103.9,-9.6,81,828,0.00,2.47,0.00,0.000,4,0.000,0.035,2807,3658,3788,0,0,0,0,0,0
$GC,905,-1.30,-146.0,111.5,-9.4,87,909,0.00,2.38,0.00,0.000,6,0.000,0.021,2807,2128,3789,0,0,0,0,0,0
$GC,1172,-1.35,-146.0,134.7,-8.1,111,1177,0.12,0.00,0.00,0.000,6,0.071,0.000,2760,2128,3789,0,0,0,0,0,0
$GC,1440,-1.35,-146.0,161.3,-9.5,136,1445,0.00,2.62,0.00,0.000,4,0.000,0.049,2760,525,3790,0,0,0,0,0,0
$GC,1464,-1.35,-146.0,164.1,-9.2,137,1469,0.00,2.45,0.00,0.000,6,0.000,0.021,2760,2121,3790,0,0,0,0,0,0
$GC,1729,-1.39,-146.0,186.9,-8.4,162,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2122,3790,0,0,0,0,0,0
$GC,2017,-1.45,-146.0,209.3,-7.3,181,2021,0.00,2.62,0.00,0.000,4,0.000,0.058,2760,532,3790,0,0,0,0,0,0
$GC,2033,-1.49,-146.0,210.6,-7.7,181,2037,0.00,2.45,0.00,0.000,6,0.000,0.019,2760,2114,3790,0,0,0,0,0,0
$GC,2296,-1.55,-146.0,231.1,-7.9,188,2298,0.10,0.00,0.00,0.000,6,0.085,0.000,2723,2115,3790,0,0,0,0,0,0
$GC,2537,-1.55,-146.0,252.5,-8.9,194,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2115,3789,0,0,0,0,0,0
$GC,2781,-1.55,-146.0,273.4,-8.6,200,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2115,3788,0,0,0,0,0,0
$GC,3026,-1.55,-146.0,294.4,-8.7,206,3031,0.00,2.50,0.00,0.000,4,0.000,0.048,2723,3669,3788,0,0,0,0,0,0
$GC,3066,-1.55,-146.0,298.3,-9.1,207,3070,0.00,2.45,0.00,0.000,6,0.000,0.025,2723,2115,3788,0,0,0,0,0,0
$GC,3349,-1.55,-146.0,322.6,-8.5,214,3353,0.00,2.50,0.00,0.000,4,0.000,0.044,2723,3663,3787,0,0,0,0,0,0
$GC,3391,-1.55,-146.0,326.1,-8.9,215,3395,0.00,2.47,0.00,0.000,6,0.000,0.028,2723,2118,3787,0,0,0,0,0,0
$GC,3674,-1.55,-146.0,349.9,-8.1,222,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2118,3786,0,0,0,0,0,0
$GC,3918,-1.55,-146.0,370.3,-8.5,228,3922,0.00,2.55,0.00,0.000,4,0.000,0.044,2723,3667,3785,0,0,0,0,0,0
$GC,3941,-1.55,-146.0,372.4,-9.4,228,3946,0.00,2.47,0.00,0.000,6,0.000,0.032,2723,2124,3784,0,0,0,0,0,0
$GC,4196,-1.55,-146.0,394.7,-8.6,235,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2124,3783,0,0,0,0,0,0
$GC,4440,-1.55,-146.0,414.8,-8.1,241,4444,0.00,2.53,0.00,0.000,4,0.000,0.051,2723,3658,3782,0,0,0,0,0,0
$GC,4463,-1.55,-146.0,416.7,-8.6,241,4467,0.00,2.50,0.00,0.000,6,0.000,0.039,2723,2131,3782,0,0,0,0,0,0
$GC,4718,-1.55,-146.0,436.7,-7.9,248,4722,0.00,2.92,0.00,0.000,4,0.000,0.094,2722,513,3780,0,0,0,0,0,0
$GC,4733,-1.55,-146.0,438.0,-7.9,248,4738,0.00,2.58,0.00,0.000,6,0.000,0.041,2723,2110,3780,0,0,0,0,0,0
$GC,4996,-1.55,-146.0,459.0,-8.1,255,5001,0.00,2.67,0.00,0.000,4,0.000,0.062,2723,3688,3779,0,0,0,0,0,0
$GC,5029,-1.55,-146.0,462.1,-8.5,255,5035,0.00,2.58,0.00,0.000,6,0.000,0.044,2722,2132,3778,0,0,0,0,0,0
$GC,5279,-1.55,-146.0,482.1,-7.9,262,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2132,3778,0,0,0,0,0,0
$GC,5523,-1.55,-146.0,501.7,-8.1,268,5527,0.00,2.65,0.00,0.000,4,0.000,0.067,2722,3682,3777,0,0,0,0,0,0
$GC,5552,-1.55,-146.0,504.0,-8.2,268,5557,0.00,2.58,0.00,0.000,6,0.000,0.057,2722,2138,3777,0,0,0,0,0,0
$GC,5802,-1.55,-146.0,523.3,-7.5,274,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2138,3775,0,0,0,0,0,0
$GC,6050,-1.55,-146.0,543.8,-8.5,280,6054,0.00,2.67,0.00,0.000,4,0.000,0.077,2723,3685,3774,0,0,0,0,0,0
$GC,6078,-1.55,-146.0,546.6,-9.1,280,6083,0.00,2.62,0.00,0.000,6,0.000,0.058,2722,2140,3773,0,0,0,0,0,0
$GC,6328,-1.55,-146.0,566.5,-7.9,286,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2139,3772,0,0,0,0,0,0
$GC,6572,-1.55,-146.0,585.0,-7.5,292,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2139,3770,0,0,0,0,0,0
$GC,6816,-1.55,-146.0,603.7,-7.7,298,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2139,3769,0,0,0,0,0,0
$GC,7062,-1.55,-146.0,621.8,-7.4,304,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2139,3768,0,0,0,0,0,0
$GC,7304,-1.59,-146.0,640.3,-7.6,310,7308,0.00,2.85,0.00,0.000,4,0.000,0.110,2723,3674,3766,0,0,0,0,0,0
$GC,7330,-1.59,-146.0,642.6,-8.3,310,7335,0.00,2.72,0.00,0.000,6,0.000,0.082,2723,2148,3766,0,0,0,0,0,0
$GC,7583,-1.59,-146.0,661.9,-7.7,316,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2148,3765,0,0,0,0,0,0
$GC,7824,-1.59,-146.0,680.1,-7.4,322,7829,0.00,2.88,0.00,0.000,4,0.000,0.112,2723,3674,3764,0,0,0,0,0,0
$GC,7859,-1.59,-146.0,682.8,-7.4,322,7867,0.00,2.72,0.00,0.000,6,0.000,0.084,2723,2150,3763,0,0,0,0,0,0
$GC,8111,-1.59,-146.0,701.5,-7.5,329,8115,0.00,2.83,0.00,0.000,4,0.000,0.102,2723,3681,3762,0,0,0,0,0,0
$GC,8132,-1.59,-146.0,703.5,-8.3,329,8136,0.00,2.72,0.00,0.000,6,0.000,0.081,2723,2153,3762,0,0,0,0,0,0
$GC,8387,-1.59,-146.0,723.7,-8.0,336,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2153,3761,0,0,0,0,0,0
$GC,8631,-1.59,-146.0,742.9,-7.9,342,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2152,3761,0,0,0,0,0,0
$GC,8877,-1.63,-146.0,761.8,-7.9,348,8881,0.00,2.75,0.00,0.000,4,0.000,0.089,2723,3677,3759,0,0,0,0,0,0
$GC,8904,-1.67,-146.0,764.2,-8.6,348,8909,0.00,2.70,0.00,0.000,6,0.000,0.075,2723,2147,3759,0,0,0,0,0,0
$GC,9155,-1.70,-146.0,783.0,-7.5,354,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2147,3757,0,0,0,0,0,0
$GC,9400,-1.75,-146.0,800.6,-7.1,360,9406,0.12,2.75,0.00,0.000,4,0.075,0.091,2682,3684,3756,0,0,0,0,0,0
$GC,9461,-1.75,-146.0,806.5,-9.8,361,9466,0.00,2.65,0.00,0.000,6,0.000,0.071,2683,2154,3756,0,0,0,0,0,0
$GC,9725,-1.71,-146.0,829.4,-8.6,368,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2155,3754,0,0,0,0,0,0
$GC,9966,-1.71,-146.0,851.0,-8.7,374,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2154,3754,0,0,0,0,0,0
$GC,10210,-1.71,-146.0,873.2,-9.1,380,10214,0.00,2.70,0.00,0.000,4,0.000,0.084,2683,3681,3753,0,0,0,0,0,0
$GC,10226,-1.67,-146.0,874.7,-9.0,380,10231,0.12,2.65,0.00,0.000,6,0.118,0.076,2708,2157,3753,0,0,0,0,0,0
$GC,10489,-1.67,-146.0,894.7,-7.5,387,10493,0.00,2.67,0.00,0.000,4,0.000,0.087,2708,3677,3752,0,0,0,0,0,0
$GC,10521,-1.67,-146.0,897.5,-8.0,387,10527,0.00,2.65,0.00,0.000,6,0.000,0.072,2708,2167,3751,0,0,0,0,0,0
$STATE,10565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10566,begin apogee
$GC,10571,-0.31,0.0,901.4,8.3,389,10692,1.35,0.00,116.88,1.243,6,0.084,0.000,3009,2167,3190,0,0,0,0,0,0
$STATE,10693,end apogee,CONTROL_FINISHED_OK
$STATE,10693,begin climb
$GC,10697,1.27,146.0,904.9,0.0,392,10829,1.42,0.00,127.10,1.208,6,0.035,0.000,3356,2167,2594,0,0,0,0,0,0
$GC,11063,1.05,146.0,869.3,13.4,401,11068,0.25,2.80,0.00,0.000,4,0.128,0.072,3305,3749,2586,0,0,0,0,0,0
$GC,11219,0.89,146.0,849.3,12.6,404,11225,0.17,2.72,0.00,0.000,6,0.130,0.061,3271,2189,2584,0,0,0,0,0,0
$GC,11477,0.82,146.0,823.0,10.1,411,11482,0.00,2.70,0.00,0.000,4,0.000,0.063,3271,3749,2583,0,0,0,0,0,0
$GC,11583,0.74,146.0,811.6,10.7,413,11588,0.17,2.67,0.00,0.000,6,0.127,0.054,3237,2202,2582,0,0,0,0,0,0
$GC,11844,0.79,186.6,789.8,8.1,420,11886,0.00,2.72,35.47,1.136,4,0.000,0.064,3238,3749,2428,0,0,0,0,0,0
$GC,11952,0.80,195.9,780.4,9.6,422,11967,0.00,2.67,9.45,0.993,6,0.000,0.055,3237,2213,2391,0,0,0,0,0,0
$GC,12217,0.82,212.6,755.4,9.2,429,12241,0.00,2.70,16.50,1.065,4,0.000,0.058,3237,3749,2322,0,0,0,0,0,0
$GC,12293,0.82,212.6,747.6,10.3,430,12298,0.00,2.65,0.00,0.000,6,0.000,0.056,3237,2223,2320,0,0,0,0,0,0
$GC,12543,0.82,212.6,721.5,10.5,436,12547,0.00,2.65,0.00,0.000,4,0.000,0.062,3238,3750,2319,0,0,0,0,0,0
$GC,12598,0.82,212.6,715.3,11.0,437,12602,0.00,2.62,0.00,0.000,6,0.000,0.054,3238,2233,2318,0,0,0,0,0,0
$GC,12866,0.82,212.6,687.3,10.5,444,12870,0.00,2.62,0.00,0.000,4,0.000,0.062,3237,3751,2317,0,0,0,0,0,0
$GC,12939,0.82,212.6,678.6,12.0,445,12943,0.00,2.60,0.00,0.000,6,0.000,0.054,3237,2243,2317,0,0,0,0,0,0
$GC,13189,0.86,212.6,651.1,10.9,451,13194,0.10,2.62,0.00,0.000,4,0.098,0.062,3263,3755,2317,0,0,0,0,0,0
$GC,13250,0.86,212.6,643.2,12.6,452,13254,0.00,2.58,0.00,0.000,6,0.000,0.053,3263,2251,2316,0,0,0,0,0,0
$GC,13517,0.86,212.6,611.7,11.6,459,13521,0.00,2.58,0.00,0.000,4,0.000,0.064,3263,3751,2316,0,0,0,0,0,0
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$STATE,17777,end climb,NO_VERTICAL_VELOCITY
$STATE,17777,begin surface
$SM_CCo,17780,172.40,0.648,0,0,477,665.50
$SM_GC,186.53,12.57,0.00,0.00,0.036,0.000,0.000,476,2078,474,-11.87,-0.62,666.23
$IRIDIUM_FIX,1916.08,-8112.45,140402,050557
$TT8_MAMPS,0.026078
$HUMID,62.48
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.40
$XPDR_PINGS,70
$24V_AH,23.1,1.955
$10V_AH,10.5,1.589
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.425,200.050,509.200,172.400,0.000,0.000,0.000,0.000,17.500,0.000,17.042,1313.704,13956.518,770.022,1882.898,341.523,33.350,1730.548,0.000,1863.603,0.000,0.535,0.000
$DEVICE_MAMPS,176.410,111.982,1242.540,648.115,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.101,222.674,287.849,304.299,578.805,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,44580,583
$CAP_FILE_SIZE,168803,0
$CFSIZE,260165632,127741952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180113,052824,1923.744,-8109.478,1501,99.0,1501,-3.8