version: 66.06
glider: 146
mission: 8
dive: 39
start: 1 23 113 17 3 23
data:
$ID,146
$MISSION,8
$DIVE,39
$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,600
$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,-308082.5
$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,3220
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,22
$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
$GPS1,165159,1924.584,-8107.613,55,1.7,55,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.9
$GPS2,170230,1924.569,-8107.649,9,0.9,20,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,0.039
$KALMAN_X,18867.0,289.3,93.3,-13145.7,1465.3
$KALMAN_Y,-1742.4,376.1,-50.3,-3146.9,89.3
$MHEAD_RNG_PITCHd_Wd,282.4,18629,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-63.10,0.000,2,0.000,0.000,469,2190,3302,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.0,-4.3,8,123,13.68,2.53,-9.48,0.000,4,0.173,0.055,2937,673,3788,0,0,0,0,0,0
$GC,366,-0.93,-146.0,72.8,-23.3,36,376,0.32,2.45,0.00,0.000,6,0.100,0.018,3009,2256,3787,0,0,0,0,0,0
$GC,635,-0.80,-146.0,116.2,-14.8,61,640,0.17,2.60,0.00,0.000,4,0.112,0.044,3046,670,3788,0,0,0,0,0,0
$GC,671,-0.74,-146.0,122.1,-12.1,63,677,0.00,2.40,0.00,0.000,6,0.000,0.018,3045,2229,3789,0,0,0,0,0,0
$GC,936,-0.74,-146.0,147.3,-8.7,88,945,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2229,3789,0,0,0,0,0,0
$GC,1197,-0.74,-146.0,168.7,-7.3,113,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2229,3790,0,0,0,0,0,0
$GC,1456,-0.78,-146.0,189.8,-7.6,137,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2229,3790,0,0,0,0,0,0
$GC,1723,-0.83,-146.0,208.9,-6.8,154,1727,0.00,2.60,0.00,0.000,4,0.000,0.057,3046,672,3790,0,0,0,0,0,0
$GC,1762,-0.89,-146.0,211.8,-7.0,155,1767,0.00,2.40,0.00,0.000,6,0.000,0.025,3045,2227,3789,0,0,0,0,0,0
$GC,2049,-0.96,-146.0,231.4,-7.1,162,2054,0.15,2.53,0.00,0.000,4,0.062,0.040,2989,3799,3789,0,0,0,0,0,0
$GC,2126,-0.96,-146.0,239.0,-10.0,163,2133,0.10,2.42,0.00,0.000,6,0.112,0.025,3012,2239,3789,0,0,0,0,0,0
$GC,2379,-0.96,-146.0,258.9,-7.6,170,2383,0.00,2.62,0.00,0.000,4,0.000,0.061,3012,658,3789,0,0,0,0,0,0
$GC,2439,-0.96,-146.0,263.9,-8.2,171,2443,0.00,2.42,0.00,0.000,6,0.000,0.028,3012,2222,3788,0,0,0,0,0,0
$GC,2706,-0.96,-146.0,283.5,-7.3,178,2710,0.00,2.53,0.00,0.000,4,0.000,0.048,3012,3797,3788,0,0,0,0,0,0
$GC,2735,-0.96,-146.0,285.5,-7.2,178,2739,0.00,2.45,0.00,0.000,6,0.000,0.027,3012,2231,3788,0,0,0,0,0,0
$GC,2985,-0.96,-146.0,302.5,-6.7,184,2989,0.00,2.65,0.00,0.000,4,0.000,0.061,3012,656,3787,0,0,0,0,0,0
$GC,3012,-0.96,-146.0,304.7,-8.1,184,3016,0.00,2.47,0.00,0.000,6,0.000,0.025,3012,2234,3788,0,0,0,0,0,0
$GC,3264,-0.96,-146.0,323.3,-7.6,190,3268,0.00,2.55,0.00,0.000,4,0.000,0.045,3012,3808,3787,0,0,0,0,0,0
$GC,3304,-0.99,-146.0,326.7,-8.4,191,3308,0.00,2.47,0.00,0.000,6,0.000,0.022,3012,2235,3787,0,0,0,0,0,0
$GC,3589,-0.99,-146.0,349.7,-8.3,198,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2235,3786,0,0,0,0,0,0
$GC,3830,-0.99,-146.0,371.9,-9.3,204,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2235,3785,0,0,0,0,0,0
$GC,4074,-0.99,-146.0,393.4,-8.7,210,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2235,3784,0,0,0,0,0,0
$GC,4318,-0.99,-146.0,413.5,-8.1,216,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2235,3782,0,0,0,0,0,0
$GC,4564,-0.99,-146.0,433.2,-8.1,222,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2235,3781,0,0,0,0,0,0
$GC,4805,-0.99,-146.0,452.1,-7.8,228,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2235,3781,0,0,0,0,0,0
$GC,5050,-1.03,-146.0,470.5,-7.5,234,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2235,3779,0,0,0,0,0,0
$GC,5293,-1.07,-146.0,489.3,-7.7,240,5299,0.10,2.92,0.00,0.000,4,0.085,0.105,2972,654,3778,0,0,0,0,0,0
$GC,5335,-1.03,-146.0,493.0,-10.1,241,5341,0.10,2.60,0.00,0.000,6,0.119,0.049,2994,2215,3778,0,0,0,0,0,0
$GC,5619,-1.03,-146.0,515.6,-7.8,248,5624,0.00,2.83,0.00,0.000,4,0.000,0.084,2994,3819,3776,0,0,0,0,0,0
$GC,5648,-1.03,-146.0,517.9,-8.6,248,5653,0.00,2.62,0.00,0.000,6,0.000,0.054,2994,2252,3776,0,0,0,0,0,0
$GC,5898,-1.03,-146.0,537.6,-7.8,254,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2251,3775,0,0,0,0,0,0
$GC,6142,-1.03,-146.0,557.8,-8.4,260,6146,0.00,3.03,0.00,0.000,4,0.000,0.121,2994,644,3774,0,0,0,0,0,0
$GC,6169,-1.03,-146.0,560.3,-9.0,260,6173,0.00,2.67,0.00,0.000,6,0.000,0.058,2994,2231,3774,0,0,0,0,0,0
$GC,6421,-1.03,-146.0,581.5,-8.5,266,6426,0.00,2.90,0.00,0.000,4,0.000,0.108,2994,3815,3773,0,0,0,0,0,0
$GC,6453,-1.03,-146.0,584.6,-9.2,266,6459,0.00,2.70,0.00,0.000,6,0.000,0.063,2994,2230,3772,0,0,0,0,0,0
$GC,6704,-1.03,-146.0,604.6,-7.9,273,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2230,3770,0,0,0,0,0,0
$GC,6949,-1.03,-146.0,624.8,-8.3,279,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2230,3770,0,0,0,0,0,0
$GC,7191,-1.03,-146.0,644.5,-8.0,285,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2230,3768,0,0,0,0,0,0
$GC,7435,-1.03,-146.0,664.3,-8.1,291,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2230,3767,0,0,0,0,0,0
$GC,7678,-1.03,-146.0,684.6,-8.3,297,7683,0.00,3.03,0.00,0.000,4,0.000,0.126,2994,3811,3766,0,0,0,0,0,0
$GC,7702,-1.03,-146.0,686.5,-8.6,297,7707,0.00,2.90,0.00,0.000,6,0.000,0.104,2994,2245,3766,0,0,0,0,0,0
$GC,7957,-1.03,-146.0,707.6,-8.1,304,7962,0.00,3.25,0.00,0.000,4,0.000,0.150,2994,641,3764,0,0,0,0,0,0
$GC,7990,-1.03,-146.0,710.4,-9.3,304,7996,0.00,2.95,0.00,0.000,6,0.000,0.104,2994,2227,3764,0,0,0,0,0,0
$GC,8242,-1.03,-146.0,731.1,-8.2,311,8247,0.00,3.22,0.00,0.000,4,0.000,0.153,2994,3819,3763,0,0,0,0,0,0
$GC,8269,-1.03,-146.0,733.7,-9.4,311,8274,0.00,2.75,0.00,0.000,6,0.000,0.072,2994,2236,3763,0,0,0,0,0,0
$GC,8519,-1.03,-146.0,753.4,-7.8,317,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2236,3762,0,0,0,0,0,0
$GC,8765,-1.03,-146.0,772.3,-7.8,323,8770,0.00,2.85,0.00,0.000,4,0.000,0.091,2994,3827,3761,0,0,0,0,0,0
$GC,8786,-1.03,-146.0,774.3,-8.6,323,8791,0.00,2.75,0.00,0.000,6,0.000,0.067,2994,2234,3761,0,0,0,0,0,0
$GC,9042,-1.03,-146.0,794.8,-8.0,330,9047,0.00,3.05,0.00,0.000,4,0.000,0.123,2994,642,3760,0,0,0,0,0,0
$GC,9065,-1.03,-146.0,796.6,-8.6,330,9070,0.00,2.78,0.00,0.000,6,0.000,0.070,2994,2246,3760,0,0,0,0,0,0
$GC,9320,-1.03,-146.0,815.5,-7.2,337,9325,0.00,2.85,0.00,0.000,4,0.000,0.100,2994,3821,3759,0,0,0,0,0,0
$GC,9353,-1.03,-146.0,818.1,-7.5,337,9359,0.00,2.70,0.00,0.000,6,0.000,0.066,2994,2246,3759,0,0,0,0,0,0
$GC,9605,-1.03,-146.0,835.7,-7.1,344,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2246,3757,0,0,0,0,0,0
$GC,9847,-1.03,-146.0,853.6,-7.3,350,9851,0.00,2.80,0.00,0.000,4,0.000,0.085,2994,3829,3755,0,0,0,0,0,0
$GC,9874,-1.03,-146.0,855.8,-8.4,350,9878,0.00,2.70,0.00,0.000,6,0.000,0.064,2994,2249,3755,0,0,0,0,0,0
$GC,10124,-1.03,-146.0,873.7,-7.0,356,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2249,3754,0,0,0,0,0,0
$GC,10369,-1.03,-146.0,890.5,-6.8,362,10374,0.00,2.78,0.00,0.000,4,0.000,0.084,2994,3829,3754,0,0,0,0,0,0
$GC,10402,-1.07,-146.0,893.0,-7.3,362,10408,0.00,2.72,0.00,0.000,6,0.000,0.064,2994,2254,3753,0,0,0,0,0,0
$STATE,10528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10528,begin apogee
$GC,10534,-0.31,0.0,901.5,6.7,366,10655,0.70,0.00,117.65,1.234,6,0.083,0.000,3151,2380,3190,0,0,0,0,0,0
$STATE,10655,end apogee,CONTROL_FINISHED_OK
$STATE,10656,begin climb
$GC,10660,1.27,146.0,904.0,0.0,369,10795,1.48,2.85,126.28,1.197,4,0.053,0.083,3496,3918,2593,0,0,0,0,0,0
$GC,10820,1.31,178.3,896.0,8.5,372,10854,0.00,2.72,29.12,1.134,6,0.000,0.061,3496,2361,2463,0,0,0,0,0,0
$GC,11105,1.34,202.3,870.3,8.9,380,11129,0.00,0.00,22.30,1.114,6,0.000,0.000,3496,2360,2365,0,0,0,0,0,0
$GC,11349,1.35,205.8,846.8,9.8,386,11358,0.00,2.78,4.32,0.743,4,0.000,0.062,3496,3933,2350,0,0,0,0,0,0
$GC,11377,1.35,205.8,843.8,10.5,386,11381,0.00,2.70,0.00,0.000,6,0.000,0.053,3496,2359,2350,0,0,0,0,0,0
$GC,11627,1.36,212.7,819.3,9.7,392,11636,0.00,0.00,8.05,0.966,6,0.000,0.000,3496,2359,2322,0,0,0,0,0,0
$GC,11870,1.36,217.3,795.5,9.8,398,11877,0.00,0.00,5.50,0.848,6,0.000,0.000,3496,2359,2304,0,0,0,0,0,0
$GC,12116,1.41,229.2,772.1,9.4,404,12132,0.12,0.00,12.90,1.040,6,0.084,0.000,3531,2359,2255,0,0,0,0,0,0
$GC,12358,1.41,229.2,744.9,11.3,410,12362,0.00,3.03,0.00,0.000,4,0.000,0.113,3530,768,2253,0,0,0,0,0,0
$GC,12373,1.37,229.2,742.9,11.6,410,12378,0.00,2.67,0.00,0.000,6,0.000,0.048,3531,2367,2251,0,0,0,0,0,0
$GC,12636,1.37,229.2,712.2,11.9,417,12640,0.00,2.75,0.00,0.000,4,0.000,0.077,3531,3935,2251,0,0,0,0,0,0
$GC,12651,1.37,229.2,709.9,12.1,417,12656,0.00,2.62,0.00,0.000,6,0.000,0.042,3531,2362,2250,0,0,0,0,0,0
$GC,12912,1.37,229.2,678.5,11.8,424,12917,0.00,3.00,0.00,0.000,4,0.000,0.111,3531,765,2249,0,0,0,0,0,0
$GC,12930,1.37,229.2,676.3,12.1,424,12934,0.00,2.67,0.00,0.000,6,0.000,0.041,3531,2379,2249,0,0,0,0,0,0
$GC,13190,1.37,229.2,645.2,12.0,431,13195,0.00,2.70,0.00,0.000,4,0.000,0.070,3530,3931,2249,0,0,0,0,0,0
$GC,13229,1.37,229.2,640.2,13.3,432,13233,0.00,2.60,0.00,0.000,6,0.000,0.044,3531,2370,2248,0,0,0,0,0,0
$GC,13514,1.37,229.2,606.6,11.7,439,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2370,2249,0,0,0,0,0,0
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$STATE,19069,end climb,SURFACE_DEPTH_REACHED
$STATE,19070,begin surface coast
$FINISH,0.8,1.002079
$STATE,19112,end surface coast,CONTROL_FINISHED_OK
$STATE,19112,begin surface
$SM_CCo,19135,23.52,0.486,0,0,1762,350.04
$SM_GC,1.70,0.00,0.00,23.52,0.000,0.000,0.486,465,2169,1762,-12.67,-1.72,350.04
$IRIDIUM_FIX,1918.37,-8110.19,190402,171714
$TT8_MAMPS,0.025311
$HUMID,55.15
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.80
$XPDR_PINGS,60
$24V_AH,23.2,6.234
$10V_AH,10.4,5.009
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.825,198.575,411.450,23.525,0.000,47.894,69.401,278.266,15.000,0.000,21.815,1488.155,14624.900,550.362,2269.210,851.352,33.360,1536.396,0.000,2256.512,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.377,330.465,426.615,552.699,1053.590,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,54048,721
$CAP_FILE_SIZE,168608,0
$CFSIZE,260165632,125919232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230113,222406,1924.830,-8109.399,39,1.5,40,-3.8