version: 66.06
glider: 146
mission: 8
dive: 41
start: 1 24 113 4 13 31
data:
$ID,146
$MISSION,8
$DIVE,41
$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,-308107.81
$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,3240
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,040531,1925.041,-8111.055,78,1.2,79,-3.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.4
$GPS2,041237,1925.036,-8111.080,10,1.5,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,-0.007
$KALMAN_X,22719.8,-319.6,69.8,-22354.9,1909.8
$KALMAN_Y,-1441.9,-536.6,-133.3,-1579.3,950.0
$MHEAD_RNG_PITCHd_Wd,272.3,12620,-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,-71.20,0.000,2,0.000,0.000,468,2118,3570,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.2,-7.2,9,123,13.77,2.72,-3.45,0.000,4,0.173,0.041,2956,3819,3787,0,0,0,0,0,0
$GC,295,-1.05,-146.0,60.1,-20.3,29,305,0.22,2.55,0.00,0.000,6,0.091,0.025,3008,2225,3788,0,0,0,0,0,0
$GC,560,-0.91,-146.0,104.0,-14.2,54,565,0.15,2.60,0.00,0.000,4,0.114,0.046,3040,654,3788,0,0,0,0,0,0
$GC,629,-0.91,-146.0,112.2,-11.1,59,634,0.00,2.42,0.00,0.000,6,0.000,0.017,3040,2227,3788,0,0,0,0,0,0
$GC,898,-0.91,-146.0,138.7,-9.9,83,903,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2227,3789,0,0,0,0,0,0
$GC,1159,-0.91,-146.0,162.1,-7.6,108,1163,0.00,2.58,0.00,0.000,4,0.000,0.052,3040,649,3790,0,0,0,0,0,0
$GC,1217,-0.96,-146.0,166.4,-8.3,112,1221,0.00,2.40,0.00,0.000,6,0.000,0.019,3040,2215,3790,0,0,0,0,0,0
$GC,1484,-1.00,-146.0,187.0,-7.7,136,1488,0.00,2.53,0.00,0.000,4,0.000,0.041,3039,3797,3790,0,0,0,0,0,0
$GC,1514,-1.06,-146.0,189.7,-8.6,138,1520,0.12,2.50,0.00,0.000,6,0.067,0.021,2987,2182,3790,0,0,0,0,0,0
$GC,1793,-1.01,-146.0,218.0,-10.4,152,1798,0.15,2.62,0.00,0.000,4,0.100,0.039,3021,3799,3790,0,0,0,0,0,0
$GC,1840,-1.01,-146.0,222.7,-9.0,153,1844,0.00,2.50,0.00,0.000,6,0.000,0.025,3021,2200,3790,0,0,0,0,0,0
$GC,2117,-1.01,-146.0,245.7,-8.0,160,2122,0.00,2.53,0.00,0.000,4,0.000,0.052,3020,660,3790,0,0,0,0,0,0
$GC,2162,-1.05,-146.0,249.2,-8.6,161,2166,0.00,2.40,0.00,0.000,6,0.000,0.024,3020,2206,3789,0,0,0,0,0,0
$GC,2442,-1.05,-146.0,270.0,-7.4,168,2446,0.00,2.55,0.00,0.000,4,0.000,0.044,3020,3796,3789,0,0,0,0,0,0
$GC,2481,-1.11,-146.0,273.1,-8.3,169,2486,0.00,2.47,0.00,0.000,6,0.000,0.027,3021,2202,3790,0,0,0,0,0,0
$GC,2768,-1.15,-146.0,293.4,-7.2,176,2769,0.12,0.00,0.00,0.000,6,0.070,0.000,2972,2202,3789,0,0,0,0,0,0
$GC,3009,-1.10,-146.0,315.9,-9.4,182,3014,0.12,2.62,0.00,0.000,4,0.106,0.050,2999,3796,3788,0,0,0,0,0,0
$GC,3037,-1.10,-146.0,318.5,-9.2,182,3041,0.00,2.50,0.00,0.000,6,0.000,0.028,2999,2214,3788,0,0,0,0,0,0
$GC,3289,-1.10,-146.0,339.3,-8.3,188,3293,0.00,2.67,0.00,0.000,4,0.000,0.067,2999,651,3788,0,0,0,0,0,0
$GC,3332,-1.10,-146.0,343.5,-8.6,189,3337,0.00,2.42,0.00,0.000,6,0.000,0.030,2999,2186,3787,0,0,0,0,0,0
$GC,3611,-1.10,-146.0,365.9,-7.9,196,3615,0.00,2.67,0.00,0.000,4,0.000,0.049,3000,3811,3786,0,0,0,0,0,0
$GC,3652,-1.10,-146.0,369.3,-8.7,197,3656,0.00,2.55,0.00,0.000,6,0.000,0.028,2999,2206,3786,0,0,0,0,0,0
$GC,3935,-1.10,-146.0,392.8,-8.2,204,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2206,3786,0,0,0,0,0,0
$GC,4179,-1.10,-146.0,412.6,-8.1,210,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2206,3785,0,0,0,0,0,0
$GC,4424,-1.10,-146.0,431.5,-7.7,216,4429,0.00,2.67,0.00,0.000,4,0.000,0.054,2999,3807,3783,0,0,0,0,0,0
$GC,4457,-1.10,-146.0,434.4,-8.3,216,4463,0.00,2.62,0.00,0.000,6,0.000,0.040,2999,2203,3783,0,0,0,0,0,0
$GC,4707,-1.10,-146.0,452.9,-7.4,223,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2203,3782,0,0,0,0,0,0
$GC,4951,-1.10,-146.0,472.7,-8.1,229,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2203,3780,0,0,0,0,0,0
$GC,5196,-1.10,-146.0,492.7,-8.3,235,5201,0.00,2.75,0.00,0.000,4,0.000,0.073,2999,3811,3779,0,0,0,0,0,0
$GC,5223,-1.10,-146.0,495.2,-8.5,235,5228,0.00,2.65,0.00,0.000,6,0.000,0.051,2999,2214,3779,0,0,0,0,0,0
$GC,5475,-1.10,-146.0,515.9,-8.4,241,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2214,3778,0,0,0,0,0,0
$GC,5719,-1.10,-146.0,536.0,-8.1,247,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2214,3777,0,0,0,0,0,0
$GC,5961,-1.10,-146.0,556.2,-8.4,253,5965,0.00,2.80,0.00,0.000,4,0.000,0.085,2999,3811,3776,0,0,0,0,0,0
$GC,5987,-1.10,-146.0,558.5,-8.3,253,5992,0.00,2.72,0.00,0.000,6,0.000,0.062,2999,2207,3775,0,0,0,0,0,0
$GC,6240,-1.10,-146.0,578.9,-8.2,259,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2207,3774,0,0,0,0,0,0
$GC,6481,-1.10,-146.0,598.4,-7.9,265,6486,0.00,2.85,0.00,0.000,4,0.000,0.088,2999,3801,3773,0,0,0,0,0,0
$GC,6508,-1.10,-146.0,600.8,-8.9,265,6513,0.00,2.75,0.00,0.000,6,0.000,0.071,3000,2212,3772,0,0,0,0,0,0
$GC,6758,-1.10,-146.0,621.5,-8.4,271,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2212,3771,0,0,0,0,0,0
$GC,7004,-1.13,-146.0,641.8,-8.3,277,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2212,3770,0,0,0,0,0,0
$GC,7245,-1.13,-146.0,661.1,-7.9,283,7250,0.00,2.95,0.00,0.000,4,0.000,0.107,2999,3808,3768,0,0,0,0,0,0
$GC,7274,-1.17,-146.0,663.4,-8.5,283,7279,0.00,2.88,0.00,0.000,6,0.000,0.089,2999,2224,3768,0,0,0,0,0,0
$GC,7526,-1.17,-146.0,682.4,-7.5,289,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2225,3767,0,0,0,0,0,0
$GC,7768,-1.21,-146.0,700.1,-7.3,295,7774,0.10,3.08,0.00,0.000,4,0.090,0.123,2964,3804,3766,0,0,0,0,0,0
$GC,7804,-1.21,-146.0,703.3,-9.2,295,7810,0.00,2.97,0.00,0.000,6,0.000,0.109,2964,2231,3766,0,0,0,0,0,0
$GC,8056,-1.21,-146.0,724.8,-8.6,302,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2231,3764,0,0,0,0,0,0
$GC,8298,-1.21,-146.0,745.3,-8.3,308,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2231,3763,0,0,0,0,0,0
$GC,8541,-1.21,-146.0,765.7,-8.4,314,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2231,3762,0,0,0,0,0,0
$GC,8785,-1.21,-146.0,786.4,-8.5,320,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2231,3761,0,0,0,0,0,0
$GC,9031,-1.21,-146.0,806.9,-8.4,326,9036,0.00,3.58,0.00,0.000,4,0.000,0.202,2964,3801,3760,0,0,0,0,0,0
$GC,9053,-1.21,-146.0,809.1,-8.9,326,9057,0.00,2.67,0.00,0.000,6,0.000,0.056,2964,2232,3761,0,0,0,0,0,0
$GC,9308,-1.21,-146.0,831.2,-8.6,333,9312,0.00,2.72,0.00,0.000,4,0.000,0.073,2964,3806,3760,0,0,0,0,0,0
$GC,9331,-1.21,-146.0,833.3,-9.3,333,9336,0.00,2.67,0.00,0.000,6,0.000,0.060,2964,2239,3759,0,0,0,0,0,0
$GC,9587,-1.21,-146.0,854.1,-8.0,340,9592,0.00,3.08,0.00,0.000,4,0.000,0.124,2963,638,3758,0,0,0,0,0,0
$GC,9614,-1.21,-146.0,856.5,-9.4,340,9618,0.00,2.72,0.00,0.000,6,0.000,0.060,2964,2238,3758,0,0,0,0,0,0
$GC,9866,-1.21,-146.0,877.2,-8.3,346,9870,0.00,2.88,0.00,0.000,4,0.000,0.096,2964,3822,3756,0,0,0,0,0,0
$GC,9898,-1.21,-146.0,880.3,-9.3,346,9904,0.00,2.70,0.00,0.000,6,0.000,0.060,2963,2238,3756,0,0,0,0,0,0
$STATE,10146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10146,begin apogee
$GC,10152,-0.31,0.0,900.8,8.2,353,10274,0.93,0.00,118.47,1.227,6,0.079,0.000,3172,2371,3190,0,0,0,0,0,0
$STATE,10275,end apogee,CONTROL_FINISHED_OK
$STATE,10275,begin climb
$GC,10279,1.27,146.0,903.5,0.0,356,10415,1.45,2.85,126.68,1.195,4,0.046,0.077,3516,3923,2593,0,0,0,0,0,0
$GC,10428,1.23,158.3,896.1,9.4,359,10447,0.00,2.72,12.27,1.044,6,0.000,0.052,3516,2361,2544,0,0,0,0,0,0
$GC,10736,1.23,161.2,865.6,9.9,367,10741,0.00,2.75,0.00,0.000,4,0.000,0.065,3516,3928,2537,0,0,0,0,0,0
$GC,10763,1.18,161.2,862.3,10.3,367,10768,0.00,2.67,0.00,0.000,6,0.000,0.049,3516,2368,2536,0,0,0,0,0,0
$GC,11015,1.18,163.6,837.6,9.9,373,11021,0.00,0.00,4.43,0.759,6,0.000,0.000,3516,2368,2523,0,0,0,0,0,0
$GC,11257,1.19,169.9,813.7,9.7,379,11266,0.00,0.00,7.43,0.948,6,0.000,0.000,3516,2369,2497,0,0,0,0,0,0
$GC,11501,1.20,177.7,790.2,9.6,385,11515,0.00,2.78,8.57,0.979,4,0.000,0.065,3516,3921,2464,0,0,0,0,0,0
$GC,11546,1.16,177.7,785.6,10.5,386,11552,0.12,2.65,0.00,0.000,6,0.123,0.049,3492,2367,2464,0,0,0,0,0,0
$GC,11830,1.19,202.1,760.1,8.9,393,11855,0.00,0.00,23.50,1.091,6,0.000,0.000,3492,2367,2366,0,0,0,0,0,0
$GC,12076,1.24,210.3,736.9,9.6,399,12087,0.00,0.00,8.75,0.963,6,0.000,0.000,3492,2367,2332,0,0,0,0,0,0
$GC,12318,1.30,217.3,713.3,9.7,405,12332,0.12,3.12,7.82,0.930,4,0.079,0.115,3525,775,2304,0,0,0,0,0,0
$GC,12349,1.30,217.3,709.5,10.6,405,12353,0.00,2.67,0.00,0.000,6,0.000,0.047,3525,2360,2303,0,0,0,0,0,0
$GC,12601,1.30,217.3,680.7,11.5,411,12606,0.00,2.78,0.00,0.000,4,0.000,0.073,3525,3935,2301,0,0,0,0,0,0
$GC,12644,1.30,217.3,674.8,13.8,412,12649,0.00,2.65,0.00,0.000,6,0.000,0.041,3525,2364,2300,0,0,0,0,0,0
$GC,12922,1.30,217.3,643.5,11.1,419,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2364,2300,0,0,0,0,0,0
$GC,13168,1.30,217.3,615.7,11.5,425,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2364,2300,0,0,0,0,0,0
$GC,13409,1.30,217.3,587.4,11.5,431,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2364,2299,0,0,0,0,0,0
$GC,13653,1.30,217.3,559.8,11.4,437,13658,0.00,2.70,0.00,0.000,4,0.000,0.055,3526,3943,2299,0,0,0,0,0,0
$GC,13680,1.30,217.3,556.4,12.4,437,13684,0.00,2.62,0.00,0.000,6,0.000,0.040,3525,2369,2299,0,0,0,0,0,0
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$STATE,18851,end climb,SURFACE_DEPTH_REACHED
$STATE,18851,begin surface coast
$FINISH,0.7,1.014207
$STATE,18894,end surface coast,CONTROL_FINISHED_OK
$STATE,18894,begin surface
$SM_CCo,18918,23.48,0.484,0,0,1762,350.04
$SM_GC,1.91,0.00,0.00,23.48,0.000,0.000,0.484,466,2113,1762,-12.76,-3.31,350.04
$IRIDIUM_FIX,1920.65,-8109.84,190402,222215
$TT8_MAMPS,0.026078
$HUMID,55.51
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.90
$XPDR_PINGS,57
$24V_AH,23.2,6.573
$10V_AH,10.5,5.263
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.400,198.275,416.025,23.475,0.000,28.887,36.962,203.070,14.250,0.000,12.208,1478.411,14406.832,556.673,2202.070,716.868,33.367,1516.976,0.000,2197.928,0.000,0.537,0.000
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$SENSOR_SECS,475.995,327.100,417.580,533.659,1018.509,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,54129,703
$CAP_FILE_SIZE,166368,0
$CFSIZE,260165632,125771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240113,093036,1924.722,-8112.659,42,1.5,42,-3.8