version: 66.06
glider: 146
mission: 8
dive: 57
start: 1 27 113 17 32 49
data:
$ID,146
$MISSION,8
$DIVE,57
$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,-308418.66
$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,3250
$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,34
$R_STBD_OVSHOOT,28
$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,3200
$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
$GPS1,172506,1925.823,-8112.844,26,1.3,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.8
$GPS2,173154,1925.818,-8112.829,11,1.3,16,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.251,0.065
$KALMAN_X,46618.3,-59.4,36.8,-49538.2,1183.4
$KALMAN_Y,-5013.2,-72.4,133.8,2705.7,-368.9
$MHEAD_RNG_PITCHd_Wd,288.4,9292,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-71.07,0.000,2,0.000,0.000,467,2162,3583,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.3,-7.6,9,122,13.75,2.65,-3.55,0.000,4,0.170,0.041,2966,3818,3798,0,0,0,0,0,0
$GC,296,-1.10,-146.0,51.9,-17.5,30,301,0.20,2.50,0.00,0.000,6,0.105,0.025,3008,2227,3798,0,0,0,0,0,0
$GC,561,-0.96,-146.0,93.9,-15.5,54,566,0.15,2.60,0.00,0.000,4,0.115,0.050,3039,648,3798,0,0,0,0,0,0
$GC,592,-0.84,-146.0,99.2,-15.3,56,598,0.12,2.47,0.00,0.000,6,0.116,0.021,3066,2253,3799,0,0,0,0,0,0
$GC,858,-0.88,-146.0,129.6,-9.9,80,862,0.00,2.65,0.00,0.000,4,0.000,0.046,3067,647,3799,0,0,0,0,0,0
$GC,878,-0.94,-146.0,131.4,-8.6,81,883,0.00,2.42,0.00,0.000,6,0.000,0.021,3066,2221,3799,0,0,0,0,0,0
$GC,1144,-1.01,-146.0,152.1,-7.5,105,1153,0.15,0.00,0.00,0.000,6,0.059,0.000,3008,2221,3800,0,0,0,0,0,0
$GC,1410,-1.01,-146.0,178.1,-9.9,130,1415,0.10,2.60,0.00,0.000,4,0.110,0.051,3031,653,3800,0,0,0,0,0,0
$GC,1465,-1.08,-146.0,183.6,-8.9,134,1469,0.00,2.42,0.00,0.000,6,0.000,0.027,3031,2222,3801,0,0,0,0,0,0
$GC,1756,-1.13,-146.0,206.4,-7.4,155,1758,0.12,0.00,0.00,0.000,6,0.067,0.000,2981,2222,3801,0,0,0,0,0,0
$GC,2000,-1.09,-146.0,230.0,-10.1,161,2005,0.15,2.55,0.00,0.000,4,0.094,0.041,3015,3797,3801,0,0,0,0,0,0
$GC,2029,-1.09,-146.0,232.9,-9.9,161,2033,0.00,2.47,0.00,0.000,6,0.000,0.022,3015,2219,3801,0,0,0,0,0,0
$GC,2279,-1.13,-146.0,251.6,-7.3,167,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2219,3801,0,0,0,0,0,0
$GC,2525,-1.18,-146.0,268.7,-7.0,173,2529,0.00,2.55,0.00,0.000,4,0.000,0.040,3015,3793,3801,0,0,0,0,0,0
$GC,2547,-1.22,-146.0,270.5,-7.3,173,2552,0.15,2.45,0.00,0.000,6,0.058,0.021,2953,2224,3801,0,0,0,0,0,0
$GC,2803,-1.15,-146.0,294.9,-9.5,180,2805,0.20,0.00,0.00,0.000,6,0.087,0.000,2999,2225,3800,0,0,0,0,0,0
$GC,3048,-1.15,-146.0,313.5,-7.6,186,3052,0.00,2.65,0.00,0.000,4,0.000,0.063,2999,659,3800,0,0,0,0,0,0
$GC,3092,-1.19,-146.0,317.5,-8.7,187,3096,0.00,2.47,0.00,0.000,6,0.000,0.032,2998,2226,3799,0,0,0,0,0,0
$GC,3370,-1.19,-146.0,339.3,-8.0,194,3374,0.00,2.62,0.00,0.000,4,0.000,0.064,2999,658,3798,0,0,0,0,0,0
$GC,3393,-1.19,-146.0,341.1,-8.1,194,3397,0.00,2.50,0.00,0.000,6,0.000,0.027,2999,2229,3798,0,0,0,0,0,0
$GC,3648,-1.19,-146.0,361.2,-7.6,201,3652,0.00,2.60,0.00,0.000,4,0.000,0.051,2999,3814,3797,0,0,0,0,0,0
$GC,3681,-1.23,-146.0,364.0,-8.4,201,3687,0.00,2.50,0.00,0.000,6,0.000,0.026,2999,2233,3797,0,0,0,0,0,0
$GC,3933,-1.23,-146.0,384.0,-7.9,208,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2233,3797,0,0,0,0,0,0
$GC,4175,-1.23,-146.0,402.0,-7.4,214,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2233,3795,0,0,0,0,0,0
$GC,4419,-1.27,-146.0,421.4,-7.8,220,4424,0.12,2.83,0.00,0.000,4,0.071,0.088,2951,652,3794,0,0,0,0,0,0
$GC,4461,-1.21,-146.0,425.2,-11.0,221,4466,0.15,2.58,0.00,0.000,6,0.094,0.041,2985,2239,3794,0,0,0,0,0,0
$GC,4744,-1.21,-146.0,448.4,-7.1,228,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2239,3793,0,0,0,0,0,0
$GC,4988,-1.21,-146.0,467.3,-7.7,234,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2239,3792,0,0,0,0,0,0
$GC,5234,-1.21,-146.0,485.6,-7.6,240,5238,0.00,2.80,0.00,0.000,4,0.000,0.081,2985,647,3790,0,0,0,0,0,0
$GC,5262,-1.21,-146.0,487.9,-7.7,240,5267,0.00,2.62,0.00,0.000,6,0.000,0.044,2986,2230,3790,0,0,0,0,0,0
$GC,5512,-1.21,-146.0,508.0,-8.4,246,5517,0.00,2.78,0.00,0.000,4,0.000,0.081,2985,3822,3789,0,0,0,0,0,0
$GC,5548,-1.21,-146.0,511.0,-9.3,246,5553,0.00,2.62,0.00,0.000,6,0.000,0.050,2985,2248,3789,0,0,0,0,0,0
$GC,5798,-1.21,-146.0,529.5,-7.2,253,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2248,3788,0,0,0,0,0,0
$GC,6041,-1.21,-146.0,548.4,-7.9,259,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2248,3786,0,0,0,0,0,0
$GC,6285,-1.21,-146.0,566.6,-7.3,265,6290,0.00,3.05,0.00,0.000,4,0.000,0.117,2985,638,3786,0,0,0,0,0,0
$GC,6326,-1.21,-146.0,569.6,-8.1,266,6331,0.00,2.70,0.00,0.000,6,0.000,0.054,2985,2235,3785,0,0,0,0,0,0
$GC,6609,-1.21,-146.0,591.7,-7.9,273,6614,0.00,2.90,0.00,0.000,4,0.000,0.101,2985,3821,3784,0,0,0,0,0,0
$GC,6636,-1.21,-146.0,594.1,-8.9,273,6641,0.00,2.70,0.00,0.000,6,0.000,0.060,2985,2238,3784,0,0,0,0,0,0
$GC,6888,-1.21,-146.0,613.5,-7.7,279,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2238,3783,0,0,0,0,0,0
$GC,7130,-1.21,-146.0,632.1,-7.7,285,7135,0.00,3.03,0.00,0.000,4,0.000,0.123,2985,646,3782,0,0,0,0,0,0
$GC,7157,-1.21,-146.0,634.4,-8.4,285,7162,0.00,2.78,0.00,0.000,6,0.000,0.071,2985,2243,3781,0,0,0,0,0,0
$GC,7409,-1.21,-146.0,653.8,-7.7,291,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2243,3780,0,0,0,0,0,0
$GC,7651,-1.21,-146.0,672.1,-7.4,297,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2243,3778,0,0,0,0,0,0
$GC,7895,-1.21,-146.0,691.0,-8.0,303,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2243,3777,0,0,0,0,0,0
$GC,8138,-1.21,-146.0,712.2,-8.9,309,8143,0.00,3.17,0.00,0.000,4,0.000,0.140,2985,644,3776,0,0,0,0,0,0
$GC,8168,-1.21,-146.0,714.6,-8.7,309,8173,0.00,2.95,0.00,0.000,6,0.000,0.106,2985,2232,3776,0,0,0,0,0,0
$GC,8418,-1.21,-146.0,734.2,-7.6,315,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2232,3775,0,0,0,0,0,0
$GC,8661,-1.21,-146.0,753.6,-7.9,321,8666,0.00,3.33,0.00,0.000,4,0.000,0.165,2985,3822,3773,0,0,0,0,0,0
$GC,8704,-1.26,-146.0,756.8,-8.1,322,8708,0.00,2.70,0.00,0.000,6,0.000,0.061,2985,2241,3774,0,0,0,0,0,0
$GC,8987,-1.26,-146.0,778.1,-7.3,329,8991,0.00,3.05,0.00,0.000,4,0.000,0.123,2985,641,3772,0,0,0,0,0,0
$GC,9019,-1.26,-146.0,780.6,-7.5,329,9025,0.00,2.75,0.00,0.000,6,0.000,0.065,2985,2243,3772,0,0,0,0,0,0
$GC,9272,-1.30,-146.0,798.8,-7.4,336,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2243,3771,0,0,0,0,0,0
$GC,9514,-1.34,-146.0,816.9,-7.1,342,9519,0.12,2.90,0.00,0.000,4,0.072,0.104,2944,3826,3770,0,0,0,0,0,0
$GC,9536,-1.34,-146.0,818.8,-8.2,342,9540,0.00,2.70,0.00,0.000,6,0.000,0.059,2944,2234,3770,0,0,0,0,0,0
$GC,9793,-1.30,-146.0,841.3,-9.0,349,9795,0.10,0.00,0.00,0.000,6,0.118,0.000,2965,2234,3768,0,0,0,0,0,0
$GC,10034,-1.30,-146.0,860.5,-7.8,355,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2233,3767,0,0,0,0,0,0
$GC,10278,-1.30,-146.0,879.5,-7.8,361,10283,0.00,2.78,0.00,0.000,4,0.000,0.077,2965,3821,3766,0,0,0,0,0,0
$GC,10324,-1.30,-146.0,883.2,-8.3,362,10329,0.00,2.70,0.00,0.000,6,0.000,0.060,2965,2234,3766,0,0,0,0,0,0
$STATE,10558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10558,begin apogee
$GC,10564,-0.31,0.0,901.6,7.6,368,10687,0.95,0.00,118.82,1.227,6,0.074,0.000,3181,2375,3200,0,0,0,0,0,0
$STATE,10687,end apogee,CONTROL_FINISHED_OK
$STATE,10687,begin climb
$GC,10692,1.27,146.0,904.3,0.0,371,10827,1.45,2.85,126.55,1.195,4,0.041,0.075,3532,3924,2603,0,0,0,0,0,0
$GC,10926,1.16,146.0,887.8,12.1,376,10932,0.15,2.70,0.00,0.000,6,0.117,0.053,3504,2360,2598,0,0,0,0,0,0
$GC,11187,1.18,158.7,862.5,9.4,383,11206,0.00,2.85,11.50,1.044,4,0.000,0.063,3504,3929,2552,0,0,0,0,0,0
$GC,11235,1.13,158.7,857.6,11.2,384,11239,0.00,2.70,0.00,0.000,6,0.000,0.047,3504,2358,2551,0,0,0,0,0,0
$GC,11514,1.13,158.7,829.6,10.1,391,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2359,2548,0,0,0,0,0,0
$GC,11756,1.14,169.9,806.2,9.5,397,11771,0.00,2.75,10.55,1.025,4,0.000,0.063,3504,3934,2508,0,0,0,0,0,0
$GC,11795,1.10,169.9,802.3,10.2,398,11799,0.00,2.67,0.00,0.000,6,0.000,0.048,3504,2361,2507,0,0,0,0,0,0
$GC,12080,1.12,181.3,775.1,9.5,405,12099,0.00,3.12,11.77,1.030,4,0.000,0.120,3504,772,2460,0,0,0,0,0,0
$GC,12105,1.13,190.8,772.3,9.6,405,12122,0.00,2.67,10.57,0.996,6,0.000,0.041,3504,2354,2421,0,0,0,0,0,0
$GC,12367,1.13,190.8,746.2,10.1,412,12372,0.00,2.80,0.00,0.000,4,0.000,0.078,3504,3939,2417,0,0,0,0,0,0
$GC,12399,1.13,190.8,742.3,10.9,412,12405,0.00,2.65,0.00,0.000,6,0.000,0.039,3504,2361,2416,0,0,0,0,0,0
$GC,12650,1.14,196.6,717.7,9.7,419,12657,0.00,0.00,6.05,0.861,6,0.000,0.000,3504,2362,2398,0,0,0,0,0,0
$GC,12895,1.14,200.9,694.0,9.8,425,12906,0.00,2.72,5.20,0.798,4,0.000,0.058,3504,3941,2383,0,0,0,0,0,0
$GC,12927,1.14,200.9,690.3,10.1,425,12934,0.00,2.65,0.00,0.000,6,0.000,0.048,3503,2375,2382,0,0,0,0,0,0
$GC,13178,1.14,200.9,665.1,10.3,432,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2375,2380,0,0,0,0,0,0
$GC,13421,1.14,200.9,640.0,10.3,438,13426,0.00,3.05,0.00,0.000,4,0.000,0.117,3504,767,2380,0,0,0,0,0,0
$GC,13439,1.14,200.9,638.2,10.6,438,13443,0.00,2.70,0.00,0.000,6,0.000,0.045,3504,2382,2379,0,0,0,0,0,0
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$STATE,19500,end climb,SURFACE_DEPTH_REACHED
$STATE,19500,begin surface coast
$FINISH,0.8,1.009097
$STATE,19549,end surface coast,CONTROL_FINISHED_OK
$STATE,19549,begin surface
$SM_CCo,19571,42.53,0.492,0,0,1773,350.04
$SM_GC,1.44,0.00,0.00,42.53,0.000,0.000,0.492,466,2174,1773,-12.81,-1.61,350.04
$IRIDIUM_FIX,1916.08,-8112.45,230402,121227
$TT8_MAMPS,0.025311
$HUMID,55.04
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.80
$XPDR_PINGS,66
$24V_AH,23.2,8.826
$10V_AH,10.5,7.284
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.050,220.275,397.050,42.525,0.000,26.182,34.176,183.734,16.500,0.000,19.344,1555.997,14829.638,564.564,2352.083,716.211,33.367,1588.058,0.000,2340.376,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.212,337.904,432.901,559.060,1066.847,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,57296,734
$CAP_FILE_SIZE,177086,0
$CFSIZE,260165632,124592128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270113,230106,1926.625,-8113.934,38,1.7,38,-3.8