version: 66.06
glider: 146
mission: 8
dive: 104
start: 2 5 113 5 29 30
data:
$ID,146
$MISSION,8
$DIVE,104
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$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,-309428.47
$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,3270
$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,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,39
$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,3205
$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
$GPS1,052124,1925.988,-8116.054,42,1.4,42,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.8
$GPS2,052836,1925.975,-8115.999,10,1.4,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.236,0.109
$KALMAN_X,164695.6,223.7,156.8,-173552.5,2029.6
$KALMAN_Y,-29477.9,80.7,-133.7,27578.7,-762.5
$MHEAD_RNG_PITCHd_Wd,298.6,3978,-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,-71.22,0.000,2,0.000,0.000,466,2156,3561,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-6.9,9,123,13.85,2.60,-3.97,0.000,4,0.169,0.040,2986,3786,3799,0,0,0,0,0,0
$GC,237,-1.13,-146.0,39.7,-16.6,25,242,0.17,2.50,0.00,0.000,6,0.120,0.025,3023,2198,3799,0,0,0,0,0,0
$GC,507,-1.02,-146.0,79.3,-14.1,49,512,0.10,2.60,0.00,0.000,4,0.121,0.046,3046,629,3800,0,0,0,0,0,0
$GC,566,-0.98,-146.0,88.0,-13.1,53,570,0.00,2.47,0.00,0.000,6,0.000,0.017,3046,2231,3800,0,0,0,0,0,0
$GC,835,-0.92,-146.0,122.3,-12.1,77,840,0.10,0.00,0.00,0.000,6,0.119,0.000,3068,2231,3800,0,0,0,0,0,0
$GC,1098,-0.99,-146.0,147.2,-8.4,102,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2231,3801,0,0,0,0,0,0
$GC,1354,-1.09,-146.0,165.3,-6.5,126,1359,0.15,2.62,0.00,0.000,4,0.058,0.046,3008,631,3802,0,0,0,0,0,0
$GC,1395,-1.09,-146.0,169.0,-9.2,129,1400,0.10,2.42,0.00,0.000,6,0.114,0.024,3030,2207,3802,0,0,0,0,0,0
$GC,1657,-1.14,-146.0,191.1,-8.1,153,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2208,3802,0,0,0,0,0,0
$GC,1936,-1.21,-146.0,212.1,-7.1,168,1938,0.10,0.00,0.00,0.000,6,0.079,0.000,2982,2208,3802,0,0,0,0,0,0
$GC,2181,-1.21,-146.0,234.0,-9.0,174,2186,0.10,2.53,0.00,0.000,4,0.111,0.041,3005,3772,3802,0,0,0,0,0,0
$GC,2208,-1.21,-146.0,236.7,-8.5,174,2213,0.00,2.45,0.00,0.000,6,0.000,0.021,3005,2198,3802,0,0,0,0,0,0
$GC,2459,-1.21,-146.0,255.4,-7.3,180,2463,0.00,2.58,0.00,0.000,4,0.000,0.056,3005,632,3802,0,0,0,0,0,0
$GC,2522,-1.26,-146.0,260.4,-8.7,181,2526,0.00,2.40,0.00,0.000,6,0.000,0.020,3005,2191,3802,0,0,0,0,0,0
$GC,2789,-1.30,-146.0,279.4,-7.0,188,2793,0.00,2.55,0.00,0.000,4,0.000,0.039,3005,3771,3802,0,0,0,0,0,0
$GC,2810,-1.35,-146.0,280.9,-6.9,188,2816,0.12,2.45,0.00,0.000,6,0.064,0.021,2951,2196,3802,0,0,0,0,0,0
$GC,3068,-1.29,-146.0,304.7,-9.5,195,3070,0.17,0.00,0.00,0.000,6,0.090,0.000,2991,2196,3801,0,0,0,0,0,0
$GC,3310,-1.29,-146.0,324.5,-8.1,201,3314,0.00,2.62,0.00,0.000,4,0.000,0.070,2991,633,3800,0,0,0,0,0,0
$GC,3336,-1.29,-146.0,326.8,-8.7,201,3341,0.00,2.42,0.00,0.000,6,0.000,0.026,2991,2178,3800,0,0,0,0,0,0
$GC,3589,-1.29,-146.0,347.0,-8.0,207,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2179,3799,0,0,0,0,0,0
$GC,3830,-1.29,-146.0,367.0,-8.3,213,3835,0.00,2.60,0.00,0.000,4,0.000,0.050,2991,3784,3798,0,0,0,0,0,0
$GC,3874,-1.33,-146.0,370.7,-8.4,214,3879,0.00,2.55,0.00,0.000,6,0.000,0.029,2991,2188,3798,0,0,0,0,0,0
$GC,4155,-1.33,-146.0,392.1,-7.6,221,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2188,3797,0,0,0,0,0,0
$GC,4396,-1.33,-146.0,410.9,-7.8,227,4401,0.00,2.62,0.00,0.000,4,0.000,0.052,2991,3783,3796,0,0,0,0,0,0
$GC,4447,-1.37,-146.0,415.1,-8.2,228,4451,0.00,2.58,0.00,0.000,6,0.000,0.040,2991,2192,3796,0,0,0,0,0,0
$GC,4721,-1.37,-146.0,436.3,-7.9,235,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2192,3795,0,0,0,0,0,0
$GC,4962,-1.37,-146.0,455.8,-8.0,241,4967,0.00,2.65,0.00,0.000,4,0.000,0.059,2991,3779,3794,0,0,0,0,0,0
$GC,4990,-1.40,-146.0,458.2,-8.6,241,4995,0.12,2.60,0.00,0.000,6,0.070,0.041,2944,2192,3794,0,0,0,0,0,0
$GC,5242,-1.35,-146.0,482.2,-9.7,247,5247,0.15,2.70,0.00,0.000,4,0.098,0.064,2977,3781,3792,0,0,0,0,0,0
$GC,5270,-1.35,-146.0,485.0,-8.8,247,5274,0.00,2.60,0.00,0.000,6,0.000,0.048,2977,2201,3792,0,0,0,0,0,0
$GC,5520,-1.35,-146.0,505.0,-7.9,253,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3791,0,0,0,0,0,0
$GC,5766,-1.35,-146.0,524.9,-8.3,259,5770,0.00,2.70,0.00,0.000,4,0.000,0.067,2977,3776,3790,0,0,0,0,0,0
$GC,5787,-1.35,-146.0,527.1,-8.9,259,5791,0.00,2.60,0.00,0.000,6,0.000,0.053,2977,2210,3790,0,0,0,0,0,0
$GC,6042,-1.35,-146.0,548.7,-8.5,266,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2210,3789,0,0,0,0,0,0
$GC,6288,-1.35,-146.0,569.7,-8.5,272,6292,0.00,2.75,0.00,0.000,4,0.000,0.079,2977,3775,3788,0,0,0,0,0,0
$GC,6320,-1.35,-146.0,572.8,-8.8,272,6326,0.00,2.65,0.00,0.000,6,0.000,0.055,2977,2207,3788,0,0,0,0,0,0
$GC,6574,-1.35,-146.0,593.4,-8.2,279,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3786,0,0,0,0,0,0
$GC,6814,-1.35,-146.0,612.6,-7.8,285,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3785,0,0,0,0,0,0
$GC,7060,-1.35,-146.0,631.4,-7.7,291,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3784,0,0,0,0,0,0
$GC,7301,-1.35,-146.0,650.1,-7.7,297,7306,0.00,3.12,0.00,0.000,4,0.000,0.137,2977,619,3783,0,0,0,0,0,0
$GC,7323,-1.35,-146.0,651.9,-7.5,297,7328,0.00,2.75,0.00,0.000,6,0.000,0.073,2977,2194,3783,0,0,0,0,0,0
$GC,7580,-1.35,-146.0,671.1,-7.5,304,7585,0.00,2.97,0.00,0.000,4,0.000,0.120,2977,3794,3782,0,0,0,0,0,0
$GC,7624,-1.35,-146.0,674.9,-8.1,305,7629,0.00,2.85,0.00,0.000,6,0.000,0.092,2977,2226,3781,0,0,0,0,0,0
$GC,7904,-1.35,-146.0,696.0,-7.7,312,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2225,3780,0,0,0,0,0,0
$GC,8149,-1.35,-146.0,714.4,-7.6,318,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2225,3779,0,0,0,0,0,0
$GC,8391,-1.35,-146.0,732.2,-7.2,324,8396,0.00,3.08,0.00,0.000,4,0.000,0.139,2977,3797,3777,0,0,0,0,0,0
$GC,8413,-1.35,-146.0,734.0,-7.7,324,8418,0.00,2.78,0.00,0.000,6,0.000,0.076,2977,2217,3777,0,0,0,0,0,0
$GC,8670,-1.35,-146.0,752.1,-7.1,331,8675,0.00,3.08,0.00,0.000,4,0.000,0.126,2977,619,3776,0,0,0,0,0,0
$GC,8703,-1.35,-146.0,754.7,-8.2,331,8708,0.00,2.78,0.00,0.000,6,0.000,0.070,2977,2217,3776,0,0,0,0,0,0
$GC,8953,-1.35,-146.0,772.6,-7.1,338,8957,0.00,2.88,0.00,0.000,4,0.000,0.100,2977,3798,3775,0,0,0,0,0,0
$GC,8995,-1.39,-146.0,775.6,-7.3,339,8999,0.00,2.70,0.00,0.000,6,0.000,0.067,2977,2220,3774,0,0,0,0,0,0
$GC,9278,-1.39,-146.0,797.1,-7.6,346,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2220,3773,0,0,0,0,0,0
$GC,9521,-1.39,-146.0,815.9,-7.7,352,9526,0.00,2.78,0.00,0.000,4,0.000,0.082,2977,3798,3773,0,0,0,0,0,0
$GC,9574,-1.43,-146.0,820.0,-8.3,353,9578,0.00,2.70,0.00,0.000,6,0.000,0.061,2977,2232,3772,0,0,0,0,0,0
$GC,9845,-1.43,-146.0,840.0,-7.3,360,9850,0.00,3.08,0.00,0.000,4,0.000,0.123,2977,622,3771,0,0,0,0,0,0
$GC,9868,-1.43,-146.0,841.9,-7.9,360,9873,0.00,2.78,0.00,0.000,6,0.000,0.062,2977,2242,3771,0,0,0,0,0,0
$GC,10124,-1.43,-146.0,860.1,-7.1,367,10128,0.00,2.78,0.00,0.000,4,0.000,0.092,2977,3799,3770,0,0,0,0,0,0
$GC,10150,-1.43,-146.0,862.4,-8.3,367,10155,0.00,2.67,0.00,0.000,6,0.000,0.059,2977,2234,3769,0,0,0,0,0,0
$GC,10401,-1.46,-146.0,881.0,-7.5,373,10403,0.12,0.00,0.00,0.000,6,0.071,0.000,2934,2234,3768,0,0,0,0,0,0
$STATE,10642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10642,begin apogee
$GC,10650,-0.31,0.0,903.5,9.4,379,10773,1.17,0.00,118.85,1.214,6,0.074,0.000,3200,2390,3205,0,0,0,0,0,0
$STATE,10773,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10776,1.27,146.0,907.2,0.0,382,10913,1.45,2.85,126.55,1.183,4,0.034,0.076,3557,3927,2607,0,0,0,0,0,0
$GC,11004,1.11,146.0,891.5,11.7,387,11010,0.22,2.70,0.00,0.000,6,0.110,0.051,3512,2361,2603,0,0,0,0,0,0
$GC,11274,1.08,161.1,866.2,9.3,394,11289,0.00,0.00,13.60,1.057,6,0.000,0.000,3512,2361,2548,0,0,0,0,0,0
$GC,11515,1.04,161.1,841.5,10.3,400,11519,0.00,2.72,0.00,0.000,4,0.000,0.064,3512,3935,2544,0,0,0,0,0,0
$GC,11536,0.98,161.1,839.0,10.9,400,11541,0.15,2.62,0.00,0.000,6,0.115,0.041,3482,2373,2544,0,0,0,0,0,0
$GC,11794,1.00,182.7,815.8,9.0,407,11818,0.00,0.00,20.27,1.091,6,0.000,0.000,3482,2373,2459,0,0,0,0,0,0
$GC,12081,1.03,208.0,790.2,8.8,414,12111,0.00,2.75,24.25,1.089,4,0.000,0.060,3482,3931,2356,0,0,0,0,0,0
$GC,12150,1.07,208.0,783.2,10.5,415,12154,0.00,2.65,0.00,0.000,6,0.000,0.045,3482,2368,2354,0,0,0,0,0,0
$GC,12402,1.13,219.1,759.2,9.5,421,12416,0.15,0.00,11.25,0.996,6,0.067,0.000,3524,2368,2311,0,0,0,0,0,0
$GC,12643,1.13,219.1,731.0,11.6,427,12648,0.00,2.67,0.00,0.000,4,0.000,0.056,3525,3930,2308,0,0,0,0,0,0
$GC,12678,1.08,219.1,726.8,13.2,427,12683,0.00,2.62,0.00,0.000,6,0.000,0.046,3525,2372,2307,0,0,0,0,0,0
$GC,12927,1.08,219.1,697.0,11.8,434,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2372,2306,0,0,0,0,0,0
$GC,13171,1.08,219.1,668.4,11.7,440,13175,0.00,2.65,0.00,0.000,4,0.000,0.060,3524,3931,2306,0,0,0,0,0,0
$GC,13192,1.02,219.1,665.7,11.6,440,13198,0.15,2.60,0.00,0.000,6,0.215,0.040,3494,2377,2305,0,0,0,0,0,0
$GC,13450,1.03,222.0,640.1,9.9,447,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,2378,2305,0,0,0,0,0,0
$GC,13692,1.03,224.9,616.1,9.9,453,13705,0.00,3.08,5.90,0.800,4,0.000,0.115,3494,778,2287,0,0,0,0,0,0
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$STATE,19022,end climb,SURFACE_DEPTH_REACHED
$STATE,19022,begin surface coast
$FINISH,0.9,1.023315
$STATE,19078,end surface coast,CONTROL_FINISHED_OK
$STATE,19078,begin surface
$SM_CCo,19100,32.08,0.484,0,0,1778,350.04
$SM_GC,1.50,0.00,0.00,32.08,0.000,0.000,0.484,463,2151,1778,-12.91,-1.67,350.04
$IRIDIUM_FIX,1918.37,-8123.75,010502,232352
$TT8_MAMPS,0.026078
$HUMID,56.61
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.40
$XPDR_PINGS,60
$24V_AH,23.3,14.776
$10V_AH,10.4,12.739
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.575,191.975,402.575,32.075,0.000,25.873,38.228,198.634,15.000,0.000,17.191,1512.990,14525.795,545.761,2254.266,718.616,33.367,1515.406,0.000,2246.432,0.000,0.535,0.000
$DEVICE_MAMPS,214.760,138.827,1214.161,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.387,338.139,427.546,549.567,1047.505,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,53959,719
$CAP_FILE_SIZE,168796,0
$CFSIZE,260165632,121548800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050213,104936,1926.482,-8116.758,30,1.4,30,-3.7