version: 66.06
glider: 146
mission: 8
dive: 109
start: 2 6 113 8 0 55
data:
$ID,146
$MISSION,8
$DIVE,109
$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,-309504.88
$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,49
$R_STBD_OVSHOOT,25
$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
$GPS1,075230,1926.334,-8112.983,40,1.3,40,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.9
$GPS2,080001,1926.297,-8112.867,13,1.8,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.092
$KALMAN_X,180746.0,97.5,289.1,-184145.3,2433.7
$KALMAN_Y,-35492.0,263.9,240.8,33618.6,-1285.4
$MHEAD_RNG_PITCHd_Wd,114.7,9271,-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,-71.30,0.000,2,0.000,0.000,469,2193,3552,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.0,-6.4,9,124,13.85,2.60,-4.15,0.000,4,0.169,0.036,2987,3805,3801,0,0,0,0,0,0
$GC,143,-0.43,-146.0,22.9,-40.9,14,153,0.77,2.55,0.00,0.000,6,0.078,0.025,3164,2219,3802,0,0,0,0,0,0
$GC,427,-0.62,-146.0,45.2,-6.4,43,432,0.15,2.60,0.00,0.000,4,0.061,0.045,3116,633,3802,0,0,0,0,0,0
$GC,464,-0.74,-146.0,48.5,-8.1,45,473,0.00,2.50,0.00,0.000,6,0.000,0.017,3116,2237,3803,0,0,0,0,0,0
$GC,732,-0.83,-146.0,69.9,-8.4,70,737,0.12,2.65,0.00,0.000,4,0.070,0.044,3060,623,3803,0,0,0,0,0,0
$GC,766,-0.83,-146.0,73.5,-10.6,72,771,0.12,2.45,0.00,0.000,6,0.100,0.017,3088,2210,3803,0,0,0,0,0,0
$GC,1029,-0.83,-146.0,101.5,-10.3,96,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2210,3803,0,0,0,0,0,0
$GC,1283,-0.88,-146.0,125.9,-9.4,120,1287,0.00,2.62,0.00,0.000,4,0.000,0.045,3088,624,3804,0,0,0,0,0,0
$GC,1336,-0.98,-146.0,130.6,-8.9,124,1341,0.12,2.42,0.00,0.000,6,0.065,0.022,3033,2199,3804,0,0,0,0,0,0
$GC,1601,-0.98,-146.0,155.4,-8.5,148,1606,0.10,2.58,0.00,0.000,4,0.109,0.044,3058,623,3805,0,0,0,0,0,0
$GC,1623,-1.04,-146.0,157.8,-8.5,149,1628,0.00,2.40,0.00,0.000,6,0.000,0.025,3058,2189,3805,0,0,0,0,0,0
$GC,1888,-1.15,-146.0,175.7,-7.2,174,1893,0.17,2.53,0.00,0.000,4,0.052,0.042,2990,3772,3805,0,0,0,0,0,0
$GC,1929,-1.15,-146.0,179.6,-9.6,177,1934,0.12,2.47,0.00,0.000,6,0.095,0.020,3020,2181,3805,0,0,0,0,0,0
$GC,2190,-1.20,-146.0,199.0,-6.9,201,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2181,3806,0,0,0,0,0,0
$GC,2455,-1.26,-146.0,218.4,-7.5,209,2457,0.10,0.00,0.00,0.000,6,0.081,0.000,2973,2181,3806,0,0,0,0,0,0
$GC,2701,-1.26,-146.0,240.5,-9.2,215,2706,0.10,2.58,0.00,0.000,4,0.110,0.044,2996,3768,3806,0,0,0,0,0,0
$GC,2722,-1.26,-146.0,242.6,-8.2,215,2726,0.00,2.40,0.00,0.000,6,0.000,0.022,2996,2211,3806,0,0,0,0,0,0
$GC,2978,-1.26,-146.0,262.2,-8.0,222,2982,0.00,2.60,0.00,0.000,4,0.000,0.058,2996,645,3806,0,0,0,0,0,0
$GC,3019,-1.26,-146.0,265.6,-8.9,223,3023,0.00,2.42,0.00,0.000,6,0.000,0.024,2996,2201,3806,0,0,0,0,0,0
$GC,3302,-1.26,-146.0,289.3,-8.2,230,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2201,3805,0,0,0,0,0,0
$GC,3548,-1.26,-146.0,308.4,-7.7,236,3553,0.00,2.58,0.00,0.000,4,0.000,0.048,2996,3789,3804,0,0,0,0,0,0
$GC,3564,-1.26,-146.0,309.9,-7.6,236,3569,0.00,2.45,0.00,0.000,6,0.000,0.028,2996,2213,3804,0,0,0,0,0,0
$GC,3828,-1.26,-146.0,329.7,-7.6,243,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2213,3804,0,0,0,0,0,0
$GC,4069,-1.26,-146.0,348.2,-7.5,249,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2213,3802,0,0,0,0,0,0
$GC,4313,-1.26,-146.0,366.4,-7.6,255,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2212,3801,0,0,0,0,0,0
$GC,4559,-1.30,-146.0,385.2,-7.7,261,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2213,3800,0,0,0,0,0,0
$GC,4801,-1.33,-146.0,403.6,-7.6,267,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2213,3800,0,0,0,0,0,0
$GC,5044,-1.33,-146.0,422.5,-7.9,273,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2213,3799,0,0,0,0,0,0
$GC,5288,-1.37,-146.0,441.9,-8.0,279,5290,0.10,0.00,0.00,0.000,6,0.078,0.000,2952,2212,3798,0,0,0,0,0,0
$GC,5534,-1.33,-146.0,464.4,-9.3,285,5536,0.12,0.00,0.00,0.000,6,0.103,0.000,2980,2213,3796,0,0,0,0,0,0
$GC,5775,-1.33,-146.0,483.6,-7.6,291,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3796,0,0,0,0,0,0
$GC,6019,-1.33,-146.0,503.1,-8.1,297,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3795,0,0,0,0,0,0
$GC,6265,-1.33,-146.0,523.2,-8.2,303,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3793,0,0,0,0,0,0
$GC,6507,-1.33,-146.0,542.8,-8.0,309,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3792,0,0,0,0,0,0
$GC,6750,-1.33,-146.0,561.1,-7.5,315,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3791,0,0,0,0,0,0
$GC,6994,-1.33,-146.0,579.3,-7.6,321,6999,0.00,2.83,0.00,0.000,4,0.000,0.096,2980,3768,3790,0,0,0,0,0,0
$GC,7017,-1.33,-146.0,581.2,-8.5,321,7022,0.00,2.60,0.00,0.000,6,0.000,0.055,2980,2230,3790,0,0,0,0,0,0
$GC,7272,-1.33,-146.0,601.1,-7.7,328,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2230,3788,0,0,0,0,0,0
$GC,7516,-1.33,-146.0,619.2,-7.5,334,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2230,3787,0,0,0,0,0,0
$GC,7762,-1.33,-146.0,637.6,-7.5,340,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2230,3786,0,0,0,0,0,0
$GC,8004,-1.33,-146.0,655.0,-7.1,346,8008,0.00,2.80,0.00,0.000,4,0.000,0.104,2980,3767,3784,0,0,0,0,0,0
$GC,8019,-1.33,-146.0,656.2,-6.6,346,8024,0.00,2.72,0.00,0.000,6,0.000,0.086,2980,2222,3784,0,0,0,0,0,0
$GC,8280,-1.33,-146.0,673.4,-6.7,353,8285,0.00,3.12,0.00,0.000,4,0.000,0.135,2980,621,3784,0,0,0,0,0,0
$GC,8293,-1.33,-146.0,674.3,-6.7,353,8297,0.00,2.78,0.00,0.000,6,0.000,0.081,2980,2193,3783,0,0,0,0,0,0
$GC,8559,-1.33,-146.0,693.8,-7.4,360,8564,0.00,3.05,0.00,0.000,4,0.000,0.123,2980,3799,3782,0,0,0,0,0,0
$GC,8580,-1.33,-146.0,695.6,-8.1,360,8585,0.00,2.90,0.00,0.000,6,0.000,0.100,2979,2222,3782,0,0,0,0,0,0
$GC,8837,-1.33,-146.0,715.9,-7.9,367,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2222,3781,0,0,0,0,0,0
$GC,9079,-1.33,-146.0,734.9,-7.9,373,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2221,3780,0,0,0,0,0,0
$GC,9323,-1.33,-146.0,753.0,-7.3,379,9328,0.00,3.17,0.00,0.000,4,0.000,0.148,2980,3794,3779,0,0,0,0,0,0
$GC,9353,-1.37,-146.0,755.1,-7.3,379,9357,0.00,2.72,0.00,0.000,6,0.000,0.068,2980,2216,3779,0,0,0,0,0,0
$GC,9603,-1.37,-146.0,773.3,-7.2,385,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3778,0,0,0,0,0,0
$GC,9846,-1.37,-146.0,790.9,-7.2,391,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3776,0,0,0,0,0,0
$GC,10093,-1.41,-146.0,809.3,-7.6,397,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3776,0,0,0,0,0,0
$GC,10334,-1.45,-146.0,828.5,-8.0,403,10336,0.12,0.00,0.00,0.000,6,0.071,0.000,2935,2216,3774,0,0,0,0,0,0
$GC,10578,-1.40,-146.0,852.0,-9.8,409,10580,0.12,0.00,0.00,0.000,6,0.107,0.000,2963,2215,3773,0,0,0,0,0,0
$GC,10821,-1.40,-146.0,873.2,-8.4,415,10826,0.00,2.80,0.00,0.000,4,0.000,0.079,2963,3808,3772,0,0,0,0,0,0
$GC,10839,-1.40,-146.0,874.8,-8.6,415,10844,0.00,2.75,0.00,0.000,6,0.000,0.060,2963,2208,3772,0,0,0,0,0,0
$GC,11100,-1.40,-146.0,895.8,-7.9,422,11104,0.00,2.83,0.00,0.000,4,0.000,0.085,2962,3806,3771,0,0,0,0,0,0
$GC,11115,-1.40,-146.0,897.1,-7.7,422,11120,0.00,2.72,0.00,0.000,6,0.000,0.066,2962,2219,3771,0,0,0,0,0,0
$STATE,11170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11170,begin apogee
$GC,11179,-0.31,0.0,901.4,7.8,424,11301,1.05,0.00,119.10,1.212,6,0.073,0.000,3201,2393,3205,0,0,0,0,0,0
$STATE,11302,end apogee,CONTROL_FINISHED_OK
$STATE,11302,begin climb
$GC,11304,1.27,146.0,904.2,0.0,427,11441,1.42,2.72,126.45,1.183,4,0.035,0.074,3552,3928,2607,0,0,0,0,0,0
$GC,11527,1.12,146.0,888.2,12.1,432,11532,0.20,2.70,0.00,0.000,6,0.111,0.050,3513,2366,2602,0,0,0,0,0,0
$GC,11802,1.08,160.0,862.5,9.4,439,11822,0.00,2.80,12.45,1.040,4,0.000,0.068,3513,3917,2551,0,0,0,0,0,0
$GC,11855,1.01,160.0,856.9,10.3,440,11860,0.10,2.62,0.00,0.000,6,0.132,0.044,3493,2379,2550,0,0,0,0,0,0
$GC,12127,1.05,188.2,833.2,8.7,447,12156,0.00,0.00,26.58,1.107,6,0.000,0.000,3493,2379,2437,0,0,0,0,0,0
$GC,12373,1.06,196.3,810.3,9.6,453,12384,0.00,0.00,8.62,0.965,6,0.000,0.000,3493,2379,2404,0,0,0,0,0,0
$GC,12615,1.06,196.3,785.0,10.5,459,12619,0.00,3.03,0.00,0.000,4,0.000,0.110,3492,782,2401,0,0,0,0,0,0
$GC,12647,1.06,196.3,781.3,10.9,459,12653,0.00,2.67,0.00,0.000,6,0.000,0.042,3493,2380,2399,0,0,0,0,0,0
$GC,12899,1.06,196.8,756.1,10.0,466,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,2381,2399,0,0,0,0,0,0
$GC,13141,1.07,209.2,733.0,9.4,472,13155,0.00,0.00,12.65,1.005,6,0.000,0.000,3492,2382,2352,0,0,0,0,0,0
$GC,13385,1.08,212.9,709.4,9.8,478,13395,0.00,2.75,5.00,0.775,4,0.000,0.071,3493,3937,2336,0,0,0,0,0,0
$GC,13458,1.08,212.9,701.1,11.4,479,13463,0.00,2.58,0.00,0.000,6,0.000,0.042,3493,2383,2334,0,0,0,0,0,0
$GC,13708,1.08,212.9,675.1,10.3,485,13712,0.00,2.65,0.00,0.000,4,0.000,0.058,3492,3935,2334,0,0,0,0,0,0
$GC,13768,1.08,212.9,668.3,10.6,486,13773,0.00,2.60,0.00,0.000,6,0.000,0.043,3492,2384,2334,0,0,0,0,0,0
$GC,14030,1.09,220.5,642.8,9.6,493,14044,0.00,2.70,8.35,0.900,4,0.000,0.060,3493,3928,2305,0,0,0,0,0,0
$GC,14073,1.09,226.1,638.4,9.7,494,14087,0.00,2.58,6.93,0.844,6,0.000,0.041,3492,2402,2283,0,0,0,0,0,0
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$STATE,19867,end climb,SURFACE_DEPTH_REACHED
$STATE,19867,begin surface coast
$FINISH,1.0,1.011675
$STATE,19912,end surface coast,CONTROL_FINISHED_OK
$STATE,19912,begin surface
$SM_CCo,19935,22.77,0.478,0,0,1778,350.04
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$TT8_MAMPS,0.025311
$HUMID,57.52
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.30
$XPDR_PINGS,51
$24V_AH,23.3,15.460
$10V_AH,10.4,13.367
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.350,180.100,416.625,22.775,0.000,22.301,34.600,228.978,12.750,0.000,14.863,1574.569,15128.014,556.607,2380.575,760.990,33.378,1542.706,0.000,2386.365,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,523.251,350.541,471.927,628.776,1198.541,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,60452,772
$CAP_FILE_SIZE,170726,0
$CFSIZE,260165632,121184256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060213,133454,1925.448,-8107.740,38,1.0,38,-3.8