version: 66.06
glider: 146
mission: 8
dive: 115
start: 2 7 113 16 33 7
data:
$ID,146
$MISSION,8
$DIVE,115
$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,-309594.88
$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,34
$R_STBD_OVSHOOT,21
$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
$GPS1,162524,1922.100,-8104.068,58,1.1,58,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.5
$GPS2,163212,1922.080,-8103.979,10,1.5,15,-3.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.227,0.125
$KALMAN_X,212596.6,320.6,411.7,-200823.2,3181.7
$KALMAN_Y,-42985.5,166.1,-50.6,33710.0,-1720.5
$MHEAD_RNG_PITCHd_Wd,302.7,8139,-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,-70.88,0.000,2,0.000,0.000,469,2139,3547,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.7,9,123,13.80,2.70,-4.40,0.000,4,0.169,0.042,2986,3818,3803,0,0,0,0,0,0
$GC,237,-1.15,-146.0,41.2,-16.0,25,247,0.10,2.58,0.00,0.000,6,0.092,0.022,3013,2202,3804,0,0,0,0,0,0
$GC,507,-1.02,-146.0,81.3,-15.4,50,512,0.15,2.58,0.00,0.000,4,0.110,0.045,3046,635,3804,0,0,0,0,0,0
$GC,543,-0.96,-146.0,88.2,-13.8,52,553,0.00,2.50,0.00,0.000,6,0.000,0.018,3046,2242,3804,0,0,0,0,0,0
$GC,812,-0.91,-146.0,120.6,-12.1,77,817,0.12,2.65,0.00,0.000,4,0.108,0.051,3074,626,3805,0,0,0,0,0,0
$GC,834,-0.91,-146.0,123.6,-9.8,78,843,0.00,2.45,0.00,0.000,6,0.000,0.025,3074,2202,3805,0,0,0,0,0,0
$GC,1100,-1.00,-146.0,144.0,-7.8,103,1104,0.00,2.50,0.00,0.000,4,0.000,0.040,3074,3772,3806,0,0,0,0,0,0
$GC,1134,-1.12,-146.0,146.4,-6.7,105,1139,0.20,2.45,0.00,0.000,6,0.048,0.021,3000,2188,3806,0,0,0,0,0,0
$GC,1395,-1.12,-146.0,171.4,-10.1,129,1400,0.12,2.55,0.00,0.000,4,0.101,0.049,3028,633,3806,0,0,0,0,0,0
$GC,1455,-1.19,-146.0,176.4,-8.4,133,1461,0.00,2.40,0.00,0.000,6,0.000,0.019,3028,2192,3807,0,0,0,0,0,0
$GC,1718,-1.25,-146.0,197.6,-8.5,158,1723,0.12,2.53,0.00,0.000,4,0.067,0.035,2974,3776,3806,0,0,0,0,0,0
$GC,1761,-1.21,-146.0,201.7,-10.2,161,1766,0.15,2.47,0.00,0.000,6,0.090,0.018,3009,2182,3807,0,0,0,0,0,0
$GC,2045,-1.21,-146.0,227.0,-8.9,168,2049,0.00,2.50,0.00,0.000,4,0.000,0.056,3009,646,3806,0,0,0,0,0,0
$GC,2080,-1.25,-146.0,230.1,-9.8,168,2085,0.00,2.38,0.00,0.000,6,0.000,0.023,3009,2190,3807,0,0,0,0,0,0
$GC,2330,-1.29,-146.0,252.6,-8.7,175,2335,0.00,2.53,0.00,0.000,4,0.000,0.044,3009,3773,3807,0,0,0,0,0,0
$GC,2364,-1.34,-146.0,255.6,-9.5,175,2370,0.15,2.50,0.00,0.000,6,0.058,0.021,2949,2177,3807,0,0,0,0,0,0
$GC,2616,-1.28,-146.0,281.6,-10.4,182,2618,0.20,0.00,0.00,0.000,6,0.085,0.000,2995,2176,3807,0,0,0,0,0,0
$GC,2857,-1.28,-146.0,300.6,-7.5,188,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2177,3806,0,0,0,0,0,0
$GC,3101,-1.28,-146.0,317.1,-6.7,194,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2177,3805,0,0,0,0,0,0
$GC,3345,-1.28,-146.0,332.9,-6.5,200,3349,0.00,2.58,0.00,0.000,4,0.000,0.039,2995,3769,3804,0,0,0,0,0,0
$GC,3374,-1.28,-146.0,334.9,-6.5,200,3378,0.00,2.53,0.00,0.000,6,0.000,0.024,2995,2178,3805,0,0,0,0,0,0
$GC,3624,-1.28,-146.0,352.1,-6.9,206,3628,0.00,2.62,0.00,0.000,4,0.000,0.066,2995,633,3803,0,0,0,0,0,0
$GC,3645,-1.28,-146.0,353.8,-7.6,206,3649,0.00,2.42,0.00,0.000,6,0.000,0.025,2995,2163,3804,0,0,0,0,0,0
$GC,3902,-1.28,-146.0,374.6,-8.3,213,3907,0.00,2.67,0.00,0.000,4,0.000,0.045,2995,3793,3803,0,0,0,0,0,0
$GC,3930,-1.31,-146.0,377.3,-8.9,213,3935,0.00,2.58,0.00,0.000,6,0.000,0.028,2995,2183,3803,0,0,0,0,0,0
$GC,4180,-1.31,-146.0,398.0,-8.1,219,4185,0.00,2.60,0.00,0.000,4,0.000,0.049,2995,3785,3802,0,0,0,0,0,0
$GC,4205,-1.35,-146.0,400.0,-9.1,219,4209,0.00,2.58,0.00,0.000,6,0.000,0.028,2995,2183,3801,0,0,0,0,0,0
$GC,4460,-1.39,-146.0,420.4,-7.9,226,4466,0.12,2.75,0.00,0.000,4,0.067,0.086,2946,621,3800,0,0,0,0,0,0
$GC,4490,-1.34,-146.0,423.0,-9.4,226,4496,0.15,2.50,0.00,0.000,6,0.096,0.031,2980,2174,3800,0,0,0,0,0,0
$GC,4740,-1.34,-146.0,442.9,-7.8,232,4745,0.00,2.70,0.00,0.000,4,0.000,0.061,2980,3791,3800,0,0,0,0,0,0
$GC,4784,-1.34,-146.0,446.3,-8.2,233,4789,0.00,2.62,0.00,0.000,6,0.000,0.038,2980,2184,3799,0,0,0,0,0,0
$GC,5062,-1.34,-146.0,468.2,-8.2,240,5067,0.00,2.80,0.00,0.000,4,0.000,0.097,2980,623,3798,0,0,0,0,0,0
$GC,5102,-1.34,-146.0,471.9,-9.5,241,5106,0.00,2.55,0.00,0.000,6,0.000,0.044,2980,2181,3798,0,0,0,0,0,0
$GC,5385,-1.34,-146.0,497.0,-8.7,248,5389,0.00,2.75,0.00,0.000,4,0.000,0.067,2980,3797,3796,0,0,0,0,0,0
$GC,5414,-1.34,-146.0,499.5,-8.8,248,5418,0.00,2.67,0.00,0.000,6,0.000,0.048,2980,2186,3796,0,0,0,0,0,0
$GC,5664,-1.34,-146.0,520.1,-8.2,254,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2186,3796,0,0,0,0,0,0
$GC,5907,-1.34,-146.0,539.1,-7.6,260,5912,0.00,2.78,0.00,0.000,4,0.000,0.072,2980,3793,3794,0,0,0,0,0,0
$GC,5942,-1.34,-146.0,541.7,-8.5,260,5948,0.00,2.70,0.00,0.000,6,0.000,0.049,2980,2189,3794,0,0,0,0,0,0
$GC,6192,-1.34,-146.0,559.3,-6.7,267,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2189,3792,0,0,0,0,0,0
$GC,6436,-1.34,-146.0,576.4,-7.2,273,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2189,3791,0,0,0,0,0,0
$GC,6682,-1.34,-146.0,597.0,-8.6,279,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2189,3790,0,0,0,0,0,0
$GC,6925,-1.34,-146.0,618.7,-8.7,285,6930,0.00,2.90,0.00,0.000,4,0.000,0.094,2980,3796,3789,0,0,0,0,0,0
$GC,6947,-1.38,-146.0,620.9,-8.5,285,6952,0.00,2.80,0.00,0.000,6,0.000,0.073,2980,2189,3789,0,0,0,0,0,0
$GC,7204,-1.38,-146.0,643.7,-9.0,292,7209,0.00,3.03,0.00,0.000,4,0.000,0.127,2980,623,3787,0,0,0,0,0,0
$GC,7239,-1.38,-146.0,646.8,-10.1,292,7245,0.00,2.72,0.00,0.000,6,0.000,0.075,2980,2187,3787,0,0,0,0,0,0
$GC,7489,-1.38,-146.0,669.1,-8.9,299,7494,0.00,3.00,0.00,0.000,4,0.000,0.114,2980,3801,3786,0,0,0,0,0,0
$GC,7521,-1.38,-146.0,672.3,-10.0,299,7527,0.00,2.92,0.00,0.000,6,0.000,0.091,2980,2194,3786,0,0,0,0,0,0
$GC,7774,-1.38,-146.0,693.0,-8.2,306,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2195,3784,0,0,0,0,0,0
$GC,8015,-1.38,-146.0,714.8,-9.0,312,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2194,3783,0,0,0,0,0,0
$GC,8259,-1.38,-146.0,735.5,-8.2,318,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2195,3782,0,0,0,0,0,0
$GC,8503,-1.38,-146.0,754.1,-7.7,324,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2195,3782,0,0,0,0,0,0
$GC,8748,-1.38,-146.0,772.2,-7.5,330,8754,0.00,3.38,0.00,0.000,4,0.000,0.166,2980,3793,3780,0,0,0,0,0,0
$GC,8777,-1.38,-146.0,774.6,-8.4,330,8782,0.00,2.75,0.00,0.000,6,0.000,0.062,2980,2189,3780,0,0,0,0,0,0
$GC,9028,-1.38,-146.0,793.0,-7.2,336,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2189,3779,0,0,0,0,0,0
$GC,9273,-1.38,-146.0,809.8,-6.9,342,9278,0.00,2.83,0.00,0.000,4,0.000,0.076,2980,3798,3778,0,0,0,0,0,0
$GC,9306,-1.42,-146.0,812.4,-7.5,342,9312,0.00,2.78,0.00,0.000,6,0.000,0.067,2980,2191,3777,0,0,0,0,0,0
$GC,9556,-1.42,-146.0,828.5,-6.4,349,9561,0.00,2.83,0.00,0.000,4,0.000,0.084,2980,3800,3776,0,0,0,0,0,0
$GC,9586,-1.46,-146.0,830.3,-6.4,349,9591,0.12,2.78,0.00,0.000,6,0.071,0.065,2935,2202,3776,0,0,0,0,0,0
$GC,9836,-1.41,-146.0,850.7,-8.2,355,9842,0.12,3.08,0.00,0.000,4,0.107,0.127,2962,615,3775,0,0,0,0,0,0
$GC,9858,-1.41,-146.0,852.6,-8.2,355,9863,0.00,2.72,0.00,0.000,6,0.000,0.061,2962,2203,3775,0,0,0,0,0,0
$GC,10116,-1.41,-146.0,870.6,-7.1,362,10120,0.00,2.88,0.00,0.000,4,0.000,0.097,2961,3797,3774,0,0,0,0,0,0
$GC,10148,-1.41,-146.0,873.3,-7.2,362,10154,0.00,2.72,0.00,0.000,6,0.000,0.064,2961,2204,3774,0,0,0,0,0,0
$GC,10398,-1.41,-146.0,891.3,-7.3,369,10403,0.00,2.97,0.00,0.000,4,0.000,0.117,2962,620,3772,0,0,0,0,0,0
$GC,10444,-1.41,-146.0,894.8,-7.4,370,10449,0.00,2.70,0.00,0.000,6,0.000,0.063,2962,2199,3772,0,0,0,0,0,0
$STATE,10516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10516,begin apogee
$GC,10522,-0.31,0.0,900.4,7.2,372,10645,1.05,0.00,119.55,1.208,6,0.073,0.000,3199,2381,3205,0,0,0,0,0,0
$STATE,10646,end apogee,CONTROL_FINISHED_OK
$STATE,10646,begin climb
$GC,10649,1.27,146.0,902.6,0.0,375,10785,1.45,2.92,126.28,1.178,4,0.034,0.087,3556,3931,2607,0,0,0,0,0,0
$GC,10871,1.11,146.0,885.9,12.9,380,10877,0.22,2.67,0.00,0.000,6,0.111,0.051,3513,2369,2603,0,0,0,0,0,0
$GC,11146,1.07,152.0,858.8,9.7,387,11153,0.00,0.00,5.12,0.808,6,0.000,0.000,3513,2369,2585,0,0,0,0,0,0
$GC,11388,1.03,157.4,835.2,9.8,393,11401,0.00,2.80,6.60,0.903,4,0.000,0.059,3512,3937,2563,0,0,0,0,0,0
$GC,11416,0.97,157.4,832.4,10.1,393,11421,0.15,2.62,0.00,0.000,6,0.114,0.037,3483,2374,2562,0,0,0,0,0,0
$GC,11671,0.99,179.1,809.1,9.0,400,11698,0.00,2.75,20.83,1.085,4,0.000,0.055,3483,3935,2474,0,0,0,0,0,0
$GC,11725,1.00,180.2,803.7,9.9,401,11730,0.00,2.62,0.00,0.000,6,0.000,0.045,3483,2379,2472,0,0,0,0,0,0
$GC,11994,1.02,197.6,778.9,9.2,408,12014,0.00,0.00,17.88,1.059,6,0.000,0.000,3483,2379,2399,0,0,0,0,0,0
$GC,12236,1.07,203.5,755.4,9.7,414,12250,0.00,2.70,6.43,0.874,4,0.000,0.059,3483,3942,2376,0,0,0,0,0,0
$GC,12269,1.07,203.5,752.2,10.2,414,12273,0.00,2.65,0.00,0.000,6,0.000,0.038,3483,2375,2375,0,0,0,0,0,0
$GC,12519,1.11,203.5,727.1,10.4,420,12524,0.12,3.03,0.00,0.000,4,0.075,0.113,3518,780,2374,0,0,0,0,0,0
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$STATE,19044,end climb,SURFACE_DEPTH_REACHED
$STATE,19044,begin surface coast
$FINISH,0.8,1.009961
$STATE,19093,end surface coast,CONTROL_FINISHED_OK
$STATE,19093,begin surface
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$TT8_MAMPS,0.025311
$HUMID,57.12
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.30
$XPDR_PINGS,72
$24V_AH,23.3,16.299
$10V_AH,10.4,14.131
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.850,235.500,410.350,30.300,0.000,23.809,33.274,184.838,18.000,0.000,16.719,1547.429,14364.174,578.015,2332.519,727.652,33.364,1615.333,0.000,2324.167,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.324,335.236,429.840,552.704,1053.629,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,54185,720
$CAP_FILE_SIZE,180384,0
$CFSIZE,260165632,120729600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070213,215336,1921.732,-8102.629,37,1.1,37,-3.9