version: 66.06
glider: 146
mission: 8
dive: 117
start: 2 8 113 3 20 8
data:
$ID,146
$MISSION,8
$DIVE,117
$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,-309622.62
$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,58
$R_STBD_OVSHOOT,37
$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
$GPS1,031224,1920.303,-8101.276,41,1.2,41,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.2
$GPS2,031913,1920.209,-8101.178,12,1.3,12,-3.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Temp1
$TGT_LATLONG,1925.000,-8105.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,0.035
$KALMAN_X,225485.0,552.1,245.7,-208894.4,4298.7
$KALMAN_Y,-48892.2,-1004.4,-739.8,38027.8,-193.0
$MHEAD_RNG_PITCHd_Wd,281.7,11104,-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,-71.05,0.000,2,0.000,0.000,469,2178,3480,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-5.0,9,123,13.73,2.47,-5.82,0.000,4,0.167,0.050,2986,651,3802,0,0,0,0,0,0
$GC,263,-1.12,-146.0,42.4,-17.1,28,273,0.15,2.45,0.00,0.000,6,0.089,0.018,3023,2226,3802,0,0,0,0,0,0
$GC,532,-1.01,-146.0,83.0,-15.1,53,538,0.12,2.58,0.00,0.000,4,0.114,0.041,3051,658,3803,0,0,0,0,0,0
$GC,575,-1.01,-146.0,89.7,-11.7,56,579,0.00,2.38,0.00,0.000,6,0.000,0.017,3051,2207,3803,0,0,0,0,0,0
$GC,837,-0.97,-146.0,122.5,-11.9,80,838,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2208,3803,0,0,0,0,0,0
$GC,1090,-0.97,-146.0,143.0,-7.9,104,1094,0.00,2.50,0.00,0.000,4,0.000,0.041,3051,658,3804,0,0,0,0,0,0
$GC,1159,-1.05,-146.0,149.3,-10.2,109,1163,0.00,2.38,0.00,0.000,6,0.000,0.018,3051,2210,3804,0,0,0,0,0,0
$GC,1426,-1.14,-146.0,172.1,-7.9,133,1431,0.12,2.50,0.00,0.000,4,0.065,0.044,2998,3778,3804,0,0,0,0,0,0
$GC,1454,-1.14,-146.0,175.5,-10.9,135,1459,0.10,2.42,0.00,0.000,6,0.104,0.019,3022,2213,3805,0,0,0,0,0,0
$GC,1715,-1.19,-146.0,196.8,-8.1,159,1720,0.00,2.50,0.00,0.000,4,0.000,0.038,3022,3770,3806,0,0,0,0,0,0
$GC,1738,-1.24,-146.0,198.3,-8.1,160,1743,0.10,2.45,0.00,0.000,6,0.078,0.027,2974,2189,3806,0,0,0,0,0,0
$GC,2001,-1.24,-146.0,224.8,-9.1,167,2006,0.10,2.55,0.00,0.000,4,0.116,0.051,2998,648,3805,0,0,0,0,0,0
$GC,2041,-1.24,-146.0,228.3,-8.0,168,2045,0.00,2.35,0.00,0.000,6,0.000,0.026,2998,2192,3806,0,0,0,0,0,0
$GC,2326,-1.24,-146.0,247.9,-6.8,175,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2192,3806,0,0,0,0,0,0
$GC,2568,-1.24,-146.0,265.1,-7.1,181,2572,0.00,2.55,0.00,0.000,4,0.000,0.038,2998,3773,3805,0,0,0,0,0,0
$GC,2601,-1.28,-146.0,267.8,-8.6,181,2606,0.00,2.45,0.00,0.000,6,0.000,0.021,2998,2197,3805,0,0,0,0,0,0
$GC,2851,-1.28,-146.0,286.3,-7.7,188,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2197,3805,0,0,0,0,0,0
$GC,3096,-1.28,-146.0,311.5,-10.8,194,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2198,3805,0,0,0,0,0,0
$GC,3337,-1.28,-146.0,336.2,-10.4,200,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2198,3804,0,0,0,0,0,0
$GC,3582,-1.32,-146.0,365.8,-12.5,206,3586,0.00,2.58,0.00,0.000,4,0.000,0.044,2998,3771,3803,0,0,0,0,0,0
$GC,3668,-1.37,-146.0,376.5,-12.6,208,3673,0.10,2.50,0.00,0.000,6,0.079,0.028,2953,2213,3803,0,0,0,0,0,0
$GC,3952,-1.32,-146.0,402.0,-7.7,215,3957,0.12,2.58,0.00,0.000,4,0.104,0.049,2981,3768,3802,0,0,0,0,0,0
$GC,4015,-1.32,-146.0,407.1,-8.6,216,4020,0.00,2.53,0.00,0.000,6,0.000,0.033,2981,2205,3802,0,0,0,0,0,0
$GC,4277,-1.32,-146.0,429.3,-8.5,223,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3801,0,0,0,0,0,0
$GC,4520,-1.32,-146.0,448.3,-7.5,229,4525,0.00,2.78,0.00,0.000,4,0.000,0.087,2982,628,3799,0,0,0,0,0,0
$GC,4578,-1.36,-146.0,452.8,-8.3,230,4582,0.00,2.53,0.00,0.000,6,0.000,0.041,2982,2183,3799,0,0,0,0,0,0
$GC,4844,-1.36,-146.0,472.8,-7.9,237,4848,0.00,2.72,0.00,0.000,4,0.000,0.070,2982,3794,3798,0,0,0,0,0,0
$GC,4944,-1.36,-146.0,481.4,-9.2,239,4948,0.00,2.60,0.00,0.000,6,0.000,0.044,2982,2216,3797,0,0,0,0,0,0
$GC,5212,-1.36,-146.0,505.3,-9.2,246,5216,0.00,2.67,0.00,0.000,4,0.000,0.058,2982,3791,3796,0,0,0,0,0,0
$GC,5245,-1.36,-146.0,508.7,-9.0,246,5250,0.00,2.62,0.00,0.000,6,0.000,0.050,2981,2214,3796,0,0,0,0,0,0
$GC,5494,-1.36,-146.0,529.6,-8.7,253,5499,0.00,2.97,0.00,0.000,4,0.000,0.113,2982,619,3795,0,0,0,0,0,0
$GC,5529,-1.36,-146.0,532.5,-9.0,253,5535,0.00,2.65,0.00,0.000,6,0.000,0.051,2982,2214,3794,0,0,0,0,0,0
$GC,5779,-1.36,-146.0,553.3,-8.3,260,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2214,3793,0,0,0,0,0,0
$GC,6023,-1.36,-146.0,571.9,-7.2,266,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2214,3791,0,0,0,0,0,0
$GC,6269,-1.36,-146.0,590.0,-7.5,272,6273,0.00,2.83,0.00,0.000,4,0.000,0.096,2981,3790,3790,0,0,0,0,0,0
$GC,6301,-1.36,-146.0,593.0,-8.5,272,6307,0.00,2.67,0.00,0.000,6,0.000,0.061,2981,2216,3790,0,0,0,0,0,0
$GC,6551,-1.36,-146.0,610.4,-6.7,279,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2216,3789,0,0,0,0,0,0
$GC,6795,-1.36,-146.0,624.3,-5.9,285,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2216,3787,0,0,0,0,0,0
$GC,7041,-1.36,-146.0,639.4,-6.0,291,7046,0.00,3.05,0.00,0.000,4,0.000,0.123,2982,624,3786,0,0,0,0,0,0
$GC,7068,-1.36,-146.0,641.4,-6.8,291,7073,0.00,2.72,0.00,0.000,6,0.000,0.064,2982,2202,3786,0,0,0,0,0,0
$GC,7318,-1.36,-146.0,659.9,-7.5,297,7323,0.00,2.95,0.00,0.000,4,0.000,0.109,2981,3804,3785,0,0,0,0,0,0
$GC,7353,-1.36,-146.0,662.5,-7.9,297,7359,0.00,2.85,0.00,0.000,6,0.000,0.087,2981,2214,3784,0,0,0,0,0,0
$GC,7603,-1.36,-146.0,681.6,-7.7,304,7608,0.00,3.12,0.00,0.000,4,0.000,0.133,2982,619,3783,0,0,0,0,0,0
$GC,7645,-1.40,-146.0,685.0,-8.7,305,7650,0.00,2.85,0.00,0.000,6,0.000,0.088,2981,2210,3783,0,0,0,0,0,0
$GC,7930,-1.40,-146.0,704.8,-7.0,312,7935,0.00,3.08,0.00,0.000,4,0.000,0.127,2981,3796,3782,0,0,0,0,0,0
$GC,7970,-1.45,-146.0,708.3,-9.3,313,7975,0.12,2.83,0.00,0.000,6,0.071,0.078,2937,2208,3782,0,0,0,0,0,0
$GC,8256,-1.39,-146.0,735.2,-9.5,320,8258,0.12,0.00,0.00,0.000,6,0.107,0.000,2964,2208,3781,0,0,0,0,0,0
$GC,8498,-1.39,-146.0,755.2,-8.0,326,8502,0.00,2.88,0.00,0.000,4,0.000,0.091,2963,3798,3780,0,0,0,0,0,0
$GC,8537,-1.39,-146.0,758.5,-8.5,327,8541,0.00,2.75,0.00,0.000,6,0.000,0.067,2963,2216,3779,0,0,0,0,0,0
$GC,8822,-1.39,-146.0,781.4,-8.0,334,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2216,3778,0,0,0,0,0,0
$GC,9063,-1.39,-146.0,801.5,-8.1,340,9068,0.00,3.03,0.00,0.000,4,0.000,0.117,2963,621,3777,0,0,0,0,0,0
$GC,9090,-1.39,-146.0,804.0,-8.8,340,9095,0.00,2.75,0.00,0.000,6,0.000,0.064,2963,2225,3777,0,0,0,0,0,0
$GC,9343,-1.39,-146.0,823.4,-7.3,346,9347,0.00,2.85,0.00,0.000,4,0.000,0.100,2963,3801,3776,0,0,0,0,0,0
$GC,9382,-1.39,-146.0,826.9,-8.4,347,9387,0.00,2.72,0.00,0.000,6,0.000,0.064,2964,2213,3775,0,0,0,0,0,0
$GC,9665,-1.39,-146.0,850.2,-8.4,354,9670,0.00,3.00,0.00,0.000,4,0.000,0.117,2963,620,3774,0,0,0,0,0,0
$GC,9734,-1.39,-146.0,855.8,-8.0,355,9738,0.00,2.75,0.00,0.000,6,0.000,0.065,2963,2220,3774,0,0,0,0,0,0
$GC,9989,-1.39,-146.0,874.7,-7.4,362,9993,0.00,2.85,0.00,0.000,4,0.000,0.095,2963,3798,3773,0,0,0,0,0,0
$GC,10028,-1.39,-146.0,877.8,-7.5,363,10032,0.00,2.72,0.00,0.000,6,0.000,0.063,2963,2210,3773,0,0,0,0,0,0
$GC,10313,-1.39,-146.0,899.9,-7.8,370,10317,0.00,2.12,0.00,0.000,3,0.000,0.074,2964,3416,3772,0,0,0,0,0,0
$STATE,10318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10318,begin apogee
$GC,10326,-0.31,0.0,900.4,7.7,370,10449,1.02,0.00,119.22,1.210,6,0.077,0.000,3198,2363,3205,0,0,0,0,0,0
$STATE,10450,end apogee,CONTROL_FINISHED_OK
$STATE,10450,begin climb
$GC,10454,1.27,146.0,903.8,0.0,373,10590,1.45,2.92,126.32,1.181,4,0.035,0.077,3553,3934,2608,0,0,0,0,0,0
$GC,10702,1.11,146.0,883.6,13.4,378,10709,0.20,2.67,0.00,0.000,6,0.114,0.051,3514,2369,2602,0,0,0,0,0,0
$GC,10952,1.05,146.0,857.6,10.1,385,10957,0.00,2.75,0.00,0.000,4,0.000,0.064,3514,3938,2599,0,0,0,0,0,0
$GC,11070,0.98,146.0,845.5,10.9,387,11075,0.15,2.65,0.00,0.000,6,0.116,0.046,3485,2385,2598,0,0,0,0,0,0
$GC,11322,1.05,202.6,826.6,7.4,393,11378,0.00,3.15,50.05,1.131,4,0.000,0.117,3485,781,2379,0,0,0,0,0,0
$GC,11417,1.10,236.7,819.4,8.4,395,11458,0.10,2.70,32.85,1.100,6,0.088,0.043,3514,2379,2238,0,0,0,0,0,0
$GC,11730,1.10,236.7,786.4,10.8,403,11735,0.00,2.72,0.00,0.000,4,0.000,0.076,3514,3930,2231,0,0,0,0,0,0
$GC,11762,1.10,236.7,782.3,12.2,403,11768,0.00,2.62,0.00,0.000,6,0.000,0.042,3514,2363,2230,0,0,0,0,0,0
$GC,12014,1.10,236.7,753.9,11.6,410,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2363,2229,0,0,0,0,0,0
$GC,12256,1.10,236.7,724.7,12.2,416,12260,0.00,2.70,0.00,0.000,4,0.000,0.060,3514,3942,2228,0,0,0,0,0,0
$GC,12290,1.10,236.7,720.5,13.3,416,12295,0.00,2.62,0.00,0.000,6,0.000,0.041,3514,2378,2227,0,0,0,0,0,0
$GC,12539,1.10,236.7,691.1,11.7,423,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2378,2227,0,0,0,0,0,0
$GC,12785,1.10,236.7,661.2,12.3,429,12786,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2378,2227,0,0,0,0,0,0
$GC,13027,1.10,236.7,631.2,12.1,435,13031,0.00,2.65,0.00,0.000,4,0.000,0.055,3514,3939,2226,0,0,0,0,0,0
$GC,13048,1.10,236.7,628.4,12.9,435,13052,0.00,2.58,0.00,0.000,6,0.000,0.039,3514,2381,2226,0,0,0,0,0,0
$GC,13305,1.10,236.7,597.2,12.3,442,13309,0.00,2.62,0.00,0.000,4,0.000,0.054,3514,3934,2225,0,0,0,0,0,0
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$STATE,18507,end climb,SURFACE_DEPTH_REACHED
$STATE,18507,begin surface coast
$FINISH,0.9,0.999661
$STATE,18551,end surface coast,CONTROL_FINISHED_OK
$STATE,18551,begin surface
$SM_CCo,18576,28.60,0.478,0,0,1777,350.04
$SM_GC,1.71,0.00,0.00,28.60,0.000,0.000,0.478,462,2156,1777,-12.92,-1.53,350.04
$IRIDIUM_FIX,1916.08,-8100.81,040502,222258
$TT8_MAMPS,0.026078
$HUMID,57.00
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.40
$XPDR_PINGS,75
$24V_AH,23.3,16.595
$10V_AH,10.4,14.373
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.600,227.375,399.900,28.600,0.000,23.808,32.888,192.594,18.750,0.000,15.102,1518.472,13801.354,536.314,2438.062,714.965,33.362,1607.556,0.000,2422.969,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.636,328.508,421.552,550.174,1047.733,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,54355,704
$CAP_FILE_SIZE,173847,0
$CFSIZE,260165632,120598528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080213,083136,1920.060,-8102.776,40,1.0,40,-3.9