version: 66.06
glider: 146
mission: 8
dive: 118
start: 2 8 113 8 40 13
data:
$ID,146
$MISSION,8
$DIVE,118
$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,-309641.09
$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,30
$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
$GPS1,083136,1920.060,-8102.776,40,1.0,40,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-75.8
$GPS2,083919,1920.114,-8102.746,14,1.2,14,-3.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Temp2
$TGT_LATLONG,1922.500,-8058.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.091,0.243
$KALMAN_X,229406.3,-241.2,-905.6,-213575.1,5735.0
$KALMAN_Y,-51586.3,-460.4,592.5,38647.8,-2367.2
$MHEAD_RNG_PITCHd_Wd,24.4,9396,-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,-71.10,0.000,2,0.000,0.000,462,2156,3548,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.9,-6.3,9,123,13.88,2.53,-4.38,0.000,4,0.170,0.062,2987,627,3801,0,0,0,0,0,0
$GC,187,-1.10,-146.0,32.0,-14.6,21,197,0.15,2.50,0.00,0.000,6,0.082,0.019,3026,2222,3802,0,0,0,0,0,0
$GC,457,-0.98,-146.0,53.0,-5.4,46,467,0.15,0.00,0.00,0.000,6,0.107,0.000,3059,2224,3802,0,0,0,0,0,0
$GC,727,-0.92,-146.0,71.2,-9.7,71,731,0.00,2.60,0.00,0.000,4,0.000,0.040,3059,620,3802,0,0,0,0,0,0
$GC,772,-0.92,-146.0,75.4,-10.1,74,776,0.00,2.45,0.00,0.000,6,0.000,0.018,3058,2216,3803,0,0,0,0,0,0
$GC,1037,-0.92,-146.0,91.5,-3.7,98,1041,0.00,2.65,0.00,0.000,4,0.000,0.058,3059,626,3803,0,0,0,0,0,0
$GC,1059,-0.92,-146.0,91.9,-1.8,99,1063,0.00,2.40,0.00,0.000,6,0.000,0.018,3059,2202,3803,0,0,0,0,0,0
$GC,1327,-0.86,-146.0,117.6,-11.9,123,1332,0.10,2.58,0.00,0.000,4,0.124,0.044,3080,629,3804,0,0,0,0,0,0
$GC,1361,-0.86,-146.0,121.4,-10.3,125,1365,0.00,2.38,0.00,0.000,6,0.000,0.024,3080,2225,3804,0,0,0,0,0,0
$GC,1630,-0.97,-146.0,146.7,-6.9,149,1634,0.00,2.45,0.00,0.000,4,0.000,0.040,3080,3750,3805,0,0,0,0,0,0
$GC,1640,-1.06,-146.0,147.8,-5.9,149,1646,0.17,2.40,0.00,0.000,6,0.051,0.025,3012,2176,3805,0,0,0,0,0,0
$GC,1904,-1.06,-146.0,172.7,-10.4,174,1913,0.12,0.00,0.00,0.000,6,0.100,0.000,3042,2176,3805,0,0,0,0,0,0
$GC,2172,-1.14,-146.0,191.0,-6.6,199,2176,0.00,2.45,0.00,0.000,4,0.000,0.044,3042,649,3806,0,0,0,0,0,0
$GC,2195,-1.22,-146.0,193.0,-7.1,200,2202,0.15,2.33,0.00,0.000,6,0.058,0.025,2980,2174,3806,0,0,0,0,0,0
$GC,2479,-1.22,-146.0,219.5,-9.0,213,2484,0.10,2.58,0.00,0.000,4,0.110,0.037,3004,3771,3806,0,0,0,0,0,0
$GC,2506,-1.22,-146.0,222.4,-10.3,213,2510,0.00,2.40,0.00,0.000,6,0.000,0.025,3004,2209,3806,0,0,0,0,0,0
$GC,2764,-1.22,-146.0,241.4,-6.7,220,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2209,3806,0,0,0,0,0,0
$GC,3006,-1.26,-146.0,257.5,-5.1,226,3010,0.00,2.58,0.00,0.000,4,0.000,0.053,3004,642,3806,0,0,0,0,0,0
$GC,3027,-1.26,-146.0,259.1,-6.9,226,3032,0.00,2.40,0.00,0.000,6,0.000,0.027,3004,2189,3806,0,0,0,0,0,0
$GC,3283,-1.26,-146.0,280.7,-9.1,233,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2190,3805,0,0,0,0,0,0
$GC,3527,-1.26,-146.0,299.7,-7.2,239,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2189,3804,0,0,0,0,0,0
$GC,3771,-1.30,-146.0,320.0,-8.3,245,3775,0.00,2.55,0.00,0.000,4,0.000,0.042,3004,3772,3803,0,0,0,0,0,0
$GC,3839,-1.35,-146.0,325.1,-7.2,246,3845,0.12,2.45,0.00,0.000,6,0.066,0.023,2954,2201,3803,0,0,0,0,0,0
$GC,4095,-1.30,-146.0,349.2,-9.9,253,4101,0.15,2.60,0.00,0.000,4,0.094,0.048,2988,3779,3803,0,0,0,0,0,0
$GC,4136,-1.34,-146.0,352.8,-8.2,254,4140,0.00,2.50,0.00,0.000,6,0.000,0.031,2988,2204,3803,0,0,0,0,0,0
$GC,4421,-1.34,-146.0,373.5,-7.8,261,4425,0.00,2.67,0.00,0.000,4,0.000,0.070,2988,633,3801,0,0,0,0,0,0
$GC,4471,-1.38,-146.0,378.1,-9.3,262,4475,0.00,2.45,0.00,0.000,6,0.000,0.029,2988,2187,3801,0,0,0,0,0,0
$GC,4745,-1.38,-146.0,399.9,-8.2,269,4749,0.00,2.65,0.00,0.000,4,0.000,0.051,2988,3792,3800,0,0,0,0,0,0
$GC,4766,-1.38,-146.0,401.7,-7.3,269,4770,0.00,2.55,0.00,0.000,6,0.000,0.034,2988,2199,3800,0,0,0,0,0,0
$GC,5023,-1.38,-146.0,421.7,-7.9,276,5027,0.00,2.72,0.00,0.000,4,0.000,0.082,2988,618,3799,0,0,0,0,0,0
$GC,5052,-1.42,-146.0,424.0,-8.1,276,5057,0.12,2.53,0.00,0.000,6,0.065,0.042,2936,2187,3799,0,0,0,0,0,0
$GC,5302,-1.33,-146.0,450.8,-11.6,282,5307,0.20,2.70,0.00,0.000,4,0.089,0.064,2980,3796,3797,0,0,0,0,0,0
$GC,5335,-1.33,-146.0,454.6,-10.9,282,5341,0.00,2.58,0.00,0.000,6,0.000,0.036,2980,2201,3797,0,0,0,0,0,0
$GC,5587,-1.33,-146.0,475.8,-8.1,289,5592,0.00,2.67,0.00,0.000,4,0.000,0.061,2980,3790,3796,0,0,0,0,0,0
$GC,5620,-1.33,-146.0,478.7,-7.9,289,5625,0.00,2.58,0.00,0.000,6,0.000,0.041,2981,2210,3796,0,0,0,0,0,0
$GC,5870,-1.33,-146.0,497.9,-7.7,296,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3795,0,0,0,0,0,0
$GC,6114,-1.33,-146.0,516.5,-7.6,302,6118,0.00,2.70,0.00,0.000,4,0.000,0.062,2980,3793,3793,0,0,0,0,0,0
$GC,6143,-1.33,-146.0,518.8,-8.0,302,6147,0.00,2.60,0.00,0.000,6,0.000,0.050,2981,2226,3793,0,0,0,0,0,0
$GC,6392,-1.33,-146.0,537.1,-7.2,308,6397,0.00,3.00,0.00,0.000,4,0.000,0.111,2980,621,3791,0,0,0,0,0,0
$GC,6414,-1.33,-146.0,538.8,-7.5,308,6418,0.00,2.62,0.00,0.000,6,0.000,0.047,2980,2225,3791,0,0,0,0,0,0
$GC,6671,-1.33,-146.0,556.3,-6.6,315,6676,0.00,2.85,0.00,0.000,4,0.000,0.087,2981,620,3790,0,0,0,0,0,0
$GC,6687,-1.33,-146.0,557.6,-6.8,315,6691,0.00,2.65,0.00,0.000,6,0.000,0.051,2980,2214,3790,0,0,0,0,0,0
$GC,6947,-1.33,-146.0,576.4,-7.4,322,6952,0.00,2.85,0.00,0.000,4,0.000,0.092,2981,3796,3789,0,0,0,0,0,0
$GC,6978,-1.33,-146.0,578.8,-8.7,322,6983,0.00,2.70,0.00,0.000,6,0.000,0.060,2980,2203,3789,0,0,0,0,0,0
$GC,7228,-1.33,-146.0,599.9,-8.5,328,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2203,3788,0,0,0,0,0,0
$GC,7472,-1.33,-146.0,619.3,-7.9,334,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2203,3787,0,0,0,0,0,0
$GC,7718,-1.33,-146.0,639.4,-8.5,340,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2203,3785,0,0,0,0,0,0
$GC,7959,-1.33,-146.0,661.2,-9.1,346,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2203,3784,0,0,0,0,0,0
$GC,8203,-1.33,-146.0,680.6,-7.7,352,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2203,3782,0,0,0,0,0,0
$GC,8447,-1.33,-146.0,697.0,-6.6,358,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2203,3782,0,0,0,0,0,0
$GC,8693,-1.33,-146.0,711.8,-5.8,364,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2203,3781,0,0,0,0,0,0
$GC,8934,-1.33,-146.0,727.9,-6.7,370,8939,0.00,3.15,0.00,0.000,4,0.000,0.138,2981,3793,3780,0,0,0,0,0,0
$GC,8950,-1.33,-146.0,729.2,-6.9,370,8955,0.00,2.78,0.00,0.000,6,0.000,0.076,2980,2219,3779,0,0,0,0,0,0
$GC,9211,-1.33,-146.0,747.3,-6.9,377,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2219,3777,0,0,0,0,0,0
$GC,9457,-1.33,-146.0,763.4,-6.4,383,9462,0.00,2.83,0.00,0.000,4,0.000,0.089,2980,3792,3777,0,0,0,0,0,0
$GC,9473,-1.33,-146.0,764.6,-6.3,383,9477,0.00,2.70,0.00,0.000,6,0.000,0.064,2980,2221,3776,0,0,0,0,0,0
$GC,9733,-1.33,-146.0,784.3,-7.9,390,9738,0.00,2.80,0.00,0.000,4,0.000,0.084,2980,3794,3775,0,0,0,0,0,0
$GC,9757,-1.33,-146.0,786.2,-8.3,390,9761,0.00,2.72,0.00,0.000,6,0.000,0.070,2981,2222,3775,0,0,0,0,0,0
$GC,10012,-1.33,-146.0,804.7,-6.9,397,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2222,3774,0,0,0,0,0,0
$GC,10256,-1.37,-146.0,821.5,-7.1,403,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2222,3773,0,0,0,0,0,0
$GC,10502,-1.41,-146.0,840.0,-7.7,409,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2221,3772,0,0,0,0,0,0
$GC,10743,-1.45,-146.0,854.6,-5.8,415,10749,0.12,2.78,0.00,0.000,4,0.074,0.082,2937,3795,3771,0,0,0,0,0,0
$GC,10765,-1.45,-146.0,856.1,-6.6,415,10770,0.00,2.70,0.00,0.000,6,0.000,0.066,2937,2223,3771,0,0,0,0,0,0
$GC,11023,-1.41,-146.0,874.2,-7.4,422,11025,0.12,0.00,0.00,0.000,6,0.107,0.000,2964,2223,3770,0,0,0,0,0,0
$GC,11264,-1.41,-146.0,892.6,-7.5,428,11269,0.00,2.75,0.00,0.000,4,0.000,0.079,2963,3793,3769,0,0,0,0,0,0
$GC,11286,-1.41,-146.0,894.4,-8.0,428,11290,0.00,2.67,0.00,0.000,6,0.000,0.062,2963,2229,3769,0,0,0,0,0,0
$STATE,11376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11376,begin apogee
$GC,11384,-0.31,0.0,901.1,7.4,431,11507,1.05,0.00,119.12,1.216,6,0.071,0.000,3203,2387,3205,0,0,0,0,0,0
$STATE,11507,end apogee,CONTROL_FINISHED_OK
$STATE,11508,begin climb
$GC,11510,1.27,146.0,903.8,0.0,434,11645,1.42,2.83,126.55,1.187,4,0.034,0.076,3553,3919,2608,0,0,0,0,0,0
$GC,11745,1.11,146.0,886.1,13.6,439,11750,0.20,2.67,0.00,0.000,6,0.114,0.054,3514,2360,2603,0,0,0,0,0,0
$GC,12008,1.06,146.0,855.4,11.5,446,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2360,2599,0,0,0,0,0,0
$GC,12252,1.00,146.0,825.9,12.1,452,12257,0.12,2.72,0.00,0.000,4,0.120,0.060,3490,3932,2598,0,0,0,0,0,0
$GC,12325,1.00,146.0,816.7,12.6,453,12330,0.00,2.62,0.00,0.000,6,0.000,0.038,3490,2368,2598,0,0,0,0,0,0
$GC,12575,1.01,149.9,791.3,9.8,459,12580,0.00,3.05,0.00,0.000,4,0.000,0.117,3490,773,2596,0,0,0,0,0,0
$GC,12617,1.01,156.4,787.3,9.7,460,12631,0.00,2.62,8.57,0.969,6,0.000,0.044,3490,2352,2567,0,0,0,0,0,0
$GC,12904,1.01,156.4,757.6,10.5,467,12909,0.00,2.78,0.00,0.000,4,0.000,0.072,3490,3937,2565,0,0,0,0,0,0
$GC,12955,1.01,156.4,752.1,11.5,468,12960,0.00,2.62,0.00,0.000,6,0.000,0.040,3489,2353,2564,0,0,0,0,0,0
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$STATE,19078,end climb,SURFACE_DEPTH_REACHED
$STATE,19078,begin surface coast
$FINISH,1.1,1.023488
$STATE,19120,end surface coast,CONTROL_FINISHED_OK
$STATE,19120,begin surface
$SM_CCo,19143,44.42,0.491,0,0,1778,350.04
$SM_GC,1.71,0.00,0.00,44.42,0.000,0.000,0.491,465,2171,1778,-12.90,-1.10,350.04
$IRIDIUM_FIX,1916.08,-8100.81,050502,030340
$TT8_MAMPS,0.026078
$HUMID,57.24
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.20
$XPDR_PINGS,68
$24V_AH,23.3,16.743
$10V_AH,10.4,14.507
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.625,221.400,384.575,44.425,0.000,29.727,36.563,228.286,17.000,0.000,17.857,1570.777,14299.549,571.887,2423.959,776.589,33.361,1577.298,0.000,2420.829,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,505.672,365.228,460.575,638.726,1216.673,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,57368,745
$CAP_FILE_SIZE,175879,0
$CFSIZE,260165632,120516608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080213,140124,1921.458,-8059.101,40,1.3,40,-3.9