version: 66.06
glider: 146
mission: 8
dive: 125
start: 2 9 113 21 52 56
data:
$ID,146
$MISSION,8
$DIVE,125
$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,620
$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,0
$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,-309774.53
$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,32
$R_STBD_OVSHOOT,35
$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,3200
$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
$GPS1,214505,1916.192,-8047.036,40,1.1,40,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.5
$GPS2,215206,1916.103,-8047.045,9,1.1,14,-4.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Tp5
$TGT_LATLONG,1928.000,-8048.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.020,0.259
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,359.7,22095,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.50,0.000,2,0.000,0.000,468,2230,3527,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-6.4,9,123,13.80,2.50,-4.68,0.000,4,0.170,0.035,2986,3793,3797,0,0,0,0,0,0
$GC,238,-1.13,-146.0,37.4,-16.9,26,243,0.17,2.47,0.00,0.000,6,0.105,0.022,3024,2207,3797,0,0,0,0,0,0
$GC,508,-1.01,-146.0,77.5,-14.2,50,513,0.12,2.60,0.00,0.000,4,0.111,0.044,3051,630,3797,0,0,0,0,0,0
$GC,576,-1.01,-146.0,87.7,-13.0,55,580,0.00,2.42,0.00,0.000,6,0.000,0.017,3051,2221,3798,0,0,0,0,0,0
$GC,846,-0.97,-146.0,121.8,-12.1,79,851,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2220,3799,0,0,0,0,0,0
$GC,1108,-1.01,-146.0,151.0,-9.7,104,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2221,3799,0,0,0,0,0,0
$GC,1365,-1.09,-146.0,170.4,-7.2,128,1369,0.00,2.47,0.00,0.000,4,0.000,0.043,3051,3781,3799,0,0,0,0,0,0
$GC,1398,-1.20,-146.0,172.6,-7.2,130,1403,0.17,2.45,0.00,0.000,6,0.051,0.019,2984,2184,3799,0,0,0,0,0,0
$GC,1663,-1.20,-146.0,196.2,-8.3,154,1668,0.10,2.53,0.00,0.000,4,0.117,0.054,3007,641,3800,0,0,0,0,0,0
$GC,1691,-1.20,-146.0,198.9,-8.5,156,1696,0.00,2.38,0.00,0.000,6,0.000,0.018,3007,2203,3800,0,0,0,0,0,0
$GC,1952,-1.20,-146.0,217.3,-6.9,163,1956,0.00,2.50,0.00,0.000,4,0.000,0.036,3007,3781,3800,0,0,0,0,0,0
$GC,1970,-1.24,-146.0,218.3,-6.5,163,1975,0.00,2.42,0.00,0.000,6,0.000,0.018,3007,2199,3801,0,0,0,0,0,0
$GC,2232,-1.28,-146.0,238.7,-8.2,170,2236,0.00,2.55,0.00,0.000,4,0.000,0.050,3007,645,3800,0,0,0,0,0,0
$GC,2254,-1.32,-146.0,240.5,-8.0,170,2259,0.12,2.38,0.00,0.000,6,0.067,0.018,2954,2200,3800,0,0,0,0,0,0
$GC,2511,-1.26,-146.0,267.3,-10.6,177,2516,0.17,2.53,0.00,0.000,4,0.091,0.038,2993,3773,3800,0,0,0,0,0,0
$GC,2539,-1.26,-146.0,270.2,-9.4,177,2543,0.00,2.45,0.00,0.000,6,0.000,0.021,2993,2203,3800,0,0,0,0,0,0
$GC,2794,-1.26,-146.0,291.8,-8.5,184,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2203,3799,0,0,0,0,0,0
$GC,3040,-1.26,-146.0,313.2,-8.9,190,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2202,3798,0,0,0,0,0,0
$GC,3281,-1.26,-146.0,333.9,-8.4,196,3286,0.00,2.55,0.00,0.000,4,0.000,0.043,2993,3775,3798,0,0,0,0,0,0
$GC,3303,-1.26,-146.0,335.9,-8.8,196,3308,0.00,2.50,0.00,0.000,6,0.000,0.022,2993,2197,3798,0,0,0,0,0,0
$GC,3561,-1.26,-146.0,356.9,-8.2,203,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2197,3797,0,0,0,0,0,0
$GC,3802,-1.26,-146.0,376.8,-8.2,209,3807,0.00,2.65,0.00,0.000,4,0.000,0.069,2993,636,3796,0,0,0,0,0,0
$GC,3835,-1.26,-146.0,379.6,-9.2,209,3841,0.00,2.45,0.00,0.000,6,0.000,0.028,2993,2177,3796,0,0,0,0,0,0
$GC,4087,-1.26,-146.0,399.6,-7.8,216,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2177,3795,0,0,0,0,0,0
$GC,4329,-1.26,-146.0,418.6,-7.8,222,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2177,3794,0,0,0,0,0,0
$GC,4572,-1.26,-146.0,437.7,-7.9,228,4577,0.00,2.67,0.00,0.000,4,0.000,0.076,2993,636,3792,0,0,0,0,0,0
$GC,4589,-1.26,-146.0,439.0,-7.8,228,4593,0.00,2.53,0.00,0.000,6,0.000,0.038,2993,2191,3793,0,0,0,0,0,0
$GC,4852,-1.26,-146.0,458.2,-7.1,235,4856,0.00,2.67,0.00,0.000,4,0.000,0.060,2993,3793,3791,0,0,0,0,0,0
$GC,4879,-1.30,-146.0,460.4,-7.1,235,4883,0.00,2.58,0.00,0.000,6,0.000,0.041,2993,2209,3791,0,0,0,0,0,0
$GC,5130,-1.30,-146.0,477.5,-6.8,241,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2209,3791,0,0,0,0,0,0
$GC,5375,-1.34,-146.0,493.4,-6.6,247,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2209,3790,0,0,0,0,0,0
$GC,5617,-1.38,-146.0,509.8,-6.9,253,5618,0.10,0.00,0.00,0.000,6,0.081,0.000,2953,2209,3788,0,0,0,0,0,0
$GC,5860,-1.38,-146.0,531.0,-8.9,259,5864,0.00,2.72,0.00,0.000,4,0.000,0.066,2953,3787,3787,0,0,0,0,0,0
$GC,5883,-1.35,-146.0,533.2,-10.0,259,5889,0.10,2.67,0.00,0.000,6,0.110,0.056,2976,2199,3786,0,0,0,0,0,0
$GC,6139,-1.35,-146.0,554.7,-8.4,266,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2199,3786,0,0,0,0,0,0
$GC,6383,-1.35,-146.0,575.5,-8.6,272,6387,0.00,2.75,0.00,0.000,4,0.000,0.077,2977,3786,3784,0,0,0,0,0,0
$GC,6398,-1.35,-146.0,576.9,-8.4,272,6403,0.00,2.70,0.00,0.000,6,0.000,0.060,2976,2195,3785,0,0,0,0,0,0
$GC,6662,-1.35,-146.0,598.3,-8.2,279,6666,0.00,2.80,0.00,0.000,4,0.000,0.076,2976,3790,3783,0,0,0,0,0,0
$GC,6683,-1.35,-146.0,600.3,-8.1,279,6688,0.00,2.70,0.00,0.000,6,0.000,0.062,2976,2207,3783,0,0,0,0,0,0
$GC,6939,-1.35,-146.0,619.9,-7.7,286,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2207,3782,0,0,0,0,0,0
$GC,7185,-1.35,-146.0,639.6,-8.3,292,7190,0.00,3.05,0.00,0.000,4,0.000,0.127,2977,624,3780,0,0,0,0,0,0
$GC,7212,-1.35,-146.0,642.1,-8.8,292,7216,0.00,2.72,0.00,0.000,6,0.000,0.067,2976,2194,3780,0,0,0,0,0,0
$GC,7462,-1.35,-146.0,663.5,-8.6,298,7467,0.00,2.97,0.00,0.000,4,0.000,0.110,2976,3795,3779,0,0,0,0,0,0
$GC,7506,-1.35,-146.0,667.4,-10.0,299,7510,0.00,2.85,0.00,0.000,6,0.000,0.086,2976,2214,3779,0,0,0,0,0,0
$GC,7789,-1.35,-146.0,692.4,-8.7,306,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2214,3777,0,0,0,0,0,0
$GC,8032,-1.35,-146.0,713.0,-8.4,312,8037,0.00,3.22,0.00,0.000,4,0.000,0.153,2976,622,3776,0,0,0,0,0,0
$GC,8051,-1.35,-146.0,714.6,-8.1,312,8055,0.00,2.90,0.00,0.000,6,0.000,0.100,2976,2211,3776,0,0,0,0,0,0
$GC,8311,-1.35,-146.0,735.1,-7.8,319,8316,0.00,3.17,0.00,0.000,4,0.000,0.144,2976,3797,3775,0,0,0,0,0,0
$GC,8338,-1.35,-146.0,737.4,-8.1,319,8343,0.00,2.78,0.00,0.000,6,0.000,0.070,2977,2210,3775,0,0,0,0,0,0
$GC,8589,-1.35,-146.0,756.4,-7.6,325,8593,0.00,2.88,0.00,0.000,4,0.000,0.092,2976,3809,3774,0,0,0,0,0,0
$GC,8610,-1.35,-146.0,758.2,-7.9,325,8615,0.00,2.75,0.00,0.000,6,0.000,0.065,2976,2224,3774,0,0,0,0,0,0
$GC,8865,-1.35,-146.0,777.7,-7.6,332,8870,0.00,2.83,0.00,0.000,4,0.000,0.091,2976,3802,3772,0,0,0,0,0,0
$GC,8883,-1.35,-146.0,779.0,-7.5,332,8887,0.00,2.70,0.00,0.000,6,0.000,0.070,2976,2232,3772,0,0,0,0,0,0
$GC,9144,-1.35,-146.0,798.3,-7.4,339,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2232,3771,0,0,0,0,0,0
$GC,9387,-1.35,-146.0,815.4,-7.1,345,9392,0.00,2.80,0.00,0.000,4,0.000,0.085,2976,3802,3770,0,0,0,0,0,0
$GC,9434,-1.38,-146.0,818.7,-7.4,346,9439,0.00,2.72,0.00,0.000,6,0.000,0.063,2976,2232,3770,0,0,0,0,0,0
$GC,9712,-1.38,-146.0,838.1,-7.0,353,9717,0.00,3.08,0.00,0.000,4,0.000,0.122,2977,613,3768,0,0,0,0,0,0
$GC,9762,-1.43,-146.0,842.0,-8.2,354,9767,0.00,2.80,0.00,0.000,6,0.000,0.069,2976,2243,3768,0,0,0,0,0,0
$GC,10036,-1.43,-146.0,860.3,-6.5,361,10041,0.00,2.83,0.00,0.000,4,0.000,0.100,2976,3804,3767,0,0,0,0,0,0
$GC,10086,-1.47,-146.0,863.9,-6.6,362,10091,0.12,2.67,0.00,0.000,6,0.071,0.059,2934,2235,3767,0,0,0,0,0,0
$GC,10359,-1.42,-146.0,884.6,-7.7,369,10361,0.12,0.00,0.00,0.000,6,0.110,0.000,2960,2234,3766,0,0,0,0,0,0
$STATE,10600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10600,begin apogee
$GC,10606,-0.31,0.0,901.2,6.9,375,10729,1.05,0.00,119.40,1.215,6,0.072,0.000,3200,2390,3200,0,0,0,0,0,0
$STATE,10730,end apogee,CONTROL_FINISHED_OK
$STATE,10730,begin climb
$GC,10732,1.27,146.0,903.7,0.0,378,10869,1.45,2.85,126.20,1.184,4,0.034,0.076,3554,3927,2604,0,0,0,0,0,0
$GC,10955,1.12,146.0,886.9,13.4,383,10960,0.20,2.67,0.00,0.000,6,0.110,0.050,3515,2365,2598,0,0,0,0,0,0
$GC,11229,1.06,146.0,858.6,10.3,390,11234,0.00,2.72,0.00,0.000,4,0.000,0.067,3515,3928,2595,0,0,0,0,0,0
$GC,11256,0.97,146.0,855.2,11.2,390,11262,0.17,2.65,0.00,0.000,6,0.113,0.047,3480,2374,2595,0,0,0,0,0,0
$GC,11506,1.00,170.1,832.7,8.9,396,11536,0.00,3.22,21.45,1.101,4,0.000,0.122,3480,782,2504,0,0,0,0,0,0
$GC,11555,1.02,183.3,828.2,9.4,397,11575,0.00,2.70,13.48,1.042,6,0.000,0.045,3480,2368,2452,0,0,0,0,0,0
$GC,11837,1.06,186.3,800.2,9.9,404,11838,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,2368,2447,0,0,0,0,0,0
$GC,12083,1.10,186.3,775.3,10.2,410,12088,0.12,2.75,0.00,0.000,4,0.076,0.074,3516,3932,2445,0,0,0,0,0,0
$GC,12116,1.04,186.3,770.9,12.9,410,12121,0.00,2.62,0.00,0.000,6,0.000,0.035,3516,2361,2444,0,0,0,0,0,0
$GC,12365,1.04,186.3,742.4,11.5,417,12370,0.00,2.67,0.00,0.000,4,0.000,0.054,3516,3934,2444,0,0,0,0,0,0
$GC,12395,0.99,186.3,739.2,11.1,417,12400,0.15,2.62,0.00,0.000,6,0.112,0.041,3486,2365,2443,0,0,0,0,0,0
$GC,12645,1.00,193.3,714.3,9.7,423,12659,0.00,3.10,9.15,0.954,4,0.000,0.123,3486,776,2411,0,0,0,0,0,0
$GC,12665,1.00,193.6,712.2,10.0,423,12670,0.00,2.67,0.00,0.000,6,0.000,0.043,3486,2374,2410,0,0,0,0,0,0
$GC,12922,1.01,202.7,687.8,9.6,430,12936,0.00,0.00,10.25,0.963,6,0.000,0.000,3486,2375,2372,0,0,0,0,0,0
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$STATE,19168,end climb,SURFACE_DEPTH_REACHED
$STATE,19168,begin surface coast
$FINISH,1.0,1.010362
$STATE,19204,end surface coast,CONTROL_FINISHED_OK
$STATE,19204,begin surface
$SM_CCo,19226,40.40,0.489,0,0,1772,350.04
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$IRIDIUM_FIX,1909.23,-8047.28,060502,161657
$TT8_MAMPS,0.026078
$HUMID,57.28
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.20
$XPDR_PINGS,70
$24V_AH,23.3,17.725
$10V_AH,10.4,15.372
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.650,224.925,393.325,40.400,0.000,24.164,33.634,194.991,17.500,0.000,17.925,1533.991,14593.138,552.802,2272.577,727.537,29.242,1550.533,0.000,2264.885,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.426,330.799,419.834,542.612,1034.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,54215,715
$CAP_FILE_SIZE,176993,0
$CFSIZE,260165632,120016896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100213,031529,1915.923,-8045.187,36,1.2,41,-4.1