version: 66.06
glider: 146
mission: 8
dive: 178
start: 2 21 113 15 36 35
data:
$ID,146
$MISSION,8
$DIVE,178
$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,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,-310865.69
$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,3260
$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,36
$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,3190
$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
$GPS1,152436,1927.513,-8118.059,27,1.4,27,-3.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.0
$GPS2,153542,1927.494,-8118.115,15,1.4,32,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.257,-0.040
$KALMAN_X,-4905.9,-206.5,-33.4,-916.0,-1238.0
$KALMAN_Y,-582.5,70.4,202.4,24.7,-346.0
$MHEAD_RNG_PITCHd_Wd,102.5,18518,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-69.88,0.000,2,0.000,0.000,465,2177,3458,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.3,-4.4,9,123,13.77,2.60,-6.38,0.000,4,0.169,0.044,2976,3810,3786,0,0,0,0,0,0
$GC,150,-0.85,-146.0,17.8,-25.4,15,159,0.40,2.58,0.00,0.000,6,0.073,0.025,3071,2210,3788,0,0,0,0,0,0
$GC,434,-0.85,-146.0,51.5,-10.8,46,438,0.00,2.60,0.00,0.000,4,0.000,0.046,3071,626,3788,0,0,0,0,0,0
$GC,472,-0.85,-146.0,56.4,-11.3,48,482,0.00,2.50,0.00,0.000,6,0.000,0.017,3071,2232,3787,0,0,0,0,0,0
$GC,737,-0.85,-146.0,85.3,-10.9,73,741,0.00,2.60,0.00,0.000,4,0.000,0.044,3071,635,3787,0,0,0,0,0,0
$GC,768,-0.85,-146.0,88.7,-11.2,75,772,0.00,2.40,0.00,0.000,6,0.000,0.016,3072,2199,3788,0,0,0,0,0,0
$GC,1037,-0.85,-146.0,117.0,-9.5,99,1041,0.00,2.55,0.00,0.000,4,0.000,0.043,3071,631,3788,0,0,0,0,0,0
$GC,1092,-0.90,-146.0,123.4,-11.2,103,1096,0.00,2.35,0.00,0.000,6,0.000,0.017,3071,2176,3788,0,0,0,0,0,0
$GC,1361,-0.97,-146.0,148.6,-8.3,127,1366,0.10,2.55,0.00,0.000,4,0.079,0.038,3018,3773,3788,0,0,0,0,0,0
$GC,1384,-0.97,-146.0,151.5,-9.0,128,1391,0.12,2.53,0.00,0.000,6,0.091,0.021,3050,2160,3788,0,0,0,0,0,0
$GC,1650,-1.04,-146.0,172.1,-7.3,153,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2160,3789,0,0,0,0,0,0
$GC,1917,-1.14,-146.0,190.6,-7.0,178,1922,0.17,0.00,0.00,0.000,6,0.051,0.000,2980,2161,3789,0,0,0,0,0,0
$GC,2183,-1.14,-146.0,214.9,-9.1,192,2188,0.15,2.58,0.00,0.000,4,0.090,0.034,3016,3773,3789,0,0,0,0,0,0
$GC,2194,-1.14,-146.0,216.0,-8.9,192,2198,0.00,2.50,0.00,0.000,6,0.000,0.025,3016,2151,3789,0,0,0,0,0,0
$GC,2463,-1.19,-146.0,236.0,-7.7,199,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2151,3790,0,0,0,0,0,0
$GC,2704,-1.24,-146.0,254.0,-7.2,205,2706,0.12,0.00,0.00,0.000,6,0.067,0.000,2961,2150,3789,0,0,0,0,0,0
$GC,2948,-1.20,-146.0,275.2,-9.0,211,2950,0.17,0.00,0.00,0.000,6,0.085,0.000,3002,2151,3789,0,0,0,0,0,0
$GC,3194,-1.24,-146.0,292.6,-6.9,217,3198,0.00,2.60,0.00,0.000,4,0.000,0.036,3002,3762,3788,0,0,0,0,0,0
$GC,3227,-1.28,-146.0,295.4,-8.3,217,3232,0.00,2.47,0.00,0.000,6,0.000,0.029,3002,2169,3788,0,0,0,0,0,0
$GC,3477,-1.32,-146.0,313.2,-7.1,224,3479,0.12,0.00,0.00,0.000,6,0.067,0.000,2952,2169,3787,0,0,0,0,0,0
$GC,3723,-1.27,-146.0,335.0,-9.0,230,3728,0.15,2.60,0.00,0.000,4,0.091,0.039,2986,3769,3787,0,0,0,0,0,0
$GC,3739,-1.27,-146.0,336.9,-9.1,230,3744,0.00,2.50,0.00,0.000,6,0.000,0.031,2987,2168,3786,0,0,0,0,0,0
$GC,4002,-1.27,-146.0,357.0,-7.7,237,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2168,3786,0,0,0,0,0,0
$GC,4246,-1.27,-146.0,375.6,-7.5,243,4250,0.00,2.60,0.00,0.000,4,0.000,0.048,2987,3761,3785,0,0,0,0,0,0
$GC,4261,-1.27,-146.0,377.0,-7.5,243,4266,0.00,2.53,0.00,0.000,6,0.000,0.026,2987,2169,3784,0,0,0,0,0,0
$GC,4522,-1.27,-146.0,396.6,-7.5,250,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2169,3784,0,0,0,0,0,0
$GC,4766,-1.27,-146.0,415.8,-7.9,256,4770,0.00,2.60,0.00,0.000,4,0.000,0.053,2987,3757,3782,0,0,0,0,0,0
$GC,4784,-1.27,-146.0,417.2,-7.8,256,4788,0.00,2.53,0.00,0.000,6,0.000,0.035,2987,2177,3782,0,0,0,0,0,0
$GC,5044,-1.27,-146.0,437.6,-7.7,263,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2177,3781,0,0,0,0,0,0
$GC,5288,-1.27,-146.0,456.3,-7.8,269,5292,0.00,2.62,0.00,0.000,4,0.000,0.053,2987,3759,3780,0,0,0,0,0,0
$GC,5323,-1.30,-146.0,459.1,-8.2,269,5329,0.00,2.58,0.00,0.000,6,0.000,0.041,2987,2188,3780,0,0,0,0,0,0
$GC,5573,-1.30,-146.0,478.5,-7.8,276,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2188,3779,0,0,0,0,0,0
$GC,5817,-1.30,-146.0,497.3,-7.6,282,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2188,3777,0,0,0,0,0,0
$GC,6063,-1.30,-146.0,515.1,-7.3,288,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2188,3777,0,0,0,0,0,0
$GC,6304,-1.30,-146.0,533.3,-7.5,294,6309,0.00,2.72,0.00,0.000,4,0.000,0.074,2986,3754,3776,0,0,0,0,0,0
$GC,6326,-1.30,-146.0,535.1,-8.2,294,6331,0.00,2.62,0.00,0.000,6,0.000,0.051,2987,2191,3776,0,0,0,0,0,0
$GC,6582,-1.30,-146.0,554.6,-7.6,301,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2191,3774,0,0,0,0,0,0
$GC,6828,-1.34,-146.0,573.0,-7.5,307,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2191,3773,0,0,0,0,0,0
$GC,7070,-1.38,-146.0,591.1,-7.3,313,7075,0.12,2.75,0.00,0.000,4,0.067,0.078,2940,3752,3772,0,0,0,0,0,0
$GC,7086,-1.38,-146.0,592.5,-7.6,313,7091,0.00,2.65,0.00,0.000,6,0.000,0.064,2940,2185,3772,0,0,0,0,0,0
$GC,7349,-1.33,-146.0,616.8,-9.3,320,7355,0.12,2.80,0.00,0.000,4,0.104,0.084,2967,3758,3770,0,0,0,0,0,0
$GC,7377,-1.33,-146.0,619.7,-8.9,320,7382,0.00,2.70,0.00,0.000,6,0.000,0.074,2967,2190,3770,0,0,0,0,0,0
$GC,7629,-1.33,-146.0,640.4,-8.3,326,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2190,3769,0,0,0,0,0,0
$GC,7873,-1.33,-146.0,659.4,-7.7,332,7877,0.00,2.83,0.00,0.000,4,0.000,0.093,2967,3751,3768,0,0,0,0,0,0
$GC,7894,-1.33,-146.0,661.3,-8.0,332,7899,0.00,2.80,0.00,0.000,6,0.000,0.093,2967,2186,3768,0,0,0,0,0,0
$GC,8149,-1.33,-146.0,680.2,-7.4,339,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2186,3766,0,0,0,0,0,0
$GC,8395,-1.33,-146.0,698.5,-7.6,345,8400,0.00,2.95,0.00,0.000,4,0.000,0.110,2967,3754,3765,0,0,0,0,0,0
$GC,8434,-1.33,-146.0,701.9,-8.7,346,8439,0.00,2.78,0.00,0.000,6,0.000,0.081,2967,2197,3765,0,0,0,0,0,0
$GC,8718,-1.33,-146.0,723.6,-7.8,353,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2198,3764,0,0,0,0,0,0
$GC,8963,-1.33,-146.0,742.6,-7.8,359,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2197,3762,0,0,0,0,0,0
$GC,9205,-1.33,-146.0,761.6,-7.7,365,9209,0.00,2.75,0.00,0.000,4,0.000,0.091,2967,3752,3762,0,0,0,0,0,0
$GC,9226,-1.33,-146.0,763.4,-8.3,365,9231,0.00,2.70,0.00,0.000,6,0.000,0.074,2967,2192,3762,0,0,0,0,0,0
$GC,9482,-1.33,-146.0,782.4,-7.3,372,9487,0.00,2.78,0.00,0.000,4,0.000,0.082,2967,3756,3760,0,0,0,0,0,0
$GC,9511,-1.33,-146.0,784.5,-7.9,372,9516,0.00,2.67,0.00,0.000,6,0.000,0.068,2967,2209,3761,0,0,0,0,0,0
$GC,9761,-1.33,-146.0,803.1,-7.4,378,9766,0.00,3.05,0.00,0.000,4,0.000,0.126,2967,619,3759,0,0,0,0,0,0
$GC,9783,-1.33,-146.0,804.8,-7.4,378,9787,0.00,2.65,0.00,0.000,6,0.000,0.061,2967,2162,3759,0,0,0,0,0,0
$GC,10040,-1.33,-146.0,823.9,-7.4,385,10045,0.00,2.95,0.00,0.000,4,0.000,0.093,2967,3798,3757,0,0,0,0,0,0
$GC,10067,-1.33,-146.0,826.2,-8.2,385,10071,0.00,2.75,0.00,0.000,6,0.000,0.067,2967,2207,3757,0,0,0,0,0,0
$GC,10317,-1.33,-146.0,844.8,-7.3,391,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2208,3756,0,0,0,0,0,0
$GC,10563,-1.33,-146.0,862.1,-7.0,397,10567,0.00,2.80,0.00,0.000,4,0.000,0.084,2967,3797,3755,0,0,0,0,0,0
$GC,10578,-1.33,-146.0,863.6,-7.1,397,10583,0.00,2.70,0.00,0.000,6,0.000,0.067,2967,2217,3755,0,0,0,0,0,0
$GC,10839,-1.33,-146.0,882.0,-7.1,404,10844,0.00,2.78,0.00,0.000,4,0.000,0.078,2967,3805,3754,0,0,0,0,0,0
$GC,10891,-1.33,-146.0,886.0,-7.7,405,10895,0.00,2.75,0.00,0.000,6,0.000,0.066,2967,2220,3753,0,0,0,0,0,0
$STATE,11079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11079,begin apogee
$GC,11085,-0.31,0.0,900.3,7.4,410,11207,0.98,0.00,118.62,1.220,6,0.072,0.000,3189,2383,3190,0,0,0,0,0,0
$STATE,11208,end apogee,CONTROL_FINISHED_OK
$STATE,11208,begin climb
$GC,11210,1.27,146.0,903.2,0.0,413,11347,1.45,2.72,126.82,1.188,4,0.036,0.077,3545,3921,2592,0,0,0,0,0,0
$GC,11468,1.13,146.0,883.7,11.9,419,11474,0.17,2.67,0.00,0.000,6,0.116,0.051,3510,2370,2587,0,0,0,0,0,0
$GC,11753,1.10,157.9,856.3,9.5,426,11769,0.00,2.75,10.75,1.022,4,0.000,0.059,3509,3925,2545,0,0,0,0,0,0
$GC,11819,1.03,157.9,849.2,10.0,427,11824,0.12,2.65,0.00,0.000,6,0.126,0.044,3485,2374,2543,0,0,0,0,0,0
$GC,12077,1.07,189.3,827.0,8.5,434,12108,0.00,0.00,29.30,1.121,6,0.000,0.000,3486,2374,2418,0,0,0,0,0,0
$GC,12318,1.08,200.7,804.3,9.5,440,12337,0.00,3.17,11.55,1.025,4,0.000,0.120,3485,783,2371,0,0,0,0,0,0
$GC,12352,1.10,215.3,801.0,9.3,440,12372,0.00,2.65,15.05,1.051,6,0.000,0.045,3485,2365,2312,0,0,0,0,0,0
$GC,12644,1.10,215.3,770.6,10.3,448,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2365,2308,0,0,0,0,0,0
$GC,12888,1.10,215.3,745.9,10.0,454,12889,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2366,2307,0,0,0,0,0,0
$GC,13134,1.14,215.3,721.7,10.0,460,13140,0.10,2.72,0.00,0.000,4,0.091,0.070,3515,3935,2305,0,0,0,0,0,0
$GC,13156,1.14,215.3,718.7,11.3,460,13161,0.00,2.60,0.00,0.000,6,0.000,0.042,3515,2375,2304,0,0,0,0,0,0
$GC,13412,1.14,215.3,690.0,11.0,467,13413,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2375,2304,0,0,0,0,0,0
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$STATE,19556,end climb,SURFACE_DEPTH_REACHED
$STATE,19556,begin surface coast
$FINISH,1.2,1.023634
$STATE,19602,end surface coast,CONTROL_FINISHED_OK
$STATE,19602,begin surface
$SM_CCo,19625,44.58,0.488,0,0,1763,350.04
$SM_GC,1.65,0.00,0.00,44.58,0.000,0.000,0.488,464,2138,1763,-12.86,-2.04,350.04
$IRIDIUM_FIX,1918.37,-8116.97,180502,111119
$TT8_MAMPS,0.026078
$HUMID,57.44
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.30
$XPDR_PINGS,68
$24V_AH,23.3,25.194
$10V_AH,10.4,22.016
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.175,205.450,383.325,44.575,0.000,23.207,33.184,425.575,17.000,0.000,33.738,1557.916,14846.201,563.499,2395.369,963.854,33.355,1567.455,0.000,2376.390,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,509.885,360.673,456.980,603.293,1150.225,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,57237,753
$CAP_FILE_SIZE,175028,0
$CFSIZE,260165632,116195328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210213,210536,1927.723,-8115.991,29,1.2,29,-3.8