version: 66.06
glider: 146
mission: 8
dive: 189
start: 2 24 113 1 42 7
data:
$ID,146
$MISSION,8
$DIVE,189
$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,-311048.44
$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,58
$R_STBD_OVSHOOT,38
$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
$GPS1,013359,1925.686,-8115.529,35,1.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.5
$GPS2,014113,1925.695,-8115.562,10,1.3,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,0.135
$KALMAN_X,638.0,-445.7,-176.8,-14256.6,866.1
$KALMAN_Y,-2418.9,107.8,-8.6,6270.0,-650.7
$MHEAD_RNG_PITCHd_Wd,305.0,4896,-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,-71.22,0.000,2,0.000,0.000,459,2177,3481,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.4,-3.8,9,124,13.73,2.47,-5.62,0.000,4,0.167,0.052,2976,657,3786,0,0,0,0,0,0
$GC,324,-1.09,-146.0,50.9,-17.2,33,329,0.20,2.40,0.00,0.000,6,0.104,0.017,3019,2228,3787,0,0,0,0,0,0
$GC,593,-0.98,-146.0,90.8,-14.9,57,598,0.12,2.60,0.00,0.000,4,0.108,0.043,3046,656,3787,0,0,0,0,0,0
$GC,617,-0.87,-146.0,95.6,-14.8,58,627,0.08,2.40,0.00,0.000,6,0.082,0.016,3069,2211,3788,0,0,0,0,0,0
$GC,885,-0.87,-146.0,123.8,-8.4,83,889,0.00,2.55,0.00,0.000,4,0.000,0.041,3069,651,3787,0,0,0,0,0,0
$GC,907,-0.91,-146.0,126.3,-8.2,84,916,0.00,2.38,0.00,0.000,6,0.000,0.018,3069,2180,3787,0,0,0,0,0,0
$GC,1176,-0.99,-146.0,146.2,-7.5,109,1181,0.10,2.55,0.00,0.000,4,0.077,0.039,3017,3786,3788,0,0,0,0,0,0
$GC,1221,-0.99,-146.0,151.1,-9.3,112,1227,0.12,2.47,0.00,0.000,6,0.093,0.021,3048,2204,3789,0,0,0,0,0,0
$GC,1486,-1.07,-146.0,171.2,-7.0,137,1490,0.00,2.55,0.00,0.000,4,0.000,0.047,3048,635,3789,0,0,0,0,0,0
$GC,1518,-1.14,-146.0,173.6,-7.0,139,1523,0.15,2.40,0.00,0.000,6,0.057,0.024,2987,2204,3789,0,0,0,0,0,0
$GC,1783,-1.14,-146.0,196.9,-8.3,163,1789,0.10,0.00,0.00,0.000,6,0.108,0.000,3012,2204,3790,0,0,0,0,0,0
$GC,2065,-1.14,-146.0,218.5,-7.6,173,2069,0.00,2.47,0.00,0.000,4,0.000,0.040,3012,3766,3790,0,0,0,0,0,0
$GC,2087,-1.18,-146.0,220.2,-7.5,173,2092,0.00,2.50,0.00,0.000,6,0.000,0.019,3012,2163,3790,0,0,0,0,0,0
$GC,2345,-1.22,-146.0,238.3,-6.9,180,2349,0.00,2.58,0.00,0.000,4,0.000,0.039,3012,3764,3790,0,0,0,0,0,0
$GC,2395,-1.29,-146.0,242.1,-7.3,181,2400,0.15,2.47,0.00,0.000,6,0.057,0.028,2950,2183,3790,0,0,0,0,0,0
$GC,2670,-1.22,-146.0,267.0,-9.5,188,2672,0.20,0.00,0.00,0.000,6,0.085,0.000,2996,2184,3790,0,0,0,0,0,0
$GC,2911,-1.22,-146.0,286.4,-7.9,194,2915,0.00,2.55,0.00,0.000,4,0.000,0.059,2997,638,3789,0,0,0,0,0,0
$GC,2938,-1.22,-146.0,288.7,-7.9,194,2942,0.00,2.40,0.00,0.000,6,0.000,0.028,2997,2180,3789,0,0,0,0,0,0
$GC,3190,-1.22,-146.0,308.1,-7.8,200,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2180,3789,0,0,0,0,0,0
$GC,3432,-1.22,-146.0,327.4,-7.9,206,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2180,3788,0,0,0,0,0,0
$GC,3675,-1.22,-146.0,347.0,-8.1,212,3680,0.00,2.58,0.00,0.000,4,0.000,0.048,2997,3778,3787,0,0,0,0,0,0
$GC,3715,-1.26,-146.0,350.3,-8.4,213,3720,0.00,2.53,0.00,0.000,6,0.000,0.031,2997,2188,3787,0,0,0,0,0,0
$GC,4000,-1.26,-146.0,373.3,-8.1,220,4005,0.00,2.62,0.00,0.000,4,0.000,0.071,2997,633,3786,0,0,0,0,0,0
$GC,4028,-1.26,-146.0,375.7,-7.8,220,4032,0.00,2.42,0.00,0.000,6,0.000,0.025,2996,2171,3786,0,0,0,0,0,0
$GC,4278,-1.26,-146.0,394.1,-7.2,226,4282,0.00,2.62,0.00,0.000,4,0.000,0.053,2997,3785,3785,0,0,0,0,0,0
$GC,4308,-1.30,-146.0,396.3,-7.8,226,4312,0.00,2.55,0.00,0.000,6,0.000,0.028,2997,2190,3785,0,0,0,0,0,0
$GC,4558,-1.33,-146.0,414.4,-7.1,232,4560,0.12,0.00,0.00,0.000,6,0.064,0.000,2943,2190,3785,0,0,0,0,0,0
$GC,4802,-1.27,-146.0,437.4,-9.7,238,4807,0.17,2.65,0.00,0.000,4,0.088,0.057,2983,3783,3783,0,0,0,0,0,0
$GC,4838,-1.27,-146.0,440.4,-8.0,238,4844,0.00,2.60,0.00,0.000,6,0.000,0.041,2983,2189,3784,0,0,0,0,0,0
$GC,5088,-1.27,-146.0,460.2,-7.9,245,5093,0.00,2.78,0.00,0.000,4,0.000,0.092,2983,629,3782,0,0,0,0,0,0
$GC,5110,-1.27,-146.0,462.1,-8.4,245,5114,0.00,2.53,0.00,0.000,6,0.000,0.043,2983,2184,3782,0,0,0,0,0,0
$GC,5367,-1.27,-146.0,482.6,-8.0,252,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2184,3781,0,0,0,0,0,0
$GC,5608,-1.27,-146.0,501.5,-7.7,258,5613,0.00,2.75,0.00,0.000,4,0.000,0.071,2983,3790,3780,0,0,0,0,0,0
$GC,5648,-1.27,-146.0,504.6,-8.2,259,5652,0.00,2.65,0.00,0.000,6,0.000,0.043,2983,2188,3780,0,0,0,0,0,0
$GC,5933,-1.27,-146.0,526.3,-7.6,266,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2188,3778,0,0,0,0,0,0
$GC,6174,-1.27,-146.0,544.5,-7.4,272,6179,0.00,2.75,0.00,0.000,4,0.000,0.074,2983,3789,3778,0,0,0,0,0,0
$GC,6214,-1.27,-146.0,547.5,-8.0,273,6218,0.00,2.70,0.00,0.000,6,0.000,0.052,2983,2188,3777,0,0,0,0,0,0
$GC,6499,-1.27,-146.0,568.5,-7.3,280,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2188,3776,0,0,0,0,0,0
$GC,6740,-1.27,-146.0,586.7,-7.5,286,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2188,3775,0,0,0,0,0,0
$GC,6984,-1.27,-146.0,605.4,-7.8,292,6989,0.00,2.83,0.00,0.000,4,0.000,0.081,2983,3790,3774,0,0,0,0,0,0
$GC,7042,-1.31,-146.0,610.1,-8.5,293,7046,0.00,2.78,0.00,0.000,6,0.000,0.071,2983,2192,3774,0,0,0,0,0,0
$GC,7308,-1.31,-146.0,630.1,-7.5,300,7313,0.00,2.97,0.00,0.000,4,0.000,0.123,2982,623,3772,0,0,0,0,0,0
$GC,7329,-1.31,-146.0,632.0,-8.6,300,7334,0.00,2.67,0.00,0.000,6,0.000,0.061,2983,2183,3771,0,0,0,0,0,0
$GC,7588,-1.31,-146.0,651.4,-7.5,307,7593,0.00,2.95,0.00,0.000,4,0.000,0.107,2983,3799,3770,0,0,0,0,0,0
$GC,7621,-1.35,-146.0,654.4,-8.7,307,7627,0.00,2.88,0.00,0.000,6,0.000,0.086,2983,2191,3771,0,0,0,0,0,0
$GC,7871,-1.35,-146.0,673.0,-7.3,314,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2191,3769,0,0,0,0,0,0
$GC,8117,-1.35,-146.0,690.1,-7.0,320,8122,0.00,3.00,0.00,0.000,4,0.000,0.113,2983,3794,3768,0,0,0,0,0,0
$GC,8139,-1.35,-146.0,692.0,-7.6,320,8143,0.00,2.88,0.00,0.000,6,0.000,0.087,2983,2190,3767,0,0,0,0,0,0
$GC,8394,-1.35,-146.0,709.5,-6.9,327,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2190,3766,0,0,0,0,0,0
$GC,8640,-1.39,-146.0,726.9,-7.3,333,8646,0.12,2.97,0.00,0.000,4,0.071,0.104,2942,3794,3765,0,0,0,0,0,0
$GC,8674,-1.35,-146.0,730.1,-9.3,333,8680,0.12,2.83,0.00,0.000,6,0.100,0.078,2970,2194,3764,0,0,0,0,0,0
$GC,8924,-1.35,-146.0,749.5,-7.6,340,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2195,3764,0,0,0,0,0,0
$GC,9170,-1.35,-146.0,767.0,-7.1,346,9174,0.00,2.85,0.00,0.000,4,0.000,0.092,2969,3796,3763,0,0,0,0,0,0
$GC,9191,-1.35,-146.0,768.7,-7.9,346,9196,0.00,2.80,0.00,0.000,6,0.000,0.074,2969,2196,3762,0,0,0,0,0,0
$GC,9446,-1.35,-146.0,787.2,-7.2,353,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2196,3761,0,0,0,0,0,0
$GC,9690,-1.35,-146.0,804.9,-7.2,359,9694,0.00,2.85,0.00,0.000,4,0.000,0.088,2969,3796,3761,0,0,0,0,0,0
$GC,9725,-1.35,-146.0,807.5,-7.7,359,9730,0.00,2.78,0.00,0.000,6,0.000,0.069,2970,2196,3761,0,0,0,0,0,0
$GC,9979,-1.35,-146.0,826.1,-7.4,366,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2196,3760,0,0,0,0,0,0
$GC,10218,-1.35,-146.0,844.6,-7.6,372,10223,0.00,2.83,0.00,0.000,4,0.000,0.085,2969,3801,3758,0,0,0,0,0,0
$GC,10248,-1.35,-146.0,846.8,-7.7,372,10252,0.00,2.78,0.00,0.000,6,0.000,0.065,2970,2204,3758,0,0,0,0,0,0
$GC,10498,-1.35,-146.0,865.7,-7.5,378,10502,0.00,2.80,0.00,0.000,4,0.000,0.082,2969,3796,3756,0,0,0,0,0,0
$GC,10524,-1.35,-146.0,867.7,-7.6,378,10529,0.00,2.75,0.00,0.000,6,0.000,0.064,2969,2208,3756,0,0,0,0,0,0
$GC,10777,-1.35,-146.0,886.0,-7.2,384,10781,0.00,2.80,0.00,0.000,4,0.000,0.082,2969,3801,3755,0,0,0,0,0,0
$GC,10798,-1.35,-146.0,887.8,-7.9,384,10803,0.00,2.72,0.00,0.000,6,0.000,0.066,2970,2215,3755,0,0,0,0,0,0
$STATE,10970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10970,begin apogee
$GC,10976,-0.31,0.0,900.8,7.4,389,11099,0.95,0.00,119.43,1.220,6,0.069,0.000,3189,2386,3190,0,0,0,0,0,0
$STATE,11100,end apogee,CONTROL_FINISHED_OK
$STATE,11100,begin climb
$GC,11104,1.27,146.0,903.7,0.0,392,11240,1.45,2.83,126.85,1.187,4,0.036,0.080,3546,3930,2593,0,0,0,0,0,0
$GC,11322,1.13,146.0,888.7,12.6,397,11328,0.20,2.72,0.00,0.000,6,0.113,0.058,3507,2366,2588,0,0,0,0,0,0
$GC,11601,1.09,152.7,860.7,9.7,404,11614,0.00,2.78,6.20,0.889,4,0.000,0.067,3507,3932,2567,0,0,0,0,0,0
$GC,11651,1.03,152.7,855.5,11.1,405,11656,0.12,2.67,0.00,0.000,6,0.124,0.045,3482,2371,2566,0,0,0,0,0,0
$GC,11929,1.05,169.1,829.5,9.2,412,11947,0.00,0.00,16.15,1.078,6,0.000,0.000,3482,2371,2500,0,0,0,0,0,0
$GC,12172,1.06,177.5,806.2,9.6,418,12186,0.00,3.05,8.73,0.979,4,0.000,0.112,3482,783,2466,0,0,0,0,0,0
$GC,12195,1.06,177.5,804.0,10.2,418,12200,0.00,2.70,0.00,0.000,6,0.000,0.040,3482,2379,2465,0,0,0,0,0,0
$GC,12456,1.07,182.3,778.2,9.8,425,12463,0.00,0.00,5.82,0.862,6,0.000,0.000,3483,2379,2446,0,0,0,0,0,0
$GC,12699,1.08,193.7,754.9,9.5,431,12713,0.00,0.00,11.93,1.018,6,0.000,0.000,3482,2380,2400,0,0,0,0,0,0
$GC,12945,1.11,215.1,732.8,9.0,437,12974,0.00,2.92,21.30,1.062,4,0.000,0.080,3482,781,2311,0,0,0,0,0,0
$GC,12991,1.13,234.7,728.3,9.1,438,13016,0.10,2.67,19.38,1.039,6,0.084,0.039,3513,2369,2233,0,0,0,0,0,0
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$STATE,19372,end climb,SURFACE_DEPTH_REACHED
$STATE,19372,begin surface coast
$FINISH,1.0,1.023619
$STATE,19414,end surface coast,CONTROL_FINISHED_OK
$STATE,19414,begin surface
$SM_CCo,19439,54.72,0.491,0,0,1763,350.04
$SM_GC,1.82,0.00,0.00,54.72,0.000,0.000,0.491,461,2190,1763,-12.88,-0.57,350.04
$IRIDIUM_FIX,1916.08,-8107.94,200502,202053
$TT8_MAMPS,0.025311
$HUMID,56.81
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,66
$24V_AH,23.3,26.653
$10V_AH,10.4,23.410
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.125,213.000,380.250,54.725,0.000,29.747,34.150,201.635,16.500,0.000,13.419,1550.282,14728.748,571.977,2318.616,746.547,33.351,1577.029,0.000,2312.326,0.000,0.536,0.000
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$SENSOR_SECS,498.876,344.402,439.631,560.305,1068.032,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,57158,736
$CAP_FILE_SIZE,174216,0
$CFSIZE,260165632,115396608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240213,070824,1926.797,-8118.341,39,1.3,39,-3.7