version: 66.06
glider: 146
mission: 8
dive: 214
start: 3 1 113 14 21 2
data:
$ID,146
$MISSION,8
$DIVE,214
$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,-311559.91
$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,55
$R_STBD_OVSHOOT,17
$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
$GPS1,141324,1927.161,-8117.833,38,1.3,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.2
$GPS2,142006,1927.167,-8117.872,11,1.3,16,-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,7777.4,-124.9,-79.1,-25856.2,-690.4
$KALMAN_Y,629.3,228.9,224.3,5591.4,-406.5
$MHEAD_RNG_PITCHd_Wd,102.5,17937,-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,-70.32,0.000,2,0.000,0.000,464,2162,3462,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.4,-3.9,9,123,13.75,2.45,-6.00,0.000,4,0.166,0.056,2977,653,3787,0,0,0,0,0,0
$GC,250,-1.08,-146.0,39.7,-16.6,27,255,0.22,2.45,0.00,0.000,6,0.104,0.017,3025,2248,3787,0,0,0,0,0,0
$GC,520,-0.95,-146.0,79.8,-15.1,51,525,0.12,2.62,0.00,0.000,4,0.110,0.043,3053,649,3788,0,0,0,0,0,0
$GC,544,-0.84,-146.0,84.9,-14.4,52,554,0.05,2.40,0.00,0.000,6,0.091,0.016,3070,2210,3788,0,0,0,0,0,0
$GC,812,-0.84,-146.0,114.9,-11.8,77,817,0.00,2.53,0.00,0.000,4,0.000,0.042,3070,656,3789,0,0,0,0,0,0
$GC,834,-0.84,-146.0,118.4,-11.3,78,846,0.00,2.35,0.00,0.000,6,0.000,0.020,3071,2188,3788,0,0,0,0,0,0
$GC,1103,-0.88,-146.0,145.8,-9.9,103,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2188,3789,0,0,0,0,0,0
$GC,1368,-0.97,-146.0,166.6,-6.9,128,1373,0.10,2.50,0.00,0.000,4,0.076,0.038,3012,3764,3789,0,0,0,0,0,0
$GC,1402,-0.97,-146.0,169.9,-9.4,130,1408,0.15,2.40,0.00,0.000,6,0.086,0.024,3049,2204,3789,0,0,0,0,0,0
$GC,1666,-1.05,-146.0,188.3,-7.1,155,1670,0.00,2.53,0.00,0.000,4,0.000,0.048,3049,643,3789,0,0,0,0,0,0
$GC,1698,-1.13,-146.0,190.5,-7.6,157,1703,0.15,2.35,0.00,0.000,6,0.056,0.024,2987,2192,3789,0,0,0,0,0,0
$GC,1965,-1.13,-146.0,215.6,-9.4,170,1966,0.12,0.00,0.00,0.000,6,0.098,0.000,3016,2193,3789,0,0,0,0,0,0
$GC,2206,-1.17,-146.0,235.8,-8.2,176,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3790,0,0,0,0,0,0
$GC,2450,-1.22,-146.0,255.5,-7.9,182,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2193,3790,0,0,0,0,0,0
$GC,2696,-1.27,-146.0,274.3,-7.7,188,2698,0.15,0.00,0.00,0.000,6,0.058,0.000,2956,2193,3789,0,0,0,0,0,0
$GC,2937,-1.21,-146.0,298.5,-10.2,194,2939,0.17,0.00,0.00,0.000,6,0.088,0.000,2996,2193,3789,0,0,0,0,0,0
$GC,3181,-1.21,-146.0,319.4,-8.5,200,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2193,3788,0,0,0,0,0,0
$GC,3427,-1.21,-146.0,339.3,-8.2,206,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2193,3787,0,0,0,0,0,0
$GC,3668,-1.21,-146.0,359.9,-8.5,212,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2193,3786,0,0,0,0,0,0
$GC,3912,-1.21,-146.0,380.4,-8.4,218,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2193,3785,0,0,0,0,0,0
$GC,4156,-1.21,-146.0,399.6,-7.8,224,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2193,3784,0,0,0,0,0,0
$GC,4402,-1.21,-146.0,418.6,-7.6,230,4406,0.00,2.60,0.00,0.000,4,0.000,0.052,2996,3771,3784,0,0,0,0,0,0
$GC,4417,-1.21,-146.0,420.1,-7.4,230,4422,0.00,2.50,0.00,0.000,6,0.000,0.034,2996,2219,3783,0,0,0,0,0,0
$GC,4679,-1.21,-146.0,439.4,-7.2,237,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2220,3782,0,0,0,0,0,0
$GC,4923,-1.24,-146.0,457.0,-7.4,243,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2219,3781,0,0,0,0,0,0
$GC,5169,-1.29,-146.0,475.0,-7.3,249,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2219,3780,0,0,0,0,0,0
$GC,5410,-1.32,-146.0,492.2,-7.1,255,5412,0.12,0.00,0.00,0.000,6,0.065,0.000,2945,2220,3779,0,0,0,0,0,0
$GC,5654,-1.27,-146.0,514.2,-9.0,261,5656,0.17,0.00,0.00,0.000,6,0.090,0.000,2984,2219,3778,0,0,0,0,0,0
$GC,5900,-1.27,-146.0,533.1,-7.7,267,5904,0.00,2.65,0.00,0.000,4,0.000,0.068,2984,3756,3777,0,0,0,0,0,0
$GC,5926,-1.27,-146.0,535.6,-8.2,267,5931,0.00,2.60,0.00,0.000,6,0.000,0.048,2985,2201,3777,0,0,0,0,0,0
$GC,6177,-1.27,-146.0,556.2,-8.4,273,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2201,3776,0,0,0,0,0,0
$GC,6422,-1.27,-146.0,576.5,-8.3,279,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2201,3775,0,0,0,0,0,0
$GC,6664,-1.27,-146.0,596.5,-8.1,285,6668,0.00,2.75,0.00,0.000,4,0.000,0.079,2984,3754,3773,0,0,0,0,0,0
$GC,6685,-1.27,-146.0,598.3,-8.4,285,6690,0.00,2.65,0.00,0.000,6,0.000,0.061,2984,2195,3773,0,0,0,0,0,0
$GC,6941,-1.27,-146.0,619.2,-8.3,292,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2195,3772,0,0,0,0,0,0
$GC,7187,-1.27,-146.0,638.6,-7.8,298,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2195,3771,0,0,0,0,0,0
$GC,7428,-1.27,-146.0,657.6,-7.7,304,7433,0.00,2.88,0.00,0.000,4,0.000,0.107,2985,3760,3770,0,0,0,0,0,0
$GC,7450,-1.27,-146.0,659.3,-7.7,304,7454,0.00,2.83,0.00,0.000,6,0.000,0.092,2984,2194,3769,0,0,0,0,0,0
$GC,7707,-1.27,-146.0,679.4,-7.8,311,7712,0.00,2.85,0.00,0.000,4,0.000,0.104,2985,3757,3768,0,0,0,0,0,0
$GC,7723,-1.27,-146.0,680.9,-7.7,311,7727,0.00,2.80,0.00,0.000,6,0.000,0.085,2985,2199,3768,0,0,0,0,0,0
$GC,7984,-1.27,-146.0,700.3,-7.3,318,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3767,0,0,0,0,0,0
$GC,8230,-1.27,-146.0,717.9,-7.3,324,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2199,3765,0,0,0,0,0,0
$GC,8471,-1.30,-146.0,735.8,-7.4,330,8476,0.00,2.83,0.00,0.000,4,0.000,0.094,2985,3762,3764,0,0,0,0,0,0
$GC,8489,-1.30,-146.0,737.2,-7.4,330,8494,0.00,2.75,0.00,0.000,6,0.000,0.075,2984,2197,3764,0,0,0,0,0,0
$GC,8753,-1.34,-146.0,756.2,-7.3,337,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2197,3762,0,0,0,0,0,0
$GC,8994,-1.38,-146.0,774.3,-7.3,343,8999,0.12,2.78,0.00,0.000,4,0.070,0.081,2942,3763,3761,0,0,0,0,0,0
$GC,9010,-1.38,-146.0,775.8,-7.4,343,9015,0.00,2.67,0.00,0.000,6,0.000,0.066,2942,2207,3761,0,0,0,0,0,0
$GC,9274,-1.33,-146.0,799.3,-8.9,350,9279,0.12,2.78,0.00,0.000,4,0.105,0.081,2969,3762,3760,0,0,0,0,0,0
$GC,9291,-1.33,-146.0,800.9,-8.7,350,9295,0.00,2.70,0.00,0.000,6,0.000,0.070,2969,2207,3760,0,0,0,0,0,0
$GC,9551,-1.33,-146.0,820.8,-7.7,357,9556,0.00,2.72,0.00,0.000,4,0.000,0.084,2969,3757,3759,0,0,0,0,0,0
$GC,9580,-1.33,-146.0,823.2,-8.5,357,9585,0.00,2.67,0.00,0.000,6,0.000,0.068,2969,2216,3759,0,0,0,0,0,0
$GC,9830,-1.33,-146.0,843.0,-7.9,363,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2216,3758,0,0,0,0,0,0
$GC,10074,-1.33,-146.0,861.5,-7.6,369,10078,0.00,2.67,0.00,0.000,4,0.000,0.079,2969,3755,3757,0,0,0,0,0,0
$GC,10101,-1.33,-146.0,863.7,-8.6,369,10106,0.00,2.67,0.00,0.000,6,0.000,0.064,2969,2212,3756,0,0,0,0,0,0
$GC,10353,-1.33,-146.0,882.6,-7.5,375,10358,0.00,2.72,0.00,0.000,4,0.000,0.081,2969,3759,3756,0,0,0,0,0,0
$GC,10369,-1.33,-146.0,883.9,-7.6,375,10374,0.00,2.67,0.00,0.000,6,0.000,0.062,2969,2209,3756,0,0,0,0,0,0
$STATE,10628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10628,begin apogee
$GC,10636,-0.31,0.0,902.7,7.1,382,10759,0.98,0.00,119.15,1.218,6,0.071,0.000,3192,2338,3190,0,0,0,0,0,0
$STATE,10760,end apogee,CONTROL_FINISHED_OK
$STATE,10760,begin climb
$GC,10762,1.27,146.0,905.4,0.0,385,10898,1.42,2.88,127.03,1.186,4,0.037,0.075,3542,3934,2594,0,0,0,0,0,0
$GC,10951,1.14,146.0,894.1,11.5,389,10956,0.17,2.72,0.00,0.000,6,0.113,0.059,3508,2361,2589,0,0,0,0,0,0
$GC,11212,1.12,157.8,868.9,9.5,396,11225,0.00,0.00,10.93,1.024,6,0.000,0.000,3508,2362,2546,0,0,0,0,0,0
$GC,11458,1.13,167.6,845.5,9.5,402,11473,0.00,2.75,9.90,1.006,4,0.000,0.058,3508,3935,2506,0,0,0,0,0,0
$GC,11507,1.08,167.6,840.2,10.6,403,11511,0.00,2.65,0.00,0.000,6,0.000,0.044,3509,2379,2505,0,0,0,0,0,0
$GC,11779,1.10,183.2,814.5,9.3,410,11799,0.00,2.67,15.45,1.065,4,0.000,0.056,3508,3932,2441,0,0,0,0,0,0
$GC,11820,1.08,193.1,810.7,9.5,411,11836,0.00,2.65,10.55,1.002,6,0.000,0.048,3509,2380,2402,0,0,0,0,0,0
$GC,12103,1.08,193.1,781.8,10.2,418,12107,0.00,2.65,0.00,0.000,4,0.000,0.051,3508,3935,2398,0,0,0,0,0,0
$GC,12126,1.08,193.1,779.4,11.2,418,12130,0.00,2.62,0.00,0.000,6,0.000,0.044,3509,2387,2397,0,0,0,0,0,0
$GC,12380,1.08,193.1,752.9,10.3,425,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2387,2396,0,0,0,0,0,0
$GC,12624,1.08,193.1,727.7,10.3,431,12629,0.00,3.08,0.00,0.000,4,0.000,0.117,3508,780,2395,0,0,0,0,0,0
$GC,12640,1.08,193.1,726.0,10.4,431,12644,0.00,2.65,0.00,0.000,6,0.000,0.039,3508,2385,2395,0,0,0,0,0,0
$GC,12908,1.08,193.1,698.4,10.5,438,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2386,2395,0,0,0,0,0,0
$GC,13150,1.08,193.1,672.2,10.7,444,13154,0.00,2.65,0.00,0.000,4,0.000,0.069,3508,3939,2394,0,0,0,0,0,0
$GC,13182,1.08,193.1,668.4,11.7,444,13188,0.00,2.58,0.00,0.000,6,0.000,0.037,3508,2386,2393,0,0,0,0,0,0
$GC,13432,1.08,193.1,642.5,10.3,451,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2385,2393,0,0,0,0,0,0
$GC,13676,1.08,200.1,618.7,9.7,457,13684,0.00,0.00,6.22,0.826,6,0.000,0.000,3508,2385,2374,0,0,0,0,0,0
$GC,13919,1.08,200.1,594.0,10.3,463,13920,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2386,2373,0,0,0,0,0,0
$GC,14163,1.08,200.1,569.2,10.1,469,14167,0.00,2.60,0.00,0.000,4,0.000,0.048,3508,3935,2372,0,0,0,0,0,0
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$STATE,19627,end climb,SURFACE_DEPTH_REACHED
$STATE,19627,begin surface coast
$FINISH,0.9,1.005962
$STATE,19680,end surface coast,CONTROL_FINISHED_OK
$STATE,19680,begin surface
$SM_CCo,19703,48.35,0.489,0,0,1763,350.04
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$IRIDIUM_FIX,1918.37,-8121.49,260502,101035
$TT8_MAMPS,0.026078
$HUMID,57.40
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$TCM_TEMP,24.60
$XPDR_PINGS,54
$24V_AH,23.3,30.062
$10V_AH,10.3,26.526
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.025,168.825,386.275,48.350,0.000,27.254,39.395,166.410,13.500,0.000,17.660,1508.833,15190.053,545.916,2203.952,698.397,33.359,1486.004,0.000,2206.357,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,503.338,349.911,442.422,567.924,1082.595,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355896
$DATA_FILE_SIZE,57245,743
$CAP_FILE_SIZE,162011,0
$CFSIZE,260165632,113594368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010313,195136,1927.490,-8115.422,42,1.4,42,-3.8