version: 66.06
glider: 146
mission: 8
dive: 18
start: 1 19 113 6 55 54
data:
$ID,146
$MISSION,8
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,500
$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,300
$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,-307666.34
$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,3125
$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,2100
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,14
$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
$GPS1,064942,1925.593,-8115.028,7,1.2,12,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.6
$GPS2,065501,1925.591,-8114.969,15,1.3,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1926.000,-8118.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.251,-0.066
$KALMAN_X,-20328.0,154.1,-1115.8,18475.6,3619.9
$KALMAN_Y,14461.6,-763.8,337.3,-6772.1,1314.3
$MHEAD_RNG_PITCHd_Wd,259.1,5347,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-62.75,0.000,2,0.000,0.000,471,2189,3441,0,0,0,0,0,0
$GC,87,-1.27,-146.0,3.6,-6.1,8,112,13.23,2.42,-6.12,0.000,4,0.175,0.045,2841,3711,3787,0,0,0,0,0,0
$GC,370,-0.82,-146.0,95.5,-27.9,35,376,0.50,2.53,0.00,0.000,6,0.119,0.024,2943,2106,3788,0,0,0,0,0,0
$GC,638,-0.57,-146.0,147.2,-18.2,59,644,0.25,0.00,0.00,0.000,6,0.114,0.000,2998,2106,3788,0,0,0,0,0,0
$GC,901,-0.47,-146.0,182.1,-11.7,84,906,0.10,2.55,0.00,0.000,4,0.140,0.033,3018,3702,3788,0,0,0,0,0,0
$GC,934,-0.47,-146.0,186.4,-11.7,86,940,0.00,2.53,0.00,0.000,6,0.000,0.022,3018,2094,3788,0,0,0,0,0,0
$GC,1222,-0.43,-146.0,216.7,-10.1,102,1227,0.00,2.58,0.00,0.000,4,0.000,0.035,3018,3700,3789,0,0,0,0,0,0
$GC,1261,-0.43,-146.0,220.8,-10.2,103,1266,0.00,2.53,0.00,0.000,6,0.000,0.024,3017,2099,3788,0,0,0,0,0,0
$GC,1547,-0.43,-146.0,249.3,-10.1,110,1551,0.00,2.60,0.00,0.000,4,0.000,0.043,3018,3700,3788,0,0,0,0,0,0
$GC,1580,-0.43,-146.0,252.9,-10.1,110,1586,0.00,2.53,0.00,0.000,6,0.000,0.031,3018,2109,3788,0,0,0,0,0,0
$GC,1830,-0.43,-146.0,277.4,-9.7,117,1835,0.00,2.60,0.00,0.000,4,0.000,0.047,3018,3701,3788,0,0,0,0,0,0
$GC,1869,-0.43,-146.0,281.3,-9.8,118,1874,0.00,2.55,0.00,0.000,6,0.000,0.025,3018,2100,3788,0,0,0,0,0,0
$GC,2155,-0.43,-146.0,308.1,-9.5,125,2159,0.00,2.58,0.00,0.000,4,0.000,0.046,3018,3696,3787,0,0,0,0,0,0
$GC,2176,-0.43,-146.0,310.4,-9.4,125,2181,0.00,2.50,0.00,0.000,6,0.000,0.033,3018,2113,3787,0,0,0,0,0,0
$GC,2432,-0.43,-146.0,333.4,-9.0,132,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2113,3786,0,0,0,0,0,0
$GC,2678,-0.43,-146.0,354.4,-8.7,138,2682,0.00,2.58,0.00,0.000,4,0.000,0.042,3018,3694,3785,0,0,0,0,0,0
$GC,2727,-0.43,-146.0,359.2,-8.8,139,2732,0.00,2.55,0.00,0.000,6,0.000,0.033,3018,2120,3786,0,0,0,0,0,0
$GC,2999,-0.43,-146.0,383.1,-9.0,146,3003,0.00,2.60,0.00,0.000,4,0.000,0.048,3018,3695,3784,0,0,0,0,0,0
$GC,3034,-0.43,-146.0,386.3,-9.9,146,3039,0.00,2.58,0.00,0.000,6,0.000,0.037,3018,2124,3783,0,0,0,0,0,0
$GC,3283,-0.43,-146.0,410.0,-9.5,153,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2124,3782,0,0,0,0,0,0
$GC,3527,-0.43,-146.0,432.9,-9.4,159,3532,0.00,2.65,0.00,0.000,4,0.000,0.059,3017,3699,3781,0,0,0,0,0,0
$GC,3574,-0.43,-146.0,437.1,-9.4,160,3578,0.00,2.62,0.00,0.000,6,0.000,0.047,3018,2127,3781,0,0,0,0,0,0
$GC,3851,-0.43,-146.0,463.0,-9.4,167,3856,0.00,2.65,0.00,0.000,4,0.000,0.061,3018,3690,3779,0,0,0,0,0,0
$GC,3920,-0.43,-146.0,469.4,-9.3,168,3924,0.00,2.60,0.00,0.000,6,0.000,0.050,3018,2136,3779,0,0,0,0,0,0
$GC,4175,-0.43,-146.0,492.7,-9.1,175,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2137,3778,0,0,0,0,0,0
$GC,4419,-0.43,-146.0,514.3,-8.8,181,4423,0.00,2.67,0.00,0.000,4,0.000,0.069,3018,3693,3776,0,0,0,0,0,0
$GC,4462,-0.43,-146.0,518.3,-9.1,182,4467,0.00,2.65,0.00,0.000,6,0.000,0.060,3017,2141,3776,0,0,0,0,0,0
$GC,4742,-0.43,-146.0,542.8,-8.9,189,4747,0.00,2.67,0.00,0.000,4,0.000,0.073,3018,3688,3774,0,0,0,0,0,0
$GC,4763,-0.43,-146.0,545.1,-9.0,189,4768,0.00,2.65,0.00,0.000,6,0.000,0.060,3018,2138,3774,0,0,0,0,0,0
$GC,5019,-0.43,-146.0,567.7,-8.9,196,5024,0.00,3.15,0.00,0.000,4,0.000,0.135,3017,514,3772,0,0,0,0,0,0
$GC,5042,-0.43,-146.0,569.8,-9.1,196,5047,0.00,2.78,0.00,0.000,6,0.000,0.054,3018,2153,3772,0,0,0,0,0,0
$GC,5298,-0.43,-146.0,592.5,-8.9,203,5302,0.00,2.78,0.00,0.000,4,0.000,0.098,3018,3689,3770,0,0,0,0,0,0
$GC,5377,-0.43,-146.0,599.9,-9.5,204,5383,0.00,2.67,0.00,0.000,6,0.000,0.068,3018,2155,3770,0,0,0,0,0,0
$GC,5627,-0.43,-146.0,622.5,-9.1,211,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2154,3769,0,0,0,0,0,0
$GC,5871,-0.43,-146.0,644.3,-8.9,217,5876,0.00,2.80,0.00,0.000,4,0.000,0.097,3018,3685,3767,0,0,0,0,0,0
$GC,5904,-0.43,-146.0,647.5,-9.9,217,5909,0.00,2.72,0.00,0.000,6,0.000,0.081,3018,2164,3767,0,0,0,0,0,0
$GC,6156,-0.43,-146.0,669.6,-8.7,224,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2163,3765,0,0,0,0,0,0
$GC,6397,-0.43,-146.0,690.5,-8.6,230,6402,0.00,2.85,0.00,0.000,4,0.000,0.106,3018,3688,3764,0,0,0,0,0,0
$GC,6419,-0.43,-146.0,692.6,-9.6,230,6423,0.00,2.70,0.00,0.000,6,0.000,0.081,3017,2166,3764,0,0,0,0,0,0
$GC,6676,-0.43,-146.0,715.5,-9.0,237,6680,0.00,2.78,0.00,0.000,4,0.000,0.097,3018,3685,3762,0,0,0,0,0,0
$GC,6703,-0.43,-146.0,718.2,-9.1,237,6707,0.00,2.67,0.00,0.000,6,0.000,0.078,3018,2180,3762,0,0,0,0,0,0
$GC,6954,-0.43,-146.0,738.7,-8.1,243,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2180,3761,0,0,0,0,0,0
$GC,7196,-0.43,-146.0,758.2,-8.0,249,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2179,3761,0,0,0,0,0,0
$GC,7442,-0.43,-146.0,778.4,-8.3,255,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2178,3759,0,0,0,0,0,0
$GC,7684,-0.43,-146.0,798.8,-8.3,261,7688,0.00,2.67,0.00,0.000,4,0.000,0.084,3018,3687,3758,0,0,0,0,0,0
$GC,7723,-0.43,-146.0,802.3,-9.2,262,7728,0.00,2.62,0.00,0.000,6,0.000,0.071,3018,2186,3758,0,0,0,0,0,0
$GC,8009,-0.43,-146.0,826.3,-8.4,269,8014,0.00,2.67,0.00,0.000,4,0.000,0.087,3018,3693,3756,0,0,0,0,0,0
$GC,8053,-0.43,-146.0,830.4,-8.6,270,8057,0.00,2.62,0.00,0.000,6,0.000,0.070,3018,2188,3756,0,0,0,0,0,0
$GC,8330,-0.43,-146.0,853.6,-8.3,277,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2188,3755,0,0,0,0,0,0
$GC,8576,-0.43,-146.0,874.1,-8.5,283,8580,0.00,2.67,0.00,0.000,4,0.000,0.087,3018,3688,3753,0,0,0,0,0,0
$GC,8626,-0.47,-146.0,878.8,-9.5,284,8630,0.00,2.60,0.00,0.000,6,0.000,0.072,3018,2199,3753,0,0,0,0,0,0
$STATE,8895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8895,begin apogee
$GC,8903,-0.31,0.0,901.6,8.2,291,9022,0.17,0.00,116.88,1.240,6,0.120,0.000,3053,2199,3190,0,0,0,0,0,0
$STATE,9023,end apogee,CONTROL_FINISHED_OK
$STATE,9023,begin climb
$GC,9025,1.27,146.0,908.5,0.0,294,9159,1.58,0.00,126.22,1.206,6,0.085,0.000,3395,2199,2593,0,0,0,0,0,0
$GC,9434,1.74,250.4,891.6,5.2,304,9537,0.43,3.20,93.25,1.189,4,0.047,0.123,3507,605,2168,0,0,0,0,0,0
$GC,9617,1.83,250.4,875.1,10.4,308,9622,0.00,2.88,0.00,0.000,6,0.000,0.054,3507,2256,2164,0,0,0,0,0,0
$GC,9884,1.94,258.9,849.5,9.6,315,9899,0.17,2.83,8.07,0.974,4,0.068,0.080,3552,3787,2134,0,0,0,0,0,0
$GC,9945,1.94,258.9,842.2,12.5,316,9949,0.00,2.65,0.00,0.000,6,0.000,0.051,3551,2252,2132,0,0,0,0,0,0
$GC,10211,1.94,258.9,812.2,11.1,323,10215,0.00,2.67,0.00,0.000,4,0.000,0.065,3551,3790,2131,0,0,0,0,0,0
$GC,10271,1.94,258.9,805.0,12.1,324,10276,0.00,2.62,0.00,0.000,6,0.000,0.052,3551,2270,2130,0,0,0,0,0,0
$GC,10535,1.94,258.9,776.4,10.9,331,10539,0.00,2.65,0.00,0.000,4,0.000,0.064,3551,3793,2129,0,0,0,0,0,0
$GC,10561,1.94,258.9,772.9,12.3,331,10565,0.00,2.60,0.00,0.000,6,0.000,0.051,3551,2278,2128,0,0,0,0,0,0
$GC,10811,1.94,258.9,744.7,11.2,337,10815,0.00,2.60,0.00,0.000,4,0.000,0.061,3551,3789,2128,0,0,0,0,0,0
$GC,10832,1.94,258.9,742.2,12.1,337,10836,0.00,2.60,0.00,0.000,6,0.000,0.054,3551,2277,2128,0,0,0,0,0,0
$GC,11090,1.94,258.9,714.1,10.9,344,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2277,2128,0,0,0,0,0,0
$GC,11331,1.94,258.9,687.1,11.1,350,11336,0.00,2.60,0.00,0.000,4,0.000,0.064,3551,3790,2127,0,0,0,0,0,0
$GC,11392,1.94,258.9,679.8,11.6,351,11396,0.00,2.55,0.00,0.000,6,0.000,0.054,3551,2294,2127,0,0,0,0,0,0
$GC,11654,1.94,258.9,651.5,10.8,358,11659,0.00,2.58,0.00,0.000,4,0.000,0.063,3551,3795,2126,0,0,0,0,0,0
$GC,11698,1.94,258.9,646.1,11.5,359,11702,0.00,2.55,0.00,0.000,6,0.000,0.049,3551,2300,2126,0,0,0,0,0,0
$GC,11976,1.94,258.9,616.5,10.7,366,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2300,2126,0,0,0,0,0,0
$GC,12222,1.94,258.9,590.5,10.5,372,12226,0.00,2.55,0.00,0.000,4,0.000,0.059,3551,3794,2126,0,0,0,0,0,0
$GC,12260,1.94,258.9,585.9,12.0,373,12265,0.00,2.55,0.00,0.000,6,0.000,0.054,3552,2291,2125,0,0,0,0,0,0
$GC,12544,1.98,258.9,555.4,10.9,380,12548,0.00,2.55,0.00,0.000,4,0.000,0.058,3551,3792,2126,0,0,0,0,0,0
$GC,12567,1.98,258.9,552.8,11.2,380,12571,0.00,2.53,0.00,0.000,6,0.000,0.047,3551,2290,2125,0,0,0,0,0,0
$GC,12822,1.98,258.9,524.5,11.1,387,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2291,2125,0,0,0,0,0,0
$GC,13066,2.02,258.9,497.9,11.0,393,13070,0.00,2.53,0.00,0.000,4,0.000,0.052,3551,3791,2125,0,0,0,0,0,0
$GC,13112,2.06,258.9,492.5,12.3,394,13116,0.00,2.50,0.00,0.000,6,0.000,0.045,3552,2288,2125,0,0,0,0,0,0
$GC,13389,2.10,258.9,462.3,10.5,401,13394,0.12,2.53,0.00,0.000,4,0.081,0.051,3587,3792,2125,0,0,0,0,0,0
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$STATE,17361,end climb,SURFACE_DEPTH_REACHED
$STATE,17361,begin surface coast
$FINISH,0.6,0.998225
$STATE,17397,end surface coast,CONTROL_FINISHED_OK
$STATE,17397,begin surface
$SM_CCo,17480,0.00,0.000,0,0,1661,374.82
$SM_GC,1.43,13.02,0.00,0.00,0.026,0.000,0.000,476,2061,1661,-12.11,-1.07,374.82
$IRIDIUM_FIX,1920.65,-8114.36,150402,060602
$TT8_MAMPS,0.025311
$HUMID,56.69
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.80
$XPDR_PINGS,73
$24V_AH,23.2,3.336
$10V_AH,10.4,2.494
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.850,212.925,444.800,0.000,0.000,0.000,0.000,0.000,18.250,0.000,17.349,1386.500,13071.880,517.530,2226.184,349.492,33.352,1547.443,0.000,2210.370,0.000,0.536,0.000
$DEVICE_MAMPS,174.876,134.992,1240.239,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,430.036,281.725,363.181,471.571,897.488,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,47849,636
$CAP_FILE_SIZE,171288,0
$CFSIZE,260165632,127410176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190113,114831,1924.653,-8116.955,39,1.6,40,-3.7