version: 66.06
glider: 146
mission: 8
dive: 26
start: 1 20 113 21 14 25
data:
$ID,146
$MISSION,8
$DIVE,26
$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,-307845.03
$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,3150
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,16
$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
$GPS1,210036,1928.632,-8119.050,34,1.4,34,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.9
$GPS2,211331,1928.518,-8119.056,16,1.6,16,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP2
$TGT_LATLONG,1924.000,-8109.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.249,-0.075
$KALMAN_X,-12403.1,-383.2,-19.1,2889.3,1745.5
$KALMAN_Y,5469.3,-26.0,45.2,7197.7,-1768.6
$MHEAD_RNG_PITCHd_Wd,110.5,18673,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.15,0.000,2,0.000,0.000,469,2184,3589,0,0,0,0,0,0
$GC,88,-1.27,-146.0,4.3,-7.9,8,114,13.55,0.00,-3.22,0.000,6,0.179,0.000,2866,2184,3783,0,0,0,0,0,0
$GC,376,-0.79,-146.0,97.1,-29.8,38,381,0.50,2.45,0.00,0.000,4,0.120,0.047,2970,677,3784,0,0,0,0,0,0
$GC,422,-0.47,-146.0,107.3,-23.3,41,427,0.35,2.45,0.00,0.000,6,0.103,0.018,3044,2263,3783,0,0,0,0,0,0
$GC,690,-0.43,-146.0,141.9,-11.3,65,695,0.00,2.60,0.00,0.000,4,0.000,0.044,3044,673,3784,0,0,0,0,0,0
$GC,708,-0.40,-146.0,144.5,-10.5,66,712,0.00,2.40,0.00,0.000,6,0.000,0.016,3044,2235,3785,0,0,0,0,0,0
$GC,972,-0.40,-146.0,168.8,-8.5,90,981,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2235,3785,0,0,0,0,0,0
$GC,1238,-0.40,-146.0,190.7,-7.5,115,1242,0.00,2.55,0.00,0.000,4,0.000,0.052,3044,674,3785,0,0,0,0,0,0
$GC,1267,-0.40,-146.0,193.3,-8.4,117,1271,0.00,2.38,0.00,0.000,6,0.000,0.020,3044,2209,3785,0,0,0,0,0,0
$GC,1523,-0.44,-146.0,214.2,-8.3,129,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2209,3785,0,0,0,0,0,0
$GC,1765,-0.50,-146.0,233.4,-7.8,135,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2209,3785,0,0,0,0,0,0
$GC,2011,-0.56,-146.0,251.3,-7.1,141,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2209,3784,0,0,0,0,0,0
$GC,2252,-0.62,-146.0,268.5,-7.1,147,2257,0.12,2.58,0.00,0.000,4,0.070,0.049,2995,3791,3784,0,0,0,0,0,0
$GC,2268,-0.62,-146.0,270.0,-7.2,147,2273,0.00,2.45,0.00,0.000,6,0.000,0.021,2994,2231,3784,0,0,0,0,0,0
$GC,2532,-0.62,-146.0,294.8,-9.5,154,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2231,3784,0,0,0,0,0,0
$GC,2775,-0.62,-146.0,317.5,-9.3,160,2780,0.00,2.65,0.00,0.000,4,0.000,0.064,2994,657,3782,0,0,0,0,0,0
$GC,2797,-0.62,-146.0,319.8,-9.7,160,2802,0.00,2.45,0.00,0.000,6,0.000,0.028,2994,2199,3782,0,0,0,0,0,0
$GC,3053,-0.62,-146.0,343.0,-8.9,167,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3781,0,0,0,0,0,0
$GC,3299,-0.62,-146.0,365.5,-9.1,173,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3780,0,0,0,0,0,0
$GC,3540,-0.62,-146.0,387.8,-9.2,179,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3780,0,0,0,0,0,0
$GC,3784,-0.62,-146.0,410.5,-9.2,185,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3778,0,0,0,0,0,0
$GC,4028,-0.62,-146.0,431.8,-8.6,191,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3777,0,0,0,0,0,0
$GC,4274,-0.62,-146.0,453.6,-9.2,197,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3775,0,0,0,0,0,0
$GC,4515,-0.62,-146.0,477.2,-9.8,203,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3774,0,0,0,0,0,0
$GC,4759,-0.62,-146.0,499.1,-8.8,209,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2199,3773,0,0,0,0,0,0
$GC,5003,-0.62,-146.0,520.1,-8.6,215,5007,0.00,2.85,0.00,0.000,4,0.000,0.090,2994,3802,3771,0,0,0,0,0,0
$GC,5020,-0.62,-146.0,521.7,-8.9,215,5025,0.00,2.60,0.00,0.000,6,0.000,0.056,2994,2246,3772,0,0,0,0,0,0
$GC,5282,-0.62,-146.0,544.4,-8.5,222,5286,0.00,2.67,0.00,0.000,4,0.000,0.077,2994,3797,3771,0,0,0,0,0,0
$GC,5297,-0.62,-146.0,545.9,-8.3,222,5302,0.00,2.65,0.00,0.000,6,0.000,0.055,2994,2220,3771,0,0,0,0,0,0
$GC,5560,-0.62,-146.0,568.2,-8.6,229,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2220,3769,0,0,0,0,0,0
$GC,5802,-0.62,-146.0,589.2,-8.7,235,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2220,3768,0,0,0,0,0,0
$GC,6046,-0.62,-146.0,610.6,-8.8,241,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2220,3766,0,0,0,0,0,0
$GC,6292,-0.62,-146.0,631.6,-8.5,247,6296,0.00,2.90,0.00,0.000,4,0.000,0.101,2994,3794,3765,0,0,0,0,0,0
$GC,6307,-0.62,-146.0,633.2,-8.6,247,6312,0.00,2.78,0.00,0.000,6,0.000,0.081,2994,2226,3764,0,0,0,0,0,0
$GC,6568,-0.62,-146.0,655.9,-8.7,254,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2226,3764,0,0,0,0,0,0
$GC,6812,-0.62,-146.0,675.6,-8.0,260,6817,0.00,3.12,0.00,0.000,4,0.000,0.141,2994,642,3761,0,0,0,0,0,0
$GC,6841,-0.62,-146.0,678.1,-9.4,260,6846,0.00,2.80,0.00,0.000,6,0.000,0.091,2994,2200,3761,0,0,0,0,0,0
$GC,7091,-0.62,-146.0,700.1,-8.8,266,7096,0.00,3.15,0.00,0.000,4,0.000,0.135,2994,3818,3760,0,0,0,0,0,0
$GC,7107,-0.62,-146.0,701.5,-8.5,266,7111,0.00,2.83,0.00,0.000,6,0.000,0.081,2994,2219,3760,0,0,0,0,0,0
$GC,7370,-0.62,-146.0,724.4,-8.7,273,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2220,3759,0,0,0,0,0,0
$GC,7611,-0.62,-146.0,745.3,-8.5,279,7616,0.00,2.92,0.00,0.000,4,0.000,0.098,2994,3829,3758,0,0,0,0,0,0
$GC,7627,-0.62,-146.0,746.7,-8.2,279,7631,0.00,2.80,0.00,0.000,6,0.000,0.071,2994,2225,3758,0,0,0,0,0,0
$GC,7891,-0.62,-146.0,767.3,-7.8,286,7896,0.00,2.88,0.00,0.000,4,0.000,0.091,2994,3821,3756,0,0,0,0,0,0
$GC,7907,-0.62,-146.0,769.0,-8.1,286,7911,0.00,2.75,0.00,0.000,6,0.000,0.067,2994,2227,3756,0,0,0,0,0,0
$GC,8169,-0.62,-146.0,790.9,-8.4,293,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2226,3755,0,0,0,0,0,0
$GC,8413,-0.62,-146.0,811.1,-8.3,299,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2226,3754,0,0,0,0,0,0
$GC,8659,-0.62,-146.0,829.9,-7.7,305,8663,0.00,2.85,0.00,0.000,4,0.000,0.088,2994,3821,3753,0,0,0,0,0,0
$GC,8674,-0.62,-146.0,831.4,-7.8,305,8679,0.00,2.75,0.00,0.000,6,0.000,0.070,2994,2232,3752,0,0,0,0,0,0
$GC,8935,-0.62,-146.0,851.2,-7.6,312,8940,0.00,2.83,0.00,0.000,4,0.000,0.085,2994,3822,3751,0,0,0,0,0,0
$GC,8964,-0.62,-146.0,853.5,-8.0,312,8969,0.00,2.72,0.00,0.000,6,0.000,0.071,2994,2238,3751,0,0,0,0,0,0
$GC,9214,-0.62,-146.0,874.5,-8.4,318,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2238,3750,0,0,0,0,0,0
$GC,9458,-0.62,-146.0,894.5,-8.0,324,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2238,3749,0,0,0,0,0,0
$STATE,9536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9536,begin apogee
$GC,9544,-0.31,0.0,900.9,7.9,326,9664,0.38,0.00,116.32,1.237,6,0.093,0.000,3078,2378,3190,0,0,0,0,0,0
$STATE,9664,end apogee,CONTROL_FINISHED_OK
$STATE,9665,begin climb
$GC,9667,1.27,146.0,906.3,0.0,329,9798,1.55,0.00,126.93,1.203,6,0.072,0.000,3423,2378,2594,0,0,0,0,0,0
$GC,10034,1.57,244.4,890.5,5.5,338,10133,0.25,3.20,88.22,1.182,4,0.060,0.117,3491,767,2192,0,0,0,0,0,0
$GC,10157,1.64,244.4,879.5,10.7,341,10161,0.00,2.78,0.00,0.000,6,0.000,0.058,3491,2357,2189,0,0,0,0,0,0
$GC,10442,1.73,249.6,851.8,9.8,348,10453,0.15,2.88,4.78,0.794,4,0.074,0.082,3529,3935,2172,0,0,0,0,0,0
$GC,10475,1.73,249.6,847.7,12.2,348,10481,0.00,2.70,0.00,0.000,6,0.000,0.045,3529,2357,2171,0,0,0,0,0,0
$GC,10725,1.73,249.6,817.9,11.8,355,10730,0.00,3.05,0.00,0.000,4,0.000,0.115,3529,770,2170,0,0,0,0,0,0
$GC,10748,1.73,249.6,815.2,12.6,355,10753,0.00,2.70,0.00,0.000,6,0.000,0.048,3530,2364,2169,0,0,0,0,0,0
$GC,11003,1.73,249.6,785.7,11.4,362,11007,0.00,2.75,0.00,0.000,4,0.000,0.077,3530,3935,2168,0,0,0,0,0,0
$GC,11029,1.73,249.6,782.5,11.7,362,11034,0.00,2.65,0.00,0.000,6,0.000,0.039,3529,2360,2167,0,0,0,0,0,0
$GC,11282,1.73,249.6,754.0,11.6,368,11283,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2360,2167,0,0,0,0,0,0
$GC,11523,1.73,249.6,725.6,11.6,374,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2360,2167,0,0,0,0,0,0
$GC,11767,1.73,249.6,698.6,11.0,380,11771,0.00,3.03,0.00,0.000,4,0.000,0.109,3529,770,2166,0,0,0,0,0,0
$GC,11782,1.73,249.6,696.7,11.0,380,11787,0.00,2.65,0.00,0.000,6,0.000,0.040,3529,2376,2165,0,0,0,0,0,0
$GC,12045,1.73,249.6,668.6,10.8,387,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2376,2166,0,0,0,0,0,0
$GC,12286,1.73,249.6,641.7,11.0,393,12291,0.00,2.88,0.00,0.000,4,0.000,0.084,3529,770,2165,0,0,0,0,0,0
$GC,12307,1.73,249.6,639.1,11.6,393,12312,0.00,2.65,0.00,0.000,6,0.000,0.043,3529,2355,2164,0,0,0,0,0,0
$GC,12571,1.73,249.6,609.6,11.3,400,12575,0.00,2.75,0.00,0.000,4,0.000,0.075,3529,3934,2164,0,0,0,0,0,0
$GC,12603,1.73,249.6,605.4,12.0,400,12609,0.00,2.65,0.00,0.000,6,0.000,0.041,3529,2352,2164,0,0,0,0,0,0
$GC,12853,1.73,249.6,578.1,10.8,407,12857,0.00,2.95,0.00,0.000,4,0.000,0.110,3529,773,2164,0,0,0,0,0,0
$GC,12879,1.73,249.6,575.0,10.8,407,12884,0.00,2.62,0.00,0.000,6,0.000,0.041,3529,2353,2164,0,0,0,0,0,0
$GC,13131,1.73,249.6,546.8,11.5,413,13136,0.00,2.75,0.00,0.000,4,0.000,0.072,3530,3942,2164,0,0,0,0,0,0
$GC,13175,1.73,249.6,541.1,12.8,414,13179,0.00,2.62,0.00,0.000,6,0.000,0.036,3530,2359,2163,0,0,0,0,0,0
$GC,13453,1.73,249.6,511.0,10.5,421,13454,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2359,2163,0,0,0,0,0,0
$GC,13699,1.73,249.6,484.4,11.1,427,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2359,2163,0,0,0,0,0,0
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$STATE,18023,end climb,SURFACE_DEPTH_REACHED
$STATE,18024,begin surface coast
$FINISH,0.8,1.003554
$STATE,18072,end surface coast,CONTROL_FINISHED_OK
$STATE,18073,begin surface
$SM_CCo,18157,0.00,0.000,0,0,1847,329.19
$SM_GC,1.55,12.68,0.00,0.00,0.025,0.000,0.000,468,2164,1847,-12.22,-1.87,329.19
$IRIDIUM_FIX,1920.65,-8114.36,160402,212154
$TT8_MAMPS,0.025311
$HUMID,55.63
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.80
$XPDR_PINGS,54
$24V_AH,23.2,4.412
$10V_AH,10.4,3.439
$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,29.850,167.750,403.150,0.000,0.000,58.849,92.692,392.495,13.500,0.000,17.533,1365.424,14110.711,511.139,1967.888,968.337,33.358,1365.327,0.000,1966.359,0.000,0.536,0.000
$DEVICE_MAMPS,178.711,141.128,1237.171,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,455.852,306.699,392.668,499.462,952.132,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,50915,673
$CAP_FILE_SIZE,149451,0
$CFSIZE,260165632,126857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210113,021806,1928.302,-8115.235,26,1.0,26,-3.8