version: 66.06
glider: 146
mission: 8
dive: 31
start: 1 21 113 22 13 2
data:
$ID,146
$MISSION,8
$DIVE,31
$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,600
$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,-307918.75
$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,3170
$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,50
$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
$GPS1,220525,1923.800,-8110.822,21,99.0,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.7
$GPS2,221207,1923.771,-8110.827,12,1.5,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.242,0.094
$KALMAN_X,4191.2,-223.5,23.9,-3439.8,1547.3
$KALMAN_Y,-1225.8,54.0,-75.3,-4788.4,-359.6
$MHEAD_RNG_PITCHd_Wd,295.1,13882,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,76,0.00,0.00,-55.30,0.000,2,0.000,0.000,472,2196,3337,0,0,0,0,0,0
$GC,82,-1.27,-146.0,3.1,-4.6,7,116,13.43,2.55,-8.38,0.000,4,0.173,0.053,2886,667,3788,0,0,0,0,0,0
$GC,367,-0.85,-146.0,86.7,-27.8,35,374,0.47,2.45,0.00,0.000,6,0.115,0.018,2984,2256,3788,0,0,0,0,0,0
$GC,632,-0.69,-146.0,133.0,-14.9,60,642,0.17,0.00,0.00,0.000,6,0.104,0.000,3021,2255,3789,0,0,0,0,0,0
$GC,898,-0.69,-146.0,163.0,-10.2,85,902,0.00,2.58,0.00,0.000,4,0.000,0.043,3020,670,3790,0,0,0,0,0,0
$GC,927,-0.69,-146.0,166.3,-10.4,87,932,0.00,2.40,0.00,0.000,6,0.000,0.025,3021,2234,3790,0,0,0,0,0,0
$GC,1190,-0.69,-146.0,191.2,-8.8,111,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2234,3791,0,0,0,0,0,0
$GC,1459,-0.69,-146.0,214.1,-8.4,125,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2234,3791,0,0,0,0,0,0
$GC,1701,-0.69,-146.0,234.7,-8.6,131,1705,0.00,2.58,0.00,0.000,4,0.000,0.049,3020,668,3791,0,0,0,0,0,0
$GC,1728,-0.69,-146.0,237.3,-9.2,131,1732,0.00,2.42,0.00,0.000,6,0.000,0.021,3021,2226,3791,0,0,0,0,0,0
$GC,1980,-0.69,-146.0,258.4,-8.4,137,1984,0.00,2.55,0.00,0.000,4,0.000,0.044,3021,3806,3790,0,0,0,0,0,0
$GC,2019,-0.69,-146.0,262.0,-8.9,138,2023,0.00,2.45,0.00,0.000,6,0.000,0.029,3021,2247,3791,0,0,0,0,0,0
$GC,2302,-0.69,-146.0,285.6,-8.2,145,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2247,3790,0,0,0,0,0,0
$GC,2546,-0.69,-146.0,304.5,-7.7,151,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2247,3790,0,0,0,0,0,0
$GC,2789,-0.69,-146.0,324.4,-8.2,157,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2247,3789,0,0,0,0,0,0
$GC,3033,-0.69,-146.0,344.6,-8.2,163,3038,0.00,2.72,0.00,0.000,4,0.000,0.069,3021,657,3788,0,0,0,0,0,0
$GC,3060,-0.69,-146.0,346.9,-9.1,163,3064,0.00,2.47,0.00,0.000,6,0.000,0.035,3021,2223,3788,0,0,0,0,0,0
$GC,3312,-0.69,-146.0,366.9,-8.0,169,3316,0.00,2.62,0.00,0.000,4,0.000,0.048,3021,3815,3787,0,0,0,0,0,0
$GC,3335,-0.69,-146.0,369.0,-8.2,169,3339,0.00,2.53,0.00,0.000,6,0.000,0.033,3021,2234,3787,0,0,0,0,0,0
$GC,3590,-0.73,-146.0,389.3,-7.9,176,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2234,3786,0,0,0,0,0,0
$GC,3836,-0.77,-146.0,408.3,-7.7,182,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2234,3784,0,0,0,0,0,0
$GC,4078,-0.81,-146.0,426.9,-7.6,188,4079,0.12,0.00,0.00,0.000,6,0.073,0.000,2978,2234,3783,0,0,0,0,0,0
$GC,4321,-0.77,-146.0,448.8,-9.0,194,4326,0.10,2.67,0.00,0.000,4,0.117,0.061,3000,3801,3782,0,0,0,0,0,0
$GC,4351,-0.77,-146.0,451.2,-8.8,194,4355,0.00,2.58,0.00,0.000,6,0.000,0.048,3000,2243,3782,0,0,0,0,0,0
$GC,4601,-0.77,-146.0,472.5,-8.5,200,4605,0.00,2.92,0.00,0.000,4,0.000,0.100,3000,644,3781,0,0,0,0,0,0
$GC,4656,-0.77,-146.0,477.6,-8.7,201,4660,0.00,2.60,0.00,0.000,6,0.000,0.047,3000,2223,3781,0,0,0,0,0,0
$GC,4924,-0.77,-146.0,499.7,-8.2,208,4929,0.00,2.78,0.00,0.000,4,0.000,0.079,3000,3812,3779,0,0,0,0,0,0
$GC,4968,-0.77,-146.0,503.7,-8.5,209,4973,0.00,2.60,0.00,0.000,6,0.000,0.048,3000,2238,3779,0,0,0,0,0,0
$GC,5245,-0.77,-146.0,526.1,-8.2,216,5250,0.00,2.97,0.00,0.000,4,0.000,0.112,3000,641,3778,0,0,0,0,0,0
$GC,5287,-0.77,-146.0,529.6,-8.8,217,5291,0.00,2.67,0.00,0.000,6,0.000,0.051,3000,2233,3777,0,0,0,0,0,0
$GC,5570,-0.77,-146.0,554.2,-8.5,224,5574,0.00,2.83,0.00,0.000,4,0.000,0.094,3000,3816,3776,0,0,0,0,0,0
$GC,5597,-0.77,-146.0,556.6,-9.3,224,5601,0.00,2.65,0.00,0.000,6,0.000,0.057,3000,2236,3776,0,0,0,0,0,0
$GC,5849,-0.77,-146.0,577.3,-8.3,230,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2236,3775,0,0,0,0,0,0
$GC,6091,-0.77,-146.0,597.4,-8.2,236,6095,0.00,2.80,0.00,0.000,4,0.000,0.085,3000,3815,3773,0,0,0,0,0,0
$GC,6119,-0.77,-146.0,599.9,-9.0,236,6124,0.00,2.70,0.00,0.000,6,0.000,0.068,3000,2240,3773,0,0,0,0,0,0
$GC,6369,-0.77,-146.0,619.9,-8.0,242,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2240,3772,0,0,0,0,0,0
$GC,6612,-0.77,-146.0,639.6,-8.1,248,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2240,3770,0,0,0,0,0,0
$GC,6856,-0.77,-146.0,658.7,-7.9,254,6861,0.00,2.92,0.00,0.000,4,0.000,0.109,3000,3818,3769,0,0,0,0,0,0
$GC,6878,-0.77,-146.0,660.5,-8.4,254,6882,0.00,2.83,0.00,0.000,6,0.000,0.086,3000,2249,3769,0,0,0,0,0,0
$GC,7135,-0.77,-146.0,680.0,-7.6,261,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2249,3768,0,0,0,0,0,0
$GC,7376,-0.77,-146.0,698.6,-7.7,267,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2249,3766,0,0,0,0,0,0
$GC,7620,-0.77,-146.0,717.7,-8.0,273,7625,0.00,3.33,0.00,0.000,4,0.000,0.160,3000,642,3765,0,0,0,0,0,0
$GC,7655,-0.77,-146.0,720.5,-8.7,273,7661,0.00,3.03,0.00,0.000,6,0.000,0.107,3000,2246,3765,0,0,0,0,0,0
$GC,7905,-0.77,-146.0,740.6,-8.0,280,7910,0.00,3.22,0.00,0.000,4,0.000,0.160,3000,3821,3763,0,0,0,0,0,0
$GC,7947,-0.77,-146.0,744.2,-8.7,281,7951,0.00,2.75,0.00,0.000,6,0.000,0.069,3000,2248,3763,0,0,0,0,0,0
$GC,8232,-0.77,-146.0,768.0,-8.4,288,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2247,3762,0,0,0,0,0,0
$GC,8473,-0.77,-146.0,787.5,-8.1,294,8478,0.00,3.08,0.00,0.000,4,0.000,0.126,3000,636,3761,0,0,0,0,0,0
$GC,8496,-0.77,-146.0,789.3,-8.7,294,8501,0.00,2.83,0.00,0.000,6,0.000,0.069,3000,2266,3761,0,0,0,0,0,0
$GC,8753,-0.77,-146.0,809.5,-7.7,301,8758,0.00,2.80,0.00,0.000,4,0.000,0.101,3000,3820,3761,0,0,0,0,0,0
$GC,8786,-0.77,-146.0,812.3,-8.0,301,8792,0.00,2.67,0.00,0.000,6,0.000,0.066,3000,2265,3760,0,0,0,0,0,0
$GC,9036,-0.77,-146.0,830.9,-7.5,308,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2265,3759,0,0,0,0,0,0
$GC,9282,-0.77,-146.0,850.3,-8.0,314,9287,0.00,3.08,0.00,0.000,4,0.000,0.117,3000,641,3758,0,0,0,0,0,0
$GC,9303,-0.77,-146.0,852.3,-8.2,314,9308,0.00,2.80,0.00,0.000,6,0.000,0.063,3000,2267,3757,0,0,0,0,0,0
$GC,9559,-0.77,-146.0,871.9,-7.5,321,9564,0.00,2.83,0.00,0.000,4,0.000,0.096,3000,3823,3757,0,0,0,0,0,0
$GC,9611,-0.82,-146.0,876.1,-9.1,322,9616,0.00,2.65,0.00,0.000,6,0.000,0.058,3000,2266,3756,0,0,0,0,0,0
$GC,9883,-0.86,-146.0,896.5,-7.4,329,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2266,3755,0,0,0,0,0,0
$STATE,9961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9961,begin apogee
$GC,9968,-0.31,0.0,902.5,7.3,331,10089,0.45,0.00,118.18,1.232,6,0.087,0.000,3101,2380,3190,0,0,0,0,0,0
$STATE,10089,end apogee,CONTROL_FINISHED_OK
$STATE,10090,begin climb
$GC,10094,1.27,146.0,907.1,0.0,334,10229,1.55,0.00,126.32,1.203,6,0.066,0.000,3446,2379,2594,0,0,0,0,0,0
$GC,10491,1.49,224.1,886.5,6.4,344,10571,0.20,3.12,70.07,1.173,4,0.065,0.107,3497,772,2275,0,0,0,0,0,0
$GC,10582,1.49,228.2,878.2,9.8,345,10593,0.00,2.75,5.03,0.800,6,0.000,0.051,3497,2356,2259,0,0,0,0,0,0
$GC,10856,1.55,228.2,850.5,10.3,352,10861,0.00,2.83,0.00,0.000,4,0.000,0.080,3497,3938,2254,0,0,0,0,0,0
$GC,10889,1.59,228.2,846.6,11.0,352,10895,0.00,2.70,0.00,0.000,6,0.000,0.043,3497,2354,2253,0,0,0,0,0,0
$GC,11139,1.65,228.2,820.9,10.3,359,11145,0.12,3.05,0.00,0.000,4,0.084,0.115,3531,770,2252,0,0,0,0,0,0
$GC,11174,1.65,228.2,816.7,12.8,359,11180,0.00,2.70,0.00,0.000,6,0.000,0.044,3531,2363,2252,0,0,0,0,0,0
$GC,11424,1.65,228.2,787.5,11.6,366,11428,0.00,2.78,0.00,0.000,4,0.000,0.074,3531,3935,2251,0,0,0,0,0,0
$GC,11439,1.65,228.2,785.6,11.6,366,11444,0.00,2.67,0.00,0.000,6,0.000,0.045,3531,2350,2251,0,0,0,0,0,0
$GC,11701,1.65,228.2,755.9,11.3,373,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2350,2250,0,0,0,0,0,0
$GC,11946,1.65,228.2,729.5,10.8,379,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2350,2249,0,0,0,0,0,0
$GC,12188,1.65,228.2,703.6,10.6,385,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2350,2249,0,0,0,0,0,0
$GC,12432,1.65,228.2,677.0,11.0,391,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2350,2248,0,0,0,0,0,0
$GC,12675,1.65,228.2,649.8,11.3,397,12680,0.00,2.72,0.00,0.000,4,0.000,0.061,3531,3938,2248,0,0,0,0,0,0
$GC,12693,1.65,228.2,647.8,11.3,397,12697,0.00,2.70,0.00,0.000,6,0.000,0.045,3531,2343,2247,0,0,0,0,0,0
$GC,12953,1.65,228.2,619.0,10.9,404,12954,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2343,2246,0,0,0,0,0,0
$GC,13197,1.65,228.2,592.9,10.6,410,13201,0.00,2.72,0.00,0.000,4,0.000,0.061,3531,3935,2247,0,0,0,0,0,0
$GC,13231,1.65,228.2,589.0,11.5,410,13236,0.00,2.67,0.00,0.000,6,0.000,0.048,3531,2352,2246,0,0,0,0,0,0
$GC,13480,1.65,228.2,561.4,10.9,417,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2352,2246,0,0,0,0,0,0
$GC,13724,1.65,228.2,534.0,11.2,423,13729,0.00,2.97,0.00,0.000,4,0.000,0.107,3531,764,2246,0,0,0,0,0,0
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$STATE,18783,end climb,SURFACE_DEPTH_REACHED
$STATE,18783,begin surface coast
$FINISH,0.7,1.022606
$STATE,18833,end surface coast,CONTROL_FINISHED_OK
$STATE,18833,begin surface
$SM_CCo,18916,0.00,0.000,0,0,1853,327.97
$SM_GC,1.70,12.70,0.00,0.00,0.022,0.000,0.000,466,2157,1853,-12.32,-2.06,327.97
$IRIDIUM_FIX,1916.08,-8126.35,170402,171731
$TT8_MAMPS,0.026078
$HUMID,54.88
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.90
$XPDR_PINGS,56
$24V_AH,23.2,5.023
$10V_AH,10.4,4.024
$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,29.825,205.550,411.125,0.000,0.000,27.663,32.735,182.939,14.000,0.000,14.320,1453.845,14493.979,520.129,2160.467,682.832,32.350,1487.661,0.000,2152.203,0.000,0.537,0.000
$DEVICE_MAMPS,172.575,160.303,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,467.280,306.670,396.997,507.073,966.601,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,54003,691
$CAP_FILE_SIZE,163687,0
$CFSIZE,260165632,126492672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220113,032936,1924.459,-8112.486,38,1.0,38,-3.8