version: 66.06
glider: 146
mission: 8
dive: 34
start: 1 22 113 14 45 55
data:
$ID,146
$MISSION,8
$DIVE,34
$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,-307956.72
$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,3200
$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,43
$R_STBD_OVSHOOT,36
$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
$GPS1,143406,1925.899,-8115.554,33,1.3,33,-3.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.0
$GPS2,144501,1925.869,-8115.529,10,1.5,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.237,0.105
$KALMAN_X,8476.1,377.5,-65.2,-16437.5,1041.0
$KALMAN_Y,-2583.3,-41.6,27.5,443.4,-326.1
$MHEAD_RNG_PITCHd_Wd,297.7,4797,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.53,0.000,2,0.000,0.000,466,2216,3416,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.4,-4.8,8,115,13.60,2.58,-6.80,0.000,4,0.173,0.041,2917,3819,3786,0,0,0,0,0,0
$GC,243,-0.93,-146.0,48.6,-24.3,25,253,0.35,2.53,0.00,0.000,6,0.104,0.023,2993,2239,3787,0,0,0,0,0,0
$GC,508,-0.69,-146.0,102.1,-18.8,50,513,0.25,2.60,0.00,0.000,4,0.111,0.046,3048,648,3787,0,0,0,0,0,0
$GC,539,-0.57,-146.0,107.4,-13.9,52,544,0.12,2.47,0.00,0.000,6,0.120,0.025,3074,2238,3787,0,0,0,0,0,0
$GC,806,-0.57,-146.0,132.4,-8.5,76,810,0.00,2.50,0.00,0.000,4,0.000,0.036,3074,3804,3789,0,0,0,0,0,0
$GC,851,-0.63,-146.0,136.6,-9.4,79,855,0.00,2.47,0.00,0.000,6,0.000,0.021,3074,2216,3788,0,0,0,0,0,0
$GC,1120,-0.70,-146.0,158.7,-7.9,103,1125,0.12,2.60,0.00,0.000,4,0.070,0.049,3025,652,3790,0,0,0,0,0,0
$GC,1183,-0.70,-146.0,166.1,-11.3,108,1188,0.10,2.45,0.00,0.000,6,0.114,0.025,3046,2239,3790,0,0,0,0,0,0
$GC,1446,-0.70,-146.0,188.1,-8.0,132,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2239,3789,0,0,0,0,0,0
$GC,1726,-0.75,-146.0,210.0,-7.7,150,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2240,3789,0,0,0,0,0,0
$GC,1969,-0.80,-146.0,228.3,-7.4,156,1973,0.00,2.50,0.00,0.000,4,0.000,0.038,3046,3793,3790,0,0,0,0,0,0
$GC,1992,-0.86,-146.0,230.0,-7.5,156,1998,0.15,2.42,0.00,0.000,6,0.061,0.024,2990,2229,3789,0,0,0,0,0,0
$GC,2248,-0.82,-146.0,254.4,-9.4,163,2254,0.15,2.62,0.00,0.000,4,0.100,0.063,3024,663,3790,0,0,0,0,0,0
$GC,2288,-0.82,-146.0,257.9,-8.3,164,2293,0.00,2.45,0.00,0.000,6,0.000,0.029,3024,2230,3789,0,0,0,0,0,0
$GC,2573,-0.82,-146.0,281.1,-8.1,171,2578,0.00,2.58,0.00,0.000,4,0.000,0.050,3024,3808,3788,0,0,0,0,0,0
$GC,2607,-0.87,-146.0,284.1,-8.3,171,2612,0.00,2.47,0.00,0.000,6,0.000,0.022,3024,2235,3788,0,0,0,0,0,0
$GC,2857,-0.87,-146.0,303.2,-7.7,178,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2235,3788,0,0,0,0,0,0
$GC,3102,-0.87,-146.0,322.7,-8.1,184,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2235,3787,0,0,0,0,0,0
$GC,3345,-0.90,-146.0,342.5,-8.2,190,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2235,3787,0,0,0,0,0,0
$GC,3588,-0.94,-146.0,362.1,-7.9,196,3590,0.12,0.00,0.00,0.000,6,0.068,0.000,2972,2236,3786,0,0,0,0,0,0
$GC,3834,-0.89,-146.0,386.5,-10.1,202,3836,0.15,0.00,0.00,0.000,6,0.100,0.000,3005,2235,3785,0,0,0,0,0,0
$GC,4075,-0.89,-146.0,407.1,-8.2,208,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2235,3784,0,0,0,0,0,0
$GC,4319,-0.89,-146.0,426.0,-7.6,214,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2235,3782,0,0,0,0,0,0
$GC,4563,-0.89,-146.0,444.4,-7.6,220,4567,0.00,2.65,0.00,0.000,4,0.000,0.061,3005,3801,3781,0,0,0,0,0,0
$GC,4592,-0.89,-146.0,446.7,-9.0,220,4596,0.00,2.58,0.00,0.000,6,0.000,0.041,3006,2245,3781,0,0,0,0,0,0
$GC,4842,-0.89,-146.0,467.1,-8.1,226,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2245,3780,0,0,0,0,0,0
$GC,5085,-0.89,-146.0,487.2,-8.3,232,5090,0.00,2.95,0.00,0.000,4,0.000,0.104,3006,647,3778,0,0,0,0,0,0
$GC,5120,-0.89,-146.0,490.1,-8.2,232,5126,0.00,2.62,0.00,0.000,6,0.000,0.050,3006,2224,3778,0,0,0,0,0,0
$GC,5371,-0.89,-146.0,510.6,-8.1,239,5376,0.00,2.78,0.00,0.000,4,0.000,0.077,3005,3822,3777,0,0,0,0,0,0
$GC,5393,-0.89,-146.0,512.7,-8.8,239,5397,0.00,2.60,0.00,0.000,6,0.000,0.048,3005,2247,3777,0,0,0,0,0,0
$GC,5650,-0.89,-146.0,534.1,-8.4,246,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2247,3776,0,0,0,0,0,0
$GC,5892,-0.89,-146.0,553.6,-7.9,252,5896,0.00,3.00,0.00,0.000,4,0.000,0.113,3006,641,3775,0,0,0,0,0,0
$GC,5919,-0.89,-146.0,555.8,-8.0,252,5923,0.00,2.70,0.00,0.000,6,0.000,0.053,3005,2244,3774,0,0,0,0,0,0
$GC,6171,-0.89,-146.0,575.3,-7.8,258,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2244,3773,0,0,0,0,0,0
$GC,6412,-0.89,-146.0,594.4,-7.8,264,6417,0.00,2.88,0.00,0.000,4,0.000,0.105,3005,3818,3772,0,0,0,0,0,0
$GC,6434,-0.89,-146.0,596.2,-8.1,264,6438,0.00,2.67,0.00,0.000,6,0.000,0.068,3006,2242,3772,0,0,0,0,0,0
$GC,6689,-0.89,-146.0,615.7,-7.7,271,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2242,3770,0,0,0,0,0,0
$GC,6935,-0.89,-146.0,634.8,-7.8,277,6939,0.00,3.05,0.00,0.000,4,0.000,0.125,3005,645,3769,0,0,0,0,0,0
$GC,6956,-0.89,-146.0,636.7,-7.9,277,6961,0.00,2.78,0.00,0.000,6,0.000,0.072,3005,2242,3769,0,0,0,0,0,0
$GC,7213,-0.89,-146.0,656.7,-7.9,284,7217,0.00,2.95,0.00,0.000,4,0.000,0.119,3006,3815,3767,0,0,0,0,0,0
$GC,7248,-0.93,-146.0,659.7,-8.7,284,7254,0.00,2.83,0.00,0.000,6,0.000,0.086,3006,2243,3767,0,0,0,0,0,0
$GC,7498,-0.93,-146.0,679.6,-7.9,291,7503,0.00,3.15,0.00,0.000,4,0.000,0.134,3006,637,3767,0,0,0,0,0,0
$GC,7519,-0.93,-146.0,681.6,-8.7,291,7524,0.00,2.90,0.00,0.000,6,0.000,0.087,3006,2249,3766,0,0,0,0,0,0
$GC,7779,-0.93,-146.0,702.2,-8.0,298,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2249,3765,0,0,0,0,0,0
$GC,8020,-0.93,-146.0,720.7,-7.5,304,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2249,3763,0,0,0,0,0,0
$GC,8264,-0.93,-146.0,738.4,-7.3,310,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2249,3762,0,0,0,0,0,0
$GC,8508,-0.93,-146.0,756.3,-7.3,316,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2249,3761,0,0,0,0,0,0
$GC,8754,-0.97,-146.0,774.5,-7.4,322,8759,0.00,3.40,0.00,0.000,4,0.000,0.181,3006,3817,3761,0,0,0,0,0,0
$GC,8782,-1.01,-146.0,777.0,-8.5,322,8787,0.12,2.67,0.00,0.000,6,0.071,0.054,2961,2231,3761,0,0,0,0,0,0
$GC,9034,-0.96,-146.0,799.9,-9.3,328,9036,0.12,0.00,0.00,0.000,6,0.114,0.000,2988,2231,3760,0,0,0,0,0,0
$GC,9277,-0.96,-146.0,820.1,-8.2,334,9282,0.00,2.83,0.00,0.000,4,0.000,0.083,2988,3823,3759,0,0,0,0,0,0
$GC,9299,-0.96,-146.0,822.3,-8.7,334,9303,0.00,2.75,0.00,0.000,6,0.000,0.070,2988,2234,3758,0,0,0,0,0,0
$GC,9554,-0.96,-146.0,843.6,-8.4,341,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2234,3757,0,0,0,0,0,0
$GC,9800,-0.96,-146.0,863.8,-8.3,347,9804,0.00,2.83,0.00,0.000,4,0.000,0.084,2988,3823,3756,0,0,0,0,0,0
$GC,9828,-0.96,-146.0,866.4,-9.0,347,9833,0.00,2.72,0.00,0.000,6,0.000,0.065,2987,2248,3756,0,0,0,0,0,0
$GC,10078,-0.96,-146.0,886.0,-7.7,353,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2248,3755,0,0,0,0,0,0
$STATE,10278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10278,begin apogee
$GC,10287,-0.31,0.0,901.7,7.8,358,10408,0.62,0.00,118.18,1.227,6,0.081,0.000,3129,2373,3190,0,0,0,0,0,0
$STATE,10409,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10411,1.27,146.0,905.6,0.0,361,10548,1.50,2.90,126.20,1.197,4,0.056,0.077,3475,3930,2592,0,0,0,0,0,0
$GC,10565,1.38,201.7,899.5,7.4,364,10622,0.10,2.75,50.30,1.158,6,0.092,0.056,3504,2359,2367,0,0,0,0,0,0
$GC,10902,1.38,201.7,866.8,10.0,373,10907,0.00,3.05,0.00,0.000,4,0.000,0.117,3504,770,2358,0,0,0,0,0,0
$GC,10917,1.38,201.7,864.8,10.2,373,10922,0.00,2.70,0.00,0.000,6,0.000,0.049,3504,2347,2358,0,0,0,0,0,0
$GC,11178,1.39,205.8,839.4,9.8,380,11183,0.00,2.83,0.00,0.000,4,0.000,0.080,3503,3938,2357,0,0,0,0,0,0
$GC,11202,1.39,211.4,837.1,9.7,380,11218,0.00,2.67,8.57,0.982,6,0.000,0.045,3504,2351,2328,0,0,0,0,0,0
$GC,11462,1.41,223.7,812.2,9.4,387,11481,0.00,3.12,13.00,1.049,4,0.000,0.115,3504,772,2277,0,0,0,0,0,0
$GC,11492,1.43,239.5,809.3,9.3,387,11514,0.00,2.70,16.12,1.068,6,0.000,0.048,3504,2362,2213,0,0,0,0,0,0
$GC,11791,1.49,251.5,781.1,9.4,395,11805,0.00,0.00,12.25,1.029,6,0.000,0.000,3503,2362,2164,0,0,0,0,0,0
$GC,12031,1.54,259.3,757.6,9.6,401,12046,0.12,2.90,8.65,0.958,4,0.082,0.084,3538,773,2131,0,0,0,0,0,0
$GC,12053,1.54,259.3,755.3,11.7,401,12058,0.00,2.65,0.00,0.000,6,0.000,0.047,3538,2351,2131,0,0,0,0,0,0
$GC,12314,1.54,259.3,724.4,11.8,408,12318,0.00,2.78,0.00,0.000,4,0.000,0.077,3538,3938,2129,0,0,0,0,0,0
$GC,12334,1.54,259.3,721.6,12.9,408,12339,0.00,2.67,0.00,0.000,6,0.000,0.044,3538,2347,2128,0,0,0,0,0,0
$GC,12590,1.54,259.3,690.7,12.2,415,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2348,2128,0,0,0,0,0,0
$GC,12835,1.54,259.3,661.0,12.2,421,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2348,2128,0,0,0,0,0,0
$GC,13077,1.54,259.3,631.3,12.2,427,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2348,2128,0,0,0,0,0,0
$GC,13321,1.54,259.3,601.8,12.1,433,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2347,2127,0,0,0,0,0,0
$GC,13564,1.54,259.3,572.7,11.9,439,13565,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2347,2127,0,0,0,0,0,0
$GC,13810,1.54,259.3,543.7,12.0,445,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2347,2126,0,0,0,0,0,0
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$STATE,18560,end climb,SURFACE_DEPTH_REACHED
$STATE,18560,begin surface coast
$FINISH,0.8,0.999375
$STATE,18609,end surface coast,CONTROL_FINISHED_OK
$STATE,18609,begin surface
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$TT8_MAMPS,0.026078
$HUMID,55.27
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.80
$XPDR_PINGS,54
$24V_AH,23.2,5.488
$10V_AH,10.4,4.387
$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
$DEVICE_SECS,30.625,177.925,421.350,0.000,0.000,30.319,32.731,433.108,13.500,0.000,11.884,1445.142,14315.801,510.958,2123.969,943.903,33.350,1440.003,0.000,2128.890,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.161,331.899,418.874,542.562,1034.303,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,53998,704
$CAP_FILE_SIZE,161886,0
$CFSIZE,260165632,126283776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220113,195836,1926.764,-8117.070,29,1.5,29,-3.7