version: 66.06
glider: 146
mission: 8
dive: 37
start: 1 23 113 6 42 51
data:
$ID,146
$MISSION,8
$DIVE,37
$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,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,-308043.22
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,061130,1926.577,-8113.354,36,1.6,36,-3.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.7
$GPS2,064157,1926.499,-8113.395,11,2.7,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.093
$KALMAN_X,14309.2,66.7,236.1,-18547.6,1435.1
$KALMAN_Y,-3371.8,73.1,359.2,1948.0,-818.7
$MHEAD_RNG_PITCHd_Wd,114.9,10266,-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,-63.42,0.000,2,0.000,0.000,465,2199,3491,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.9,-6.9,8,115,13.60,2.50,-4.95,0.000,4,0.173,0.060,2917,669,3789,0,0,0,0,0,0
$GC,152,-0.80,-146.0,28.9,-31.7,16,162,0.47,2.45,0.00,0.000,6,0.106,0.018,3018,2250,3789,0,0,0,0,0,0
$GC,422,-0.60,-146.0,80.5,-17.9,41,427,0.22,2.60,0.00,0.000,4,0.104,0.044,3066,672,3790,0,0,0,0,0,0
$GC,456,-0.45,-146.0,87.4,-16.8,43,461,0.15,2.38,0.00,0.000,6,0.108,0.018,3098,2223,3789,0,0,0,0,0,0
$GC,725,-0.49,-146.0,113.7,-9.4,67,730,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2224,3790,0,0,0,0,0,0
$GC,987,-0.58,-146.0,135.6,-6.8,92,988,0.12,0.00,0.00,0.000,6,0.067,0.000,3043,2225,3790,0,0,0,0,0,0
$GC,1245,-0.58,-146.0,158.5,-8.9,116,1250,0.12,2.55,0.00,0.000,4,0.100,0.051,3073,672,3790,0,0,0,0,0,0
$GC,1277,-0.64,-146.0,161.3,-8.3,118,1282,0.00,2.40,0.00,0.000,6,0.000,0.019,3073,2238,3790,0,0,0,0,0,0
$GC,1546,-0.72,-146.0,181.4,-7.1,142,1552,0.12,2.60,0.00,0.000,4,0.067,0.047,3019,662,3790,0,0,0,0,0,0
$GC,1570,-0.72,-146.0,183.9,-8.1,143,1576,0.10,2.40,0.00,0.000,6,0.114,0.019,3040,2228,3790,0,0,0,0,0,0
$GC,1853,-0.76,-146.0,206.7,-7.5,164,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2229,3790,0,0,0,0,0,0
$GC,2093,-0.81,-146.0,226.0,-8.1,170,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2229,3790,0,0,0,0,0,0
$GC,2336,-0.87,-146.0,244.6,-7.6,176,2341,0.12,2.58,0.00,0.000,4,0.068,0.054,2991,672,3789,0,0,0,0,0,0
$GC,2354,-0.87,-146.0,246.1,-7.7,176,2359,0.00,2.35,0.00,0.000,6,0.000,0.020,2991,2211,3789,0,0,0,0,0,0
$GC,2621,-0.87,-146.0,269.3,-8.7,183,2625,0.00,2.55,0.00,0.000,4,0.000,0.049,2991,3794,3788,0,0,0,0,0,0
$GC,2643,-0.83,-146.0,271.4,-9.2,183,2648,0.12,2.42,0.00,0.000,6,0.099,0.029,3020,2222,3788,0,0,0,0,0,0
$GC,2900,-0.83,-146.0,290.7,-7.4,190,2905,0.00,2.62,0.00,0.000,4,0.000,0.060,3020,652,3788,0,0,0,0,0,0
$GC,2916,-0.83,-146.0,292.3,-7.8,190,2920,0.00,2.42,0.00,0.000,6,0.000,0.028,3020,2207,3788,0,0,0,0,0,0
$GC,3177,-0.83,-146.0,313.7,-8.4,197,3181,0.00,2.58,0.00,0.000,4,0.000,0.052,3020,3804,3787,0,0,0,0,0,0
$GC,3200,-0.83,-146.0,315.6,-8.5,197,3204,0.00,2.45,0.00,0.000,6,0.000,0.030,3020,2225,3787,0,0,0,0,0,0
$GC,3455,-0.83,-146.0,335.0,-7.5,204,3459,0.00,2.65,0.00,0.000,4,0.000,0.075,3020,653,3786,0,0,0,0,0,0
$GC,3478,-0.83,-146.0,336.9,-8.7,204,3482,0.00,2.47,0.00,0.000,6,0.000,0.035,3020,2217,3785,0,0,0,0,0,0
$GC,3735,-0.87,-146.0,357.6,-8.0,211,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2217,3784,0,0,0,0,0,0
$GC,3977,-0.91,-146.0,375.8,-7.3,217,3981,0.00,2.65,0.00,0.000,4,0.000,0.069,3020,649,3783,0,0,0,0,0,0
$GC,3993,-0.91,-146.0,377.0,-7.4,217,3997,0.00,2.50,0.00,0.000,6,0.000,0.038,3020,2210,3783,0,0,0,0,0,0
$GC,4256,-0.94,-146.0,397.7,-7.9,224,4261,0.12,2.67,0.00,0.000,4,0.071,0.056,2974,3812,3782,0,0,0,0,0,0
$GC,4274,-0.94,-146.0,399.5,-8.0,224,4278,0.00,2.53,0.00,0.000,6,0.000,0.034,2973,2223,3782,0,0,0,0,0,0
$GC,4535,-0.90,-146.0,423.2,-8.9,231,4537,0.12,0.00,0.00,0.000,6,0.106,0.000,3002,2224,3780,0,0,0,0,0,0
$GC,4780,-0.90,-146.0,443.0,-8.4,237,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2224,3779,0,0,0,0,0,0
$GC,5022,-0.90,-146.0,463.4,-8.2,243,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2223,3778,0,0,0,0,0,0
$GC,5265,-0.90,-146.0,481.6,-7.4,249,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2224,3777,0,0,0,0,0,0
$GC,5509,-0.90,-146.0,501.4,-8.3,255,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2223,3776,0,0,0,0,0,0
$GC,5755,-0.90,-146.0,520.4,-7.6,261,5759,0.00,2.75,0.00,0.000,4,0.000,0.082,3002,3805,3774,0,0,0,0,0,0
$GC,5782,-0.90,-146.0,522.8,-7.8,261,5787,0.00,2.65,0.00,0.000,6,0.000,0.060,3002,2227,3774,0,0,0,0,0,0
$GC,6032,-0.90,-146.0,540.1,-6.8,267,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2227,3772,0,0,0,0,0,0
$GC,6278,-0.90,-146.0,558.2,-7.6,273,6283,0.00,3.00,0.00,0.000,4,0.000,0.124,3002,636,3771,0,0,0,0,0,0
$GC,6305,-0.90,-146.0,560.8,-8.6,273,6309,0.00,2.62,0.00,0.000,6,0.000,0.055,3002,2200,3770,0,0,0,0,0,0
$GC,6555,-0.90,-146.0,580.0,-7.7,279,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2201,3769,0,0,0,0,0,0
$GC,6799,-0.90,-146.0,599.1,-7.8,285,6803,0.00,2.95,0.00,0.000,4,0.000,0.104,3002,3814,3768,0,0,0,0,0,0
$GC,6841,-0.94,-146.0,602.3,-8.7,286,6845,0.00,2.75,0.00,0.000,6,0.000,0.064,3002,2208,3767,0,0,0,0,0,0
$GC,7124,-0.94,-146.0,626.6,-8.5,293,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2208,3766,0,0,0,0,0,0
$GC,7367,-0.94,-146.0,647.1,-8.4,299,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2208,3764,0,0,0,0,0,0
$GC,7613,-0.94,-146.0,665.1,-7.3,305,7618,0.00,2.95,0.00,0.000,4,0.000,0.110,3002,3816,3763,0,0,0,0,0,0
$GC,7642,-0.94,-146.0,667.5,-7.5,305,7647,0.00,2.80,0.00,0.000,6,0.000,0.081,3002,2223,3763,0,0,0,0,0,0
$GC,7892,-0.94,-146.0,686.0,-7.5,311,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2223,3762,0,0,0,0,0,0
$GC,8138,-0.94,-146.0,705.2,-7.9,317,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2222,3761,0,0,0,0,0,0
$GC,8382,-0.94,-146.0,724.9,-8.1,323,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2221,3760,0,0,0,0,0,0
$GC,8624,-0.94,-146.0,744.9,-8.1,329,8628,0.00,2.88,0.00,0.000,4,0.000,0.099,3002,3815,3759,0,0,0,0,0,0
$GC,8639,-0.94,-146.0,746.3,-8.3,329,8644,0.00,2.75,0.00,0.000,6,0.000,0.071,3002,2219,3759,0,0,0,0,0,0
$GC,8903,-0.94,-146.0,767.0,-7.9,336,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2219,3757,0,0,0,0,0,0
$GC,9144,-0.94,-146.0,785.8,-7.7,342,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2218,3756,0,0,0,0,0,0
$GC,9389,-0.97,-146.0,803.2,-7.0,348,9393,0.00,2.80,0.00,0.000,4,0.000,0.087,3002,3816,3755,0,0,0,0,0,0
$GC,9430,-1.02,-146.0,806.2,-6.9,349,9436,0.10,2.72,0.00,0.000,6,0.087,0.067,2966,2228,3755,0,0,0,0,0,0
$GC,9714,-1.02,-146.0,830.6,-8.8,356,9719,0.00,3.03,0.00,0.000,4,0.000,0.123,2966,641,3754,0,0,0,0,0,0
$GC,9736,-0.98,-146.0,832.7,-9.7,356,9740,0.00,2.72,0.00,0.000,6,0.000,0.064,2966,2231,3754,0,0,0,0,0,0
$GC,9993,-0.98,-146.0,856.4,-9.4,363,9998,0.00,2.88,0.00,0.000,4,0.000,0.097,2966,3816,3752,0,0,0,0,0,0
$GC,10032,-0.98,-146.0,860.3,-9.4,364,10037,0.00,2.70,0.00,0.000,6,0.000,0.065,2966,2222,3752,0,0,0,0,0,0
$GC,10318,-0.98,-146.0,884.7,-8.4,371,10322,0.00,2.80,0.00,0.000,4,0.000,0.078,2966,3816,3751,0,0,0,0,0,0
$GC,10345,-0.98,-146.0,887.4,-9.4,371,10349,0.00,2.70,0.00,0.000,6,0.000,0.066,2966,2237,3751,0,0,0,0,0,0
$STATE,10511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10511,begin apogee
$GC,10517,-0.31,0.0,902.0,8.8,375,10637,0.73,0.00,117.05,1.231,6,0.084,0.000,3128,2381,3190,0,0,0,0,0,0
$STATE,10638,end apogee,CONTROL_FINISHED_OK
$STATE,10638,begin climb
$GC,10643,1.27,146.0,906.3,0.0,378,10778,1.50,2.78,126.12,1.200,4,0.058,0.079,3473,3920,2593,0,0,0,0,0,0
$GC,10812,1.33,188.4,899.8,8.0,382,10856,0.00,2.70,38.58,1.152,6,0.000,0.056,3472,2359,2420,0,0,0,0,0,0
$GC,11135,1.44,217.6,873.1,8.7,390,11170,0.17,3.12,26.75,1.130,4,0.065,0.114,3518,775,2302,0,0,0,0,0,0
$GC,11200,1.44,217.6,866.3,11.3,391,11205,0.00,2.70,0.00,0.000,6,0.000,0.049,3518,2350,2300,0,0,0,0,0,0
$GC,11460,1.44,217.6,838.1,10.7,398,11465,0.00,2.80,0.00,0.000,4,0.000,0.079,3518,3941,2297,0,0,0,0,0,0
$GC,11504,1.44,217.6,832.8,12.1,399,11508,0.00,2.62,0.00,0.000,6,0.000,0.044,3518,2365,2295,0,0,0,0,0,0
$GC,11783,1.44,217.6,801.2,11.6,406,11788,0.00,3.00,0.00,0.000,4,0.000,0.113,3518,772,2294,0,0,0,0,0,0
$GC,11810,1.44,217.6,797.8,12.0,406,11814,0.00,2.67,0.00,0.000,6,0.000,0.049,3518,2376,2294,0,0,0,0,0,0
$GC,12060,1.44,217.6,770.4,10.7,412,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2377,2294,0,0,0,0,0,0
$GC,12303,1.44,217.6,744.7,10.6,418,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2377,2293,0,0,0,0,0,0
$GC,12549,1.44,217.6,717.9,11.0,424,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2378,2292,0,0,0,0,0,0
$GC,12791,1.44,217.6,692.1,10.5,430,12796,0.00,2.88,0.00,0.000,4,0.000,0.081,3518,764,2292,0,0,0,0,0,0
$GC,12812,1.44,217.6,689.8,10.6,430,12816,0.00,2.65,0.00,0.000,6,0.000,0.045,3518,2360,2291,0,0,0,0,0,0
$GC,13070,1.44,217.9,664.2,10.0,437,13074,0.00,2.72,0.00,0.000,4,0.000,0.077,3518,3937,2291,0,0,0,0,0,0
$GC,13096,1.44,217.9,660.8,11.9,437,13101,0.00,2.62,0.00,0.000,6,0.000,0.046,3518,2352,2291,0,0,0,0,0,0
$GC,13346,1.44,217.9,634.6,10.4,443,13351,0.00,2.70,0.00,0.000,4,0.000,0.058,3518,3934,2290,0,0,0,0,0,0
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$STATE,19262,end climb,SURFACE_DEPTH_REACHED
$STATE,19262,begin surface coast
$FINISH,0.7,1.023208
$STATE,19305,end surface coast,CONTROL_FINISHED_OK
$STATE,19305,begin surface
$SM_CCo,19328,25.62,0.492,0,0,1763,350.04
$SM_GC,1.57,0.00,0.00,25.62,0.000,0.000,0.492,469,2195,1763,-12.57,-0.99,350.04
$IRIDIUM_FIX,1920.65,-8114.36,190402,060631
$TT8_MAMPS,0.026078
$HUMID,56.37
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.60
$XPDR_PINGS,67
$24V_AH,23.2,5.952
$10V_AH,10.4,4.770
$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,31.075,222.850,403.025,25.625,0.000,141.905,226.690,1013.367,16.750,0.000,32.559,1533.874,14948.011,542.273,2271.727,1878.527,33.353,1543.411,0.000,2252.550,0.000,0.537,0.000
$DEVICE_MAMPS,172.575,124.254,1231.035,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.115,332.904,426.146,534.965,1017.560,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356100
$DATA_FILE_SIZE,57255,720
$CAP_FILE_SIZE,192765,0
$CFSIZE,260165632,126033920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230113,120636,1926.284,-8109.380,26,1.1,26,-3.8