version: 66.06
glider: 146
mission: 8
dive: 43
start: 1 24 113 15 10 30
data:
$ID,146
$MISSION,8
$DIVE,43
$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,-308141.66
$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,3240
$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,33
$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
$GPS1,150135,1924.586,-8114.693,77,1.3,77,-3.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.5
$GPS2,150936,1924.584,-8114.721,9,1.4,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.226,0.127
$KALMAN_X,25435.1,211.0,-176.3,-31706.8,1381.0
$KALMAN_Y,-3000.9,109.3,-120.0,-1509.7,-195.7
$MHEAD_RNG_PITCHd_Wd,303.2,7267,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.32,0.000,2,0.000,0.000,468,2163,3546,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.8,-6.1,9,123,13.77,2.62,-4.05,0.000,4,0.173,0.039,2956,3809,3785,0,0,0,0,0,0
$GC,285,-1.03,-146.0,52.7,-21.3,29,290,0.28,2.50,0.00,0.000,6,0.105,0.026,3013,2227,3786,0,0,0,0,0,0
$GC,554,-0.85,-146.0,99.2,-16.8,53,559,0.17,2.60,0.00,0.000,4,0.115,0.048,3050,654,3787,0,0,0,0,0,0
$GC,659,-0.85,-146.0,114.4,-12.5,61,663,0.00,2.45,0.00,0.000,6,0.000,0.019,3050,2232,3787,0,0,0,0,0,0
$GC,927,-0.85,-146.0,141.0,-9.5,85,932,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2233,3787,0,0,0,0,0,0
$GC,1188,-0.85,-146.0,165.7,-8.8,110,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2233,3788,0,0,0,0,0,0
$GC,1447,-0.91,-146.0,185.6,-7.6,134,1452,0.00,2.60,0.00,0.000,4,0.000,0.048,3050,647,3789,0,0,0,0,0,0
$GC,1480,-0.98,-146.0,188.1,-7.6,136,1485,0.10,2.45,0.00,0.000,6,0.080,0.021,3006,2223,3789,0,0,0,0,0,0
$GC,1738,-0.98,-146.0,212.1,-9.6,151,1742,0.00,2.58,0.00,0.000,4,0.000,0.048,3006,655,3789,0,0,0,0,0,0
$GC,1770,-0.98,-146.0,215.6,-9.9,151,1776,0.00,2.42,0.00,0.000,6,0.000,0.027,3006,2219,3789,0,0,0,0,0,0
$GC,2021,-0.98,-146.0,238.7,-9.4,158,2026,0.10,2.58,0.00,0.000,4,0.112,0.041,3029,3804,3789,0,0,0,0,0,0
$GC,2067,-1.04,-146.0,242.8,-9.2,159,2072,0.00,2.50,0.00,0.000,6,0.000,0.023,3028,2202,3789,0,0,0,0,0,0
$GC,2346,-1.09,-146.0,262.8,-7.0,166,2348,0.12,0.00,0.00,0.000,6,0.069,0.000,2978,2202,3788,0,0,0,0,0,0
$GC,2592,-1.04,-146.0,284.8,-9.2,172,2593,0.15,0.00,0.00,0.000,6,0.097,0.000,3013,2202,3788,0,0,0,0,0,0
$GC,2833,-1.04,-146.0,303.7,-7.5,178,2837,0.00,2.62,0.00,0.000,4,0.000,0.049,3012,3804,3788,0,0,0,0,0,0
$GC,2854,-1.04,-146.0,305.3,-7.4,178,2858,0.00,2.50,0.00,0.000,6,0.000,0.028,3013,2216,3787,0,0,0,0,0,0
$GC,3111,-1.04,-146.0,323.5,-7.2,185,3116,0.00,2.62,0.00,0.000,4,0.000,0.065,3012,659,3787,0,0,0,0,0,0
$GC,3156,-1.09,-146.0,327.3,-7.7,186,3160,0.00,2.45,0.00,0.000,6,0.000,0.027,3012,2215,3786,0,0,0,0,0,0
$GC,3434,-1.09,-146.0,348.7,-7.8,193,3438,0.00,2.62,0.00,0.000,4,0.000,0.050,3012,3808,3786,0,0,0,0,0,0
$GC,3491,-1.14,-146.0,353.1,-7.7,194,3495,0.00,2.53,0.00,0.000,6,0.000,0.033,3013,2228,3785,0,0,0,0,0,0
$GC,3757,-1.14,-146.0,373.3,-7.5,201,3762,0.00,2.75,0.00,0.000,4,0.000,0.081,3012,644,3784,0,0,0,0,0,0
$GC,3778,-1.14,-146.0,375.0,-7.9,201,3783,0.00,2.55,0.00,0.000,6,0.000,0.035,3012,2224,3784,0,0,0,0,0,0
$GC,4036,-1.18,-146.0,395.2,-7.9,208,4041,0.12,2.70,0.00,0.000,4,0.070,0.069,2965,644,3783,0,0,0,0,0,0
$GC,4058,-1.18,-146.0,397.4,-8.4,208,4062,0.00,2.55,0.00,0.000,6,0.000,0.039,2965,2222,3783,0,0,0,0,0,0
$GC,4315,-1.13,-146.0,421.9,-9.5,215,4317,0.12,0.00,0.00,0.000,6,0.109,0.000,2993,2222,3782,0,0,0,0,0,0
$GC,4557,-1.13,-146.0,442.1,-8.2,221,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3781,0,0,0,0,0,0
$GC,4800,-1.13,-146.0,462.2,-8.3,227,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3780,0,0,0,0,0,0
$GC,5044,-1.13,-146.0,481.6,-7.8,233,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3778,0,0,0,0,0,0
$GC,5290,-1.13,-146.0,500.6,-7.9,239,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3778,0,0,0,0,0,0
$GC,5531,-1.13,-146.0,519.3,-7.6,245,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2222,3777,0,0,0,0,0,0
$GC,5775,-1.13,-146.0,537.7,-7.6,251,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3775,0,0,0,0,0,0
$GC,6019,-1.13,-146.0,556.6,-7.7,257,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2222,3774,0,0,0,0,0,0
$GC,6265,-1.13,-146.0,575.9,-7.8,263,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3773,0,0,0,0,0,0
$GC,6506,-1.13,-146.0,594.4,-7.6,269,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3772,0,0,0,0,0,0
$GC,6750,-1.13,-146.0,612.8,-7.5,275,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3770,0,0,0,0,0,0
$GC,6994,-1.13,-146.0,630.6,-7.3,281,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3769,0,0,0,0,0,0
$GC,7240,-1.13,-146.0,649.0,-7.6,287,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2222,3768,0,0,0,0,0,0
$GC,7481,-1.13,-146.0,667.9,-7.8,293,7486,0.00,3.10,0.00,0.000,4,0.000,0.140,2993,3805,3766,0,0,0,0,0,0
$GC,7503,-1.13,-146.0,669.8,-8.4,293,7508,0.00,2.85,0.00,0.000,6,0.000,0.100,2993,2240,3766,0,0,0,0,0,0
$GC,7760,-1.13,-146.0,690.2,-8.0,300,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2240,3765,0,0,0,0,0,0
$GC,8002,-1.13,-146.0,709.3,-7.8,306,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2240,3764,0,0,0,0,0,0
$GC,8245,-1.13,-146.0,727.8,-7.5,312,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2240,3762,0,0,0,0,0,0
$GC,8489,-1.13,-146.0,746.9,-8.0,318,8494,0.00,3.45,0.00,0.000,4,0.000,0.183,2993,642,3762,0,0,0,0,0,0
$GC,8526,-1.13,-146.0,750.0,-8.6,318,8532,0.00,3.10,0.00,0.000,6,0.000,0.128,2993,2219,3761,0,0,0,0,0,0
$GC,8778,-1.13,-146.0,770.1,-7.9,325,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2219,3761,0,0,0,0,0,0
$GC,9020,-1.13,-146.0,788.2,-7.3,331,9025,0.00,3.58,0.00,0.000,4,0.000,0.198,2993,3817,3760,0,0,0,0,0,0
$GC,9055,-1.13,-146.0,790.9,-8.2,331,9061,0.00,2.70,0.00,0.000,6,0.000,0.055,2993,2215,3760,0,0,0,0,0,0
$GC,9305,-1.13,-146.0,810.0,-7.5,338,9310,0.00,2.78,0.00,0.000,4,0.000,0.069,2993,3826,3758,0,0,0,0,0,0
$GC,9326,-1.13,-146.0,811.8,-8.2,338,9331,0.00,2.70,0.00,0.000,6,0.000,0.054,2993,2229,3758,0,0,0,0,0,0
$GC,9584,-1.13,-146.0,832.0,-7.8,345,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2229,3757,0,0,0,0,0,0
$GC,9825,-1.13,-146.0,850.8,-7.6,351,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2229,3756,0,0,0,0,0,0
$GC,10069,-1.13,-146.0,868.7,-7.4,357,10073,0.00,2.85,0.00,0.000,4,0.000,0.087,2993,3823,3754,0,0,0,0,0,0
$GC,10096,-1.16,-146.0,871.0,-8.8,357,10101,0.00,2.75,0.00,0.000,6,0.000,0.064,2993,2230,3754,0,0,0,0,0,0
$GC,10348,-1.16,-146.0,889.2,-7.3,363,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2230,3754,0,0,0,0,0,0
$STATE,10506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10506,begin apogee
$GC,10512,-0.31,0.0,901.4,7.5,367,10633,0.80,0.00,117.82,1.226,6,0.081,0.000,3172,2384,3190,0,0,0,0,0,0
$STATE,10634,end apogee,CONTROL_FINISHED_OK
$STATE,10634,begin climb
$GC,10636,1.27,146.0,904.8,0.0,370,10773,1.48,2.88,126.28,1.194,4,0.048,0.078,3520,3927,2593,0,0,0,0,0,0
$GC,10824,1.21,146.0,895.0,11.1,374,10828,0.00,2.75,0.00,0.000,6,0.000,0.056,3520,2352,2589,0,0,0,0,0,0
$GC,11087,1.20,175.8,872.6,8.6,381,11115,0.00,0.00,26.70,1.129,6,0.000,0.000,3520,2353,2473,0,0,0,0,0,0
$GC,11328,1.20,175.8,848.5,10.2,387,11332,0.00,2.72,0.00,0.000,4,0.000,0.067,3520,3928,2469,0,0,0,0,0,0
$GC,11355,1.13,175.8,845.6,11.0,387,11360,0.15,2.67,0.00,0.000,6,0.117,0.047,3489,2365,2467,0,0,0,0,0,0
$GC,11607,1.16,200.7,823.1,8.9,393,11632,0.00,0.00,23.45,1.111,6,0.000,0.000,3489,2365,2371,0,0,0,0,0,0
$GC,11849,1.23,216.9,800.5,9.3,399,11867,0.00,0.00,16.05,1.069,6,0.000,0.000,3489,2365,2305,0,0,0,0,0,0
$GC,12093,1.29,228.0,777.4,9.5,405,12107,0.12,0.00,11.80,1.026,6,0.081,0.000,3524,2366,2260,0,0,0,0,0,0
$GC,12338,1.29,228.0,750.4,11.3,411,12343,0.00,3.08,0.00,0.000,4,0.000,0.118,3524,769,2256,0,0,0,0,0,0
$GC,12359,1.29,228.0,747.4,11.6,411,12364,0.00,2.67,0.00,0.000,6,0.000,0.048,3524,2356,2255,0,0,0,0,0,0
$GC,12615,1.29,228.0,717.8,11.6,418,12619,0.00,2.75,0.00,0.000,4,0.000,0.077,3524,3933,2255,0,0,0,0,0,0
$GC,12632,1.29,228.0,715.7,12.0,418,12636,0.00,2.62,0.00,0.000,6,0.000,0.041,3524,2366,2254,0,0,0,0,0,0
$GC,12892,1.29,228.0,684.9,11.7,425,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2366,2254,0,0,0,0,0,0
$GC,13136,1.29,228.0,656.5,11.8,431,13140,0.00,2.70,0.00,0.000,4,0.000,0.060,3524,3942,2253,0,0,0,0,0,0
$GC,13159,1.29,228.0,653.5,12.7,431,13163,0.00,2.65,0.00,0.000,6,0.000,0.048,3524,2368,2253,0,0,0,0,0,0
$GC,13413,1.29,228.0,623.6,11.5,438,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2368,2252,0,0,0,0,0,0
$GC,13657,1.29,228.0,595.8,11.4,444,13658,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2368,2252,0,0,0,0,0,0
$GC,13901,1.29,228.0,567.7,11.6,450,13905,0.00,2.67,0.00,0.000,4,0.000,0.061,3524,3943,2251,0,0,0,0,0,0
$GC,13918,1.29,228.0,565.7,11.9,450,13922,0.00,2.60,0.00,0.000,6,0.000,0.041,3524,2372,2251,0,0,0,0,0,0
$GC,14178,1.29,228.0,534.5,11.9,457,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2372,2251,0,0,0,0,0,0
$GC,14422,1.29,228.0,505.9,11.7,463,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2372,2251,0,0,0,0,0,0
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$STATE,19021,end climb,SURFACE_DEPTH_REACHED
$STATE,19021,begin surface coast
$FINISH,0.7,1.023319
$STATE,19057,end surface coast,CONTROL_FINISHED_OK
$STATE,19057,begin surface
$SM_CCo,19082,8.73,0.443,0,0,1763,350.04
$SM_GC,1.54,0.00,0.00,8.73,0.000,0.000,0.443,468,2131,1763,-12.75,-2.80,350.04
$IRIDIUM_FIX,1916.08,-8112.45,200402,090958
$TT8_MAMPS,0.026078
$HUMID,55.59
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.60
$XPDR_PINGS,45
$24V_AH,23.2,6.864
$10V_AH,10.5,5.503
$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,30.475,155.375,423.150,8.725,0.000,35.654,38.944,244.671,11.250,0.000,16.223,1436.966,14780.963,523.266,2076.435,747.686,33.361,1424.564,0.000,2074.103,0.000,0.536,0.000
$DEVICE_MAMPS,172.575,197.886,1226.433,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,478.529,318.880,410.212,516.627,984.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355940
$DATA_FILE_SIZE,54242,707
$CAP_FILE_SIZE,154236,0
$CFSIZE,260165632,125644800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240113,203030,1925.590,-8116.541,69,1.4,69,-3.7