version: 66.06
glider: 146
mission: 8
dive: 55
start: 1 27 113 6 33 59
data:
$ID,146
$MISSION,8
$DIVE,55
$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,-308384.69
$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,3250
$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,32
$R_STBD_OVSHOOT,41
$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,3200
$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
$GPS1,062229,1925.304,-8109.112,36,1.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.7
$GPS2,063306,1925.293,-8109.070,13,1.4,18,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,0.032
$KALMAN_X,43898.8,171.9,-113.9,-40332.2,1342.9
$KALMAN_Y,-4190.2,-94.3,-102.4,1166.1,86.6
$MHEAD_RNG_PITCHd_Wd,281.0,15912,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,100,0.00,0.00,-78.25,0.000,2,0.000,0.000,468,2152,3587,0,0,0,0,0,0
$GC,103,-1.27,-146.0,4.1,-7.0,10,128,13.70,2.65,-3.70,0.000,4,0.170,0.047,2966,3803,3799,0,0,0,0,0,0
$GC,264,-1.09,-146.0,43.4,-18.2,29,269,0.20,2.53,0.00,0.000,6,0.106,0.025,3009,2224,3799,0,0,0,0,0,0
$GC,531,-0.94,-146.0,86.0,-16.3,53,536,0.15,2.60,0.00,0.000,4,0.114,0.045,3042,654,3799,0,0,0,0,0,0
$GC,590,-0.94,-146.0,94.6,-13.3,57,595,0.00,2.45,0.00,0.000,6,0.000,0.018,3042,2239,3799,0,0,0,0,0,0
$GC,857,-0.90,-146.0,128.3,-11.5,81,862,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2239,3799,0,0,0,0,0,0
$GC,1124,-0.90,-146.0,154.7,-8.7,106,1128,0.00,2.62,0.00,0.000,4,0.000,0.046,3042,645,3799,0,0,0,0,0,0
$GC,1157,-0.94,-146.0,158.0,-8.4,108,1166,0.00,2.45,0.00,0.000,6,0.000,0.026,3042,2214,3800,0,0,0,0,0,0
$GC,1425,-0.99,-146.0,179.4,-7.8,133,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2214,3800,0,0,0,0,0,0
$GC,1688,-1.06,-146.0,199.7,-7.2,158,1690,0.10,0.00,0.00,0.000,6,0.079,0.000,2997,2214,3800,0,0,0,0,0,0
$GC,1942,-1.06,-146.0,221.6,-8.4,165,1947,0.00,2.55,0.00,0.000,4,0.000,0.045,2996,3801,3800,0,0,0,0,0,0
$GC,1970,-1.06,-146.0,224.4,-9.1,165,1974,0.00,2.50,0.00,0.000,6,0.000,0.027,2997,2195,3800,0,0,0,0,0,0
$GC,2220,-1.06,-146.0,245.7,-8.4,171,2224,0.00,2.55,0.00,0.000,4,0.000,0.058,2996,659,3800,0,0,0,0,0,0
$GC,2294,-1.06,-146.0,252.3,-9.4,172,2298,0.00,2.38,0.00,0.000,6,0.000,0.021,2996,2200,3800,0,0,0,0,0,0
$GC,2544,-1.06,-146.0,273.1,-8.2,178,2549,0.10,2.60,0.00,0.000,4,0.116,0.043,3019,3801,3800,0,0,0,0,0,0
$GC,2566,-1.11,-146.0,274.8,-7.5,178,2570,0.00,2.50,0.00,0.000,6,0.000,0.025,3019,2206,3799,0,0,0,0,0,0
$GC,2823,-1.17,-146.0,293.5,-7.5,185,2828,0.10,2.60,0.00,0.000,4,0.083,0.043,2976,3796,3799,0,0,0,0,0,0
$GC,2851,-1.17,-146.0,296.1,-9.3,185,2855,0.00,2.53,0.00,0.000,6,0.000,0.023,2976,2197,3799,0,0,0,0,0,0
$GC,3101,-1.17,-146.0,318.9,-9.0,191,3105,0.00,2.60,0.00,0.000,4,0.000,0.070,2976,649,3798,0,0,0,0,0,0
$GC,3130,-1.17,-146.0,321.2,-8.5,191,3134,0.00,2.45,0.00,0.000,6,0.000,0.032,2976,2200,3797,0,0,0,0,0,0
$GC,3380,-1.17,-146.0,343.6,-8.9,197,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2200,3797,0,0,0,0,0,0
$GC,3623,-1.17,-146.0,364.9,-8.7,203,3628,0.00,2.65,0.00,0.000,4,0.000,0.053,2976,3803,3796,0,0,0,0,0,0
$GC,3641,-1.17,-146.0,366.3,-8.4,203,3646,0.00,2.53,0.00,0.000,6,0.000,0.031,2976,2212,3796,0,0,0,0,0,0
$GC,3902,-1.17,-146.0,389.2,-8.7,210,3906,0.00,2.75,0.00,0.000,4,0.000,0.083,2976,641,3795,0,0,0,0,0,0
$GC,3986,-1.17,-146.0,397.0,-9.5,212,3990,0.00,2.50,0.00,0.000,6,0.000,0.039,2975,2195,3795,0,0,0,0,0,0
$GC,4271,-1.17,-146.0,422.0,-8.9,219,4276,0.00,2.72,0.00,0.000,4,0.000,0.058,2976,3818,3793,0,0,0,0,0,0
$GC,4293,-1.17,-146.0,424.3,-9.1,219,4298,0.00,2.62,0.00,0.000,6,0.000,0.038,2976,2199,3793,0,0,0,0,0,0
$GC,4549,-1.17,-146.0,446.1,-8.5,226,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2199,3792,0,0,0,0,0,0
$GC,4795,-1.17,-146.0,466.3,-8.3,232,4799,0.00,2.75,0.00,0.000,4,0.000,0.061,2975,3815,3791,0,0,0,0,0,0
$GC,4827,-1.17,-146.0,469.4,-8.8,232,4833,0.00,2.67,0.00,0.000,6,0.000,0.044,2976,2203,3790,0,0,0,0,0,0
$GC,5079,-1.17,-146.0,489.7,-8.1,239,5083,0.00,2.75,0.00,0.000,4,0.000,0.066,2976,3811,3789,0,0,0,0,0,0
$GC,5102,-1.17,-146.0,491.6,-7.7,239,5107,0.00,2.70,0.00,0.000,6,0.000,0.054,2975,2199,3789,0,0,0,0,0,0
$GC,5357,-1.17,-146.0,512.2,-8.1,246,5362,0.00,2.78,0.00,0.000,4,0.000,0.069,2975,3808,3788,0,0,0,0,0,0
$GC,5378,-1.17,-146.0,514.1,-8.3,246,5383,0.00,2.70,0.00,0.000,6,0.000,0.058,2976,2206,3788,0,0,0,0,0,0
$GC,5636,-1.17,-146.0,534.9,-8.2,253,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2206,3786,0,0,0,0,0,0
$GC,5877,-1.17,-146.0,555.0,-8.3,259,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2206,3786,0,0,0,0,0,0
$GC,6121,-1.17,-146.0,575.6,-8.6,265,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2206,3785,0,0,0,0,0,0
$GC,6365,-1.17,-146.0,595.9,-8.2,271,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2206,3783,0,0,0,0,0,0
$GC,6610,-1.17,-146.0,616.4,-8.4,277,6615,0.00,2.95,0.00,0.000,4,0.000,0.103,2976,3802,3781,0,0,0,0,0,0
$GC,6632,-1.17,-146.0,618.6,-9.4,277,6636,0.00,2.78,0.00,0.000,6,0.000,0.077,2975,2215,3781,0,0,0,0,0,0
$GC,6888,-1.17,-146.0,640.7,-8.7,284,6893,0.00,3.05,0.00,0.000,4,0.000,0.131,2975,642,3780,0,0,0,0,0,0
$GC,6923,-1.17,-146.0,643.8,-9.2,284,6929,0.00,2.75,0.00,0.000,6,0.000,0.077,2975,2205,3779,0,0,0,0,0,0
$GC,7173,-1.17,-146.0,665.3,-8.5,291,7178,0.00,3.05,0.00,0.000,4,0.000,0.123,2976,3820,3778,0,0,0,0,0,0
$GC,7206,-1.17,-146.0,668.3,-9.2,291,7212,0.00,2.90,0.00,0.000,6,0.000,0.091,2975,2219,3778,0,0,0,0,0,0
$GC,7458,-1.17,-146.0,689.4,-8.5,298,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2219,3777,0,0,0,0,0,0
$GC,7700,-1.17,-146.0,709.2,-8.0,304,7705,0.00,3.17,0.00,0.000,4,0.000,0.150,2975,641,3775,0,0,0,0,0,0
$GC,7732,-1.17,-146.0,711.9,-8.1,304,7738,0.00,2.90,0.00,0.000,6,0.000,0.099,2976,2210,3775,0,0,0,0,0,0
$GC,7982,-1.17,-146.0,731.4,-7.7,311,7987,0.00,3.28,0.00,0.000,4,0.000,0.153,2975,3822,3774,0,0,0,0,0,0
$GC,8024,-1.17,-146.0,734.6,-8.5,312,8029,0.00,2.80,0.00,0.000,6,0.000,0.075,2976,2219,3774,0,0,0,0,0,0
$GC,8308,-1.17,-146.0,758.3,-8.3,319,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3772,0,0,0,0,0,0
$GC,8552,-1.17,-146.0,778.7,-8.4,325,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2218,3771,0,0,0,0,0,0
$GC,8798,-1.17,-146.0,799.3,-8.4,331,8802,0.00,2.85,0.00,0.000,4,0.000,0.086,2975,3822,3770,0,0,0,0,0,0
$GC,8830,-1.17,-146.0,802.6,-9.3,331,8836,0.00,2.78,0.00,0.000,6,0.000,0.064,2975,2220,3769,0,0,0,0,0,0
$GC,9080,-1.17,-146.0,823.2,-8.2,338,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2219,3768,0,0,0,0,0,0
$GC,9326,-1.17,-146.0,843.0,-8.1,344,9331,0.00,2.85,0.00,0.000,4,0.000,0.085,2976,3829,3767,0,0,0,0,0,0
$GC,9375,-1.17,-146.0,847.6,-8.8,345,9380,0.00,2.78,0.00,0.000,6,0.000,0.070,2975,2225,3767,0,0,0,0,0,0
$GC,9647,-1.17,-146.0,868.7,-7.6,352,9652,0.00,2.83,0.00,0.000,4,0.000,0.081,2975,3823,3766,0,0,0,0,0,0
$GC,9676,-1.17,-146.0,870.8,-7.7,352,9681,0.00,2.75,0.00,0.000,6,0.000,0.067,2975,2234,3766,0,0,0,0,0,0
$GC,9926,-1.17,-146.0,888.8,-7.0,358,9931,0.00,3.08,0.00,0.000,4,0.000,0.126,2975,637,3765,0,0,0,0,0,0
$GC,9953,-1.17,-146.0,891.0,-7.9,358,9958,0.00,2.72,0.00,0.000,6,0.000,0.062,2975,2238,3764,0,0,0,0,0,0
$STATE,10079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10079,begin apogee
$GC,10087,-0.31,0.0,900.3,7.4,361,10209,0.90,0.00,118.12,1.229,6,0.076,0.000,3179,2363,3200,0,0,0,0,0,0
$STATE,10209,end apogee,CONTROL_FINISHED_OK
$STATE,10210,begin climb
$GC,10212,1.27,146.0,902.5,0.0,364,10351,1.48,2.97,126.65,1.195,4,0.041,0.092,3532,3927,2603,0,0,0,0,0,0
$GC,10369,1.18,153.5,894.3,9.7,368,10384,0.12,2.72,7.82,0.951,6,0.127,0.051,3509,2356,2573,0,0,0,0,0,0
$GC,10658,1.19,159.8,866.3,9.7,375,10666,0.00,0.00,6.25,0.894,6,0.000,0.000,3509,2356,2548,0,0,0,0,0,0
$GC,10903,1.22,181.4,843.9,9.0,381,10929,0.00,2.80,20.75,1.106,4,0.000,0.065,3509,3935,2460,0,0,0,0,0,0
$GC,10946,1.16,181.4,839.5,10.1,382,10950,0.00,2.67,0.00,0.000,6,0.000,0.044,3509,2360,2458,0,0,0,0,0,0
$GC,11223,1.17,184.4,812.2,9.9,389,11228,0.00,2.75,0.00,0.000,4,0.000,0.058,3509,3937,2455,0,0,0,0,0,0
$GC,11268,1.17,184.4,807.3,11.6,390,11273,0.00,2.65,0.00,0.000,6,0.000,0.042,3509,2371,2455,0,0,0,0,0,0
$GC,11545,1.17,184.4,779.1,10.1,397,11550,0.00,2.72,0.00,0.000,4,0.000,0.061,3509,3942,2453,0,0,0,0,0,0
$GC,11561,1.17,184.4,777.4,10.0,397,11565,0.00,2.65,0.00,0.000,6,0.000,0.041,3509,2363,2452,0,0,0,0,0,0
$GC,11824,1.17,190.1,751.7,9.7,404,11835,0.00,0.00,8.30,0.959,6,0.000,0.000,3509,2363,2424,0,0,0,0,0,0
$GC,12066,1.18,191.2,727.6,9.9,410,12070,0.00,2.72,0.00,0.000,4,0.000,0.060,3509,3941,2422,0,0,0,0,0,0
$GC,12092,1.18,191.2,724.6,10.5,410,12097,0.00,2.67,0.00,0.000,6,0.000,0.048,3509,2360,2421,0,0,0,0,0,0
$GC,12350,1.18,191.2,697.9,10.5,417,12355,0.00,2.75,0.00,0.000,4,0.000,0.061,3509,3944,2421,0,0,0,0,0,0
$GC,12365,1.18,191.2,695.9,10.5,417,12370,0.00,2.65,0.00,0.000,6,0.000,0.048,3510,2368,2421,0,0,0,0,0,0
$GC,12627,1.18,192.1,669.5,10.0,424,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2368,2420,0,0,0,0,0,0
$GC,12873,1.18,195.8,645.2,9.8,430,12881,0.00,0.00,6.28,0.847,6,0.000,0.000,3509,2369,2401,0,0,0,0,0,0
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$GC,13390,1.18,195.8,591.9,11.1,442,13396,0.00,2.65,0.00,0.000,6,0.000,0.043,3509,2366,2399,0,0,0,0,0,0
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$STATE,19122,end climb,SURFACE_DEPTH_REACHED
$STATE,19122,begin surface coast
$FINISH,0.8,1.023428
$STATE,19167,end surface coast,CONTROL_FINISHED_OK
$STATE,19167,begin surface
$SM_CCo,19189,52.17,0.495,0,0,1773,350.04
$SM_GC,1.51,0.00,0.00,52.17,0.000,0.000,0.495,468,2185,1773,-12.80,-1.27,350.04
$IRIDIUM_FIX,1916.08,-8105.33,230402,000043
$TT8_MAMPS,0.026078
$HUMID,55.11
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.70
$XPDR_PINGS,73
$24V_AH,23.2,8.543
$10V_AH,10.5,7.036
$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,29.750,231.050,386.800,52.175,0.000,23.384,36.398,406.784,18.250,0.000,19.730,1527.345,14489.631,596.880,2319.661,936.218,33.367,1604.988,0.000,2310.252,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,153.400,1228.734,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.106,335.687,433.773,556.734,1062.003,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,57389,726
$CAP_FILE_SIZE,176756,0
$CFSIZE,260165632,124731392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270113,115605,1925.281,-8110.982,40,1.2,40,-3.8