version: 66.06
glider: 146
mission: 8
dive: 96
start: 2 3 113 8 55 47
data:
$ID,146
$MISSION,8
$DIVE,96
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$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,-309262.38
$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,3270
$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,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,33
$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,3210
$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
$GPS1,084335,1924.701,-8110.968,24,1.6,24,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.3
$GPS2,085451,1924.691,-8110.968,11,2.2,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.239,0.101
$KALMAN_X,138199.5,458.8,127.9,-138485.1,1824.7
$KALMAN_Y,-19870.1,-5.4,70.0,15470.6,-948.3
$MHEAD_RNG_PITCHd_Wd,296.6,13003,-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,-71.03,0.000,2,0.000,0.000,467,2155,3572,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-7.0,9,122,13.82,2.67,-4.10,0.000,4,0.166,0.044,2987,3790,3807,0,0,0,0,0,0
$GC,227,-1.13,-146.0,36.4,-18.2,25,232,0.17,2.50,0.00,0.000,6,0.104,0.022,3025,2207,3808,0,0,0,0,0,0
$GC,494,-1.00,-146.0,78.9,-15.1,49,499,0.12,2.60,0.00,0.000,4,0.115,0.045,3051,633,3808,0,0,0,0,0,0
$GC,545,-0.97,-146.0,86.5,-12.7,52,554,0.00,2.47,0.00,0.000,6,0.000,0.017,3051,2225,3808,0,0,0,0,0,0
$GC,812,-0.97,-146.0,118.9,-11.0,77,816,0.00,2.60,0.00,0.000,4,0.000,0.049,3052,635,3809,0,0,0,0,0,0
$GC,851,-0.97,-146.0,123.8,-10.5,80,856,0.00,2.42,0.00,0.000,6,0.000,0.025,3051,2208,3808,0,0,0,0,0,0
$GC,1116,-1.02,-146.0,147.6,-8.3,104,1121,0.00,2.50,0.00,0.000,4,0.000,0.038,3051,3779,3809,0,0,0,0,0,0
$GC,1152,-1.10,-146.0,150.7,-7.8,106,1158,0.00,2.47,0.00,0.000,6,0.000,0.019,3051,2192,3809,0,0,0,0,0,0
$GC,1418,-1.18,-146.0,169.5,-6.9,131,1423,0.17,2.53,0.00,0.000,4,0.052,0.054,2981,643,3810,0,0,0,0,0,0
$GC,1450,-1.13,-146.0,172.6,-10.5,133,1455,0.17,2.42,0.00,0.000,6,0.096,0.025,3020,2225,3810,0,0,0,0,0,0
$GC,1715,-1.13,-146.0,194.9,-7.8,157,1719,0.00,2.58,0.00,0.000,4,0.000,0.046,3020,641,3810,0,0,0,0,0,0
$GC,1748,-1.13,-146.0,197.9,-8.0,159,1757,0.00,2.42,0.00,0.000,6,0.000,0.022,3020,2202,3810,0,0,0,0,0,0
$GC,2032,-1.18,-146.0,218.3,-7.2,169,2036,0.00,2.50,0.00,0.000,4,0.000,0.042,3020,3770,3810,0,0,0,0,0,0
$GC,2071,-1.25,-146.0,221.3,-7.0,170,2076,0.10,2.45,0.00,0.000,6,0.080,0.025,2971,2198,3810,0,0,0,0,0,0
$GC,2355,-1.25,-146.0,247.3,-9.4,177,2360,0.12,2.58,0.00,0.000,4,0.102,0.051,2999,634,3810,0,0,0,0,0,0
$GC,2429,-1.29,-146.0,253.5,-8.1,178,2434,0.00,2.42,0.00,0.000,6,0.000,0.021,3000,2211,3810,0,0,0,0,0,0
$GC,2679,-1.29,-146.0,272.7,-7.7,184,2684,0.00,2.53,0.00,0.000,4,0.000,0.041,2999,3778,3810,0,0,0,0,0,0
$GC,2721,-1.34,-146.0,276.0,-8.1,185,2726,0.00,2.42,0.00,0.000,6,0.000,0.022,3000,2210,3809,0,0,0,0,0,0
$GC,3005,-1.34,-146.0,299.5,-8.4,192,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2210,3809,0,0,0,0,0,0
$GC,3249,-1.34,-146.0,318.8,-7.8,198,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2210,3808,0,0,0,0,0,0
$GC,3494,-1.34,-146.0,337.6,-7.7,204,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2210,3807,0,0,0,0,0,0
$GC,3736,-1.38,-146.0,355.9,-7.5,210,3738,0.12,0.00,0.00,0.000,6,0.070,0.000,2952,2210,3807,0,0,0,0,0,0
$GC,3980,-1.33,-146.0,379.7,-9.9,216,3982,0.12,0.00,0.00,0.000,6,0.098,0.000,2980,2210,3806,0,0,0,0,0,0
$GC,4223,-1.33,-146.0,400.1,-8.3,222,4228,0.00,2.72,0.00,0.000,4,0.000,0.075,2979,642,3805,0,0,0,0,0,0
$GC,4252,-1.33,-146.0,402.5,-8.9,222,4257,0.00,2.50,0.00,0.000,6,0.000,0.040,2980,2193,3805,0,0,0,0,0,0
$GC,4502,-1.33,-146.0,423.6,-8.4,228,4507,0.00,2.67,0.00,0.000,4,0.000,0.058,2980,3790,3803,0,0,0,0,0,0
$GC,4557,-1.33,-146.0,428.7,-8.9,229,4562,0.00,2.53,0.00,0.000,6,0.000,0.035,2980,2223,3802,0,0,0,0,0,0
$GC,4826,-1.33,-146.0,450.8,-8.4,236,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2223,3802,0,0,0,0,0,0
$GC,5067,-1.33,-146.0,471.8,-8.7,242,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2223,3801,0,0,0,0,0,0
$GC,5311,-1.33,-146.0,491.7,-8.0,248,5316,0.00,2.90,0.00,0.000,4,0.000,0.106,2980,629,3800,0,0,0,0,0,0
$GC,5346,-1.33,-146.0,494.4,-8.6,248,5351,0.00,2.60,0.00,0.000,6,0.000,0.045,2980,2211,3799,0,0,0,0,0,0
$GC,5596,-1.33,-146.0,513.3,-7.4,255,5600,0.00,2.75,0.00,0.000,4,0.000,0.081,2980,3794,3798,0,0,0,0,0,0
$GC,5635,-1.33,-146.0,516.4,-7.3,256,5639,0.00,2.62,0.00,0.000,6,0.000,0.050,2980,2217,3798,0,0,0,0,0,0
$GC,5920,-1.33,-146.0,536.4,-6.9,263,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3797,0,0,0,0,0,0
$GC,6162,-1.33,-146.0,552.8,-6.7,269,6167,0.00,2.97,0.00,0.000,4,0.000,0.110,2980,621,3795,0,0,0,0,0,0
$GC,6183,-1.33,-146.0,554.4,-7.0,269,6188,0.00,2.65,0.00,0.000,6,0.000,0.047,2980,2213,3795,0,0,0,0,0,0
$GC,6441,-1.33,-146.0,572.5,-7.1,276,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3794,0,0,0,0,0,0
$GC,6682,-1.33,-146.0,590.1,-7.1,282,6687,0.00,2.83,0.00,0.000,4,0.000,0.091,2980,3800,3792,0,0,0,0,0,0
$GC,6704,-1.33,-146.0,591.8,-7.5,282,6708,0.00,2.70,0.00,0.000,6,0.000,0.064,2980,2209,3791,0,0,0,0,0,0
$GC,6959,-1.33,-146.0,610.3,-7.2,289,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3791,0,0,0,0,0,0
$GC,7205,-1.33,-146.0,629.4,-7.9,295,7210,0.00,3.03,0.00,0.000,4,0.000,0.124,2980,618,3789,0,0,0,0,0,0
$GC,7226,-1.33,-146.0,631.5,-7.9,295,7231,0.00,2.72,0.00,0.000,6,0.000,0.061,2980,2208,3789,0,0,0,0,0,0
$GC,7482,-1.33,-146.0,652.9,-8.5,302,7487,0.00,2.92,0.00,0.000,4,0.000,0.107,2980,3794,3788,0,0,0,0,0,0
$GC,7511,-1.33,-146.0,655.5,-9.5,302,7516,0.00,2.83,0.00,0.000,6,0.000,0.081,2980,2214,3788,0,0,0,0,0,0
$GC,7761,-1.33,-146.0,676.1,-8.3,308,7766,0.00,2.90,0.00,0.000,4,0.000,0.104,2980,3793,3787,0,0,0,0,0,0
$GC,7790,-1.33,-146.0,678.5,-9.1,308,7794,0.00,2.88,0.00,0.000,6,0.000,0.100,2980,2225,3787,0,0,0,0,0,0
$GC,8042,-1.33,-146.0,698.7,-8.2,314,8047,0.00,3.22,0.00,0.000,4,0.000,0.144,2979,618,3785,0,0,0,0,0,0
$GC,8075,-1.33,-146.0,701.8,-8.6,314,8080,0.00,2.92,0.00,0.000,6,0.000,0.099,2980,2216,3785,0,0,0,0,0,0
$GC,8325,-1.33,-146.0,722.4,-8.2,321,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3784,0,0,0,0,0,0
$GC,8570,-1.33,-146.0,742.3,-8.2,327,8575,0.00,3.22,0.00,0.000,4,0.000,0.159,2980,3795,3783,0,0,0,0,0,0
$GC,8592,-1.33,-146.0,744.4,-8.3,327,8597,0.00,2.75,0.00,0.000,6,0.000,0.072,2980,2215,3783,0,0,0,0,0,0
$GC,8847,-1.33,-146.0,765.3,-8.1,334,8852,0.00,3.05,0.00,0.000,4,0.000,0.125,2980,621,3782,0,0,0,0,0,0
$GC,8869,-1.33,-146.0,767.1,-8.1,334,8873,0.00,2.78,0.00,0.000,6,0.000,0.067,2980,2229,3782,0,0,0,0,0,0
$GC,9126,-1.33,-146.0,787.6,-8.0,341,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2229,3781,0,0,0,0,0,0
$GC,9367,-1.33,-146.0,806.2,-7.6,347,9372,0.00,2.95,0.00,0.000,4,0.000,0.101,2980,620,3780,0,0,0,0,0,0
$GC,9394,-1.33,-146.0,808.5,-8.1,347,9399,0.00,2.75,0.00,0.000,6,0.000,0.061,2980,2220,3780,0,0,0,0,0,0
$GC,9647,-1.37,-146.0,827.0,-7.4,353,9652,0.00,2.85,0.00,0.000,4,0.000,0.102,2980,3797,3779,0,0,0,0,0,0
$GC,9680,-1.37,-146.0,829.7,-7.8,353,9685,0.00,2.72,0.00,0.000,6,0.000,0.061,2980,2213,3779,0,0,0,0,0,0
$GC,9930,-1.41,-146.0,848.3,-7.6,360,9935,0.00,2.83,0.00,0.000,4,0.000,0.082,2980,3807,3777,0,0,0,0,0,0
$GC,9959,-1.45,-146.0,850.7,-8.6,360,9965,0.10,2.72,0.00,0.000,6,0.080,0.065,2940,2224,3777,0,0,0,0,0,0
$GC,10210,-1.41,-146.0,873.3,-9.0,366,10216,0.10,3.08,0.00,0.000,4,0.117,0.124,2962,620,3777,0,0,0,0,0,0
$GC,10257,-1.41,-146.0,877.4,-9.0,367,10261,0.00,2.75,0.00,0.000,6,0.000,0.058,2962,2226,3777,0,0,0,0,0,0
$GC,10534,-1.41,-146.0,899.8,-8.0,374,10538,0.00,2.08,0.00,0.000,3,0.000,0.088,2962,3397,3775,0,0,0,0,0,0
$STATE,10539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10539,begin apogee
$GC,10547,-0.31,0.0,900.3,8.1,374,10670,1.02,0.00,118.97,1.212,6,0.073,0.000,3199,2354,3210,0,0,0,0,0,0
$STATE,10671,end apogee,CONTROL_FINISHED_OK
$STATE,10671,begin climb
$GC,10675,1.27,146.0,904.0,0.0,377,10811,1.42,2.92,126.32,1.184,4,0.032,0.080,3552,3933,2613,0,0,0,0,0,0
$GC,10921,1.11,146.0,886.2,12.8,382,10926,0.20,2.67,0.00,0.000,6,0.114,0.054,3512,2375,2607,0,0,0,0,0,0
$GC,11171,1.08,158.0,861.7,9.4,388,11190,0.00,3.10,10.85,1.019,4,0.000,0.117,3512,782,2565,0,0,0,0,0,0
$GC,11198,1.02,164.9,859.1,9.7,388,11214,0.00,2.75,8.23,0.954,6,0.000,0.051,3512,2377,2536,0,0,0,0,0,0
$GC,11459,1.00,173.1,833.8,9.6,395,11470,0.12,0.00,8.23,0.962,6,0.119,0.000,3488,2377,2504,0,0,0,0,0,0
$GC,11702,1.03,201.9,812.5,8.7,401,11736,0.00,2.83,27.42,1.107,4,0.000,0.075,3488,3931,2386,0,0,0,0,0,0
$GC,11803,1.03,201.9,802.8,10.6,403,11808,0.00,2.65,0.00,0.000,6,0.000,0.040,3488,2364,2383,0,0,0,0,0,0
$GC,12075,1.05,218.2,776.9,9.3,410,12093,0.00,0.00,15.95,1.046,6,0.000,0.000,3488,2364,2320,0,0,0,0,0,0
$GC,12321,1.09,218.2,752.9,10.0,416,12326,0.00,3.03,0.00,0.000,4,0.000,0.115,3488,782,2317,0,0,0,0,0,0
$GC,12338,1.09,218.2,750.9,10.0,416,12343,0.00,2.67,0.00,0.000,6,0.000,0.044,3487,2386,2316,0,0,0,0,0,0
$GC,12599,1.13,218.2,724.4,10.2,423,12604,0.12,2.88,0.00,0.000,4,0.077,0.081,3524,781,2315,0,0,0,0,0,0
$GC,12617,1.13,218.2,722.2,11.0,423,12621,0.00,2.65,0.00,0.000,6,0.000,0.044,3524,2372,2314,0,0,0,0,0,0
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$GC,12916,1.08,218.2,684.0,13.2,431,12921,0.00,2.62,0.00,0.000,6,0.000,0.041,3524,2357,2313,0,0,0,0,0,0
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$STATE,19155,end climb,SURFACE_DEPTH_REACHED
$STATE,19155,begin surface coast
$FINISH,0.7,1.010896
$STATE,19193,end surface coast,CONTROL_FINISHED_OK
$STATE,19193,begin surface
$SM_CCo,19220,25.90,0.479,0,0,1783,350.04
$SM_GC,1.92,0.00,0.00,25.90,0.000,0.000,0.479,468,2186,1783,-12.89,-0.68,350.04
$IRIDIUM_FIX,1918.37,-8110.19,300402,080804
$TT8_MAMPS,0.026078
$HUMID,56.61
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.60
$XPDR_PINGS,66
$24V_AH,23.3,13.573
$10V_AH,10.4,11.722
$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,31.025,229.425,406.025,25.900,0.000,46.196,89.805,287.154,16.500,0.000,36.181,1546.138,14546.962,555.382,2365.529,901.759,33.371,1587.890,0.000,2338.321,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,158.769,1211.860,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.611,340.251,432.534,552.724,1053.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,57366,725
$CAP_FILE_SIZE,179085,0
$CFSIZE,260165632,122122240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030213,141800,1925.125,-8111.571,44,1.0,44,-3.8