version: 66.06
glider: 146
mission: 8
dive: 97
start: 2 3 113 14 33 35
data:
$ID,146
$MISSION,8
$DIVE,97
$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,-309280.12
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,141800,1925.125,-8111.571,44,1.0,44,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.3
$GPS2,143242,1925.098,-8111.597,10,1.4,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.060
$KALMAN_X,141865.3,-66.2,193.4,-142786.4,2290.4
$KALMAN_Y,-20646.8,-124.6,-92.0,17283.9,-370.8
$MHEAD_RNG_PITCHd_Wd,287.2,11725,-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,-63.03,0.000,2,0.000,0.000,468,2187,3329,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-4.3,8,122,13.70,2.60,-9.48,0.000,4,0.166,0.041,2986,3787,3808,0,0,0,0,0,0
$GC,283,-1.14,-146.0,41.7,-18.1,31,288,0.15,2.50,0.00,0.000,6,0.110,0.024,3019,2212,3808,0,0,0,0,0,0
$GC,551,-1.01,-146.0,82.9,-15.4,55,556,0.12,2.62,0.00,0.000,4,0.110,0.046,3048,628,3809,0,0,0,0,0,0
$GC,612,-0.97,-146.0,91.3,-12.8,59,616,0.00,2.45,0.00,0.000,6,0.000,0.018,3048,2221,3808,0,0,0,0,0,0
$GC,878,-0.97,-146.0,124.3,-12.0,83,882,0.00,2.58,0.00,0.000,4,0.000,0.042,3047,634,3809,0,0,0,0,0,0
$GC,926,-0.97,-146.0,130.3,-11.2,86,935,0.00,2.42,0.00,0.000,6,0.000,0.018,3047,2193,3809,0,0,0,0,0,0
$GC,1189,-1.01,-146.0,154.9,-8.4,111,1193,0.00,2.50,0.00,0.000,4,0.000,0.041,3047,3775,3809,0,0,0,0,0,0
$GC,1247,-1.11,-146.0,159.1,-7.7,115,1251,0.00,2.47,0.00,0.000,6,0.000,0.024,3048,2182,3810,0,0,0,0,0,0
$GC,1514,-1.18,-146.0,178.4,-7.1,139,1519,0.15,2.53,0.00,0.000,4,0.058,0.049,2986,642,3810,0,0,0,0,0,0
$GC,1594,-1.18,-146.0,185.7,-8.9,145,1599,0.12,2.38,0.00,0.000,6,0.148,0.017,3014,2192,3810,0,0,0,0,0,0
$GC,1875,-1.23,-146.0,207.0,-7.7,165,1879,0.00,2.53,0.00,0.000,4,0.000,0.037,3014,3771,3810,0,0,0,0,0,0
$GC,1904,-1.28,-146.0,209.5,-7.9,165,1909,0.10,2.47,0.00,0.000,6,0.077,0.027,2962,2178,3810,0,0,0,0,0,0
$GC,2154,-1.23,-146.0,234.1,-9.8,171,2159,0.17,2.58,0.00,0.000,4,0.093,0.037,3003,3769,3810,0,0,0,0,0,0
$GC,2176,-1.23,-146.0,236.3,-9.1,171,2181,0.00,2.45,0.00,0.000,6,0.000,0.028,3003,2184,3810,0,0,0,0,0,0
$GC,2434,-1.27,-146.0,258.2,-8.5,178,2439,0.00,2.55,0.00,0.000,4,0.000,0.054,3003,635,3810,0,0,0,0,0,0
$GC,2485,-1.32,-146.0,262.7,-8.3,179,2489,0.00,2.40,0.00,0.000,6,0.000,0.021,3003,2180,3810,0,0,0,0,0,0
$GC,2757,-1.36,-146.0,283.5,-7.5,186,2762,0.12,2.60,0.00,0.000,4,0.067,0.041,2953,3776,3809,0,0,0,0,0,0
$GC,2799,-1.30,-146.0,287.1,-9.8,187,2804,0.15,2.50,0.00,0.000,6,0.092,0.021,2988,2185,3809,0,0,0,0,0,0
$GC,3083,-1.30,-146.0,310.2,-8.1,194,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2185,3808,0,0,0,0,0,0
$GC,3329,-1.30,-146.0,329.6,-7.7,200,3333,0.00,2.60,0.00,0.000,4,0.000,0.041,2988,3776,3808,0,0,0,0,0,0
$GC,3350,-1.30,-146.0,331.5,-8.0,200,3354,0.00,2.53,0.00,0.000,6,0.000,0.030,2987,2178,3807,0,0,0,0,0,0
$GC,3605,-1.30,-146.0,351.6,-8.0,207,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2178,3806,0,0,0,0,0,0
$GC,3851,-1.30,-146.0,372.2,-8.4,213,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2178,3806,0,0,0,0,0,0
$GC,4092,-1.30,-146.0,391.5,-7.8,219,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2178,3805,0,0,0,0,0,0
$GC,4336,-1.30,-146.0,410.2,-7.6,225,4341,0.00,2.65,0.00,0.000,4,0.000,0.049,2988,3772,3802,0,0,0,0,0,0
$GC,4370,-1.30,-146.0,413.0,-8.1,225,4375,0.00,2.55,0.00,0.000,6,0.000,0.040,2988,2200,3803,0,0,0,0,0,0
$GC,4622,-1.30,-146.0,431.9,-7.6,232,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3801,0,0,0,0,0,0
$GC,4863,-1.30,-146.0,450.4,-7.6,238,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3800,0,0,0,0,0,0
$GC,5107,-1.30,-146.0,469.0,-7.7,244,5112,0.00,2.65,0.00,0.000,4,0.000,0.060,2987,3775,3800,0,0,0,0,0,0
$GC,5154,-1.35,-146.0,472.8,-8.7,245,5159,0.00,2.60,0.00,0.000,6,0.000,0.046,2988,2202,3799,0,0,0,0,0,0
$GC,5432,-1.35,-146.0,495.2,-8.0,252,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2202,3797,0,0,0,0,0,0
$GC,5675,-1.35,-146.0,515.0,-8.0,258,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2202,3796,0,0,0,0,0,0
$GC,5919,-1.35,-146.0,533.8,-7.6,264,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2202,3795,0,0,0,0,0,0
$GC,6165,-1.35,-146.0,551.9,-7.4,270,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2202,3793,0,0,0,0,0,0
$GC,6407,-1.38,-146.0,569.3,-7.0,276,6411,0.00,2.78,0.00,0.000,4,0.000,0.084,2988,3772,3792,0,0,0,0,0,0
$GC,6434,-1.42,-146.0,571.2,-7.1,276,6440,0.12,2.65,0.00,0.000,6,0.067,0.056,2941,2205,3792,0,0,0,0,0,0
$GC,6688,-1.37,-146.0,594.0,-9.2,282,6690,0.15,0.00,0.00,0.000,6,0.100,0.000,2973,2204,3791,0,0,0,0,0,0
$GC,6928,-1.37,-146.0,613.8,-8.2,288,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3790,0,0,0,0,0,0
$GC,7172,-1.37,-146.0,633.4,-8.0,294,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3789,0,0,0,0,0,0
$GC,7417,-1.37,-146.0,653.7,-8.3,300,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3788,0,0,0,0,0,0
$GC,7659,-1.37,-146.0,674.5,-8.6,306,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2204,3786,0,0,0,0,0,0
$GC,7903,-1.37,-146.0,694.7,-8.3,312,7908,0.00,3.00,0.00,0.000,4,0.000,0.122,2974,3765,3784,0,0,0,0,0,0
$GC,7935,-1.37,-146.0,697.6,-8.7,312,7941,0.00,2.90,0.00,0.000,6,0.000,0.105,2974,2208,3784,0,0,0,0,0,0
$GC,8187,-1.37,-146.0,717.7,-7.9,319,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2208,3783,0,0,0,0,0,0
$GC,8429,-1.37,-146.0,736.6,-7.8,325,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3782,0,0,0,0,0,0
$GC,8673,-1.37,-146.0,754.3,-7.3,331,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2208,3781,0,0,0,0,0,0
$GC,8919,-1.37,-146.0,771.4,-7.0,337,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2208,3781,0,0,0,0,0,0
$GC,9160,-1.37,-146.0,788.9,-7.2,343,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2208,3779,0,0,0,0,0,0
$GC,9404,-1.37,-146.0,806.3,-7.1,349,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2208,3778,0,0,0,0,0,0
$GC,9648,-1.37,-146.0,823.6,-7.1,355,9653,0.00,3.58,0.00,0.000,4,0.000,0.207,2974,3762,3777,0,0,0,0,0,0
$GC,9694,-1.37,-146.0,827.2,-7.8,356,9699,0.00,2.65,0.00,0.000,6,0.000,0.060,2973,2209,3777,0,0,0,0,0,0
$GC,9972,-1.37,-146.0,847.5,-7.2,363,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3776,0,0,0,0,0,0
$GC,10216,-1.37,-146.0,865.3,-7.3,369,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3774,0,0,0,0,0,0
$GC,10461,-1.37,-146.0,883.0,-7.2,375,10466,0.00,2.70,0.00,0.000,4,0.000,0.074,2973,3767,3774,0,0,0,0,0,0
$GC,10494,-1.37,-146.0,885.9,-8.0,375,10500,0.00,2.65,0.00,0.000,6,0.000,0.067,2974,2219,3774,0,0,0,0,0,0
$STATE,10701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10701,begin apogee
$GC,10707,-0.31,0.0,901.7,7.5,381,10829,1.00,0.00,118.72,1.216,6,0.071,0.000,3202,2350,3210,0,0,0,0,0,0
$STATE,10830,end apogee,CONTROL_FINISHED_OK
$STATE,10830,begin climb
$GC,10835,1.27,146.0,904.7,0.0,384,10970,1.42,2.88,126.53,1.187,4,0.035,0.074,3553,3924,2613,0,0,0,0,0,0
$GC,11081,1.12,146.0,886.1,13.3,389,11086,0.20,2.67,0.00,0.000,6,0.114,0.052,3514,2369,2607,0,0,0,0,0,0
$GC,11331,1.06,146.0,860.4,10.1,395,11335,0.00,2.70,0.00,0.000,4,0.000,0.064,3514,3928,2604,0,0,0,0,0,0
$GC,11374,0.99,146.0,855.7,10.9,396,11380,0.15,2.62,0.00,0.000,6,0.112,0.044,3484,2382,2604,0,0,0,0,0,0
$GC,11654,1.04,185.4,832.8,8.2,403,11695,0.00,3.20,34.97,1.127,4,0.000,0.119,3483,779,2452,0,0,0,0,0,0
$GC,11707,1.08,220.3,828.0,8.4,404,11747,0.00,2.72,33.60,1.114,6,0.000,0.050,3484,2383,2310,0,0,0,0,0,0
$GC,12024,1.13,220.3,796.9,10.2,412,12026,0.12,0.00,0.00,0.000,6,0.077,0.000,3518,2383,2303,0,0,0,0,0,0
$GC,12264,1.13,220.3,769.3,11.4,418,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2384,2302,0,0,0,0,0,0
$GC,12507,1.13,220.3,742.0,11.2,424,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2384,2301,0,0,0,0,0,0
$GC,12753,1.13,220.3,715.2,10.9,430,12758,0.00,2.70,0.00,0.000,4,0.000,0.074,3518,3935,2300,0,0,0,0,0,0
$GC,12774,1.09,220.3,712.5,11.9,430,12779,0.00,2.60,0.00,0.000,6,0.000,0.037,3519,2372,2299,0,0,0,0,0,0
$GC,13029,1.09,220.3,684.8,10.8,437,13034,0.00,2.67,0.00,0.000,4,0.000,0.054,3519,3942,2299,0,0,0,0,0,0
$GC,13070,1.05,220.3,680.1,11.6,438,13075,0.00,2.60,0.00,0.000,6,0.000,0.042,3518,2384,2298,0,0,0,0,0,0
$GC,13353,1.05,220.3,648.2,11.1,445,13354,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2384,2298,0,0,0,0,0,0
$GC,13597,1.05,220.3,621.1,11.2,451,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2384,2298,0,0,0,0,0,0
$GC,13841,1.05,220.3,593.3,11.4,457,13845,0.00,2.62,0.00,0.000,4,0.000,0.058,3519,3937,2298,0,0,0,0,0,0
$GC,13858,1.05,220.3,591.3,11.7,457,13862,0.00,2.58,0.00,0.000,6,0.000,0.039,3518,2383,2297,0,0,0,0,0,0
$GC,14118,1.05,220.3,563.2,10.2,464,14119,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2383,2297,0,0,0,0,0,0
$GC,14362,1.05,220.3,537.9,10.5,470,14366,0.00,2.62,0.00,0.000,4,0.000,0.051,3519,3946,2297,0,0,0,0,0,0
$GC,14403,1.05,220.3,533.4,11.4,471,14407,0.00,2.58,0.00,0.000,6,0.000,0.042,3518,2387,2297,0,0,0,0,0,0
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$STATE,19281,end climb,SURFACE_DEPTH_REACHED
$STATE,19281,begin surface coast
$FINISH,0.8,1.008261
$STATE,19317,end surface coast,CONTROL_FINISHED_OK
$STATE,19317,begin surface
$SM_CCo,19342,28.42,0.481,0,0,1782,350.04
$SM_GC,1.77,0.00,0.00,28.42,0.000,0.000,0.481,464,2198,1782,-12.91,-0.34,350.04
$IRIDIUM_FIX,1929.80,-8020.60,300402,141432
$TT8_MAMPS,0.026078
$HUMID,56.45
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.60
$XPDR_PINGS,55
$24V_AH,23.3,13.729
$10V_AH,10.4,11.851
$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,31.025,157.475,400.350,28.425,0.000,90.411,138.786,347.250,13.750,0.000,17.117,1499.134,14918.873,510.280,2273.755,1041.657,33.358,1463.679,0.000,2269.558,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,207.090,1215.695,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.966,346.538,439.711,575.521,1097.087,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,57231,735
$CAP_FILE_SIZE,165481,0
$CFSIZE,260165632,122068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030213,195736,1925.193,-8112.366,29,1.0,29,-3.8