version: 66.06
glider: 146
mission: 8
dive: 99
start: 2 4 113 1 41 6
data:
$ID,146
$MISSION,8
$DIVE,99
$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,-309313.44
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,012453,1925.131,-8112.924,23,1.0,40,-3.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.4
$GPS2,014012,1925.108,-8112.923,13,1.0,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.251,0.068
$KALMAN_X,148318.1,268.5,182.9,-151876.2,2224.0
$KALMAN_Y,-22744.7,-106.8,-147.0,19440.5,-324.3
$MHEAD_RNG_PITCHd_Wd,289.0,9534,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.27,-146.0,0.0,0.0,0,96,0.00,0.00,-70.75,0.000,2,0.000,0.000,467,2115,3572,0,0,0,0,0,0
$GC,99,-1.27,-146.0,4.0,-6.8,9,124,13.88,2.42,-4.10,0.000,4,0.169,0.054,2987,632,3806,0,0,0,0,0,0
$GC,348,-1.10,-146.0,58.2,-16.9,35,354,0.20,2.50,0.00,0.000,6,0.127,0.018,3029,2248,3807,0,0,0,0,0,0
$GC,615,-1.00,-146.0,95.7,-13.0,59,620,0.10,0.00,0.00,0.000,6,0.128,0.000,3051,2248,3807,0,0,0,0,0,0
$GC,878,-1.00,-146.0,126.8,-10.4,84,882,0.00,2.62,0.00,0.000,4,0.000,0.043,3051,635,3807,0,0,0,0,0,0
$GC,969,-1.08,-146.0,135.3,-8.7,91,974,0.00,2.40,0.00,0.000,6,0.000,0.018,3051,2197,3808,0,0,0,0,0,0
$GC,1238,-1.15,-146.0,158.0,-7.6,115,1244,0.12,0.00,0.00,0.000,6,0.065,0.000,2998,2197,3808,0,0,0,0,0,0
$GC,1501,-1.15,-146.0,181.2,-8.3,140,1506,0.10,2.58,0.00,0.000,4,0.108,0.049,3021,637,3809,0,0,0,0,0,0
$GC,1560,-1.21,-146.0,186.4,-8.7,144,1569,0.00,2.40,0.00,0.000,6,0.000,0.018,3021,2183,3809,0,0,0,0,0,0
$GC,1817,-1.26,-146.0,206.1,-7.3,163,1822,0.12,2.55,0.00,0.000,4,0.067,0.041,2968,3776,3809,0,0,0,0,0,0
$GC,1859,-1.22,-146.0,209.9,-10.2,164,1864,0.15,2.47,0.00,0.000,6,0.093,0.027,3003,2171,3809,0,0,0,0,0,0
$GC,2143,-1.22,-146.0,232.8,-7.9,171,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2171,3809,0,0,0,0,0,0
$GC,2386,-1.22,-146.0,252.2,-7.9,177,2391,0.00,2.53,0.00,0.000,4,0.000,0.056,3003,636,3808,0,0,0,0,0,0
$GC,2405,-1.26,-146.0,253.7,-7.8,177,2409,0.00,2.38,0.00,0.000,6,0.000,0.028,3003,2167,3808,0,0,0,0,0,0
$GC,2666,-1.26,-146.0,273.6,-7.4,184,2670,0.00,2.62,0.00,0.000,4,0.000,0.046,3003,3782,3808,0,0,0,0,0,0
$GC,2727,-1.32,-146.0,278.6,-8.1,185,2731,0.00,2.47,0.00,0.000,6,0.000,0.028,3003,2190,3808,0,0,0,0,0,0
$GC,2990,-1.32,-146.0,298.3,-7.6,192,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2190,3807,0,0,0,0,0,0
$GC,3232,-1.36,-146.0,315.9,-7.2,198,3233,0.12,0.00,0.00,0.000,6,0.067,0.000,2953,2190,3806,0,0,0,0,0,0
$GC,3475,-1.31,-146.0,338.4,-9.3,204,3480,0.15,2.60,0.00,0.000,4,0.094,0.044,2987,3772,3805,0,0,0,0,0,0
$GC,3499,-1.31,-146.0,340.4,-8.6,204,3504,0.00,2.50,0.00,0.000,6,0.000,0.024,2987,2183,3805,0,0,0,0,0,0
$GC,3754,-1.31,-146.0,359.9,-7.5,211,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2183,3804,0,0,0,0,0,0
$GC,3998,-1.31,-146.0,378.3,-7.6,217,4002,0.00,2.60,0.00,0.000,4,0.000,0.051,2988,3774,3803,0,0,0,0,0,0
$GC,4027,-1.31,-146.0,380.4,-8.0,217,4032,0.00,2.53,0.00,0.000,6,0.000,0.035,2987,2196,3804,0,0,0,0,0,0
$GC,4277,-1.31,-146.0,399.6,-7.7,223,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2196,3802,0,0,0,0,0,0
$GC,4521,-1.31,-146.0,418.0,-7.5,229,4525,0.00,2.75,0.00,0.000,4,0.000,0.079,2988,623,3801,0,0,0,0,0,0
$GC,4550,-1.31,-146.0,420.4,-8.6,229,4554,0.00,2.50,0.00,0.000,6,0.000,0.041,2987,2172,3800,0,0,0,0,0,0
$GC,4800,-1.31,-146.0,440.7,-8.1,235,4804,0.00,2.72,0.00,0.000,4,0.000,0.058,2988,3798,3800,0,0,0,0,0,0
$GC,4855,-1.35,-146.0,445.7,-9.8,236,4860,0.00,2.58,0.00,0.000,6,0.000,0.037,2988,2205,3800,0,0,0,0,0,0
$GC,5124,-1.35,-146.0,468.5,-8.5,243,5129,0.00,2.83,0.00,0.000,4,0.000,0.092,2988,619,3799,0,0,0,0,0,0
$GC,5151,-1.35,-146.0,471.2,-9.2,243,5156,0.00,2.60,0.00,0.000,6,0.000,0.044,2987,2200,3798,0,0,0,0,0,0
$GC,5401,-1.35,-146.0,491.4,-8.1,249,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3797,0,0,0,0,0,0
$GC,5647,-1.35,-146.0,510.0,-7.6,255,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3796,0,0,0,0,0,0
$GC,5888,-1.35,-146.0,529.5,-8.0,261,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3795,0,0,0,0,0,0
$GC,6132,-1.35,-146.0,549.6,-8.3,267,6137,0.00,2.80,0.00,0.000,4,0.000,0.088,2987,3794,3793,0,0,0,0,0,0
$GC,6154,-1.35,-146.0,551.5,-8.4,267,6158,0.00,2.67,0.00,0.000,6,0.000,0.055,2988,2199,3793,0,0,0,0,0,0
$GC,6411,-1.39,-146.0,572.4,-8.1,274,6416,0.00,2.78,0.00,0.000,4,0.000,0.070,2987,3797,3792,0,0,0,0,0,0
$GC,6433,-1.43,-146.0,574.4,-8.1,274,6438,0.12,2.67,0.00,0.000,6,0.067,0.059,2938,2204,3791,0,0,0,0,0,0
$GC,6695,-1.38,-146.0,599.8,-9.9,281,6697,0.15,0.00,0.00,0.000,6,0.097,0.000,2971,2203,3791,0,0,0,0,0,0
$GC,6932,-1.38,-146.0,621.7,-8.9,287,6937,0.00,2.85,0.00,0.000,4,0.000,0.094,2971,3791,3789,0,0,0,0,0,0
$GC,6959,-1.38,-146.0,624.1,-9.4,287,6964,0.00,2.75,0.00,0.000,6,0.000,0.077,2971,2207,3789,0,0,0,0,0,0
$GC,7211,-1.38,-146.0,645.3,-8.3,293,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3788,0,0,0,0,0,0
$GC,7453,-1.38,-146.0,666.0,-8.4,299,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2207,3786,0,0,0,0,0,0
$GC,7697,-1.38,-146.0,686.3,-8.3,305,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3785,0,0,0,0,0,0
$GC,7940,-1.38,-146.0,707.4,-8.8,311,7945,0.00,3.03,0.00,0.000,4,0.000,0.120,2971,3789,3784,0,0,0,0,0,0
$GC,7960,-1.38,-146.0,709.2,-8.7,311,7965,0.00,2.80,0.00,0.000,6,0.000,0.081,2971,2207,3784,0,0,0,0,0,0
$GC,8221,-1.38,-146.0,731.1,-8.3,318,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2207,3783,0,0,0,0,0,0
$GC,8465,-1.38,-146.0,750.5,-7.9,324,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3782,0,0,0,0,0,0
$GC,8708,-1.38,-146.0,769.6,-7.9,330,8713,0.00,2.85,0.00,0.000,4,0.000,0.089,2971,3794,3781,0,0,0,0,0,0
$GC,8737,-1.38,-146.0,771.9,-8.7,330,8742,0.00,2.75,0.00,0.000,6,0.000,0.071,2971,2212,3781,0,0,0,0,0,0
$GC,8987,-1.38,-146.0,792.0,-7.9,336,8992,0.00,3.05,0.00,0.000,4,0.000,0.127,2971,616,3780,0,0,0,0,0,0
$GC,9015,-1.38,-146.0,794.2,-8.5,336,9019,0.00,2.75,0.00,0.000,6,0.000,0.068,2971,2206,3780,0,0,0,0,0,0
$GC,9266,-1.38,-146.0,813.7,-7.8,342,9271,0.00,2.90,0.00,0.000,4,0.000,0.096,2971,3807,3778,0,0,0,0,0,0
$GC,9299,-1.38,-146.0,816.5,-8.6,342,9305,0.00,2.75,0.00,0.000,6,0.000,0.067,2971,2210,3778,0,0,0,0,0,0
$GC,9549,-1.38,-146.0,835.4,-7.6,349,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2210,3777,0,0,0,0,0,0
$GC,9795,-1.38,-146.0,852.7,-7.1,355,9799,0.00,2.83,0.00,0.000,4,0.000,0.081,2971,3801,3776,0,0,0,0,0,0
$GC,9834,-1.38,-146.0,855.8,-8.2,356,9839,0.00,2.72,0.00,0.000,6,0.000,0.064,2971,2210,3775,0,0,0,0,0,0
$GC,10117,-1.38,-146.0,876.2,-7.3,363,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2210,3774,0,0,0,0,0,0
$GC,10361,-1.38,-146.0,893.4,-6.9,369,10365,0.00,2.83,0.00,0.000,4,0.000,0.079,2971,3798,3773,0,0,0,0,0,0
$GC,10393,-1.38,-146.0,895.8,-7.7,369,10399,0.00,2.72,0.00,0.000,6,0.000,0.066,2971,2216,3773,0,0,0,0,0,0
$STATE,10478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10478,begin apogee
$GC,10484,-0.31,0.0,901.8,7.0,372,10607,1.02,0.00,118.65,1.220,6,0.074,0.000,3203,2389,3209,0,0,0,0,0,0
$STATE,10607,end apogee,CONTROL_FINISHED_OK
$STATE,10607,begin climb
$GC,10612,1.27,146.0,904.0,0.0,375,10747,1.40,2.83,126.40,1.186,4,0.035,0.076,3551,3921,2613,0,0,0,0,0,0
$GC,10846,1.12,146.0,885.9,13.0,380,10852,0.17,2.70,0.00,0.000,6,0.117,0.058,3516,2365,2607,0,0,0,0,0,0
$GC,11108,1.07,154.6,859.5,9.6,387,11122,0.00,2.80,7.75,0.950,4,0.000,0.069,3516,3923,2579,0,0,0,0,0,0
$GC,11158,0.99,154.6,854.5,10.1,388,11164,0.15,2.65,0.00,0.000,6,0.116,0.046,3487,2369,2578,0,0,0,0,0,0
$GC,11436,1.04,195.0,831.2,8.1,395,11476,0.00,0.00,37.60,1.126,6,0.000,0.000,3487,2369,2415,0,0,0,0,0,0
$GC,11720,1.06,212.4,805.8,9.2,402,11739,0.00,0.00,17.20,1.068,6,0.000,0.000,3487,2370,2343,0,0,0,0,0,0
$GC,11966,1.11,220.2,782.1,9.6,408,11977,0.10,0.00,8.25,0.950,6,0.088,0.000,3517,2369,2312,0,0,0,0,0,0
$GC,12207,1.11,220.2,754.8,11.3,414,12212,0.00,2.65,0.00,0.000,4,0.000,0.054,3517,3928,2309,0,0,0,0,0,0
$GC,12229,1.07,220.2,752.2,11.8,414,12233,0.00,2.62,0.00,0.000,6,0.000,0.041,3517,2373,2308,0,0,0,0,0,0
$GC,12486,1.07,220.2,723.3,11.3,421,12490,0.00,2.65,0.00,0.000,4,0.000,0.054,3517,3927,2307,0,0,0,0,0,0
$GC,12507,1.07,220.2,720.4,11.6,421,12511,0.00,2.60,0.00,0.000,6,0.000,0.043,3517,2382,2306,0,0,0,0,0,0
$GC,12762,1.07,220.2,691.7,11.0,428,12766,0.00,2.65,0.00,0.000,4,0.000,0.054,3517,3935,2306,0,0,0,0,0,0
$GC,12777,1.07,220.2,689.7,11.3,428,12781,0.00,2.60,0.00,0.000,6,0.000,0.041,3517,2386,2306,0,0,0,0,0,0
$GC,13040,1.07,220.2,660.3,11.3,435,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2386,2306,0,0,0,0,0,0
$GC,13282,1.07,220.2,632.4,11.6,441,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2386,2306,0,0,0,0,0,0
$GC,13525,1.07,220.2,605.6,10.8,447,13527,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2386,2306,0,0,0,0,0,0
$GC,13769,1.07,220.2,579.6,10.6,453,13774,0.00,2.62,0.00,0.000,4,0.000,0.056,3517,3935,2305,0,0,0,0,0,0
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$STATE,19067,end climb,SURFACE_DEPTH_REACHED
$STATE,19067,begin surface coast
$FINISH,1.0,1.010720
$STATE,19112,end surface coast,CONTROL_FINISHED_OK
$STATE,19112,begin surface
$SM_CCo,19138,24.38,0.476,0,0,1783,350.04
$SM_GC,2.05,0.00,0.00,24.38,0.000,0.000,0.476,470,2199,1783,-12.88,-0.31,350.04
$IRIDIUM_FIX,1918.37,-8110.19,010502,010114
$TT8_MAMPS,0.026078
$HUMID,55.86
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.90
$XPDR_PINGS,64
$24V_AH,23.3,14.032
$10V_AH,10.4,12.103
$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,31.275,185.075,409.950,24.375,0.000,76.165,158.900,381.507,16.000,0.000,15.016,1505.308,14644.071,555.804,2285.804,1083.712,33.370,1517.190,0.000,2276.684,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,126.555,1219.530,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.322,343.077,437.516,577.536,1100.729,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,57447,727
$CAP_FILE_SIZE,170634,0
$CFSIZE,260165632,121917440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040213,070154,1925.124,-8113.490,44,1.4,44,-3.8