version: 66.06
glider: 146
mission: 8
dive: 108
start: 2 6 113 2 23 44
data:
$ID,146
$MISSION,8
$DIVE,108
$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,-309489.38
$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,20
$R_STBD_OVSHOOT,46
$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,3205
$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
$GPS1,021553,1926.652,-8117.965,23,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.6
$GPS2,022249,1926.640,-8117.853,9,1.7,9,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.257,-0.039
$KALMAN_X,177092.9,-8.5,-26.5,-188771.3,2950.2
$KALMAN_Y,-34882.1,-146.3,-13.4,34321.6,-1196.8
$MHEAD_RNG_PITCHd_Wd,102.5,17749,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.75,0.000,2,0.000,0.000,463,2243,3555,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-7.0,9,123,13.90,2.67,-4.07,0.000,4,0.169,0.048,2986,623,3801,0,0,0,0,0,0
$GC,148,-0.63,-146.0,25.7,-38.2,15,158,0.62,2.50,0.00,0.000,6,0.084,0.018,3128,2219,3801,0,0,0,0,0,0
$GC,429,-0.74,-146.0,54.3,-8.4,41,437,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2219,3802,0,0,0,0,0,0
$GC,696,-0.86,-146.0,75.4,-7.7,66,701,0.20,2.60,0.00,0.000,4,0.048,0.043,3053,616,3803,0,0,0,0,0,0
$GC,741,-0.86,-146.0,80.4,-12.0,69,746,0.12,2.45,0.00,0.000,6,0.100,0.017,3081,2215,3803,0,0,0,0,0,0
$GC,1010,-0.86,-146.0,108.2,-10.4,93,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2215,3803,0,0,0,0,0,0
$GC,1275,-0.94,-146.0,134.9,-7.3,118,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2216,3804,0,0,0,0,0,0
$GC,1538,-1.07,-146.0,151.7,-5.9,143,1543,0.17,2.62,0.00,0.000,4,0.051,0.048,3014,617,3804,0,0,0,0,0,0
$GC,1590,-1.07,-146.0,156.1,-8.8,147,1595,0.10,2.42,0.00,0.000,6,0.113,0.024,3037,2199,3805,0,0,0,0,0,0
$GC,1852,-1.13,-146.0,177.3,-7.8,171,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3805,0,0,0,0,0,0
$GC,2110,-1.20,-146.0,194.9,-7.2,195,2119,0.12,0.00,0.00,0.000,6,0.067,0.000,2984,2199,3805,0,0,0,0,0,0
$GC,2372,-1.20,-146.0,219.3,-9.0,206,2374,0.10,0.00,0.00,0.000,6,0.112,0.000,3007,2199,3805,0,0,0,0,0,0
$GC,2616,-1.25,-146.0,238.8,-8.0,212,2620,0.00,2.53,0.00,0.000,4,0.000,0.041,3007,3769,3805,0,0,0,0,0,0
$GC,2645,-1.30,-146.0,241.2,-8.6,212,2650,0.00,2.47,0.00,0.000,6,0.000,0.022,3007,2168,3805,0,0,0,0,0,0
$GC,2896,-1.34,-146.0,260.5,-7.5,218,2901,0.12,2.55,0.00,0.000,4,0.067,0.061,2955,635,3805,0,0,0,0,0,0
$GC,2912,-1.34,-146.0,261.9,-7.3,218,2917,0.10,2.40,0.00,0.000,6,0.114,0.019,2977,2200,3805,0,0,0,0,0,0
$GC,3175,-1.34,-146.0,284.3,-8.7,225,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3804,0,0,0,0,0,0
$GC,3416,-1.34,-146.0,305.7,-8.7,231,3421,0.00,2.58,0.00,0.000,4,0.000,0.054,2977,644,3804,0,0,0,0,0,0
$GC,3433,-1.34,-146.0,307.2,-8.5,231,3437,0.00,2.42,0.00,0.000,6,0.000,0.025,2977,2189,3804,0,0,0,0,0,0
$GC,3693,-1.34,-146.0,328.1,-7.9,238,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2189,3803,0,0,0,0,0,0
$GC,3937,-1.34,-146.0,347.7,-8.1,244,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2190,3802,0,0,0,0,0,0
$GC,4181,-1.34,-146.0,370.5,-9.5,250,4185,0.00,2.62,0.00,0.000,4,0.000,0.050,2977,3783,3801,0,0,0,0,0,0
$GC,4196,-1.34,-146.0,371.9,-9.4,250,4201,0.00,2.50,0.00,0.000,6,0.000,0.029,2977,2208,3801,0,0,0,0,0,0
$GC,4459,-1.34,-146.0,395.4,-8.8,257,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2208,3800,0,0,0,0,0,0
$GC,4701,-1.34,-146.0,415.4,-8.1,263,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2208,3799,0,0,0,0,0,0
$GC,4945,-1.34,-146.0,435.6,-8.3,269,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2208,3798,0,0,0,0,0,0
$GC,5190,-1.34,-146.0,455.1,-7.9,275,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2208,3797,0,0,0,0,0,0
$GC,5432,-1.34,-146.0,475.4,-8.4,281,5436,0.00,2.65,0.00,0.000,4,0.000,0.064,2977,3781,3796,0,0,0,0,0,0
$GC,5459,-1.34,-146.0,477.7,-8.8,281,5463,0.00,2.60,0.00,0.000,6,0.000,0.045,2977,2200,3796,0,0,0,0,0,0
$GC,5709,-1.34,-146.0,497.2,-7.6,287,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3794,0,0,0,0,0,0
$GC,5955,-1.34,-146.0,515.2,-7.4,293,5959,0.00,2.70,0.00,0.000,4,0.000,0.064,2977,3776,3794,0,0,0,0,0,0
$GC,5976,-1.34,-146.0,517.2,-7.8,293,5980,0.00,2.65,0.00,0.000,6,0.000,0.051,2977,2184,3793,0,0,0,0,0,0
$GC,6231,-1.34,-146.0,536.2,-7.4,300,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2184,3792,0,0,0,0,0,0
$GC,6477,-1.34,-146.0,555.2,-7.9,306,6481,0.00,2.78,0.00,0.000,4,0.000,0.077,2977,3776,3791,0,0,0,0,0,0
$GC,6492,-1.34,-146.0,556.8,-8.1,306,6497,0.00,2.65,0.00,0.000,6,0.000,0.056,2977,2190,3791,0,0,0,0,0,0
$GC,6754,-1.34,-146.0,577.7,-7.9,313,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2190,3789,0,0,0,0,0,0
$GC,6997,-1.34,-146.0,596.5,-7.6,319,7002,0.00,2.78,0.00,0.000,4,0.000,0.081,2977,3770,3789,0,0,0,0,0,0
$GC,7026,-1.34,-146.0,598.7,-8.1,319,7031,0.00,2.70,0.00,0.000,6,0.000,0.067,2977,2188,3788,0,0,0,0,0,0
$GC,7276,-1.34,-146.0,617.2,-7.3,325,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2189,3787,0,0,0,0,0,0
$GC,7520,-1.34,-146.0,634.9,-7.2,331,7525,0.00,2.85,0.00,0.000,4,0.000,0.091,2977,3775,3785,0,0,0,0,0,0
$GC,7543,-1.34,-146.0,636.6,-7.7,331,7548,0.00,2.78,0.00,0.000,6,0.000,0.078,2977,2195,3785,0,0,0,0,0,0
$GC,7798,-1.34,-146.0,656.1,-7.7,338,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2196,3784,0,0,0,0,0,0
$GC,8042,-1.34,-146.0,675.1,-7.7,344,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2196,3783,0,0,0,0,0,0
$GC,8288,-1.34,-146.0,693.7,-7.7,350,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2196,3782,0,0,0,0,0,0
$GC,8530,-1.34,-146.0,712.4,-7.6,356,8534,0.00,3.05,0.00,0.000,4,0.000,0.127,2977,3771,3781,0,0,0,0,0,0
$GC,8545,-1.34,-146.0,713.8,-7.7,356,8550,0.00,2.83,0.00,0.000,6,0.000,0.089,2977,2198,3781,0,0,0,0,0,0
$GC,8806,-1.34,-146.0,734.3,-8.0,363,8811,0.00,3.08,0.00,0.000,4,0.000,0.135,2977,616,3780,0,0,0,0,0,0
$GC,8824,-1.34,-146.0,735.7,-8.2,363,8829,0.00,2.72,0.00,0.000,6,0.000,0.077,2977,2170,3780,0,0,0,0,0,0
$GC,9085,-1.34,-146.0,756.6,-7.8,370,9089,0.00,2.95,0.00,0.000,4,0.000,0.107,2977,3797,3779,0,0,0,0,0,0
$GC,9129,-1.39,-146.0,760.3,-8.9,371,9133,0.00,2.78,0.00,0.000,6,0.000,0.067,2977,2198,3778,0,0,0,0,0,0
$GC,9408,-1.39,-146.0,780.3,-7.1,378,9413,0.00,2.83,0.00,0.000,4,0.000,0.083,2977,3798,3777,0,0,0,0,0,0
$GC,9424,-1.39,-146.0,781.7,-7.2,378,9429,0.00,2.75,0.00,0.000,6,0.000,0.064,2977,2205,3777,0,0,0,0,0,0
$GC,9685,-1.39,-146.0,801.0,-7.4,385,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3776,0,0,0,0,0,0
$GC,9931,-1.39,-146.0,819.1,-7.5,391,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3775,0,0,0,0,0,0
$GC,10172,-1.39,-146.0,838.0,-7.7,397,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3774,0,0,0,0,0,0
$GC,10416,-1.39,-146.0,856.4,-7.5,403,10421,0.00,2.83,0.00,0.000,4,0.000,0.086,2977,3801,3773,0,0,0,0,0,0
$GC,10439,-1.39,-146.0,858.2,-8.4,403,10444,0.00,2.72,0.00,0.000,6,0.000,0.062,2977,2208,3773,0,0,0,0,0,0
$GC,10695,-1.39,-146.0,876.9,-7.2,410,10699,0.00,3.00,0.00,0.000,4,0.000,0.120,2977,617,3772,0,0,0,0,0,0
$GC,10718,-1.39,-146.0,878.6,-7.5,410,10722,0.00,2.72,0.00,0.000,6,0.000,0.063,2977,2211,3772,0,0,0,0,0,0
$GC,10975,-1.43,-146.0,896.6,-7.0,417,10980,0.00,2.85,0.00,0.000,4,0.000,0.093,2977,3798,3770,0,0,0,0,0,0
$GC,11003,-1.47,-146.0,898.9,-8.3,417,11008,0.12,2.72,0.00,0.000,6,0.070,0.062,2934,2203,3770,0,0,0,0,0,0
$STATE,11047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11047,begin apogee
$GC,11053,-0.31,0.0,902.8,8.3,418,11175,1.17,0.00,118.90,1.214,6,0.074,0.000,3200,2393,3205,0,0,0,0,0,0
$STATE,11176,end apogee,CONTROL_FINISHED_OK
$STATE,11176,begin climb
$GC,11181,1.27,146.0,906.1,0.0,421,11316,1.42,2.75,126.03,1.183,4,0.033,0.076,3551,3924,2608,0,0,0,0,0,0
$GC,11440,1.12,146.0,885.5,13.3,427,11445,0.17,2.67,0.00,0.000,6,0.117,0.049,3517,2371,2603,0,0,0,0,0,0
$GC,11719,1.07,155.3,858.2,9.6,434,11729,0.00,0.00,8.65,0.977,6,0.000,0.000,3516,2370,2571,0,0,0,0,0,0
$GC,11964,1.04,172.7,835.8,9.2,440,11989,0.00,2.80,16.85,1.078,4,0.000,0.063,3517,3928,2499,0,0,0,0,0,0
$GC,12001,0.99,185.9,832.1,9.4,440,12021,0.15,2.65,13.68,1.044,6,0.116,0.042,3487,2368,2445,0,0,0,0,0,0
$GC,12297,1.02,207.6,805.9,9.0,448,12320,0.00,0.00,20.62,1.078,6,0.000,0.000,3487,2368,2358,0,0,0,0,0,0
$GC,12537,1.02,209.9,782.1,9.9,454,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2368,2354,0,0,0,0,0,0
$GC,12781,1.02,210.0,757.7,10.0,460,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2368,2353,0,0,0,0,0,0
$GC,13025,1.03,215.4,734.1,9.8,466,13039,0.00,2.75,7.62,0.913,4,0.000,0.062,3487,3927,2327,0,0,0,0,0,0
$GC,13070,1.03,215.4,729.6,11.0,467,13075,0.00,2.65,0.00,0.000,6,0.000,0.049,3487,2368,2326,0,0,0,0,0,0
$GC,13353,1.03,215.4,700.5,10.1,474,13358,0.00,3.03,0.00,0.000,4,0.000,0.117,3487,780,2325,0,0,0,0,0,0
$GC,13392,1.04,222.8,696.5,9.7,475,13407,0.00,2.65,8.50,0.923,6,0.000,0.048,3487,2368,2296,0,0,0,0,0,0
$GC,13684,1.08,229.2,668.4,9.7,482,13698,0.00,2.80,7.53,0.888,4,0.000,0.074,3487,3930,2270,0,0,0,0,0,0
$GC,13720,1.08,229.2,664.0,11.2,482,13726,0.00,2.62,0.00,0.000,6,0.000,0.038,3487,2360,2269,0,0,0,0,0,0
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$STATE,19556,end climb,SURFACE_DEPTH_REACHED
$STATE,19556,begin surface coast
$FINISH,0.8,1.001949
$STATE,19599,end surface coast,CONTROL_FINISHED_OK
$STATE,19599,begin surface
$SM_CCo,19624,19.48,0.475,0,0,1778,350.04
$SM_GC,2.00,0.00,0.00,19.48,0.000,0.000,0.475,469,2193,1778,-12.89,-0.45,350.04
$IRIDIUM_FIX,1918.37,-8119.23,020502,212155
$TT8_MAMPS,0.025311
$HUMID,57.00
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.20
$XPDR_PINGS,55
$24V_AH,23.3,15.317
$10V_AH,10.4,13.234
$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,31.825,191.850,416.200,19.475,0.000,28.414,40.268,189.174,13.750,0.000,12.741,1558.990,14837.613,554.063,2376.392,727.703,33.367,1565.849,0.000,2377.298,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,134.992,1214.161,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,514.092,361.283,463.156,608.485,1159.877,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,57353,759
$CAP_FILE_SIZE,170682,0
$CFSIZE,260165632,121253888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060213,075230,1926.334,-8112.983,40,1.3,40,-3.8