version: 66.06
glider: 146
mission: 8
dive: 111
start: 2 6 113 18 17 9
data:
$ID,146
$MISSION,8
$DIVE,111
$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,-309536.66
$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,35
$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,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
$GPS1,180929,1924.230,-8106.826,40,1.5,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-76.2
$GPS2,181613,1924.208,-8106.729,14,1.5,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.049
$KALMAN_X,189345.1,672.2,244.7,-182562.4,2826.9
$KALMAN_Y,-36248.5,26.9,-181.1,31176.9,-746.1
$MHEAD_RNG_PITCHd_Wd,284.7,2227,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.57,0.000,2,0.000,0.000,466,2187,3563,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-6.5,9,122,13.85,2.60,-4.05,0.000,4,0.169,0.041,2986,3814,3803,0,0,0,0,0,0
$GC,271,-1.15,-146.0,43.6,-16.3,28,276,0.15,2.53,0.00,0.000,6,0.109,0.023,3018,2199,3804,0,0,0,0,0,0
$GC,535,-1.04,-146.0,82.5,-14.9,52,540,0.12,2.60,0.00,0.000,4,0.110,0.047,3045,632,3804,0,0,0,0,0,0
$GC,590,-0.99,-146.0,90.6,-12.6,56,595,0.00,2.50,0.00,0.000,6,0.000,0.017,3045,2255,3803,0,0,0,0,0,0
$GC,855,-0.95,-146.0,123.3,-11.8,80,860,0.00,2.67,0.00,0.000,4,0.000,0.044,3045,633,3804,0,0,0,0,0,0
$GC,899,-0.95,-146.0,128.4,-11.0,83,903,0.00,2.42,0.00,0.000,6,0.000,0.024,3045,2208,3804,0,0,0,0,0,0
$GC,1164,-0.99,-146.0,151.4,-8.5,107,1168,0.00,2.50,0.00,0.000,4,0.000,0.037,3045,3779,3805,0,0,0,0,0,0
$GC,1196,-1.06,-146.0,154.1,-8.8,109,1201,0.00,2.47,0.00,0.000,6,0.000,0.020,3045,2191,3805,0,0,0,0,0,0
$GC,1465,-1.13,-146.0,174.4,-7.3,133,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2191,3805,0,0,0,0,0,0
$GC,1728,-1.21,-146.0,193.4,-7.0,158,1733,0.17,2.53,0.00,0.000,4,0.054,0.055,2977,645,3805,0,0,0,0,0,0
$GC,1748,-1.26,-146.0,195.1,-7.9,159,1752,0.00,2.40,0.00,0.000,6,0.000,0.021,2977,2208,3806,0,0,0,0,0,0
$GC,2002,-1.26,-146.0,218.7,-9.2,168,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2208,3806,0,0,0,0,0,0
$GC,2243,-1.26,-146.0,240.4,-8.8,174,2248,0.00,2.55,0.00,0.000,4,0.000,0.051,2977,645,3805,0,0,0,0,0,0
$GC,2271,-1.26,-146.0,242.8,-8.1,174,2275,0.00,2.38,0.00,0.000,6,0.000,0.025,2977,2200,3805,0,0,0,0,0,0
$GC,2523,-1.26,-146.0,264.8,-8.9,180,2527,0.00,2.53,0.00,0.000,4,0.000,0.039,2978,3771,3805,0,0,0,0,0,0
$GC,2550,-1.26,-146.0,267.6,-9.4,180,2554,0.00,2.45,0.00,0.000,6,0.000,0.028,2977,2201,3805,0,0,0,0,0,0
$GC,2800,-1.26,-146.0,288.7,-8.4,186,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3805,0,0,0,0,0,0
$GC,3046,-1.26,-146.0,310.6,-9.1,192,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3804,0,0,0,0,0,0
$GC,3287,-1.26,-146.0,333.2,-9.3,198,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3803,0,0,0,0,0,0
$GC,3531,-1.26,-146.0,355.5,-9.0,204,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3802,0,0,0,0,0,0
$GC,3775,-1.26,-146.0,376.9,-8.8,210,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3802,0,0,0,0,0,0
$GC,4020,-1.26,-146.0,398.5,-8.9,216,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3800,0,0,0,0,0,0
$GC,4262,-1.26,-146.0,419.4,-8.4,222,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3799,0,0,0,0,0,0
$GC,4506,-1.26,-146.0,439.5,-8.3,228,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3799,0,0,0,0,0,0
$GC,4750,-1.26,-146.0,459.9,-8.4,234,4754,0.00,2.65,0.00,0.000,4,0.000,0.061,2977,3771,3797,0,0,0,0,0,0
$GC,4784,-1.26,-146.0,462.8,-8.5,234,4790,0.00,2.55,0.00,0.000,6,0.000,0.038,2977,2215,3797,0,0,0,0,0,0
$GC,5034,-1.26,-146.0,483.9,-8.3,241,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2214,3796,0,0,0,0,0,0
$GC,5278,-1.26,-146.0,503.7,-8.2,247,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2215,3795,0,0,0,0,0,0
$GC,5521,-1.26,-146.0,522.8,-7.7,253,5526,0.00,2.90,0.00,0.000,4,0.000,0.104,2977,620,3794,0,0,0,0,0,0
$GC,5550,-1.26,-146.0,525.2,-8.7,253,5555,0.00,2.58,0.00,0.000,6,0.000,0.043,2977,2178,3793,0,0,0,0,0,0
$GC,5800,-1.26,-146.0,545.3,-8.0,259,5805,0.00,2.85,0.00,0.000,4,0.000,0.083,2977,3798,3792,0,0,0,0,0,0
$GC,5855,-1.26,-146.0,550.1,-9.0,260,5860,0.00,2.62,0.00,0.000,6,0.000,0.048,2977,2213,3791,0,0,0,0,0,0
$GC,6124,-1.26,-146.0,571.8,-8.3,267,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2213,3791,0,0,0,0,0,0
$GC,6366,-1.26,-146.0,591.3,-7.9,273,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2213,3790,0,0,0,0,0,0
$GC,6612,-1.26,-146.0,609.8,-7.6,279,6616,0.00,2.80,0.00,0.000,4,0.000,0.089,2977,3797,3788,0,0,0,0,0,0
$GC,6635,-1.26,-146.0,611.7,-8.1,279,6640,0.00,2.70,0.00,0.000,6,0.000,0.064,2977,2221,3788,0,0,0,0,0,0
$GC,6890,-1.26,-146.0,630.2,-7.2,286,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2222,3786,0,0,0,0,0,0
$GC,7134,-1.26,-146.0,646.5,-6.5,292,7139,0.00,3.05,0.00,0.000,4,0.000,0.123,2977,624,3785,0,0,0,0,0,0
$GC,7168,-1.26,-146.0,648.9,-7.0,292,7174,0.00,2.75,0.00,0.000,6,0.000,0.071,2977,2211,3785,0,0,0,0,0,0
$GC,7418,-1.26,-146.0,665.7,-6.6,299,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2211,3784,0,0,0,0,0,0
$GC,7662,-1.26,-146.0,681.2,-6.4,305,7667,0.00,3.00,0.00,0.000,4,0.000,0.119,2977,3800,3783,0,0,0,0,0,0
$GC,7684,-1.26,-146.0,682.8,-7.3,305,7688,0.00,2.90,0.00,0.000,6,0.000,0.094,2977,2215,3783,0,0,0,0,0,0
$GC,7941,-1.26,-146.0,701.3,-7.3,312,7946,0.00,3.15,0.00,0.000,4,0.000,0.141,2977,620,3782,0,0,0,0,0,0
$GC,7964,-1.26,-146.0,703.3,-7.6,312,7969,0.00,2.90,0.00,0.000,6,0.000,0.089,2977,2220,3782,0,0,0,0,0,0
$GC,8220,-1.26,-146.0,722.2,-7.4,319,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2220,3780,0,0,0,0,0,0
$GC,8467,-1.26,-146.0,740.8,-7.7,325,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2220,3779,0,0,0,0,0,0
$GC,8707,-1.26,-146.0,760.5,-8.1,331,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2220,3778,0,0,0,0,0,0
$GC,8951,-1.26,-146.0,779.8,-7.9,337,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2220,3777,0,0,0,0,0,0
$GC,9197,-1.26,-146.0,798.1,-7.3,343,9202,0.00,3.45,0.00,0.000,4,0.000,0.191,2977,3794,3776,0,0,0,0,0,0
$GC,9220,-1.26,-146.0,799.9,-7.7,343,9225,0.00,2.65,0.00,0.000,6,0.000,0.054,2977,2216,3776,0,0,0,0,0,0
$GC,9475,-1.26,-146.0,818.1,-7.0,350,9480,0.00,3.05,0.00,0.000,4,0.000,0.121,2977,616,3775,0,0,0,0,0,0
$GC,9502,-1.26,-146.0,820.2,-7.7,350,9507,0.00,2.67,0.00,0.000,6,0.000,0.048,2977,2225,3774,0,0,0,0,0,0
$GC,9754,-1.26,-146.0,836.6,-6.5,356,9759,0.00,2.75,0.00,0.000,4,0.000,0.083,2977,3796,3774,0,0,0,0,0,0
$GC,9787,-1.26,-146.0,839.2,-6.9,356,9793,0.00,2.67,0.00,0.000,6,0.000,0.054,2977,2210,3773,0,0,0,0,0,0
$GC,10037,-1.26,-146.0,856.2,-6.8,363,10041,0.00,2.80,0.00,0.000,4,0.000,0.073,2978,3801,3772,0,0,0,0,0,0
$GC,10055,-1.26,-146.0,857.4,-6.6,363,10059,0.00,2.70,0.00,0.000,6,0.000,0.058,2977,2221,3772,0,0,0,0,0,0
$GC,10315,-1.26,-146.0,875.6,-7.0,370,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2221,3772,0,0,0,0,0,0
$GC,10560,-1.29,-146.0,892.0,-6.5,376,10564,0.00,2.78,0.00,0.000,4,0.000,0.080,2977,3794,3771,0,0,0,0,0,0
$GC,10583,-1.29,-146.0,893.5,-6.8,376,10587,0.00,2.70,0.00,0.000,6,0.000,0.060,2977,2224,3770,0,0,0,0,0,0
$STATE,10713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10713,begin apogee
$GC,10720,-0.31,0.0,902.2,6.5,380,10842,0.98,0.00,119.03,1.216,6,0.072,0.000,3200,2383,3205,0,0,0,0,0,0
$STATE,10843,end apogee,CONTROL_FINISHED_OK
$STATE,10843,begin climb
$GC,10845,1.27,146.0,904.5,0.0,383,10982,1.42,2.88,126.45,1.183,4,0.034,0.077,3552,3930,2608,0,0,0,0,0,0
$GC,11130,1.12,146.0,879.8,12.9,389,11136,0.17,2.70,0.00,0.000,6,0.117,0.051,3517,2365,2602,0,0,0,0,0,0
$GC,11387,1.08,153.6,854.0,9.6,396,11401,0.00,2.80,6.80,0.912,4,0.000,0.064,3517,3927,2578,0,0,0,0,0,0
$GC,11424,1.00,164.3,850.2,9.5,396,11444,0.12,2.65,11.27,1.023,6,0.124,0.044,3491,2372,2535,0,0,0,0,0,0
$GC,11720,1.05,203.8,825.1,8.2,404,11764,0.00,2.80,36.62,1.120,4,0.000,0.064,3491,3927,2374,0,0,0,0,0,0
$GC,11813,1.05,203.8,816.1,10.8,406,11817,0.00,2.62,0.00,0.000,6,0.000,0.042,3491,2382,2371,0,0,0,0,0,0
$GC,12090,1.06,205.4,788.4,9.9,413,12095,0.00,3.10,0.00,0.000,4,0.000,0.122,3491,777,2368,0,0,0,0,0,0
$GC,12111,1.06,205.4,786.0,10.1,413,12116,0.00,2.67,0.00,0.000,6,0.000,0.041,3491,2374,2367,0,0,0,0,0,0
$GC,12369,1.06,205.4,760.1,10.3,420,12374,0.00,2.72,0.00,0.000,4,0.000,0.071,3491,3934,2366,0,0,0,0,0,0
$GC,12395,1.06,205.4,756.8,11.2,420,12400,0.00,2.58,0.00,0.000,6,0.000,0.034,3491,2380,2366,0,0,0,0,0,0
$GC,12645,1.06,205.4,730.9,10.4,426,12647,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2380,2365,0,0,0,0,0,0
$GC,12889,1.06,205.4,704.9,10.7,432,12894,0.00,3.00,0.00,0.000,4,0.000,0.112,3491,784,2365,0,0,0,0,0,0
$GC,12912,1.06,205.4,702.3,11.9,432,12917,0.00,2.67,0.00,0.000,6,0.000,0.042,3491,2384,2364,0,0,0,0,0,0
$GC,13167,1.06,205.4,674.0,11.0,439,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2384,2364,0,0,0,0,0,0
$GC,13411,1.06,205.4,647.2,10.9,445,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2385,2364,0,0,0,0,0,0
$GC,13654,1.06,205.4,621.3,10.6,451,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2386,2363,0,0,0,0,0,0
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$STATE,19578,end climb,SURFACE_DEPTH_REACHED
$STATE,19578,begin surface coast
$FINISH,0.9,0.999278
$STATE,19634,end surface coast,CONTROL_FINISHED_OK
$STATE,19634,begin surface
$SM_CCo,19658,52.25,0.486,0,0,1778,350.04
$SM_GC,1.70,0.00,0.00,52.25,0.000,0.000,0.486,467,2178,1778,-12.89,-0.90,350.04
$IRIDIUM_FIX,1916.08,-8110.19,030502,131313
$TT8_MAMPS,0.026078
$HUMID,55.47
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.70
$XPDR_PINGS,55
$24V_AH,23.3,15.702
$10V_AH,10.4,13.613
$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,30.150,203.425,381.600,52.250,0.000,28.914,33.095,174.162,13.750,0.000,16.429,1541.106,14960.145,555.734,2335.522,715.951,33.365,1559.722,0.000,2327.766,0.000,0.537,0.000
$DEVICE_MAMPS,243.906,190.983,1215.695,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,502.010,348.196,443.497,582.518,1108.580,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,57118,741
$CAP_FILE_SIZE,170383,0
$CFSIZE,260165632,121036800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060213,234700,1923.787,-8106.279,37,1.2,37,-3.8