version: 66.06
glider: 146
mission: 8
dive: 129
start: 2 10 113 19 50 0
data:
$ID,146
$MISSION,8
$DIVE,129
$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,290
$T_MISSION,620
$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,-309837.19
$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,3260
$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,38
$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,3200
$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
$GPS1,193959,1916.432,-8034.442,61,1.5,61,-4.2
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.5
$GPS2,194901,1916.373,-8034.465,11,1.4,11,-4.2
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tp7
$TGT_LATLONG,1924.500,-8027.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,0.235
$KALMAN_X,11201.3,-348.3,-359.0,11497.1,3382.8
$KALMAN_Y,-11333.4,844.3,432.4,10557.8,-4281.1
$MHEAD_RNG_PITCHd_Wd,30.8,19914,-18.1,-10.345
$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,-1.31,-146.0,0.0,0.0,0,92,0.00,0.00,-70.88,0.000,2,0.000,0.000,465,2140,3517,0,0,0,0,0,0
$GC,95,-1.31,-146.0,3.5,-4.7,9,121,13.75,0.00,-5.20,0.000,6,0.169,0.000,2968,2140,3797,0,0,0,0,0,0
$GC,399,-1.11,-146.0,67.9,-18.3,42,404,0.22,2.62,0.00,0.000,4,0.110,0.028,3015,3797,3797,0,0,0,0,0,0
$GC,422,-0.97,-146.0,72.9,-16.7,43,430,0.10,2.53,0.00,0.000,6,0.081,0.021,3043,2206,3797,0,0,0,0,0,0
$GC,687,-0.93,-146.0,107.1,-12.3,68,691,0.00,2.58,0.00,0.000,4,0.000,0.053,3043,631,3797,0,0,0,0,0,0
$GC,731,-0.93,-146.0,112.4,-12.2,71,735,0.00,2.42,0.00,0.000,6,0.000,0.016,3043,2212,3797,0,0,0,0,0,0
$GC,998,-0.98,-146.0,137.9,-9.6,95,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2213,3798,0,0,0,0,0,0
$GC,1263,-1.04,-146.0,159.0,-7.4,120,1267,0.00,2.58,0.00,0.000,4,0.000,0.050,3043,634,3799,0,0,0,0,0,0
$GC,1319,-1.15,-146.0,163.4,-8.0,124,1324,0.15,2.35,0.00,0.000,6,0.057,0.025,2979,2178,3799,0,0,0,0,0,0
$GC,1588,-1.15,-146.0,189.4,-9.0,148,1593,0.12,2.55,0.00,0.000,4,0.099,0.039,3008,3779,3799,0,0,0,0,0,0
$GC,1611,-1.15,-146.0,192.0,-8.3,149,1617,0.00,2.50,0.00,0.000,6,0.000,0.020,3008,2162,3799,0,0,0,0,0,0
$GC,1888,-1.21,-146.0,213.5,-7.9,164,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2162,3799,0,0,0,0,0,0
$GC,2130,-1.26,-146.0,231.9,-7.6,170,2134,0.00,2.58,0.00,0.000,4,0.000,0.042,3008,3769,3799,0,0,0,0,0,0
$GC,2157,-1.32,-146.0,234.0,-7.2,170,2162,0.15,2.50,0.00,0.000,6,0.058,0.021,2949,2174,3799,0,0,0,0,0,0
$GC,2410,-1.27,-146.0,256.8,-9.2,176,2415,0.15,2.60,0.00,0.000,4,0.097,0.038,2982,3768,3799,0,0,0,0,0,0
$GC,2426,-1.27,-146.0,258.7,-9.3,176,2430,0.00,2.47,0.00,0.000,6,0.000,0.025,2982,2175,3799,0,0,0,0,0,0
$GC,2687,-1.27,-146.0,280.1,-8.4,183,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2175,3798,0,0,0,0,0,0
$GC,2932,-1.27,-146.0,299.4,-7.9,189,2937,0.00,2.60,0.00,0.000,4,0.000,0.044,2982,3775,3798,0,0,0,0,0,0
$GC,2965,-1.27,-146.0,302.2,-7.8,189,2971,0.00,2.53,0.00,0.000,6,0.000,0.029,2982,2176,3798,0,0,0,0,0,0
$GC,3215,-1.27,-146.0,320.1,-7.1,196,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2176,3797,0,0,0,0,0,0
$GC,3461,-1.27,-146.0,339.1,-7.9,202,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2177,3796,0,0,0,0,0,0
$GC,3703,-1.27,-146.0,360.3,-8.9,208,3707,0.00,2.58,0.00,0.000,4,0.000,0.047,2983,3765,3795,0,0,0,0,0,0
$GC,3730,-1.27,-146.0,363.0,-9.3,208,3734,0.00,2.55,0.00,0.000,6,0.000,0.033,2982,2175,3795,0,0,0,0,0,0
$GC,3982,-1.27,-146.0,383.7,-8.1,214,3986,0.00,2.67,0.00,0.000,4,0.000,0.075,2982,626,3794,0,0,0,0,0,0
$GC,4003,-1.27,-146.0,385.8,-8.5,214,4007,0.00,2.42,0.00,0.000,6,0.000,0.028,2982,2149,3793,0,0,0,0,0,0
$GC,4259,-1.27,-146.0,406.8,-8.2,221,4263,0.00,2.65,0.00,0.000,4,0.000,0.049,2982,3765,3793,0,0,0,0,0,0
$GC,4286,-1.27,-146.0,409.2,-8.4,221,4290,0.00,2.58,0.00,0.000,6,0.000,0.035,2982,2175,3792,0,0,0,0,0,0
$GC,4538,-1.31,-146.0,429.5,-8.0,227,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2175,3791,0,0,0,0,0,0
$GC,4779,-1.31,-146.0,449.5,-8.2,233,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2175,3791,0,0,0,0,0,0
$GC,5024,-1.35,-146.0,468.2,-7.6,239,5028,0.00,2.62,0.00,0.000,4,0.000,0.058,2982,3761,3789,0,0,0,0,0,0
$GC,5075,-1.40,-146.0,472.3,-8.1,240,5081,0.12,2.62,0.00,0.000,6,0.070,0.043,2935,2166,3789,0,0,0,0,0,0
$GC,5348,-1.34,-146.0,498.2,-9.8,247,5350,0.15,0.00,0.00,0.000,6,0.098,0.000,2968,2166,3787,0,0,0,0,0,0
$GC,5592,-1.34,-146.0,518.1,-7.9,253,5596,0.00,2.72,0.00,0.000,4,0.000,0.068,2968,3761,3786,0,0,0,0,0,0
$GC,5626,-1.34,-146.0,520.9,-8.7,253,5632,0.00,2.62,0.00,0.000,6,0.000,0.054,2968,2189,3786,0,0,0,0,0,0
$GC,5876,-1.34,-146.0,541.1,-8.1,260,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2189,3785,0,0,0,0,0,0
$GC,6120,-1.34,-146.0,560.0,-7.6,266,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2189,3784,0,0,0,0,0,0
$GC,6366,-1.34,-146.0,578.5,-7.6,272,6370,0.00,2.72,0.00,0.000,4,0.000,0.080,2968,3756,3783,0,0,0,0,0,0
$GC,6405,-1.34,-146.0,581.9,-8.6,273,6409,0.00,2.67,0.00,0.000,6,0.000,0.064,2968,2191,3783,0,0,0,0,0,0
$GC,6688,-1.34,-146.0,604.2,-8.0,280,6693,0.00,3.03,0.00,0.000,4,0.000,0.128,2968,627,3780,0,0,0,0,0,0
$GC,6706,-1.34,-146.0,605.7,-8.5,280,6710,0.00,2.58,0.00,0.000,6,0.000,0.058,2968,2153,3781,0,0,0,0,0,0
$GC,6966,-1.34,-146.0,628.5,-8.7,287,6971,0.00,2.92,0.00,0.000,4,0.000,0.104,2968,3761,3779,0,0,0,0,0,0
$GC,6995,-1.34,-146.0,631.2,-9.6,287,7000,0.00,2.75,0.00,0.000,6,0.000,0.075,2968,2192,3779,0,0,0,0,0,0
$GC,7247,-1.34,-146.0,652.8,-8.5,293,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2192,3778,0,0,0,0,0,0
$GC,7489,-1.34,-146.0,673.7,-8.6,299,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2192,3777,0,0,0,0,0,0
$GC,7732,-1.34,-146.0,695.1,-8.6,305,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2192,3776,0,0,0,0,0,0
$GC,7976,-1.34,-146.0,714.7,-8.0,311,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2192,3775,0,0,0,0,0,0
$GC,8222,-1.34,-146.0,734.1,-8.0,317,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2192,3774,0,0,0,0,0,0
$GC,8463,-1.34,-146.0,754.1,-8.2,323,8468,0.00,3.17,0.00,0.000,4,0.000,0.154,2968,3752,3773,0,0,0,0,0,0
$GC,8481,-1.34,-146.0,755.7,-8.4,323,8485,0.00,2.67,0.00,0.000,6,0.000,0.071,2968,2197,3772,0,0,0,0,0,0
$GC,8744,-1.34,-146.0,776.9,-8.0,330,8749,0.00,3.00,0.00,0.000,4,0.000,0.125,2968,623,3771,0,0,0,0,0,0
$GC,8765,-1.34,-146.0,779.1,-8.7,330,8770,0.00,2.62,0.00,0.000,6,0.000,0.058,2968,2161,3771,0,0,0,0,0,0
$GC,9021,-1.34,-146.0,800.8,-8.5,337,9026,0.00,2.92,0.00,0.000,4,0.000,0.097,2968,3796,3770,0,0,0,0,0,0
$GC,9084,-1.39,-146.0,806.3,-8.8,338,9089,0.00,2.72,0.00,0.000,6,0.000,0.064,2968,2213,3769,0,0,0,0,0,0
$GC,9346,-1.39,-146.0,826.5,-7.5,345,9350,0.00,2.83,0.00,0.000,4,0.000,0.081,2968,3804,3768,0,0,0,0,0,0
$GC,9367,-1.39,-146.0,828.1,-7.3,345,9371,0.00,2.72,0.00,0.000,6,0.000,0.067,2968,2214,3768,0,0,0,0,0,0
$GC,9624,-1.39,-146.0,846.8,-7.4,352,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2214,3767,0,0,0,0,0,0
$GC,9866,-1.43,-146.0,865.9,-7.9,358,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2215,3766,0,0,0,0,0,0
$GC,10110,-1.47,-146.0,884.5,-7.7,364,10115,0.12,2.83,0.00,0.000,4,0.071,0.078,2925,3801,3765,0,0,0,0,0,0
$GC,10146,-1.41,-146.0,887.8,-9.6,364,10154,0.08,2.70,0.00,0.000,6,0.078,0.061,2947,2229,3765,0,0,0,0,0,0
$STATE,10311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10312,begin apogee
$GC,10318,-0.31,0.0,902.6,8.6,369,10440,1.08,0.00,118.93,1.221,6,0.074,0.000,3190,2386,3200,0,0,0,0,0,0
$STATE,10441,end apogee,CONTROL_FINISHED_OK
$STATE,10441,begin climb
$GC,10444,1.31,146.0,906.1,0.0,372,10580,1.48,2.88,126.40,1.187,4,0.035,0.081,3551,3933,2603,0,0,0,0,0,0
$GC,10672,1.17,146.0,890.0,13.1,377,10677,0.17,2.72,0.00,0.000,6,0.116,0.056,3517,2361,2598,0,0,0,0,0,0
$GC,10942,1.13,152.7,862.8,10.0,384,10955,0.00,2.78,6.20,0.888,4,0.000,0.064,3517,3932,2576,0,0,0,0,0,0
$GC,11017,1.07,152.7,853.9,11.4,385,11022,0.12,2.62,0.00,0.000,6,0.125,0.048,3492,2380,2575,0,0,0,0,0,0
$GC,11269,1.10,172.5,830.1,9.4,391,11292,0.00,0.00,18.90,1.088,6,0.000,0.000,3492,2380,2496,0,0,0,0,0,0
$GC,11555,1.12,193.6,803.0,9.3,398,11581,0.00,2.72,20.17,1.085,4,0.000,0.058,3492,3928,2409,0,0,0,0,0,0
$GC,11644,1.12,193.6,794.1,10.5,400,11648,0.00,2.60,0.00,0.000,6,0.000,0.044,3492,2385,2407,0,0,0,0,0,0
$GC,11921,1.15,213.2,767.1,9.4,407,11942,0.00,0.00,19.10,1.064,6,0.000,0.000,3492,2384,2330,0,0,0,0,0,0
$GC,12166,1.19,217.5,742.9,10.1,413,12177,0.12,3.10,5.00,0.788,4,0.076,0.117,3526,781,2313,0,0,0,0,0,0
$GC,12184,1.19,217.5,740.9,10.6,413,12189,0.00,2.67,0.00,0.000,6,0.000,0.039,3527,2388,2312,0,0,0,0,0,0
$GC,12445,1.19,217.5,708.9,12.2,420,12449,0.00,2.67,0.00,0.000,4,0.000,0.071,3527,3938,2312,0,0,0,0,0,0
$GC,12489,1.15,217.5,703.0,14.5,421,12493,0.00,2.58,0.00,0.000,6,0.000,0.040,3527,2386,2310,0,0,0,0,0,0
$GC,12768,1.15,217.5,668.4,12.5,428,12772,0.00,2.62,0.00,0.000,4,0.000,0.054,3527,3937,2310,0,0,0,0,0,0
$GC,12783,1.15,217.5,666.1,12.3,428,12788,0.00,2.58,0.00,0.000,6,0.000,0.041,3527,2394,2309,0,0,0,0,0,0
$GC,13044,1.15,217.5,635.9,11.5,435,13049,0.00,2.60,0.00,0.000,4,0.000,0.054,3527,3934,2309,0,0,0,0,0,0
$GC,13074,1.11,217.5,632.5,12.0,435,13079,0.12,2.55,0.00,0.000,6,0.120,0.045,3502,2399,2308,0,0,0,0,0,0
$GC,13323,1.11,217.5,606.3,10.4,441,13324,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,2399,2308,0,0,0,0,0,0
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$STATE,18631,end climb,SURFACE_DEPTH_REACHED
$STATE,18631,begin surface coast
$FINISH,0.9,1.023645
$STATE,18669,end surface coast,CONTROL_FINISHED_OK
$STATE,18669,begin surface
$SM_CCo,18694,15.52,0.472,0,0,1772,350.04
$SM_GC,1.85,0.00,0.00,15.52,0.000,0.000,0.472,464,2124,1772,-12.86,-2.43,350.04
$IRIDIUM_FIX,1909.23,-8035.64,070502,141457
$TT8_MAMPS,0.026078
$HUMID,58.66
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.80
$XPDR_PINGS,64
$24V_AH,23.3,18.315
$10V_AH,10.4,15.867
$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,31.375,205.350,414.525,15.525,0.000,28.015,35.048,313.741,16.000,0.000,13.188,1467.259,14205.155,542.360,2190.580,841.363,33.348,1522.918,0.000,2184.986,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,154.167,1221.064,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,468.335,314.639,404.260,512.091,975.177,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355940
$DATA_FILE_SIZE,54030,691
$CAP_FILE_SIZE,169513,0
$CFSIZE,260165632,119734272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110213,010305,1918.390,-8032.908,33,1.3,33,-4.2