version: 66.06
glider: 146
mission: 8
dive: 155
start: 2 16 113 16 25 38
data:
$ID,146
$MISSION,8
$DIVE,155
$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,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,-310354.28
$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,62
$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,3190
$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
$GPS1,161800,1927.868,-8113.647,40,1.1,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.6
$GPS2,162443,1927.851,-8113.701,13,1.3,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.072
$KALMAN_X,-6828.7,-367.7,131.1,-39536.1,-1034.7
$KALMAN_Y,-36827.3,401.8,292.5,57878.4,-853.6
$MHEAD_RNG_PITCHd_Wd,109.9,11735,-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,-71.00,0.000,2,0.000,0.000,466,2170,3506,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-4.9,9,122,13.75,2.58,-5.05,0.000,4,0.167,0.037,2976,3790,3787,0,0,0,0,0,0
$GC,332,-1.13,-146.0,53.5,-17.4,34,337,0.17,2.42,0.00,0.000,6,0.104,0.023,3015,2236,3788,0,0,0,0,0,0
$GC,597,-1.01,-146.0,92.9,-14.8,58,602,0.10,2.65,0.00,0.000,4,0.123,0.048,3037,639,3789,0,0,0,0,0,0
$GC,645,-0.96,-146.0,100.8,-13.9,61,651,0.00,2.42,0.00,0.000,6,0.000,0.020,3038,2222,3788,0,0,0,0,0,0
$GC,908,-0.96,-146.0,129.5,-10.4,86,909,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2222,3789,0,0,0,0,0,0
$GC,1162,-1.00,-146.0,150.6,-7.4,110,1166,0.00,2.58,0.00,0.000,4,0.000,0.047,3038,638,3790,0,0,0,0,0,0
$GC,1232,-1.07,-146.0,156.3,-8.0,115,1238,0.00,2.40,0.00,0.000,6,0.000,0.024,3038,2199,3790,0,0,0,0,0,0
$GC,1496,-1.14,-146.0,176.2,-7.2,140,1497,0.12,0.00,0.00,0.000,6,0.068,0.000,2986,2199,3790,0,0,0,0,0,0
$GC,1752,-1.14,-146.0,198.7,-8.3,164,1757,0.10,0.00,0.00,0.000,6,0.114,0.000,3010,2199,3791,0,0,0,0,0,0
$GC,2013,-1.18,-146.0,218.0,-7.2,172,2017,0.00,2.50,0.00,0.000,4,0.000,0.033,3010,3779,3791,0,0,0,0,0,0
$GC,2035,-1.23,-146.0,219.7,-7.3,172,2039,0.00,2.47,0.00,0.000,6,0.000,0.020,3010,2180,3791,0,0,0,0,0,0
$GC,2292,-1.28,-146.0,238.3,-7.5,179,2294,0.12,0.00,0.00,0.000,6,0.067,0.000,2960,2180,3791,0,0,0,0,0,0
$GC,2534,-1.23,-146.0,260.5,-9.3,185,2539,0.15,2.55,0.00,0.000,4,0.091,0.041,2995,3768,3790,0,0,0,0,0,0
$GC,2552,-1.23,-146.0,262.1,-9.5,185,2556,0.00,2.47,0.00,0.000,6,0.000,0.021,2995,2187,3790,0,0,0,0,0,0
$GC,2813,-1.23,-146.0,283.2,-8.1,192,2817,0.00,2.55,0.00,0.000,4,0.000,0.058,2995,641,3790,0,0,0,0,0,0
$GC,2835,-1.23,-146.0,285.1,-8.2,192,2840,0.00,2.40,0.00,0.000,6,0.000,0.027,2995,2180,3790,0,0,0,0,0,0
$GC,3093,-1.23,-146.0,306.5,-8.4,199,3098,0.00,2.58,0.00,0.000,4,0.000,0.038,2995,3779,3789,0,0,0,0,0,0
$GC,3115,-1.23,-146.0,308.6,-8.5,199,3119,0.00,2.45,0.00,0.000,6,0.000,0.021,2995,2206,3789,0,0,0,0,0,0
$GC,3370,-1.23,-146.0,328.8,-7.9,206,3375,0.00,2.62,0.00,0.000,4,0.000,0.059,2995,638,3788,0,0,0,0,0,0
$GC,3387,-1.23,-146.0,330.3,-7.7,206,3391,0.00,2.45,0.00,0.000,6,0.000,0.028,2996,2200,3788,0,0,0,0,0,0
$GC,3649,-1.23,-146.0,350.4,-7.6,213,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2200,3787,0,0,0,0,0,0
$GC,3891,-1.23,-146.0,369.0,-7.6,219,3895,0.00,2.55,0.00,0.000,4,0.000,0.041,2995,3787,3787,0,0,0,0,0,0
$GC,3908,-1.23,-146.0,370.3,-7.4,219,3913,0.00,2.53,0.00,0.000,6,0.000,0.024,2995,2200,3787,0,0,0,0,0,0
$GC,4171,-1.23,-146.0,389.7,-7.4,226,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2200,3786,0,0,0,0,0,0
$GC,4413,-1.27,-146.0,408.3,-7.6,232,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2200,3785,0,0,0,0,0,0
$GC,4659,-1.31,-146.0,426.6,-7.4,238,4663,0.00,2.58,0.00,0.000,4,0.000,0.044,2995,3779,3784,0,0,0,0,0,0
$GC,4677,-1.35,-146.0,428.2,-7.4,238,4683,0.12,2.58,0.00,0.000,6,0.065,0.036,2945,2195,3784,0,0,0,0,0,0
$GC,4939,-1.30,-146.0,452.4,-9.4,245,4944,0.15,2.62,0.00,0.000,4,0.096,0.049,2978,3779,3783,0,0,0,0,0,0
$GC,4961,-1.30,-146.0,454.5,-9.0,245,4965,0.00,2.60,0.00,0.000,6,0.000,0.040,2979,2194,3783,0,0,0,0,0,0
$GC,5218,-1.30,-146.0,474.7,-7.9,252,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2194,3782,0,0,0,0,0,0
$GC,5460,-1.30,-146.0,493.8,-7.8,258,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2194,3781,0,0,0,0,0,0
$GC,5703,-1.30,-146.0,512.6,-7.7,264,5708,0.00,2.70,0.00,0.000,4,0.000,0.068,2979,3780,3779,0,0,0,0,0,0
$GC,5728,-1.30,-146.0,514.4,-7.9,264,5733,0.00,2.65,0.00,0.000,6,0.000,0.054,2979,2204,3779,0,0,0,0,0,0
$GC,5983,-1.30,-146.0,533.5,-7.3,271,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2204,3778,0,0,0,0,0,0
$GC,6227,-1.30,-146.0,551.3,-7.3,277,6231,0.00,2.70,0.00,0.000,4,0.000,0.069,2979,3775,3777,0,0,0,0,0,0
$GC,6248,-1.30,-146.0,553.1,-8.1,277,6253,0.00,2.62,0.00,0.000,6,0.000,0.059,2979,2205,3777,0,0,0,0,0,0
$GC,6506,-1.30,-146.0,572.1,-7.4,284,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2205,3776,0,0,0,0,0,0
$GC,6748,-1.30,-146.0,591.0,-7.8,290,6752,0.00,3.05,0.00,0.000,4,0.000,0.128,2979,624,3775,0,0,0,0,0,0
$GC,6763,-1.30,-146.0,592.2,-7.9,290,6768,0.00,2.62,0.00,0.000,6,0.000,0.057,2979,2187,3774,0,0,0,0,0,0
$GC,7026,-1.30,-146.0,612.1,-7.4,297,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2187,3773,0,0,0,0,0,0
$GC,7268,-1.30,-146.0,630.2,-7.5,303,7272,0.00,2.88,0.00,0.000,4,0.000,0.107,2979,620,3771,0,0,0,0,0,0
$GC,7307,-1.30,-146.0,633.4,-8.1,304,7312,0.00,2.70,0.00,0.000,6,0.000,0.067,2978,2195,3771,0,0,0,0,0,0
$GC,7592,-1.30,-146.0,655.2,-7.5,311,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2196,3770,0,0,0,0,0,0
$GC,7834,-1.30,-146.0,673.8,-7.6,317,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2196,3769,0,0,0,0,0,0
$GC,8078,-1.30,-146.0,693.1,-8.0,323,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2196,3768,0,0,0,0,0,0
$GC,8321,-1.30,-146.0,712.9,-8.1,329,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2196,3767,0,0,0,0,0,0
$GC,8567,-1.30,-146.0,732.4,-7.9,335,8572,0.00,3.25,0.00,0.000,4,0.000,0.153,2979,3798,3765,0,0,0,0,0,0
$GC,8594,-1.30,-146.0,734.9,-8.6,335,8599,0.00,2.75,0.00,0.000,6,0.000,0.065,2979,2191,3765,0,0,0,0,0,0
$GC,8844,-1.30,-146.0,754.5,-7.8,341,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2192,3764,0,0,0,0,0,0
$GC,9090,-1.30,-146.0,772.8,-7.4,347,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2192,3763,0,0,0,0,0,0
$GC,9332,-1.30,-146.0,790.5,-7.2,353,9336,0.00,2.85,0.00,0.000,4,0.000,0.081,2979,3798,3762,0,0,0,0,0,0
$GC,9365,-1.34,-146.0,793.1,-8.5,353,9370,0.00,2.78,0.00,0.000,6,0.000,0.067,2979,2201,3761,0,0,0,0,0,0
$GC,9617,-1.38,-146.0,811.0,-7.1,360,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2201,3761,0,0,0,0,0,0
$GC,9859,-1.42,-146.0,827.6,-6.9,366,9861,0.12,0.00,0.00,0.000,6,0.071,0.000,2934,2200,3760,0,0,0,0,0,0
$GC,10102,-1.37,-146.0,848.7,-8.8,372,10108,0.12,2.83,0.00,0.000,4,0.108,0.083,2961,3803,3758,0,0,0,0,0,0
$GC,10145,-1.37,-146.0,852.2,-9.1,373,10149,0.00,2.78,0.00,0.000,6,0.000,0.067,2961,2201,3758,0,0,0,0,0,0
$GC,10428,-1.37,-146.0,874.9,-7.8,380,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2201,3757,0,0,0,0,0,0
$GC,10672,-1.37,-146.0,894.9,-8.1,386,10676,0.00,2.83,0.00,0.000,4,0.000,0.083,2961,3802,3756,0,0,0,0,0,0
$GC,10707,-1.37,-146.0,897.7,-8.6,386,10712,0.00,2.78,0.00,0.000,6,0.000,0.064,2961,2203,3756,0,0,0,0,0,0
$STATE,10751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10751,begin apogee
$GC,10757,-0.31,0.0,901.5,8.1,388,10880,1.00,0.00,119.30,1.218,6,0.071,0.000,3191,2391,3190,0,0,0,0,0,0
$STATE,10881,end apogee,CONTROL_FINISHED_OK
$STATE,10881,begin climb
$GC,10883,1.27,146.0,904.7,0.0,391,11020,1.42,2.75,127.15,1.185,4,0.035,0.077,3543,3917,2593,0,0,0,0,0,0
$GC,11139,1.13,146.0,884.9,12.0,397,11144,0.17,2.67,0.00,0.000,6,0.114,0.053,3508,2365,2588,0,0,0,0,0,0
$GC,11425,1.09,148.0,857.0,9.9,404,11429,0.00,2.70,0.00,0.000,4,0.000,0.062,3508,3927,2585,0,0,0,0,0,0
$GC,11464,1.02,148.0,852.5,11.6,405,11470,0.12,2.65,0.00,0.000,6,0.123,0.043,3483,2369,2584,0,0,0,0,0,0
$GC,11750,1.06,180.4,827.9,8.5,412,11783,0.00,0.00,30.60,1.119,6,0.000,0.000,3483,2369,2454,0,0,0,0,0,0
$GC,11992,1.07,191.8,805.3,9.5,418,12005,0.00,0.00,11.45,1.022,6,0.000,0.000,3483,2370,2408,0,0,0,0,0,0
$GC,12236,1.08,200.3,781.9,9.6,424,12247,0.00,0.00,9.27,0.980,6,0.000,0.000,3483,2369,2373,0,0,0,0,0,0
$GC,12482,1.09,208.0,758.3,9.6,430,12496,0.00,2.75,8.57,0.957,4,0.000,0.056,3483,3924,2341,0,0,0,0,0,0
$GC,12518,1.10,214.7,754.2,9.7,430,12533,0.00,2.62,8.23,0.941,6,0.000,0.041,3483,2376,2313,0,0,0,0,0,0
$GC,12814,1.15,220.3,725.4,9.7,438,12829,0.12,3.10,6.55,0.877,4,0.076,0.118,3520,780,2290,0,0,0,0,0,0
$GC,12860,1.11,220.3,720.0,12.2,439,12865,0.00,2.65,0.00,0.000,6,0.000,0.040,3519,2376,2288,0,0,0,0,0,0
$GC,13143,1.11,220.3,687.1,11.5,446,13147,0.00,2.67,0.00,0.000,4,0.000,0.071,3519,3930,2288,0,0,0,0,0,0
$GC,13172,1.06,220.3,683.6,12.0,446,13177,0.12,2.62,0.00,0.000,6,0.118,0.044,3494,2362,2287,0,0,0,0,0,0
$GC,13423,1.06,220.3,656.9,10.5,452,13424,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,2362,2287,0,0,0,0,0,0
$GC,13665,1.08,231.3,633.0,9.5,458,13684,0.00,3.05,11.20,0.949,4,0.000,0.110,3493,777,2246,0,0,0,0,0,0
$GC,13797,1.08,231.3,619.4,10.5,461,13802,0.00,2.65,0.00,0.000,6,0.000,0.043,3493,2380,2244,0,0,0,0,0,0
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$STATE,19574,end climb,SURFACE_DEPTH_REACHED
$STATE,19574,begin surface coast
$FINISH,0.9,1.012069
$STATE,19627,end surface coast,CONTROL_FINISHED_OK
$STATE,19627,begin surface
$SM_CCo,19649,29.38,0.486,0,0,1763,350.04
$SM_GC,1.46,0.00,0.00,29.38,0.000,0.000,0.486,464,2199,1763,-12.86,-0.31,350.04
$IRIDIUM_FIX,1920.65,-8119.23,130502,101057
$TT8_MAMPS,0.026078
$HUMID,57.83
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.30
$XPDR_PINGS,67
$24V_AH,23.3,22.063
$10V_AH,10.4,19.119
$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,31.000,209.275,406.725,29.375,0.000,23.565,33.000,180.523,16.750,0.000,15.078,1597.904,14682.916,554.446,2522.087,715.380,33.369,1636.116,0.000,2507.269,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,152.633,1217.996,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,500.449,340.140,436.003,555.222,1056.565,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,57245,738
$CAP_FILE_SIZE,178826,0
$CFSIZE,260165632,117850112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160213,215505,1927.190,-8111.240,40,2.0,45,-3.8