version: 66.06
glider: 146
mission: 8
dive: 160
start: 2 17 113 18 36 48
data:
$ID,146
$MISSION,8
$DIVE,160
$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,-310468.97
$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,25
$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
$GPS1,182219,1924.385,-8110.672,43,99.0,62,-3.8
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.9
$GPS2,183557,1924.344,-8110.801,15,3.4,34,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.245,0.085
$KALMAN_X,61.7,21.0,-179.7,-7043.9,313.0
$KALMAN_Y,-787.6,-221.6,-38.1,1143.3,70.1
$MHEAD_RNG_PITCHd_Wd,292.9,13500,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-62.85,0.000,2,0.000,0.000,466,2133,3296,0,0,0,0,0,0
$GC,87,-1.27,-146.0,3.1,-3.8,8,121,13.68,2.75,-10.07,0.000,4,0.166,0.048,2979,3794,3786,0,0,0,0,0,0
$GC,233,-1.11,-146.0,33.9,-17.6,27,238,0.17,2.53,0.00,0.000,6,0.101,0.025,3017,2206,3787,0,0,0,0,0,0
$GC,501,-0.99,-146.0,79.2,-17.0,51,506,0.12,2.62,0.00,0.000,4,0.114,0.048,3044,629,3787,0,0,0,0,0,0
$GC,574,-0.95,-146.0,91.4,-14.0,56,584,0.00,2.47,0.00,0.000,6,0.000,0.017,3044,2225,3787,0,0,0,0,0,0
$GC,839,-0.95,-146.0,123.5,-11.3,81,843,0.00,2.60,0.00,0.000,4,0.000,0.044,3044,634,3787,0,0,0,0,0,0
$GC,874,-0.95,-146.0,127.5,-10.8,83,880,0.00,2.40,0.00,0.000,6,0.000,0.018,3044,2207,3787,0,0,0,0,0,0
$GC,1138,-1.01,-146.0,148.5,-6.9,108,1142,0.00,2.60,0.00,0.000,4,0.000,0.044,3044,627,3787,0,0,0,0,0,0
$GC,1162,-1.07,-146.0,150.4,-7.7,109,1168,0.00,2.40,0.00,0.000,6,0.000,0.020,3044,2193,3787,0,0,0,0,0,0
$GC,1425,-1.14,-146.0,168.0,-6.4,134,1431,0.15,2.50,0.00,0.000,4,0.058,0.037,2981,3772,3788,0,0,0,0,0,0
$GC,1469,-1.10,-146.0,171.7,-9.4,137,1474,0.17,2.50,0.00,0.000,6,0.083,0.025,3022,2167,3788,0,0,0,0,0,0
$GC,1730,-1.15,-146.0,192.9,-8.2,161,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2167,3788,0,0,0,0,0,0
$GC,1990,-1.21,-146.0,213.7,-8.2,174,1992,0.12,0.00,0.00,0.000,6,0.067,0.000,2970,2167,3788,0,0,0,0,0,0
$GC,2232,-1.17,-146.0,236.7,-9.3,180,2234,0.15,0.00,0.00,0.000,6,0.092,0.000,3005,2167,3788,0,0,0,0,0,0
$GC,2476,-1.21,-146.0,255.9,-7.7,186,2480,0.00,2.58,0.00,0.000,4,0.000,0.035,3005,3768,3788,0,0,0,0,0,0
$GC,2500,-1.24,-146.0,257.8,-8.3,186,2504,0.00,2.50,0.00,0.000,6,0.000,0.021,3005,2175,3787,0,0,0,0,0,0
$GC,2755,-1.24,-146.0,277.6,-7.7,193,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2175,3787,0,0,0,0,0,0
$GC,2999,-1.28,-146.0,295.8,-7.4,199,3004,0.10,2.60,0.00,0.000,4,0.079,0.036,2960,3771,3786,0,0,0,0,0,0
$GC,3023,-1.28,-146.0,297.8,-9.0,199,3027,0.00,2.47,0.00,0.000,6,0.000,0.026,2960,2185,3786,0,0,0,0,0,0
$GC,3279,-1.24,-146.0,322.0,-9.5,206,3280,0.12,0.00,0.00,0.000,6,0.100,0.000,2990,2185,3785,0,0,0,0,0,0
$GC,3522,-1.24,-146.0,341.1,-7.8,212,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2185,3784,0,0,0,0,0,0
$GC,3768,-1.24,-146.0,359.8,-7.7,218,3772,0.00,2.58,0.00,0.000,4,0.000,0.041,2991,3767,3783,0,0,0,0,0,0
$GC,3791,-1.24,-146.0,361.8,-8.4,218,3795,0.00,2.50,0.00,0.000,6,0.000,0.031,2990,2186,3783,0,0,0,0,0,0
$GC,4046,-1.24,-146.0,382.0,-7.8,225,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2186,3783,0,0,0,0,0,0
$GC,4289,-1.24,-146.0,401.7,-8.1,231,4294,0.00,2.60,0.00,0.000,4,0.000,0.043,2990,3771,3781,0,0,0,0,0,0
$GC,4332,-1.28,-146.0,405.2,-8.9,232,4336,0.00,2.58,0.00,0.000,6,0.000,0.034,2991,2176,3782,0,0,0,0,0,0
$GC,4616,-1.28,-146.0,428.7,-8.1,239,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2175,3780,0,0,0,0,0,0
$GC,4859,-1.28,-146.0,448.7,-8.2,245,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2176,3779,0,0,0,0,0,0
$GC,5104,-1.28,-146.0,467.8,-7.8,251,5109,0.00,2.65,0.00,0.000,4,0.000,0.054,2990,3758,3778,0,0,0,0,0,0
$GC,5126,-1.28,-146.0,469.7,-8.0,251,5130,0.00,2.58,0.00,0.000,6,0.000,0.041,2990,2187,3778,0,0,0,0,0,0
$GC,5381,-1.31,-146.0,488.8,-7.5,258,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2187,3777,0,0,0,0,0,0
$GC,5627,-1.31,-146.0,506.8,-7.3,264,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2187,3776,0,0,0,0,0,0
$GC,5869,-1.35,-146.0,524.2,-7.1,270,5874,0.10,2.70,0.00,0.000,4,0.083,0.064,2951,3757,3775,0,0,0,0,0,0
$GC,5896,-1.35,-146.0,526.5,-9.0,270,5900,0.00,2.62,0.00,0.000,6,0.000,0.055,2951,2183,3775,0,0,0,0,0,0
$GC,6149,-1.31,-146.0,548.5,-8.9,276,6151,0.10,0.00,0.00,0.000,6,0.114,0.000,2974,2183,3774,0,0,0,0,0,0
$GC,6390,-1.31,-146.0,568.3,-8.0,282,6394,0.00,2.75,0.00,0.000,4,0.000,0.078,2974,3757,3772,0,0,0,0,0,0
$GC,6411,-1.31,-146.0,570.0,-7.4,282,6415,0.00,2.65,0.00,0.000,6,0.000,0.060,2974,2179,3772,0,0,0,0,0,0
$GC,6668,-1.31,-146.0,589.8,-7.8,289,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2179,3771,0,0,0,0,0,0
$GC,6910,-1.31,-146.0,609.0,-7.9,295,6914,0.00,2.80,0.00,0.000,4,0.000,0.082,2974,3757,3769,0,0,0,0,0,0
$GC,6931,-1.31,-146.0,610.8,-8.1,295,6936,0.00,2.70,0.00,0.000,6,0.000,0.071,2974,2193,3769,0,0,0,0,0,0
$GC,7188,-1.31,-146.0,630.5,-7.6,302,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2193,3768,0,0,0,0,0,0
$GC,7430,-1.31,-146.0,648.8,-7.5,308,7434,0.00,2.83,0.00,0.000,4,0.000,0.093,2974,3760,3766,0,0,0,0,0,0
$GC,7474,-1.31,-146.0,652.4,-8.2,309,7478,0.00,2.78,0.00,0.000,6,0.000,0.083,2974,2196,3767,0,0,0,0,0,0
$GC,7753,-1.31,-146.0,674.0,-7.9,316,7758,0.00,2.85,0.00,0.000,4,0.000,0.098,2973,3753,3765,0,0,0,0,0,0
$GC,7777,-1.31,-146.0,676.2,-8.4,316,7781,0.00,2.85,0.00,0.000,6,0.000,0.094,2974,2196,3765,0,0,0,0,0,0
$GC,8032,-1.31,-146.0,697.4,-8.4,323,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2196,3763,0,0,0,0,0,0
$GC,8276,-1.31,-146.0,717.4,-8.2,329,8280,0.00,3.00,0.00,0.000,4,0.000,0.125,2974,3755,3762,0,0,0,0,0,0
$GC,8317,-1.31,-146.0,721.0,-9.1,330,8322,0.00,2.75,0.00,0.000,6,0.000,0.077,2974,2204,3762,0,0,0,0,0,0
$GC,8601,-1.31,-146.0,744.7,-8.3,337,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3761,0,0,0,0,0,0
$GC,8845,-1.31,-146.0,764.7,-8.2,343,8849,0.00,2.75,0.00,0.000,4,0.000,0.088,2974,3755,3760,0,0,0,0,0,0
$GC,8879,-1.31,-146.0,767.6,-8.9,343,8885,0.00,2.70,0.00,0.000,6,0.000,0.074,2974,2206,3760,0,0,0,0,0,0
$GC,9129,-1.31,-146.0,787.5,-7.9,350,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2206,3759,0,0,0,0,0,0
$GC,9373,-1.31,-146.0,805.4,-7.4,356,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3758,0,0,0,0,0,0
$GC,9619,-1.31,-146.0,822.8,-7.1,362,9624,0.00,2.72,0.00,0.000,4,0.000,0.081,2974,3754,3756,0,0,0,0,0,0
$GC,9646,-1.31,-146.0,825.1,-7.6,362,9650,0.00,2.67,0.00,0.000,6,0.000,0.069,2974,2207,3756,0,0,0,0,0,0
$GC,9896,-1.31,-146.0,843.5,-7.4,368,9901,0.00,2.72,0.00,0.000,4,0.000,0.081,2974,3755,3755,0,0,0,0,0,0
$GC,9932,-1.31,-146.0,846.3,-8.1,368,9938,0.00,2.67,0.00,0.000,6,0.000,0.064,2974,2210,3755,0,0,0,0,0,0
$GC,10182,-1.31,-146.0,865.3,-7.5,375,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2210,3754,0,0,0,0,0,0
$GC,10426,-1.31,-146.0,882.9,-7.1,381,10427,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3753,0,0,0,0,0,0
$GC,10670,-1.31,-146.0,899.4,-6.7,387,10674,0.00,2.70,0.00,0.000,4,0.000,0.076,2974,3760,3752,0,0,0,0,0,0
$STATE,10677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10677,begin apogee
$GC,10688,-0.31,0.0,900.1,6.6,387,10810,0.93,0.00,118.18,1.218,6,0.074,0.000,3188,2369,3190,0,0,0,0,0,0
$STATE,10810,end apogee,CONTROL_FINISHED_OK
$STATE,10810,begin climb
$GC,10813,1.27,146.0,902.4,0.0,390,10950,1.45,2.80,126.75,1.186,4,0.038,0.070,3543,3894,2594,0,0,0,0,0,0
$GC,11024,1.14,146.0,887.2,11.8,395,11029,0.17,2.65,0.00,0.000,6,0.115,0.058,3509,2364,2589,0,0,0,0,0,0
$GC,11310,1.10,154.2,859.5,9.6,402,11320,0.00,0.00,7.57,0.950,6,0.000,0.000,3508,2364,2561,0,0,0,0,0,0
$GC,11551,1.12,170.2,836.9,9.3,408,11569,0.00,0.00,15.73,1.075,6,0.000,0.000,3508,2364,2496,0,0,0,0,0,0
$GC,11795,1.13,183.0,814.1,9.4,414,11814,0.00,2.72,12.57,1.044,4,0.000,0.062,3508,3892,2443,0,0,0,0,0,0
$GC,11834,1.11,200.2,810.4,9.2,414,11858,0.00,2.60,17.77,1.073,6,0.000,0.041,3508,2365,2372,0,0,0,0,0,0
$GC,12125,1.11,200.2,779.6,10.7,422,12130,0.00,3.08,0.00,0.000,4,0.000,0.120,3508,776,2368,0,0,0,0,0,0
$GC,12141,1.11,200.2,777.8,10.7,422,12145,0.00,2.60,0.00,0.000,6,0.000,0.040,3508,2330,2366,0,0,0,0,0,0
$GC,12405,1.11,200.2,750.0,10.6,429,12409,0.00,2.80,0.00,0.000,4,0.000,0.069,3508,3942,2366,0,0,0,0,0,0
$GC,12470,1.11,200.2,742.0,12.1,430,12475,0.00,2.65,0.00,0.000,6,0.000,0.044,3508,2363,2365,0,0,0,0,0,0
$GC,12726,1.11,200.2,714.7,10.8,437,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2364,2364,0,0,0,0,0,0
$GC,12971,1.11,200.2,689.5,10.3,443,12976,0.00,2.70,0.00,0.000,4,0.000,0.055,3508,3942,2364,0,0,0,0,0,0
$GC,12993,1.11,200.2,686.7,11.0,443,12997,0.00,2.60,0.00,0.000,6,0.000,0.039,3508,2378,2363,0,0,0,0,0,0
$GC,13257,1.11,200.2,658.3,10.9,450,13258,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2378,2363,0,0,0,0,0,0
$GC,13500,1.11,200.2,632.3,10.6,456,13504,0.00,2.62,0.00,0.000,4,0.000,0.059,3508,3935,2363,0,0,0,0,0,0
$GC,13539,1.11,200.2,627.5,11.5,457,13543,0.00,2.60,0.00,0.000,6,0.000,0.047,3508,2381,2363,0,0,0,0,0,0
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$STATE,19567,end climb,SURFACE_DEPTH_REACHED
$STATE,19567,begin surface coast
$FINISH,1.0,1.012797
$STATE,19607,end surface coast,CONTROL_FINISHED_OK
$STATE,19607,begin surface
$SM_CCo,19690,0.00,0.000,0,0,1666,373.84
$SM_GC,1.75,12.55,0.00,0.00,0.021,0.000,0.000,467,2158,1666,-12.72,-1.47,373.84
$IRIDIUM_FIX,1916.08,-8110.19,140502,121211
$TT8_MAMPS,0.025311
$HUMID,56.89
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$TCM_TEMP,24.20
$XPDR_PINGS,58
$24V_AH,23.3,22.753
$10V_AH,10.4,19.747
$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
$DEVICE_SECS,30.375,184.925,454.975,0.000,0.000,54.054,133.715,377.893,14.500,0.000,37.277,1522.787,15125.005,516.611,2291.555,1037.496,31.431,1518.474,0.000,2269.618,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,505.026,349.389,445.220,570.437,1087.385,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,57218,746
$CAP_FILE_SIZE,169498,0
$CFSIZE,260165632,117497856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180213,000736,1924.953,-8113.562,118,1.0,118,-3.8