version: 66.06
glider: 146
mission: 8
dive: 166
start: 2 19 113 2 5 42
data:
$ID,146
$MISSION,8
$DIVE,166
$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,-310619.25
$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,45
$R_STBD_OVSHOOT,41
$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
$GPS1,015206,1927.692,-8116.370,30,1.5,30,-3.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.2
$GPS2,020448,1927.671,-8116.542,9,1.7,14,-3.7
$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,-7824.9,51.2,49.8,-9445.7,-1461.6
$KALMAN_Y,183.7,398.5,66.2,5593.1,102.0
$MHEAD_RNG_PITCHd_Wd,109.8,16034,-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,20,-1.27,-146.0,0.0,0.0,0,132,0.00,0.00,-109.88,0.000,2,0.000,0.000,463,2182,3269,0,0,0,0,0,0
$GC,137,-1.27,-146.0,3.3,-4.7,14,171,13.65,2.58,-10.40,0.000,4,0.165,0.054,2976,644,3786,0,0,0,0,0,0
$GC,262,-1.09,-146.0,29.2,-17.0,31,272,0.17,2.45,0.00,0.000,6,0.093,0.017,3018,2219,3786,0,0,0,0,0,0
$GC,532,-0.94,-146.0,69.8,-14.2,56,537,0.15,2.62,0.00,0.000,4,0.106,0.047,3052,641,3785,0,0,0,0,0,0
$GC,555,-0.82,-146.0,73.9,-14.6,57,560,0.12,2.42,0.00,0.000,6,0.107,0.024,3081,2219,3785,0,0,0,0,0,0
$GC,824,-0.82,-146.0,103.3,-10.9,81,828,0.00,2.58,0.00,0.000,4,0.000,0.042,3080,640,3785,0,0,0,0,0,0
$GC,856,-0.82,-146.0,107.2,-11.1,83,861,0.00,2.38,0.00,0.000,6,0.000,0.022,3081,2201,3785,0,0,0,0,0,0
$GC,1125,-0.87,-146.0,133.9,-10.1,107,1130,0.00,2.50,0.00,0.000,4,0.000,0.031,3081,3776,3785,0,0,0,0,0,0
$GC,1143,-0.95,-146.0,135.7,-7.5,108,1148,0.12,2.47,0.00,0.000,6,0.064,0.020,3020,2189,3785,0,0,0,0,0,0
$GC,1406,-0.95,-146.0,159.1,-8.8,132,1411,0.15,2.53,0.00,0.000,4,0.091,0.053,3057,644,3785,0,0,0,0,0,0
$GC,1463,-1.08,-146.0,163.0,-7.3,136,1467,0.15,2.35,0.00,0.000,6,0.058,0.017,2997,2180,3785,0,0,0,0,0,0
$GC,1730,-1.08,-146.0,187.3,-8.2,160,1735,0.12,2.53,0.00,0.000,4,0.097,0.038,3026,3774,3785,0,0,0,0,0,0
$GC,1763,-1.15,-146.0,190.8,-8.6,162,1773,0.00,2.50,0.00,0.000,6,0.000,0.018,3026,2182,3785,0,0,0,0,0,0
$GC,2019,-1.21,-146.0,208.7,-6.9,178,2024,0.12,2.53,0.00,0.000,4,0.066,0.056,2970,646,3785,0,0,0,0,0,0
$GC,2038,-1.21,-146.0,210.3,-7.3,178,2042,0.12,2.38,0.00,0.000,6,0.100,0.020,2999,2194,3785,0,0,0,0,0,0
$GC,2298,-1.21,-146.0,232.7,-8.3,185,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,3785,0,0,0,0,0,0
$GC,2542,-1.21,-146.0,252.2,-8.2,191,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,3784,0,0,0,0,0,0
$GC,2788,-1.21,-146.0,270.7,-7.5,197,2792,0.00,2.55,0.00,0.000,4,0.000,0.058,2999,647,3783,0,0,0,0,0,0
$GC,2815,-1.21,-146.0,272.9,-7.4,197,2819,0.00,2.40,0.00,0.000,6,0.000,0.026,2998,2191,3783,0,0,0,0,0,0
$GC,3065,-1.21,-146.0,290.4,-7.1,203,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2191,3782,0,0,0,0,0,0
$GC,3311,-1.21,-146.0,309.6,-7.8,209,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2191,3781,0,0,0,0,0,0
$GC,3552,-1.21,-146.0,328.4,-7.8,215,3557,0.00,2.58,0.00,0.000,4,0.000,0.053,2999,641,3780,0,0,0,0,0,0
$GC,3580,-1.21,-146.0,330.7,-7.9,215,3584,0.00,2.42,0.00,0.000,6,0.000,0.028,2998,2187,3780,0,0,0,0,0,0
$GC,3830,-1.21,-146.0,349.9,-7.7,221,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2187,3779,0,0,0,0,0,0
$GC,4076,-1.25,-146.0,367.9,-7.3,227,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2186,3778,0,0,0,0,0,0
$GC,4318,-1.29,-146.0,385.7,-7.3,233,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2187,3777,0,0,0,0,0,0
$GC,4563,-1.33,-146.0,403.6,-7.4,239,4565,0.12,0.00,0.00,0.000,6,0.070,0.000,2951,2187,3776,0,0,0,0,0,0
$GC,4807,-1.28,-146.0,426.0,-9.3,245,4809,0.12,0.00,0.00,0.000,6,0.099,0.000,2980,2186,3775,0,0,0,0,0,0
$GC,5048,-1.28,-146.0,445.9,-8.1,251,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3774,0,0,0,0,0,0
$GC,5292,-1.28,-146.0,464.8,-7.6,257,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3773,0,0,0,0,0,0
$GC,5536,-1.28,-146.0,484.0,-7.9,263,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3772,0,0,0,0,0,0
$GC,5782,-1.28,-146.0,502.6,-7.5,269,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3771,0,0,0,0,0,0
$GC,6023,-1.28,-146.0,520.7,-7.5,275,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3770,0,0,0,0,0,0
$GC,6271,-1.28,-146.0,539.1,-7.5,281,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3768,0,0,0,0,0,0
$GC,6513,-1.28,-146.0,558.2,-7.9,287,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3767,0,0,0,0,0,0
$GC,6754,-1.28,-146.0,577.3,-7.7,293,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3766,0,0,0,0,0,0
$GC,6998,-1.28,-146.0,596.1,-7.7,299,7003,0.00,2.88,0.00,0.000,4,0.000,0.099,2980,3778,3764,0,0,0,0,0,0
$GC,7014,-1.28,-146.0,597.5,-8.0,299,7018,0.00,2.67,0.00,0.000,6,0.000,0.066,2980,2216,3764,0,0,0,0,0,0
$GC,7277,-1.28,-146.0,618.7,-8.2,306,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3763,0,0,0,0,0,0
$GC,7518,-1.28,-146.0,637.9,-7.8,312,7523,0.00,3.08,0.00,0.000,4,0.000,0.125,2980,617,3762,0,0,0,0,0,0
$GC,7534,-1.28,-146.0,639.3,-8.1,312,7539,0.00,2.67,0.00,0.000,6,0.000,0.061,2980,2172,3761,0,0,0,0,0,0
$GC,7798,-1.28,-146.0,659.4,-7.6,319,7803,0.00,3.00,0.00,0.000,4,0.000,0.107,2980,3795,3761,0,0,0,0,0,0
$GC,7819,-1.28,-146.0,661.2,-7.0,319,7824,0.00,2.88,0.00,0.000,6,0.000,0.084,2980,2193,3761,0,0,0,0,0,0
$GC,8074,-1.28,-146.0,679.1,-7.0,326,8079,0.00,2.95,0.00,0.000,4,0.000,0.101,2980,3803,3760,0,0,0,0,0,0
$GC,8092,-1.28,-146.0,680.5,-6.9,326,8097,0.00,2.88,0.00,0.000,6,0.000,0.089,2980,2195,3760,0,0,0,0,0,0
$GC,8355,-1.28,-146.0,698.1,-6.8,333,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2195,3758,0,0,0,0,0,0
$GC,8597,-1.28,-146.0,715.3,-7.0,339,8602,0.00,2.95,0.00,0.000,4,0.000,0.106,2980,3797,3756,0,0,0,0,0,0
$GC,8613,-1.28,-146.0,716.6,-7.2,339,8617,0.00,2.83,0.00,0.000,6,0.000,0.074,2980,2199,3756,0,0,0,0,0,0
$GC,8876,-1.28,-146.0,734.9,-7.1,346,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2199,3754,0,0,0,0,0,0
$GC,9117,-1.28,-146.0,752.5,-7.2,352,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2198,3754,0,0,0,0,0,0
$GC,9361,-1.28,-146.0,769.0,-6.7,358,9365,0.00,2.85,0.00,0.000,4,0.000,0.087,2980,3798,3752,0,0,0,0,0,0
$GC,9407,-1.33,-146.0,772.3,-7.5,359,9412,0.00,2.78,0.00,0.000,6,0.000,0.073,2980,2206,3752,0,0,0,0,0,0
$GC,9685,-1.33,-146.0,791.8,-7.1,366,9689,0.00,2.80,0.00,0.000,4,0.000,0.084,2980,3804,3751,0,0,0,0,0,0
$GC,9706,-1.33,-146.0,793.5,-8.1,366,9710,0.00,2.75,0.00,0.000,6,0.000,0.069,2980,2206,3750,0,0,0,0,0,0
$GC,9964,-1.37,-146.0,813.0,-7.6,373,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2206,3750,0,0,0,0,0,0
$GC,10205,-1.41,-146.0,831.5,-7.6,379,10210,0.12,2.83,0.00,0.000,4,0.072,0.080,2936,3800,3749,0,0,0,0,0,0
$GC,10222,-1.41,-146.0,833.0,-7.8,379,10226,0.00,2.75,0.00,0.000,6,0.000,0.066,2936,2210,3749,0,0,0,0,0,0
$GC,10485,-1.36,-146.0,856.5,-9.0,386,10490,0.12,2.83,0.00,0.000,4,0.108,0.081,2962,3803,3748,0,0,0,0,0,0
$GC,10507,-1.36,-146.0,858.9,-8.8,386,10511,0.00,2.70,0.00,0.000,6,0.000,0.070,2963,2230,3748,0,0,0,0,0,0
$GC,10762,-1.36,-146.0,878.2,-7.6,393,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2230,3746,0,0,0,0,0,0
$GC,11008,-1.36,-146.0,896.5,-7.5,399,11013,0.00,2.78,0.00,0.000,4,0.000,0.079,2963,3804,3745,0,0,0,0,0,0
$GC,11029,-1.36,-146.0,898.5,-8.2,399,11034,0.00,2.72,0.00,0.000,6,0.000,0.068,2963,2229,3745,0,0,0,0,0,0
$STATE,11080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11080,begin apogee
$GC,11086,-0.31,0.0,902.5,8.1,401,11207,1.00,0.00,117.22,1.220,6,0.072,0.000,3191,2388,3190,0,0,0,0,0,0
$STATE,11208,end apogee,CONTROL_FINISHED_OK
$STATE,11208,begin climb
$GC,11213,1.27,146.0,905.4,0.0,404,11349,1.42,2.80,127.80,1.188,4,0.036,0.074,3542,3930,2593,0,0,0,0,0,0
$GC,11478,1.14,146.0,884.5,11.7,410,11484,0.15,2.70,0.00,0.000,6,0.117,0.054,3511,2369,2587,0,0,0,0,0,0
$GC,11746,1.10,156.2,858.8,9.5,417,11760,0.00,2.78,8.98,0.989,4,0.000,0.064,3511,3935,2553,0,0,0,0,0,0
$GC,11791,1.03,156.2,854.2,11.3,418,11797,0.12,2.67,0.00,0.000,6,0.125,0.049,3487,2368,2551,0,0,0,0,0,0
$GC,12075,1.05,175.4,827.8,9.1,425,12099,0.00,2.78,18.58,1.090,4,0.000,0.061,3487,3924,2473,0,0,0,0,0,0
$GC,12124,1.05,175.4,823.0,10.4,426,12128,0.00,2.65,0.00,0.000,6,0.000,0.042,3487,2372,2471,0,0,0,0,0,0
$GC,12401,1.07,189.0,796.7,9.4,433,12416,0.00,0.00,13.32,1.045,6,0.000,0.000,3486,2371,2419,0,0,0,0,0,0
$GC,12645,1.08,194.6,773.1,9.7,439,12658,0.00,2.70,6.35,0.886,4,0.000,0.059,3487,3928,2396,0,0,0,0,0,0
$GC,12711,1.08,194.6,766.0,11.3,440,12715,0.00,2.62,0.00,0.000,6,0.000,0.048,3486,2378,2395,0,0,0,0,0,0
$GC,12972,1.09,203.5,740.6,9.6,447,12986,0.00,2.70,9.55,0.972,4,0.000,0.058,3487,3930,2360,0,0,0,0,0,0
$GC,13014,1.09,203.5,736.0,11.1,448,13018,0.00,2.62,0.00,0.000,6,0.000,0.046,3486,2382,2359,0,0,0,0,0,0
$GC,13295,1.13,203.5,708.0,10.1,455,13296,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,2382,2357,0,0,0,0,0,0
$GC,13537,1.18,215.0,684.8,9.5,461,13556,0.12,2.75,11.95,0.980,4,0.077,0.058,3523,3937,2312,0,0,0,0,0,0
$GC,13587,1.13,215.0,679.2,11.9,462,13591,0.00,2.62,0.00,0.000,6,0.000,0.047,3524,2390,2311,0,0,0,0,0,0
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$STATE,19856,end climb,SURFACE_DEPTH_REACHED
$STATE,19856,begin surface coast
$FINISH,1.2,1.023568
$STATE,19899,end surface coast,CONTROL_FINISHED_OK
$STATE,19899,begin surface
$SM_CCo,19921,41.70,0.487,0,0,1762,350.04
$SM_GC,1.85,0.00,0.00,41.70,0.000,0.000,0.487,464,2194,1762,-12.86,-0.45,350.04
$IRIDIUM_FIX,1920.65,-8116.97,160502,020231
$TT8_MAMPS,0.026078
$HUMID,57.63
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.30
$XPDR_PINGS,64
$24V_AH,23.3,23.622
$10V_AH,10.3,20.519
$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,31.125,205.500,388.150,41.700,0.000,50.481,101.647,361.038,16.000,0.000,16.070,1559.932,15204.350,565.729,2361.098,1021.689,33.371,1608.406,0.000,2358.697,0.000,0.536,0.000
$DEVICE_MAMPS,164.905,125.021,1219.530,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,507.936,340.774,444.940,580.591,1106.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,57430,750
$CAP_FILE_SIZE,178739,0
$CFSIZE,260165632,117051392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190213,073936,1927.627,-8114.440,28,1.9,28,-3.8