version: 66.06
glider: 146
mission: 8
dive: 173
start: 2 20 113 13 57 15
data:
$ID,146
$MISSION,8
$DIVE,173
$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,0
$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,-310749
$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,15
$R_STBD_OVSHOOT,22
$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
$GPS1,134923,1924.307,-8108.529,24,1.7,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.6
$GPS2,135619,1924.296,-8108.570,12,1.8,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.058
$KALMAN_X,1063.1,-410.4,-141.9,10098.8,612.4
$KALMAN_Y,1414.4,-277.9,-93.3,-7237.3,155.2
$MHEAD_RNG_PITCHd_Wd,286.7,17212,-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,-70.43,0.000,2,0.000,0.000,465,2154,3484,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-4.9,9,122,13.88,2.50,-5.55,0.000,4,0.170,0.049,2978,613,3785,0,0,0,0,0,0
$GC,334,-1.11,-146.0,54.3,-17.4,35,342,0.15,2.53,0.00,0.000,6,0.091,0.017,3015,2237,3786,0,0,0,0,0,0
$GC,599,-0.98,-146.0,93.3,-14.2,60,604,0.15,2.70,0.00,0.000,4,0.105,0.043,3048,610,3787,0,0,0,0,0,0
$GC,645,-0.94,-146.0,99.7,-12.6,63,650,0.00,2.45,0.00,0.000,6,0.000,0.016,3048,2203,3787,0,0,0,0,0,0
$GC,914,-0.94,-146.0,132.7,-11.2,87,919,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2204,3788,0,0,0,0,0,0
$GC,1179,-1.00,-146.0,155.4,-7.6,112,1184,0.00,2.60,0.00,0.000,4,0.000,0.047,3048,609,3788,0,0,0,0,0,0
$GC,1215,-1.07,-146.0,158.5,-7.8,114,1225,0.00,2.47,0.00,0.000,6,0.000,0.019,3047,2204,3788,0,0,0,0,0,0
$GC,1482,-1.15,-146.0,177.9,-7.6,139,1487,0.15,2.62,0.00,0.000,4,0.058,0.053,2987,609,3788,0,0,0,0,0,0
$GC,1513,-1.15,-146.0,181.0,-10.0,141,1518,0.10,2.42,0.00,0.000,6,0.114,0.025,3009,2196,3788,0,0,0,0,0,0
$GC,1784,-1.15,-146.0,203.4,-8.0,163,1788,0.00,2.47,0.00,0.000,4,0.000,0.038,3009,3768,3788,0,0,0,0,0,0
$GC,1816,-1.15,-146.0,206.3,-8.2,163,1822,0.00,2.50,0.00,0.000,6,0.000,0.019,3009,2145,3789,0,0,0,0,0,0
$GC,2069,-1.19,-146.0,225.0,-7.2,170,2074,0.00,2.50,0.00,0.000,4,0.000,0.053,3009,613,3788,0,0,0,0,0,0
$GC,2102,-1.19,-146.0,227.7,-7.8,170,2108,0.00,2.38,0.00,0.000,6,0.000,0.021,3009,2162,3788,0,0,0,0,0,0
$GC,2353,-1.23,-146.0,245.5,-7.1,177,2357,0.00,2.55,0.00,0.000,4,0.000,0.042,3009,3768,3788,0,0,0,0,0,0
$GC,2388,-1.28,-146.0,248.0,-7.1,177,2394,0.12,2.53,0.00,0.000,6,0.067,0.021,2956,2142,3788,0,0,0,0,0,0
$GC,2638,-1.23,-146.0,272.1,-9.8,184,2643,0.17,2.62,0.00,0.000,4,0.093,0.039,2995,3774,3788,0,0,0,0,0,0
$GC,2673,-1.23,-146.0,275.2,-8.4,184,2679,0.00,2.55,0.00,0.000,6,0.000,0.022,2995,2152,3788,0,0,0,0,0,0
$GC,2923,-1.23,-146.0,296.3,-8.4,191,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2152,3787,0,0,0,0,0,0
$GC,3167,-1.23,-146.0,315.4,-7.6,197,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2152,3787,0,0,0,0,0,0
$GC,3411,-1.23,-146.0,333.4,-7.3,203,3415,0.00,2.58,0.00,0.000,4,0.000,0.061,2995,613,3786,0,0,0,0,0,0
$GC,3440,-1.23,-146.0,335.5,-7.9,203,3444,0.00,2.42,0.00,0.000,6,0.000,0.029,2995,2153,3786,0,0,0,0,0,0
$GC,3690,-1.23,-146.0,354.1,-7.4,209,3694,0.00,2.62,0.00,0.000,4,0.000,0.049,2995,3772,3784,0,0,0,0,0,0
$GC,3723,-1.27,-146.0,356.7,-7.5,209,3728,0.00,2.58,0.00,0.000,6,0.000,0.025,2995,2149,3784,0,0,0,0,0,0
$GC,3975,-1.27,-146.0,374.9,-7.2,216,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2149,3784,0,0,0,0,0,0
$GC,4216,-1.27,-146.0,392.8,-7.4,222,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2149,3783,0,0,0,0,0,0
$GC,4461,-1.31,-146.0,411.5,-7.7,228,4465,0.00,2.65,0.00,0.000,4,0.000,0.048,2995,3763,3782,0,0,0,0,0,0
$GC,4492,-1.35,-146.0,413.7,-7.9,228,4497,0.12,2.55,0.00,0.000,6,0.066,0.038,2945,2172,3782,0,0,0,0,0,0
$GC,4742,-1.30,-146.0,437.4,-9.4,234,4744,0.15,0.00,0.00,0.000,6,0.101,0.000,2978,2172,3781,0,0,0,0,0,0
$GC,4985,-1.30,-146.0,457.4,-8.0,240,4990,0.00,2.62,0.00,0.000,4,0.000,0.058,2978,3759,3780,0,0,0,0,0,0
$GC,5009,-1.30,-146.0,459.3,-8.2,240,5014,0.00,2.58,0.00,0.000,6,0.000,0.043,2978,2180,3780,0,0,0,0,0,0
$GC,5264,-1.30,-146.0,480.3,-8.2,247,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2180,3779,0,0,0,0,0,0
$GC,5508,-1.30,-146.0,500.4,-8.3,253,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2180,3778,0,0,0,0,0,0
$GC,5752,-1.30,-146.0,520.9,-8.4,259,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2180,3777,0,0,0,0,0,0
$GC,5998,-1.30,-146.0,541.3,-8.4,265,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2180,3776,0,0,0,0,0,0
$GC,6239,-1.30,-146.0,560.6,-7.8,271,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2180,3775,0,0,0,0,0,0
$GC,6483,-1.30,-146.0,579.8,-7.8,277,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2180,3774,0,0,0,0,0,0
$GC,6730,-1.30,-146.0,598.7,-7.8,283,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2180,3772,0,0,0,0,0,0
$GC,6970,-1.30,-146.0,617.8,-7.8,289,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2180,3771,0,0,0,0,0,0
$GC,7214,-1.30,-146.0,637.4,-8.1,295,7219,0.00,2.95,0.00,0.000,4,0.000,0.108,2978,3761,3769,0,0,0,0,0,0
$GC,7241,-1.30,-146.0,639.8,-8.9,295,7246,0.00,2.78,0.00,0.000,6,0.000,0.081,2977,2187,3769,0,0,0,0,0,0
$GC,7493,-1.30,-146.0,659.3,-7.7,301,7498,0.00,2.80,0.00,0.000,4,0.000,0.095,2978,3755,3768,0,0,0,0,0,0
$GC,7520,-1.30,-146.0,661.6,-7.8,301,7525,0.00,2.78,0.00,0.000,6,0.000,0.089,2978,2193,3768,0,0,0,0,0,0
$GC,7770,-1.30,-146.0,680.6,-7.6,307,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2193,3767,0,0,0,0,0,0
$GC,8016,-1.30,-146.0,699.2,-7.6,313,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2193,3766,0,0,0,0,0,0
$GC,8258,-1.30,-146.0,717.6,-7.5,319,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2193,3764,0,0,0,0,0,0
$GC,8501,-1.30,-146.0,735.7,-7.4,325,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2193,3762,0,0,0,0,0,0
$GC,8745,-1.30,-146.0,753.7,-7.4,331,8750,0.00,3.12,0.00,0.000,4,0.000,0.150,2978,3753,3762,0,0,0,0,0,0
$GC,8797,-1.34,-146.0,757.6,-8.0,332,8802,0.00,2.75,0.00,0.000,6,0.000,0.080,2978,2190,3762,0,0,0,0,0,0
$GC,9069,-1.34,-146.0,778.1,-7.5,339,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2190,3760,0,0,0,0,0,0
$GC,9313,-1.34,-146.0,796.5,-7.6,345,9318,0.00,2.78,0.00,0.000,4,0.000,0.089,2978,3758,3760,0,0,0,0,0,0
$GC,9355,-1.38,-146.0,799.7,-8.8,346,9360,0.00,2.72,0.00,0.000,6,0.000,0.067,2978,2195,3759,0,0,0,0,0,0
$GC,9638,-1.38,-146.0,822.3,-7.9,353,9643,0.00,2.78,0.00,0.000,4,0.000,0.085,2977,3763,3758,0,0,0,0,0,0
$GC,9671,-1.38,-146.0,825.2,-8.8,353,9676,0.00,2.70,0.00,0.000,6,0.000,0.064,2978,2206,3757,0,0,0,0,0,0
$GC,9923,-1.41,-146.0,844.4,-7.6,360,9925,0.12,0.00,0.00,0.000,6,0.069,0.000,2934,2206,3756,0,0,0,0,0,0
$GC,10165,-1.37,-146.0,865.8,-8.8,366,10170,0.12,2.75,0.00,0.000,4,0.109,0.082,2961,3758,3755,0,0,0,0,0,0
$GC,10200,-1.37,-146.0,868.8,-8.4,366,10206,0.00,2.67,0.00,0.000,6,0.000,0.065,2961,2213,3755,0,0,0,0,0,0
$GC,10450,-1.37,-146.0,888.2,-7.7,373,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2213,3754,0,0,0,0,0,0
$STATE,10612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10612,begin apogee
$GC,10618,-0.31,0.0,900.9,7.8,377,10740,1.00,0.00,118.97,1.213,6,0.071,0.000,3190,2337,3190,0,0,0,0,0,0
$STATE,10741,end apogee,CONTROL_FINISHED_OK
$STATE,10741,begin climb
$GC,10746,1.27,146.0,904.1,0.0,380,10881,1.42,2.90,126.93,1.187,4,0.035,0.080,3541,3930,2593,0,0,0,0,0,0
$GC,10958,1.13,146.0,890.3,11.6,385,10963,0.17,2.72,0.00,0.000,6,0.114,0.060,3507,2368,2588,0,0,0,0,0,0
$GC,11242,1.10,150.0,862.3,9.8,392,11246,0.00,2.72,0.00,0.000,4,0.000,0.063,3507,3931,2585,0,0,0,0,0,0
$GC,11281,1.03,150.0,858.1,11.0,393,11286,0.10,2.65,0.00,0.000,6,0.134,0.046,3488,2375,2585,0,0,0,0,0,0
$GC,11567,1.07,177.6,832.6,8.7,400,11597,0.00,0.00,27.85,1.114,6,0.000,0.000,3488,2375,2465,0,0,0,0,0,0
$GC,11847,1.08,187.9,806.0,9.5,407,11863,0.00,2.72,10.12,1.005,4,0.000,0.060,3488,3932,2424,0,0,0,0,0,0
$GC,11904,1.08,187.9,800.3,10.3,408,11908,0.00,2.65,0.00,0.000,6,0.000,0.043,3488,2376,2423,0,0,0,0,0,0
$GC,12170,1.10,205.4,775.2,9.2,415,12189,0.00,0.00,17.70,1.064,6,0.000,0.000,3488,2376,2352,0,0,0,0,0,0
$GC,12413,1.11,214.4,752.0,9.6,421,12428,0.00,2.72,9.60,0.970,4,0.000,0.061,3488,3932,2314,0,0,0,0,0,0
$GC,12454,1.12,216.2,748.1,9.9,422,12458,0.00,2.65,0.00,0.000,6,0.000,0.046,3488,2375,2313,0,0,0,0,0,0
$GC,12737,1.12,217.5,719.6,9.9,429,12746,0.00,2.72,3.72,0.639,4,0.000,0.059,3488,3931,2304,0,0,0,0,0,0
$GC,12757,1.12,217.5,717.3,10.1,429,12762,0.00,2.62,0.00,0.000,6,0.000,0.046,3488,2381,2303,0,0,0,0,0,0
$GC,13021,1.15,217.5,690.8,10.1,436,13027,0.10,3.10,0.00,0.000,4,0.087,0.123,3518,780,2302,0,0,0,0,0,0
$GC,13038,1.16,219.1,688.7,9.9,436,13042,0.00,2.67,0.00,0.000,6,0.000,0.042,3518,2389,2302,0,0,0,0,0,0
$GC,13298,1.16,219.1,659.3,11.3,443,13303,0.00,2.67,0.00,0.000,4,0.000,0.072,3518,3932,2301,0,0,0,0,0,0
$GC,13349,1.16,219.1,653.1,12.6,444,13354,0.00,2.58,0.00,0.000,6,0.000,0.041,3518,2386,2301,0,0,0,0,0,0
$GC,13623,1.16,219.1,622.4,11.1,451,13628,0.00,2.62,0.00,0.000,4,0.000,0.053,3519,3934,2301,0,0,0,0,0,0
$GC,13658,1.11,219.1,618.1,12.7,451,13664,0.00,2.55,0.00,0.000,6,0.000,0.042,3518,2404,2300,0,0,0,0,0,0
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$STATE,19311,end climb,SURFACE_DEPTH_REACHED
$STATE,19312,begin surface coast
$FINISH,1.0,1.022896
$STATE,19360,end surface coast,CONTROL_FINISHED_OK
$STATE,19361,begin surface
$SM_CCo,19383,30.27,0.482,0,0,1762,350.04
$SM_GC,1.57,0.00,0.00,30.27,0.000,0.000,0.482,465,2143,1762,-12.86,-1.89,350.04
$IRIDIUM_FIX,1913.80,-8107.94,170502,090932
$TT8_MAMPS,0.025311
$HUMID,57.32
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,70
$24V_AH,23.3,24.520
$10V_AH,10.4,21.390
$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,30.775,198.575,400.175,30.275,0.000,30.094,39.820,182.806,17.500,0.000,13.698,1518.776,14720.830,548.234,2312.506,725.818,33.357,1541.054,0.000,2304.410,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,150.332,1213.394,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.166,339.125,435.815,565.243,1075.140,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,57356,733
$CAP_FILE_SIZE,168478,0
$CFSIZE,260165632,116555776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200213,192206,1924.598,-8111.565,32,1.6,32,-3.8