version: 66.06
glider: 146
mission: 8
dive: 186
start: 2 23 113 8 57 6
data:
$ID,146
$MISSION,8
$DIVE,186
$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,-311005.94
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,084923,1924.317,-8107.595,23,1.0,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.8
$GPS2,085613,1924.313,-8107.608,12,1.3,12,-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,235.4,235.4,235.4,-1082.3,-342.5
$KALMAN_Y,-199.6,-199.6,-199.6,2007.7,290.4
$MHEAD_RNG_PITCHd_Wd,286.8,18817,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.62,0.000,2,0.000,0.000,464,2198,3469,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-3.8,9,124,13.77,2.55,-5.90,0.000,4,0.167,0.051,2976,631,3786,0,0,0,0,0,0
$GC,312,-1.09,-146.0,50.2,-18.2,33,322,0.17,2.50,0.00,0.000,6,0.088,0.017,3018,2241,3788,0,0,0,0,0,0
$GC,577,-0.97,-146.0,89.6,-14.5,58,582,0.12,2.65,0.00,0.000,4,0.108,0.044,3046,631,3788,0,0,0,0,0,0
$GC,609,-0.89,-146.0,94.6,-13.7,60,613,0.00,2.42,0.00,0.000,6,0.000,0.016,3046,2210,3788,0,0,0,0,0,0
$GC,873,-0.89,-146.0,126.5,-10.8,84,882,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2211,3788,0,0,0,0,0,0
$GC,1139,-0.94,-146.0,150.1,-8.5,109,1143,0.00,2.62,0.00,0.000,4,0.000,0.045,3046,626,3789,0,0,0,0,0,0
$GC,1163,-0.99,-146.0,152.2,-7.9,110,1168,0.00,2.42,0.00,0.000,6,0.000,0.024,3046,2209,3789,0,0,0,0,0,0
$GC,1425,-1.07,-146.0,170.8,-6.9,135,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2209,3790,0,0,0,0,0,0
$GC,1682,-1.16,-146.0,188.0,-7.0,159,1691,0.17,0.00,0.00,0.000,6,0.052,0.000,2978,2209,3790,0,0,0,0,0,0
$GC,1937,-1.16,-146.0,211.6,-8.9,175,1942,0.12,2.47,0.00,0.000,4,0.097,0.035,3008,3766,3790,0,0,0,0,0,0
$GC,1959,-1.16,-146.0,213.7,-8.9,175,1963,0.00,2.45,0.00,0.000,6,0.000,0.025,3008,2177,3790,0,0,0,0,0,0
$GC,2216,-1.16,-146.0,233.1,-7.7,182,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2177,3790,0,0,0,0,0,0
$GC,2458,-1.20,-146.0,252.1,-7.6,188,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2177,3790,0,0,0,0,0,0
$GC,2702,-1.25,-146.0,270.3,-7.5,194,2706,0.00,2.53,0.00,0.000,4,0.000,0.053,3008,642,3789,0,0,0,0,0,0
$GC,2737,-1.30,-146.0,272.9,-7.7,194,2743,0.10,2.35,0.00,0.000,6,0.034,0.028,2954,2171,3789,0,0,0,0,0,0
$GC,2987,-1.24,-146.0,296.3,-9.4,201,2993,0.15,2.58,0.00,0.000,4,0.093,0.044,2989,3770,3789,0,0,0,0,0,0
$GC,3034,-1.28,-146.0,300.4,-8.4,202,3039,0.00,2.47,0.00,0.000,6,0.000,0.029,2989,2183,3789,0,0,0,0,0,0
$GC,3312,-1.28,-146.0,322.9,-8.1,209,3317,0.00,2.58,0.00,0.000,4,0.000,0.041,2989,3768,3788,0,0,0,0,0,0
$GC,3339,-1.28,-146.0,325.2,-8.8,209,3344,0.00,2.50,0.00,0.000,6,0.000,0.028,2989,2182,3788,0,0,0,0,0,0
$GC,3592,-1.28,-146.0,345.1,-8.0,215,3596,0.00,2.58,0.00,0.000,4,0.000,0.039,2989,3768,3787,0,0,0,0,0,0
$GC,3613,-1.28,-146.0,347.0,-7.8,215,3617,0.00,2.47,0.00,0.000,6,0.000,0.023,2989,2200,3787,0,0,0,0,0,0
$GC,3868,-1.28,-146.0,367.5,-8.2,222,3872,0.00,2.65,0.00,0.000,4,0.000,0.069,2989,633,3786,0,0,0,0,0,0
$GC,3889,-1.28,-146.0,369.4,-8.3,222,3894,0.00,2.42,0.00,0.000,6,0.000,0.025,2989,2178,3785,0,0,0,0,0,0
$GC,4147,-1.28,-146.0,390.6,-8.3,229,4151,0.00,2.65,0.00,0.000,4,0.000,0.049,2989,3789,3785,0,0,0,0,0,0
$GC,4169,-1.28,-146.0,392.7,-8.3,229,4173,0.00,2.55,0.00,0.000,6,0.000,0.028,2989,2198,3785,0,0,0,0,0,0
$GC,4424,-1.28,-146.0,412.5,-7.6,236,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2198,3784,0,0,0,0,0,0
$GC,4671,-1.28,-146.0,430.0,-7.0,242,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2198,3783,0,0,0,0,0,0
$GC,4911,-1.28,-146.0,447.6,-7.3,248,4915,0.00,2.67,0.00,0.000,4,0.000,0.059,2989,3786,3782,0,0,0,0,0,0
$GC,4944,-1.31,-146.0,450.3,-8.1,248,4950,0.00,2.58,0.00,0.000,6,0.000,0.036,2989,2203,3782,0,0,0,0,0,0
$GC,5196,-1.31,-146.0,469.5,-7.8,255,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2203,3781,0,0,0,0,0,0
$GC,5438,-1.31,-146.0,488.1,-7.7,261,5442,0.00,2.67,0.00,0.000,4,0.000,0.062,2989,3779,3780,0,0,0,0,0,0
$GC,5459,-1.35,-146.0,489.9,-7.9,261,5465,0.10,2.60,0.00,0.000,6,0.080,0.047,2945,2210,3780,0,0,0,0,0,0
$GC,5718,-1.30,-146.0,513.7,-9.3,268,5723,0.15,2.90,0.00,0.000,4,0.096,0.100,2979,620,3778,0,0,0,0,0,0
$GC,5740,-1.30,-146.0,516.0,-8.4,268,5744,0.00,2.60,0.00,0.000,6,0.000,0.044,2979,2211,3778,0,0,0,0,0,0
$GC,5995,-1.30,-146.0,536.0,-8.0,275,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2211,3777,0,0,0,0,0,0
$GC,6241,-1.30,-146.0,556.1,-8.2,281,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2212,3777,0,0,0,0,0,0
$GC,6482,-1.30,-146.0,576.4,-8.4,287,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2211,3775,0,0,0,0,0,0
$GC,6726,-1.30,-146.0,595.9,-8.0,293,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2211,3774,0,0,0,0,0,0
$GC,6970,-1.30,-146.0,615.1,-7.8,299,6974,0.00,2.90,0.00,0.000,4,0.000,0.102,2979,3797,3773,0,0,0,0,0,0
$GC,6999,-1.30,-146.0,617.5,-8.6,299,7004,0.00,2.75,0.00,0.000,6,0.000,0.067,2979,2216,3772,0,0,0,0,0,0
$GC,7249,-1.30,-146.0,637.1,-7.6,305,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2216,3771,0,0,0,0,0,0
$GC,7492,-1.30,-146.0,654.7,-7.2,311,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2216,3770,0,0,0,0,0,0
$GC,7739,-1.30,-146.0,672.7,-7.5,317,7743,0.00,2.90,0.00,0.000,4,0.000,0.100,2979,3792,3768,0,0,0,0,0,0
$GC,7780,-1.30,-146.0,676.3,-8.2,318,7785,0.00,2.88,0.00,0.000,6,0.000,0.093,2980,2215,3768,0,0,0,0,0,0
$GC,8063,-1.30,-146.0,697.7,-7.5,325,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2215,3767,0,0,0,0,0,0
$GC,8309,-1.30,-146.0,717.2,-8.2,331,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2215,3766,0,0,0,0,0,0
$GC,8551,-1.30,-146.0,736.2,-7.7,337,8555,0.00,3.08,0.00,0.000,4,0.000,0.129,2979,3798,3764,0,0,0,0,0,0
$GC,8578,-1.30,-146.0,738.4,-8.7,337,8582,0.00,2.78,0.00,0.000,6,0.000,0.078,2979,2216,3764,0,0,0,0,0,0
$GC,8828,-1.30,-146.0,757.0,-7.4,343,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2216,3763,0,0,0,0,0,0
$GC,9074,-1.34,-146.0,774.7,-7.1,349,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2216,3762,0,0,0,0,0,0
$GC,9315,-1.34,-146.0,791.4,-6.9,355,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2216,3761,0,0,0,0,0,0
$GC,9559,-1.38,-146.0,808.3,-7.0,361,9564,0.00,2.80,0.00,0.000,4,0.000,0.080,2979,3800,3760,0,0,0,0,0,0
$GC,9606,-1.43,-146.0,811.6,-7.8,362,9611,0.12,2.72,0.00,0.000,6,0.070,0.067,2933,2224,3760,0,0,0,0,0,0
$GC,9884,-1.38,-146.0,837.0,-9.2,369,9890,0.12,3.08,0.00,0.000,4,0.107,0.123,2961,623,3758,0,0,0,0,0,0
$GC,9914,-1.38,-146.0,839.6,-8.8,369,9919,0.00,2.75,0.00,0.000,6,0.000,0.064,2961,2228,3758,0,0,0,0,0,0
$GC,10164,-1.38,-146.0,860.1,-8.2,375,10169,0.00,2.83,0.00,0.000,4,0.000,0.097,2961,3801,3757,0,0,0,0,0,0
$GC,10208,-1.38,-146.0,864.0,-9.1,376,10213,0.00,2.70,0.00,0.000,6,0.000,0.060,2961,2227,3757,0,0,0,0,0,0
$GC,10489,-1.38,-146.0,886.7,-8.1,383,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2227,3755,0,0,0,0,0,0
$STATE,10687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10687,begin apogee
$GC,10693,-0.31,0.0,903.0,8.0,388,10816,1.00,0.00,119.22,1.223,6,0.069,0.000,3190,2384,3190,0,0,0,0,0,0
$STATE,10817,end apogee,CONTROL_FINISHED_OK
$STATE,10817,begin climb
$GC,10819,1.27,146.0,906.3,0.0,391,10956,1.42,2.85,126.75,1.191,4,0.035,0.073,3544,3928,2592,0,0,0,0,0,0
$GC,11012,1.12,146.0,894.3,11.7,395,11017,0.20,2.70,0.00,0.000,6,0.111,0.051,3505,2369,2589,0,0,0,0,0,0
$GC,11270,1.10,158.8,869.8,9.4,402,11284,0.00,0.00,11.70,1.039,6,0.000,0.000,3505,2369,2543,0,0,0,0,0,0
$GC,11512,1.08,174.1,847.0,9.3,408,11532,0.00,2.78,14.85,1.075,4,0.000,0.064,3505,3934,2479,0,0,0,0,0,0
$GC,11566,1.03,174.1,841.3,10.9,409,11570,0.00,2.67,0.00,0.000,6,0.000,0.048,3504,2365,2478,0,0,0,0,0,0
$GC,11834,1.04,180.7,815.4,9.7,416,11843,0.00,0.00,6.93,0.926,6,0.000,0.000,3505,2365,2453,0,0,0,0,0,0
$GC,12075,1.04,180.7,790.9,10.1,422,12080,0.00,2.67,0.00,0.000,4,0.000,0.060,3504,3930,2451,0,0,0,0,0,0
$GC,12130,1.04,180.7,784.4,11.1,423,12134,0.00,2.62,0.00,0.000,6,0.000,0.042,3505,2377,2450,0,0,0,0,0,0
$GC,12399,1.04,180.7,756.7,10.2,430,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2377,2450,0,0,0,0,0,0
$GC,12641,1.04,180.7,732.0,10.2,436,12645,0.00,2.65,0.00,0.000,4,0.000,0.058,3505,3930,2449,0,0,0,0,0,0
$GC,12656,1.04,180.7,730.2,10.2,436,12661,0.00,2.62,0.00,0.000,6,0.000,0.048,3504,2374,2449,0,0,0,0,0,0
$GC,12919,1.04,180.7,703.8,10.0,443,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2374,2448,0,0,0,0,0,0
$GC,13161,1.05,187.0,680.0,9.7,449,13175,0.00,2.75,6.75,0.877,4,0.000,0.059,3505,3936,2426,0,0,0,0,0,0
$GC,13207,1.05,187.0,675.2,12.1,450,13211,0.00,2.62,0.00,0.000,6,0.000,0.045,3505,2387,2426,0,0,0,0,0,0
$GC,13492,1.05,187.5,646.3,10.0,457,13496,0.00,2.62,0.00,0.000,4,0.000,0.057,3504,3930,2425,0,0,0,0,0,0
$GC,13547,1.05,187.5,640.0,11.5,458,13551,0.00,2.60,0.00,0.000,6,0.000,0.048,3504,2388,2425,0,0,0,0,0,0
$GC,13813,1.06,198.8,614.6,9.5,465,13827,0.00,0.00,12.15,0.953,6,0.000,0.000,3505,2388,2380,0,0,0,0,0,0
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$STATE,19575,end climb,SURFACE_DEPTH_REACHED
$STATE,19575,begin surface coast
$FINISH,1.0,1.011516
$STATE,19617,end surface coast,CONTROL_FINISHED_OK
$STATE,19618,begin surface
$SM_CCo,19642,23.45,0.480,0,0,1763,350.04
$SM_GC,2.11,0.00,0.00,23.45,0.000,0.000,0.480,466,2167,1763,-12.85,-1.22,350.04
$IRIDIUM_FIX,1916.08,-8103.07,200502,040451
$TT8_MAMPS,0.026078
$HUMID,58.34
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,61
$24V_AH,23.3,26.225
$10V_AH,10.4,23.018
$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,30.475,179.675,411.325,23.450,0.000,30.733,33.338,181.197,15.250,0.000,14.387,1521.045,15019.093,550.000,2264.426,715.885,30.189,1522.707,0.000,2265.962,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,128.856,1223.365,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,502.918,346.832,442.847,562.838,1072.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,57372,742
$CAP_FILE_SIZE,164951,0
$CFSIZE,260165632,115625984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230213,142605,1924.445,-8110.137,32,1.0,32,-3.8