version: 66.06
glider: 146
mission: 8
dive: 188
start: 2 23 113 20 0 30
data:
$ID,146
$MISSION,8
$DIVE,188
$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,-311034.41
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,195226,1924.797,-8112.807,39,3.9,58,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.6
$GPS2,195937,1924.792,-8112.869,11,1.4,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.228,0.123
$KALMAN_X,771.2,-255.7,52.0,-10107.2,32.9
$KALMAN_Y,-1727.0,17.8,-68.0,4061.0,-363.2
$MHEAD_RNG_PITCHd_Wd,302.2,9849,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.28,0.000,2,0.000,0.000,462,2180,3504,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.6,-4.9,9,124,13.75,2.58,-5.20,0.000,4,0.167,0.038,2976,3795,3788,0,0,0,0,0,0
$GC,136,-0.14,-146.0,17.6,-34.5,13,146,1.10,2.50,0.00,0.000,6,0.079,0.020,3224,2220,3788,0,0,0,0,0,0
$GC,455,-0.48,-146.0,33.6,-3.9,55,460,0.28,2.50,0.00,0.000,4,0.054,0.033,3149,3783,3789,0,0,0,0,0,0
$GC,541,-0.68,-146.0,39.0,-6.5,61,547,0.17,2.45,0.00,0.000,6,0.054,0.020,3091,2206,3789,0,0,0,0,0,0
$GC,811,-0.68,-146.0,65.2,-10.7,85,816,0.10,2.58,0.00,0.000,4,0.111,0.045,3115,631,3789,0,0,0,0,0,0
$GC,870,-0.82,-146.0,71.1,-9.3,89,875,0.15,2.45,0.00,0.000,6,0.057,0.016,3055,2226,3789,0,0,0,0,0,0
$GC,1139,-0.77,-146.0,102.9,-12.6,113,1144,0.17,0.00,0.00,0.000,6,0.086,0.000,3095,2227,3790,0,0,0,0,0,0
$GC,1402,-0.85,-146.0,127.7,-8.0,138,1406,0.00,2.60,0.00,0.000,4,0.000,0.044,3095,640,3790,0,0,0,0,0,0
$GC,1440,-0.96,-146.0,130.8,-8.6,140,1448,0.15,2.40,0.00,0.000,6,0.029,0.016,3033,2191,3790,0,0,0,0,0,0
$GC,1704,-0.96,-146.0,155.5,-9.0,165,1708,0.00,2.50,0.00,0.000,4,0.000,0.039,3033,3780,3791,0,0,0,0,0,0
$GC,1740,-1.00,-146.0,158.7,-9.2,167,1746,0.00,2.47,0.00,0.000,6,0.000,0.020,3033,2182,3791,0,0,0,0,0,0
$GC,2004,-1.05,-146.0,179.7,-7.5,192,2008,0.00,2.53,0.00,0.000,4,0.000,0.039,3033,3775,3791,0,0,0,0,0,0
$GC,2028,-1.11,-146.0,181.1,-7.2,193,2033,0.00,2.47,0.00,0.000,6,0.000,0.019,3033,2184,3791,0,0,0,0,0,0
$GC,2295,-1.17,-146.0,199.6,-6.3,217,2300,0.12,2.53,0.00,0.000,4,0.065,0.055,2973,644,3792,0,0,0,0,0,0
$GC,2325,-1.17,-146.0,202.4,-8.7,217,2330,0.15,2.38,0.00,0.000,6,0.094,0.018,3007,2202,3792,0,0,0,0,0,0
$GC,2575,-1.17,-146.0,222.3,-7.9,223,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2202,3792,0,0,0,0,0,0
$GC,2819,-1.17,-146.0,241.6,-8.0,229,2823,0.00,2.47,0.00,0.000,4,0.000,0.042,3007,3766,3792,0,0,0,0,0,0
$GC,2854,-1.21,-146.0,244.4,-8.4,229,2859,0.00,2.45,0.00,0.000,6,0.000,0.019,3007,2194,3791,0,0,0,0,0,0
$GC,3104,-1.26,-146.0,262.3,-6.9,236,3108,0.00,2.55,0.00,0.000,4,0.000,0.052,3007,642,3792,0,0,0,0,0,0
$GC,3137,-1.30,-146.0,264.7,-7.1,236,3143,0.12,2.40,0.00,0.000,6,0.066,0.021,2952,2191,3791,0,0,0,0,0,0
$GC,3390,-1.24,-146.0,288.0,-9.5,243,3391,0.15,0.00,0.00,0.000,6,0.094,0.000,2988,2191,3791,0,0,0,0,0,0
$GC,3631,-1.24,-146.0,307.7,-7.9,249,3635,0.00,2.58,0.00,0.000,4,0.000,0.048,2988,3780,3790,0,0,0,0,0,0
$GC,3652,-1.24,-146.0,309.6,-8.7,249,3656,0.00,2.47,0.00,0.000,6,0.000,0.022,2988,2204,3790,0,0,0,0,0,0
$GC,3909,-1.24,-146.0,330.4,-8.3,256,3914,0.00,2.62,0.00,0.000,4,0.000,0.059,2988,630,3789,0,0,0,0,0,0
$GC,3942,-1.24,-146.0,333.5,-8.6,256,3948,0.00,2.45,0.00,0.000,6,0.000,0.027,2988,2186,3789,0,0,0,0,0,0
$GC,4192,-1.24,-146.0,353.7,-8.0,263,4197,0.00,2.60,0.00,0.000,4,0.000,0.044,2988,3784,3788,0,0,0,0,0,0
$GC,4214,-1.24,-146.0,355.5,-8.1,263,4218,0.00,2.50,0.00,0.000,6,0.000,0.024,2988,2200,3788,0,0,0,0,0,0
$GC,4471,-1.24,-146.0,375.9,-8.0,270,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3787,0,0,0,0,0,0
$GC,4712,-1.24,-146.0,395.1,-7.9,276,4717,0.00,2.58,0.00,0.000,4,0.000,0.043,2988,3782,3786,0,0,0,0,0,0
$GC,4734,-1.24,-146.0,396.8,-7.4,276,4738,0.00,2.53,0.00,0.000,6,0.000,0.032,2988,2203,3786,0,0,0,0,0,0
$GC,4989,-1.24,-146.0,416.2,-7.6,283,4993,0.00,2.72,0.00,0.000,4,0.000,0.081,2988,630,3786,0,0,0,0,0,0
$GC,5010,-1.24,-146.0,418.1,-8.6,283,5015,0.00,2.47,0.00,0.000,6,0.000,0.030,2988,2193,3785,0,0,0,0,0,0
$GC,5266,-1.24,-146.0,437.1,-7.3,290,5270,0.00,2.65,0.00,0.000,4,0.000,0.054,2988,3788,3785,0,0,0,0,0,0
$GC,5312,-1.29,-146.0,440.5,-7.3,291,5317,0.00,2.55,0.00,0.000,6,0.000,0.039,2988,2207,3785,0,0,0,0,0,0
$GC,5590,-1.29,-146.0,460.5,-7.1,298,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2207,3783,0,0,0,0,0,0
$GC,5834,-1.29,-146.0,478.7,-7.5,304,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2207,3782,0,0,0,0,0,0
$GC,6080,-1.29,-146.0,496.9,-7.3,310,6085,0.00,2.67,0.00,0.000,4,0.000,0.067,2988,3786,3781,0,0,0,0,0,0
$GC,6120,-1.34,-146.0,500.2,-8.6,311,6124,0.00,2.62,0.00,0.000,6,0.000,0.050,2988,2209,3781,0,0,0,0,0,0
$GC,6403,-1.34,-146.0,521.6,-7.4,318,6407,0.00,2.95,0.00,0.000,4,0.000,0.109,2988,620,3780,0,0,0,0,0,0
$GC,6426,-1.34,-146.0,523.2,-7.6,318,6431,0.00,2.62,0.00,0.000,6,0.000,0.048,2988,2202,3779,0,0,0,0,0,0
$GC,6683,-1.37,-146.0,541.8,-7.2,325,6689,0.12,2.80,0.00,0.000,4,0.066,0.082,2937,3800,3778,0,0,0,0,0,0
$GC,6711,-1.33,-146.0,544.5,-9.7,325,6717,0.15,2.65,0.00,0.000,6,0.092,0.048,2971,2215,3778,0,0,0,0,0,0
$GC,6964,-1.33,-146.0,564.6,-7.9,331,6968,0.00,3.00,0.00,0.000,4,0.000,0.114,2971,622,3777,0,0,0,0,0,0
$GC,6999,-1.33,-146.0,567.9,-8.9,331,7004,0.00,2.65,0.00,0.000,6,0.000,0.054,2971,2213,3777,0,0,0,0,0,0
$GC,7251,-1.33,-146.0,588.8,-8.4,338,7255,0.00,2.80,0.00,0.000,4,0.000,0.095,2971,3792,3776,0,0,0,0,0,0
$GC,7278,-1.33,-146.0,591.5,-9.2,338,7282,0.00,2.67,0.00,0.000,6,0.000,0.055,2971,2216,3775,0,0,0,0,0,0
$GC,7528,-1.33,-146.0,612.1,-8.1,344,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2216,3774,0,0,0,0,0,0
$GC,7771,-1.33,-146.0,631.1,-7.8,350,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2216,3773,0,0,0,0,0,0
$GC,8017,-1.33,-146.0,648.8,-7.1,356,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2216,3771,0,0,0,0,0,0
$GC,8259,-1.33,-146.0,666.6,-7.3,362,8264,0.00,2.92,0.00,0.000,4,0.000,0.105,2971,3796,3770,0,0,0,0,0,0
$GC,8286,-1.33,-146.0,668.7,-8.0,362,8291,0.00,2.85,0.00,0.000,6,0.000,0.090,2971,2221,3770,0,0,0,0,0,0
$GC,8538,-1.33,-146.0,687.5,-7.4,368,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3769,0,0,0,0,0,0
$GC,8780,-1.33,-146.0,706.6,-7.9,374,8784,0.00,2.97,0.00,0.000,4,0.000,0.123,2971,3791,3767,0,0,0,0,0,0
$GC,8807,-1.33,-146.0,708.9,-8.7,374,8811,0.00,2.80,0.00,0.000,6,0.000,0.084,2971,2216,3767,0,0,0,0,0,0
$GC,9057,-1.33,-146.0,729.2,-8.1,380,9062,0.00,3.10,0.00,0.000,4,0.000,0.132,2971,623,3766,0,0,0,0,0,0
$GC,9080,-1.33,-146.0,731.0,-8.7,380,9085,0.00,2.78,0.00,0.000,6,0.000,0.077,2971,2210,3766,0,0,0,0,0,0
$GC,9335,-1.33,-146.0,751.9,-8.1,387,9340,0.00,2.92,0.00,0.000,4,0.000,0.107,2971,3798,3764,0,0,0,0,0,0
$GC,9357,-1.33,-146.0,753.6,-7.6,387,9361,0.00,2.75,0.00,0.000,6,0.000,0.067,2971,2218,3764,0,0,0,0,0,0
$GC,9614,-1.33,-146.0,773.4,-7.6,394,9619,0.00,2.83,0.00,0.000,4,0.000,0.087,2971,3802,3763,0,0,0,0,0,0
$GC,9635,-1.33,-146.0,775.3,-8.4,394,9640,0.00,2.75,0.00,0.000,6,0.000,0.074,2971,2222,3762,0,0,0,0,0,0
$GC,9891,-1.33,-146.0,795.1,-7.8,401,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,3762,0,0,0,0,0,0
$GC,10137,-1.33,-146.0,813.7,-7.5,407,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3761,0,0,0,0,0,0
$GC,10378,-1.33,-146.0,832.2,-7.5,413,10383,0.00,2.80,0.00,0.000,4,0.000,0.081,2971,3806,3761,0,0,0,0,0,0
$GC,10418,-1.33,-146.0,835.3,-7.9,414,10422,0.00,2.75,0.00,0.000,6,0.000,0.064,2971,2218,3760,0,0,0,0,0,0
$GC,10703,-1.33,-146.0,856.8,-7.4,421,10708,0.00,2.80,0.00,0.000,4,0.000,0.081,2971,3800,3759,0,0,0,0,0,0
$GC,10732,-1.33,-146.0,859.1,-8.1,421,10736,0.00,2.72,0.00,0.000,6,0.000,0.067,2971,2229,3758,0,0,0,0,0,0
$GC,10982,-1.33,-146.0,877.9,-7.4,427,10983,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2229,3757,0,0,0,0,0,0
$GC,11228,-1.37,-146.0,895.5,-7.1,433,11233,0.00,2.78,0.00,0.000,4,0.000,0.080,2971,3800,3756,0,0,0,0,0,0
$GC,11261,-1.37,-146.0,898.2,-7.3,433,11266,0.00,2.70,0.00,0.000,6,0.000,0.066,2971,2238,3756,0,0,0,0,0,0
$STATE,11305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11305,begin apogee
$GC,11311,-0.31,0.0,901.4,7.1,435,11434,0.95,0.00,119.28,1.218,6,0.069,0.000,3189,2386,3190,0,0,0,0,0,0
$STATE,11435,end apogee,CONTROL_FINISHED_OK
$STATE,11435,begin climb
$GC,11439,1.27,146.0,903.8,0.0,438,11575,1.42,2.83,126.75,1.187,4,0.035,0.076,3542,3924,2593,0,0,0,0,0,0
$GC,11680,1.13,146.0,885.5,12.9,443,11685,0.17,2.70,0.00,0.000,6,0.113,0.057,3507,2365,2587,0,0,0,0,0,0
$GC,11936,1.11,158.9,861.0,9.4,450,11955,0.00,2.83,11.55,1.034,4,0.000,0.067,3507,3927,2541,0,0,0,0,0,0
$GC,11981,1.04,162.4,856.7,9.8,451,11991,0.00,2.67,4.78,0.781,6,0.000,0.049,3507,2366,2528,0,0,0,0,0,0
$GC,12264,1.06,173.7,829.2,9.5,458,12282,0.00,2.80,11.57,1.034,4,0.000,0.058,3507,3930,2481,0,0,0,0,0,0
$GC,12317,1.02,173.7,823.7,10.4,459,12322,0.12,2.65,0.00,0.000,6,0.126,0.048,3482,2372,2479,0,0,0,0,0,0
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$STATE,19820,end climb,SURFACE_DEPTH_REACHED
$STATE,19820,begin surface coast
$FINISH,0.9,1.023004
$STATE,19865,end surface coast,CONTROL_FINISHED_OK
$STATE,19865,begin surface
$SM_CCo,19890,37.62,0.488,0,0,1762,350.04
$SM_GC,2.03,0.00,0.00,37.62,0.000,0.000,0.488,459,2178,1762,-12.88,-0.88,350.04
$IRIDIUM_FIX,1918.37,-8112.45,200502,141439
$TT8_MAMPS,0.025311
$HUMID,58.42
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.40
$XPDR_PINGS,75
$24V_AH,23.3,26.509
$10V_AH,10.4,23.284
$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,32.275,258.775,392.975,37.625,0.000,25.668,39.032,201.598,18.750,0.000,12.515,1655.643,14732.954,582.597,2587.026,792.146,32.352,1682.649,0.000,2588.189,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,141.895,1217.996,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,527.377,384.818,485.697,674.125,1284.455,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,60545,779
$CAP_FILE_SIZE,190358,0
$CFSIZE,260165632,115453952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240213,013359,1925.686,-8115.529,35,1.0,41,-3.8