version: 66.06
glider: 146
mission: 8
dive: 197
start: 2 25 113 19 39 45
data:
$ID,146
$MISSION,8
$DIVE,197
$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,-311236.44
$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,54
$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
$GPS1,192530,1923.750,-8108.263,62,1.2,62,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.8
$GPS2,193849,1923.805,-8108.236,10,1.4,10,-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,5491.5,-413.4,-95.3,-6429.7,1885.2
$KALMAN_Y,-1204.5,-268.5,-68.7,1999.1,-124.5
$MHEAD_RNG_PITCHd_Wd,286.8,18048,-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,-70.50,0.000,2,0.000,0.000,462,2162,3491,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.6,-5.5,9,120,13.68,2.47,-5.53,0.000,4,0.165,0.059,2977,650,3784,0,0,0,0,0,0
$GC,344,-1.08,-146.0,55.3,-17.3,36,349,0.22,2.42,0.00,0.000,6,0.104,0.017,3025,2227,3784,0,0,0,0,0,0
$GC,609,-0.97,-146.0,94.4,-13.9,60,618,0.10,0.00,0.00,0.000,6,0.123,0.000,3047,2228,3785,0,0,0,0,0,0
$GC,875,-0.97,-146.0,126.2,-11.3,85,879,0.00,2.58,0.00,0.000,4,0.000,0.043,3047,655,3785,0,0,0,0,0,0
$GC,917,-0.97,-146.0,131.3,-11.8,88,921,0.00,2.38,0.00,0.000,6,0.000,0.023,3047,2221,3785,0,0,0,0,0,0
$GC,1184,-1.03,-146.0,154.0,-7.5,112,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2221,3785,0,0,0,0,0,0
$GC,1449,-1.09,-146.0,174.9,-8.0,137,1454,0.10,2.47,0.00,0.000,4,0.080,0.034,2999,3768,3786,0,0,0,0,0,0
$GC,1481,-1.09,-146.0,177.8,-9.3,139,1486,0.10,2.42,0.00,0.000,6,0.103,0.019,3024,2204,3786,0,0,0,0,0,0
$GC,1747,-1.14,-146.0,198.5,-7.8,163,1751,0.00,2.55,0.00,0.000,4,0.000,0.054,3024,638,3786,0,0,0,0,0,0
$GC,1808,-1.20,-146.0,203.6,-7.6,165,1813,0.10,2.40,0.00,0.000,6,0.076,0.025,2969,2205,3786,0,0,0,0,0,0
$GC,2072,-1.14,-146.0,228.7,-9.9,172,2077,0.17,2.50,0.00,0.000,4,0.087,0.034,3010,3765,3786,0,0,0,0,0,0
$GC,2093,-1.14,-146.0,231.1,-9.0,172,2098,0.00,2.40,0.00,0.000,6,0.000,0.027,3010,2207,3786,0,0,0,0,0,0
$GC,2349,-1.18,-146.0,250.3,-7.5,179,2354,0.00,2.58,0.00,0.000,4,0.000,0.054,3010,634,3786,0,0,0,0,0,0
$GC,2385,-1.23,-146.0,253.0,-8.1,179,2391,0.00,2.42,0.00,0.000,6,0.000,0.019,3010,2210,3786,0,0,0,0,0,0
$GC,2635,-1.27,-146.0,271.0,-7.1,186,2640,0.12,2.50,0.00,0.000,4,0.067,0.043,2960,3775,3785,0,0,0,0,0,0
$GC,2668,-1.22,-146.0,274.0,-10.0,186,2675,0.15,2.45,0.00,0.000,6,0.088,0.027,2995,2210,3785,0,0,0,0,0,0
$GC,2921,-1.22,-146.0,294.1,-8.0,193,2925,0.00,2.53,0.00,0.000,4,0.000,0.042,2995,3771,3785,0,0,0,0,0,0
$GC,2947,-1.22,-146.0,296.7,-8.7,193,2952,0.00,2.42,0.00,0.000,6,0.000,0.021,2995,2220,3785,0,0,0,0,0,0
$GC,3198,-1.22,-146.0,317.3,-8.2,199,3202,0.00,2.65,0.00,0.000,4,0.000,0.064,2995,639,3784,0,0,0,0,0,0
$GC,3249,-1.22,-146.0,321.8,-8.9,200,3254,0.00,2.45,0.00,0.000,6,0.000,0.030,2995,2200,3783,0,0,0,0,0,0
$GC,3521,-1.22,-146.0,344.6,-8.4,207,3525,0.00,2.58,0.00,0.000,4,0.000,0.048,2995,3788,3783,0,0,0,0,0,0
$GC,3548,-1.22,-146.0,346.9,-8.1,207,3553,0.00,2.50,0.00,0.000,6,0.000,0.024,2995,2210,3783,0,0,0,0,0,0
$GC,3800,-1.22,-146.0,367.2,-8.1,213,3805,0.00,2.70,0.00,0.000,4,0.000,0.072,2995,629,3782,0,0,0,0,0,0
$GC,3827,-1.22,-146.0,369.7,-8.4,213,3832,0.00,2.50,0.00,0.000,6,0.000,0.033,2995,2206,3782,0,0,0,0,0,0
$GC,4077,-1.22,-146.0,389.3,-7.8,219,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2206,3781,0,0,0,0,0,0
$GC,4323,-1.22,-146.0,408.9,-8.1,225,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2206,3780,0,0,0,0,0,0
$GC,4565,-1.22,-146.0,428.9,-8.2,231,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2206,3779,0,0,0,0,0,0
$GC,4809,-1.26,-146.0,448.4,-7.9,237,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2206,3778,0,0,0,0,0,0
$GC,5053,-1.30,-146.0,466.3,-7.4,243,5057,0.00,2.65,0.00,0.000,4,0.000,0.066,2995,3782,3777,0,0,0,0,0,0
$GC,5076,-1.34,-146.0,467.9,-7.3,243,5082,0.12,2.55,0.00,0.000,6,0.065,0.040,2944,2209,3777,0,0,0,0,0,0
$GC,5332,-1.28,-146.0,491.9,-9.4,250,5334,0.17,0.00,0.00,0.000,6,0.091,0.000,2984,2209,3776,0,0,0,0,0,0
$GC,5578,-1.28,-146.0,511.5,-7.9,256,5583,0.00,2.65,0.00,0.000,4,0.000,0.062,2984,3779,3775,0,0,0,0,0,0
$GC,5611,-1.28,-146.0,514.3,-8.0,256,5617,0.00,2.58,0.00,0.000,6,0.000,0.052,2983,2221,3775,0,0,0,0,0,0
$GC,5861,-1.28,-146.0,533.6,-7.6,263,5865,0.00,2.97,0.00,0.000,4,0.000,0.115,2984,627,3774,0,0,0,0,0,0
$GC,5888,-1.28,-146.0,535.8,-8.1,263,5892,0.00,2.62,0.00,0.000,6,0.000,0.044,2983,2212,3773,0,0,0,0,0,0
$GC,6140,-1.28,-146.0,554.1,-7.2,269,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2212,3772,0,0,0,0,0,0
$GC,6381,-1.28,-146.0,571.5,-7.1,275,6386,0.00,2.83,0.00,0.000,4,0.000,0.089,2984,3797,3771,0,0,0,0,0,0
$GC,6414,-1.28,-146.0,574.1,-7.9,275,6420,0.00,2.67,0.00,0.000,6,0.000,0.058,2984,2213,3770,0,0,0,0,0,0
$GC,6667,-1.28,-146.0,592.1,-7.2,282,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2213,3769,0,0,0,0,0,0
$GC,6908,-1.28,-146.0,610.2,-7.4,288,6912,0.00,2.80,0.00,0.000,4,0.000,0.084,2984,3800,3768,0,0,0,0,0,0
$GC,6929,-1.28,-146.0,611.9,-7.7,288,6934,0.00,2.72,0.00,0.000,6,0.000,0.070,2984,2217,3768,0,0,0,0,0,0
$GC,7187,-1.28,-146.0,630.8,-7.4,295,7192,0.00,3.03,0.00,0.000,4,0.000,0.126,2984,622,3766,0,0,0,0,0,0
$GC,7214,-1.28,-146.0,633.0,-8.1,295,7219,0.00,2.72,0.00,0.000,6,0.000,0.068,2984,2209,3766,0,0,0,0,0,0
$GC,7464,-1.28,-146.0,651.4,-7.4,301,7469,0.00,2.92,0.00,0.000,4,0.000,0.104,2983,3798,3765,0,0,0,0,0,0
$GC,7495,-1.28,-146.0,653.6,-8.1,301,7499,0.00,2.85,0.00,0.000,6,0.000,0.087,2984,2205,3765,0,0,0,0,0,0
$GC,7745,-1.28,-146.0,672.4,-7.4,307,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2205,3763,0,0,0,0,0,0
$GC,7988,-1.28,-146.0,691.1,-7.7,313,7993,0.00,2.95,0.00,0.000,4,0.000,0.110,2983,3798,3762,0,0,0,0,0,0
$GC,8017,-1.31,-146.0,693.5,-8.5,313,8022,0.00,2.83,0.00,0.000,6,0.000,0.078,2984,2209,3762,0,0,0,0,0,0
$GC,8269,-1.31,-146.0,713.1,-7.9,319,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,3761,0,0,0,0,0,0
$GC,8511,-1.31,-146.0,732.2,-7.7,325,8516,0.00,2.88,0.00,0.000,4,0.000,0.093,2984,3794,3760,0,0,0,0,0,0
$GC,8538,-1.36,-146.0,734.3,-7.9,325,8543,0.00,2.78,0.00,0.000,6,0.000,0.074,2984,2207,3759,0,0,0,0,0,0
$GC,8791,-1.40,-146.0,752.3,-7.1,331,8793,0.12,0.00,0.00,0.000,6,0.071,0.000,2941,2207,3758,0,0,0,0,0,0
$GC,9032,-1.36,-146.0,773.4,-8.8,337,9038,0.10,2.85,0.00,0.000,4,0.119,0.085,2963,3796,3757,0,0,0,0,0,0
$GC,9054,-1.36,-146.0,775.4,-8.4,337,9059,0.00,2.75,0.00,0.000,6,0.000,0.071,2963,2218,3757,0,0,0,0,0,0
$GC,9312,-1.36,-146.0,794.7,-7.5,344,9316,0.00,2.80,0.00,0.000,4,0.000,0.081,2963,3800,3756,0,0,0,0,0,0
$GC,9333,-1.36,-146.0,796.6,-8.1,344,9338,0.00,2.72,0.00,0.000,6,0.000,0.067,2963,2222,3756,0,0,0,0,0,0
$GC,9588,-1.36,-146.0,816.5,-7.9,351,9593,0.00,2.78,0.00,0.000,4,0.000,0.079,2963,3796,3754,0,0,0,0,0,0
$GC,9612,-1.36,-146.0,818.4,-8.6,351,9616,0.00,2.75,0.00,0.000,6,0.000,0.070,2963,2216,3754,0,0,0,0,0,0
$GC,9867,-1.36,-146.0,838.5,-7.7,358,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2216,3753,0,0,0,0,0,0
$GC,10110,-1.36,-146.0,857.1,-7.7,364,10115,0.00,2.80,0.00,0.000,4,0.000,0.078,2963,3802,3751,0,0,0,0,0,0
$GC,10134,-1.36,-146.0,858.8,-7.5,364,10138,0.00,2.72,0.00,0.000,6,0.000,0.068,2963,2230,3752,0,0,0,0,0,0
$GC,10389,-1.36,-146.0,878.2,-7.4,371,10394,0.00,3.10,0.00,0.000,4,0.000,0.126,2963,620,3750,0,0,0,0,0,0
$GC,10411,-1.36,-146.0,879.9,-8.2,371,10415,0.00,2.75,0.00,0.000,6,0.000,0.058,2963,2227,3750,0,0,0,0,0,0
$GC,10668,-1.36,-146.0,898.9,-7.4,378,10672,0.00,2.83,0.00,0.000,4,0.000,0.095,2963,3803,3749,0,0,0,0,0,0
$STATE,10681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10681,begin apogee
$GC,10689,-0.31,0.0,900.4,7.5,378,10811,0.98,0.00,118.10,1.218,6,0.073,0.000,3188,2360,3190,0,0,0,0,0,0
$STATE,10812,end apogee,CONTROL_FINISHED_OK
$STATE,10812,begin climb
$GC,10814,1.27,146.0,903.0,0.0,381,10951,1.45,2.88,126.80,1.187,4,0.036,0.072,3545,3934,2593,0,0,0,0,0,0
$GC,11020,1.12,146.0,890.2,11.8,385,11027,0.20,2.70,0.00,0.000,6,0.112,0.055,3505,2368,2588,0,0,0,0,0,0
$GC,11273,1.09,155.7,865.7,9.5,392,11287,0.00,3.08,8.82,0.986,4,0.000,0.110,3505,778,2555,0,0,0,0,0,0
$GC,11317,1.02,155.7,861.1,10.3,393,11322,0.10,2.70,0.00,0.000,6,0.137,0.050,3485,2361,2553,0,0,0,0,0,0
$GC,11602,1.06,181.0,836.0,8.8,400,11632,0.00,2.92,23.67,1.107,4,0.000,0.081,3484,783,2452,0,0,0,0,0,0
$GC,11649,1.08,196.9,831.4,9.3,401,11670,0.00,2.67,16.08,1.066,6,0.000,0.044,3485,2356,2387,0,0,0,0,0,0
$GC,11926,1.08,197.2,804.0,10.0,408,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2357,2383,0,0,0,0,0,0
$GC,12172,1.08,200.0,779.6,9.9,414,12176,0.00,2.83,0.00,0.000,4,0.000,0.078,3485,778,2382,0,0,0,0,0,0
$GC,12187,1.08,202.8,777.7,9.9,414,12198,0.00,2.65,5.93,0.864,6,0.000,0.041,3485,2360,2363,0,0,0,0,0,0
$GC,12449,1.09,211.6,752.5,9.6,421,12464,0.00,2.88,9.85,0.980,4,0.000,0.084,3485,775,2326,0,0,0,0,0,0
$GC,12483,1.09,211.6,749.2,10.0,421,12488,0.00,2.65,0.00,0.000,6,0.000,0.042,3485,2340,2326,0,0,0,0,0,0
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$STATE,19385,end climb,SURFACE_DEPTH_REACHED
$STATE,19386,begin surface coast
$FINISH,0.9,1.023576
$STATE,19437,end surface coast,CONTROL_FINISHED_OK
$STATE,19437,begin surface
$SM_CCo,19460,33.20,0.485,0,0,1763,350.04
$SM_GC,1.90,0.00,0.00,33.20,0.000,0.000,0.485,463,2195,1763,-12.87,-0.42,350.04
$IRIDIUM_FIX,1913.80,-8058.55,220502,191907
$TT8_MAMPS,0.025311
$HUMID,57.87
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.60
$XPDR_PINGS,73
$24V_AH,23.3,27.680
$10V_AH,10.3,24.423
$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,30.700,245.225,404.625,33.200,0.000,88.766,175.163,242.960,18.250,0.000,11.996,1553.755,14836.302,576.619,2317.778,1003.388,33.368,1604.997,0.000,2311.354,0.000,0.537,0.000
$DEVICE_MAMPS,164.905,125.788,1217.996,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.730,337.164,435.649,567.928,1081.224,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,57510,731
$CAP_FILE_SIZE,184617,0
$CFSIZE,260165632,114798592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260213,010600,1924.335,-8110.471,37,1.9,37,-3.8