version: 66.06
glider: 146
mission: 8
dive: 200
start: 2 26 113 12 36 31
data:
$ID,146
$MISSION,8
$DIVE,200
$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,-311279.41
$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,66
$R_STBD_OVSHOOT,19
$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
$GPS1,122454,1925.408,-8114.929,40,1.1,40,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.3
$GPS2,123536,1925.415,-8114.845,11,1.5,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.219,0.139
$KALMAN_X,6816.0,133.0,-79.8,-19859.2,544.8
$KALMAN_Y,-2498.7,47.5,70.3,5811.3,-694.3
$MHEAD_RNG_PITCHd_Wd,306.2,6243,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-71.00,0.000,2,0.000,0.000,465,2167,3490,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-4.5,9,124,13.70,2.65,-5.38,0.000,4,0.166,0.044,2978,3807,3786,0,0,0,0,0,0
$GC,299,-1.12,-146.0,48.3,-17.1,31,304,0.17,2.47,0.00,0.000,6,0.100,0.024,3016,2238,3788,0,0,0,0,0,0
$GC,568,-0.98,-146.0,90.7,-15.0,55,573,0.12,2.65,0.00,0.000,4,0.111,0.047,3043,632,3788,0,0,0,0,0,0
$GC,615,-0.92,-146.0,98.4,-13.1,58,625,0.00,2.50,0.00,0.000,6,0.000,0.016,3043,2241,3788,0,0,0,0,0,0
$GC,884,-0.92,-146.0,125.7,-9.5,83,888,0.00,2.65,0.00,0.000,4,0.000,0.044,3043,634,3788,0,0,0,0,0,0
$GC,928,-0.92,-146.0,131.2,-10.1,86,938,0.00,2.42,0.00,0.000,6,0.000,0.016,3043,2200,3788,0,0,0,0,0,0
$GC,1194,-0.96,-146.0,154.3,-8.6,111,1198,0.00,2.50,0.00,0.000,4,0.000,0.039,3043,3772,3789,0,0,0,0,0,0
$GC,1216,-1.02,-146.0,156.2,-8.4,112,1220,0.00,2.45,0.00,0.000,6,0.000,0.022,3043,2189,3789,0,0,0,0,0,0
$GC,1485,-1.08,-146.0,176.3,-7.7,136,1490,0.00,2.53,0.00,0.000,4,0.000,0.055,3043,639,3789,0,0,0,0,0,0
$GC,1554,-1.19,-146.0,182.1,-7.6,141,1563,0.15,2.40,0.00,0.000,6,0.027,0.019,2971,2180,3789,0,0,0,0,0,0
$GC,1823,-1.12,-146.0,208.4,-9.9,161,1828,0.20,2.53,0.00,0.000,4,0.083,0.032,3018,3772,3789,0,0,0,0,0,0
$GC,1892,-1.18,-146.0,214.3,-8.4,162,1897,0.00,2.47,0.00,0.000,6,0.000,0.018,3018,2186,3789,0,0,0,0,0,0
$GC,2148,-1.22,-146.0,233.1,-7.3,169,2150,0.10,0.00,0.00,0.000,6,0.078,0.000,2969,2186,3789,0,0,0,0,0,0
$GC,2395,-1.18,-146.0,256.4,-9.7,175,2396,0.15,0.00,0.00,0.000,6,0.090,0.000,3004,2186,3789,0,0,0,0,0,0
$GC,2635,-1.18,-146.0,276.1,-8.0,181,2640,0.00,2.58,0.00,0.000,4,0.000,0.061,3004,636,3789,0,0,0,0,0,0
$GC,2657,-1.18,-146.0,277.9,-8.2,181,2661,0.00,2.42,0.00,0.000,6,0.000,0.027,3004,2201,3788,0,0,0,0,0,0
$GC,2914,-1.18,-146.0,299.1,-8.4,188,2918,0.00,2.55,0.00,0.000,4,0.000,0.047,3004,3776,3788,0,0,0,0,0,0
$GC,2947,-1.22,-146.0,302.1,-8.4,188,2953,0.00,2.47,0.00,0.000,6,0.000,0.026,3004,2204,3787,0,0,0,0,0,0
$GC,3198,-1.26,-146.0,322.5,-8.2,195,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2204,3787,0,0,0,0,0,0
$GC,3443,-1.30,-146.0,341.6,-7.7,201,3445,0.12,0.00,0.00,0.000,6,0.066,0.000,2954,2204,3786,0,0,0,0,0,0
$GC,3685,-1.24,-146.0,364.7,-9.6,207,3687,0.15,0.00,0.00,0.000,6,0.094,0.000,2988,2204,3785,0,0,0,0,0,0
$GC,3928,-1.24,-146.0,384.2,-7.9,213,3933,0.00,2.58,0.00,0.000,4,0.000,0.044,2988,3776,3785,0,0,0,0,0,0
$GC,3957,-1.24,-146.0,386.4,-8.1,213,3962,0.00,2.50,0.00,0.000,6,0.000,0.026,2988,2211,3785,0,0,0,0,0,0
$GC,4207,-1.24,-146.0,405.8,-7.7,219,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2211,3784,0,0,0,0,0,0
$GC,4451,-1.24,-146.0,424.6,-7.8,225,4455,0.00,2.75,0.00,0.000,4,0.000,0.081,2988,626,3783,0,0,0,0,0,0
$GC,4478,-1.24,-146.0,426.9,-8.3,225,4483,0.00,2.53,0.00,0.000,6,0.000,0.035,2988,2192,3783,0,0,0,0,0,0
$GC,4730,-1.24,-146.0,445.8,-7.5,231,4735,0.00,2.67,0.00,0.000,4,0.000,0.058,2988,3791,3781,0,0,0,0,0,0
$GC,4786,-1.29,-146.0,450.6,-8.4,232,4790,0.00,2.55,0.00,0.000,6,0.000,0.041,2988,2223,3781,0,0,0,0,0,0
$GC,5052,-1.29,-146.0,471.4,-7.9,239,5057,0.00,2.83,0.00,0.000,4,0.000,0.089,2988,627,3780,0,0,0,0,0,0
$GC,5091,-1.29,-146.0,474.7,-8.5,240,5096,0.00,2.58,0.00,0.000,6,0.000,0.047,2988,2210,3780,0,0,0,0,0,0
$GC,5375,-1.29,-146.0,496.9,-7.7,247,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2210,3778,0,0,0,0,0,0
$GC,5620,-1.29,-146.0,515.8,-7.8,253,5625,0.00,2.75,0.00,0.000,4,0.000,0.071,2988,3793,3777,0,0,0,0,0,0
$GC,5642,-1.29,-146.0,517.7,-7.6,253,5646,0.00,2.60,0.00,0.000,6,0.000,0.049,2988,2212,3778,0,0,0,0,0,0
$GC,5897,-1.29,-146.0,537.3,-7.8,260,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2212,3777,0,0,0,0,0,0
$GC,6140,-1.29,-146.0,555.8,-7.7,266,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2212,3776,0,0,0,0,0,0
$GC,6387,-1.32,-146.0,574.7,-7.7,272,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2211,3774,0,0,0,0,0,0
$GC,6628,-1.36,-146.0,593.3,-7.6,278,6630,0.10,0.00,0.00,0.000,6,0.278,0.000,2946,2211,3773,0,0,0,0,0,0
$GC,6872,-1.32,-146.0,614.7,-8.9,284,6877,0.12,2.85,0.00,0.000,4,0.102,0.094,2973,3794,3772,0,0,0,0,0,0
$GC,6904,-1.32,-146.0,617.2,-8.7,284,6908,0.00,2.75,0.00,0.000,6,0.000,0.069,2973,2212,3771,0,0,0,0,0,0
$GC,7154,-1.32,-146.0,636.6,-7.6,290,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2212,3770,0,0,0,0,0,0
$GC,7397,-1.32,-146.0,655.8,-8.0,296,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2211,3769,0,0,0,0,0,0
$GC,7643,-1.32,-146.0,674.7,-7.8,302,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2211,3768,0,0,0,0,0,0
$GC,7885,-1.32,-146.0,693.9,-7.9,308,7889,0.00,2.97,0.00,0.000,4,0.000,0.119,2973,3790,3766,0,0,0,0,0,0
$GC,7908,-1.32,-146.0,695.8,-7.7,308,7913,0.00,2.80,0.00,0.000,6,0.000,0.084,2973,2217,3766,0,0,0,0,0,0
$GC,8166,-1.32,-146.0,715.6,-7.7,315,8171,0.00,3.10,0.00,0.000,4,0.000,0.132,2973,623,3765,0,0,0,0,0,0
$GC,8206,-1.32,-146.0,719.0,-8.2,316,8210,0.00,2.78,0.00,0.000,6,0.000,0.076,2973,2205,3764,0,0,0,0,0,0
$GC,8491,-1.32,-146.0,741.2,-7.7,323,8496,0.00,2.90,0.00,0.000,4,0.000,0.103,2974,3798,3762,0,0,0,0,0,0
$GC,8521,-1.32,-146.0,743.6,-8.2,323,8525,0.00,2.72,0.00,0.000,6,0.000,0.067,2973,2216,3763,0,0,0,0,0,0
$GC,8771,-1.32,-146.0,762.1,-7.2,329,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2215,3762,0,0,0,0,0,0
$GC,9014,-1.32,-146.0,780.3,-7.4,335,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2215,3761,0,0,0,0,0,0
$GC,9258,-1.32,-146.0,798.4,-7.4,341,9262,0.00,2.80,0.00,0.000,4,0.000,0.083,2973,3801,3760,0,0,0,0,0,0
$GC,9287,-1.32,-146.0,800.6,-8.7,341,9292,0.00,2.75,0.00,0.000,6,0.000,0.063,2973,2216,3759,0,0,0,0,0,0
$GC,9537,-1.32,-146.0,820.1,-7.7,347,9542,0.00,3.05,0.00,0.000,4,0.000,0.120,2973,615,3758,0,0,0,0,0,0
$GC,9576,-1.32,-146.0,823.3,-8.1,348,9581,0.00,2.75,0.00,0.000,6,0.000,0.060,2973,2218,3758,0,0,0,0,0,0
$GC,9862,-1.32,-146.0,844.5,-7.4,355,9866,0.00,2.83,0.00,0.000,4,0.000,0.097,2974,3800,3757,0,0,0,0,0,0
$GC,9906,-1.32,-146.0,848.1,-7.3,356,9910,0.00,2.72,0.00,0.000,6,0.000,0.059,2973,2215,3757,0,0,0,0,0,0
$GC,10185,-1.32,-146.0,868.3,-7.3,363,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2215,3755,0,0,0,0,0,0
$GC,10429,-1.32,-146.0,885.6,-7.0,369,10433,0.00,2.78,0.00,0.000,4,0.000,0.078,2973,3801,3753,0,0,0,0,0,0
$GC,10468,-1.36,-146.0,888.7,-8.2,370,10473,0.00,2.70,0.00,0.000,6,0.000,0.062,2974,2231,3753,0,0,0,0,0,0
$STATE,10627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10627,begin apogee
$GC,10635,-0.31,0.0,900.7,7.4,374,10758,0.95,0.00,118.93,1.223,6,0.073,0.000,3189,2388,3190,0,0,0,0,0,0
$STATE,10759,end apogee,CONTROL_FINISHED_OK
$STATE,10759,begin climb
$GC,10761,1.27,146.0,904.3,0.0,377,10897,1.45,2.80,127.03,1.189,4,0.037,0.074,3543,3927,2593,0,0,0,0,0,0
$GC,11020,1.13,146.0,885.0,11.8,383,11026,0.17,2.67,0.00,0.000,6,0.115,0.048,3508,2364,2587,0,0,0,0,0,0
$GC,11301,1.11,162.9,859.1,9.2,390,11322,0.00,2.78,15.45,1.071,4,0.000,0.062,3508,3933,2524,0,0,0,0,0,0
$GC,11345,1.05,163.0,854.3,10.0,391,11349,0.00,2.67,0.00,0.000,6,0.000,0.043,3508,2366,2522,0,0,0,0,0,0
$GC,11622,1.05,169.5,827.2,9.7,398,11635,0.00,2.70,6.20,0.892,4,0.000,0.054,3508,3932,2500,0,0,0,0,0,0
$GC,11672,1.00,169.5,821.8,12.0,399,11678,0.15,2.65,0.00,0.000,6,0.115,0.044,3479,2373,2500,0,0,0,0,0,0
$GC,11950,1.04,199.0,797.1,8.6,406,11981,0.00,0.00,28.98,1.113,6,0.000,0.000,3479,2372,2378,0,0,0,0,0,0
$GC,12197,1.10,214.3,774.6,9.3,412,12214,0.00,0.00,15.10,1.051,6,0.000,0.000,3479,2373,2316,0,0,0,0,0,0
$GC,12438,1.15,215.8,750.5,9.9,418,12440,0.12,0.00,0.00,0.000,6,0.077,0.000,3516,2372,2313,0,0,0,0,0,0
$GC,12681,1.15,215.8,722.5,11.6,424,12686,0.00,2.67,0.00,0.000,4,0.000,0.061,3516,3933,2312,0,0,0,0,0,0
$GC,12705,1.11,215.8,719.7,12.1,424,12709,0.00,2.65,0.00,0.000,6,0.000,0.051,3516,2378,2311,0,0,0,0,0,0
$GC,12959,1.11,215.8,689.4,11.8,431,12961,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2378,2310,0,0,0,0,0,0
$GC,13203,1.11,215.8,661.8,11.2,437,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2378,2310,0,0,0,0,0,0
$GC,13447,1.11,215.8,634.5,11.1,443,13451,0.00,2.65,0.00,0.000,4,0.000,0.059,3516,3934,2309,0,0,0,0,0,0
$GC,13488,1.11,215.8,630.0,11.7,444,13492,0.00,2.62,0.00,0.000,6,0.000,0.044,3516,2378,2308,0,0,0,0,0,0
$GC,13771,1.11,215.8,599.0,10.8,451,13775,0.00,2.62,0.00,0.000,4,0.000,0.055,3516,3931,2308,0,0,0,0,0,0
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$STATE,19277,end climb,SURFACE_DEPTH_REACHED
$STATE,19277,begin surface coast
$FINISH,0.9,1.013178
$STATE,19320,end surface coast,CONTROL_FINISHED_OK
$STATE,19320,begin surface
$SM_CCo,19342,31.62,0.484,0,0,1763,350.04
$SM_GC,1.47,0.00,0.00,31.62,0.000,0.000,0.484,465,2185,1763,-12.86,-0.71,350.04
$IRIDIUM_FIX,1918.37,-8112.45,230502,121222
$TT8_MAMPS,0.026078
$HUMID,57.40
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.60
$XPDR_PINGS,69
$24V_AH,23.3,28.117
$10V_AH,10.4,24.805
$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,30.625,215.275,401.350,31.625,0.000,52.068,67.899,289.542,17.250,0.000,12.953,1546.747,14652.974,555.887,2349.096,901.432,33.366,1575.534,0.000,2343.868,0.000,0.537,0.000
$DEVICE_MAMPS,278.421,131.924,1223.365,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.121,338.488,431.561,552.700,1053.657,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,57279,726
$CAP_FILE_SIZE,179148,0
$CFSIZE,260165632,114589696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260213,180036,1926.511,-8117.213,28,1.0,28,-3.7