version: 66.06
glider: 146
mission: 8
dive: 211
start: 3 1 113 0 4 19
data:
$ID,146
$MISSION,8
$DIVE,211
$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,1
$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,-311500.56
$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,69
$R_STBD_OVSHOOT,41
$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
$GPS1,235224,1924.748,-8114.216,37,1.2,37,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.3
$GPS2,000325,1924.763,-8114.325,9,1.8,9,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.204,0.160
$KALMAN_X,10549.8,-166.4,-96.4,-22365.1,245.5
$KALMAN_Y,746.0,-84.4,112.7,1450.1,-667.9
$MHEAD_RNG_PITCHd_Wd,311.9,7640,-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,-71.18,0.000,2,0.000,0.000,460,2161,3510,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.6,-4.8,9,122,13.70,2.60,-5.12,0.000,4,0.165,0.040,2976,3787,3786,0,0,0,0,0,0
$GC,239,-1.11,-146.0,36.5,-17.6,26,244,0.20,2.45,0.00,0.000,6,0.098,0.023,3020,2237,3787,0,0,0,0,0,0
$GC,507,-0.98,-146.0,78.2,-15.5,50,512,0.12,2.62,0.00,0.000,4,0.114,0.047,3047,638,3787,0,0,0,0,0,0
$GC,558,-0.92,-146.0,86.5,-14.1,53,563,0.00,2.42,0.00,0.000,6,0.000,0.016,3047,2221,3787,0,0,0,0,0,0
$GC,823,-0.86,-146.0,120.4,-12.1,78,828,0.10,2.62,0.00,0.000,4,0.119,0.044,3070,637,3787,0,0,0,0,0,0
$GC,859,-0.86,-146.0,125.2,-11.9,80,868,0.00,2.40,0.00,0.000,6,0.000,0.019,3070,2189,3788,0,0,0,0,0,0
$GC,1125,-0.93,-146.0,149.3,-7.3,105,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2189,3788,0,0,0,0,0,0
$GC,1394,-1.03,-146.0,168.2,-6.7,130,1399,0.15,2.53,0.00,0.000,4,0.055,0.037,3003,3776,3789,0,0,0,0,0,0
$GC,1438,-1.03,-146.0,172.4,-10.1,133,1443,0.15,2.50,0.00,0.000,6,0.084,0.019,3039,2170,3789,0,0,0,0,0,0
$GC,1703,-1.08,-146.0,192.5,-7.2,157,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2170,3789,0,0,0,0,0,0
$GC,1978,-1.15,-146.0,211.4,-6.8,172,1983,0.12,2.53,0.00,0.000,4,0.066,0.047,2985,641,3789,0,0,0,0,0,0
$GC,2009,-1.15,-146.0,213.8,-8.4,172,2014,0.10,2.40,0.00,0.000,6,0.111,0.022,3009,2204,3789,0,0,0,0,0,0
$GC,2259,-1.15,-146.0,234.3,-8.0,178,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2204,3789,0,0,0,0,0,0
$GC,2503,-1.15,-146.0,253.0,-7.5,184,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2205,3789,0,0,0,0,0,0
$GC,2747,-1.15,-146.0,271.4,-7.5,190,2751,0.00,2.53,0.00,0.000,4,0.000,0.044,3009,3769,3789,0,0,0,0,0,0
$GC,2782,-1.20,-146.0,274.0,-8.1,190,2788,0.00,2.45,0.00,0.000,6,0.000,0.021,3009,2204,3789,0,0,0,0,0,0
$GC,3032,-1.23,-146.0,292.1,-7.2,197,3037,0.00,2.60,0.00,0.000,4,0.000,0.057,3009,639,3788,0,0,0,0,0,0
$GC,3055,-1.27,-146.0,294.0,-7.7,197,3060,0.12,2.40,0.00,0.000,6,0.068,0.025,2958,2196,3787,0,0,0,0,0,0
$GC,3313,-1.22,-146.0,318.4,-9.6,204,3314,0.15,0.00,0.00,0.000,6,0.095,0.000,2994,2196,3787,0,0,0,0,0,0
$GC,3554,-1.22,-146.0,337.2,-7.8,210,3558,0.00,2.58,0.00,0.000,4,0.000,0.048,2994,3779,3786,0,0,0,0,0,0
$GC,3581,-1.22,-146.0,339.6,-8.8,210,3585,0.00,2.47,0.00,0.000,6,0.000,0.028,2994,2214,3786,0,0,0,0,0,0
$GC,3833,-1.22,-146.0,359.5,-7.8,216,3838,0.00,2.67,0.00,0.000,4,0.000,0.065,2994,631,3785,0,0,0,0,0,0
$GC,3872,-1.22,-146.0,362.8,-8.2,217,3877,0.00,2.47,0.00,0.000,6,0.000,0.031,2994,2198,3785,0,0,0,0,0,0
$GC,4158,-1.22,-146.0,384.1,-7.5,224,4163,0.00,2.62,0.00,0.000,4,0.000,0.053,2994,3794,3784,0,0,0,0,0,0
$GC,4191,-1.25,-146.0,387.0,-8.8,224,4197,0.00,2.53,0.00,0.000,6,0.000,0.026,2994,2215,3784,0,0,0,0,0,0
$GC,4441,-1.25,-146.0,407.0,-8.1,231,4446,0.00,2.72,0.00,0.000,4,0.000,0.081,2994,631,3784,0,0,0,0,0,0
$GC,4477,-1.25,-146.0,409.9,-8.6,231,4482,0.00,2.53,0.00,0.000,6,0.000,0.030,2993,2209,3783,0,0,0,0,0,0
$GC,4727,-1.25,-146.0,429.4,-7.7,238,4731,0.00,2.60,0.00,0.000,4,0.000,0.051,2994,3789,3782,0,0,0,0,0,0
$GC,4754,-1.25,-146.0,431.7,-8.4,238,4758,0.00,2.53,0.00,0.000,6,0.000,0.038,2994,2216,3782,0,0,0,0,0,0
$GC,5006,-1.25,-146.0,450.7,-7.6,244,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2216,3781,0,0,0,0,0,0
$GC,5248,-1.25,-146.0,468.7,-7.3,250,5252,0.00,2.65,0.00,0.000,4,0.000,0.054,2994,3790,3780,0,0,0,0,0,0
$GC,5281,-1.30,-146.0,471.4,-8.2,250,5286,0.00,2.58,0.00,0.000,6,0.000,0.038,2994,2223,3780,0,0,0,0,0,0
$GC,5533,-1.34,-146.0,490.3,-7.7,257,5535,0.10,0.00,0.00,0.000,6,0.080,0.000,2951,2223,3779,0,0,0,0,0,0
$GC,5775,-1.29,-146.0,512.5,-9.2,263,5776,0.12,0.00,0.00,0.000,6,0.100,0.000,2980,2223,3777,0,0,0,0,0,0
$GC,6018,-1.29,-146.0,531.6,-7.6,269,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2223,3777,0,0,0,0,0,0
$GC,6262,-1.29,-146.0,549.3,-7.1,275,6266,0.00,2.70,0.00,0.000,4,0.000,0.071,2980,3785,3776,0,0,0,0,0,0
$GC,6285,-1.29,-146.0,551.0,-7.5,275,6290,0.00,2.62,0.00,0.000,6,0.000,0.050,2980,2224,3775,0,0,0,0,0,0
$GC,6543,-1.29,-146.0,570.1,-7.6,282,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2223,3774,0,0,0,0,0,0
$GC,6784,-1.29,-146.0,589.6,-8.1,288,6789,0.00,3.05,0.00,0.000,4,0.000,0.127,2980,622,3772,0,0,0,0,0,0
$GC,6813,-1.29,-146.0,592.1,-9.1,288,6818,0.00,2.67,0.00,0.000,6,0.000,0.060,2980,2216,3772,0,0,0,0,0,0
$GC,7063,-1.29,-146.0,612.6,-8.1,294,7068,0.00,2.85,0.00,0.000,4,0.000,0.100,2980,3798,3771,0,0,0,0,0,0
$GC,7103,-1.29,-146.0,615.9,-8.6,295,7107,0.00,2.70,0.00,0.000,6,0.000,0.068,2980,2231,3771,0,0,0,0,0,0
$GC,7388,-1.29,-146.0,637.2,-7.4,302,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2231,3769,0,0,0,0,0,0
$GC,7629,-1.29,-146.0,654.5,-7.0,308,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2231,3768,0,0,0,0,0,0
$GC,7873,-1.29,-146.0,671.5,-7.2,314,7878,0.00,3.12,0.00,0.000,4,0.000,0.139,2980,624,3767,0,0,0,0,0,0
$GC,7895,-1.29,-146.0,673.3,-8.0,314,7900,0.00,2.85,0.00,0.000,6,0.000,0.081,2980,2240,3767,0,0,0,0,0,0
$GC,8152,-1.29,-146.0,693.0,-7.8,321,8157,0.00,2.95,0.00,0.000,4,0.000,0.120,2980,3801,3765,0,0,0,0,0,0
$GC,8185,-1.29,-146.0,696.0,-9.6,321,8191,0.00,2.90,0.00,0.000,6,0.000,0.102,2979,2245,3765,0,0,0,0,0,0
$GC,8437,-1.29,-146.0,716.5,-8.3,328,8442,0.00,3.30,0.00,0.000,4,0.000,0.153,2980,617,3764,0,0,0,0,0,0
$GC,8489,-1.33,-146.0,720.9,-8.1,329,8494,0.00,2.97,0.00,0.000,6,0.000,0.102,2980,2234,3764,0,0,0,0,0,0
$GC,8761,-1.33,-146.0,742.7,-7.9,336,8766,0.00,3.12,0.00,0.000,4,0.000,0.143,2980,3800,3762,0,0,0,0,0,0
$GC,8808,-1.37,-146.0,746.4,-8.3,337,8813,0.00,2.72,0.00,0.000,6,0.000,0.069,2980,2235,3762,0,0,0,0,0,0
$GC,9085,-1.37,-146.0,767.6,-7.5,344,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3760,0,0,0,0,0,0
$GC,9329,-1.37,-146.0,785.6,-7.5,350,9334,0.00,2.80,0.00,0.000,4,0.000,0.083,2979,3809,3759,0,0,0,0,0,0
$GC,9353,-1.37,-146.0,787.2,-7.6,350,9358,0.00,2.72,0.00,0.000,6,0.000,0.068,2980,2242,3759,0,0,0,0,0,0
$GC,9608,-1.37,-146.0,806.3,-7.4,357,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2241,3758,0,0,0,0,0,0
$GC,9852,-1.37,-146.0,824.6,-7.5,363,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2241,3757,0,0,0,0,0,0
$GC,10096,-1.41,-146.0,842.8,-7.4,369,10098,0.12,0.00,0.00,0.000,6,0.070,0.000,2934,2240,3756,0,0,0,0,0,0
$GC,10342,-1.36,-146.0,865.0,-9.1,375,10344,0.15,0.00,0.00,0.000,6,0.100,0.000,2967,2240,3755,0,0,0,0,0,0
$GC,10583,-1.36,-146.0,883.0,-7.1,381,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2240,3753,0,0,0,0,0,0
$STATE,10824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10824,begin apogee
$GC,10832,-0.31,0.0,901.1,7.5,387,10954,0.98,0.00,118.50,1.216,6,0.071,0.000,3190,2385,3190,0,0,0,0,0,0
$STATE,10955,end apogee,CONTROL_FINISHED_OK
$STATE,10955,begin climb
$GC,10958,1.27,146.0,904.3,0.0,390,11093,1.42,2.80,127.00,1.187,4,0.036,0.076,3542,3932,2593,0,0,0,0,0,0
$GC,11129,1.14,146.0,895.5,11.2,394,11135,0.17,2.72,0.00,0.000,6,0.114,0.058,3507,2367,2589,0,0,0,0,0,0
$GC,11408,1.16,165.0,869.9,9.1,401,11427,0.00,0.00,17.30,1.084,6,0.000,0.000,3507,2368,2517,0,0,0,0,0,0
$GC,11653,1.17,168.2,846.1,9.9,407,11658,0.00,2.70,0.00,0.000,4,0.000,0.059,3507,3928,2512,0,0,0,0,0,0
$GC,11697,1.12,168.2,840.9,11.1,408,11702,0.00,2.65,0.00,0.000,6,0.000,0.042,3507,2366,2511,0,0,0,0,0,0
$GC,11975,1.13,179.7,814.2,9.5,415,11990,0.00,0.00,13.90,1.057,6,0.000,0.000,3508,2365,2457,0,0,0,0,0,0
$GC,12221,1.14,188.4,790.9,9.6,421,12235,0.00,2.72,9.10,0.980,4,0.000,0.058,3507,3930,2422,0,0,0,0,0,0
$GC,12264,1.10,188.4,786.5,10.7,422,12269,0.00,2.62,0.00,0.000,6,0.000,0.048,3507,2371,2421,0,0,0,0,0,0
$GC,12548,1.11,193.8,758.6,9.7,429,12561,0.00,2.67,6.28,0.877,4,0.000,0.054,3507,3930,2400,0,0,0,0,0,0
$GC,12580,1.11,193.8,755.2,10.1,429,12584,0.00,2.65,0.00,0.000,6,0.000,0.042,3507,2372,2399,0,0,0,0,0,0
$GC,12830,1.11,198.4,730.5,9.8,435,12837,0.00,0.00,5.68,0.838,6,0.000,0.000,3507,2372,2382,0,0,0,0,0,0
$GC,13074,1.12,207.2,706.9,9.6,441,13089,0.00,3.12,9.88,0.963,4,0.000,0.121,3507,782,2345,0,0,0,0,0,0
$GC,13102,1.15,231.6,704.2,8.9,441,13132,0.00,2.67,24.33,1.042,6,0.000,0.045,3507,2370,2245,0,0,0,0,0,0
$GC,13395,1.15,231.6,672.4,11.0,449,13400,0.00,2.67,0.00,0.000,4,0.000,0.069,3507,3932,2241,0,0,0,0,0,0
$GC,13425,1.15,231.6,668.8,11.2,449,13429,0.00,2.62,0.00,0.000,6,0.000,0.039,3507,2364,2240,0,0,0,0,0,0
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$STATE,19483,end climb,SURFACE_DEPTH_REACHED
$STATE,19484,begin surface coast
$FINISH,0.9,1.010095
$STATE,19539,end surface coast,CONTROL_FINISHED_OK
$STATE,19539,begin surface
$SM_CCo,19564,44.12,0.487,0,0,1763,350.04
$SM_GC,1.79,0.00,0.00,44.12,0.000,0.000,0.487,464,2135,1763,-12.86,-2.12,350.04
$IRIDIUM_FIX,1916.08,-8112.45,250502,181835
$TT8_MAMPS,0.026078
$HUMID,57.83
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.70
$XPDR_PINGS,65
$24V_AH,23.3,29.728
$10V_AH,10.4,26.167
$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,30.825,222.900,391.000,44.125,0.000,24.754,43.598,431.144,16.250,0.000,11.361,1547.549,14845.814,581.340,2301.208,986.677,33.358,1582.060,0.000,2298.984,0.000,0.538,0.000
$DEVICE_MAMPS,164.905,152.633,1216.462,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.952,344.900,437.910,564.795,1076.535,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,57327,736
$CAP_FILE_SIZE,178449,0
$CFSIZE,260165632,113790976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010313,053230,1926.254,-8117.012,39,1.2,39,-3.7