version: 66.06
glider: 146
mission: 8
dive: 215
start: 3 1 113 20 3 7
data:
$ID,146
$MISSION,8
$DIVE,215
$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,-311576.44
$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,59
$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
$GPS1,195136,1927.490,-8115.422,42,1.4,42,-3.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.9
$GPS2,200213,1927.458,-8115.443,14,1.5,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.075
$KALMAN_X,7096.5,81.9,20.6,-21241.2,-543.0
$KALMAN_Y,1726.9,398.1,220.0,4858.3,-306.1
$MHEAD_RNG_PITCHd_Wd,110.6,14110,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-70.70,0.000,2,0.000,0.000,459,2177,3483,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-4.3,9,122,13.75,2.47,-5.78,0.000,4,0.166,0.052,2979,658,3785,0,0,0,0,0,0
$GC,143,-0.40,-146.0,18.0,-34.0,14,151,0.82,2.42,0.00,0.000,6,0.078,0.024,3166,2221,3786,0,0,0,0,0,0
$GC,439,-0.58,-146.0,41.5,-6.5,48,445,0.15,2.58,0.00,0.000,4,0.057,0.043,3106,659,3787,0,0,0,0,0,0
$GC,461,-0.71,-146.0,43.4,-6.8,49,465,0.00,2.38,0.00,0.000,6,0.000,0.015,3106,2211,3786,0,0,0,0,0,0
$GC,729,-0.76,-146.0,69.0,-9.6,73,738,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2211,3787,0,0,0,0,0,0
$GC,993,-0.81,-146.0,94.0,-9.0,98,997,0.00,2.55,0.00,0.000,4,0.000,0.043,3106,655,3787,0,0,0,0,0,0
$GC,1016,-0.86,-146.0,96.4,-8.9,99,1022,0.15,2.35,0.00,0.000,6,0.056,0.015,3040,2200,3787,0,0,0,0,0,0
$GC,1281,-0.82,-146.0,128.7,-11.5,124,1286,0.17,2.50,0.00,0.000,4,0.087,0.048,3081,659,3787,0,0,0,0,0,0
$GC,1315,-0.88,-146.0,132.7,-9.9,126,1324,0.00,2.35,0.00,0.000,6,0.000,0.016,3081,2189,3787,0,0,0,0,0,0
$GC,1584,-0.98,-146.0,152.8,-7.2,151,1590,0.15,0.00,0.00,0.000,6,0.058,0.000,3018,2189,3788,0,0,0,0,0,0
$GC,1847,-0.98,-146.0,177.4,-9.7,176,1852,0.12,2.50,0.00,0.000,4,0.097,0.041,3047,3763,3789,0,0,0,0,0,0
$GC,1890,-1.06,-146.0,181.1,-8.2,179,1895,0.00,2.38,0.00,0.000,6,0.000,0.022,3047,2216,3789,0,0,0,0,0,0
$GC,2154,-1.16,-146.0,199.5,-6.9,203,2159,0.17,2.58,0.00,0.000,4,0.052,0.048,2978,638,3789,0,0,0,0,0,0
$GC,2179,-1.16,-146.0,201.7,-8.4,203,2184,0.12,2.40,0.00,0.000,6,0.097,0.020,3007,2202,3789,0,0,0,0,0,0
$GC,2435,-1.16,-146.0,223.7,-8.6,210,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2203,3789,0,0,0,0,0,0
$GC,2678,-1.16,-146.0,244.3,-8.4,216,2683,0.00,2.50,0.00,0.000,4,0.000,0.043,3007,3771,3788,0,0,0,0,0,0
$GC,2708,-1.16,-146.0,246.6,-8.1,216,2712,0.00,2.42,0.00,0.000,6,0.000,0.020,3007,2199,3789,0,0,0,0,0,0
$GC,2958,-1.16,-146.0,265.7,-7.4,222,2962,0.00,2.55,0.00,0.000,4,0.000,0.050,3007,635,3788,0,0,0,0,0,0
$GC,2974,-1.16,-146.0,267.0,-7.4,222,2978,0.00,2.40,0.00,0.000,6,0.000,0.026,3007,2193,3788,0,0,0,0,0,0
$GC,3237,-1.19,-146.0,285.8,-7.1,229,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2194,3788,0,0,0,0,0,0
$GC,3479,-1.24,-146.0,303.4,-7.2,235,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2193,3786,0,0,0,0,0,0
$GC,3722,-1.28,-146.0,320.9,-7.2,241,3724,0.12,0.00,0.00,0.000,6,0.067,0.000,2955,2193,3786,0,0,0,0,0,0
$GC,3968,-1.22,-146.0,343.2,-9.2,247,3970,0.17,0.00,0.00,0.000,6,0.087,0.000,2996,2193,3785,0,0,0,0,0,0
$GC,4209,-1.22,-146.0,361.9,-7.6,253,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2193,3784,0,0,0,0,0,0
$GC,4453,-1.22,-146.0,381.1,-7.9,259,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2193,3783,0,0,0,0,0,0
$GC,4697,-1.22,-146.0,400.2,-7.8,265,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2194,3782,0,0,0,0,0,0
$GC,4943,-1.22,-146.0,419.5,-8.0,271,4947,0.00,2.60,0.00,0.000,4,0.000,0.060,2996,3769,3781,0,0,0,0,0,0
$GC,4958,-1.22,-146.0,421.0,-7.9,271,4963,0.00,2.50,0.00,0.000,6,0.000,0.033,2996,2217,3781,0,0,0,0,0,0
$GC,5220,-1.26,-146.0,441.3,-8.0,278,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2217,3780,0,0,0,0,0,0
$GC,5466,-1.29,-146.0,461.2,-8.2,284,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2217,3779,0,0,0,0,0,0
$GC,5707,-1.33,-146.0,480.7,-8.0,290,5709,0.12,0.00,0.00,0.000,6,0.066,0.000,2946,2217,3778,0,0,0,0,0,0
$GC,5951,-1.28,-146.0,503.7,-9.6,296,5953,0.15,0.00,0.00,0.000,6,0.095,0.000,2981,2217,3777,0,0,0,0,0,0
$GC,6197,-1.28,-146.0,523.5,-8.0,302,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2217,3776,0,0,0,0,0,0
$GC,6438,-1.28,-146.0,543.2,-8.1,308,6443,0.00,2.67,0.00,0.000,4,0.000,0.072,2980,3765,3775,0,0,0,0,0,0
$GC,6465,-1.28,-146.0,545.6,-8.8,308,6470,0.00,2.58,0.00,0.000,6,0.000,0.048,2980,2212,3775,0,0,0,0,0,0
$GC,6715,-1.28,-146.0,565.5,-8.0,314,6720,0.00,2.67,0.00,0.000,4,0.000,0.067,2980,3768,3773,0,0,0,0,0,0
$GC,6734,-1.28,-146.0,566.9,-7.7,314,6738,0.00,2.62,0.00,0.000,6,0.000,0.058,2980,2209,3773,0,0,0,0,0,0
$GC,6994,-1.28,-146.0,587.1,-7.6,321,6999,0.00,3.03,0.00,0.000,4,0.000,0.121,2980,621,3771,0,0,0,0,0,0
$GC,7010,-1.28,-146.0,588.3,-7.2,321,7015,0.00,2.60,0.00,0.000,6,0.000,0.050,2980,2177,3771,0,0,0,0,0,0
$GC,7274,-1.28,-146.0,607.7,-7.4,328,7278,0.00,2.88,0.00,0.000,4,0.000,0.089,2980,3793,3770,0,0,0,0,0,0
$GC,7319,-1.28,-146.0,611.4,-8.1,329,7324,0.00,2.70,0.00,0.000,6,0.000,0.061,2980,2217,3770,0,0,0,0,0,0
$GC,7597,-1.28,-146.0,631.1,-7.1,336,7602,0.00,2.78,0.00,0.000,4,0.000,0.079,2979,3793,3769,0,0,0,0,0,0
$GC,7621,-1.28,-146.0,632.7,-7.5,336,7626,0.00,2.72,0.00,0.000,6,0.000,0.077,2980,2224,3769,0,0,0,0,0,0
$GC,7878,-1.28,-146.0,651.0,-7.2,343,7883,0.00,2.80,0.00,0.000,4,0.000,0.091,2979,3793,3767,0,0,0,0,0,0
$GC,7894,-1.28,-146.0,652.2,-7.3,343,7898,0.00,2.80,0.00,0.000,6,0.000,0.078,2980,2216,3767,0,0,0,0,0,0
$GC,8157,-1.28,-146.0,671.9,-7.7,350,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2215,3766,0,0,0,0,0,0
$GC,8398,-1.28,-146.0,690.7,-7.7,356,8403,0.00,2.92,0.00,0.000,4,0.000,0.107,2980,3792,3764,0,0,0,0,0,0
$GC,8425,-1.28,-146.0,692.9,-8.3,356,8430,0.00,2.90,0.00,0.000,6,0.000,0.102,2980,2220,3764,0,0,0,0,0,0
$GC,8678,-1.28,-146.0,711.6,-7.5,362,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2220,3763,0,0,0,0,0,0
$GC,8919,-1.28,-146.0,729.7,-7.4,368,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2220,3762,0,0,0,0,0,0
$GC,9163,-1.28,-146.0,747.6,-7.4,374,9168,0.00,3.12,0.00,0.000,4,0.000,0.143,2980,3791,3761,0,0,0,0,0,0
$GC,9184,-1.28,-146.0,749.4,-8.2,374,9189,0.00,2.75,0.00,0.000,6,0.000,0.074,2980,2231,3761,0,0,0,0,0,0
$GC,9442,-1.28,-146.0,768.3,-7.4,381,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2231,3760,0,0,0,0,0,0
$GC,9683,-1.28,-146.0,786.5,-7.5,387,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2231,3758,0,0,0,0,0,0
$GC,9927,-1.28,-146.0,805.1,-7.7,393,9931,0.00,2.78,0.00,0.000,4,0.000,0.086,2980,3793,3757,0,0,0,0,0,0
$GC,9973,-1.33,-146.0,808.8,-8.5,394,9978,0.00,2.72,0.00,0.000,6,0.000,0.070,2980,2230,3756,0,0,0,0,0,0
$GC,10251,-1.37,-146.0,830.1,-7.5,401,10256,0.00,2.78,0.00,0.000,4,0.000,0.084,2980,3798,3756,0,0,0,0,0,0
$GC,10267,-1.37,-146.0,831.6,-7.7,401,10271,0.00,2.70,0.00,0.000,6,0.000,0.064,2980,2238,3755,0,0,0,0,0,0
$GC,10530,-1.41,-146.0,850.2,-7.1,408,10532,0.12,0.00,0.00,0.000,6,0.071,0.000,2935,2238,3754,0,0,0,0,0,0
$GC,10772,-1.36,-146.0,870.8,-8.5,414,10777,0.12,2.78,0.00,0.000,4,0.107,0.083,2962,3802,3753,0,0,0,0,0,0
$GC,10812,-1.36,-146.0,874.2,-8.4,415,10816,0.00,2.67,0.00,0.000,6,0.000,0.063,2962,2244,3753,0,0,0,0,0,0
$GC,11097,-1.36,-146.0,895.2,-7.4,422,11098,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2244,3751,0,0,0,0,0,0
$STATE,11174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11174,begin apogee
$GC,11180,-0.31,0.0,901.2,7.5,424,11302,1.00,0.00,118.50,1.219,6,0.071,0.000,3191,2386,3190,0,0,0,0,0,0
$STATE,11303,end apogee,CONTROL_FINISHED_OK
$STATE,11303,begin climb
$GC,11307,1.27,146.0,904.3,0.0,427,11443,1.42,2.80,126.88,1.188,4,0.036,0.072,3540,3927,2593,0,0,0,0,0,0
$GC,11564,1.14,146.0,885.5,11.0,433,11569,0.15,2.70,0.00,0.000,6,0.118,0.057,3510,2368,2586,0,0,0,0,0,0
$GC,11848,1.12,167.5,858.8,9.0,440,11869,0.00,0.00,19.23,1.095,6,0.000,0.000,3510,2368,2507,0,0,0,0,0,0
$GC,12091,1.13,171.2,835.4,9.8,446,12100,0.00,2.70,4.12,0.717,4,0.000,0.062,3510,3930,2492,0,0,0,0,0,0
$GC,12131,1.08,171.2,831.4,10.6,446,12136,0.00,2.65,0.00,0.000,6,0.000,0.048,3510,2371,2492,0,0,0,0,0,0
$GC,12381,1.08,175.8,806.5,9.8,453,12388,0.00,0.00,5.93,0.872,6,0.000,0.000,3510,2372,2473,0,0,0,0,0,0
$GC,12624,1.09,179.4,782.5,9.8,459,12634,0.00,2.70,4.88,0.792,4,0.000,0.058,3510,3931,2458,0,0,0,0,0,0
$GC,12659,1.05,190.1,779.1,9.5,459,12678,0.00,2.62,11.50,1.016,6,0.000,0.042,3510,2379,2414,0,0,0,0,0,0
$GC,12951,1.06,191.5,749.5,9.9,467,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2379,2411,0,0,0,0,0,0
$GC,13197,1.06,191.5,725.0,10.1,473,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2379,2410,0,0,0,0,0,0
$GC,13438,1.06,193.7,700.8,9.9,479,13444,0.00,0.00,4.10,0.693,6,0.000,0.000,3510,2379,2400,0,0,0,0,0,0
$GC,13682,1.06,193.8,676.3,10.0,485,13683,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2379,2399,0,0,0,0,0,0
$GC,13926,1.07,199.5,652.4,9.7,491,13940,0.00,2.72,7.07,0.870,4,0.000,0.053,3510,3936,2376,0,0,0,0,0,0
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$STATE,20244,end climb,SURFACE_DEPTH_REACHED
$STATE,20244,begin surface coast
$FINISH,0.8,1.009189
$STATE,20293,end surface coast,CONTROL_FINISHED_OK
$STATE,20293,begin surface
$SM_CCo,20318,42.83,0.488,0,0,1763,350.04
$SM_GC,1.88,0.00,0.00,42.83,0.000,0.000,0.488,465,2164,1763,-12.86,-1.30,350.04
$IRIDIUM_FIX,1922.94,-8116.62,260502,202002
$TT8_MAMPS,0.025311
$HUMID,57.99
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.70
$XPDR_PINGS,62
$24V_AH,23.3,30.207
$10V_AH,10.3,26.666
$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,31.825,179.350,395.300,42.825,0.000,55.962,67.847,263.327,15.500,0.000,15.921,1610.961,15468.777,564.219,2450.587,893.973,33.374,1560.021,0.000,2454.954,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,142.662,1218.763,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,534.634,387.172,483.935,664.012,1263.865,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,60418,789
$CAP_FILE_SIZE,175303,0
$CFSIZE,260165632,113504256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020313,014353,1927.206,-8112.746,25,1.1,42,-3.8