version: 66.06
glider: 146
mission: 8
dive: 216
start: 3 2 113 1 56 7
data:
$ID,146
$MISSION,8
$DIVE,216
$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,-311593.47
$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,72
$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
$GPS1,014353,1927.206,-8112.746,25,1.1,42,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.5
$GPS2,015513,1927.180,-8112.754,13,1.2,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.114
$KALMAN_X,6882.4,355.5,178.7,-16764.0,-1101.2
$KALMAN_Y,2852.4,311.6,11.9,3514.7,196.7
$MHEAD_RNG_PITCHd_Wd,119.8,9675,-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,-71.00,0.000,2,0.000,0.000,465,2165,3505,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.7,-4.7,9,123,13.65,2.60,-5.03,0.000,4,0.166,0.039,2976,3791,3785,0,0,0,0,0,0
$GC,141,-0.40,-146.0,20.0,-37.0,14,150,0.85,2.47,0.00,0.000,6,0.080,0.021,3166,2244,3786,0,0,0,0,0,0
$GC,429,-0.59,-146.0,41.5,-6.3,46,434,0.15,2.65,0.00,0.000,4,0.060,0.046,3111,634,3786,0,0,0,0,0,0
$GC,477,-0.69,-146.0,45.6,-8.8,49,481,0.00,2.42,0.00,0.000,6,0.000,0.017,3111,2221,3786,0,0,0,0,0,0
$GC,748,-0.76,-146.0,70.1,-8.9,73,756,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2221,3786,0,0,0,0,0,0
$GC,1009,-0.82,-146.0,94.9,-9.3,98,1014,0.12,2.60,0.00,0.000,4,0.066,0.044,3053,636,3787,0,0,0,0,0,0
$GC,1038,-0.82,-146.0,98.3,-12.0,100,1043,0.12,2.40,0.00,0.000,6,0.097,0.024,3082,2203,3787,0,0,0,0,0,0
$GC,1302,-0.82,-146.0,125.7,-9.7,124,1307,0.00,2.55,0.00,0.000,4,0.000,0.044,3082,635,3788,0,0,0,0,0,0
$GC,1335,-0.82,-146.0,129.9,-11.2,126,1345,0.00,2.40,0.00,0.000,6,0.000,0.016,3082,2191,3788,0,0,0,0,0,0
$GC,1605,-0.90,-146.0,152.6,-7.4,151,1609,0.00,2.53,0.00,0.000,4,0.000,0.043,3082,634,3788,0,0,0,0,0,0
$GC,1633,-0.98,-146.0,155.5,-7.6,153,1638,0.15,2.38,0.00,0.000,6,0.056,0.024,3016,2191,3788,0,0,0,0,0,0
$GC,1894,-0.98,-146.0,179.4,-8.8,177,1899,0.12,2.55,0.00,0.000,4,0.096,0.044,3045,628,3789,0,0,0,0,0,0
$GC,1918,-1.02,-146.0,181.4,-8.2,178,1923,0.00,2.38,0.00,0.000,6,0.000,0.023,3046,2184,3789,0,0,0,0,0,0
$GC,2183,-1.11,-146.0,199.7,-6.8,203,2188,0.12,0.00,0.00,0.000,6,0.067,0.000,2990,2184,3789,0,0,0,0,0,0
$GC,2433,-1.11,-146.0,222.0,-8.7,210,2438,0.12,2.53,0.00,0.000,4,0.095,0.042,3020,3765,3789,0,0,0,0,0,0
$GC,2475,-1.19,-146.0,224.9,-6.9,211,2480,0.00,2.42,0.00,0.000,6,0.000,0.021,3020,2191,3789,0,0,0,0,0,0
$GC,2759,-1.24,-146.0,245.3,-7.1,218,2761,0.12,0.00,0.00,0.000,6,0.067,0.000,2967,2191,3789,0,0,0,0,0,0
$GC,3003,-1.19,-146.0,268.6,-9.7,224,3005,0.15,0.00,0.00,0.000,6,0.091,0.000,3003,2191,3789,0,0,0,0,0,0
$GC,3249,-1.19,-146.0,288.0,-7.9,230,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2191,3788,0,0,0,0,0,0
$GC,3490,-1.19,-146.0,306.5,-7.6,236,3495,0.00,2.58,0.00,0.000,4,0.000,0.058,3003,645,3787,0,0,0,0,0,0
$GC,3506,-1.19,-146.0,307.9,-7.6,236,3511,0.00,2.40,0.00,0.000,6,0.000,0.025,3003,2178,3787,0,0,0,0,0,0
$GC,3770,-1.19,-146.0,327.5,-7.6,243,3774,0.00,2.62,0.00,0.000,4,0.000,0.046,3003,3790,3787,0,0,0,0,0,0
$GC,3797,-1.23,-146.0,329.9,-8.0,243,3802,0.00,2.50,0.00,0.000,6,0.000,0.029,3003,2202,3787,0,0,0,0,0,0
$GC,4047,-1.23,-146.0,349.9,-8.1,249,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2202,3786,0,0,0,0,0,0
$GC,4291,-1.23,-146.0,369.9,-8.1,255,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2202,3784,0,0,0,0,0,0
$GC,4537,-1.27,-146.0,388.8,-7.7,261,4542,0.00,2.60,0.00,0.000,4,0.000,0.051,3003,3780,3783,0,0,0,0,0,0
$GC,4565,-1.31,-146.0,391.2,-7.9,261,4570,0.12,2.50,0.00,0.000,6,0.065,0.028,2951,2202,3783,0,0,0,0,0,0
$GC,4818,-1.26,-146.0,413.9,-9.1,267,4820,0.15,0.00,0.00,0.000,6,0.092,0.000,2986,2202,3782,0,0,0,0,0,0
$GC,5059,-1.26,-146.0,432.0,-7.2,273,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2202,3781,0,0,0,0,0,0
$GC,5303,-1.26,-146.0,450.1,-7.5,279,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2202,3780,0,0,0,0,0,0
$GC,5546,-1.26,-146.0,468.9,-7.8,285,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3779,0,0,0,0,0,0
$GC,5792,-1.26,-146.0,488.5,-8.1,291,5797,0.00,2.65,0.00,0.000,4,0.000,0.061,2986,3773,3778,0,0,0,0,0,0
$GC,5820,-1.26,-146.0,491.1,-8.5,291,5824,0.00,2.58,0.00,0.000,6,0.000,0.048,2986,2211,3778,0,0,0,0,0,0
$GC,6070,-1.26,-146.0,511.6,-8.1,297,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2211,3777,0,0,0,0,0,0
$GC,6314,-1.26,-146.0,531.2,-8.1,303,6318,0.00,2.65,0.00,0.000,4,0.000,0.064,2986,3770,3776,0,0,0,0,0,0
$GC,6339,-1.26,-146.0,533.1,-8.4,303,6343,0.00,2.62,0.00,0.000,6,0.000,0.056,2986,2212,3776,0,0,0,0,0,0
$GC,6594,-1.26,-146.0,553.0,-7.6,310,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2212,3775,0,0,0,0,0,0
$GC,6838,-1.26,-146.0,571.1,-7.4,316,6842,0.00,2.70,0.00,0.000,4,0.000,0.074,2986,3771,3773,0,0,0,0,0,0
$GC,6855,-1.26,-146.0,572.4,-7.5,316,6860,0.00,2.62,0.00,0.000,6,0.000,0.054,2986,2211,3773,0,0,0,0,0,0
$GC,7116,-1.26,-146.0,591.5,-7.2,323,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2211,3771,0,0,0,0,0,0
$GC,7360,-1.26,-146.0,609.9,-7.6,329,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2211,3770,0,0,0,0,0,0
$GC,7606,-1.26,-146.0,629.0,-7.9,335,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2211,3769,0,0,0,0,0,0
$GC,7847,-1.26,-146.0,647.3,-7.5,341,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2211,3768,0,0,0,0,0,0
$GC,8091,-1.26,-146.0,665.0,-7.3,347,8096,0.00,2.90,0.00,0.000,4,0.000,0.104,2986,3775,3767,0,0,0,0,0,0
$GC,8118,-1.29,-146.0,667.0,-7.6,347,8123,0.00,2.83,0.00,0.000,6,0.000,0.091,2986,2216,3766,0,0,0,0,0,0
$GC,8371,-1.33,-146.0,684.8,-7.0,353,8376,0.00,2.85,0.00,0.000,4,0.000,0.106,2986,3769,3765,0,0,0,0,0,0
$GC,8404,-1.37,-146.0,687.5,-7.6,353,8410,0.10,2.88,0.00,0.000,6,0.079,0.102,2945,2213,3765,0,0,0,0,0,0
$GC,8657,-1.33,-146.0,709.5,-9.0,360,8659,0.12,0.00,0.00,0.000,6,0.105,0.000,2972,2213,3764,0,0,0,0,0,0
$GC,8898,-1.33,-146.0,729.8,-8.3,366,8902,0.00,3.03,0.00,0.000,4,0.000,0.131,2972,3771,3762,0,0,0,0,0,0
$GC,8930,-1.33,-146.0,732.6,-9.0,366,8938,0.00,2.72,0.00,0.000,6,0.000,0.080,2972,2215,3762,0,0,0,0,0,0
$GC,9180,-1.33,-146.0,752.4,-8.0,373,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2215,3761,0,0,0,0,0,0
$GC,9426,-1.33,-146.0,771.5,-7.7,379,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2215,3760,0,0,0,0,0,0
$GC,9668,-1.33,-146.0,790.3,-7.7,385,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2214,3759,0,0,0,0,0,0
$GC,9911,-1.33,-146.0,808.6,-7.6,391,9916,0.00,2.75,0.00,0.000,4,0.000,0.079,2972,3775,3758,0,0,0,0,0,0
$GC,9941,-1.33,-146.0,810.9,-8.6,391,9945,0.00,2.72,0.00,0.000,6,0.000,0.067,2972,2206,3757,0,0,0,0,0,0
$GC,10191,-1.33,-146.0,830.6,-7.8,397,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2206,3756,0,0,0,0,0,0
$GC,10434,-1.33,-146.0,849.2,-7.7,403,10439,0.00,2.72,0.00,0.000,4,0.000,0.076,2972,3771,3755,0,0,0,0,0,0
$GC,10462,-1.33,-146.0,851.4,-8.1,403,10467,0.00,2.70,0.00,0.000,6,0.000,0.068,2972,2207,3755,0,0,0,0,0,0
$GC,10714,-1.33,-146.0,870.3,-7.5,409,10719,0.00,2.72,0.00,0.000,4,0.000,0.075,2972,3775,3754,0,0,0,0,0,0
$GC,10741,-1.33,-146.0,872.7,-8.5,409,10746,0.00,2.70,0.00,0.000,6,0.000,0.063,2972,2211,3753,0,0,0,0,0,0
$GC,10991,-1.33,-146.0,890.4,-7.0,415,10996,0.00,2.72,0.00,0.000,4,0.000,0.078,2972,3771,3753,0,0,0,0,0,0
$GC,11009,-1.33,-146.0,891.6,-7.0,415,11014,0.00,2.67,0.00,0.000,6,0.000,0.061,2972,2217,3753,0,0,0,0,0,0
$STATE,11145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11145,begin apogee
$GC,11152,-0.31,0.0,901.3,7.0,419,11274,0.95,0.00,118.62,1.219,6,0.070,0.000,3189,2361,3190,0,0,0,0,0,0
$STATE,11275,end apogee,CONTROL_FINISHED_OK
$STATE,11275,begin climb
$GC,11277,1.27,146.0,903.6,0.0,422,11414,1.45,2.72,127.00,1.185,4,0.037,0.075,3543,3924,2593,0,0,0,0,0,0
$GC,11488,1.14,146.0,888.8,12.8,427,11493,0.17,2.70,0.00,0.000,6,0.113,0.054,3508,2367,2587,0,0,0,0,0,0
$GC,11774,1.16,165.9,862.1,9.1,434,11794,0.00,0.00,17.88,1.085,6,0.000,0.000,3508,2367,2513,0,0,0,0,0,0
$GC,12015,1.17,171.8,838.7,9.7,440,12029,0.00,2.70,6.43,0.897,4,0.000,0.061,3508,3928,2488,0,0,0,0,0,0
$GC,12061,1.12,171.8,834.1,11.1,441,12065,0.00,2.65,0.00,0.000,6,0.000,0.048,3508,2370,2487,0,0,0,0,0,0
$GC,12344,1.12,171.8,805.3,10.1,448,12345,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2370,2485,0,0,0,0,0,0
$GC,12590,1.12,173.8,781.0,9.9,454,12594,0.00,2.65,0.00,0.000,4,0.000,0.058,3508,3935,2484,0,0,0,0,0,0
$GC,12613,1.09,175.1,778.6,9.9,454,12618,0.00,2.62,0.00,0.000,6,0.000,0.049,3508,2384,2484,0,0,0,0,0,0
$GC,12869,1.11,191.3,754.2,9.3,461,12893,0.00,3.15,18.35,1.064,4,0.000,0.119,3508,783,2410,0,0,0,0,0,0
$GC,12911,1.11,191.3,749.9,10.2,462,12916,0.00,2.67,0.00,0.000,6,0.000,0.041,3508,2380,2408,0,0,0,0,0,0
$GC,13196,1.11,191.3,721.6,10.1,469,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2381,2406,0,0,0,0,0,0
$GC,13438,1.11,191.3,696.7,10.2,475,13442,0.00,2.70,0.00,0.000,4,0.000,0.066,3508,3941,2405,0,0,0,0,0,0
$GC,13459,1.11,191.3,694.3,10.3,475,13463,0.00,2.60,0.00,0.000,6,0.000,0.038,3508,2382,2404,0,0,0,0,0,0
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$STATE,20163,end climb,SURFACE_DEPTH_REACHED
$STATE,20163,begin surface coast
$FINISH,0.9,1.009531
$STATE,20206,end surface coast,CONTROL_FINISHED_OK
$STATE,20206,begin surface
$SM_CCo,20231,10.45,0.447,0,0,1763,350.04
$SM_GC,1.58,0.00,0.00,10.45,0.000,0.000,0.447,460,2175,1763,-12.88,-0.96,350.04
$IRIDIUM_FIX,1920.65,-8109.84,270502,010125
$TT8_MAMPS,0.026078
$HUMID,59.41
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,59
$24V_AH,23.3,30.355
$10V_AH,10.4,26.803
$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,31.625,179.375,422.500,10.450,0.000,62.379,81.198,301.673,14.750,0.000,16.398,1572.802,15483.116,531.510,2383.672,939.166,33.366,1527.679,0.000,2384.558,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,131.157,1218.763,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,526.116,378.427,477.161,646.301,1229.185,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355824
$DATA_FILE_SIZE,60367,777
$CAP_FILE_SIZE,173357,0
$CFSIZE,260165632,113430528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020313,073455,1926.478,-8110.271,42,1.4,43,-3.8