version: 66.06
glider: 146
mission: 8
dive: 218
start: 3 2 113 13 39 32
data:
$ID,146
$MISSION,8
$DIVE,218
$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,-311621.56
$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,68
$R_STBD_OVSHOOT,39
$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
$GPS1,133106,1925.228,-8107.583,24,1.7,24,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.2
$GPS2,133837,1925.203,-8107.538,14,1.8,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.259,0.011
$KALMAN_X,7880.1,108.4,572.4,-8798.9,-1576.5
$KALMAN_Y,4581.7,-152.2,-61.7,-1332.4,941.2
$MHEAD_RNG_PITCHd_Wd,276.2,18571,-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,-70.85,0.000,2,0.000,0.000,463,2173,3489,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-4.9,9,123,13.77,2.45,-5.35,0.000,4,0.165,0.051,2979,667,3787,0,0,0,0,0,0
$GC,262,-1.08,-146.0,42.5,-17.0,28,267,0.20,2.38,0.00,0.000,6,0.106,0.017,3021,2223,3787,0,0,0,0,0,0
$GC,527,-0.94,-146.0,82.2,-15.2,52,532,0.15,2.55,0.00,0.000,4,0.104,0.041,3055,666,3788,0,0,0,0,0,0
$GC,559,-0.87,-146.0,87.1,-13.0,54,563,0.00,2.35,0.00,0.000,6,0.000,0.016,3055,2207,3788,0,0,0,0,0,0
$GC,824,-0.83,-146.0,117.3,-11.4,78,829,0.10,2.53,0.00,0.000,4,0.116,0.050,3078,663,3788,0,0,0,0,0,0
$GC,846,-0.83,-146.0,119.7,-10.9,79,850,0.00,2.33,0.00,0.000,6,0.000,0.018,3078,2195,3789,0,0,0,0,0,0
$GC,1115,-0.91,-146.0,143.5,-7.7,103,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2195,3789,0,0,0,0,0,0
$GC,1379,-1.02,-146.0,163.9,-7.2,128,1380,0.17,0.00,0.00,0.000,6,0.051,0.000,3008,2196,3789,0,0,0,0,0,0
$GC,1635,-1.02,-146.0,187.0,-9.2,152,1640,0.12,2.53,0.00,0.000,4,0.095,0.033,3038,3772,3790,0,0,0,0,0,0
$GC,1669,-1.09,-146.0,190.0,-7.1,154,1675,0.00,2.40,0.00,0.000,6,0.000,0.019,3038,2211,3790,0,0,0,0,0,0
$GC,1938,-1.17,-146.0,208.3,-6.8,171,1943,0.15,2.53,0.00,0.000,4,0.058,0.041,2978,3772,3791,0,0,0,0,0,0
$GC,1965,-1.17,-146.0,211.0,-8.8,171,1970,0.12,2.45,0.00,0.000,6,0.093,0.021,3009,2193,3791,0,0,0,0,0,0
$GC,2216,-1.17,-146.0,231.4,-8.3,177,2220,0.00,2.50,0.00,0.000,4,0.000,0.042,3008,3764,3791,0,0,0,0,0,0
$GC,2239,-1.17,-146.0,233.3,-8.3,177,2243,0.00,2.42,0.00,0.000,6,0.000,0.028,3009,2200,3791,0,0,0,0,0,0
$GC,2494,-1.17,-146.0,253.6,-8.0,184,2498,0.00,2.55,0.00,0.000,4,0.000,0.056,3008,639,3790,0,0,0,0,0,0
$GC,2521,-1.17,-146.0,256.1,-8.7,184,2525,0.00,2.38,0.00,0.000,6,0.000,0.018,3008,2191,3790,0,0,0,0,0,0
$GC,2774,-1.21,-146.0,277.0,-8.3,190,2778,0.00,2.53,0.00,0.000,4,0.000,0.044,3009,3772,3790,0,0,0,0,0,0
$GC,2813,-1.26,-146.0,280.4,-8.0,191,2818,0.10,2.45,0.00,0.000,6,0.078,0.028,2959,2208,3790,0,0,0,0,0,0
$GC,3097,-1.21,-146.0,308.5,-9.9,198,3099,0.17,0.00,0.00,0.000,6,0.085,0.000,3001,2208,3789,0,0,0,0,0,0
$GC,3343,-1.21,-146.0,328.2,-8.0,204,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2208,3789,0,0,0,0,0,0
$GC,3584,-1.21,-146.0,347.7,-8.0,210,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2208,3788,0,0,0,0,0,0
$GC,3828,-1.21,-146.0,366.8,-7.8,216,3832,0.00,2.65,0.00,0.000,4,0.000,0.071,3001,634,3787,0,0,0,0,0,0
$GC,3852,-1.21,-146.0,368.6,-8.1,216,3856,0.00,2.47,0.00,0.000,6,0.000,0.026,3001,2194,3786,0,0,0,0,0,0
$GC,4107,-1.24,-146.0,387.8,-7.4,223,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2194,3786,0,0,0,0,0,0
$GC,4351,-1.28,-146.0,406.2,-7.7,229,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2194,3785,0,0,0,0,0,0
$GC,4597,-1.32,-146.0,425.7,-8.1,235,4602,0.12,2.65,0.00,0.000,4,0.069,0.059,2953,3793,3784,0,0,0,0,0,0
$GC,4624,-1.32,-146.0,428.6,-10.0,235,4629,0.00,2.55,0.00,0.000,6,0.000,0.035,2952,2216,3784,0,0,0,0,0,0
$GC,4875,-1.27,-146.0,452.6,-9.7,241,4880,0.15,2.65,0.00,0.000,4,0.094,0.055,2987,3793,3783,0,0,0,0,0,0
$GC,4899,-1.27,-146.0,454.9,-9.9,241,4903,0.00,2.60,0.00,0.000,6,0.000,0.038,2987,2203,3783,0,0,0,0,0,0
$GC,5154,-1.27,-146.0,476.0,-8.2,248,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2202,3782,0,0,0,0,0,0
$GC,5397,-1.27,-146.0,495.7,-8.1,254,5402,0.00,2.67,0.00,0.000,4,0.000,0.058,2987,3785,3780,0,0,0,0,0,0
$GC,5424,-1.27,-146.0,498.0,-8.3,254,5429,0.00,2.62,0.00,0.000,6,0.000,0.051,2987,2202,3780,0,0,0,0,0,0
$GC,5677,-1.27,-146.0,516.8,-7.3,260,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2202,3779,0,0,0,0,0,0
$GC,5918,-1.27,-146.0,535.2,-7.5,266,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2202,3778,0,0,0,0,0,0
$GC,6162,-1.27,-146.0,552.7,-7.2,272,6166,0.00,2.72,0.00,0.000,4,0.000,0.069,2987,3789,3777,0,0,0,0,0,0
$GC,6191,-1.27,-146.0,554.9,-8.1,272,6195,0.00,2.65,0.00,0.000,6,0.000,0.059,2987,2208,3777,0,0,0,0,0,0
$GC,6441,-1.27,-146.0,573.9,-7.7,278,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2208,3776,0,0,0,0,0,0
$GC,6684,-1.27,-146.0,593.1,-7.9,284,6689,0.00,3.03,0.00,0.000,4,0.000,0.125,2987,624,3775,0,0,0,0,0,0
$GC,6714,-1.27,-146.0,595.3,-8.5,284,6718,0.00,2.65,0.00,0.000,6,0.000,0.059,2987,2191,3774,0,0,0,0,0,0
$GC,6964,-1.27,-146.0,614.9,-7.7,290,6968,0.00,2.88,0.00,0.000,4,0.000,0.094,2987,3796,3774,0,0,0,0,0,0
$GC,7003,-1.32,-146.0,618.0,-8.0,291,7008,0.00,2.75,0.00,0.000,6,0.000,0.064,2987,2206,3773,0,0,0,0,0,0
$GC,7289,-1.32,-146.0,639.6,-7.7,298,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2206,3772,0,0,0,0,0,0
$GC,7530,-1.32,-146.0,657.7,-7.4,304,7535,0.00,2.88,0.00,0.000,4,0.000,0.095,2987,3793,3770,0,0,0,0,0,0
$GC,7565,-1.35,-146.0,660.6,-8.3,304,7571,0.00,2.85,0.00,0.000,6,0.000,0.084,2987,2206,3770,0,0,0,0,0,0
$GC,7818,-1.35,-146.0,679.0,-7.4,311,7822,0.00,3.10,0.00,0.000,4,0.000,0.140,2987,623,3769,0,0,0,0,0,0
$GC,7839,-1.35,-146.0,680.8,-7.5,311,7844,0.00,2.80,0.00,0.000,6,0.000,0.084,2987,2206,3768,0,0,0,0,0,0
$GC,8094,-1.35,-146.0,699.2,-7.1,318,8099,0.00,3.05,0.00,0.000,4,0.000,0.127,2987,3802,3767,0,0,0,0,0,0
$GC,8136,-1.41,-146.0,702.3,-7.7,319,8142,0.15,2.97,0.00,0.000,6,0.060,0.106,2934,2217,3767,0,0,0,0,0,0
$GC,8421,-1.34,-146.0,728.3,-9.0,326,8423,0.15,0.00,0.00,0.000,6,0.099,0.000,2968,2217,3766,0,0,0,0,0,0
$GC,8664,-1.34,-146.0,747.7,-7.9,332,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2217,3765,0,0,0,0,0,0
$GC,8910,-1.34,-146.0,766.7,-7.8,338,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2217,3763,0,0,0,0,0,0
$GC,9152,-1.34,-146.0,785.2,-7.6,344,9157,0.00,3.33,0.00,0.000,4,0.000,0.164,2967,3798,3762,0,0,0,0,0,0
$GC,9191,-1.34,-146.0,788.5,-8.3,345,9196,0.00,2.70,0.00,0.000,6,0.000,0.056,2968,2215,3762,0,0,0,0,0,0
$GC,9477,-1.34,-146.0,811.4,-8.2,352,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2215,3761,0,0,0,0,0,0
$GC,9718,-1.34,-146.0,831.4,-8.2,358,9723,0.00,2.78,0.00,0.000,4,0.000,0.078,2967,3801,3760,0,0,0,0,0,0
$GC,9745,-1.34,-146.0,833.8,-9.0,358,9749,0.00,2.75,0.00,0.000,6,0.000,0.071,2968,2217,3760,0,0,0,0,0,0
$GC,9997,-1.34,-146.0,853.5,-7.9,364,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2216,3759,0,0,0,0,0,0
$GC,10239,-1.34,-146.0,872.6,-7.8,370,10243,0.00,2.80,0.00,0.000,4,0.000,0.084,2968,3801,3757,0,0,0,0,0,0
$GC,10278,-1.34,-146.0,875.9,-8.2,371,10282,0.00,2.75,0.00,0.000,6,0.000,0.064,2967,2216,3757,0,0,0,0,0,0
$GC,10563,-1.34,-146.0,896.9,-7.4,378,10568,0.00,2.80,0.00,0.000,4,0.000,0.083,2968,3804,3756,0,0,0,0,0,0
$GC,10579,-1.34,-146.0,898.3,-7.4,378,10583,0.00,2.72,0.00,0.000,6,0.000,0.065,2968,2224,3756,0,0,0,0,0,0
$STATE,10634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10634,begin apogee
$GC,10640,-0.31,0.0,902.7,8.0,380,10763,0.98,0.00,119.57,1.218,6,0.074,0.000,3189,2385,3191,0,0,0,0,0,0
$STATE,10764,end apogee,CONTROL_FINISHED_OK
$STATE,10764,begin climb
$GC,10768,1.27,146.0,905.8,0.0,383,10904,1.45,2.80,126.97,1.187,4,0.038,0.072,3544,3927,2593,0,0,0,0,0,0
$GC,11009,1.13,146.0,888.2,12.5,388,11014,0.17,2.70,0.00,0.000,6,0.112,0.057,3509,2370,2587,0,0,0,0,0,0
$GC,11265,1.11,162.0,863.5,9.3,395,11285,0.00,2.78,14.40,1.061,4,0.000,0.064,3509,3930,2528,0,0,0,0,0,0
$GC,11329,1.06,162.0,856.7,10.7,396,11334,0.00,2.67,0.00,0.000,6,0.000,0.051,3509,2371,2527,0,0,0,0,0,0
$GC,11592,1.06,162.0,830.0,10.2,403,11597,0.00,2.67,0.00,0.000,4,0.000,0.062,3509,3928,2525,0,0,0,0,0,0
$GC,11619,1.00,162.0,826.8,11.5,403,11624,0.15,2.60,0.00,0.000,6,0.115,0.043,3479,2382,2525,0,0,0,0,0,0
$GC,11871,1.02,182.2,803.9,9.1,409,11892,0.00,0.00,18.92,1.078,6,0.000,0.000,3479,2382,2447,0,0,0,0,0,0
$GC,12113,1.08,195.4,781.1,9.4,415,12132,0.00,3.20,13.20,1.032,4,0.000,0.120,3479,781,2393,0,0,0,0,0,0
$GC,12144,1.11,223.8,778.1,8.7,415,12179,0.10,2.67,27.67,1.085,6,0.086,0.041,3511,2378,2278,0,0,0,0,0,0
$GC,12444,1.11,223.8,744.7,11.4,423,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2379,2275,0,0,0,0,0,0
$GC,12684,1.11,223.8,717.6,11.0,429,12689,0.00,2.88,0.00,0.000,4,0.000,0.084,3511,773,2272,0,0,0,0,0,0
$GC,12710,1.11,223.8,714.2,11.2,429,12715,0.00,2.65,0.00,0.000,6,0.000,0.043,3511,2367,2271,0,0,0,0,0,0
$GC,12963,1.11,223.8,686.6,11.1,435,12967,0.00,2.72,0.00,0.000,4,0.000,0.071,3511,3941,2271,0,0,0,0,0,0
$GC,12984,1.11,223.8,683.7,11.7,435,12988,0.00,2.60,0.00,0.000,6,0.000,0.041,3511,2361,2270,0,0,0,0,0,0
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$STATE,19332,end climb,SURFACE_DEPTH_REACHED
$STATE,19332,begin surface coast
$FINISH,1.5,1.023481
$STATE,19355,end surface coast,CONTROL_FINISHED_OK
$STATE,19355,begin surface
$SM_CCo,19381,50.53,0.489,0,0,1763,350.04
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$IRIDIUM_FIX,1920.65,-8112.10,270502,070758
$TT8_MAMPS,0.025311
$HUMID,57.67
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.50
$XPDR_PINGS,65
$24V_AH,23.3,30.646
$10V_AH,10.4,27.076
$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
$DEVICE_SECS,31.025,212.625,379.050,50.525,0.000,30.090,50.434,198.575,16.250,0.000,15.528,1542.131,14692.335,552.775,2323.417,761.226,33.357,1541.699,0.000,2316.348,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.092,346.853,441.006,580.508,1106.748,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355848
$DATA_FILE_SIZE,57301,733
$CAP_FILE_SIZE,173319,0
$CFSIZE,260165632,113287168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020313,190453,1924.913,-8110.000,29,1.2,46,-3.8