version: 66.06
glider: 146
mission: 8
dive: 220
start: 3 3 113 1 6 54
data:
$ID,146
$MISSION,8
$DIVE,220
$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,-311653.72
$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,32
$R_STBD_OVSHOOT,44
$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
$GPS1,004107,1923.597,-8112.104,96,1.8,97,-3.8
$_CALLS,5
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-76.7
$GPS2,010601,1923.346,-8112.061,16,1.9,16,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.236,0.109
$KALMAN_X,9530.1,69.8,167.6,-17900.4,4.4
$KALMAN_Y,2988.1,-429.9,-346.7,-2598.1,804.7
$MHEAD_RNG_PITCHd_Wd,298.5,12384,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-62.80,0.000,2,0.000,0.000,461,2101,3325,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-4.3,8,124,13.40,2.78,-8.77,0.000,4,0.157,0.048,2979,3781,3788,0,0,0,0,0,0
$GC,194,-1.10,-146.0,28.9,-18.0,22,204,0.15,2.53,0.00,0.000,6,0.081,0.023,3016,2208,3788,0,0,0,0,0,0
$GC,464,-0.95,-146.0,72.3,-17.3,47,473,0.15,0.00,0.00,0.000,6,0.101,0.000,3050,2208,3787,0,0,0,0,0,0
$GC,728,-0.88,-146.0,108.6,-12.3,72,732,0.00,2.58,0.00,0.000,4,0.000,0.047,3050,631,3788,0,0,0,0,0,0
$GC,797,-0.84,-146.0,116.7,-12.0,77,802,0.12,2.42,0.00,0.000,6,0.109,0.018,3078,2222,3788,0,0,0,0,0,0
$GC,1064,-0.89,-146.0,143.4,-8.4,101,1068,0.00,2.45,0.00,0.000,4,0.000,0.031,3078,3779,3788,0,0,0,0,0,0
$GC,1112,-0.97,-146.0,147.8,-8.6,104,1122,0.10,2.47,0.00,0.000,6,0.032,0.021,3018,2213,3789,0,0,0,0,0,0
$GC,1374,-0.97,-146.0,172.5,-9.1,129,1379,0.12,2.58,0.00,0.000,4,0.097,0.047,3048,639,3788,0,0,0,0,0,0
$GC,1418,-1.05,-146.0,175.9,-7.7,132,1422,0.00,2.40,0.00,0.000,6,0.000,0.024,3048,2224,3789,0,0,0,0,0,0
$GC,1681,-1.12,-146.0,193.9,-6.4,156,1683,0.15,0.00,0.00,0.000,6,0.057,0.000,2987,2225,3789,0,0,0,0,0,0
$GC,1958,-1.12,-146.0,217.9,-8.5,168,1963,0.12,2.60,0.00,0.000,4,0.097,0.047,3017,640,3789,0,0,0,0,0,0
$GC,1986,-1.12,-146.0,220.5,-7.9,168,1990,0.00,2.42,0.00,0.000,6,0.000,0.026,3017,2221,3789,0,0,0,0,0,0
$GC,2236,-1.16,-146.0,240.4,-8.2,174,2240,0.00,2.47,0.00,0.000,4,0.000,0.042,3017,3776,3789,0,0,0,0,0,0
$GC,2272,-1.22,-146.0,243.3,-8.4,174,2278,0.00,2.42,0.00,0.000,6,0.000,0.025,3016,2206,3788,0,0,0,0,0,0
$GC,2522,-1.26,-146.0,261.0,-7.0,181,2528,0.12,2.58,0.00,0.000,4,0.066,0.051,2961,645,3789,0,0,0,0,0,0
$GC,2544,-1.26,-146.0,262.8,-7.9,181,2549,0.12,2.45,0.00,0.000,6,0.100,0.021,2989,2225,3788,0,0,0,0,0,0
$GC,2802,-1.26,-146.0,285.8,-9.2,188,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2225,3787,0,0,0,0,0,0
$GC,3043,-1.26,-146.0,308.2,-9.1,194,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2225,3787,0,0,0,0,0,0
$GC,3287,-1.26,-146.0,328.4,-8.1,200,3291,0.00,2.50,0.00,0.000,4,0.000,0.042,2989,3775,3786,0,0,0,0,0,0
$GC,3318,-1.26,-146.0,330.7,-7.7,200,3322,0.00,2.45,0.00,0.000,6,0.000,0.028,2989,2230,3786,0,0,0,0,0,0
$GC,3568,-1.26,-146.0,350.0,-7.6,206,3572,0.00,2.70,0.00,0.000,4,0.000,0.071,2989,630,3785,0,0,0,0,0,0
$GC,3595,-1.26,-146.0,352.3,-8.3,206,3599,0.00,2.53,0.00,0.000,6,0.000,0.029,2989,2229,3784,0,0,0,0,0,0
$GC,3847,-1.26,-146.0,371.0,-7.4,212,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2229,3784,0,0,0,0,0,0
$GC,4088,-1.26,-146.0,390.9,-8.3,218,4093,0.00,2.53,0.00,0.000,4,0.000,0.051,2989,3789,3783,0,0,0,0,0,0
$GC,4115,-1.26,-146.0,393.4,-9.3,218,4120,0.00,2.47,0.00,0.000,6,0.000,0.035,2989,2242,3783,0,0,0,0,0,0
$GC,4365,-1.26,-146.0,415.1,-8.8,224,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2242,3782,0,0,0,0,0,0
$GC,4611,-1.26,-146.0,436.2,-8.5,230,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2242,3780,0,0,0,0,0,0
$GC,4855,-1.26,-146.0,455.4,-7.7,236,4860,0.00,2.90,0.00,0.000,4,0.000,0.090,2989,623,3779,0,0,0,0,0,0
$GC,4882,-1.26,-146.0,457.7,-8.1,236,4887,0.00,2.60,0.00,0.000,6,0.000,0.037,2989,2224,3779,0,0,0,0,0,0
$GC,5134,-1.26,-146.0,476.9,-7.6,242,5139,0.00,2.65,0.00,0.000,4,0.000,0.068,2989,3798,3778,0,0,0,0,0,0
$GC,5186,-1.30,-146.0,481.1,-7.9,243,5190,0.00,2.58,0.00,0.000,6,0.000,0.048,2989,2241,3778,0,0,0,0,0,0
$GC,5458,-1.30,-146.0,502.6,-8.1,250,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2241,3777,0,0,0,0,0,0
$GC,5704,-1.30,-146.0,522.4,-8.2,256,5708,0.00,3.03,0.00,0.000,4,0.000,0.112,2989,619,3775,0,0,0,0,0,0
$GC,5731,-1.30,-146.0,524.9,-8.6,256,5735,0.00,2.70,0.00,0.000,6,0.000,0.051,2989,2242,3775,0,0,0,0,0,0
$GC,5981,-1.30,-146.0,544.8,-7.9,262,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2242,3773,0,0,0,0,0,0
$GC,6227,-1.30,-146.0,563.0,-7.4,268,6231,0.00,2.75,0.00,0.000,4,0.000,0.087,2989,3797,3772,0,0,0,0,0,0
$GC,6253,-1.30,-146.0,565.4,-8.1,268,6258,0.00,2.62,0.00,0.000,6,0.000,0.057,2989,2242,3772,0,0,0,0,0,0
$GC,6503,-1.30,-146.0,584.3,-7.8,274,6508,0.00,3.05,0.00,0.000,4,0.000,0.116,2989,626,3770,0,0,0,0,0,0
$GC,6531,-1.30,-146.0,586.6,-8.5,274,6535,0.00,2.72,0.00,0.000,6,0.000,0.054,2989,2244,3770,0,0,0,0,0,0
$GC,6781,-1.30,-146.0,604.7,-7.1,280,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2244,3770,0,0,0,0,0,0
$GC,7024,-1.30,-146.0,622.4,-7.3,286,7029,0.00,2.97,0.00,0.000,4,0.000,0.103,2989,625,3768,0,0,0,0,0,0
$GC,7057,-1.30,-146.0,624.9,-7.9,286,7063,0.00,2.75,0.00,0.000,6,0.000,0.063,2989,2234,3768,0,0,0,0,0,0
$GC,7309,-1.30,-146.0,643.4,-7.4,293,7314,0.00,2.88,0.00,0.000,4,0.000,0.107,2989,3795,3767,0,0,0,0,0,0
$GC,7339,-1.34,-146.0,646.0,-8.0,293,7344,0.00,2.75,0.00,0.000,6,0.000,0.084,2989,2245,3766,0,0,0,0,0,0
$GC,7589,-1.34,-146.0,664.5,-7.5,299,7594,0.00,3.12,0.00,0.000,4,0.000,0.126,2989,620,3765,0,0,0,0,0,0
$GC,7613,-1.34,-146.0,666.2,-7.8,299,7617,0.00,2.85,0.00,0.000,6,0.000,0.076,2989,2241,3764,0,0,0,0,0,0
$GC,7868,-1.34,-146.0,685.8,-7.7,306,7872,0.00,2.92,0.00,0.000,4,0.000,0.116,2989,3804,3763,0,0,0,0,0,0
$GC,7889,-1.34,-146.0,687.6,-7.7,306,7894,0.00,2.88,0.00,0.000,6,0.000,0.097,2989,2245,3763,0,0,0,0,0,0
$GC,8147,-1.37,-146.0,706.8,-7.5,313,8149,0.12,0.00,0.00,0.000,6,0.071,0.000,2944,2245,3762,0,0,0,0,0,0
$GC,8388,-1.32,-146.0,729.1,-9.2,319,8390,0.12,0.00,0.00,0.000,6,0.251,0.000,2971,2245,3761,0,0,0,0,0,0
$GC,8632,-1.32,-146.0,747.9,-7.6,325,8637,0.00,3.10,0.00,0.000,4,0.000,0.147,2971,3794,3760,0,0,0,0,0,0
$GC,8661,-1.32,-146.0,750.2,-8.7,325,8666,0.00,2.70,0.00,0.000,6,0.000,0.069,2971,2246,3760,0,0,0,0,0,0
$GC,8911,-1.32,-146.0,770.2,-8.1,331,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2246,3758,0,0,0,0,0,0
$GC,9155,-1.32,-146.0,790.2,-8.2,337,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2246,3757,0,0,0,0,0,0
$GC,9401,-1.32,-146.0,809.6,-8.0,343,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2245,3756,0,0,0,0,0,0
$GC,9642,-1.32,-146.0,829.3,-8.2,349,9647,0.00,2.75,0.00,0.000,4,0.000,0.082,2971,3806,3755,0,0,0,0,0,0
$GC,9663,-1.32,-146.0,831.2,-8.2,349,9668,0.00,2.70,0.00,0.000,6,0.000,0.062,2971,2242,3755,0,0,0,0,0,0
$GC,9918,-1.32,-146.0,850.8,-7.6,356,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2242,3754,0,0,0,0,0,0
$GC,10164,-1.32,-146.0,868.9,-7.5,362,10169,0.00,2.75,0.00,0.000,4,0.000,0.076,2971,3808,3753,0,0,0,0,0,0
$GC,10180,-1.32,-146.0,870.3,-7.4,362,10185,0.00,2.67,0.00,0.000,6,0.000,0.061,2971,2248,3752,0,0,0,0,0,0
$GC,10443,-1.32,-146.0,889.8,-7.5,369,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2248,3751,0,0,0,0,0,0
$STATE,10603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10603,begin apogee
$GC,10611,-0.31,0.0,902.2,7.7,373,10733,0.95,0.00,118.62,1.220,6,0.070,0.000,3188,2388,3190,0,0,0,0,0,0
$STATE,10734,end apogee,CONTROL_FINISHED_OK
$STATE,10734,begin climb
$GC,10737,1.27,146.0,905.5,0.0,376,10872,1.45,2.80,127.12,1.189,4,0.036,0.073,3544,3932,2593,0,0,0,0,0,0
$GC,10966,1.14,146.0,889.7,12.6,381,10971,0.17,2.72,0.00,0.000,6,0.115,0.054,3510,2365,2588,0,0,0,0,0,0
$GC,11233,1.12,158.6,863.7,9.4,388,11252,0.00,2.75,11.52,1.030,4,0.000,0.061,3510,3931,2542,0,0,0,0,0,0
$GC,11261,1.08,171.4,861.3,9.4,388,11280,0.00,2.67,13.05,1.038,6,0.000,0.048,3510,2372,2490,0,0,0,0,0,0
$GC,11564,1.08,172.2,830.9,10.0,396,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2372,2485,0,0,0,0,0,0
$GC,11810,1.08,172.2,806.4,10.1,402,11815,0.00,2.67,0.00,0.000,4,0.000,0.056,3510,3938,2484,0,0,0,0,0,0
$GC,11837,1.03,172.2,803.3,10.6,402,11842,0.12,2.65,0.00,0.000,6,0.124,0.048,3485,2373,2484,0,0,0,0,0,0
$GC,12087,1.07,200.2,781.1,8.7,408,12116,0.00,0.00,26.55,1.092,6,0.000,0.000,3485,2373,2374,0,0,0,0,0,0
$GC,12333,1.08,213.9,758.6,9.4,414,12348,0.00,0.00,13.82,1.029,6,0.000,0.000,3485,2374,2318,0,0,0,0,0,0
$GC,12574,1.13,213.9,734.2,10.0,420,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,2374,2315,0,0,0,0,0,0
$GC,12818,1.17,214.5,710.0,10.0,426,12820,0.12,0.00,0.00,0.000,6,0.075,0.000,3523,2374,2314,0,0,0,0,0,0
$GC,13064,1.17,214.5,681.5,11.9,432,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2374,2313,0,0,0,0,0,0
$GC,13305,1.17,214.5,652.7,11.8,438,13310,0.00,2.62,0.00,0.000,4,0.000,0.059,3523,3934,2312,0,0,0,0,0,0
$GC,13322,1.13,214.5,650.6,11.9,438,13326,0.00,2.62,0.00,0.000,6,0.000,0.047,3523,2371,2311,0,0,0,0,0,0
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$STATE,19162,end climb,SURFACE_DEPTH_REACHED
$STATE,19162,begin surface coast
$FINISH,1.2,1.023612
$STATE,19208,end surface coast,CONTROL_FINISHED_OK
$STATE,19208,begin surface
$SM_CCo,19231,16.05,0.470,0,0,1762,350.04
$SM_GC,1.99,0.00,0.00,16.05,0.000,0.000,0.470,462,2164,1762,-12.87,-1.30,350.04
$IRIDIUM_FIX,1916.08,-8112.45,280502,010105
$TT8_MAMPS,0.026078
$HUMID,58.54
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,65
$24V_AH,23.3,30.984
$10V_AH,10.3,27.332
$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,30.800,222.800,416.325,16.050,0.000,140.637,181.898,717.459,16.250,0.000,17.493,1511.106,14897.774,556.665,2192.470,1575.049,33.348,1548.122,0.000,2189.385,0.000,0.537,0.000
$DEVICE_MAMPS,250.809,147.264,1219.530,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.624,330.765,421.648,534.979,1019.785,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,54142,710
$CAP_FILE_SIZE,190939,0
$CFSIZE,260165632,113127424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030313,062931,1924.233,-8114.619,67,1.1,67,-3.8