version: 66.06
glider: 146
mission: 8
dive: 114
start: 2 7 113 11 1 33
data:
$ID,146
$MISSION,8
$DIVE,114
$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,600
$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,-309577.53
$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,3270
$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,75
$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,3205
$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
$GPS1,104923,1922.577,-8104.648,39,1.3,39,-3.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.7
$GPS2,110037,1922.621,-8104.569,12,1.2,12,-3.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,0.039
$KALMAN_X,207068.8,460.7,176.3,-196233.6,3872.0
$KALMAN_Y,-40954.7,36.5,-264.5,33029.2,-317.2
$MHEAD_RNG_PITCHd_Wd,282.6,6752,-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,-70.70,0.000,2,0.000,0.000,465,2159,3553,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-6.1,9,123,13.85,2.62,-4.12,0.000,4,0.168,0.039,2986,3778,3802,0,0,0,0,0,0
$GC,168,-1.12,-146.0,27.7,-18.6,18,178,0.15,2.45,0.00,0.000,6,0.086,0.025,3024,2258,3802,0,0,0,0,0,0
$GC,448,-1.02,-146.0,63.6,-14.1,44,453,0.10,2.67,0.00,0.000,4,0.119,0.045,3046,629,3802,0,0,0,0,0,0
$GC,545,-1.02,-146.0,78.3,-13.5,51,555,0.00,2.47,0.00,0.000,6,0.000,0.018,3045,2217,3803,0,0,0,0,0,0
$GC,810,-0.95,-146.0,110.1,-11.3,76,815,0.00,2.60,0.00,0.000,4,0.000,0.044,3046,631,3803,0,0,0,0,0,0
$GC,831,-0.89,-146.0,112.5,-10.9,77,836,0.15,2.38,0.00,0.000,6,0.108,0.025,3079,2200,3803,0,0,0,0,0,0
$GC,1098,-0.95,-146.0,135.0,-8.7,101,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2201,3804,0,0,0,0,0,0
$GC,1363,-1.07,-146.0,155.0,-5.5,126,1369,0.17,2.58,0.00,0.000,4,0.052,0.044,3012,627,3804,0,0,0,0,0,0
$GC,1409,-1.07,-146.0,159.5,-9.8,129,1419,0.08,2.40,0.00,0.000,6,0.077,0.020,3034,2178,3804,0,0,0,0,0,0
$GC,1680,-1.13,-146.0,184.0,-9.8,154,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2178,3805,0,0,0,0,0,0
$GC,1949,-1.21,-146.0,205.9,-6.9,174,1954,0.12,2.55,0.00,0.000,4,0.067,0.051,2979,629,3805,0,0,0,0,0,0
$GC,1990,-1.21,-146.0,209.3,-8.9,175,1995,0.12,2.38,0.00,0.000,6,0.102,0.020,3007,2195,3805,0,0,0,0,0,0
$GC,2274,-1.25,-146.0,229.8,-6.9,182,2279,0.00,2.50,0.00,0.000,4,0.000,0.042,3007,3771,3805,0,0,0,0,0,0
$GC,2332,-1.30,-146.0,233.7,-7.0,183,2336,0.00,2.45,0.00,0.000,6,0.000,0.022,3007,2184,3805,0,0,0,0,0,0
$GC,2599,-1.35,-146.0,251.6,-6.8,190,2601,0.12,0.00,0.00,0.000,6,0.067,0.000,2954,2184,3805,0,0,0,0,0,0
$GC,2844,-1.29,-146.0,275.1,-10.0,196,2846,0.15,0.00,0.00,0.000,6,0.095,0.000,2988,2184,3804,0,0,0,0,0,0
$GC,3088,-1.29,-146.0,295.9,-8.3,202,3092,0.00,2.55,0.00,0.000,4,0.000,0.044,2988,3769,3803,0,0,0,0,0,0
$GC,3109,-1.29,-146.0,298.0,-8.3,202,3114,0.00,2.45,0.00,0.000,6,0.000,0.028,2988,2200,3804,0,0,0,0,0,0
$GC,3365,-1.29,-146.0,319.9,-8.6,209,3369,0.00,2.62,0.00,0.000,4,0.000,0.061,2988,629,3802,0,0,0,0,0,0
$GC,3388,-1.29,-146.0,321.7,-8.0,209,3393,0.00,2.42,0.00,0.000,6,0.000,0.025,2988,2185,3803,0,0,0,0,0,0
$GC,3644,-1.29,-146.0,343.3,-8.5,216,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2185,3802,0,0,0,0,0,0
$GC,3887,-1.29,-146.0,363.0,-7.8,222,3892,0.00,2.60,0.00,0.000,4,0.000,0.044,2988,3783,3801,0,0,0,0,0,0
$GC,3930,-1.29,-146.0,366.2,-8.2,223,3935,0.00,2.53,0.00,0.000,6,0.000,0.027,2988,2202,3800,0,0,0,0,0,0
$GC,4214,-1.29,-146.0,388.3,-7.6,230,4218,0.00,2.70,0.00,0.000,4,0.000,0.081,2988,630,3799,0,0,0,0,0,0
$GC,4248,-1.29,-146.0,391.0,-8.2,230,4253,0.00,2.50,0.00,0.000,6,0.000,0.034,2988,2192,3799,0,0,0,0,0,0
$GC,4500,-1.29,-146.0,410.3,-7.7,237,4504,0.00,2.65,0.00,0.000,4,0.000,0.053,2988,3793,3798,0,0,0,0,0,0
$GC,4527,-1.29,-146.0,412.6,-8.2,237,4531,0.00,2.58,0.00,0.000,6,0.000,0.031,2988,2197,3798,0,0,0,0,0,0
$GC,4777,-1.29,-146.0,431.0,-7.3,243,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2197,3796,0,0,0,0,0,0
$GC,5023,-1.29,-146.0,448.9,-7.3,249,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2197,3796,0,0,0,0,0,0
$GC,5264,-1.29,-146.0,467.5,-7.8,255,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2197,3794,0,0,0,0,0,0
$GC,5508,-1.29,-146.0,487.1,-8.0,261,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2196,3793,0,0,0,0,0,0
$GC,5751,-1.29,-146.0,507.0,-8.2,267,5756,0.00,2.70,0.00,0.000,4,0.000,0.063,2988,3784,3791,0,0,0,0,0,0
$GC,5793,-1.35,-146.0,510.3,-8.6,268,5798,0.00,2.65,0.00,0.000,6,0.000,0.046,2988,2188,3791,0,0,0,0,0,0
$GC,6076,-1.35,-146.0,532.7,-7.8,275,6081,0.00,2.95,0.00,0.000,4,0.000,0.117,2988,623,3790,0,0,0,0,0,0
$GC,6103,-1.35,-146.0,534.7,-7.9,275,6108,0.00,2.55,0.00,0.000,6,0.000,0.044,2988,2180,3790,0,0,0,0,0,0
$GC,6360,-1.38,-146.0,553.6,-7.5,281,6365,0.00,2.83,0.00,0.000,4,0.000,0.084,2988,3793,3789,0,0,0,0,0,0
$GC,6404,-1.44,-146.0,557.7,-8.6,282,6409,0.12,2.70,0.00,0.000,6,0.066,0.051,2936,2189,3788,0,0,0,0,0,0
$GC,6684,-1.37,-146.0,586.0,-10.4,289,6686,0.15,0.00,0.00,0.000,6,0.100,0.000,2969,2189,3787,0,0,0,0,0,0
$GC,6926,-1.37,-146.0,608.0,-8.8,295,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2189,3786,0,0,0,0,0,0
$GC,7170,-1.37,-146.0,629.4,-8.9,301,7174,0.00,2.90,0.00,0.000,4,0.000,0.092,2969,3793,3785,0,0,0,0,0,0
$GC,7191,-1.37,-146.0,631.5,-9.2,301,7196,0.00,2.78,0.00,0.000,6,0.000,0.077,2969,2207,3785,0,0,0,0,0,0
$GC,7448,-1.37,-146.0,654.3,-9.0,308,7453,0.00,2.88,0.00,0.000,4,0.000,0.094,2969,3791,3784,0,0,0,0,0,0
$GC,7475,-1.37,-146.0,657.2,-9.8,308,7480,0.00,2.83,0.00,0.000,6,0.000,0.082,2969,2211,3783,0,0,0,0,0,0
$GC,7725,-1.37,-146.0,679.5,-9.0,314,7730,0.00,3.12,0.00,0.000,4,0.000,0.139,2970,620,3783,0,0,0,0,0,0
$GC,7755,-1.37,-146.0,682.1,-9.5,314,7759,0.00,2.80,0.00,0.000,6,0.000,0.087,2969,2199,3782,0,0,0,0,0,0
$GC,8004,-1.37,-146.0,702.9,-8.1,320,8009,0.00,3.08,0.00,0.000,4,0.000,0.130,2969,3802,3781,0,0,0,0,0,0
$GC,8031,-1.37,-146.0,705.4,-9.1,320,8036,0.00,2.83,0.00,0.000,6,0.000,0.083,2969,2207,3781,0,0,0,0,0,0
$GC,8285,-1.37,-146.0,727.0,-8.6,326,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2207,3780,0,0,0,0,0,0
$GC,8525,-1.37,-146.0,746.3,-7.7,332,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2207,3779,0,0,0,0,0,0
$GC,8769,-1.37,-146.0,764.7,-7.5,338,8774,0.00,2.88,0.00,0.000,4,0.000,0.094,2969,3805,3777,0,0,0,0,0,0
$GC,8804,-1.37,-146.0,767.4,-8.7,338,8809,0.00,2.78,0.00,0.000,6,0.000,0.066,2969,2210,3777,0,0,0,0,0,0
$GC,9053,-1.37,-146.0,785.2,-7.0,345,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2210,3776,0,0,0,0,0,0
$GC,9297,-1.37,-146.0,803.5,-7.6,351,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2210,3775,0,0,0,0,0,0
$GC,9541,-1.37,-146.0,822.3,-7.8,357,9545,0.00,2.85,0.00,0.000,4,0.000,0.082,2969,3804,3774,0,0,0,0,0,0
$GC,9564,-1.37,-146.0,824.0,-7.9,357,9569,0.00,2.75,0.00,0.000,6,0.000,0.064,2969,2212,3774,0,0,0,0,0,0
$GC,9820,-1.37,-146.0,843.8,-7.5,364,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2211,3772,0,0,0,0,0,0
$GC,10064,-1.37,-146.0,862.2,-7.4,370,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2211,3772,0,0,0,0,0,0
$GC,10310,-1.37,-146.0,879.5,-7.1,376,10314,0.00,2.85,0.00,0.000,4,0.000,0.087,2969,3803,3770,0,0,0,0,0,0
$GC,10349,-1.37,-146.0,882.6,-7.6,377,10354,0.00,2.75,0.00,0.000,6,0.000,0.069,2969,2213,3770,0,0,0,0,0,0
$STATE,10629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10630,begin apogee
$GC,10636,-0.31,0.0,902.7,6.9,384,10758,1.00,0.00,118.70,1.214,6,0.069,0.000,3201,2385,3205,0,0,0,0,0,0
$STATE,10759,end apogee,CONTROL_FINISHED_OK
$STATE,10759,begin climb
$GC,10763,1.27,146.0,905.5,0.0,387,10899,1.42,2.85,126.30,1.184,4,0.033,0.078,3552,3924,2608,0,0,0,0,0,0
$GC,10969,1.11,146.0,892.6,12.5,391,10975,0.20,2.70,0.00,0.000,6,0.114,0.053,3513,2369,2604,0,0,0,0,0,0
$GC,11219,1.08,166.3,869.0,9.1,398,11243,0.00,2.83,18.30,1.087,4,0.000,0.069,3513,3925,2526,0,0,0,0,0,0
$GC,11279,1.01,166.3,862.8,11.4,399,11285,0.12,2.67,0.00,0.000,6,0.121,0.051,3489,2366,2524,0,0,0,0,0,0
$GC,11546,1.01,167.6,835.9,9.9,406,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2366,2521,0,0,0,0,0,0
$GC,11790,1.01,171.5,812.0,9.8,412,11800,0.00,2.70,5.07,0.814,4,0.000,0.058,3489,3928,2506,0,0,0,0,0,0
$GC,11813,1.01,171.5,809.6,10.3,412,11817,0.00,2.62,0.00,0.000,6,0.000,0.044,3489,2365,2506,0,0,0,0,0,0
$GC,12068,1.02,179.5,784.5,9.6,419,12079,0.00,0.00,9.07,0.976,6,0.000,0.000,3489,2365,2473,0,0,0,0,0,0
$GC,12312,1.04,192.6,761.0,9.4,425,12331,0.00,2.78,13.40,1.024,4,0.000,0.062,3489,3928,2419,0,0,0,0,0,0
$GC,12350,1.05,201.7,757.5,9.6,425,12365,0.00,2.62,10.15,0.973,6,0.000,0.039,3489,2376,2382,0,0,0,0,0,0
$GC,12638,1.07,217.1,730.4,9.3,433,12655,0.00,0.00,15.20,1.019,6,0.000,0.000,3489,2377,2320,0,0,0,0,0,0
$GC,12882,1.08,226.9,707.3,9.5,439,12894,0.00,0.00,10.43,0.966,6,0.000,0.000,3489,2376,2280,0,0,0,0,0,0
$GC,13128,1.08,229.4,683.2,9.9,445,13133,0.00,0.00,3.97,0.662,6,0.000,0.000,3489,2376,2269,0,0,0,0,0,0
$GC,13372,1.12,229.4,658.0,10.3,451,13377,0.10,3.08,0.00,0.000,4,0.223,0.118,3520,783,2268,0,0,0,0,0,0
$GC,13388,1.12,229.4,655.8,10.4,451,13393,0.00,2.65,0.00,0.000,6,0.000,0.042,3520,2383,2267,0,0,0,0,0,0
$GC,13651,1.12,229.4,625.1,11.8,458,13655,0.00,2.67,0.00,0.000,4,0.000,0.066,3520,3932,2267,0,0,0,0,0,0
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$STATE,19222,end climb,SURFACE_DEPTH_REACHED
$STATE,19222,begin surface coast
$FINISH,0.9,1.012374
$STATE,19265,end surface coast,CONTROL_FINISHED_OK
$STATE,19265,begin surface
$SM_CCo,19290,39.88,0.483,0,0,1778,350.04
$SM_GC,1.88,0.00,0.00,39.88,0.000,0.000,0.483,470,2139,1778,-12.88,-2.01,350.04
$IRIDIUM_FIX,1913.80,-8105.68,040502,111147
$TT8_MAMPS,0.026078
$HUMID,55.59
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.70
$XPDR_PINGS,62
$24V_AH,23.3,16.156
$10V_AH,10.4,14.006
$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
$DEVICE_SECS,31.150,201.250,399.650,39.875,0.000,58.440,76.653,299.547,15.500,0.000,14.142,1536.846,14675.906,560.406,2304.102,918.779,33.363,1553.849,0.000,2304.006,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.934,330.902,445.205,584.482,1112.777,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,57494,737
$CAP_FILE_SIZE,174326,0
$CFSIZE,260165632,120807424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070213,162524,1922.100,-8104.068,58,1.1,58,-3.9