version: 66.06
glider: 146
mission: 8
dive: 122
start: 2 9 113 5 10 49
data:
$ID,146
$MISSION,8
$DIVE,122
$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,-309731.75
$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,55
$R_STBD_OVSHOOT,37
$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,3200
$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
$GPS1,045954,1917.405,-8052.424,36,1.4,36,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-76.0
$GPS2,050955,1917.375,-8052.429,9,1.4,9,-4.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Tp5
$TGT_LATLONG,1928.000,-8048.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.043,0.256
$KALMAN_X,246121.8,387.0,618.4,-214434.8,945.1
$KALMAN_Y,-63093.5,-1110.4,-569.1,46893.4,-235.6
$MHEAD_RNG_PITCHd_Wd,13.5,21143,-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,-71.20,0.000,2,0.000,0.000,466,2185,3530,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.7,-5.5,9,122,13.90,2.53,-4.85,0.000,4,0.170,0.056,2987,656,3797,0,0,0,0,0,0
$GC,182,-1.07,-146.0,28.3,-20.5,20,192,0.17,2.45,0.00,0.000,6,0.087,0.018,3030,2230,3797,0,0,0,0,0,0
$GC,449,-0.96,-146.0,69.5,-14.8,45,458,0.12,0.00,0.00,0.000,6,0.113,0.000,3058,2231,3797,0,0,0,0,0,0
$GC,714,-0.92,-146.0,102.6,-12.4,70,718,0.00,2.58,0.00,0.000,4,0.000,0.044,3058,651,3798,0,0,0,0,0,0
$GC,758,-0.92,-146.0,107.7,-11.8,73,763,0.00,2.38,0.00,0.000,6,0.000,0.017,3058,2212,3797,0,0,0,0,0,0
$GC,1027,-0.92,-146.0,133.0,-8.3,97,1031,0.00,2.47,0.00,0.000,4,0.000,0.036,3059,3769,3798,0,0,0,0,0,0
$GC,1068,-0.97,-146.0,137.2,-9.0,100,1072,0.00,2.40,0.00,0.000,6,0.000,0.020,3058,2212,3799,0,0,0,0,0,0
$GC,1335,-1.05,-146.0,157.3,-7.0,124,1339,0.00,2.47,0.00,0.000,4,0.000,0.038,3058,3767,3799,0,0,0,0,0,0
$GC,1389,-1.15,-146.0,161.7,-7.8,128,1394,0.17,2.38,0.00,0.000,6,0.051,0.018,2989,2222,3799,0,0,0,0,0,0
$GC,1654,-1.15,-146.0,185.8,-9.7,152,1659,0.12,2.58,0.00,0.000,4,0.100,0.048,3018,645,3799,0,0,0,0,0,0
$GC,1697,-1.20,-146.0,190.0,-9.3,155,1702,0.00,2.40,0.00,0.000,6,0.000,0.022,3018,2221,3799,0,0,0,0,0,0
$GC,1973,-1.24,-146.0,213.2,-7.8,169,1977,0.00,2.58,0.00,0.000,4,0.000,0.051,3019,642,3800,0,0,0,0,0,0
$GC,2003,-1.30,-146.0,215.5,-8.6,169,2008,0.15,2.40,0.00,0.000,6,0.059,0.021,2961,2212,3800,0,0,0,0,0,0
$GC,2253,-1.25,-146.0,239.8,-9.8,175,2258,0.17,2.53,0.00,0.000,4,0.088,0.041,3001,3774,3800,0,0,0,0,0,0
$GC,2317,-1.29,-146.0,245.0,-7.8,176,2321,0.00,2.42,0.00,0.000,6,0.000,0.020,3001,2217,3800,0,0,0,0,0,0
$GC,2577,-1.29,-146.0,266.4,-8.2,183,2582,0.00,2.60,0.00,0.000,4,0.000,0.054,3001,643,3799,0,0,0,0,0,0
$GC,2657,-1.33,-146.0,272.6,-7.6,184,2663,0.00,2.42,0.00,0.000,6,0.000,0.024,3001,2210,3799,0,0,0,0,0,0
$GC,2910,-1.37,-146.0,292.6,-8.0,191,2912,0.12,0.00,0.00,0.000,6,0.068,0.000,2952,2209,3799,0,0,0,0,0,0
$GC,3151,-1.32,-146.0,317.6,-10.5,197,3156,0.15,2.55,0.00,0.000,4,0.094,0.043,2986,3781,3798,0,0,0,0,0,0
$GC,3184,-1.32,-146.0,321.0,-10.0,197,3190,0.00,2.45,0.00,0.000,6,0.000,0.030,2986,2210,3797,0,0,0,0,0,0
$GC,3436,-1.32,-146.0,341.9,-8.3,204,3441,0.00,2.67,0.00,0.000,4,0.000,0.066,2986,637,3797,0,0,0,0,0,0
$GC,3486,-1.32,-146.0,346.7,-9.0,205,3491,0.00,2.47,0.00,0.000,6,0.000,0.031,2986,2206,3797,0,0,0,0,0,0
$GC,3759,-1.32,-146.0,368.6,-7.8,212,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2206,3796,0,0,0,0,0,0
$GC,4005,-1.32,-146.0,387.0,-7.6,218,4009,0.00,2.67,0.00,0.000,4,0.000,0.065,2986,636,3795,0,0,0,0,0,0
$GC,4020,-1.32,-146.0,388.5,-7.6,218,4024,0.00,2.47,0.00,0.000,6,0.000,0.031,2986,2207,3795,0,0,0,0,0,0
$GC,4282,-1.32,-146.0,409.9,-8.3,225,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3794,0,0,0,0,0,0
$GC,4527,-1.32,-146.0,430.4,-8.6,231,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3793,0,0,0,0,0,0
$GC,4769,-1.32,-146.0,450.7,-8.3,237,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3791,0,0,0,0,0,0
$GC,5013,-1.32,-146.0,469.4,-7.6,243,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3791,0,0,0,0,0,0
$GC,5256,-1.32,-146.0,486.4,-6.8,249,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3790,0,0,0,0,0,0
$GC,5502,-1.32,-146.0,502.0,-6.4,255,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3788,0,0,0,0,0,0
$GC,5744,-1.32,-146.0,517.7,-6.4,261,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3787,0,0,0,0,0,0
$GC,5987,-1.32,-146.0,534.5,-7.0,267,5992,0.00,2.88,0.00,0.000,4,0.000,0.103,2986,635,3786,0,0,0,0,0,0
$GC,6003,-1.32,-146.0,535.7,-7.2,267,6008,0.00,2.58,0.00,0.000,6,0.000,0.048,2987,2201,3786,0,0,0,0,0,0
$GC,6267,-1.32,-146.0,556.5,-8.3,274,6271,0.00,2.78,0.00,0.000,4,0.000,0.083,2986,3793,3785,0,0,0,0,0,0
$GC,6288,-1.32,-146.0,558.8,-9.1,274,6293,0.00,2.65,0.00,0.000,6,0.000,0.054,2986,2213,3785,0,0,0,0,0,0
$GC,6545,-1.32,-146.0,580.4,-8.5,281,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2213,3783,0,0,0,0,0,0
$GC,6789,-1.32,-146.0,600.6,-8.3,287,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2213,3782,0,0,0,0,0,0
$GC,7031,-1.35,-146.0,619.4,-7.6,293,7035,0.00,2.83,0.00,0.000,4,0.000,0.090,2987,3791,3781,0,0,0,0,0,0
$GC,7052,-1.35,-146.0,621.2,-7.6,293,7057,0.00,2.78,0.00,0.000,6,0.000,0.072,2986,2200,3781,0,0,0,0,0,0
$GC,7310,-1.39,-146.0,639.7,-7.3,300,7314,0.00,2.85,0.00,0.000,4,0.000,0.091,2987,3793,3780,0,0,0,0,0,0
$GC,7337,-1.43,-146.0,642.1,-7.9,300,7343,0.12,2.80,0.00,0.000,6,0.067,0.081,2941,2212,3780,0,0,0,0,0,0
$GC,7588,-1.38,-146.0,665.6,-9.5,306,7593,0.12,2.92,0.00,0.000,4,0.108,0.100,2968,3795,3778,0,0,0,0,0,0
$GC,7610,-1.38,-146.0,667.5,-9.4,306,7615,0.00,2.85,0.00,0.000,6,0.000,0.088,2968,2222,3778,0,0,0,0,0,0
$GC,7871,-1.38,-146.0,689.4,-8.2,313,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2222,3777,0,0,0,0,0,0
$GC,8114,-1.38,-146.0,708.5,-7.8,319,8119,0.00,3.03,0.00,0.000,4,0.000,0.121,2968,3793,3776,0,0,0,0,0,0
$GC,8171,-1.38,-146.0,713.3,-8.8,320,8176,0.00,2.97,0.00,0.000,6,0.000,0.116,2968,2223,3776,0,0,0,0,0,0
$GC,8438,-1.38,-146.0,735.2,-8.3,327,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2223,3774,0,0,0,0,0,0
$GC,8681,-1.38,-146.0,755.2,-8.2,333,8687,0.00,3.47,0.00,0.000,4,0.000,0.182,2968,617,3773,0,0,0,0,0,0
$GC,8700,-1.38,-146.0,756.7,-8.3,333,8705,0.00,3.10,0.00,0.000,6,0.000,0.130,2968,2210,3773,0,0,0,0,0,0
$GC,8961,-1.38,-146.0,777.2,-7.6,340,8966,0.00,3.42,0.00,0.000,4,0.000,0.176,2968,3800,3772,0,0,0,0,0,0
$GC,8988,-1.38,-146.0,779.4,-7.8,340,8993,0.00,2.70,0.00,0.000,6,0.000,0.062,2968,2221,3772,0,0,0,0,0,0
$GC,9240,-1.38,-146.0,797.5,-7.2,346,9245,0.00,3.05,0.00,0.000,4,0.000,0.125,2968,616,3771,0,0,0,0,0,0
$GC,9262,-1.38,-146.0,799.3,-7.6,346,9267,0.00,2.72,0.00,0.000,6,0.000,0.054,2968,2233,3770,0,0,0,0,0,0
$GC,9517,-1.38,-146.0,818.1,-7.4,353,9522,0.00,2.80,0.00,0.000,4,0.000,0.097,2968,3802,3769,0,0,0,0,0,0
$GC,9539,-1.38,-146.0,819.9,-8.1,353,9543,0.00,2.70,0.00,0.000,6,0.000,0.063,2968,2227,3769,0,0,0,0,0,0
$GC,9796,-1.38,-146.0,840.7,-8.2,360,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2227,3768,0,0,0,0,0,0
$GC,10037,-1.38,-146.0,860.9,-8.4,366,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2226,3767,0,0,0,0,0,0
$GC,10281,-1.38,-146.0,880.3,-7.9,372,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2226,3765,0,0,0,0,0,0
$GC,10527,-1.38,-146.0,897.5,-6.9,378,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2226,3765,0,0,0,0,0,0
$STATE,10563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10563,begin apogee
$GC,10569,-0.31,0.0,900.3,6.9,379,10691,1.02,0.00,118.68,1.216,6,0.071,0.000,3202,2383,3200,0,0,0,0,0,0
$STATE,10692,end apogee,CONTROL_FINISHED_OK
$STATE,10692,begin climb
$GC,10694,1.27,146.0,901.8,0.0,382,10831,1.42,2.85,126.07,1.180,4,0.035,0.074,3553,3927,2603,0,0,0,0,0,0
$GC,10899,1.11,146.0,886.8,12.5,386,10905,0.20,2.70,0.00,0.000,6,0.112,0.055,3514,2361,2598,0,0,0,0,0,0
$GC,11151,1.07,159.0,862.5,9.4,393,11170,0.00,3.08,11.98,1.035,4,0.000,0.105,3514,784,2550,0,0,0,0,0,0
$GC,11195,1.01,159.0,858.0,10.1,394,11200,0.12,2.67,0.00,0.000,6,0.120,0.054,3490,2355,2549,0,0,0,0,0,0
$GC,11481,1.05,191.3,833.5,8.5,401,11517,0.00,2.83,30.12,1.115,4,0.000,0.072,3490,3934,2417,0,0,0,0,0,0
$GC,11544,1.05,191.9,827.3,10.0,401,11549,0.00,2.65,0.00,0.000,6,0.000,0.041,3489,2360,2415,0,0,0,0,0,0
$GC,11800,1.07,207.2,803.6,9.3,408,11817,0.00,0.00,15.23,1.052,6,0.000,0.000,3490,2360,2355,0,0,0,0,0,0
$GC,12045,1.07,213.5,779.9,9.7,414,12059,0.00,3.03,7.05,0.908,4,0.000,0.106,3489,786,2328,0,0,0,0,0,0
$GC,12066,1.08,217.0,777.5,9.8,414,12076,0.00,2.65,4.95,0.780,6,0.000,0.037,3489,2368,2315,0,0,0,0,0,0
$GC,12326,1.08,217.0,750.6,10.4,421,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2368,2313,0,0,0,0,0,0
$GC,12572,1.08,217.0,725.2,10.6,427,12577,0.00,2.80,0.00,0.000,4,0.000,0.074,3489,783,2312,0,0,0,0,0,0
$GC,12593,1.08,217.0,722.4,11.2,427,12597,0.00,2.62,0.00,0.000,6,0.000,0.044,3489,2361,2311,0,0,0,0,0,0
$GC,12849,1.08,217.0,695.3,10.4,434,12853,0.00,2.72,0.00,0.000,4,0.000,0.071,3489,3930,2311,0,0,0,0,0,0
$GC,12894,1.08,217.0,690.2,12.2,435,12899,0.00,2.60,0.00,0.000,6,0.000,0.041,3489,2361,2309,0,0,0,0,0,0
$GC,13172,1.12,217.0,660.2,10.7,442,13178,0.10,2.67,0.00,0.000,4,0.084,0.058,3520,3937,2309,0,0,0,0,0,0
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$STATE,19188,end climb,SURFACE_DEPTH_REACHED
$STATE,19189,begin surface coast
$FINISH,1.0,1.014060
$STATE,19238,end surface coast,CONTROL_FINISHED_OK
$STATE,19238,begin surface
$SM_CCo,19262,33.30,0.485,0,0,1773,350.04
$SM_GC,1.56,0.00,0.00,33.30,0.000,0.000,0.485,465,2153,1773,-12.90,-1.61,350.04
$IRIDIUM_FIX,1911.51,-8054.04,050502,232349
$TT8_MAMPS,0.025311
$HUMID,56.49
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.60
$XPDR_PINGS,68
$24V_AH,23.3,17.301
$10V_AH,10.4,14.998
$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,31.350,223.675,402.700,33.300,0.000,27.313,32.891,382.277,17.000,0.000,10.715,1554.297,14526.701,557.779,2332.738,918.022,33.372,1570.380,0.000,2334.153,0.000,0.536,0.000
$DEVICE_MAMPS,170.274,181.779,1215.695,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,495.235,342.109,436.645,572.980,1092.194,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356136
$DATA_FILE_SIZE,57111,730
$CAP_FILE_SIZE,179251,0
$CFSIZE,260165632,120238080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090213,103336,1917.346,-8049.443,29,1.3,29,-4.0