version: 66.06
glider: 146
mission: 8
dive: 123
start: 2 9 113 10 41 31
data:
$ID,146
$MISSION,8
$DIVE,123
$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,-309742.62
$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,36
$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,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
$GPS1,103336,1917.346,-8049.443,29,1.3,29,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.4
$GPS2,104037,1917.286,-8049.427,8,1.7,8,-4.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Tp5
$TGT_LATLONG,1928.000,-8048.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,0.185
$KALMAN_X,251809.9,-571.6,266.9,-213600.8,3555.7
$KALMAN_Y,-68415.0,-517.3,-505.5,51423.4,-1148.7
$MHEAD_RNG_PITCHd_Wd,319.4,19998,-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,-145.9,0.0,0.0,0,93,0.00,0.00,-70.97,0.000,2,0.000,0.000,465,2153,3534,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.9,-6.3,9,124,13.90,2.60,-4.60,0.000,4,0.170,0.037,2988,3794,3796,0,0,0,0,0,0
$GC,249,-1.14,-146.0,39.0,-16.6,27,255,0.15,2.50,0.00,0.000,6,0.108,0.025,3020,2212,3797,0,0,0,0,0,0
$GC,519,-1.01,-146.0,78.8,-14.3,51,525,0.12,2.58,0.00,0.000,4,0.113,0.044,3047,634,3797,0,0,0,0,0,0
$GC,601,-0.98,-146.0,90.1,-12.0,57,605,0.00,2.42,0.00,0.000,6,0.000,0.016,3047,2211,3796,0,0,0,0,0,0
$GC,869,-0.94,-146.0,120.7,-10.6,81,874,0.00,2.47,0.00,0.000,4,0.000,0.032,3047,3779,3798,0,0,0,0,0,0
$GC,903,-0.94,-146.0,124.3,-9.8,83,908,0.00,2.47,0.00,0.000,6,0.000,0.025,3047,2205,3798,0,0,0,0,0,0
$GC,1172,-0.98,-146.0,149.5,-9.1,107,1177,0.00,2.53,0.00,0.000,4,0.000,0.051,3047,640,3798,0,0,0,0,0,0
$GC,1190,-1.03,-146.0,151.7,-8.7,108,1194,0.00,2.40,0.00,0.000,6,0.000,0.019,3047,2220,3799,0,0,0,0,0,0
$GC,1455,-1.12,-146.0,171.5,-6.2,132,1460,0.00,2.45,0.00,0.000,4,0.000,0.035,3047,3770,3798,0,0,0,0,0,0
$GC,1490,-1.21,-146.0,174.0,-6.0,134,1496,0.17,2.47,0.00,0.000,6,0.052,0.018,2982,2176,3799,0,0,0,0,0,0
$GC,1752,-1.21,-146.0,196.2,-8.5,159,1757,0.10,2.53,0.00,0.000,4,0.113,0.054,3005,645,3799,0,0,0,0,0,0
$GC,1811,-1.27,-146.0,200.7,-8.4,163,1815,0.00,2.35,0.00,0.000,6,0.000,0.017,3005,2192,3799,0,0,0,0,0,0
$GC,2083,-1.27,-146.0,221.2,-7.3,170,2088,0.00,2.50,0.00,0.000,4,0.000,0.040,3005,3768,3799,0,0,0,0,0,0
$GC,2147,-1.32,-146.0,225.9,-8.0,171,2152,0.10,2.42,0.00,0.000,6,0.076,0.023,2954,2195,3800,0,0,0,0,0,0
$GC,2408,-1.26,-146.0,252.0,-10.4,178,2413,0.17,2.55,0.00,0.000,4,0.089,0.058,2994,645,3799,0,0,0,0,0,0
$GC,2452,-1.26,-146.0,256.5,-9.6,179,2457,0.00,2.38,0.00,0.000,6,0.000,0.020,2994,2181,3799,0,0,0,0,0,0
$GC,2733,-1.26,-146.0,280.7,-8.7,186,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2181,3798,0,0,0,0,0,0
$GC,2974,-1.26,-146.0,300.3,-7.9,192,2978,0.00,2.58,0.00,0.000,4,0.000,0.052,2994,636,3798,0,0,0,0,0,0
$GC,2995,-1.26,-146.0,302.0,-7.9,192,3000,0.00,2.40,0.00,0.000,6,0.000,0.030,2994,2175,3798,0,0,0,0,0,0
$GC,3253,-1.26,-146.0,322.0,-7.9,199,3258,0.00,2.60,0.00,0.000,4,0.000,0.048,2994,3779,3797,0,0,0,0,0,0
$GC,3298,-1.30,-146.0,326.1,-8.4,200,3302,0.00,2.50,0.00,0.000,6,0.000,0.025,2994,2193,3797,0,0,0,0,0,0
$GC,3578,-1.30,-146.0,348.6,-8.1,207,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2193,3796,0,0,0,0,0,0
$GC,3819,-1.30,-146.0,368.6,-8.1,213,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2193,3795,0,0,0,0,0,0
$GC,4063,-1.30,-146.0,386.5,-7.2,219,4067,0.00,2.60,0.00,0.000,4,0.000,0.049,2994,3776,3794,0,0,0,0,0,0
$GC,4091,-1.30,-146.0,388.6,-7.7,219,4096,0.00,2.53,0.00,0.000,6,0.000,0.031,2994,2202,3794,0,0,0,0,0,0
$GC,4343,-1.30,-146.0,406.3,-7.0,225,4348,0.00,2.72,0.00,0.000,4,0.000,0.083,2994,623,3793,0,0,0,0,0,0
$GC,4376,-1.30,-146.0,408.9,-7.0,225,4382,0.00,2.50,0.00,0.000,6,0.000,0.030,2994,2185,3793,0,0,0,0,0,0
$GC,4626,-1.30,-146.0,426.3,-6.9,232,4630,0.00,2.65,0.00,0.000,4,0.000,0.053,2994,3790,3791,0,0,0,0,0,0
$GC,4649,-1.34,-146.0,427.9,-7.1,232,4654,0.00,2.58,0.00,0.000,6,0.000,0.033,2994,2200,3791,0,0,0,0,0,0
$GC,4905,-1.38,-146.0,446.0,-7.1,239,4910,0.10,2.80,0.00,0.000,4,0.081,0.086,2952,626,3791,0,0,0,0,0,0
$GC,4939,-1.33,-146.0,448.9,-9.1,239,4945,0.12,2.55,0.00,0.000,6,0.101,0.039,2979,2198,3790,0,0,0,0,0,0
$GC,5191,-1.33,-146.0,468.7,-7.8,246,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2198,3790,0,0,0,0,0,0
$GC,5432,-1.33,-146.0,488.5,-8.2,252,5437,0.00,2.67,0.00,0.000,4,0.000,0.068,2980,3787,3788,0,0,0,0,0,0
$GC,5477,-1.33,-146.0,492.4,-8.8,253,5481,0.00,2.60,0.00,0.000,6,0.000,0.047,2979,2200,3788,0,0,0,0,0,0
$GC,5757,-1.33,-146.0,514.3,-7.9,260,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2199,3787,0,0,0,0,0,0
$GC,5998,-1.33,-146.0,533.0,-7.6,266,6002,0.00,2.70,0.00,0.000,4,0.000,0.066,2979,3784,3786,0,0,0,0,0,0
$GC,6030,-1.33,-146.0,535.8,-8.4,266,6036,0.00,2.67,0.00,0.000,6,0.000,0.051,2980,2195,3786,0,0,0,0,0,0
$GC,6283,-1.33,-146.0,554.3,-7.4,273,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3785,0,0,0,0,0,0
$GC,6527,-1.33,-146.0,572.5,-7.6,279,6531,0.00,2.78,0.00,0.000,4,0.000,0.079,2980,3783,3783,0,0,0,0,0,0
$GC,6548,-1.33,-146.0,574.4,-7.7,279,6552,0.00,2.65,0.00,0.000,6,0.000,0.054,2980,2209,3783,0,0,0,0,0,0
$GC,6805,-1.33,-146.0,594.5,-7.9,286,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3782,0,0,0,0,0,0
$GC,7047,-1.33,-146.0,612.8,-7.4,292,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3781,0,0,0,0,0,0
$GC,7290,-1.33,-146.0,632.0,-8.0,298,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3779,0,0,0,0,0,0
$GC,7534,-1.33,-146.0,652.8,-8.6,304,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3779,0,0,0,0,0,0
$GC,7780,-1.33,-146.0,672.7,-8.2,310,7785,0.00,2.95,0.00,0.000,4,0.000,0.116,2980,3782,3778,0,0,0,0,0,0
$GC,7801,-1.33,-146.0,674.7,-8.3,310,7806,0.00,2.85,0.00,0.000,6,0.000,0.092,2979,2207,3777,0,0,0,0,0,0
$GC,8056,-1.33,-146.0,693.8,-7.3,317,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2207,3776,0,0,0,0,0,0
$GC,8300,-1.33,-146.0,711.1,-7.1,323,8305,0.00,3.03,0.00,0.000,4,0.000,0.130,2980,3784,3775,0,0,0,0,0,0
$GC,8340,-1.37,-146.0,714.2,-8.2,324,8345,0.00,2.97,0.00,0.000,6,0.000,0.118,2980,2218,3775,0,0,0,0,0,0
$GC,8623,-1.37,-146.0,734.2,-7.0,331,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2218,3774,0,0,0,0,0,0
$GC,8869,-1.37,-146.0,751.8,-7.3,337,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2218,3773,0,0,0,0,0,0
$GC,9111,-1.37,-146.0,770.2,-7.8,343,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2218,3772,0,0,0,0,0,0
$GC,9354,-1.37,-146.0,788.8,-7.5,349,9359,0.00,3.35,0.00,0.000,4,0.000,0.174,2979,3779,3770,0,0,0,0,0,0
$GC,9376,-1.37,-146.0,790.5,-7.8,349,9381,0.00,2.67,0.00,0.000,6,0.000,0.064,2979,2216,3770,0,0,0,0,0,0
$GC,9633,-1.37,-146.0,808.4,-7.0,356,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3769,0,0,0,0,0,0
$GC,9875,-1.37,-146.0,825.6,-7.0,362,9879,0.00,2.72,0.00,0.000,4,0.000,0.081,2980,3786,3768,0,0,0,0,0,0
$GC,9915,-1.42,-146.0,828.6,-8.3,363,9919,0.00,2.67,0.00,0.000,6,0.000,0.061,2979,2230,3768,0,0,0,0,0,0
$GC,10200,-1.42,-146.0,850.4,-7.6,370,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2229,3767,0,0,0,0,0,0
$GC,10442,-1.45,-146.0,869.2,-7.8,376,10447,0.12,2.75,0.00,0.000,4,0.069,0.087,2934,3785,3766,0,0,0,0,0,0
$GC,10482,-1.40,-146.0,873.0,-10.2,377,10487,0.15,2.70,0.00,0.000,6,0.097,0.067,2967,2229,3765,0,0,0,0,0,0
$GC,10768,-1.40,-146.0,896.7,-8.0,384,10773,0.00,3.05,0.00,0.000,4,0.000,0.123,2967,619,3764,0,0,0,0,0,0
$GC,10789,-1.40,-146.0,898.5,-7.5,384,10794,0.00,2.72,0.00,0.000,6,0.000,0.059,2967,2222,3764,0,0,0,0,0,0
$STATE,10840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10840,begin apogee
$GC,10848,-0.31,0.0,902.4,7.6,386,10971,1.02,0.00,118.95,1.220,6,0.072,0.000,3201,2376,3200,0,0,0,0,0,0
$STATE,10972,end apogee,CONTROL_FINISHED_OK
$STATE,10972,begin climb
$GC,10974,1.27,146.0,905.0,0.0,389,11110,1.45,2.90,126.53,1.184,4,0.035,0.085,3557,3927,2603,0,0,0,0,0,0
$GC,11168,1.11,146.0,890.8,14.1,393,11173,0.22,2.67,0.00,0.000,6,0.112,0.054,3513,2364,2598,0,0,0,0,0,0
$GC,11424,1.05,146.0,863.3,10.2,400,11428,0.00,2.75,0.00,0.000,4,0.000,0.067,3513,3941,2596,0,0,0,0,0,0
$GC,11447,0.98,146.0,861.0,10.1,400,11453,0.15,2.65,0.00,0.000,6,0.116,0.041,3483,2373,2595,0,0,0,0,0,0
$GC,11703,1.01,171.9,837.9,8.8,407,11732,0.00,2.80,22.70,1.103,4,0.000,0.064,3483,3935,2498,0,0,0,0,0,0
$GC,11745,1.03,187.9,834.1,9.3,408,11769,0.00,2.65,16.23,1.067,6,0.000,0.046,3483,2377,2433,0,0,0,0,0,0
$GC,12033,1.04,199.3,807.0,9.5,415,12049,0.00,2.72,11.00,1.016,4,0.000,0.055,3483,3938,2388,0,0,0,0,0,0
$GC,12077,1.04,199.3,802.1,10.5,416,12081,0.00,2.62,0.00,0.000,6,0.000,0.046,3483,2396,2386,0,0,0,0,0,0
$GC,12358,1.09,204.3,774.9,9.8,423,12372,0.10,3.12,6.00,0.867,4,0.087,0.120,3513,782,2366,0,0,0,0,0,0
$GC,12405,1.09,204.3,769.0,11.8,424,12410,0.00,2.70,0.00,0.000,6,0.000,0.042,3513,2392,2366,0,0,0,0,0,0
$GC,12685,1.09,204.3,739.0,10.7,431,12690,0.00,2.70,0.00,0.000,4,0.000,0.069,3513,3941,2365,0,0,0,0,0,0
$GC,12706,1.09,204.3,736.2,11.4,431,12711,0.00,2.58,0.00,0.000,6,0.000,0.040,3513,2385,2364,0,0,0,0,0,0
$GC,12962,1.09,204.3,709.4,10.4,438,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2385,2364,0,0,0,0,0,0
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$STATE,19596,end climb,SURFACE_DEPTH_REACHED
$STATE,19596,begin surface coast
$FINISH,1.0,0.998910
$STATE,19645,end surface coast,CONTROL_FINISHED_OK
$STATE,19645,begin surface
$SM_CCo,19669,46.75,0.489,0,0,1773,350.04
$SM_GC,1.71,0.00,0.00,46.75,0.000,0.000,0.489,466,2157,1773,-12.90,-1.53,350.04
$IRIDIUM_FIX,1911.51,-8051.79,060502,050515
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$HUMID,56.34
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$TCM_TEMP,24.40
$XPDR_PINGS,74
$24V_AH,23.3,17.441
$10V_AH,10.4,15.125
$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
$DEVICE_SECS,30.925,226.150,386.225,46.750,0.000,22.869,41.900,193.849,18.500,0.000,10.251,1582.187,14856.550,562.392,2389.003,736.664,33.371,1598.012,0.000,2384.154,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,502.748,343.056,436.664,567.898,1082.518,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,57275,741
$CAP_FILE_SIZE,179649,0
$CFSIZE,260165632,120164352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090213,161129,1916.385,-8048.733,39,1.1,39,-4.0