version: 66.06
glider: 146
mission: 8
dive: 128
start: 2 10 113 14 27 37
data:
$ID,146
$MISSION,8
$DIVE,128
$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,290
$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,-309823.38
$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,60
$R_STBD_OVSHOOT,33
$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
$GPS1,141830,1914.972,-8036.236,37,1.3,37,-4.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.9
$GPS2,142643,1914.896,-8036.208,10,1.9,10,-4.1
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tp7
$TGT_LATLONG,1924.500,-8027.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.250
$KALMAN_X,8310.6,75.0,469.5,10065.3,1264.7
$KALMAN_Y,-8575.2,613.4,-483.9,6224.6,-1397.5
$MHEAD_RNG_PITCHd_Wd,22.1,23981,-18.1,-10.345
$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,19,-1.31,-146.0,0.0,0.0,0,92,0.00,0.00,-70.40,0.000,2,0.000,0.000,465,2174,3522,0,0,0,0,0,0
$GC,97,-1.31,-146.0,3.7,-5.7,9,123,13.70,2.58,-4.88,0.000,4,0.169,0.038,2969,3796,3795,0,0,0,0,0,0
$GC,250,-1.18,-146.0,40.9,-17.2,27,255,0.15,2.47,0.00,0.000,6,0.112,0.023,3001,2228,3796,0,0,0,0,0,0
$GC,519,-0.96,-146.0,92.8,-19.7,51,524,0.22,0.00,0.00,0.000,6,0.095,0.000,3051,2225,3795,0,0,0,0,0,0
$GC,779,-0.96,-146.0,122.8,-11.4,76,780,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2224,3796,0,0,0,0,0,0
$GC,1037,-1.04,-146.0,147.5,-8.5,100,1041,0.00,2.50,0.00,0.000,4,0.000,0.034,3051,3798,3796,0,0,0,0,0,0
$GC,1151,-1.16,-146.0,156.3,-6.9,109,1156,0.17,2.50,0.00,0.000,6,0.051,0.027,2978,2178,3796,0,0,0,0,0,0
$GC,1416,-1.16,-146.0,184.0,-9.6,133,1421,0.12,2.60,0.00,0.000,4,0.101,0.037,3008,3792,3797,0,0,0,0,0,0
$GC,1437,-1.16,-146.0,186.5,-9.2,134,1443,0.00,2.47,0.00,0.000,6,0.000,0.020,3008,2189,3797,0,0,0,0,0,0
$GC,1695,-1.21,-146.0,206.9,-8.3,153,1700,0.00,2.53,0.00,0.000,4,0.000,0.053,3008,644,3797,0,0,0,0,0,0
$GC,1712,-1.26,-146.0,208.3,-8.7,153,1716,0.00,2.42,0.00,0.000,6,0.000,0.025,3008,2222,3798,0,0,0,0,0,0
$GC,1973,-1.32,-146.0,230.6,-8.1,160,1978,0.15,2.60,0.00,0.000,4,0.059,0.048,2950,645,3798,0,0,0,0,0,0
$GC,1991,-1.32,-146.0,232.2,-7.7,160,1996,0.10,2.35,0.00,0.000,6,0.116,0.020,2971,2187,3798,0,0,0,0,0,0
$GC,2252,-1.32,-146.0,255.1,-8.7,167,2257,0.00,2.55,0.00,0.000,4,0.000,0.038,2971,3775,3798,0,0,0,0,0,0
$GC,2274,-1.32,-146.0,257.2,-9.0,167,2279,0.00,2.47,0.00,0.000,6,0.000,0.026,2972,2189,3798,0,0,0,0,0,0
$GC,2532,-1.32,-146.0,281.4,-9.6,174,2536,0.00,2.58,0.00,0.000,4,0.000,0.060,2971,633,3797,0,0,0,0,0,0
$GC,2553,-1.32,-146.0,283.8,-9.7,174,2558,0.00,2.38,0.00,0.000,6,0.000,0.021,2971,2173,3797,0,0,0,0,0,0
$GC,2809,-1.32,-146.0,305.7,-8.3,181,2813,0.00,2.60,0.00,0.000,4,0.000,0.045,2971,3780,3796,0,0,0,0,0,0
$GC,2855,-1.32,-146.0,309.3,-8.1,182,2859,0.00,2.50,0.00,0.000,6,0.000,0.028,2971,2188,3796,0,0,0,0,0,0
$GC,3132,-1.32,-146.0,332.1,-8.4,189,3137,0.00,2.62,0.00,0.000,4,0.000,0.065,2972,631,3795,0,0,0,0,0,0
$GC,3154,-1.32,-146.0,334.2,-8.9,189,3158,0.00,2.42,0.00,0.000,6,0.000,0.031,2972,2181,3795,0,0,0,0,0,0
$GC,3412,-1.32,-146.0,356.6,-8.8,196,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2181,3794,0,0,0,0,0,0
$GC,3654,-1.32,-146.0,378.7,-9.1,202,3658,0.00,2.62,0.00,0.000,4,0.000,0.064,2971,634,3793,0,0,0,0,0,0
$GC,3669,-1.32,-146.0,380.3,-9.5,202,3674,0.00,2.47,0.00,0.000,6,0.000,0.030,2971,2182,3793,0,0,0,0,0,0
$GC,3933,-1.32,-146.0,404.8,-9.3,209,3937,0.00,2.67,0.00,0.000,4,0.000,0.055,2972,3802,3792,0,0,0,0,0,0
$GC,3972,-1.32,-146.0,408.7,-9.6,210,3976,0.00,2.58,0.00,0.000,6,0.000,0.033,2971,2202,3792,0,0,0,0,0,0
$GC,4255,-1.32,-146.0,434.4,-9.2,217,4259,0.00,2.80,0.00,0.000,4,0.000,0.089,2971,620,3791,0,0,0,0,0,0
$GC,4278,-1.32,-146.0,436.6,-9.5,217,4283,0.00,2.55,0.00,0.000,6,0.000,0.041,2971,2194,3790,0,0,0,0,0,0
$GC,4534,-1.32,-146.0,459.4,-8.8,224,4538,0.00,2.67,0.00,0.000,4,0.000,0.064,2972,3793,3789,0,0,0,0,0,0
$GC,4555,-1.32,-146.0,461.5,-9.4,224,4560,0.00,2.62,0.00,0.000,6,0.000,0.041,2971,2195,3789,0,0,0,0,0,0
$GC,4812,-1.32,-146.0,482.9,-8.4,231,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2195,3788,0,0,0,0,0,0
$GC,5056,-1.32,-146.0,503.1,-8.3,237,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2195,3786,0,0,0,0,0,0
$GC,5297,-1.32,-146.0,523.8,-8.5,243,5302,0.00,2.72,0.00,0.000,4,0.000,0.071,2971,3789,3786,0,0,0,0,0,0
$GC,5319,-1.32,-146.0,525.8,-9.1,243,5323,0.00,2.67,0.00,0.000,6,0.000,0.050,2971,2195,3786,0,0,0,0,0,0
$GC,5576,-1.32,-146.0,547.4,-8.4,250,5580,0.00,2.72,0.00,0.000,4,0.000,0.065,2972,3790,3784,0,0,0,0,0,0
$GC,5597,-1.32,-146.0,549.6,-9.1,250,5602,0.00,2.67,0.00,0.000,6,0.000,0.060,2971,2199,3784,0,0,0,0,0,0
$GC,5852,-1.32,-146.0,572.1,-8.8,257,5857,0.00,3.03,0.00,0.000,4,0.000,0.125,2971,625,3783,0,0,0,0,0,0
$GC,5876,-1.32,-146.0,574.2,-9.3,257,5880,0.00,2.62,0.00,0.000,6,0.000,0.058,2971,2191,3783,0,0,0,0,0,0
$GC,6131,-1.32,-146.0,596.2,-8.6,264,6136,0.00,2.90,0.00,0.000,4,0.000,0.100,2972,3798,3782,0,0,0,0,0,0
$GC,6152,-1.32,-146.0,598.1,-8.3,264,6157,0.00,2.72,0.00,0.000,6,0.000,0.060,2971,2192,3781,0,0,0,0,0,0
$GC,6410,-1.32,-146.0,617.8,-7.6,271,6415,0.00,2.97,0.00,0.000,4,0.000,0.124,2971,623,3780,0,0,0,0,0,0
$GC,6431,-1.32,-146.0,619.7,-7.9,271,6436,0.00,2.67,0.00,0.000,6,0.000,0.061,2971,2189,3780,0,0,0,0,0,0
$GC,6687,-1.32,-146.0,638.5,-7.3,278,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2188,3779,0,0,0,0,0,0
$GC,6933,-1.32,-146.0,657.3,-7.7,284,6938,0.00,2.97,0.00,0.000,4,0.000,0.112,2972,3793,3777,0,0,0,0,0,0
$GC,6975,-1.36,-146.0,660.4,-7.4,285,6980,0.00,2.85,0.00,0.000,6,0.000,0.085,2971,2196,3777,0,0,0,0,0,0
$GC,7258,-1.36,-146.0,680.7,-7.1,292,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2196,3776,0,0,0,0,0,0
$GC,7504,-1.36,-146.0,698.7,-7.4,298,7509,0.00,3.03,0.00,0.000,4,0.000,0.111,2971,3797,3774,0,0,0,0,0,0
$GC,7525,-1.36,-146.0,700.4,-7.1,298,7530,0.00,3.00,0.00,0.000,6,0.000,0.106,2971,2200,3774,0,0,0,0,0,0
$GC,7780,-1.36,-146.0,719.8,-7.5,305,7785,0.00,3.25,0.00,0.000,4,0.000,0.159,2972,619,3773,0,0,0,0,0,0
$GC,7810,-1.36,-146.0,722.1,-8.0,305,7815,0.00,2.90,0.00,0.000,6,0.000,0.104,2971,2191,3773,0,0,0,0,0,0
$GC,8060,-1.36,-146.0,742.2,-8.0,311,8065,0.00,3.25,0.00,0.000,4,0.000,0.150,2972,3797,3772,0,0,0,0,0,0
$GC,8100,-1.40,-146.0,745.8,-9.0,312,8105,0.00,2.78,0.00,0.000,6,0.000,0.071,2971,2205,3771,0,0,0,0,0,0
$GC,8385,-1.40,-146.0,770.8,-8.7,319,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3770,0,0,0,0,0,0
$GC,8628,-1.40,-146.0,791.0,-8.1,325,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3768,0,0,0,0,0,0
$GC,8871,-1.44,-146.0,809.5,-7.4,331,8876,0.12,2.88,0.00,0.000,4,0.073,0.086,2927,3802,3768,0,0,0,0,0,0
$GC,8918,-1.40,-146.0,813.7,-9.0,332,8923,0.12,2.78,0.00,0.000,6,0.103,0.066,2954,2210,3767,0,0,0,0,0,0
$GC,9196,-1.40,-146.0,835.7,-7.8,339,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2210,3767,0,0,0,0,0,0
$GC,9440,-1.40,-146.0,855.4,-8.0,345,9444,0.00,2.85,0.00,0.000,4,0.000,0.083,2954,3801,3765,0,0,0,0,0,0
$GC,9463,-1.40,-146.0,857.2,-8.5,345,9468,0.00,2.75,0.00,0.000,6,0.000,0.064,2954,2208,3765,0,0,0,0,0,0
$GC,9718,-1.40,-146.0,878.1,-8.1,352,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2207,3764,0,0,0,0,0,0
$GC,9962,-1.40,-146.0,898.1,-8.3,358,9966,0.00,2.83,0.00,0.000,4,0.000,0.085,2954,3808,3763,0,0,0,0,0,0
$STATE,9981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9981,begin apogee
$GC,9991,-0.31,0.0,900.1,8.9,358,10113,1.02,0.00,118.28,1.226,6,0.074,0.000,3189,2361,3200,0,0,0,0,0,0
$STATE,10114,end apogee,CONTROL_FINISHED_OK
$STATE,10114,begin climb
$GC,10116,1.31,146.0,903.4,0.0,361,10253,1.48,2.95,126.38,1.190,4,0.036,0.072,3551,3948,2602,0,0,0,0,0,0
$GC,10382,1.17,146.0,883.3,12.6,367,10387,0.17,2.72,0.00,0.000,6,0.118,0.055,3517,2368,2597,0,0,0,0,0,0
$GC,10657,1.15,165.8,857.1,9.4,374,10682,0.00,2.85,17.60,1.095,4,0.000,0.064,3517,3941,2523,0,0,0,0,0,0
$GC,10700,1.10,176.9,852.5,9.8,375,10718,0.00,2.70,11.45,1.032,6,0.000,0.044,3517,2367,2478,0,0,0,0,0,0
$GC,10986,1.10,176.9,821.7,10.7,382,10991,0.00,2.72,0.00,0.000,4,0.000,0.063,3517,3943,2474,0,0,0,0,0,0
$GC,11015,1.05,176.9,818.5,11.5,382,11021,0.12,2.65,0.00,0.000,6,0.125,0.041,3492,2371,2473,0,0,0,0,0,0
$GC,11265,1.07,191.9,794.0,9.6,388,11285,0.00,2.80,14.25,1.065,4,0.000,0.061,3492,3947,2417,0,0,0,0,0,0
$GC,11326,1.07,191.9,787.5,11.6,389,11330,0.00,2.65,0.00,0.000,6,0.000,0.041,3492,2390,2415,0,0,0,0,0,0
$GC,11587,1.08,197.0,760.8,10.1,396,11594,0.00,0.00,5.85,0.864,6,0.000,0.000,3492,2390,2396,0,0,0,0,0,0
$GC,11830,1.10,211.8,737.2,9.6,402,11847,0.00,0.00,15.25,1.042,6,0.000,0.000,3492,2390,2335,0,0,0,0,0,0
$GC,12076,1.15,214.9,712.7,10.2,408,12081,0.00,3.08,0.00,0.000,4,0.000,0.117,3492,777,2332,0,0,0,0,0,0
$GC,12094,1.15,214.9,710.6,10.4,408,12098,0.00,2.75,0.00,0.000,6,0.000,0.041,3492,2412,2332,0,0,0,0,0,0
$GC,12355,1.19,215.7,683.7,10.3,415,12362,0.10,0.00,4.55,0.746,6,0.088,0.000,3522,2413,2320,0,0,0,0,0,0
$GC,12600,1.19,215.7,656.1,11.4,421,12604,0.00,2.90,0.00,0.000,4,0.000,0.082,3522,778,2320,0,0,0,0,0,0
$GC,12615,1.19,215.7,654.1,10.8,421,12619,0.00,2.70,0.00,0.000,6,0.000,0.045,3522,2401,2319,0,0,0,0,0,0
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$GC,14244,1.19,215.7,470.7,11.5,461,14248,0.00,2.88,0.00,0.000,4,0.000,0.087,3522,781,2316,0,0,0,0,0,0
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$STATE,18544,end climb,SURFACE_DEPTH_REACHED
$STATE,18545,begin surface coast
$FINISH,0.9,1.023564
$STATE,18581,end surface coast,CONTROL_FINISHED_OK
$STATE,18581,begin surface
$SM_CCo,18603,34.72,0.489,0,0,1772,350.04
$SM_GC,1.75,0.00,0.00,34.72,0.000,0.000,0.489,465,2139,1772,-12.86,-1.98,350.04
$IRIDIUM_FIX,1909.23,-8042.77,070502,090942
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.20
$XPDR_PINGS,71
$24V_AH,23.3,18.167
$10V_AH,10.4,15.747
$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,30.600,245.450,397.200,34.725,0.000,29.718,38.749,261.985,17.750,0.000,12.408,1514.648,13970.519,559.310,2284.365,796.534,32.350,1576.841,0.000,2275.131,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,158.769,1226.433,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,477.295,326.767,415.456,540.021,1029.046,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,54329,703
$CAP_FILE_SIZE,175537,0
$CFSIZE,260165632,119803904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100213,193959,1916.432,-8034.442,61,1.5,61,-4.2