version: 66.06
glider: 146
mission: 8
dive: 138
start: 2 12 113 20 23 45
data:
$ID,146
$MISSION,8
$DIVE,138
$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,-310013.59
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,201136,1926.843,-8047.291,35,1.1,35,-4.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.9
$GPS2,202248,1926.821,-8047.295,11,1.7,16,-4.1
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tmp9
$TGT_LATLONG,1933.000,-8103.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.214,0.152
$KALMAN_X,3812.9,157.9,173.6,-4587.2,-1434.6
$KALMAN_Y,-16864.0,-191.7,-339.2,37255.5,-499.5
$MHEAD_RNG_PITCHd_Wd,309.5,29703,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-146.0,0.0,0.0,0,92,0.00,0.00,-71.00,0.000,2,0.000,0.000,467,2151,3534,0,0,0,0,0,0
$GC,95,-1.31,-146.0,3.7,-5.2,9,121,13.70,2.67,-4.78,0.000,4,0.167,0.043,2969,3814,3797,0,0,0,0,0,0
$GC,250,-1.16,-146.0,40.0,-17.6,27,255,0.17,2.55,0.00,0.000,6,0.107,0.024,3006,2201,3798,0,0,0,0,0,0
$GC,519,-1.01,-146.0,85.2,-18.1,51,524,0.15,2.60,0.00,0.000,4,0.103,0.047,3039,635,3798,0,0,0,0,0,0
$GC,577,-0.96,-146.0,94.8,-14.2,55,581,0.00,2.47,0.00,0.000,6,0.000,0.016,3039,2243,3797,0,0,0,0,0,0
$GC,846,-0.96,-146.0,126.1,-9.7,79,850,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2244,3799,0,0,0,0,0,0
$GC,1109,-1.03,-146.0,148.6,-8.4,104,1113,0.00,2.65,0.00,0.000,4,0.000,0.043,3039,630,3800,0,0,0,0,0,0
$GC,1142,-1.11,-146.0,151.4,-8.8,106,1146,0.00,2.42,0.00,0.000,6,0.000,0.024,3039,2211,3799,0,0,0,0,0,0
$GC,1411,-1.19,-146.0,173.7,-8.4,130,1416,0.17,0.00,0.00,0.000,6,0.053,0.000,2972,2212,3799,0,0,0,0,0,0
$GC,1676,-1.19,-146.0,200.9,-10.1,155,1681,0.12,2.50,0.00,0.000,4,0.099,0.035,3001,3779,3800,0,0,0,0,0,0
$GC,1698,-1.19,-146.0,203.4,-9.3,155,1702,0.00,2.47,0.00,0.000,6,0.000,0.021,3000,2189,3800,0,0,0,0,0,0
$GC,1953,-1.19,-146.0,224.4,-8.1,162,1957,0.00,2.53,0.00,0.000,4,0.000,0.051,3001,645,3800,0,0,0,0,0,0
$GC,1976,-1.19,-146.0,226.3,-7.9,162,1980,0.00,2.40,0.00,0.000,6,0.000,0.021,3000,2216,3800,0,0,0,0,0,0
$GC,2231,-1.24,-146.0,246.0,-7.7,169,2236,0.00,2.50,0.00,0.000,4,0.000,0.044,3001,3773,3799,0,0,0,0,0,0
$GC,2259,-1.29,-146.0,248.4,-8.4,169,2264,0.00,2.45,0.00,0.000,6,0.000,0.028,3000,2208,3799,0,0,0,0,0,0
$GC,2512,-1.33,-146.0,267.1,-7.4,175,2517,0.15,2.60,0.00,0.000,4,0.060,0.059,2944,641,3799,0,0,0,0,0,0
$GC,2533,-1.33,-146.0,269.6,-9.7,175,2539,0.10,2.45,0.00,0.000,6,0.113,0.023,2968,2211,3799,0,0,0,0,0,0
$GC,2789,-1.33,-146.0,294.4,-9.9,182,2793,0.00,2.55,0.00,0.000,4,0.000,0.041,2968,3790,3799,0,0,0,0,0,0
$GC,2812,-1.33,-146.0,296.8,-10.9,182,2816,0.00,2.50,0.00,0.000,6,0.000,0.025,2967,2207,3798,0,0,0,0,0,0
$GC,3067,-1.33,-146.0,322.5,-9.9,189,3071,0.00,2.65,0.00,0.000,4,0.000,0.063,2968,627,3797,0,0,0,0,0,0
$GC,3093,-1.33,-146.0,325.5,-10.6,189,3098,0.00,2.47,0.00,0.000,6,0.000,0.028,2968,2209,3797,0,0,0,0,0,0
$GC,3346,-1.33,-146.0,348.8,-9.3,195,3350,0.00,2.58,0.00,0.000,4,0.000,0.049,2967,3787,3796,0,0,0,0,0,0
$GC,3367,-1.33,-146.0,351.2,-9.3,195,3372,0.00,2.50,0.00,0.000,6,0.000,0.031,2968,2213,3796,0,0,0,0,0,0
$GC,3623,-1.33,-146.0,375.1,-9.5,202,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2213,3796,0,0,0,0,0,0
$GC,3866,-1.33,-146.0,399.3,-9.7,208,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2213,3795,0,0,0,0,0,0
$GC,4112,-1.33,-146.0,421.1,-8.8,214,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2213,3794,0,0,0,0,0,0
$GC,4354,-1.33,-146.0,442.1,-8.7,220,4358,0.00,2.60,0.00,0.000,4,0.000,0.057,2967,3779,3793,0,0,0,0,0,0
$GC,4398,-1.33,-146.0,446.2,-8.7,221,4402,0.00,2.58,0.00,0.000,6,0.000,0.040,2967,2216,3793,0,0,0,0,0,0
$GC,4677,-1.33,-146.0,470.1,-8.6,228,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2216,3791,0,0,0,0,0,0
$GC,4919,-1.33,-146.0,490.1,-8.3,234,4923,0.00,2.62,0.00,0.000,4,0.000,0.057,2967,3773,3790,0,0,0,0,0,0
$GC,4940,-1.33,-146.0,492.0,-8.7,234,4945,0.00,2.62,0.00,0.000,6,0.000,0.051,2967,2204,3790,0,0,0,0,0,0
$GC,5200,-1.33,-146.0,513.2,-8.3,241,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2204,3788,0,0,0,0,0,0
$GC,5440,-1.33,-146.0,533.1,-8.1,247,5444,0.00,2.67,0.00,0.000,4,0.000,0.065,2968,3772,3787,0,0,0,0,0,0
$GC,5472,-1.33,-146.0,536.0,-8.7,247,5478,0.00,2.65,0.00,0.000,6,0.000,0.055,2967,2210,3787,0,0,0,0,0,0
$GC,5722,-1.33,-146.0,555.8,-8.0,254,5727,0.00,2.72,0.00,0.000,4,0.000,0.070,2967,3773,3786,0,0,0,0,0,0
$GC,5752,-1.33,-146.0,558.2,-8.7,254,5756,0.00,2.65,0.00,0.000,6,0.000,0.061,2967,2217,3786,0,0,0,0,0,0
$GC,6002,-1.33,-146.0,578.7,-8.3,260,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2217,3785,0,0,0,0,0,0
$GC,6246,-1.33,-146.0,599.8,-8.7,266,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2217,3784,0,0,0,0,0,0
$GC,6492,-1.33,-146.0,620.4,-8.4,272,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2217,3782,0,0,0,0,0,0
$GC,6733,-1.33,-146.0,640.5,-8.2,278,6738,0.00,2.83,0.00,0.000,4,0.000,0.097,2968,3769,3780,0,0,0,0,0,0
$GC,6766,-1.33,-146.0,643.4,-8.7,278,6771,0.00,2.75,0.00,0.000,6,0.000,0.083,2968,2230,3780,0,0,0,0,0,0
$GC,7018,-1.33,-146.0,663.7,-8.1,285,7023,0.00,3.15,0.00,0.000,4,0.000,0.139,2967,619,3779,0,0,0,0,0,0
$GC,7045,-1.33,-146.0,666.2,-8.3,285,7050,0.00,2.80,0.00,0.000,6,0.000,0.077,2967,2203,3779,0,0,0,0,0,0
$GC,7295,-1.33,-146.0,685.9,-7.9,291,7300,0.00,3.00,0.00,0.000,4,0.000,0.115,2967,3796,3778,0,0,0,0,0,0
$GC,7336,-1.33,-146.0,689.5,-8.9,292,7341,0.00,2.90,0.00,0.000,6,0.000,0.100,2967,2224,3778,0,0,0,0,0,0
$GC,7622,-1.33,-146.0,712.9,-8.2,299,7627,0.00,3.28,0.00,0.000,4,0.000,0.153,2968,620,3775,0,0,0,0,0,0
$GC,7643,-1.33,-146.0,715.1,-8.6,299,7648,0.00,2.97,0.00,0.000,6,0.000,0.104,2968,2229,3775,0,0,0,0,0,0
$GC,7901,-1.33,-146.0,735.0,-7.7,306,7906,0.00,3.15,0.00,0.000,4,0.000,0.150,2967,3798,3775,0,0,0,0,0,0
$GC,7922,-1.33,-146.0,737.0,-7.9,306,7927,0.00,2.75,0.00,0.000,6,0.000,0.069,2967,2224,3775,0,0,0,0,0,0
$GC,8177,-1.33,-146.0,757.4,-8.2,313,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2224,3773,0,0,0,0,0,0
$GC,8421,-1.33,-146.0,777.6,-8.2,319,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2223,3772,0,0,0,0,0,0
$GC,8667,-1.33,-146.0,797.6,-8.3,325,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2223,3771,0,0,0,0,0,0
$GC,8908,-1.33,-146.0,817.3,-8.1,331,8913,0.00,2.80,0.00,0.000,4,0.000,0.085,2967,3803,3769,0,0,0,0,0,0
$GC,8958,-1.37,-146.0,821.4,-8.0,332,8963,0.00,2.72,0.00,0.000,6,0.000,0.064,2968,2229,3769,0,0,0,0,0,0
$GC,9233,-1.37,-146.0,842.7,-7.9,339,9238,0.00,2.80,0.00,0.000,4,0.000,0.086,2967,3808,3768,0,0,0,0,0,0
$GC,9260,-1.41,-146.0,845.3,-9.2,339,9265,0.00,2.72,0.00,0.000,6,0.000,0.069,2967,2237,3767,0,0,0,0,0,0
$GC,9510,-1.41,-146.0,865.3,-7.9,345,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2236,3767,0,0,0,0,0,0
$GC,9756,-1.41,-146.0,884.8,-8.1,351,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2237,3766,0,0,0,0,0,0
$STATE,9954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9955,begin apogee
$GC,9961,-0.31,0.0,900.5,7.7,356,10083,0.98,0.00,119.07,1.216,6,0.072,0.000,3189,2392,3200,0,0,0,0,0,0
$STATE,10084,end apogee,CONTROL_FINISHED_OK
$STATE,10084,begin climb
$GC,10087,1.31,146.0,904.3,0.0,359,10223,1.50,2.85,126.25,1.187,4,0.037,0.074,3554,3931,2603,0,0,0,0,0,0
$GC,10326,1.16,146.0,887.1,12.0,364,10331,0.20,2.70,0.00,0.000,6,0.114,0.057,3514,2369,2597,0,0,0,0,0,0
$GC,10584,1.14,161.0,862.5,9.6,371,10599,0.00,0.00,13.55,1.056,6,0.000,0.000,3514,2369,2543,0,0,0,0,0,0
$GC,10825,1.15,167.0,838.1,10.1,377,10834,0.00,0.00,6.53,0.904,6,0.000,0.000,3514,2369,2519,0,0,0,0,0,0
$GC,11069,1.15,167.0,813.2,10.4,383,11073,0.00,2.70,0.00,0.000,4,0.000,0.063,3514,3934,2516,0,0,0,0,0,0
$GC,11155,1.09,167.0,803.7,11.5,385,11160,0.00,2.65,0.00,0.000,6,0.000,0.043,3514,2366,2516,0,0,0,0,0,0
$GC,11438,1.10,168.3,774.1,10.3,392,11443,0.00,2.67,0.00,0.000,4,0.000,0.060,3514,3931,2515,0,0,0,0,0,0
$GC,11468,1.04,168.3,770.9,11.1,392,11473,0.12,2.65,0.00,0.000,6,0.125,0.049,3490,2368,2515,0,0,0,0,0,0
$GC,11718,1.07,191.5,747.1,9.2,398,11743,0.00,0.00,23.02,1.069,6,0.000,0.000,3490,2368,2419,0,0,0,0,0,0
$GC,11962,1.12,203.7,723.7,9.8,404,11981,0.00,2.78,12.40,0.998,4,0.000,0.056,3489,3926,2368,0,0,0,0,0,0
$GC,12000,1.13,210.3,719.9,10.0,404,12015,0.00,2.65,7.95,0.907,6,0.000,0.042,3490,2371,2341,0,0,0,0,0,0
$GC,12294,1.18,217.8,690.2,10.0,412,12309,0.12,3.15,8.12,0.910,4,0.097,0.120,3526,779,2311,0,0,0,0,0,0
$GC,12322,1.18,217.8,687.0,12.7,412,12327,0.00,2.67,0.00,0.000,6,0.000,0.044,3526,2372,2310,0,0,0,0,0,0
$GC,12577,1.18,217.8,656.0,12.1,419,12581,0.00,2.70,0.00,0.000,4,0.000,0.071,3526,3929,2309,0,0,0,0,0,0
$GC,12620,1.18,217.8,650.0,13.3,420,12625,0.00,2.60,0.00,0.000,6,0.000,0.037,3525,2368,2307,0,0,0,0,0,0
$GC,12906,1.18,217.8,616.0,12.0,427,12911,0.00,2.65,0.00,0.000,4,0.000,0.053,3526,3933,2307,0,0,0,0,0,0
$GC,12946,1.18,217.8,610.6,13.3,428,12950,0.00,2.58,0.00,0.000,6,0.000,0.043,3525,2386,2306,0,0,0,0,0,0
$GC,13229,1.18,217.8,576.7,11.7,435,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2386,2306,0,0,0,0,0,0
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$GC,17358,1.49,311.0,103.3,7.8,596,17410,0.00,2.80,47.00,0.581,4,0.000,0.045,3569,781,1932,0,0,0,0,0,0
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$STATE,18183,end climb,SURFACE_DEPTH_REACHED
$STATE,18183,begin surface coast
$FINISH,0.9,1.022323
$STATE,18227,end surface coast,CONTROL_FINISHED_OK
$STATE,18227,begin surface
$SM_CCo,18252,21.38,0.480,0,0,1773,350.04
$SM_GC,2.28,0.00,0.00,21.38,0.000,0.000,0.480,464,2109,1773,-12.87,-2.86,350.04
$IRIDIUM_FIX,1920.65,-8046.55,090502,202002
$TT8_MAMPS,0.026078
$HUMID,57.24
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.20
$XPDR_PINGS,68
$24V_AH,23.3,19.629
$10V_AH,10.4,17.000
$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,30.375,197.200,411.650,21.375,0.000,54.607,77.325,307.807,17.000,0.000,17.651,1448.296,13836.611,538.978,2207.998,909.908,33.361,1501.641,0.000,2206.343,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,153.400,1216.462,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.297,324.223,413.066,537.506,1024.649,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,54170,688
$CAP_FILE_SIZE,165533,0
$CFSIZE,260165632,119083008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130213,012935,1927.102,-8049.292,36,1.2,36,-4.0