version: 66.06
glider: 146
mission: 8
dive: 142
start: 2 13 113 17 50 21
data:
$ID,146
$MISSION,8
$DIVE,142
$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,-310090.88
$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,71
$R_STBD_OVSHOOT,38
$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,3190
$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
$GPS1,173816,1928.780,-8054.058,44,99.0,63,-4.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.3
$GPS2,174927,1928.771,-8054.022,10,99.0,29,-4.0
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tmp9
$TGT_LATLONG,1933.000,-8103.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.183,0.188
$KALMAN_X,5686.8,226.2,239.9,-18357.5,-523.2
$KALMAN_Y,-25507.4,14.6,-30.1,48985.4,-1427.3
$MHEAD_RNG_PITCHd_Wd,319.8,17517,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.31,-146.0,0.0,0.0,0,95,0.00,0.00,-70.38,0.000,2,0.000,0.000,467,2164,3506,0,0,0,0,0,0
$GC,98,-1.31,-146.0,3.8,-6.3,9,124,13.65,2.60,-5.25,0.000,4,0.166,0.042,2970,3788,3787,0,0,0,0,0,0
$GC,242,-1.15,-146.0,37.1,-17.3,27,252,0.15,2.47,0.00,0.000,6,0.085,0.025,3006,2244,3788,0,0,0,0,0,0
$GC,512,-1.02,-146.0,77.6,-15.0,52,517,0.15,2.65,0.00,0.000,4,0.108,0.046,3039,634,3789,0,0,0,0,0,0
$GC,567,-1.02,-146.0,87.0,-14.6,56,571,0.00,2.45,0.00,0.000,6,0.000,0.017,3039,2222,3788,0,0,0,0,0,0
$GC,829,-1.02,-146.0,116.6,-10.3,80,834,0.00,2.60,0.00,0.000,4,0.000,0.048,3039,634,3789,0,0,0,0,0,0
$GC,878,-1.08,-146.0,121.0,-8.8,83,884,0.00,2.38,0.00,0.000,6,0.000,0.023,3039,2188,3790,0,0,0,0,0,0
$GC,1141,-1.15,-146.0,143.0,-8.0,108,1146,0.12,2.53,0.00,0.000,4,0.066,0.032,2986,3776,3790,0,0,0,0,0,0
$GC,1172,-1.15,-146.0,146.0,-9.7,110,1178,0.10,2.50,0.00,0.000,6,0.109,0.020,3010,2166,3790,0,0,0,0,0,0
$GC,1433,-1.15,-146.0,169.6,-8.6,134,1438,0.00,2.50,0.00,0.000,4,0.000,0.049,3010,636,3791,0,0,0,0,0,0
$GC,1469,-1.15,-146.0,172.2,-9.0,136,1474,0.00,2.38,0.00,0.000,6,0.000,0.025,3010,2180,3791,0,0,0,0,0,0
$GC,1736,-1.20,-146.0,193.5,-7.9,160,1741,0.00,2.53,0.00,0.000,4,0.000,0.038,3010,3777,3791,0,0,0,0,0,0
$GC,1769,-1.25,-146.0,196.3,-8.6,162,1774,0.10,2.50,0.00,0.000,6,0.080,0.025,2962,2173,3791,0,0,0,0,0,0
$GC,2051,-1.21,-146.0,224.9,-10.0,171,2056,0.15,2.55,0.00,0.000,4,0.097,0.054,2996,637,3791,0,0,0,0,0,0
$GC,2095,-1.21,-146.0,229.2,-9.2,172,2100,0.00,2.38,0.00,0.000,6,0.000,0.018,2995,2187,3791,0,0,0,0,0,0
$GC,2376,-1.21,-146.0,252.3,-8.3,179,2380,0.00,2.53,0.00,0.000,4,0.000,0.044,2995,3771,3791,0,0,0,0,0,0
$GC,2420,-1.26,-146.0,256.3,-8.8,180,2424,0.00,2.45,0.00,0.000,6,0.000,0.023,2996,2191,3791,0,0,0,0,0,0
$GC,2700,-1.26,-146.0,279.4,-8.5,187,2704,0.00,2.58,0.00,0.000,4,0.000,0.054,2995,641,3791,0,0,0,0,0,0
$GC,2733,-1.30,-146.0,282.7,-8.9,187,2738,0.00,2.40,0.00,0.000,6,0.000,0.025,2996,2177,3790,0,0,0,0,0,0
$GC,2983,-1.34,-146.0,304.1,-8.6,194,2988,0.12,2.62,0.00,0.000,4,0.067,0.048,2946,3792,3790,0,0,0,0,0,0
$GC,3018,-1.28,-146.0,307.5,-10.6,194,3025,0.15,2.53,0.00,0.000,6,0.094,0.028,2980,2191,3790,0,0,0,0,0,0
$GC,3268,-1.28,-146.0,329.3,-8.4,201,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2191,3789,0,0,0,0,0,0
$GC,3512,-1.28,-146.0,348.9,-8.0,207,3516,0.00,2.58,0.00,0.000,4,0.000,0.041,2980,3783,3788,0,0,0,0,0,0
$GC,3541,-1.28,-146.0,351.1,-8.3,207,3545,0.00,2.50,0.00,0.000,6,0.000,0.026,2980,2201,3788,0,0,0,0,0,0
$GC,3791,-1.28,-146.0,371.6,-8.2,213,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2201,3788,0,0,0,0,0,0
$GC,4034,-1.28,-146.0,391.5,-8.2,219,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2201,3787,0,0,0,0,0,0
$GC,4278,-1.28,-146.0,411.2,-8.0,225,4283,0.00,2.60,0.00,0.000,4,0.000,0.047,2980,3779,3786,0,0,0,0,0,0
$GC,4307,-1.28,-146.0,413.5,-8.8,225,4312,0.00,2.55,0.00,0.000,6,0.000,0.038,2980,2197,3785,0,0,0,0,0,0
$GC,4557,-1.28,-146.0,433.2,-7.9,231,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2197,3785,0,0,0,0,0,0
$GC,4801,-1.28,-146.0,451.7,-7.5,237,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2197,3784,0,0,0,0,0,0
$GC,5047,-1.28,-146.0,469.5,-7.3,243,5051,0.00,2.65,0.00,0.000,4,0.000,0.051,2980,3785,3783,0,0,0,0,0,0
$GC,5080,-1.32,-146.0,472.4,-8.0,243,5085,0.00,2.62,0.00,0.000,6,0.000,0.047,2980,2200,3783,0,0,0,0,0,0
$GC,5330,-1.32,-146.0,492.2,-8.1,250,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2200,3781,0,0,0,0,0,0
$GC,5573,-1.32,-146.0,511.9,-8.1,256,5578,0.00,2.67,0.00,0.000,4,0.000,0.061,2980,3782,3780,0,0,0,0,0,0
$GC,5599,-1.32,-146.0,513.8,-8.4,256,5603,0.00,2.62,0.00,0.000,6,0.000,0.050,2979,2210,3780,0,0,0,0,0,0
$GC,5854,-1.32,-146.0,534.6,-8.0,263,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3778,0,0,0,0,0,0
$GC,6097,-1.32,-146.0,554.7,-8.3,269,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3778,0,0,0,0,0,0
$GC,6343,-1.32,-146.0,574.5,-8.1,275,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3776,0,0,0,0,0,0
$GC,6585,-1.36,-146.0,593.2,-7.7,281,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3775,0,0,0,0,0,0
$GC,6829,-1.40,-146.0,611.9,-7.7,287,6834,0.10,2.85,0.00,0.000,4,0.079,0.094,2937,3771,3774,0,0,0,0,0,0
$GC,6871,-1.36,-146.0,615.7,-9.3,288,6877,0.12,2.72,0.00,0.000,6,0.100,0.069,2964,2212,3774,0,0,0,0,0,0
$GC,7155,-1.36,-146.0,640.2,-8.3,295,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2212,3773,0,0,0,0,0,0
$GC,7399,-1.36,-146.0,660.5,-8.4,301,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2212,3771,0,0,0,0,0,0
$GC,7645,-1.36,-146.0,681.1,-8.5,307,7649,0.00,2.90,0.00,0.000,4,0.000,0.114,2965,3769,3770,0,0,0,0,0,0
$GC,7686,-1.36,-146.0,685.4,-10.0,308,7691,0.00,2.88,0.00,0.000,6,0.000,0.107,2964,2222,3770,0,0,0,0,0,0
$GC,7969,-1.36,-146.0,710.5,-8.6,315,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2221,3768,0,0,0,0,0,0
$GC,8216,-1.36,-146.0,730.7,-8.2,321,8220,0.00,3.05,0.00,0.000,4,0.000,0.135,2964,3768,3767,0,0,0,0,0,0
$GC,8237,-1.36,-146.0,732.9,-8.8,321,8242,0.00,2.72,0.00,0.000,6,0.000,0.083,2964,2222,3767,0,0,0,0,0,0
$GC,8492,-1.36,-146.0,752.6,-7.7,328,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2221,3766,0,0,0,0,0,0
$GC,8736,-1.36,-146.0,771.3,-7.7,334,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2220,3764,0,0,0,0,0,0
$GC,8982,-1.36,-146.0,789.9,-7.7,340,8986,0.00,2.75,0.00,0.000,4,0.000,0.081,2964,3779,3763,0,0,0,0,0,0
$GC,9003,-1.36,-146.0,791.9,-8.2,340,9008,0.00,2.72,0.00,0.000,6,0.000,0.074,2964,2216,3763,0,0,0,0,0,0
$GC,9258,-1.36,-146.0,811.4,-7.7,347,9263,0.00,3.10,0.00,0.000,4,0.000,0.130,2964,617,3762,0,0,0,0,0,0
$GC,9282,-1.36,-146.0,813.3,-8.8,347,9286,0.00,2.70,0.00,0.000,6,0.000,0.061,2964,2204,3762,0,0,0,0,0,0
$GC,9537,-1.36,-146.0,834.4,-8.2,354,9541,0.00,2.85,0.00,0.000,4,0.000,0.098,2964,3798,3761,0,0,0,0,0,0
$GC,9581,-1.40,-146.0,838.2,-8.3,355,9585,0.00,2.70,0.00,0.000,6,0.000,0.061,2964,2233,3761,0,0,0,0,0,0
$GC,9861,-1.40,-146.0,861.4,-8.3,362,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2232,3760,0,0,0,0,0,0
$GC,10104,-1.40,-146.0,881.6,-8.2,368,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2232,3759,0,0,0,0,0,0
$STATE,10343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10343,begin apogee
$GC,10350,-0.31,0.0,901.9,8.2,374,10473,1.00,0.00,119.85,1.216,6,0.072,0.000,3192,2388,3190,0,0,0,0,0,0
$STATE,10474,end apogee,CONTROL_FINISHED_OK
$STATE,10474,begin climb
$GC,10478,1.31,146.0,905.8,0.0,377,10614,1.45,2.83,126.43,1.190,4,0.037,0.075,3547,3923,2594,0,0,0,0,0,0
$GC,10702,1.17,146.0,890.8,11.4,382,10707,0.15,2.70,0.00,0.000,6,0.121,0.051,3518,2361,2589,0,0,0,0,0,0
$GC,10975,1.14,157.6,863.6,9.8,389,10990,0.00,2.78,10.32,1.016,4,0.000,0.064,3518,3930,2547,0,0,0,0,0,0
$GC,11016,1.09,167.6,859.7,9.9,390,11032,0.00,2.67,10.93,1.022,6,0.000,0.050,3518,2367,2506,0,0,0,0,0,0
$GC,11300,1.10,180.7,831.2,9.7,397,11319,0.00,2.78,12.62,1.045,4,0.000,0.057,3518,3927,2453,0,0,0,0,0,0
$GC,11338,1.07,196.3,827.4,9.6,397,11362,0.12,2.65,16.08,1.065,6,0.122,0.041,3495,2372,2389,0,0,0,0,0,0
$GC,11631,1.09,213.2,799.5,9.5,405,11650,0.00,0.00,16.67,1.065,6,0.000,0.000,3494,2372,2320,0,0,0,0,0,0
$GC,11921,1.10,223.1,770.8,9.9,412,11933,0.00,0.00,10.27,0.989,6,0.000,0.000,3494,2372,2280,0,0,0,0,0,0
$GC,12163,1.15,231.1,746.7,10.0,418,12173,0.00,0.00,8.98,0.956,6,0.000,0.000,3494,2372,2247,0,0,0,0,0,0
$GC,12407,1.19,233.5,721.9,10.2,424,12412,0.10,3.05,0.00,0.000,4,0.087,0.115,3525,782,2244,0,0,0,0,0,0
$GC,12425,1.19,233.5,719.8,10.5,424,12429,0.00,2.65,0.00,0.000,6,0.000,0.044,3525,2372,2243,0,0,0,0,0,0
$GC,12685,1.19,233.5,687.6,12.5,431,12690,0.00,2.70,0.00,0.000,4,0.000,0.068,3525,3937,2243,0,0,0,0,0,0
$GC,12725,1.19,233.5,682.3,13.9,432,12729,0.00,2.60,0.00,0.000,6,0.000,0.036,3525,2374,2242,0,0,0,0,0,0
$GC,13010,1.19,233.5,647.2,12.3,439,13011,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2374,2242,0,0,0,0,0,0
$GC,13251,1.19,233.5,617.7,12.1,445,13256,0.00,2.65,0.00,0.000,4,0.000,0.053,3525,3938,2242,0,0,0,0,0,0
$GC,13283,1.19,233.5,613.4,12.9,445,13292,0.00,2.60,0.00,0.000,6,0.000,0.040,3525,2382,2241,0,0,0,0,0,0
$GC,13534,1.19,233.5,584.0,11.7,452,13535,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2382,2241,0,0,0,0,0,0
$GC,13779,1.19,233.5,554.7,12.1,458,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2382,2241,0,0,0,0,0,0
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$STATE,18525,end climb,SURFACE_DEPTH_REACHED
$STATE,18525,begin surface coast
$FINISH,0.8,1.012402
$STATE,18568,end surface coast,CONTROL_FINISHED_OK
$STATE,18568,begin surface
$SM_CCo,18592,34.15,0.490,0,0,1762,350.04
$SM_GC,1.98,0.00,0.00,34.15,0.000,0.000,0.490,465,2133,1762,-12.86,-2.18,350.04
$IRIDIUM_FIX,1920.65,-8051.42,100502,121253
$TT8_MAMPS,0.026078
$HUMID,56.81
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.00
$XPDR_PINGS,60
$24V_AH,23.3,20.216
$10V_AH,10.4,17.485
$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
$DEVICE_SECS,30.725,200.125,405.125,34.150,0.000,29.901,34.091,424.917,15.000,0.000,32.283,1498.139,13973.989,556.459,2307.981,955.753,33.360,1551.847,0.000,2283.128,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.090,340.251,433.704,572.998,1092.389,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356076
$DATA_FILE_SIZE,54060,716
$CAP_FILE_SIZE,170283,0
$CFSIZE,260165632,118800384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130213,230206,1929.597,-8055.520,37,1.4,37,-4.0