version: 66.06
glider: 146
mission: 8
dive: 148
start: 2 15 113 3 20 37
data:
$ID,146
$MISSION,8
$DIVE,148
$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,-310227.84
$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,76
$R_STBD_OVSHOOT,46
$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
$GPS1,030836,1932.791,-8109.308,32,1.2,32,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.8
$GPS2,031943,1932.797,-8109.528,9,1.7,9,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Tmp11
$TGT_LATLONG,1932.000,-8119.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,-0.009
$KALMAN_X,2184.0,52.3,-391.6,-41140.5,-76.3
$KALMAN_Y,-33361.6,-233.3,-225.6,64744.5,-263.6
$MHEAD_RNG_PITCHd_Wd,271.8,16598,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-70.62,0.000,2,0.000,0.000,461,2162,3535,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-6.8,9,122,13.77,2.40,-4.50,0.000,4,0.167,0.044,2976,664,3785,0,0,0,0,0,0
$GC,323,-1.03,-146.0,57.5,-21.0,33,331,0.22,2.40,0.00,0.000,6,0.093,0.016,3029,2216,3785,0,0,0,0,0,0
$GC,588,-0.94,-146.0,98.5,-13.1,58,593,0.12,2.53,0.00,0.000,4,0.109,0.042,3057,674,3786,0,0,0,0,0,0
$GC,613,-0.86,-146.0,102.2,-12.4,59,618,0.00,2.35,0.00,0.000,6,0.000,0.024,3057,2210,3786,0,0,0,0,0,0
$GC,876,-0.86,-146.0,131.4,-10.4,84,880,0.00,2.47,0.00,0.000,4,0.000,0.033,3057,3769,3786,0,0,0,0,0,0
$GC,896,-0.86,-146.0,133.3,-10.4,85,900,0.00,2.38,0.00,0.000,6,0.000,0.028,3057,2245,3786,0,0,0,0,0,0
$GC,1163,-0.95,-146.0,154.0,-7.8,109,1167,0.00,2.62,0.00,0.000,4,0.000,0.045,3057,642,3787,0,0,0,0,0,0
$GC,1230,-1.09,-146.0,159.3,-7.0,114,1240,0.10,2.40,0.00,0.000,6,0.034,0.017,3000,2190,3787,0,0,0,0,0,0
$GC,1495,-1.09,-146.0,181.0,-7.9,139,1500,0.10,2.53,0.00,0.000,4,0.108,0.034,3024,3776,3787,0,0,0,0,0,0
$GC,1554,-1.16,-146.0,185.6,-7.4,143,1559,0.00,2.45,0.00,0.000,6,0.000,0.026,3024,2204,3787,0,0,0,0,0,0
$GC,1814,-1.22,-146.0,203.1,-6.7,165,1819,0.12,2.55,0.00,0.000,4,0.065,0.055,2962,642,3788,0,0,0,0,0,0
$GC,1867,-1.16,-146.0,207.7,-9.2,166,1872,0.20,2.38,0.00,0.000,6,0.089,0.024,3007,2205,3788,0,0,0,0,0,0
$GC,2139,-1.16,-146.0,228.3,-7.4,173,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2205,3788,0,0,0,0,0,0
$GC,2385,-1.16,-146.0,245.7,-7.0,179,2389,0.00,2.58,0.00,0.000,4,0.000,0.054,3007,636,3787,0,0,0,0,0,0
$GC,2412,-1.20,-146.0,247.9,-7.7,179,2416,0.00,2.40,0.00,0.000,6,0.000,0.027,3007,2198,3787,0,0,0,0,0,0
$GC,2662,-1.24,-146.0,265.9,-7.1,185,2667,0.00,2.53,0.00,0.000,4,0.000,0.039,3007,3783,3787,0,0,0,0,0,0
$GC,2705,-1.30,-146.0,269.1,-8.1,186,2710,0.12,2.47,0.00,0.000,6,0.067,0.025,2953,2200,3786,0,0,0,0,0,0
$GC,2989,-1.24,-146.0,296.6,-9.8,193,2991,0.15,0.00,0.00,0.000,6,0.098,0.000,2988,2200,3786,0,0,0,0,0,0
$GC,3232,-1.24,-146.0,316.4,-8.0,199,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3785,0,0,0,0,0,0
$GC,3478,-1.24,-146.0,336.1,-8.2,205,3482,0.00,2.58,0.00,0.000,4,0.000,0.038,2988,3782,3784,0,0,0,0,0,0
$GC,3517,-1.24,-146.0,339.7,-8.9,206,3522,0.00,2.47,0.00,0.000,6,0.000,0.030,2988,2205,3784,0,0,0,0,0,0
$GC,3800,-1.24,-146.0,363.2,-8.2,213,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2205,3783,0,0,0,0,0,0
$GC,4046,-1.24,-146.0,382.8,-8.0,219,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2204,3782,0,0,0,0,0,0
$GC,4288,-1.24,-146.0,401.5,-7.6,225,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2205,3782,0,0,0,0,0,0
$GC,4531,-1.24,-146.0,421.3,-8.3,231,4536,0.00,2.75,0.00,0.000,4,0.000,0.083,2988,629,3781,0,0,0,0,0,0
$GC,4583,-1.24,-146.0,425.7,-8.9,232,4587,0.00,2.50,0.00,0.000,6,0.000,0.038,2988,2191,3780,0,0,0,0,0,0
$GC,4855,-1.24,-146.0,447.9,-8.1,239,4859,0.00,2.67,0.00,0.000,4,0.000,0.058,2988,3791,3779,0,0,0,0,0,0
$GC,4899,-1.28,-146.0,451.7,-8.8,240,4903,0.00,2.55,0.00,0.000,6,0.000,0.035,2988,2226,3779,0,0,0,0,0,0
$GC,5179,-1.28,-146.0,473.3,-7.7,247,5183,0.00,2.62,0.00,0.000,4,0.000,0.058,2988,3793,3778,0,0,0,0,0,0
$GC,5200,-1.28,-146.0,475.3,-7.9,247,5204,0.00,2.58,0.00,0.000,6,0.000,0.040,2988,2224,3777,0,0,0,0,0,0
$GC,5455,-1.28,-146.0,494.6,-7.5,254,5460,0.00,2.90,0.00,0.000,4,0.000,0.099,2988,627,3777,0,0,0,0,0,0
$GC,5484,-1.28,-146.0,496.8,-7.7,254,5489,0.00,2.60,0.00,0.000,6,0.000,0.048,2988,2221,3777,0,0,0,0,0,0
$GC,5734,-1.28,-146.0,515.9,-7.7,260,5738,0.00,2.70,0.00,0.000,4,0.000,0.071,2988,3794,3776,0,0,0,0,0,0
$GC,5761,-1.28,-146.0,518.1,-8.5,260,5765,0.00,2.60,0.00,0.000,6,0.000,0.044,2988,2217,3776,0,0,0,0,0,0
$GC,6013,-1.28,-146.0,537.2,-7.6,266,6018,0.00,2.92,0.00,0.000,4,0.000,0.110,2988,617,3775,0,0,0,0,0,0
$GC,6046,-1.28,-146.0,539.9,-8.4,266,6051,0.00,2.67,0.00,0.000,6,0.000,0.048,2988,2225,3774,0,0,0,0,0,0
$GC,6296,-1.28,-146.0,559.0,-7.6,273,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2225,3773,0,0,0,0,0,0
$GC,6542,-1.31,-146.0,578.7,-8.1,279,6547,0.00,2.80,0.00,0.000,4,0.000,0.088,2988,3796,3771,0,0,0,0,0,0
$GC,6565,-1.35,-146.0,580.9,-8.3,279,6569,0.00,2.70,0.00,0.000,6,0.000,0.056,2988,2210,3772,0,0,0,0,0,0
$GC,6820,-1.39,-146.0,599.9,-7.2,286,6822,0.12,0.00,0.00,0.000,6,0.067,0.000,2939,2210,3770,0,0,0,0,0,0
$GC,7066,-1.33,-146.0,621.3,-8.9,292,7068,0.15,0.00,0.00,0.000,6,0.097,0.000,2972,2209,3769,0,0,0,0,0,0
$GC,7307,-1.33,-146.0,640.1,-7.6,298,7312,0.00,2.90,0.00,0.000,4,0.000,0.101,2972,3799,3768,0,0,0,0,0,0
$GC,7328,-1.33,-146.0,642.1,-8.7,298,7333,0.00,2.80,0.00,0.000,6,0.000,0.076,2972,2213,3767,0,0,0,0,0,0
$GC,7585,-1.33,-146.0,663.0,-8.3,305,7590,0.00,2.90,0.00,0.000,4,0.000,0.101,2972,3797,3766,0,0,0,0,0,0
$GC,7614,-1.33,-146.0,665.5,-8.7,305,7619,0.00,2.85,0.00,0.000,6,0.000,0.094,2972,2228,3766,0,0,0,0,0,0
$GC,7865,-1.33,-146.0,686.1,-8.1,311,7869,0.00,3.17,0.00,0.000,4,0.000,0.140,2972,620,3764,0,0,0,0,0,0
$GC,7886,-1.33,-146.0,687.8,-7.5,311,7891,0.00,2.88,0.00,0.000,6,0.000,0.085,2972,2214,3764,0,0,0,0,0,0
$GC,8144,-1.33,-146.0,708.3,-8.0,318,8149,0.00,3.08,0.00,0.000,4,0.000,0.133,2972,3797,3763,0,0,0,0,0,0
$GC,8188,-1.33,-146.0,712.3,-8.8,319,8193,0.00,2.80,0.00,0.000,6,0.000,0.077,2972,2221,3763,0,0,0,0,0,0
$GC,8467,-1.33,-146.0,733.7,-7.6,326,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2222,3762,0,0,0,0,0,0
$GC,8709,-1.33,-146.0,751.8,-7.6,332,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2221,3761,0,0,0,0,0,0
$GC,8953,-1.33,-146.0,770.6,-7.9,338,8957,0.00,2.83,0.00,0.000,4,0.000,0.087,2972,3805,3760,0,0,0,0,0,0
$GC,8974,-1.33,-146.0,772.4,-8.0,338,8979,0.00,2.75,0.00,0.000,6,0.000,0.067,2972,2224,3760,0,0,0,0,0,0
$GC,9232,-1.33,-146.0,791.9,-7.5,345,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2224,3759,0,0,0,0,0,0
$GC,9474,-1.33,-146.0,809.9,-7.3,351,9478,0.00,2.80,0.00,0.000,4,0.000,0.081,2972,3801,3757,0,0,0,0,0,0
$GC,9523,-1.33,-146.0,813.8,-7.7,352,9527,0.00,2.72,0.00,0.000,6,0.000,0.064,2972,2230,3757,0,0,0,0,0,0
$GC,9797,-1.33,-146.0,834.0,-7.5,359,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2230,3755,0,0,0,0,0,0
$GC,10038,-1.33,-146.0,853.2,-8.0,365,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2230,3754,0,0,0,0,0,0
$GC,10282,-1.33,-146.0,872.6,-8.1,371,10287,0.00,2.78,0.00,0.000,4,0.000,0.084,2972,3801,3753,0,0,0,0,0,0
$GC,10311,-1.33,-146.0,875.1,-9.2,371,10315,0.00,2.70,0.00,0.000,6,0.000,0.068,2972,2242,3754,0,0,0,0,0,0
$GC,10563,-1.33,-146.0,894.5,-7.5,377,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2242,3752,0,0,0,0,0,0
$STATE,10639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10639,begin apogee
$GC,10645,-0.31,0.0,900.4,7.4,379,10767,0.95,0.00,118.50,1.216,6,0.071,0.000,3189,2385,3190,0,0,0,0,0,0
$STATE,10768,end apogee,CONTROL_FINISHED_OK
$STATE,10768,begin climb
$GC,10771,1.27,146.0,903.2,0.0,382,10908,1.45,2.85,126.68,1.185,4,0.038,0.078,3543,3927,2593,0,0,0,0,0,0
$GC,11001,1.14,146.0,886.3,12.1,387,11007,0.17,2.70,0.00,0.000,6,0.114,0.054,3508,2369,2588,0,0,0,0,0,0
$GC,11269,1.12,159.1,860.0,9.4,394,11288,0.00,2.83,11.98,1.033,4,0.000,0.063,3508,3934,2541,0,0,0,0,0,0
$GC,11305,1.06,159.1,856.2,10.1,394,11311,0.00,2.70,0.00,0.000,6,0.000,0.052,3508,2371,2539,0,0,0,0,0,0
$GC,11557,1.06,160.4,831.3,9.9,401,11562,0.00,2.67,0.00,0.000,4,0.000,0.056,3508,3930,2536,0,0,0,0,0,0
$GC,11573,1.01,160.4,829.3,10.0,401,11578,0.12,2.62,0.00,0.000,6,0.123,0.042,3482,2379,2536,0,0,0,0,0,0
$GC,11834,1.05,191.8,806.5,8.6,408,11866,0.00,0.00,30.40,1.111,6,0.000,0.000,3482,2379,2408,0,0,0,0,0,0
$GC,12080,1.06,199.7,783.4,9.6,414,12094,0.00,2.72,8.18,0.950,4,0.000,0.053,3482,3930,2376,0,0,0,0,0,0
$GC,12123,1.06,199.7,778.8,10.3,415,12128,0.00,2.62,0.00,0.000,6,0.000,0.047,3482,2385,2374,0,0,0,0,0,0
$GC,12406,1.11,208.6,751.5,9.6,422,12418,0.00,0.00,9.73,0.979,6,0.000,0.000,3482,2385,2339,0,0,0,0,0,0
$GC,12653,1.15,210.3,727.4,9.9,428,12658,0.12,3.10,0.00,0.000,4,0.186,0.117,3518,779,2336,0,0,0,0,0,0
$GC,12693,1.12,210.3,722.4,12.7,429,12698,0.00,2.67,0.00,0.000,6,0.000,0.044,3518,2380,2335,0,0,0,0,0,0
$GC,12978,1.12,210.3,689.9,11.4,436,12982,0.00,2.70,0.00,0.000,4,0.000,0.070,3518,3941,2335,0,0,0,0,0,0
$GC,13027,1.12,210.3,683.4,13.0,437,13031,0.00,2.60,0.00,0.000,6,0.000,0.043,3518,2382,2334,0,0,0,0,0,0
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$STATE,19176,end climb,SURFACE_DEPTH_REACHED
$STATE,19176,begin surface coast
$FINISH,0.9,1.010739
$STATE,19221,end surface coast,CONTROL_FINISHED_OK
$STATE,19222,begin surface
$SM_CCo,19244,23.98,0.479,0,0,1762,350.04
$SM_GC,1.88,0.00,0.00,23.98,0.000,0.000,0.479,462,2194,1762,-12.87,-0.45,350.04
$IRIDIUM_FIX,1925.22,-8107.23,120502,030359
$TT8_MAMPS,0.026078
$HUMID,57.60
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,75
$24V_AH,23.3,21.094
$10V_AH,10.4,18.265
$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,31.075,223.075,410.275,23.975,0.000,50.571,68.172,317.426,18.750,0.000,10.598,1549.764,14569.939,556.630,2325.044,926.649,33.353,1572.839,0.000,2325.314,0.000,0.537,0.000
$DEVICE_MAMPS,185.614,140.361,1216.462,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.530,338.912,432.373,544.307,1036.673,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,57442,725
$CAP_FILE_SIZE,180563,0
$CFSIZE,260165632,118337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150213,084306,1932.056,-8113.017,35,0.9,35,-3.8