version: 66.06
glider: 146
mission: 8
dive: 151
start: 2 15 113 18 33 8
data:
$ID,146
$MISSION,8
$DIVE,151
$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,-310276.16
$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,50
$R_STBD_OVSHOOT,16
$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
$GPS1,182524,1931.901,-8119.413,39,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.6
$GPS2,183213,1931.887,-8119.489,12,1.7,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1928.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.202
$KALMAN_X,-2745.0,-162.7,-106.7,-53701.0,-1118.7
$KALMAN_Y,-37036.6,132.8,-21.9,66158.8,-1408.3
$MHEAD_RNG_PITCHd_Wd,144.7,7654,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.82,0.000,2,0.000,0.000,465,2171,3492,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-4.8,9,122,13.77,2.62,-5.32,0.000,4,0.168,0.039,2977,3812,3785,0,0,0,0,0,0
$GC,201,-1.11,-146.0,31.8,-17.8,23,211,0.15,2.55,0.00,0.000,6,0.083,0.025,3014,2220,3786,0,0,0,0,0,0
$GC,471,-0.97,-146.0,74.0,-15.5,48,476,0.15,2.60,0.00,0.000,4,0.105,0.044,3047,634,3787,0,0,0,0,0,0
$GC,518,-0.90,-146.0,81.6,-13.5,51,522,0.00,2.47,0.00,0.000,6,0.000,0.016,3047,2245,3787,0,0,0,0,0,0
$GC,786,-0.90,-146.0,113.8,-10.6,75,791,0.00,2.62,0.00,0.000,4,0.000,0.041,3048,627,3788,0,0,0,0,0,0
$GC,808,-0.90,-146.0,117.1,-10.5,76,820,0.00,2.42,0.00,0.000,6,0.000,0.016,3048,2200,3788,0,0,0,0,0,0
$GC,1076,-0.90,-146.0,143.0,-8.5,101,1080,0.00,2.55,0.00,0.000,4,0.000,0.041,3048,626,3788,0,0,0,0,0,0
$GC,1147,-0.99,-146.0,149.3,-7.9,106,1156,0.00,2.42,0.00,0.000,6,0.000,0.023,3048,2187,3788,0,0,0,0,0,0
$GC,1409,-1.07,-146.0,168.4,-7.3,131,1413,0.00,2.53,0.00,0.000,4,0.000,0.041,3047,3774,3789,0,0,0,0,0,0
$GC,1456,-1.18,-146.0,171.6,-6.9,134,1463,0.20,2.47,0.00,0.000,6,0.047,0.018,2979,2177,3789,0,0,0,0,0,0
$GC,1719,-1.18,-146.0,194.9,-9.7,159,1724,0.10,2.53,0.00,0.000,4,0.115,0.048,3003,646,3789,0,0,0,0,0,0
$GC,1766,-1.18,-146.0,199.4,-9.0,162,1775,0.00,2.40,0.00,0.000,6,0.000,0.018,3003,2191,3789,0,0,0,0,0,0
$GC,2027,-1.18,-146.0,220.3,-7.9,170,2031,0.00,2.50,0.00,0.000,4,0.000,0.035,3003,3769,3789,0,0,0,0,0,0
$GC,2054,-1.18,-146.0,222.6,-8.8,170,2058,0.00,2.45,0.00,0.000,6,0.000,0.027,3003,2194,3790,0,0,0,0,0,0
$GC,2306,-1.18,-146.0,242.0,-7.6,176,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2194,3790,0,0,0,0,0,0
$GC,2547,-1.18,-146.0,260.4,-7.7,182,2552,0.00,2.53,0.00,0.000,4,0.000,0.043,3003,3773,3789,0,0,0,0,0,0
$GC,2575,-1.23,-146.0,262.6,-7.8,182,2580,0.00,2.45,0.00,0.000,6,0.000,0.028,3003,2196,3789,0,0,0,0,0,0
$GC,2827,-1.23,-146.0,280.9,-7.3,188,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2196,3788,0,0,0,0,0,0
$GC,3069,-1.27,-146.0,298.2,-7.0,194,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2196,3788,0,0,0,0,0,0
$GC,3313,-1.31,-146.0,316.5,-7.6,200,3315,0.12,0.00,0.00,0.000,6,0.067,0.000,2953,2195,3787,0,0,0,0,0,0
$GC,3559,-1.25,-146.0,340.1,-9.8,206,3564,0.15,2.58,0.00,0.000,4,0.094,0.045,2988,3768,3786,0,0,0,0,0,0
$GC,3575,-1.25,-146.0,341.8,-9.3,206,3579,0.00,2.47,0.00,0.000,6,0.000,0.030,2988,2199,3786,0,0,0,0,0,0
$GC,3836,-1.25,-146.0,361.7,-7.5,213,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2200,3785,0,0,0,0,0,0
$GC,4079,-1.25,-146.0,381.0,-8.0,219,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3784,0,0,0,0,0,0
$GC,4326,-1.25,-146.0,399.7,-7.6,225,4330,0.00,2.55,0.00,0.000,4,0.000,0.050,2987,3762,3783,0,0,0,0,0,0
$GC,4353,-1.25,-146.0,401.8,-7.3,225,4357,0.00,2.47,0.00,0.000,6,0.000,0.030,2987,2206,3783,0,0,0,0,0,0
$GC,4603,-1.25,-146.0,419.2,-6.8,231,4607,0.00,2.58,0.00,0.000,4,0.000,0.052,2988,3769,3782,0,0,0,0,0,0
$GC,4626,-1.25,-146.0,420.9,-7.2,231,4631,0.00,2.53,0.00,0.000,6,0.000,0.040,2988,2209,3782,0,0,0,0,0,0
$GC,4883,-1.25,-146.0,440.7,-7.8,238,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2209,3781,0,0,0,0,0,0
$GC,5126,-1.25,-146.0,459.8,-7.8,244,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2209,3780,0,0,0,0,0,0
$GC,5371,-1.25,-146.0,478.5,-7.6,250,5376,0.00,2.60,0.00,0.000,4,0.000,0.061,2988,3764,3779,0,0,0,0,0,0
$GC,5387,-1.25,-146.0,480.0,-7.7,250,5392,0.00,2.53,0.00,0.000,6,0.000,0.039,2988,2212,3779,0,0,0,0,0,0
$GC,5648,-1.25,-146.0,499.6,-7.5,257,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2212,3778,0,0,0,0,0,0
$GC,5892,-1.25,-146.0,518.0,-7.5,263,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2212,3777,0,0,0,0,0,0
$GC,6137,-1.25,-146.0,535.4,-7.0,269,6142,0.00,2.65,0.00,0.000,4,0.000,0.066,2988,3762,3776,0,0,0,0,0,0
$GC,6164,-1.25,-146.0,537.6,-7.6,269,6169,0.00,2.60,0.00,0.000,6,0.000,0.050,2988,2213,3776,0,0,0,0,0,0
$GC,6414,-1.25,-146.0,555.2,-7.0,275,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2213,3774,0,0,0,0,0,0
$GC,6662,-1.29,-146.0,572.8,-7.3,281,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2214,3774,0,0,0,0,0,0
$GC,6902,-1.29,-146.0,590.0,-7.0,287,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2214,3772,0,0,0,0,0,0
$GC,7145,-1.29,-146.0,608.1,-7.5,293,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2214,3770,0,0,0,0,0,0
$GC,7390,-1.33,-146.0,626.6,-7.6,299,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2213,3770,0,0,0,0,0,0
$GC,7635,-1.33,-146.0,644.4,-7.3,305,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2213,3768,0,0,0,0,0,0
$GC,7877,-1.37,-146.0,662.0,-7.1,311,7882,0.12,2.88,0.00,0.000,4,0.067,0.112,2942,3756,3767,0,0,0,0,0,0
$GC,7907,-1.34,-146.0,664.7,-9.3,311,7913,0.12,2.78,0.00,0.000,6,0.103,0.092,2969,2217,3767,0,0,0,0,0,0
$GC,8160,-1.34,-146.0,684.3,-7.7,317,8164,0.00,2.83,0.00,0.000,4,0.000,0.107,2970,3758,3766,0,0,0,0,0,0
$GC,8187,-1.34,-146.0,686.8,-8.4,317,8191,0.00,2.83,0.00,0.000,6,0.000,0.104,2969,2218,3766,0,0,0,0,0,0
$GC,8437,-1.34,-146.0,706.3,-7.7,323,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2218,3764,0,0,0,0,0,0
$GC,8683,-1.34,-146.0,724.6,-7.4,329,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2218,3763,0,0,0,0,0,0
$GC,8924,-1.34,-146.0,743.3,-7.7,335,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2218,3762,0,0,0,0,0,0
$GC,9168,-1.34,-146.0,762.3,-7.8,341,9173,0.00,3.10,0.00,0.000,4,0.000,0.150,2969,3753,3762,0,0,0,0,0,0
$GC,9189,-1.34,-146.0,764.1,-8.3,341,9194,0.00,2.62,0.00,0.000,6,0.000,0.067,2969,2213,3761,0,0,0,0,0,0
$GC,9447,-1.34,-146.0,783.7,-7.7,348,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2213,3761,0,0,0,0,0,0
$GC,9688,-1.34,-146.0,802.7,-7.8,354,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2213,3759,0,0,0,0,0,0
$GC,9932,-1.34,-146.0,820.8,-7.4,360,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2213,3758,0,0,0,0,0,0
$GC,10178,-1.34,-146.0,838.7,-7.3,366,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2213,3757,0,0,0,0,0,0
$GC,10419,-1.34,-146.0,857.2,-7.6,372,10424,0.00,2.72,0.00,0.000,4,0.000,0.082,2969,3755,3756,0,0,0,0,0,0
$GC,10452,-1.34,-146.0,859.9,-8.5,372,10458,0.00,2.62,0.00,0.000,6,0.000,0.070,2969,2225,3756,0,0,0,0,0,0
$GC,10704,-1.34,-146.0,879.0,-7.7,379,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2226,3755,0,0,0,0,0,0
$GC,10946,-1.34,-146.0,897.4,-7.6,385,10950,0.00,2.67,0.00,0.000,4,0.000,0.083,2969,3756,3754,0,0,0,0,0,0
$GC,10967,-1.34,-146.0,899.3,-8.2,385,10972,0.00,2.62,0.00,0.000,6,0.000,0.061,2969,2228,3754,0,0,0,0,0,0
$STATE,10976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10976,begin apogee
$GC,10983,-0.31,0.0,900.0,8.6,386,11105,0.98,0.00,119.07,1.215,6,0.071,0.000,3193,2342,3190,0,0,0,0,0,0
$STATE,11106,end apogee,CONTROL_FINISHED_OK
$STATE,11106,begin climb
$GC,11111,1.27,146.0,903.6,0.0,389,11246,1.42,2.88,126.47,1.185,4,0.036,0.075,3543,3923,2594,0,0,0,0,0,0
$GC,11345,1.13,146.0,887.4,12.0,394,11351,0.17,2.70,0.00,0.000,6,0.114,0.054,3508,2364,2589,0,0,0,0,0,0
$GC,11607,1.11,160.2,862.0,9.3,401,11627,0.00,2.80,12.75,1.048,4,0.000,0.061,3508,3923,2536,0,0,0,0,0,0
$GC,11663,1.04,160.2,856.5,11.5,402,11668,0.10,2.65,0.00,0.000,6,0.133,0.050,3489,2374,2535,0,0,0,0,0,0
$GC,11935,1.07,185.1,832.1,8.8,409,11965,0.00,3.12,23.33,1.106,4,0.000,0.115,3489,776,2435,0,0,0,0,0,0
$GC,11984,1.07,185.1,827.5,10.1,410,11989,0.00,2.70,0.00,0.000,6,0.000,0.044,3489,2368,2433,0,0,0,0,0,0
$GC,12261,1.08,192.6,800.4,9.7,417,12271,0.00,0.00,8.15,0.958,6,0.000,0.000,3489,2368,2404,0,0,0,0,0,0
$GC,12505,1.09,198.4,776.8,9.7,423,12519,0.00,2.75,6.43,0.890,4,0.000,0.072,3489,3934,2381,0,0,0,0,0,0
$GC,12533,1.09,198.4,774.0,10.4,423,12537,0.00,2.62,0.00,0.000,6,0.000,0.035,3489,2368,2381,0,0,0,0,0,0
$GC,12787,1.09,198.4,747.5,10.3,430,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2368,2380,0,0,0,0,0,0
$GC,13031,1.09,198.9,723.1,10.0,436,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2368,2379,0,0,0,0,0,0
$GC,13275,1.10,207.1,699.4,9.6,442,13286,0.00,0.00,9.57,0.953,6,0.000,0.000,3489,2368,2345,0,0,0,0,0,0
$GC,13521,1.10,209.7,675.5,9.9,448,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2368,2342,0,0,0,0,0,0
$GC,13762,1.11,215.7,651.8,9.7,454,13773,0.00,0.00,9.25,0.928,6,0.000,0.000,3489,2368,2310,0,0,0,0,0,0
$GC,14006,1.11,215.7,626.8,10.4,460,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2368,2307,0,0,0,0,0,0
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$STATE,19839,end climb,SURFACE_DEPTH_REACHED
$STATE,19839,begin surface coast
$FINISH,0.9,1.023383
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19881,begin surface
$SM_CCo,19904,47.17,0.488,0,0,1762,350.04
$SM_GC,1.67,0.00,0.00,47.17,0.000,0.000,0.488,466,2148,1762,-12.85,-1.78,350.04
$IRIDIUM_FIX,1922.94,-8116.62,120502,141403
$TT8_MAMPS,0.026078
$HUMID,56.49
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.60
$XPDR_PINGS,50
$24V_AH,23.3,21.494
$10V_AH,10.4,18.623
$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
$DEVICE_SECS,30.675,167.600,384.825,47.175,0.000,22.438,38.141,185.838,12.500,0.000,14.168,1526.925,15316.283,541.878,2244.551,728.266,33.362,1494.797,0.000,2254.748,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,506.421,352.532,446.247,575.433,1095.539,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,57292,747
$CAP_FILE_SIZE,164029,0
$CFSIZE,260165632,118149120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160213,000705,1929.707,-8117.984,35,1.2,40,-3.7