version: 66.06
glider: 146
mission: 8
dive: 203
start: 2 27 113 4 12 37
data:
$ID,146
$MISSION,8
$DIVE,203
$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,0
$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,-311344.81
$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,59
$R_STBD_OVSHOOT,26
$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
$GPS1,040129,1926.881,-8115.399,35,1.1,40,-3.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.3
$GPS2,041143,1926.902,-8115.293,15,1.2,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.255,-0.049
$KALMAN_X,7780.9,-96.3,86.1,-21551.0,509.4
$KALMAN_Y,-2804.8,225.8,506.0,8250.2,-899.8
$MHEAD_RNG_PITCHd_Wd,104.6,13494,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-69.75,0.000,2,0.000,0.000,459,2174,3444,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.2,-3.6,9,123,13.68,2.62,-6.68,0.000,4,0.166,0.041,2977,3808,3786,0,0,0,0,0,0
$GC,180,-1.11,-146.0,24.4,-18.0,20,190,0.15,2.53,0.00,0.000,6,0.082,0.025,3015,2240,3787,0,0,0,0,0,0
$GC,463,-0.98,-146.0,67.4,-14.6,47,468,0.15,2.65,0.00,0.000,4,0.104,0.045,3048,626,3787,0,0,0,0,0,0
$GC,534,-0.98,-146.0,77.9,-11.8,52,539,0.00,2.47,0.00,0.000,6,0.000,0.017,3048,2224,3787,0,0,0,0,0,0
$GC,799,-0.98,-146.0,111.0,-11.9,76,803,0.00,2.60,0.00,0.000,4,0.000,0.044,3048,630,3787,0,0,0,0,0,0
$GC,821,-0.98,-146.0,114.1,-11.4,77,827,0.00,2.40,0.00,0.000,6,0.000,0.016,3048,2196,3787,0,0,0,0,0,0
$GC,1086,-0.98,-146.0,141.0,-8.7,102,1090,0.00,2.47,0.00,0.000,4,0.000,0.033,3048,3768,3788,0,0,0,0,0,0
$GC,1107,-1.02,-146.0,142.7,-8.5,103,1111,0.00,2.50,0.00,0.000,6,0.000,0.021,3048,2167,3788,0,0,0,0,0,0
$GC,1374,-1.08,-146.0,162.3,-7.4,127,1379,0.10,2.53,0.00,0.000,4,0.079,0.052,2998,635,3788,0,0,0,0,0,0
$GC,1404,-1.08,-146.0,164.8,-8.1,129,1409,0.12,2.38,0.00,0.000,6,0.101,0.022,3026,2184,3788,0,0,0,0,0,0
$GC,1666,-1.12,-146.0,185.8,-7.7,153,1670,0.00,2.50,0.00,0.000,4,0.000,0.041,3026,3770,3789,0,0,0,0,0,0
$GC,1693,-1.16,-146.0,187.1,-7.7,154,1698,0.00,2.45,0.00,0.000,6,0.000,0.025,3026,2177,3789,0,0,0,0,0,0
$GC,1982,-1.21,-146.0,209.1,-7.1,172,1984,0.12,0.00,0.00,0.000,6,0.065,0.000,2969,2177,3789,0,0,0,0,0,0
$GC,2227,-1.16,-146.0,231.3,-9.2,178,2232,0.17,2.53,0.00,0.000,4,0.083,0.055,3011,637,3789,0,0,0,0,0,0
$GC,2243,-1.16,-146.0,233.1,-8.9,178,2247,0.00,2.38,0.00,0.000,6,0.000,0.018,3011,2184,3789,0,0,0,0,0,0
$GC,2505,-1.20,-146.0,253.4,-7.8,185,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2184,3789,0,0,0,0,0,0
$GC,2751,-1.25,-146.0,271.8,-7.6,191,2753,0.10,0.00,0.00,0.000,6,0.080,0.000,2965,2184,3789,0,0,0,0,0,0
$GC,2992,-1.21,-146.0,294.8,-9.6,197,2994,0.15,0.00,0.00,0.000,6,0.092,0.000,2999,2184,3788,0,0,0,0,0,0
$GC,3235,-1.21,-146.0,314.1,-7.7,203,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2184,3788,0,0,0,0,0,0
$GC,3481,-1.21,-146.0,331.3,-7.0,209,3486,0.00,2.58,0.00,0.000,4,0.000,0.063,3000,642,3787,0,0,0,0,0,0
$GC,3491,-1.21,-146.0,332.3,-7.2,209,3496,0.00,2.38,0.00,0.000,6,0.000,0.030,3000,2171,3787,0,0,0,0,0,0
$GC,3764,-1.24,-146.0,353.1,-7.7,216,3769,0.00,2.60,0.00,0.000,4,0.000,0.051,3000,3780,3786,0,0,0,0,0,0
$GC,3781,-1.24,-146.0,354.5,-7.9,216,3785,0.00,2.53,0.00,0.000,6,0.000,0.025,3000,2187,3786,0,0,0,0,0,0
$GC,4044,-1.28,-146.0,374.0,-7.3,223,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2187,3785,0,0,0,0,0,0
$GC,4285,-1.32,-146.0,392.1,-7.5,229,4291,0.12,2.65,0.00,0.000,4,0.069,0.050,2951,3789,3784,0,0,0,0,0,0
$GC,4316,-1.28,-146.0,394.8,-9.7,229,4321,0.12,2.58,0.00,0.000,6,0.095,0.029,2980,2188,3784,0,0,0,0,0,0
$GC,4565,-1.28,-146.0,415.2,-8.1,235,4570,0.00,2.62,0.00,0.000,4,0.000,0.052,2980,3776,3783,0,0,0,0,0,0
$GC,4581,-1.28,-146.0,416.7,-7.9,235,4585,0.00,2.58,0.00,0.000,6,0.000,0.034,2980,2181,3783,0,0,0,0,0,0
$GC,4844,-1.28,-146.0,437.0,-7.9,242,4848,0.00,2.65,0.00,0.000,4,0.000,0.053,2980,3775,3782,0,0,0,0,0,0
$GC,4871,-1.28,-146.0,439.5,-8.6,242,4875,0.00,2.58,0.00,0.000,6,0.000,0.036,2980,2191,3781,0,0,0,0,0,0
$GC,5121,-1.28,-146.0,459.5,-8.1,248,5126,0.00,2.75,0.00,0.000,4,0.000,0.092,2980,626,3781,0,0,0,0,0,0
$GC,5144,-1.28,-146.0,461.5,-8.9,248,5149,0.00,2.53,0.00,0.000,6,0.000,0.036,2980,2177,3780,0,0,0,0,0,0
$GC,5399,-1.28,-146.0,481.5,-7.7,255,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2177,3779,0,0,0,0,0,0
$GC,5643,-1.28,-146.0,500.0,-7.5,261,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2177,3778,0,0,0,0,0,0
$GC,5887,-1.28,-146.0,519.3,-7.9,267,5892,0.00,2.78,0.00,0.000,4,0.000,0.077,2980,3792,3777,0,0,0,0,0,0
$GC,5922,-1.28,-146.0,522.3,-9.0,267,5927,0.00,2.67,0.00,0.000,6,0.000,0.046,2980,2188,3777,0,0,0,0,0,0
$GC,6172,-1.28,-146.0,543.0,-8.2,274,6176,0.00,2.75,0.00,0.000,4,0.000,0.065,2980,3792,3777,0,0,0,0,0,0
$GC,6187,-1.28,-146.0,544.4,-8.0,274,6192,0.00,2.67,0.00,0.000,6,0.000,0.049,2980,2185,3776,0,0,0,0,0,0
$GC,6451,-1.28,-146.0,563.6,-7.2,281,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2185,3776,0,0,0,0,0,0
$GC,6692,-1.28,-146.0,580.4,-6.8,287,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2185,3774,0,0,0,0,0,0
$GC,6936,-1.28,-146.0,598.2,-7.4,293,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2185,3773,0,0,0,0,0,0
$GC,7180,-1.28,-146.0,617.9,-8.3,299,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2185,3771,0,0,0,0,0,0
$GC,7426,-1.28,-146.0,638.4,-8.4,305,7430,0.00,2.90,0.00,0.000,4,0.000,0.103,2980,3786,3770,0,0,0,0,0,0
$GC,7455,-1.28,-146.0,641.3,-9.2,305,7460,0.00,2.83,0.00,0.000,6,0.000,0.084,2980,2187,3769,0,0,0,0,0,0
$GC,7705,-1.28,-146.0,661.2,-7.9,311,7710,0.00,2.90,0.00,0.000,4,0.000,0.100,2979,3786,3768,0,0,0,0,0,0
$GC,7728,-1.28,-146.0,663.1,-8.4,311,7733,0.00,2.88,0.00,0.000,6,0.000,0.089,2980,2194,3768,0,0,0,0,0,0
$GC,7983,-1.28,-146.0,682.4,-7.5,318,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2194,3768,0,0,0,0,0,0
$GC,8227,-1.28,-146.0,702.4,-8.3,324,8232,0.00,3.00,0.00,0.000,4,0.000,0.117,2980,3785,3766,0,0,0,0,0,0
$GC,8243,-1.28,-146.0,703.8,-8.3,324,8247,0.00,2.83,0.00,0.000,6,0.000,0.081,2980,2191,3766,0,0,0,0,0,0
$GC,8506,-1.28,-146.0,724.1,-7.7,331,8511,0.00,2.92,0.00,0.000,4,0.000,0.097,2980,3793,3764,0,0,0,0,0,0
$GC,8528,-1.28,-146.0,725.9,-7.9,331,8532,0.00,2.83,0.00,0.000,6,0.000,0.077,2980,2192,3764,0,0,0,0,0,0
$GC,8783,-1.28,-146.0,744.5,-7.1,338,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2193,3762,0,0,0,0,0,0
$GC,9029,-1.28,-146.0,760.9,-6.6,344,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2193,3762,0,0,0,0,0,0
$GC,9270,-1.28,-146.0,777.3,-6.7,350,9275,0.00,2.85,0.00,0.000,4,0.000,0.087,2980,3793,3761,0,0,0,0,0,0
$GC,9297,-1.28,-146.0,779.4,-8.1,350,9302,0.00,2.78,0.00,0.000,6,0.000,0.071,2980,2202,3761,0,0,0,0,0,0
$GC,9549,-1.28,-146.0,796.4,-6.9,356,9554,0.00,2.80,0.00,0.000,4,0.000,0.081,2980,3789,3760,0,0,0,0,0,0
$GC,9571,-1.28,-146.0,798.2,-6.9,356,9575,0.00,2.70,0.00,0.000,6,0.000,0.065,2980,2217,3760,0,0,0,0,0,0
$GC,9826,-1.32,-146.0,815.8,-6.9,363,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2217,3759,0,0,0,0,0,0
$GC,10072,-1.32,-146.0,832.0,-6.5,369,10076,0.00,2.75,0.00,0.000,4,0.000,0.078,2980,3789,3757,0,0,0,0,0,0
$GC,10112,-1.37,-146.0,835.1,-7.3,370,10116,0.00,2.72,0.00,0.000,6,0.000,0.067,2980,2216,3757,0,0,0,0,0,0
$GC,10395,-1.41,-146.0,854.2,-6.7,377,10397,0.12,0.00,0.00,0.000,6,0.070,0.000,2934,2216,3756,0,0,0,0,0,0
$GC,10641,-1.36,-146.0,874.7,-8.5,383,10643,0.15,0.00,0.00,0.000,6,0.098,0.000,2967,2216,3755,0,0,0,0,0,0
$GC,10882,-1.36,-146.0,892.9,-7.4,389,10887,0.00,2.75,0.00,0.000,4,0.000,0.082,2967,3790,3753,0,0,0,0,0,0
$GC,10898,-1.36,-146.0,894.3,-7.7,389,10902,0.00,2.70,0.00,0.000,6,0.000,0.065,2966,2225,3754,0,0,0,0,0,0
$STATE,10993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10993,begin apogee
$GC,11002,-0.31,0.0,901.9,7.8,392,11125,0.98,0.00,119.38,1.217,6,0.070,0.000,3190,2374,3189,0,0,0,0,0,0
$STATE,11125,end apogee,CONTROL_FINISHED_OK
$STATE,11126,begin climb
$GC,11128,1.27,146.0,905.4,0.0,395,11265,1.45,2.72,127.15,1.188,4,0.036,0.078,3545,3916,2593,0,0,0,0,0,0
$GC,11362,1.13,146.0,888.5,12.7,400,11367,0.20,2.65,0.00,0.000,6,0.111,0.056,3506,2370,2587,0,0,0,0,0,0
$GC,11626,1.09,148.9,862.6,9.9,407,11630,0.00,2.72,0.00,0.000,4,0.000,0.062,3506,3933,2584,0,0,0,0,0,0
$GC,11652,1.02,148.9,859.4,10.5,407,11658,0.10,2.65,0.00,0.000,6,0.130,0.048,3485,2367,2584,0,0,0,0,0,0
$GC,11902,1.05,171.9,836.8,8.9,413,11927,0.00,0.00,22.88,1.098,6,0.000,0.000,3485,2367,2489,0,0,0,0,0,0
$GC,12148,1.06,177.5,813.3,9.7,419,12157,0.00,0.00,6.25,0.888,6,0.000,0.000,3485,2367,2466,0,0,0,0,0,0
$GC,12390,1.07,184.7,789.8,9.7,425,12400,0.00,0.00,7.95,0.952,6,0.000,0.000,3485,2367,2437,0,0,0,0,0,0
$GC,12634,1.08,198.9,766.7,9.3,431,12654,0.00,2.75,14.52,1.045,4,0.000,0.058,3485,3930,2379,0,0,0,0,0,0
$GC,12678,1.11,219.2,762.7,9.1,432,12704,0.00,2.65,20.45,1.066,6,0.000,0.044,3485,2381,2296,0,0,0,0,0,0
$GC,12956,1.15,223.5,735.7,9.8,439,12968,0.10,3.10,5.30,0.808,4,0.088,0.120,3516,781,2277,0,0,0,0,0,0
$GC,13004,1.11,223.5,729.9,12.7,440,13008,0.00,2.65,0.00,0.000,6,0.000,0.040,3516,2369,2276,0,0,0,0,0,0
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$STATE,19471,end climb,SURFACE_DEPTH_REACHED
$STATE,19471,begin surface coast
$FINISH,1.0,1.007664
$STATE,19514,end surface coast,CONTROL_FINISHED_OK
$STATE,19514,begin surface
$SM_CCo,19536,32.67,0.486,0,0,1763,350.04
$SM_GC,1.75,0.00,0.00,32.67,0.000,0.000,0.486,459,2162,1763,-12.89,-1.36,350.04
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$TT8_MAMPS,0.025311
$HUMID,58.19
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,69
$24V_AH,23.3,28.515
$10V_AH,10.3,25.177
$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
$DEVICE_SECS,30.800,206.175,400.650,32.675,0.000,53.795,119.465,210.272,17.250,0.000,17.126,1540.612,14910.336,560.058,2296.888,867.856,33.354,1547.309,0.000,2296.721,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,502.895,351.807,447.106,578.048,1101.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,57460,742
$CAP_FILE_SIZE,172557,0
$CFSIZE,260165632,114368512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,094006,1927.222,-8112.448,34,1.1,34,-3.8