version: 66.06
glider: 146
mission: 8
dive: 496
start: 5 4 113 2 53 1
data:
$ID,146
$MISSION,8
$DIVE,496
$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,-318679.69
$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,38
$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
$GPS1,023605,1924.864,-8111.998,30,1.1,30,-3.8
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.1
$GPS2,025207,1924.774,-8111.928,12,1.3,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRa
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.251,0.067
$KALMAN_X,-31673.1,87.7,-60.3,23744.4,1663.0
$KALMAN_Y,97305.1,-162.0,-115.9,-94786.8,-98.8
$MHEAD_RNG_PITCHd_Wd,288.8,11376,-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,19,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,-70.30,0.000,2,0.000,0.000,457,2191,3514,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-6.1,9,123,13.73,0.00,-4.90,0.000,6,0.160,0.000,2976,2191,3787,0,0,0,0,0,0
$GC,395,-1.04,-146.0,70.1,-18.3,41,404,0.25,0.00,0.00,0.000,6,0.094,0.000,3035,2191,3787,0,0,0,0,0,0
$GC,660,-0.96,-146.0,107.8,-14.1,66,664,0.00,2.58,0.00,0.000,4,0.000,0.049,3035,640,3787,0,0,0,0,0,0
$GC,695,-0.89,-146.0,113.5,-14.9,68,705,0.10,2.47,0.00,0.000,6,0.077,0.016,3063,2247,3788,0,0,0,0,0,0
$GC,962,-0.93,-146.0,139.9,-9.0,93,967,0.00,2.65,0.00,0.000,4,0.000,0.050,3063,638,3789,0,0,0,0,0,0
$GC,1010,-1.02,-146.0,144.4,-8.2,96,1019,0.08,2.40,0.00,0.000,6,0.037,0.018,3008,2190,3788,0,0,0,0,0,0
$GC,1275,-1.02,-146.0,170.9,-9.6,121,1280,0.12,2.55,0.00,0.000,4,0.093,0.034,3038,3776,3789,0,0,0,0,0,0
$GC,1300,-1.02,-146.0,173.6,-10.0,122,1305,0.00,2.45,0.00,0.000,6,0.000,0.020,3038,2193,3789,0,0,0,0,0,0
$GC,1563,-1.09,-146.0,193.7,-7.0,147,1567,0.00,2.55,0.00,0.000,4,0.000,0.048,3038,640,3789,0,0,0,0,0,0
$GC,1611,-1.18,-146.0,197.1,-7.0,150,1620,0.12,2.40,0.00,0.000,6,0.029,0.017,2973,2192,3789,0,0,0,0,0,0
$GC,1892,-1.14,-146.0,222.3,-9.0,160,1897,0.17,2.55,0.00,0.000,4,0.081,0.035,3015,3775,3789,0,0,0,0,0,0
$GC,1940,-1.22,-146.0,226.1,-7.4,161,1944,0.00,2.45,0.00,0.000,6,0.000,0.021,3015,2190,3789,0,0,0,0,0,0
$GC,2218,-1.27,-146.0,246.0,-7.1,168,2219,0.12,0.00,0.00,0.000,6,0.062,0.000,2951,2189,3788,0,0,0,0,0,0
$GC,2461,-1.20,-146.0,269.7,-9.9,174,2466,0.20,2.58,0.00,0.000,4,0.077,0.051,2998,644,3787,0,0,0,0,0,0
$GC,2491,-1.20,-146.0,272.4,-8.8,174,2496,0.00,2.42,0.00,0.000,6,0.000,0.021,2998,2203,3787,0,0,0,0,0,0
$GC,2741,-1.20,-146.0,292.0,-7.7,180,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2204,3787,0,0,0,0,0,0
$GC,2985,-1.20,-146.0,311.5,-8.0,186,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2204,3785,0,0,0,0,0,0
$GC,3231,-1.20,-146.0,330.7,-7.9,192,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2204,3785,0,0,0,0,0,0
$GC,3472,-1.20,-146.0,350.6,-8.2,198,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2203,3783,0,0,0,0,0,0
$GC,3716,-1.20,-146.0,369.6,-7.7,204,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2203,3782,0,0,0,0,0,0
$GC,3960,-1.24,-146.0,388.1,-7.5,210,3965,0.00,2.62,0.00,0.000,4,0.000,0.061,2998,646,3782,0,0,0,0,0,0
$GC,3991,-1.28,-146.0,390.3,-7.7,210,3995,0.00,2.45,0.00,0.000,6,0.000,0.035,2998,2183,3781,0,0,0,0,0,0
$GC,4241,-1.32,-146.0,408.2,-7.0,216,4247,0.12,2.67,0.00,0.000,4,0.066,0.054,2944,3794,3781,0,0,0,0,0,0
$GC,4263,-1.32,-146.0,410.2,-8.8,216,4268,0.12,2.55,0.00,0.000,6,0.094,0.037,2973,2210,3780,0,0,0,0,0,0
$GC,4521,-1.32,-146.0,431.5,-8.4,223,4526,0.00,2.78,0.00,0.000,4,0.000,0.077,2973,624,3780,0,0,0,0,0,0
$GC,4548,-1.32,-146.0,434.2,-9.0,223,4553,0.00,2.53,0.00,0.000,6,0.000,0.034,2973,2190,3779,0,0,0,0,0,0
$GC,4798,-1.32,-146.0,454.4,-8.1,229,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2191,3778,0,0,0,0,0,0
$GC,5045,-1.32,-146.0,473.7,-7.9,235,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2191,3777,0,0,0,0,0,0
$GC,5286,-1.32,-146.0,491.9,-7.4,241,5290,0.00,2.72,0.00,0.000,4,0.000,0.071,2974,3789,3776,0,0,0,0,0,0
$GC,5318,-1.32,-146.0,494.5,-8.2,241,5324,0.00,2.62,0.00,0.000,6,0.000,0.044,2973,2190,3776,0,0,0,0,0,0
$GC,5571,-1.32,-146.0,514.5,-8.1,248,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2191,3775,0,0,0,0,0,0
$GC,5812,-1.32,-146.0,535.1,-8.6,254,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2191,3773,0,0,0,0,0,0
$GC,6056,-1.32,-146.0,556.0,-8.5,260,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2190,3772,0,0,0,0,0,0
$GC,6300,-1.32,-146.0,576.3,-8.4,266,6304,0.00,2.80,0.00,0.000,4,0.000,0.079,2974,3786,3771,0,0,0,0,0,0
$GC,6341,-1.32,-146.0,579.7,-8.7,267,6346,0.00,2.67,0.00,0.000,6,0.000,0.063,2973,2198,3771,0,0,0,0,0,0
$GC,6624,-1.32,-146.0,602.6,-7.9,274,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2198,3769,0,0,0,0,0,0
$GC,6868,-1.32,-146.0,622.0,-8.0,280,6873,0.00,2.80,0.00,0.000,4,0.000,0.081,2974,3785,3768,0,0,0,0,0,0
$GC,6892,-1.32,-146.0,624.0,-8.4,280,6897,0.00,2.78,0.00,0.000,6,0.000,0.074,2974,2196,3768,0,0,0,0,0,0
$GC,7147,-1.32,-146.0,644.2,-7.8,287,7152,0.00,2.97,0.00,0.000,4,0.000,0.122,2973,623,3766,0,0,0,0,0,0
$GC,7174,-1.32,-146.0,646.4,-8.4,287,7179,0.00,2.70,0.00,0.000,6,0.000,0.071,2973,2183,3766,0,0,0,0,0,0
$GC,7427,-1.32,-146.0,665.4,-7.6,293,7432,0.00,2.97,0.00,0.000,4,0.000,0.107,2973,3800,3765,0,0,0,0,0,0
$GC,7466,-1.32,-146.0,668.9,-8.6,294,7471,0.00,2.90,0.00,0.000,6,0.000,0.093,2973,2196,3765,0,0,0,0,0,0
$GC,7750,-1.32,-146.0,691.9,-8.2,301,7754,0.00,2.97,0.00,0.000,4,0.000,0.108,2973,3794,3763,0,0,0,0,0,0
$GC,7776,-1.32,-146.0,694.1,-9.0,301,7781,0.00,2.95,0.00,0.000,6,0.000,0.098,2974,2203,3763,0,0,0,0,0,0
$GC,8031,-1.32,-146.0,716.0,-8.5,308,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2203,3762,0,0,0,0,0,0
$GC,8275,-1.32,-146.0,736.0,-8.2,314,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2200,3760,0,0,0,0,0,0
$GC,8521,-1.32,-146.0,756.0,-8.2,320,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2199,3759,0,0,0,0,0,0
$GC,8765,-1.32,-146.0,775.7,-8.0,326,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2199,3758,0,0,0,0,0,0
$GC,9006,-1.32,-146.0,795.2,-8.0,332,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2199,3757,0,0,0,0,0,0
$GC,9250,-1.32,-146.0,813.7,-7.6,338,9255,0.00,2.85,0.00,0.000,4,0.000,0.085,2973,3796,3756,0,0,0,0,0,0
$GC,9285,-1.32,-146.0,816.3,-8.3,338,9291,0.00,2.80,0.00,0.000,6,0.000,0.075,2974,2200,3755,0,0,0,0,0,0
$GC,9535,-1.32,-146.0,834.5,-7.1,345,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2200,3754,0,0,0,0,0,0
$GC,9779,-1.32,-146.0,851.5,-6.9,351,9784,0.00,2.85,0.00,0.000,4,0.000,0.089,2973,3796,3753,0,0,0,0,0,0
$GC,9821,-1.36,-146.0,854.4,-7.2,352,9826,0.00,2.78,0.00,0.000,6,0.000,0.069,2974,2211,3753,0,0,0,0,0,0
$GC,10105,-1.36,-146.0,874.1,-6.9,359,10110,0.00,3.03,0.00,0.000,4,0.000,0.120,2973,622,3752,0,0,0,0,0,0
$GC,10132,-1.36,-146.0,876.1,-7.2,359,10137,0.00,2.75,0.00,0.000,6,0.000,0.066,2973,2219,3752,0,0,0,0,0,0
$GC,10385,-1.36,-146.0,893.9,-7.0,365,10389,0.00,2.83,0.00,0.000,4,0.000,0.094,2974,3796,3750,0,0,0,0,0,0
$GC,10435,-1.41,-146.0,897.9,-8.1,366,10439,0.00,2.72,0.00,0.000,6,0.000,0.067,2973,2215,3750,0,0,0,0,0,0
$STATE,10501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10501,begin apogee
$GC,10507,-0.31,0.0,902.6,6.9,368,10631,0.95,0.00,120.28,1.205,6,0.067,0.000,3191,2386,3190,0,0,0,0,0,0
$STATE,10631,end apogee,CONTROL_FINISHED_OK
$STATE,10632,begin climb
$GC,10637,1.27,146.0,905.8,0.0,371,10774,1.42,2.80,129.07,1.172,4,0.035,0.080,3544,3925,2593,0,0,0,0,0,0
$GC,10890,1.15,146.0,887.9,12.2,377,10895,0.15,2.72,0.00,0.000,6,0.115,0.058,3513,2366,2587,0,0,0,0,0,0
$GC,11173,1.18,164.6,861.4,9.1,384,11198,0.00,2.83,16.90,1.066,4,0.000,0.067,3513,3927,2517,0,0,0,0,0,0
$GC,11213,1.16,181.0,857.8,9.2,384,11237,0.00,2.70,16.55,1.060,6,0.000,0.054,3513,2366,2450,0,0,0,0,0,0
$GC,11504,1.16,184.5,828.6,9.8,392,11508,0.00,2.70,0.00,0.000,4,0.000,0.062,3513,3928,2446,0,0,0,0,0,0
$GC,11539,1.12,184.5,825.1,10.4,392,11545,0.00,2.65,0.00,0.000,6,0.000,0.047,3513,2382,2445,0,0,0,0,0,0
$GC,11789,1.12,184.5,798.5,10.7,399,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2382,2444,0,0,0,0,0,0
$GC,12032,1.12,184.5,773.1,10.2,405,12037,0.00,2.67,0.00,0.000,4,0.000,0.064,3514,3935,2443,0,0,0,0,0,0
$GC,12053,1.12,184.5,770.8,10.5,405,12058,0.00,2.62,0.00,0.000,6,0.000,0.048,3513,2385,2442,0,0,0,0,0,0
$GC,12317,1.12,186.0,744.6,9.9,412,12324,0.00,0.00,4.40,0.729,6,0.000,0.000,3513,2385,2431,0,0,0,0,0,0
$GC,12559,1.13,188.2,720.4,9.9,418,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2385,2430,0,0,0,0,0,0
$GC,12802,1.13,195.0,696.6,9.7,424,12814,0.00,0.00,10.30,0.952,6,0.000,0.000,3513,2385,2394,0,0,0,0,0,0
$GC,13049,1.14,201.7,673.0,9.7,430,13063,0.00,2.72,7.55,0.877,4,0.000,0.058,3513,3924,2367,0,0,0,0,0,0
$GC,13102,1.14,201.7,667.0,11.3,431,13106,0.00,2.65,0.00,0.000,6,0.000,0.054,3513,2378,2366,0,0,0,0,0,0
$GC,13375,1.14,201.7,639.4,10.2,438,13379,0.00,2.67,0.00,0.000,4,0.000,0.062,3513,3934,2365,0,0,0,0,0,0
$GC,13398,1.14,201.7,637.1,10.6,438,13403,0.00,2.65,0.00,0.000,6,0.000,0.052,3513,2380,2365,0,0,0,0,0,0
$GC,13653,1.14,201.7,610.4,10.4,445,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2381,2365,0,0,0,0,0,0
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$STATE,19556,end climb,SURFACE_DEPTH_REACHED
$STATE,19556,begin surface coast
$FINISH,1.1,1.020133
$STATE,19603,end surface coast,CONTROL_FINISHED_OK
$STATE,19603,begin surface
$SM_CCo,19626,46.47,0.476,0,0,1762,350.04
$SM_GC,1.96,0.00,0.00,46.47,0.000,0.000,0.476,462,2175,1762,-12.87,-0.99,350.04
$IRIDIUM_FIX,1916.08,-8114.71,290702,020244
$TT8_MAMPS,0.026078
$HUMID,61.18
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.30
$XPDR_PINGS,150
$24V_AH,23.1,70.234
$10V_AH,9.9,62.404
$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
$DEVICE_SECS,30.550,195.950,401.775,46.475,0.000,92.731,109.304,450.613,37.500,0.000,13.530,1532.636,15066.534,560.135,2284.885,1178.237,33.375,1556.033,0.000,2281.086,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.483,344.601,436.731,562.347,1069.888,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,57430,735
$CAP_FILE_SIZE,178514,0
$CFSIZE,260165632,93245440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,082206,1924.978,-8113.597,29,1.0,29,-3.8