version: 66.06
glider: 146
mission: 8
dive: 497
start: 5 4 113 8 33 55
data:
$ID,146
$MISSION,8
$DIVE,497
$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,-318696.75
$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,25
$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
$GPS1,082206,1924.978,-8113.597,29,1.0,29,-3.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.8
$GPS2,083301,1924.942,-8113.551,14,1.4,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRa
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,0.089
$KALMAN_X,-29920.4,-68.1,23.7,19230.6,1518.9
$KALMAN_Y,96390.4,-172.0,-55.2,-93604.9,-199.4
$MHEAD_RNG_PITCHd_Wd,293.9,8654,-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,-70.45,0.000,2,0.000,0.000,462,2174,3507,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-6.4,9,123,13.73,2.60,-5.03,0.000,4,0.162,0.037,2977,3803,3786,0,0,0,0,0,0
$GC,170,-1.07,-146.0,26.4,-21.5,18,180,0.17,2.55,0.00,0.000,6,0.081,0.028,3020,2234,3787,0,0,0,0,0,0
$GC,448,-0.93,-146.0,75.6,-14.5,44,454,0.17,2.62,0.00,0.000,4,0.099,0.044,3060,632,3786,0,0,0,0,0,0
$GC,500,-0.93,-146.0,82.6,-11.0,47,506,0.00,2.47,0.00,0.000,6,0.000,0.016,3059,2242,3787,0,0,0,0,0,0
$GC,761,-0.93,-146.0,111.2,-10.9,72,765,0.00,2.65,0.00,0.000,4,0.000,0.044,3059,632,3787,0,0,0,0,0,0
$GC,820,-0.93,-146.0,117.5,-11.0,76,832,0.00,2.42,0.00,0.000,6,0.000,0.015,3059,2198,3788,0,0,0,0,0,0
$GC,1089,-0.97,-146.0,143.4,-8.4,101,1093,0.00,2.47,0.00,0.000,4,0.000,0.038,3059,3770,3788,0,0,0,0,0,0
$GC,1130,-1.07,-146.0,147.2,-8.3,104,1135,0.15,2.47,0.00,0.000,6,0.054,0.026,2989,2183,3788,0,0,0,0,0,0
$GC,1391,-1.01,-146.0,175.3,-10.0,128,1396,0.22,2.53,0.00,0.000,4,0.077,0.046,3043,637,3789,0,0,0,0,0,0
$GC,1463,-1.10,-146.0,181.3,-7.5,133,1469,0.10,2.40,0.00,0.000,6,0.074,0.026,2983,2195,3789,0,0,0,0,0,0
$GC,1742,-1.10,-146.0,208.4,-9.5,154,1747,0.15,2.53,0.00,0.000,4,0.086,0.040,3020,3775,3788,0,0,0,0,0,0
$GC,1795,-1.17,-146.0,212.8,-8.3,155,1800,0.00,2.47,0.00,0.000,6,0.000,0.020,3020,2182,3789,0,0,0,0,0,0
$GC,2068,-1.22,-146.0,232.3,-6.9,162,2073,0.12,2.53,0.00,0.000,4,0.065,0.049,2962,645,3789,0,0,0,0,0,0
$GC,2089,-1.22,-146.0,234.3,-8.5,162,2094,0.15,2.40,0.00,0.000,6,0.089,0.017,2997,2206,3788,0,0,0,0,0,0
$GC,2347,-1.22,-146.0,254.7,-8.0,169,2352,0.00,2.60,0.00,0.000,4,0.000,0.049,2996,637,3788,0,0,0,0,0,0
$GC,2380,-1.22,-146.0,257.6,-8.3,169,2386,0.00,2.40,0.00,0.000,6,0.000,0.018,2997,2192,3788,0,0,0,0,0,0
$GC,2630,-1.22,-146.0,276.8,-7.6,176,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2192,3787,0,0,0,0,0,0
$GC,2876,-1.22,-146.0,295.1,-7.5,182,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2192,3787,0,0,0,0,0,0
$GC,3117,-1.22,-146.0,313.3,-7.5,188,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2193,3786,0,0,0,0,0,0
$GC,3361,-1.22,-146.0,331.9,-7.8,194,3366,0.00,2.58,0.00,0.000,4,0.000,0.044,2996,3773,3785,0,0,0,0,0,0
$GC,3383,-1.22,-146.0,333.8,-8.2,194,3388,0.00,2.47,0.00,0.000,6,0.000,0.031,2997,2196,3785,0,0,0,0,0,0
$GC,3641,-1.22,-146.0,354.0,-8.0,201,3646,0.00,2.62,0.00,0.000,4,0.000,0.071,2997,635,3783,0,0,0,0,0,0
$GC,3674,-1.26,-146.0,356.8,-8.6,201,3680,0.00,2.45,0.00,0.000,6,0.000,0.025,2997,2180,3783,0,0,0,0,0,0
$GC,3925,-1.26,-146.0,375.9,-7.6,208,3929,0.00,2.62,0.00,0.000,4,0.000,0.046,2997,3791,3783,0,0,0,0,0,0
$GC,3954,-1.30,-146.0,378.2,-7.9,208,3959,0.00,2.53,0.00,0.000,6,0.000,0.033,2997,2195,3783,0,0,0,0,0,0
$GC,4205,-1.34,-146.0,396.1,-7.1,214,4207,0.12,0.00,0.00,0.000,6,0.064,0.000,2939,2195,3781,0,0,0,0,0,0
$GC,4449,-1.27,-146.0,418.9,-9.5,220,4450,0.20,0.00,0.00,0.000,6,0.081,0.000,2986,2195,3781,0,0,0,0,0,0
$GC,4695,-1.27,-146.0,437.7,-7.6,226,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2195,3779,0,0,0,0,0,0
$GC,4936,-1.27,-146.0,455.6,-7.4,232,4940,0.00,2.67,0.00,0.000,4,0.000,0.057,2985,3787,3778,0,0,0,0,0,0
$GC,4957,-1.27,-146.0,457.2,-6.8,232,4961,0.00,2.58,0.00,0.000,6,0.000,0.043,2986,2199,3778,0,0,0,0,0,0
$GC,5214,-1.27,-146.0,475.1,-6.9,239,5219,0.00,2.80,0.00,0.000,4,0.000,0.087,2986,626,3777,0,0,0,0,0,0
$GC,5236,-1.27,-146.0,476.9,-7.2,239,5240,0.00,2.55,0.00,0.000,6,0.000,0.044,2985,2192,3777,0,0,0,0,0,0
$GC,5491,-1.27,-146.0,495.9,-7.5,246,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2192,3776,0,0,0,0,0,0
$GC,5737,-1.27,-146.0,514.3,-7.6,252,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2192,3775,0,0,0,0,0,0
$GC,5978,-1.27,-146.0,533.0,-7.7,258,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2191,3773,0,0,0,0,0,0
$GC,6222,-1.27,-146.0,551.7,-7.7,264,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2192,3772,0,0,0,0,0,0
$GC,6466,-1.27,-146.0,570.6,-7.8,270,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2192,3771,0,0,0,0,0,0
$GC,6712,-1.27,-146.0,589.4,-7.7,276,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2192,3770,0,0,0,0,0,0
$GC,6953,-1.27,-146.0,607.3,-7.2,282,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2192,3769,0,0,0,0,0,0
$GC,7197,-1.31,-146.0,624.4,-7.0,288,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2192,3768,0,0,0,0,0,0
$GC,7441,-1.31,-146.0,641.9,-7.2,294,7445,0.00,3.00,0.00,0.000,4,0.000,0.115,2986,3791,3766,0,0,0,0,0,0
$GC,7465,-1.34,-146.0,643.6,-7.8,294,7470,0.00,2.83,0.00,0.000,6,0.000,0.082,2986,2200,3766,0,0,0,0,0,0
$GC,7721,-1.38,-146.0,662.6,-7.5,301,7726,0.12,3.05,0.00,0.000,4,0.067,0.126,2937,623,3765,0,0,0,0,0,0
$GC,7745,-1.38,-146.0,665.0,-9.2,301,7751,0.10,2.75,0.00,0.000,6,0.111,0.073,2959,2193,3764,0,0,0,0,0,0
$GC,8004,-1.38,-146.0,686.7,-8.3,308,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2194,3763,0,0,0,0,0,0
$GC,8245,-1.38,-146.0,706.9,-8.2,314,8250,0.00,3.10,0.00,0.000,4,0.000,0.131,2959,3801,3762,0,0,0,0,0,0
$GC,8272,-1.38,-146.0,709.2,-8.5,314,8277,0.00,3.00,0.00,0.000,6,0.000,0.107,2959,2206,3762,0,0,0,0,0,0
$GC,8525,-1.38,-146.0,729.2,-8.1,320,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2206,3761,0,0,0,0,0,0
$GC,8766,-1.38,-146.0,749.5,-8.4,326,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2206,3760,0,0,0,0,0,0
$GC,9010,-1.38,-146.0,770.8,-8.7,332,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2206,3759,0,0,0,0,0,0
$GC,9256,-1.38,-146.0,791.7,-8.5,338,9261,0.00,2.88,0.00,0.000,4,0.000,0.096,2959,3797,3758,0,0,0,0,0,0
$GC,9283,-1.38,-146.0,794.3,-9.1,338,9288,0.00,2.83,0.00,0.000,6,0.000,0.081,2959,2201,3758,0,0,0,0,0,0
$GC,9533,-1.38,-146.0,815.1,-8.2,344,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2202,3757,0,0,0,0,0,0
$GC,9777,-1.38,-146.0,835.0,-8.1,350,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2202,3755,0,0,0,0,0,0
$GC,10023,-1.38,-146.0,854.5,-8.0,356,10028,0.00,2.88,0.00,0.000,4,0.000,0.092,2959,3807,3754,0,0,0,0,0,0
$GC,10055,-1.38,-146.0,857.4,-8.2,356,10061,0.00,2.80,0.00,0.000,6,0.000,0.076,2959,2208,3754,0,0,0,0,0,0
$GC,10305,-1.38,-146.0,876.1,-7.3,363,10310,0.00,3.00,0.00,0.000,4,0.000,0.120,2959,615,3753,0,0,0,0,0,0
$GC,10335,-1.38,-146.0,878.3,-7.7,363,10340,0.00,2.78,0.00,0.000,6,0.000,0.070,2960,2220,3752,0,0,0,0,0,0
$GC,10585,-1.38,-146.0,897.1,-7.5,369,10590,0.00,2.88,0.00,0.000,4,0.000,0.099,2959,3798,3752,0,0,0,0,0,0
$STATE,10622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10622,begin apogee
$GC,10631,-0.31,0.0,900.2,8.2,370,10754,1.00,0.00,120.45,1.202,6,0.084,0.000,3190,2364,3190,0,0,0,0,0,0
$STATE,10755,end apogee,CONTROL_FINISHED_OK
$STATE,10755,begin climb
$GC,10760,1.27,146.0,903.0,0.0,373,10898,1.42,2.88,128.95,1.170,4,0.034,0.077,3545,3937,2592,0,0,0,0,0,0
$GC,10986,1.15,146.0,887.8,11.6,378,10992,0.17,2.75,0.00,0.000,6,0.111,0.058,3511,2368,2588,0,0,0,0,0,0
$GC,11253,1.17,164.8,862.7,9.1,385,11272,0.00,0.00,17.05,1.073,6,0.000,0.000,3510,2369,2518,0,0,0,0,0,0
$GC,11500,1.20,182.3,840.1,9.2,391,11524,0.00,2.85,17.02,1.069,4,0.000,0.068,3510,3938,2446,0,0,0,0,0,0
$GC,11557,1.20,182.3,833.8,10.3,392,11562,0.00,2.65,0.00,0.000,6,0.000,0.044,3510,2378,2444,0,0,0,0,0,0
$GC,11825,1.21,191.3,808.5,9.6,399,11836,0.00,0.00,9.40,0.977,6,0.000,0.000,3511,2378,2410,0,0,0,0,0,0
$GC,12071,1.21,194.1,784.7,9.9,405,12080,0.00,2.72,4.07,0.699,4,0.000,0.063,3510,3942,2398,0,0,0,0,0,0
$GC,12136,1.21,194.1,777.2,10.6,406,12140,0.00,2.65,0.00,0.000,6,0.000,0.047,3510,2382,2398,0,0,0,0,0,0
$GC,12403,1.21,194.1,749.4,10.4,413,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2382,2397,0,0,0,0,0,0
$GC,12649,1.21,194.1,724.7,10.0,419,12653,0.00,2.67,0.00,0.000,4,0.000,0.061,3510,3947,2396,0,0,0,0,0,0
$GC,12670,1.21,194.1,722.2,10.5,419,12674,0.00,2.67,0.00,0.000,6,0.000,0.052,3511,2379,2395,0,0,0,0,0,0
$GC,12926,1.23,212.9,698.4,9.1,426,12946,0.00,0.00,18.62,1.017,6,0.000,0.000,3510,2378,2322,0,0,0,0,0,0
$GC,13172,1.24,220.6,675.3,9.6,432,13186,0.00,2.75,8.85,0.912,4,0.000,0.058,3510,3943,2290,0,0,0,0,0,0
$GC,13197,1.24,220.6,672.3,10.2,432,13202,0.00,2.67,0.00,0.000,6,0.000,0.053,3510,2381,2289,0,0,0,0,0,0
$GC,13453,1.24,220.6,645.8,10.6,439,13454,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2381,2287,0,0,0,0,0,0
$GC,13696,1.24,220.6,620.0,10.5,445,13701,0.00,2.67,0.00,0.000,4,0.000,0.062,3510,3948,2287,0,0,0,0,0,0
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$STATE,19551,end climb,SURFACE_DEPTH_REACHED
$STATE,19551,begin surface coast
$FINISH,1.0,1.023366
$STATE,19593,end surface coast,CONTROL_FINISHED_OK
$STATE,19593,begin surface
$SM_CCo,19619,25.62,0.469,0,0,1763,350.04
$SM_GC,2.18,0.00,0.00,25.62,0.000,0.000,0.469,458,2152,1763,-12.89,-1.64,350.04
$IRIDIUM_FIX,1916.08,-8112.45,290702,080840
$TT8_MAMPS,0.026078
$HUMID,61.93
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.20
$XPDR_PINGS,165
$24V_AH,23.1,70.386
$10V_AH,9.9,62.530
$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,31.200,195.675,414.775,25.625,0.000,54.452,73.013,283.870,41.250,0.000,16.430,1515.618,15061.282,556.122,2240.203,916.522,33.368,1519.712,0.000,2234.613,0.000,0.538,0.000
$DEVICE_MAMPS,161.837,131.157,1201.889,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.503,340.114,428.872,557.814,1061.429,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,57122,732
$CAP_FILE_SIZE,170692,0
$CFSIZE,260165632,93184000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,140235,1925.380,-8115.545,32,1.5,32,-3.8