version: 66.06
glider: 146
mission: 8
dive: 221
start: 3 3 113 7 13 47
data:
$ID,146
$MISSION,8
$DIVE,221
$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,-311760.25
$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,72
$R_STBD_OVSHOOT,43
$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
$GPS1,070818,1924.100,-8114.762,15,2.0,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.7
$GPS2,071254,1924.085,-8114.771,14,2.0,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.214,0.147
$KALMAN_X,9739.4,-133.6,-311.2,-22158.5,961.8
$KALMAN_Y,2008.6,-259.3,-94.9,-681.2,110.5
$MHEAD_RNG_PITCHd_Wd,308.3,7806,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-62.88,0.000,2,0.000,0.000,460,2163,3318,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-4.6,8,124,13.62,2.47,-8.95,0.000,4,0.165,0.056,2978,673,3788,0,0,0,0,0,0
$GC,221,-1.09,-146.0,33.1,-15.1,25,226,0.20,2.40,0.00,0.000,6,0.106,0.018,3020,2228,3788,0,0,0,0,0,0
$GC,491,-0.92,-146.0,75.1,-17.5,49,500,0.17,0.00,0.00,0.000,6,0.099,0.000,3060,2230,3788,0,0,0,0,0,0
$GC,755,-0.87,-146.0,109.7,-11.8,74,759,0.00,2.55,0.00,0.000,4,0.000,0.048,3060,670,3789,0,0,0,0,0,0
$GC,813,-0.87,-146.0,116.5,-11.4,78,825,0.00,2.38,0.00,0.000,6,0.000,0.017,3060,2202,3788,0,0,0,0,0,0
$GC,1082,-0.91,-146.0,143.1,-8.4,103,1086,0.00,2.47,0.00,0.000,4,0.000,0.038,3060,3778,3788,0,0,0,0,0,0
$GC,1118,-0.98,-146.0,146.3,-8.3,105,1124,0.00,2.40,0.00,0.000,6,0.000,0.019,3059,2235,3788,0,0,0,0,0,0
$GC,1385,-1.06,-146.0,167.0,-7.4,130,1391,0.12,0.00,0.00,0.000,6,0.064,0.000,3004,2235,3788,0,0,0,0,0,0
$GC,1650,-1.06,-146.0,191.3,-8.6,155,1655,0.10,0.00,0.00,0.000,6,0.107,0.000,3029,2235,3788,0,0,0,0,0,0
$GC,1925,-1.12,-146.0,212.5,-7.4,170,1930,0.00,2.60,0.00,0.000,4,0.000,0.055,3029,643,3788,0,0,0,0,0,0
$GC,1972,-1.18,-146.0,215.8,-7.5,171,1977,0.12,2.40,0.00,0.000,6,0.066,0.024,2975,2208,3788,0,0,0,0,0,0
$GC,2250,-1.13,-146.0,240.5,-8.3,178,2255,0.17,2.50,0.00,0.000,4,0.087,0.039,3016,3773,3787,0,0,0,0,0,0
$GC,2272,-1.13,-146.0,242.3,-7.7,178,2276,0.00,2.45,0.00,0.000,6,0.000,0.019,3015,2201,3787,0,0,0,0,0,0
$GC,2530,-1.17,-146.0,259.1,-6.6,185,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2201,3786,0,0,0,0,0,0
$GC,2771,-1.22,-146.0,275.4,-6.8,191,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2200,3786,0,0,0,0,0,0
$GC,3015,-1.26,-146.0,293.0,-7.4,197,3017,0.12,0.00,0.00,0.000,6,0.066,0.000,2961,2201,3785,0,0,0,0,0,0
$GC,3261,-1.21,-146.0,314.9,-9.1,203,3266,0.15,2.55,0.00,0.000,4,0.092,0.047,2997,3773,3784,0,0,0,0,0,0
$GC,3282,-1.21,-146.0,317.1,-8.6,203,3287,0.00,2.45,0.00,0.000,6,0.000,0.021,2997,2213,3784,0,0,0,0,0,0
$GC,3538,-1.21,-146.0,336.6,-7.7,210,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2213,3783,0,0,0,0,0,0
$GC,3784,-1.21,-146.0,356.1,-8.0,216,3788,0.00,2.67,0.00,0.000,4,0.000,0.066,2997,634,3782,0,0,0,0,0,0
$GC,3823,-1.21,-146.0,359.7,-8.8,217,3827,0.00,2.42,0.00,0.000,6,0.000,0.030,2997,2182,3781,0,0,0,0,0,0
$GC,4106,-1.21,-146.0,382.9,-8.2,224,4110,0.00,2.60,0.00,0.000,4,0.000,0.047,2997,3788,3780,0,0,0,0,0,0
$GC,4152,-1.21,-146.0,386.7,-8.7,225,4156,0.00,2.53,0.00,0.000,6,0.000,0.028,2997,2211,3780,0,0,0,0,0,0
$GC,4429,-1.21,-146.0,409.0,-7.9,232,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2211,3779,0,0,0,0,0,0
$GC,4673,-1.21,-146.0,428.2,-7.8,238,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2211,3778,0,0,0,0,0,0
$GC,4919,-1.21,-146.0,445.8,-7.1,244,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2211,3777,0,0,0,0,0,0
$GC,5161,-1.21,-146.0,463.0,-7.2,250,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2211,3776,0,0,0,0,0,0
$GC,5404,-1.21,-146.0,480.9,-7.5,256,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2211,3775,0,0,0,0,0,0
$GC,5649,-1.25,-146.0,498.8,-7.3,262,5653,0.00,2.67,0.00,0.000,4,0.000,0.065,2997,3783,3774,0,0,0,0,0,0
$GC,5684,-1.30,-146.0,501.3,-7.2,262,5689,0.00,2.62,0.00,0.000,6,0.000,0.046,2997,2212,3774,0,0,0,0,0,0
$GC,5934,-1.30,-146.0,520.0,-7.4,269,5938,0.00,2.97,0.00,0.000,4,0.000,0.115,2997,619,3772,0,0,0,0,0,0
$GC,5961,-1.34,-146.0,522.1,-7.7,269,5967,0.12,2.60,0.00,0.000,6,0.064,0.044,2943,2190,3772,0,0,0,0,0,0
$GC,6214,-1.27,-146.0,546.6,-10.0,275,6219,0.17,2.83,0.00,0.000,4,0.091,0.079,2982,3793,3771,0,0,0,0,0,0
$GC,6247,-1.27,-146.0,550.0,-9.3,275,6253,0.00,2.67,0.00,0.000,6,0.000,0.057,2982,2200,3770,0,0,0,0,0,0
$GC,6499,-1.27,-146.0,571.4,-8.4,282,6504,0.00,2.75,0.00,0.000,4,0.000,0.067,2982,3793,3769,0,0,0,0,0,0
$GC,6532,-1.27,-146.0,574.7,-8.9,282,6538,0.00,2.67,0.00,0.000,6,0.000,0.054,2982,2215,3769,0,0,0,0,0,0
$GC,6782,-1.27,-146.0,595.6,-8.3,289,6787,0.00,3.03,0.00,0.000,4,0.000,0.124,2982,626,3768,0,0,0,0,0,0
$GC,6826,-1.27,-146.0,599.5,-8.9,290,6831,0.00,2.65,0.00,0.000,6,0.000,0.054,2982,2207,3767,0,0,0,0,0,0
$GC,7106,-1.27,-146.0,621.8,-7.9,297,7111,0.00,2.90,0.00,0.000,4,0.000,0.103,2982,3801,3766,0,0,0,0,0,0
$GC,7133,-1.27,-146.0,624.2,-7.7,297,7138,0.00,2.75,0.00,0.000,6,0.000,0.074,2982,2207,3766,0,0,0,0,0,0
$GC,7385,-1.27,-146.0,642.9,-7.5,303,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2207,3764,0,0,0,0,0,0
$GC,7627,-1.27,-146.0,660.9,-7.3,309,7631,0.00,2.88,0.00,0.000,4,0.000,0.092,2982,3794,3762,0,0,0,0,0,0
$GC,7648,-1.27,-146.0,662.6,-7.5,309,7653,0.00,2.83,0.00,0.000,6,0.000,0.084,2982,2214,3763,0,0,0,0,0,0
$GC,7905,-1.27,-146.0,681.0,-7.2,316,7910,0.00,3.12,0.00,0.000,4,0.000,0.133,2982,618,3762,0,0,0,0,0,0
$GC,7940,-1.27,-146.0,683.6,-7.8,316,7946,0.00,2.80,0.00,0.000,6,0.000,0.084,2982,2207,3761,0,0,0,0,0,0
$GC,8193,-1.27,-146.0,703.8,-8.0,323,8198,0.00,3.03,0.00,0.000,4,0.000,0.123,2982,3803,3761,0,0,0,0,0,0
$GC,8232,-1.27,-146.0,707.4,-8.4,324,8237,0.00,2.80,0.00,0.000,6,0.000,0.077,2982,2206,3760,0,0,0,0,0,0
$GC,8518,-1.27,-146.0,729.4,-7.7,331,8523,0.00,3.05,0.00,0.000,4,0.000,0.126,2982,621,3759,0,0,0,0,0,0
$GC,8557,-1.27,-146.0,732.7,-8.0,332,8562,0.00,2.78,0.00,0.000,6,0.000,0.071,2982,2213,3759,0,0,0,0,0,0
$GC,8843,-1.27,-146.0,753.7,-7.3,339,8848,0.00,2.90,0.00,0.000,4,0.000,0.104,2982,3800,3757,0,0,0,0,0,0
$GC,8904,-1.31,-146.0,758.7,-8.5,340,8909,0.00,2.75,0.00,0.000,6,0.000,0.071,2982,2216,3757,0,0,0,0,0,0
$GC,9165,-1.31,-146.0,778.2,-7.5,347,9169,0.00,3.03,0.00,0.000,4,0.000,0.117,2982,618,3755,0,0,0,0,0,0
$GC,9194,-1.31,-146.0,780.4,-7.7,347,9199,0.00,2.75,0.00,0.000,6,0.000,0.065,2982,2219,3755,0,0,0,0,0,0
$GC,9444,-1.31,-146.0,799.0,-7.1,353,9449,0.00,2.85,0.00,0.000,4,0.000,0.099,2982,3801,3754,0,0,0,0,0,0
$GC,9494,-1.35,-146.0,802.8,-7.5,354,9499,0.00,2.72,0.00,0.000,6,0.000,0.068,2982,2222,3754,0,0,0,0,0,0
$GC,9769,-1.35,-146.0,821.9,-6.9,361,9774,0.00,2.78,0.00,0.000,4,0.000,0.081,2982,3798,3753,0,0,0,0,0,0
$GC,9796,-1.35,-146.0,823.9,-6.9,361,9801,0.00,2.70,0.00,0.000,6,0.000,0.067,2982,2233,3753,0,0,0,0,0,0
$GC,10046,-1.35,-146.0,840.3,-6.5,367,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2232,3751,0,0,0,0,0,0
$GC,10292,-1.35,-146.0,855.9,-6.6,373,10297,0.00,2.78,0.00,0.000,4,0.000,0.077,2982,3806,3750,0,0,0,0,0,0
$GC,10314,-1.35,-146.0,857.7,-7.2,373,10318,0.00,2.70,0.00,0.000,6,0.000,0.065,2982,2238,3750,0,0,0,0,0,0
$GC,10569,-1.35,-146.0,875.8,-7.0,380,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2237,3749,0,0,0,0,0,0
$GC,10813,-1.35,-146.0,892.5,-6.9,386,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2237,3748,0,0,0,0,0,0
$STATE,10932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10932,begin apogee
$GC,10940,-0.31,0.0,900.8,6.7,389,11061,0.90,0.00,117.70,1.216,6,0.070,0.000,3190,2383,3190,0,0,0,0,0,0
$STATE,11062,end apogee,CONTROL_FINISHED_OK
$STATE,11062,begin climb
$GC,11065,1.27,146.0,903.8,0.0,392,11202,1.45,2.83,126.93,1.184,4,0.038,0.076,3544,3930,2593,0,0,0,0,0,0
$GC,11258,1.14,146.0,891.5,12.4,396,11263,0.17,2.70,0.00,0.000,6,0.113,0.059,3509,2367,2588,0,0,0,0,0,0
$GC,11516,1.15,153.0,866.5,9.7,403,11524,0.00,0.00,6.25,0.887,6,0.000,0.000,3509,2367,2566,0,0,0,0,0,0
$GC,11757,1.16,162.7,843.1,9.6,409,11769,0.00,0.00,10.40,1.016,6,0.000,0.000,3509,2366,2526,0,0,0,0,0,0
$GC,12001,1.18,177.9,820.4,9.3,415,12021,0.00,2.75,14.85,1.063,4,0.000,0.061,3509,3931,2464,0,0,0,0,0,0
$GC,12035,1.15,186.1,817.4,9.6,415,12049,0.00,2.67,8.62,0.963,6,0.000,0.039,3509,2360,2433,0,0,0,0,0,0
$GC,12328,1.15,190.0,788.3,9.8,423,12339,0.00,2.72,5.05,0.807,4,0.000,0.058,3509,3935,2415,0,0,0,0,0,0
$GC,12377,1.15,190.0,782.9,11.2,424,12382,0.00,2.65,0.00,0.000,6,0.000,0.046,3509,2369,2414,0,0,0,0,0,0
$GC,12652,1.15,190.0,755.6,10.2,431,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2369,2413,0,0,0,0,0,0
$GC,12893,1.15,190.0,729.6,10.7,437,12897,0.00,2.65,0.00,0.000,4,0.000,0.061,3509,3930,2413,0,0,0,0,0,0
$GC,12920,1.15,190.0,726.5,11.1,437,12924,0.00,2.62,0.00,0.000,6,0.000,0.041,3509,2368,2412,0,0,0,0,0,0
$GC,13172,1.15,190.0,699.7,10.7,443,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2368,2411,0,0,0,0,0,0
$GC,13413,1.15,190.0,673.3,10.9,449,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2369,2411,0,0,0,0,0,0
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$STATE,19897,end climb,SURFACE_DEPTH_REACHED
$STATE,19898,begin surface coast
$FINISH,0.9,1.011187
$STATE,19944,end surface coast,CONTROL_FINISHED_OK
$STATE,19944,begin surface
$SM_CCo,19967,28.92,0.486,0,0,1763,350.04
$SM_GC,1.61,0.00,0.00,28.92,0.000,0.000,0.486,465,2172,1763,-12.86,-1.07,350.04
$IRIDIUM_FIX,1913.80,-8114.71,280502,070720
$TT8_MAMPS,0.026078
$HUMID,59.05
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,68
$24V_AH,23.3,31.198
$10V_AH,10.4,27.481
$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
$DEVICE_SECS,30.550,202.825,412.475,28.925,0.000,0.000,0.000,0.000,17.000,0.000,15.952,1556.318,15200.981,562.070,2345.626,404.426,33.351,1584.214,0.000,2339.419,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,505.021,342.176,437.937,562.844,1072.873,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,57216,746
$CAP_FILE_SIZE,203296,0
$CFSIZE,260165632,113041408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030313,124836,1925.501,-8117.655,50,1.3,50,-3.7