version: 66.06
glider: 146
mission: 8
dive: 271
start: 3 14 113 6 55 7
data:
$ID,146
$MISSION,8
$DIVE,271
$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,-312772.25
$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,32
$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
$GPS1,064654,1925.235,-8114.519,58,1.7,58,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.2
$GPS2,065412,1925.193,-8114.574,10,1.5,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.226,0.128
$KALMAN_X,-23213.4,-465.7,-372.0,11544.8,917.1
$KALMAN_Y,15083.0,93.8,-44.6,-12111.4,-547.4
$MHEAD_RNG_PITCHd_Wd,303.3,6855,-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,-70.95,0.000,2,0.000,0.000,457,2155,3477,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-4.6,9,123,13.73,2.65,-5.88,0.000,4,0.164,0.051,2977,3796,3787,0,0,0,0,0,0
$GC,215,-1.12,-146.0,30.4,-16.3,25,220,0.17,2.50,0.00,0.000,6,0.094,0.023,3016,2205,3788,0,0,0,0,0,0
$GC,485,-0.99,-146.0,71.1,-14.7,49,490,0.12,2.58,0.00,0.000,4,0.114,0.046,3043,635,3789,0,0,0,0,0,0
$GC,534,-0.94,-146.0,79.9,-14.2,52,543,0.00,2.47,0.00,0.000,6,0.000,0.023,3043,2232,3789,0,0,0,0,0,0
$GC,803,-0.87,-146.0,113.3,-13.0,77,808,0.12,2.62,0.00,0.000,4,0.110,0.046,3070,637,3789,0,0,0,0,0,0
$GC,846,-0.87,-146.0,119.1,-10.2,80,850,0.00,2.42,0.00,0.000,6,0.000,0.020,3070,2223,3789,0,0,0,0,0,0
$GC,1111,-0.94,-146.0,141.1,-8.0,104,1116,0.00,2.45,0.00,0.000,4,0.000,0.031,3070,3769,3790,0,0,0,0,0,0
$GC,1133,-1.04,-146.0,142.8,-7.8,105,1138,0.15,2.42,0.00,0.000,6,0.055,0.021,3000,2201,3790,0,0,0,0,0,0
$GC,1393,-1.04,-146.0,168.7,-9.3,129,1398,0.15,2.58,0.00,0.000,4,0.091,0.055,3035,643,3790,0,0,0,0,0,0
$GC,1476,-1.10,-146.0,175.7,-8.5,135,1485,0.00,2.40,0.00,0.000,6,0.000,0.016,3035,2195,3791,0,0,0,0,0,0
$GC,1745,-1.16,-146.0,194.6,-6.8,160,1750,0.12,2.50,0.00,0.000,4,0.065,0.039,2977,3769,3791,0,0,0,0,0,0
$GC,1790,-1.16,-146.0,199.4,-9.6,163,1796,0.12,2.45,0.00,0.000,6,0.096,0.027,3008,2198,3791,0,0,0,0,0,0
$GC,2051,-1.16,-146.0,219.6,-7.7,171,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2198,3791,0,0,0,0,0,0
$GC,2297,-1.16,-146.0,238.3,-7.8,177,2301,0.00,2.55,0.00,0.000,4,0.000,0.057,3008,640,3791,0,0,0,0,0,0
$GC,2352,-1.21,-146.0,243.3,-8.1,178,2357,0.00,2.40,0.00,0.000,6,0.000,0.026,3008,2208,3791,0,0,0,0,0,0
$GC,2619,-1.25,-146.0,264.8,-8.2,185,2623,0.00,2.53,0.00,0.000,4,0.000,0.038,3008,3780,3791,0,0,0,0,0,0
$GC,2661,-1.30,-146.0,268.1,-8.6,186,2666,0.15,2.47,0.00,0.000,6,0.056,0.021,2945,2203,3791,0,0,0,0,0,0
$GC,2945,-1.22,-146.0,297.3,-10.2,193,2950,0.22,2.60,0.00,0.000,4,0.080,0.055,2997,642,3790,0,0,0,0,0,0
$GC,2973,-1.22,-146.0,299.9,-8.6,193,2977,0.00,2.42,0.00,0.000,6,0.000,0.022,2997,2210,3790,0,0,0,0,0,0
$GC,3225,-1.22,-146.0,319.6,-7.9,199,3229,0.00,2.53,0.00,0.000,4,0.000,0.048,2997,3783,3790,0,0,0,0,0,0
$GC,3258,-1.22,-146.0,322.5,-8.5,199,3263,0.00,2.47,0.00,0.000,6,0.000,0.028,2997,2218,3790,0,0,0,0,0,0
$GC,3508,-1.22,-146.0,343.2,-8.3,206,3512,0.00,2.67,0.00,0.000,4,0.000,0.061,2997,633,3789,0,0,0,0,0,0
$GC,3543,-1.22,-146.0,346.1,-8.5,206,3548,0.00,2.47,0.00,0.000,6,0.000,0.026,2997,2204,3789,0,0,0,0,0,0
$GC,3793,-1.22,-146.0,365.2,-7.3,213,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2204,3788,0,0,0,0,0,0
$GC,4036,-1.22,-146.0,381.4,-6.4,219,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2204,3787,0,0,0,0,0,0
$GC,4282,-1.22,-146.0,398.0,-7.0,225,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2204,3786,0,0,0,0,0,0
$GC,4524,-1.26,-146.0,416.6,-7.6,231,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2204,3785,0,0,0,0,0,0
$GC,4770,-1.30,-146.0,435.4,-7.7,237,4775,0.00,2.62,0.00,0.000,4,0.000,0.052,2997,3784,3785,0,0,0,0,0,0
$GC,4813,-1.36,-146.0,439.0,-8.1,238,4818,0.15,2.58,0.00,0.000,6,0.057,0.039,2936,2207,3784,0,0,0,0,0,0
$GC,5097,-1.28,-146.0,466.3,-9.5,245,5099,0.20,0.00,0.00,0.000,6,0.084,0.000,2982,2207,3783,0,0,0,0,0,0
$GC,5340,-1.28,-146.0,485.4,-7.8,251,5345,0.00,2.83,0.00,0.000,4,0.000,0.097,2982,628,3782,0,0,0,0,0,0
$GC,5370,-1.28,-146.0,487.8,-8.6,251,5374,0.00,2.58,0.00,0.000,6,0.000,0.047,2982,2194,3781,0,0,0,0,0,0
$GC,5620,-1.28,-146.0,507.5,-7.9,257,5624,0.00,2.72,0.00,0.000,4,0.000,0.074,2982,3793,3780,0,0,0,0,0,0
$GC,5652,-1.28,-146.0,510.4,-8.6,257,5658,0.00,2.62,0.00,0.000,6,0.000,0.043,2982,2212,3780,0,0,0,0,0,0
$GC,5905,-1.28,-146.0,528.8,-7.3,264,5909,0.00,2.92,0.00,0.000,4,0.000,0.107,2982,621,3779,0,0,0,0,0,0
$GC,5932,-1.28,-146.0,531.1,-8.3,264,5936,0.00,2.65,0.00,0.000,6,0.000,0.048,2982,2216,3778,0,0,0,0,0,0
$GC,6182,-1.28,-146.0,549.8,-7.6,270,6186,0.00,2.75,0.00,0.000,4,0.000,0.084,2982,3800,3778,0,0,0,0,0,0
$GC,6211,-1.28,-146.0,552.1,-8.0,270,6215,0.00,2.67,0.00,0.000,6,0.000,0.047,2982,2203,3777,0,0,0,0,0,0
$GC,6461,-1.28,-146.0,571.8,-7.8,276,6465,0.00,2.75,0.00,0.000,4,0.000,0.070,2982,3792,3776,0,0,0,0,0,0
$GC,6488,-1.28,-146.0,574.0,-8.4,276,6492,0.00,2.67,0.00,0.000,6,0.000,0.054,2982,2210,3777,0,0,0,0,0,0
$GC,6740,-1.28,-146.0,592.7,-7.4,282,6745,0.00,3.05,0.00,0.000,4,0.000,0.126,2982,621,3776,0,0,0,0,0,0
$GC,6762,-1.28,-146.0,594.6,-7.8,282,6767,0.00,2.70,0.00,0.000,6,0.000,0.064,2982,2207,3776,0,0,0,0,0,0
$GC,7017,-1.28,-146.0,613.7,-7.5,289,7022,0.00,2.85,0.00,0.000,4,0.000,0.094,2982,3796,3774,0,0,0,0,0,0
$GC,7061,-1.33,-146.0,616.8,-8.1,290,7066,0.00,2.72,0.00,0.000,6,0.000,0.071,2982,2222,3774,0,0,0,0,0,0
$GC,7345,-1.33,-146.0,637.3,-7.3,297,7350,0.00,3.00,0.00,0.000,4,0.000,0.114,2982,613,3772,0,0,0,0,0,0
$GC,7366,-1.33,-146.0,639.0,-8.0,297,7371,0.00,2.80,0.00,0.000,6,0.000,0.068,2982,2230,3772,0,0,0,0,0,0
$GC,7624,-1.33,-146.0,657.4,-7.1,304,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2230,3770,0,0,0,0,0,0
$GC,7865,-1.33,-146.0,675.0,-7.3,310,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2230,3769,0,0,0,0,0,0
$GC,8109,-1.33,-146.0,692.6,-7.2,316,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2230,3768,0,0,0,0,0,0
$GC,8353,-1.33,-146.0,711.4,-7.7,322,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2231,3767,0,0,0,0,0,0
$GC,8599,-1.33,-146.0,731.1,-8.1,328,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2230,3766,0,0,0,0,0,0
$GC,8840,-1.33,-146.0,750.3,-7.8,334,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2231,3765,0,0,0,0,0,0
$GC,9084,-1.33,-146.0,768.8,-7.5,340,9089,0.00,3.00,0.00,0.000,4,0.000,0.108,2982,617,3764,0,0,0,0,0,0
$GC,9105,-1.33,-146.0,770.5,-7.8,340,9110,0.00,2.80,0.00,0.000,6,0.000,0.071,2982,2228,3763,0,0,0,0,0,0
$GC,9363,-1.37,-146.0,788.8,-7.1,347,9368,0.00,2.85,0.00,0.000,4,0.000,0.105,2982,3796,3762,0,0,0,0,0,0
$GC,9396,-1.37,-146.0,791.6,-8.0,347,9401,0.00,2.72,0.00,0.000,6,0.000,0.065,2982,2228,3762,0,0,0,0,0,0
$GC,9646,-1.40,-146.0,810.3,-7.5,354,9648,0.12,0.00,0.00,0.000,6,0.074,0.000,2940,2228,3762,0,0,0,0,0,0
$GC,9892,-1.36,-146.0,832.2,-9.0,360,9898,0.10,2.83,0.00,0.000,4,0.115,0.087,2962,3805,3761,0,0,0,0,0,0
$GC,9920,-1.36,-146.0,835.1,-9.5,360,9924,0.00,2.72,0.00,0.000,6,0.000,0.069,2962,2232,3760,0,0,0,0,0,0
$GC,10176,-1.36,-146.0,856.2,-8.4,366,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2232,3759,0,0,0,0,0,0
$GC,10414,-1.36,-146.0,875.0,-7.5,372,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2232,3758,0,0,0,0,0,0
$GC,10657,-1.36,-146.0,894.1,-7.9,378,10662,0.00,2.75,0.00,0.000,4,0.000,0.084,2962,3798,3757,0,0,0,0,0,0
$GC,10684,-1.36,-146.0,896.4,-8.5,378,10689,0.00,2.70,0.00,0.000,6,0.000,0.067,2962,2232,3757,0,0,0,0,0,0
$STATE,10728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10728,begin apogee
$GC,10737,-0.31,0.0,900.1,8.3,379,10861,1.00,0.00,120.28,1.217,6,0.071,0.000,3189,2392,3190,0,0,0,0,0,0
$STATE,10862,end apogee,CONTROL_FINISHED_OK
$STATE,10862,begin climb
$GC,10864,1.27,146.0,903.3,0.0,382,11001,1.45,2.83,127.00,1.184,4,0.036,0.080,3545,3926,2593,0,0,0,0,0,0
$GC,11120,1.14,146.0,884.5,12.1,388,11125,0.17,2.70,0.00,0.000,6,0.112,0.051,3509,2364,2587,0,0,0,0,0,0
$GC,11406,1.16,167.0,858.2,9.0,395,11427,0.00,0.00,19.02,1.088,6,0.000,0.000,3509,2364,2509,0,0,0,0,0,0
$GC,11648,1.17,173.8,834.8,9.7,401,11657,0.00,0.00,7.45,0.935,6,0.000,0.000,3509,2364,2481,0,0,0,0,0,0
$GC,11891,1.18,181.7,811.3,9.6,407,11905,0.00,2.78,8.32,0.965,4,0.000,0.062,3509,3931,2449,0,0,0,0,0,0
$GC,11965,1.14,181.7,803.7,11.6,408,11969,0.00,2.65,0.00,0.000,6,0.000,0.043,3510,2368,2448,0,0,0,0,0,0
$GC,12220,1.15,185.2,778.3,9.8,415,12230,0.00,2.67,4.80,0.783,4,0.000,0.061,3509,3927,2434,0,0,0,0,0,0
$GC,12253,1.12,193.8,774.9,9.6,415,12268,0.00,2.65,9.88,0.988,6,0.000,0.048,3509,2369,2399,0,0,0,0,0,0
$GC,12542,1.12,193.8,745.8,10.2,423,12544,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2369,2396,0,0,0,0,0,0
$GC,12784,1.12,193.8,720.5,10.4,429,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2369,2395,0,0,0,0,0,0
$GC,13027,1.12,193.8,694.9,10.4,435,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2369,2394,0,0,0,0,0,0
$GC,13274,1.13,198.0,670.7,9.8,441,13283,0.00,2.70,4.50,0.726,4,0.000,0.061,3509,3928,2382,0,0,0,0,0,0
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$STATE,19519,end climb,SURFACE_DEPTH_REACHED
$STATE,19519,begin surface coast
$FINISH,1.1,1.011309
$STATE,19555,end surface coast,CONTROL_FINISHED_OK
$STATE,19556,begin surface
$SM_CCo,19578,20.88,0.482,0,0,1762,350.04
$SM_GC,1.81,0.00,0.00,20.88,0.000,0.000,0.482,462,2135,1762,-12.87,-2.15,350.04
$IRIDIUM_FIX,1918.37,-8110.19,080602,010154
$TT8_MAMPS,0.025311
$HUMID,59.05
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.10
$XPDR_PINGS,67
$24V_AH,23.3,38.207
$10V_AH,10.3,33.734
$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,31.125,205.675,417.600,20.875,0.000,27.714,33.873,208.761,16.750,0.000,13.509,1525.131,14901.650,560.549,2287.397,755.036,33.369,1573.534,0.000,2283.909,0.000,0.536,0.000
$DEVICE_MAMPS,164.138,125.788,1217.229,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.357,335.018,428.651,550.152,1048.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,57234,728
$CAP_FILE_SIZE,172924,0
$CFSIZE,260165632,109481984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140313,122323,1926.326,-8117.684,35,1.0,51,-3.7