version: 66.06
glider: 146
mission: 8
dive: 307
start: 3 22 113 7 37 20
data:
$ID,146
$MISSION,8
$DIVE,307
$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,-313473.25
$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,42
$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
$GPS1,072536,1924.948,-8108.402,39,1.1,39,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.8
$GPS2,073625,1924.905,-8108.326,13,1.3,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,0.026
$KALMAN_X,-68929.6,228.5,-75.8,67169.9,-1227.1
$KALMAN_Y,42067.2,-19.4,91.8,-39654.6,874.1
$MHEAD_RNG_PITCHd_Wd,279.6,17334,-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,-70.68,0.000,2,0.000,0.000,462,2190,3508,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.0,-5.9,9,121,13.73,2.50,-5.05,0.000,4,0.163,0.044,2977,633,3787,0,0,0,0,0,0
$GC,250,-1.09,-146.0,42.4,-17.0,26,260,0.17,2.45,0.00,0.000,6,0.085,0.016,3018,2217,3787,0,0,0,0,0,0
$GC,518,-0.96,-146.0,80.9,-14.9,51,523,0.15,0.00,0.00,0.000,6,0.104,0.000,3052,2217,3788,0,0,0,0,0,0
$GC,783,-0.89,-146.0,114.9,-12.5,76,787,0.00,2.58,0.00,0.000,4,0.000,0.044,3051,644,3788,0,0,0,0,0,0
$GC,805,-0.82,-146.0,118.5,-13.0,77,812,0.12,2.40,0.00,0.000,6,0.110,0.023,3079,2218,3788,0,0,0,0,0,0
$GC,1070,-0.89,-146.0,144.4,-9.6,102,1075,0.00,2.58,0.00,0.000,4,0.000,0.044,3080,644,3789,0,0,0,0,0,0
$GC,1115,-0.99,-146.0,148.5,-8.4,105,1120,0.15,2.38,0.00,0.000,6,0.054,0.016,3009,2197,3789,0,0,0,0,0,0
$GC,1377,-0.99,-146.0,173.5,-9.0,129,1379,0.15,0.00,0.00,0.000,6,0.091,0.000,3044,2197,3789,0,0,0,0,0,0
$GC,1634,-1.07,-146.0,193.0,-7.1,153,1638,0.00,2.47,0.00,0.000,4,0.000,0.034,3044,3769,3789,0,0,0,0,0,0
$GC,1679,-1.17,-146.0,196.3,-7.4,156,1684,0.17,2.45,0.00,0.000,6,0.050,0.020,2972,2192,3789,0,0,0,0,0,0
$GC,1931,-1.12,-146.0,220.8,-9.7,165,1936,0.20,2.53,0.00,0.000,4,0.081,0.048,3018,644,3789,0,0,0,0,0,0
$GC,1978,-1.18,-146.0,224.3,-7.6,166,1982,0.00,2.35,0.00,0.000,6,0.000,0.023,3018,2189,3789,0,0,0,0,0,0
$GC,2256,-1.24,-146.0,243.6,-7.2,173,2261,0.12,2.58,0.00,0.000,4,0.068,0.042,2963,3780,3789,0,0,0,0,0,0
$GC,2289,-1.18,-146.0,246.7,-10.1,173,2295,0.17,2.47,0.00,0.000,6,0.082,0.021,3005,2195,3789,0,0,0,0,0,0
$GC,2541,-1.18,-146.0,264.8,-6.9,180,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2196,3789,0,0,0,0,0,0
$GC,2783,-1.18,-146.0,282.7,-7.5,186,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2195,3788,0,0,0,0,0,0
$GC,3026,-1.18,-146.0,302.1,-7.9,192,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2196,3787,0,0,0,0,0,0
$GC,3273,-1.22,-146.0,319.8,-7.1,198,3277,0.00,2.55,0.00,0.000,4,0.000,0.048,3005,3780,3787,0,0,0,0,0,0
$GC,3300,-1.26,-146.0,322.1,-7.0,198,3305,0.00,2.50,0.00,0.000,6,0.000,0.029,3005,2191,3787,0,0,0,0,0,0
$GC,3551,-1.30,-146.0,339.6,-7.0,204,3552,0.12,0.00,0.00,0.000,6,0.066,0.000,2952,2191,3786,0,0,0,0,0,0
$GC,3797,-1.23,-146.0,362.4,-9.6,210,3798,0.17,0.00,0.00,0.000,6,0.084,0.000,2993,2191,3785,0,0,0,0,0,0
$GC,4038,-1.23,-146.0,381.2,-7.7,216,4042,0.00,2.67,0.00,0.000,4,0.000,0.075,2993,637,3784,0,0,0,0,0,0
$GC,4070,-1.23,-146.0,384.1,-8.6,216,4076,0.00,2.42,0.00,0.000,6,0.000,0.032,2993,2163,3784,0,0,0,0,0,0
$GC,4322,-1.23,-146.0,404.2,-8.0,223,4327,0.00,2.67,0.00,0.000,4,0.000,0.050,2993,3794,3783,0,0,0,0,0,0
$GC,4344,-1.23,-146.0,406.4,-8.6,223,4348,0.00,2.55,0.00,0.000,6,0.000,0.035,2993,2197,3783,0,0,0,0,0,0
$GC,4599,-1.23,-146.0,425.9,-7.7,230,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2197,3782,0,0,0,0,0,0
$GC,4842,-1.23,-146.0,443.8,-7.3,236,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2197,3782,0,0,0,0,0,0
$GC,5089,-1.23,-146.0,461.9,-7.7,242,5093,0.00,2.65,0.00,0.000,4,0.000,0.058,2993,3791,3781,0,0,0,0,0,0
$GC,5110,-1.23,-146.0,463.8,-7.6,242,5114,0.00,2.62,0.00,0.000,6,0.000,0.043,2993,2183,3780,0,0,0,0,0,0
$GC,5365,-1.23,-146.0,483.5,-7.7,249,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2184,3779,0,0,0,0,0,0
$GC,5611,-1.23,-146.0,502.0,-7.7,255,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2184,3778,0,0,0,0,0,0
$GC,5852,-1.23,-146.0,519.7,-7.2,261,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2184,3777,0,0,0,0,0,0
$GC,6096,-1.23,-146.0,537.9,-7.4,267,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2184,3776,0,0,0,0,0,0
$GC,6340,-1.23,-146.0,555.9,-7.4,273,6344,0.00,2.80,0.00,0.000,4,0.000,0.079,2993,3785,3775,0,0,0,0,0,0
$GC,6375,-1.28,-146.0,558.7,-8.6,273,6381,0.00,2.70,0.00,0.000,6,0.000,0.059,2993,2202,3775,0,0,0,0,0,0
$GC,6625,-1.32,-146.0,578.1,-7.9,280,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2202,3774,0,0,0,0,0,0
$GC,6869,-1.36,-146.0,596.6,-7.5,286,6875,0.12,3.08,0.00,0.000,4,0.209,0.130,2948,623,3773,0,0,0,0,0,0
$GC,6894,-1.36,-146.0,598.6,-8.9,286,6898,0.00,2.65,0.00,0.000,6,0.000,0.057,2948,2183,3772,0,0,0,0,0,0
$GC,7149,-1.31,-146.0,621.6,-8.8,293,7155,0.12,2.95,0.00,0.000,4,0.127,0.097,2977,3801,3771,0,0,0,0,0,0
$GC,7183,-1.31,-146.0,624.5,-8.0,293,7189,0.00,2.80,0.00,0.000,6,0.000,0.072,2976,2191,3771,0,0,0,0,0,0
$GC,7435,-1.31,-146.0,642.9,-7.3,300,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2191,3769,0,0,0,0,0,0
$GC,7677,-1.31,-146.0,661.0,-7.4,306,7681,0.00,2.92,0.00,0.000,4,0.000,0.097,2977,3796,3768,0,0,0,0,0,0
$GC,7698,-1.31,-146.0,662.7,-7.8,306,7703,0.00,2.88,0.00,0.000,6,0.000,0.089,2976,2198,3768,0,0,0,0,0,0
$GC,7958,-1.31,-146.0,682.3,-7.6,313,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2198,3767,0,0,0,0,0,0
$GC,8199,-1.31,-146.0,701.7,-7.9,319,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2198,3766,0,0,0,0,0,0
$GC,8445,-1.31,-146.0,721.0,-8.0,325,8450,0.00,3.10,0.00,0.000,4,0.000,0.131,2976,3797,3765,0,0,0,0,0,0
$GC,8472,-1.31,-146.0,723.5,-8.2,325,8477,0.00,3.10,0.00,0.000,6,0.000,0.123,2976,2196,3764,0,0,0,0,0,0
$GC,8725,-1.31,-146.0,742.6,-7.7,331,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2196,3763,0,0,0,0,0,0
$GC,8966,-1.31,-146.0,762.1,-8.0,337,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2196,3762,0,0,0,0,0,0
$GC,9210,-1.31,-146.0,780.9,-7.6,343,9215,0.00,2.85,0.00,0.000,4,0.000,0.093,2976,3795,3761,0,0,0,0,0,0
$GC,9234,-1.31,-146.0,782.7,-8.1,343,9238,0.00,2.78,0.00,0.000,6,0.000,0.072,2976,2202,3761,0,0,0,0,0,0
$GC,9489,-1.31,-146.0,802.0,-7.5,350,9493,0.00,3.00,0.00,0.000,4,0.000,0.118,2976,615,3760,0,0,0,0,0,0
$GC,9510,-1.31,-146.0,803.8,-8.5,350,9515,0.00,2.72,0.00,0.000,6,0.000,0.068,2976,2202,3760,0,0,0,0,0,0
$GC,9768,-1.31,-146.0,824.1,-8.0,357,9772,0.00,2.90,0.00,0.000,4,0.000,0.097,2976,3804,3759,0,0,0,0,0,0
$GC,9823,-1.31,-146.0,829.0,-8.6,358,9827,0.00,2.72,0.00,0.000,6,0.000,0.070,2976,2216,3759,0,0,0,0,0,0
$GC,10089,-1.31,-146.0,849.8,-7.8,365,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2215,3757,0,0,0,0,0,0
$GC,10333,-1.31,-146.0,868.1,-7.4,371,10338,0.00,3.00,0.00,0.000,4,0.000,0.115,2976,619,3756,0,0,0,0,0,0
$GC,10360,-1.31,-146.0,870.3,-7.8,371,10364,0.00,2.72,0.00,0.000,6,0.000,0.060,2977,2216,3756,0,0,0,0,0,0
$GC,10610,-1.31,-146.0,888.2,-7.2,377,10615,0.00,2.85,0.00,0.000,4,0.000,0.093,2976,3797,3755,0,0,0,0,0,0
$GC,10668,-1.35,-146.0,892.6,-8.1,378,10672,0.00,2.72,0.00,0.000,6,0.000,0.061,2976,2217,3756,0,0,0,0,0,0
$STATE,10769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10769,begin apogee
$GC,10775,-0.31,0.0,900.3,7.3,381,10898,0.93,0.00,119.40,1.218,6,0.070,0.000,3190,2389,3190,0,0,0,0,0,0
$STATE,10899,end apogee,CONTROL_FINISHED_OK
$STATE,10899,begin climb
$GC,10901,1.27,146.0,903.5,0.0,384,11038,1.42,2.83,126.65,1.186,4,0.036,0.077,3540,3925,2592,0,0,0,0,0,0
$GC,11153,1.15,146.0,885.5,12.1,389,11159,0.15,2.70,0.00,0.000,6,0.113,0.051,3510,2365,2587,0,0,0,0,0,0
$GC,11403,1.16,157.1,861.2,9.5,396,11418,0.00,2.78,10.10,1.014,4,0.000,0.064,3510,3932,2548,0,0,0,0,0,0
$GC,11442,1.11,157.1,857.3,10.2,397,11446,0.00,2.70,0.00,0.000,6,0.000,0.052,3511,2361,2548,0,0,0,0,0,0
$GC,11727,1.12,163.9,829.9,9.7,404,11741,0.00,3.08,7.30,0.943,4,0.000,0.110,3510,777,2521,0,0,0,0,0,0
$GC,11748,1.08,164.8,827.6,10.0,404,11752,0.00,2.70,0.00,0.000,6,0.000,0.048,3511,2370,2520,0,0,0,0,0,0
$GC,12008,1.09,177.3,802.7,9.4,411,12027,0.00,2.80,13.25,1.051,4,0.000,0.071,3510,3924,2467,0,0,0,0,0,0
$GC,12064,1.05,177.3,797.1,10.1,412,12069,0.00,2.62,0.00,0.000,6,0.000,0.044,3510,2373,2465,0,0,0,0,0,0
$GC,12336,1.06,184.4,770.0,9.7,419,12351,0.00,2.75,7.55,0.933,4,0.000,0.062,3511,3929,2438,0,0,0,0,0,0
$GC,12370,1.02,184.4,766.7,10.6,419,12375,0.12,2.62,0.00,0.000,6,0.117,0.045,3485,2373,2437,0,0,0,0,0,0
$GC,12620,1.09,204.9,743.7,9.1,425,12647,0.00,3.15,20.55,1.065,4,0.000,0.125,3485,784,2353,0,0,0,0,0,0
$GC,12652,1.10,212.8,740.6,9.6,425,12666,0.00,2.70,8.77,0.939,6,0.000,0.044,3485,2385,2322,0,0,0,0,0,0
$GC,12950,1.14,215.8,711.6,9.9,433,12952,0.10,0.00,0.00,0.000,6,0.090,0.000,3516,2385,2318,0,0,0,0,0,0
$GC,13189,1.14,215.8,683.3,11.8,439,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2386,2317,0,0,0,0,0,0
$GC,13433,1.14,215.8,655.0,11.5,445,13437,0.00,2.67,0.00,0.000,4,0.000,0.071,3515,3932,2317,0,0,0,0,0,0
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$STATE,19502,end climb,SURFACE_DEPTH_REACHED
$STATE,19502,begin surface coast
$FINISH,1.0,1.006066
$STATE,19555,end surface coast,CONTROL_FINISHED_OK
$STATE,19555,begin surface
$SM_CCo,19578,41.40,0.493,0,0,1763,350.04
$SM_GC,2.05,0.00,0.00,41.40,0.000,0.000,0.493,461,2173,1763,-12.88,-1.05,350.04
$IRIDIUM_FIX,1916.08,-8105.68,160602,070703
$TT8_MAMPS,0.026078
$HUMID,59.72
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.40
$XPDR_PINGS,69
$24V_AH,23.2,43.198
$10V_AH,10.3,38.285
$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
$DEVICE_SECS,31.175,202.775,391.750,41.400,0.000,55.639,69.093,270.948,17.250,0.000,14.830,1544.350,14944.220,544.585,2309.720,915.903,33.368,1545.050,0.000,2308.667,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.549,343.800,436.863,562.853,1072.883,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,57220,736
$CAP_FILE_SIZE,175276,0
$CFSIZE,260165632,106897408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220313,130536,1925.277,-8112.453,34,1.1,34,-3.8