version: 66.06
glider: 146
mission: 8
dive: 337
start: 3 28 113 21 38 3
data:
$ID,146
$MISSION,8
$DIVE,337
$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,-314057
$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,53
$R_STBD_OVSHOOT,24
$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
$GPS1,212635,1924.165,-8108.197,45,0.9,45,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-73.1
$GPS2,213708,1924.099,-8108.271,13,1.1,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.043
$KALMAN_X,-140521.7,-13.3,-76.0,139100.4,-1078.3
$KALMAN_Y,96237.3,-158.2,-47.9,-95031.3,1029.5
$MHEAD_RNG_PITCHd_Wd,283.2,17820,-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,-70.85,0.000,2,0.000,0.000,466,2179,3490,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.6,-4.8,9,120,13.18,2.58,-5.72,0.000,4,0.150,0.035,2973,3805,3786,0,0,0,0,0,0
$GC,258,-1.12,-146.0,37.5,-17.9,30,263,0.20,2.50,0.00,0.000,6,0.097,0.023,3016,2224,3786,0,0,0,0,0,0
$GC,529,-0.98,-146.0,76.7,-14.4,54,534,0.12,2.62,0.00,0.000,4,0.113,0.046,3043,637,3787,0,0,0,0,0,0
$GC,588,-0.93,-146.0,85.9,-12.9,58,598,0.00,2.47,0.00,0.000,6,0.000,0.018,3044,2227,3787,0,0,0,0,0,0
$GC,855,-0.85,-146.0,119.3,-13.8,83,860,0.12,0.00,0.00,0.000,6,0.109,0.000,3073,2227,3787,0,0,0,0,0,0
$GC,1120,-0.85,-146.0,146.0,-9.6,108,1124,0.00,2.62,0.00,0.000,4,0.000,0.044,3073,630,3787,0,0,0,0,0,0
$GC,1186,-0.93,-146.0,152.6,-9.7,113,1190,0.00,2.42,0.00,0.000,6,0.000,0.025,3073,2208,3788,0,0,0,0,0,0
$GC,1451,-1.05,-146.0,173.1,-6.6,137,1457,0.17,0.00,0.00,0.000,6,0.051,0.000,3002,2209,3788,0,0,0,0,0,0
$GC,1713,-1.05,-146.0,197.3,-9.3,162,1715,0.12,0.00,0.00,0.000,6,0.096,0.000,3032,2209,3788,0,0,0,0,0,0
$GC,1959,-1.11,-146.0,215.7,-7.4,171,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2209,3788,0,0,0,0,0,0
$GC,2201,-1.18,-146.0,232.2,-6.6,177,2203,0.12,0.00,0.00,0.000,6,0.065,0.000,2975,2209,3789,0,0,0,0,0,0
$GC,2444,-1.18,-146.0,253.7,-8.8,183,2446,0.12,0.00,0.00,0.000,6,0.097,0.000,3005,2209,3789,0,0,0,0,0,0
$GC,2690,-1.18,-146.0,271.0,-6.9,189,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2209,3788,0,0,0,0,0,0
$GC,2932,-1.22,-146.0,288.0,-6.9,195,2936,0.00,2.60,0.00,0.000,4,0.000,0.054,3005,638,3788,0,0,0,0,0,0
$GC,2972,-1.26,-146.0,290.9,-7.7,196,2976,0.00,2.40,0.00,0.000,6,0.000,0.026,3005,2181,3788,0,0,0,0,0,0
$GC,3258,-1.30,-146.0,311.5,-7.3,203,3263,0.12,2.58,0.00,0.000,4,0.065,0.039,2952,3779,3787,0,0,0,0,0,0
$GC,3298,-1.24,-146.0,315.4,-9.8,204,3303,0.17,2.53,0.00,0.000,6,0.082,0.022,2993,2182,3787,0,0,0,0,0,0
$GC,3584,-1.24,-146.0,338.2,-7.9,211,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2182,3786,0,0,0,0,0,0
$GC,3825,-1.24,-146.0,357.2,-7.7,217,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2181,3785,0,0,0,0,0,0
$GC,4069,-1.24,-146.0,377.1,-8.2,223,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2182,3784,0,0,0,0,0,0
$GC,4313,-1.24,-146.0,396.7,-7.9,229,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2182,3783,0,0,0,0,0,0
$GC,4559,-1.24,-146.0,415.0,-7.4,235,4563,0.00,2.62,0.00,0.000,4,0.000,0.050,2993,3775,3783,0,0,0,0,0,0
$GC,4580,-1.24,-146.0,416.8,-7.3,235,4585,0.00,2.55,0.00,0.000,6,0.000,0.033,2992,2188,3782,0,0,0,0,0,0
$GC,4836,-1.24,-146.0,434.5,-6.9,242,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2188,3781,0,0,0,0,0,0
$GC,5082,-1.24,-146.0,451.7,-7.1,248,5086,0.00,2.67,0.00,0.000,4,0.000,0.061,2992,3775,3780,0,0,0,0,0,0
$GC,5103,-1.24,-146.0,453.6,-7.4,248,5108,0.00,2.60,0.00,0.000,6,0.000,0.041,2992,2191,3780,0,0,0,0,0,0
$GC,5359,-1.24,-146.0,472.1,-7.2,255,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2191,3778,0,0,0,0,0,0
$GC,5605,-1.24,-146.0,489.9,-7.3,261,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2191,3777,0,0,0,0,0,0
$GC,5846,-1.24,-146.0,507.5,-7.2,267,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2191,3777,0,0,0,0,0,0
$GC,6090,-1.28,-146.0,525.0,-7.2,273,6095,0.00,2.72,0.00,0.000,4,0.000,0.071,2992,3775,3776,0,0,0,0,0,0
$GC,6112,-1.32,-146.0,526.7,-7.3,273,6117,0.00,2.65,0.00,0.000,6,0.000,0.052,2993,2189,3775,0,0,0,0,0,0
$GC,6370,-1.32,-146.0,545.9,-7.6,280,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2189,3774,0,0,0,0,0,0
$GC,6611,-1.32,-146.0,565.2,-7.9,286,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2189,3773,0,0,0,0,0,0
$GC,6855,-1.36,-146.0,584.7,-7.9,292,6857,0.12,0.00,0.00,0.000,6,0.214,0.000,2949,2189,3771,0,0,0,0,0,0
$GC,7101,-1.31,-146.0,608.0,-9.6,298,7106,0.12,2.83,0.00,0.000,4,0.100,0.088,2977,3769,3770,0,0,0,0,0,0
$GC,7146,-1.31,-146.0,612.5,-9.3,299,7150,0.00,2.72,0.00,0.000,6,0.000,0.070,2977,2185,3770,0,0,0,0,0,0
$GC,7423,-1.31,-146.0,635.1,-8.0,306,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2185,3769,0,0,0,0,0,0
$GC,7669,-1.31,-146.0,654.2,-7.8,312,7674,0.00,2.85,0.00,0.000,4,0.000,0.091,2977,3769,3768,0,0,0,0,0,0
$GC,7709,-1.31,-146.0,657.6,-8.3,313,7713,0.00,2.80,0.00,0.000,6,0.000,0.084,2977,2190,3768,0,0,0,0,0,0
$GC,7992,-1.31,-146.0,680.4,-8.0,320,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2190,3766,0,0,0,0,0,0
$GC,8240,-1.31,-146.0,699.6,-7.8,326,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2189,3765,0,0,0,0,0,0
$GC,8479,-1.31,-146.0,718.4,-7.7,332,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2188,3764,0,0,0,0,0,0
$GC,8723,-1.31,-146.0,737.4,-7.9,338,8727,0.00,2.83,0.00,0.000,4,0.000,0.088,2977,3768,3763,0,0,0,0,0,0
$GC,8749,-1.31,-146.0,739.5,-8.4,338,8753,0.00,2.75,0.00,0.000,6,0.000,0.074,2977,2192,3762,0,0,0,0,0,0
$GC,9004,-1.31,-146.0,759.6,-7.8,345,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2191,3762,0,0,0,0,0,0
$GC,9248,-1.31,-146.0,779.2,-8.0,351,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2191,3762,0,0,0,0,0,0
$GC,9491,-1.31,-146.0,799.1,-8.2,357,9496,0.00,2.80,0.00,0.000,4,0.000,0.086,2977,3774,3761,0,0,0,0,0,0
$GC,9509,-1.31,-146.0,800.5,-8.1,357,9514,0.00,2.75,0.00,0.000,6,0.000,0.070,2977,2190,3761,0,0,0,0,0,0
$GC,9770,-1.31,-146.0,820.2,-7.6,364,9774,0.00,2.80,0.00,0.000,4,0.000,0.085,2977,3773,3760,0,0,0,0,0,0
$GC,9797,-1.31,-146.0,822.4,-7.9,364,9801,0.00,2.70,0.00,0.000,6,0.000,0.072,2977,2210,3760,0,0,0,0,0,0
$GC,10047,-1.31,-146.0,840.7,-7.3,370,10052,0.00,3.05,0.00,0.000,4,0.000,0.124,2977,622,3759,0,0,0,0,0,0
$GC,10086,-1.31,-146.0,843.8,-8.0,371,10091,0.00,2.67,0.00,0.000,6,0.000,0.058,2977,2184,3759,0,0,0,0,0,0
$GC,10370,-1.31,-146.0,865.0,-7.4,378,10374,0.00,2.90,0.00,0.000,4,0.000,0.095,2977,3797,3758,0,0,0,0,0,0
$GC,10446,-1.35,-146.0,870.9,-8.8,379,10451,0.00,2.75,0.00,0.000,6,0.000,0.065,2977,2209,3757,0,0,0,0,0,0
$GC,10696,-1.35,-146.0,890.0,-7.4,385,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2209,3756,0,0,0,0,0,0
$STATE,10856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10856,begin apogee
$GC,10864,-0.31,0.0,901.5,7.1,389,10987,0.93,0.00,119.35,1.206,6,0.069,0.000,3190,2380,3190,0,0,0,0,0,0
$STATE,10988,end apogee,CONTROL_FINISHED_OK
$STATE,10988,begin climb
$GC,10990,1.27,146.0,904.3,0.0,392,11126,1.42,2.83,127.28,1.179,4,0.037,0.081,3542,3927,2593,0,0,0,0,0,0
$GC,11199,1.16,146.0,890.1,12.0,397,11204,0.15,2.72,0.00,0.000,6,0.112,0.056,3513,2364,2588,0,0,0,0,0,0
$GC,11483,1.17,193.2,865.2,7.8,404,11532,0.00,3.12,42.35,1.128,4,0.000,0.112,3513,781,2401,0,0,0,0,0,0
$GC,11634,1.19,204.2,850.8,9.5,407,11650,0.00,2.75,11.12,1.016,6,0.000,0.051,3513,2401,2357,0,0,0,0,0,0
$GC,11894,1.19,204.2,824.3,10.4,413,11898,0.00,2.70,0.00,0.000,4,0.000,0.075,3513,3943,2353,0,0,0,0,0,0
$GC,12031,1.19,204.2,809.1,11.2,416,12035,0.00,2.55,0.00,0.000,6,0.000,0.041,3513,2420,2351,0,0,0,0,0,0
$GC,12308,1.19,204.2,780.7,10.1,423,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2421,2350,0,0,0,0,0,0
$GC,12554,1.19,204.2,755.4,10.4,429,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2421,2349,0,0,0,0,0,0
$GC,12795,1.19,204.2,728.7,11.0,435,12800,0.00,2.58,0.00,0.000,4,0.000,0.061,3513,3943,2348,0,0,0,0,0,0
$GC,12811,1.19,204.2,726.9,11.1,435,12815,0.00,2.55,0.00,0.000,6,0.000,0.039,3513,2422,2348,0,0,0,0,0,0
$GC,13071,1.19,204.2,699.3,10.6,442,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2422,2347,0,0,0,0,0,0
$GC,13318,1.19,204.2,673.9,10.4,448,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2422,2347,0,0,0,0,0,0
$GC,13560,1.19,204.2,647.8,10.9,454,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2422,2347,0,0,0,0,0,0
$GC,13802,1.19,204.2,620.7,11.1,460,13807,0.00,2.58,0.00,0.000,4,0.000,0.054,3513,3938,2347,0,0,0,0,0,0
$GC,13841,1.19,204.2,616.1,12.4,461,13846,0.00,2.53,0.00,0.000,6,0.000,0.047,3513,2429,2346,0,0,0,0,0,0
$GC,14127,1.19,204.2,585.3,10.9,468,14131,0.00,2.55,0.00,0.000,4,0.000,0.058,3513,3938,2346,0,0,0,0,0,0
$GC,14142,1.19,204.2,583.2,10.6,468,14147,0.00,2.50,0.00,0.000,6,0.000,0.041,3513,2428,2346,0,0,0,0,0,0
$GC,14409,1.19,204.2,555.4,10.4,475,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2428,2346,0,0,0,0,0,0
$GC,14655,1.19,204.2,530.4,10.2,481,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2428,2346,0,0,0,0,0,0
$GC,14897,1.19,205.2,505.9,10.0,487,14901,0.00,2.55,0.00,0.000,4,0.000,0.053,3513,3952,2346,0,0,0,0,0,0
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$STATE,19622,end climb,SURFACE_DEPTH_REACHED
$STATE,19622,begin surface coast
$FINISH,1.1,1.013925
$STATE,19671,end surface coast,CONTROL_FINISHED_OK
$STATE,19671,begin surface
$SM_CCo,19695,48.67,0.493,0,0,1762,350.04
$SM_GC,1.88,0.00,0.00,48.67,0.000,0.000,0.493,468,2140,1762,-12.84,-1.98,350.04
$IRIDIUM_FIX,1916.08,-8107.94,220602,212105
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.40
$XPDR_PINGS,59
$24V_AH,23.2,47.410
$10V_AH,10.2,41.997
$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
$DEVICE_SECS,29.750,169.850,377.625,48.675,0.000,56.945,71.002,266.033,14.750,0.000,15.445,1522.455,15130.090,527.256,2315.766,872.384,33.368,1501.901,0.000,2311.045,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,502.741,344.845,436.187,575.522,1095.172,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,57135,742
$CAP_FILE_SIZE,165161,0
$CFSIZE,260165632,104787968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,030835,1924.502,-8112.685,47,1.0,47,-3.8