version: 66.06
glider: 146
mission: 8
dive: 338
start: 3 29 113 3 17 49
data:
$ID,146
$MISSION,8
$DIVE,338
$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,-314071.97
$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,30
$R_STBD_OVSHOOT,15
$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
$GPS1,030835,1924.502,-8112.685,47,1.0,47,-3.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-71.7
$GPS2,031655,1924.475,-8112.747,12,1.9,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,0.031
$KALMAN_X,-142961.9,-160.0,-627.2,134431.8,-115.4
$KALMAN_Y,96667.4,-318.1,-358.4,-94295.1,1865.6
$MHEAD_RNG_PITCHd_Wd,280.6,10298,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.05,0.000,2,0.000,0.000,468,2140,3497,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.7,-5.1,9,122,13.27,2.67,-5.35,0.000,4,0.153,0.038,2979,3818,3786,0,0,0,0,0,0
$GC,284,-1.13,-146.0,43.4,-14.9,30,294,0.12,2.58,0.00,0.000,6,0.087,0.024,3011,2202,3788,0,0,0,0,0,0
$GC,553,-0.99,-146.0,87.8,-16.9,55,558,0.15,2.60,0.00,0.000,4,0.104,0.048,3044,634,3788,0,0,0,0,0,0
$GC,620,-0.90,-146.0,100.0,-17.2,60,624,0.00,2.45,0.00,0.000,6,0.000,0.016,3044,2241,3788,0,0,0,0,0,0
$GC,885,-0.84,-146.0,134.3,-11.4,84,890,0.15,2.67,0.00,0.000,4,0.099,0.047,3078,633,3789,0,0,0,0,0,0
$GC,929,-0.84,-146.0,139.3,-10.6,87,933,0.00,2.40,0.00,0.000,6,0.000,0.017,3078,2198,3789,0,0,0,0,0,0
$GC,1195,-0.88,-146.0,164.5,-9.5,111,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2199,3789,0,0,0,0,0,0
$GC,1462,-1.03,-146.0,183.2,-5.7,136,1467,0.17,0.00,0.00,0.000,6,0.051,0.000,3008,2199,3789,0,0,0,0,0,0
$GC,1740,-1.03,-146.0,207.5,-8.5,157,1742,0.12,0.00,0.00,0.000,6,0.095,0.000,3039,2199,3790,0,0,0,0,0,0
$GC,1984,-1.11,-146.0,222.9,-5.9,163,1989,0.00,2.58,0.00,0.000,4,0.000,0.048,3038,626,3790,0,0,0,0,0,0
$GC,2012,-1.20,-146.0,224.5,-5.6,163,2017,0.17,2.38,0.00,0.000,6,0.051,0.024,2970,2184,3790,0,0,0,0,0,0
$GC,2265,-1.16,-146.0,247.8,-9.8,169,2270,0.15,2.55,0.00,0.000,4,0.089,0.037,3007,3780,3790,0,0,0,0,0,0
$GC,2326,-1.22,-146.0,253.8,-9.0,170,2331,0.00,2.50,0.00,0.000,6,0.000,0.021,3007,2180,3790,0,0,0,0,0,0
$GC,2589,-1.22,-146.0,274.4,-7.7,177,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2180,3790,0,0,0,0,0,0
$GC,2831,-1.26,-146.0,291.7,-7.0,183,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2180,3790,0,0,0,0,0,0
$GC,3075,-1.31,-146.0,310.2,-7.9,189,3076,0.12,0.00,0.00,0.000,6,0.067,0.000,2952,2180,3789,0,0,0,0,0,0
$GC,3320,-1.24,-146.0,335.1,-10.3,195,3325,0.17,2.58,0.00,0.000,4,0.084,0.039,2993,3767,3788,0,0,0,0,0,0
$GC,3355,-1.24,-146.0,338.6,-9.0,195,3361,0.00,2.45,0.00,0.000,6,0.000,0.026,2993,2206,3788,0,0,0,0,0,0
$GC,3605,-1.24,-146.0,359.4,-8.2,202,3609,0.00,2.70,0.00,0.000,4,0.000,0.067,2993,631,3787,0,0,0,0,0,0
$GC,3634,-1.24,-146.0,361.7,-8.5,202,3639,0.00,2.45,0.00,0.000,6,0.000,0.028,2993,2187,3787,0,0,0,0,0,0
$GC,3884,-1.24,-146.0,381.3,-7.6,208,3889,0.00,2.62,0.00,0.000,4,0.000,0.047,2993,3791,3786,0,0,0,0,0,0
$GC,3905,-1.24,-146.0,383.0,-7.4,208,3910,0.00,2.55,0.00,0.000,6,0.000,0.031,2993,2199,3786,0,0,0,0,0,0
$GC,4163,-1.24,-146.0,400.9,-7.1,215,4167,0.00,2.72,0.00,0.000,4,0.000,0.076,2993,622,3785,0,0,0,0,0,0
$GC,4207,-1.29,-146.0,404.6,-8.3,216,4212,0.00,2.50,0.00,0.000,6,0.000,0.031,2993,2190,3785,0,0,0,0,0,0
$GC,4485,-1.29,-146.0,426.3,-7.8,223,4489,0.00,2.67,0.00,0.000,4,0.000,0.054,2993,3795,3784,0,0,0,0,0,0
$GC,4520,-1.33,-146.0,429.0,-8.9,223,4526,0.00,2.58,0.00,0.000,6,0.000,0.037,2993,2199,3784,0,0,0,0,0,0
$GC,4770,-1.33,-146.0,448.5,-7.7,230,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2199,3783,0,0,0,0,0,0
$GC,5014,-1.36,-146.0,466.6,-7.6,236,5019,0.12,2.67,0.00,0.000,4,0.067,0.056,2944,3789,3782,0,0,0,0,0,0
$GC,5038,-1.36,-146.0,468.7,-8.8,236,5043,0.00,2.62,0.00,0.000,6,0.000,0.042,2944,2196,3781,0,0,0,0,0,0
$GC,5294,-1.31,-146.0,492.8,-9.3,243,5296,0.12,0.00,0.00,0.000,6,0.100,0.000,2974,2197,3779,0,0,0,0,0,0
$GC,5538,-1.31,-146.0,513.9,-8.7,249,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2196,3778,0,0,0,0,0,0
$GC,5784,-1.31,-146.0,536.0,-9.1,255,5788,0.00,2.75,0.00,0.000,4,0.000,0.074,2975,3785,3777,0,0,0,0,0,0
$GC,5812,-1.31,-146.0,538.8,-9.4,255,5817,0.00,2.65,0.00,0.000,6,0.000,0.058,2974,2204,3777,0,0,0,0,0,0
$GC,6062,-1.31,-146.0,560.4,-8.5,261,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2204,3776,0,0,0,0,0,0
$GC,6308,-1.31,-146.0,581.2,-8.5,267,6313,0.00,3.03,0.00,0.000,4,0.000,0.121,2974,619,3775,0,0,0,0,0,0
$GC,6336,-1.31,-146.0,583.8,-8.8,267,6340,0.00,2.62,0.00,0.000,6,0.000,0.054,2975,2189,3774,0,0,0,0,0,0
$GC,6586,-1.31,-146.0,603.6,-8.1,273,6590,0.00,2.85,0.00,0.000,4,0.000,0.090,2975,3793,3773,0,0,0,0,0,0
$GC,6613,-1.31,-146.0,606.2,-8.9,273,6617,0.00,2.72,0.00,0.000,6,0.000,0.059,2975,2194,3773,0,0,0,0,0,0
$GC,6865,-1.31,-146.0,627.9,-8.7,279,6870,0.00,3.00,0.00,0.000,4,0.000,0.120,2975,622,3771,0,0,0,0,0,0
$GC,6898,-1.31,-146.0,631.0,-9.6,279,6903,0.00,2.67,0.00,0.000,6,0.000,0.058,2974,2204,3771,0,0,0,0,0,0
$GC,7148,-1.31,-146.0,650.1,-7.6,286,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3770,0,0,0,0,0,0
$GC,7394,-1.31,-146.0,670.7,-8.5,292,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2204,3769,0,0,0,0,0,0
$GC,7635,-1.31,-146.0,691.7,-8.7,298,7640,0.00,3.05,0.00,0.000,4,0.000,0.123,2975,619,3768,0,0,0,0,0,0
$GC,7659,-1.31,-146.0,693.9,-9.1,298,7664,0.00,2.83,0.00,0.000,6,0.000,0.084,2974,2201,3768,0,0,0,0,0,0
$GC,7916,-1.31,-146.0,714.2,-7.7,305,7921,0.00,3.08,0.00,0.000,4,0.000,0.133,2975,3796,3767,0,0,0,0,0,0
$GC,7949,-1.31,-146.0,717.2,-8.7,305,7955,0.00,2.88,0.00,0.000,6,0.000,0.083,2974,2195,3767,0,0,0,0,0,0
$GC,8199,-1.31,-146.0,739.0,-8.9,312,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2195,3765,0,0,0,0,0,0
$GC,8443,-1.31,-146.0,757.9,-7.7,318,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2194,3765,0,0,0,0,0,0
$GC,8689,-1.31,-146.0,778.0,-8.3,324,8694,0.00,2.97,0.00,0.000,4,0.000,0.117,2974,614,3764,0,0,0,0,0,0
$GC,8733,-1.31,-146.0,781.9,-9.2,325,8737,0.00,2.75,0.00,0.000,6,0.000,0.069,2975,2213,3763,0,0,0,0,0,0
$GC,9010,-1.31,-146.0,805.6,-8.3,332,9015,0.00,2.90,0.00,0.000,4,0.000,0.101,2974,3804,3762,0,0,0,0,0,0
$GC,9045,-1.31,-146.0,808.3,-8.8,332,9051,0.00,2.78,0.00,0.000,6,0.000,0.069,2975,2201,3762,0,0,0,0,0,0
$GC,9295,-1.31,-146.0,828.6,-8.2,339,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2201,3762,0,0,0,0,0,0
$GC,9539,-1.31,-146.0,846.4,-7.2,345,9544,0.00,2.83,0.00,0.000,4,0.000,0.081,2974,3800,3761,0,0,0,0,0,0
$GC,9574,-1.31,-146.0,849.0,-7.4,345,9580,0.00,2.78,0.00,0.000,6,0.000,0.069,2974,2201,3760,0,0,0,0,0,0
$GC,9824,-1.31,-146.0,868.7,-8.0,352,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2201,3761,0,0,0,0,0,0
$GC,10068,-1.31,-146.0,888.1,-8.0,358,10072,0.00,2.83,0.00,0.000,4,0.000,0.084,2974,3799,3759,0,0,0,0,0,0
$GC,10102,-1.31,-146.0,890.7,-7.9,358,10108,0.00,2.75,0.00,0.000,6,0.000,0.065,2975,2205,3759,0,0,0,0,0,0
$STATE,10268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10269,begin apogee
$GC,10275,-0.31,0.0,902.8,7.2,363,10398,0.95,0.00,119.93,1.203,6,0.067,0.000,3193,2388,3190,0,0,0,0,0,0
$STATE,10399,end apogee,CONTROL_FINISHED_OK
$STATE,10399,begin climb
$GC,10401,1.27,146.0,905.1,0.0,366,10539,1.40,2.83,127.20,1.176,4,0.047,0.079,3541,3923,2593,0,0,0,0,0,0
$GC,10647,1.16,146.0,886.4,11.3,371,10652,0.15,2.70,0.00,0.000,6,0.113,0.056,3512,2367,2588,0,0,0,0,0,0
$GC,10899,1.18,164.3,862.8,9.2,377,10923,0.00,2.85,16.50,1.068,4,0.000,0.068,3512,3934,2519,0,0,0,0,0,0
$GC,10935,1.14,166.8,858.9,9.9,377,10941,0.00,2.70,0.00,0.000,6,0.000,0.047,3512,2368,2518,0,0,0,0,0,0
$GC,11185,1.17,190.1,836.0,8.9,384,11215,0.00,2.78,24.25,1.096,4,0.000,0.064,3512,3935,2414,0,0,0,0,0,0
$GC,11240,1.13,193.3,831.1,9.9,385,11250,0.00,2.67,4.60,0.748,6,0.000,0.044,3512,2371,2401,0,0,0,0,0,0
$GC,11505,1.13,193.3,803.3,10.7,392,11510,0.00,2.67,0.00,0.000,4,0.000,0.055,3512,3932,2397,0,0,0,0,0,0
$GC,11563,1.13,193.3,797.0,11.7,393,11567,0.00,2.62,0.00,0.000,6,0.000,0.044,3511,2388,2397,0,0,0,0,0,0
$GC,11829,1.14,203.6,770.7,9.5,400,11845,0.00,3.20,10.07,0.981,4,0.000,0.128,3512,782,2360,0,0,0,0,0,0
$GC,11868,1.15,208.7,766.5,9.8,401,11882,0.00,2.67,6.50,0.871,6,0.000,0.047,3512,2380,2339,0,0,0,0,0,0
$GC,12158,1.15,209.7,738.0,9.9,408,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2381,2336,0,0,0,0,0,0
$GC,12399,1.15,209.7,712.6,10.4,414,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2381,2335,0,0,0,0,0,0
$GC,12642,1.15,209.7,686.5,10.6,420,12647,0.00,2.70,0.00,0.000,4,0.000,0.074,3512,3932,2335,0,0,0,0,0,0
$GC,12666,1.15,209.7,683.9,11.1,420,12670,0.00,2.60,0.00,0.000,6,0.000,0.037,3512,2374,2334,0,0,0,0,0,0
$GC,12920,1.15,209.7,657.3,10.0,427,12925,0.00,2.67,0.00,0.000,4,0.000,0.061,3512,3942,2334,0,0,0,0,0,0
$GC,12947,1.15,209.7,654.3,11.5,427,12951,0.00,2.58,0.00,0.000,6,0.000,0.041,3512,2390,2333,0,0,0,0,0,0
$GC,13199,1.15,209.7,627.9,10.8,433,13200,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2390,2333,0,0,0,0,0,0
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$STATE,19040,end climb,SURFACE_DEPTH_REACHED
$STATE,19040,begin surface coast
$FINISH,1.2,1.023819
$STATE,19089,end surface coast,CONTROL_FINISHED_OK
$STATE,19089,begin surface
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$HUMID,59.96
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$TCM_TEMP,24.40
$XPDR_PINGS,67
$24V_AH,23.2,47.555
$10V_AH,10.2,42.121
$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
$DEVICE_SECS,30.300,218.825,392.100,42.925,0.000,23.722,36.039,265.976,16.750,0.000,14.354,1512.618,14473.764,561.300,2273.886,824.864,33.367,1562.063,0.000,2272.162,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.253,334.486,427.601,547.552,1041.808,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,54352,717
$CAP_FILE_SIZE,172755,0
$CFSIZE,260165632,104710144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,083835,1925.120,-8117.178,40,1.6,46,-3.7