version: 66.06
glider: 146
mission: 8
dive: 353
start: 4 1 113 15 41 5
data:
$ID,146
$MISSION,8
$DIVE,353
$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,-314465.28
$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,59
$R_STBD_OVSHOOT,42
$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
$GPS1,153206,1928.584,-8120.114,28,1.3,28,-3.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.2
$GPS2,154012,1928.564,-8120.144,12,1.3,29,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.062
$KALMAN_X,-179646.7,-876.5,-517.1,158805.5,-108.7
$KALMAN_Y,108100.2,905.7,743.1,-100501.2,-1768.6
$MHEAD_RNG_PITCHd_Wd,109.9,4734,-21.0,-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,19,-1.44,-103.8,0.0,0.0,0,92,0.00,0.00,-70.38,0.000,2,0.000,0.000,457,2174,3443,0,0,0,0,0,0
$GC,97,-1.49,-146.0,3.1,-3.1,9,123,13.32,2.47,-6.68,0.000,4,0.157,0.049,2930,652,3785,0,0,0,0,0,0
$GC,135,-0.45,-146.0,15.5,-30.4,13,145,1.02,2.42,0.00,0.000,6,0.084,0.016,3157,2224,3786,0,0,0,0,0,0
$GC,440,-0.74,-146.0,38.4,-6.7,51,446,0.25,2.55,0.00,0.000,4,0.040,0.041,3063,658,3786,0,0,0,0,0,0
$GC,476,-0.87,-146.0,41.6,-9.8,53,481,0.00,2.38,0.00,0.000,6,0.000,0.016,3063,2204,3787,0,0,0,0,0,0
$GC,747,-0.95,-146.0,72.0,-11.2,77,755,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2204,3787,0,0,0,0,0,0
$GC,1008,-1.02,-146.0,102.8,-11.3,102,1013,0.10,2.55,0.00,0.000,4,0.077,0.044,3010,660,3788,0,0,0,0,0,0
$GC,1045,-1.02,-146.0,107.6,-14.2,104,1054,0.08,2.38,0.00,0.000,6,0.078,0.015,3032,2199,3788,0,0,0,0,0,0
$GC,1310,-1.08,-146.0,141.3,-11.1,129,1315,0.00,2.50,0.00,0.000,4,0.000,0.045,3032,660,3788,0,0,0,0,0,0
$GC,1351,-1.17,-146.0,146.7,-12.1,132,1356,0.12,2.33,0.00,0.000,6,0.064,0.018,2972,2194,3788,0,0,0,0,0,0
$GC,1616,-1.17,-146.0,176.6,-10.1,156,1621,0.15,2.53,0.00,0.000,4,0.092,0.045,3007,652,3788,0,0,0,0,0,0
$GC,1657,-1.28,-146.0,181.1,-10.5,159,1662,0.12,2.33,0.00,0.000,6,0.065,0.017,2951,2178,3788,0,0,0,0,0,0
$GC,1918,-1.28,-146.0,209.4,-10.7,177,1923,0.12,2.50,0.00,0.000,4,0.097,0.045,2980,652,3789,0,0,0,0,0,0
$GC,1939,-1.28,-146.0,212.0,-10.1,177,1943,0.00,2.30,0.00,0.000,6,0.000,0.025,2980,2162,3789,0,0,0,0,0,0
$GC,2203,-1.37,-146.0,234.9,-8.5,184,2208,0.00,2.55,0.00,0.000,4,0.000,0.042,2980,3771,3789,0,0,0,0,0,0
$GC,2225,-1.46,-146.0,237.0,-8.5,184,2230,0.17,2.45,0.00,0.000,6,0.050,0.025,2906,2181,3789,0,0,0,0,0,0
$GC,2481,-1.41,-146.0,266.7,-11.9,191,2483,0.20,0.00,0.00,0.000,6,0.082,0.000,2953,2180,3789,0,0,0,0,0,0
$GC,2727,-1.46,-146.0,291.7,-10.1,197,2731,0.00,2.58,0.00,0.000,4,0.000,0.056,2953,638,3789,0,0,0,0,0,0
$GC,2737,-1.51,-146.0,293.0,-10.1,197,2741,0.00,2.35,0.00,0.000,6,0.000,0.025,2953,2152,3789,0,0,0,0,0,0
$GC,3004,-1.56,-146.0,318.6,-9.3,204,3009,0.15,2.62,0.00,0.000,4,0.057,0.048,2889,3769,3788,0,0,0,0,0,0
$GC,3046,-1.49,-146.0,323.2,-11.9,205,3051,0.20,2.50,0.00,0.000,6,0.082,0.023,2935,2183,3788,0,0,0,0,0,0
$GC,3330,-1.49,-146.0,351.7,-9.9,212,3334,0.00,2.65,0.00,0.000,4,0.000,0.075,2935,635,3788,0,0,0,0,0,0
$GC,3356,-1.49,-146.0,354.7,-10.8,212,3361,0.00,2.40,0.00,0.000,6,0.000,0.031,2935,2149,3788,0,0,0,0,0,0
$GC,3609,-1.49,-146.0,380.0,-10.1,218,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2150,3787,0,0,0,0,0,0
$GC,3851,-1.53,-146.0,405.4,-10.4,224,3855,0.00,2.67,0.00,0.000,4,0.000,0.060,2935,3758,3785,0,0,0,0,0,0
$GC,3872,-1.53,-146.0,407.9,-11.3,224,3876,0.00,2.53,0.00,0.000,6,0.000,0.037,2936,2178,3785,0,0,0,0,0,0
$GC,4129,-1.56,-146.0,435.6,-10.8,231,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2178,3784,0,0,0,0,0,0
$GC,4371,-1.60,-146.0,462.4,-11.1,237,4376,0.10,2.67,0.00,0.000,4,0.081,0.055,2889,3756,3783,0,0,0,0,0,0
$GC,4392,-1.60,-146.0,465.4,-12.6,237,4398,0.10,2.60,0.00,0.000,6,0.111,0.049,2912,2179,3783,0,0,0,0,0,0
$GC,4650,-1.60,-146.0,495.4,-11.7,244,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2180,3782,0,0,0,0,0,0
$GC,4891,-1.60,-146.0,523.1,-11.3,250,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2179,3780,0,0,0,0,0,0
$GC,5135,-1.60,-146.0,550.9,-11.4,256,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2179,3778,0,0,0,0,0,0
$GC,5379,-1.60,-146.0,578.1,-11.1,262,5383,0.00,2.80,0.00,0.000,4,0.000,0.082,2912,3755,3777,0,0,0,0,0,0
$GC,5396,-1.60,-146.0,579.9,-11.1,262,5401,0.00,2.67,0.00,0.000,6,0.000,0.062,2912,2178,3777,0,0,0,0,0,0
$GC,5657,-1.60,-146.0,608.8,-10.9,269,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2178,3776,0,0,0,0,0,0
$GC,5900,-1.60,-146.0,635.5,-10.9,275,5905,0.00,2.83,0.00,0.000,4,0.000,0.092,2912,3754,3774,0,0,0,0,0,0
$GC,5932,-1.60,-146.0,639.2,-11.8,275,5938,0.00,2.78,0.00,0.000,6,0.000,0.075,2913,2176,3774,0,0,0,0,0,0
$GC,6185,-1.60,-146.0,666.3,-10.7,282,6189,0.00,2.88,0.00,0.000,4,0.000,0.094,2912,3757,3772,0,0,0,0,0,0
$GC,6200,-1.60,-146.0,668.4,-11.0,282,6205,0.00,2.83,0.00,0.000,6,0.000,0.092,2912,2185,3772,0,0,0,0,0,0
$GC,6461,-1.60,-146.0,696.2,-10.7,289,6466,0.00,2.95,0.00,0.000,4,0.000,0.109,2912,3754,3771,0,0,0,0,0,0
$GC,6484,-1.60,-146.0,698.8,-11.0,289,6489,0.00,2.92,0.00,0.000,6,0.000,0.107,2912,2190,3771,0,0,0,0,0,0
$GC,6739,-1.60,-146.0,725.9,-10.5,296,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2190,3769,0,0,0,0,0,0
$GC,6983,-1.60,-146.0,751.6,-10.6,302,6988,0.00,3.12,0.00,0.000,4,0.000,0.146,2913,3749,3768,0,0,0,0,0,0
$GC,7009,-1.60,-146.0,754.7,-11.3,302,7014,0.00,2.80,0.00,0.000,6,0.000,0.089,2912,2192,3768,0,0,0,0,0,0
$GC,7262,-1.60,-146.0,780.4,-10.2,308,7267,0.00,2.83,0.00,0.000,4,0.000,0.091,2912,3752,3767,0,0,0,0,0,0
$GC,7289,-1.60,-146.0,783.7,-11.1,308,7293,0.00,2.72,0.00,0.000,6,0.000,0.081,2912,2198,3767,0,0,0,0,0,0
$GC,7539,-1.60,-146.0,807.7,-9.5,314,7544,0.00,2.80,0.00,0.000,4,0.000,0.091,2913,3760,3766,0,0,0,0,0,0
$GC,7563,-1.60,-146.0,810.0,-9.9,314,7567,0.00,2.75,0.00,0.000,6,0.000,0.077,2912,2199,3766,0,0,0,0,0,0
$GC,7818,-1.60,-146.0,834.4,-9.7,321,7822,0.00,2.78,0.00,0.000,4,0.000,0.084,2912,3752,3764,0,0,0,0,0,0
$GC,7839,-1.60,-146.0,836.7,-9.8,321,7844,0.00,2.72,0.00,0.000,6,0.000,0.074,2912,2197,3763,0,0,0,0,0,0
$GC,8097,-1.60,-146.0,863.0,-10.5,328,8101,0.00,2.78,0.00,0.000,4,0.000,0.083,2912,3752,3762,0,0,0,0,0,0
$GC,8129,-1.60,-146.0,866.8,-11.2,328,8135,0.00,2.70,0.00,0.000,6,0.000,0.071,2912,2208,3762,0,0,0,0,0,0
$GC,8379,-1.60,-146.0,892.3,-10.3,335,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2207,3762,0,0,0,0,0,0
$STATE,8458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8458,begin apogee
$GC,8466,-0.31,0.0,900.6,10.3,337,8590,1.23,0.00,120.43,1.193,6,0.070,0.000,3192,2332,3190,0,0,0,0,0,0
$STATE,8591,end apogee,CONTROL_FINISHED_OK
$STATE,8591,begin climb
$GC,8594,1.49,146.0,904.2,0.0,340,8731,1.62,2.90,126.32,1.168,4,0.035,0.077,3594,3931,2593,0,0,0,0,0,0
$GC,8773,1.38,146.0,893.0,13.2,344,8778,0.15,2.75,0.00,0.000,6,0.121,0.060,3564,2367,2589,0,0,0,0,0,0
$GC,9045,1.38,146.0,862.5,11.0,351,9050,0.00,2.72,0.00,0.000,4,0.000,0.071,3564,3931,2586,0,0,0,0,0,0
$GC,9103,1.33,146.0,855.6,12.1,352,9107,0.00,2.65,0.00,0.000,6,0.000,0.047,3564,2382,2585,0,0,0,0,0,0
$GC,9369,1.33,146.0,825.5,11.4,359,9373,0.00,2.67,0.00,0.000,4,0.000,0.063,3564,3932,2583,0,0,0,0,0,0
$GC,9491,1.27,146.0,810.6,11.9,361,9497,0.12,2.60,0.00,0.000,6,0.134,0.048,3540,2396,2583,0,0,0,0,0,0
$GC,9743,1.27,146.0,785.1,10.1,368,9748,0.00,2.65,0.00,0.000,4,0.000,0.058,3540,3938,2581,0,0,0,0,0,0
$GC,9815,1.27,146.0,776.8,10.9,369,9819,0.00,2.58,0.00,0.000,6,0.000,0.043,3540,2406,2581,0,0,0,0,0,0
$GC,10065,1.27,146.0,750.8,10.4,375,10069,0.00,2.60,0.00,0.000,4,0.000,0.054,3540,3940,2580,0,0,0,0,0,0
$GC,10144,1.27,146.0,741.8,11.0,376,10150,0.00,2.55,0.00,0.000,6,0.000,0.046,3540,2421,2580,0,0,0,0,0,0
$GC,10394,1.27,146.0,714.8,10.7,383,10398,0.00,2.60,0.00,0.000,4,0.000,0.058,3540,3937,2580,0,0,0,0,0,0
$GC,10437,1.27,146.0,709.7,11.4,384,10442,0.00,2.53,0.00,0.000,6,0.000,0.041,3540,2427,2580,0,0,0,0,0,0
$GC,10718,1.27,146.0,681.3,10.1,391,10722,0.00,2.58,0.00,0.000,4,0.000,0.059,3540,3933,2579,0,0,0,0,0,0
$GC,10746,1.27,146.0,678.1,11.0,391,10751,0.00,2.50,0.00,0.000,6,0.000,0.045,3540,2435,2579,0,0,0,0,0,0
$GC,10996,1.28,151.3,653.7,9.7,397,10997,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2435,2578,0,0,0,0,0,0
$GC,11242,1.29,158.2,630.7,9.6,403,11257,0.00,2.62,8.88,0.887,4,0.000,0.061,3540,3928,2545,0,0,0,0,0,0
$GC,11274,1.30,165.1,627.2,9.6,403,11289,0.00,2.50,8.12,0.863,6,0.000,0.045,3540,2441,2516,0,0,0,0,0,0
$GC,11575,1.33,165.1,596.3,10.2,411,11580,0.00,2.53,0.00,0.000,4,0.000,0.055,3539,3933,2514,0,0,0,0,0,0
$GC,11633,1.33,165.1,589.8,11.3,412,11637,0.00,2.47,0.00,0.000,6,0.000,0.039,3540,2448,2513,0,0,0,0,0,0
$GC,11899,1.38,165.1,562.1,10.3,419,11904,0.00,3.20,0.00,0.000,4,0.000,0.118,3540,775,2513,0,0,0,0,0,0
$GC,11915,1.38,165.1,560.1,10.7,419,11920,0.00,2.80,0.00,0.000,6,0.000,0.041,3540,2450,2513,0,0,0,0,0,0
$GC,12179,1.42,165.1,533.1,10.3,426,12181,0.12,0.00,0.00,0.000,6,0.077,0.000,3577,2451,2512,0,0,0,0,0,0
$GC,12420,1.42,165.1,505.1,11.6,432,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2452,2512,0,0,0,0,0,0
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$STATE,17094,end climb,SURFACE_DEPTH_REACHED
$STATE,17094,begin surface coast
$FINISH,0.9,1.010704
$STATE,17140,end surface coast,CONTROL_FINISHED_OK
$STATE,17140,begin surface
$SM_CCo,17165,88.05,0.496,0,0,1762,350.04
$SM_GC,1.78,0.00,0.00,88.05,0.000,0.000,0.496,457,2155,1762,-12.90,-1.55,350.04
$IRIDIUM_FIX,1920.65,-8119.23,260602,101035
$TT8_MAMPS,0.025311
$HUMID,58.89
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.40
$XPDR_PINGS,80
$24V_AH,23.2,49.932
$10V_AH,10.1,44.094
$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,32.950,208.625,331.850,88.050,0.000,23.359,40.628,230.779,20.000,0.000,31.379,1452.526,12528.427,552.543,2414.000,779.878,33.363,1538.057,0.000,2397.888,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,160.303,1193.452,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.973,357.333,442.510,633.500,1206.247,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,54280,690
$CAP_FILE_SIZE,162051,0
$CFSIZE,260165632,103641088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010413,202959,1928.929,-8119.515,34,1.3,39,-3.7