version: 66.06
glider: 146
mission: 8
dive: 354
start: 4 1 113 20 40 7
data:
$ID,146
$MISSION,8
$DIVE,354
$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,-314481.62
$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,12
$R_STBD_OVSHOOT,20
$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
$GPS1,202959,1928.929,-8119.515,34,1.3,39,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.7
$GPS2,203913,1928.915,-8119.604,14,1.4,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.120
$KALMAN_X,-183777.9,132.1,-226.6,162581.0,-2298.1
$KALMAN_Y,110599.1,564.3,263.3,-101536.1,-175.6
$MHEAD_RNG_PITCHd_Wd,121.2,4519,-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,-71.05,0.000,2,0.000,0.000,456,2155,3494,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.7,-5.2,9,123,13.57,2.53,-5.38,0.000,4,0.157,0.051,2976,612,3786,0,0,0,0,0,0
$GC,180,-1.08,-146.0,26.4,-18.2,20,190,0.17,2.55,0.00,0.000,6,0.085,0.018,3019,2245,3786,0,0,0,0,0,0
$GC,461,-0.97,-146.0,67.1,-14.4,46,466,0.12,2.70,0.00,0.000,4,0.114,0.044,3046,606,3787,0,0,0,0,0,0
$GC,510,-0.93,-146.0,75.1,-12.8,49,519,0.00,2.47,0.00,0.000,6,0.000,0.017,3046,2199,3787,0,0,0,0,0,0
$GC,775,-0.87,-146.0,107.6,-12.5,74,780,0.10,2.62,0.00,0.000,4,0.119,0.045,3069,613,3787,0,0,0,0,0,0
$GC,798,-0.83,-146.0,111.0,-12.4,75,803,0.00,2.42,0.00,0.000,6,0.000,0.015,3069,2200,3787,0,0,0,0,0,0
$GC,1063,-0.83,-146.0,138.6,-9.3,100,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2201,3788,0,0,0,0,0,0
$GC,1326,-0.91,-146.0,159.4,-7.5,125,1331,0.00,2.62,0.00,0.000,4,0.000,0.046,3069,605,3788,0,0,0,0,0,0
$GC,1394,-1.04,-146.0,164.8,-8.1,130,1399,0.15,2.40,0.00,0.000,6,0.056,0.025,3005,2182,3788,0,0,0,0,0,0
$GC,1661,-1.04,-146.0,188.5,-8.4,154,1667,0.12,0.00,0.00,0.000,6,0.095,0.000,3034,2183,3789,0,0,0,0,0,0
$GC,1952,-1.12,-146.0,208.3,-6.7,173,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2183,3789,0,0,0,0,0,0
$GC,2193,-1.20,-146.0,225.0,-6.8,179,2195,0.15,0.00,0.00,0.000,6,0.057,0.000,2970,2183,3789,0,0,0,0,0,0
$GC,2437,-1.16,-146.0,248.2,-9.9,185,2439,0.17,0.00,0.00,0.000,6,0.083,0.000,3011,2183,3789,0,0,0,0,0,0
$GC,2683,-1.21,-146.0,267.1,-7.5,191,2687,0.00,2.55,0.00,0.000,4,0.000,0.041,3011,3773,3789,0,0,0,0,0,0
$GC,2699,-1.26,-146.0,268.7,-7.2,191,2704,0.12,2.53,0.00,0.000,6,0.064,0.020,2954,2141,3789,0,0,0,0,0,0
$GC,2960,-1.20,-146.0,293.6,-9.8,198,2966,0.20,2.65,0.00,0.000,4,0.079,0.041,3001,3771,3788,0,0,0,0,0,0
$GC,2979,-1.20,-146.0,295.3,-9.5,198,2984,0.00,2.53,0.00,0.000,6,0.000,0.021,3001,2162,3788,0,0,0,0,0,0
$GC,3240,-1.24,-146.0,316.0,-7.9,205,3245,0.00,2.60,0.00,0.000,4,0.000,0.044,3001,3769,3787,0,0,0,0,0,0
$GC,3263,-1.28,-146.0,317.9,-8.4,205,3267,0.00,2.47,0.00,0.000,6,0.000,0.031,3001,2194,3787,0,0,0,0,0,0
$GC,3520,-1.33,-146.0,337.1,-7.4,212,3522,0.12,0.00,0.00,0.000,6,0.067,0.000,2949,2193,3786,0,0,0,0,0,0
$GC,3762,-1.27,-146.0,359.4,-9.3,218,3764,0.15,0.00,0.00,0.000,6,0.091,0.000,2983,2193,3785,0,0,0,0,0,0
$GC,4005,-1.27,-146.0,377.9,-7.4,224,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2193,3784,0,0,0,0,0,0
$GC,4251,-1.27,-146.0,395.5,-7.2,230,4256,0.00,2.67,0.00,0.000,4,0.000,0.082,2984,635,3784,0,0,0,0,0,0
$GC,4267,-1.27,-146.0,396.8,-7.4,230,4271,0.00,2.45,0.00,0.000,6,0.000,0.035,2983,2171,3783,0,0,0,0,0,0
$GC,4528,-1.27,-146.0,416.2,-7.4,237,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2171,3782,0,0,0,0,0,0
$GC,4774,-1.27,-146.0,435.0,-7.9,243,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2171,3781,0,0,0,0,0,0
$GC,5015,-1.27,-146.0,454.3,-8.0,249,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2171,3780,0,0,0,0,0,0
$GC,5259,-1.27,-146.0,474.4,-8.2,255,5263,0.00,2.75,0.00,0.000,4,0.000,0.066,2984,3792,3779,0,0,0,0,0,0
$GC,5291,-1.27,-146.0,477.3,-8.8,255,5297,0.00,2.60,0.00,0.000,6,0.000,0.046,2983,2209,3778,0,0,0,0,0,0
$GC,5544,-1.27,-146.0,498.8,-8.6,262,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,3777,0,0,0,0,0,0
$GC,5785,-1.27,-146.0,519.7,-8.5,268,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,3777,0,0,0,0,0,0
$GC,6029,-1.27,-146.0,540.5,-8.5,274,6034,0.00,2.92,0.00,0.000,4,0.000,0.110,2984,626,3776,0,0,0,0,0,0
$GC,6045,-1.27,-146.0,542.1,-8.6,274,6049,0.00,2.58,0.00,0.000,6,0.000,0.044,2983,2185,3775,0,0,0,0,0,0
$GC,6312,-1.27,-146.0,563.8,-8.3,281,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2185,3774,0,0,0,0,0,0
$GC,6549,-1.27,-146.0,583.2,-7.9,287,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2185,3772,0,0,0,0,0,0
$GC,6793,-1.27,-146.0,601.8,-7.5,293,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2185,3771,0,0,0,0,0,0
$GC,7039,-1.27,-146.0,619.7,-7.3,299,7044,0.00,2.90,0.00,0.000,4,0.000,0.092,2984,3801,3770,0,0,0,0,0,0
$GC,7055,-1.27,-146.0,621.1,-7.3,299,7059,0.00,2.75,0.00,0.000,6,0.000,0.063,2984,2199,3769,0,0,0,0,0,0
$GC,7316,-1.27,-146.0,640.1,-7.3,306,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2199,3769,0,0,0,0,0,0
$GC,7561,-1.27,-146.0,657.4,-7.0,312,7566,0.00,2.83,0.00,0.000,4,0.000,0.089,2984,3793,3767,0,0,0,0,0,0
$GC,7588,-1.27,-146.0,659.7,-7.6,312,7593,0.00,2.83,0.00,0.000,6,0.000,0.083,2983,2199,3768,0,0,0,0,0,0
$GC,7838,-1.27,-146.0,678.2,-7.4,318,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2199,3766,0,0,0,0,0,0
$GC,8082,-1.27,-146.0,696.4,-7.5,324,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3765,0,0,0,0,0,0
$GC,8328,-1.27,-146.0,714.5,-7.4,330,8333,0.00,3.03,0.00,0.000,4,0.000,0.115,2984,3793,3764,0,0,0,0,0,0
$GC,8344,-1.27,-146.0,716.1,-7.4,330,8349,0.00,3.00,0.00,0.000,6,0.000,0.106,2984,2197,3764,0,0,0,0,0,0
$GC,8605,-1.27,-146.0,735.7,-7.5,337,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2197,3763,0,0,0,0,0,0
$GC,8851,-1.27,-146.0,753.9,-7.4,343,8856,0.00,3.17,0.00,0.000,4,0.000,0.145,2983,3787,3762,0,0,0,0,0,0
$GC,8873,-1.27,-146.0,755.8,-7.7,343,8877,0.00,2.83,0.00,0.000,6,0.000,0.081,2984,2201,3762,0,0,0,0,0,0
$GC,9128,-1.27,-146.0,774.7,-7.5,350,9133,0.00,2.83,0.00,0.000,4,0.000,0.085,2984,3793,3762,0,0,0,0,0,0
$GC,9152,-1.27,-146.0,776.5,-8.3,350,9156,0.00,2.75,0.00,0.000,6,0.000,0.071,2984,2206,3762,0,0,0,0,0,0
$GC,9407,-1.31,-146.0,796.1,-7.6,357,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2206,3761,0,0,0,0,0,0
$GC,9651,-1.35,-146.0,813.6,-7.1,363,9655,0.00,2.83,0.00,0.000,4,0.000,0.087,2983,3793,3760,0,0,0,0,0,0
$GC,9680,-1.39,-146.0,815.8,-8.2,363,9686,0.12,2.78,0.00,0.000,6,0.069,0.074,2937,2204,3759,0,0,0,0,0,0
$GC,9931,-1.35,-146.0,837.7,-8.7,369,9936,0.12,2.83,0.00,0.000,4,0.100,0.083,2965,3792,3759,0,0,0,0,0,0
$GC,9947,-1.35,-146.0,839.2,-8.5,369,9952,0.00,2.75,0.00,0.000,6,0.000,0.066,2965,2210,3759,0,0,0,0,0,0
$GC,10210,-1.35,-146.0,857.6,-7.1,376,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2209,3758,0,0,0,0,0,0
$GC,10452,-1.35,-146.0,875.2,-7.2,382,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2209,3757,0,0,0,0,0,0
$GC,10696,-1.35,-146.0,892.0,-6.8,388,10700,0.00,2.80,0.00,0.000,4,0.000,0.079,2965,3796,3756,0,0,0,0,0,0
$GC,10728,-1.35,-146.0,894.5,-7.8,388,10734,0.00,2.78,0.00,0.000,6,0.000,0.067,2965,2201,3756,0,0,0,0,0,0
$STATE,10813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10813,begin apogee
$GC,10822,-0.31,0.0,900.7,7.2,391,10945,0.98,0.00,119.62,1.206,6,0.068,0.000,3191,2376,3190,0,0,0,0,0,0
$STATE,10946,end apogee,CONTROL_FINISHED_OK
$STATE,10946,begin climb
$GC,10948,1.27,146.0,903.4,0.0,394,11085,1.42,2.72,127.05,1.180,4,0.034,0.081,3543,3919,2592,0,0,0,0,0,0
$GC,11188,1.15,146.0,885.8,13.2,399,11193,0.15,2.70,0.00,0.000,6,0.113,0.054,3512,2370,2587,0,0,0,0,0,0
$GC,11446,1.18,167.3,862.0,9.0,406,11467,0.00,0.00,19.23,1.085,6,0.000,0.000,3511,2370,2507,0,0,0,0,0,0
$GC,11687,1.18,173.0,838.7,9.7,412,11700,0.00,2.72,6.18,0.878,4,0.000,0.064,3512,3930,2484,0,0,0,0,0,0
$GC,11751,1.15,173.0,831.4,11.7,413,11756,0.00,2.65,0.00,0.000,6,0.000,0.042,3512,2368,2483,0,0,0,0,0,0
$GC,12014,1.15,173.0,805.1,10.0,420,12018,0.00,2.70,0.00,0.000,4,0.000,0.061,3511,3936,2481,0,0,0,0,0,0
$GC,12041,1.11,173.0,801.9,10.7,420,12045,0.00,2.65,0.00,0.000,6,0.000,0.041,3511,2369,2481,0,0,0,0,0,0
$GC,12291,1.11,173.0,775.5,10.6,426,12295,0.00,2.70,0.00,0.000,4,0.000,0.057,3512,3929,2480,0,0,0,0,0,0
$GC,12342,1.11,173.0,769.6,12.6,427,12346,0.00,2.62,0.00,0.000,6,0.000,0.048,3512,2374,2480,0,0,0,0,0,0
$GC,12613,1.11,173.0,741.4,10.3,434,12618,0.00,2.67,0.00,0.000,4,0.000,0.061,3512,3931,2479,0,0,0,0,0,0
$GC,12652,1.11,173.0,737.2,10.5,435,12657,0.00,2.62,0.00,0.000,6,0.000,0.043,3512,2378,2478,0,0,0,0,0,0
$GC,12939,1.11,174.5,708.7,9.9,442,12943,0.00,2.65,0.00,0.000,4,0.000,0.056,3512,3927,2478,0,0,0,0,0,0
$GC,12965,1.11,174.5,705.4,10.0,442,12969,0.00,2.60,0.00,0.000,6,0.000,0.048,3512,2382,2477,0,0,0,0,0,0
$GC,13215,1.12,183.8,681.3,9.6,448,13231,0.00,2.67,10.35,0.950,4,0.000,0.058,3512,3927,2440,0,0,0,0,0,0
$GC,13261,1.12,183.8,676.7,10.4,449,13265,0.00,2.60,0.00,0.000,6,0.000,0.043,3512,2394,2439,0,0,0,0,0,0
$GC,13538,1.13,187.7,649.1,9.8,456,13545,0.00,0.00,5.07,0.752,6,0.000,0.000,3512,2394,2424,0,0,0,0,0,0
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$STATE,19801,end climb,SURFACE_DEPTH_REACHED
$STATE,19801,begin surface coast
$FINISH,1.1,0.998030
$STATE,19843,end surface coast,CONTROL_FINISHED_OK
$STATE,19844,begin surface
$SM_CCo,19866,48.92,0.491,0,0,1763,350.04
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$IRIDIUM_FIX,1922.94,-8118.88,260602,151533
$TT8_MAMPS,0.026078
$HUMID,59.52
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$TCM_TEMP,24.40
$XPDR_PINGS,69
$24V_AH,23.2,50.072
$10V_AH,10.1,44.223
$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
$DEVICE_SECS,30.675,192.650,386.825,48.925,0.000,57.213,66.642,200.652,17.250,0.000,15.704,1555.233,15213.659,561.922,2316.161,814.483,33.370,1546.306,0.000,2312.665,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,511.669,351.223,451.367,588.214,1119.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,57410,755
$CAP_FILE_SIZE,170725,0
$CFSIZE,260165632,103555072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020413,021323,1928.691,-8118.918,38,1.8,38,-3.7