version: 66.06
glider: 146
mission: 8
dive: 368
start: 4 5 113 3 55 2
data:
$ID,146
$MISSION,8
$DIVE,368
$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,-314730.44
$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,60
$R_STBD_OVSHOOT,12
$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
$GPS1,034653,1924.862,-8115.498,23,1.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.1
$GPS2,035406,1924.843,-8115.524,12,1.1,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.194,0.173
$KALMAN_X,-217172.2,-375.1,-384.9,203761.2,-106.2
$KALMAN_Y,125927.9,-421.0,99.5,-123227.1,194.9
$MHEAD_RNG_PITCHd_Wd,315.5,5887,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.40,0.000,2,0.000,0.000,463,2172,3460,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.5,-4.5,9,121,13.40,2.47,-6.35,0.000,4,0.154,0.051,2976,656,3785,0,0,0,0,0,0
$GC,263,-1.09,-146.0,40.0,-17.1,29,272,0.17,2.47,0.00,0.000,6,0.087,0.017,3018,2250,3786,0,0,0,0,0,0
$GC,534,-0.98,-146.0,78.6,-14.7,54,539,0.12,2.62,0.00,0.000,4,0.110,0.044,3046,661,3787,0,0,0,0,0,0
$GC,566,-0.89,-146.0,84.3,-13.9,56,570,0.00,2.38,0.00,0.000,6,0.000,0.016,3046,2211,3787,0,0,0,0,0,0
$GC,840,-0.84,-146.0,116.6,-11.6,81,846,0.12,0.00,0.00,0.000,6,0.102,0.000,3075,2212,3788,0,0,0,0,0,0
$GC,1104,-0.93,-146.0,140.0,-7.3,106,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2212,3788,0,0,0,0,0,0
$GC,1364,-1.06,-146.0,156.9,-5.9,130,1369,0.20,2.58,0.00,0.000,4,0.046,0.045,2997,659,3788,0,0,0,0,0,0
$GC,1393,-1.06,-146.0,159.9,-9.3,132,1397,0.15,2.35,0.00,0.000,6,0.091,0.018,3032,2196,3789,0,0,0,0,0,0
$GC,1654,-1.12,-146.0,179.6,-7.9,156,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2196,3789,0,0,0,0,0,0
$GC,1911,-1.20,-146.0,198.6,-7.8,180,1916,0.15,2.53,0.00,0.000,4,0.057,0.043,2966,3775,3789,0,0,0,0,0,0
$GC,1933,-1.20,-146.0,200.3,-8.1,181,1938,0.15,2.42,0.00,0.000,6,0.087,0.019,3002,2212,3789,0,0,0,0,0,0
$GC,2197,-1.20,-146.0,223.0,-8.1,188,2201,0.00,2.47,0.00,0.000,4,0.000,0.041,3002,3765,3789,0,0,0,0,0,0
$GC,2229,-1.20,-146.0,225.9,-8.1,188,2235,0.00,2.45,0.00,0.000,6,0.000,0.025,3002,2198,3789,0,0,0,0,0,0
$GC,2482,-1.20,-146.0,244.3,-7.2,195,2486,0.00,2.55,0.00,0.000,4,0.000,0.053,3002,641,3789,0,0,0,0,0,0
$GC,2526,-1.24,-146.0,248.0,-8.2,196,2531,0.00,2.40,0.00,0.000,6,0.000,0.027,3002,2193,3789,0,0,0,0,0,0
$GC,2804,-1.24,-146.0,268.4,-7.4,203,2808,0.00,2.53,0.00,0.000,4,0.000,0.041,3002,3771,3789,0,0,0,0,0,0
$GC,2846,-1.29,-146.0,271.4,-8.1,204,2850,0.00,2.47,0.00,0.000,6,0.000,0.026,3002,2194,3788,0,0,0,0,0,0
$GC,3129,-1.33,-146.0,292.8,-7.7,211,3131,0.12,0.00,0.00,0.000,6,0.066,0.000,2947,2194,3788,0,0,0,0,0,0
$GC,3372,-1.26,-146.0,317.4,-10.2,217,3374,0.17,0.00,0.00,0.000,6,0.087,0.000,2988,2194,3787,0,0,0,0,0,0
$GC,3618,-1.26,-146.0,336.8,-7.6,223,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2194,3787,0,0,0,0,0,0
$GC,3860,-1.26,-146.0,355.0,-7.5,229,3864,0.00,2.58,0.00,0.000,4,0.000,0.043,2988,3769,3785,0,0,0,0,0,0
$GC,3881,-1.26,-146.0,356.7,-7.1,229,3886,0.00,2.47,0.00,0.000,6,0.000,0.028,2988,2204,3785,0,0,0,0,0,0
$GC,4139,-1.26,-146.0,376.1,-7.6,236,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2204,3784,0,0,0,0,0,0
$GC,4381,-1.26,-146.0,395.5,-7.9,242,4385,0.00,2.55,0.00,0.000,4,0.000,0.044,2988,3767,3784,0,0,0,0,0,0
$GC,4402,-1.26,-146.0,397.5,-8.9,242,4406,0.00,2.53,0.00,0.000,6,0.000,0.037,2988,2200,3783,0,0,0,0,0,0
$GC,4657,-1.26,-146.0,418.7,-8.3,249,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3783,0,0,0,0,0,0
$GC,4903,-1.26,-146.0,437.5,-7.5,255,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3782,0,0,0,0,0,0
$GC,5144,-1.26,-146.0,454.8,-7.1,261,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3780,0,0,0,0,0,0
$GC,5388,-1.26,-146.0,472.8,-7.5,267,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3780,0,0,0,0,0,0
$GC,5634,-1.26,-146.0,491.9,-7.9,273,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3778,0,0,0,0,0,0
$GC,5875,-1.26,-146.0,511.3,-7.9,279,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2200,3777,0,0,0,0,0,0
$GC,6119,-1.26,-146.0,530.2,-7.7,285,6124,0.00,2.72,0.00,0.000,4,0.000,0.077,2988,3768,3776,0,0,0,0,0,0
$GC,6147,-1.26,-146.0,532.5,-8.1,285,6151,0.00,2.58,0.00,0.000,6,0.000,0.054,2988,2214,3776,0,0,0,0,0,0
$GC,6399,-1.26,-146.0,550.8,-7.4,291,6404,0.00,3.00,0.00,0.000,4,0.000,0.117,2988,618,3775,0,0,0,0,0,0
$GC,6426,-1.26,-146.0,553.1,-8.1,291,6431,0.00,2.60,0.00,0.000,6,0.000,0.050,2988,2182,3775,0,0,0,0,0,0
$GC,6676,-1.26,-146.0,572.3,-7.7,297,6681,0.00,2.80,0.00,0.000,4,0.000,0.078,2988,3794,3774,0,0,0,0,0,0
$GC,6694,-1.26,-146.0,573.8,-8.0,297,6699,0.00,2.67,0.00,0.000,6,0.000,0.059,2988,2199,3773,0,0,0,0,0,0
$GC,6955,-1.26,-146.0,595.7,-8.4,304,6960,0.00,2.75,0.00,0.000,4,0.000,0.072,2988,3794,3772,0,0,0,0,0,0
$GC,6983,-1.30,-146.0,598.3,-9.3,304,6988,0.00,2.72,0.00,0.000,6,0.000,0.062,2988,2206,3772,0,0,0,0,0,0
$GC,7236,-1.30,-146.0,618.7,-8.1,310,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2207,3771,0,0,0,0,0,0
$GC,7477,-1.30,-146.0,637.2,-7.5,316,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2206,3769,0,0,0,0,0,0
$GC,7721,-1.30,-146.0,654.8,-7.3,322,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2207,3769,0,0,0,0,0,0
$GC,7964,-1.30,-146.0,674.1,-8.0,328,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2207,3768,0,0,0,0,0,0
$GC,8211,-1.34,-146.0,694.2,-8.3,334,8216,0.00,3.00,0.00,0.000,4,0.000,0.120,2988,3792,3767,0,0,0,0,0,0
$GC,8233,-1.38,-146.0,696.3,-8.5,334,8238,0.12,2.92,0.00,0.000,6,0.066,0.099,2937,2215,3767,0,0,0,0,0,0
$GC,8489,-1.32,-146.0,720.6,-9.4,341,8491,0.15,0.00,0.00,0.000,6,0.095,0.000,2971,2215,3766,0,0,0,0,0,0
$GC,8735,-1.32,-146.0,738.6,-7.2,347,8740,0.00,3.15,0.00,0.000,4,0.000,0.138,2972,3796,3765,0,0,0,0,0,0
$GC,8774,-1.32,-146.0,742.0,-8.1,348,8779,0.00,2.88,0.00,0.000,6,0.000,0.089,2971,2213,3765,0,0,0,0,0,0
$GC,9057,-1.32,-146.0,763.3,-7.5,355,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2213,3763,0,0,0,0,0,0
$GC,9304,-1.32,-146.0,782.6,-8.1,361,9308,0.00,2.85,0.00,0.000,4,0.000,0.096,2971,3793,3762,0,0,0,0,0,0
$GC,9325,-1.32,-146.0,784.7,-8.7,361,9330,0.00,2.80,0.00,0.000,6,0.000,0.074,2972,2210,3762,0,0,0,0,0,0
$GC,9583,-1.32,-146.0,805.0,-8.0,368,9587,0.00,3.10,0.00,0.000,4,0.000,0.128,2971,622,3762,0,0,0,0,0,0
$GC,9607,-1.32,-146.0,807.1,-7.9,368,9611,0.00,2.78,0.00,0.000,6,0.000,0.070,2971,2223,3761,0,0,0,0,0,0
$GC,9862,-1.32,-146.0,827.2,-7.8,375,9866,0.00,2.90,0.00,0.000,4,0.000,0.107,2971,3802,3761,0,0,0,0,0,0
$GC,9895,-1.32,-146.0,830.0,-8.2,375,9900,0.00,2.75,0.00,0.000,6,0.000,0.068,2971,2221,3761,0,0,0,0,0,0
$GC,10147,-1.32,-146.0,849.4,-7.6,382,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2221,3759,0,0,0,0,0,0
$GC,10388,-1.32,-146.0,867.2,-7.3,388,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3759,0,0,0,0,0,0
$GC,10632,-1.32,-146.0,885.3,-7.6,394,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2220,3758,0,0,0,0,0,0
$STATE,10832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10832,begin apogee
$GC,10841,-0.31,0.0,901.6,8.1,399,10965,0.95,0.00,120.22,1.212,6,0.067,0.000,3190,2381,3190,0,0,0,0,0,0
$STATE,10966,end apogee,CONTROL_FINISHED_OK
$STATE,10966,begin climb
$GC,10968,1.27,146.0,905.4,0.0,402,11104,1.42,2.83,127.30,1.180,4,0.035,0.078,3542,3935,2593,0,0,0,0,0,0
$GC,11211,1.15,146.0,889.7,11.0,407,11217,0.15,2.72,0.00,0.000,6,0.114,0.059,3513,2366,2588,0,0,0,0,0,0
$GC,11461,1.17,162.4,866.6,9.2,414,11477,0.00,0.00,14.82,1.064,6,0.000,0.000,3513,2366,2528,0,0,0,0,0,0
$GC,11707,1.18,163.6,842.8,9.9,420,11711,0.00,2.70,0.00,0.000,4,0.000,0.058,3513,3933,2525,0,0,0,0,0,0
$GC,11723,1.13,163.6,840.7,10.1,420,11727,0.00,2.65,0.00,0.000,6,0.000,0.046,3513,2366,2524,0,0,0,0,0,0
$GC,11983,1.14,168.1,814.9,9.8,427,11997,0.00,2.70,6.28,0.889,4,0.000,0.058,3513,3936,2503,0,0,0,0,0,0
$GC,12011,1.10,172.4,812.2,9.8,427,12022,0.00,2.65,5.72,0.851,6,0.000,0.042,3512,2377,2486,0,0,0,0,0,0
$GC,12266,1.12,182.0,787.3,9.6,433,12282,0.00,2.72,9.90,0.997,4,0.000,0.056,3512,3936,2448,0,0,0,0,0,0
$GC,12299,1.08,182.9,784.0,10.0,433,12304,0.00,2.65,0.00,0.000,6,0.000,0.048,3513,2379,2447,0,0,0,0,0,0
$GC,12551,1.08,186.9,759.1,9.8,440,12562,0.00,2.70,6.10,0.859,4,0.000,0.054,3513,3935,2427,0,0,0,0,0,0
$GC,12585,1.04,186.9,755.3,10.0,440,12591,0.12,2.62,0.00,0.000,6,0.117,0.041,3488,2386,2427,0,0,0,0,0,0
$GC,12838,1.11,205.0,732.2,9.2,447,12862,0.00,2.75,18.00,1.042,4,0.000,0.059,3488,3927,2354,0,0,0,0,0,0
$GC,12884,1.11,205.0,727.3,10.1,448,12889,0.00,2.60,0.00,0.000,6,0.000,0.042,3488,2400,2353,0,0,0,0,0,0
$GC,13163,1.18,220.0,701.3,9.3,455,13181,0.12,0.00,15.40,1.008,6,0.075,0.000,3526,2399,2292,0,0,0,0,0,0
$GC,13408,1.18,220.0,674.3,11.1,461,13409,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2399,2290,0,0,0,0,0,0
$GC,13650,1.18,220.0,647.7,10.9,467,13654,0.00,2.62,0.00,0.000,4,0.000,0.062,3526,3930,2288,0,0,0,0,0,0
$GC,13665,1.18,220.0,645.8,11.0,467,13670,0.00,2.58,0.00,0.000,6,0.000,0.047,3526,2397,2288,0,0,0,0,0,0
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$STATE,19488,end climb,SURFACE_DEPTH_REACHED
$STATE,19489,begin surface coast
$FINISH,1.0,1.010443
$STATE,19531,end surface coast,CONTROL_FINISHED_OK
$STATE,19531,begin surface
$SM_CCo,19556,44.62,0.493,0,0,1763,350.04
$SM_GC,1.83,0.00,0.00,44.62,0.000,0.000,0.493,463,2180,1763,-12.87,-0.85,350.04
$IRIDIUM_FIX,1916.08,-8112.45,290602,222256
$TT8_MAMPS,0.026078
$HUMID,60.75
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.10
$XPDR_PINGS,77
$24V_AH,23.1,52.043
$10V_AH,10.1,46.034
$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,30.575,200.100,390.050,44.625,0.000,30.263,37.411,191.773,19.250,0.000,14.042,1545.460,14858.269,552.628,2314.671,753.604,33.396,1529.589,0.000,2309.476,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,138.060,1211.860,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,506.728,353.826,449.003,588.003,1119.438,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,57280,747
$CAP_FILE_SIZE,169340,0
$CFSIZE,260165632,102543360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050413,092306,1926.955,-8119.593,40,1.2,40,-3.7