version: 66.06
glider: 146
mission: 8
dive: 391
start: 4 10 113 4 33 15
data:
$ID,146
$MISSION,8
$DIVE,391
$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,-315138.19
$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,42
$R_STBD_OVSHOOT,21
$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
$GPS1,042506,1924.397,-8107.493,35,1.2,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.4
$GPS2,043219,1924.392,-8107.408,16,1.7,16,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.250,-0.069
$KALMAN_X,-238417.7,298.5,-77.5,238188.7,886.9
$KALMAN_Y,149413.8,-426.2,-419.7,-147029.7,2185.2
$MHEAD_RNG_PITCHd_Wd,258.4,19117,-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,-71.05,0.000,2,0.000,0.000,459,2180,3499,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.8,-4.9,9,124,13.27,2.53,-5.28,0.000,4,0.149,0.049,2977,632,3787,0,0,0,0,0,0
$GC,323,-1.10,-146.0,52.5,-17.1,33,329,0.20,2.47,0.00,0.000,6,0.100,0.016,3020,2253,3788,0,0,0,0,0,0
$GC,593,-1.01,-146.0,90.0,-14.3,57,597,0.00,2.67,0.00,0.000,4,0.000,0.044,3020,635,3788,0,0,0,0,0,0
$GC,659,-0.91,-146.0,101.0,-15.0,62,664,0.17,2.42,0.00,0.000,6,0.092,0.020,3060,2212,3788,0,0,0,0,0,0
$GC,924,-0.99,-146.0,123.2,-6.9,86,928,0.00,2.47,0.00,0.000,4,0.000,0.032,3060,3775,3789,0,0,0,0,0,0
$GC,993,-1.11,-146.0,128.4,-7.6,91,998,0.17,2.45,0.00,0.000,6,0.050,0.020,2988,2209,3789,0,0,0,0,0,0
$GC,1262,-1.11,-146.0,155.3,-9.5,115,1267,0.12,0.00,0.00,0.000,6,0.097,0.000,3020,2209,3790,0,0,0,0,0,0
$GC,1525,-1.15,-146.0,176.0,-7.1,140,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2209,3789,0,0,0,0,0,0
$GC,1782,-1.21,-146.0,194.7,-7.1,164,1786,0.00,2.58,0.00,0.000,4,0.000,0.048,3020,643,3789,0,0,0,0,0,0
$GC,1814,-1.27,-146.0,197.1,-7.4,166,1819,0.15,2.40,0.00,0.000,6,0.057,0.021,2960,2202,3790,0,0,0,0,0,0
$GC,2099,-1.21,-146.0,223.1,-8.8,175,2100,0.17,0.00,0.00,0.000,6,0.086,0.000,3000,2202,3789,0,0,0,0,0,0
$GC,2340,-1.21,-146.0,243.1,-8.2,181,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2202,3789,0,0,0,0,0,0
$GC,2583,-1.21,-146.0,262.6,-7.9,187,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2201,3789,0,0,0,0,0,0
$GC,2827,-1.21,-146.0,281.5,-7.8,193,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2202,3788,0,0,0,0,0,0
$GC,3073,-1.21,-146.0,301.2,-8.3,199,3077,0.00,2.60,0.00,0.000,4,0.000,0.054,3000,646,3788,0,0,0,0,0,0
$GC,3100,-1.21,-146.0,303.8,-8.8,199,3104,0.00,2.42,0.00,0.000,6,0.000,0.028,3000,2196,3787,0,0,0,0,0,0
$GC,3351,-1.25,-146.0,324.0,-8.1,205,3355,0.00,2.58,0.00,0.000,4,0.000,0.041,3000,3785,3786,0,0,0,0,0,0
$GC,3380,-1.29,-146.0,326.6,-8.9,205,3385,0.00,2.45,0.00,0.000,6,0.000,0.031,3000,2224,3787,0,0,0,0,0,0
$GC,3631,-1.33,-146.0,347.1,-8.1,211,3636,0.12,2.72,0.00,0.000,4,0.067,0.063,2948,630,3786,0,0,0,0,0,0
$GC,3664,-1.26,-146.0,350.5,-10.3,211,3670,0.17,2.50,0.00,0.000,6,0.087,0.029,2988,2206,3786,0,0,0,0,0,0
$GC,3916,-1.26,-146.0,371.6,-8.3,218,3921,0.00,2.58,0.00,0.000,4,0.000,0.050,2988,3793,3785,0,0,0,0,0,0
$GC,3957,-1.30,-146.0,375.1,-8.2,219,3961,0.00,2.50,0.00,0.000,6,0.000,0.033,2988,2225,3784,0,0,0,0,0,0
$GC,4242,-1.30,-146.0,398.0,-7.8,226,4247,0.00,2.78,0.00,0.000,4,0.000,0.079,2988,621,3784,0,0,0,0,0,0
$GC,4269,-1.30,-146.0,400.4,-8.3,226,4274,0.00,2.55,0.00,0.000,6,0.000,0.032,2988,2227,3783,0,0,0,0,0,0
$GC,4519,-1.30,-146.0,419.6,-7.7,232,4524,0.00,2.58,0.00,0.000,4,0.000,0.051,2988,3790,3782,0,0,0,0,0,0
$GC,4561,-1.30,-146.0,422.9,-8.4,233,4566,0.00,2.53,0.00,0.000,6,0.000,0.034,2988,2229,3782,0,0,0,0,0,0
$GC,4845,-1.30,-146.0,444.6,-7.6,240,4849,0.00,2.85,0.00,0.000,4,0.000,0.091,2988,624,3781,0,0,0,0,0,0
$GC,4866,-1.30,-146.0,446.4,-7.6,240,4870,0.00,2.60,0.00,0.000,6,0.000,0.035,2988,2224,3781,0,0,0,0,0,0
$GC,5123,-1.30,-146.0,465.3,-7.4,247,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2224,3780,0,0,0,0,0,0
$GC,5365,-1.30,-146.0,484.0,-7.7,253,5369,0.00,2.65,0.00,0.000,4,0.000,0.069,2988,3797,3779,0,0,0,0,0,0
$GC,5397,-1.30,-146.0,486.6,-7.9,253,5403,0.00,2.60,0.00,0.000,6,0.000,0.048,2988,2224,3779,0,0,0,0,0,0
$GC,5650,-1.30,-146.0,506.2,-7.9,260,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2224,3778,0,0,0,0,0,0
$GC,5891,-1.30,-146.0,525.3,-7.9,266,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2224,3777,0,0,0,0,0,0
$GC,6135,-1.30,-146.0,543.4,-7.4,272,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2224,3776,0,0,0,0,0,0
$GC,6379,-1.30,-146.0,561.8,-7.8,278,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2224,3774,0,0,0,0,0,0
$GC,6625,-1.30,-146.0,580.3,-7.6,284,6629,0.00,2.75,0.00,0.000,4,0.000,0.084,2988,3792,3773,0,0,0,0,0,0
$GC,6646,-1.30,-146.0,582.4,-8.2,284,6651,0.00,2.65,0.00,0.000,6,0.000,0.057,2988,2220,3773,0,0,0,0,0,0
$GC,6902,-1.30,-146.0,602.9,-7.9,291,6907,0.00,3.05,0.00,0.000,4,0.000,0.123,2988,622,3772,0,0,0,0,0,0
$GC,6931,-1.30,-146.0,605.1,-8.3,291,6936,0.00,2.70,0.00,0.000,6,0.000,0.055,2988,2219,3771,0,0,0,0,0,0
$GC,7182,-1.34,-146.0,624.6,-7.8,297,7186,0.00,2.83,0.00,0.000,4,0.000,0.098,2988,3794,3770,0,0,0,0,0,0
$GC,7209,-1.39,-146.0,626.8,-8.3,297,7214,0.12,2.75,0.00,0.000,6,0.065,0.073,2936,2214,3770,0,0,0,0,0,0
$GC,7462,-1.33,-146.0,650.7,-9.7,303,7468,0.15,3.05,0.00,0.000,4,0.096,0.120,2969,623,3769,0,0,0,0,0,0
$GC,7495,-1.33,-146.0,654.3,-8.9,303,7501,0.00,2.78,0.00,0.000,6,0.000,0.070,2969,2223,3769,0,0,0,0,0,0
$GC,7746,-1.33,-146.0,674.7,-8.4,310,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2224,3768,0,0,0,0,0,0
$GC,7992,-1.33,-146.0,695.5,-8.5,316,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2224,3767,0,0,0,0,0,0
$GC,8233,-1.33,-146.0,716.1,-8.3,322,8238,0.00,3.20,0.00,0.000,4,0.000,0.138,2969,623,3766,0,0,0,0,0,0
$GC,8277,-1.33,-146.0,720.1,-9.2,323,8282,0.00,2.92,0.00,0.000,6,0.000,0.102,2969,2210,3766,0,0,0,0,0,0
$GC,8557,-1.33,-146.0,742.5,-7.8,330,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2210,3765,0,0,0,0,0,0
$GC,8799,-1.33,-146.0,761.6,-8.1,336,8804,0.00,3.40,0.00,0.000,4,0.000,0.167,2969,620,3764,0,0,0,0,0,0
$GC,8820,-1.33,-146.0,763.4,-7.9,336,8825,0.00,3.12,0.00,0.000,6,0.000,0.125,2969,2217,3763,0,0,0,0,0,0
$GC,9076,-1.33,-146.0,783.3,-7.8,343,9081,0.00,3.00,0.00,0.000,4,0.000,0.110,2969,624,3762,0,0,0,0,0,0
$GC,9100,-1.33,-146.0,785.0,-8.0,343,9104,0.00,2.78,0.00,0.000,6,0.000,0.067,2969,2216,3762,0,0,0,0,0,0
$GC,9355,-1.33,-146.0,805.7,-8.3,350,9359,0.00,2.90,0.00,0.000,4,0.000,0.105,2969,3797,3762,0,0,0,0,0,0
$GC,9376,-1.33,-146.0,807.8,-9.2,350,9381,0.00,2.78,0.00,0.000,6,0.000,0.071,2969,2209,3761,0,0,0,0,0,0
$GC,9634,-1.33,-146.0,827.7,-7.6,357,9639,0.00,2.85,0.00,0.000,4,0.000,0.085,2969,3797,3761,0,0,0,0,0,0
$GC,9661,-1.33,-146.0,830.1,-7.9,357,9666,0.00,2.75,0.00,0.000,6,0.000,0.071,2969,2219,3761,0,0,0,0,0,0
$GC,9912,-1.33,-146.0,849.7,-7.9,363,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2219,3759,0,0,0,0,0,0
$GC,10158,-1.33,-146.0,869.0,-7.8,369,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2218,3758,0,0,0,0,0,0
$GC,10399,-1.33,-146.0,887.3,-7.4,375,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2218,3758,0,0,0,0,0,0
$STATE,10599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10599,begin apogee
$GC,10606,-0.31,0.0,902.3,7.4,380,10730,0.98,0.00,120.88,1.212,6,0.067,0.000,3194,2387,3190,0,0,0,0,0,0
$STATE,10731,end apogee,CONTROL_FINISHED_OK
$STATE,10731,begin climb
$GC,10736,1.27,146.0,905.2,0.0,383,10872,1.42,2.83,127.50,1.181,4,0.033,0.077,3548,3928,2593,0,0,0,0,0,0
$GC,10945,1.14,146.0,893.0,11.3,388,10950,0.20,2.70,0.00,0.000,6,0.109,0.060,3509,2367,2589,0,0,0,0,0,0
$GC,11228,1.17,170.8,867.2,8.9,395,11258,0.00,2.83,22.40,1.104,4,0.000,0.066,3509,3931,2492,0,0,0,0,0,0
$GC,11278,1.13,175.4,862.5,9.8,396,11289,0.00,2.70,5.85,0.855,6,0.000,0.051,3509,2371,2474,0,0,0,0,0,0
$GC,11556,1.14,182.4,835.2,9.7,403,11566,0.00,0.00,7.53,0.938,6,0.000,0.000,3509,2371,2446,0,0,0,0,0,0
$GC,11800,1.14,182.4,810.3,10.5,409,11804,0.00,2.70,0.00,0.000,4,0.000,0.058,3509,3932,2442,0,0,0,0,0,0
$GC,11857,1.14,182.4,804.3,11.4,410,11861,0.00,2.65,0.00,0.000,6,0.000,0.047,3509,2376,2442,0,0,0,0,0,0
$GC,12123,1.15,192.0,778.5,9.6,417,12138,0.00,2.72,10.00,0.992,4,0.000,0.055,3509,3935,2407,0,0,0,0,0,0
$GC,12149,1.18,217.7,775.9,8.8,417,12180,0.00,2.67,25.60,1.075,6,0.000,0.047,3509,2378,2301,0,0,0,0,0,0
$GC,12444,1.18,217.7,745.2,10.5,425,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2378,2298,0,0,0,0,0,0
$GC,12685,1.18,217.7,718.7,10.8,431,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2378,2296,0,0,0,0,0,0
$GC,12929,1.18,217.7,693.6,10.5,437,12934,0.00,3.05,0.00,0.000,4,0.000,0.118,3509,780,2295,0,0,0,0,0,0
$GC,12953,1.18,217.7,691.2,10.4,437,12957,0.00,2.70,0.00,0.000,6,0.000,0.048,3509,2386,2294,0,0,0,0,0,0
$GC,13207,1.18,217.7,663.8,10.6,444,13212,0.00,2.88,0.00,0.000,4,0.000,0.078,3509,777,2295,0,0,0,0,0,0
$GC,13223,1.18,217.7,662.0,10.8,444,13227,0.00,2.65,0.00,0.000,6,0.000,0.039,3509,2377,2294,0,0,0,0,0,0
$GC,13488,1.18,217.7,634.2,10.6,451,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2378,2294,0,0,0,0,0,0
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$STATE,19266,end climb,SURFACE_DEPTH_REACHED
$STATE,19266,begin surface coast
$FINISH,1.2,1.010930
$STATE,19311,end surface coast,CONTROL_FINISHED_OK
$STATE,19311,begin surface
$SM_CCo,19334,41.80,0.495,0,0,1763,350.04
$SM_GC,2.06,0.00,0.00,41.80,0.000,0.000,0.495,462,2171,1763,-12.87,-1.10,350.04
$IRIDIUM_FIX,1920.65,-8107.58,050702,000040
$TT8_MAMPS,0.026078
$HUMID,61.97
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.80
$XPDR_PINGS,89
$24V_AH,23.1,55.103
$10V_AH,10.0,48.919
$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
$DEVICE_SECS,30.450,219.200,392.200,41.800,0.000,27.574,36.577,195.843,22.250,0.000,17.668,1527.847,14661.152,556.075,2294.820,766.435,33.367,1557.774,0.000,2283.877,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.811,337.472,432.287,555.259,1055.403,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,57297,724
$CAP_FILE_SIZE,172140,0
$CFSIZE,260165632,100884480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100413,095736,1923.612,-8110.259,40,0.9,40,-3.8