version: 66.06
glider: 146
mission: 8
dive: 394
start: 4 10 113 21 30 31
data:
$ID,146
$MISSION,8
$DIVE,394
$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,-315186.81
$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,80
$R_STBD_OVSHOOT,43
$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
$GPS1,211830,1924.444,-8115.129,37,1.0,37,-3.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.4
$GPS2,212937,1924.427,-8115.159,15,1.4,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.218,0.140
$KALMAN_X,-238073.7,-161.2,-141.7,224839.4,921.8
$KALMAN_Y,147586.4,-143.6,-307.9,-145526.7,358.2
$MHEAD_RNG_PITCHd_Wd,306.5,6879,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-69.45,0.000,2,0.000,0.000,462,2159,3448,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.5,-4.8,9,122,13.50,2.60,-6.53,0.000,4,0.159,0.036,2976,3792,3785,0,0,0,0,0,0
$GC,259,-1.12,-146.0,38.5,-17.2,29,265,0.17,2.45,0.00,0.000,6,0.102,0.022,3015,2247,3786,0,0,0,0,0,0
$GC,530,-0.99,-146.0,79.2,-14.2,53,535,0.12,2.65,0.00,0.000,4,0.110,0.046,3042,637,3787,0,0,0,0,0,0
$GC,601,-0.99,-146.0,90.1,-13.0,58,611,0.00,2.45,0.00,0.000,6,0.000,0.016,3042,2215,3787,0,0,0,0,0,0
$GC,866,-0.99,-146.0,120.0,-10.3,83,871,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2215,3788,0,0,0,0,0,0
$GC,1130,-1.05,-146.0,143.2,-7.5,108,1135,0.00,2.60,0.00,0.000,4,0.000,0.044,3042,638,3788,0,0,0,0,0,0
$GC,1177,-1.13,-146.0,146.5,-7.7,111,1182,0.12,2.40,0.00,0.000,6,0.062,0.020,2980,2200,3788,0,0,0,0,0,0
$GC,1438,-1.10,-146.0,171.0,-8.6,135,1443,0.17,2.50,0.00,0.000,4,0.084,0.034,3020,3773,3788,0,0,0,0,0,0
$GC,1496,-1.16,-146.0,175.9,-7.5,139,1502,0.00,2.47,0.00,0.000,6,0.000,0.019,3020,2188,3789,0,0,0,0,0,0
$GC,1761,-1.22,-146.0,196.3,-7.8,164,1766,0.10,0.00,0.00,0.000,6,0.079,0.000,2969,2188,3789,0,0,0,0,0,0
$GC,2043,-1.18,-146.0,221.9,-8.9,174,2048,0.15,2.55,0.00,0.000,4,0.090,0.058,3005,644,3789,0,0,0,0,0,0
$GC,2086,-1.22,-146.0,225.2,-8.0,175,2090,0.00,2.40,0.00,0.000,6,0.000,0.025,3004,2198,3789,0,0,0,0,0,0
$GC,2370,-1.26,-146.0,246.7,-7.4,182,2374,0.00,2.53,0.00,0.000,4,0.000,0.039,3004,3780,3788,0,0,0,0,0,0
$GC,2433,-1.32,-146.0,251.4,-7.3,183,2438,0.15,2.47,0.00,0.000,6,0.057,0.023,2943,2206,3788,0,0,0,0,0,0
$GC,2694,-1.24,-146.0,278.1,-10.6,190,2699,0.20,2.60,0.00,0.000,4,0.084,0.056,2989,637,3787,0,0,0,0,0,0
$GC,2734,-1.24,-146.0,281.8,-9.0,191,2738,0.00,2.42,0.00,0.000,6,0.000,0.020,2989,2196,3787,0,0,0,0,0,0
$GC,3020,-1.24,-146.0,304.5,-7.9,198,3024,0.00,2.55,0.00,0.000,4,0.000,0.041,2989,3778,3786,0,0,0,0,0,0
$GC,3043,-1.24,-146.0,306.4,-7.6,198,3047,0.00,2.47,0.00,0.000,6,0.000,0.022,2989,2211,3787,0,0,0,0,0,0
$GC,3298,-1.24,-146.0,326.1,-7.6,205,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2211,3785,0,0,0,0,0,0
$GC,3544,-1.24,-146.0,343.9,-7.3,211,3548,0.00,2.65,0.00,0.000,4,0.000,0.067,2989,638,3784,0,0,0,0,0,0
$GC,3565,-1.24,-146.0,345.8,-7.5,211,3569,0.00,2.45,0.00,0.000,6,0.000,0.030,2989,2194,3784,0,0,0,0,0,0
$GC,3821,-1.24,-146.0,365.3,-7.7,218,3825,0.00,2.60,0.00,0.000,4,0.000,0.052,2989,3793,3784,0,0,0,0,0,0
$GC,3868,-1.28,-146.0,369.1,-8.5,219,3872,0.00,2.50,0.00,0.000,6,0.000,0.032,2989,2226,3783,0,0,0,0,0,0
$GC,4145,-1.28,-146.0,390.6,-7.4,226,4150,0.00,2.72,0.00,0.000,4,0.000,0.071,2989,633,3782,0,0,0,0,0,0
$GC,4185,-1.28,-146.0,393.9,-8.2,227,4189,0.00,2.55,0.00,0.000,6,0.000,0.035,2989,2223,3782,0,0,0,0,0,0
$GC,4470,-1.28,-146.0,416.5,-8.0,234,4475,0.00,2.72,0.00,0.000,4,0.000,0.073,2989,631,3781,0,0,0,0,0,0
$GC,4492,-1.28,-146.0,418.6,-8.4,234,4497,0.00,2.55,0.00,0.000,6,0.000,0.034,2989,2211,3781,0,0,0,0,0,0
$GC,4750,-1.28,-146.0,439.1,-7.9,241,4755,0.00,2.62,0.00,0.000,4,0.000,0.059,2989,3797,3780,0,0,0,0,0,0
$GC,4784,-1.32,-146.0,442.2,-8.3,241,4790,0.00,2.58,0.00,0.000,6,0.000,0.042,2989,2224,3779,0,0,0,0,0,0
$GC,5034,-1.32,-146.0,462.4,-8.3,248,5038,0.00,2.90,0.00,0.000,4,0.000,0.099,2989,617,3778,0,0,0,0,0,0
$GC,5076,-1.36,-146.0,465.8,-9.1,249,5081,0.12,2.62,0.00,0.000,6,0.066,0.043,2937,2218,3778,0,0,0,0,0,0
$GC,5360,-1.28,-146.0,495.1,-10.3,256,5362,0.20,0.00,0.00,0.000,6,0.087,0.000,2981,2218,3777,0,0,0,0,0,0
$GC,5604,-1.28,-146.0,515.5,-8.2,262,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2218,3776,0,0,0,0,0,0
$GC,5849,-1.28,-146.0,535.5,-8.2,268,5854,0.00,2.92,0.00,0.000,4,0.000,0.097,2981,623,3775,0,0,0,0,0,0
$GC,5876,-1.28,-146.0,538.1,-8.8,268,5881,0.00,2.65,0.00,0.000,6,0.000,0.052,2981,2212,3774,0,0,0,0,0,0
$GC,6127,-1.28,-146.0,558.0,-8.0,274,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2212,3773,0,0,0,0,0,0
$GC,6370,-1.28,-146.0,578.5,-8.4,280,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2212,3772,0,0,0,0,0,0
$GC,6616,-1.28,-146.0,598.2,-8.0,286,6621,0.00,2.92,0.00,0.000,4,0.000,0.107,2981,628,3770,0,0,0,0,0,0
$GC,6638,-1.28,-146.0,600.2,-8.4,286,6642,0.00,2.67,0.00,0.000,6,0.000,0.059,2981,2203,3770,0,0,0,0,0,0
$GC,6893,-1.28,-146.0,620.5,-7.8,293,6897,0.00,2.90,0.00,0.000,4,0.000,0.098,2980,3798,3769,0,0,0,0,0,0
$GC,6922,-1.28,-146.0,622.6,-7.7,293,6927,0.00,2.78,0.00,0.000,6,0.000,0.071,2981,2208,3769,0,0,0,0,0,0
$GC,7172,-1.28,-146.0,641.9,-7.6,299,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2209,3768,0,0,0,0,0,0
$GC,7416,-1.28,-146.0,659.8,-7.3,305,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2209,3767,0,0,0,0,0,0
$GC,7662,-1.28,-146.0,677.8,-7.4,311,7667,0.00,2.95,0.00,0.000,4,0.000,0.106,2981,3796,3766,0,0,0,0,0,0
$GC,7683,-1.28,-146.0,679.8,-7.9,311,7688,0.00,2.90,0.00,0.000,6,0.000,0.098,2981,2216,3765,0,0,0,0,0,0
$GC,7938,-1.28,-146.0,699.6,-7.9,318,7943,0.00,3.20,0.00,0.000,4,0.000,0.144,2981,621,3764,0,0,0,0,0,0
$GC,7971,-1.28,-146.0,702.5,-9.1,318,7977,0.00,2.88,0.00,0.000,6,0.000,0.091,2981,2206,3764,0,0,0,0,0,0
$GC,8226,-1.28,-146.0,721.6,-7.6,325,8231,0.00,3.15,0.00,0.000,4,0.000,0.137,2981,3804,3763,0,0,0,0,0,0
$GC,8259,-1.32,-146.0,724.5,-7.9,325,8265,0.00,2.90,0.00,0.000,6,0.000,0.088,2981,2211,3763,0,0,0,0,0,0
$GC,8509,-1.32,-146.0,742.8,-7.3,332,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2211,3762,0,0,0,0,0,0
$GC,8755,-1.32,-146.0,760.4,-7.2,338,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3761,0,0,0,0,0,0
$GC,8996,-1.32,-146.0,777.7,-7.1,344,9001,0.00,2.88,0.00,0.000,4,0.000,0.097,2981,3806,3760,0,0,0,0,0,0
$GC,9018,-1.32,-146.0,779.3,-7.3,344,9022,0.00,2.80,0.00,0.000,6,0.000,0.076,2981,2210,3760,0,0,0,0,0,0
$GC,9275,-1.32,-146.0,797.4,-7.1,351,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2209,3759,0,0,0,0,0,0
$GC,9516,-1.32,-146.0,815.0,-7.2,357,9521,0.00,2.88,0.00,0.000,4,0.000,0.091,2981,3808,3758,0,0,0,0,0,0
$GC,9556,-1.37,-146.0,818.0,-7.3,358,9561,0.00,2.83,0.00,0.000,6,0.000,0.072,2981,2205,3758,0,0,0,0,0,0
$GC,9840,-1.41,-146.0,838.8,-7.3,365,9845,0.12,2.90,0.00,0.000,4,0.073,0.091,2937,3808,3757,0,0,0,0,0,0
$GC,9868,-1.37,-146.0,841.4,-9.3,365,9873,0.10,2.80,0.00,0.000,6,0.110,0.074,2960,2215,3757,0,0,0,0,0,0
$GC,10118,-1.37,-146.0,862.3,-8.4,371,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2214,3756,0,0,0,0,0,0
$GC,10364,-1.37,-146.0,881.7,-7.8,377,10369,0.00,2.85,0.00,0.000,4,0.000,0.088,2960,3808,3755,0,0,0,0,0,0
$GC,10403,-1.37,-146.0,885.2,-8.5,378,10408,0.00,2.78,0.00,0.000,6,0.000,0.069,2960,2221,3755,0,0,0,0,0,0
$STATE,10603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10603,begin apogee
$GC,10611,-0.31,0.0,900.9,7.7,383,10735,1.00,0.00,120.38,1.208,6,0.067,0.000,3190,2387,3191,0,0,0,0,0,0
$STATE,10736,end apogee,CONTROL_FINISHED_OK
$STATE,10736,begin climb
$GC,10739,1.27,146.0,903.6,0.0,386,10875,1.42,2.83,128.12,1.180,4,0.036,0.083,3543,3930,2593,0,0,0,0,0,0
$GC,10975,1.15,146.0,886.4,11.6,391,10980,0.15,2.75,0.00,0.000,6,0.117,0.058,3513,2366,2588,0,0,0,0,0,0
$GC,11231,1.17,162.0,861.5,9.3,398,11251,0.00,2.80,14.55,1.059,4,0.000,0.063,3513,3939,2529,0,0,0,0,0,0
$GC,11303,1.12,162.0,853.9,11.5,399,11308,0.00,2.70,0.00,0.000,6,0.000,0.048,3513,2374,2528,0,0,0,0,0,0
$GC,11553,1.14,170.6,829.9,9.6,405,11568,0.00,2.75,8.90,0.976,4,0.000,0.064,3513,3936,2494,0,0,0,0,0,0
$GC,11582,1.09,170.6,827.2,10.2,405,11587,0.00,2.67,0.00,0.000,6,0.000,0.049,3514,2375,2493,0,0,0,0,0,0
$GC,11838,1.10,171.8,801.6,9.9,412,11842,0.00,2.67,0.00,0.000,4,0.000,0.058,3513,3935,2491,0,0,0,0,0,0
$GC,11904,1.06,171.8,794.3,11.2,413,11909,0.12,2.62,0.00,0.000,6,0.121,0.050,3489,2394,2490,0,0,0,0,0,0
$GC,12162,1.10,206.4,772.2,8.4,420,12199,0.00,0.00,34.05,1.098,6,0.000,0.000,3489,2394,2348,0,0,0,0,0,0
$GC,12444,1.16,218.7,745.8,9.4,427,12459,0.10,0.00,12.45,1.006,6,0.084,0.000,3520,2394,2298,0,0,0,0,0,0
$GC,12687,1.16,218.7,718.8,11.2,433,12688,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2394,2295,0,0,0,0,0,0
$GC,12933,1.16,218.7,692.2,10.8,439,12937,0.00,2.62,0.00,0.000,4,0.000,0.060,3520,3940,2295,0,0,0,0,0,0
$GC,12959,1.16,218.7,688.7,11.0,439,12964,0.00,2.62,0.00,0.000,6,0.000,0.049,3521,2391,2294,0,0,0,0,0,0
$GC,13209,1.16,218.7,661.3,11.1,445,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2391,2293,0,0,0,0,0,0
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$STATE,19183,end climb,SURFACE_DEPTH_REACHED
$STATE,19184,begin surface coast
$FINISH,1.0,1.008203
$STATE,19226,end surface coast,CONTROL_FINISHED_OK
$STATE,19230,begin surface
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$IRIDIUM_FIX,1918.37,-8116.97,050702,212104
$TT8_MAMPS,0.026078
$HUMID,61.41
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.80
$XPDR_PINGS,96
$24V_AH,23.0,55.548
$10V_AH,10.1,49.299
$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
$DEVICE_SECS,30.950,223.675,395.300,37.400,0.000,54.928,73.701,293.374,24.000,0.000,16.916,1543.090,14566.347,567.612,2340.547,928.758,33.380,1588.503,0.000,2330.721,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.322,333.368,431.670,552.772,1052.246,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,57304,725
$CAP_FILE_SIZE,178642,0
$CFSIZE,260165632,100659200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110413,025323,1925.477,-8117.712,38,1.7,38,-3.7