version: 66.06
glider: 146
mission: 8
dive: 405
start: 4 13 113 6 4 15
data:
$ID,146
$MISSION,8
$DIVE,405
$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,-315447.34
$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,28
$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
$GPS1,055605,1924.330,-8110.284,31,1.3,31,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.4
$GPS2,060319,1924.354,-8110.292,11,1.3,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.251,0.067
$KALMAN_X,-230958.7,-363.8,-88.8,226373.8,1738.2
$KALMAN_Y,146348.2,-41.6,-115.9,-144722.8,-186.3
$MHEAD_RNG_PITCHd_Wd,288.6,14324,-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,-70.35,0.000,2,0.000,0.000,461,2154,3440,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-3.6,9,123,13.35,2.53,-6.60,0.000,4,0.155,0.054,2976,620,3786,0,0,0,0,0,0
$GC,348,-1.11,-146.0,53.2,-17.0,36,353,0.17,2.50,0.00,0.000,6,0.107,0.016,3015,2252,3787,0,0,0,0,0,0
$GC,613,-1.01,-146.0,91.3,-13.6,60,618,0.10,2.70,0.00,0.000,4,0.120,0.044,3038,625,3788,0,0,0,0,0,0
$GC,684,-1.01,-146.0,100.2,-11.7,65,688,0.00,2.42,0.00,0.000,6,0.000,0.016,3038,2202,3788,0,0,0,0,0,0
$GC,952,-1.01,-146.0,127.9,-10.0,89,957,0.00,2.47,0.00,0.000,4,0.000,0.031,3038,3775,3789,0,0,0,0,0,0
$GC,998,-1.06,-146.0,132.9,-8.6,92,1008,0.00,2.50,0.00,0.000,6,0.000,0.020,3038,2190,3789,0,0,0,0,0,0
$GC,1261,-1.11,-146.0,153.5,-7.8,117,1265,0.00,2.55,0.00,0.000,4,0.000,0.045,3038,634,3789,0,0,0,0,0,0
$GC,1337,-1.18,-146.0,159.7,-8.5,123,1342,0.15,2.40,0.00,0.000,6,0.056,0.023,2973,2199,3789,0,0,0,0,0,0
$GC,1598,-1.14,-146.0,185.3,-9.4,147,1603,0.17,2.53,0.00,0.000,4,0.083,0.039,3014,3772,3790,0,0,0,0,0,0
$GC,1655,-1.21,-146.0,189.7,-8.3,151,1659,0.00,2.45,0.00,0.000,6,0.000,0.019,3014,2187,3790,0,0,0,0,0,0
$GC,1913,-1.26,-146.0,209.3,-7.5,166,1918,0.12,2.55,0.00,0.000,4,0.064,0.047,2954,644,3790,0,0,0,0,0,0
$GC,1969,-1.20,-146.0,215.3,-10.5,167,1974,0.20,2.40,0.00,0.000,6,0.085,0.024,2999,2202,3790,0,0,0,0,0,0
$GC,2238,-1.20,-146.0,237.2,-8.4,174,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2202,3790,0,0,0,0,0,0
$GC,2479,-1.20,-146.0,256.8,-7.9,180,2484,0.00,2.50,0.00,0.000,4,0.000,0.044,2999,3768,3790,0,0,0,0,0,0
$GC,2520,-1.25,-146.0,260.1,-8.2,181,2524,0.00,2.45,0.00,0.000,6,0.000,0.023,2999,2195,3790,0,0,0,0,0,0
$GC,2805,-1.25,-146.0,282.0,-7.8,188,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2195,3789,0,0,0,0,0,0
$GC,3047,-1.29,-146.0,300.6,-7.5,194,3052,0.00,2.58,0.00,0.000,4,0.000,0.061,2999,642,3788,0,0,0,0,0,0
$GC,3075,-1.29,-146.0,303.0,-8.2,194,3079,0.00,2.40,0.00,0.000,6,0.000,0.030,2999,2186,3788,0,0,0,0,0,0
$GC,3328,-1.33,-146.0,321.6,-7.3,200,3329,0.12,0.00,0.00,0.000,6,0.067,0.000,2945,2186,3788,0,0,0,0,0,0
$GC,3569,-1.26,-146.0,343.9,-9.3,206,3571,0.17,0.00,0.00,0.000,6,0.085,0.000,2986,2186,3787,0,0,0,0,0,0
$GC,3812,-1.26,-146.0,362.0,-7.4,212,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2186,3786,0,0,0,0,0,0
$GC,4056,-1.26,-146.0,381.1,-7.8,218,4060,0.00,2.62,0.00,0.000,4,0.000,0.047,2986,3786,3785,0,0,0,0,0,0
$GC,4085,-1.26,-146.0,383.3,-7.9,218,4090,0.00,2.53,0.00,0.000,6,0.000,0.033,2986,2210,3785,0,0,0,0,0,0
$GC,4335,-1.26,-146.0,402.0,-7.5,224,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2210,3784,0,0,0,0,0,0
$GC,4579,-1.26,-146.0,420.7,-7.7,230,4583,0.00,2.75,0.00,0.000,4,0.000,0.078,2986,631,3784,0,0,0,0,0,0
$GC,4621,-1.30,-146.0,423.8,-8.3,231,4626,0.00,2.53,0.00,0.000,6,0.000,0.032,2986,2199,3783,0,0,0,0,0,0
$GC,4904,-1.30,-146.0,446.2,-7.8,238,4909,0.00,2.65,0.00,0.000,4,0.000,0.062,2986,3794,3782,0,0,0,0,0,0
$GC,4931,-1.30,-146.0,448.4,-7.6,238,4936,0.00,2.58,0.00,0.000,6,0.000,0.041,2986,2206,3782,0,0,0,0,0,0
$GC,5183,-1.30,-146.0,467.5,-7.7,244,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2206,3781,0,0,0,0,0,0
$GC,5425,-1.30,-146.0,485.9,-7.4,250,5429,0.00,2.67,0.00,0.000,4,0.000,0.058,2986,3790,3780,0,0,0,0,0,0
$GC,5452,-1.30,-146.0,488.0,-7.7,250,5456,0.00,2.62,0.00,0.000,6,0.000,0.044,2986,2206,3780,0,0,0,0,0,0
$GC,5704,-1.30,-146.0,506.7,-7.5,256,5709,0.00,2.90,0.00,0.000,4,0.000,0.108,2986,623,3778,0,0,0,0,0,0
$GC,5737,-1.30,-146.0,509.4,-7.4,256,5743,0.00,2.60,0.00,0.000,6,0.000,0.041,2986,2196,3778,0,0,0,0,0,0
$GC,5987,-1.30,-146.0,528.3,-7.6,263,5992,0.00,2.75,0.00,0.000,4,0.000,0.076,2986,3797,3777,0,0,0,0,0,0
$GC,6017,-1.34,-146.0,530.7,-8.3,263,6021,0.00,2.65,0.00,0.000,6,0.000,0.052,2986,2202,3777,0,0,0,0,0,0
$GC,6267,-1.34,-146.0,549.2,-7.2,269,6272,0.00,2.95,0.00,0.000,4,0.000,0.114,2986,626,3776,0,0,0,0,0,0
$GC,6294,-1.34,-146.0,551.3,-8.0,269,6299,0.00,2.65,0.00,0.000,6,0.000,0.052,2986,2214,3776,0,0,0,0,0,0
$GC,6547,-1.34,-146.0,568.6,-6.9,275,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2214,3775,0,0,0,0,0,0
$GC,6788,-1.34,-146.0,586.7,-7.5,281,6793,0.00,2.90,0.00,0.000,4,0.000,0.095,2986,627,3774,0,0,0,0,0,0
$GC,6816,-1.34,-146.0,588.9,-8.1,281,6821,0.00,2.67,0.00,0.000,6,0.000,0.051,2986,2211,3773,0,0,0,0,0,0
$GC,7069,-1.34,-146.0,608.1,-7.6,287,7074,0.00,2.83,0.00,0.000,4,0.000,0.094,2986,3798,3772,0,0,0,0,0,0
$GC,7109,-1.39,-146.0,611.6,-8.2,288,7114,0.12,2.70,0.00,0.000,6,0.066,0.067,2936,2218,3771,0,0,0,0,0,0
$GC,7393,-1.34,-146.0,639.4,-10.0,295,7399,0.15,3.03,0.00,0.000,4,0.096,0.115,2968,622,3770,0,0,0,0,0,0
$GC,7426,-1.34,-146.0,642.2,-9.0,295,7430,0.00,2.75,0.00,0.000,6,0.000,0.068,2969,2214,3769,0,0,0,0,0,0
$GC,7676,-1.34,-146.0,662.5,-7.9,301,7680,0.00,2.92,0.00,0.000,4,0.000,0.111,2969,3796,3769,0,0,0,0,0,0
$GC,7699,-1.34,-146.0,664.3,-8.3,301,7703,0.00,2.85,0.00,0.000,6,0.000,0.083,2969,2213,3769,0,0,0,0,0,0
$GC,7956,-1.34,-146.0,684.5,-7.8,308,7961,0.00,3.12,0.00,0.000,4,0.000,0.137,2969,622,3768,0,0,0,0,0,0
$GC,7978,-1.34,-146.0,686.5,-8.2,308,7982,0.00,2.85,0.00,0.000,6,0.000,0.088,2969,2213,3768,0,0,0,0,0,0
$GC,8233,-1.34,-146.0,707.0,-8.1,315,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2213,3767,0,0,0,0,0,0
$GC,8479,-1.34,-146.0,726.7,-8.1,321,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2213,3766,0,0,0,0,0,0
$GC,8722,-1.34,-146.0,746.0,-7.9,327,8727,0.00,3.22,0.00,0.000,4,0.000,0.156,2968,3794,3765,0,0,0,0,0,0
$GC,8749,-1.34,-146.0,748.4,-8.5,327,8754,0.00,2.83,0.00,0.000,6,0.000,0.084,2969,2213,3764,0,0,0,0,0,0
$GC,8999,-1.34,-146.0,767.9,-7.9,333,9004,0.00,3.05,0.00,0.000,4,0.000,0.125,2969,622,3763,0,0,0,0,0,0
$GC,9041,-1.34,-146.0,771.3,-9.0,334,9046,0.00,2.80,0.00,0.000,6,0.000,0.073,2968,2218,3763,0,0,0,0,0,0
$GC,9324,-1.34,-146.0,794.5,-8.2,341,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2219,3762,0,0,0,0,0,0
$GC,9568,-1.34,-146.0,813.9,-8.0,347,9573,0.00,2.88,0.00,0.000,4,0.000,0.098,2969,3801,3761,0,0,0,0,0,0
$GC,9597,-1.34,-146.0,816.3,-8.9,347,9602,0.00,2.78,0.00,0.000,6,0.000,0.067,2968,2210,3761,0,0,0,0,0,0
$GC,9847,-1.34,-146.0,835.8,-7.7,353,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2210,3761,0,0,0,0,0,0
$GC,10091,-1.34,-146.0,854.4,-7.6,359,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2210,3760,0,0,0,0,0,0
$GC,10337,-1.34,-146.0,873.0,-7.6,365,10342,0.00,2.85,0.00,0.000,4,0.000,0.084,2969,3801,3759,0,0,0,0,0,0
$GC,10364,-1.34,-146.0,875.4,-8.7,365,10369,0.00,2.78,0.00,0.000,6,0.000,0.067,2968,2210,3759,0,0,0,0,0,0
$GC,10614,-1.34,-146.0,894.6,-7.7,371,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2210,3757,0,0,0,0,0,0
$STATE,10692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10692,begin apogee
$GC,10701,-0.31,0.0,900.6,7.6,373,10826,0.98,0.00,121.47,1.208,6,0.067,0.000,3192,2381,3190,0,0,0,0,0,0
$STATE,10827,end apogee,CONTROL_FINISHED_OK
$STATE,10827,begin climb
$GC,10829,1.27,146.0,903.8,0.0,376,10967,1.42,2.85,128.50,1.177,4,0.034,0.081,3545,3934,2593,0,0,0,0,0,0
$GC,11049,1.15,146.0,890.1,11.1,381,11054,0.17,2.75,0.00,0.000,6,0.112,0.058,3511,2371,2588,0,0,0,0,0,0
$GC,11322,1.17,168.1,864.8,9.0,388,11344,0.00,0.00,20.27,1.095,6,0.000,0.000,3511,2371,2504,0,0,0,0,0,0
$GC,11568,1.18,175.9,841.4,9.6,394,11578,0.00,0.00,8.20,0.962,6,0.000,0.000,3511,2371,2472,0,0,0,0,0,0
$GC,11850,1.18,175.9,813.0,10.0,401,11855,0.00,2.70,0.00,0.000,4,0.000,0.058,3511,3931,2469,0,0,0,0,0,0
$GC,11878,1.15,175.9,810.1,10.4,401,11882,0.00,2.67,0.00,0.000,6,0.000,0.048,3511,2364,2468,0,0,0,0,0,0
$GC,12131,1.15,179.6,785.7,9.8,407,12140,0.00,2.70,4.22,0.725,4,0.000,0.058,3511,3933,2457,0,0,0,0,0,0
$GC,12162,1.15,179.6,782.0,10.2,407,12167,0.00,2.67,0.00,0.000,6,0.000,0.048,3511,2371,2456,0,0,0,0,0,0
$GC,12412,1.16,191.1,758.0,9.5,413,12427,0.00,0.00,12.30,1.012,6,0.000,0.000,3511,2371,2411,0,0,0,0,0,0
$GC,12658,1.16,191.1,733.1,10.3,419,12663,0.00,2.70,0.00,0.000,4,0.000,0.061,3511,3938,2408,0,0,0,0,0,0
$GC,12691,1.16,191.1,729.4,11.1,419,12696,0.00,2.65,0.00,0.000,6,0.000,0.048,3511,2385,2407,0,0,0,0,0,0
$GC,12941,1.20,223.8,707.1,8.5,426,12982,0.00,2.80,31.67,1.054,4,0.000,0.064,3511,3937,2276,0,0,0,0,0,0
$GC,13139,1.15,223.8,687.0,11.3,430,13144,0.00,2.58,0.00,0.000,6,0.000,0.048,3511,2419,2273,0,0,0,0,0,0
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$STATE,19455,end climb,SURFACE_DEPTH_REACHED
$STATE,19455,begin surface coast
$FINISH,1.0,1.010725
$STATE,19504,end surface coast,CONTROL_FINISHED_OK
$STATE,19504,begin surface
$SM_CCo,19530,33.30,0.489,0,0,1763,350.04
$SM_GC,2.03,0.00,0.00,33.30,0.000,0.000,0.489,466,2152,1763,-12.85,-1.64,350.04
$IRIDIUM_FIX,1918.37,-8107.58,080702,000019
$TT8_MAMPS,0.026078
$HUMID,62.08
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.00
$XPDR_PINGS,103
$24V_AH,23.0,57.100
$10V_AH,10.1,50.692
$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,30.275,230.750,405.525,33.300,0.000,23.671,34.867,202.000,25.750,0.000,13.262,1569.721,14600.013,572.138,2475.781,769.859,33.376,1645.045,0.000,2469.916,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,156.468,1208.025,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.479,342.483,433.177,567.903,1081.702,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,57166,723
$CAP_FILE_SIZE,178737,0
$CFSIZE,260165632,99868672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130413,113136,1924.690,-8112.430,34,1.3,34,-3.8