version: 66.06
glider: 146
mission: 8
dive: 407
start: 4 13 113 17 20 25
data:
$ID,146
$MISSION,8
$DIVE,407
$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,-315492.94
$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,59
$R_STBD_OVSHOOT,19
$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
$GPS1,171159,1925.391,-8114.389,37,1.6,43,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.4
$GPS2,171930,1925.379,-8114.453,13,1.3,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.227,0.125
$KALMAN_X,-229547.2,-70.7,-270.1,217586.1,1796.6
$KALMAN_Y,144785.5,98.0,113.6,-141635.4,-1143.3
$MHEAD_RNG_PITCHd_Wd,302.7,6885,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.60,0.000,2,0.000,0.000,464,2177,3465,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-4.5,9,123,13.60,2.62,-6.00,0.000,4,0.157,0.038,2977,3820,3786,0,0,0,0,0,0
$GC,311,-1.13,-146.0,47.0,-16.7,33,317,0.15,2.47,0.00,0.000,6,0.106,0.021,3011,2229,3786,0,0,0,0,0,0
$GC,581,-1.02,-146.0,85.5,-14.0,57,586,0.12,2.65,0.00,0.000,4,0.108,0.048,3039,637,3787,0,0,0,0,0,0
$GC,652,-0.98,-146.0,96.3,-12.2,62,661,0.00,2.47,0.00,0.000,6,0.000,0.017,3039,2227,3787,0,0,0,0,0,0
$GC,920,-0.98,-146.0,126.1,-9.6,87,925,0.00,2.60,0.00,0.000,4,0.000,0.044,3039,634,3788,0,0,0,0,0,0
$GC,965,-1.03,-146.0,131.5,-10.3,90,975,0.00,2.40,0.00,0.000,6,0.000,0.017,3039,2182,3788,0,0,0,0,0,0
$GC,1235,-1.09,-146.0,150.7,-6.9,115,1239,0.00,2.50,0.00,0.000,4,0.000,0.032,3039,3771,3788,0,0,0,0,0,0
$GC,1291,-1.19,-146.0,155.8,-7.4,119,1298,0.17,2.47,0.00,0.000,6,0.049,0.021,2969,2176,3788,0,0,0,0,0,0
$GC,1557,-1.14,-146.0,180.8,-9.8,144,1562,0.20,2.55,0.00,0.000,4,0.084,0.048,3015,639,3789,0,0,0,0,0,0
$GC,1613,-1.20,-146.0,186.2,-8.9,148,1618,0.00,2.35,0.00,0.000,6,0.000,0.018,3016,2190,3789,0,0,0,0,0,0
$GC,1875,-1.25,-146.0,206.5,-7.4,166,1877,0.12,0.00,0.00,0.000,6,0.064,0.000,2957,2190,3789,0,0,0,0,0,0
$GC,2115,-1.19,-146.0,229.3,-9.5,172,2120,0.20,2.50,0.00,0.000,4,0.081,0.034,3004,3769,3789,0,0,0,0,0,0
$GC,2148,-1.24,-146.0,232.4,-8.6,172,2154,0.00,2.47,0.00,0.000,6,0.000,0.021,3004,2186,3789,0,0,0,0,0,0
$GC,2401,-1.28,-146.0,251.1,-7.4,179,2406,0.10,2.55,0.00,0.000,4,0.077,0.051,2956,641,3788,0,0,0,0,0,0
$GC,2435,-1.22,-146.0,254.3,-9.6,179,2441,0.17,2.40,0.00,0.000,6,0.088,0.018,2994,2191,3789,0,0,0,0,0,0
$GC,2687,-1.22,-146.0,273.9,-7.6,186,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2191,3788,0,0,0,0,0,0
$GC,2928,-1.22,-146.0,293.2,-8.0,192,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2191,3787,0,0,0,0,0,0
$GC,3172,-1.22,-146.0,312.3,-7.7,198,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2191,3786,0,0,0,0,0,0
$GC,3416,-1.22,-146.0,331.2,-7.9,204,3420,0.00,2.53,0.00,0.000,4,0.000,0.044,2995,3770,3785,0,0,0,0,0,0
$GC,3451,-1.26,-146.0,334.1,-8.4,204,3457,0.00,2.50,0.00,0.000,6,0.000,0.030,2995,2196,3785,0,0,0,0,0,0
$GC,3701,-1.26,-146.0,354.7,-8.1,211,3706,0.00,2.58,0.00,0.000,4,0.000,0.046,2995,3778,3784,0,0,0,0,0,0
$GC,3746,-1.30,-146.0,358.6,-8.4,212,3750,0.00,2.50,0.00,0.000,6,0.000,0.025,2995,2204,3784,0,0,0,0,0,0
$GC,4026,-1.30,-146.0,380.0,-7.6,219,4031,0.00,2.67,0.00,0.000,4,0.000,0.066,2995,627,3783,0,0,0,0,0,0
$GC,4055,-1.34,-146.0,382.5,-8.5,219,4060,0.12,2.47,0.00,0.000,6,0.064,0.033,2942,2198,3783,0,0,0,0,0,0
$GC,4305,-1.28,-146.0,407.2,-10.1,225,4310,0.17,2.67,0.00,0.000,4,0.087,0.067,2982,635,3782,0,0,0,0,0,0
$GC,4341,-1.28,-146.0,410.2,-9.1,225,4346,0.00,2.50,0.00,0.000,6,0.000,0.031,2982,2191,3782,0,0,0,0,0,0
$GC,4591,-1.28,-146.0,430.9,-8.2,232,4595,0.00,2.65,0.00,0.000,4,0.000,0.059,2982,3793,3781,0,0,0,0,0,0
$GC,4630,-1.28,-146.0,434.4,-8.6,233,4635,0.00,2.58,0.00,0.000,6,0.000,0.032,2982,2208,3781,0,0,0,0,0,0
$GC,4916,-1.28,-146.0,458.5,-8.5,240,4920,0.00,2.65,0.00,0.000,4,0.000,0.056,2982,3790,3780,0,0,0,0,0,0
$GC,4937,-1.28,-146.0,460.5,-8.1,240,4942,0.00,2.60,0.00,0.000,6,0.000,0.039,2982,2206,3780,0,0,0,0,0,0
$GC,5195,-1.28,-146.0,481.2,-7.9,247,5199,0.00,2.88,0.00,0.000,4,0.000,0.094,2982,619,3778,0,0,0,0,0,0
$GC,5222,-1.28,-146.0,483.8,-8.7,247,5226,0.00,2.60,0.00,0.000,6,0.000,0.043,2982,2207,3778,0,0,0,0,0,0
$GC,5472,-1.28,-146.0,503.2,-7.9,253,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2208,3777,0,0,0,0,0,0
$GC,5715,-1.28,-146.0,522.4,-7.8,259,5720,0.00,2.75,0.00,0.000,4,0.000,0.076,2982,3793,3776,0,0,0,0,0,0
$GC,5745,-1.28,-146.0,524.8,-8.9,259,5749,0.00,2.65,0.00,0.000,6,0.000,0.050,2982,2207,3776,0,0,0,0,0,0
$GC,5995,-1.28,-146.0,545.3,-8.2,265,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2207,3775,0,0,0,0,0,0
$GC,6238,-1.28,-146.0,564.4,-7.9,271,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2207,3773,0,0,0,0,0,0
$GC,6484,-1.28,-146.0,582.6,-7.4,277,6489,0.00,3.00,0.00,0.000,4,0.000,0.117,2982,626,3772,0,0,0,0,0,0
$GC,6506,-1.28,-146.0,584.7,-8.0,277,6511,0.00,2.65,0.00,0.000,6,0.000,0.050,2982,2203,3771,0,0,0,0,0,0
$GC,6761,-1.28,-146.0,604.2,-7.8,284,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3771,0,0,0,0,0,0
$GC,7007,-1.28,-146.0,622.2,-7.1,290,7012,0.00,2.88,0.00,0.000,4,0.000,0.095,2982,3793,3769,0,0,0,0,0,0
$GC,7040,-1.31,-146.0,624.8,-7.6,290,7046,0.00,2.75,0.00,0.000,6,0.000,0.071,2982,2209,3769,0,0,0,0,0,0
$GC,7290,-1.31,-146.0,642.8,-7.3,297,7295,0.00,2.97,0.00,0.000,4,0.000,0.114,2982,620,3768,0,0,0,0,0,0
$GC,7315,-1.31,-146.0,644.8,-8.1,297,7319,0.00,2.72,0.00,0.000,6,0.000,0.063,2982,2208,3768,0,0,0,0,0,0
$GC,7572,-1.31,-146.0,664.2,-7.7,304,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2208,3767,0,0,0,0,0,0
$GC,7813,-1.31,-146.0,682.8,-7.6,310,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2208,3766,0,0,0,0,0,0
$GC,8057,-1.31,-146.0,700.8,-7.3,316,8062,0.00,3.00,0.00,0.000,4,0.000,0.123,2982,3797,3764,0,0,0,0,0,0
$GC,8093,-1.35,-146.0,703.4,-8.4,316,8098,0.00,2.97,0.00,0.000,6,0.000,0.100,2982,2200,3764,0,0,0,0,0,0
$GC,8343,-1.35,-146.0,721.2,-6.9,323,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2200,3763,0,0,0,0,0,0
$GC,8586,-1.35,-146.0,738.9,-7.3,329,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2200,3762,0,0,0,0,0,0
$GC,8833,-1.39,-146.0,756.3,-7.2,335,8838,0.10,3.15,0.00,0.000,4,0.232,0.129,2944,3799,3762,0,0,0,0,0,0
$GC,8866,-1.39,-146.0,759.7,-10.2,335,8872,0.00,2.83,0.00,0.000,6,0.000,0.078,2944,2207,3762,0,0,0,0,0,0
$GC,9117,-1.35,-146.0,782.2,-9.1,342,9119,0.10,0.00,0.00,0.000,6,0.112,0.000,2966,2206,3760,0,0,0,0,0,0
$GC,9363,-1.35,-146.0,802.7,-8.3,348,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2205,3760,0,0,0,0,0,0
$GC,9604,-1.35,-146.0,822.2,-8.0,354,9609,0.00,3.00,0.00,0.000,4,0.000,0.115,2966,615,3759,0,0,0,0,0,0
$GC,9625,-1.35,-146.0,824.1,-8.5,354,9630,0.00,2.78,0.00,0.000,6,0.000,0.068,2965,2218,3758,0,0,0,0,0,0
$GC,9881,-1.35,-146.0,844.1,-7.9,361,9886,0.00,2.85,0.00,0.000,4,0.000,0.094,2966,3795,3757,0,0,0,0,0,0
$GC,9939,-1.35,-146.0,848.8,-8.6,362,9943,0.00,2.75,0.00,0.000,6,0.000,0.070,2966,2215,3757,0,0,0,0,0,0
$GC,10205,-1.35,-146.0,869.6,-7.7,369,10210,0.00,2.83,0.00,0.000,4,0.000,0.086,2966,3803,3756,0,0,0,0,0,0
$GC,10234,-1.35,-146.0,871.7,-7.6,369,10239,0.00,2.75,0.00,0.000,6,0.000,0.067,2966,2224,3756,0,0,0,0,0,0
$GC,10484,-1.35,-146.0,890.8,-7.5,375,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2224,3755,0,0,0,0,0,0
$STATE,10603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10603,begin apogee
$GC,10610,-0.31,0.0,900.0,7.6,378,10734,0.98,0.00,120.75,1.210,6,0.069,0.000,3189,2377,3190,0,0,0,0,0,0
$STATE,10735,end apogee,CONTROL_FINISHED_OK
$STATE,10735,begin climb
$GC,10740,1.27,146.0,903.3,0.0,381,10877,1.45,2.83,128.77,1.180,4,0.035,0.076,3546,3928,2592,0,0,0,0,0,0
$GC,10941,1.14,146.0,891.4,12.0,385,10948,0.17,2.75,0.00,0.000,6,0.113,0.057,3510,2361,2588,0,0,0,0,0,0
$GC,11191,1.17,168.4,868.2,9.0,392,11217,0.00,2.80,20.50,1.089,4,0.000,0.066,3510,3928,2502,0,0,0,0,0,0
$GC,11230,1.14,178.5,864.6,9.5,393,11246,0.00,2.72,10.50,1.004,6,0.000,0.057,3510,2364,2462,0,0,0,0,0,0
$GC,11515,1.14,178.5,835.9,10.1,400,11520,0.00,2.72,0.00,0.000,4,0.000,0.060,3510,3931,2457,0,0,0,0,0,0
$GC,11583,1.11,178.5,828.0,11.7,401,11588,0.00,2.65,0.00,0.000,6,0.000,0.051,3510,2379,2456,0,0,0,0,0,0
$GC,11841,1.11,181.9,802.2,9.8,408,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2379,2455,0,0,0,0,0,0
$GC,12082,1.12,187.0,778.4,9.8,414,12093,0.00,0.00,8.38,0.958,6,0.000,0.000,3510,2379,2427,0,0,0,0,0,0
$GC,12326,1.14,204.8,755.4,9.2,420,12351,0.00,3.22,17.88,1.050,4,0.000,0.123,3510,780,2355,0,0,0,0,0,0
$GC,12559,1.11,214.8,732.9,9.5,425,12576,0.00,2.67,10.77,0.974,6,0.000,0.047,3509,2371,2314,0,0,0,0,0,0
$GC,12832,1.13,230.5,707.5,9.3,432,12855,0.00,2.92,16.10,1.012,4,0.000,0.085,3510,780,2249,0,0,0,0,0,0
$GC,13037,1.13,230.5,686.0,11.4,436,13041,0.00,2.60,0.00,0.000,6,0.000,0.045,3510,2332,2246,0,0,0,0,0,0
$GC,13292,1.13,230.5,660.1,10.2,443,13296,0.00,2.78,0.00,0.000,4,0.000,0.078,3510,780,2246,0,0,0,0,0,0
$GC,13399,1.13,230.5,648.0,11.6,445,13404,0.00,2.55,0.00,0.000,6,0.000,0.044,3510,2307,2245,0,0,0,0,0,0
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$STATE,19424,end climb,SURFACE_DEPTH_REACHED
$STATE,19425,begin surface coast
$FINISH,1.0,1.012227
$STATE,19484,end surface coast,CONTROL_FINISHED_OK
$STATE,19484,begin surface
$SM_CCo,19506,52.85,0.492,0,0,1762,350.04
$SM_GC,2.02,0.00,0.00,52.85,0.000,0.000,0.492,464,2149,1762,-12.86,-1.72,350.04
$IRIDIUM_FIX,1916.08,-8112.45,080702,111112
$TT8_MAMPS,0.026078
$HUMID,60.43
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.10
$XPDR_PINGS,98
$24V_AH,23.0,57.385
$10V_AH,10.0,50.958
$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,30.625,234.500,385.250,52.850,0.000,28.049,39.483,193.697,24.500,0.000,32.015,1576.667,14571.195,582.311,2486.320,784.931,33.379,1642.477,0.000,2465.905,0.000,0.536,0.000
$DEVICE_MAMPS,231.634,128.856,1210.326,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,499.363,352.818,443.827,590.716,1125.114,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,57227,737
$CAP_FILE_SIZE,180011,0
$CFSIZE,260165632,99721216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130413,224736,1926.349,-8115.914,28,1.4,28,-3.8