version: 66.06
glider: 146
mission: 8
dive: 408
start: 4 13 113 22 55 45
data:
$ID,146
$MISSION,8
$DIVE,408
$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,-315510.66
$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,10
$R_STBD_OVSHOOT,38
$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
$GPS1,224736,1926.349,-8115.914,28,1.4,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.4
$GPS2,225449,1926.379,-8115.980,15,1.8,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.191,0.091
$KALMAN_X,-228957.1,260.6,234.7,213487.0,-85.9
$KALMAN_Y,144586.6,-79.8,73.4,-139368.3,-488.7
$MHEAD_RNG_PITCHd_Wd,299.3,3710,-22.1,-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,-1.50,-94.3,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,463,2149,3463,0,0,0,0,0,0
$GC,97,-1.56,-146.0,3.6,-4.7,9,122,13.12,2.53,-6.07,0.000,4,0.154,0.050,2920,604,3786,0,0,0,0,0,0
$GC,320,-1.41,-146.0,55.5,-19.3,33,325,0.15,2.50,0.00,0.000,6,0.117,0.016,2951,2235,3786,0,0,0,0,0,0
$GC,589,-1.31,-146.0,103.9,-18.0,57,594,0.10,2.45,0.00,0.000,4,0.127,0.028,2973,3771,3788,0,0,0,0,0,0
$GC,610,-1.24,-146.0,108.7,-17.4,58,615,0.00,2.50,0.00,0.000,6,0.000,0.021,2973,2166,3788,0,0,0,0,0,0
$GC,876,-1.28,-146.0,141.0,-11.4,82,880,0.00,2.58,0.00,0.000,4,0.000,0.034,2972,3772,3789,0,0,0,0,0,0
$GC,928,-1.36,-146.0,147.2,-10.6,86,932,0.00,2.45,0.00,0.000,6,0.000,0.019,2973,2202,3789,0,0,0,0,0,0
$GC,1194,-1.44,-146.0,173.6,-9.1,110,1199,0.12,2.55,0.00,0.000,4,0.067,0.051,2918,642,3790,0,0,0,0,0,0
$GC,1225,-1.44,-146.0,177.0,-11.4,112,1231,0.12,2.40,0.00,0.000,6,0.104,0.021,2944,2213,3789,0,0,0,0,0,0
$GC,1489,-1.49,-146.0,204.5,-10.2,133,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2213,3790,0,0,0,0,0,0
$GC,1729,-1.54,-146.0,229.3,-10.1,139,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2213,3789,0,0,0,0,0,0
$GC,1973,-1.59,-146.0,252.4,-9.4,145,1978,0.12,2.62,0.00,0.000,4,0.067,0.050,2886,645,3790,0,0,0,0,0,0
$GC,1994,-1.59,-146.0,255.0,-11.4,145,1999,0.12,2.40,0.00,0.000,6,0.106,0.025,2913,2196,3789,0,0,0,0,0,0
$GC,2257,-1.59,-146.0,284.8,-11.6,152,2262,0.00,2.55,0.00,0.000,4,0.000,0.046,2913,3775,3788,0,0,0,0,0,0
$GC,2279,-1.59,-146.0,287.8,-11.5,152,2283,0.00,2.45,0.00,0.000,6,0.000,0.022,2913,2203,3788,0,0,0,0,0,0
$GC,2535,-1.59,-146.0,318.2,-12.0,159,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2203,3788,0,0,0,0,0,0
$GC,2781,-1.59,-146.0,347.1,-11.9,165,2785,0.00,2.65,0.00,0.000,4,0.000,0.060,2914,638,3787,0,0,0,0,0,0
$GC,2796,-1.59,-146.0,349.3,-11.8,165,2800,0.00,2.47,0.00,0.000,6,0.000,0.023,2913,2203,3787,0,0,0,0,0,0
$GC,3057,-1.59,-146.0,379.4,-11.3,172,3062,0.00,2.55,0.00,0.000,4,0.000,0.043,2913,3785,3786,0,0,0,0,0,0
$GC,3099,-1.59,-146.0,384.0,-11.7,173,3104,0.00,2.50,0.00,0.000,6,0.000,0.026,2913,2218,3786,0,0,0,0,0,0
$GC,3382,-1.59,-146.0,415.6,-10.9,180,3386,0.00,2.72,0.00,0.000,4,0.000,0.073,2913,634,3784,0,0,0,0,0,0
$GC,3409,-1.59,-146.0,418.6,-10.7,180,3413,0.00,2.53,0.00,0.000,6,0.000,0.038,2913,2199,3784,0,0,0,0,0,0
$GC,3661,-1.59,-146.0,443.1,-9.8,186,3666,0.00,2.65,0.00,0.000,4,0.000,0.058,2913,3788,3784,0,0,0,0,0,0
$GC,3688,-1.59,-146.0,446.5,-10.3,186,3693,0.00,2.58,0.00,0.000,6,0.000,0.036,2913,2213,3784,0,0,0,0,0,0
$GC,3939,-1.59,-146.0,472.4,-10.5,192,3943,0.00,2.85,0.00,0.000,4,0.000,0.098,2913,621,3782,0,0,0,0,0,0
$GC,3959,-1.59,-146.0,474.9,-11.2,192,3964,0.00,2.60,0.00,0.000,6,0.000,0.042,2913,2205,3782,0,0,0,0,0,0
$GC,4217,-1.59,-146.0,502.0,-10.6,199,4222,0.00,2.75,0.00,0.000,4,0.000,0.078,2913,3793,3781,0,0,0,0,0,0
$GC,4266,-1.59,-146.0,507.8,-11.4,200,4271,0.00,2.62,0.00,0.000,6,0.000,0.052,2913,2226,3781,0,0,0,0,0,0
$GC,4538,-1.59,-146.0,536.5,-10.5,207,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2225,3780,0,0,0,0,0,0
$GC,4784,-1.59,-146.0,562.4,-10.6,213,4789,0.00,2.70,0.00,0.000,4,0.000,0.072,2913,3791,3778,0,0,0,0,0,0
$GC,4806,-1.59,-146.0,565.1,-10.7,213,4811,0.00,2.65,0.00,0.000,6,0.000,0.054,2913,2218,3777,0,0,0,0,0,0
$GC,5061,-1.59,-146.0,592.2,-10.6,220,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2218,3777,0,0,0,0,0,0
$GC,5308,-1.59,-146.0,617.3,-10.4,226,5313,0.00,3.05,0.00,0.000,4,0.000,0.123,2913,622,3776,0,0,0,0,0,0
$GC,5329,-1.59,-146.0,620.1,-11.4,226,5334,0.00,2.75,0.00,0.000,6,0.000,0.067,2913,2219,3775,0,0,0,0,0,0
$GC,5585,-1.59,-146.0,647.1,-10.7,233,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2219,3774,0,0,0,0,0,0
$GC,5828,-1.59,-146.0,672.7,-10.6,239,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2220,3772,0,0,0,0,0,0
$GC,6074,-1.59,-146.0,699.0,-10.7,245,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2219,3771,0,0,0,0,0,0
$GC,6316,-1.59,-146.0,724.0,-10.2,251,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2219,3770,0,0,0,0,0,0
$GC,6560,-1.59,-146.0,747.5,-9.6,257,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2219,3768,0,0,0,0,0,0
$GC,6803,-1.59,-146.0,770.7,-9.6,263,6808,0.00,3.05,0.00,0.000,4,0.000,0.114,2913,617,3767,0,0,0,0,0,0
$GC,6827,-1.59,-146.0,773.1,-10.8,263,6832,0.00,2.85,0.00,0.000,6,0.000,0.073,2913,2234,3767,0,0,0,0,0,0
$GC,7082,-1.59,-146.0,798.8,-10.1,270,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2234,3765,0,0,0,0,0,0
$GC,7325,-1.59,-146.0,823.5,-10.2,276,7330,0.00,3.00,0.00,0.000,4,0.000,0.107,2913,623,3764,0,0,0,0,0,0
$GC,7352,-1.59,-146.0,826.5,-11.2,276,7357,0.00,2.80,0.00,0.000,6,0.000,0.064,2913,2241,3764,0,0,0,0,0,0
$GC,7605,-1.63,-146.0,850.9,-9.7,282,7610,0.00,2.85,0.00,0.000,4,0.000,0.103,2913,3796,3762,0,0,0,0,0,0
$GC,7632,-1.68,-146.0,854.0,-10.9,282,7637,0.00,2.70,0.00,0.000,6,0.000,0.067,2913,2240,3762,0,0,0,0,0,0
$GC,7885,-1.72,-146.0,878.0,-9.6,288,7887,0.12,0.00,0.00,0.000,6,0.068,0.000,2866,2240,3761,0,0,0,0,0,0
$STATE,8083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8083,begin apogee
$GC,8089,-0.31,0.0,900.6,11.3,293,8215,1.45,0.00,121.88,1.201,6,0.077,0.000,3192,2379,3190,0,0,0,0,0,0
$STATE,8216,end apogee,CONTROL_FINISHED_OK
$STATE,8216,begin climb
$GC,8218,1.56,146.0,903.6,0.0,296,8358,1.70,2.78,127.97,1.169,4,0.032,0.074,3611,3927,2593,0,0,0,0,0,0
$GC,8510,1.44,146.0,875.1,14.3,302,8515,0.20,2.70,0.00,0.000,6,0.117,0.058,3572,2369,2588,0,0,0,0,0,0
$GC,8762,1.44,146.0,847.4,10.8,308,8766,0.00,2.72,0.00,0.000,4,0.000,0.065,3573,3932,2584,0,0,0,0,0,0
$GC,8897,1.40,146.0,830.7,12.8,311,8902,0.00,2.65,0.00,0.000,6,0.000,0.049,3573,2382,2584,0,0,0,0,0,0
$GC,9177,1.40,146.0,799.4,11.1,318,9181,0.00,2.65,0.00,0.000,4,0.000,0.054,3573,3937,2582,0,0,0,0,0,0
$GC,9204,1.36,146.0,795.9,11.9,318,9208,0.00,2.65,0.00,0.000,6,0.000,0.051,3573,2384,2582,0,0,0,0,0,0
$GC,9458,1.36,146.0,767.2,11.4,324,9462,0.00,2.65,0.00,0.000,4,0.000,0.059,3573,3931,2582,0,0,0,0,0,0
$GC,9521,1.33,146.0,759.2,12.3,325,9526,0.12,2.62,0.00,0.000,6,0.133,0.050,3550,2385,2581,0,0,0,0,0,0
$GC,9782,1.36,146.0,731.3,10.3,332,9786,0.00,2.65,0.00,0.000,4,0.000,0.060,3550,3934,2580,0,0,0,0,0,0
$GC,9821,1.36,146.0,727.0,11.6,333,9825,0.00,2.60,0.00,0.000,6,0.000,0.045,3550,2395,2580,0,0,0,0,0,0
$GC,10107,1.40,150.5,698.8,9.7,340,10111,0.00,2.62,0.00,0.000,4,0.000,0.060,3549,3932,2579,0,0,0,0,0,0
$GC,10139,1.40,150.5,695.2,10.9,340,10145,0.00,2.58,0.00,0.000,6,0.000,0.048,3549,2405,2579,0,0,0,0,0,0
$GC,10390,1.45,157.0,671.4,9.5,347,10404,0.12,2.67,8.35,0.910,4,0.076,0.061,3587,3931,2548,0,0,0,0,0,0
$GC,10418,1.45,157.0,668.7,10.5,347,10422,0.00,2.60,0.00,0.000,6,0.000,0.043,3587,2402,2548,0,0,0,0,0,0
$GC,10672,1.45,157.0,640.6,11.0,354,10677,0.00,2.60,0.00,0.000,4,0.000,0.054,3587,3937,2547,0,0,0,0,0,0
$GC,10810,1.40,157.0,624.2,11.5,357,10815,0.10,2.55,0.00,0.000,6,0.138,0.046,3568,2424,2547,0,0,0,0,0,0
$GC,11088,1.40,157.0,594.8,10.4,364,11093,0.00,3.15,0.00,0.000,4,0.000,0.120,3567,782,2546,0,0,0,0,0,0
$GC,11103,1.40,157.0,592.9,10.7,364,11108,0.00,2.72,0.00,0.000,6,0.000,0.041,3567,2418,2546,0,0,0,0,0,0
$GC,11367,1.40,157.0,565.3,10.6,371,11371,0.00,2.60,0.00,0.000,4,0.000,0.068,3567,3936,2546,0,0,0,0,0,0
$GC,11399,1.40,157.0,561.2,11.5,371,11405,0.00,2.53,0.00,0.000,6,0.000,0.044,3567,2415,2546,0,0,0,0,0,0
$GC,11649,1.40,157.0,534.7,10.6,378,11653,0.00,2.58,0.00,0.000,4,0.000,0.048,3567,3948,2546,0,0,0,0,0,0
$GC,11712,1.40,157.0,527.8,11.7,379,11716,0.00,2.55,0.00,0.000,6,0.000,0.041,3567,2417,2546,0,0,0,0,0,0
$GC,11972,1.40,157.0,501.3,10.1,386,11976,0.00,2.53,0.00,0.000,4,0.000,0.046,3567,3941,2546,0,0,0,0,0,0
$GC,11987,1.40,157.0,499.5,10.2,386,11992,0.00,2.50,0.00,0.000,6,0.000,0.035,3567,2423,2546,0,0,0,0,0,0
$GC,12251,1.40,157.0,472.4,10.7,393,12255,0.00,2.55,0.00,0.000,4,0.000,0.045,3567,3949,2546,0,0,0,0,0,0
$GC,12311,1.40,157.0,464.9,11.1,394,12315,0.00,2.50,0.00,0.000,6,0.000,0.037,3567,2426,2546,0,0,0,0,0,0
$GC,12578,1.40,157.0,436.7,10.5,401,12583,0.00,2.90,0.00,0.000,4,0.000,0.079,3567,780,2546,0,0,0,0,0,0
$GC,12596,1.40,157.0,434.8,10.7,401,12600,0.00,2.70,0.00,0.000,6,0.000,0.035,3567,2446,2546,0,0,0,0,0,0
$GC,12856,1.40,157.0,406.5,10.9,408,12861,0.00,2.45,0.00,0.000,4,0.000,0.050,3567,3943,2546,0,0,0,0,0,0
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$GC,13465,1.48,157.0,340.1,10.4,423,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2420,2546,0,0,0,0,0,0
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$STATE,16666,end climb,SURFACE_DEPTH_REACHED
$STATE,16667,begin surface coast
$FINISH,1.1,1.007799
$STATE,16716,end surface coast,CONTROL_FINISHED_OK
$STATE,16716,begin surface
$SM_CCo,16739,88.95,0.495,0,0,1763,350.04
$SM_GC,1.83,0.00,0.00,88.95,0.000,0.000,0.495,462,2164,1763,-12.87,-1.30,350.04
$IRIDIUM_FIX,1918.37,-8116.97,080702,171738
$TT8_MAMPS,0.026078
$HUMID,60.08
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.00
$XPDR_PINGS,92
$24V_AH,23.1,57.515
$10V_AH,10.1,51.075
$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,31.075,209.150,332.900,88.950,0.000,30.870,33.341,191.984,23.000,0.000,17.081,1394.840,12346.099,541.468,2250.739,719.681,33.368,1499.051,0.000,2235.528,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,123.487,1201.122,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,437.505,310.158,395.218,529.866,1007.850,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,51149,645
$CAP_FILE_SIZE,157041,0
$CFSIZE,260165632,99676160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140413,033735,1926.899,-8117.312,39,1.0,39,-3.7