version: 66.06
glider: 146
mission: 8
dive: 415
start: 4 15 113 13 4 45
data:
$ID,146
$MISSION,8
$DIVE,415
$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,-315634.78
$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,48
$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
$GPS1,125230,1924.126,-8111.915,40,1.5,40,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-75.5
$GPS2,130348,1924.142,-8112.017,16,1.4,33,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.251,0.065
$KALMAN_X,-216970.2,-589.9,-116.3,209631.5,1800.3
$KALMAN_Y,144533.1,69.0,-175.0,-143343.5,206.1
$MHEAD_RNG_PITCHd_Wd,288.3,11712,-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,-70.60,0.000,2,0.000,0.000,460,2154,3471,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.5,-4.1,9,120,13.50,2.50,-6.07,0.000,4,0.156,0.050,2976,626,3785,0,0,0,0,0,0
$GC,319,-1.09,-146.0,49.0,-18.1,35,325,0.20,2.45,0.00,0.000,6,0.104,0.016,3019,2217,3786,0,0,0,0,0,0
$GC,586,-0.98,-146.0,87.9,-14.2,59,591,0.12,2.50,0.00,0.000,4,0.107,0.031,3047,3777,3786,0,0,0,0,0,0
$GC,606,-0.90,-146.0,91.2,-13.8,60,610,0.00,2.47,0.00,0.000,6,0.000,0.020,3047,2195,3787,0,0,0,0,0,0
$GC,868,-0.90,-146.0,121.6,-10.5,84,869,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2195,3787,0,0,0,0,0,0
$GC,1126,-0.93,-146.0,145.0,-8.5,108,1131,0.00,2.50,0.00,0.000,4,0.000,0.032,3047,3768,3788,0,0,0,0,0,0
$GC,1147,-0.98,-146.0,146.9,-9.0,109,1152,0.00,2.42,0.00,0.000,6,0.000,0.028,3047,2212,3788,0,0,0,0,0,0
$GC,1417,-1.07,-146.0,166.8,-7.6,133,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2212,3788,0,0,0,0,0,0
$GC,1680,-1.17,-146.0,185.0,-6.7,158,1685,0.17,2.50,0.00,0.000,4,0.051,0.042,2977,3768,3788,0,0,0,0,0,0
$GC,1705,-1.17,-146.0,187.0,-8.4,159,1715,0.10,2.42,0.00,0.000,6,0.064,0.019,3007,2226,3788,0,0,0,0,0,0
$GC,1993,-1.17,-146.0,209.9,-7.4,178,1998,0.00,2.62,0.00,0.000,4,0.000,0.048,3007,634,3788,0,0,0,0,0,0
$GC,2020,-1.17,-146.0,212.2,-7.6,178,2025,0.00,2.45,0.00,0.000,6,0.000,0.025,3006,2226,3788,0,0,0,0,0,0
$GC,2273,-1.17,-146.0,229.7,-7.1,184,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2226,3788,0,0,0,0,0,0
$GC,2514,-1.21,-146.0,247.6,-7.4,190,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2226,3788,0,0,0,0,0,0
$GC,2758,-1.25,-146.0,265.1,-7.1,196,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2226,3787,0,0,0,0,0,0
$GC,3004,-1.29,-146.0,281.7,-6.7,202,3006,0.12,0.00,0.00,0.000,6,0.066,0.000,2952,2226,3786,0,0,0,0,0,0
$GC,3246,-1.23,-146.0,303.4,-9.2,208,3251,0.17,2.50,0.00,0.000,4,0.085,0.038,2992,3774,3786,0,0,0,0,0,0
$GC,3279,-1.23,-146.0,306.5,-8.4,208,3284,0.00,2.42,0.00,0.000,6,0.000,0.021,2992,2234,3786,0,0,0,0,0,0
$GC,3531,-1.23,-146.0,325.7,-7.9,215,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2234,3785,0,0,0,0,0,0
$GC,3772,-1.23,-146.0,345.3,-8.0,221,3777,0.00,2.50,0.00,0.000,4,0.000,0.045,2992,3774,3784,0,0,0,0,0,0
$GC,3800,-1.23,-146.0,347.8,-8.8,221,3804,0.00,2.42,0.00,0.000,6,0.000,0.028,2992,2243,3783,0,0,0,0,0,0
$GC,4050,-1.23,-146.0,368.0,-8.1,227,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2244,3783,0,0,0,0,0,0
$GC,4296,-1.23,-146.0,387.4,-8.0,233,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2244,3782,0,0,0,0,0,0
$GC,4538,-1.23,-146.0,407.2,-8.2,239,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2244,3781,0,0,0,0,0,0
$GC,4781,-1.23,-146.0,426.0,-7.6,245,4785,0.00,2.55,0.00,0.000,4,0.000,0.057,2992,3771,3780,0,0,0,0,0,0
$GC,4828,-1.28,-146.0,429.5,-8.1,246,4832,0.00,2.45,0.00,0.000,6,0.000,0.037,2992,2251,3780,0,0,0,0,0,0
$GC,5105,-1.28,-146.0,450.6,-7.6,253,5110,0.00,2.88,0.00,0.000,4,0.000,0.090,2992,629,3779,0,0,0,0,0,0
$GC,5127,-1.28,-146.0,452.3,-8.0,253,5131,0.00,2.58,0.00,0.000,6,0.000,0.036,2992,2216,3779,0,0,0,0,0,0
$GC,5385,-1.28,-146.0,471.5,-7.5,260,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2217,3778,0,0,0,0,0,0
$GC,5626,-1.28,-146.0,489.6,-7.2,266,5630,0.00,2.67,0.00,0.000,4,0.000,0.062,2992,3789,3777,0,0,0,0,0,0
$GC,5660,-1.32,-146.0,492.0,-8.0,266,5666,0.00,2.55,0.00,0.000,6,0.000,0.051,2992,2245,3777,0,0,0,0,0,0
$GC,5913,-1.32,-146.0,509.1,-6.8,273,5917,0.00,2.97,0.00,0.000,4,0.000,0.099,2992,616,3775,0,0,0,0,0,0
$GC,5940,-1.32,-146.0,511.1,-6.9,273,5944,0.00,2.67,0.00,0.000,6,0.000,0.041,2992,2238,3775,0,0,0,0,0,0
$GC,6190,-1.32,-146.0,527.8,-6.7,279,6194,0.00,2.65,0.00,0.000,4,0.000,0.072,2992,3792,3774,0,0,0,0,0,0
$GC,6232,-1.38,-146.0,530.8,-7.6,280,6237,0.15,2.58,0.00,0.000,6,0.058,0.044,2935,2243,3773,0,0,0,0,0,0
$GC,6518,-1.30,-146.0,558.2,-9.7,287,6523,0.20,3.03,0.00,0.000,4,0.088,0.107,2980,623,3772,0,0,0,0,0,0
$GC,6563,-1.30,-146.0,562.6,-8.9,288,6567,0.00,2.70,0.00,0.000,6,0.000,0.054,2980,2239,3772,0,0,0,0,0,0
$GC,6843,-1.30,-146.0,585.1,-8.3,295,6847,0.00,2.72,0.00,0.000,4,0.000,0.081,2980,3791,3770,0,0,0,0,0,0
$GC,6870,-1.30,-146.0,587.8,-8.9,295,6874,0.00,2.60,0.00,0.000,6,0.000,0.058,2980,2241,3770,0,0,0,0,0,0
$GC,7120,-1.30,-146.0,607.8,-8.0,301,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2241,3769,0,0,0,0,0,0
$GC,7366,-1.30,-146.0,627.7,-8.3,307,7371,0.00,3.08,0.00,0.000,4,0.000,0.117,2980,620,3768,0,0,0,0,0,0
$GC,7405,-1.30,-146.0,631.3,-8.7,308,7410,0.00,2.78,0.00,0.000,6,0.000,0.065,2980,2232,3767,0,0,0,0,0,0
$GC,7691,-1.30,-146.0,653.5,-7.6,315,7696,0.00,2.88,0.00,0.000,4,0.000,0.103,2980,3796,3766,0,0,0,0,0,0
$GC,7743,-1.33,-146.0,658.0,-8.2,316,7748,0.00,2.78,0.00,0.000,6,0.000,0.084,2980,2240,3766,0,0,0,0,0,0
$GC,8015,-1.33,-146.0,677.9,-7.3,323,8020,0.00,3.15,0.00,0.000,4,0.000,0.130,2980,622,3764,0,0,0,0,0,0
$GC,8051,-1.33,-146.0,680.4,-8.1,323,8056,0.00,2.90,0.00,0.000,6,0.000,0.087,2981,2240,3764,0,0,0,0,0,0
$GC,8301,-1.33,-146.0,699.2,-7.3,330,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2240,3763,0,0,0,0,0,0
$GC,8544,-1.33,-146.0,717.3,-7.5,336,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2240,3762,0,0,0,0,0,0
$GC,8788,-1.33,-146.0,734.7,-7.0,342,8793,0.00,3.10,0.00,0.000,4,0.000,0.145,2980,3800,3761,0,0,0,0,0,0
$GC,8841,-1.38,-146.0,738.5,-7.3,343,8845,0.00,2.78,0.00,0.000,6,0.000,0.075,2980,2234,3761,0,0,0,0,0,0
$GC,9113,-1.38,-146.0,758.1,-7.2,350,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2234,3760,0,0,0,0,0,0
$GC,9356,-1.38,-146.0,775.7,-7.3,356,9361,0.00,2.83,0.00,0.000,4,0.000,0.090,2981,3808,3759,0,0,0,0,0,0
$GC,9380,-1.38,-146.0,777.5,-7.9,356,9384,0.00,2.72,0.00,0.000,6,0.000,0.075,2980,2240,3759,0,0,0,0,0,0
$GC,9635,-1.38,-146.0,796.0,-7.1,363,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2240,3759,0,0,0,0,0,0
$GC,9881,-1.38,-146.0,812.4,-6.6,369,9886,0.00,2.78,0.00,0.000,4,0.000,0.090,2980,3801,3757,0,0,0,0,0,0
$GC,9924,-1.42,-146.0,815.3,-7.6,370,9929,0.12,2.72,0.00,0.000,6,0.070,0.071,2933,2244,3757,0,0,0,0,0,0
$GC,10208,-1.36,-146.0,839.6,-8.5,377,10210,0.15,0.00,0.00,0.000,6,0.098,0.000,2966,2244,3756,0,0,0,0,0,0
$GC,10451,-1.36,-146.0,857.9,-7.5,383,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2243,3755,0,0,0,0,0,0
$GC,10697,-1.36,-146.0,876.4,-7.6,389,10702,0.00,2.78,0.00,0.000,4,0.000,0.087,2966,3800,3754,0,0,0,0,0,0
$GC,10718,-1.36,-146.0,878.3,-7.3,389,10723,0.00,2.70,0.00,0.000,6,0.000,0.066,2966,2256,3754,0,0,0,0,0,0
$GC,10974,-1.36,-146.0,896.5,-7.1,396,10978,0.00,2.75,0.00,0.000,4,0.000,0.083,2966,3803,3753,0,0,0,0,0,0
$GC,10997,-1.36,-146.0,898.1,-7.5,396,11002,0.00,2.70,0.00,0.000,6,0.000,0.066,2966,2260,3753,0,0,0,0,0,0
$STATE,11046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11047,begin apogee
$GC,11053,-0.31,0.0,902.0,7.2,398,11177,0.98,0.00,120.40,1.216,6,0.070,0.000,3190,2385,3190,0,0,0,0,0,0
$STATE,11177,end apogee,CONTROL_FINISHED_OK
$STATE,11178,begin climb
$GC,11180,1.27,146.0,904.6,0.0,401,11317,1.40,2.83,128.57,1.187,4,0.034,0.079,3538,3932,2593,0,0,0,0,0,0
$GC,11428,1.15,146.0,886.7,11.8,406,11433,0.12,2.75,0.00,0.000,6,0.126,0.063,3513,2365,2588,0,0,0,0,0,0
$GC,11679,1.14,166.1,863.0,9.1,412,11699,0.00,0.00,18.27,1.087,6,0.000,0.000,3513,2365,2513,0,0,0,0,0,0
$GC,11922,1.15,175.0,839.7,9.6,418,11936,0.00,2.78,9.40,0.996,4,0.000,0.066,3513,3930,2475,0,0,0,0,0,0
$GC,11950,1.13,198.4,837.1,8.9,418,11980,0.00,2.70,23.30,1.096,6,0.000,0.048,3513,2366,2381,0,0,0,0,0,0
$GC,12248,1.13,198.4,806.7,10.2,426,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2366,2376,0,0,0,0,0,0
$GC,12492,1.13,198.6,782.0,10.0,432,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2365,2375,0,0,0,0,0,0
$GC,12738,1.13,198.6,757.8,10.1,438,12742,0.00,3.10,0.00,0.000,4,0.000,0.127,3513,780,2373,0,0,0,0,0,0
$GC,12765,1.11,205.9,754.6,9.7,438,12779,0.00,2.67,7.28,0.917,6,0.000,0.051,3513,2365,2350,0,0,0,0,0,0
$GC,13064,1.11,205.9,724.8,10.0,446,13068,0.00,2.72,0.00,0.000,4,0.000,0.072,3513,3932,2348,0,0,0,0,0,0
$GC,13105,1.11,205.9,720.5,11.1,447,13110,0.00,2.65,0.00,0.000,6,0.000,0.048,3513,2362,2347,0,0,0,0,0,0
$GC,13388,1.11,205.9,690.2,10.7,454,13393,0.00,3.08,0.00,0.000,4,0.000,0.124,3513,781,2347,0,0,0,0,0,0
$GC,13403,1.11,205.9,688.2,11.0,454,13408,0.00,2.65,0.00,0.000,6,0.000,0.041,3513,2372,2347,0,0,0,0,0,0
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$STATE,20101,end climb,SURFACE_DEPTH_REACHED
$STATE,20101,begin surface coast
$FINISH,1.0,1.023514
$STATE,20157,end surface coast,CONTROL_FINISHED_OK
$STATE,20157,begin surface
$SM_CCo,20180,51.55,0.489,0,0,1763,350.04
$SM_GC,1.83,0.00,0.00,51.55,0.000,0.000,0.489,465,2169,1763,-12.86,-1.13,350.04
$IRIDIUM_FIX,1918.37,-8114.71,100702,131305
$TT8_MAMPS,0.026078
$HUMID,61.18
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.30
$XPDR_PINGS,105
$24V_AH,23.0,58.502
$10V_AH,10.0,52.018
$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,30.400,230.325,387.175,51.550,0.000,56.547,72.634,283.677,26.250,0.000,34.502,1614.067,15298.230,573.132,2472.260,942.859,33.376,1620.298,0.000,2440.592,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,144.963,1216.462,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,517.719,358.917,457.279,593.299,1124.527,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,57410,763
$CAP_FILE_SIZE,184179,0
$CFSIZE,260165632,99123200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150413,184305,1924.623,-8114.253,25,1.2,25,-3.8