version: 66.06
glider: 146
mission: 8
dive: 437
start: 4 20 113 10 40 14
data:
$ID,146
$MISSION,8
$DIVE,437
$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,-316030.94
$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,42
$R_STBD_OVSHOOT,22
$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
$GPS1,102835,1924.333,-8108.478,35,1.1,40,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.9
$GPS2,103921,1924.346,-8108.475,10,2.1,29,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.046
$KALMAN_X,-178915.4,-486.0,-184.7,177726.4,3432.9
$KALMAN_Y,139565.4,158.2,-114.4,-138156.6,-489.9
$MHEAD_RNG_PITCHd_Wd,284.1,17346,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.03,0.000,2,0.000,0.000,463,2179,3502,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.7,-5.0,9,122,13.82,2.53,-5.30,0.000,4,0.160,0.051,2976,633,3787,0,0,0,0,0,0
$GC,215,-1.06,-146.0,33.5,-18.9,24,220,0.25,2.47,0.00,0.000,6,0.097,0.015,3029,2244,3787,0,0,0,0,0,0
$GC,483,-0.95,-146.0,71.6,-13.3,48,488,0.10,2.65,0.00,0.000,4,0.121,0.044,3052,641,3787,0,0,0,0,0,0
$GC,533,-0.91,-146.0,78.3,-12.8,51,537,0.00,2.40,0.00,0.000,6,0.000,0.016,3052,2204,3787,0,0,0,0,0,0
$GC,800,-0.87,-146.0,109.6,-11.7,75,805,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2205,3787,0,0,0,0,0,0
$GC,1063,-0.87,-146.0,138.2,-9.3,100,1067,0.00,2.50,0.00,0.000,4,0.000,0.032,3052,3775,3788,0,0,0,0,0,0
$GC,1086,-0.91,-146.0,140.6,-9.3,101,1091,0.00,2.47,0.00,0.000,6,0.000,0.025,3052,2197,3788,0,0,0,0,0,0
$GC,1351,-0.99,-146.0,160.8,-7.5,126,1355,0.00,2.55,0.00,0.000,4,0.000,0.051,3052,641,3789,0,0,0,0,0,0
$GC,1407,-1.08,-146.0,165.0,-8.0,130,1412,0.12,2.40,0.00,0.000,6,0.063,0.025,2989,2201,3789,0,0,0,0,0,0
$GC,1675,-1.08,-146.0,189.2,-8.6,154,1680,0.15,2.55,0.00,0.000,4,0.088,0.044,3025,642,3789,0,0,0,0,0,0
$GC,1708,-1.13,-146.0,192.7,-8.2,156,1718,0.00,2.42,0.00,0.000,6,0.000,0.021,3025,2197,3789,0,0,0,0,0,0
$GC,1985,-1.18,-146.0,212.3,-7.3,171,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2197,3789,0,0,0,0,0,0
$GC,2227,-1.24,-146.0,228.9,-6.6,177,2228,0.15,0.00,0.00,0.000,6,0.058,0.000,2961,2197,3789,0,0,0,0,0,0
$GC,2470,-1.19,-146.0,252.6,-9.7,183,2472,0.17,0.00,0.00,0.000,6,0.084,0.000,3003,2197,3788,0,0,0,0,0,0
$GC,2714,-1.19,-146.0,271.3,-7.5,189,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,3788,0,0,0,0,0,0
$GC,2960,-1.23,-146.0,288.9,-7.2,195,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,3787,0,0,0,0,0,0
$GC,3201,-1.27,-146.0,306.7,-7.5,201,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,3786,0,0,0,0,0,0
$GC,3445,-1.31,-146.0,324.6,-7.3,207,3447,0.12,0.00,0.00,0.000,6,0.066,0.000,2952,2198,3785,0,0,0,0,0,0
$GC,3691,-1.25,-146.0,347.6,-9.5,213,3693,0.15,0.00,0.00,0.000,6,0.091,0.000,2987,2197,3785,0,0,0,0,0,0
$GC,3932,-1.25,-146.0,367.6,-8.1,219,3937,0.00,2.55,0.00,0.000,4,0.000,0.051,2987,3769,3783,0,0,0,0,0,0
$GC,3960,-1.25,-146.0,369.9,-8.3,219,3964,0.00,2.50,0.00,0.000,6,0.000,0.027,2987,2205,3783,0,0,0,0,0,0
$GC,4212,-1.25,-146.0,389.2,-7.8,225,4217,0.00,2.70,0.00,0.000,4,0.000,0.072,2987,630,3782,0,0,0,0,0,0
$GC,4246,-1.25,-146.0,392.2,-8.6,225,4251,0.00,2.47,0.00,0.000,6,0.000,0.030,2987,2178,3782,0,0,0,0,0,0
$GC,4496,-1.25,-146.0,411.9,-7.9,232,4500,0.00,2.65,0.00,0.000,4,0.000,0.049,2987,3792,3781,0,0,0,0,0,0
$GC,4520,-1.25,-146.0,413.7,-7.9,232,4524,0.00,2.55,0.00,0.000,6,0.000,0.038,2987,2196,3781,0,0,0,0,0,0
$GC,4777,-1.25,-146.0,433.9,-8.0,239,4782,0.00,2.75,0.00,0.000,4,0.000,0.084,2987,631,3780,0,0,0,0,0,0
$GC,4810,-1.25,-146.0,437.0,-8.7,239,4815,0.00,2.50,0.00,0.000,6,0.000,0.034,2987,2188,3780,0,0,0,0,0,0
$GC,5062,-1.25,-146.0,455.9,-7.6,246,5067,0.00,2.67,0.00,0.000,4,0.000,0.061,2987,3794,3779,0,0,0,0,0,0
$GC,5102,-1.29,-146.0,459.2,-7.8,247,5107,0.00,2.58,0.00,0.000,6,0.000,0.039,2987,2201,3779,0,0,0,0,0,0
$GC,5385,-1.29,-146.0,481.7,-8.0,254,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3777,0,0,0,0,0,0
$GC,5631,-1.29,-146.0,500.8,-7.8,260,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3776,0,0,0,0,0,0
$GC,5873,-1.29,-146.0,520.5,-8.0,266,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3775,0,0,0,0,0,0
$GC,6116,-1.29,-146.0,540.1,-8.1,272,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3774,0,0,0,0,0,0
$GC,6360,-1.29,-146.0,559.9,-8.1,278,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3772,0,0,0,0,0,0
$GC,6606,-1.29,-146.0,578.4,-7.5,284,6611,0.00,2.80,0.00,0.000,4,0.000,0.080,2987,3789,3771,0,0,0,0,0,0
$GC,6628,-1.33,-146.0,580.3,-7.7,284,6633,0.00,2.72,0.00,0.000,6,0.000,0.064,2987,2194,3771,0,0,0,0,0,0
$GC,6883,-1.33,-146.0,599.1,-7.5,291,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2194,3770,0,0,0,0,0,0
$GC,7130,-1.36,-146.0,616.9,-7.2,297,7132,0.10,0.00,0.00,0.000,6,0.078,0.000,2944,2194,3769,0,0,0,0,0,0
$GC,7371,-1.31,-146.0,638.7,-9.1,303,7373,0.12,0.00,0.00,0.000,6,0.100,0.000,2973,2194,3768,0,0,0,0,0,0
$GC,7614,-1.31,-146.0,657.8,-7.8,309,7619,0.00,2.95,0.00,0.000,4,0.000,0.104,2973,3783,3766,0,0,0,0,0,0
$GC,7636,-1.31,-146.0,659.6,-8.1,309,7640,0.00,2.85,0.00,0.000,6,0.000,0.086,2973,2200,3766,0,0,0,0,0,0
$GC,7893,-1.31,-146.0,680.0,-8.0,316,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2200,3765,0,0,0,0,0,0
$GC,8134,-1.31,-146.0,699.5,-8.0,322,8139,0.00,3.00,0.00,0.000,4,0.000,0.120,2973,3782,3764,0,0,0,0,0,0
$GC,8158,-1.31,-146.0,701.5,-8.0,322,8163,0.00,2.95,0.00,0.000,6,0.000,0.104,2973,2200,3763,0,0,0,0,0,0
$GC,8416,-1.31,-146.0,721.5,-7.9,329,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2200,3762,0,0,0,0,0,0
$GC,8657,-1.31,-146.0,739.9,-7.6,335,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2200,3761,0,0,0,0,0,0
$GC,8901,-1.31,-146.0,759.4,-7.9,341,8906,0.00,3.40,0.00,0.000,4,0.000,0.180,2973,622,3760,0,0,0,0,0,0
$GC,8936,-1.31,-146.0,762.2,-8.9,341,8942,0.00,3.05,0.00,0.000,6,0.000,0.127,2973,2181,3760,0,0,0,0,0,0
$GC,9186,-1.31,-146.0,781.4,-7.5,348,9192,0.00,3.42,0.00,0.000,4,0.000,0.171,2974,3798,3759,0,0,0,0,0,0
$GC,9226,-1.31,-146.0,784.4,-7.8,349,9231,0.00,2.85,0.00,0.000,6,0.000,0.080,2973,2196,3759,0,0,0,0,0,0
$GC,9512,-1.31,-146.0,804.7,-7.1,356,9517,0.00,3.05,0.00,0.000,4,0.000,0.127,2973,615,3757,0,0,0,0,0,0
$GC,9545,-1.31,-146.0,807.4,-7.9,356,9550,0.00,2.78,0.00,0.000,6,0.000,0.074,2973,2202,3757,0,0,0,0,0,0
$GC,9795,-1.31,-146.0,825.9,-7.4,363,9799,0.00,2.90,0.00,0.000,4,0.000,0.097,2973,3798,3756,0,0,0,0,0,0
$GC,9830,-1.31,-146.0,828.6,-8.4,363,9836,0.00,2.83,0.00,0.000,6,0.000,0.074,2973,2182,3756,0,0,0,0,0,0
$GC,10082,-1.31,-146.0,847.9,-7.6,370,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2182,3755,0,0,0,0,0,0
$GC,10324,-1.31,-146.0,867.0,-7.8,376,10329,0.00,2.90,0.00,0.000,4,0.000,0.087,2973,3807,3754,0,0,0,0,0,0
$GC,10351,-1.31,-146.0,869.2,-8.4,376,10356,0.00,2.80,0.00,0.000,6,0.000,0.071,2973,2199,3754,0,0,0,0,0,0
$GC,10604,-1.31,-146.0,888.5,-7.7,382,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2199,3753,0,0,0,0,0,0
$STATE,10761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10761,begin apogee
$GC,10767,-0.31,0.0,901.4,8.0,386,10891,0.95,0.00,120.30,1.213,6,0.070,0.000,3190,2380,3190,0,0,0,0,0,0
$STATE,10892,end apogee,CONTROL_FINISHED_OK
$STATE,10892,begin climb
$GC,10894,1.27,146.0,905.3,0.0,389,11032,1.42,2.88,128.23,1.181,4,0.036,0.082,3543,3931,2593,0,0,0,0,0,0
$GC,11180,1.15,146.0,883.0,12.6,395,11185,0.15,2.72,0.00,0.000,6,0.117,0.058,3514,2370,2587,0,0,0,0,0,0
$GC,11436,1.16,153.5,857.6,9.7,402,11450,0.00,2.83,6.72,0.912,4,0.000,0.071,3514,3931,2564,0,0,0,0,0,0
$GC,11467,1.10,153.5,854.2,10.4,402,11472,0.00,2.70,0.00,0.000,6,0.000,0.056,3513,2370,2564,0,0,0,0,0,0
$GC,11720,1.11,163.6,830.2,9.5,408,11736,0.00,2.75,11.00,1.022,4,0.000,0.066,3514,3932,2521,0,0,0,0,0,0
$GC,11753,1.07,163.6,826.5,10.2,408,11759,0.10,2.67,0.00,0.000,6,0.136,0.051,3496,2381,2520,0,0,0,0,0,0
$GC,12006,1.10,189.4,804.2,8.8,415,12032,0.00,0.00,24.45,1.088,6,0.000,0.000,3496,2381,2417,0,0,0,0,0,0
$GC,12247,1.12,204.0,781.7,9.3,421,12267,0.00,2.75,14.80,1.037,4,0.000,0.059,3496,3935,2358,0,0,0,0,0,0
$GC,12278,1.12,204.0,778.5,10.1,421,12284,0.00,2.67,0.00,0.000,6,0.000,0.049,3496,2387,2357,0,0,0,0,0,0
$GC,12530,1.13,212.3,754.4,9.6,428,12543,0.00,0.00,8.98,0.953,6,0.000,0.000,3496,2387,2324,0,0,0,0,0,0
$GC,12817,1.13,212.3,725.0,10.3,435,12818,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2387,2321,0,0,0,0,0,0
$GC,13061,1.13,212.3,700.5,10.0,441,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2387,2321,0,0,0,0,0,0
$GC,13305,1.17,212.3,675.7,10.2,447,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2387,2321,0,0,0,0,0,0
$GC,13551,1.18,219.0,651.8,9.7,453,13565,0.00,2.75,7.05,0.861,4,0.000,0.057,3496,3939,2297,0,0,0,0,0,0
$GC,13588,1.18,219.0,647.6,10.1,453,13594,0.00,2.65,0.00,0.000,6,0.000,0.049,3496,2389,2296,0,0,0,0,0,0
$GC,13839,1.22,224.2,622.9,9.8,460,13854,0.12,3.17,6.60,0.830,4,0.074,0.117,3533,777,2276,0,0,0,0,0,0
$GC,13862,1.22,224.2,620.5,11.0,460,13867,0.00,2.67,0.00,0.000,6,0.000,0.046,3533,2383,2275,0,0,0,0,0,0
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$STATE,19774,end climb,SURFACE_DEPTH_REACHED
$STATE,19774,begin surface coast
$FINISH,1.1,1.023330
$STATE,19817,end surface coast,CONTROL_FINISHED_OK
$STATE,19817,begin surface
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$IRIDIUM_FIX,1916.08,-8110.19,150702,101003
$TT8_MAMPS,0.026078
$HUMID,61.49
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.60
$XPDR_PINGS,108
$24V_AH,23.1,61.556
$10V_AH,9.9,54.813
$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
$DEVICE_SECS,31.250,183.150,407.300,40.750,0.000,52.702,74.620,259.326,27.000,0.000,32.072,1544.072,15207.229,558.433,2298.897,907.146,33.377,1531.858,0.000,2289.690,0.000,0.537,0.000
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$SENSOR_SECS,508.824,351.082,451.975,593.075,1128.203,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,57487,752
$CAP_FILE_SIZE,171878,0
$CFSIZE,260165632,97550336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200413,161259,1924.434,-8109.925,35,1.7,41,-3.8