version: 66.06
glider: 146
mission: 8
dive: 441
start: 4 21 113 9 24 21
data:
$ID,146
$MISSION,8
$DIVE,441
$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,-316112.22
$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,32
$R_STBD_OVSHOOT,45
$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
$GPS1,091606,1925.597,-8113.570,25,1.8,25,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.5
$GPS2,092325,1925.571,-8113.504,13,1.6,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.251,0.068
$KALMAN_X,-171125.5,152.6,279.0,160035.2,702.2
$KALMAN_Y,136627.1,-136.5,-123.0,-132644.4,56.2
$MHEAD_RNG_PITCHd_Wd,289.0,8285,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.45,0.000,2,0.000,0.000,462,2153,3510,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-6.0,9,123,13.60,2.55,-4.72,0.000,4,0.160,0.054,2978,631,3786,0,0,0,0,0,0
$GC,298,-1.07,-146.0,50.3,-17.8,30,303,0.22,2.45,0.00,0.000,6,0.100,0.016,3026,2226,3786,0,0,0,0,0,0
$GC,563,-0.96,-146.0,87.7,-14.3,54,568,0.10,2.62,0.00,0.000,4,0.118,0.043,3050,632,3788,0,0,0,0,0,0
$GC,599,-0.90,-146.0,93.2,-13.1,56,609,0.00,2.45,0.00,0.000,6,0.000,0.016,3050,2208,3788,0,0,0,0,0,0
$GC,867,-0.90,-146.0,123.4,-10.5,81,871,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2208,3789,0,0,0,0,0,0
$GC,1128,-0.90,-146.0,148.3,-8.4,106,1132,0.00,2.58,0.00,0.000,4,0.000,0.044,3050,630,3789,0,0,0,0,0,0
$GC,1157,-0.94,-146.0,151.0,-9.1,108,1161,0.00,2.38,0.00,0.000,6,0.000,0.017,3050,2194,3789,0,0,0,0,0,0
$GC,1423,-1.03,-146.0,170.3,-7.0,132,1427,0.00,2.50,0.00,0.000,4,0.000,0.039,3050,3772,3789,0,0,0,0,0,0
$GC,1446,-1.12,-146.0,172.4,-7.6,133,1452,0.15,2.45,0.00,0.000,6,0.056,0.023,2983,2183,3789,0,0,0,0,0,0
$GC,1711,-1.12,-146.0,197.7,-9.2,158,1716,0.15,2.53,0.00,0.000,4,0.090,0.045,3019,638,3789,0,0,0,0,0,0
$GC,1773,-1.17,-146.0,203.6,-8.8,161,1777,0.00,2.40,0.00,0.000,6,0.000,0.021,3019,2196,3790,0,0,0,0,0,0
$GC,2037,-1.21,-146.0,222.4,-7.1,168,2039,0.10,0.00,0.00,0.000,6,0.079,0.000,2969,2197,3789,0,0,0,0,0,0
$GC,2279,-1.17,-146.0,243.9,-9.0,174,2284,0.15,2.53,0.00,0.000,4,0.089,0.045,3005,3769,3790,0,0,0,0,0,0
$GC,2306,-1.17,-146.0,246.4,-8.2,174,2311,0.00,2.47,0.00,0.000,6,0.000,0.025,3005,2186,3789,0,0,0,0,0,0
$GC,2559,-1.17,-146.0,266.0,-7.9,180,2563,0.00,2.55,0.00,0.000,4,0.000,0.058,3005,644,3789,0,0,0,0,0,0
$GC,2586,-1.23,-146.0,268.4,-7.3,180,2590,0.00,2.40,0.00,0.000,6,0.000,0.022,3005,2179,3789,0,0,0,0,0,0
$GC,2839,-1.27,-146.0,287.1,-7.5,186,2843,0.00,2.60,0.00,0.000,4,0.000,0.041,3005,3779,3788,0,0,0,0,0,0
$GC,2883,-1.33,-146.0,290.9,-8.1,187,2888,0.15,2.47,0.00,0.000,6,0.056,0.024,2940,2195,3788,0,0,0,0,0,0
$GC,3161,-1.24,-146.0,318.9,-10.4,194,3163,0.22,0.00,0.00,0.000,6,0.081,0.000,2992,2195,3787,0,0,0,0,0,0
$GC,3408,-1.24,-146.0,339.1,-8.2,200,3412,0.00,2.62,0.00,0.000,4,0.000,0.059,2992,639,3787,0,0,0,0,0,0
$GC,3429,-1.24,-146.0,341.1,-8.1,200,3433,0.00,2.45,0.00,0.000,6,0.000,0.031,2993,2180,3787,0,0,0,0,0,0
$GC,3684,-1.24,-146.0,361.2,-7.9,207,3688,0.00,2.62,0.00,0.000,4,0.000,0.050,2992,3791,3785,0,0,0,0,0,0
$GC,3708,-1.24,-146.0,363.1,-7.9,207,3712,0.00,2.55,0.00,0.000,6,0.000,0.030,2992,2195,3786,0,0,0,0,0,0
$GC,3963,-1.24,-146.0,382.7,-7.6,214,3967,0.00,2.67,0.00,0.000,4,0.000,0.075,2993,625,3784,0,0,0,0,0,0
$GC,3995,-1.24,-146.0,385.3,-8.0,214,4001,0.00,2.50,0.00,0.000,6,0.000,0.035,2992,2184,3784,0,0,0,0,0,0
$GC,4248,-1.24,-146.0,404.7,-7.7,221,4252,0.00,2.65,0.00,0.000,4,0.000,0.055,2992,3798,3784,0,0,0,0,0,0
$GC,4280,-1.24,-146.0,407.6,-8.3,221,4286,0.00,2.60,0.00,0.000,6,0.000,0.033,2993,2182,3784,0,0,0,0,0,0
$GC,4531,-1.24,-146.0,426.1,-7.2,228,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2182,3782,0,0,0,0,0,0
$GC,4777,-1.24,-146.0,442.5,-6.7,234,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2182,3782,0,0,0,0,0,0
$GC,5018,-1.24,-146.0,460.2,-7.4,240,5022,0.00,2.72,0.00,0.000,4,0.000,0.054,2992,3794,3781,0,0,0,0,0,0
$GC,5051,-1.29,-146.0,462.8,-8.0,240,5056,0.00,2.65,0.00,0.000,6,0.000,0.041,2993,2191,3781,0,0,0,0,0,0
$GC,5301,-1.29,-146.0,481.3,-7.4,247,5305,0.00,2.85,0.00,0.000,4,0.000,0.097,2993,624,3779,0,0,0,0,0,0
$GC,5337,-1.32,-146.0,483.9,-7.9,247,5342,0.00,2.58,0.00,0.000,6,0.000,0.041,2993,2184,3779,0,0,0,0,0,0
$GC,5587,-1.36,-146.0,502.8,-7.6,254,5592,0.12,2.75,0.00,0.000,4,0.067,0.064,2943,3798,3778,0,0,0,0,0,0
$GC,5617,-1.32,-146.0,505.6,-9.9,254,5623,0.12,2.70,0.00,0.000,6,0.095,0.047,2972,2186,3778,0,0,0,0,0,0
$GC,5867,-1.32,-146.0,526.9,-8.3,260,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2186,3777,0,0,0,0,0,0
$GC,6111,-1.32,-146.0,547.3,-8.3,266,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2186,3776,0,0,0,0,0,0
$GC,6355,-1.32,-146.0,566.3,-7.8,272,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2186,3775,0,0,0,0,0,0
$GC,6601,-1.32,-146.0,585.4,-7.7,278,6606,0.00,2.85,0.00,0.000,4,0.000,0.081,2972,3792,3773,0,0,0,0,0,0
$GC,6628,-1.32,-146.0,587.9,-8.5,278,6633,0.00,2.75,0.00,0.000,6,0.000,0.067,2972,2179,3773,0,0,0,0,0,0
$GC,6880,-1.32,-146.0,608.6,-8.4,284,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2179,3772,0,0,0,0,0,0
$GC,7124,-1.32,-146.0,628.8,-8.4,290,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2179,3771,0,0,0,0,0,0
$GC,7365,-1.32,-146.0,648.9,-8.2,296,7370,0.00,2.97,0.00,0.000,4,0.000,0.097,2972,3795,3769,0,0,0,0,0,0
$GC,7395,-1.32,-146.0,651.4,-8.7,296,7400,0.00,2.90,0.00,0.000,6,0.000,0.084,2972,2185,3769,0,0,0,0,0,0
$GC,7645,-1.32,-146.0,670.7,-7.7,302,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2185,3768,0,0,0,0,0,0
$GC,7891,-1.32,-146.0,690.5,-8.2,308,7896,0.00,3.05,0.00,0.000,4,0.000,0.120,2972,3790,3767,0,0,0,0,0,0
$GC,7918,-1.32,-146.0,693.0,-8.5,308,7923,0.00,3.00,0.00,0.000,6,0.000,0.104,2972,2183,3767,0,0,0,0,0,0
$GC,8168,-1.32,-146.0,713.0,-7.9,314,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2183,3765,0,0,0,0,0,0
$GC,8415,-1.32,-146.0,733.1,-8.3,320,8420,0.00,3.20,0.00,0.000,4,0.000,0.143,2972,3787,3764,0,0,0,0,0,0
$GC,8454,-1.32,-146.0,736.8,-8.7,321,8459,0.00,2.88,0.00,0.000,6,0.000,0.089,2972,2194,3764,0,0,0,0,0,0
$GC,8737,-1.32,-146.0,760.1,-8.2,328,8742,0.00,2.92,0.00,0.000,4,0.000,0.098,2971,3794,3762,0,0,0,0,0,0
$GC,8761,-1.32,-146.0,762.0,-8.5,328,8766,0.00,2.85,0.00,0.000,6,0.000,0.081,2972,2198,3762,0,0,0,0,0,0
$GC,9016,-1.32,-146.0,781.2,-7.3,335,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2198,3761,0,0,0,0,0,0
$GC,9260,-1.32,-146.0,798.6,-7.3,341,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2197,3760,0,0,0,0,0,0
$GC,9506,-1.32,-146.0,817.0,-7.6,347,9511,0.00,2.88,0.00,0.000,4,0.000,0.096,2972,3796,3759,0,0,0,0,0,0
$GC,9539,-1.32,-146.0,819.9,-8.2,347,9544,0.00,2.80,0.00,0.000,6,0.000,0.072,2971,2208,3759,0,0,0,0,0,0
$GC,9789,-1.32,-146.0,838.5,-7.4,354,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2207,3758,0,0,0,0,0,0
$GC,10033,-1.32,-146.0,856.4,-7.3,360,10037,0.00,2.85,0.00,0.000,4,0.000,0.092,2972,3792,3757,0,0,0,0,0,0
$GC,10068,-1.32,-146.0,859.1,-7.8,360,10073,0.00,2.78,0.00,0.000,6,0.000,0.077,2972,2213,3756,0,0,0,0,0,0
$GC,10318,-1.32,-146.0,877.6,-7.2,367,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2213,3756,0,0,0,0,0,0
$GC,10561,-1.32,-146.0,895.9,-7.5,373,10566,0.00,2.85,0.00,0.000,4,0.000,0.087,2971,3793,3754,0,0,0,0,0,0
$GC,10596,-1.32,-146.0,898.5,-8.4,373,10602,0.00,2.75,0.00,0.000,6,0.000,0.069,2972,2222,3754,0,0,0,0,0,0
$STATE,10641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10641,begin apogee
$GC,10647,-0.31,0.0,902.2,7.6,375,10772,0.95,0.00,121.40,1.210,6,0.068,0.000,3190,2378,3190,0,0,0,0,0,0
$STATE,10773,end apogee,CONTROL_FINISHED_OK
$STATE,10773,begin climb
$GC,10775,1.27,146.0,905.5,0.0,378,10913,1.42,2.85,129.07,1.183,4,0.035,0.081,3543,3926,2593,0,0,0,0,0,0
$GC,11061,1.16,146.0,883.2,11.2,384,11067,0.15,2.72,0.00,0.000,6,0.117,0.057,3514,2369,2587,0,0,0,0,0,0
$GC,11311,1.17,159.5,859.3,9.4,390,11326,0.00,0.00,12.50,1.044,6,0.000,0.000,3514,2369,2539,0,0,0,0,0,0
$GC,11555,1.20,177.9,836.9,9.2,396,11575,0.00,0.00,18.10,1.077,6,0.000,0.000,3514,2369,2464,0,0,0,0,0,0
$GC,11801,1.20,185.4,813.4,9.7,402,11815,0.00,2.80,7.88,0.946,4,0.000,0.068,3514,3923,2434,0,0,0,0,0,0
$GC,11832,1.17,185.4,809.8,10.2,402,11837,0.00,2.67,0.00,0.000,6,0.000,0.049,3514,2374,2432,0,0,0,0,0,0
$GC,12082,1.17,189.5,785.0,9.8,408,12090,0.00,0.00,5.38,0.830,6,0.000,0.000,3514,2374,2417,0,0,0,0,0,0
$GC,12328,1.17,189.5,760.2,10.3,414,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2374,2415,0,0,0,0,0,0
$GC,12569,1.17,189.5,735.7,10.0,420,12574,0.00,2.70,0.00,0.000,4,0.000,0.061,3514,3930,2415,0,0,0,0,0,0
$GC,12596,1.17,189.5,732.8,10.6,420,12600,0.00,2.67,0.00,0.000,6,0.000,0.051,3514,2370,2414,0,0,0,0,0,0
$GC,12846,1.18,197.3,708.5,9.6,426,12861,0.00,2.78,8.35,0.932,4,0.000,0.062,3514,3924,2385,0,0,0,0,0,0
$GC,12886,1.18,197.3,704.6,11.0,426,12892,0.00,2.67,0.00,0.000,6,0.000,0.053,3514,2376,2385,0,0,0,0,0,0
$GC,13136,1.20,211.9,681.1,9.3,433,13153,0.00,0.00,15.15,0.999,6,0.000,0.000,3514,2376,2326,0,0,0,0,0,0
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$STATE,19673,end climb,SURFACE_DEPTH_REACHED
$STATE,19673,begin surface coast
$FINISH,1.0,1.015200
$STATE,19730,end surface coast,CONTROL_FINISHED_OK
$STATE,19731,begin surface
$SM_CCo,19756,45.35,0.482,0,0,1762,350.04
$SM_GC,1.87,0.00,0.00,45.35,0.000,0.000,0.482,462,2164,1762,-12.87,-1.30,350.04
$IRIDIUM_FIX,1918.37,-8109.84,160702,030344
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$HUMID,61.14
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.80
$XPDR_PINGS,131
$24V_AH,23.0,62.138
$10V_AH,9.9,55.319
$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
$DEVICE_SECS,30.450,212.450,401.275,45.350,0.000,24.871,45.847,192.985,32.750,0.000,15.284,1553.178,14993.655,581.066,2330.940,772.405,33.371,1575.157,0.000,2320.808,0.000,0.539,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,500.400,344.539,441.361,577.948,1099.215,0.000,0.000,0.000
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$MEM,355832
$DATA_FILE_SIZE,57376,740
$CAP_FILE_SIZE,174193,0
$CFSIZE,260165632,97255424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210413,145536,1925.759,-8114.837,30,1.5,30,-3.8