version: 66.06
glider: 146
mission: 8
dive: 457
start: 4 25 113 1 45 1
data:
$ID,146
$MISSION,8
$DIVE,457
$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,-316369.28
$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,60
$R_STBD_OVSHOOT,31
$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
$GPS1,013630,1925.383,-8115.542,64,0.9,64,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-73.9
$GPS2,014407,1925.383,-8115.461,11,1.1,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.220,0.138
$KALMAN_X,-127237.1,300.0,35.7,112827.5,1362.9
$KALMAN_Y,124679.7,-36.2,-4.7,-121264.5,-743.7
$MHEAD_RNG_PITCHd_Wd,306.0,5351,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.22,0.000,2,0.000,0.000,464,2174,3278,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.0,8,124,13.57,2.65,-10.07,0.000,4,0.159,0.043,2977,3795,3788,0,0,0,0,0,0
$GC,182,-1.09,-146.0,25.0,-19.4,20,192,0.15,2.53,0.00,0.000,6,0.079,0.028,3015,2239,3788,0,0,0,0,0,0
$GC,459,-0.95,-146.0,68.8,-14.9,46,464,0.15,2.67,0.00,0.000,4,0.102,0.045,3050,623,3788,0,0,0,0,0,0
$GC,518,-0.92,-146.0,77.7,-12.7,50,523,0.00,2.47,0.00,0.000,6,0.000,0.017,3051,2226,3788,0,0,0,0,0,0
$GC,784,-0.88,-146.0,109.5,-11.7,74,792,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2226,3789,0,0,0,0,0,0
$GC,1048,-0.88,-146.0,136.7,-8.6,99,1053,0.00,2.60,0.00,0.000,4,0.000,0.044,3050,630,3789,0,0,0,0,0,0
$GC,1081,-0.88,-146.0,139.5,-8.5,101,1085,0.00,2.38,0.00,0.000,6,0.000,0.016,3050,2204,3790,0,0,0,0,0,0
$GC,1346,-0.95,-146.0,160.1,-6.8,125,1351,0.00,2.58,0.00,0.000,4,0.000,0.044,3050,623,3790,0,0,0,0,0,0
$GC,1379,-1.03,-146.0,162.5,-6.8,127,1384,0.00,2.38,0.00,0.000,6,0.000,0.025,3050,2176,3790,0,0,0,0,0,0
$GC,1649,-1.13,-146.0,181.1,-7.2,151,1654,0.15,2.58,0.00,0.000,4,0.057,0.035,2986,3779,3790,0,0,0,0,0,0
$GC,1677,-1.13,-146.0,184.2,-9.9,153,1683,0.12,2.53,0.00,0.000,6,0.091,0.020,3018,2166,3790,0,0,0,0,0,0
$GC,1971,-1.17,-146.0,206.6,-7.3,174,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2166,3790,0,0,0,0,0,0
$GC,2211,-1.22,-146.0,223.6,-6.8,180,2213,0.10,0.00,0.00,0.000,6,0.078,0.000,2969,2166,3790,0,0,0,0,0,0
$GC,2455,-1.17,-146.0,244.9,-8.9,186,2456,0.15,0.00,0.00,0.000,6,0.089,0.000,3004,2165,3790,0,0,0,0,0,0
$GC,2701,-1.21,-146.0,264.5,-8.1,192,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2165,3790,0,0,0,0,0,0
$GC,2942,-1.25,-146.0,283.5,-7.8,198,2946,0.00,2.62,0.00,0.000,4,0.000,0.048,3004,3772,3789,0,0,0,0,0,0
$GC,2975,-1.30,-146.0,286.4,-8.6,198,2981,0.12,2.53,0.00,0.000,6,0.064,0.025,2948,2173,3789,0,0,0,0,0,0
$GC,3228,-1.23,-146.0,311.8,-10.3,205,3233,0.20,2.58,0.00,0.000,4,0.084,0.064,2994,636,3788,0,0,0,0,0,0
$GC,3257,-1.23,-146.0,314.8,-9.2,205,3261,0.00,2.38,0.00,0.000,6,0.000,0.022,2994,2164,3788,0,0,0,0,0,0
$GC,3509,-1.23,-146.0,336.2,-8.5,211,3514,0.00,2.65,0.00,0.000,4,0.000,0.044,2994,3783,3787,0,0,0,0,0,0
$GC,3537,-1.23,-146.0,338.8,-8.6,211,3541,0.00,2.55,0.00,0.000,6,0.000,0.029,2994,2178,3787,0,0,0,0,0,0
$GC,3787,-1.23,-146.0,359.9,-8.5,217,3791,0.00,2.62,0.00,0.000,4,0.000,0.068,2994,626,3786,0,0,0,0,0,0
$GC,3808,-1.23,-146.0,361.8,-8.4,217,3813,0.00,2.42,0.00,0.000,6,0.000,0.032,2994,2171,3786,0,0,0,0,0,0
$GC,4067,-1.23,-146.0,381.3,-7.5,224,4071,0.00,2.67,0.00,0.000,4,0.000,0.054,2994,3794,3785,0,0,0,0,0,0
$GC,4094,-1.23,-146.0,383.5,-7.5,224,4098,0.00,2.58,0.00,0.000,6,0.000,0.027,2994,2189,3785,0,0,0,0,0,0
$GC,4344,-1.23,-146.0,401.8,-7.4,230,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2189,3784,0,0,0,0,0,0
$GC,4590,-1.23,-146.0,420.3,-7.5,236,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2189,3783,0,0,0,0,0,0
$GC,4831,-1.23,-146.0,438.4,-7.4,242,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2188,3782,0,0,0,0,0,0
$GC,5075,-1.27,-146.0,456.0,-7.2,248,5080,0.00,2.70,0.00,0.000,4,0.000,0.063,2994,3786,3781,0,0,0,0,0,0
$GC,5123,-1.32,-146.0,459.6,-8.1,249,5127,0.00,2.62,0.00,0.000,6,0.000,0.039,2994,2193,3781,0,0,0,0,0,0
$GC,5401,-1.36,-146.0,480.5,-7.6,256,5403,0.12,0.00,0.00,0.000,6,0.067,0.000,2943,2193,3779,0,0,0,0,0,0
$GC,5644,-1.31,-146.0,503.0,-9.3,262,5646,0.15,0.00,0.00,0.000,6,0.091,0.000,2977,2193,3778,0,0,0,0,0,0
$GC,5890,-1.31,-146.0,521.9,-7.6,268,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3777,0,0,0,0,0,0
$GC,6131,-1.31,-146.0,540.6,-7.8,274,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2193,3776,0,0,0,0,0,0
$GC,6375,-1.31,-146.0,559.6,-7.8,280,6380,0.00,2.80,0.00,0.000,4,0.000,0.081,2978,3778,3776,0,0,0,0,0,0
$GC,6404,-1.31,-146.0,562.0,-8.7,280,6409,0.00,2.70,0.00,0.000,6,0.000,0.054,2978,2190,3776,0,0,0,0,0,0
$GC,6655,-1.31,-146.0,581.9,-8.0,286,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2190,3774,0,0,0,0,0,0
$GC,6898,-1.31,-146.0,601.3,-7.9,292,6903,0.00,2.83,0.00,0.000,4,0.000,0.080,2978,3778,3773,0,0,0,0,0,0
$GC,6931,-1.31,-146.0,604.0,-8.0,292,6936,0.00,2.75,0.00,0.000,6,0.000,0.071,2977,2192,3773,0,0,0,0,0,0
$GC,7183,-1.31,-146.0,622.7,-7.4,299,7188,0.00,3.00,0.00,0.000,4,0.000,0.127,2977,626,3771,0,0,0,0,0,0
$GC,7227,-1.31,-146.0,626.5,-8.2,300,7232,0.00,2.67,0.00,0.000,6,0.000,0.071,2978,2173,3771,0,0,0,0,0,0
$GC,7507,-1.31,-146.0,646.8,-7.3,307,7512,0.00,3.00,0.00,0.000,4,0.000,0.104,2978,3801,3769,0,0,0,0,0,0
$GC,7557,-1.35,-146.0,650.9,-7.9,308,7562,0.00,2.88,0.00,0.000,6,0.000,0.087,2978,2193,3769,0,0,0,0,0,0
$GC,7832,-1.35,-146.0,671.7,-7.8,315,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2194,3768,0,0,0,0,0,0
$GC,8078,-1.35,-146.0,690.3,-7.7,321,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2194,3767,0,0,0,0,0,0
$GC,8319,-1.35,-146.0,708.8,-7.5,327,8324,0.00,3.08,0.00,0.000,4,0.000,0.121,2977,3794,3765,0,0,0,0,0,0
$GC,8342,-1.35,-146.0,710.7,-8.4,327,8347,0.00,3.00,0.00,0.000,6,0.000,0.111,2978,2210,3766,0,0,0,0,0,0
$GC,8598,-1.35,-146.0,729.7,-7.4,334,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2210,3764,0,0,0,0,0,0
$GC,8844,-1.35,-146.0,748.3,-7.6,340,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2206,3762,0,0,0,0,0,0
$GC,9085,-1.35,-146.0,767.6,-8.1,346,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2206,3762,0,0,0,0,0,0
$GC,9329,-1.35,-146.0,787.2,-7.9,352,9333,0.00,2.88,0.00,0.000,4,0.000,0.093,2977,3798,3761,0,0,0,0,0,0
$GC,9353,-1.35,-146.0,789.0,-8.3,352,9357,0.00,2.80,0.00,0.000,6,0.000,0.076,2977,2202,3761,0,0,0,0,0,0
$GC,9608,-1.35,-146.0,807.9,-7.2,359,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2202,3760,0,0,0,0,0,0
$GC,9851,-1.35,-146.0,825.6,-7.4,365,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2202,3759,0,0,0,0,0,0
$GC,10095,-1.35,-146.0,843.0,-7.1,371,10100,0.00,2.85,0.00,0.000,4,0.000,0.087,2978,3799,3757,0,0,0,0,0,0
$GC,10137,-1.39,-146.0,846.0,-7.3,372,10142,0.00,2.78,0.00,0.000,6,0.000,0.071,2978,2210,3757,0,0,0,0,0,0
$GC,10420,-1.39,-146.0,868.1,-7.8,379,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2209,3756,0,0,0,0,0,0
$GC,10665,-1.43,-146.0,886.6,-7.6,385,10670,0.12,2.88,0.00,0.000,4,0.069,0.089,2931,3802,3755,0,0,0,0,0,0
$GC,10708,-1.38,-146.0,890.3,-9.5,386,10713,0.12,2.78,0.00,0.000,6,0.099,0.074,2959,2215,3755,0,0,0,0,0,0
$STATE,10826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10826,begin apogee
$GC,10833,-0.31,0.0,900.6,8.0,389,10957,1.00,0.00,120.95,1.206,6,0.067,0.000,3190,2383,3190,0,0,0,0,0,0
$STATE,10958,end apogee,CONTROL_FINISHED_OK
$STATE,10958,begin climb
$GC,10963,1.27,146.0,904.1,0.0,392,11101,1.42,2.85,129.07,1.177,4,0.034,0.082,3545,3935,2593,0,0,0,0,0,0
$GC,11214,1.15,146.0,886.4,11.6,398,11220,0.17,2.72,0.00,0.000,6,0.113,0.060,3510,2368,2587,0,0,0,0,0,0
$GC,11498,1.18,165.2,860.2,9.1,405,11522,0.00,2.83,17.27,1.075,4,0.000,0.071,3511,3923,2516,0,0,0,0,0,0
$GC,11544,1.15,177.3,855.9,9.4,406,11564,0.00,2.70,12.62,1.032,6,0.000,0.057,3510,2369,2466,0,0,0,0,0,0
$GC,11831,1.15,180.5,827.1,9.9,413,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2369,2462,0,0,0,0,0,0
$GC,12074,1.15,180.5,802.5,10.1,419,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2369,2460,0,0,0,0,0,0
$GC,12321,1.16,183.5,778.4,9.9,425,12329,0.00,0.00,6.03,0.864,6,0.000,0.000,3510,2368,2441,0,0,0,0,0,0
$GC,12562,1.16,187.9,754.5,9.8,431,12573,0.00,2.72,5.75,0.843,4,0.000,0.061,3510,3931,2424,0,0,0,0,0,0
$GC,12602,1.16,187.9,750.3,11.0,432,12606,0.00,2.67,0.00,0.000,6,0.000,0.050,3510,2372,2423,0,0,0,0,0,0
$GC,12887,1.17,192.6,722.6,9.8,439,12895,0.00,0.00,6.22,0.858,6,0.000,0.000,3510,2372,2404,0,0,0,0,0,0
$GC,13128,1.17,195.0,698.7,9.9,445,13133,0.00,2.67,0.00,0.000,4,0.000,0.061,3510,3933,2402,0,0,0,0,0,0
$GC,13149,1.17,195.0,696.4,10.4,445,13154,0.00,2.67,0.00,0.000,6,0.000,0.054,3510,2369,2402,0,0,0,0,0,0
$GC,13407,1.17,195.0,670.2,10.3,452,13408,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2369,2402,0,0,0,0,0,0
$GC,13648,1.17,195.0,644.9,10.4,458,13653,0.00,2.70,0.00,0.000,4,0.000,0.065,3510,3935,2401,0,0,0,0,0,0
$GC,13675,1.17,195.0,641.8,10.7,458,13679,0.00,2.65,0.00,0.000,6,0.000,0.048,3510,2379,2401,0,0,0,0,0,0
$GC,13928,1.17,199.3,617.1,9.8,464,13937,0.00,0.00,7.32,0.849,6,0.000,0.000,3510,2379,2377,0,0,0,0,0,0
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$GC,19466,1.48,293.5,45.6,10.4,698,19471,0.00,2.55,0.00,0.000,6,0.000,0.019,3597,2412,1988,0,0,0,0,0,0
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$STATE,19891,end climb,SURFACE_DEPTH_REACHED
$STATE,19892,begin surface coast
$FINISH,1.1,1.015494
$STATE,19942,end surface coast,CONTROL_FINISHED_OK
$STATE,19942,begin surface
$SM_CCo,19968,28.42,0.475,0,0,1762,350.04
$SM_GC,1.96,0.00,0.00,28.42,0.000,0.000,0.475,459,2163,1762,-12.88,-1.33,350.04
$IRIDIUM_FIX,1918.37,-8114.71,190702,202037
$TT8_MAMPS,0.025311
$HUMID,61.26
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,133
$24V_AH,23.0,64.367
$10V_AH,10.0,57.351
$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,30.625,196.625,415.150,28.425,0.000,31.253,34.530,215.988,33.250,0.000,13.468,1575.654,15184.507,545.593,2344.397,791.535,33.370,1549.273,0.000,2340.742,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,126.555,1206.491,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,512.098,353.694,452.084,588.272,1119.651,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,57283,756
$CAP_FILE_SIZE,173589,0
$CFSIZE,260165632,96104448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250413,071936,1926.284,-8116.917,35,1.6,35,-3.7