version: 66.06
glider: 146
mission: 8
dive: 470
start: 4 28 113 2 50 20
data:
$ID,146
$MISSION,8
$DIVE,470
$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,-318176.78
$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,29
$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
$GPS1,024206,1925.028,-8113.479,40,1.2,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-74.8
$GPS2,024924,1925.031,-8113.457,11,1.2,16,-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,-95642.6,-62.7,-395.9,85532.4,2322.0
$KALMAN_Y,113832.3,78.1,-110.6,-111079.8,-210.3
$MHEAD_RNG_PITCHd_Wd,288.9,8732,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.35,0.000,2,0.000,0.000,459,2128,3510,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-5.7,9,123,13.70,2.67,-4.82,0.000,4,0.163,0.038,2976,3806,3787,0,0,0,0,0,0
$GC,262,-1.11,-146.0,46.1,-18.7,27,272,0.15,2.60,0.00,0.000,6,0.079,0.031,3014,2204,3788,0,0,0,0,0,0
$GC,527,-0.98,-146.0,83.6,-13.1,52,532,0.15,2.60,0.00,0.000,4,0.104,0.047,3048,622,3788,0,0,0,0,0,0
$GC,559,-0.91,-146.0,88.4,-13.3,54,563,0.00,2.47,0.00,0.000,6,0.000,0.016,3048,2232,3789,0,0,0,0,0,0
$GC,821,-0.86,-146.0,118.2,-11.6,78,826,0.10,2.62,0.00,0.000,4,0.119,0.045,3070,631,3789,0,0,0,0,0,0
$GC,843,-0.86,-146.0,120.4,-11.3,79,847,0.00,2.42,0.00,0.000,6,0.000,0.018,3069,2208,3789,0,0,0,0,0,0
$GC,1110,-0.94,-146.0,145.3,-8.5,103,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2209,3790,0,0,0,0,0,0
$GC,1376,-1.05,-146.0,165.1,-6.7,128,1381,0.17,2.60,0.00,0.000,4,0.050,0.049,2997,631,3790,0,0,0,0,0,0
$GC,1408,-1.05,-146.0,168.0,-9.2,130,1413,0.15,2.42,0.00,0.000,6,0.090,0.024,3032,2211,3790,0,0,0,0,0,0
$GC,1673,-1.11,-146.0,189.5,-7.6,154,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2211,3790,0,0,0,0,0,0
$GC,1940,-1.17,-146.0,208.6,-6.8,171,1942,0.12,0.00,0.00,0.000,6,0.065,0.000,2974,2211,3790,0,0,0,0,0,0
$GC,2186,-1.17,-146.0,230.5,-9.0,177,2191,0.12,2.60,0.00,0.000,4,0.094,0.045,3004,630,3790,0,0,0,0,0,0
$GC,2219,-1.17,-146.0,233.7,-8.0,177,2225,0.00,2.40,0.00,0.000,6,0.000,0.025,3004,2185,3790,0,0,0,0,0,0
$GC,2469,-1.17,-146.0,252.2,-7.4,184,2473,0.00,2.55,0.00,0.000,4,0.000,0.044,3004,3776,3789,0,0,0,0,0,0
$GC,2499,-1.22,-146.0,254.3,-7.8,184,2503,0.00,2.50,0.00,0.000,6,0.000,0.026,3004,2167,3790,0,0,0,0,0,0
$GC,2749,-1.26,-146.0,273.6,-7.7,190,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2168,3790,0,0,0,0,0,0
$GC,2993,-1.30,-146.0,292.4,-7.6,196,2995,0.12,0.00,0.00,0.000,6,0.065,0.000,2951,2168,3789,0,0,0,0,0,0
$GC,3239,-1.24,-146.0,315.7,-9.7,202,3244,0.17,2.65,0.00,0.000,4,0.084,0.042,2992,3775,3788,0,0,0,0,0,0
$GC,3284,-1.28,-146.0,319.9,-8.9,203,3288,0.00,2.47,0.00,0.000,6,0.000,0.025,2992,2198,3788,0,0,0,0,0,0
$GC,3564,-1.28,-146.0,341.9,-7.9,210,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2198,3787,0,0,0,0,0,0
$GC,3805,-1.28,-146.0,360.4,-7.5,216,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2198,3786,0,0,0,0,0,0
$GC,4049,-1.28,-146.0,378.7,-7.5,222,4053,0.00,2.60,0.00,0.000,4,0.000,0.052,2992,3771,3785,0,0,0,0,0,0
$GC,4070,-1.28,-146.0,380.4,-7.5,222,4075,0.00,2.53,0.00,0.000,6,0.000,0.031,2992,2191,3784,0,0,0,0,0,0
$GC,4328,-1.28,-146.0,400.1,-7.7,229,4333,0.00,2.70,0.00,0.000,4,0.000,0.077,2992,628,3784,0,0,0,0,0,0
$GC,4361,-1.28,-146.0,402.9,-8.3,229,4367,0.00,2.47,0.00,0.000,6,0.000,0.035,2992,2179,3784,0,0,0,0,0,0
$GC,4611,-1.28,-146.0,421.8,-7.7,236,4615,0.00,2.67,0.00,0.000,4,0.000,0.055,2992,3793,3782,0,0,0,0,0,0
$GC,4635,-1.28,-146.0,423.8,-8.5,236,4639,0.00,2.60,0.00,0.000,6,0.000,0.031,2993,2186,3782,0,0,0,0,0,0
$GC,4890,-1.28,-146.0,444.3,-7.9,243,4894,0.00,2.75,0.00,0.000,4,0.000,0.081,2992,621,3782,0,0,0,0,0,0
$GC,4934,-1.32,-146.0,448.0,-8.7,244,4939,0.00,2.53,0.00,0.000,6,0.000,0.034,2993,2178,3782,0,0,0,0,0,0
$GC,5215,-1.35,-146.0,470.2,-7.9,251,5217,0.12,0.00,0.00,0.000,6,0.067,0.000,2943,2178,3781,0,0,0,0,0,0
$GC,5456,-1.30,-146.0,493.5,-9.5,257,5461,0.15,2.78,0.00,0.000,4,0.091,0.067,2978,3789,3779,0,0,0,0,0,0
$GC,5489,-1.30,-146.0,496.5,-8.6,257,5495,0.00,2.67,0.00,0.000,6,0.000,0.048,2978,2184,3779,0,0,0,0,0,0
$GC,5742,-1.30,-146.0,516.2,-8.0,264,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2184,3778,0,0,0,0,0,0
$GC,5983,-1.30,-146.0,536.6,-8.3,270,5987,0.00,2.88,0.00,0.000,4,0.000,0.114,2978,625,3777,0,0,0,0,0,0
$GC,6004,-1.30,-146.0,538.5,-8.2,270,6009,0.00,2.58,0.00,0.000,6,0.000,0.053,2978,2177,3777,0,0,0,0,0,0
$GC,6262,-1.30,-146.0,560.9,-8.9,277,6266,0.00,2.85,0.00,0.000,4,0.000,0.089,2978,3794,3776,0,0,0,0,0,0
$GC,6289,-1.30,-146.0,563.7,-9.9,277,6293,0.00,2.72,0.00,0.000,6,0.000,0.059,2978,2170,3776,0,0,0,0,0,0
$GC,6540,-1.30,-146.0,584.7,-8.3,283,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2170,3775,0,0,0,0,0,0
$GC,6785,-1.30,-146.0,604.0,-7.8,289,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2170,3774,0,0,0,0,0,0
$GC,7026,-1.30,-146.0,622.0,-7.5,295,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2171,3772,0,0,0,0,0,0
$GC,7270,-1.30,-146.0,640.7,-7.7,301,7275,0.00,2.95,0.00,0.000,4,0.000,0.097,2978,3793,3771,0,0,0,0,0,0
$GC,7302,-1.30,-146.0,643.5,-8.2,301,7308,0.00,2.88,0.00,0.000,6,0.000,0.079,2977,2180,3771,0,0,0,0,0,0
$GC,7555,-1.30,-146.0,662.9,-7.8,308,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2180,3770,0,0,0,0,0,0
$GC,7796,-1.30,-146.0,682.2,-7.9,314,7801,0.00,3.03,0.00,0.000,4,0.000,0.107,2978,3797,3768,0,0,0,0,0,0
$GC,7829,-1.30,-146.0,685.0,-8.4,314,7835,0.00,2.97,0.00,0.000,6,0.000,0.098,2978,2189,3768,0,0,0,0,0,0
$GC,8081,-1.30,-146.0,705.1,-8.0,321,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2189,3767,0,0,0,0,0,0
$GC,8323,-1.30,-146.0,724.1,-7.7,327,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2189,3766,0,0,0,0,0,0
$GC,8566,-1.30,-146.0,742.8,-7.7,333,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2189,3765,0,0,0,0,0,0
$GC,8810,-1.30,-146.0,761.7,-7.8,339,8815,0.00,2.92,0.00,0.000,4,0.000,0.097,2978,3793,3763,0,0,0,0,0,0
$GC,8852,-1.34,-146.0,765.1,-8.8,340,8857,0.00,2.85,0.00,0.000,6,0.000,0.074,2978,2181,3763,0,0,0,0,0,0
$GC,9136,-1.34,-146.0,788.2,-8.0,347,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2181,3761,0,0,0,0,0,0
$GC,9379,-1.34,-146.0,806.7,-7.5,353,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2180,3761,0,0,0,0,0,0
$GC,9625,-1.34,-146.0,824.0,-7.0,359,9630,0.00,2.90,0.00,0.000,4,0.000,0.091,2978,3797,3759,0,0,0,0,0,0
$GC,9665,-1.38,-146.0,827.2,-7.6,360,9670,0.00,2.80,0.00,0.000,6,0.000,0.072,2978,2192,3759,0,0,0,0,0,0
$GC,9952,-1.38,-146.0,847.7,-7.2,367,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2191,3758,0,0,0,0,0,0
$GC,10193,-1.42,-146.0,865.7,-7.4,373,10199,0.12,2.88,0.00,0.000,4,0.069,0.084,2931,3800,3757,0,0,0,0,0,0
$GC,10221,-1.37,-146.0,868.3,-9.8,373,10227,0.12,2.83,0.00,0.000,6,0.099,0.068,2960,2185,3756,0,0,0,0,0,0
$GC,10474,-1.37,-146.0,888.3,-7.9,379,10479,0.00,2.88,0.00,0.000,4,0.000,0.089,2960,3796,3756,0,0,0,0,0,0
$GC,10513,-1.37,-146.0,891.9,-8.5,380,10518,0.00,2.80,0.00,0.000,6,0.000,0.067,2960,2189,3755,0,0,0,0,0,0
$STATE,10631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10631,begin apogee
$GC,10637,-0.31,0.0,901.3,7.7,383,10762,1.00,0.00,120.97,1.210,6,0.067,0.000,3190,2385,3190,0,0,0,0,0,0
$STATE,10763,end apogee,CONTROL_FINISHED_OK
$STATE,10763,begin climb
$GC,10768,1.27,146.0,904.1,0.0,386,10905,1.42,2.85,128.70,1.182,4,0.035,0.080,3544,3935,2593,0,0,0,0,0,0
$GC,10978,1.15,146.0,891.2,11.4,391,10983,0.17,2.75,0.00,0.000,6,0.110,0.058,3509,2369,2588,0,0,0,0,0,0
$GC,11262,1.17,163.0,864.1,9.2,398,11283,0.00,2.80,15.70,1.068,4,0.000,0.068,3509,3931,2524,0,0,0,0,0,0
$GC,11348,1.13,163.0,855.8,10.4,400,11353,0.00,2.67,0.00,0.000,6,0.000,0.049,3509,2378,2522,0,0,0,0,0,0
$GC,11631,1.15,180.0,829.2,9.2,407,11649,0.00,0.00,16.38,1.062,6,0.000,0.000,3509,2378,2456,0,0,0,0,0,0
$GC,11875,1.16,186.3,805.7,9.7,413,11884,0.00,0.00,7.00,0.915,6,0.000,0.000,3509,2378,2430,0,0,0,0,0,0
$GC,12121,1.16,186.3,780.9,10.2,419,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2378,2428,0,0,0,0,0,0
$GC,12362,1.17,191.5,756.8,9.8,425,12374,0.00,2.72,6.10,0.864,4,0.000,0.061,3509,3932,2408,0,0,0,0,0,0
$GC,12396,1.17,191.5,753.3,10.6,425,12402,0.00,2.67,0.00,0.000,6,0.000,0.048,3509,2378,2408,0,0,0,0,0,0
$GC,12649,1.17,192.3,728.4,10.0,432,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2378,2407,0,0,0,0,0,0
$GC,12890,1.17,198.5,704.7,9.7,438,12904,0.00,2.75,8.12,0.923,4,0.000,0.063,3509,3931,2380,0,0,0,0,0,0
$GC,12938,1.17,198.5,699.7,10.4,439,12942,0.00,2.65,0.00,0.000,6,0.000,0.048,3509,2382,2379,0,0,0,0,0,0
$GC,13218,1.19,210.3,673.4,9.5,446,13237,0.00,2.78,12.30,0.969,4,0.000,0.059,3509,3938,2332,0,0,0,0,0,0
$GC,13243,1.19,210.3,670.7,10.5,446,13247,0.00,2.67,0.00,0.000,6,0.000,0.052,3509,2383,2332,0,0,0,0,0,0
$GC,13498,1.19,210.3,644.9,10.1,453,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2383,2331,0,0,0,0,0,0
$GC,13744,1.19,210.3,620.0,10.3,459,13748,0.00,2.65,0.00,0.000,4,0.000,0.057,3509,3931,2330,0,0,0,0,0,0
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$STATE,19427,end climb,SURFACE_DEPTH_REACHED
$STATE,19428,begin surface coast
$FINISH,1.1,1.023179
$STATE,19479,end surface coast,CONTROL_FINISHED_OK
$STATE,19479,begin surface
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$HUMID,61.10
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$TCM_TEMP,25.00
$XPDR_PINGS,138
$24V_AH,23.1,66.361
$10V_AH,9.9,59.092
$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
$DEVICE_SECS,31.325,202.975,407.150,38.750,0.000,25.559,37.502,195.474,34.500,0.000,17.628,1543.921,14746.339,567.799,2347.777,764.762,33.367,1570.831,0.000,2335.043,0.000,0.537,0.000
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$SENSOR_SECS,497.902,343.419,439.020,570.496,1085.785,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,57257,736
$CAP_FILE_SIZE,172617,0
$CFSIZE,260165632,95154176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280413,081724,1925.590,-8115.689,38,1.2,38,-3.8