version: 66.06
glider: 146
mission: 8
dive: 471
start: 4 28 113 8 25 27
data:
$ID,146
$MISSION,8
$DIVE,471
$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,-318190.03
$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,52
$R_STBD_OVSHOOT,39
$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
$GPS1,081724,1925.590,-8115.689,38,1.2,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-75.7
$GPS2,082431,1925.570,-8115.632,11,1.3,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.216,0.144
$KALMAN_X,-95256.8,153.1,-208.5,80954.0,1490.0
$KALMAN_Y,113077.2,430.5,73.6,-109863.7,-1050.3
$MHEAD_RNG_PITCHd_Wd,307.4,4911,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-62.70,0.000,2,0.000,0.000,462,2186,3265,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.6,8,123,13.73,2.60,-10.43,0.000,4,0.160,0.041,2978,3779,3786,0,0,0,0,0,0
$GC,306,-1.10,-146.0,48.6,-19.4,33,311,0.20,2.47,0.00,0.000,6,0.094,0.027,3022,2231,3787,0,0,0,0,0,0
$GC,575,-0.98,-146.0,86.8,-13.9,57,581,0.10,0.00,0.00,0.000,6,0.120,0.000,3045,2231,3788,0,0,0,0,0,0
$GC,838,-0.94,-146.0,119.2,-11.7,82,842,0.00,2.62,0.00,0.000,4,0.000,0.047,3045,633,3789,0,0,0,0,0,0
$GC,897,-0.94,-146.0,125.9,-11.0,86,906,0.00,2.47,0.00,0.000,6,0.000,0.025,3045,2224,3789,0,0,0,0,0,0
$GC,1159,-0.94,-146.0,152.9,-8.9,111,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2224,3789,0,0,0,0,0,0
$GC,1416,-1.00,-146.0,173.3,-7.5,135,1420,0.00,2.60,0.00,0.000,4,0.000,0.046,3045,634,3789,0,0,0,0,0,0
$GC,1456,-1.07,-146.0,177.0,-8.3,138,1460,0.00,2.45,0.00,0.000,6,0.000,0.019,3045,2225,3789,0,0,0,0,0,0
$GC,1721,-1.15,-146.0,195.1,-6.9,162,1727,0.15,2.65,0.00,0.000,4,0.058,0.046,2980,629,3790,0,0,0,0,0,0
$GC,1744,-1.19,-146.0,196.9,-7.6,163,1749,0.10,2.40,0.00,0.000,6,0.109,0.018,3002,2206,3790,0,0,0,0,0,0
$GC,2026,-1.19,-146.0,220.2,-8.1,172,2031,0.00,2.50,0.00,0.000,4,0.000,0.041,3002,3777,3789,0,0,0,0,0,0
$GC,2069,-1.19,-146.0,223.5,-8.6,173,2073,0.00,2.47,0.00,0.000,6,0.000,0.028,3002,2196,3789,0,0,0,0,0,0
$GC,2352,-1.19,-146.0,246.2,-7.7,180,2356,0.00,2.55,0.00,0.000,4,0.000,0.050,3002,640,3790,0,0,0,0,0,0
$GC,2384,-1.19,-146.0,248.8,-7.7,180,2390,0.00,2.42,0.00,0.000,6,0.000,0.025,3002,2213,3789,0,0,0,0,0,0
$GC,2637,-1.19,-146.0,266.4,-7.1,187,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2213,3789,0,0,0,0,0,0
$GC,2878,-1.19,-146.0,285.2,-7.7,193,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2213,3788,0,0,0,0,0,0
$GC,3122,-1.19,-146.0,303.9,-7.8,199,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2213,3787,0,0,0,0,0,0
$GC,3369,-1.22,-146.0,322.4,-7.5,205,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2213,3787,0,0,0,0,0,0
$GC,3610,-1.26,-146.0,340.8,-7.6,211,3614,0.00,2.65,0.00,0.000,4,0.000,0.056,3002,641,3786,0,0,0,0,0,0
$GC,3637,-1.26,-146.0,343.1,-8.2,211,3641,0.00,2.45,0.00,0.000,6,0.000,0.029,3002,2201,3786,0,0,0,0,0,0
$GC,3890,-1.31,-146.0,362.9,-7.9,217,3892,0.12,0.00,0.00,0.000,6,0.067,0.000,2950,2201,3785,0,0,0,0,0,0
$GC,4131,-1.25,-146.0,386.6,-9.8,223,4136,0.17,2.62,0.00,0.000,4,0.087,0.055,2991,3789,3784,0,0,0,0,0,0
$GC,4176,-1.30,-146.0,390.7,-8.3,224,4180,0.00,2.53,0.00,0.000,6,0.000,0.028,2991,2217,3784,0,0,0,0,0,0
$GC,4456,-1.30,-146.0,412.3,-7.7,231,4460,0.00,2.75,0.00,0.000,4,0.000,0.073,2991,631,3782,0,0,0,0,0,0
$GC,4523,-1.33,-146.0,418.3,-8.6,232,4527,0.00,2.50,0.00,0.000,6,0.000,0.037,2991,2189,3783,0,0,0,0,0,0
$GC,4778,-1.33,-146.0,439.0,-8.0,239,4782,0.00,2.70,0.00,0.000,4,0.000,0.067,2991,622,3782,0,0,0,0,0,0
$GC,4799,-1.33,-146.0,440.9,-8.3,239,4804,0.00,2.55,0.00,0.000,6,0.000,0.040,2991,2195,3781,0,0,0,0,0,0
$GC,5055,-1.33,-146.0,460.3,-7.5,246,5059,0.00,2.70,0.00,0.000,4,0.000,0.061,2991,3796,3781,0,0,0,0,0,0
$GC,5088,-1.39,-146.0,463.1,-8.2,246,5094,0.15,2.65,0.00,0.000,6,0.058,0.044,2933,2188,3780,0,0,0,0,0,0
$GC,5341,-1.31,-146.0,488.1,-10.3,253,5346,0.17,2.83,0.00,0.000,4,0.087,0.096,2973,628,3779,0,0,0,0,0,0
$GC,5381,-1.31,-146.0,492.2,-8.7,254,5385,0.00,2.53,0.00,0.000,6,0.000,0.047,2973,2179,3779,0,0,0,0,0,0
$GC,5666,-1.31,-146.0,515.2,-8.0,261,5671,0.00,2.80,0.00,0.000,4,0.000,0.071,2973,3797,3778,0,0,0,0,0,0
$GC,5710,-1.31,-146.0,519.1,-8.7,262,5715,0.00,2.70,0.00,0.000,6,0.000,0.055,2973,2190,3777,0,0,0,0,0,0
$GC,5989,-1.31,-146.0,541.4,-7.9,269,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2190,3777,0,0,0,0,0,0
$GC,6235,-1.31,-146.0,561.5,-8.4,275,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2190,3776,0,0,0,0,0,0
$GC,6479,-1.31,-146.0,581.9,-8.4,281,6483,0.00,2.95,0.00,0.000,4,0.000,0.118,2973,617,3775,0,0,0,0,0,0
$GC,6500,-1.31,-146.0,584.1,-8.3,281,6505,0.00,2.65,0.00,0.000,6,0.000,0.053,2973,2187,3775,0,0,0,0,0,0
$GC,6758,-1.31,-146.0,605.4,-8.3,288,6762,0.00,2.88,0.00,0.000,4,0.000,0.091,2973,3795,3773,0,0,0,0,0,0
$GC,6797,-1.31,-146.0,609.1,-9.6,289,6802,0.00,2.75,0.00,0.000,6,0.000,0.061,2973,2192,3773,0,0,0,0,0,0
$GC,7080,-1.31,-146.0,632.4,-8.2,296,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2192,3771,0,0,0,0,0,0
$GC,7326,-1.31,-146.0,651.6,-7.9,302,7331,0.00,2.92,0.00,0.000,4,0.000,0.095,2973,3794,3770,0,0,0,0,0,0
$GC,7353,-1.31,-146.0,654.2,-8.9,302,7358,0.00,2.85,0.00,0.000,6,0.000,0.084,2973,2199,3770,0,0,0,0,0,0
$GC,7603,-1.31,-146.0,674.6,-8.1,308,7608,0.00,3.10,0.00,0.000,4,0.000,0.134,2973,616,3769,0,0,0,0,0,0
$GC,7633,-1.31,-146.0,677.3,-8.9,308,7638,0.00,2.83,0.00,0.000,6,0.000,0.086,2973,2197,3769,0,0,0,0,0,0
$GC,7886,-1.31,-146.0,698.8,-8.7,314,7891,0.00,3.08,0.00,0.000,4,0.000,0.131,2973,3800,3768,0,0,0,0,0,0
$GC,7913,-1.31,-146.0,701.7,-9.5,314,7918,0.00,2.90,0.00,0.000,6,0.000,0.090,2973,2210,3768,0,0,0,0,0,0
$GC,8163,-1.31,-146.0,722.8,-8.3,320,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2210,3765,0,0,0,0,0,0
$GC,8409,-1.31,-146.0,741.6,-7.6,326,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2208,3765,0,0,0,0,0,0
$GC,8650,-1.31,-146.0,759.9,-7.5,332,8655,0.00,2.88,0.00,0.000,4,0.000,0.098,2973,3801,3763,0,0,0,0,0,0
$GC,8677,-1.31,-146.0,762.0,-8.3,332,8682,0.00,2.80,0.00,0.000,6,0.000,0.074,2973,2210,3763,0,0,0,0,0,0
$GC,8930,-1.31,-146.0,781.8,-8.1,338,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2210,3761,0,0,0,0,0,0
$GC,9171,-1.31,-146.0,802.1,-8.3,344,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2209,3761,0,0,0,0,0,0
$GC,9415,-1.31,-146.0,821.8,-8.0,350,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2208,3761,0,0,0,0,0,0
$GC,9658,-1.31,-146.0,841.1,-7.9,356,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2207,3759,0,0,0,0,0,0
$GC,9905,-1.31,-146.0,859.1,-7.3,362,9909,0.00,2.85,0.00,0.000,4,0.000,0.083,2973,3804,3758,0,0,0,0,0,0
$GC,9932,-1.31,-146.0,861.4,-7.6,362,9936,0.00,2.78,0.00,0.000,6,0.000,0.071,2973,2213,3757,0,0,0,0,0,0
$GC,10183,-1.31,-146.0,879.7,-7.2,368,10188,0.00,3.00,0.00,0.000,4,0.000,0.117,2973,621,3757,0,0,0,0,0,0
$GC,10202,-1.31,-146.0,881.1,-6.9,368,10207,0.00,2.75,0.00,0.000,6,0.000,0.062,2973,2223,3756,0,0,0,0,0,0
$STATE,10460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10460,begin apogee
$GC,10466,-0.31,0.0,901.0,7.6,375,10591,0.95,0.00,121.25,1.200,6,0.087,0.000,3190,2376,3190,0,0,0,0,0,0
$STATE,10592,end apogee,CONTROL_FINISHED_OK
$STATE,10592,begin climb
$GC,10595,1.27,146.0,904.7,0.0,378,10732,1.45,2.92,128.62,1.177,4,0.035,0.090,3548,3939,2593,0,0,0,0,0,0
$GC,10812,1.15,146.0,892.4,11.8,383,10818,0.20,2.75,0.00,0.000,6,0.110,0.055,3510,2365,2588,0,0,0,0,0,0
$GC,11093,1.19,177.7,868.6,8.5,390,11126,0.00,0.00,28.77,1.112,6,0.000,0.000,3510,2365,2465,0,0,0,0,0,0
$GC,11377,1.19,177.7,840.2,10.0,397,11382,0.00,2.72,0.00,0.000,4,0.000,0.062,3510,3938,2460,0,0,0,0,0,0
$GC,11419,1.19,177.7,836.1,11.2,398,11423,0.00,2.65,0.00,0.000,6,0.000,0.045,3510,2382,2459,0,0,0,0,0,0
$GC,11702,1.19,177.7,807.0,10.1,405,11703,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2382,2457,0,0,0,0,0,0
$GC,11946,1.19,182.5,783.1,9.8,411,11952,0.00,0.00,4.50,0.750,6,0.000,0.000,3510,2382,2445,0,0,0,0,0,0
$GC,12192,1.20,190.1,759.5,9.7,417,12202,0.00,0.00,8.80,0.955,6,0.000,0.000,3510,2382,2415,0,0,0,0,0,0
$GC,12433,1.22,201.6,736.5,9.5,423,12452,0.00,2.80,12.15,0.993,4,0.000,0.064,3510,3938,2367,0,0,0,0,0,0
$GC,12480,1.22,201.6,731.6,10.7,424,12485,0.00,2.67,0.00,0.000,6,0.000,0.048,3510,2380,2366,0,0,0,0,0,0
$GC,12761,1.22,201.6,702.9,10.4,431,12765,0.00,2.70,0.00,0.000,4,0.000,0.062,3510,3937,2365,0,0,0,0,0,0
$GC,12782,1.22,201.6,700.3,10.4,431,12786,0.00,2.65,0.00,0.000,6,0.000,0.051,3510,2383,2365,0,0,0,0,0,0
$GC,13038,1.22,202.0,674.4,10.0,438,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2383,2364,0,0,0,0,0,0
$GC,13284,1.23,211.3,651.0,9.6,444,13296,0.00,0.00,10.30,0.928,6,0.000,0.000,3510,2383,2328,0,0,0,0,0,0
$GC,13525,1.23,211.3,626.5,10.1,450,13529,0.00,2.67,0.00,0.000,4,0.000,0.059,3510,3936,2326,0,0,0,0,0,0
$GC,13546,1.23,211.3,624.1,10.8,450,13550,0.00,2.62,0.00,0.000,6,0.000,0.051,3510,2389,2325,0,0,0,0,0,0
$GC,13801,1.23,211.3,597.2,10.5,457,13803,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2389,2325,0,0,0,0,0,0
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$STATE,19276,end climb,SURFACE_DEPTH_REACHED
$STATE,19276,begin surface coast
$FINISH,1.1,1.009804
$STATE,19321,end surface coast,CONTROL_FINISHED_OK
$STATE,19321,begin surface
$SM_CCo,19347,41.08,0.479,0,0,1763,350.04
$SM_GC,2.18,0.00,0.00,41.08,0.000,0.000,0.479,457,2164,1763,-12.90,-1.30,350.04
$IRIDIUM_FIX,1918.37,-8112.10,230702,020242
$TT8_MAMPS,0.026078
$HUMID,62.08
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,128
$24V_AH,23.1,66.502
$10V_AH,9.9,59.217
$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
$DEVICE_SECS,30.425,196.725,394.475,41.075,0.000,26.269,34.864,191.274,32.000,0.000,12.624,1523.430,14668.244,539.844,2327.231,746.253,33.368,1533.197,0.000,2321.642,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.043,340.719,432.927,565.460,1076.076,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,57397,727
$CAP_FILE_SIZE,167285,0
$CFSIZE,260165632,95088640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280413,134959,1926.807,-8117.357,38,1.2,43,-3.7