version: 66.06
glider: 146
mission: 8
dive: 479
start: 4 30 113 4 19 30
data:
$ID,146
$MISSION,8
$DIVE,479
$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,-318367.75
$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,40
$R_STBD_OVSHOOT,16
$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
$GPS1,041053,1924.217,-8108.257,39,1.2,39,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-75.6
$GPS2,041835,1924.216,-8108.206,13,2.0,29,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.242,0.095
$KALMAN_X,-74346.6,142.9,-216.2,73027.8,3092.9
$KALMAN_Y,109497.0,361.0,36.5,-108681.6,-1332.9
$MHEAD_RNG_PITCHd_Wd,295.3,17865,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.50,0.000,2,0.000,0.000,465,2182,3506,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-5.7,9,123,13.68,2.60,-4.78,0.000,4,0.162,0.038,2976,3812,3786,0,0,0,0,0,0
$GC,274,-1.13,-146.0,47.8,-16.6,28,284,0.12,2.55,0.00,0.000,6,0.081,0.025,3009,2220,3788,0,0,0,0,0,0
$GC,543,-0.98,-146.0,87.2,-14.7,53,548,0.15,2.65,0.00,0.000,4,0.101,0.048,3043,625,3788,0,0,0,0,0,0
$GC,601,-0.93,-146.0,95.8,-12.9,57,606,0.00,2.50,0.00,0.000,6,0.000,0.016,3043,2251,3788,0,0,0,0,0,0
$GC,870,-0.88,-146.0,126.1,-11.3,81,876,0.10,0.00,0.00,0.000,6,0.116,0.000,3066,2252,3789,0,0,0,0,0,0
$GC,1137,-0.96,-146.0,151.6,-7.4,106,1142,0.00,2.65,0.00,0.000,4,0.000,0.045,3067,631,3789,0,0,0,0,0,0
$GC,1218,-1.08,-146.0,157.9,-7.3,112,1223,0.17,2.40,0.00,0.000,6,0.050,0.017,2996,2194,3790,0,0,0,0,0,0
$GC,1483,-1.08,-146.0,183.3,-8.9,136,1488,0.12,2.53,0.00,0.000,4,0.094,0.034,3026,3783,3790,0,0,0,0,0,0
$GC,1538,-1.15,-146.0,187.8,-8.2,140,1542,0.00,2.50,0.00,0.000,6,0.000,0.021,3026,2170,3790,0,0,0,0,0,0
$GC,1827,-1.21,-146.0,208.6,-6.8,158,1829,0.12,0.00,0.00,0.000,6,0.064,0.000,2963,2170,3790,0,0,0,0,0,0
$GC,2072,-1.16,-146.0,231.8,-9.6,164,2077,0.20,2.58,0.00,0.000,4,0.078,0.040,3011,3772,3790,0,0,0,0,0,0
$GC,2112,-1.22,-146.0,235.3,-7.5,165,2116,0.00,2.47,0.00,0.000,6,0.000,0.027,3011,2190,3790,0,0,0,0,0,0
$GC,2395,-1.27,-146.0,256.3,-7.4,172,2400,0.12,2.58,0.00,0.000,4,0.066,0.058,2955,637,3790,0,0,0,0,0,0
$GC,2431,-1.21,-146.0,259.5,-9.6,172,2438,0.17,2.42,0.00,0.000,6,0.086,0.021,2995,2198,3790,0,0,0,0,0,0
$GC,2681,-1.21,-146.0,280.1,-8.1,179,2686,0.00,2.55,0.00,0.000,4,0.000,0.048,2995,3779,3790,0,0,0,0,0,0
$GC,2709,-1.21,-146.0,282.5,-8.4,179,2713,0.00,2.47,0.00,0.000,6,0.000,0.025,2995,2194,3790,0,0,0,0,0,0
$GC,2961,-1.21,-146.0,302.5,-7.9,185,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2194,3789,0,0,0,0,0,0
$GC,3202,-1.21,-146.0,322.0,-8.0,191,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2194,3788,0,0,0,0,0,0
$GC,3446,-1.21,-146.0,341.3,-7.9,197,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2195,3787,0,0,0,0,0,0
$GC,3692,-1.21,-146.0,360.9,-8.2,203,3697,0.00,2.58,0.00,0.000,4,0.000,0.045,2995,3768,3786,0,0,0,0,0,0
$GC,3728,-1.25,-146.0,364.0,-8.7,203,3733,0.00,2.50,0.00,0.000,6,0.000,0.031,2994,2205,3786,0,0,0,0,0,0
$GC,3978,-1.25,-146.0,384.8,-8.2,210,3982,0.00,2.70,0.00,0.000,4,0.000,0.067,2995,629,3785,0,0,0,0,0,0
$GC,4030,-1.30,-146.0,389.0,-8.1,211,4034,0.00,2.47,0.00,0.000,6,0.000,0.035,2995,2177,3785,0,0,0,0,0,0
$GC,4302,-1.30,-146.0,409.9,-7.5,218,4306,0.00,2.67,0.00,0.000,4,0.000,0.056,2995,3789,3784,0,0,0,0,0,0
$GC,4323,-1.30,-146.0,411.9,-8.2,218,4328,0.00,2.58,0.00,0.000,6,0.000,0.035,2995,2189,3783,0,0,0,0,0,0
$GC,4582,-1.34,-146.0,431.5,-7.6,225,4587,0.12,2.72,0.00,0.000,4,0.065,0.079,2943,627,3783,0,0,0,0,0,0
$GC,4615,-1.26,-146.0,435.1,-10.3,225,4622,0.17,2.53,0.00,0.000,6,0.087,0.035,2984,2191,3783,0,0,0,0,0,0
$GC,4865,-1.26,-146.0,455.7,-8.2,232,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2190,3782,0,0,0,0,0,0
$GC,5112,-1.26,-146.0,476.3,-8.5,238,5116,0.00,2.70,0.00,0.000,4,0.000,0.070,2984,3786,3781,0,0,0,0,0,0
$GC,5151,-1.26,-146.0,479.9,-8.7,239,5156,0.00,2.62,0.00,0.000,6,0.000,0.048,2984,2197,3781,0,0,0,0,0,0
$GC,5434,-1.26,-146.0,503.2,-8.1,246,5439,0.00,2.88,0.00,0.000,4,0.000,0.100,2984,624,3779,0,0,0,0,0,0
$GC,5476,-1.30,-146.0,506.5,-8.3,247,5481,0.00,2.58,0.00,0.000,6,0.000,0.051,2984,2178,3779,0,0,0,0,0,0
$GC,5760,-1.30,-146.0,528.6,-7.7,254,5765,0.00,2.80,0.00,0.000,4,0.000,0.074,2984,3794,3778,0,0,0,0,0,0
$GC,5795,-1.30,-146.0,531.4,-8.6,254,5801,0.00,2.70,0.00,0.000,6,0.000,0.048,2984,2182,3778,0,0,0,0,0,0
$GC,6045,-1.30,-146.0,550.2,-7.5,261,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2182,3777,0,0,0,0,0,0
$GC,6289,-1.30,-146.0,568.1,-7.4,267,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2182,3776,0,0,0,0,0,0
$GC,6532,-1.30,-146.0,586.3,-7.5,273,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2182,3775,0,0,0,0,0,0
$GC,6779,-1.30,-146.0,604.6,-7.4,279,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2182,3773,0,0,0,0,0,0
$GC,7020,-1.30,-146.0,622.7,-7.5,285,7025,0.00,2.90,0.00,0.000,4,0.000,0.095,2984,3793,3772,0,0,0,0,0,0
$GC,7053,-1.34,-146.0,625.3,-8.1,285,7059,0.00,2.83,0.00,0.000,6,0.000,0.074,2984,2180,3772,0,0,0,0,0,0
$GC,7306,-1.34,-146.0,644.1,-7.5,292,7310,0.00,2.90,0.00,0.000,4,0.000,0.094,2984,3791,3771,0,0,0,0,0,0
$GC,7333,-1.38,-146.0,646.5,-8.6,292,7339,0.10,2.85,0.00,0.000,6,0.079,0.083,2941,2188,3771,0,0,0,0,0,0
$GC,7584,-1.33,-146.0,669.8,-9.5,298,7585,0.12,0.00,0.00,0.000,6,0.100,0.000,2969,2188,3770,0,0,0,0,0,0
$GC,7829,-1.33,-146.0,691.2,-8.8,304,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2188,3769,0,0,0,0,0,0
$GC,8071,-1.33,-146.0,712.0,-8.4,310,8075,0.00,3.10,0.00,0.000,4,0.000,0.124,2969,3789,3768,0,0,0,0,0,0
$GC,8103,-1.33,-146.0,715.0,-8.9,310,8109,0.00,3.05,0.00,0.000,6,0.000,0.115,2969,2194,3767,0,0,0,0,0,0
$GC,8353,-1.33,-146.0,736.0,-8.4,317,8358,0.00,3.12,0.00,0.000,4,0.000,0.137,2969,3789,3766,0,0,0,0,0,0
$GC,8383,-1.33,-146.0,738.4,-8.7,317,8388,0.00,2.88,0.00,0.000,6,0.000,0.091,2969,2194,3766,0,0,0,0,0,0
$GC,8633,-1.33,-146.0,759.3,-8.2,323,8638,0.00,3.05,0.00,0.000,4,0.000,0.129,2969,614,3765,0,0,0,0,0,0
$GC,8655,-1.33,-146.0,761.2,-9.0,323,8659,0.00,2.80,0.00,0.000,6,0.000,0.078,2969,2195,3764,0,0,0,0,0,0
$GC,8912,-1.33,-146.0,782.2,-8.2,330,8917,0.00,2.95,0.00,0.000,4,0.000,0.106,2969,3798,3763,0,0,0,0,0,0
$GC,8934,-1.33,-146.0,784.4,-9.0,330,8938,0.00,2.83,0.00,0.000,6,0.000,0.072,2969,2193,3763,0,0,0,0,0,0
$GC,9189,-1.33,-146.0,804.8,-8.0,337,9194,0.00,2.90,0.00,0.000,4,0.000,0.087,2969,3801,3762,0,0,0,0,0,0
$GC,9218,-1.33,-146.0,807.1,-8.5,337,9223,0.00,2.80,0.00,0.000,6,0.000,0.078,2969,2213,3761,0,0,0,0,0,0
$GC,9468,-1.33,-146.0,826.7,-7.7,343,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2213,3760,0,0,0,0,0,0
$GC,9712,-1.33,-146.0,845.7,-7.9,349,9717,0.00,3.05,0.00,0.000,4,0.000,0.121,2969,616,3759,0,0,0,0,0,0
$GC,9736,-1.33,-146.0,847.4,-7.8,349,9741,0.00,2.80,0.00,0.000,6,0.000,0.066,2970,2223,3759,0,0,0,0,0,0
$GC,9991,-1.33,-146.0,867.0,-7.4,356,9996,0.00,2.88,0.00,0.000,4,0.000,0.098,2969,3802,3758,0,0,0,0,0,0
$GC,10031,-1.37,-146.0,870.1,-7.9,357,10036,0.00,2.75,0.00,0.000,6,0.000,0.068,2969,2216,3758,0,0,0,0,0,0
$GC,10316,-1.37,-146.0,890.6,-7.2,364,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2216,3757,0,0,0,0,0,0
$STATE,10474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10474,begin apogee
$GC,10480,-0.31,0.0,902.0,7.0,368,10605,0.98,0.00,121.47,1.205,6,0.065,0.000,3194,2384,3190,0,0,0,0,0,0
$STATE,10606,end apogee,CONTROL_FINISHED_OK
$STATE,10606,begin climb
$GC,10608,1.27,146.0,904.8,0.0,371,10746,1.40,2.83,129.02,1.170,4,0.034,0.077,3543,3928,2593,0,0,0,0,0,0
$GC,10832,1.16,146.0,890.2,11.0,376,10837,0.15,2.72,0.00,0.000,6,0.115,0.063,3514,2371,2588,0,0,0,0,0,0
$GC,11107,1.18,162.8,864.7,9.2,383,11128,0.00,2.80,15.55,1.058,4,0.000,0.070,3514,3930,2524,0,0,0,0,0,0
$GC,11146,1.14,170.5,860.8,9.6,384,11160,0.00,2.70,8.40,0.950,6,0.000,0.055,3514,2379,2494,0,0,0,0,0,0
$GC,11436,1.16,182.5,833.1,9.4,391,11455,0.00,2.83,12.20,1.025,4,0.000,0.064,3513,3934,2444,0,0,0,0,0,0
$GC,11466,1.16,182.5,829.7,10.2,391,11471,0.00,2.70,0.00,0.000,6,0.000,0.054,3514,2376,2442,0,0,0,0,0,0
$GC,11717,1.16,189.0,805.2,9.7,397,11731,0.00,2.80,7.00,0.909,4,0.000,0.065,3513,3937,2419,0,0,0,0,0,0
$GC,11745,1.16,189.0,802.4,10.7,397,11749,0.00,2.67,0.00,0.000,6,0.000,0.048,3514,2387,2418,0,0,0,0,0,0
$GC,12000,1.17,193.3,776.9,9.8,404,12007,0.00,0.00,5.47,0.826,6,0.000,0.000,3514,2388,2402,0,0,0,0,0,0
$GC,12244,1.17,193.3,752.6,10.0,410,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2387,2400,0,0,0,0,0,0
$GC,12490,1.17,197.3,728.6,9.8,416,12497,0.00,0.00,5.22,0.798,6,0.000,0.000,3514,2387,2385,0,0,0,0,0,0
$GC,12731,1.17,197.3,703.1,10.6,422,12735,0.00,2.67,0.00,0.000,4,0.000,0.064,3513,3935,2384,0,0,0,0,0,0
$GC,12763,1.17,197.3,699.2,12.0,422,12769,0.00,2.65,0.00,0.000,6,0.000,0.048,3514,2386,2383,0,0,0,0,0,0
$GC,13015,1.17,197.3,673.7,10.0,429,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2386,2383,0,0,0,0,0,0
$GC,13257,1.17,197.3,648.6,10.3,435,13261,0.00,2.65,0.00,0.000,4,0.000,0.061,3513,3934,2382,0,0,0,0,0,0
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$STATE,19250,end climb,SURFACE_DEPTH_REACHED
$STATE,19250,begin surface coast
$FINISH,1.1,1.023262
$STATE,19292,end surface coast,CONTROL_FINISHED_OK
$STATE,19293,begin surface
$SM_CCo,19315,9.27,0.433,0,0,1762,350.04
$SM_GC,1.70,0.00,0.00,9.27,0.000,0.000,0.433,466,2166,1762,-12.85,-1.24,350.04
$IRIDIUM_FIX,1918.37,-8109.84,240702,222204
$TT8_MAMPS,0.026078
$HUMID,62.40
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,154
$24V_AH,23.1,67.683
$10V_AH,9.8,60.231
$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,31.025,230.250,435.475,9.275,0.000,30.809,42.326,196.000,38.500,0.000,31.347,1506.811,14664.284,568.342,2260.250,776.800,33.382,1593.975,0.000,2233.187,0.000,0.536,0.000
$DEVICE_MAMPS,161.837,136.526,1204.957,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,479.755,321.484,411.481,524.780,998.796,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,54048,711
$CAP_FILE_SIZE,175683,0
$CFSIZE,260165632,94498816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300413,095306,1924.978,-8109.596,647,1.0,647,-3.8