version: 66.06
glider: 146
mission: 8
dive: 492
start: 5 3 113 4 13 8
data:
$ID,146
$MISSION,8
$DIVE,492
$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,-318623.06
$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,17
$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
$GPS1,035906,1923.990,-8107.501,35,1.0,35,-3.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-76.6
$GPS2,041213,1923.981,-8107.401,11,1.3,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.012
$KALMAN_X,-41418.4,7.1,49.2,41370.9,2735.3
$KALMAN_Y,101143.7,-626.4,-42.0,-99696.2,369.5
$MHEAD_RNG_PITCHd_Wd,276.4,19336,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-70.88,0.000,2,0.000,0.000,458,2184,3520,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-5.7,9,123,13.68,2.53,-4.75,0.000,4,0.161,0.051,2976,647,3788,0,0,0,0,0,0
$GC,299,-1.04,-146.0,53.0,-19.8,30,304,0.25,2.42,0.00,0.000,6,0.096,0.017,3030,2249,3788,0,0,0,0,0,0
$GC,564,-0.95,-146.0,91.4,-12.6,54,574,0.10,0.00,0.00,0.000,6,0.116,0.000,3053,2250,3788,0,0,0,0,0,0
$GC,830,-0.95,-146.0,122.5,-11.8,79,835,0.00,2.60,0.00,0.000,4,0.000,0.044,3052,653,3789,0,0,0,0,0,0
$GC,851,-0.95,-146.0,125.6,-12.0,80,861,0.00,2.40,0.00,0.000,6,0.000,0.023,3053,2213,3790,0,0,0,0,0,0
$GC,1117,-0.99,-146.0,152.6,-9.5,105,1122,0.00,2.55,0.00,0.000,4,0.000,0.051,3052,645,3790,0,0,0,0,0,0
$GC,1163,-1.04,-146.0,157.4,-8.9,108,1172,0.00,2.40,0.00,0.000,6,0.000,0.016,3053,2201,3790,0,0,0,0,0,0
$GC,1432,-1.12,-146.0,176.3,-7.3,133,1437,0.15,2.53,0.00,0.000,4,0.055,0.043,2980,651,3790,0,0,0,0,0,0
$GC,1465,-1.06,-146.0,180.2,-10.3,135,1475,0.17,2.40,0.00,0.000,6,0.064,0.024,3026,2206,3790,0,0,0,0,0,0
$GC,1750,-1.11,-146.0,203.3,-7.6,159,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2206,3790,0,0,0,0,0,0
$GC,1990,-1.18,-146.0,221.4,-7.2,165,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2206,3790,0,0,0,0,0,0
$GC,2236,-1.25,-146.0,239.2,-7.3,171,2238,0.17,0.00,0.00,0.000,6,0.050,0.000,2952,2206,3790,0,0,0,0,0,0
$GC,2477,-1.18,-146.0,262.6,-9.8,177,2482,0.22,2.58,0.00,0.000,4,0.075,0.053,3006,654,3789,0,0,0,0,0,0
$GC,2505,-1.18,-146.0,265.2,-8.5,177,2509,0.00,2.40,0.00,0.000,6,0.000,0.024,3005,2204,3789,0,0,0,0,0,0
$GC,2757,-1.23,-146.0,283.7,-7.2,183,2762,0.00,2.53,0.00,0.000,4,0.000,0.041,3006,3775,3789,0,0,0,0,0,0
$GC,2785,-1.28,-146.0,286.0,-7.9,183,2790,0.10,2.40,0.00,0.000,6,0.075,0.021,2946,2225,3789,0,0,0,0,0,0
$GC,3036,-1.21,-146.0,310.2,-9.8,189,3041,0.22,2.67,0.00,0.000,4,0.077,0.063,2999,631,3788,0,0,0,0,0,0
$GC,3060,-1.21,-146.0,312.3,-8.3,189,3065,0.00,2.45,0.00,0.000,6,0.000,0.030,2999,2204,3788,0,0,0,0,0,0
$GC,3316,-1.21,-146.0,331.4,-7.4,196,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2204,3786,0,0,0,0,0,0
$GC,3560,-1.25,-146.0,349.1,-7.2,202,3565,0.00,2.62,0.00,0.000,4,0.000,0.054,2999,639,3786,0,0,0,0,0,0
$GC,3591,-1.29,-146.0,351.2,-7.1,202,3595,0.00,2.47,0.00,0.000,6,0.000,0.030,2998,2205,3786,0,0,0,0,0,0
$GC,3841,-1.33,-146.0,369.7,-7.4,208,3843,0.12,0.00,0.00,0.000,6,0.067,0.000,2944,2206,3785,0,0,0,0,0,0
$GC,4085,-1.27,-146.0,393.7,-10.0,214,4086,0.17,0.00,0.00,0.000,6,0.084,0.000,2985,2206,3784,0,0,0,0,0,0
$GC,4331,-1.27,-146.0,414.4,-8.4,220,4335,0.00,2.60,0.00,0.000,4,0.000,0.052,2985,3787,3783,0,0,0,0,0,0
$GC,4352,-1.27,-146.0,416.5,-8.4,220,4356,0.00,2.50,0.00,0.000,6,0.000,0.030,2984,2218,3783,0,0,0,0,0,0
$GC,4607,-1.27,-146.0,437.8,-8.4,227,4612,0.00,2.78,0.00,0.000,4,0.000,0.082,2985,626,3782,0,0,0,0,0,0
$GC,4636,-1.27,-146.0,440.3,-8.7,227,4641,0.00,2.53,0.00,0.000,6,0.000,0.041,2985,2195,3781,0,0,0,0,0,0
$GC,4886,-1.27,-146.0,460.7,-7.9,233,4891,0.00,2.70,0.00,0.000,4,0.000,0.061,2985,3794,3780,0,0,0,0,0,0
$GC,4914,-1.27,-146.0,463.1,-8.9,233,4918,0.00,2.58,0.00,0.000,6,0.000,0.044,2984,2203,3780,0,0,0,0,0,0
$GC,5164,-1.27,-146.0,483.0,-7.9,239,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2203,3779,0,0,0,0,0,0
$GC,5407,-1.27,-146.0,502.1,-7.8,245,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2203,3778,0,0,0,0,0,0
$GC,5651,-1.27,-146.0,520.7,-7.6,251,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2203,3777,0,0,0,0,0,0
$GC,5895,-1.27,-146.0,539.3,-7.7,257,5899,0.00,2.72,0.00,0.000,4,0.000,0.073,2985,3790,3776,0,0,0,0,0,0
$GC,5941,-1.31,-146.0,543.0,-8.4,258,5946,0.00,2.65,0.00,0.000,6,0.000,0.056,2984,2212,3775,0,0,0,0,0,0
$GC,6219,-1.31,-146.0,564.7,-7.8,265,6224,0.00,3.00,0.00,0.000,4,0.000,0.117,2984,619,3773,0,0,0,0,0,0
$GC,6252,-1.31,-146.0,567.6,-9.0,265,6257,0.00,2.65,0.00,0.000,6,0.000,0.057,2984,2200,3773,0,0,0,0,0,0
$GC,6504,-1.31,-146.0,587.3,-7.7,272,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2200,3772,0,0,0,0,0,0
$GC,6745,-1.31,-146.0,605.4,-7.3,278,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2200,3771,0,0,0,0,0,0
$GC,6989,-1.31,-146.0,622.8,-7.1,284,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2200,3770,0,0,0,0,0,0
$GC,7236,-1.35,-146.0,639.7,-6.9,290,7241,0.00,2.97,0.00,0.000,4,0.000,0.113,2985,3792,3768,0,0,0,0,0,0
$GC,7263,-1.38,-146.0,642.0,-7.1,290,7269,0.12,2.80,0.00,0.000,6,0.067,0.082,2935,2202,3768,0,0,0,0,0,0
$GC,7514,-1.33,-146.0,664.5,-9.2,296,7516,0.15,0.00,0.00,0.000,6,0.094,0.000,2970,2202,3767,0,0,0,0,0,0
$GC,7760,-1.33,-146.0,683.8,-7.8,302,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2202,3766,0,0,0,0,0,0
$GC,8001,-1.33,-146.0,703.8,-8.3,308,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2202,3765,0,0,0,0,0,0
$GC,8245,-1.33,-146.0,723.5,-8.0,314,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2202,3763,0,0,0,0,0,0
$GC,8488,-1.33,-146.0,743.3,-8.2,320,8493,0.00,3.20,0.00,0.000,4,0.000,0.146,2970,3790,3762,0,0,0,0,0,0
$GC,8518,-1.33,-146.0,745.7,-8.8,320,8523,0.00,2.88,0.00,0.000,6,0.000,0.093,2970,2199,3762,0,0,0,0,0,0
$GC,8770,-1.33,-146.0,765.8,-8.1,326,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2199,3761,0,0,0,0,0,0
$GC,9012,-1.33,-146.0,786.1,-8.4,332,9016,0.00,2.90,0.00,0.000,4,0.000,0.094,2970,3795,3760,0,0,0,0,0,0
$GC,9041,-1.33,-146.0,788.5,-9.0,332,9046,0.00,2.78,0.00,0.000,6,0.000,0.081,2970,2207,3759,0,0,0,0,0,0
$GC,9291,-1.33,-146.0,809.0,-8.1,338,9296,0.00,3.03,0.00,0.000,4,0.000,0.122,2970,616,3758,0,0,0,0,0,0
$GC,9313,-1.33,-146.0,810.9,-8.7,338,9317,0.00,2.75,0.00,0.000,6,0.000,0.067,2970,2208,3758,0,0,0,0,0,0
$GC,9570,-1.33,-146.0,832.6,-8.5,345,9575,0.00,2.90,0.00,0.000,4,0.000,0.101,2970,3802,3758,0,0,0,0,0,0
$GC,9615,-1.37,-146.0,836.9,-8.9,346,9619,0.00,2.78,0.00,0.000,6,0.000,0.073,2970,2207,3757,0,0,0,0,0,0
$GC,9892,-1.37,-146.0,859.5,-8.1,353,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2207,3756,0,0,0,0,0,0
$GC,10139,-1.37,-146.0,877.7,-7.4,359,10143,0.00,3.00,0.00,0.000,4,0.000,0.117,2969,621,3754,0,0,0,0,0,0
$GC,10160,-1.37,-146.0,879.6,-7.2,359,10165,0.00,2.75,0.00,0.000,6,0.000,0.061,2970,2215,3754,0,0,0,0,0,0
$GC,10418,-1.37,-146.0,898.8,-7.5,366,10423,0.00,2.88,0.00,0.000,4,0.000,0.101,2970,3799,3753,0,0,0,0,0,0
$STATE,10431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10431,begin apogee
$GC,10442,-0.31,0.0,900.4,7.4,366,10567,0.93,0.00,121.10,1.200,6,0.065,0.000,3187,2366,3190,0,0,0,0,0,0
$STATE,10568,end apogee,CONTROL_FINISHED_OK
$STATE,10568,begin climb
$GC,10570,1.27,146.0,903.4,0.0,369,10708,1.45,2.90,128.62,1.173,4,0.035,0.078,3547,3936,2593,0,0,0,0,0,0
$GC,10794,1.15,146.0,889.3,11.4,374,10799,0.17,2.72,0.00,0.000,6,0.110,0.061,3511,2370,2588,0,0,0,0,0,0
$GC,11069,1.18,168.2,864.3,9.0,381,11095,0.00,3.10,20.05,1.086,4,0.000,0.113,3511,781,2504,0,0,0,0,0,0
$GC,11112,1.14,175.5,859.9,9.7,382,11126,0.00,2.75,8.45,0.956,6,0.000,0.056,3511,2376,2474,0,0,0,0,0,0
$GC,11394,1.14,177.5,831.7,9.9,389,11398,0.00,2.78,0.00,0.000,4,0.000,0.075,3512,3942,2469,0,0,0,0,0,0
$GC,11423,1.11,177.5,828.8,10.6,389,11428,0.00,2.67,0.00,0.000,6,0.000,0.051,3511,2369,2469,0,0,0,0,0,0
$GC,11673,1.11,177.9,803.3,10.0,395,11678,0.00,2.70,0.00,0.000,4,0.000,0.064,3511,3939,2467,0,0,0,0,0,0
$GC,11712,1.11,177.9,799.0,11.0,396,11717,0.00,2.65,0.00,0.000,6,0.000,0.046,3511,2374,2466,0,0,0,0,0,0
$GC,11998,1.11,177.9,770.6,10.0,403,12003,0.00,2.70,0.00,0.000,4,0.000,0.061,3511,3939,2466,0,0,0,0,0,0
$GC,12031,1.11,177.9,766.9,10.4,403,12036,0.00,2.65,0.00,0.000,6,0.000,0.046,3511,2381,2465,0,0,0,0,0,0
$GC,12281,1.12,189.6,743.0,9.5,410,12300,0.00,2.75,13.10,1.016,4,0.000,0.058,3511,3930,2415,0,0,0,0,0,0
$GC,12314,1.14,206.8,739.9,9.2,410,12338,0.00,2.62,17.42,1.030,6,0.000,0.045,3511,2383,2346,0,0,0,0,0,0
$GC,12611,1.14,206.8,709.6,10.3,418,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2383,2344,0,0,0,0,0,0
$GC,12855,1.14,206.8,684.3,10.3,424,12859,0.00,2.67,0.00,0.000,4,0.000,0.063,3511,3938,2342,0,0,0,0,0,0
$GC,12878,1.14,206.8,681.9,10.5,424,12883,0.00,2.62,0.00,0.000,6,0.000,0.048,3511,2380,2341,0,0,0,0,0,0
$GC,13133,1.14,206.8,655.7,10.1,431,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2380,2341,0,0,0,0,0,0
$GC,13377,1.14,206.8,630.7,10.3,437,13381,0.00,2.67,0.00,0.000,4,0.000,0.061,3511,3937,2340,0,0,0,0,0,0
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$STATE,19475,end climb,SURFACE_DEPTH_REACHED
$STATE,19475,begin surface coast
$FINISH,1.0,1.010922
$STATE,19530,end surface coast,CONTROL_FINISHED_OK
$STATE,19531,begin surface
$SM_CCo,19556,45.15,0.477,0,0,1763,350.04
$SM_GC,1.80,0.00,0.00,45.15,0.000,0.000,0.477,464,2183,1763,-12.87,-0.76,350.04
$IRIDIUM_FIX,1916.08,-8105.33,280702,040448
$TT8_MAMPS,0.026078
$HUMID,61.93
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.10
$XPDR_PINGS,150
$24V_AH,23.1,69.646
$10V_AH,9.9,61.894
$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
$DEVICE_SECS,31.350,217.850,392.100,45.150,0.000,87.626,102.328,276.758,37.500,0.000,13.467,1545.094,14956.148,555.994,2317.301,1003.604,33.384,1566.803,0.000,2308.032,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.902,334.290,430.698,557.838,1059.060,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355824
$DATA_FILE_SIZE,57200,727
$CAP_FILE_SIZE,178503,0
$CFSIZE,260165632,93540352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030513,094105,1923.578,-8108.520,32,1.4,32,-3.8