version: 66.06
glider: 146
mission: 8
dive: 493
start: 5 3 113 9 49 9
data:
$ID,146
$MISSION,8
$DIVE,493
$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,-318637.47
$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,48
$R_STBD_OVSHOOT,44
$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
$GPS1,094105,1923.578,-8108.520,32,1.4,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.3
$GPS2,094813,1923.558,-8108.441,12,1.5,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,0.037
$KALMAN_X,-38394.4,-243.1,127.2,36703.0,2480.2
$KALMAN_Y,99801.4,-71.7,-239.7,-99488.4,153.1
$MHEAD_RNG_PITCHd_Wd,282.0,17869,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.28,0.000,2,0.000,0.000,464,2182,3486,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-5.3,9,122,13.70,2.53,-5.22,0.000,4,0.160,0.052,2977,649,3787,0,0,0,0,0,0
$GC,270,-1.04,-146.0,47.5,-19.4,28,276,0.25,2.42,0.00,0.000,6,0.095,0.017,3030,2222,3787,0,0,0,0,0,0
$GC,536,-0.94,-146.0,87.2,-13.5,52,541,0.10,2.62,0.00,0.000,4,0.115,0.044,3054,643,3788,0,0,0,0,0,0
$GC,561,-0.87,-146.0,90.1,-11.8,53,565,0.00,2.40,0.00,0.000,6,0.000,0.016,3055,2208,3788,0,0,0,0,0,0
$GC,830,-0.87,-146.0,119.5,-12.3,77,834,0.00,2.47,0.00,0.000,4,0.000,0.031,3054,3770,3789,0,0,0,0,0,0
$GC,851,-0.87,-146.0,122.6,-12.2,78,855,0.00,2.45,0.00,0.000,6,0.000,0.022,3054,2208,3789,0,0,0,0,0,0
$GC,1114,-0.92,-146.0,149.7,-8.7,102,1119,0.00,2.55,0.00,0.000,4,0.000,0.046,3054,640,3789,0,0,0,0,0,0
$GC,1216,-1.01,-146.0,158.1,-8.0,110,1221,0.00,2.38,0.00,0.000,6,0.000,0.018,3054,2189,3790,0,0,0,0,0,0
$GC,1485,-1.10,-146.0,178.2,-7.7,135,1490,0.15,2.55,0.00,0.000,4,0.057,0.037,2988,3775,3789,0,0,0,0,0,0
$GC,1517,-1.10,-146.0,181.2,-10.0,137,1522,0.15,2.47,0.00,0.000,6,0.081,0.021,3026,2179,3790,0,0,0,0,0,0
$GC,1798,-1.14,-146.0,203.1,-7.5,160,1802,0.00,2.50,0.00,0.000,4,0.000,0.047,3025,642,3790,0,0,0,0,0,0
$GC,1833,-1.20,-146.0,205.8,-7.7,160,1839,0.12,2.40,0.00,0.000,6,0.064,0.021,2964,2203,3790,0,0,0,0,0,0
$GC,2083,-1.14,-146.0,230.6,-10.0,167,2085,0.20,0.00,0.00,0.000,6,0.078,0.000,3012,2203,3790,0,0,0,0,0,0
$GC,2330,-1.19,-146.0,249.5,-7.5,173,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2203,3790,0,0,0,0,0,0
$GC,2571,-1.25,-146.0,267.2,-7.3,179,2573,0.10,0.00,0.00,0.000,6,0.077,0.000,2960,2203,3790,0,0,0,0,0,0
$GC,2815,-1.20,-146.0,289.5,-9.4,185,2817,0.17,0.00,0.00,0.000,6,0.081,0.000,3002,2203,3789,0,0,0,0,0,0
$GC,3058,-1.24,-146.0,308.2,-7.7,191,3063,0.00,2.60,0.00,0.000,4,0.000,0.053,3002,640,3788,0,0,0,0,0,0
$GC,3088,-1.24,-146.0,310.5,-8.2,191,3092,0.00,2.38,0.00,0.000,6,0.000,0.022,3002,2169,3788,0,0,0,0,0,0
$GC,3338,-1.28,-146.0,329.6,-7.5,197,3343,0.00,2.65,0.00,0.000,4,0.000,0.048,3002,3783,3787,0,0,0,0,0,0
$GC,3366,-1.33,-146.0,331.8,-7.8,197,3371,0.12,2.53,0.00,0.000,6,0.064,0.029,2944,2192,3787,0,0,0,0,0,0
$GC,3619,-1.26,-146.0,356.1,-10.0,203,3624,0.17,2.67,0.00,0.000,4,0.084,0.072,2986,629,3786,0,0,0,0,0,0
$GC,3652,-1.26,-146.0,359.6,-9.4,203,3658,0.00,2.45,0.00,0.000,6,0.000,0.026,2986,2183,3785,0,0,0,0,0,0
$GC,3905,-1.26,-146.0,380.2,-8.3,210,3909,0.00,2.65,0.00,0.000,4,0.000,0.054,2986,3793,3785,0,0,0,0,0,0
$GC,3944,-1.26,-146.0,383.6,-8.5,211,3948,0.00,2.55,0.00,0.000,6,0.000,0.028,2985,2197,3784,0,0,0,0,0,0
$GC,4227,-1.26,-146.0,405.4,-7.5,218,4232,0.00,2.67,0.00,0.000,4,0.000,0.077,2986,630,3783,0,0,0,0,0,0
$GC,4257,-1.26,-146.0,407.7,-8.2,218,4261,0.00,2.50,0.00,0.000,6,0.000,0.035,2986,2190,3783,0,0,0,0,0,0
$GC,4507,-1.26,-146.0,427.5,-7.8,224,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2190,3782,0,0,0,0,0,0
$GC,4751,-1.26,-146.0,446.9,-8.0,230,4755,0.00,2.70,0.00,0.000,4,0.000,0.056,2986,3797,3781,0,0,0,0,0,0
$GC,4786,-1.26,-146.0,449.4,-8.2,230,4791,0.00,2.60,0.00,0.000,6,0.000,0.042,2986,2188,3781,0,0,0,0,0,0
$GC,5036,-1.26,-146.0,468.8,-7.7,237,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2188,3780,0,0,0,0,0,0
$GC,5279,-1.26,-146.0,487.4,-7.5,243,5284,0.00,2.80,0.00,0.000,4,0.000,0.097,2986,624,3779,0,0,0,0,0,0
$GC,5306,-1.26,-146.0,489.6,-8.6,243,5311,0.00,2.53,0.00,0.000,6,0.000,0.039,2986,2179,3779,0,0,0,0,0,0
$GC,5559,-1.26,-146.0,507.5,-7.0,249,5564,0.00,2.75,0.00,0.000,4,0.000,0.067,2986,3793,3778,0,0,0,0,0,0
$GC,5599,-1.31,-146.0,510.8,-8.0,250,5603,0.00,2.67,0.00,0.000,6,0.000,0.049,2986,2178,3778,0,0,0,0,0,0
$GC,5884,-1.31,-146.0,531.9,-7.4,257,5889,0.00,2.88,0.00,0.000,4,0.000,0.106,2986,620,3777,0,0,0,0,0,0
$GC,5911,-1.31,-146.0,534.3,-8.1,257,5916,0.00,2.58,0.00,0.000,6,0.000,0.051,2986,2182,3777,0,0,0,0,0,0
$GC,6161,-1.31,-146.0,553.0,-7.5,263,6166,0.00,2.83,0.00,0.000,4,0.000,0.083,2986,3804,3776,0,0,0,0,0,0
$GC,6183,-1.31,-146.0,554.7,-7.5,263,6187,0.00,2.70,0.00,0.000,6,0.000,0.054,2986,2188,3776,0,0,0,0,0,0
$GC,6441,-1.31,-146.0,573.1,-7.2,270,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2188,3775,0,0,0,0,0,0
$GC,6682,-1.31,-146.0,590.6,-7.2,276,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2187,3774,0,0,0,0,0,0
$GC,6928,-1.31,-146.0,608.2,-7.3,282,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2188,3772,0,0,0,0,0,0
$GC,7172,-1.31,-146.0,627.6,-8.0,288,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2188,3771,0,0,0,0,0,0
$GC,7413,-1.31,-146.0,647.6,-8.2,294,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2188,3770,0,0,0,0,0,0
$GC,7657,-1.34,-146.0,667.2,-7.9,300,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2188,3769,0,0,0,0,0,0
$GC,7901,-1.38,-146.0,686.0,-7.7,306,7903,0.12,0.00,0.00,0.000,6,0.067,0.000,2936,2188,3767,0,0,0,0,0,0
$GC,8147,-1.32,-146.0,709.4,-9.8,312,8153,0.15,3.20,0.00,0.000,4,0.091,0.141,2972,3793,3766,0,0,0,0,0,0
$GC,8187,-1.32,-146.0,713.3,-8.5,313,8192,0.00,3.03,0.00,0.000,6,0.000,0.115,2971,2197,3766,0,0,0,0,0,0
$GC,8473,-1.32,-146.0,735.8,-7.9,320,8478,0.00,3.17,0.00,0.000,4,0.000,0.140,2971,3791,3765,0,0,0,0,0,0
$GC,8513,-1.32,-146.0,739.2,-8.2,321,8518,0.00,2.92,0.00,0.000,6,0.000,0.096,2971,2190,3764,0,0,0,0,0,0
$GC,8796,-1.32,-146.0,760.4,-7.4,328,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2190,3763,0,0,0,0,0,0
$GC,9043,-1.32,-146.0,778.4,-7.3,334,9047,0.00,2.95,0.00,0.000,4,0.000,0.100,2971,3797,3762,0,0,0,0,0,0
$GC,9066,-1.32,-146.0,780.3,-7.7,334,9070,0.00,2.85,0.00,0.000,6,0.000,0.079,2971,2199,3762,0,0,0,0,0,0
$GC,9321,-1.32,-146.0,798.2,-6.9,341,9325,0.00,3.05,0.00,0.000,4,0.000,0.130,2972,622,3761,0,0,0,0,0,0
$GC,9342,-1.32,-146.0,799.7,-7.0,341,9347,0.00,2.78,0.00,0.000,6,0.000,0.068,2971,2213,3761,0,0,0,0,0,0
$GC,9600,-1.32,-146.0,817.8,-7.0,348,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2213,3760,0,0,0,0,0,0
$GC,9841,-1.32,-146.0,835.3,-7.2,354,9846,0.00,2.90,0.00,0.000,4,0.000,0.103,2972,3804,3759,0,0,0,0,0,0
$GC,9885,-1.36,-146.0,838.6,-7.4,355,9890,0.00,2.80,0.00,0.000,6,0.000,0.071,2972,2204,3758,0,0,0,0,0,0
$GC,10165,-1.36,-146.0,859.4,-7.7,362,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2204,3757,0,0,0,0,0,0
$GC,10411,-1.36,-146.0,878.4,-7.8,368,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2204,3756,0,0,0,0,0,0
$GC,10650,-1.36,-146.0,897.3,-7.8,374,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2204,3755,0,0,0,0,0,0
$STATE,10688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10688,begin apogee
$GC,10697,-0.31,0.0,900.4,7.8,375,10822,0.95,0.00,121.20,1.203,6,0.066,0.000,3190,2385,3190,0,0,0,0,0,0
$STATE,10822,end apogee,CONTROL_FINISHED_OK
$STATE,10823,begin climb
$GC,10825,1.27,146.0,903.8,0.0,378,10963,1.42,2.88,128.52,1.171,4,0.034,0.082,3544,3928,2593,0,0,0,0,0,0
$GC,11024,1.16,146.0,892.8,10.6,382,11030,0.15,2.75,0.00,0.000,6,0.114,0.064,3514,2366,2589,0,0,0,0,0,0
$GC,11274,1.18,164.6,869.9,9.1,388,11293,0.00,0.00,17.27,1.072,6,0.000,0.000,3514,2366,2518,0,0,0,0,0,0
$GC,11521,1.19,172.8,846.6,9.6,394,11535,0.00,2.80,8.48,0.963,4,0.000,0.067,3514,3930,2485,0,0,0,0,0,0
$GC,11547,1.17,184.2,843.7,9.5,394,11566,0.00,2.67,12.00,1.014,6,0.000,0.048,3514,2373,2439,0,0,0,0,0,0
$GC,11853,1.18,193.6,814.0,9.6,402,11869,0.00,2.75,10.27,0.992,4,0.000,0.058,3514,3935,2399,0,0,0,0,0,0
$GC,11902,1.18,193.6,808.6,11.8,403,11907,0.00,2.65,0.00,0.000,6,0.000,0.053,3514,2376,2398,0,0,0,0,0,0
$GC,12175,1.18,193.6,781.4,10.1,410,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2377,2397,0,0,0,0,0,0
$GC,12421,1.18,193.6,756.6,10.2,416,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2377,2396,0,0,0,0,0,0
$GC,12662,1.18,193.6,731.6,10.3,422,12667,0.00,2.67,0.00,0.000,4,0.000,0.061,3515,3935,2394,0,0,0,0,0,0
$GC,12689,1.18,193.6,728.4,10.5,422,12693,0.00,2.62,0.00,0.000,6,0.000,0.048,3514,2384,2394,0,0,0,0,0,0
$GC,12944,1.18,193.6,701.4,10.6,429,12948,0.00,2.65,0.00,0.000,4,0.000,0.056,3514,3933,2393,0,0,0,0,0,0
$GC,12979,1.18,193.6,697.6,11.1,429,12984,0.00,2.62,0.00,0.000,6,0.000,0.052,3514,2386,2393,0,0,0,0,0,0
$GC,13229,1.19,201.9,672.6,9.6,436,13238,0.00,0.00,8.02,0.894,6,0.000,0.000,3514,2386,2367,0,0,0,0,0,0
$GC,13472,1.21,215.6,649.8,9.4,442,13488,0.00,0.00,14.43,0.966,6,0.000,0.000,3514,2386,2311,0,0,0,0,0,0
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$STATE,19660,end climb,SURFACE_DEPTH_REACHED
$STATE,19660,begin surface coast
$FINISH,1.0,1.009110
$STATE,19709,end surface coast,CONTROL_FINISHED_OK
$STATE,19709,begin surface
$SM_CCo,19732,26.25,0.469,0,0,1762,350.04
$SM_GC,2.11,0.00,0.00,26.25,0.000,0.000,0.469,457,2186,1762,-12.89,-0.68,350.04
$IRIDIUM_FIX,1918.37,-8107.58,280702,040434
$TT8_MAMPS,0.026078
$HUMID,62.20
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.30
$XPDR_PINGS,155
$24V_AH,23.1,69.789
$10V_AH,9.8,62.020
$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,30.875,202.425,417.175,26.250,0.000,24.041,33.503,191.843,38.750,0.000,13.792,1549.423,14998.201,549.980,2307.321,770.828,33.383,1549.940,0.000,2307.997,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,141.128,1203.423,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.321,344.158,438.087,567.959,1078.934,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,57350,736
$CAP_FILE_SIZE,171903,0
$CFSIZE,260165632,93470720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030513,151936,1923.514,-8109.741,25,1.7,25,-3.8