version: 66.06
glider: 146
mission: 8
dive: 228
start: 3 4 113 20 35 55
data:
$ID,146
$MISSION,8
$DIVE,228
$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,-311936.81
$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,64
$R_STBD_OVSHOOT,35
$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
$GPS1,202506,1927.507,-8112.631,30,1.3,30,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.9
$GPS2,203501,1927.489,-8112.725,14,1.3,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.110
$KALMAN_X,785.1,-146.2,158.5,-10089.2,-1036.6
$KALMAN_Y,3977.2,419.9,99.2,2766.0,-164.6
$MHEAD_RNG_PITCHd_Wd,118.8,9938,-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,20,-1.27,-146.0,0.0,0.0,0,147,0.00,0.00,-125.18,0.000,2,0.000,0.000,462,2169,3636,0,0,0,0,0,0
$GC,151,-1.27,-146.0,4.3,-6.9,16,177,13.73,2.47,-2.62,0.000,4,0.166,0.044,2979,656,3786,0,0,0,0,0,0
$GC,269,-1.09,-146.0,36.1,-17.4,30,279,0.17,2.45,0.00,0.000,6,0.088,0.017,3021,2229,3787,0,0,0,0,0,0
$GC,537,-0.96,-146.0,75.8,-15.0,55,546,0.12,0.00,0.00,0.000,6,0.110,0.000,3050,2229,3786,0,0,0,0,0,0
$GC,803,-0.90,-146.0,110.2,-12.9,80,807,0.00,2.55,0.00,0.000,4,0.000,0.042,3050,664,3786,0,0,0,0,0,0
$GC,825,-0.85,-146.0,113.5,-12.1,81,832,0.10,2.40,0.00,0.000,6,0.119,0.015,3072,2235,3786,0,0,0,0,0,0
$GC,1091,-0.94,-146.0,135.2,-7.3,106,1095,0.00,2.55,0.00,0.000,4,0.000,0.049,3072,662,3786,0,0,0,0,0,0
$GC,1159,-1.07,-146.0,140.2,-7.2,111,1164,0.20,2.35,0.00,0.000,6,0.048,0.021,2995,2193,3786,0,0,0,0,0,0
$GC,1420,-1.03,-146.0,166.9,-10.1,135,1422,0.17,0.00,0.00,0.000,6,0.083,0.000,3036,2194,3786,0,0,0,0,0,0
$GC,1677,-1.08,-146.0,185.9,-6.7,159,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3786,0,0,0,0,0,0
$GC,1960,-1.16,-146.0,206.8,-7.8,180,1962,0.12,0.00,0.00,0.000,6,0.067,0.000,2979,2194,3786,0,0,0,0,0,0
$GC,2201,-1.16,-146.0,228.6,-8.8,186,2203,0.12,0.00,0.00,0.000,6,0.095,0.000,3009,2194,3786,0,0,0,0,0,0
$GC,2445,-1.16,-146.0,247.1,-7.6,192,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2194,3785,0,0,0,0,0,0
$GC,2691,-1.19,-146.0,265.2,-7.5,198,2695,0.00,2.53,0.00,0.000,4,0.000,0.040,3009,3768,3785,0,0,0,0,0,0
$GC,2707,-1.23,-146.0,266.5,-6.9,198,2712,0.00,2.42,0.00,0.000,6,0.000,0.020,3009,2202,3785,0,0,0,0,0,0
$GC,2968,-1.27,-146.0,285.6,-7.1,205,2970,0.12,0.00,0.00,0.000,6,0.067,0.000,2954,2202,3783,0,0,0,0,0,0
$GC,3214,-1.21,-146.0,308.1,-9.5,211,3219,0.17,2.62,0.00,0.000,4,0.086,0.056,2995,635,3783,0,0,0,0,0,0
$GC,3242,-1.21,-146.0,311.1,-8.8,211,3246,0.00,2.40,0.00,0.000,6,0.000,0.025,2995,2165,3783,0,0,0,0,0,0
$GC,3492,-1.21,-146.0,331.9,-8.3,217,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2166,3781,0,0,0,0,0,0
$GC,3738,-1.21,-146.0,350.8,-7.7,223,3742,0.00,2.65,0.00,0.000,4,0.000,0.049,2995,3787,3781,0,0,0,0,0,0
$GC,3770,-1.21,-146.0,353.7,-8.3,223,3776,0.00,2.50,0.00,0.000,6,0.000,0.031,2995,2195,3781,0,0,0,0,0,0
$GC,4020,-1.21,-146.0,372.2,-7.2,230,4025,0.00,2.65,0.00,0.000,4,0.000,0.072,2996,635,3780,0,0,0,0,0,0
$GC,4073,-1.25,-146.0,376.1,-7.8,231,4077,0.00,2.45,0.00,0.000,6,0.000,0.033,2995,2173,3779,0,0,0,0,0,0
$GC,4345,-1.25,-146.0,395.8,-7.0,238,4349,0.00,2.58,0.00,0.000,4,0.000,0.066,2995,634,3778,0,0,0,0,0,0
$GC,4436,-1.29,-146.0,402.9,-8.3,240,4440,0.00,2.45,0.00,0.000,6,0.000,0.029,2995,2165,3778,0,0,0,0,0,0
$GC,4713,-1.29,-146.0,424.3,-7.6,247,4718,0.00,2.60,0.00,0.000,4,0.000,0.069,2994,636,3777,0,0,0,0,0,0
$GC,4740,-1.29,-146.0,426.6,-8.2,247,4745,0.00,2.45,0.00,0.000,6,0.000,0.032,2996,2155,3776,0,0,0,0,0,0
$GC,4993,-1.29,-146.0,446.0,-7.8,253,4997,0.00,2.72,0.00,0.000,4,0.000,0.063,2995,3793,3775,0,0,0,0,0,0
$GC,5008,-1.29,-146.0,447.4,-7.4,253,5013,0.00,2.62,0.00,0.000,6,0.000,0.039,2995,2172,3775,0,0,0,0,0,0
$GC,5270,-1.33,-146.0,466.5,-7.2,260,5271,0.10,0.00,0.00,0.000,6,0.080,0.000,2952,2172,3774,0,0,0,0,0,0
$GC,5515,-1.28,-146.0,487.9,-8.6,266,5521,0.12,2.72,0.00,0.000,4,0.100,0.056,2981,3792,3774,0,0,0,0,0,0
$GC,5549,-1.28,-146.0,491.0,-8.0,266,5554,0.00,2.70,0.00,0.000,6,0.000,0.044,2981,2166,3774,0,0,0,0,0,0
$GC,5799,-1.28,-146.0,511.0,-8.0,273,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2166,3772,0,0,0,0,0,0
$GC,6045,-1.28,-146.0,530.0,-7.7,279,6049,0.00,2.78,0.00,0.000,4,0.000,0.067,2980,3786,3771,0,0,0,0,0,0
$GC,6066,-1.28,-146.0,531.9,-7.7,279,6070,0.00,2.72,0.00,0.000,6,0.000,0.051,2980,2168,3771,0,0,0,0,0,0
$GC,6321,-1.28,-146.0,551.4,-7.7,286,6326,0.00,2.80,0.00,0.000,4,0.000,0.071,2981,3789,3770,0,0,0,0,0,0
$GC,6348,-1.28,-146.0,553.7,-8.4,286,6352,0.00,2.75,0.00,0.000,6,0.000,0.055,2980,2167,3769,0,0,0,0,0,0
$GC,6600,-1.28,-146.0,572.7,-7.5,292,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2167,3769,0,0,0,0,0,0
$GC,6842,-1.28,-146.0,590.9,-7.4,298,6846,0.00,2.83,0.00,0.000,4,0.000,0.075,2981,3786,3767,0,0,0,0,0,0
$GC,6868,-1.28,-146.0,593.1,-7.8,298,6873,0.00,2.75,0.00,0.000,6,0.000,0.064,2981,2178,3767,0,0,0,0,0,0
$GC,7121,-1.28,-146.0,612.3,-7.7,304,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2178,3766,0,0,0,0,0,0
$GC,7362,-1.28,-146.0,631.9,-8.0,310,7367,0.00,2.88,0.00,0.000,4,0.000,0.091,2981,3789,3765,0,0,0,0,0,0
$GC,7384,-1.28,-146.0,633.7,-7.9,310,7388,0.00,2.83,0.00,0.000,6,0.000,0.077,2981,2183,3765,0,0,0,0,0,0
$GC,7641,-1.28,-146.0,653.2,-7.7,317,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2183,3763,0,0,0,0,0,0
$GC,7882,-1.28,-146.0,672.7,-8.0,323,7887,0.00,2.95,0.00,0.000,4,0.000,0.100,2980,3786,3761,0,0,0,0,0,0
$GC,7909,-1.28,-146.0,675.0,-9.0,323,7914,0.00,2.83,0.00,0.000,6,0.000,0.077,2980,2187,3762,0,0,0,0,0,0
$GC,8161,-1.28,-146.0,696.0,-8.4,329,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3761,0,0,0,0,0,0
$GC,8405,-1.28,-146.0,716.1,-8.3,335,8410,0.00,2.88,0.00,0.000,4,0.000,0.095,2981,3786,3760,0,0,0,0,0,0
$GC,8445,-1.32,-146.0,719.5,-7.4,336,8450,0.00,2.80,0.00,0.000,6,0.000,0.077,2981,2190,3760,0,0,0,0,0,0
$GC,8728,-1.32,-146.0,740.5,-7.1,343,8733,0.00,2.83,0.00,0.000,4,0.000,0.088,2981,3786,3758,0,0,0,0,0,0
$GC,8746,-1.32,-146.0,741.7,-6.9,343,8751,0.00,2.78,0.00,0.000,6,0.000,0.073,2981,2196,3758,0,0,0,0,0,0
$GC,9007,-1.32,-146.0,759.8,-6.8,350,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2196,3757,0,0,0,0,0,0
$GC,9251,-1.32,-146.0,776.5,-6.9,356,9255,0.00,2.80,0.00,0.000,4,0.000,0.079,2981,3782,3756,0,0,0,0,0,0
$GC,9274,-1.32,-146.0,778.0,-6.7,356,9279,0.00,2.75,0.00,0.000,6,0.000,0.069,2981,2199,3756,0,0,0,0,0,0
$GC,9529,-1.32,-146.0,796.0,-7.0,363,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2199,3754,0,0,0,0,0,0
$GC,9776,-1.35,-146.0,814.4,-7.6,369,9781,0.00,2.78,0.00,0.000,4,0.000,0.077,2980,3789,3753,0,0,0,0,0,0
$GC,9828,-1.40,-146.0,818.6,-8.0,370,9833,0.10,2.72,0.00,0.000,6,0.081,0.064,2941,2203,3753,0,0,0,0,0,0
$GC,10101,-1.35,-146.0,842.3,-8.7,377,10103,0.10,0.00,0.00,0.000,6,0.117,0.000,2963,2203,3751,0,0,0,0,0,0
$GC,10344,-1.35,-146.0,861.5,-7.8,383,10349,0.00,2.75,0.00,0.000,4,0.000,0.077,2963,3782,3750,0,0,0,0,0,0
$GC,10373,-1.35,-146.0,863.8,-8.2,383,10378,0.00,2.70,0.00,0.000,6,0.000,0.064,2963,2212,3751,0,0,0,0,0,0
$GC,10623,-1.35,-146.0,882.3,-7.2,389,10628,0.00,2.78,0.00,0.000,4,0.000,0.076,2963,3790,3749,0,0,0,0,0,0
$GC,10639,-1.35,-146.0,883.6,-7.0,389,10644,0.00,2.70,0.00,0.000,6,0.000,0.061,2963,2222,3749,0,0,0,0,0,0
$STATE,10898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10898,begin apogee
$GC,10906,-0.31,0.0,902.3,7.1,396,11028,1.00,0.00,118.10,1.217,6,0.070,0.000,3192,2366,3190,0,0,0,0,0,0
$STATE,11029,end apogee,CONTROL_FINISHED_OK
$STATE,11029,begin climb
$GC,11031,1.27,146.0,904.7,0.0,399,11168,1.42,2.75,128.25,1.190,4,0.036,0.075,3543,3927,2593,0,0,0,0,0,0
$GC,11254,1.14,146.0,888.9,12.2,404,11259,0.17,2.70,0.00,0.000,6,0.116,0.050,3509,2367,2587,0,0,0,0,0,0
$GC,11529,1.12,159.4,862.7,9.4,411,11543,0.00,0.00,11.88,1.039,6,0.000,0.000,3509,2367,2540,0,0,0,0,0,0
$GC,11770,1.12,161.9,838.8,9.9,417,11775,0.00,2.67,0.00,0.000,4,0.000,0.056,3509,3930,2536,0,0,0,0,0,0
$GC,11810,1.06,161.9,834.6,11.0,418,11814,0.00,2.65,0.00,0.000,6,0.000,0.045,3509,2369,2535,0,0,0,0,0,0
$GC,12095,1.07,165.5,806.3,9.8,425,12108,0.00,2.67,6.25,0.892,4,0.000,0.052,3509,3928,2515,0,0,0,0,0,0
$GC,12132,1.02,165.5,802.1,10.9,425,12138,0.12,2.65,0.00,0.000,6,0.127,0.048,3483,2376,2514,0,0,0,0,0,0
$GC,12384,1.05,190.4,779.7,8.8,432,12414,0.00,3.20,24.20,1.094,4,0.000,0.124,3483,775,2412,0,0,0,0,0,0
$GC,12436,1.05,192.4,774.3,9.9,433,12441,0.00,2.67,0.00,0.000,6,0.000,0.045,3483,2369,2410,0,0,0,0,0,0
$GC,12703,1.11,210.2,749.8,9.2,440,12724,0.00,0.00,18.90,1.058,6,0.000,0.000,3483,2369,2333,0,0,0,0,0,0
$GC,12949,1.16,210.5,725.5,10.0,446,12954,0.12,2.75,0.00,0.000,4,0.076,0.065,3518,3939,2329,0,0,0,0,0,0
$GC,12970,1.16,210.5,722.6,10.9,446,12975,0.00,2.62,0.00,0.000,6,0.000,0.038,3518,2369,2328,0,0,0,0,0,0
$GC,13232,1.16,210.5,694.7,10.6,453,13236,0.00,2.67,0.00,0.000,4,0.000,0.059,3518,3935,2327,0,0,0,0,0,0
$GC,13255,1.16,210.5,692.1,11.4,453,13259,0.00,2.65,0.00,0.000,6,0.000,0.046,3518,2368,2327,0,0,0,0,0,0
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$STATE,19545,end climb,SURFACE_DEPTH_REACHED
$STATE,19545,begin surface coast
$FINISH,1.1,1.023709
$STATE,19588,end surface coast,CONTROL_FINISHED_OK
$STATE,19588,begin surface
$SM_CCo,19611,37.55,0.492,0,0,1762,350.04
$SM_GC,2.00,0.00,0.00,37.55,0.000,0.000,0.492,465,2178,1762,-12.85,-0.90,350.04
$IRIDIUM_FIX,1920.65,-8112.10,290502,151556
$TT8_MAMPS,0.026845
$HUMID,59.25
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.20
$XPDR_PINGS,65
$24V_AH,23.3,32.379
$10V_AH,10.3,28.385
$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,31.225,206.900,388.675,37.550,0.000,22.771,36.579,367.508,16.250,0.000,16.437,1540.359,14894.150,564.639,2330.260,906.033,33.370,1599.225,0.000,2322.548,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,124.254,1217.229,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,501.614,344.512,442.137,567.932,1082.226,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356088
$DATA_FILE_SIZE,57359,741
$CAP_FILE_SIZE,175151,0
$CFSIZE,260165632,112549888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050313,020436,1926.981,-8110.094,29,1.4,29,-3.8