version: 66.06
glider: 146
mission: 8
dive: 229
start: 3 5 113 2 12 54
data:
$ID,146
$MISSION,8
$DIVE,229
$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,-311952.94
$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,62
$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
$GPS1,020436,1926.981,-8110.094,29,1.4,29,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.9
$GPS2,021200,1926.973,-8110.139,12,1.4,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.152
$KALMAN_X,528.4,233.7,286.5,-5828.8,-1198.9
$KALMAN_Y,5213.1,-129.5,413.8,812.7,-419.4
$MHEAD_RNG_PITCHd_Wd,129.7,5911,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.00,0.000,2,0.000,0.000,465,2179,3509,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.6,-4.6,9,124,13.70,2.45,-5.05,0.000,4,0.165,0.048,2978,659,3788,0,0,0,0,0,0
$GC,136,-0.11,-146.0,18.5,-36.6,13,146,1.12,2.42,0.00,0.000,6,0.077,0.016,3232,2228,3788,0,0,0,0,0,0
$GC,439,-0.44,-146.0,33.9,-3.0,49,448,0.30,0.00,0.00,0.000,6,0.042,0.000,3144,2228,3789,0,0,0,0,0,0
$GC,707,-0.59,-146.0,50.2,-10.2,74,711,0.00,2.55,0.00,0.000,4,0.000,0.043,3144,662,3789,0,0,0,0,0,0
$GC,744,-0.77,-146.0,52.9,-5.7,76,754,0.20,2.40,0.00,0.000,6,0.024,0.018,3061,2202,3789,0,0,0,0,0,0
$GC,1010,-0.73,-146.0,84.8,-14.4,101,1016,0.17,0.00,0.00,0.000,6,0.087,0.000,3101,2203,3790,0,0,0,0,0,0
$GC,1276,-0.80,-146.0,111.3,-9.0,126,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2203,3790,0,0,0,0,0,0
$GC,1543,-0.94,-146.0,131.4,-6.4,151,1548,0.20,2.50,0.00,0.000,4,0.047,0.041,3025,660,3791,0,0,0,0,0,0
$GC,1624,-0.94,-146.0,138.8,-10.2,157,1629,0.12,2.35,0.00,0.000,6,0.097,0.018,3054,2218,3791,0,0,0,0,0,0
$GC,1889,-1.01,-146.0,161.4,-6.7,181,1894,0.00,2.45,0.00,0.000,4,0.000,0.040,3054,3773,3792,0,0,0,0,0,0
$GC,1914,-1.10,-146.0,163.1,-6.3,182,1920,0.15,2.40,0.00,0.000,6,0.057,0.025,2988,2225,3792,0,0,0,0,0,0
$GC,2177,-1.10,-146.0,188.4,-9.0,207,2182,0.15,2.58,0.00,0.000,4,0.088,0.053,3024,645,3792,0,0,0,0,0,0
$GC,2213,-1.10,-146.0,191.5,-8.0,209,2218,0.00,2.38,0.00,0.000,6,0.000,0.020,3024,2199,3792,0,0,0,0,0,0
$GC,2488,-1.14,-146.0,212.7,-7.6,224,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,3792,0,0,0,0,0,0
$GC,2732,-1.20,-146.0,233.3,-8.3,230,2734,0.12,0.00,0.00,0.000,6,0.064,0.000,2963,2199,3792,0,0,0,0,0,0
$GC,2978,-1.15,-146.0,256.0,-9.6,236,2980,0.20,0.00,0.00,0.000,6,0.081,0.000,3009,2199,3792,0,0,0,0,0,0
$GC,3221,-1.20,-146.0,274.3,-7.6,242,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2199,3792,0,0,0,0,0,0
$GC,3463,-1.24,-146.0,292.2,-7.2,248,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2199,3792,0,0,0,0,0,0
$GC,3709,-1.29,-146.0,309.9,-7.4,254,3711,0.12,0.00,0.00,0.000,6,0.068,0.000,2960,2199,3791,0,0,0,0,0,0
$GC,3950,-1.23,-146.0,332.8,-9.4,260,3952,0.15,0.00,0.00,0.000,6,0.091,0.000,2995,2199,3790,0,0,0,0,0,0
$GC,4194,-1.23,-146.0,350.8,-7.2,266,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2199,3789,0,0,0,0,0,0
$GC,4437,-1.23,-146.0,369.7,-7.9,272,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2199,3788,0,0,0,0,0,0
$GC,4683,-1.23,-146.0,389.8,-8.3,278,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2199,3787,0,0,0,0,0,0
$GC,4927,-1.23,-146.0,410.2,-8.3,284,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2199,3787,0,0,0,0,0,0
$GC,5169,-1.23,-146.0,428.6,-7.5,290,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2199,3786,0,0,0,0,0,0
$GC,5412,-1.23,-146.0,447.2,-7.8,296,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2200,3785,0,0,0,0,0,0
$GC,5659,-1.27,-146.0,467.6,-8.4,302,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2200,3784,0,0,0,0,0,0
$GC,5900,-1.31,-146.0,486.3,-7.5,308,5905,0.00,2.67,0.00,0.000,4,0.000,0.064,2995,3764,3784,0,0,0,0,0,0
$GC,5916,-1.35,-146.0,487.6,-7.6,308,5922,0.12,2.53,0.00,0.000,6,0.065,0.046,2944,2230,3783,0,0,0,0,0,0
$GC,6180,-1.30,-146.0,513.1,-10.0,315,6182,0.15,0.00,0.00,0.000,6,0.226,0.000,2978,2230,3782,0,0,0,0,0,0
$GC,6421,-1.30,-146.0,534.4,-8.7,321,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2230,3780,0,0,0,0,0,0
$GC,6667,-1.30,-146.0,556.0,-8.8,327,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2230,3779,0,0,0,0,0,0
$GC,6911,-1.30,-146.0,575.9,-8.1,333,6916,0.00,2.95,0.00,0.000,4,0.000,0.107,2978,629,3778,0,0,0,0,0,0
$GC,6927,-1.30,-146.0,577.5,-8.0,333,6931,0.00,2.55,0.00,0.000,6,0.000,0.055,2978,2168,3778,0,0,0,0,0,0
$GC,7187,-1.30,-146.0,598.1,-7.9,340,7192,0.00,2.90,0.00,0.000,4,0.000,0.095,2978,3798,3777,0,0,0,0,0,0
$GC,7217,-1.30,-146.0,600.4,-8.5,340,7221,0.00,2.70,0.00,0.000,6,0.000,0.058,2978,2216,3777,0,0,0,0,0,0
$GC,7467,-1.30,-146.0,620.7,-8.1,346,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2216,3776,0,0,0,0,0,0
$GC,7710,-1.30,-146.0,639.9,-7.9,352,7715,0.00,3.03,0.00,0.000,4,0.000,0.124,2978,626,3775,0,0,0,0,0,0
$GC,7726,-1.30,-146.0,641.3,-7.6,352,7731,0.00,2.72,0.00,0.000,6,0.000,0.060,2978,2216,3774,0,0,0,0,0,0
$GC,7989,-1.30,-146.0,661.8,-7.8,359,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2217,3773,0,0,0,0,0,0
$GC,8230,-1.30,-146.0,682.1,-8.4,365,8235,0.00,2.95,0.00,0.000,4,0.000,0.120,2977,3793,3771,0,0,0,0,0,0
$GC,8246,-1.30,-146.0,683.6,-8.6,365,8251,0.00,2.75,0.00,0.000,6,0.000,0.076,2978,2218,3771,0,0,0,0,0,0
$GC,8509,-1.30,-146.0,705.4,-8.3,372,8514,0.00,3.05,0.00,0.000,4,0.000,0.120,2977,616,3770,0,0,0,0,0,0
$GC,8527,-1.30,-146.0,707.1,-8.0,372,8532,0.00,2.75,0.00,0.000,6,0.000,0.071,2978,2216,3770,0,0,0,0,0,0
$GC,8789,-1.30,-146.0,727.6,-7.7,379,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2216,3768,0,0,0,0,0,0
$GC,9035,-1.30,-146.0,745.3,-7.3,385,9039,0.00,2.88,0.00,0.000,4,0.000,0.100,2978,3803,3767,0,0,0,0,0,0
$GC,9050,-1.30,-146.0,746.8,-7.0,385,9055,0.00,2.75,0.00,0.000,6,0.000,0.061,2977,2205,3767,0,0,0,0,0,0
$GC,9311,-1.30,-146.0,766.0,-7.5,392,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2205,3766,0,0,0,0,0,0
$GC,9555,-1.30,-146.0,785.1,-7.9,398,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2205,3764,0,0,0,0,0,0
$GC,9801,-1.30,-146.0,805.1,-8.3,404,9805,0.00,2.80,0.00,0.000,4,0.000,0.077,2977,3807,3763,0,0,0,0,0,0
$GC,9822,-1.30,-146.0,807.2,-8.2,404,9826,0.00,2.70,0.00,0.000,6,0.000,0.065,2978,2223,3763,0,0,0,0,0,0
$GC,10077,-1.30,-146.0,827.1,-7.7,411,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2223,3762,0,0,0,0,0,0
$GC,10323,-1.30,-146.0,845.8,-7.7,417,10328,0.00,2.75,0.00,0.000,4,0.000,0.079,2977,3805,3761,0,0,0,0,0,0
$GC,10355,-1.30,-146.0,848.6,-8.3,417,10361,0.00,2.72,0.00,0.000,6,0.000,0.059,2978,2219,3761,0,0,0,0,0,0
$GC,10605,-1.30,-146.0,867.4,-7.5,424,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2219,3760,0,0,0,0,0,0
$GC,10852,-1.30,-146.0,885.5,-7.5,430,10856,0.00,2.78,0.00,0.000,4,0.000,0.074,2978,3805,3760,0,0,0,0,0,0
$GC,10884,-1.30,-146.0,888.4,-8.4,430,10890,0.00,2.70,0.00,0.000,6,0.000,0.065,2978,2236,3759,0,0,0,0,0,0
$STATE,11050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11050,begin apogee
$GC,11056,-0.31,0.0,901.3,7.7,435,11180,0.93,0.00,120.20,1.216,6,0.067,0.000,3191,2382,3190,0,0,0,0,0,0
$STATE,11181,end apogee,CONTROL_FINISHED_OK
$STATE,11181,begin climb
$GC,11186,1.27,146.0,904.9,0.0,438,11322,1.45,2.80,127.80,1.184,4,0.036,0.073,3547,3930,2593,0,0,0,0,0,0
$GC,11427,1.14,146.0,887.3,12.5,443,11433,0.20,2.70,0.00,0.000,6,0.109,0.057,3507,2369,2587,0,0,0,0,0,0
$GC,11677,1.15,154.3,862.5,9.6,449,11691,0.00,2.78,7.45,0.943,4,0.000,0.060,3507,3925,2560,0,0,0,0,0,0
$GC,11734,1.09,154.3,856.8,10.8,450,11738,0.00,2.65,0.00,0.000,6,0.000,0.048,3508,2370,2559,0,0,0,0,0,0
$GC,12006,1.10,163.5,830.3,9.6,457,12017,0.00,0.00,9.65,1.002,6,0.000,0.000,3507,2370,2523,0,0,0,0,0,0
$GC,12249,1.11,172.0,806.9,9.6,463,12260,0.00,0.00,9.12,0.986,6,0.000,0.000,3508,2370,2488,0,0,0,0,0,0
$GC,12495,1.12,179.6,783.2,9.6,469,12509,0.00,2.75,8.15,0.957,4,0.000,0.061,3507,3927,2457,0,0,0,0,0,0
$GC,12549,1.12,179.6,777.0,10.9,470,12554,0.00,2.62,0.00,0.000,6,0.000,0.044,3508,2382,2455,0,0,0,0,0,0
$GC,12822,1.12,179.6,749.3,10.1,477,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2382,2454,0,0,0,0,0,0
$GC,13068,1.12,179.6,724.9,10.0,483,13072,0.00,2.65,0.00,0.000,4,0.000,0.058,3508,3937,2453,0,0,0,0,0,0
$GC,13094,1.12,179.6,721.5,11.3,483,13099,0.00,2.65,0.00,0.000,6,0.000,0.047,3508,2375,2452,0,0,0,0,0,0
$GC,13344,1.12,179.6,695.8,10.1,489,13345,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2375,2452,0,0,0,0,0,0
$GC,13588,1.12,179.6,671.3,10.0,495,13589,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2375,2452,0,0,0,0,0,0
$GC,13834,1.13,184.3,647.6,9.8,501,13844,0.00,2.67,4.93,0.759,4,0.000,0.059,3507,3931,2438,0,0,0,0,0,0
$GC,13883,1.13,184.3,642.2,10.4,502,13888,0.00,2.60,0.00,0.000,6,0.000,0.041,3508,2386,2437,0,0,0,0,0,0
$GC,14156,1.14,190.6,615.9,9.7,509,14165,0.00,0.00,7.40,0.871,6,0.000,0.000,3507,2387,2412,0,0,0,0,0,0
$GC,14440,1.14,190.6,586.8,10.5,516,14445,0.00,2.62,0.00,0.000,4,0.000,0.056,3508,3935,2411,0,0,0,0,0,0
$GC,14461,1.14,190.6,584.1,10.6,516,14466,0.00,2.58,0.00,0.000,6,0.000,0.042,3507,2391,2410,0,0,0,0,0,0
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$STATE,19913,end climb,SURFACE_DEPTH_REACHED
$STATE,19913,begin surface coast
$FINISH,1.0,1.013937
$STATE,19962,end surface coast,CONTROL_FINISHED_OK
$STATE,19962,begin surface
$SM_CCo,19985,25.12,0.487,0,0,1763,350.04
$SM_GC,2.05,0.00,0.00,25.12,0.000,0.000,0.487,458,2195,1763,-12.89,-0.42,350.04
$IRIDIUM_FIX,1900.10,-8048.01,290502,202026
$TT8_MAMPS,0.025311
$HUMID,58.78
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.20
$XPDR_PINGS,45
$24V_AH,23.3,32.517
$10V_AH,10.4,28.521
$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
$DEVICE_SECS,32.425,142.775,412.425,25.125,0.000,30.841,38.765,208.465,11.250,0.000,15.485,1550.269,15229.284,534.207,2395.591,736.846,33.360,1483.647,0.000,2397.542,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,529.202,380.771,480.843,671.859,1280.686,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,60487,781
$CAP_FILE_SIZE,159637,0
$CFSIZE,260165632,112496640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050313,074736,1925.818,-8107.630,31,1.1,31,-3.8