version: 66.06
glider: 146
mission: 8
dive: 237
start: 3 6 113 18 55 27
data:
$ID,146
$MISSION,8
$DIVE,237
$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,-312116.47
$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,45
$R_STBD_OVSHOOT,18
$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
$GPS1,184736,1927.693,-8118.427,25,1.4,25,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.7
$GPS2,185431,1927.658,-8118.465,10,1.5,10,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.257,-0.037
$KALMAN_X,-3980.2,-158.5,-28.3,-15146.7,-1685.4
$KALMAN_Y,4579.5,87.4,259.8,2650.0,-278.8
$MHEAD_RNG_PITCHd_Wd,101.8,19193,-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,-70.45,0.000,2,0.000,0.000,462,2172,3484,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-4.8,9,122,13.68,2.50,-5.57,0.000,4,0.166,0.053,2977,636,3789,0,0,0,0,0,0
$GC,272,-1.08,-146.0,44.4,-18.0,29,280,0.17,2.50,0.00,0.000,6,0.087,0.016,3019,2252,3790,0,0,0,0,0,0
$GC,537,-0.96,-146.0,83.9,-14.8,54,542,0.15,2.67,0.00,0.000,4,0.100,0.044,3053,637,3790,0,0,0,0,0,0
$GC,597,-0.92,-146.0,92.7,-13.2,58,606,0.00,2.42,0.00,0.000,6,0.000,0.015,3053,2207,3789,0,0,0,0,0,0
$GC,863,-0.92,-146.0,123.5,-11.0,83,868,0.00,2.53,0.00,0.000,4,0.000,0.042,3053,646,3790,0,0,0,0,0,0
$GC,881,-0.88,-146.0,126.1,-11.4,84,885,0.00,2.35,0.00,0.000,6,0.000,0.024,3053,2202,3790,0,0,0,0,0,0
$GC,1144,-0.93,-146.0,151.4,-9.2,108,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2202,3790,0,0,0,0,0,0
$GC,1399,-1.00,-146.0,170.1,-7.1,132,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2202,3791,0,0,0,0,0,0
$GC,1655,-1.09,-146.0,189.0,-7.5,156,1660,0.12,2.55,0.00,0.000,4,0.066,0.050,2993,645,3791,0,0,0,0,0,0
$GC,1678,-1.13,-146.0,190.8,-8.2,157,1682,0.00,2.38,0.00,0.000,6,0.000,0.021,2993,2199,3792,0,0,0,0,0,0
$GC,1931,-1.13,-146.0,215.1,-9.1,169,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2199,3791,0,0,0,0,0,0
$GC,2177,-1.13,-146.0,235.6,-8.4,175,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2199,3792,0,0,0,0,0,0
$GC,2419,-1.13,-146.0,257.1,-8.8,181,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2199,3791,0,0,0,0,0,0
$GC,2662,-1.13,-146.0,276.2,-7.9,187,2667,0.00,2.58,0.00,0.000,4,0.000,0.056,2993,642,3791,0,0,0,0,0,0
$GC,2684,-1.13,-146.0,278.1,-7.9,187,2689,0.00,2.38,0.00,0.000,6,0.000,0.025,2993,2191,3791,0,0,0,0,0,0
$GC,2942,-1.13,-146.0,298.7,-8.1,194,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2191,3791,0,0,0,0,0,0
$GC,3184,-1.13,-146.0,318.2,-8.1,200,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2191,3790,0,0,0,0,0,0
$GC,3427,-1.13,-146.0,338.0,-8.0,206,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2191,3789,0,0,0,0,0,0
$GC,3671,-1.13,-146.0,356.7,-7.8,212,3675,0.00,2.58,0.00,0.000,4,0.000,0.057,2993,649,3788,0,0,0,0,0,0
$GC,3689,-1.13,-146.0,358.2,-8.0,212,3693,0.00,2.42,0.00,0.000,6,0.000,0.023,2993,2201,3788,0,0,0,0,0,0
$GC,3950,-1.13,-146.0,379.7,-8.2,219,3954,0.00,2.58,0.00,0.000,4,0.000,0.051,2993,3793,3787,0,0,0,0,0,0
$GC,3976,-1.13,-146.0,382.2,-8.2,219,3981,0.00,2.47,0.00,0.000,6,0.000,0.028,2993,2222,3787,0,0,0,0,0,0
$GC,4229,-1.13,-146.0,401.5,-7.7,225,4233,0.00,2.72,0.00,0.000,4,0.000,0.073,2993,632,3786,0,0,0,0,0,0
$GC,4257,-1.13,-146.0,404.0,-8.5,225,4262,0.00,2.50,0.00,0.000,6,0.000,0.029,2993,2199,3786,0,0,0,0,0,0
$GC,4507,-1.13,-146.0,423.7,-7.9,231,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2199,3785,0,0,0,0,0,0
$GC,4753,-1.13,-146.0,442.6,-7.8,237,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2199,3784,0,0,0,0,0,0
$GC,4995,-1.13,-146.0,461.2,-7.5,243,4999,0.00,2.65,0.00,0.000,4,0.000,0.064,2993,3792,3783,0,0,0,0,0,0
$GC,5016,-1.13,-146.0,462.8,-7.6,243,5020,0.00,2.58,0.00,0.000,6,0.000,0.041,2993,2216,3783,0,0,0,0,0,0
$GC,5273,-1.13,-146.0,481.6,-7.4,250,5278,0.00,2.85,0.00,0.000,4,0.000,0.096,2993,622,3782,0,0,0,0,0,0
$GC,5295,-1.13,-146.0,483.5,-7.9,250,5299,0.00,2.58,0.00,0.000,6,0.000,0.042,2993,2206,3782,0,0,0,0,0,0
$GC,5550,-1.17,-146.0,503.2,-7.6,257,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2207,3781,0,0,0,0,0,0
$GC,5796,-1.21,-146.0,520.8,-7.2,263,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2206,3779,0,0,0,0,0,0
$GC,6038,-1.25,-146.0,537.9,-7.0,269,6042,0.00,2.75,0.00,0.000,4,0.000,0.077,2993,3792,3778,0,0,0,0,0,0
$GC,6054,-1.28,-146.0,539.1,-7.1,269,6058,0.00,2.65,0.00,0.000,6,0.000,0.054,2993,2206,3778,0,0,0,0,0,0
$GC,6317,-1.33,-146.0,557.3,-6.9,276,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2206,3777,0,0,0,0,0,0
$GC,6558,-1.36,-146.0,574.3,-6.9,282,6564,0.12,3.00,0.00,0.000,4,0.067,0.116,2944,624,3776,0,0,0,0,0,0
$GC,6575,-1.36,-146.0,575.7,-7.2,282,6580,0.00,2.62,0.00,0.000,6,0.000,0.048,2944,2202,3776,0,0,0,0,0,0
$GC,6838,-1.31,-146.0,599.2,-9.1,289,6840,0.12,0.00,0.00,0.000,6,0.103,0.000,2973,2202,3775,0,0,0,0,0,0
$GC,7079,-1.31,-146.0,619.5,-8.3,295,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2202,3774,0,0,0,0,0,0
$GC,7323,-1.31,-146.0,639.6,-8.3,301,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2202,3773,0,0,0,0,0,0
$GC,7567,-1.31,-146.0,660.0,-8.3,307,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2202,3771,0,0,0,0,0,0
$GC,7813,-1.31,-146.0,680.1,-8.2,313,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2201,3769,0,0,0,0,0,0
$GC,8054,-1.31,-146.0,699.2,-7.8,319,8059,0.00,3.12,0.00,0.000,4,0.000,0.143,2974,3792,3768,0,0,0,0,0,0
$GC,8084,-1.31,-146.0,701.6,-8.2,319,8088,0.00,2.78,0.00,0.000,6,0.000,0.074,2974,2203,3769,0,0,0,0,0,0
$GC,8338,-1.31,-146.0,721.1,-7.8,325,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2203,3768,0,0,0,0,0,0
$GC,8578,-1.31,-146.0,740.5,-7.9,331,8582,0.00,2.95,0.00,0.000,4,0.000,0.123,2973,623,3766,0,0,0,0,0,0
$GC,8610,-1.31,-146.0,743.3,-8.7,331,8616,0.00,2.67,0.00,0.000,6,0.000,0.067,2973,2194,3765,0,0,0,0,0,0
$GC,8860,-1.31,-146.0,762.3,-7.6,338,8865,0.00,2.90,0.00,0.000,4,0.000,0.104,2974,3797,3765,0,0,0,0,0,0
$GC,8895,-1.31,-146.0,765.0,-8.5,338,8901,0.00,2.75,0.00,0.000,6,0.000,0.070,2973,2200,3764,0,0,0,0,0,0
$GC,9145,-1.31,-146.0,784.3,-7.7,345,9150,0.00,2.80,0.00,0.000,4,0.000,0.078,2973,3798,3763,0,0,0,0,0,0
$GC,9161,-1.31,-146.0,785.7,-8.0,345,9166,0.00,2.72,0.00,0.000,6,0.000,0.065,2974,2212,3763,0,0,0,0,0,0
$GC,9425,-1.31,-146.0,805.9,-7.6,352,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2212,3762,0,0,0,0,0,0
$GC,9666,-1.31,-146.0,824.2,-7.6,358,9671,0.00,2.80,0.00,0.000,4,0.000,0.084,2973,3801,3761,0,0,0,0,0,0
$GC,9682,-1.31,-146.0,825.5,-7.9,358,9686,0.00,2.72,0.00,0.000,6,0.000,0.067,2974,2214,3761,0,0,0,0,0,0
$GC,9945,-1.31,-146.0,846.3,-8.1,365,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2214,3760,0,0,0,0,0,0
$GC,10186,-1.31,-146.0,865.9,-8.1,371,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2213,3759,0,0,0,0,0,0
$GC,10430,-1.31,-146.0,885.2,-7.9,377,10434,0.00,2.78,0.00,0.000,4,0.000,0.076,2973,3799,3758,0,0,0,0,0,0
$GC,10462,-1.31,-146.0,887.7,-7.4,377,10468,0.00,2.72,0.00,0.000,6,0.000,0.062,2973,2216,3757,0,0,0,0,0,0
$STATE,10628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10629,begin apogee
$GC,10637,-0.31,0.0,900.1,7.2,382,10760,0.95,0.00,119.65,1.216,6,0.069,0.000,3191,2389,3190,0,0,0,0,0,0
$STATE,10761,end apogee,CONTROL_FINISHED_OK
$STATE,10761,begin climb
$GC,10763,1.27,146.0,902.5,0.0,385,10900,1.42,2.70,127.00,1.186,4,0.035,0.077,3542,3927,2592,0,0,0,0,0,0
$GC,10997,1.14,146.0,884.1,12.4,390,11003,0.17,2.70,0.00,0.000,6,0.111,0.055,3508,2368,2587,0,0,0,0,0,0
$GC,11261,1.14,148.5,857.7,9.9,397,11265,0.00,2.70,0.00,0.000,4,0.000,0.064,3508,3928,2584,0,0,0,0,0,0
$GC,11288,1.09,148.5,854.6,10.3,397,11292,0.00,2.65,0.00,0.000,6,0.000,0.045,3508,2374,2584,0,0,0,0,0,0
$GC,11538,1.09,152.6,830.2,9.8,403,11545,0.00,0.00,5.22,0.826,6,0.000,0.000,3507,2374,2567,0,0,0,0,0,0
$GC,11783,1.12,175.7,807.8,8.9,409,11808,0.00,0.00,22.50,1.098,6,0.000,0.000,3508,2374,2473,0,0,0,0,0,0
$GC,12025,1.14,193.0,785.7,9.2,415,12049,0.00,2.78,16.60,1.061,4,0.000,0.061,3508,3930,2403,0,0,0,0,0,0
$GC,12071,1.15,200.2,781.0,9.7,416,12086,0.00,2.65,7.97,0.936,6,0.000,0.050,3508,2365,2374,0,0,0,0,0,0
$GC,12356,1.16,202.9,753.1,9.9,423,12360,0.00,2.65,0.00,0.000,4,0.000,0.055,3508,3930,2370,0,0,0,0,0,0
$GC,12382,1.16,202.9,749.9,10.9,423,12387,0.00,2.62,0.00,0.000,6,0.000,0.044,3508,2371,2370,0,0,0,0,0,0
$GC,12632,1.16,202.9,723.4,10.6,429,12637,0.00,3.08,0.00,0.000,4,0.000,0.126,3507,779,2369,0,0,0,0,0,0
$GC,12667,1.16,202.9,719.6,11.5,429,12673,0.00,2.67,0.00,0.000,6,0.000,0.047,3508,2373,2368,0,0,0,0,0,0
$GC,12917,1.16,202.9,693.9,10.1,436,12921,0.00,2.72,0.00,0.000,4,0.000,0.071,3508,3938,2368,0,0,0,0,0,0
$GC,12971,1.16,202.9,687.6,11.6,437,12976,0.00,2.62,0.00,0.000,6,0.000,0.047,3508,2364,2367,0,0,0,0,0,0
$GC,13240,1.16,202.9,659.9,10.5,444,13245,0.00,3.00,0.00,0.000,4,0.000,0.115,3508,781,2367,0,0,0,0,0,0
$GC,13261,1.16,202.9,657.1,10.9,444,13266,0.00,2.65,0.00,0.000,6,0.000,0.041,3507,2376,2366,0,0,0,0,0,0
$GC,13518,1.16,202.9,629.6,10.7,451,13523,0.00,2.67,0.00,0.000,4,0.000,0.066,3507,3931,2366,0,0,0,0,0,0
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$STATE,19411,end climb,SURFACE_DEPTH_REACHED
$STATE,19411,begin surface coast
$FINISH,1.0,1.023676
$STATE,19428,end surface coast,CONTROL_FINISHED_OK
$STATE,19428,begin surface
$SM_CCo,19452,33.45,0.490,0,0,1763,350.04
$SM_GC,1.96,0.00,0.00,33.45,0.000,0.000,0.490,464,2205,1763,-12.87,-0.14,350.04
$IRIDIUM_FIX,1918.37,-8119.23,310502,141422
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.30
$XPDR_PINGS,62
$24V_AH,23.3,33.581
$10V_AH,10.3,29.487
$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,29.775,190.225,398.100,33.450,0.000,27.295,34.174,189.402,15.500,0.000,12.500,1494.916,14910.996,556.434,2218.633,714.184,33.363,1521.720,0.000,2215.684,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,143.429,1216.462,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.124,337.133,431.029,550.033,1046.005,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,57175,730
$CAP_FILE_SIZE,163009,0
$CFSIZE,260165632,111923200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070313,002136,1928.275,-8116.722,40,1.3,40,-3.7