version: 66.06
glider: 146
mission: 8
dive: 240
start: 3 7 113 11 47 6
data:
$ID,146
$MISSION,8
$DIVE,240
$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,-312168.5
$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,69
$R_STBD_OVSHOOT,36
$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
$GPS1,113500,1927.510,-8112.717,38,1.3,38,-3.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.5
$GPS2,114612,1927.443,-8112.824,11,1.6,16,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.106
$KALMAN_X,-7853.3,319.5,42.5,-1976.4,-1429.4
$KALMAN_Y,8663.5,117.9,184.9,-1782.4,80.4
$MHEAD_RNG_PITCHd_Wd,118.0,10036,-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,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-70.57,0.000,2,0.000,0.000,464,2162,3511,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.9,9,123,13.82,2.42,-5.05,0.000,4,0.167,0.049,2979,663,3785,0,0,0,0,0,0
$GC,144,-0.45,-146.0,19.4,-36.5,14,154,0.77,2.42,0.00,0.000,6,0.077,0.016,3155,2232,3785,0,0,0,0,0,0
$GC,436,-0.62,-146.0,46.7,-7.3,47,441,0.12,2.55,0.00,0.000,4,0.067,0.040,3098,668,3786,0,0,0,0,0,0
$GC,461,-0.72,-146.0,49.6,-8.6,48,470,0.00,2.38,0.00,0.000,6,0.000,0.017,3098,2203,3786,0,0,0,0,0,0
$GC,727,-0.77,-146.0,72.5,-8.9,73,732,0.00,2.55,0.00,0.000,4,0.000,0.046,3098,663,3786,0,0,0,0,0,0
$GC,752,-0.77,-146.0,74.7,-9.5,74,756,0.00,2.35,0.00,0.000,6,0.000,0.015,3098,2209,3786,0,0,0,0,0,0
$GC,1015,-0.81,-146.0,98.4,-9.7,98,1019,0.00,2.53,0.00,0.000,4,0.000,0.042,3098,665,3787,0,0,0,0,0,0
$GC,1038,-0.86,-146.0,100.4,-9.9,99,1043,0.12,2.30,0.00,0.000,6,0.063,0.019,3034,2196,3787,0,0,0,0,0,0
$GC,1303,-0.82,-146.0,136.6,-13.1,123,1308,0.20,2.47,0.00,0.000,4,0.082,0.029,3081,3761,3787,0,0,0,0,0,0
$GC,1338,-0.88,-146.0,140.1,-10.3,125,1342,0.00,2.38,0.00,0.000,6,0.000,0.021,3081,2229,3787,0,0,0,0,0,0
$GC,1601,-0.99,-146.0,159.0,-6.9,149,1606,0.15,2.62,0.00,0.000,4,0.055,0.046,3011,634,3788,0,0,0,0,0,0
$GC,1644,-0.99,-146.0,162.6,-9.4,152,1649,0.15,2.38,0.00,0.000,6,0.090,0.017,3047,2203,3788,0,0,0,0,0,0
$GC,1905,-1.07,-146.0,181.6,-7.2,176,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2203,3788,0,0,0,0,0,0
$GC,2162,-1.15,-146.0,199.1,-7.1,200,2167,0.15,2.58,0.00,0.000,4,0.058,0.047,2986,637,3788,0,0,0,0,0,0
$GC,2207,-1.15,-146.0,203.4,-9.4,202,2212,0.10,2.40,0.00,0.000,6,0.110,0.023,3009,2204,3788,0,0,0,0,0,0
$GC,2484,-1.15,-146.0,224.4,-7.6,209,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2205,3788,0,0,0,0,0,0
$GC,2730,-1.15,-146.0,243.3,-7.8,215,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2205,3788,0,0,0,0,0,0
$GC,2972,-1.19,-146.0,260.6,-7.1,221,2977,0.00,2.60,0.00,0.000,4,0.000,0.054,3009,631,3788,0,0,0,0,0,0
$GC,2989,-1.23,-146.0,262.0,-7.2,221,2993,0.00,2.42,0.00,0.000,6,0.000,0.020,3009,2194,3788,0,0,0,0,0,0
$GC,3252,-1.27,-146.0,281.2,-7.6,228,3254,0.12,0.00,0.00,0.000,6,0.068,0.000,2957,2194,3787,0,0,0,0,0,0
$GC,3494,-1.22,-146.0,304.3,-9.6,234,3496,0.17,0.00,0.00,0.000,6,0.087,0.000,2998,2193,3787,0,0,0,0,0,0
$GC,3737,-1.22,-146.0,322.9,-7.4,240,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2193,3786,0,0,0,0,0,0
$GC,3983,-1.22,-146.0,341.3,-7.6,246,3987,0.00,2.58,0.00,0.000,4,0.000,0.044,2998,3772,3786,0,0,0,0,0,0
$GC,3999,-1.22,-146.0,342.8,-7.5,246,4003,0.00,2.47,0.00,0.000,6,0.000,0.029,2998,2203,3785,0,0,0,0,0,0
$GC,4259,-1.22,-146.0,363.0,-7.7,253,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2203,3784,0,0,0,0,0,0
$GC,4505,-1.22,-146.0,381.9,-7.8,259,4510,0.00,2.55,0.00,0.000,4,0.000,0.047,2998,3772,3784,0,0,0,0,0,0
$GC,4522,-1.22,-146.0,383.4,-7.7,259,4526,0.00,2.47,0.00,0.000,6,0.000,0.025,2998,2205,3784,0,0,0,0,0,0
$GC,4782,-1.22,-146.0,402.9,-7.4,266,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2206,3782,0,0,0,0,0,0
$GC,5026,-1.25,-146.0,420.5,-7.2,272,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2206,3782,0,0,0,0,0,0
$GC,5272,-1.30,-146.0,438.7,-7.4,278,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2206,3780,0,0,0,0,0,0
$GC,5514,-1.34,-146.0,457.8,-7.9,284,5516,0.12,0.00,0.00,0.000,6,0.067,0.000,2948,2206,3779,0,0,0,0,0,0
$GC,5758,-1.29,-146.0,481.5,-9.7,290,5763,0.15,2.80,0.00,0.000,4,0.093,0.089,2982,636,3778,0,0,0,0,0,0
$GC,5776,-1.29,-146.0,483.2,-9.9,290,5781,0.00,2.53,0.00,0.000,6,0.000,0.038,2982,2185,3778,0,0,0,0,0,0
$GC,6037,-1.29,-146.0,505.0,-8.2,297,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2185,3777,0,0,0,0,0,0
$GC,6281,-1.29,-146.0,523.3,-7.3,303,6286,0.00,2.80,0.00,0.000,4,0.000,0.077,2982,3795,3777,0,0,0,0,0,0
$GC,6299,-1.29,-146.0,524.5,-7.4,303,6304,0.00,2.60,0.00,0.000,6,0.000,0.045,2982,2215,3777,0,0,0,0,0,0
$GC,6560,-1.29,-146.0,545.1,-7.9,310,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2215,3775,0,0,0,0,0,0
$GC,6803,-1.29,-146.0,565.0,-8.4,316,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2215,3774,0,0,0,0,0,0
$GC,7049,-1.29,-146.0,584.8,-8.1,322,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2215,3773,0,0,0,0,0,0
$GC,7291,-1.29,-146.0,603.9,-7.8,328,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2215,3771,0,0,0,0,0,0
$GC,7535,-1.29,-146.0,623.0,-7.8,334,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2215,3770,0,0,0,0,0,0
$GC,7778,-1.29,-146.0,642.2,-7.8,340,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2215,3769,0,0,0,0,0,0
$GC,8024,-1.29,-146.0,660.7,-7.5,346,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2216,3767,0,0,0,0,0,0
$GC,8266,-1.29,-146.0,679.4,-7.6,352,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2215,3767,0,0,0,0,0,0
$GC,8509,-1.29,-146.0,698.2,-7.7,358,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2214,3765,0,0,0,0,0,0
$GC,8753,-1.29,-146.0,716.5,-7.5,364,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2215,3764,0,0,0,0,0,0
$GC,8999,-1.29,-146.0,735.7,-7.9,370,9004,0.00,3.20,0.00,0.000,4,0.000,0.157,2983,3790,3762,0,0,0,0,0,0
$GC,9032,-1.29,-146.0,738.6,-8.6,370,9038,0.00,2.78,0.00,0.000,6,0.000,0.080,2982,2208,3762,0,0,0,0,0,0
$GC,9282,-1.29,-146.0,758.2,-7.8,377,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2208,3762,0,0,0,0,0,0
$GC,9526,-1.29,-146.0,776.4,-7.4,383,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2207,3761,0,0,0,0,0,0
$GC,9772,-1.33,-146.0,794.3,-7.4,389,9777,0.00,2.78,0.00,0.000,4,0.000,0.081,2982,3791,3760,0,0,0,0,0,0
$GC,9793,-1.33,-146.0,796.2,-7.5,389,9798,0.00,2.72,0.00,0.000,6,0.000,0.067,2983,2210,3760,0,0,0,0,0,0
$GC,10049,-1.36,-146.0,815.1,-7.4,396,10054,0.00,2.80,0.00,0.000,4,0.000,0.085,2982,3791,3758,0,0,0,0,0,0
$GC,10068,-1.36,-146.0,816.4,-7.4,396,10072,0.00,2.70,0.00,0.000,6,0.000,0.070,2982,2214,3758,0,0,0,0,0,0
$GC,10329,-1.40,-146.0,836.0,-7.4,403,10331,0.12,0.00,0.00,0.000,6,0.074,0.000,2941,2213,3756,0,0,0,0,0,0
$GC,10573,-1.36,-146.0,858.5,-9.4,409,10578,0.10,2.80,0.00,0.000,4,0.117,0.082,2963,3796,3756,0,0,0,0,0,0
$GC,10591,-1.36,-146.0,860.1,-9.3,409,10596,0.00,2.72,0.00,0.000,6,0.000,0.066,2962,2214,3756,0,0,0,0,0,0
$GC,10852,-1.36,-146.0,881.1,-7.8,416,10857,0.00,2.78,0.00,0.000,4,0.000,0.078,2963,3797,3754,0,0,0,0,0,0
$GC,10868,-1.36,-146.0,882.5,-7.6,416,10872,0.00,2.70,0.00,0.000,6,0.000,0.061,2963,2225,3754,0,0,0,0,0,0
$STATE,11126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11126,begin apogee
$GC,11135,-0.31,0.0,902.8,7.8,423,11257,1.00,0.00,118.88,1.216,6,0.069,0.000,3191,2382,3190,0,0,0,0,0,0
$STATE,11258,end apogee,CONTROL_FINISHED_OK
$STATE,11258,begin climb
$GC,11260,1.27,146.0,906.1,0.0,426,11397,1.45,2.70,127.07,1.183,4,0.037,0.077,3544,3925,2593,0,0,0,0,0,0
$GC,11489,1.14,146.0,890.3,12.1,431,11494,0.17,2.70,0.00,0.000,6,0.112,0.058,3510,2367,2588,0,0,0,0,0,0
$GC,11758,1.11,158.2,864.6,9.4,438,11774,0.00,2.75,10.60,1.021,4,0.000,0.060,3509,3932,2546,0,0,0,0,0,0
$GC,11798,1.06,158.2,860.2,11.1,439,11802,0.00,2.67,0.00,0.000,6,0.000,0.048,3510,2378,2545,0,0,0,0,0,0
$GC,12083,1.06,164.0,832.5,9.7,446,12091,0.00,0.00,6.70,0.913,6,0.000,0.000,3510,2378,2521,0,0,0,0,0,0
$GC,12325,1.06,165.5,808.2,9.9,452,12329,0.00,2.62,0.00,0.000,4,0.000,0.055,3510,3931,2518,0,0,0,0,0,0
$GC,12369,1.02,165.9,803.5,10.0,453,12374,0.12,2.62,0.00,0.000,6,0.119,0.041,3484,2376,2518,0,0,0,0,0,0
$GC,12649,1.07,203.2,779.7,8.3,460,12688,0.00,0.00,37.03,1.111,6,0.000,0.000,3483,2376,2361,0,0,0,0,0,0
$GC,12931,1.12,214.5,753.3,9.5,467,12944,0.00,0.00,11.20,0.999,6,0.000,0.000,3483,2377,2315,0,0,0,0,0,0
$GC,13175,1.20,238.0,731.4,8.9,473,13200,0.17,0.00,23.25,1.055,6,0.063,0.000,3532,2376,2219,0,0,0,0,0,0
$GC,13420,1.16,238.0,702.5,12.1,479,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2377,2215,0,0,0,0,0,0
$GC,13662,1.12,238.0,673.1,12.0,485,13667,0.12,2.67,0.00,0.000,4,0.117,0.054,3506,3940,2213,0,0,0,0,0,0
$GC,13689,1.12,238.0,669.7,12.5,485,13693,0.00,2.65,0.00,0.000,6,0.000,0.049,3506,2377,2213,0,0,0,0,0,0
$GC,13941,1.12,238.0,641.9,11.1,491,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2378,2212,0,0,0,0,0,0
$GC,14182,1.12,238.0,614.5,11.3,497,14187,0.00,3.05,0.00,0.000,4,0.000,0.117,3506,778,2212,0,0,0,0,0,0
$GC,14204,1.12,238.0,611.8,12.4,497,14208,0.00,2.65,0.00,0.000,6,0.000,0.044,3505,2384,2212,0,0,0,0,0,0
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$STATE,19676,end climb,SURFACE_DEPTH_REACHED
$STATE,19676,begin surface coast
$FINISH,1.1,1.005693
$STATE,19718,end surface coast,CONTROL_FINISHED_OK
$STATE,19719,begin surface
$SM_CCo,19743,34.65,0.491,0,0,1763,350.04
$SM_GC,1.84,0.00,0.00,34.65,0.000,0.000,0.491,462,2178,1763,-12.87,-0.93,350.04
$IRIDIUM_FIX,1918.37,-8112.45,010602,111124
$TT8_MAMPS,0.026078
$HUMID,58.46
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.30
$XPDR_PINGS,49
$24V_AH,23.3,34.023
$10V_AH,10.3,29.878
$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,32.150,156.600,398.800,34.650,0.000,53.668,67.541,305.156,12.250,0.000,18.219,1561.471,15075.033,536.659,2354.310,912.756,33.377,1468.449,0.000,2354.308,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,157.235,1216.462,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,525.863,374.364,477.685,651.587,1242.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,60319,775
$CAP_FILE_SIZE,166599,0
$CFSIZE,260165632,111706112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070313,171806,1926.872,-8110.669,41,1.0,41,-3.8