version: 66.06
glider: 146
mission: 8
dive: 242
start: 3 7 113 22 56 43
data:
$ID,146
$MISSION,8
$DIVE,242
$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,-312199.38
$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,43
$R_STBD_OVSHOOT,41
$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
$GPS1,224305,1925.704,-8108.192,35,1.2,40,-3.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.4
$GPS2,225549,1925.673,-8108.209,11,1.6,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.201
$KALMAN_X,-8058.8,125.0,493.3,6026.6,-1465.8
$KALMAN_Y,10712.6,-127.1,-122.4,-6554.4,1437.8
$MHEAD_RNG_PITCHd_Wd,156.8,2203,-20.7,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.42,-107.1,0.0,0.0,0,94,0.00,0.00,-70.45,0.000,2,0.000,0.000,460,2185,3491,0,0,0,0,0,0
$GC,97,-1.47,-146.0,3.7,-5.2,9,123,13.40,2.53,-5.70,0.000,4,0.165,0.052,2933,635,3789,0,0,0,0,0,0
$GC,253,-1.27,-146.0,39.7,-20.6,28,258,0.22,2.42,0.00,0.000,6,0.107,0.018,2980,2226,3789,0,0,0,0,0,0
$GC,518,-1.16,-146.0,87.7,-17.4,52,523,0.12,2.62,0.00,0.000,4,0.111,0.043,3007,644,3789,0,0,0,0,0,0
$GC,544,-1.06,-146.0,93.1,-17.8,53,549,0.00,2.38,0.00,0.000,6,0.000,0.016,3007,2212,3789,0,0,0,0,0,0
$GC,807,-1.06,-146.0,130.5,-12.2,78,811,0.00,2.45,0.00,0.000,4,0.000,0.028,3007,3766,3789,0,0,0,0,0,0
$GC,829,-1.06,-146.0,133.0,-12.4,79,833,0.00,2.42,0.00,0.000,6,0.000,0.022,3007,2203,3790,0,0,0,0,0,0
$GC,1096,-1.15,-146.0,159.7,-9.2,103,1100,0.00,2.53,0.00,0.000,4,0.000,0.044,3007,643,3790,0,0,0,0,0,0
$GC,1115,-1.22,-146.0,161.8,-9.4,104,1120,0.00,2.35,0.00,0.000,6,0.000,0.016,3007,2203,3790,0,0,0,0,0,0
$GC,1384,-1.32,-146.0,185.5,-8.3,129,1389,0.15,2.58,0.00,0.000,4,0.058,0.044,2946,633,3791,0,0,0,0,0,0
$GC,1409,-1.37,-146.0,187.4,-8.8,130,1414,0.00,2.38,0.00,0.000,6,0.000,0.024,2946,2199,3790,0,0,0,0,0,0
$GC,1684,-1.37,-146.0,218.4,-10.8,144,1688,0.00,2.47,0.00,0.000,4,0.000,0.040,2946,3768,3791,0,0,0,0,0,0
$GC,1716,-1.37,-146.0,222.2,-11.3,144,1722,0.00,2.45,0.00,0.000,6,0.000,0.026,2946,2195,3791,0,0,0,0,0,0
$GC,1969,-1.37,-146.0,249.5,-10.9,151,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2195,3791,0,0,0,0,0,0
$GC,2211,-1.37,-146.0,274.9,-10.4,157,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2195,3791,0,0,0,0,0,0
$GC,2453,-1.37,-146.0,299.5,-10.1,163,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2195,3790,0,0,0,0,0,0
$GC,2698,-1.37,-146.0,322.7,-9.5,169,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2195,3789,0,0,0,0,0,0
$GC,2944,-1.37,-146.0,344.6,-8.9,175,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2195,3789,0,0,0,0,0,0
$GC,3185,-1.37,-146.0,368.9,-10.2,181,3189,0.00,2.58,0.00,0.000,4,0.000,0.047,2946,3766,3788,0,0,0,0,0,0
$GC,3211,-1.37,-146.0,371.8,-10.6,181,3216,0.00,2.45,0.00,0.000,6,0.000,0.027,2946,2224,3788,0,0,0,0,0,0
$GC,3467,-1.37,-146.0,396.8,-9.7,188,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2225,3787,0,0,0,0,0,0
$GC,3713,-1.37,-146.0,420.5,-9.7,194,3717,0.00,2.53,0.00,0.000,4,0.000,0.048,2946,3760,3786,0,0,0,0,0,0
$GC,3740,-1.37,-146.0,423.5,-10.3,194,3744,0.00,2.53,0.00,0.000,6,0.000,0.038,2946,2204,3786,0,0,0,0,0,0
$GC,3990,-1.37,-146.0,446.8,-9.1,200,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2204,3785,0,0,0,0,0,0
$GC,4236,-1.37,-146.0,468.3,-8.8,206,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2204,3784,0,0,0,0,0,0
$GC,4478,-1.41,-146.0,490.0,-9.1,212,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2204,3783,0,0,0,0,0,0
$GC,4722,-1.45,-146.0,512.5,-9.2,218,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2204,3782,0,0,0,0,0,0
$GC,4965,-1.49,-146.0,534.8,-9.2,224,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2204,3780,0,0,0,0,0,0
$GC,5211,-1.53,-146.0,556.5,-8.8,230,5216,0.00,2.75,0.00,0.000,4,0.000,0.081,2946,3756,3779,0,0,0,0,0,0
$GC,5233,-1.58,-146.0,558.8,-9.0,230,5238,0.12,2.58,0.00,0.000,6,0.070,0.055,2896,2215,3779,0,0,0,0,0,0
$GC,5489,-1.53,-146.0,587.4,-11.3,237,5494,0.12,2.70,0.00,0.000,4,0.107,0.073,2925,3755,3778,0,0,0,0,0,0
$GC,5507,-1.53,-146.0,589.4,-11.1,237,5511,0.00,2.65,0.00,0.000,6,0.000,0.064,2926,2203,3778,0,0,0,0,0,0
$GC,5767,-1.53,-146.0,616.6,-10.5,244,5772,0.00,3.03,0.00,0.000,4,0.000,0.127,2925,626,3776,0,0,0,0,0,0
$GC,5788,-1.53,-146.0,619.1,-10.9,244,5793,0.00,2.62,0.00,0.000,6,0.000,0.064,2925,2175,3776,0,0,0,0,0,0
$GC,6046,-1.53,-146.0,645.0,-10.2,251,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2176,3775,0,0,0,0,0,0
$GC,6288,-1.53,-146.0,669.2,-9.8,257,6293,0.00,3.05,0.00,0.000,4,0.000,0.121,2925,3794,3774,0,0,0,0,0,0
$GC,6310,-1.53,-146.0,671.5,-10.6,257,6315,0.00,2.90,0.00,0.000,6,0.000,0.097,2925,2209,3774,0,0,0,0,0,0
$GC,6566,-1.53,-146.0,697.1,-9.9,264,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2208,3772,0,0,0,0,0,0
$GC,6812,-1.53,-146.0,721.2,-9.8,270,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2209,3770,0,0,0,0,0,0
$GC,7053,-1.53,-146.0,744.8,-9.8,276,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2208,3769,0,0,0,0,0,0
$GC,7296,-1.53,-146.0,769.7,-10.2,282,7301,0.00,2.85,0.00,0.000,4,0.000,0.093,2925,3796,3768,0,0,0,0,0,0
$GC,7319,-1.53,-146.0,771.8,-10.2,282,7324,0.00,2.78,0.00,0.000,6,0.000,0.067,2925,2200,3768,0,0,0,0,0,0
$GC,7574,-1.53,-146.0,796.4,-9.5,289,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2200,3766,0,0,0,0,0,0
$GC,7818,-1.53,-146.0,819.2,-9.4,295,7823,0.00,2.83,0.00,0.000,4,0.000,0.081,2925,3797,3764,0,0,0,0,0,0
$GC,7837,-1.53,-146.0,821.1,-9.5,295,7841,0.00,2.75,0.00,0.000,6,0.000,0.070,2926,2208,3765,0,0,0,0,0,0
$GC,8100,-1.53,-146.0,845.4,-9.4,302,8104,0.00,2.80,0.00,0.000,4,0.000,0.079,2925,3797,3763,0,0,0,0,0,0
$GC,8126,-1.53,-146.0,848.2,-9.7,302,8131,0.00,2.75,0.00,0.000,6,0.000,0.068,2925,2208,3763,0,0,0,0,0,0
$GC,8377,-1.53,-146.0,871.8,-9.4,308,8381,0.00,2.80,0.00,0.000,4,0.000,0.083,2925,3798,3761,0,0,0,0,0,0
$GC,8395,-1.53,-146.0,873.5,-9.4,308,8399,0.00,2.72,0.00,0.000,6,0.000,0.067,2925,2219,3762,0,0,0,0,0,0
$GC,8655,-1.53,-146.0,898.1,-9.5,315,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2218,3761,0,0,0,0,0,0
$STATE,8695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8695,begin apogee
$GC,8701,-0.31,0.0,902.1,9.5,316,8825,1.17,0.00,120.62,1.210,6,0.071,0.000,3193,2391,3190,0,0,0,0,0,0
$STATE,8826,end apogee,CONTROL_FINISHED_OK
$STATE,8826,begin climb
$GC,8831,1.47,146.0,905.2,0.0,319,8968,1.60,2.75,126.78,1.178,4,0.035,0.077,3589,3922,2593,0,0,0,0,0,0
$GC,9103,1.35,146.0,880.4,13.5,325,9108,0.17,2.67,0.00,0.000,6,0.117,0.053,3556,2369,2587,0,0,0,0,0,0
$GC,9375,1.35,146.0,848.5,11.3,332,9379,0.00,2.70,0.00,0.000,4,0.000,0.061,3556,3931,2584,0,0,0,0,0,0
$GC,9419,1.29,146.0,842.9,13.3,333,9423,0.00,2.65,0.00,0.000,6,0.000,0.050,3555,2374,2584,0,0,0,0,0,0
$GC,9698,1.29,146.0,812.3,10.9,340,9703,0.00,2.65,0.00,0.000,4,0.000,0.054,3556,3930,2582,0,0,0,0,0,0
$GC,9783,1.23,146.0,801.8,12.2,342,9788,0.12,2.62,0.00,0.000,6,0.135,0.045,3531,2379,2583,0,0,0,0,0,0
$GC,10069,1.23,146.0,772.4,10.2,349,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2379,2581,0,0,0,0,0,0
$GC,10311,1.24,153.7,748.9,9.5,355,10322,0.00,2.65,5.97,0.863,4,0.000,0.056,3531,3931,2562,0,0,0,0,0,0
$GC,10338,1.25,162.4,746.1,9.5,355,10353,0.00,2.62,9.43,0.965,6,0.000,0.045,3531,2383,2528,0,0,0,0,0,0
$GC,10634,1.25,162.4,716.0,10.5,363,10638,0.00,2.62,0.00,0.000,4,0.000,0.058,3531,3927,2524,0,0,0,0,0,0
$GC,10660,1.25,162.4,712.6,11.8,363,10664,0.00,2.60,0.00,0.000,6,0.000,0.048,3530,2390,2524,0,0,0,0,0,0
$GC,10912,1.29,162.4,686.9,10.2,369,10917,0.00,2.62,0.00,0.000,4,0.000,0.060,3531,3930,2524,0,0,0,0,0,0
$GC,10964,1.29,162.4,681.1,11.9,370,10968,0.00,2.55,0.00,0.000,6,0.000,0.047,3531,2401,2523,0,0,0,0,0,0
$GC,11236,1.33,162.4,652.8,10.3,377,11237,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2401,2522,0,0,0,0,0,0
$GC,11480,1.37,162.4,628.1,10.1,383,11482,0.10,0.00,0.00,0.000,6,0.090,0.000,3562,2401,2522,0,0,0,0,0,0
$GC,11725,1.37,162.4,601.4,11.1,389,11730,0.00,2.60,0.00,0.000,4,0.000,0.059,3562,3935,2522,0,0,0,0,0,0
$GC,11804,1.32,162.4,591.7,11.7,390,11809,0.00,2.55,0.00,0.000,6,0.000,0.040,3562,2394,2521,0,0,0,0,0,0
$GC,12053,1.32,162.4,563.8,11.2,397,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2394,2521,0,0,0,0,0,0
$GC,12299,1.32,162.4,537.0,10.9,403,12304,0.00,2.58,0.00,0.000,4,0.000,0.056,3562,3937,2521,0,0,0,0,0,0
$GC,12378,1.28,162.4,527.5,11.3,404,12384,0.10,2.50,0.00,0.000,6,0.134,0.037,3543,2409,2521,0,0,0,0,0,0
$GC,12627,1.28,162.4,502.0,10.1,411,12632,0.00,2.55,0.00,0.000,4,0.000,0.049,3542,3933,2521,0,0,0,0,0,0
$GC,12679,1.28,162.4,496.4,11.0,412,12683,0.00,2.47,0.00,0.000,6,0.000,0.035,3543,2419,2520,0,0,0,0,0,0
$GC,12951,1.29,167.7,469.8,9.7,419,12961,0.00,2.55,5.05,0.677,4,0.000,0.054,3543,3938,2506,0,0,0,0,0,0
$GC,13002,1.29,167.7,464.0,12.0,420,13007,0.00,2.47,0.00,0.000,6,0.000,0.034,3543,2419,2506,0,0,0,0,0,0
$GC,13274,1.33,167.7,434.2,11.0,427,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2419,2506,0,0,0,0,0,0
$GC,13518,1.37,167.7,407.9,10.8,433,13522,0.00,2.53,0.00,0.000,4,0.000,0.050,3543,3940,2506,0,0,0,0,0,0
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$GC,14170,1.36,167.7,335.5,12.7,449,14175,0.10,2.40,0.00,0.000,6,0.130,0.028,3557,2424,2506,0,0,0,0,0,0
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$STATE,17290,end climb,SURFACE_DEPTH_REACHED
$STATE,17290,begin surface coast
$FINISH,1.0,1.013380
$STATE,17325,end surface coast,CONTROL_FINISHED_OK
$STATE,17326,begin surface
$SM_CCo,17350,70.38,0.497,0,0,1762,350.04
$SM_GC,1.87,0.00,0.00,70.38,0.000,0.000,0.497,466,2196,1762,-12.86,-0.40,350.04
$IRIDIUM_FIX,1920.65,-8109.84,010602,171739
$TT8_MAMPS,0.025311
$HUMID,58.46
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.00
$XPDR_PINGS,58
$24V_AH,23.3,34.316
$10V_AH,10.3,30.116
$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,30.650,180.925,354.925,70.375,0.000,57.058,73.620,407.199,14.500,0.000,13.143,1394.088,13134.998,532.417,2135.359,983.377,33.358,1451.252,0.000,2130.659,0.000,0.536,0.000
$DEVICE_MAMPS,164.905,127.322,1209.559,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,448.254,311.464,399.059,512.221,976.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,51036,662
$CAP_FILE_SIZE,156858,0
$CFSIZE,260165632,111583232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080313,034824,1923.709,-8106.371,37,1.4,37,-3.8