version: 66.06
glider: 146
mission: 8
dive: 250
start: 3 9 113 16 0 45
data:
$ID,146
$MISSION,8
$DIVE,250
$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,-312362.19
$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,53
$R_STBD_OVSHOOT,24
$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
$GPS1,155253,1927.375,-8116.156,40,1.2,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.5
$GPS2,155949,1927.369,-8116.221,14,1.2,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,-0.067
$KALMAN_X,-12957.4,-419.1,-160.9,-1854.3,-623.7
$KALMAN_Y,10019.7,213.7,336.8,-3532.7,-236.3
$MHEAD_RNG_PITCHd_Wd,108.7,15311,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.70,0.000,2,0.000,0.000,461,2182,3521,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.1,-6.8,9,119,13.65,2.50,-4.93,0.000,4,0.164,0.051,2978,652,3783,0,0,0,0,0,0
$GC,140,-0.44,-146.0,18.1,-32.6,14,150,0.77,2.47,0.00,0.000,6,0.075,0.019,3157,2241,3783,0,0,0,0,0,0
$GC,434,-0.61,-146.0,39.9,-6.7,48,439,0.12,2.60,0.00,0.000,4,0.065,0.042,3101,652,3785,0,0,0,0,0,0
$GC,458,-0.73,-146.0,42.0,-7.5,49,462,0.00,2.40,0.00,0.000,6,0.000,0.016,3101,2214,3785,0,0,0,0,0,0
$GC,727,-0.78,-146.0,67.5,-9.5,73,735,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2214,3785,0,0,0,0,0,0
$GC,988,-0.84,-146.0,93.2,-8.9,98,993,0.10,2.55,0.00,0.000,4,0.078,0.042,3050,654,3785,0,0,0,0,0,0
$GC,1034,-0.84,-146.0,98.7,-12.4,101,1040,0.12,2.38,0.00,0.000,6,0.102,0.016,3077,2204,3785,0,0,0,0,0,0
$GC,1298,-0.84,-146.0,125.9,-10.9,126,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2204,3786,0,0,0,0,0,0
$GC,1566,-0.91,-146.0,148.4,-7.4,151,1570,0.00,2.53,0.00,0.000,4,0.000,0.043,3078,650,3786,0,0,0,0,0,0
$GC,1613,-1.03,-146.0,152.5,-7.9,154,1620,0.17,2.40,0.00,0.000,6,0.051,0.022,3007,2221,3786,0,0,0,0,0,0
$GC,1876,-1.03,-146.0,177.3,-8.7,179,1878,0.12,0.00,0.00,0.000,6,0.094,0.000,3037,2221,3787,0,0,0,0,0,0
$GC,2133,-1.09,-146.0,196.5,-7.1,203,2137,0.00,2.45,0.00,0.000,4,0.000,0.034,3037,3777,3788,0,0,0,0,0,0
$GC,2152,-1.16,-146.0,197.9,-6.7,204,2157,0.12,2.42,0.00,0.000,6,0.064,0.018,2978,2212,3788,0,0,0,0,0,0
$GC,2425,-1.16,-146.0,223.9,-9.6,212,2430,0.12,2.58,0.00,0.000,4,0.097,0.049,3008,640,3788,0,0,0,0,0,0
$GC,2476,-1.20,-146.0,228.5,-8.2,213,2480,0.00,2.40,0.00,0.000,6,0.000,0.025,3008,2204,3788,0,0,0,0,0,0
$GC,2748,-1.20,-146.0,250.1,-8.0,220,2752,0.00,2.47,0.00,0.000,4,0.000,0.041,3008,3767,3788,0,0,0,0,0,0
$GC,2771,-1.20,-146.0,252.0,-8.3,220,2775,0.00,2.42,0.00,0.000,6,0.000,0.026,3008,2197,3788,0,0,0,0,0,0
$GC,3027,-1.24,-146.0,272.1,-7.7,227,3031,0.00,2.55,0.00,0.000,4,0.000,0.059,3008,645,3788,0,0,0,0,0,0
$GC,3071,-1.29,-146.0,275.7,-8.3,228,3076,0.12,2.42,0.00,0.000,6,0.066,0.027,2953,2202,3787,0,0,0,0,0,0
$GC,3352,-1.23,-146.0,301.9,-9.4,235,3357,0.17,2.58,0.00,0.000,4,0.085,0.048,2994,3785,3787,0,0,0,0,0,0
$GC,3379,-1.23,-146.0,304.6,-8.9,235,3383,0.00,2.45,0.00,0.000,6,0.000,0.027,2994,2222,3787,0,0,0,0,0,0
$GC,3633,-1.23,-146.0,324.7,-8.0,241,3637,0.00,2.67,0.00,0.000,4,0.000,0.060,2994,630,3786,0,0,0,0,0,0
$GC,3649,-1.23,-146.0,326.5,-8.3,241,3653,0.00,2.45,0.00,0.000,6,0.000,0.026,2994,2201,3786,0,0,0,0,0,0
$GC,3909,-1.23,-146.0,349.1,-8.8,248,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3785,0,0,0,0,0,0
$GC,4155,-1.23,-146.0,369.2,-8.2,254,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3784,0,0,0,0,0,0
$GC,4397,-1.23,-146.0,387.9,-7.6,260,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2201,3784,0,0,0,0,0,0
$GC,4640,-1.23,-146.0,406.5,-7.6,266,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3783,0,0,0,0,0,0
$GC,4884,-1.23,-146.0,425.4,-7.7,272,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2201,3782,0,0,0,0,0,0
$GC,5130,-1.23,-146.0,444.3,-7.7,278,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2201,3781,0,0,0,0,0,0
$GC,5373,-1.23,-146.0,462.8,-7.6,284,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2201,3780,0,0,0,0,0,0
$GC,5616,-1.27,-146.0,482.0,-7.9,290,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2202,3778,0,0,0,0,0,0
$GC,5860,-1.31,-146.0,500.9,-7.6,296,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2201,3778,0,0,0,0,0,0
$GC,6106,-1.35,-146.0,519.4,-7.6,302,6107,0.12,0.00,0.00,0.000,6,0.067,0.000,2946,2201,3777,0,0,0,0,0,0
$GC,6347,-1.31,-146.0,541.6,-9.2,308,6349,0.12,0.00,0.00,0.000,6,0.100,0.000,2975,2201,3776,0,0,0,0,0,0
$GC,6590,-1.31,-146.0,560.5,-7.7,314,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2201,3774,0,0,0,0,0,0
$GC,6836,-1.31,-146.0,579.0,-7.6,320,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2201,3773,0,0,0,0,0,0
$GC,7078,-1.31,-146.0,598.2,-7.9,326,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2201,3772,0,0,0,0,0,0
$GC,7322,-1.31,-146.0,617.1,-7.7,332,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2201,3771,0,0,0,0,0,0
$GC,7565,-1.31,-146.0,635.8,-7.7,338,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2201,3770,0,0,0,0,0,0
$GC,7811,-1.31,-146.0,655.5,-8.2,344,7816,0.00,3.03,0.00,0.000,4,0.000,0.128,2975,640,3768,0,0,0,0,0,0
$GC,7827,-1.31,-146.0,657.1,-8.3,344,7832,0.00,2.67,0.00,0.000,6,0.000,0.075,2975,2179,3768,0,0,0,0,0,0
$GC,8089,-1.31,-146.0,678.3,-8.1,351,8093,0.00,3.10,0.00,0.000,4,0.000,0.123,2975,3802,3767,0,0,0,0,0,0
$GC,8132,-1.31,-146.0,681.6,-8.5,352,8137,0.00,2.88,0.00,0.000,6,0.000,0.094,2975,2230,3766,0,0,0,0,0,0
$GC,8418,-1.31,-146.0,704.1,-7.6,359,8422,0.00,3.17,0.00,0.000,4,0.000,0.143,2975,620,3765,0,0,0,0,0,0
$GC,8433,-1.31,-146.0,705.5,-7.7,359,8438,0.00,2.85,0.00,0.000,6,0.000,0.092,2975,2199,3765,0,0,0,0,0,0
$GC,8696,-1.31,-146.0,726.3,-8.1,366,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2200,3763,0,0,0,0,0,0
$GC,8938,-1.31,-146.0,745.8,-8.0,372,8943,0.00,3.15,0.00,0.000,4,0.000,0.143,2975,3803,3762,0,0,0,0,0,0
$GC,8965,-1.31,-146.0,748.3,-8.7,372,8970,0.00,2.80,0.00,0.000,6,0.000,0.069,2975,2202,3762,0,0,0,0,0,0
$GC,9217,-1.31,-146.0,769.3,-8.4,378,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2202,3762,0,0,0,0,0,0
$GC,9459,-1.31,-146.0,789.3,-8.1,384,9464,0.00,2.85,0.00,0.000,4,0.000,0.083,2975,3802,3761,0,0,0,0,0,0
$GC,9475,-1.31,-146.0,790.7,-8.1,384,9479,0.00,2.72,0.00,0.000,6,0.000,0.064,2975,2213,3760,0,0,0,0,0,0
$GC,9738,-1.31,-146.0,811.1,-7.7,391,9743,0.00,3.03,0.00,0.000,4,0.000,0.120,2975,623,3759,0,0,0,0,0,0
$GC,9754,-1.31,-146.0,812.7,-7.9,391,9758,0.00,2.72,0.00,0.000,6,0.000,0.060,2975,2214,3759,0,0,0,0,0,0
$GC,10014,-1.31,-146.0,832.2,-7.3,398,10019,0.00,2.83,0.00,0.000,4,0.000,0.097,2975,3798,3757,0,0,0,0,0,0
$GC,10030,-1.31,-146.0,833.5,-7.5,398,10035,0.00,2.72,0.00,0.000,6,0.000,0.066,2975,2213,3758,0,0,0,0,0,0
$GC,10293,-1.31,-146.0,853.2,-7.5,405,10298,0.00,2.80,0.00,0.000,4,0.000,0.084,2975,3805,3756,0,0,0,0,0,0
$GC,10320,-1.31,-146.0,855.6,-8.2,405,10324,0.00,2.75,0.00,0.000,6,0.000,0.067,2975,2212,3756,0,0,0,0,0,0
$GC,10570,-1.31,-146.0,874.2,-7.4,411,10575,0.00,2.80,0.00,0.000,4,0.000,0.085,2975,3797,3755,0,0,0,0,0,0
$GC,10605,-1.31,-146.0,877.1,-9.0,411,10611,0.00,2.72,0.00,0.000,6,0.000,0.062,2975,2225,3755,0,0,0,0,0,0
$GC,10856,-1.34,-146.0,895.4,-7.2,418,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2225,3754,0,0,0,0,0,0
$STATE,10934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10934,begin apogee
$GC,10940,-0.31,0.0,900.9,6.9,420,11063,0.95,0.00,119.28,1.216,6,0.068,0.000,3193,2382,3190,0,0,0,0,0,0
$STATE,11064,end apogee,CONTROL_FINISHED_OK
$STATE,11064,begin climb
$GC,11068,1.27,146.0,903.5,0.0,423,11204,1.42,2.85,126.55,1.185,4,0.038,0.074,3540,3927,2593,0,0,0,0,0,0
$GC,11314,1.15,146.0,884.4,12.2,428,11320,0.15,2.70,0.00,0.000,6,0.113,0.057,3510,2370,2588,0,0,0,0,0,0
$GC,11565,1.12,157.4,859.8,9.5,434,11580,0.00,2.75,10.38,1.014,4,0.000,0.067,3510,3929,2547,0,0,0,0,0,0
$GC,11628,1.06,157.4,853.4,10.1,435,11632,0.00,2.65,0.00,0.000,6,0.000,0.045,3510,2382,2546,0,0,0,0,0,0
$GC,11888,1.07,166.7,828.2,9.6,442,11903,0.00,2.72,9.40,0.994,4,0.000,0.060,3510,3931,2510,0,0,0,0,0,0
$GC,11944,1.02,166.7,822.6,10.5,443,11949,0.12,2.62,0.00,0.000,6,0.121,0.047,3485,2387,2509,0,0,0,0,0,0
$GC,12211,1.05,188.3,798.1,9.0,450,12239,0.00,3.17,20.67,1.086,4,0.000,0.123,3485,783,2422,0,0,0,0,0,0
$GC,12274,1.05,188.3,791.8,10.2,451,12278,0.00,2.70,0.00,0.000,6,0.000,0.045,3485,2382,2420,0,0,0,0,0,0
$GC,12537,1.06,194.7,766.7,9.7,458,12551,0.00,2.80,6.80,0.900,4,0.000,0.072,3485,3932,2396,0,0,0,0,0,0
$GC,12590,1.06,194.7,760.7,11.1,459,12595,0.00,2.60,0.00,0.000,6,0.000,0.038,3486,2387,2395,0,0,0,0,0,0
$GC,12865,1.06,201.7,734.2,9.7,466,12880,0.00,3.15,8.00,0.930,4,0.000,0.117,3486,783,2367,0,0,0,0,0,0
$GC,12896,1.07,205.2,730.7,9.8,466,12908,0.00,2.72,4.95,0.773,6,0.000,0.044,3485,2401,2353,0,0,0,0,0,0
$GC,13152,1.12,213.1,706.1,9.6,473,13163,0.00,0.00,8.82,0.938,6,0.000,0.000,3485,2402,2321,0,0,0,0,0,0
$GC,13398,1.18,221.8,682.5,9.6,479,13410,0.12,0.00,9.62,0.944,6,0.077,0.000,3523,2402,2286,0,0,0,0,0,0
$GC,13638,1.18,221.8,655.3,11.2,485,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2404,2283,0,0,0,0,0,0
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$STATE,19603,end climb,SURFACE_DEPTH_REACHED
$STATE,19603,begin surface coast
$FINISH,1.0,1.023778
$STATE,19626,end surface coast,CONTROL_FINISHED_OK
$STATE,19626,begin surface
$SM_CCo,19651,56.00,0.492,0,0,1763,350.04
$SM_GC,1.89,0.00,0.00,56.00,0.000,0.000,0.492,459,2181,1763,-12.88,-0.82,350.04
$IRIDIUM_FIX,1918.37,-8119.23,030602,101015
$TT8_MAMPS,0.026078
$HUMID,57.56
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.70
$XPDR_PINGS,49
$24V_AH,23.3,35.378
$10V_AH,10.4,31.123
$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,31.300,186.750,380.825,56.000,0.000,29.182,34.350,185.253,12.250,0.000,15.696,1591.868,14749.169,557.435,2482.479,738.943,33.394,1552.236,0.000,2485.447,0.000,0.537,0.000
$DEVICE_MAMPS,164.138,143.429,1215.695,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,530.098,395.544,494.793,689.648,1310.064,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,60509,782
$CAP_FILE_SIZE,168618,0
$CFSIZE,260165632,110985216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090313,213105,1927.560,-8114.435,62,1.3,68,-3.8