version: 66.06
glider: 146
mission: 8
dive: 251
start: 3 9 113 21 42 55
data:
$ID,146
$MISSION,8
$DIVE,251
$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,-312376
$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,35
$R_STBD_OVSHOOT,22
$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
$GPS1,213105,1927.560,-8114.435,62,1.3,68,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.9
$GPS2,214201,1927.543,-8114.544,11,1.5,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,-0.081
$KALMAN_X,-14610.2,-351.7,-139.6,2638.0,-350.3
$KALMAN_Y,11166.6,638.4,247.5,-4690.2,-552.2
$MHEAD_RNG_PITCHd_Wd,112.0,12745,-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,-71.10,0.000,2,0.000,0.000,458,2181,3509,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.7,-5.5,9,121,13.65,2.55,-5.25,0.000,4,0.163,0.059,2976,630,3786,0,0,0,0,0,0
$GC,180,-1.09,-146.0,25.6,-18.5,20,190,0.17,2.53,0.00,0.000,6,0.089,0.018,3019,2244,3787,0,0,0,0,0,0
$GC,455,-0.97,-146.0,66.4,-14.5,46,464,0.12,0.00,0.00,0.000,6,0.108,0.000,3046,2244,3787,0,0,0,0,0,0
$GC,723,-0.91,-146.0,102.2,-13.0,71,728,0.00,2.62,0.00,0.000,4,0.000,0.044,3046,637,3787,0,0,0,0,0,0
$GC,764,-0.86,-146.0,108.3,-12.8,74,769,0.12,2.42,0.00,0.000,6,0.110,0.018,3075,2215,3788,0,0,0,0,0,0
$GC,1029,-0.90,-146.0,136.0,-9.1,98,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2215,3788,0,0,0,0,0,0
$GC,1292,-1.00,-146.0,155.7,-7.2,123,1297,0.15,2.60,0.00,0.000,4,0.058,0.045,3010,635,3788,0,0,0,0,0,0
$GC,1328,-1.00,-146.0,158.8,-9.6,125,1334,0.15,2.40,0.00,0.000,6,0.094,0.018,3045,2206,3788,0,0,0,0,0,0
$GC,1591,-1.06,-146.0,178.7,-7.4,150,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2206,3789,0,0,0,0,0,0
$GC,1848,-1.14,-146.0,196.9,-7.2,174,1857,0.12,0.00,0.00,0.000,6,0.067,0.000,2986,2206,3789,0,0,0,0,0,0
$GC,2130,-1.14,-146.0,222.8,-8.8,184,2131,0.12,0.00,0.00,0.000,6,0.096,0.000,3015,2207,3789,0,0,0,0,0,0
$GC,2376,-1.18,-146.0,241.4,-7.4,190,2380,0.00,2.60,0.00,0.000,4,0.000,0.054,3015,636,3789,0,0,0,0,0,0
$GC,2409,-1.23,-146.0,244.3,-8.3,190,2415,0.00,2.42,0.00,0.000,6,0.000,0.025,3015,2203,3789,0,0,0,0,0,0
$GC,2659,-1.27,-146.0,263.2,-7.6,197,2664,0.12,2.60,0.00,0.000,4,0.064,0.052,2952,637,3788,0,0,0,0,0,0
$GC,2689,-1.22,-146.0,265.9,-10.0,197,2694,0.20,2.42,0.00,0.000,6,0.086,0.021,2997,2202,3788,0,0,0,0,0,0
$GC,2939,-1.22,-146.0,285.9,-7.6,203,2944,0.00,2.55,0.00,0.000,4,0.000,0.039,2997,3780,3788,0,0,0,0,0,0
$GC,2956,-1.22,-146.0,287.3,-8.0,203,2960,0.00,2.45,0.00,0.000,6,0.000,0.028,2997,2199,3788,0,0,0,0,0,0
$GC,3219,-1.22,-146.0,308.0,-8.1,210,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2199,3787,0,0,0,0,0,0
$GC,3460,-1.22,-146.0,326.7,-7.7,216,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2199,3787,0,0,0,0,0,0
$GC,3704,-1.22,-146.0,345.2,-7.6,222,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2199,3786,0,0,0,0,0,0
$GC,3947,-1.22,-146.0,363.2,-7.4,228,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2199,3785,0,0,0,0,0,0
$GC,4193,-1.22,-146.0,381.5,-7.4,234,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2199,3784,0,0,0,0,0,0
$GC,4435,-1.22,-146.0,400.5,-7.9,240,4439,0.00,2.60,0.00,0.000,4,0.000,0.049,2997,3779,3783,0,0,0,0,0,0
$GC,4462,-1.25,-146.0,403.0,-8.8,240,4467,0.00,2.50,0.00,0.000,6,0.000,0.035,2997,2213,3783,0,0,0,0,0,0
$GC,4715,-1.29,-146.0,423.2,-8.1,246,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2213,3782,0,0,0,0,0,0
$GC,4956,-1.33,-146.0,442.2,-7.7,252,4961,0.12,2.58,0.00,0.000,4,0.137,0.046,2948,3768,3781,0,0,0,0,0,0
$GC,4978,-1.33,-146.0,444.4,-9.4,252,4983,0.10,2.58,0.00,0.000,6,0.108,0.040,2971,2192,3781,0,0,0,0,0,0
$GC,5236,-1.33,-146.0,467.0,-9.0,259,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2193,3780,0,0,0,0,0,0
$GC,5477,-1.33,-146.0,489.1,-9.1,265,5482,0.00,2.65,0.00,0.000,4,0.000,0.062,2971,3765,3779,0,0,0,0,0,0
$GC,5499,-1.33,-146.0,491.2,-9.1,265,5503,0.00,2.58,0.00,0.000,6,0.000,0.044,2971,2197,3779,0,0,0,0,0,0
$GC,5756,-1.33,-146.0,513.3,-8.5,272,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2197,3778,0,0,0,0,0,0
$GC,5998,-1.33,-146.0,533.4,-8.2,278,6002,0.00,2.70,0.00,0.000,4,0.000,0.072,2971,3771,3777,0,0,0,0,0,0
$GC,6019,-1.33,-146.0,535.2,-8.1,278,6023,0.00,2.60,0.00,0.000,6,0.000,0.047,2971,2204,3777,0,0,0,0,0,0
$GC,6274,-1.33,-146.0,556.3,-8.2,285,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2204,3776,0,0,0,0,0,0
$GC,6520,-1.33,-146.0,576.1,-8.0,291,6524,0.00,2.70,0.00,0.000,4,0.000,0.072,2971,3763,3775,0,0,0,0,0,0
$GC,6536,-1.33,-146.0,577.6,-7.8,291,6540,0.00,2.62,0.00,0.000,6,0.000,0.058,2971,2205,3775,0,0,0,0,0,0
$GC,6796,-1.33,-146.0,598.1,-7.9,298,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2206,3773,0,0,0,0,0,0
$GC,7042,-1.33,-146.0,617.9,-8.2,304,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3772,0,0,0,0,0,0
$GC,7284,-1.33,-146.0,637.9,-8.3,310,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3770,0,0,0,0,0,0
$GC,7527,-1.33,-146.0,656.9,-7.9,316,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3769,0,0,0,0,0,0
$GC,7771,-1.33,-146.0,676.0,-7.8,322,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3768,0,0,0,0,0,0
$GC,8017,-1.33,-146.0,694.6,-7.6,328,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3767,0,0,0,0,0,0
$GC,8259,-1.33,-146.0,713.1,-7.6,334,8264,0.00,3.08,0.00,0.000,4,0.000,0.140,2971,3760,3766,0,0,0,0,0,0
$GC,8277,-1.33,-146.0,714.7,-7.8,334,8281,0.00,2.75,0.00,0.000,6,0.000,0.078,2971,2207,3766,0,0,0,0,0,0
$GC,8540,-1.33,-146.0,735.4,-8.1,341,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2207,3764,0,0,0,0,0,0
$GC,8781,-1.33,-146.0,754.7,-7.9,347,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3763,0,0,0,0,0,0
$GC,9025,-1.33,-146.0,773.6,-7.7,353,9029,0.00,2.78,0.00,0.000,4,0.000,0.087,2971,3767,3762,0,0,0,0,0,0
$GC,9046,-1.33,-146.0,775.4,-7.9,353,9051,0.00,2.70,0.00,0.000,6,0.000,0.073,2972,2212,3762,0,0,0,0,0,0
$GC,9304,-1.33,-146.0,795.2,-7.8,360,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2212,3761,0,0,0,0,0,0
$GC,9546,-1.33,-146.0,815.1,-8.2,366,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2212,3760,0,0,0,0,0,0
$GC,9789,-1.33,-146.0,833.8,-7.5,372,9794,0.00,2.72,0.00,0.000,4,0.000,0.086,2971,3764,3759,0,0,0,0,0,0
$GC,9807,-1.33,-146.0,835.2,-7.8,372,9812,0.00,2.67,0.00,0.000,6,0.000,0.068,2971,2216,3758,0,0,0,0,0,0
$GC,10068,-1.33,-146.0,855.1,-7.7,379,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2216,3756,0,0,0,0,0,0
$GC,10312,-1.33,-146.0,874.0,-7.9,385,10316,0.00,2.72,0.00,0.000,4,0.000,0.081,2972,3772,3756,0,0,0,0,0,0
$GC,10327,-1.33,-146.0,875.4,-8.0,385,10332,0.00,2.67,0.00,0.000,6,0.000,0.066,2971,2216,3756,0,0,0,0,0,0
$GC,10591,-1.33,-146.0,896.3,-7.9,392,10595,0.00,2.72,0.00,0.000,4,0.000,0.080,2971,3764,3754,0,0,0,0,0,0
$GC,10618,-1.33,-146.0,899.0,-9.8,392,10622,0.00,2.65,0.00,0.000,6,0.000,0.067,2971,2227,3754,0,0,0,0,0,0
$STATE,10662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10662,begin apogee
$GC,10668,-0.31,0.0,902.7,8.2,393,10791,0.95,0.00,119.25,1.214,6,0.070,0.000,3190,2356,3190,0,0,0,0,0,0
$STATE,10792,end apogee,CONTROL_FINISHED_OK
$STATE,10792,begin climb
$GC,10797,1.27,146.0,906.3,0.0,396,10932,1.45,2.85,126.72,1.186,4,0.036,0.079,3545,3927,2593,0,0,0,0,0,0
$GC,11032,1.13,146.0,891.4,10.1,401,11037,0.17,2.70,0.00,0.000,6,0.110,0.053,3509,2368,2588,0,0,0,0,0,0
$GC,11293,1.12,165.6,867.2,9.1,408,11317,0.00,2.80,17.75,1.082,4,0.000,0.061,3509,3924,2513,0,0,0,0,0,0
$GC,11343,1.06,169.9,862.4,9.8,409,11354,0.00,2.67,5.10,0.802,6,0.000,0.050,3509,2364,2497,0,0,0,0,0,0
$GC,11621,1.07,172.5,834.7,9.9,416,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2365,2494,0,0,0,0,0,0
$GC,11864,1.07,176.0,810.8,9.8,422,11873,0.00,0.00,6.62,0.904,6,0.000,0.000,3509,2364,2472,0,0,0,0,0,0
$GC,12110,1.08,183.5,787.0,9.7,428,12121,0.00,0.00,8.35,0.960,6,0.000,0.000,3509,2364,2441,0,0,0,0,0,0
$GC,12352,1.09,190.7,763.3,9.7,434,12366,0.00,2.75,8.07,0.946,4,0.000,0.060,3509,3925,2411,0,0,0,0,0,0
$GC,12417,1.09,190.7,756.2,11.2,435,12421,0.00,2.62,0.00,0.000,6,0.000,0.049,3509,2375,2411,0,0,0,0,0,0
$GC,12680,1.09,190.7,729.7,10.2,442,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2375,2409,0,0,0,0,0,0
$GC,12921,1.09,190.7,704.5,10.4,448,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2375,2409,0,0,0,0,0,0
$GC,13166,1.09,190.7,678.5,10.7,454,13171,0.00,2.65,0.00,0.000,4,0.000,0.058,3509,3931,2408,0,0,0,0,0,0
$GC,13201,1.09,190.7,674.4,10.9,454,13207,0.00,2.62,0.00,0.000,6,0.000,0.048,3509,2375,2408,0,0,0,0,0,0
$GC,13451,1.09,190.7,648.6,10.2,461,13456,0.00,3.03,0.00,0.000,4,0.000,0.117,3509,776,2407,0,0,0,0,0,0
$GC,13472,1.09,190.7,646.2,10.2,461,13477,0.00,2.67,0.00,0.000,6,0.000,0.044,3509,2385,2407,0,0,0,0,0,0
$GC,13728,1.09,190.7,619.9,10.4,468,13732,0.00,2.65,0.00,0.000,4,0.000,0.064,3509,3937,2407,0,0,0,0,0,0
$GC,13780,1.09,190.7,614.1,11.5,469,13785,0.00,2.60,0.00,0.000,6,0.000,0.039,3509,2374,2407,0,0,0,0,0,0
$GC,14052,1.09,190.7,584.8,10.5,476,14056,0.00,2.65,0.00,0.000,4,0.000,0.054,3510,3941,2406,0,0,0,0,0,0
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$STATE,19663,end climb,SURFACE_DEPTH_REACHED
$STATE,19663,begin surface coast
$FINISH,1.0,1.023789
$STATE,19706,end surface coast,CONTROL_FINISHED_OK
$STATE,19706,begin surface
$SM_CCo,19729,58.92,0.495,0,0,1762,350.04
$SM_GC,1.83,0.00,0.00,58.92,0.000,0.000,0.495,460,2159,1762,-12.88,-1.44,350.04
$IRIDIUM_FIX,1920.65,-8112.10,030602,212139
$TT8_MAMPS,0.025311
$HUMID,58.38
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.20
$XPDR_PINGS,55
$24V_AH,23.3,35.524
$10V_AH,10.3,31.253
$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,30.550,182.825,375.125,58.925,0.000,52.196,80.020,287.239,13.750,0.000,13.182,1537.057,15161.673,550.419,2273.217,913.014,33.362,1514.209,0.000,2277.090,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,140.361,1214.161,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,508.614,355.411,451.930,585.730,1114.342,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,57243,750
$CAP_FILE_SIZE,169075,0
$CFSIZE,260165632,110915584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100313,031435,1927.526,-8112.470,67,1.1,67,-3.8