version: 66.06
glider: 146
mission: 8
dive: 290
start: 3 18 113 7 8 57
data:
$ID,146
$MISSION,8
$DIVE,290
$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,-313175.88
$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,50
$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
$GPS1,070105,1927.359,-8118.123,36,1.3,36,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.5
$GPS2,070801,1927.367,-8118.135,14,1.4,14,-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,-0.039
$KALMAN_X,-45181.3,65.9,92.3,26285.4,-2056.4
$KALMAN_Y,19561.0,47.2,-1.4,-12556.7,-74.6
$MHEAD_RNG_PITCHd_Wd,102.3,18483,-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,-70.43,0.000,2,0.000,0.000,459,2171,3452,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-4.0,9,123,13.73,2.62,-6.35,0.000,4,0.163,0.038,2976,3815,3786,0,0,0,0,0,0
$GC,193,-1.15,-146.0,27.0,-18.4,22,203,0.10,2.55,0.00,0.000,6,0.083,0.024,3004,2226,3787,0,0,0,0,0,0
$GC,474,-1.02,-146.0,68.4,-15.1,48,479,0.15,2.65,0.00,0.000,4,0.106,0.046,3036,630,3787,0,0,0,0,0,0
$GC,497,-0.90,-146.0,72.7,-14.8,49,502,0.12,2.47,0.00,0.000,6,0.110,0.015,3063,2263,3787,0,0,0,0,0,0
$GC,764,-0.90,-146.0,103.2,-11.9,73,768,0.00,2.65,0.00,0.000,4,0.000,0.042,3064,634,3787,0,0,0,0,0,0
$GC,846,-0.90,-146.0,113.1,-10.8,79,852,0.00,2.42,0.00,0.000,6,0.000,0.017,3063,2229,3788,0,0,0,0,0,0
$GC,1110,-0.94,-146.0,138.0,-9.3,104,1114,0.00,2.60,0.00,0.000,4,0.000,0.042,3064,636,3788,0,0,0,0,0,0
$GC,1141,-0.99,-146.0,141.1,-10.6,106,1146,0.00,2.38,0.00,0.000,6,0.000,0.019,3063,2188,3788,0,0,0,0,0,0
$GC,1409,-1.08,-146.0,161.4,-6.8,130,1414,0.17,2.53,0.00,0.000,4,0.051,0.040,2994,3769,3788,0,0,0,0,0,0
$GC,1429,-1.12,-146.0,163.1,-6.8,131,1434,0.10,2.47,0.00,0.000,6,0.104,0.019,3019,2169,3788,0,0,0,0,0,0
$GC,1690,-1.12,-146.0,185.6,-8.1,155,1694,0.00,2.47,0.00,0.000,4,0.000,0.049,3019,646,3789,0,0,0,0,0,0
$GC,1714,-1.12,-146.0,187.5,-8.4,156,1723,0.00,2.38,0.00,0.000,6,0.000,0.017,3019,2181,3789,0,0,0,0,0,0
$GC,1980,-1.16,-146.0,209.9,-8.0,173,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2181,3789,0,0,0,0,0,0
$GC,2223,-1.21,-146.0,229.3,-7.8,179,2225,0.10,0.00,0.00,0.000,6,0.080,0.000,2970,2181,3789,0,0,0,0,0,0
$GC,2469,-1.21,-146.0,253.0,-9.9,185,2471,0.12,0.00,0.00,0.000,6,0.095,0.000,3000,2182,3790,0,0,0,0,0,0
$GC,2711,-1.21,-146.0,273.2,-8.2,191,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2181,3789,0,0,0,0,0,0
$GC,2954,-1.21,-146.0,291.1,-7.3,197,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2181,3788,0,0,0,0,0,0
$GC,3198,-1.21,-146.0,308.9,-7.3,203,3202,0.00,2.53,0.00,0.000,4,0.000,0.039,3000,3764,3787,0,0,0,0,0,0
$GC,3216,-1.21,-146.0,310.2,-7.2,203,3220,0.00,2.47,0.00,0.000,6,0.000,0.029,3000,2190,3787,0,0,0,0,0,0
$GC,3477,-1.21,-146.0,329.4,-7.4,210,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2190,3787,0,0,0,0,0,0
$GC,3721,-1.25,-146.0,347.4,-7.4,216,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2190,3786,0,0,0,0,0,0
$GC,3967,-1.29,-146.0,365.3,-7.4,222,3971,0.00,2.55,0.00,0.000,4,0.000,0.047,3000,3761,3785,0,0,0,0,0,0
$GC,3994,-1.33,-146.0,367.6,-8.3,222,3999,0.12,2.53,0.00,0.000,6,0.067,0.026,2944,2181,3785,0,0,0,0,0,0
$GC,4245,-1.27,-146.0,391.4,-9.8,228,4250,0.17,2.60,0.00,0.000,4,0.087,0.048,2985,3762,3784,0,0,0,0,0,0
$GC,4269,-1.27,-146.0,393.6,-9.1,228,4273,0.00,2.53,0.00,0.000,6,0.000,0.033,2985,2190,3784,0,0,0,0,0,0
$GC,4524,-1.27,-146.0,415.4,-8.6,235,4528,0.00,2.70,0.00,0.000,4,0.000,0.078,2985,633,3783,0,0,0,0,0,0
$GC,4539,-1.27,-146.0,417.0,-8.5,235,4544,0.00,2.42,0.00,0.000,6,0.000,0.030,2985,2162,3783,0,0,0,0,0,0
$GC,4805,-1.27,-146.0,438.7,-8.2,242,4809,0.00,2.70,0.00,0.000,4,0.000,0.058,2985,3789,3782,0,0,0,0,0,0
$GC,4826,-1.27,-146.0,440.9,-8.6,242,4831,0.00,2.60,0.00,0.000,6,0.000,0.035,2985,2193,3782,0,0,0,0,0,0
$GC,5082,-1.27,-146.0,461.5,-8.0,249,5086,0.00,2.80,0.00,0.000,4,0.000,0.095,2985,626,3781,0,0,0,0,0,0
$GC,5102,-1.27,-146.0,462.9,-8.2,249,5106,0.00,2.55,0.00,0.000,6,0.000,0.039,2985,2185,3781,0,0,0,0,0,0
$GC,5362,-1.27,-146.0,485.0,-8.3,256,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2185,3781,0,0,0,0,0,0
$GC,5606,-1.27,-146.0,504.8,-8.1,262,5610,0.00,2.75,0.00,0.000,4,0.000,0.073,2985,3793,3779,0,0,0,0,0,0
$GC,5624,-1.27,-146.0,506.2,-7.8,262,5628,0.00,2.70,0.00,0.000,6,0.000,0.047,2985,2179,3779,0,0,0,0,0,0
$GC,5885,-1.27,-146.0,526.5,-7.7,269,5889,0.00,2.72,0.00,0.000,4,0.000,0.061,2985,3792,3778,0,0,0,0,0,0
$GC,5900,-1.27,-146.0,527.8,-7.7,269,5905,0.00,2.67,0.00,0.000,6,0.000,0.052,2985,2192,3778,0,0,0,0,0,0
$GC,6164,-1.27,-146.0,547.0,-7.3,276,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2192,3777,0,0,0,0,0,0
$GC,6405,-1.27,-146.0,564.8,-7.2,282,6410,0.00,2.78,0.00,0.000,4,0.000,0.074,2985,3796,3776,0,0,0,0,0,0
$GC,6432,-1.27,-146.0,567.0,-7.9,282,6437,0.00,2.72,0.00,0.000,6,0.000,0.056,2985,2187,3776,0,0,0,0,0,0
$GC,6685,-1.31,-146.0,585.1,-7.3,288,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2187,3775,0,0,0,0,0,0
$GC,6926,-1.31,-146.0,603.0,-7.3,294,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2187,3773,0,0,0,0,0,0
$GC,7170,-1.35,-146.0,620.6,-7.3,300,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2187,3772,0,0,0,0,0,0
$GC,7414,-1.39,-146.0,638.5,-7.4,306,7419,0.12,2.95,0.00,0.000,4,0.068,0.100,2939,3796,3771,0,0,0,0,0,0
$GC,7441,-1.39,-146.0,640.8,-8.9,306,7445,0.00,2.88,0.00,0.000,6,0.000,0.085,2939,2183,3770,0,0,0,0,0,0
$GC,7696,-1.34,-146.0,665.6,-9.6,313,7702,0.12,2.97,0.00,0.000,4,0.101,0.100,2967,3791,3769,0,0,0,0,0,0
$GC,7718,-1.34,-146.0,667.7,-8.8,313,7723,0.00,2.90,0.00,0.000,6,0.000,0.096,2967,2187,3769,0,0,0,0,0,0
$GC,7976,-1.34,-146.0,688.8,-8.2,320,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2187,3768,0,0,0,0,0,0
$GC,8217,-1.34,-146.0,708.6,-8.1,326,8222,0.00,3.08,0.00,0.000,4,0.000,0.122,2967,3790,3767,0,0,0,0,0,0
$GC,8233,-1.34,-146.0,710.1,-7.8,326,8238,0.00,2.85,0.00,0.000,6,0.000,0.087,2967,2190,3767,0,0,0,0,0,0
$GC,8497,-1.34,-146.0,731.4,-8.1,333,8502,0.00,2.92,0.00,0.000,4,0.000,0.097,2967,3796,3765,0,0,0,0,0,0
$GC,8513,-1.34,-146.0,733.0,-8.1,333,8517,0.00,2.83,0.00,0.000,6,0.000,0.077,2967,2193,3765,0,0,0,0,0,0
$GC,8773,-1.34,-146.0,754.3,-8.2,340,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2193,3763,0,0,0,0,0,0
$GC,9020,-1.34,-146.0,773.6,-7.9,346,9024,0.00,2.88,0.00,0.000,4,0.000,0.093,2967,3797,3762,0,0,0,0,0,0
$GC,9041,-1.34,-146.0,775.6,-7.7,346,9046,0.00,2.78,0.00,0.000,6,0.000,0.077,2967,2197,3762,0,0,0,0,0,0
$GC,9297,-1.34,-146.0,796.1,-8.0,353,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2197,3761,0,0,0,0,0,0
$GC,9541,-1.34,-146.0,815.7,-8.1,359,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2197,3760,0,0,0,0,0,0
$GC,9787,-1.34,-146.0,835.2,-8.0,365,9791,0.00,2.80,0.00,0.000,4,0.000,0.085,2968,3792,3759,0,0,0,0,0,0
$GC,9808,-1.34,-146.0,837.2,-8.1,365,9813,0.00,2.75,0.00,0.000,6,0.000,0.068,2967,2206,3758,0,0,0,0,0,0
$GC,10063,-1.34,-146.0,857.7,-8.0,372,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2206,3758,0,0,0,0,0,0
$GC,10309,-1.34,-146.0,876.2,-7.6,378,10314,0.00,2.80,0.00,0.000,4,0.000,0.080,2967,3795,3757,0,0,0,0,0,0
$GC,10342,-1.34,-146.0,879.1,-7.5,378,10347,0.00,2.75,0.00,0.000,6,0.000,0.071,2967,2212,3757,0,0,0,0,0,0
$GC,10592,-1.34,-146.0,897.5,-7.3,385,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2213,3755,0,0,0,0,0,0
$STATE,10630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10630,begin apogee
$GC,10638,-0.31,0.0,900.5,7.2,386,10761,0.98,0.00,119.65,1.218,6,0.070,0.000,3192,2383,3190,0,0,0,0,0,0
$STATE,10762,end apogee,CONTROL_FINISHED_OK
$STATE,10762,begin climb
$GC,10765,1.27,146.0,903.5,0.0,389,10900,1.42,2.80,126.75,1.185,4,0.035,0.076,3543,3927,2593,0,0,0,0,0,0
$GC,10971,1.14,146.0,891.0,11.6,393,10978,0.17,2.72,0.00,0.000,6,0.110,0.055,3508,2364,2588,0,0,0,0,0,0
$GC,11222,1.12,164.3,867.1,9.2,400,11246,0.00,2.85,16.52,1.074,4,0.000,0.065,3508,3933,2519,0,0,0,0,0,0
$GC,11267,1.08,164.3,862.8,10.2,401,11271,0.00,2.67,0.00,0.000,6,0.000,0.048,3508,2375,2518,0,0,0,0,0,0
$GC,11550,1.09,175.1,835.3,9.5,408,11563,0.00,0.00,10.75,1.018,6,0.000,0.000,3508,2376,2476,0,0,0,0,0,0
$GC,11794,1.10,181.3,811.3,9.7,414,11802,0.00,0.00,6.97,0.917,6,0.000,0.000,3508,2375,2450,0,0,0,0,0,0
$GC,12040,1.10,187.4,787.4,9.7,420,12049,0.00,0.00,7.20,0.923,6,0.000,0.000,3508,2375,2425,0,0,0,0,0,0
$GC,12281,1.11,192.6,763.9,9.8,426,12295,0.00,2.78,6.53,0.890,4,0.000,0.058,3508,3938,2402,0,0,0,0,0,0
$GC,12318,1.11,192.6,759.8,10.8,426,12324,0.00,2.67,0.00,0.000,6,0.000,0.044,3508,2365,2401,0,0,0,0,0,0
$GC,12570,1.12,197.0,735.2,9.8,433,12581,0.00,2.72,5.38,0.816,4,0.000,0.060,3508,3939,2385,0,0,0,0,0,0
$GC,12603,1.12,197.0,731.3,10.5,433,12609,0.00,2.67,0.00,0.000,6,0.000,0.048,3508,2369,2384,0,0,0,0,0,0
$GC,12853,1.12,198.3,706.3,9.9,440,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2369,2384,0,0,0,0,0,0
$GC,13099,1.12,198.3,681.9,10.1,446,13103,0.00,2.67,0.00,0.000,4,0.000,0.056,3508,3937,2383,0,0,0,0,0,0
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$STATE,19577,end climb,SURFACE_DEPTH_REACHED
$STATE,19577,begin surface coast
$FINISH,1.1,1.011481
$STATE,19613,end surface coast,CONTROL_FINISHED_OK
$STATE,19613,begin surface
$SM_CCo,19638,27.95,0.487,0,0,1763,350.04
$SM_GC,1.68,0.00,0.00,27.95,0.000,0.000,0.487,462,2176,1763,-12.88,-0.96,350.04
$IRIDIUM_FIX,1918.37,-8114.71,120602,020200
$TT8_MAMPS,0.026078
$HUMID,59.56
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.30
$XPDR_PINGS,67
$24V_AH,23.3,40.763
$10V_AH,10.3,36.093
$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,30.675,202.000,408.900,27.950,0.000,29.876,33.275,181.132,16.750,0.000,16.436,1528.219,15027.672,550.803,2228.630,740.563,33.364,1530.203,0.000,2233.399,0.000,0.536,0.000
$DEVICE_MAMPS,174.876,121.953,1217.996,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,499.232,344.534,437.315,555.231,1057.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,57305,737
$CAP_FILE_SIZE,169078,0
$CFSIZE,260165632,108126208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180313,123805,1927.801,-8116.378,39,1.0,39,-3.8