version: 66.06
glider: 146
mission: 8
dive: 293
start: 3 19 113 0 17 37
data:
$ID,146
$MISSION,8
$DIVE,293
$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,-313217.19
$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,54
$R_STBD_OVSHOOT,43
$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
$GPS1,000635,1927.791,-8113.011,34,1.3,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.5
$GPS2,001643,1927.852,-8113.107,10,2.0,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.115
$KALMAN_X,-49504.1,-43.4,-25.6,39613.3,-922.1
$KALMAN_Y,23838.1,504.5,238.8,-16645.9,-210.5
$MHEAD_RNG_PITCHd_Wd,120.0,10869,-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,-70.97,0.000,2,0.000,0.000,465,2178,3456,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.2,-3.4,9,122,13.68,0.00,-6.43,0.000,6,0.162,0.000,2977,2178,3782,0,0,0,0,0,0
$GC,405,-1.07,-146.0,61.6,-17.4,44,414,0.22,0.00,0.00,0.000,6,0.102,0.000,3025,2178,3784,0,0,0,0,0,0
$GC,671,-0.97,-146.0,99.7,-14.0,69,676,0.10,0.00,0.00,0.000,6,0.128,0.000,3046,2178,3784,0,0,0,0,0,0
$GC,935,-0.97,-146.0,130.0,-9.3,94,939,0.00,2.47,0.00,0.000,4,0.000,0.044,3046,654,3786,0,0,0,0,0,0
$GC,955,-0.97,-146.0,131.7,-9.5,95,959,0.00,2.40,0.00,0.000,6,0.000,0.024,3046,2228,3785,0,0,0,0,0,0
$GC,1220,-1.02,-146.0,155.8,-9.3,119,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2228,3786,0,0,0,0,0,0
$GC,1484,-1.09,-146.0,175.8,-6.8,144,1489,0.10,2.60,0.00,0.000,4,0.077,0.045,2994,650,3786,0,0,0,0,0,0
$GC,1515,-1.09,-146.0,178.5,-9.0,146,1520,0.12,2.35,0.00,0.000,6,0.099,0.018,3023,2197,3786,0,0,0,0,0,0
$GC,1776,-1.14,-146.0,198.8,-7.3,170,1780,0.00,2.47,0.00,0.000,4,0.000,0.034,3023,3769,3786,0,0,0,0,0,0
$GC,1806,-1.19,-146.0,201.0,-7.9,171,1810,0.00,2.42,0.00,0.000,6,0.000,0.021,3023,2215,3786,0,0,0,0,0,0
$GC,2056,-1.24,-146.0,219.5,-7.5,177,2058,0.15,0.00,0.00,0.000,6,0.057,0.000,2959,2215,3786,0,0,0,0,0,0
$GC,2300,-1.19,-146.0,244.2,-10.1,183,2302,0.17,0.00,0.00,0.000,6,0.083,0.000,3001,2215,3786,0,0,0,0,0,0
$GC,2546,-1.19,-146.0,263.9,-7.9,189,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2215,3786,0,0,0,0,0,0
$GC,2787,-1.19,-146.0,282.8,-7.8,195,2792,0.00,2.60,0.00,0.000,4,0.000,0.056,3002,644,3785,0,0,0,0,0,0
$GC,2804,-1.19,-146.0,284.1,-7.6,195,2808,0.00,2.42,0.00,0.000,6,0.000,0.027,3001,2197,3785,0,0,0,0,0,0
$GC,3065,-1.22,-146.0,305.3,-8.1,202,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2197,3784,0,0,0,0,0,0
$GC,3311,-1.26,-146.0,325.2,-8.1,208,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2197,3784,0,0,0,0,0,0
$GC,3552,-1.30,-146.0,343.5,-7.4,214,3557,0.12,2.58,0.00,0.000,4,0.067,0.043,2952,3781,3783,0,0,0,0,0,0
$GC,3574,-1.30,-146.0,345.6,-8.9,214,3579,0.10,2.50,0.00,0.000,6,0.103,0.031,2977,2207,3783,0,0,0,0,0,0
$GC,3832,-1.30,-146.0,366.6,-8.2,221,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2206,3783,0,0,0,0,0,0
$GC,4073,-1.30,-146.0,386.0,-8.0,227,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3781,0,0,0,0,0,0
$GC,4317,-1.30,-146.0,405.9,-8.2,233,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3781,0,0,0,0,0,0
$GC,4561,-1.30,-146.0,426.9,-8.6,239,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3780,0,0,0,0,0,0
$GC,4804,-1.30,-146.0,447.6,-8.5,245,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2207,3779,0,0,0,0,0,0
$GC,5048,-1.30,-146.0,468.7,-8.6,251,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2207,3778,0,0,0,0,0,0
$GC,5292,-1.30,-146.0,487.9,-7.7,257,5296,0.00,2.65,0.00,0.000,4,0.000,0.064,2977,3770,3777,0,0,0,0,0,0
$GC,5310,-1.30,-146.0,489.2,-7.2,257,5314,0.00,2.58,0.00,0.000,6,0.000,0.045,2977,2218,3777,0,0,0,0,0,0
$GC,5570,-1.30,-146.0,508.5,-7.4,264,5575,0.00,2.90,0.00,0.000,4,0.000,0.102,2977,623,3776,0,0,0,0,0,0
$GC,5592,-1.30,-146.0,510.5,-8.4,264,5596,0.00,2.58,0.00,0.000,6,0.000,0.042,2977,2185,3776,0,0,0,0,0,0
$GC,5849,-1.30,-146.0,531.1,-8.0,271,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2186,3775,0,0,0,0,0,0
$GC,6091,-1.30,-146.0,549.4,-7.4,277,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2186,3774,0,0,0,0,0,0
$GC,6334,-1.30,-146.0,567.6,-7.5,283,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2186,3772,0,0,0,0,0,0
$GC,6578,-1.30,-146.0,586.3,-7.8,289,6583,0.00,2.90,0.00,0.000,4,0.000,0.101,2977,3792,3771,0,0,0,0,0,0
$GC,6602,-1.30,-146.0,588.2,-8.6,289,6606,0.00,2.75,0.00,0.000,6,0.000,0.066,2977,2192,3771,0,0,0,0,0,0
$GC,6857,-1.30,-146.0,608.1,-7.6,296,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2192,3770,0,0,0,0,0,0
$GC,7100,-1.30,-146.0,627.1,-7.9,302,7105,0.00,2.88,0.00,0.000,4,0.000,0.091,2977,3796,3769,0,0,0,0,0,0
$GC,7119,-1.30,-146.0,628.4,-7.8,302,7123,0.00,2.80,0.00,0.000,6,0.000,0.080,2977,2205,3769,0,0,0,0,0,0
$GC,7379,-1.30,-146.0,648.8,-7.9,309,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3767,0,0,0,0,0,0
$GC,7623,-1.30,-146.0,667.8,-7.7,315,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3766,0,0,0,0,0,0
$GC,7867,-1.30,-146.0,686.5,-7.7,321,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3764,0,0,0,0,0,0
$GC,8110,-1.30,-146.0,705.5,-7.8,327,8115,0.00,3.03,0.00,0.000,4,0.000,0.122,2977,3791,3763,0,0,0,0,0,0
$GC,8126,-1.30,-146.0,706.9,-8.0,327,8131,0.00,2.83,0.00,0.000,6,0.000,0.085,2977,2199,3763,0,0,0,0,0,0
$GC,8387,-1.30,-146.0,727.5,-7.9,334,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2199,3762,0,0,0,0,0,0
$GC,8633,-1.30,-146.0,745.8,-7.4,340,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2198,3760,0,0,0,0,0,0
$GC,8874,-1.30,-146.0,762.9,-7.0,346,8879,0.00,2.88,0.00,0.000,4,0.000,0.093,2977,3798,3760,0,0,0,0,0,0
$GC,8901,-1.30,-146.0,765.0,-7.4,346,8906,0.00,2.78,0.00,0.000,6,0.000,0.074,2977,2209,3759,0,0,0,0,0,0
$GC,9151,-1.30,-146.0,782.8,-7.3,352,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2209,3758,0,0,0,0,0,0
$GC,9397,-1.30,-146.0,801.2,-7.4,358,9402,0.00,2.83,0.00,0.000,4,0.000,0.084,2977,3794,3758,0,0,0,0,0,0
$GC,9419,-1.30,-146.0,803.2,-7.9,358,9423,0.00,2.72,0.00,0.000,6,0.000,0.070,2977,2215,3757,0,0,0,0,0,0
$GC,9674,-1.30,-146.0,823.1,-7.8,365,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2215,3756,0,0,0,0,0,0
$GC,9918,-1.30,-146.0,842.2,-7.9,371,9922,0.00,2.80,0.00,0.000,4,0.000,0.087,2977,3796,3755,0,0,0,0,0,0
$GC,9950,-1.30,-146.0,845.0,-8.5,371,9956,0.00,2.72,0.00,0.000,6,0.000,0.064,2977,2223,3755,0,0,0,0,0,0
$GC,10200,-1.34,-146.0,864.2,-7.7,378,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2222,3754,0,0,0,0,0,0
$GC,10447,-1.38,-146.0,882.0,-7.3,384,10451,0.00,2.75,0.00,0.000,4,0.000,0.083,2977,3797,3753,0,0,0,0,0,0
$GC,10474,-1.38,-146.0,884.4,-7.4,384,10478,0.00,2.72,0.00,0.000,6,0.000,0.066,2977,2221,3752,0,0,0,0,0,0
$STATE,10721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10721,begin apogee
$GC,10727,-0.31,0.0,901.4,6.7,390,10850,0.93,0.00,119.00,1.216,6,0.069,0.000,3190,2379,3190,0,0,0,0,0,0
$STATE,10851,end apogee,CONTROL_FINISHED_OK
$STATE,10851,begin climb
$GC,10855,1.27,146.0,904.1,0.0,393,10991,1.42,2.80,127.07,1.183,4,0.047,0.078,3542,3927,2593,0,0,0,0,0,0
$GC,11085,1.15,146.0,887.9,12.2,398,11090,0.15,2.70,0.00,0.000,6,0.114,0.058,3512,2369,2588,0,0,0,0,0,0
$GC,11347,1.11,150.0,861.5,9.8,405,11351,0.00,2.70,0.00,0.000,4,0.000,0.064,3512,3932,2586,0,0,0,0,0,0
$GC,11415,1.04,150.0,854.2,10.9,406,11420,0.12,2.65,0.00,0.000,6,0.120,0.053,3488,2377,2585,0,0,0,0,0,0
$GC,11671,1.07,174.1,831.3,8.9,413,11701,0.00,3.12,24.73,1.103,4,0.000,0.115,3487,780,2480,0,0,0,0,0,0
$GC,11712,1.10,196.7,827.2,9.0,414,11742,0.00,2.72,22.17,1.083,6,0.000,0.044,3488,2381,2388,0,0,0,0,0,0
$GC,11995,1.10,196.7,799.1,10.1,421,11999,0.00,2.70,0.00,0.000,4,0.000,0.067,3488,3932,2383,0,0,0,0,0,0
$GC,12027,1.10,196.7,795.3,10.5,421,12033,0.00,2.60,0.00,0.000,6,0.000,0.043,3488,2379,2382,0,0,0,0,0,0
$GC,12280,1.11,206.4,771.1,9.5,428,12291,0.00,0.00,9.60,0.981,6,0.000,0.000,3488,2379,2348,0,0,0,0,0,0
$GC,12522,1.16,211.9,747.3,9.7,434,12530,0.10,0.00,6.35,0.874,6,0.088,0.000,3519,2379,2326,0,0,0,0,0,0
$GC,12765,1.16,211.9,719.5,11.5,440,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2379,2324,0,0,0,0,0,0
$GC,13008,1.16,211.9,691.6,11.5,446,13013,0.00,2.65,0.00,0.000,4,0.000,0.058,3519,3938,2323,0,0,0,0,0,0
$GC,13055,1.16,211.9,686.1,12.1,447,13059,0.00,2.62,0.00,0.000,6,0.000,0.048,3518,2377,2323,0,0,0,0,0,0
$GC,13332,1.16,211.9,654.8,11.1,454,13336,0.00,2.62,0.00,0.000,4,0.000,0.061,3518,3934,2322,0,0,0,0,0,0
$GC,13358,1.16,211.9,651.5,12.8,454,13363,0.00,2.60,0.00,0.000,6,0.000,0.048,3518,2384,2322,0,0,0,0,0,0
$GC,13611,1.16,211.9,623.9,10.9,460,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2384,2322,0,0,0,0,0,0
$GC,13852,1.16,211.9,597.5,10.8,466,13856,0.00,2.62,0.00,0.000,4,0.000,0.057,3519,3934,2322,0,0,0,0,0,0
$GC,13907,1.16,211.9,590.8,12.0,467,13911,0.00,2.58,0.00,0.000,6,0.000,0.045,3519,2388,2321,0,0,0,0,0,0
$GC,14175,1.16,211.9,561.9,10.7,474,14180,0.00,2.60,0.00,0.000,4,0.000,0.053,3519,3932,2321,0,0,0,0,0,0
$GC,14202,1.16,211.9,558.3,11.8,474,14207,0.00,2.55,0.00,0.000,6,0.000,0.038,3519,2391,2321,0,0,0,0,0,0
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$STATE,19418,end climb,SURFACE_DEPTH_REACHED
$STATE,19418,begin surface coast
$FINISH,1.0,1.023793
$STATE,19467,end surface coast,CONTROL_FINISHED_OK
$STATE,19469,begin surface
$SM_CCo,19494,10.57,0.452,0,0,1762,350.04
$SM_GC,1.55,0.00,0.00,10.57,0.000,0.000,0.452,466,2181,1762,-12.86,-0.82,350.04
$IRIDIUM_FIX,1920.65,-8112.10,120602,181800
$TT8_MAMPS,0.026078
$HUMID,59.80
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.10
$XPDR_PINGS,54
$24V_AH,23.3,41.201
$10V_AH,10.3,36.490
$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
$DEVICE_SECS,30.400,159.700,422.400,10.575,0.000,27.176,33.159,379.467,13.500,0.000,11.567,1495.327,14949.886,522.196,2241.158,892.375,33.376,1474.552,0.000,2240.166,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,502.857,347.007,441.719,575.513,1097.129,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,57195,742
$CAP_FILE_SIZE,160926,0
$CFSIZE,260165632,107917312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190313,054359,1927.542,-8111.190,37,1.2,37,-3.8