version: 66.06
glider: 146
mission: 8
dive: 305
start: 3 21 113 20 6 56
data:
$ID,146
$MISSION,8
$DIVE,305
$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,-313442.69
$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,58
$R_STBD_OVSHOOT,45
$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
$GPS1,195906,1927.025,-8110.743,32,1.6,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.5
$GPS2,200600,1927.014,-8110.693,10,1.7,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,-0.220
$KALMAN_X,-65971.8,-226.5,-328.9,60791.5,32.4
$KALMAN_Y,39466.7,66.0,3.1,-33152.1,1476.0
$MHEAD_RNG_PITCHd_Wd,151.7,6618,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,2,0.000,0.000,466,2177,3498,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-5.7,9,123,13.80,2.58,-5.18,0.000,4,0.163,0.044,2977,3790,3787,0,0,0,0,0,0
$GC,135,-0.10,-146.0,18.5,-36.7,13,145,1.15,2.47,0.00,0.000,6,0.079,0.021,3235,2232,3787,0,0,0,0,0,0
$GC,447,-0.68,-146.0,39.8,-8.8,52,456,0.52,0.00,0.00,0.000,6,0.056,0.000,3102,2232,3788,0,0,0,0,0,0
$GC,717,-0.92,-146.0,61.0,-8.0,77,722,0.17,2.60,0.00,0.000,4,0.051,0.044,3030,636,3788,0,0,0,0,0,0
$GC,830,-0.86,-146.0,73.7,-13.0,85,835,0.17,2.45,0.00,0.000,6,0.090,0.018,3070,2231,3789,0,0,0,0,0,0
$GC,1096,-0.86,-146.0,103.9,-10.8,109,1101,0.00,2.62,0.00,0.000,4,0.000,0.045,3069,631,3789,0,0,0,0,0,0
$GC,1130,-0.86,-146.0,107.7,-11.6,111,1134,0.00,2.42,0.00,0.000,6,0.000,0.017,3070,2219,3789,0,0,0,0,0,0
$GC,1396,-0.86,-146.0,136.1,-10.3,135,1400,0.00,2.45,0.00,0.000,4,0.000,0.032,3069,3771,3789,0,0,0,0,0,0
$GC,1413,-0.86,-146.0,138.4,-9.7,136,1417,0.00,2.42,0.00,0.000,6,0.000,0.020,3069,2207,3790,0,0,0,0,0,0
$GC,1682,-0.94,-146.0,160.3,-7.3,160,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2207,3790,0,0,0,0,0,0
$GC,1945,-1.05,-146.0,178.7,-6.8,185,1950,0.17,2.55,0.00,0.000,4,0.051,0.051,2998,642,3790,0,0,0,0,0,0
$GC,2016,-1.05,-146.0,186.0,-11.4,190,2022,0.15,2.40,0.00,0.000,6,0.091,0.021,3034,2226,3790,0,0,0,0,0,0
$GC,2296,-1.12,-146.0,206.4,-7.0,211,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2227,3791,0,0,0,0,0,0
$GC,2541,-1.20,-146.0,224.1,-7.4,217,2546,0.15,2.60,0.00,0.000,4,0.058,0.047,2968,643,3790,0,0,0,0,0,0
$GC,2563,-1.20,-146.0,226.4,-8.9,217,2568,0.12,2.40,0.00,0.000,6,0.098,0.018,2999,2222,3791,0,0,0,0,0,0
$GC,2818,-1.20,-146.0,247.1,-7.9,224,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2222,3790,0,0,0,0,0,0
$GC,3064,-1.20,-146.0,265.9,-7.7,230,3069,0.00,2.62,0.00,0.000,4,0.000,0.057,2999,637,3791,0,0,0,0,0,0
$GC,3086,-1.20,-146.0,267.9,-7.7,230,3091,0.00,2.40,0.00,0.000,6,0.000,0.021,2999,2208,3790,0,0,0,0,0,0
$GC,3344,-1.20,-146.0,287.7,-7.7,237,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2208,3789,0,0,0,0,0,0
$GC,3588,-1.20,-146.0,307.6,-8.3,243,3592,0.00,2.50,0.00,0.000,4,0.000,0.047,2999,3773,3789,0,0,0,0,0,0
$GC,3611,-1.20,-146.0,309.7,-8.7,243,3615,0.00,2.42,0.00,0.000,6,0.000,0.025,2999,2213,3789,0,0,0,0,0,0
$GC,3866,-1.20,-146.0,329.4,-7.6,250,3870,0.00,2.65,0.00,0.000,4,0.000,0.061,2999,629,3788,0,0,0,0,0,0
$GC,3889,-1.20,-146.0,331.1,-7.9,250,3894,0.00,2.45,0.00,0.000,6,0.000,0.022,2999,2205,3789,0,0,0,0,0,0
$GC,4145,-1.20,-146.0,351.2,-7.9,257,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2206,3787,0,0,0,0,0,0
$GC,4388,-1.20,-146.0,370.2,-7.8,263,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2205,3787,0,0,0,0,0,0
$GC,4632,-1.20,-146.0,388.7,-7.6,269,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2206,3786,0,0,0,0,0,0
$GC,4878,-1.23,-146.0,406.4,-7.2,275,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2206,3785,0,0,0,0,0,0
$GC,5121,-1.27,-146.0,424.0,-7.2,281,5126,0.00,2.60,0.00,0.000,4,0.000,0.053,2999,3789,3784,0,0,0,0,0,0
$GC,5138,-1.31,-146.0,425.4,-7.5,281,5143,0.10,2.55,0.00,0.000,6,0.078,0.034,2952,2209,3784,0,0,0,0,0,0
$GC,5401,-1.26,-146.0,449.1,-9.1,288,5407,0.15,2.80,0.00,0.000,4,0.090,0.087,2987,629,3783,0,0,0,0,0,0
$GC,5418,-1.26,-146.0,450.9,-9.0,288,5423,0.00,2.50,0.00,0.000,6,0.000,0.038,2987,2189,3782,0,0,0,0,0,0
$GC,5679,-1.26,-146.0,471.1,-7.7,295,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2189,3781,0,0,0,0,0,0
$GC,5925,-1.26,-146.0,489.3,-7.5,301,5929,0.00,2.72,0.00,0.000,4,0.000,0.074,2987,3796,3780,0,0,0,0,0,0
$GC,5952,-1.26,-146.0,491.7,-8.3,301,5956,0.00,2.60,0.00,0.000,6,0.000,0.043,2987,2210,3780,0,0,0,0,0,0
$GC,6202,-1.26,-146.0,510.6,-7.6,307,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2211,3779,0,0,0,0,0,0
$GC,6448,-1.26,-146.0,529.6,-7.9,313,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2211,3777,0,0,0,0,0,0
$GC,6689,-1.26,-146.0,548.7,-7.8,319,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2210,3777,0,0,0,0,0,0
$GC,6934,-1.26,-146.0,567.4,-7.5,325,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2211,3776,0,0,0,0,0,0
$GC,7177,-1.26,-146.0,586.1,-7.6,331,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2211,3775,0,0,0,0,0,0
$GC,7423,-1.26,-146.0,604.4,-7.4,337,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2211,3774,0,0,0,0,0,0
$GC,7664,-1.26,-146.0,622.5,-7.4,343,7669,0.00,2.90,0.00,0.000,4,0.000,0.106,2987,3788,3772,0,0,0,0,0,0
$GC,7685,-1.26,-146.0,624.1,-7.1,343,7690,0.00,2.75,0.00,0.000,6,0.000,0.074,2987,2215,3772,0,0,0,0,0,0
$GC,7943,-1.26,-146.0,643.1,-7.4,350,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2215,3771,0,0,0,0,0,0
$GC,8184,-1.26,-146.0,661.5,-7.7,356,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2215,3770,0,0,0,0,0,0
$GC,8428,-1.26,-146.0,680.8,-8.0,362,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2215,3768,0,0,0,0,0,0
$GC,8672,-1.30,-146.0,699.7,-7.6,368,8677,0.00,2.97,0.00,0.000,4,0.000,0.119,2988,3788,3767,0,0,0,0,0,0
$GC,8696,-1.30,-146.0,701.5,-8.2,368,8701,0.00,2.95,0.00,0.000,6,0.000,0.111,2987,2220,3767,0,0,0,0,0,0
$GC,8952,-1.34,-146.0,721.2,-7.6,375,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2220,3766,0,0,0,0,0,0
$GC,9195,-1.38,-146.0,739.5,-7.5,381,9201,0.12,3.40,0.00,0.000,4,0.068,0.172,2942,621,3764,0,0,0,0,0,0
$GC,9214,-1.38,-146.0,741.1,-7.7,381,9219,0.00,3.03,0.00,0.000,6,0.000,0.120,2942,2206,3764,0,0,0,0,0,0
$GC,9476,-1.33,-146.0,765.3,-9.2,388,9482,0.12,3.33,0.00,0.000,4,0.099,0.166,2971,3797,3763,0,0,0,0,0,0
$GC,9498,-1.33,-146.0,767.4,-8.3,388,9503,0.00,3.22,0.00,0.000,6,0.000,0.149,2971,2223,3763,0,0,0,0,0,0
$GC,9756,-1.33,-146.0,787.0,-7.7,395,9762,0.00,3.62,0.00,0.000,4,0.000,0.199,2970,620,3762,0,0,0,0,0,0
$GC,9773,-1.33,-146.0,788.8,-7.9,395,9778,0.00,3.25,0.00,0.000,6,0.000,0.146,2971,2216,3762,0,0,0,0,0,0
$GC,10034,-1.33,-146.0,809.2,-7.9,402,10039,0.00,3.55,0.00,0.000,4,0.000,0.196,2971,3802,3761,0,0,0,0,0,0
$GC,10064,-1.33,-146.0,811.5,-8.5,402,10068,0.00,2.72,0.00,0.000,6,0.000,0.064,2971,2220,3761,0,0,0,0,0,0
$GC,10314,-1.33,-146.0,831.6,-7.8,408,10318,0.00,2.75,0.00,0.000,4,0.000,0.074,2971,3809,3760,0,0,0,0,0,0
$GC,10341,-1.33,-146.0,833.8,-8.0,408,10345,0.00,2.72,0.00,0.000,6,0.000,0.066,2971,2230,3760,0,0,0,0,0,0
$GC,10593,-1.33,-146.0,852.8,-7.5,414,10598,0.00,3.05,0.00,0.000,4,0.000,0.125,2971,622,3758,0,0,0,0,0,0
$GC,10610,-1.33,-146.0,854.3,-7.4,414,10615,0.00,2.75,0.00,0.000,6,0.000,0.063,2971,2241,3758,0,0,0,0,0,0
$GC,10871,-1.33,-146.0,873.9,-7.5,421,10872,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2241,3757,0,0,0,0,0,0
$GC,11117,-1.33,-146.0,891.4,-7.3,427,11122,0.00,2.83,0.00,0.000,4,0.000,0.100,2971,3806,3756,0,0,0,0,0,0
$GC,11144,-1.33,-146.0,893.7,-7.8,427,11149,0.00,2.72,0.00,0.000,6,0.000,0.062,2971,2229,3756,0,0,0,0,0,0
$STATE,11229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11229,begin apogee
$GC,11235,-0.31,0.0,900.4,7.9,429,11358,0.95,0.00,119.55,1.217,6,0.068,0.000,3190,2384,3190,0,0,0,0,0,0
$STATE,11359,end apogee,CONTROL_FINISHED_OK
$STATE,11359,begin climb
$GC,11364,1.27,146.0,903.9,0.0,432,11500,1.42,2.83,126.65,1.185,4,0.038,0.081,3542,3923,2593,0,0,0,0,0,0
$GC,11610,1.14,146.0,887.4,11.3,437,11615,0.15,2.67,0.00,0.000,6,0.112,0.057,3511,2371,2588,0,0,0,0,0,0
$GC,11860,1.12,161.5,863.8,9.3,443,11876,0.00,0.00,14.05,1.062,6,0.000,0.000,3511,2371,2531,0,0,0,0,0,0
$GC,12103,1.12,161.5,839.2,10.2,449,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2370,2528,0,0,0,0,0,0
$GC,12350,1.12,162.5,814.6,10.0,455,12354,0.00,2.70,0.00,0.000,4,0.000,0.061,3511,3931,2526,0,0,0,0,0,0
$GC,12411,1.07,162.5,807.8,10.7,456,12415,0.00,2.62,0.00,0.000,6,0.000,0.048,3511,2374,2525,0,0,0,0,0,0
$GC,12671,1.08,169.3,782.6,9.7,463,12686,0.00,2.72,7.53,0.937,4,0.000,0.055,3511,3928,2499,0,0,0,0,0,0
$GC,12711,1.03,169.3,778.6,10.6,463,12718,0.12,2.62,0.00,0.000,6,0.122,0.044,3486,2376,2499,0,0,0,0,0,0
$GC,12961,1.08,209.7,757.7,8.1,470,13001,0.00,0.00,38.40,1.100,6,0.000,0.000,3487,2376,2334,0,0,0,0,0,0
$GC,13247,1.15,233.7,732.9,8.9,477,13273,0.10,0.00,23.10,1.056,6,0.087,0.000,3518,2376,2237,0,0,0,0,0,0
$GC,13488,1.15,233.7,705.3,11.7,483,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2376,2233,0,0,0,0,0,0
$GC,13732,1.15,233.7,677.4,11.5,489,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2376,2232,0,0,0,0,0,0
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$STATE,19720,end climb,SURFACE_DEPTH_REACHED
$STATE,19721,begin surface coast
$FINISH,1.0,1.000027
$STATE,19763,end surface coast,CONTROL_FINISHED_OK
$STATE,19763,begin surface
$SM_CCo,19786,34.95,0.490,0,0,1763,350.04
$SM_GC,1.80,0.00,0.00,34.95,0.000,0.000,0.490,465,2175,1763,-12.86,-0.99,350.04
$IRIDIUM_FIX,1918.37,-8107.58,150602,141402
$TT8_MAMPS,0.025311
$HUMID,60.59
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.20
$XPDR_PINGS,52
$24V_AH,23.2,42.911
$10V_AH,10.3,38.031
$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
$DEVICE_SECS,32.500,173.100,395.950,34.950,0.000,27.983,33.005,187.069,13.000,0.000,12.029,1574.174,14967.243,550.491,2397.406,739.230,33.369,1493.443,0.000,2410.413,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,527.711,386.174,486.903,666.802,1271.016,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,60229,778
$CAP_FILE_SIZE,163585,0
$CFSIZE,260165632,107048960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220313,013835,1925.494,-8109.976,37,1.1,37,-3.8