version: 66.06
glider: 146
mission: 8
dive: 319
start: 3 24 113 15 27 43
data:
$ID,146
$MISSION,8
$DIVE,319
$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,-313731.66
$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,42
$R_STBD_OVSHOOT,17
$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
$GPS1,151923,1926.974,-8118.276,23,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.8
$GPS2,152648,1926.990,-8118.211,14,1.1,31,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,-0.060
$KALMAN_X,-91801.9,60.9,61.8,72805.5,-2784.0
$KALMAN_Y,53355.3,0.1,-120.1,-46880.5,619.7
$MHEAD_RNG_PITCHd_Wd,107.0,18423,-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,-70.75,0.000,2,0.000,0.000,462,2179,3508,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.0,-5.9,9,120,13.70,2.65,-5.03,0.000,4,0.163,0.046,2978,3814,3787,0,0,0,0,0,0
$GC,198,-1.12,-146.0,32.8,-18.7,22,203,0.17,2.53,0.00,0.000,6,0.100,0.025,3015,2215,3788,0,0,0,0,0,0
$GC,468,-0.98,-146.0,71.9,-14.3,46,473,0.12,2.65,0.00,0.000,4,0.114,0.049,3043,624,3788,0,0,0,0,0,0
$GC,517,-0.93,-146.0,80.2,-13.2,49,526,0.00,2.50,0.00,0.000,6,0.000,0.018,3043,2227,3788,0,0,0,0,0,0
$GC,780,-0.86,-146.0,112.2,-12.1,74,785,0.12,2.65,0.00,0.000,4,0.111,0.045,3071,630,3788,0,0,0,0,0,0
$GC,805,-0.81,-146.0,115.2,-11.8,75,811,0.00,2.42,0.00,0.000,6,0.000,0.022,3071,2212,3788,0,0,0,0,0,0
$GC,1068,-0.81,-146.0,143.8,-10.5,100,1072,0.00,2.58,0.00,0.000,4,0.000,0.045,3071,631,3789,0,0,0,0,0,0
$GC,1115,-0.81,-146.0,148.0,-10.5,103,1119,0.00,2.40,0.00,0.000,6,0.000,0.019,3071,2193,3789,0,0,0,0,0,0
$GC,1382,-0.91,-146.0,170.1,-6.9,127,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2193,3789,0,0,0,0,0,0
$GC,1648,-1.02,-146.0,189.4,-7.1,152,1653,0.15,2.53,0.00,0.000,4,0.055,0.035,3001,3777,3789,0,0,0,0,0,0
$GC,1670,-1.06,-146.0,191.8,-8.8,153,1683,0.10,2.50,0.00,0.000,6,0.063,0.027,3031,2181,3789,0,0,0,0,0,0
$GC,1929,-1.11,-146.0,213.8,-8.4,166,1933,0.00,2.50,0.00,0.000,4,0.000,0.048,3031,641,3789,0,0,0,0,0,0
$GC,1951,-1.17,-146.0,215.7,-7.6,166,1956,0.12,2.35,0.00,0.000,6,0.064,0.018,2975,2180,3790,0,0,0,0,0,0
$GC,2206,-1.13,-146.0,240.4,-9.8,173,2211,0.17,2.55,0.00,0.000,4,0.085,0.041,3016,3776,3789,0,0,0,0,0,0
$GC,2242,-1.18,-146.0,243.5,-9.0,173,2248,0.00,2.47,0.00,0.000,6,0.000,0.028,3016,2180,3789,0,0,0,0,0,0
$GC,2493,-1.24,-146.0,263.8,-8.1,180,2498,0.12,2.55,0.00,0.000,4,0.066,0.035,2961,3768,3789,0,0,0,0,0,0
$GC,2514,-1.24,-146.0,266.1,-9.8,180,2520,0.12,2.45,0.00,0.000,6,0.094,0.028,2991,2191,3789,0,0,0,0,0,0
$GC,2772,-1.24,-146.0,287.5,-8.2,187,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2190,3789,0,0,0,0,0,0
$GC,3014,-1.24,-146.0,308.7,-8.7,193,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2190,3789,0,0,0,0,0,0
$GC,3257,-1.24,-146.0,330.4,-8.9,199,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2190,3788,0,0,0,0,0,0
$GC,3503,-1.24,-146.0,351.4,-8.5,205,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2190,3787,0,0,0,0,0,0
$GC,3745,-1.24,-146.0,370.7,-7.8,211,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2190,3786,0,0,0,0,0,0
$GC,3988,-1.24,-146.0,388.6,-7.3,217,3993,0.00,2.58,0.00,0.000,4,0.000,0.052,2991,3772,3785,0,0,0,0,0,0
$GC,4004,-1.24,-146.0,389.9,-7.5,217,4009,0.00,2.50,0.00,0.000,6,0.000,0.035,2991,2188,3785,0,0,0,0,0,0
$GC,4268,-1.24,-146.0,410.6,-8.2,224,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2188,3784,0,0,0,0,0,0
$GC,4509,-1.24,-146.0,429.5,-7.7,230,4513,0.00,2.60,0.00,0.000,4,0.000,0.057,2991,3768,3783,0,0,0,0,0,0
$GC,4530,-1.24,-146.0,431.3,-7.8,230,4535,0.00,2.53,0.00,0.000,6,0.000,0.035,2991,2196,3783,0,0,0,0,0,0
$GC,4788,-1.24,-146.0,450.4,-7.4,237,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2197,3781,0,0,0,0,0,0
$GC,5030,-1.24,-146.0,468.9,-7.7,243,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2197,3781,0,0,0,0,0,0
$GC,5273,-1.24,-146.0,487.7,-7.7,249,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2197,3780,0,0,0,0,0,0
$GC,5517,-1.24,-146.0,506.2,-7.6,255,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2197,3779,0,0,0,0,0,0
$GC,5763,-1.24,-146.0,523.5,-7.0,261,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2196,3777,0,0,0,0,0,0
$GC,6005,-1.28,-146.0,540.0,-6.8,267,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2196,3776,0,0,0,0,0,0
$GC,6249,-1.32,-146.0,557.6,-7.2,273,6253,0.00,2.75,0.00,0.000,4,0.000,0.083,2991,3763,3776,0,0,0,0,0,0
$GC,6273,-1.36,-146.0,559.5,-8.3,273,6278,0.12,2.67,0.00,0.000,6,0.067,0.059,2942,2183,3776,0,0,0,0,0,0
$GC,6529,-1.30,-146.0,583.6,-9.5,280,6534,0.15,2.75,0.00,0.000,4,0.092,0.073,2978,3762,3774,0,0,0,0,0,0
$GC,6551,-1.30,-146.0,585.5,-8.5,280,6556,0.00,2.67,0.00,0.000,6,0.000,0.064,2977,2194,3774,0,0,0,0,0,0
$GC,6810,-1.30,-146.0,605.5,-7.7,287,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2194,3772,0,0,0,0,0,0
$GC,7050,-1.30,-146.0,623.5,-7.3,293,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2194,3771,0,0,0,0,0,0
$GC,7294,-1.30,-146.0,640.9,-7.2,299,7298,0.00,2.83,0.00,0.000,4,0.000,0.096,2977,3760,3771,0,0,0,0,0,0
$GC,7323,-1.30,-146.0,643.0,-7.6,299,7328,0.00,2.78,0.00,0.000,6,0.000,0.079,2977,2197,3770,0,0,0,0,0,0
$GC,7573,-1.30,-146.0,660.6,-7.0,305,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2197,3769,0,0,0,0,0,0
$GC,7817,-1.30,-146.0,678.2,-7.3,311,7821,0.00,2.85,0.00,0.000,4,0.000,0.102,2977,3758,3768,0,0,0,0,0,0
$GC,7846,-1.30,-146.0,680.5,-8.3,311,7851,0.00,2.88,0.00,0.000,6,0.000,0.104,2977,2196,3767,0,0,0,0,0,0
$GC,8098,-1.30,-146.0,699.4,-7.6,317,8103,0.00,3.15,0.00,0.000,4,0.000,0.146,2977,616,3766,0,0,0,0,0,0
$GC,8115,-1.30,-146.0,700.8,-7.6,317,8119,0.00,2.80,0.00,0.000,6,0.000,0.091,2977,2158,3766,0,0,0,0,0,0
$GC,8375,-1.30,-146.0,721.0,-7.7,324,8380,0.00,3.12,0.00,0.000,4,0.000,0.138,2977,3754,3765,0,0,0,0,0,0
$GC,8410,-1.30,-146.0,723.7,-8.3,324,8416,0.00,2.75,0.00,0.000,6,0.000,0.078,2977,2203,3764,0,0,0,0,0,0
$GC,8660,-1.30,-146.0,742.8,-7.5,331,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3764,0,0,0,0,0,0
$GC,8904,-1.30,-146.0,761.3,-7.7,337,8909,0.00,2.80,0.00,0.000,4,0.000,0.093,2977,3760,3762,0,0,0,0,0,0
$GC,8928,-1.30,-146.0,763.2,-8.5,337,8932,0.00,2.72,0.00,0.000,6,0.000,0.074,2977,2209,3762,0,0,0,0,0,0
$GC,9183,-1.30,-146.0,783.9,-8.1,344,9188,0.00,3.03,0.00,0.000,4,0.000,0.126,2977,622,3761,0,0,0,0,0,0
$GC,9210,-1.30,-146.0,786.3,-9.0,344,9214,0.00,2.65,0.00,0.000,6,0.000,0.069,2977,2163,3760,0,0,0,0,0,0
$GC,9462,-1.30,-146.0,806.0,-8.0,350,9467,0.00,2.95,0.00,0.000,4,0.000,0.100,2977,3797,3759,0,0,0,0,0,0
$GC,9484,-1.30,-146.0,808.2,-8.6,350,9488,0.00,2.78,0.00,0.000,6,0.000,0.072,2977,2200,3759,0,0,0,0,0,0
$GC,9739,-1.30,-146.0,829.0,-8.2,357,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3759,0,0,0,0,0,0
$GC,9982,-1.30,-146.0,848.8,-8.1,363,9987,0.00,2.83,0.00,0.000,4,0.000,0.084,2977,3797,3758,0,0,0,0,0,0
$GC,10000,-1.30,-146.0,850.2,-8.0,363,10005,0.00,2.72,0.00,0.000,6,0.000,0.065,2977,2213,3758,0,0,0,0,0,0
$GC,10264,-1.30,-146.0,870.6,-7.7,370,10268,0.00,2.80,0.00,0.000,4,0.000,0.080,2977,3797,3757,0,0,0,0,0,0
$GC,10285,-1.30,-146.0,872.5,-7.3,370,10290,0.00,2.75,0.00,0.000,6,0.000,0.067,2977,2212,3756,0,0,0,0,0,0
$GC,10543,-1.34,-146.0,890.8,-7.1,377,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2212,3755,0,0,0,0,0,0
$STATE,10700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10700,begin apogee
$GC,10706,-0.31,0.0,902.1,7.0,381,10829,0.93,0.00,119.53,1.218,6,0.069,0.000,3190,2379,3190,0,0,0,0,0,0
$STATE,10830,end apogee,CONTROL_FINISHED_OK
$STATE,10830,begin climb
$GC,10832,1.27,146.0,904.6,0.0,384,10969,1.42,2.72,127.15,1.187,4,0.035,0.075,3542,3922,2592,0,0,0,0,0,0
$GC,11031,1.14,146.0,891.3,11.7,388,11036,0.17,2.70,0.00,0.000,6,0.110,0.058,3508,2370,2588,0,0,0,0,0,0
$GC,11283,1.15,154.2,867.4,9.6,394,11298,0.00,2.80,7.40,0.937,4,0.000,0.067,3508,3927,2560,0,0,0,0,0,0
$GC,11320,1.10,154.2,863.2,10.7,394,11326,0.00,2.67,0.00,0.000,6,0.000,0.051,3507,2366,2560,0,0,0,0,0,0
$GC,11573,1.12,171.0,839.9,9.2,401,11596,0.00,2.75,16.27,1.073,4,0.000,0.063,3507,3930,2492,0,0,0,0,0,0
$GC,11614,1.07,171.0,835.6,10.0,402,11619,0.00,2.67,0.00,0.000,6,0.000,0.047,3508,2371,2491,0,0,0,0,0,0
$GC,11897,1.07,171.0,807.4,10.1,409,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2371,2488,0,0,0,0,0,0
$GC,12143,1.08,178.0,783.6,9.7,415,12153,0.00,0.00,7.25,0.926,6,0.000,0.000,3507,2371,2464,0,0,0,0,0,0
$GC,12426,1.08,178.0,753.4,10.8,422,12431,0.00,2.65,0.00,0.000,4,0.000,0.056,3508,3932,2462,0,0,0,0,0,0
$GC,12465,1.08,178.0,749.0,10.9,423,12469,0.00,2.65,0.00,0.000,6,0.000,0.046,3508,2370,2461,0,0,0,0,0,0
$GC,12750,1.08,178.0,717.7,11.1,430,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2370,2460,0,0,0,0,0,0
$GC,12991,1.08,178.0,692.2,10.4,436,12996,0.00,2.70,0.00,0.000,4,0.000,0.057,3507,3939,2459,0,0,0,0,0,0
$GC,13030,1.08,178.0,687.8,11.3,437,13035,0.00,2.65,0.00,0.000,6,0.000,0.047,3508,2374,2459,0,0,0,0,0,0
$GC,13316,1.08,178.0,657.7,10.7,444,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2374,2458,0,0,0,0,0,0
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$STATE,19651,end climb,SURFACE_DEPTH_REACHED
$STATE,19651,begin surface coast
$FINISH,0.9,1.008029
$STATE,19693,end surface coast,CONTROL_FINISHED_OK
$STATE,19693,begin surface
$SM_CCo,19716,19.73,0.479,0,0,1763,350.04
$SM_GC,2.18,0.00,0.00,19.73,0.000,0.000,0.479,463,2164,1763,-12.87,-1.33,350.04
$IRIDIUM_FIX,1918.37,-8116.97,180602,111100
$TT8_MAMPS,0.025311
$HUMID,59.88
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.50
$XPDR_PINGS,65
$24V_AH,23.2,44.615
$10V_AH,10.2,39.696
$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,30.550,196.625,418.525,19.725,0.000,25.830,46.146,184.211,16.250,0.000,33.013,1526.451,15092.520,550.607,2261.935,744.617,33.371,1533.646,0.000,2239.567,0.000,0.537,0.000
$DEVICE_MAMPS,162.604,146.497,1217.996,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.040,338.722,431.117,555.255,1056.377,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,57479,736
$CAP_FILE_SIZE,168427,0
$CFSIZE,260165632,106065920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240313,205820,1927.471,-8116.771,35,99.0,54,-3.7