version: 66.06
glider: 146
mission: 8
dive: 323
start: 3 25 113 14 2 7
data:
$ID,146
$MISSION,8
$DIVE,323
$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,-313813
$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,57
$R_STBD_OVSHOOT,44
$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
$GPS1,135300,1928.735,-8114.103,38,1.5,38,-3.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.4
$GPS2,140113,1928.733,-8114.095,12,1.3,12,-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,-0.114
$KALMAN_X,-100910.5,-521.4,-332.3,90093.1,-786.2
$KALMAN_Y,62179.4,272.3,762.1,-53652.6,-462.7
$MHEAD_RNG_PITCHd_Wd,119.8,13221,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-69.60,0.000,2,0.000,0.000,462,2182,3439,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.3,-3.9,9,123,13.73,2.58,-6.65,0.000,4,0.161,0.041,2978,3792,3785,0,0,0,0,0,0
$GC,186,-1.14,-146.0,26.9,-18.5,21,195,0.10,2.50,0.00,0.000,6,0.087,0.024,3005,2229,3786,0,0,0,0,0,0
$GC,466,-0.98,-146.0,70.4,-15.7,47,471,0.17,2.65,0.00,0.000,4,0.104,0.046,3043,630,3787,0,0,0,0,0,0
$GC,489,-0.85,-146.0,74.9,-15.7,48,494,0.15,2.45,0.00,0.000,6,0.103,0.016,3076,2224,3787,0,0,0,0,0,0
$GC,754,-0.85,-146.0,105.1,-11.0,72,758,0.00,2.60,0.00,0.000,4,0.000,0.044,3076,634,3787,0,0,0,0,0,0
$GC,797,-0.85,-146.0,109.9,-11.0,75,801,0.00,2.40,0.00,0.000,6,0.000,0.016,3076,2199,3787,0,0,0,0,0,0
$GC,1064,-0.85,-146.0,139.0,-11.2,99,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2199,3788,0,0,0,0,0,0
$GC,1331,-0.94,-146.0,162.7,-7.3,124,1336,0.00,2.55,0.00,0.000,4,0.000,0.046,3076,636,3788,0,0,0,0,0,0
$GC,1360,-1.05,-146.0,165.0,-7.1,126,1365,0.17,2.35,0.00,0.000,6,0.051,0.016,3006,2188,3788,0,0,0,0,0,0
$GC,1621,-1.05,-146.0,190.5,-9.8,150,1623,0.12,0.00,0.00,0.000,6,0.094,0.000,3035,2190,3789,0,0,0,0,0,0
$GC,1875,-1.11,-146.0,208.6,-6.6,165,1880,0.00,2.58,0.00,0.000,4,0.000,0.048,3035,630,3789,0,0,0,0,0,0
$GC,1892,-1.17,-146.0,210.2,-6.8,165,1897,0.12,2.38,0.00,0.000,6,0.065,0.018,2978,2177,3789,0,0,0,0,0,0
$GC,2153,-1.13,-146.0,233.4,-8.7,172,2155,0.15,0.00,0.00,0.000,6,0.090,0.000,3014,2177,3789,0,0,0,0,0,0
$GC,2399,-1.17,-146.0,251.1,-7.0,178,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2177,3789,0,0,0,0,0,0
$GC,2641,-1.22,-146.0,269.1,-7.3,184,2645,0.00,2.55,0.00,0.000,4,0.000,0.047,3014,3771,3789,0,0,0,0,0,0
$GC,2662,-1.27,-146.0,270.8,-7.4,184,2668,0.12,2.50,0.00,0.000,6,0.064,0.028,2958,2174,3789,0,0,0,0,0,0
$GC,2921,-1.22,-146.0,294.4,-9.3,191,2926,0.17,2.58,0.00,0.000,4,0.084,0.043,2998,3768,3788,0,0,0,0,0,0
$GC,2954,-1.25,-146.0,297.4,-8.1,191,2960,0.00,2.47,0.00,0.000,6,0.000,0.023,2999,2182,3788,0,0,0,0,0,0
$GC,3204,-1.25,-146.0,316.2,-7.5,198,3209,0.00,2.58,0.00,0.000,4,0.000,0.064,2998,638,3788,0,0,0,0,0,0
$GC,3240,-1.25,-146.0,318.9,-7.5,198,3245,0.00,2.40,0.00,0.000,6,0.000,0.031,2999,2169,3788,0,0,0,0,0,0
$GC,3490,-1.25,-146.0,336.6,-7.0,205,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2169,3787,0,0,0,0,0,0
$GC,3734,-1.25,-146.0,355.9,-8.0,211,3738,0.00,2.62,0.00,0.000,4,0.000,0.049,2999,3780,3786,0,0,0,0,0,0
$GC,3759,-1.25,-146.0,357.7,-8.0,211,3763,0.00,2.53,0.00,0.000,6,0.000,0.033,2998,2180,3786,0,0,0,0,0,0
$GC,4014,-1.25,-146.0,380.0,-8.7,218,4018,0.00,2.60,0.00,0.000,4,0.000,0.050,2998,3779,3785,0,0,0,0,0,0
$GC,4030,-1.29,-146.0,381.4,-8.3,218,4034,0.00,2.55,0.00,0.000,6,0.000,0.034,2998,2185,3786,0,0,0,0,0,0
$GC,4293,-1.33,-146.0,401.3,-7.5,225,4298,0.12,2.70,0.00,0.000,4,0.067,0.077,2945,632,3784,0,0,0,0,0,0
$GC,4321,-1.28,-146.0,404.1,-9.8,225,4326,0.17,2.47,0.00,0.000,6,0.089,0.032,2985,2181,3784,0,0,0,0,0,0
$GC,4571,-1.28,-146.0,423.8,-7.8,231,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2181,3783,0,0,0,0,0,0
$GC,4817,-1.28,-146.0,442.0,-7.4,237,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2181,3782,0,0,0,0,0,0
$GC,5059,-1.28,-146.0,460.9,-7.8,243,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2181,3781,0,0,0,0,0,0
$GC,5302,-1.28,-146.0,480.1,-7.9,249,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2181,3780,0,0,0,0,0,0
$GC,5546,-1.28,-146.0,499.7,-8.1,255,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2181,3778,0,0,0,0,0,0
$GC,5792,-1.28,-146.0,520.5,-8.7,261,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2182,3778,0,0,0,0,0,0
$GC,6034,-1.28,-146.0,541.9,-8.8,267,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2182,3777,0,0,0,0,0,0
$GC,6277,-1.28,-146.0,562.2,-8.2,273,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2182,3776,0,0,0,0,0,0
$GC,6521,-1.28,-146.0,581.1,-7.6,279,6526,0.00,2.85,0.00,0.000,4,0.000,0.095,2985,3781,3774,0,0,0,0,0,0
$GC,6539,-1.28,-146.0,582.4,-7.4,279,6544,0.00,2.72,0.00,0.000,6,0.000,0.058,2985,2184,3774,0,0,0,0,0,0
$GC,6800,-1.28,-146.0,601.4,-7.1,286,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2185,3772,0,0,0,0,0,0
$GC,7043,-1.28,-146.0,618.6,-7.2,292,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2185,3771,0,0,0,0,0,0
$GC,7289,-1.28,-146.0,636.4,-7.4,298,7294,0.00,2.88,0.00,0.000,4,0.000,0.097,2985,3780,3770,0,0,0,0,0,0
$GC,7305,-1.28,-146.0,637.7,-7.2,298,7310,0.00,2.83,0.00,0.000,6,0.000,0.082,2985,2180,3770,0,0,0,0,0,0
$GC,7566,-1.28,-146.0,656.5,-7.2,305,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2180,3769,0,0,0,0,0,0
$GC,7812,-1.28,-146.0,673.7,-7.0,311,7817,0.00,2.92,0.00,0.000,4,0.000,0.098,2985,3779,3768,0,0,0,0,0,0
$GC,7836,-1.28,-146.0,675.7,-7.3,311,7840,0.00,2.90,0.00,0.000,6,0.000,0.092,2985,2189,3768,0,0,0,0,0,0
$GC,8091,-1.28,-146.0,694.4,-7.5,318,8096,0.00,2.95,0.00,0.000,4,0.000,0.110,2985,3779,3766,0,0,0,0,0,0
$GC,8112,-1.28,-146.0,696.2,-8.1,318,8117,0.00,2.95,0.00,0.000,6,0.000,0.104,2985,2194,3766,0,0,0,0,0,0
$GC,8370,-1.31,-146.0,715.5,-7.6,325,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2194,3765,0,0,0,0,0,0
$GC,8611,-1.31,-146.0,733.6,-7.4,331,8616,0.00,3.12,0.00,0.000,4,0.000,0.138,2985,3783,3764,0,0,0,0,0,0
$GC,8658,-1.37,-146.0,737.1,-8.1,332,8663,0.10,2.85,0.00,0.000,6,0.080,0.081,2944,2186,3763,0,0,0,0,0,0
$GC,8937,-1.33,-146.0,761.9,-9.0,339,8939,0.12,0.00,0.00,0.000,6,0.100,0.000,2973,2186,3762,0,0,0,0,0,0
$GC,9180,-1.33,-146.0,781.3,-7.9,345,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2185,3761,0,0,0,0,0,0
$GC,9426,-1.33,-146.0,800.3,-7.8,351,9431,0.00,2.85,0.00,0.000,4,0.000,0.092,2973,3782,3760,0,0,0,0,0,0
$GC,9458,-1.33,-146.0,803.2,-8.2,351,9464,0.00,2.78,0.00,0.000,6,0.000,0.077,2973,2199,3760,0,0,0,0,0,0
$GC,9709,-1.33,-146.0,822.4,-7.6,358,9713,0.00,2.83,0.00,0.000,4,0.000,0.086,2973,3786,3759,0,0,0,0,0,0
$GC,9730,-1.33,-146.0,824.2,-8.3,358,9734,0.00,2.78,0.00,0.000,6,0.000,0.074,2973,2197,3759,0,0,0,0,0,0
$GC,9987,-1.33,-146.0,844.0,-7.8,365,9992,0.00,2.80,0.00,0.000,4,0.000,0.081,2973,3782,3758,0,0,0,0,0,0
$GC,10014,-1.33,-146.0,846.4,-8.4,365,10019,0.00,2.75,0.00,0.000,6,0.000,0.074,2973,2205,3758,0,0,0,0,0,0
$GC,10264,-1.33,-146.0,864.9,-7.3,371,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2206,3758,0,0,0,0,0,0
$GC,10510,-1.33,-146.0,882.2,-7.0,377,10515,0.00,2.78,0.00,0.000,4,0.000,0.084,2973,3782,3756,0,0,0,0,0,0
$GC,10543,-1.33,-146.0,884.9,-8.4,377,10549,0.00,2.72,0.00,0.000,6,0.000,0.068,2973,2213,3756,0,0,0,0,0,0
$STATE,10750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10750,begin apogee
$GC,10756,-0.31,0.0,900.2,7.5,383,10879,0.95,0.00,119.72,1.209,6,0.068,0.000,3191,2366,3190,0,0,0,0,0,0
$STATE,10880,end apogee,CONTROL_FINISHED_OK
$STATE,10880,begin climb
$GC,10885,1.27,146.0,903.3,0.0,386,11020,1.42,2.85,126.97,1.178,4,0.035,0.076,3544,3930,2594,0,0,0,0,0,0
$GC,11084,1.14,146.0,891.6,11.9,390,11090,0.17,2.72,0.00,0.000,6,0.110,0.062,3509,2369,2589,0,0,0,0,0,0
$GC,11334,1.16,160.0,867.7,9.4,396,11349,0.00,0.00,13.00,1.041,6,0.000,0.000,3509,2369,2537,0,0,0,0,0,0
$GC,11578,1.16,160.0,843.5,10.0,402,11582,0.00,2.72,0.00,0.000,4,0.000,0.063,3509,3931,2533,0,0,0,0,0,0
$GC,11630,1.12,160.0,838.0,11.1,403,11634,0.00,2.65,0.00,0.000,6,0.000,0.052,3509,2376,2533,0,0,0,0,0,0
$GC,11902,1.12,161.7,810.7,9.9,410,11906,0.00,2.65,0.00,0.000,4,0.000,0.058,3509,3933,2531,0,0,0,0,0,0
$GC,11965,1.08,161.7,804.4,10.7,411,11969,0.00,2.62,0.00,0.000,6,0.000,0.048,3509,2382,2531,0,0,0,0,0,0
$GC,12225,1.09,170.9,779.3,9.6,418,12241,0.00,2.70,10.07,0.987,4,0.000,0.056,3509,3931,2492,0,0,0,0,0,0
$GC,12291,1.09,170.9,772.4,10.7,419,12295,0.00,2.62,0.00,0.000,6,0.000,0.043,3509,2388,2491,0,0,0,0,0,0
$GC,12548,1.10,182.3,748.0,9.5,426,12562,0.00,0.00,11.90,0.999,6,0.000,0.000,3509,2388,2446,0,0,0,0,0,0
$GC,12790,1.11,191.2,724.7,9.6,432,12804,0.00,2.70,9.40,0.950,4,0.000,0.061,3509,3932,2409,0,0,0,0,0,0
$GC,12843,1.11,191.2,719.0,10.9,433,12848,0.00,2.62,0.00,0.000,6,0.000,0.045,3509,2390,2408,0,0,0,0,0,0
$GC,13113,1.12,199.1,693.1,9.6,440,13127,0.00,2.70,8.75,0.924,4,0.000,0.061,3509,3924,2378,0,0,0,0,0,0
$GC,13161,1.12,199.1,687.6,11.2,441,13165,0.00,2.60,0.00,0.000,6,0.000,0.050,3509,2398,2376,0,0,0,0,0,0
$GC,13441,1.12,199.1,659.2,10.4,448,13445,0.00,2.62,0.00,0.000,4,0.000,0.061,3509,3930,2375,0,0,0,0,0,0
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$GC,16405,1.17,237.9,350.3,11.6,521,16409,0.00,2.45,0.00,0.000,4,0.000,0.051,3509,3937,2220,0,0,0,0,0,0
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$STATE,19623,end climb,SURFACE_DEPTH_REACHED
$STATE,19624,begin surface coast
$FINISH,1.0,1.009907
$STATE,19666,end surface coast,CONTROL_FINISHED_OK
$STATE,19666,begin surface
$SM_CCo,19690,52.62,0.493,0,0,1763,350.04
$SM_GC,1.76,0.00,0.00,52.62,0.000,0.000,0.493,464,2200,1763,-12.86,-0.25,350.04
$IRIDIUM_FIX,1920.65,-8112.10,190602,080853
$TT8_MAMPS,0.025311
$HUMID,59.13
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.70
$XPDR_PINGS,62
$24V_AH,23.2,45.200
$10V_AH,10.3,40.200
$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,30.825,207.750,384.875,52.625,0.000,26.079,51.541,247.931,15.500,0.000,13.560,1553.502,14975.283,581.495,2305.393,814.879,33.371,1557.757,0.000,2302.803,0.000,0.538,0.000
$DEVICE_MAMPS,161.070,138.060,1208.792,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,503.889,347.542,440.113,572.801,1091.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,57426,744
$CAP_FILE_SIZE,172990,0
$CFSIZE,260165632,105775104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250313,193236,1929.266,-8113.363,40,1.3,40,-3.8