version: 66.06
glider: 146
mission: 8
dive: 330
start: 3 27 113 5 53 31
data:
$ID,146
$MISSION,8
$DIVE,330
$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,665.4989
$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,-313930.41
$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,44
$R_STBD_OVSHOOT,41
$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
$GPS1,053024,1929.067,-8112.481,46,1.2,46,-3.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.8
$GPS2,055236,1928.783,-8112.667,11,1.1,28,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.151
$KALMAN_X,-124235.8,183.9,-186.1,115057.4,-2310.8
$KALMAN_Y,82970.3,41.2,262.8,-73615.9,1271.0
$MHEAD_RNG_PITCHd_Wd,129.4,11374,-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,-70.60,0.000,2,0.000,0.000,458,2181,3546,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-5.8,9,122,13.30,2.55,-4.22,0.000,4,0.153,0.057,2977,644,3787,0,0,0,0,0,0
$GC,247,-1.06,-146.0,42.3,-17.9,26,252,0.22,2.45,0.00,0.000,6,0.100,0.020,3025,2222,3787,0,0,0,0,0,0
$GC,517,-0.95,-146.0,80.5,-13.8,50,522,0.12,2.62,0.00,0.000,4,0.110,0.047,3053,645,3787,0,0,0,0,0,0
$GC,587,-0.95,-146.0,90.5,-12.4,55,591,0.00,2.38,0.00,0.000,6,0.000,0.017,3053,2210,3788,0,0,0,0,0,0
$GC,856,-0.89,-146.0,121.8,-11.8,79,861,0.00,2.60,0.00,0.000,4,0.000,0.047,3053,641,3788,0,0,0,0,0,0
$GC,874,-0.83,-146.0,124.9,-11.8,80,879,0.12,2.38,0.00,0.000,6,0.107,0.015,3081,2210,3788,0,0,0,0,0,0
$GC,1137,-0.88,-146.0,151.3,-9.8,104,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2210,3788,0,0,0,0,0,0
$GC,1392,-0.99,-146.0,171.3,-6.9,128,1397,0.15,2.47,0.00,0.000,4,0.056,0.031,3014,3763,3788,0,0,0,0,0,0
$GC,1409,-1.07,-146.0,172.7,-7.0,129,1414,0.00,2.40,0.00,0.000,6,0.000,0.026,3013,2200,3788,0,0,0,0,0,0
$GC,1674,-1.07,-146.0,194.0,-7.7,153,1679,0.00,2.53,0.00,0.000,4,0.000,0.048,3013,644,3788,0,0,0,0,0,0
$GC,1699,-1.07,-146.0,195.6,-7.5,154,1704,0.00,2.35,0.00,0.000,6,0.000,0.021,3013,2207,3788,0,0,0,0,0,0
$GC,1964,-1.07,-146.0,216.5,-7.9,164,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2207,3788,0,0,0,0,0,0
$GC,2206,-1.11,-146.0,234.7,-7.4,170,2210,0.00,2.55,0.00,0.000,4,0.000,0.047,3013,642,3789,0,0,0,0,0,0
$GC,2256,-1.16,-146.0,238.7,-7.9,171,2260,0.00,2.38,0.00,0.000,6,0.000,0.021,3013,2205,3789,0,0,0,0,0,0
$GC,2531,-1.21,-146.0,259.1,-7.6,178,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2205,3788,0,0,0,0,0,0
$GC,2772,-1.26,-146.0,277.6,-7.5,184,2777,0.12,2.58,0.00,0.000,4,0.066,0.050,2959,644,3788,0,0,0,0,0,0
$GC,2816,-1.20,-146.0,282.1,-10.7,185,2821,0.17,2.40,0.00,0.000,6,0.087,0.022,3000,2207,3788,0,0,0,0,0,0
$GC,3097,-1.20,-146.0,305.7,-8.3,192,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2207,3786,0,0,0,0,0,0
$GC,3338,-1.20,-146.0,324.1,-7.3,198,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2206,3786,0,0,0,0,0,0
$GC,3582,-1.20,-146.0,341.0,-6.9,204,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2206,3785,0,0,0,0,0,0
$GC,3828,-1.20,-146.0,359.2,-7.7,210,3832,0.00,2.62,0.00,0.000,4,0.000,0.060,2999,640,3783,0,0,0,0,0,0
$GC,3845,-1.20,-146.0,360.7,-8.2,210,3849,0.00,2.45,0.00,0.000,6,0.000,0.025,2999,2202,3783,0,0,0,0,0,0
$GC,4106,-1.20,-146.0,382.1,-8.0,217,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2202,3782,0,0,0,0,0,0
$GC,4352,-1.24,-146.0,402.5,-8.4,223,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2202,3782,0,0,0,0,0,0
$GC,4593,-1.28,-146.0,422.6,-8.3,229,4598,0.00,2.60,0.00,0.000,4,0.000,0.051,3000,3787,3780,0,0,0,0,0,0
$GC,4610,-1.32,-146.0,423.9,-8.0,229,4615,0.12,2.53,0.00,0.000,6,0.068,0.038,2948,2226,3780,0,0,0,0,0,0
$GC,4873,-1.27,-146.0,449.2,-9.7,236,4879,0.15,2.85,0.00,0.000,4,0.093,0.087,2982,630,3779,0,0,0,0,0,0
$GC,4895,-1.27,-146.0,451.8,-9.7,236,4900,0.00,2.55,0.00,0.000,6,0.000,0.042,2982,2207,3779,0,0,0,0,0,0
$GC,5152,-1.27,-146.0,472.4,-8.1,243,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2207,3778,0,0,0,0,0,0
$GC,5397,-1.27,-146.0,492.4,-8.1,249,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2208,3777,0,0,0,0,0,0
$GC,5638,-1.27,-146.0,511.5,-7.8,255,5643,0.00,2.80,0.00,0.000,4,0.000,0.089,2982,630,3776,0,0,0,0,0,0
$GC,5671,-1.27,-146.0,514.3,-8.3,255,5676,0.00,2.58,0.00,0.000,6,0.000,0.047,2982,2203,3775,0,0,0,0,0,0
$GC,5923,-1.27,-146.0,533.6,-7.6,262,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3774,0,0,0,0,0,0
$GC,6164,-1.27,-146.0,551.5,-7.3,268,6169,0.00,2.78,0.00,0.000,4,0.000,0.084,2982,3794,3772,0,0,0,0,0,0
$GC,6197,-1.27,-146.0,553.9,-7.3,268,6203,0.00,2.67,0.00,0.000,6,0.000,0.058,2982,2207,3772,0,0,0,0,0,0
$GC,6447,-1.27,-146.0,571.3,-6.9,275,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2208,3770,0,0,0,0,0,0
$GC,6693,-1.27,-146.0,589.0,-7.3,281,6698,0.00,2.78,0.00,0.000,4,0.000,0.079,2982,3797,3770,0,0,0,0,0,0
$GC,6714,-1.27,-146.0,590.7,-7.1,281,6719,0.00,2.70,0.00,0.000,6,0.000,0.063,2982,2209,3769,0,0,0,0,0,0
$GC,6970,-1.27,-146.0,609.1,-7.2,288,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2209,3768,0,0,0,0,0,0
$GC,7216,-1.27,-146.0,627.4,-7.5,294,7220,0.00,2.83,0.00,0.000,4,0.000,0.086,2982,3800,3767,0,0,0,0,0,0
$GC,7231,-1.27,-146.0,628.9,-7.6,294,7236,0.00,2.75,0.00,0.000,6,0.000,0.068,2982,2210,3767,0,0,0,0,0,0
$GC,7493,-1.27,-146.0,649.3,-7.8,301,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2210,3765,0,0,0,0,0,0
$GC,7736,-1.27,-146.0,668.5,-7.8,307,7741,0.00,2.88,0.00,0.000,4,0.000,0.094,2982,3794,3764,0,0,0,0,0,0
$GC,7754,-1.27,-146.0,669.9,-7.9,307,7759,0.00,2.83,0.00,0.000,6,0.000,0.091,2982,2216,3764,0,0,0,0,0,0
$GC,8015,-1.27,-146.0,690.2,-7.8,314,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2217,3763,0,0,0,0,0,0
$GC,8259,-1.27,-146.0,708.9,-7.7,320,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2216,3762,0,0,0,0,0,0
$GC,8505,-1.27,-146.0,727.6,-7.7,326,8510,0.00,3.00,0.00,0.000,4,0.000,0.125,2982,3791,3761,0,0,0,0,0,0
$GC,8538,-1.27,-146.0,730.6,-8.3,326,8544,0.00,2.80,0.00,0.000,6,0.000,0.084,2982,2221,3761,0,0,0,0,0,0
$GC,8788,-1.27,-146.0,749.9,-7.7,333,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2221,3760,0,0,0,0,0,0
$GC,9034,-1.27,-146.0,767.9,-7.5,339,9039,0.00,2.80,0.00,0.000,4,0.000,0.089,2982,3798,3759,0,0,0,0,0,0
$GC,9061,-1.27,-146.0,770.4,-8.2,339,9066,0.00,2.78,0.00,0.000,6,0.000,0.078,2983,2219,3759,0,0,0,0,0,0
$GC,9311,-1.27,-146.0,788.6,-7.3,345,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2219,3758,0,0,0,0,0,0
$GC,9555,-1.27,-146.0,805.6,-7.1,351,9560,0.00,2.80,0.00,0.000,4,0.000,0.083,2982,3798,3758,0,0,0,0,0,0
$GC,9579,-1.27,-146.0,807.3,-7.7,351,9583,0.00,2.72,0.00,0.000,6,0.000,0.074,2982,2233,3757,0,0,0,0,0,0
$GC,9834,-1.27,-146.0,825.0,-6.9,358,9838,0.00,2.75,0.00,0.000,4,0.000,0.082,2982,3793,3756,0,0,0,0,0,0
$GC,9855,-1.27,-146.0,826.7,-7.5,358,9860,0.00,2.72,0.00,0.000,6,0.000,0.069,2982,2233,3756,0,0,0,0,0,0
$GC,10114,-1.31,-146.0,844.9,-6.9,365,10118,0.00,2.75,0.00,0.000,4,0.000,0.079,2982,3793,3755,0,0,0,0,0,0
$GC,10129,-1.31,-146.0,846.3,-7.0,365,10134,0.00,2.72,0.00,0.000,6,0.000,0.074,2982,2234,3755,0,0,0,0,0,0
$GC,10391,-1.35,-146.0,864.1,-6.8,372,10396,0.00,2.75,0.00,0.000,4,0.000,0.085,2982,3800,3754,0,0,0,0,0,0
$GC,10415,-1.35,-146.0,865.8,-7.9,372,10419,0.00,2.72,0.00,0.000,6,0.000,0.071,2982,2240,3754,0,0,0,0,0,0
$GC,10670,-1.39,-146.0,883.8,-7.0,379,10676,0.12,2.75,0.00,0.000,4,0.073,0.078,2940,3800,3753,0,0,0,0,0,0
$GC,10687,-1.39,-146.0,885.2,-7.0,379,10691,0.00,2.70,0.00,0.000,6,0.000,0.071,2940,2248,3753,0,0,0,0,0,0
$STATE,10863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10864,begin apogee
$GC,10872,-0.31,0.0,900.9,8.8,384,10995,1.10,0.00,118.97,1.210,6,0.070,0.000,3190,2376,3189,0,0,0,0,0,0
$STATE,10995,end apogee,CONTROL_FINISHED_OK
$STATE,10996,begin climb
$GC,10998,1.27,146.0,903.6,0.0,387,11135,1.42,2.72,126.65,1.183,4,0.037,0.076,3539,3928,2592,0,0,0,0,0,0
$GC,11203,1.16,146.0,890.1,12.1,391,11209,0.12,2.72,0.00,0.000,6,0.119,0.060,3515,2367,2588,0,0,0,0,0,0
$GC,11455,1.13,156.4,866.1,9.5,398,11467,0.00,0.00,9.43,0.992,6,0.000,0.000,3515,2368,2552,0,0,0,0,0,0
$GC,11697,1.10,159.8,842.5,9.8,404,11706,0.00,2.75,4.38,0.742,4,0.000,0.059,3515,3938,2538,0,0,0,0,0,0
$GC,11746,1.04,159.8,837.1,11.2,405,11751,0.12,2.65,0.00,0.000,6,0.119,0.050,3489,2369,2537,0,0,0,0,0,0
$GC,12021,1.08,190.2,813.1,8.6,412,12055,0.00,2.75,28.67,1.112,4,0.000,0.054,3489,3946,2414,0,0,0,0,0,0
$GC,12107,1.09,199.3,804.9,9.6,414,12122,0.00,2.65,9.75,0.984,6,0.000,0.044,3489,2388,2377,0,0,0,0,0,0
$GC,12393,1.15,212.8,778.8,9.4,421,12413,0.00,3.22,13.57,1.027,4,0.000,0.130,3488,775,2321,0,0,0,0,0,0
$GC,12436,1.15,218.3,774.4,9.7,422,12451,0.10,2.70,6.75,0.884,6,0.084,0.041,3521,2381,2299,0,0,0,0,0,0
$GC,12728,1.15,218.3,743.4,10.9,429,12732,0.00,2.70,0.00,0.000,4,0.000,0.070,3521,3934,2296,0,0,0,0,0,0
$GC,12794,1.15,218.3,735.0,11.1,430,12798,0.00,2.60,0.00,0.000,6,0.000,0.045,3521,2386,2295,0,0,0,0,0,0
$GC,13054,1.15,218.3,707.2,10.7,437,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2387,2294,0,0,0,0,0,0
$GC,13300,1.15,218.3,680.4,10.9,443,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2387,2294,0,0,0,0,0,0
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$STATE,19180,end climb,SURFACE_DEPTH_REACHED
$STATE,19180,begin surface coast
$FINISH,1.1,1.011661
$STATE,19217,end surface coast,CONTROL_FINISHED_OK
$STATE,19217,begin surface
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$IRIDIUM_FIX,1920.65,-8112.10,210602,050506
$TT8_MAMPS,0.025311
$HUMID,56.26
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.10
$XPDR_PINGS,66
$24V_AH,23.2,46.300
$10V_AH,10.2,41.101
$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
$DEVICE_SECS,30.325,200.950,443.175,239.475,0.000,145.203,181.016,528.448,16.500,0.000,30.343,1488.402,14967.941,775.273,2188.572,1382.434,33.370,1760.927,0.000,2162.642,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,479.678,314.273,407.962,503.731,960.615,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,54266,709
$CAP_FILE_SIZE,181977,0
$CFSIZE,260165632,105254912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,111936,1928.937,-8112.027,40,1.0,40,-3.8