version: 66.06
glider: 146
mission: 8
dive: 331
start: 3 27 113 11 31 49
data:
$ID,146
$MISSION,8
$DIVE,331
$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,-313943.81
$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,61
$R_STBD_OVSHOOT,40
$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
$GPS1,111936,1928.937,-8112.027,40,1.0,40,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.4
$GPS2,113055,1928.816,-8112.162,11,1.7,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.170
$KALMAN_X,-127041.9,-100.2,-2.2,118841.3,-2463.0
$KALMAN_Y,86050.6,-355.4,320.1,-76295.2,1879.7
$MHEAD_RNG_PITCHd_Wd,134.7,10804,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.27,-146.0,0.0,0.0,0,143,0.00,0.00,-117.03,0.000,2,0.000,0.000,464,2170,3415,0,0,0,0,0,0
$GC,148,-1.27,-146.0,3.2,-3.6,15,175,13.27,2.45,-6.95,0.000,4,0.154,0.051,2978,660,3787,0,0,0,0,0,0
$GC,375,-1.06,-146.0,48.7,-17.4,40,380,0.22,2.40,0.00,0.000,6,0.098,0.017,3026,2228,3787,0,0,0,0,0,0
$GC,640,-0.96,-146.0,84.9,-14.6,64,645,0.12,2.58,0.00,0.000,4,0.113,0.045,3054,662,3787,0,0,0,0,0,0
$GC,695,-0.96,-146.0,93.2,-12.9,68,699,0.00,2.38,0.00,0.000,6,0.000,0.017,3053,2209,3786,0,0,0,0,0,0
$GC,960,-0.91,-146.0,124.0,-10.9,92,964,0.00,2.53,0.00,0.000,4,0.000,0.051,3054,662,3786,0,0,0,0,0,0
$GC,993,-0.86,-146.0,128.3,-11.2,94,1003,0.00,2.35,0.00,0.000,6,0.000,0.024,3054,2193,3786,0,0,0,0,0,0
$GC,1259,-0.86,-146.0,156.7,-9.5,119,1263,0.00,2.50,0.00,0.000,4,0.000,0.048,3054,657,3787,0,0,0,0,0,0
$GC,1291,-0.89,-146.0,159.4,-8.6,121,1295,0.00,2.33,0.00,0.000,6,0.000,0.023,3053,2198,3787,0,0,0,0,0,0
$GC,1558,-0.97,-146.0,181.7,-6.8,145,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2198,3787,0,0,0,0,0,0
$GC,1823,-1.07,-146.0,200.7,-7.6,170,1828,0.12,2.53,0.00,0.000,4,0.065,0.035,2997,3768,3787,0,0,0,0,0,0
$GC,1850,-1.07,-146.0,203.8,-10.2,170,1855,0.12,2.40,0.00,0.000,6,0.093,0.027,3027,2205,3787,0,0,0,0,0,0
$GC,2103,-1.13,-146.0,225.3,-8.2,176,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2205,3787,0,0,0,0,0,0
$GC,2345,-1.20,-146.0,242.8,-6.9,182,2350,0.12,2.58,0.00,0.000,4,0.067,0.054,2971,642,3786,0,0,0,0,0,0
$GC,2366,-1.20,-146.0,245.0,-9.2,182,2371,0.12,2.35,0.00,0.000,6,0.097,0.023,3000,2181,3786,0,0,0,0,0,0
$GC,2624,-1.20,-146.0,266.3,-8.0,189,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2182,3786,0,0,0,0,0,0
$GC,2866,-1.20,-146.0,283.6,-7.0,195,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2182,3785,0,0,0,0,0,0
$GC,3109,-1.20,-146.0,299.8,-6.6,201,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2182,3784,0,0,0,0,0,0
$GC,3355,-1.20,-146.0,317.1,-7.3,207,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2182,3784,0,0,0,0,0,0
$GC,3597,-1.20,-146.0,336.6,-8.2,213,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2182,3782,0,0,0,0,0,0
$GC,3840,-1.20,-146.0,356.8,-8.2,219,3845,0.00,2.60,0.00,0.000,4,0.000,0.062,3000,643,3781,0,0,0,0,0,0
$GC,3857,-1.20,-146.0,358.0,-7.9,219,3861,0.00,2.40,0.00,0.000,6,0.000,0.028,3000,2160,3781,0,0,0,0,0,0
$GC,4120,-1.24,-146.0,378.4,-7.5,226,4125,0.00,2.65,0.00,0.000,4,0.000,0.050,3000,3793,3780,0,0,0,0,0,0
$GC,4143,-1.29,-146.0,380.3,-7.4,226,4147,0.00,2.55,0.00,0.000,6,0.000,0.035,3000,2198,3780,0,0,0,0,0,0
$GC,4398,-1.33,-146.0,398.9,-7.2,233,4400,0.12,0.00,0.00,0.000,6,0.070,0.000,2951,2198,3779,0,0,0,0,0,0
$GC,4646,-1.28,-146.0,421.3,-9.2,239,4648,0.12,0.00,0.00,0.000,6,0.096,0.000,2982,2198,3778,0,0,0,0,0,0
$GC,4885,-1.28,-146.0,439.3,-7.3,245,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2198,3777,0,0,0,0,0,0
$GC,5129,-1.28,-146.0,456.8,-7.2,251,5133,0.00,2.80,0.00,0.000,4,0.000,0.097,2982,623,3775,0,0,0,0,0,0
$GC,5158,-1.28,-146.0,459.0,-7.7,251,5163,0.00,2.53,0.00,0.000,6,0.000,0.044,2982,2170,3775,0,0,0,0,0,0
$GC,5408,-1.28,-146.0,477.5,-7.3,257,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2170,3774,0,0,0,0,0,0
$GC,5652,-1.28,-146.0,496.7,-7.9,263,5656,0.00,2.75,0.00,0.000,4,0.000,0.070,2982,3791,3773,0,0,0,0,0,0
$GC,5681,-1.28,-146.0,499.1,-9.1,263,5686,0.00,2.67,0.00,0.000,6,0.000,0.046,2982,2189,3773,0,0,0,0,0,0
$GC,5931,-1.28,-146.0,520.6,-8.6,269,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2188,3772,0,0,0,0,0,0
$GC,6175,-1.28,-146.0,541.5,-8.6,275,6179,0.00,2.72,0.00,0.000,4,0.000,0.068,2982,3789,3771,0,0,0,0,0,0
$GC,6196,-1.28,-146.0,543.5,-9.3,275,6201,0.00,2.70,0.00,0.000,6,0.000,0.059,2982,2189,3770,0,0,0,0,0,0
$GC,6456,-1.28,-146.0,564.2,-8.1,282,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2190,3769,0,0,0,0,0,0
$GC,6696,-1.28,-146.0,583.2,-7.7,288,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2190,3767,0,0,0,0,0,0
$GC,6939,-1.28,-146.0,601.7,-7.5,294,6944,0.00,2.83,0.00,0.000,4,0.000,0.081,2982,3787,3766,0,0,0,0,0,0
$GC,6981,-1.28,-146.0,604.8,-8.1,295,6986,0.00,2.75,0.00,0.000,6,0.000,0.071,2982,2196,3767,0,0,0,0,0,0
$GC,7264,-1.28,-146.0,626.5,-7.6,302,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3765,0,0,0,0,0,0
$GC,7508,-1.28,-146.0,645.7,-7.9,308,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3764,0,0,0,0,0,0
$GC,7754,-1.28,-146.0,665.4,-8.0,314,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3763,0,0,0,0,0,0
$GC,7995,-1.28,-146.0,684.7,-8.0,320,8000,0.00,2.92,0.00,0.000,4,0.000,0.101,2982,3786,3761,0,0,0,0,0,0
$GC,8016,-1.28,-146.0,686.6,-8.1,320,8021,0.00,2.85,0.00,0.000,6,0.000,0.088,2982,2189,3761,0,0,0,0,0,0
$GC,8274,-1.28,-146.0,706.6,-7.7,327,8278,0.00,2.85,0.00,0.000,4,0.000,0.088,2982,3790,3761,0,0,0,0,0,0
$GC,8297,-1.28,-146.0,708.5,-8.6,327,8302,0.00,2.83,0.00,0.000,6,0.000,0.080,2982,2185,3761,0,0,0,0,0,0
$GC,8552,-1.28,-146.0,728.8,-7.6,334,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2184,3760,0,0,0,0,0,0
$GC,8796,-1.28,-146.0,748.1,-7.9,340,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2183,3759,0,0,0,0,0,0
$GC,9042,-1.28,-146.0,767.6,-7.9,346,9047,0.00,2.83,0.00,0.000,4,0.000,0.081,2982,3789,3757,0,0,0,0,0,0
$GC,9065,-1.28,-146.0,769.7,-8.6,346,9070,0.00,2.78,0.00,0.000,6,0.000,0.069,2982,2196,3757,0,0,0,0,0,0
$GC,9320,-1.28,-146.0,789.7,-7.8,353,9325,0.00,2.80,0.00,0.000,4,0.000,0.080,2982,3788,3756,0,0,0,0,0,0
$GC,9349,-1.28,-146.0,791.9,-8.2,353,9354,0.00,2.75,0.00,0.000,6,0.000,0.067,2982,2195,3756,0,0,0,0,0,0
$GC,9599,-1.28,-146.0,811.0,-7.6,359,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2194,3755,0,0,0,0,0,0
$GC,9843,-1.28,-146.0,830.1,-7.9,365,9848,0.00,2.78,0.00,0.000,4,0.000,0.083,2982,3788,3754,0,0,0,0,0,0
$GC,9883,-1.32,-146.0,833.2,-8.4,366,9887,0.00,2.75,0.00,0.000,6,0.000,0.067,2982,2206,3754,0,0,0,0,0,0
$GC,10169,-1.36,-146.0,854.9,-7.5,373,10173,0.00,2.78,0.00,0.000,4,0.000,0.081,2982,3792,3753,0,0,0,0,0,0
$GC,10196,-1.40,-146.0,857.4,-8.4,373,10201,0.12,2.75,0.00,0.000,6,0.071,0.066,2936,2211,3753,0,0,0,0,0,0
$GC,10449,-1.35,-146.0,879.6,-9.0,379,10451,0.12,0.00,0.00,0.000,6,0.102,0.000,2965,2211,3752,0,0,0,0,0,0
$GC,10690,-1.35,-146.0,898.4,-7.6,385,10694,0.00,2.78,0.00,0.000,4,0.000,0.081,2966,3788,3751,0,0,0,0,0,0
$STATE,10708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10709,begin apogee
$GC,10717,-0.31,0.0,900.2,8.0,385,10839,0.95,0.00,118.28,1.209,6,0.071,0.000,3187,2370,3190,0,0,0,0,0,0
$STATE,10839,end apogee,CONTROL_FINISHED_OK
$STATE,10840,begin climb
$GC,10844,1.27,146.0,903.0,0.0,388,10980,1.42,2.85,127.60,1.180,4,0.036,0.074,3540,3931,2593,0,0,0,0,0,0
$GC,11132,1.16,146.0,880.6,11.7,394,11139,0.12,2.70,0.00,0.000,6,0.119,0.055,3515,2370,2587,0,0,0,0,0,0
$GC,11382,1.12,146.0,855.1,10.3,401,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2370,2584,0,0,0,0,0,0
$GC,11629,1.08,146.0,830.1,10.1,407,11633,0.00,2.70,0.00,0.000,4,0.000,0.063,3515,3938,2582,0,0,0,0,0,0
$GC,11684,1.02,146.0,824.0,10.7,408,11689,0.15,2.65,0.00,0.000,6,0.111,0.048,3483,2376,2582,0,0,0,0,0,0
$GC,11951,1.05,173.7,800.5,8.7,415,11980,0.00,2.72,24.00,1.095,4,0.000,0.055,3484,3938,2481,0,0,0,0,0,0
$GC,12011,1.07,184.5,795.0,9.5,416,12029,0.00,2.65,11.18,1.002,6,0.000,0.044,3483,2388,2437,0,0,0,0,0,0
$GC,12280,1.14,209.5,770.5,8.8,423,12308,0.10,0.00,23.80,1.075,6,0.087,0.000,3515,2388,2336,0,0,0,0,0,0
$GC,12567,1.14,209.5,739.6,11.1,430,12572,0.00,2.62,0.00,0.000,4,0.000,0.058,3515,3931,2331,0,0,0,0,0,0
$GC,12646,1.14,209.5,730.1,12.1,431,12652,0.00,2.62,0.00,0.000,6,0.000,0.050,3515,2389,2330,0,0,0,0,0,0
$GC,12896,1.14,209.5,701.0,11.7,438,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2390,2329,0,0,0,0,0,0
$GC,13142,1.14,209.5,673.0,11.4,444,13146,0.00,2.60,0.00,0.000,4,0.000,0.054,3515,3932,2328,0,0,0,0,0,0
$GC,13230,1.14,209.5,661.5,12.3,446,13235,0.00,2.58,0.00,0.000,6,0.000,0.044,3515,2408,2328,0,0,0,0,0,0
$GC,13508,1.14,209.5,629.9,11.3,453,13510,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2408,2327,0,0,0,0,0,0
$GC,13752,1.14,209.5,602.4,11.2,459,13753,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2407,2327,0,0,0,0,0,0
$GC,13996,1.14,209.5,575.7,10.9,465,14000,0.00,2.58,0.00,0.000,4,0.000,0.057,3515,3931,2327,0,0,0,0,0,0
$GC,14039,1.14,209.5,570.4,11.4,466,14044,0.00,2.53,0.00,0.000,6,0.000,0.048,3515,2415,2326,0,0,0,0,0,0
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$STATE,19236,end climb,SURFACE_DEPTH_REACHED
$STATE,19237,begin surface coast
$FINISH,1.1,1.018109
$STATE,19279,end surface coast,CONTROL_FINISHED_OK
$STATE,19279,begin surface
$SM_CCo,19304,31.80,0.491,0,0,1762,350.04
$SM_GC,1.92,0.00,0.00,31.80,0.000,0.000,0.491,463,2201,1762,-12.87,-0.25,350.04
$IRIDIUM_FIX,1918.37,-8114.71,210602,050516
$TT8_MAMPS,0.026078
$HUMID,60.23
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.50
$XPDR_PINGS,64
$24V_AH,23.2,46.454
$10V_AH,10.2,41.228
$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,30.125,173.050,392.925,31.800,0.000,25.187,40.880,446.089,16.000,0.000,12.790,1493.720,14708.669,533.948,2292.394,977.518,33.368,1521.512,0.000,2283.614,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,101.244,1208.792,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.863,337.237,431.479,570.444,1087.371,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356152
$DATA_FILE_SIZE,54111,726
$CAP_FILE_SIZE,165387,0
$CFSIZE,260165632,105213952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,165705,1928.618,-8111.671,139,1.2,139,-3.8