version: 66.06
glider: 146
mission: 8
dive: 333
start: 3 27 113 22 48 2
data:
$ID,146
$MISSION,8
$DIVE,333
$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,-313991.69
$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,54
$R_STBD_OVSHOOT,43
$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
$GPS1,223536,1927.190,-8111.708,30,1.0,30,-3.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-72.7
$GPS2,224709,1927.170,-8111.748,11,2.1,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,-0.188
$KALMAN_X,-132040.3,-131.9,-122.7,124714.4,-1327.3
$KALMAN_Y,90128.4,200.1,-234.3,-83405.4,1960.1
$MHEAD_RNG_PITCHd_Wd,140.3,8205,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-63.30,0.000,2,0.000,0.000,466,2173,3288,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-4.1,8,123,13.15,2.55,-10.60,0.000,4,0.150,0.062,2977,654,3787,0,0,0,0,0,0
$GC,229,-1.08,-146.0,29.8,-17.6,27,239,0.17,2.42,0.00,0.000,6,0.085,0.015,3020,2221,3787,0,0,0,0,0,0
$GC,500,-0.96,-146.0,72.1,-14.4,52,505,0.15,2.45,0.00,0.000,4,0.104,0.029,3053,3771,3788,0,0,0,0,0,0
$GC,523,-0.86,-146.0,76.1,-13.9,53,527,0.00,2.42,0.00,0.000,6,0.000,0.021,3053,2226,3788,0,0,0,0,0,0
$GC,789,-0.80,-146.0,108.7,-12.3,77,795,0.15,2.62,0.00,0.000,4,0.100,0.048,3086,635,3788,0,0,0,0,0,0
$GC,834,-0.80,-146.0,114.5,-10.1,80,844,0.00,2.42,0.00,0.000,6,0.000,0.015,3086,2206,3788,0,0,0,0,0,0
$GC,1101,-0.80,-146.0,139.7,-8.8,105,1106,0.00,2.60,0.00,0.000,4,0.000,0.046,3086,633,3788,0,0,0,0,0,0
$GC,1169,-0.85,-146.0,145.5,-8.4,110,1173,0.00,2.40,0.00,0.000,6,0.000,0.021,3086,2207,3788,0,0,0,0,0,0
$GC,1432,-0.96,-146.0,164.5,-6.9,134,1434,0.15,0.00,0.00,0.000,6,0.057,0.000,3024,2207,3789,0,0,0,0,0,0
$GC,1688,-0.96,-146.0,187.6,-8.9,158,1694,0.12,2.60,0.00,0.000,4,0.095,0.049,3054,632,3789,0,0,0,0,0,0
$GC,1721,-1.03,-146.0,190.0,-7.2,160,1726,0.00,2.40,0.00,0.000,6,0.000,0.017,3054,2205,3789,0,0,0,0,0,0
$GC,2013,-1.14,-146.0,208.4,-6.4,178,2015,0.17,0.00,0.00,0.000,6,0.051,0.000,2984,2205,3790,0,0,0,0,0,0
$GC,2252,-1.14,-146.0,230.4,-9.4,184,2257,0.12,2.50,0.00,0.000,4,0.097,0.040,3013,3766,3790,0,0,0,0,0,0
$GC,2280,-1.14,-146.0,232.9,-8.9,184,2284,0.00,2.42,0.00,0.000,6,0.000,0.027,3013,2193,3790,0,0,0,0,0,0
$GC,2533,-1.18,-146.0,251.3,-7.4,190,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2194,3790,0,0,0,0,0,0
$GC,2774,-1.23,-146.0,268.6,-7.0,196,2778,0.00,2.53,0.00,0.000,4,0.000,0.038,3013,3769,3790,0,0,0,0,0,0
$GC,2801,-1.29,-146.0,270.7,-7.3,196,2806,0.15,2.45,0.00,0.000,6,0.056,0.020,2951,2203,3789,0,0,0,0,0,0
$GC,3054,-1.23,-146.0,294.3,-9.7,202,3059,0.17,2.55,0.00,0.000,4,0.084,0.042,2993,3766,3789,0,0,0,0,0,0
$GC,3098,-1.23,-146.0,298.6,-8.2,203,3103,0.00,2.45,0.00,0.000,6,0.000,0.025,2993,2209,3789,0,0,0,0,0,0
$GC,3379,-1.23,-146.0,320.9,-7.9,210,3383,0.00,2.50,0.00,0.000,4,0.000,0.044,2993,3763,3788,0,0,0,0,0,0
$GC,3400,-1.23,-146.0,322.9,-7.7,210,3405,0.00,2.45,0.00,0.000,6,0.000,0.025,2993,2206,3788,0,0,0,0,0,0
$GC,3656,-1.23,-146.0,342.5,-7.8,217,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2206,3787,0,0,0,0,0,0
$GC,3900,-1.23,-146.0,361.8,-7.9,223,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2206,3786,0,0,0,0,0,0
$GC,4146,-1.23,-146.0,381.2,-8.0,229,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2206,3786,0,0,0,0,0,0
$GC,4387,-1.23,-146.0,400.5,-7.9,235,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2206,3784,0,0,0,0,0,0
$GC,4633,-1.23,-146.0,419.6,-8.0,241,4637,0.00,2.72,0.00,0.000,4,0.000,0.086,2993,635,3784,0,0,0,0,0,0
$GC,4679,-1.27,-146.0,423.3,-8.0,242,4684,0.00,2.47,0.00,0.000,6,0.000,0.037,2993,2183,3783,0,0,0,0,0,0
$GC,4957,-1.27,-146.0,445.9,-7.9,249,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2183,3782,0,0,0,0,0,0
$GC,5201,-1.27,-146.0,464.9,-7.7,255,5206,0.00,2.70,0.00,0.000,4,0.000,0.060,2993,3790,3781,0,0,0,0,0,0
$GC,5237,-1.31,-146.0,467.6,-8.7,255,5242,0.00,2.58,0.00,0.000,6,0.000,0.044,2992,2227,3781,0,0,0,0,0,0
$GC,5487,-1.31,-146.0,487.9,-8.1,262,5491,0.00,2.90,0.00,0.000,4,0.000,0.099,2992,625,3779,0,0,0,0,0,0
$GC,5502,-1.31,-146.0,489.3,-7.9,262,5507,0.00,2.60,0.00,0.000,6,0.000,0.046,2993,2212,3779,0,0,0,0,0,0
$GC,5766,-1.34,-146.0,510.4,-8.0,269,5771,0.12,2.70,0.00,0.000,4,0.068,0.069,2945,3793,3778,0,0,0,0,0,0
$GC,5788,-1.34,-146.0,512.9,-9.5,269,5793,0.10,2.62,0.00,0.000,6,0.107,0.052,2968,2215,3778,0,0,0,0,0,0
$GC,6044,-1.34,-146.0,536.4,-9.2,276,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2216,3777,0,0,0,0,0,0
$GC,6290,-1.34,-146.0,558.5,-9.0,282,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2215,3776,0,0,0,0,0,0
$GC,6531,-1.34,-146.0,579.9,-8.7,288,6536,0.00,2.75,0.00,0.000,4,0.000,0.082,2968,3794,3775,0,0,0,0,0,0
$GC,6547,-1.34,-146.0,581.5,-9.0,288,6551,0.00,2.65,0.00,0.000,6,0.000,0.061,2968,2217,3774,0,0,0,0,0,0
$GC,6807,-1.34,-146.0,604.5,-8.8,295,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2217,3773,0,0,0,0,0,0
$GC,7054,-1.34,-146.0,626.2,-8.9,301,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2218,3772,0,0,0,0,0,0
$GC,7295,-1.34,-146.0,647.6,-8.7,307,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2217,3770,0,0,0,0,0,0
$GC,7539,-1.34,-146.0,668.5,-8.6,313,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2218,3769,0,0,0,0,0,0
$GC,7785,-1.34,-146.0,689.3,-8.6,319,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2217,3768,0,0,0,0,0,0
$GC,8029,-1.34,-146.0,709.7,-8.4,325,8034,0.00,3.25,0.00,0.000,4,0.000,0.156,2968,624,3767,0,0,0,0,0,0
$GC,8050,-1.34,-146.0,711.8,-8.3,325,8055,0.00,2.88,0.00,0.000,6,0.000,0.098,2968,2200,3767,0,0,0,0,0,0
$GC,8306,-1.34,-146.0,732.1,-7.9,332,8311,0.00,3.15,0.00,0.000,4,0.000,0.143,2968,3799,3766,0,0,0,0,0,0
$GC,8341,-1.34,-146.0,735.0,-8.6,332,8347,0.00,2.78,0.00,0.000,6,0.000,0.073,2968,2221,3766,0,0,0,0,0,0
$GC,8591,-1.34,-146.0,755.1,-8.0,339,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2221,3764,0,0,0,0,0,0
$GC,8834,-1.34,-146.0,774.2,-7.8,345,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2220,3763,0,0,0,0,0,0
$GC,9081,-1.34,-146.0,793.9,-8.2,351,9085,0.00,2.83,0.00,0.000,4,0.000,0.090,2968,3804,3762,0,0,0,0,0,0
$GC,9102,-1.34,-146.0,795.9,-8.2,351,9106,0.00,2.75,0.00,0.000,6,0.000,0.072,2968,2219,3762,0,0,0,0,0,0
$GC,9357,-1.34,-146.0,816.7,-8.2,358,9362,0.00,2.80,0.00,0.000,4,0.000,0.085,2968,3806,3761,0,0,0,0,0,0
$GC,9381,-1.34,-146.0,818.5,-8.2,358,9385,0.00,2.72,0.00,0.000,6,0.000,0.073,2968,2226,3762,0,0,0,0,0,0
$GC,9636,-1.34,-146.0,840.7,-8.9,365,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2227,3760,0,0,0,0,0,0
$GC,9880,-1.34,-146.0,861.3,-8.4,371,9884,0.00,3.08,0.00,0.000,4,0.000,0.124,2968,622,3760,0,0,0,0,0,0
$GC,9901,-1.34,-146.0,863.2,-8.7,371,9906,0.00,2.75,0.00,0.000,6,0.000,0.064,2968,2226,3760,0,0,0,0,0,0
$GC,10158,-1.34,-146.0,884.0,-8.3,378,10163,0.00,2.83,0.00,0.000,4,0.000,0.099,2968,3797,3759,0,0,0,0,0,0
$GC,10174,-1.34,-146.0,885.5,-8.0,378,10179,0.00,2.70,0.00,0.000,6,0.000,0.064,2968,2220,3759,0,0,0,0,0,0
$STATE,10351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10351,begin apogee
$GC,10360,-0.31,0.0,900.0,8.1,383,10483,0.98,0.00,119.53,1.206,6,0.070,0.000,3192,2388,3190,0,0,0,0,0,0
$STATE,10483,end apogee,CONTROL_FINISHED_OK
$STATE,10483,begin climb
$GC,10486,1.27,146.0,903.3,0.0,386,10621,1.42,2.85,126.68,1.176,4,0.043,0.078,3546,3929,2594,0,0,0,0,0,0
$GC,10704,1.14,146.0,889.0,11.8,391,10709,0.17,2.72,0.00,0.000,6,0.108,0.057,3511,2366,2589,0,0,0,0,0,0
$GC,10982,1.16,157.6,861.7,9.5,398,10995,0.00,0.00,10.77,1.011,6,0.000,0.000,3511,2366,2547,0,0,0,0,0,0
$GC,11228,1.17,167.7,838.4,9.5,404,11240,0.00,0.00,10.18,1.001,6,0.000,0.000,3511,2366,2506,0,0,0,0,0,0
$GC,11470,1.17,167.7,814.2,10.1,410,11474,0.00,2.70,0.00,0.000,4,0.000,0.061,3511,3931,2504,0,0,0,0,0,0
$GC,11519,1.17,167.7,808.8,10.9,411,11523,0.00,2.62,0.00,0.000,6,0.000,0.047,3511,2372,2503,0,0,0,0,0,0
$GC,11793,1.19,179.3,782.7,9.5,418,11812,0.00,2.78,11.70,1.012,4,0.000,0.058,3511,3938,2458,0,0,0,0,0,0
$GC,11846,1.19,179.3,776.9,11.0,419,11850,0.00,2.65,0.00,0.000,6,0.000,0.044,3511,2374,2456,0,0,0,0,0,0
$GC,12119,1.20,188.3,750.6,9.6,426,12133,0.00,2.70,9.30,0.958,4,0.000,0.055,3510,3931,2423,0,0,0,0,0,0
$GC,12186,1.20,188.3,743.6,11.2,427,12190,0.00,2.62,0.00,0.000,6,0.000,0.043,3510,2386,2421,0,0,0,0,0,0
$GC,12446,1.20,188.3,716.8,10.1,434,12451,0.00,2.65,0.00,0.000,4,0.000,0.060,3511,3938,2419,0,0,0,0,0,0
$GC,12468,1.20,188.3,714.4,10.7,434,12472,0.00,2.58,0.00,0.000,6,0.000,0.043,3511,2400,2419,0,0,0,0,0,0
$GC,12726,1.20,188.3,688.5,10.1,441,12731,0.00,3.15,0.00,0.000,4,0.000,0.126,3510,777,2418,0,0,0,0,0,0
$GC,12747,1.20,188.3,686.0,10.3,441,12752,0.00,2.67,0.00,0.000,6,0.000,0.041,3510,2393,2418,0,0,0,0,0,0
$GC,13003,1.21,198.6,661.6,9.5,448,13015,0.00,0.00,10.55,0.940,6,0.000,0.000,3511,2394,2380,0,0,0,0,0,0
$GC,13249,1.22,204.4,637.9,9.7,454,13257,0.00,0.00,6.88,0.837,6,0.000,0.000,3510,2395,2356,0,0,0,0,0,0
$GC,13490,1.22,205.7,613.9,9.9,460,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2395,2355,0,0,0,0,0,0
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$STATE,19155,end climb,SURFACE_DEPTH_REACHED
$STATE,19155,begin surface coast
$FINISH,1.2,1.009894
$STATE,19198,end surface coast,CONTROL_FINISHED_OK
$STATE,19198,begin surface
$SM_CCo,19223,42.12,0.494,0,0,1763,350.04
$SM_GC,1.90,0.00,0.00,42.12,0.000,0.000,0.494,457,2192,1763,-12.89,-0.54,350.04
$IRIDIUM_FIX,1922.94,-8142.17,210602,171743
$TT8_MAMPS,0.026078
$HUMID,60.19
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.30
$XPDR_PINGS,59
$24V_AH,23.2,46.768
$10V_AH,10.2,41.486
$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
$DEVICE_SECS,30.375,180.150,395.600,42.125,0.000,23.272,33.521,442.108,14.750,0.000,33.062,1510.226,14634.977,548.425,2257.411,996.096,33.368,1504.732,0.000,2247.056,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.641,344.140,440.309,570.444,1087.384,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356068
$DATA_FILE_SIZE,57348,733
$CAP_FILE_SIZE,166679,0
$CFSIZE,260165632,105070592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280313,041130,1926.521,-8111.333,101,1.2,101,-3.8