version: 66.06
glider: 146
mission: 8
dive: 341
start: 3 29 113 18 22 26
data:
$ID,146
$MISSION,8
$DIVE,341
$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,-314126.78
$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,38
$R_STBD_OVSHOOT,23
$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
$GPS1,180628,1927.679,-8118.335,43,99.0,62,-3.7
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-73.5
$GPS2,182133,1927.602,-8118.487,14,2.0,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.022
$KALMAN_X,-152565.2,12.9,17.2,133183.9,-2526.2
$KALMAN_Y,97984.2,382.3,428.9,-91321.0,-269.3
$MHEAD_RNG_PITCHd_Wd,98.6,19198,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.10,0.000,2,0.000,0.000,464,2176,3528,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-6.4,9,122,13.27,0.00,-4.88,0.000,6,0.151,0.000,2977,2177,3788,0,0,0,0,0,0
$GC,402,-1.07,-146.0,63.4,-16.5,43,407,0.22,2.53,0.00,0.000,4,0.102,0.044,3025,633,3787,0,0,0,0,0,0
$GC,423,-0.88,-146.0,67.2,-16.4,44,429,0.20,2.45,0.00,0.000,6,0.095,0.021,3069,2248,3788,0,0,0,0,0,0
$GC,688,-0.88,-146.0,98.9,-11.7,68,693,0.00,2.65,0.00,0.000,4,0.000,0.044,3069,639,3788,0,0,0,0,0,0
$GC,722,-0.88,-146.0,103.6,-12.6,70,732,0.00,2.40,0.00,0.000,6,0.000,0.025,3069,2189,3789,0,0,0,0,0,0
$GC,989,-0.88,-146.0,134.2,-11.0,95,993,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2189,3789,0,0,0,0,0,0
$GC,1253,-0.95,-146.0,159.7,-7.7,120,1257,0.00,2.53,0.00,0.000,4,0.000,0.045,3070,639,3789,0,0,0,0,0,0
$GC,1275,-1.03,-146.0,161.9,-8.4,121,1282,0.15,2.38,0.00,0.000,6,0.057,0.016,3006,2206,3789,0,0,0,0,0,0
$GC,1540,-1.03,-146.0,188.5,-9.7,146,1546,0.12,2.58,0.00,0.000,4,0.095,0.049,3036,634,3789,0,0,0,0,0,0
$GC,1558,-1.03,-146.0,190.3,-9.0,147,1562,0.00,2.38,0.00,0.000,6,0.000,0.024,3036,2203,3789,0,0,0,0,0,0
$GC,1826,-1.09,-146.0,208.0,-6.5,163,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2203,3789,0,0,0,0,0,0
$GC,2067,-1.17,-146.0,224.0,-6.6,169,2069,0.15,0.00,0.00,0.000,6,0.058,0.000,2973,2203,3789,0,0,0,0,0,0
$GC,2310,-1.17,-146.0,247.8,-10.1,175,2315,0.12,2.58,0.00,0.000,4,0.094,0.054,3004,639,3789,0,0,0,0,0,0
$GC,2334,-1.17,-146.0,250.0,-9.5,175,2339,0.00,2.38,0.00,0.000,6,0.000,0.025,3005,2193,3789,0,0,0,0,0,0
$GC,2590,-1.17,-146.0,269.3,-7.3,182,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2193,3789,0,0,0,0,0,0
$GC,2834,-1.21,-146.0,287.7,-7.6,188,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2193,3788,0,0,0,0,0,0
$GC,3080,-1.25,-146.0,306.2,-7.7,194,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2193,3788,0,0,0,0,0,0
$GC,3322,-1.29,-146.0,323.6,-7.1,200,3327,0.12,2.60,0.00,0.000,4,0.066,0.058,2952,634,3787,0,0,0,0,0,0
$GC,3338,-1.29,-146.0,325.1,-7.1,200,3343,0.12,2.40,0.00,0.000,6,0.099,0.023,2981,2181,3786,0,0,0,0,0,0
$GC,3601,-1.29,-146.0,346.2,-7.9,207,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2181,3786,0,0,0,0,0,0
$GC,3843,-1.29,-146.0,366.7,-8.5,213,3847,0.00,2.58,0.00,0.000,4,0.000,0.046,2981,3780,3785,0,0,0,0,0,0
$GC,3864,-1.29,-146.0,368.6,-8.4,213,3868,0.00,2.47,0.00,0.000,6,0.000,0.033,2981,2204,3785,0,0,0,0,0,0
$GC,4119,-1.29,-146.0,389.3,-8.0,220,4124,0.00,2.70,0.00,0.000,4,0.000,0.074,2982,631,3784,0,0,0,0,0,0
$GC,4144,-1.29,-146.0,391.1,-7.9,220,4149,0.00,2.47,0.00,0.000,6,0.000,0.031,2982,2188,3784,0,0,0,0,0,0
$GC,4400,-1.29,-146.0,410.5,-7.3,227,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2189,3782,0,0,0,0,0,0
$GC,4644,-1.29,-146.0,429.2,-7.7,233,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2188,3782,0,0,0,0,0,0
$GC,4890,-1.29,-146.0,448.5,-8.0,239,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2188,3781,0,0,0,0,0,0
$GC,5131,-1.29,-146.0,468.9,-8.3,245,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2188,3780,0,0,0,0,0,0
$GC,5375,-1.29,-146.0,488.2,-7.9,251,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2188,3778,0,0,0,0,0,0
$GC,5618,-1.29,-146.0,507.9,-8.2,257,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2188,3777,0,0,0,0,0,0
$GC,5865,-1.29,-146.0,527.6,-8.0,263,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2188,3776,0,0,0,0,0,0
$GC,6106,-1.29,-146.0,547.4,-8.1,269,6110,0.00,2.75,0.00,0.000,4,0.000,0.081,2982,3780,3775,0,0,0,0,0,0
$GC,6122,-1.29,-146.0,548.6,-7.8,269,6126,0.00,2.65,0.00,0.000,6,0.000,0.049,2981,2195,3775,0,0,0,0,0,0
$GC,6385,-1.29,-146.0,569.2,-7.9,276,6389,0.00,2.92,0.00,0.000,4,0.000,0.111,2982,624,3773,0,0,0,0,0,0
$GC,6400,-1.29,-146.0,570.7,-8.0,276,6405,0.00,2.58,0.00,0.000,6,0.000,0.052,2981,2188,3773,0,0,0,0,0,0
$GC,6661,-1.29,-146.0,591.4,-8.0,283,6666,0.00,2.85,0.00,0.000,4,0.000,0.092,2982,3794,3771,0,0,0,0,0,0
$GC,6677,-1.29,-146.0,592.8,-7.9,283,6681,0.00,2.70,0.00,0.000,6,0.000,0.054,2981,2183,3771,0,0,0,0,0,0
$GC,6940,-1.29,-146.0,614.0,-8.2,290,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2183,3770,0,0,0,0,0,0
$GC,7181,-1.29,-146.0,634.0,-8.1,296,7186,0.00,2.85,0.00,0.000,4,0.000,0.086,2981,3791,3769,0,0,0,0,0,0
$GC,7197,-1.29,-146.0,635.3,-8.3,296,7202,0.00,2.78,0.00,0.000,6,0.000,0.071,2982,2196,3769,0,0,0,0,0,0
$GC,7460,-1.29,-146.0,656.8,-8.3,303,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3768,0,0,0,0,0,0
$GC,7701,-1.29,-146.0,676.2,-7.9,309,7706,0.00,2.90,0.00,0.000,4,0.000,0.095,2982,3790,3767,0,0,0,0,0,0
$GC,7734,-1.29,-146.0,678.9,-8.4,309,7740,0.00,2.88,0.00,0.000,6,0.000,0.089,2982,2198,3767,0,0,0,0,0,0
$GC,7986,-1.29,-146.0,698.6,-7.9,316,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2198,3765,0,0,0,0,0,0
$GC,8228,-1.29,-146.0,718.3,-8.0,322,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2198,3764,0,0,0,0,0,0
$GC,8471,-1.29,-146.0,738.1,-8.3,328,8476,0.00,2.88,0.00,0.000,4,0.000,0.096,2981,3793,3763,0,0,0,0,0,0
$GC,8504,-1.29,-146.0,741.1,-9.3,328,8510,0.00,2.75,0.00,0.000,6,0.000,0.077,2982,2202,3763,0,0,0,0,0,0
$GC,8756,-1.29,-146.0,761.5,-8.1,335,8761,0.00,2.83,0.00,0.000,4,0.000,0.081,2982,3795,3762,0,0,0,0,0,0
$GC,8784,-1.29,-146.0,763.9,-7.6,335,8788,0.00,2.78,0.00,0.000,6,0.000,0.074,2981,2202,3762,0,0,0,0,0,0
$GC,9034,-1.29,-146.0,782.7,-7.5,341,9038,0.00,2.83,0.00,0.000,4,0.000,0.081,2981,3798,3761,0,0,0,0,0,0
$GC,9052,-1.29,-146.0,784.0,-7.6,341,9056,0.00,2.75,0.00,0.000,6,0.000,0.067,2982,2210,3761,0,0,0,0,0,0
$GC,9312,-1.29,-146.0,803.9,-7.4,348,9317,0.00,2.78,0.00,0.000,4,0.000,0.087,2981,3791,3760,0,0,0,0,0,0
$GC,9339,-1.29,-146.0,806.1,-8.2,348,9344,0.00,2.72,0.00,0.000,6,0.000,0.068,2981,2217,3760,0,0,0,0,0,0
$GC,9592,-1.29,-146.0,823.4,-7.0,354,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2216,3759,0,0,0,0,0,0
$GC,9833,-1.29,-146.0,839.7,-6.6,360,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2216,3759,0,0,0,0,0,0
$GC,10077,-1.33,-146.0,855.6,-6.5,366,10082,0.00,2.78,0.00,0.000,4,0.000,0.077,2982,3791,3758,0,0,0,0,0,0
$GC,10113,-1.38,-146.0,858.0,-7.4,366,10118,0.00,2.72,0.00,0.000,6,0.000,0.068,2981,2221,3758,0,0,0,0,0,0
$GC,10363,-1.42,-146.0,875.0,-6.7,373,10365,0.15,0.00,0.00,0.000,6,0.063,0.000,2929,2220,3757,0,0,0,0,0,0
$GC,10607,-1.36,-146.0,895.8,-8.8,379,10612,0.15,2.78,0.00,0.000,4,0.097,0.077,2963,3792,3756,0,0,0,0,0,0
$GC,10626,-1.36,-146.0,897.5,-8.9,379,10630,0.00,2.72,0.00,0.000,6,0.000,0.067,2963,2220,3756,0,0,0,0,0,0
$STATE,10680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10681,begin apogee
$GC,10687,-0.31,0.0,902.1,8.0,381,10810,1.00,0.00,119.68,1.206,6,0.067,0.000,3194,2378,3190,0,0,0,0,0,0
$STATE,10811,end apogee,CONTROL_FINISHED_OK
$STATE,10811,begin climb
$GC,10813,1.27,146.0,904.6,0.0,384,10950,1.42,2.70,126.93,1.178,4,0.047,0.075,3546,3917,2593,0,0,0,0,0,0
$GC,11042,1.15,146.0,888.1,11.9,389,11047,0.17,2.70,0.00,0.000,6,0.113,0.055,3511,2369,2588,0,0,0,0,0,0
$GC,11311,1.17,164.6,862.6,9.1,396,11335,0.00,2.85,16.85,1.071,4,0.000,0.070,3510,3931,2517,0,0,0,0,0,0
$GC,11375,1.11,164.6,856.1,10.3,397,11379,0.00,2.67,0.00,0.000,6,0.000,0.054,3510,2366,2515,0,0,0,0,0,0
$GC,11638,1.12,173.7,831.1,9.6,404,11652,0.00,2.75,8.73,0.968,4,0.000,0.060,3511,3927,2482,0,0,0,0,0,0
$GC,11675,1.08,173.7,826.8,10.5,404,11680,0.00,2.65,0.00,0.000,6,0.000,0.050,3511,2374,2481,0,0,0,0,0,0
$GC,11925,1.09,177.5,802.0,9.8,411,11931,0.00,0.00,4.90,0.788,6,0.000,0.000,3511,2374,2466,0,0,0,0,0,0
$GC,12171,1.10,189.7,778.8,9.4,417,12190,0.00,2.75,12.68,1.023,4,0.000,0.058,3511,3923,2415,0,0,0,0,0,0
$GC,12263,1.10,189.7,768.8,10.4,419,12268,0.00,2.62,0.00,0.000,6,0.000,0.046,3510,2384,2415,0,0,0,0,0,0
$GC,12542,1.10,189.8,741.0,10.0,426,12546,0.00,2.65,0.00,0.000,4,0.000,0.061,3511,3927,2413,0,0,0,0,0,0
$GC,12599,1.10,189.8,734.8,10.9,427,12603,0.00,2.60,0.00,0.000,6,0.000,0.044,3510,2393,2412,0,0,0,0,0,0
$GC,12865,1.11,194.6,708.2,9.8,434,12872,0.00,0.00,5.62,0.815,6,0.000,0.000,3511,2392,2396,0,0,0,0,0,0
$GC,13111,1.11,196.9,684.2,9.9,440,13115,0.00,2.62,0.00,0.000,4,0.000,0.057,3511,3925,2395,0,0,0,0,0,0
$GC,13143,1.11,196.9,680.3,10.7,440,13149,0.00,2.58,0.00,0.000,6,0.000,0.049,3510,2400,2394,0,0,0,0,0,0
$GC,13393,1.11,196.9,654.8,10.1,447,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2400,2394,0,0,0,0,0,0
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$STATE,19669,end climb,SURFACE_DEPTH_REACHED
$STATE,19669,begin surface coast
$FINISH,1.1,1.011121
$STATE,19706,end surface coast,CONTROL_FINISHED_OK
$STATE,19706,begin surface
$SM_CCo,19730,41.78,0.492,0,0,1763,350.04
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$IRIDIUM_FIX,1922.94,-8118.88,230602,181839
$TT8_MAMPS,0.026078
$HUMID,60.00
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.30
$XPDR_PINGS,61
$24V_AH,23.2,47.980
$10V_AH,10.2,42.488
$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
$DEVICE_SECS,30.025,180.425,392.575,41.775,0.000,104.460,109.671,376.101,15.250,0.000,15.580,1506.724,15290.931,548.870,2229.165,1094.059,33.365,1505.287,0.000,2228.523,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,501.010,340.951,435.290,565.415,1077.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,57089,740
$CAP_FILE_SIZE,169777,0
$CFSIZE,260165632,104501248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,235329,1928.536,-8117.199,42,1.2,47,-3.7