version: 66.06
glider: 146
mission: 8
dive: 344
start: 3 30 113 12 30 36
data:
$ID,146
$MISSION,8
$DIVE,344
$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,-314254.81
$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,38
$R_STBD_OVSHOOT,39
$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
$GPS1,115347,1928.602,-8115.231,93,2.1,112,-3.8
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.6
$GPS2,122943,1928.331,-8115.328,36,3.8,55,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.072
$KALMAN_X,-160298.0,-403.4,175.8,146688.0,-2082.1
$KALMAN_Y,103230.1,-153.6,261.0,-94507.1,-29.2
$MHEAD_RNG_PITCHd_Wd,110.0,14635,-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,20,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-69.97,0.000,2,0.000,0.000,462,2198,3474,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.5,-4.5,9,121,13.38,2.55,-5.88,0.000,4,0.153,0.053,2978,633,3786,0,0,0,0,0,0
$GC,215,-1.11,-146.0,33.1,-17.1,25,225,0.15,2.45,0.00,0.000,6,0.088,0.017,3014,2220,3785,0,0,0,0,0,0
$GC,483,-0.98,-146.0,71.3,-13.8,50,488,0.15,2.58,0.00,0.000,4,0.109,0.043,3047,638,3786,0,0,0,0,0,0
$GC,520,-0.93,-146.0,77.7,-14.0,52,529,0.00,2.40,0.00,0.000,6,0.000,0.015,3047,2206,3785,0,0,0,0,0,0
$GC,789,-0.88,-146.0,110.0,-11.3,77,794,0.10,2.58,0.00,0.000,4,0.121,0.051,3069,634,3785,0,0,0,0,0,0
$GC,810,-0.88,-146.0,113.5,-11.5,78,823,0.00,2.38,0.00,0.000,6,0.000,0.024,3069,2186,3786,0,0,0,0,0,0
$GC,1081,-0.88,-146.0,142.7,-11.4,103,1086,0.00,2.50,0.00,0.000,4,0.000,0.051,3069,640,3785,0,0,0,0,0,0
$GC,1115,-0.88,-146.0,147.0,-10.5,105,1121,0.00,2.33,0.00,0.000,6,0.000,0.017,3069,2175,3785,0,0,0,0,0,0
$GC,1385,-0.95,-146.0,169.4,-7.7,130,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2175,3786,0,0,0,0,0,0
$GC,1647,-1.07,-146.0,189.1,-7.1,155,1649,0.17,0.00,0.00,0.000,6,0.051,0.000,2998,2175,3786,0,0,0,0,0,0
$GC,1897,-1.07,-146.0,211.0,-8.9,170,1902,0.12,2.53,0.00,0.000,4,0.096,0.047,3028,641,3786,0,0,0,0,0,0
$GC,1919,-1.11,-146.0,212.9,-7.6,170,1923,0.00,2.35,0.00,0.000,6,0.000,0.023,3028,2185,3786,0,0,0,0,0,0
$GC,2175,-1.18,-146.0,230.2,-6.8,177,2176,0.10,0.00,0.00,0.000,6,0.080,0.000,2979,2185,3786,0,0,0,0,0,0
$GC,2420,-1.18,-146.0,250.3,-8.3,183,2422,0.10,0.00,0.00,0.000,6,0.107,0.000,3004,2185,3786,0,0,0,0,0,0
$GC,2662,-1.18,-146.0,268.2,-7.3,189,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2186,3785,0,0,0,0,0,0
$GC,2906,-1.22,-146.0,285.2,-6.9,195,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2185,3784,0,0,0,0,0,0
$GC,3152,-1.26,-146.0,302.1,-7.0,201,3156,0.00,2.50,0.00,0.000,4,0.000,0.041,3004,3762,3784,0,0,0,0,0,0
$GC,3174,-1.30,-146.0,304.0,-7.3,201,3179,0.12,2.45,0.00,0.000,6,0.065,0.024,2951,2178,3784,0,0,0,0,0,0
$GC,3429,-1.24,-146.0,327.3,-9.2,208,3431,0.17,0.00,0.00,0.000,6,0.085,0.000,2992,2178,3783,0,0,0,0,0,0
$GC,3675,-1.24,-146.0,346.1,-7.6,214,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2178,3782,0,0,0,0,0,0
$GC,3917,-1.24,-146.0,365.3,-7.9,220,3921,0.00,2.55,0.00,0.000,4,0.000,0.043,2992,3761,3781,0,0,0,0,0,0
$GC,3950,-1.28,-146.0,368.0,-7.8,220,3955,0.00,2.47,0.00,0.000,6,0.000,0.028,2992,2192,3781,0,0,0,0,0,0
$GC,4202,-1.28,-146.0,385.5,-6.9,227,4206,0.00,2.55,0.00,0.000,4,0.000,0.048,2992,3758,3779,0,0,0,0,0,0
$GC,4218,-1.28,-146.0,386.7,-6.7,227,4222,0.00,2.45,0.00,0.000,6,0.000,0.035,2992,2196,3780,0,0,0,0,0,0
$GC,4478,-1.28,-146.0,404.4,-6.7,234,4483,0.00,2.70,0.00,0.000,4,0.000,0.077,2992,627,3778,0,0,0,0,0,0
$GC,4494,-1.28,-146.0,405.7,-6.7,234,4498,0.00,2.45,0.00,0.000,6,0.000,0.038,2992,2168,3778,0,0,0,0,0,0
$GC,4758,-1.28,-146.0,423.1,-6.9,241,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2168,3777,0,0,0,0,0,0
$GC,4999,-1.28,-146.0,440.7,-7.3,247,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2168,3776,0,0,0,0,0,0
$GC,5243,-1.32,-146.0,459.9,-8.0,253,5248,0.00,2.67,0.00,0.000,4,0.000,0.060,2992,3785,3774,0,0,0,0,0,0
$GC,5279,-1.36,-146.0,462.8,-8.3,253,5286,0.12,2.58,0.00,0.000,6,0.067,0.048,2942,2192,3774,0,0,0,0,0,0
$GC,5530,-1.31,-146.0,487.7,-9.9,260,5532,0.15,0.00,0.00,0.000,6,0.091,0.000,2977,2192,3773,0,0,0,0,0,0
$GC,5773,-1.31,-146.0,508.8,-8.7,266,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2192,3772,0,0,0,0,0,0
$GC,6019,-1.31,-146.0,529.2,-8.3,272,6024,0.00,2.72,0.00,0.000,4,0.000,0.071,2977,3791,3770,0,0,0,0,0,0
$GC,6040,-1.31,-146.0,531.3,-8.5,272,6045,0.00,2.65,0.00,0.000,6,0.000,0.056,2977,2189,3770,0,0,0,0,0,0
$GC,6295,-1.31,-146.0,552.2,-8.1,279,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2189,3769,0,0,0,0,0,0
$GC,6542,-1.31,-146.0,572.0,-8.0,285,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2189,3767,0,0,0,0,0,0
$GC,6783,-1.31,-146.0,591.3,-7.9,291,6787,0.00,2.75,0.00,0.000,4,0.000,0.076,2977,3779,3766,0,0,0,0,0,0
$GC,6810,-1.31,-146.0,593.5,-7.7,291,6814,0.00,2.70,0.00,0.000,6,0.000,0.066,2977,2178,3766,0,0,0,0,0,0
$GC,7060,-1.31,-146.0,612.5,-7.6,297,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2177,3764,0,0,0,0,0,0
$GC,7306,-1.31,-146.0,631.0,-7.5,303,7311,0.00,2.83,0.00,0.000,4,0.000,0.089,2977,3781,3763,0,0,0,0,0,0
$GC,7322,-1.31,-146.0,632.4,-7.3,303,7326,0.00,2.78,0.00,0.000,6,0.000,0.076,2977,2182,3763,0,0,0,0,0,0
$GC,7583,-1.31,-146.0,651.2,-7.2,310,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2182,3762,0,0,0,0,0,0
$GC,7829,-1.31,-146.0,668.2,-7.0,316,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2182,3761,0,0,0,0,0,0
$GC,8070,-1.31,-146.0,685.6,-7.2,322,8075,0.00,2.95,0.00,0.000,4,0.000,0.103,2977,3785,3760,0,0,0,0,0,0
$GC,8091,-1.31,-146.0,687.4,-7.6,322,8096,0.00,2.85,0.00,0.000,6,0.000,0.091,2977,2196,3760,0,0,0,0,0,0
$GC,8346,-1.31,-146.0,706.5,-7.6,329,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2196,3759,0,0,0,0,0,0
$GC,8590,-1.31,-146.0,725.3,-7.7,335,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2195,3758,0,0,0,0,0,0
$GC,8834,-1.31,-146.0,745.4,-8.3,341,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3757,0,0,0,0,0,0
$GC,9078,-1.31,-146.0,765.6,-8.2,347,9082,0.00,2.80,0.00,0.000,4,0.000,0.090,2977,3779,3756,0,0,0,0,0,0
$GC,9101,-1.31,-146.0,767.5,-8.9,347,9106,0.00,2.78,0.00,0.000,6,0.000,0.071,2977,2188,3756,0,0,0,0,0,0
$GC,9356,-1.31,-146.0,787.9,-8.0,354,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2187,3755,0,0,0,0,0,0
$GC,9600,-1.31,-146.0,807.2,-7.9,360,9604,0.00,2.83,0.00,0.000,4,0.000,0.087,2978,3786,3754,0,0,0,0,0,0
$GC,9616,-1.31,-146.0,808.7,-7.9,360,9620,0.00,2.75,0.00,0.000,6,0.000,0.072,2977,2188,3754,0,0,0,0,0,0
$GC,9879,-1.31,-146.0,828.4,-7.6,367,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2188,3753,0,0,0,0,0,0
$GC,10120,-1.31,-146.0,846.4,-7.6,373,10125,0.00,2.80,0.00,0.000,4,0.000,0.081,2977,3780,3752,0,0,0,0,0,0
$GC,10136,-1.31,-146.0,847.6,-7.5,373,10140,0.00,2.72,0.00,0.000,6,0.000,0.065,2977,2198,3752,0,0,0,0,0,0
$GC,10399,-1.31,-146.0,868.6,-8.2,380,10403,0.00,2.78,0.00,0.000,4,0.000,0.079,2977,3781,3751,0,0,0,0,0,0
$GC,10426,-1.35,-146.0,871.2,-8.8,380,10431,0.00,2.72,0.00,0.000,6,0.000,0.068,2977,2204,3751,0,0,0,0,0,0
$GC,10676,-1.35,-146.0,890.8,-7.5,386,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3750,0,0,0,0,0,0
$STATE,10836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10836,begin apogee
$GC,10845,-0.31,0.0,902.2,7.1,390,10966,0.93,0.00,118.10,1.210,6,0.067,0.000,3191,2362,3190,0,0,0,0,0,0
$STATE,10967,end apogee,CONTROL_FINISHED_OK
$STATE,10967,begin climb
$GC,10969,1.27,146.0,904.3,0.0,393,11106,1.42,2.75,126.85,1.180,4,0.035,0.077,3543,3922,2592,0,0,0,0,0,0
$GC,11136,1.14,146.0,894.4,11.7,397,11141,0.17,2.70,0.00,0.000,6,0.107,0.058,3507,2369,2589,0,0,0,0,0,0
$GC,11419,1.14,146.0,865.1,10.3,404,11424,0.00,2.70,0.00,0.000,4,0.000,0.069,3507,3928,2584,0,0,0,0,0,0
$GC,11471,1.10,146.0,859.7,11.3,405,11475,0.00,2.65,0.00,0.000,6,0.000,0.054,3507,2372,2585,0,0,0,0,0,0
$GC,11743,1.12,163.4,833.6,9.2,412,11764,0.00,2.75,15.43,1.060,4,0.000,0.064,3507,3938,2522,0,0,0,0,0,0
$GC,11816,1.12,163.4,826.3,10.2,413,11820,0.00,2.60,0.00,0.000,6,0.000,0.048,3507,2385,2521,0,0,0,0,0,0
$GC,12066,1.13,173.1,801.8,9.6,419,12077,0.00,0.00,9.55,0.983,6,0.000,0.000,3507,2386,2484,0,0,0,0,0,0
$GC,12310,1.13,174.5,777.9,9.9,425,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2386,2481,0,0,0,0,0,0
$GC,12556,1.14,179.3,753.7,9.8,431,12569,0.00,2.72,6.82,0.890,4,0.000,0.061,3508,3935,2458,0,0,0,0,0,0
$GC,12644,1.14,179.3,743.9,11.1,433,12649,0.00,2.60,0.00,0.000,6,0.000,0.044,3507,2388,2457,0,0,0,0,0,0
$GC,12928,1.14,182.1,716.3,9.9,440,12934,0.00,0.00,4.00,0.673,6,0.000,0.000,3507,2389,2447,0,0,0,0,0,0
$GC,13174,1.15,189.1,692.7,9.7,446,13188,0.00,2.67,8.02,0.907,4,0.000,0.061,3507,3923,2418,0,0,0,0,0,0
$GC,13205,1.16,198.2,689.2,9.6,446,13221,0.00,2.58,10.35,0.940,6,0.000,0.049,3507,2393,2381,0,0,0,0,0,0
$GC,13499,1.17,204.8,660.3,9.7,454,13508,0.00,0.00,7.30,0.868,6,0.000,0.000,3507,2393,2355,0,0,0,0,0,0
$GC,13743,1.17,204.8,635.9,10.0,460,13747,0.00,2.60,0.00,0.000,4,0.000,0.062,3507,3931,2353,0,0,0,0,0,0
$GC,13775,1.17,204.8,632.0,10.8,460,13781,0.00,2.58,0.00,0.000,6,0.000,0.042,3507,2396,2353,0,0,0,0,0,0
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$STATE,19751,end climb,SURFACE_DEPTH_REACHED
$STATE,19752,begin surface coast
$FINISH,1.1,1.011744
$STATE,19804,end surface coast,CONTROL_FINISHED_OK
$STATE,19805,begin surface
$SM_CCo,19827,270.50,0.493,0,0,476,665.50
$SM_GC,1.54,0.00,0.00,270.50,0.000,0.000,0.493,465,2181,476,-12.86,-0.82,665.50
$IRIDIUM_FIX,1934.38,-8057.48,240602,121226
$TT8_MAMPS,0.026078
$HUMID,56.49
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.20
$XPDR_PINGS,67
$24V_AH,23.2,48.618
$10V_AH,10.2,42.918
$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
$DEVICE_SECS,30.225,178.425,412.850,270.500,0.000,137.224,204.837,1300.447,16.750,0.000,57.804,1521.382,15443.279,791.400,2302.084,2183.713,33.368,1766.284,0.000,2258.680,0.000,0.539,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,507.586,345.899,443.260,570.443,1087.366,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356092
$DATA_FILE_SIZE,57280,750
$CAP_FILE_SIZE,189279,0
$CFSIZE,260165632,104243200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,180657,1928.412,-8113.811,37,1.7,38,-3.8