version: 66.06
glider: 146
mission: 8
dive: 345
start: 3 30 113 18 25 56
data:
$ID,146
$MISSION,8
$DIVE,345
$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,-314287.53
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,180657,1928.412,-8113.811,37,1.7,38,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.0
$GPS2,182503,1928.328,-8113.882,10,4.8,29,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,-0.215
$KALMAN_X,-161971.1,-127.3,-391.8,151177.6,998.4
$KALMAN_Y,104650.1,-37.9,-1.1,-95790.0,1389.8
$MHEAD_RNG_PITCHd_Wd,149.9,12484,-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,-146.0,0.0,0.0,0,139,0.00,0.00,-116.95,0.000,2,0.000,0.000,464,2182,3362,0,0,0,0,0,0
$GC,144,-1.27,-146.0,3.1,-3.0,15,178,13.30,2.55,-8.50,0.000,4,0.153,0.056,2978,652,3788,0,0,0,0,0,0
$GC,216,-1.09,-146.0,19.7,-17.0,24,226,0.17,2.45,0.00,0.000,6,0.082,0.025,3021,2237,3787,0,0,0,0,0,0
$GC,498,-0.98,-146.0,56.8,-12.1,54,503,0.12,2.62,0.00,0.000,4,0.115,0.047,3047,655,3786,0,0,0,0,0,0
$GC,534,-0.90,-146.0,61.5,-12.0,56,538,0.00,2.35,0.00,0.000,6,0.000,0.016,3047,2207,3786,0,0,0,0,0,0
$GC,799,-0.85,-146.0,92.1,-11.9,80,804,0.12,2.55,0.00,0.000,4,0.107,0.045,3076,652,3786,0,0,0,0,0,0
$GC,824,-0.85,-146.0,95.6,-11.2,81,829,0.00,2.38,0.00,0.000,6,0.000,0.016,3076,2209,3786,0,0,0,0,0,0
$GC,1085,-0.85,-146.0,122.4,-10.2,106,1089,0.00,2.53,0.00,0.000,4,0.000,0.045,3076,655,3786,0,0,0,0,0,0
$GC,1107,-0.85,-146.0,124.1,-10.4,107,1112,0.00,2.33,0.00,0.000,6,0.000,0.021,3076,2202,3786,0,0,0,0,0,0
$GC,1370,-0.91,-146.0,151.8,-10.3,131,1374,0.00,2.53,0.00,0.000,4,0.000,0.044,3076,656,3786,0,0,0,0,0,0
$GC,1405,-0.97,-146.0,154.4,-8.7,133,1410,0.12,2.30,0.00,0.000,6,0.064,0.023,3018,2190,3786,0,0,0,0,0,0
$GC,1670,-0.97,-146.0,179.8,-9.4,157,1675,0.12,2.47,0.00,0.000,4,0.097,0.033,3047,3762,3786,0,0,0,0,0,0
$GC,1706,-1.07,-146.0,182.9,-7.9,159,1715,0.00,2.45,0.00,0.000,6,0.000,0.019,3047,2194,3786,0,0,0,0,0,0
$GC,1972,-1.17,-146.0,199.6,-6.7,184,1978,0.17,2.55,0.00,0.000,4,0.051,0.049,2978,633,3786,0,0,0,0,0,0
$GC,2015,-1.11,-146.0,203.7,-9.7,185,2020,0.17,2.33,0.00,0.000,6,0.087,0.025,3017,2170,3786,0,0,0,0,0,0
$GC,2299,-1.17,-146.0,226.0,-7.8,192,2303,0.00,2.50,0.00,0.000,4,0.000,0.036,3018,3762,3786,0,0,0,0,0,0
$GC,2327,-1.22,-146.0,228.4,-8.1,192,2332,0.10,2.47,0.00,0.000,6,0.077,0.027,2966,2160,3786,0,0,0,0,0,0
$GC,2579,-1.18,-146.0,252.0,-9.5,198,2584,0.17,2.58,0.00,0.000,4,0.086,0.043,3006,3769,3785,0,0,0,0,0,0
$GC,2601,-1.18,-146.0,254.4,-9.2,198,2605,0.00,2.47,0.00,0.000,6,0.000,0.028,3006,2170,3785,0,0,0,0,0,0
$GC,2859,-1.22,-146.0,273.5,-7.3,205,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2170,3784,0,0,0,0,0,0
$GC,3100,-1.27,-146.0,291.9,-7.7,211,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2170,3783,0,0,0,0,0,0
$GC,3344,-1.31,-146.0,311.2,-8.0,217,3346,0.12,0.00,0.00,0.000,6,0.065,0.000,2951,2170,3782,0,0,0,0,0,0
$GC,3588,-1.26,-146.0,333.9,-9.2,223,3593,0.15,2.58,0.00,0.000,4,0.090,0.041,2986,3760,3781,0,0,0,0,0,0
$GC,3612,-1.26,-146.0,335.8,-8.5,223,3616,0.00,2.50,0.00,0.000,6,0.000,0.031,2986,2170,3782,0,0,0,0,0,0
$GC,3867,-1.26,-146.0,356.9,-8.4,230,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2170,3780,0,0,0,0,0,0
$GC,4111,-1.26,-146.0,377.8,-8.4,236,4115,0.00,2.60,0.00,0.000,4,0.000,0.051,2986,3761,3779,0,0,0,0,0,0
$GC,4134,-1.26,-146.0,379.6,-8.1,236,4139,0.00,2.55,0.00,0.000,6,0.000,0.031,2986,2155,3779,0,0,0,0,0,0
$GC,4390,-1.26,-146.0,398.7,-7.3,243,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2155,3778,0,0,0,0,0,0
$GC,4633,-1.26,-146.0,418.5,-8.2,249,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2155,3777,0,0,0,0,0,0
$GC,4880,-1.26,-146.0,438.8,-8.3,255,4884,0.00,2.65,0.00,0.000,4,0.000,0.053,2986,3757,3776,0,0,0,0,0,0
$GC,4907,-1.26,-146.0,441.3,-8.5,255,4911,0.00,2.55,0.00,0.000,6,0.000,0.044,2986,2177,3776,0,0,0,0,0,0
$GC,5157,-1.26,-146.0,461.1,-8.0,261,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2177,3774,0,0,0,0,0,0
$GC,5400,-1.26,-146.0,481.6,-8.5,267,5405,0.00,2.62,0.00,0.000,4,0.000,0.061,2986,3752,3773,0,0,0,0,0,0
$GC,5435,-1.26,-146.0,484.7,-9.5,267,5441,0.00,2.62,0.00,0.000,6,0.000,0.046,2986,2166,3773,0,0,0,0,0,0
$GC,5685,-1.26,-146.0,506.6,-8.7,274,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2166,3772,0,0,0,0,0,0
$GC,5929,-1.26,-146.0,526.9,-8.2,280,5934,0.00,2.70,0.00,0.000,4,0.000,0.065,2986,3754,3770,0,0,0,0,0,0
$GC,5958,-1.26,-146.0,529.2,-7.8,280,5963,0.00,2.62,0.00,0.000,6,0.000,0.052,2986,2178,3770,0,0,0,0,0,0
$GC,6208,-1.26,-146.0,548.5,-7.6,286,6213,0.00,2.65,0.00,0.000,4,0.000,0.069,2986,3748,3769,0,0,0,0,0,0
$GC,6235,-1.26,-146.0,550.8,-8.4,286,6240,0.00,2.65,0.00,0.000,6,0.000,0.053,2986,2173,3769,0,0,0,0,0,0
$GC,6488,-1.26,-146.0,569.3,-7.4,292,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2173,3767,0,0,0,0,0,0
$GC,6729,-1.26,-146.0,587.1,-7.3,298,6734,0.00,2.70,0.00,0.000,4,0.000,0.077,2986,3747,3766,0,0,0,0,0,0
$GC,6756,-1.26,-146.0,589.3,-7.8,298,6760,0.00,2.62,0.00,0.000,6,0.000,0.058,2986,2184,3766,0,0,0,0,0,0
$GC,7009,-1.26,-146.0,607.9,-7.7,304,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2184,3765,0,0,0,0,0,0
$GC,7250,-1.26,-146.0,627.2,-8.0,310,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2184,3763,0,0,0,0,0,0
$GC,7493,-1.26,-146.0,646.8,-8.0,316,7498,0.00,2.80,0.00,0.000,4,0.000,0.097,2986,3752,3762,0,0,0,0,0,0
$GC,7509,-1.26,-146.0,648.2,-8.1,316,7514,0.00,2.72,0.00,0.000,6,0.000,0.076,2986,2190,3761,0,0,0,0,0,0
$GC,7773,-1.26,-146.0,668.7,-7.8,323,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2189,3761,0,0,0,0,0,0
$GC,8014,-1.26,-146.0,687.6,-7.7,329,8019,0.00,2.85,0.00,0.000,4,0.000,0.106,2986,3746,3761,0,0,0,0,0,0
$GC,8043,-1.26,-146.0,689.9,-8.4,329,8048,0.00,2.83,0.00,0.000,6,0.000,0.093,2986,2188,3761,0,0,0,0,0,0
$GC,8295,-1.26,-146.0,709.7,-7.8,335,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2187,3759,0,0,0,0,0,0
$GC,8537,-1.29,-146.0,728.4,-7.7,341,8542,0.00,3.20,0.00,0.000,4,0.000,0.155,2986,620,3758,0,0,0,0,0,0
$GC,8553,-1.29,-146.0,729.8,-7.6,341,8558,0.00,2.67,0.00,0.000,6,0.000,0.082,2986,2135,3758,0,0,0,0,0,0
$GC,8817,-1.29,-146.0,749.6,-7.5,348,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2135,3756,0,0,0,0,0,0
$GC,9058,-1.29,-146.0,767.4,-7.3,354,9063,0.00,2.95,0.00,0.000,4,0.000,0.102,2986,3750,3755,0,0,0,0,0,0
$GC,9102,-1.34,-146.0,770.8,-7.4,355,9107,0.00,2.72,0.00,0.000,6,0.000,0.071,2986,2184,3755,0,0,0,0,0,0
$GC,9382,-1.34,-146.0,790.9,-7.3,362,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2184,3754,0,0,0,0,0,0
$GC,9624,-1.38,-146.0,808.5,-7.3,368,9629,0.12,2.78,0.00,0.000,4,0.067,0.084,2940,3751,3753,0,0,0,0,0,0
$GC,9667,-1.34,-146.0,812.0,-9.7,369,9672,0.12,2.70,0.00,0.000,6,0.098,0.071,2968,2195,3754,0,0,0,0,0,0
$GC,9953,-1.34,-146.0,834.4,-7.8,376,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2195,3752,0,0,0,0,0,0
$GC,10195,-1.34,-146.0,853.2,-7.7,382,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2195,3751,0,0,0,0,0,0
$GC,10438,-1.34,-146.0,871.5,-7.5,388,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2194,3751,0,0,0,0,0,0
$GC,10682,-1.34,-146.0,888.8,-7.0,394,10687,0.00,2.72,0.00,0.000,4,0.000,0.085,2968,3749,3750,0,0,0,0,0,0
$GC,10734,-1.34,-146.0,892.8,-7.8,395,10738,0.00,2.70,0.00,0.000,6,0.000,0.067,2968,2191,3750,0,0,0,0,0,0
$STATE,10840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10840,begin apogee
$GC,10847,-0.31,0.0,901.5,7.7,398,10969,0.98,0.00,118.30,1.205,6,0.068,0.000,3193,2330,3190,0,0,0,0,0,0
$STATE,10969,end apogee,CONTROL_FINISHED_OK
$STATE,10969,begin climb
$GC,10974,1.27,146.0,905.1,0.0,401,11111,1.42,2.92,127.78,1.180,4,0.035,0.081,3547,3930,2593,0,0,0,0,0,0
$GC,11226,1.14,146.0,888.3,11.5,407,11231,0.20,2.70,0.00,0.000,6,0.106,0.058,3507,2369,2587,0,0,0,0,0,0
$GC,11510,1.17,170.9,862.8,8.8,414,11539,0.00,2.85,22.23,1.096,4,0.000,0.066,3507,3936,2492,0,0,0,0,0,0
$GC,11570,1.13,170.9,857.2,10.0,415,11574,0.00,2.67,0.00,0.000,6,0.000,0.050,3508,2370,2491,0,0,0,0,0,0
$GC,11836,1.15,183.4,831.8,9.4,422,11855,0.00,3.12,12.23,1.029,4,0.000,0.119,3507,783,2442,0,0,0,0,0,0
$GC,11872,1.15,183.4,828.1,10.0,422,11878,0.00,2.67,0.00,0.000,6,0.000,0.049,3507,2368,2440,0,0,0,0,0,0
$GC,12125,1.15,185.6,803.3,9.9,429,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2369,2438,0,0,0,0,0,0
$GC,12366,1.15,186.9,779.3,9.9,435,12375,0.00,2.75,4.00,0.683,4,0.000,0.074,3507,3935,2428,0,0,0,0,0,0
$GC,12448,1.15,186.9,770.3,10.9,436,12454,0.00,2.60,0.00,0.000,6,0.000,0.040,3507,2373,2427,0,0,0,0,0,0
$GC,12701,1.15,186.9,745.2,10.0,443,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2373,2426,0,0,0,0,0,0
$GC,12942,1.15,187.2,720.7,10.0,449,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2373,2426,0,0,0,0,0,0
$GC,13186,1.16,189.3,696.6,9.9,455,13191,0.00,3.00,0.00,0.000,4,0.000,0.118,3507,784,2425,0,0,0,0,0,0
$GC,13201,1.16,189.3,694.8,10.0,455,13206,0.00,2.65,0.00,0.000,6,0.000,0.047,3506,2385,2425,0,0,0,0,0,0
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$GC,16238,1.17,201.8,384.1,10.5,530,16239,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2408,2366,0,0,0,0,0,0
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$STATE,19725,end climb,SURFACE_DEPTH_REACHED
$STATE,19725,begin surface coast
$FINISH,1.1,1.010464
$STATE,19761,end surface coast,CONTROL_FINISHED_OK
$STATE,19761,begin surface
$SM_CCo,19784,30.40,0.490,0,0,1763,350.04
$SM_GC,1.72,0.00,0.00,30.40,0.000,0.000,0.490,465,2179,1763,-12.86,-0.88,350.04
$IRIDIUM_FIX,1920.65,-8114.36,240602,181832
$TT8_MAMPS,0.026078
$HUMID,60.47
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.00
$XPDR_PINGS,66
$24V_AH,23.2,48.789
$10V_AH,10.2,43.055
$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,30.550,189.525,401.700,30.400,0.000,57.803,74.188,682.167,16.500,0.000,32.098,1547.129,15053.281,554.996,2410.910,1321.295,33.372,1596.457,0.000,2383.692,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,154.934,1204.957,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,505.641,354.950,447.125,588.201,1121.198,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,57225,747
$CAP_FILE_SIZE,179273,0
$CFSIZE,260165632,104198144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300313,235808,1926.430,-8113.021,74,1.3,74,-3.8