version: 66.06
glider: 146
mission: 8
dive: 361
start: 4 3 113 12 17 45
data:
$ID,146
$MISSION,8
$DIVE,361
$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,-314593.28
$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,50
$R_STBD_OVSHOOT,36
$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
$GPS1,120929,1927.157,-8115.631,41,1.1,41,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.6
$GPS2,121649,1927.135,-8115.622,14,1.6,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,-0.098
$KALMAN_X,-205752.4,-75.7,-38.1,191515.5,-2198.2
$KALMAN_Y,121862.7,134.1,-12.8,-115370.3,983.7
$MHEAD_RNG_PITCHd_Wd,116.0,14180,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,465,2190,3443,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.2,-3.4,9,123,13.52,2.53,-6.62,0.000,4,0.155,0.054,2977,650,3786,0,0,0,0,0,0
$GC,148,-0.79,-146.0,18.8,-27.2,15,158,0.45,2.45,0.00,0.000,6,0.078,0.022,3082,2226,3786,0,0,0,0,0,0
$GC,439,-0.79,-146.0,51.7,-10.6,46,443,0.00,2.60,0.00,0.000,4,0.000,0.043,3082,643,3787,0,0,0,0,0,0
$GC,485,-0.79,-146.0,57.2,-11.0,49,490,0.00,2.38,0.00,0.000,6,0.000,0.016,3082,2204,3787,0,0,0,0,0,0
$GC,752,-0.79,-146.0,85.0,-10.6,73,756,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2204,3788,0,0,0,0,0,0
$GC,1015,-0.79,-146.0,113.2,-10.9,98,1019,0.00,2.55,0.00,0.000,4,0.000,0.043,3082,648,3788,0,0,0,0,0,0
$GC,1060,-0.79,-146.0,117.9,-11.2,101,1064,0.00,2.38,0.00,0.000,6,0.000,0.016,3082,2203,3788,0,0,0,0,0,0
$GC,1329,-0.85,-146.0,143.8,-8.7,125,1334,0.00,2.53,0.00,0.000,4,0.000,0.042,3082,645,3788,0,0,0,0,0,0
$GC,1363,-0.95,-146.0,146.8,-8.5,127,1368,0.12,2.35,0.00,0.000,6,0.065,0.016,3022,2188,3788,0,0,0,0,0,0
$GC,1629,-0.95,-146.0,172.0,-8.7,151,1634,0.12,2.53,0.00,0.000,4,0.097,0.044,3053,644,3789,0,0,0,0,0,0
$GC,1659,-1.01,-146.0,174.6,-7.8,153,1663,0.00,2.33,0.00,0.000,6,0.000,0.016,3053,2178,3789,0,0,0,0,0,0
$GC,1925,-1.11,-146.0,192.6,-6.6,177,1930,0.15,2.55,0.00,0.000,4,0.055,0.034,2987,3773,3789,0,0,0,0,0,0
$GC,1959,-1.11,-146.0,196.0,-9.8,179,1965,0.12,2.47,0.00,0.000,6,0.107,0.018,3019,2176,3790,0,0,0,0,0,0
$GC,2222,-1.16,-146.0,215.0,-6.9,190,2226,0.00,2.50,0.00,0.000,4,0.000,0.047,3019,635,3790,0,0,0,0,0,0
$GC,2257,-1.23,-146.0,217.3,-7.2,190,2263,0.12,2.35,0.00,0.000,6,0.066,0.017,2963,2172,3790,0,0,0,0,0,0
$GC,2508,-1.18,-146.0,241.3,-9.8,197,2513,0.17,2.55,0.00,0.000,4,0.084,0.043,3003,3768,3790,0,0,0,0,0,0
$GC,2555,-1.24,-146.0,245.3,-8.6,198,2559,0.00,2.45,0.00,0.000,6,0.000,0.024,3003,2181,3790,0,0,0,0,0,0
$GC,2832,-1.24,-146.0,267.6,-8.0,205,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2181,3790,0,0,0,0,0,0
$GC,3076,-1.24,-146.0,286.2,-7.7,211,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2181,3789,0,0,0,0,0,0
$GC,3322,-1.24,-146.0,305.0,-7.7,217,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2181,3788,0,0,0,0,0,0
$GC,3564,-1.28,-146.0,323.6,-7.7,223,3568,0.00,2.55,0.00,0.000,4,0.000,0.041,3003,3763,3788,0,0,0,0,0,0
$GC,3591,-1.33,-146.0,325.8,-7.7,223,3596,0.15,2.47,0.00,0.000,6,0.057,0.030,2942,2185,3788,0,0,0,0,0,0
$GC,3843,-1.26,-146.0,351.0,-10.3,229,3845,0.20,0.00,0.00,0.000,6,0.081,0.000,2989,2185,3787,0,0,0,0,0,0
$GC,4085,-1.26,-146.0,370.7,-7.9,235,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2185,3786,0,0,0,0,0,0
$GC,4328,-1.26,-146.0,389.5,-7.6,241,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2185,3785,0,0,0,0,0,0
$GC,4572,-1.26,-146.0,408.5,-7.8,247,4577,0.00,2.62,0.00,0.000,4,0.000,0.052,2989,3761,3784,0,0,0,0,0,0
$GC,4631,-1.30,-146.0,413.1,-8.5,248,4635,0.00,2.53,0.00,0.000,6,0.000,0.037,2989,2191,3784,0,0,0,0,0,0
$GC,4897,-1.30,-146.0,433.4,-7.6,255,4901,0.00,2.60,0.00,0.000,4,0.000,0.053,2989,3755,3783,0,0,0,0,0,0
$GC,4918,-1.30,-146.0,435.1,-7.5,255,4923,0.00,2.55,0.00,0.000,6,0.000,0.041,2989,2188,3783,0,0,0,0,0,0
$GC,5176,-1.30,-146.0,453.7,-7.2,262,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2189,3782,0,0,0,0,0,0
$GC,5418,-1.30,-146.0,471.3,-7.3,268,5422,0.00,2.65,0.00,0.000,4,0.000,0.064,2989,3760,3780,0,0,0,0,0,0
$GC,5433,-1.30,-146.0,472.5,-7.1,268,5438,0.00,2.55,0.00,0.000,6,0.000,0.039,2989,2194,3780,0,0,0,0,0,0
$GC,5697,-1.30,-146.0,490.9,-7.1,275,5701,0.00,2.65,0.00,0.000,4,0.000,0.058,2989,3761,3778,0,0,0,0,0,0
$GC,5724,-1.34,-146.0,493.2,-7.6,275,5728,0.00,2.60,0.00,0.000,6,0.000,0.044,2989,2198,3778,0,0,0,0,0,0
$GC,5974,-1.34,-146.0,510.9,-7.1,281,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2198,3777,0,0,0,0,0,0
$GC,6220,-1.34,-146.0,529.3,-7.6,287,6224,0.00,2.65,0.00,0.000,4,0.000,0.064,2989,3757,3776,0,0,0,0,0,0
$GC,6247,-1.34,-146.0,531.6,-7.5,287,6251,0.00,2.60,0.00,0.000,6,0.000,0.051,2989,2209,3776,0,0,0,0,0,0
$GC,6497,-1.34,-146.0,550.4,-7.5,293,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2209,3775,0,0,0,0,0,0
$GC,6744,-1.38,-146.0,569.2,-7.7,299,6749,0.12,2.70,0.00,0.000,4,0.170,0.070,2942,3753,3774,0,0,0,0,0,0
$GC,6771,-1.33,-146.0,572.1,-10.3,299,6777,0.12,2.62,0.00,0.000,6,0.097,0.055,2970,2208,3773,0,0,0,0,0,0
$GC,7021,-1.33,-146.0,593.4,-8.6,305,7026,0.00,2.70,0.00,0.000,4,0.000,0.078,2970,3756,3772,0,0,0,0,0,0
$GC,7039,-1.33,-146.0,594.9,-8.6,305,7044,0.00,2.65,0.00,0.000,6,0.000,0.058,2970,2206,3772,0,0,0,0,0,0
$GC,7300,-1.33,-146.0,617.1,-8.5,312,7305,0.00,2.72,0.00,0.000,4,0.000,0.083,2970,3755,3771,0,0,0,0,0,0
$GC,7318,-1.33,-146.0,618.8,-8.6,312,7323,0.00,2.65,0.00,0.000,6,0.000,0.066,2970,2209,3771,0,0,0,0,0,0
$GC,7582,-1.33,-146.0,641.2,-8.6,319,7586,0.00,2.75,0.00,0.000,4,0.000,0.087,2970,3754,3769,0,0,0,0,0,0
$GC,7603,-1.33,-146.0,643.5,-9.4,319,7608,0.00,2.70,0.00,0.000,6,0.000,0.081,2970,2221,3769,0,0,0,0,0,0
$GC,7862,-1.33,-146.0,666.0,-8.8,326,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2220,3768,0,0,0,0,0,0
$GC,8103,-1.33,-146.0,687.3,-8.8,332,8107,0.00,2.83,0.00,0.000,4,0.000,0.100,2970,3753,3768,0,0,0,0,0,0
$GC,8126,-1.33,-146.0,689.3,-9.5,332,8131,0.00,2.83,0.00,0.000,6,0.000,0.100,2970,2218,3767,0,0,0,0,0,0
$GC,8381,-1.33,-146.0,710.9,-8.3,339,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2218,3766,0,0,0,0,0,0
$GC,8625,-1.33,-146.0,730.1,-7.8,345,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2218,3765,0,0,0,0,0,0
$GC,8871,-1.33,-146.0,748.6,-7.5,351,8876,0.00,3.08,0.00,0.000,4,0.000,0.145,2970,3754,3764,0,0,0,0,0,0
$GC,8898,-1.33,-146.0,751.0,-8.0,351,8903,0.00,2.75,0.00,0.000,6,0.000,0.089,2970,2222,3764,0,0,0,0,0,0
$GC,9148,-1.33,-146.0,768.9,-7.2,357,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2222,3763,0,0,0,0,0,0
$GC,9392,-1.33,-146.0,785.4,-6.7,363,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2222,3762,0,0,0,0,0,0
$GC,9638,-1.33,-146.0,801.4,-6.5,369,9642,0.00,2.72,0.00,0.000,4,0.000,0.085,2970,3754,3762,0,0,0,0,0,0
$GC,9654,-1.33,-146.0,802.9,-6.5,369,9659,0.00,2.70,0.00,0.000,6,0.000,0.069,2970,2210,3762,0,0,0,0,0,0
$GC,9915,-1.33,-146.0,821.3,-7.2,376,9919,0.00,2.75,0.00,0.000,4,0.000,0.082,2970,3755,3761,0,0,0,0,0,0
$GC,9938,-1.33,-146.0,823.0,-7.7,376,9943,0.00,2.67,0.00,0.000,6,0.000,0.070,2970,2216,3760,0,0,0,0,0,0
$GC,10193,-1.33,-146.0,842.1,-7.5,383,10198,0.00,2.72,0.00,0.000,4,0.000,0.086,2970,3753,3760,0,0,0,0,0,0
$GC,10215,-1.33,-146.0,843.9,-8.0,383,10219,0.00,2.67,0.00,0.000,6,0.000,0.067,2970,2220,3760,0,0,0,0,0,0
$GC,10472,-1.33,-146.0,862.4,-7.1,390,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2219,3759,0,0,0,0,0,0
$GC,10713,-1.33,-146.0,880.1,-7.4,396,10718,0.00,2.70,0.00,0.000,4,0.000,0.081,2970,3755,3758,0,0,0,0,0,0
$GC,10769,-1.37,-146.0,884.9,-9.7,397,10773,0.00,2.65,0.00,0.000,6,0.000,0.066,2970,2225,3757,0,0,0,0,0,0
$STATE,10992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10992,begin apogee
$GC,11000,-0.31,0.0,901.9,7.5,403,11124,0.95,0.00,120.30,1.203,6,0.067,0.000,3190,2332,3190,0,0,0,0,0,0
$STATE,11125,end apogee,CONTROL_FINISHED_OK
$STATE,11125,begin climb
$GC,11128,1.27,146.0,905.4,0.0,406,11265,1.42,2.83,127.15,1.177,4,0.034,0.077,3543,3924,2592,0,0,0,0,0,0
$GC,11339,1.15,146.0,892.6,11.9,411,11344,0.15,2.72,0.00,0.000,6,0.114,0.059,3514,2365,2588,0,0,0,0,0,0
$GC,11625,1.17,162.7,865.4,9.2,418,11646,0.00,2.78,15.25,1.060,4,0.000,0.064,3513,3932,2525,0,0,0,0,0,0
$GC,11679,1.12,162.7,859.4,10.8,419,11684,0.00,2.67,0.00,0.000,6,0.000,0.047,3514,2375,2523,0,0,0,0,0,0
$GC,11946,1.12,162.7,832.6,10.1,426,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2375,2521,0,0,0,0,0,0
$GC,12192,1.12,168.3,808.9,9.7,432,12203,0.00,2.72,5.62,0.844,4,0.000,0.059,3513,3938,2503,0,0,0,0,0,0
$GC,12232,1.08,168.3,804.5,10.8,433,12236,0.00,2.67,0.00,0.000,6,0.000,0.043,3513,2364,2502,0,0,0,0,0,0
$GC,12515,1.08,173.2,776.3,9.8,440,12526,0.00,2.72,6.07,0.863,4,0.000,0.061,3513,3935,2482,0,0,0,0,0,0
$GC,12579,1.08,173.2,769.7,11.3,441,12583,0.00,2.65,0.00,0.000,6,0.000,0.044,3513,2375,2481,0,0,0,0,0,0
$GC,12839,1.08,175.9,743.7,9.9,448,12844,0.00,3.12,0.00,0.000,4,0.000,0.128,3513,780,2480,0,0,0,0,0,0
$GC,12861,1.08,175.9,741.3,10.7,448,12865,0.00,2.70,0.00,0.000,6,0.000,0.044,3513,2384,2480,0,0,0,0,0,0
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$STATE,20005,end climb,SURFACE_DEPTH_REACHED
$STATE,20005,begin surface coast
$FINISH,1.4,1.023677
$STATE,20047,end surface coast,CONTROL_FINISHED_OK
$STATE,20047,begin surface
$SM_CCo,20072,33.55,0.488,0,0,1762,350.04
$SM_GC,1.86,0.00,0.00,33.55,0.000,0.000,0.488,463,2211,1762,-12.87,0.06,350.04
$IRIDIUM_FIX,1920.65,-8123.75,280602,060636
$TT8_MAMPS,0.026078
$HUMID,60.94
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.20
$XPDR_PINGS,82
$24V_AH,23.2,51.057
$10V_AH,10.1,45.146
$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,31.125,226.000,402.225,33.550,0.000,28.699,40.743,199.354,20.500,0.000,15.696,1613.868,15138.404,566.181,2448.239,775.393,33.370,1611.691,0.000,2440.394,0.000,0.535,0.000
$DEVICE_MAMPS,169.507,144.963,1202.656,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,517.161,363.730,459.051,608.501,1159.497,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,57370,763
$CAP_FILE_SIZE,180486,0
$CFSIZE,260165632,103034880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,175406,1926.848,-8114.382,29,1.3,29,-3.8