version: 66.06
glider: 146
mission: 8
dive: 389
start: 4 9 113 18 30 38
data:
$ID,146
$MISSION,8
$DIVE,389
$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,-315104.84
$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,63
$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
$GPS1,181730,1927.891,-8109.730,37,2.0,37,-3.8
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.3
$GPS2,182942,1927.815,-8109.720,12,1.8,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,-0.229
$KALMAN_X,-240872.9,68.5,472.8,236279.0,-596.8
$KALMAN_Y,147876.0,275.1,-87.7,-140193.2,874.0
$MHEAD_RNG_PITCHd_Wd,155.8,6835,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.32,0.000,2,0.000,0.000,461,2170,3462,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.4,-4.0,9,121,13.43,0.00,-6.38,0.000,6,0.156,0.000,2976,2170,3786,0,0,0,0,0,0
$GC,397,-1.07,-146.0,61.7,-17.0,43,406,0.22,0.00,0.00,0.000,6,0.102,0.000,3025,2170,3787,0,0,0,0,0,0
$GC,661,-0.99,-146.0,98.9,-13.4,68,665,0.00,2.47,0.00,0.000,4,0.000,0.044,3025,663,3788,0,0,0,0,0,0
$GC,763,-0.95,-146.0,112.5,-12.6,76,768,0.12,2.38,0.00,0.000,6,0.107,0.016,3053,2224,3787,0,0,0,0,0,0
$GC,1029,-1.01,-146.0,134.8,-7.0,100,1033,0.00,2.45,0.00,0.000,4,0.000,0.033,3052,3772,3788,0,0,0,0,0,0
$GC,1122,-1.14,-146.0,142.2,-7.6,107,1129,0.17,2.40,0.00,0.000,6,0.050,0.021,2978,2241,3788,0,0,0,0,0,0
$GC,1388,-1.10,-146.0,168.0,-9.9,132,1393,0.17,2.62,0.00,0.000,4,0.086,0.051,3020,639,3788,0,0,0,0,0,0
$GC,1444,-1.17,-146.0,172.9,-8.1,136,1448,0.00,2.42,0.00,0.000,6,0.000,0.021,3021,2226,3788,0,0,0,0,0,0
$GC,1713,-1.22,-146.0,192.1,-6.8,160,1719,0.12,2.62,0.00,0.000,4,0.066,0.045,2964,631,3788,0,0,0,0,0,0
$GC,1736,-1.22,-146.0,194.7,-8.0,161,1742,0.12,2.42,0.00,0.000,6,0.101,0.019,2993,2221,3789,0,0,0,0,0,0
$GC,2011,-1.22,-146.0,218.4,-8.7,173,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,3788,0,0,0,0,0,0
$GC,2252,-1.22,-146.0,238.3,-8.1,179,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2221,3788,0,0,0,0,0,0
$GC,2496,-1.22,-146.0,256.9,-7.5,185,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2221,3788,0,0,0,0,0,0
$GC,2740,-1.22,-146.0,276.4,-8.1,191,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,3787,0,0,0,0,0,0
$GC,2986,-1.22,-146.0,296.7,-8.4,197,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,3787,0,0,0,0,0,0
$GC,3227,-1.22,-146.0,317.6,-8.6,203,3232,0.00,2.65,0.00,0.000,4,0.000,0.063,2992,642,3786,0,0,0,0,0,0
$GC,3249,-1.22,-146.0,319.5,-9.0,203,3253,0.00,2.42,0.00,0.000,6,0.000,0.030,2992,2200,3785,0,0,0,0,0,0
$GC,3506,-1.22,-146.0,340.1,-8.0,210,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2201,3784,0,0,0,0,0,0
$GC,3748,-1.22,-146.0,357.6,-7.0,216,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2201,3784,0,0,0,0,0,0
$GC,3992,-1.26,-146.0,376.2,-7.8,222,3996,0.00,2.67,0.00,0.000,4,0.000,0.064,2992,641,3783,0,0,0,0,0,0
$GC,4036,-1.31,-146.0,379.9,-8.8,223,4040,0.00,2.50,0.00,0.000,6,0.000,0.038,2992,2207,3782,0,0,0,0,0,0
$GC,4316,-1.31,-146.0,401.9,-7.7,230,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2207,3782,0,0,0,0,0,0
$GC,4558,-1.35,-146.0,420.3,-7.6,236,4563,0.12,2.65,0.00,0.000,4,0.067,0.059,2943,3790,3780,0,0,0,0,0,0
$GC,4594,-1.29,-146.0,423.5,-9.8,236,4603,0.12,2.53,0.00,0.000,6,0.063,0.041,2978,2236,3780,0,0,0,0,0,0
$GC,4844,-1.29,-146.0,444.5,-8.4,243,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2236,3779,0,0,0,0,0,0
$GC,5087,-1.29,-146.0,465.7,-8.7,249,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2235,3778,0,0,0,0,0,0
$GC,5331,-1.29,-146.0,485.7,-8.1,255,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2236,3777,0,0,0,0,0,0
$GC,5577,-1.29,-146.0,505.9,-8.3,261,5582,0.00,2.95,0.00,0.000,4,0.000,0.104,2978,625,3776,0,0,0,0,0,0
$GC,5593,-1.29,-146.0,507.6,-8.4,261,5597,0.00,2.62,0.00,0.000,6,0.000,0.042,2978,2218,3775,0,0,0,0,0,0
$GC,5854,-1.29,-146.0,529.3,-8.3,268,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,3774,0,0,0,0,0,0
$GC,6100,-1.29,-146.0,549.7,-8.4,274,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2218,3773,0,0,0,0,0,0
$GC,6341,-1.29,-146.0,568.9,-7.8,280,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,3771,0,0,0,0,0,0
$GC,6585,-1.29,-146.0,588.1,-7.9,286,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,3770,0,0,0,0,0,0
$GC,6829,-1.29,-146.0,607.6,-8.1,292,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,3769,0,0,0,0,0,0
$GC,7075,-1.29,-146.0,627.4,-8.2,298,7079,0.00,3.00,0.00,0.000,4,0.000,0.111,2978,630,3768,0,0,0,0,0,0
$GC,7090,-1.29,-146.0,629.0,-8.0,298,7095,0.00,2.67,0.00,0.000,6,0.000,0.066,2978,2208,3768,0,0,0,0,0,0
$GC,7351,-1.29,-146.0,650.1,-8.1,305,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2209,3767,0,0,0,0,0,0
$GC,7597,-1.29,-146.0,669.9,-8.2,311,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2209,3765,0,0,0,0,0,0
$GC,7839,-1.29,-146.0,690.1,-8.2,317,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2209,3764,0,0,0,0,0,0
$GC,8082,-1.29,-146.0,709.9,-8.1,323,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2209,3763,0,0,0,0,0,0
$GC,8328,-1.29,-146.0,728.7,-7.7,329,8333,0.00,3.17,0.00,0.000,4,0.000,0.146,2978,3793,3762,0,0,0,0,0,0
$GC,8357,-1.29,-146.0,731.1,-8.4,329,8362,0.00,2.83,0.00,0.000,6,0.000,0.084,2978,2222,3762,0,0,0,0,0,0
$GC,8607,-1.29,-146.0,750.3,-7.6,335,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2222,3762,0,0,0,0,0,0
$GC,8851,-1.29,-146.0,769.4,-7.9,341,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2221,3761,0,0,0,0,0,0
$GC,9095,-1.29,-146.0,788.2,-7.7,347,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2220,3760,0,0,0,0,0,0
$GC,9341,-1.29,-146.0,806.7,-7.5,353,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2220,3759,0,0,0,0,0,0
$GC,9582,-1.29,-146.0,825.2,-7.5,359,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,3758,0,0,0,0,0,0
$GC,9826,-1.29,-146.0,843.4,-7.5,365,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,3758,0,0,0,0,0,0
$GC,10072,-1.29,-146.0,862.0,-7.6,371,10077,0.00,2.80,0.00,0.000,4,0.000,0.082,2978,3796,3756,0,0,0,0,0,0
$GC,10134,-1.33,-146.0,867.3,-8.3,372,10139,0.00,2.72,0.00,0.000,6,0.000,0.071,2979,2220,3756,0,0,0,0,0,0
$GC,10395,-1.37,-146.0,886.0,-7.0,379,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2220,3755,0,0,0,0,0,0
$STATE,10595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10595,begin apogee
$GC,10604,-0.31,0.0,900.4,7.1,384,10728,0.93,0.00,120.45,1.210,6,0.064,0.000,3192,2388,3190,0,0,0,0,0,0
$STATE,10729,end apogee,CONTROL_FINISHED_OK
$STATE,10729,begin climb
$GC,10731,1.27,146.0,903.4,0.0,387,10868,1.42,2.83,127.85,1.179,4,0.033,0.079,3545,3925,2593,0,0,0,0,0,0
$GC,10971,1.15,146.0,886.6,11.1,392,10976,0.17,2.70,0.00,0.000,6,0.114,0.056,3512,2369,2588,0,0,0,0,0,0
$GC,11227,1.18,173.9,863.8,8.7,399,11254,0.00,0.00,25.33,1.113,6,0.000,0.000,3512,2369,2481,0,0,0,0,0,0
$GC,11473,1.19,184.1,841.0,9.5,405,11489,0.00,2.75,10.50,1.005,4,0.000,0.061,3511,3932,2438,0,0,0,0,0,0
$GC,11533,1.19,184.1,834.1,11.3,406,11538,0.00,2.65,0.00,0.000,6,0.000,0.048,3512,2369,2437,0,0,0,0,0,0
$GC,11797,1.19,184.1,807.8,10.1,413,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2369,2435,0,0,0,0,0,0
$GC,12038,1.19,184.1,783.0,10.1,419,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2369,2433,0,0,0,0,0,0
$GC,12282,1.19,185.2,758.4,9.9,425,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2369,2433,0,0,0,0,0,0
$GC,12526,1.20,193.0,734.7,9.6,431,12540,0.00,2.75,8.62,0.945,4,0.000,0.054,3512,3933,2403,0,0,0,0,0,0
$GC,12587,1.20,193.0,728.5,10.9,432,12592,0.00,2.62,0.00,0.000,6,0.000,0.045,3512,2376,2402,0,0,0,0,0,0
$GC,12854,1.21,200.3,702.5,9.7,439,12864,0.00,0.00,8.35,0.922,6,0.000,0.000,3512,2377,2373,0,0,0,0,0,0
$GC,13097,1.21,200.3,678.3,10.1,445,13102,0.00,2.65,0.00,0.000,4,0.000,0.053,3512,3934,2371,0,0,0,0,0,0
$GC,13143,1.21,200.3,673.3,11.1,446,13148,0.00,2.62,0.00,0.000,6,0.000,0.044,3512,2383,2370,0,0,0,0,0,0
$GC,13421,1.21,200.3,644.6,10.2,453,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2383,2370,0,0,0,0,0,0
$GC,13665,1.21,200.3,619.2,10.4,459,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2384,2370,0,0,0,0,0,0
$GC,13911,1.21,200.3,593.4,10.6,465,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2384,2369,0,0,0,0,0,0
$GC,14152,1.21,200.3,567.7,10.5,471,14157,0.00,2.60,0.00,0.000,4,0.000,0.051,3512,3934,2369,0,0,0,0,0,0
$GC,14184,1.21,200.3,563.9,11.9,471,14190,0.00,2.60,0.00,0.000,6,0.000,0.044,3512,2379,2369,0,0,0,0,0,0
$GC,14435,1.21,201.7,538.7,9.9,478,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2379,2368,0,0,0,0,0,0
$GC,14681,1.22,209.6,515.2,9.6,484,14692,0.00,0.00,9.57,0.838,6,0.000,0.000,3512,2379,2335,0,0,0,0,0,0
$GC,14922,1.23,214.4,491.4,9.8,490,14933,0.00,2.62,6.10,0.732,4,0.000,0.047,3512,3939,2316,0,0,0,0,0,0
$GC,14950,1.23,214.4,488.3,11.0,490,14954,0.00,2.58,0.00,0.000,6,0.000,0.034,3512,2391,2315,0,0,0,0,0,0
$GC,15202,1.23,214.4,462.1,10.6,496,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2391,2315,0,0,0,0,0,0
$GC,15443,1.23,214.4,436.0,10.7,502,15444,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2391,2315,0,0,0,0,0,0
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$STATE,19506,end climb,SURFACE_DEPTH_REACHED
$STATE,19506,begin surface coast
$FINISH,1.2,1.010927
$STATE,19551,end surface coast,CONTROL_FINISHED_OK
$STATE,19551,begin surface
$SM_CCo,19574,55.70,0.497,0,0,1763,350.04
$SM_GC,1.89,0.00,0.00,55.70,0.000,0.000,0.497,465,2182,1763,-12.86,-0.79,350.04
$IRIDIUM_FIX,1922.94,-8112.10,040702,181801
$TT8_MAMPS,0.026078
$HUMID,60.43
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.80
$XPDR_PINGS,66
$24V_AH,23.1,54.859
$10V_AH,10.0,48.674
$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,30.050,136.225,386.150,55.700,0.000,58.314,67.030,364.590,16.500,0.000,13.979,1483.094,15143.032,537.964,2226.429,965.879,33.367,1462.662,0.000,2223.667,0.000,0.535,0.000
$DEVICE_MAMPS,156.468,145.730,1209.559,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,501.387,348.696,438.820,572.981,1091.638,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,57322,739
$CAP_FILE_SIZE,156631,0
$CFSIZE,260165632,101044224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090413,235906,1925.899,-8107.756,35,1.2,35,-3.8