version: 66.06
glider: 146
mission: 8
dive: 409
start: 4 14 113 3 53 14
data:
$ID,146
$MISSION,8
$DIVE,409
$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,-315524.12
$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,69
$R_STBD_OVSHOOT,18
$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
$GPS1,033735,1926.899,-8117.312,39,1.0,39,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.6
$GPS2,035219,1926.924,-8117.373,11,1.2,11,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.070
$KALMAN_X,-227768.5,272.8,10.9,210068.0,453.7
$KALMAN_Y,144123.3,-73.6,-95.4,-137728.8,-91.1
$MHEAD_RNG_PITCHd_Wd,109.4,16977,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,2,0.000,0.000,462,2162,3485,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.6,-4.8,9,122,13.73,2.45,-5.43,0.000,4,0.160,0.048,2979,658,3782,0,0,0,0,0,0
$GC,154,-0.93,-146.0,22.0,-24.7,16,164,0.32,2.47,0.00,0.000,6,0.083,0.017,3054,2248,3783,0,0,0,0,0,0
$GC,431,-0.88,-146.0,57.2,-12.1,44,440,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2248,3783,0,0,0,0,0,0
$GC,697,-0.88,-146.0,87.5,-11.1,69,701,0.00,2.58,0.00,0.000,4,0.000,0.041,3054,662,3783,0,0,0,0,0,0
$GC,731,-0.84,-146.0,91.2,-11.6,71,736,0.10,2.38,0.00,0.000,6,0.114,0.016,3076,2208,3783,0,0,0,0,0,0
$GC,997,-0.84,-146.0,117.0,-9.3,95,1002,0.00,2.47,0.00,0.000,4,0.000,0.032,3076,3775,3783,0,0,0,0,0,0
$GC,1039,-0.94,-146.0,121.4,-8.5,98,1043,0.00,2.40,0.00,0.000,6,0.000,0.020,3076,2233,3784,0,0,0,0,0,0
$GC,1304,-1.06,-146.0,140.2,-6.5,122,1313,0.20,0.00,0.00,0.000,6,0.046,0.000,2998,2233,3784,0,0,0,0,0,0
$GC,1568,-1.06,-146.0,165.2,-9.3,147,1577,0.15,0.00,0.00,0.000,6,0.087,0.000,3034,2233,3784,0,0,0,0,0,0
$GC,1835,-1.13,-146.0,185.4,-7.6,172,1840,0.00,2.58,0.00,0.000,4,0.000,0.044,3034,642,3785,0,0,0,0,0,0
$GC,1864,-1.20,-146.0,188.0,-7.9,174,1869,0.15,2.42,0.00,0.000,6,0.055,0.019,2968,2221,3785,0,0,0,0,0,0
$GC,2126,-1.15,-146.0,210.7,-8.8,189,2131,0.17,2.47,0.00,0.000,4,0.085,0.042,3009,3770,3785,0,0,0,0,0,0
$GC,2176,-1.22,-146.0,215.2,-7.5,190,2181,0.00,2.42,0.00,0.000,6,0.000,0.019,3009,2212,3785,0,0,0,0,0,0
$GC,2452,-1.26,-146.0,235.7,-7.7,197,2457,0.10,2.53,0.00,0.000,4,0.078,0.037,2959,3778,3784,0,0,0,0,0,0
$GC,2485,-1.20,-146.0,239.1,-10.2,197,2491,0.17,2.40,0.00,0.000,6,0.081,0.026,3002,2226,3784,0,0,0,0,0,0
$GC,2737,-1.20,-146.0,259.8,-8.2,204,2741,0.00,2.60,0.00,0.000,4,0.000,0.049,3001,637,3784,0,0,0,0,0,0
$GC,2753,-1.20,-146.0,261.3,-8.3,204,2757,0.00,2.47,0.00,0.000,6,0.000,0.019,3002,2237,3783,0,0,0,0,0,0
$GC,3013,-1.20,-146.0,281.2,-7.4,211,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2237,3783,0,0,0,0,0,0
$GC,3257,-1.20,-146.0,298.8,-7.2,217,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2237,3782,0,0,0,0,0,0
$GC,3503,-1.20,-146.0,317.3,-7.7,223,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2237,3781,0,0,0,0,0,0
$GC,3745,-1.20,-146.0,336.3,-7.7,229,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2237,3781,0,0,0,0,0,0
$GC,3989,-1.24,-146.0,355.2,-7.7,235,3993,0.00,2.47,0.00,0.000,4,0.000,0.048,3002,3772,3780,0,0,0,0,0,0
$GC,4013,-1.28,-146.0,356.9,-7.7,235,4017,0.00,2.42,0.00,0.000,6,0.000,0.028,3002,2236,3779,0,0,0,0,0,0
$GC,4268,-1.32,-146.0,376.6,-7.7,242,4274,0.12,2.72,0.00,0.000,4,0.067,0.070,2949,633,3778,0,0,0,0,0,0
$GC,4291,-1.32,-146.0,378.6,-8.5,242,4296,0.10,2.53,0.00,0.000,6,0.112,0.028,2971,2219,3778,0,0,0,0,0,0
$GC,4549,-1.32,-146.0,400.2,-8.2,249,4553,0.00,2.55,0.00,0.000,4,0.000,0.045,2971,3789,3777,0,0,0,0,0,0
$GC,4564,-1.32,-146.0,401.9,-8.2,249,4569,0.00,2.47,0.00,0.000,6,0.000,0.032,2971,2237,3776,0,0,0,0,0,0
$GC,4826,-1.32,-146.0,423.3,-8.4,256,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2237,3775,0,0,0,0,0,0
$GC,5072,-1.32,-146.0,444.6,-8.8,262,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2237,3775,0,0,0,0,0,0
$GC,5313,-1.32,-146.0,465.1,-8.2,268,5317,0.00,2.60,0.00,0.000,4,0.000,0.057,2972,3782,3774,0,0,0,0,0,0
$GC,5329,-1.32,-146.0,466.4,-8.0,268,5334,0.00,2.53,0.00,0.000,6,0.000,0.041,2971,2230,3774,0,0,0,0,0,0
$GC,5592,-1.32,-146.0,487.0,-7.9,275,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2230,3773,0,0,0,0,0,0
$GC,5833,-1.32,-146.0,506.4,-8.0,281,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2230,3772,0,0,0,0,0,0
$GC,6077,-1.32,-146.0,526.3,-8.2,287,6082,0.00,2.65,0.00,0.000,4,0.000,0.065,2971,3779,3770,0,0,0,0,0,0
$GC,6098,-1.32,-146.0,528.2,-8.8,287,6103,0.00,2.58,0.00,0.000,6,0.000,0.054,2971,2230,3770,0,0,0,0,0,0
$GC,6356,-1.32,-146.0,549.2,-8.4,294,6361,0.00,2.67,0.00,0.000,4,0.000,0.067,2971,3781,3769,0,0,0,0,0,0
$GC,6377,-1.32,-146.0,551.4,-8.5,294,6382,0.00,2.60,0.00,0.000,6,0.000,0.056,2971,2235,3769,0,0,0,0,0,0
$GC,6633,-1.32,-146.0,572.0,-8.0,301,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2235,3768,0,0,0,0,0,0
$GC,6879,-1.32,-146.0,590.5,-7.6,307,6884,0.00,3.05,0.00,0.000,4,0.000,0.120,2971,623,3766,0,0,0,0,0,0
$GC,6901,-1.32,-146.0,592.4,-7.8,307,6906,0.00,2.70,0.00,0.000,6,0.000,0.056,2971,2215,3766,0,0,0,0,0,0
$GC,7156,-1.32,-146.0,612.7,-8.1,314,7161,0.00,2.83,0.00,0.000,4,0.000,0.095,2971,3794,3765,0,0,0,0,0,0
$GC,7186,-1.32,-146.0,615.1,-9.4,314,7190,0.00,2.70,0.00,0.000,6,0.000,0.067,2971,2231,3764,0,0,0,0,0,0
$GC,7436,-1.32,-146.0,637.2,-8.8,320,7440,0.00,2.78,0.00,0.000,4,0.000,0.083,2971,3794,3764,0,0,0,0,0,0
$GC,7465,-1.32,-146.0,640.1,-9.8,320,7470,0.00,2.72,0.00,0.000,6,0.000,0.072,2971,2242,3763,0,0,0,0,0,0
$GC,7718,-1.32,-146.0,661.9,-8.7,326,7723,0.00,3.12,0.00,0.000,4,0.000,0.126,2971,623,3762,0,0,0,0,0,0
$GC,7734,-1.32,-146.0,663.6,-8.2,326,7739,0.00,2.85,0.00,0.000,6,0.000,0.078,2971,2241,3762,0,0,0,0,0,0
$GC,7995,-1.32,-146.0,684.8,-8.1,333,8000,0.00,2.92,0.00,0.000,4,0.000,0.117,2971,3805,3762,0,0,0,0,0,0
$GC,8022,-1.32,-146.0,687.1,-8.7,333,8027,0.00,2.85,0.00,0.000,6,0.000,0.097,2971,2239,3761,0,0,0,0,0,0
$GC,8274,-1.32,-146.0,705.9,-7.4,339,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2239,3760,0,0,0,0,0,0
$GC,8516,-1.32,-146.0,723.6,-7.3,345,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2239,3759,0,0,0,0,0,0
$GC,8759,-1.32,-146.0,742.4,-7.7,351,8764,0.00,3.10,0.00,0.000,4,0.000,0.137,2971,3794,3758,0,0,0,0,0,0
$GC,8794,-1.32,-146.0,745.2,-8.5,351,8800,0.00,2.78,0.00,0.000,6,0.000,0.082,2971,2245,3758,0,0,0,0,0,0
$GC,9044,-1.32,-146.0,765.4,-8.1,358,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2245,3756,0,0,0,0,0,0
$GC,9288,-1.32,-146.0,785.7,-8.4,364,9293,0.00,2.80,0.00,0.000,4,0.000,0.093,2971,3801,3756,0,0,0,0,0,0
$GC,9323,-1.32,-146.0,788.7,-8.7,364,9332,0.00,2.70,0.00,0.000,6,0.000,0.069,2971,2254,3755,0,0,0,0,0,0
$GC,9573,-1.32,-146.0,809.7,-8.3,371,9578,0.00,3.10,0.00,0.000,4,0.000,0.126,2971,621,3754,0,0,0,0,0,0
$GC,9600,-1.32,-146.0,812.1,-8.6,371,9605,0.00,2.83,0.00,0.000,6,0.000,0.064,2971,2250,3754,0,0,0,0,0,0
$GC,9851,-1.32,-146.0,830.8,-7.4,377,9855,0.00,2.80,0.00,0.000,4,0.000,0.100,2971,3805,3752,0,0,0,0,0,0
$GC,9886,-1.32,-146.0,833.4,-8.5,377,9891,0.00,2.70,0.00,0.000,6,0.000,0.064,2971,2253,3752,0,0,0,0,0,0
$GC,10136,-1.32,-146.0,851.8,-7.2,384,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2253,3752,0,0,0,0,0,0
$GC,10379,-1.32,-146.0,868.7,-6.9,390,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2252,3750,0,0,0,0,0,0
$GC,10626,-1.32,-146.0,885.3,-6.7,396,10630,0.00,2.75,0.00,0.000,4,0.000,0.087,2971,3798,3749,0,0,0,0,0,0
$GC,10647,-1.32,-146.0,886.9,-6.5,396,10651,0.00,2.62,0.00,0.000,6,0.000,0.061,2972,2266,3749,0,0,0,0,0,0
$STATE,10859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10859,begin apogee
$GC,10865,-0.31,0.0,902.3,7.2,402,10988,0.95,0.00,119.43,1.210,6,0.067,0.000,3190,2390,3190,0,0,0,0,0,0
$STATE,10989,end apogee,CONTROL_FINISHED_OK
$STATE,10989,begin climb
$GC,10994,1.27,146.0,905.5,0.0,405,11131,1.42,2.83,128.45,1.177,4,0.034,0.077,3544,3937,2592,0,0,0,0,0,0
$GC,11208,1.14,146.0,892.2,12.8,410,11213,0.17,2.75,0.00,0.000,6,0.114,0.061,3509,2368,2588,0,0,0,0,0,0
$GC,11486,1.15,154.6,865.2,9.6,417,11500,0.00,2.83,7.70,0.953,4,0.000,0.069,3509,3932,2559,0,0,0,0,0,0
$GC,11520,1.11,159.4,861.8,9.8,417,11531,0.00,2.70,6.25,0.884,6,0.000,0.051,3509,2374,2540,0,0,0,0,0,0
$GC,11775,1.13,175.6,837.7,9.3,424,11793,0.00,0.00,16.00,1.068,6,0.000,0.000,3509,2374,2474,0,0,0,0,0,0
$GC,12019,1.15,194.2,815.1,9.1,430,12039,0.00,0.00,18.45,1.071,6,0.000,0.000,3509,2374,2398,0,0,0,0,0,0
$GC,12264,1.15,194.2,791.0,10.0,436,12269,0.00,3.08,0.00,0.000,4,0.000,0.119,3509,781,2394,0,0,0,0,0,0
$GC,12286,1.15,194.2,788.3,11.0,436,12290,0.00,2.67,0.00,0.000,6,0.000,0.043,3509,2376,2393,0,0,0,0,0,0
$GC,12541,1.15,195.5,763.1,9.9,443,12545,0.00,2.70,0.00,0.000,4,0.000,0.071,3509,3932,2393,0,0,0,0,0,0
$GC,12580,1.15,195.5,759.1,10.7,444,12584,0.00,2.62,0.00,0.000,6,0.000,0.048,3509,2375,2392,0,0,0,0,0,0
$GC,12863,1.16,199.3,731.2,9.8,451,12870,0.00,0.00,5.40,0.811,6,0.000,0.000,3509,2375,2377,0,0,0,0,0,0
$GC,13106,1.16,199.3,706.7,10.1,457,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2376,2375,0,0,0,0,0,0
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$STATE,19920,end climb,SURFACE_DEPTH_REACHED
$STATE,19920,begin surface coast
$FINISH,1.0,1.001526
$STATE,19976,end surface coast,CONTROL_FINISHED_OK
$STATE,19976,begin surface
$SM_CCo,20001,61.45,0.492,0,0,1763,350.04
$SM_GC,1.81,0.00,0.00,61.45,0.000,0.000,0.492,464,2157,1763,-12.87,-1.50,350.04
$IRIDIUM_FIX,1920.65,-8114.71,090702,030305
$TT8_MAMPS,0.026078
$HUMID,60.98
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.40
$XPDR_PINGS,99
$24V_AH,23.1,57.673
$10V_AH,10.1,51.215
$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,30.675,228.950,378.875,61.450,0.000,89.510,132.903,346.080,24.750,0.000,12.833,1604.917,15185.221,594.538,2445.822,1110.042,33.366,1624.925,0.000,2444.927,0.000,0.537,0.000
$DEVICE_MAMPS,159.536,137.293,1210.326,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,522.682,376.695,471.568,638.892,1215.063,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355844
$DATA_FILE_SIZE,60396,771
$CAP_FILE_SIZE,183256,0
$CFSIZE,260165632,99569664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140413,092900,1926.800,-8113.629,40,0.9,40,-3.8