version: 66.06
glider: 146
mission: 8
dive: 430
start: 4 18 113 22 55 50
data:
$ID,146
$MISSION,8
$DIVE,430
$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,-315902.44
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,224730,1926.557,-8118.556,38,1.3,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.1
$GPS2,225454,1926.581,-8118.610,12,1.2,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.030
$KALMAN_X,-194295.9,-216.3,-396.9,175343.2,2645.3
$KALMAN_Y,141142.3,102.9,-75.4,-135575.0,-985.5
$MHEAD_RNG_PITCHd_Wd,100.2,18930,-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,20,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-63.42,0.000,2,0.000,0.000,466,2176,3274,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.7,8,124,13.62,2.60,-10.23,0.000,4,0.160,0.041,2977,3769,3785,0,0,0,0,0,0
$GC,162,-1.04,-146.0,20.5,-20.1,17,172,0.20,2.50,0.00,0.000,6,0.074,0.025,3027,2216,3785,0,0,0,0,0,0
$GC,449,-0.94,-146.0,62.0,-13.0,46,454,0.12,2.60,0.00,0.000,4,0.105,0.046,3055,633,3786,0,0,0,0,0,0
$GC,486,-0.89,-146.0,68.0,-13.1,48,495,0.00,2.42,0.00,0.000,6,0.000,0.015,3055,2203,3786,0,0,0,0,0,0
$GC,750,-0.89,-146.0,98.7,-11.4,73,755,0.00,2.60,0.00,0.000,4,0.000,0.044,3055,626,3787,0,0,0,0,0,0
$GC,775,-0.84,-146.0,101.7,-11.5,74,784,0.00,2.42,0.00,0.000,6,0.000,0.015,3055,2200,3787,0,0,0,0,0,0
$GC,1041,-0.84,-146.0,129.8,-9.4,99,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2200,3787,0,0,0,0,0,0
$GC,1312,-0.92,-146.0,151.1,-7.1,124,1316,0.00,2.55,0.00,0.000,4,0.000,0.044,3055,633,3788,0,0,0,0,0,0
$GC,1334,-0.99,-146.0,153.5,-7.4,125,1339,0.00,2.38,0.00,0.000,6,0.000,0.024,3055,2203,3788,0,0,0,0,0,0
$GC,1599,-1.08,-146.0,171.1,-6.7,150,1604,0.12,2.60,0.00,0.000,4,0.065,0.045,2995,634,3788,0,0,0,0,0,0
$GC,1622,-1.13,-146.0,172.7,-6.6,151,1627,0.00,2.40,0.00,0.000,6,0.000,0.018,2995,2201,3788,0,0,0,0,0,0
$GC,1891,-1.13,-146.0,194.7,-7.9,175,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3788,0,0,0,0,0,0
$GC,2165,-1.13,-146.0,216.9,-7.9,187,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3788,0,0,0,0,0,0
$GC,2408,-1.13,-146.0,236.4,-7.8,193,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3788,0,0,0,0,0,0
$GC,2652,-1.13,-146.0,254.7,-7.4,199,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,3788,0,0,0,0,0,0
$GC,2898,-1.13,-146.0,273.0,-7.7,205,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3787,0,0,0,0,0,0
$GC,3139,-1.13,-146.0,291.8,-7.6,211,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,3786,0,0,0,0,0,0
$GC,3383,-1.13,-146.0,311.5,-8.1,217,3387,0.00,2.53,0.00,0.000,4,0.000,0.044,2994,3767,3786,0,0,0,0,0,0
$GC,3404,-1.13,-146.0,313.4,-8.2,217,3409,0.00,2.47,0.00,0.000,6,0.000,0.022,2995,2186,3786,0,0,0,0,0,0
$GC,3662,-1.13,-146.0,333.6,-7.9,224,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2187,3785,0,0,0,0,0,0
$GC,3904,-1.13,-146.0,353.4,-8.1,230,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2187,3784,0,0,0,0,0,0
$GC,4150,-1.13,-146.0,372.5,-7.8,236,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2187,3783,0,0,0,0,0,0
$GC,4394,-1.13,-146.0,390.3,-7.3,242,4398,0.00,2.60,0.00,0.000,4,0.000,0.047,2995,3771,3782,0,0,0,0,0,0
$GC,4438,-1.17,-146.0,393.8,-7.3,243,4442,0.00,2.53,0.00,0.000,6,0.000,0.034,2995,2189,3782,0,0,0,0,0,0
$GC,4716,-1.21,-146.0,413.1,-6.9,250,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2189,3781,0,0,0,0,0,0
$GC,4962,-1.25,-146.0,431.1,-7.5,256,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2190,3780,0,0,0,0,0,0
$GC,5203,-1.28,-146.0,450.5,-8.1,262,5208,0.00,2.75,0.00,0.000,4,0.000,0.082,2994,626,3779,0,0,0,0,0,0
$GC,5219,-1.28,-146.0,451.8,-7.9,262,5223,0.00,2.45,0.00,0.000,6,0.000,0.034,2994,2153,3778,0,0,0,0,0,0
$GC,5483,-1.32,-146.0,471.9,-7.6,269,5487,0.00,2.67,0.00,0.000,4,0.000,0.064,2994,3757,3778,0,0,0,0,0,0
$GC,5505,-1.36,-146.0,473.8,-7.6,269,5510,0.15,2.60,0.00,0.000,6,0.057,0.048,2934,2187,3777,0,0,0,0,0,0
$GC,5761,-1.29,-146.0,497.8,-9.4,276,5763,0.20,0.00,0.00,0.000,6,0.086,0.000,2980,2187,3777,0,0,0,0,0,0
$GC,6006,-1.29,-146.0,516.6,-7.6,282,6011,0.00,2.65,0.00,0.000,4,0.000,0.067,2980,3756,3776,0,0,0,0,0,0
$GC,6028,-1.29,-146.0,518.6,-8.1,282,6032,0.00,2.62,0.00,0.000,6,0.000,0.054,2980,2188,3776,0,0,0,0,0,0
$GC,6283,-1.29,-146.0,537.7,-7.4,289,6287,0.00,2.67,0.00,0.000,4,0.000,0.067,2980,3755,3774,0,0,0,0,0,0
$GC,6312,-1.29,-146.0,539.7,-7.3,289,6317,0.00,2.65,0.00,0.000,6,0.000,0.056,2980,2194,3774,0,0,0,0,0,0
$GC,6562,-1.29,-146.0,557.1,-6.9,295,6567,0.00,2.97,0.00,0.000,4,0.000,0.122,2980,624,3773,0,0,0,0,0,0
$GC,6578,-1.29,-146.0,558.2,-6.9,295,6582,0.00,2.55,0.00,0.000,6,0.000,0.047,2980,2155,3773,0,0,0,0,0,0
$GC,6841,-1.29,-146.0,576.6,-7.1,302,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2155,3771,0,0,0,0,0,0
$GC,7082,-1.29,-146.0,595.0,-7.7,308,7087,0.00,2.85,0.00,0.000,4,0.000,0.087,2980,3753,3770,0,0,0,0,0,0
$GC,7122,-1.29,-146.0,598.1,-8.4,309,7126,0.00,2.65,0.00,0.000,6,0.000,0.064,2980,2197,3770,0,0,0,0,0,0
$GC,7407,-1.29,-146.0,619.8,-7.7,316,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2197,3769,0,0,0,0,0,0
$GC,7653,-1.29,-146.0,638.2,-7.5,322,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2197,3768,0,0,0,0,0,0
$GC,7892,-1.29,-146.0,656.3,-7.4,328,7897,0.00,2.85,0.00,0.000,4,0.000,0.102,2980,3753,3766,0,0,0,0,0,0
$GC,7910,-1.29,-146.0,657.8,-7.6,328,7915,0.00,2.78,0.00,0.000,6,0.000,0.087,2980,2207,3766,0,0,0,0,0,0
$GC,8174,-1.29,-146.0,678.5,-8.1,335,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2207,3765,0,0,0,0,0,0
$GC,8415,-1.29,-146.0,697.8,-8.0,341,8420,0.00,2.92,0.00,0.000,4,0.000,0.119,2980,3751,3763,0,0,0,0,0,0
$GC,8438,-1.29,-146.0,699.6,-8.5,341,8443,0.00,2.90,0.00,0.000,6,0.000,0.106,2980,2198,3763,0,0,0,0,0,0
$GC,8695,-1.29,-146.0,720.5,-8.1,348,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2198,3762,0,0,0,0,0,0
$GC,8937,-1.29,-146.0,739.3,-7.7,354,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2198,3761,0,0,0,0,0,0
$GC,9180,-1.29,-146.0,756.7,-7.1,360,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2198,3761,0,0,0,0,0,0
$GC,9427,-1.29,-146.0,773.7,-7.0,366,9432,0.00,3.25,0.00,0.000,4,0.000,0.167,2980,3749,3759,0,0,0,0,0,0
$GC,9462,-1.29,-146.0,776.2,-7.0,366,9468,0.00,2.78,0.00,0.000,6,0.000,0.081,2980,2198,3759,0,0,0,0,0,0
$GC,9712,-1.29,-146.0,793.4,-6.8,373,9717,0.00,2.80,0.00,0.000,4,0.000,0.087,2980,3754,3758,0,0,0,0,0,0
$GC,9746,-1.33,-146.0,795.8,-7.6,373,9751,0.00,2.72,0.00,0.000,6,0.000,0.079,2980,2210,3757,0,0,0,0,0,0
$GC,9998,-1.33,-146.0,812.3,-6.6,380,10003,0.00,2.80,0.00,0.000,4,0.000,0.086,2980,3755,3757,0,0,0,0,0,0
$GC,10014,-1.33,-146.0,813.5,-6.5,380,10018,0.00,2.70,0.00,0.000,6,0.000,0.072,2980,2222,3757,0,0,0,0,0,0
$GC,10275,-1.37,-146.0,831.9,-7.0,387,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2222,3755,0,0,0,0,0,0
$GC,10521,-1.40,-146.0,849.6,-7.3,393,10527,0.12,2.72,0.00,0.000,4,0.071,0.083,2933,3757,3754,0,0,0,0,0,0
$GC,10545,-1.40,-146.0,851.9,-9.1,393,10549,0.00,2.65,0.00,0.000,6,0.000,0.068,2934,2229,3754,0,0,0,0,0,0
$GC,10800,-1.35,-146.0,876.1,-9.4,400,10802,0.15,0.00,0.00,0.000,6,0.097,0.000,2966,2228,3753,0,0,0,0,0,0
$GC,11046,-1.35,-146.0,894.2,-7.2,406,11051,0.00,2.70,0.00,0.000,4,0.000,0.084,2967,3754,3752,0,0,0,0,0,0
$GC,11090,-1.35,-146.0,898.0,-7.8,407,11094,0.00,2.67,0.00,0.000,6,0.000,0.071,2966,2228,3752,0,0,0,0,0,0
$STATE,11114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11114,begin apogee
$GC,11121,-0.31,0.0,900.1,7.3,407,11247,0.95,0.00,120.50,1.215,6,0.067,0.000,3189,2338,3190,0,0,0,0,0,0
$STATE,11247,end apogee,CONTROL_FINISHED_OK
$STATE,11247,begin climb
$GC,11252,1.27,146.0,903.5,0.0,411,11390,1.42,2.90,128.48,1.182,4,0.033,0.077,3544,3933,2593,0,0,0,0,0,0
$GC,11484,1.15,146.0,888.8,11.3,416,11489,0.17,2.75,0.00,0.000,6,0.113,0.058,3510,2361,2587,0,0,0,0,0,0
$GC,11745,1.19,180.6,865.5,8.4,423,11786,0.00,2.80,31.30,1.124,4,0.000,0.064,3510,3935,2452,0,0,0,0,0,0
$GC,11799,1.17,200.4,860.8,9.1,424,11825,0.00,2.72,19.75,1.083,6,0.000,0.054,3510,2370,2372,0,0,0,0,0,0
$GC,12069,1.18,208.1,834.6,9.6,430,12079,0.00,0.00,8.02,0.955,6,0.000,0.000,3510,2370,2340,0,0,0,0,0,0
$GC,12316,1.18,208.1,810.0,10.2,436,12317,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2370,2338,0,0,0,0,0,0
$GC,12557,1.19,210.0,785.8,9.9,442,12561,0.00,2.75,0.00,0.000,4,0.000,0.067,3510,3938,2337,0,0,0,0,0,0
$GC,12596,1.19,210.0,781.4,11.2,443,12600,0.00,2.67,0.00,0.000,6,0.000,0.057,3510,2372,2336,0,0,0,0,0,0
$GC,12881,1.19,210.0,751.2,10.8,450,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2372,2335,0,0,0,0,0,0
$GC,13125,1.19,210.0,723.5,11.4,456,13130,0.00,3.10,0.00,0.000,4,0.000,0.127,3510,776,2334,0,0,0,0,0,0
$GC,13140,1.19,210.0,721.4,11.0,456,13145,0.00,2.70,0.00,0.000,6,0.000,0.047,3509,2375,2333,0,0,0,0,0,0
$GC,13401,1.19,210.0,694.3,10.2,463,13406,0.00,2.70,0.00,0.000,4,0.000,0.066,3510,3938,2333,0,0,0,0,0,0
$GC,13430,1.19,210.0,691.3,11.3,463,13435,0.00,2.65,0.00,0.000,6,0.000,0.049,3509,2373,2333,0,0,0,0,0,0
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$STATE,20115,end climb,SURFACE_DEPTH_REACHED
$STATE,20115,begin surface coast
$FINISH,1.0,1.002057
$STATE,20168,end surface coast,CONTROL_FINISHED_OK
$STATE,20168,begin surface
$SM_CCo,20191,41.95,0.486,0,0,1763,350.04
$SM_GC,2.05,0.00,0.00,41.95,0.000,0.000,0.486,457,2171,1763,-12.89,-1.07,350.04
$IRIDIUM_FIX,1918.37,-8114.71,130702,181804
$TT8_MAMPS,0.026078
$HUMID,61.22
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.40
$XPDR_PINGS,110
$24V_AH,23.0,60.634
$10V_AH,10.0,53.940
$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,30.075,185.950,392.700,41.950,0.000,30.137,40.652,199.279,27.500,0.000,14.045,1572.968,15416.315,545.616,2357.524,777.127,33.399,1540.990,0.000,2358.062,0.000,0.536,0.000
$DEVICE_MAMPS,160.303,167.206,1214.928,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,522.883,368.681,465.017,616.101,1173.005,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,60371,772
$CAP_FILE_SIZE,167723,0
$CFSIZE,260165632,98050048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190413,043424,1926.613,-8114.978,37,1.6,37,-3.8