version: 66.06
glider: 146
mission: 8
dive: 459
start: 4 25 113 12 36 58
data:
$ID,146
$MISSION,8
$DIVE,459
$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,-316418.53
$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,32
$R_STBD_OVSHOOT,16
$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
$GPS1,122006,1926.930,-8118.224,48,1.4,48,-3.7
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.2
$GPS2,123601,1926.865,-8118.078,32,2.0,32,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,-0.053
$KALMAN_X,-123627.9,-300.0,-95.5,105382.8,2024.4
$KALMAN_Y,122849.5,-6.0,-80.0,-116646.5,-679.2
$MHEAD_RNG_PITCHd_Wd,105.6,18140,-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,-63.28,0.000,2,0.000,0.000,459,2201,3296,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.2,8,122,13.70,0.00,-10.07,0.000,6,0.161,0.000,2978,2201,3788,0,0,0,0,0,0
$GC,405,-1.06,-146.0,67.0,-18.3,43,410,0.22,2.58,0.00,0.000,4,0.103,0.046,3027,633,3788,0,0,0,0,0,0
$GC,440,-0.92,-146.0,74.2,-15.9,45,450,0.10,2.50,0.00,0.000,6,0.079,0.015,3054,2257,3788,0,0,0,0,0,0
$GC,707,-0.88,-146.0,105.7,-11.0,70,712,0.00,2.65,0.00,0.000,4,0.000,0.045,3054,635,3789,0,0,0,0,0,0
$GC,765,-0.88,-146.0,112.7,-10.7,74,775,0.00,2.42,0.00,0.000,6,0.000,0.017,3054,2194,3789,0,0,0,0,0,0
$GC,1031,-0.88,-146.0,138.5,-9.3,99,1035,0.00,2.55,0.00,0.000,4,0.000,0.045,3054,633,3789,0,0,0,0,0,0
$GC,1050,-0.88,-146.0,140.6,-9.6,100,1054,0.00,2.40,0.00,0.000,6,0.000,0.024,3054,2205,3789,0,0,0,0,0,0
$GC,1317,-0.97,-146.0,162.4,-7.2,124,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2205,3789,0,0,0,0,0,0
$GC,1583,-1.07,-146.0,180.8,-6.9,149,1588,0.12,0.00,0.00,0.000,6,0.065,0.000,2993,2205,3789,0,0,0,0,0,0
$GC,1872,-1.07,-146.0,207.7,-9.1,171,1874,0.15,0.00,0.00,0.000,6,0.085,0.000,3030,2205,3789,0,0,0,0,0,0
$GC,2119,-1.14,-146.0,224.7,-6.9,177,2123,0.00,2.60,0.00,0.000,4,0.000,0.048,3029,632,3790,0,0,0,0,0,0
$GC,2163,-1.23,-146.0,228.1,-7.3,178,2168,0.15,2.38,0.00,0.000,6,0.056,0.022,2963,2181,3790,0,0,0,0,0,0
$GC,2444,-1.18,-146.0,254.5,-9.6,185,2449,0.17,2.58,0.00,0.000,4,0.084,0.044,3003,3778,3789,0,0,0,0,0,0
$GC,2466,-1.18,-146.0,256.8,-9.0,185,2470,0.00,2.47,0.00,0.000,6,0.000,0.028,3004,2182,3789,0,0,0,0,0,0
$GC,2721,-1.22,-146.0,275.0,-7.1,192,2726,0.00,2.55,0.00,0.000,4,0.000,0.046,3004,3766,3788,0,0,0,0,0,0
$GC,2746,-1.25,-146.0,276.8,-7.7,192,2750,0.00,2.47,0.00,0.000,6,0.000,0.024,3004,2191,3788,0,0,0,0,0,0
$GC,3002,-1.29,-146.0,296.0,-7.4,199,3004,0.10,0.00,0.00,0.000,6,0.077,0.000,2953,2191,3787,0,0,0,0,0,0
$GC,3245,-1.23,-146.0,318.8,-9.3,205,3247,0.17,0.00,0.00,0.000,6,0.084,0.000,2993,2191,3786,0,0,0,0,0,0
$GC,3491,-1.23,-146.0,338.0,-7.9,211,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2191,3785,0,0,0,0,0,0
$GC,3732,-1.23,-146.0,356.4,-7.6,217,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2191,3784,0,0,0,0,0,0
$GC,3976,-1.23,-146.0,375.2,-7.7,223,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2191,3783,0,0,0,0,0,0
$GC,4220,-1.23,-146.0,394.2,-7.8,229,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2191,3782,0,0,0,0,0,0
$GC,4466,-1.23,-146.0,411.9,-7.3,235,4470,0.00,2.62,0.00,0.000,4,0.000,0.055,2994,3762,3781,0,0,0,0,0,0
$GC,4482,-1.23,-146.0,413.4,-7.3,235,4486,0.00,2.53,0.00,0.000,6,0.000,0.035,2994,2193,3781,0,0,0,0,0,0
$GC,4743,-1.23,-146.0,432.9,-7.7,242,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2193,3780,0,0,0,0,0,0
$GC,4989,-1.23,-146.0,451.6,-7.7,248,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2194,3779,0,0,0,0,0,0
$GC,5230,-1.27,-146.0,469.1,-7.2,254,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2194,3778,0,0,0,0,0,0
$GC,5474,-1.31,-146.0,485.3,-6.6,260,5479,0.00,2.65,0.00,0.000,4,0.000,0.065,2994,3760,3777,0,0,0,0,0,0
$GC,5501,-1.35,-146.0,487.3,-7.0,260,5507,0.12,2.60,0.00,0.000,6,0.064,0.046,2940,2194,3777,0,0,0,0,0,0
$GC,5754,-1.29,-146.0,509.8,-9.2,266,5756,0.17,0.00,0.00,0.000,6,0.088,0.000,2981,2194,3776,0,0,0,0,0,0
$GC,5995,-1.29,-146.0,528.1,-7.3,272,6000,0.00,2.67,0.00,0.000,4,0.000,0.069,2981,3759,3775,0,0,0,0,0,0
$GC,6011,-1.29,-146.0,529.4,-7.3,272,6015,0.00,2.62,0.00,0.000,6,0.000,0.051,2981,2190,3775,0,0,0,0,0,0
$GC,6274,-1.29,-146.0,548.1,-7.2,279,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2190,3774,0,0,0,0,0,0
$GC,6515,-1.29,-146.0,566.3,-7.6,285,6520,0.00,2.75,0.00,0.000,4,0.000,0.080,2981,3764,3772,0,0,0,0,0,0
$GC,6561,-1.33,-146.0,570.1,-8.8,286,6566,0.00,2.67,0.00,0.000,6,0.000,0.061,2981,2195,3773,0,0,0,0,0,0
$GC,6842,-1.33,-146.0,593.5,-8.6,293,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2195,3771,0,0,0,0,0,0
$GC,7083,-1.33,-146.0,613.5,-8.1,299,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2195,3769,0,0,0,0,0,0
$GC,7327,-1.33,-146.0,631.9,-7.4,305,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2195,3768,0,0,0,0,0,0
$GC,7573,-1.33,-146.0,649.8,-7.4,311,7578,0.00,2.90,0.00,0.000,4,0.000,0.102,2981,3758,3768,0,0,0,0,0,0
$GC,7594,-1.33,-146.0,651.7,-7.7,311,7599,0.00,2.75,0.00,0.000,6,0.000,0.086,2981,2215,3767,0,0,0,0,0,0
$GC,7850,-1.33,-146.0,671.3,-7.8,318,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2215,3765,0,0,0,0,0,0
$GC,8093,-1.33,-146.0,689.5,-7.3,324,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2215,3764,0,0,0,0,0,0
$GC,8337,-1.33,-146.0,707.2,-7.2,330,8342,0.00,2.95,0.00,0.000,4,0.000,0.121,2981,3754,3763,0,0,0,0,0,0
$GC,8350,-1.33,-146.0,708.2,-7.1,330,8354,0.00,2.90,0.00,0.000,6,0.000,0.108,2981,2216,3763,0,0,0,0,0,0
$GC,8616,-1.33,-146.0,728.0,-7.5,337,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2216,3762,0,0,0,0,0,0
$GC,8863,-1.37,-146.0,746.2,-7.5,343,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2216,3761,0,0,0,0,0,0
$GC,9103,-1.37,-146.0,764.2,-7.4,349,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3760,0,0,0,0,0,0
$GC,9347,-1.37,-146.0,782.4,-7.5,355,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3758,0,0,0,0,0,0
$GC,9591,-1.41,-146.0,800.3,-7.3,361,9593,0.12,0.00,0.00,0.000,6,0.071,0.000,2934,2213,3757,0,0,0,0,0,0
$GC,9839,-1.36,-146.0,822.7,-9.4,367,9841,0.12,0.00,0.00,0.000,6,0.100,0.000,2962,2213,3757,0,0,0,0,0,0
$GC,10078,-1.36,-146.0,842.7,-8.1,373,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2213,3755,0,0,0,0,0,0
$GC,10322,-1.36,-146.0,861.9,-7.8,379,10327,0.00,2.78,0.00,0.000,4,0.000,0.095,2962,3757,3754,0,0,0,0,0,0
$GC,10351,-1.36,-146.0,864.0,-8.2,379,10356,0.00,2.70,0.00,0.000,6,0.000,0.068,2962,2198,3753,0,0,0,0,0,0
$GC,10601,-1.36,-146.0,883.2,-7.6,385,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2198,3753,0,0,0,0,0,0
$STATE,10843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10843,begin apogee
$GC,10849,-0.31,0.0,900.7,7.0,391,10973,1.00,0.00,120.55,1.203,6,0.067,0.000,3193,2337,3190,0,0,0,0,0,0
$STATE,10974,end apogee,CONTROL_FINISHED_OK
$STATE,10974,begin climb
$GC,10979,1.27,146.0,903.1,0.0,394,11116,1.42,2.92,128.48,1.174,4,0.035,0.086,3546,3931,2594,0,0,0,0,0,0
$GC,11175,1.15,146.0,890.6,12.4,398,11180,0.17,2.72,0.00,0.000,6,0.113,0.062,3512,2370,2590,0,0,0,0,0,0
$GC,11425,1.17,161.7,866.5,9.3,404,11445,0.00,2.83,14.45,1.052,4,0.000,0.073,3512,3931,2531,0,0,0,0,0,0
$GC,11459,1.12,162.7,863.5,10.0,404,11464,0.00,2.72,0.00,0.000,6,0.000,0.058,3512,2367,2531,0,0,0,0,0,0
$GC,11709,1.13,175.6,839.6,9.4,411,11728,0.00,2.83,13.82,1.044,4,0.000,0.065,3512,3938,2474,0,0,0,0,0,0
$GC,11762,1.09,175.6,834.2,10.4,412,11766,0.00,2.70,0.00,0.000,6,0.000,0.049,3512,2372,2472,0,0,0,0,0,0
$GC,12036,1.10,178.8,807.5,9.9,419,12046,0.00,3.15,4.00,0.695,4,0.000,0.129,3512,782,2461,0,0,0,0,0,0
$GC,12068,1.06,178.8,803.9,10.8,419,12075,0.10,2.70,0.00,0.000,6,0.130,0.050,3492,2368,2460,0,0,0,0,0,0
$GC,12318,1.08,196.1,780.9,9.2,426,12343,0.00,2.85,17.60,1.054,4,0.000,0.074,3492,3930,2390,0,0,0,0,0,0
$GC,12364,1.09,207.0,776.8,9.5,427,12383,0.00,2.67,11.85,0.994,6,0.000,0.044,3492,2368,2346,0,0,0,0,0,0
$GC,12650,1.10,211.2,748.7,9.8,434,12661,0.00,3.12,5.12,0.791,4,0.000,0.123,3492,780,2329,0,0,0,0,0,0
$GC,12674,1.10,211.2,746.3,10.7,434,12679,0.00,2.67,0.00,0.000,6,0.000,0.046,3492,2370,2328,0,0,0,0,0,0
$GC,12929,1.14,211.2,720.0,10.3,441,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2372,2327,0,0,0,0,0,0
$GC,13173,1.18,211.2,695.3,10.1,447,13178,0.10,2.78,0.00,0.000,4,0.086,0.076,3523,3937,2326,0,0,0,0,0,0
$GC,13197,1.18,211.2,692.6,11.5,447,13201,0.00,2.62,0.00,0.000,6,0.000,0.046,3523,2370,2325,0,0,0,0,0,0
$GC,13452,1.18,211.2,664.0,11.0,454,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2370,2325,0,0,0,0,0,0
$GC,13695,1.18,211.2,637.5,11.0,460,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2370,2325,0,0,0,0,0,0
$GC,13939,1.18,211.2,611.4,10.5,466,13943,0.00,2.70,0.00,0.000,4,0.000,0.059,3523,3941,2324,0,0,0,0,0,0
$GC,13991,1.18,211.2,605.5,12.4,467,13995,0.00,2.65,0.00,0.000,6,0.000,0.047,3523,2374,2324,0,0,0,0,0,0
$GC,14262,1.18,211.2,576.2,10.7,474,14267,0.00,2.65,0.00,0.000,4,0.000,0.061,3523,3936,2324,0,0,0,0,0,0
$GC,14294,1.18,211.2,572.3,11.6,474,14300,0.00,2.60,0.00,0.000,6,0.000,0.051,3523,2380,2323,0,0,0,0,0,0
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$STATE,19643,end climb,SURFACE_DEPTH_REACHED
$STATE,19643,begin surface coast
$FINISH,1.2,1.011045
$STATE,19685,end surface coast,CONTROL_FINISHED_OK
$STATE,19685,begin surface
$SM_CCo,19708,51.80,0.483,0,0,1762,350.04
$SM_GC,2.00,0.00,0.00,51.80,0.000,0.000,0.483,459,2179,1762,-12.88,-0.88,350.04
$IRIDIUM_FIX,1918.37,-8116.97,200702,121208
$TT8_MAMPS,0.026078
$HUMID,61.53
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,121
$24V_AH,23.1,64.669
$10V_AH,9.9,57.603
$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
$DEVICE_SECS,31.050,180.450,390.525,51.800,0.000,85.812,112.959,398.551,30.250,0.000,33.500,1531.507,15194.603,548.030,2298.293,1138.637,33.373,1509.146,0.000,2278.168,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,508.266,352.868,449.224,583.205,1109.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355804
$DATA_FILE_SIZE,57187,751
$CAP_FILE_SIZE,171712,0
$CFSIZE,260165632,95969280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250413,180735,1926.813,-8114.495,33,1.1,33,-3.8