version: 66.06
glider: 146
mission: 8
dive: 472
start: 4 28 113 13 58 14
data:
$ID,146
$MISSION,8
$DIVE,472
$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,-318206.09
$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,67
$R_STBD_OVSHOOT,17
$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
$GPS1,134959,1926.807,-8117.357,38,1.2,43,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-74.5
$GPS2,135719,1926.777,-8117.261,13,1.2,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.255,0.048
$KALMAN_X,-94695.4,4.8,427.2,77050.6,-701.4
$KALMAN_Y,112693.6,206.4,313.2,-107263.3,-1876.3
$MHEAD_RNG_PITCHd_Wd,83.1,16717,-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,-70.43,0.000,2,0.000,0.000,456,2164,3510,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-5.5,9,123,13.70,2.45,-4.82,0.000,4,0.161,0.049,2976,659,3787,0,0,0,0,0,0
$GC,135,-0.09,-146.0,19.8,-39.5,13,143,1.17,2.47,0.00,0.000,6,0.083,0.015,3234,2260,3787,0,0,0,0,0,0
$GC,433,-0.43,-146.0,35.6,-3.9,49,438,0.28,2.60,0.00,0.000,4,0.044,0.041,3152,666,3788,0,0,0,0,0,0
$GC,457,-0.70,-146.0,36.9,-4.6,50,462,0.20,2.33,0.00,0.000,6,0.046,0.016,3072,2191,3787,0,0,0,0,0,0
$GC,727,-0.70,-146.0,68.6,-12.7,74,732,0.15,2.50,0.00,0.000,4,0.087,0.044,3107,668,3788,0,0,0,0,0,0
$GC,809,-0.80,-146.0,77.5,-9.3,80,813,0.00,2.33,0.00,0.000,6,0.000,0.016,3107,2184,3788,0,0,0,0,0,0
$GC,1075,-0.88,-146.0,101.0,-8.8,104,1080,0.17,2.47,0.00,0.000,4,0.049,0.044,3030,669,3789,0,0,0,0,0,0
$GC,1121,-0.80,-146.0,107.5,-14.2,107,1128,0.25,2.28,0.00,0.000,6,0.078,0.016,3088,2168,3789,0,0,0,0,0,0
$GC,1387,-0.86,-146.0,131.1,-8.0,132,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2169,3789,0,0,0,0,0,0
$GC,1654,-0.99,-146.0,151.3,-6.6,157,1659,0.17,2.58,0.00,0.000,4,0.051,0.036,3016,3778,3790,0,0,0,0,0,0
$GC,1679,-1.03,-146.0,153.6,-7.9,158,1685,0.00,2.50,0.00,0.000,6,0.000,0.022,3016,2185,3790,0,0,0,0,0,0
$GC,1942,-1.03,-146.0,176.3,-8.5,183,1946,0.00,2.55,0.00,0.000,4,0.000,0.048,3016,632,3791,0,0,0,0,0,0
$GC,1971,-1.03,-146.0,178.9,-8.7,185,1975,0.00,2.38,0.00,0.000,6,0.000,0.025,3016,2182,3791,0,0,0,0,0,0
$GC,2237,-1.07,-146.0,200.3,-7.7,209,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2182,3791,0,0,0,0,0,0
$GC,2476,-1.12,-146.0,217.7,-6.9,215,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2182,3791,0,0,0,0,0,0
$GC,2722,-1.17,-146.0,234.7,-7.0,221,2727,0.00,2.55,0.00,0.000,4,0.000,0.055,3016,641,3791,0,0,0,0,0,0
$GC,2767,-1.25,-146.0,238.2,-7.5,222,2772,0.12,2.38,0.00,0.000,6,0.065,0.025,2956,2174,3790,0,0,0,0,0,0
$GC,3045,-1.19,-146.0,264.8,-9.8,229,3047,0.20,0.00,0.00,0.000,6,0.082,0.000,3003,2175,3790,0,0,0,0,0,0
$GC,3292,-1.23,-146.0,284.3,-7.9,235,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2175,3789,0,0,0,0,0,0
$GC,3532,-1.23,-146.0,302.9,-7.6,241,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2175,3788,0,0,0,0,0,0
$GC,3777,-1.27,-146.0,321.1,-7.4,247,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2175,3788,0,0,0,0,0,0
$GC,4023,-1.31,-146.0,338.7,-7.2,253,4025,0.12,0.00,0.00,0.000,6,0.065,0.000,2951,2175,3787,0,0,0,0,0,0
$GC,4264,-1.26,-146.0,362.3,-10.0,259,4266,0.15,0.00,0.00,0.000,6,0.090,0.000,2987,2175,3785,0,0,0,0,0,0
$GC,4507,-1.26,-146.0,382.9,-8.4,265,4512,0.00,2.62,0.00,0.000,4,0.000,0.050,2987,3769,3785,0,0,0,0,0,0
$GC,4535,-1.26,-146.0,385.3,-8.8,265,4539,0.00,2.55,0.00,0.000,6,0.000,0.033,2987,2180,3785,0,0,0,0,0,0
$GC,4788,-1.26,-146.0,405.0,-7.8,271,4792,0.00,2.62,0.00,0.000,4,0.000,0.048,2987,3771,3784,0,0,0,0,0,0
$GC,4809,-1.26,-146.0,406.9,-7.6,271,4813,0.00,2.55,0.00,0.000,6,0.000,0.029,2986,2185,3784,0,0,0,0,0,0
$GC,5064,-1.26,-146.0,425.6,-7.3,278,5068,0.00,2.62,0.00,0.000,4,0.000,0.052,2986,3767,3783,0,0,0,0,0,0
$GC,5082,-1.26,-146.0,426.9,-7.5,278,5087,0.00,2.55,0.00,0.000,6,0.000,0.037,2987,2192,3783,0,0,0,0,0,0
$GC,5343,-1.26,-146.0,446.6,-7.4,285,5348,0.00,2.67,0.00,0.000,4,0.000,0.063,2987,3773,3782,0,0,0,0,0,0
$GC,5365,-1.26,-146.0,448.4,-7.6,285,5370,0.00,2.58,0.00,0.000,6,0.000,0.035,2986,2193,3782,0,0,0,0,0,0
$GC,5623,-1.26,-146.0,467.8,-7.7,292,5628,0.00,2.67,0.00,0.000,4,0.000,0.065,2987,3768,3781,0,0,0,0,0,0
$GC,5639,-1.26,-146.0,469.4,-7.8,292,5644,0.00,2.58,0.00,0.000,6,0.000,0.038,2987,2190,3780,0,0,0,0,0,0
$GC,5900,-1.26,-146.0,488.6,-7.3,299,5904,0.00,2.83,0.00,0.000,4,0.000,0.097,2986,625,3779,0,0,0,0,0,0
$GC,5919,-1.26,-146.0,489.8,-7.0,299,5924,0.00,2.53,0.00,0.000,6,0.000,0.041,2986,2174,3779,0,0,0,0,0,0
$GC,6180,-1.26,-146.0,509.1,-7.5,306,6185,0.00,2.78,0.00,0.000,4,0.000,0.070,2987,3792,3778,0,0,0,0,0,0
$GC,6221,-1.30,-146.0,512.3,-7.9,307,6225,0.00,2.65,0.00,0.000,6,0.000,0.051,2987,2201,3778,0,0,0,0,0,0
$GC,6507,-1.30,-146.0,534.0,-7.6,314,6511,0.00,2.92,0.00,0.000,4,0.000,0.107,2986,623,3777,0,0,0,0,0,0
$GC,6533,-1.30,-146.0,536.3,-8.3,314,6538,0.00,2.62,0.00,0.000,6,0.000,0.047,2986,2200,3777,0,0,0,0,0,0
$GC,6784,-1.30,-146.0,555.3,-7.6,320,6788,0.00,2.80,0.00,0.000,4,0.000,0.084,2987,3794,3776,0,0,0,0,0,0
$GC,6813,-1.35,-146.0,557.6,-8.0,320,6818,0.00,2.67,0.00,0.000,6,0.000,0.052,2986,2205,3776,0,0,0,0,0,0
$GC,7064,-1.38,-146.0,577.2,-7.7,326,7066,0.12,0.00,0.00,0.000,6,0.066,0.000,2936,2206,3775,0,0,0,0,0,0
$GC,7307,-1.32,-146.0,601.5,-10.1,332,7309,0.15,0.00,0.00,0.000,6,0.091,0.000,2971,2206,3773,0,0,0,0,0,0
$GC,7553,-1.32,-146.0,621.5,-8.1,338,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3772,0,0,0,0,0,0
$GC,7795,-1.32,-146.0,640.5,-7.7,344,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3771,0,0,0,0,0,0
$GC,8038,-1.32,-146.0,659.6,-7.7,350,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3770,0,0,0,0,0,0
$GC,8282,-1.32,-146.0,678.1,-7.6,356,8287,0.00,3.00,0.00,0.000,4,0.000,0.114,2971,3795,3768,0,0,0,0,0,0
$GC,8312,-1.32,-146.0,680.4,-8.5,356,8316,0.00,2.92,0.00,0.000,6,0.000,0.100,2971,2209,3768,0,0,0,0,0,0
$GC,8562,-1.32,-146.0,701.0,-8.3,362,8567,0.00,3.00,0.00,0.000,4,0.000,0.122,2971,3792,3767,0,0,0,0,0,0
$GC,8578,-1.32,-146.0,702.5,-8.5,362,8582,0.00,2.97,0.00,0.000,6,0.000,0.105,2971,2210,3767,0,0,0,0,0,0
$GC,8841,-1.32,-146.0,723.5,-7.9,369,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2211,3766,0,0,0,0,0,0
$GC,9082,-1.32,-146.0,741.7,-7.4,375,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2210,3765,0,0,0,0,0,0
$GC,9326,-1.32,-146.0,760.4,-7.8,381,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3763,0,0,0,0,0,0
$GC,9572,-1.32,-146.0,778.9,-7.6,387,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3762,0,0,0,0,0,0
$GC,9813,-1.32,-146.0,797.2,-7.5,393,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2209,3761,0,0,0,0,0,0
$GC,10057,-1.32,-146.0,814.7,-7.2,399,10062,0.00,2.88,0.00,0.000,4,0.000,0.097,2971,3790,3760,0,0,0,0,0,0
$GC,10084,-1.32,-146.0,816.9,-8.5,399,10089,0.00,2.80,0.00,0.000,6,0.000,0.079,2971,2213,3760,0,0,0,0,0,0
$GC,10336,-1.32,-146.0,835.6,-7.6,405,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2214,3759,0,0,0,0,0,0
$GC,10578,-1.32,-146.0,854.4,-7.8,411,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2213,3758,0,0,0,0,0,0
$GC,10821,-1.32,-146.0,873.0,-7.7,417,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2213,3756,0,0,0,0,0,0
$GC,11068,-1.32,-146.0,890.7,-7.1,423,11072,0.00,2.85,0.00,0.000,4,0.000,0.089,2971,3791,3755,0,0,0,0,0,0
$GC,11100,-1.32,-146.0,893.5,-7.6,423,11106,0.00,2.78,0.00,0.000,6,0.000,0.077,2971,2213,3755,0,0,0,0,0,0
$STATE,11226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11226,begin apogee
$GC,11232,-0.31,0.0,902.6,7.3,427,11357,0.95,0.00,121.20,1.206,6,0.066,0.000,3191,2378,3189,0,0,0,0,0,0
$STATE,11358,end apogee,CONTROL_FINISHED_OK
$STATE,11358,begin climb
$GC,11363,1.27,146.0,905.5,0.0,430,11500,1.42,2.88,128.75,1.177,4,0.045,0.085,3543,3930,2592,0,0,0,0,0,0
$GC,11589,1.16,146.0,891.6,10.7,435,11594,0.15,2.75,0.00,0.000,6,0.114,0.067,3514,2363,2588,0,0,0,0,0,0
$GC,11855,1.18,165.0,866.7,9.1,442,11880,0.00,2.88,17.15,1.078,4,0.000,0.073,3514,3929,2517,0,0,0,0,0,0
$GC,11886,1.20,181.4,863.5,9.2,442,11910,0.00,2.70,16.52,1.059,6,0.000,0.059,3514,2374,2450,0,0,0,0,0,0
$GC,12186,1.20,181.4,832.9,10.2,450,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2374,2445,0,0,0,0,0,0
$GC,12429,1.21,189.9,809.3,9.6,456,12439,0.00,0.00,8.60,0.962,6,0.000,0.000,3514,2374,2415,0,0,0,0,0,0
$GC,12671,1.21,189.9,784.2,10.5,462,12675,0.00,2.72,0.00,0.000,4,0.000,0.067,3514,3939,2413,0,0,0,0,0,0
$GC,12688,1.21,189.9,782.3,10.9,462,12693,0.00,2.67,0.00,0.000,6,0.000,0.055,3514,2373,2412,0,0,0,0,0,0
$GC,12949,1.21,189.9,755.0,10.4,469,12953,0.00,2.70,0.00,0.000,4,0.000,0.061,3514,3931,2412,0,0,0,0,0,0
$GC,12976,1.21,189.9,751.8,11.1,469,12980,0.00,2.67,0.00,0.000,6,0.000,0.058,3514,2377,2411,0,0,0,0,0,0
$GC,13228,1.21,189.9,726.8,10.1,475,13232,0.00,2.67,0.00,0.000,4,0.000,0.064,3514,3937,2411,0,0,0,0,0,0
$GC,13249,1.21,189.9,724.0,10.8,475,13253,0.00,2.67,0.00,0.000,6,0.000,0.052,3514,2382,2410,0,0,0,0,0,0
$GC,13505,1.21,191.9,698.5,9.9,482,13509,0.00,2.67,0.00,0.000,4,0.000,0.065,3514,3937,2410,0,0,0,0,0,0
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$STATE,20276,end climb,SURFACE_DEPTH_REACHED
$STATE,20276,begin surface coast
$FINISH,1.0,1.012613
$STATE,20329,end surface coast,CONTROL_FINISHED_OK
$STATE,20329,begin surface
$SM_CCo,20352,43.97,0.479,0,0,1763,350.04
$SM_GC,2.05,0.00,0.00,43.97,0.000,0.000,0.479,456,2135,1763,-12.90,-2.09,350.04
$IRIDIUM_FIX,1918.37,-8116.97,230702,080858
$TT8_MAMPS,0.026078
$HUMID,61.97
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,160
$24V_AH,23.1,66.644
$10V_AH,9.9,59.359
$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,32.600,216.550,396.725,43.975,0.000,23.497,41.826,197.828,40.000,0.000,15.441,1633.426,15282.478,572.067,2542.710,797.837,33.362,1623.946,0.000,2538.541,0.000,0.539,0.000
$DEVICE_MAMPS,161.070,121.953,1206.491,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,535.037,388.134,492.172,685.582,1300.486,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,60593,792
$CAP_FILE_SIZE,180269,0
$CFSIZE,260165632,94998528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280413,193936,1927.893,-8113.705,40,1.1,40,-3.8