version: 66.06
glider: 146
mission: 8
dive: 476
start: 4 29 113 12 0 40
data:
$ID,146
$MISSION,8
$DIVE,476
$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,-318270.69
$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,37
$R_STBD_OVSHOOT,20
$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
$GPS1,114836,1923.210,-8106.272,35,1.6,35,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.4
$GPS2,115942,1923.190,-8106.091,10,1.5,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.239,0.102
$KALMAN_X,-84006.0,395.2,300.3,85592.0,1287.2
$KALMAN_Y,113645.9,-589.1,-280.5,-113454.0,355.6
$MHEAD_RNG_PITCHd_Wd,296.9,4123,-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,-70.38,0.000,2,0.000,0.000,457,2194,3495,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.8,-4.9,9,121,13.77,2.55,-5.35,0.000,4,0.161,0.052,2979,639,3787,0,0,0,0,0,0
$GC,311,-1.05,-146.0,53.7,-18.8,32,317,0.22,2.47,0.00,0.000,6,0.098,0.015,3027,2249,3788,0,0,0,0,0,0
$GC,574,-0.96,-146.0,91.4,-12.9,56,579,0.10,2.65,0.00,0.000,4,0.117,0.043,3050,636,3788,0,0,0,0,0,0
$GC,602,-0.89,-146.0,94.0,-12.3,57,606,0.00,2.42,0.00,0.000,6,0.000,0.015,3050,2215,3788,0,0,0,0,0,0
$GC,867,-0.89,-146.0,124.8,-10.6,81,872,0.00,2.58,0.00,0.000,4,0.000,0.044,3050,636,3789,0,0,0,0,0,0
$GC,903,-0.89,-146.0,129.4,-11.9,83,909,0.00,2.40,0.00,0.000,6,0.000,0.021,3050,2205,3789,0,0,0,0,0,0
$GC,1166,-0.89,-146.0,153.0,-8.7,108,1170,0.00,2.47,0.00,0.000,4,0.000,0.033,3051,3769,3789,0,0,0,0,0,0
$GC,1211,-0.96,-146.0,157.3,-9.2,111,1220,0.00,2.47,0.00,0.000,6,0.000,0.021,3050,2211,3789,0,0,0,0,0,0
$GC,1480,-1.04,-146.0,177.9,-7.5,136,1484,0.00,2.58,0.00,0.000,4,0.000,0.049,3050,633,3790,0,0,0,0,0,0
$GC,1524,-1.12,-146.0,181.6,-7.9,139,1529,0.15,2.45,0.00,0.000,6,0.056,0.020,2986,2222,3790,0,0,0,0,0,0
$GC,1798,-1.12,-146.0,208.1,-9.2,158,1799,0.12,0.00,0.00,0.000,6,0.094,0.000,3017,2222,3790,0,0,0,0,0,0
$GC,2036,-1.17,-146.0,225.3,-6.9,164,2040,0.00,2.60,0.00,0.000,4,0.000,0.053,3017,632,3790,0,0,0,0,0,0
$GC,2071,-1.23,-146.0,227.8,-7.9,164,2078,0.10,2.45,0.00,0.000,6,0.075,0.023,2963,2210,3790,0,0,0,0,0,0
$GC,2322,-1.18,-146.0,250.1,-8.8,171,2327,0.17,2.53,0.00,0.000,4,0.084,0.046,3005,3777,3790,0,0,0,0,0,0
$GC,2355,-1.23,-146.0,253.0,-8.1,171,2361,0.00,2.45,0.00,0.000,6,0.000,0.020,3005,2201,3790,0,0,0,0,0,0
$GC,2608,-1.27,-146.0,271.7,-7.5,178,2613,0.00,2.58,0.00,0.000,4,0.000,0.061,3005,642,3789,0,0,0,0,0,0
$GC,2642,-1.30,-146.0,274.5,-7.7,178,2648,0.12,2.47,0.00,0.000,6,0.064,0.027,2948,2221,3789,0,0,0,0,0,0
$GC,2895,-1.23,-146.0,298.5,-9.7,185,2897,0.20,0.00,0.00,0.000,6,0.081,0.000,2994,2221,3788,0,0,0,0,0,0
$GC,3136,-1.23,-146.0,317.2,-7.5,191,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2221,3787,0,0,0,0,0,0
$GC,3380,-1.23,-146.0,336.6,-8.1,197,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2221,3786,0,0,0,0,0,0
$GC,3623,-1.23,-146.0,357.0,-8.4,203,3628,0.00,2.65,0.00,0.000,4,0.000,0.063,2994,640,3786,0,0,0,0,0,0
$GC,3653,-1.23,-146.0,359.6,-8.9,203,3658,0.00,2.47,0.00,0.000,6,0.000,0.026,2994,2200,3785,0,0,0,0,0,0
$GC,3903,-1.23,-146.0,380.5,-8.3,209,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3784,0,0,0,0,0,0
$GC,4147,-1.23,-146.0,399.7,-7.8,215,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2201,3783,0,0,0,0,0,0
$GC,4391,-1.23,-146.0,417.9,-7.4,221,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2200,3782,0,0,0,0,0,0
$GC,4637,-1.23,-146.0,435.8,-7.4,227,4642,0.00,2.65,0.00,0.000,4,0.000,0.056,2994,3783,3781,0,0,0,0,0,0
$GC,4687,-1.29,-146.0,440.2,-8.6,228,4691,0.00,2.53,0.00,0.000,6,0.000,0.035,2994,2234,3781,0,0,0,0,0,0
$GC,4961,-1.29,-146.0,461.5,-8.0,235,4966,0.00,2.85,0.00,0.000,4,0.000,0.091,2995,622,3780,0,0,0,0,0,0
$GC,5006,-1.34,-146.0,465.4,-8.3,236,5011,0.12,2.58,0.00,0.000,6,0.065,0.039,2943,2203,3780,0,0,0,0,0,0
$GC,5284,-1.28,-146.0,492.7,-9.9,243,5286,0.17,0.00,0.00,0.000,6,0.085,0.000,2983,2202,3778,0,0,0,0,0,0
$GC,5530,-1.28,-146.0,512.0,-7.7,249,5534,0.00,2.75,0.00,0.000,4,0.000,0.071,2983,3797,3777,0,0,0,0,0,0
$GC,5563,-1.28,-146.0,514.8,-8.2,249,5568,0.00,2.62,0.00,0.000,6,0.000,0.053,2983,2213,3778,0,0,0,0,0,0
$GC,5813,-1.28,-146.0,534.3,-7.9,256,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2213,3777,0,0,0,0,0,0
$GC,6059,-1.28,-146.0,552.9,-7.7,262,6064,0.00,2.92,0.00,0.000,4,0.000,0.106,2983,626,3776,0,0,0,0,0,0
$GC,6080,-1.28,-146.0,554.9,-7.9,262,6085,0.00,2.65,0.00,0.000,6,0.000,0.048,2983,2207,3775,0,0,0,0,0,0
$GC,6335,-1.28,-146.0,574.6,-7.6,269,6340,0.00,2.83,0.00,0.000,4,0.000,0.094,2983,3799,3774,0,0,0,0,0,0
$GC,6382,-1.32,-146.0,578.2,-8.1,270,6387,0.00,2.67,0.00,0.000,6,0.000,0.062,2983,2219,3774,0,0,0,0,0,0
$GC,6660,-1.32,-146.0,600.0,-7.7,277,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2219,3772,0,0,0,0,0,0
$GC,6903,-1.32,-146.0,618.3,-7.3,283,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2219,3771,0,0,0,0,0,0
$GC,7149,-1.32,-146.0,636.2,-7.4,289,7154,0.00,2.85,0.00,0.000,4,0.000,0.095,2983,3794,3770,0,0,0,0,0,0
$GC,7172,-1.32,-146.0,638.2,-8.1,289,7177,0.00,2.80,0.00,0.000,6,0.000,0.074,2983,2213,3770,0,0,0,0,0,0
$GC,7428,-1.32,-146.0,658.6,-7.9,296,7432,0.00,3.05,0.00,0.000,4,0.000,0.127,2983,624,3769,0,0,0,0,0,0
$GC,7472,-1.37,-146.0,662.0,-8.4,297,7476,0.00,2.80,0.00,0.000,6,0.000,0.077,2983,2211,3768,0,0,0,0,0,0
$GC,7757,-1.37,-146.0,684.7,-7.8,304,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2212,3767,0,0,0,0,0,0
$GC,8001,-1.37,-146.0,703.1,-7.6,310,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2212,3765,0,0,0,0,0,0
$GC,8245,-1.40,-146.0,721.5,-7.6,316,8251,0.12,3.15,0.00,0.000,4,0.070,0.145,2935,3794,3764,0,0,0,0,0,0
$GC,8276,-1.36,-146.0,724.3,-9.9,316,8282,0.12,2.83,0.00,0.000,6,0.097,0.085,2964,2205,3764,0,0,0,0,0,0
$GC,8526,-1.36,-146.0,746.0,-8.5,322,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2205,3762,0,0,0,0,0,0
$GC,8772,-1.36,-146.0,767.7,-9.0,328,8777,0.00,2.88,0.00,0.000,4,0.000,0.094,2964,3797,3762,0,0,0,0,0,0
$GC,8811,-1.36,-146.0,771.8,-10.1,329,8816,0.00,2.78,0.00,0.000,6,0.000,0.081,2964,2214,3761,0,0,0,0,0,0
$GC,9094,-1.36,-146.0,796.9,-8.9,336,9099,0.00,3.03,0.00,0.000,4,0.000,0.123,2964,622,3761,0,0,0,0,0,0
$GC,9130,-1.36,-146.0,800.0,-9.4,336,9135,0.00,2.78,0.00,0.000,6,0.000,0.074,2964,2210,3760,0,0,0,0,0,0
$GC,9380,-1.36,-146.0,821.9,-8.5,343,9384,0.00,2.92,0.00,0.000,4,0.000,0.105,2963,3797,3759,0,0,0,0,0,0
$GC,9407,-1.36,-146.0,824.5,-9.0,343,9411,0.00,2.78,0.00,0.000,6,0.000,0.068,2964,2209,3759,0,0,0,0,0,0
$GC,9657,-1.36,-146.0,845.5,-8.3,349,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2209,3758,0,0,0,0,0,0
$GC,9903,-1.36,-146.0,865.4,-8.0,355,9907,0.00,2.85,0.00,0.000,4,0.000,0.089,2964,3800,3757,0,0,0,0,0,0
$GC,9942,-1.36,-146.0,869.0,-8.9,356,9947,0.00,2.78,0.00,0.000,6,0.000,0.069,2964,2214,3756,0,0,0,0,0,0
$GC,10225,-1.36,-146.0,891.4,-7.9,363,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2214,3755,0,0,0,0,0,0
$STATE,10347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10347,begin apogee
$GC,10353,-0.31,0.0,900.4,7.5,366,10478,0.98,0.00,120.97,1.202,6,0.067,0.000,3190,2380,3190,0,0,0,0,0,0
$STATE,10479,end apogee,CONTROL_FINISHED_OK
$STATE,10479,begin climb
$GC,10481,1.27,146.0,903.8,0.0,369,10618,1.42,2.88,128.35,1.174,4,0.034,0.087,3543,3923,2593,0,0,0,0,0,0
$GC,10716,1.16,146.0,887.9,12.3,374,10721,0.15,2.72,0.00,0.000,6,0.115,0.060,3515,2370,2588,0,0,0,0,0,0
$GC,10979,1.17,156.3,862.8,9.5,381,10994,0.00,2.80,9.57,0.991,4,0.000,0.075,3515,3938,2552,0,0,0,0,0,0
$GC,11028,1.12,156.3,857.5,10.1,382,11033,0.00,2.72,0.00,0.000,6,0.000,0.056,3515,2369,2550,0,0,0,0,0,0
$GC,11300,1.14,172.5,832.1,9.3,389,11317,0.00,0.00,15.82,1.062,6,0.000,0.000,3515,2370,2486,0,0,0,0,0,0
$GC,11546,1.14,172.5,807.5,10.3,395,11550,0.00,2.75,0.00,0.000,4,0.000,0.067,3515,3937,2483,0,0,0,0,0,0
$GC,11567,1.14,172.5,804.6,11.1,395,11571,0.00,2.67,0.00,0.000,6,0.000,0.054,3515,2378,2482,0,0,0,0,0,0
$GC,11828,1.14,172.5,777.5,10.2,402,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2379,2481,0,0,0,0,0,0
$GC,12075,1.14,173.0,753.0,10.0,408,12079,0.00,2.67,0.00,0.000,4,0.000,0.064,3515,3937,2480,0,0,0,0,0,0
$GC,12135,1.14,173.0,746.0,10.3,409,12139,0.00,2.62,0.00,0.000,6,0.000,0.048,3515,2396,2480,0,0,0,0,0,0
$GC,12397,1.15,185.4,721.1,9.4,416,12416,0.00,2.75,12.05,0.988,4,0.000,0.059,3515,3931,2434,0,0,0,0,0,0
$GC,12430,1.17,194.9,718.0,9.6,416,12446,0.00,2.65,10.70,0.960,6,0.000,0.051,3515,2399,2395,0,0,0,0,0,0
$GC,12724,1.17,199.8,688.8,9.8,424,12735,0.00,2.67,5.62,0.808,4,0.000,0.063,3515,3934,2376,0,0,0,0,0,0
$GC,12746,1.17,199.8,686.4,10.5,424,12750,0.00,2.62,0.00,0.000,6,0.000,0.051,3515,2405,2375,0,0,0,0,0,0
$GC,13003,1.17,199.8,661.0,10.1,431,13008,0.00,3.15,0.00,0.000,4,0.000,0.123,3515,771,2373,0,0,0,0,0,0
$GC,13013,1.17,199.8,659.5,10.3,431,13018,0.00,2.70,0.00,0.000,6,0.000,0.044,3515,2402,2373,0,0,0,0,0,0
$GC,13280,1.17,199.8,631.7,10.3,438,13285,0.00,2.67,0.00,0.000,4,0.000,0.078,3515,3937,2373,0,0,0,0,0,0
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$STATE,19260,end climb,SURFACE_DEPTH_REACHED
$STATE,19260,begin surface coast
$FINISH,1.1,1.011854
$STATE,19311,end surface coast,CONTROL_FINISHED_OK
$STATE,19311,begin surface
$SM_CCo,19337,29.88,0.475,0,0,1762,350.04
$SM_GC,1.73,0.00,0.00,29.88,0.000,0.000,0.475,460,2170,1762,-12.88,-1.13,350.04
$IRIDIUM_FIX,1918.37,-8056.30,240702,121208
$TT8_MAMPS,0.026078
$HUMID,62.16
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,133
$24V_AH,23.1,67.237
$10V_AH,10.0,59.862
$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
$DEVICE_SECS,30.925,213.125,410.825,29.875,0.000,55.735,82.873,281.622,33.250,0.000,16.716,1526.431,14701.185,560.138,2307.833,931.850,33.365,1573.671,0.000,2291.808,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.563,333.783,427.474,557.843,1061.582,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355764
$DATA_FILE_SIZE,57371,727
$CAP_FILE_SIZE,174275,0
$CFSIZE,260165632,94715904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290413,172436,1923.597,-8106.936,25,1.6,25,-3.8