version: 66.06
glider: 146
mission: 8
dive: 306
start: 3 22 113 1 46 45
data:
$ID,146
$MISSION,8
$DIVE,306
$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,-313457.78
$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,60
$R_STBD_OVSHOOT,24
$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
$GPS1,013835,1925.494,-8109.976,37,1.1,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.9
$GPS2,014549,1925.492,-8109.879,12,1.2,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.141
$KALMAN_X,-67751.3,103.7,92.1,63241.2,-1446.7
$KALMAN_Y,40727.6,-23.0,-8.1,-37122.1,1152.2
$MHEAD_RNG_PITCHd_Wd,126.7,3762,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.65,0.000,2,0.000,0.000,465,2175,3507,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-5.7,9,122,13.70,2.65,-4.85,0.000,4,0.163,0.045,2977,3806,3786,0,0,0,0,0,0
$GC,197,-1.08,-146.0,33.2,-18.1,22,203,0.20,2.50,0.00,0.000,6,0.097,0.025,3021,2230,3787,0,0,0,0,0,0
$GC,468,-0.95,-146.0,73.7,-15.3,46,473,0.15,2.65,0.00,0.000,4,0.110,0.048,3053,625,3788,0,0,0,0,0,0
$GC,515,-0.91,-146.0,80.9,-13.2,49,520,0.00,2.47,0.00,0.000,6,0.000,0.018,3053,2229,3788,0,0,0,0,0,0
$GC,785,-0.86,-146.0,111.6,-11.4,73,789,0.00,2.62,0.00,0.000,4,0.000,0.044,3053,633,3788,0,0,0,0,0,0
$GC,801,-0.80,-146.0,114.5,-11.3,74,806,0.15,2.40,0.00,0.000,6,0.100,0.017,3087,2203,3789,0,0,0,0,0,0
$GC,1064,-0.88,-146.0,139.1,-7.8,98,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2203,3789,0,0,0,0,0,0
$GC,1321,-1.00,-146.0,156.6,-6.4,122,1327,0.17,0.00,0.00,0.000,6,0.051,0.000,3015,2204,3789,0,0,0,0,0,0
$GC,1586,-1.00,-146.0,179.5,-8.9,147,1591,0.12,2.58,0.00,0.000,4,0.099,0.048,3044,633,3790,0,0,0,0,0,0
$GC,1616,-1.05,-146.0,182.3,-8.0,149,1621,0.00,2.38,0.00,0.000,6,0.000,0.020,3044,2194,3790,0,0,0,0,0,0
$GC,1879,-1.14,-146.0,200.5,-6.4,173,1885,0.15,2.58,0.00,0.000,4,0.057,0.054,2978,630,3790,0,0,0,0,0,0
$GC,1898,-1.14,-146.0,202.0,-7.1,173,1903,0.15,2.40,0.00,0.000,6,0.090,0.021,3013,2196,3790,0,0,0,0,0,0
$GC,2159,-1.14,-146.0,221.6,-7.4,180,2163,0.00,2.47,0.00,0.000,4,0.000,0.038,3013,3772,3790,0,0,0,0,0,0
$GC,2180,-1.14,-146.0,223.3,-7.3,180,2185,0.00,2.47,0.00,0.000,6,0.000,0.024,3013,2184,3790,0,0,0,0,0,0
$GC,2438,-1.18,-146.0,242.3,-7.3,187,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2183,3790,0,0,0,0,0,0
$GC,2680,-1.23,-146.0,259.6,-7.0,193,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2183,3790,0,0,0,0,0,0
$GC,2923,-1.27,-146.0,277.9,-7.6,199,2929,0.12,2.58,0.00,0.000,4,0.066,0.039,2960,3768,3790,0,0,0,0,0,0
$GC,2954,-1.24,-146.0,280.5,-9.7,199,2959,0.12,2.45,0.00,0.000,6,0.092,0.025,2992,2205,3790,0,0,0,0,0,0
$GC,3204,-1.24,-146.0,301.6,-8.4,205,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2205,3789,0,0,0,0,0,0
$GC,3450,-1.24,-146.0,321.1,-7.9,211,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2205,3788,0,0,0,0,0,0
$GC,3691,-1.24,-146.0,340.5,-7.9,217,3695,0.00,2.65,0.00,0.000,4,0.000,0.071,2992,631,3788,0,0,0,0,0,0
$GC,3712,-1.24,-146.0,342.3,-7.8,217,3717,0.00,2.42,0.00,0.000,6,0.000,0.025,2991,2186,3787,0,0,0,0,0,0
$GC,3968,-1.24,-146.0,362.1,-7.7,224,3972,0.00,2.60,0.00,0.000,4,0.000,0.046,2992,3791,3786,0,0,0,0,0,0
$GC,3986,-1.24,-146.0,363.6,-8.0,224,3990,0.00,2.50,0.00,0.000,6,0.000,0.031,2991,2213,3786,0,0,0,0,0,0
$GC,4247,-1.24,-146.0,383.7,-7.6,231,4251,0.00,2.72,0.00,0.000,4,0.000,0.072,2992,633,3786,0,0,0,0,0,0
$GC,4268,-1.24,-146.0,385.5,-8.3,231,4272,0.00,2.50,0.00,0.000,6,0.000,0.033,2992,2202,3786,0,0,0,0,0,0
$GC,4527,-1.24,-146.0,404.3,-7.3,238,4531,0.00,2.60,0.00,0.000,4,0.000,0.057,2992,3794,3785,0,0,0,0,0,0
$GC,4548,-1.24,-146.0,406.3,-7.3,238,4553,0.00,2.55,0.00,0.000,6,0.000,0.034,2992,2208,3785,0,0,0,0,0,0
$GC,4804,-1.24,-146.0,425.1,-7.1,245,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2208,3784,0,0,0,0,0,0
$GC,5050,-1.24,-146.0,442.6,-7.3,251,5055,0.00,2.80,0.00,0.000,4,0.000,0.087,2992,629,3782,0,0,0,0,0,0
$GC,5066,-1.24,-146.0,444.1,-7.4,251,5070,0.00,2.58,0.00,0.000,6,0.000,0.034,2991,2222,3783,0,0,0,0,0,0
$GC,5326,-1.24,-146.0,463.5,-7.4,258,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2223,3782,0,0,0,0,0,0
$GC,5570,-1.24,-146.0,482.2,-7.6,264,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2223,3780,0,0,0,0,0,0
$GC,5816,-1.24,-146.0,501.5,-8.0,270,5821,0.00,2.80,0.00,0.000,4,0.000,0.081,2991,625,3779,0,0,0,0,0,0
$GC,5832,-1.24,-146.0,503.0,-8.0,270,5837,0.00,2.62,0.00,0.000,6,0.000,0.048,2991,2217,3779,0,0,0,0,0,0
$GC,6094,-1.24,-146.0,523.5,-7.8,277,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2217,3778,0,0,0,0,0,0
$GC,6340,-1.27,-146.0,542.4,-7.8,283,6345,0.00,2.78,0.00,0.000,4,0.000,0.087,2991,3791,3777,0,0,0,0,0,0
$GC,6362,-1.31,-146.0,544.4,-8.1,283,6366,0.00,2.65,0.00,0.000,6,0.000,0.055,2992,2217,3777,0,0,0,0,0,0
$GC,6617,-1.31,-146.0,563.9,-7.6,290,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2217,3776,0,0,0,0,0,0
$GC,6863,-1.35,-146.0,581.3,-7.0,296,6865,0.10,0.00,0.00,0.000,6,0.084,0.000,2951,2217,3775,0,0,0,0,0,0
$GC,7105,-1.31,-146.0,602.7,-8.9,302,7106,0.10,0.00,0.00,0.000,6,0.107,0.000,2975,2217,3774,0,0,0,0,0,0
$GC,7348,-1.31,-146.0,621.4,-7.5,308,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2217,3772,0,0,0,0,0,0
$GC,7594,-1.31,-146.0,639.4,-7.3,314,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2217,3771,0,0,0,0,0,0
$GC,7835,-1.31,-146.0,656.8,-7.3,320,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2217,3770,0,0,0,0,0,0
$GC,8079,-1.31,-146.0,675.2,-7.6,326,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2217,3769,0,0,0,0,0,0
$GC,8323,-1.31,-146.0,695.1,-8.3,332,8328,0.00,3.00,0.00,0.000,4,0.000,0.129,2975,3789,3768,0,0,0,0,0,0
$GC,8341,-1.31,-146.0,696.7,-8.7,332,8346,0.00,2.92,0.00,0.000,6,0.000,0.107,2975,2221,3767,0,0,0,0,0,0
$GC,8602,-1.31,-146.0,718.2,-8.1,339,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2222,3766,0,0,0,0,0,0
$GC,8845,-1.31,-146.0,737.6,-7.9,345,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2221,3765,0,0,0,0,0,0
$GC,9089,-1.31,-146.0,756.7,-7.7,351,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2222,3764,0,0,0,0,0,0
$GC,9335,-1.31,-146.0,774.9,-7.4,357,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2221,3762,0,0,0,0,0,0
$GC,9577,-1.31,-146.0,792.8,-7.3,363,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2217,3762,0,0,0,0,0,0
$GC,9820,-1.31,-146.0,810.4,-7.1,369,9825,0.00,2.80,0.00,0.000,4,0.000,0.092,2975,3792,3761,0,0,0,0,0,0
$GC,9838,-1.31,-146.0,811.8,-7.4,369,9843,0.00,2.75,0.00,0.000,6,0.000,0.074,2975,2206,3761,0,0,0,0,0,0
$GC,10099,-1.31,-146.0,831.9,-7.7,376,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2205,3760,0,0,0,0,0,0
$GC,10343,-1.31,-146.0,849.6,-7.2,382,10347,0.00,2.80,0.00,0.000,4,0.000,0.081,2975,3793,3759,0,0,0,0,0,0
$GC,10364,-1.31,-146.0,851.4,-7.7,382,10369,0.00,2.70,0.00,0.000,6,0.000,0.070,2975,2214,3758,0,0,0,0,0,0
$GC,10622,-1.31,-146.0,868.9,-6.8,389,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2213,3758,0,0,0,0,0,0
$GC,10863,-1.31,-146.0,886.1,-7.1,395,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2213,3757,0,0,0,0,0,0
$STATE,11063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11063,begin apogee
$GC,11070,-0.31,0.0,901.8,7.7,400,11193,0.95,0.00,119.72,1.220,6,0.069,0.000,3193,2384,3190,0,0,0,0,0,0
$STATE,11194,end apogee,CONTROL_FINISHED_OK
$STATE,11194,begin climb
$GC,11198,1.27,146.0,905.6,0.0,403,11334,1.42,2.80,126.93,1.188,4,0.036,0.079,3543,3926,2593,0,0,0,0,0,0
$GC,11376,1.14,146.0,897.5,10.6,407,11381,0.17,2.72,0.00,0.000,6,0.109,0.061,3508,2366,2589,0,0,0,0,0,0
$GC,11648,1.18,176.0,874.0,8.6,414,11677,0.00,0.00,27.12,1.124,6,0.000,0.000,3509,2366,2472,0,0,0,0,0,0
$GC,11892,1.19,182.7,851.1,9.7,420,11901,0.00,0.00,6.90,0.924,6,0.000,0.000,3508,2366,2445,0,0,0,0,0,0
$GC,12138,1.19,182.7,826.3,10.2,426,12142,0.00,2.67,0.00,0.000,4,0.000,0.060,3508,3935,2442,0,0,0,0,0,0
$GC,12181,1.19,182.7,821.2,10.8,427,12185,0.00,2.65,0.00,0.000,6,0.000,0.048,3509,2371,2442,0,0,0,0,0,0
$GC,12459,1.19,182.7,793.2,10.0,434,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2371,2441,0,0,0,0,0,0
$GC,12705,1.20,189.8,769.3,9.7,440,12715,0.00,0.00,7.50,0.938,6,0.000,0.000,3508,2372,2416,0,0,0,0,0,0
$GC,12947,1.20,190.7,745.0,10.0,446,12951,0.00,2.67,0.00,0.000,4,0.000,0.062,3508,3934,2414,0,0,0,0,0,0
$GC,12986,1.20,190.7,740.8,11.0,447,12990,0.00,2.62,0.00,0.000,6,0.000,0.048,3509,2383,2413,0,0,0,0,0,0
$GC,13271,1.20,190.7,712.4,10.0,454,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2384,2413,0,0,0,0,0,0
$GC,13512,1.20,190.7,687.4,10.3,460,13517,0.00,2.65,0.00,0.000,4,0.000,0.060,3509,3938,2413,0,0,0,0,0,0
$GC,13539,1.20,190.7,684.3,10.7,460,13544,0.00,2.60,0.00,0.000,6,0.000,0.049,3509,2389,2412,0,0,0,0,0,0
$GC,13792,1.20,192.4,659.2,9.9,466,13797,0.00,2.60,0.00,0.000,4,0.000,0.056,3508,3931,2412,0,0,0,0,0,0
$GC,13814,1.20,194.1,656.6,9.9,466,13824,0.00,2.58,5.03,0.767,6,0.000,0.046,3508,2394,2398,0,0,0,0,0,0
$GC,14069,1.21,198.2,631.8,9.8,472,14080,0.00,2.65,5.80,0.808,4,0.000,0.054,3508,3931,2381,0,0,0,0,0,0
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$STATE,20156,end climb,SURFACE_DEPTH_REACHED
$STATE,20156,begin surface coast
$FINISH,1.0,1.018683
$STATE,20179,end surface coast,CONTROL_FINISHED_OK
$STATE,20179,begin surface
$SM_CCo,20207,42.45,0.494,0,0,1763,350.04
$SM_GC,2.01,0.00,0.00,42.45,0.000,0.000,0.494,462,2191,1763,-12.87,-0.54,350.04
$IRIDIUM_FIX,1920.65,-8109.84,150602,202034
$TT8_MAMPS,0.026078
$HUMID,59.13
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,57
$24V_AH,23.2,43.050
$10V_AH,10.3,38.158
$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
$DEVICE_SECS,30.775,171.950,399.350,42.450,0.000,30.119,36.064,197.349,14.250,0.000,14.453,1547.566,15580.273,553.233,2235.042,758.509,33.369,1496.088,0.000,2243.777,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,515.980,353.890,451.844,582.029,1108.128,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,57149,761
$CAP_FILE_SIZE,166228,0
$CFSIZE,260165632,106975232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220313,072536,1924.948,-8108.402,39,1.1,39,-3.8