version: 66.06
glider: 146
mission: 8
dive: 231
start: 3 5 113 13 6 53
data:
$ID,146
$MISSION,8
$DIVE,231
$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,-312004.84
$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,22
$R_STBD_OVSHOOT,54
$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
$GPS1,125805,1923.411,-8106.849,39,1.3,45,-3.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.9
$GPS2,130600,1923.382,-8106.843,16,1.3,33,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.113,0.087
$KALMAN_X,1461.1,294.0,468.3,-1249.0,-1422.6
$KALMAN_Y,6343.3,-185.2,-417.5,-6064.5,1605.2
$MHEAD_RNG_PITCHd_Wd,311.5,2893,-32.6,-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,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-66.85,0.000,6,0.000,0.000,464,2243,3371,0,0,0,0,0,0
$GC,96,-2.13,-77.5,3.7,-5.0,9,122,12.68,2.47,-2.55,0.000,4,0.166,0.041,2788,3772,3507,0,0,0,0,0,0
$GC,408,-2.05,-77.5,84.4,-25.2,39,413,0.12,2.47,0.00,0.000,6,0.144,0.020,2810,2190,3508,0,0,0,0,0,0
$GC,674,-2.05,-77.5,142.9,-17.1,63,678,0.00,2.53,0.00,0.000,4,0.000,0.035,2810,3779,3508,0,0,0,0,0,0
$GC,692,-2.05,-77.5,147.2,-18.4,64,696,0.00,2.45,0.00,0.000,6,0.000,0.017,2810,2200,3508,0,0,0,0,0,0
$GC,961,-2.12,-77.5,188.4,-14.8,88,965,0.00,2.50,0.00,0.000,4,0.000,0.035,2810,3784,3509,0,0,0,0,0,0
$GC,989,-2.18,-77.5,193.8,-14.4,90,994,0.10,2.45,0.00,0.000,6,0.077,0.018,2760,2200,3509,0,0,0,0,0,0
$GC,1243,-2.18,-77.5,231.1,-15.0,99,1248,0.12,2.53,0.00,0.000,4,0.116,0.033,2785,3780,3509,0,0,0,0,0,0
$GC,1292,-2.18,-77.5,238.6,-13.6,100,1296,0.00,2.40,0.00,0.000,6,0.000,0.023,2785,2213,3510,0,0,0,0,0,0
$GC,1571,-2.25,-77.5,273.6,-12.5,107,1575,0.00,2.50,0.00,0.000,4,0.000,0.034,2785,3769,3510,0,0,0,0,0,0
$GC,1600,-2.29,-77.5,277.2,-13.0,107,1605,0.10,2.42,0.00,0.000,6,0.077,0.027,2734,2219,3510,0,0,0,0,0,0
$GC,1849,-2.29,-77.5,312.4,-14.2,113,1851,0.12,0.00,0.00,0.000,6,0.117,0.000,2759,2219,3510,0,0,0,0,0,0
$GC,2093,-2.29,-77.5,345.3,-13.5,119,2097,0.00,2.50,0.00,0.000,4,0.000,0.040,2759,3769,3509,0,0,0,0,0,0
$GC,2156,-2.29,-77.5,354.3,-15.1,120,2160,0.00,2.47,0.00,0.000,6,0.000,0.030,2759,2220,3509,0,0,0,0,0,0
$GC,2416,-2.29,-77.5,390.0,-13.7,127,2420,0.00,2.53,0.00,0.000,4,0.000,0.044,2759,3771,3508,0,0,0,0,0,0
$GC,2476,-2.29,-77.5,398.5,-13.8,128,2480,0.00,2.53,0.00,0.000,6,0.000,0.036,2759,2214,3508,0,0,0,0,0,0
$GC,2740,-2.33,-77.5,434.6,-13.9,135,2744,0.00,2.58,0.00,0.000,4,0.000,0.053,2758,3761,3507,0,0,0,0,0,0
$GC,2789,-2.33,-77.5,441.9,-14.1,136,2794,0.00,2.53,0.00,0.000,6,0.000,0.042,2759,2220,3507,0,0,0,0,0,0
$GC,3062,-2.37,-77.5,478.7,-13.4,143,3066,0.00,2.58,0.00,0.000,4,0.000,0.063,2759,3760,3506,0,0,0,0,0,0
$GC,3153,-2.37,-77.5,491.2,-13.8,145,3157,0.00,2.58,0.00,0.000,6,0.000,0.051,2759,2214,3506,0,0,0,0,0,0
$GC,3430,-2.41,-77.5,526.7,-12.7,152,3435,0.10,2.67,0.00,0.000,4,0.078,0.066,2710,3758,3504,0,0,0,0,0,0
$GC,3466,-2.34,-77.5,531.5,-14.5,152,3472,0.20,2.60,0.00,0.000,6,0.106,0.057,2750,2217,3504,0,0,0,0,0,0
$GC,3717,-2.34,-77.5,565.0,-13.4,159,3722,0.00,2.67,0.00,0.000,4,0.000,0.074,2750,3755,3503,0,0,0,0,0,0
$GC,3822,-2.34,-77.5,580.8,-14.6,161,3827,0.00,2.62,0.00,0.000,6,0.000,0.061,2750,2226,3503,0,0,0,0,0,0
$GC,4086,-2.34,-77.5,615.6,-13.2,168,4090,0.00,2.70,0.00,0.000,4,0.000,0.087,2750,3755,3500,0,0,0,0,0,0
$GC,4152,-2.34,-77.5,625.7,-15.4,169,4156,0.00,2.72,0.00,0.000,6,0.000,0.076,2750,2220,3501,0,0,0,0,0,0
$GC,4407,-2.34,-77.5,659.7,-13.2,176,4411,0.00,2.80,0.00,0.000,4,0.000,0.104,2750,3754,3499,0,0,0,0,0,0
$GC,4493,-2.34,-77.5,671.6,-15.0,178,4498,0.00,2.80,0.00,0.000,6,0.000,0.097,2750,2238,3499,0,0,0,0,0,0
$GC,4776,-2.34,-77.5,709.7,-13.2,185,4780,0.00,2.90,0.00,0.000,4,0.000,0.123,2750,3753,3497,0,0,0,0,0,0
$GC,4917,-2.34,-77.5,728.2,-13.0,188,4922,0.00,2.70,0.00,0.000,6,0.000,0.084,2750,2238,3496,0,0,0,0,0,0
$GC,5189,-2.34,-77.5,761.5,-12.1,195,5193,0.00,2.72,0.00,0.000,4,0.000,0.092,2750,3760,3494,0,0,0,0,0,0
$GC,5254,-2.34,-77.5,769.6,-12.0,196,5259,0.00,2.65,0.00,0.000,6,0.000,0.076,2750,2250,3493,0,0,0,0,0,0
$GC,5512,-2.38,-77.5,798.9,-11.5,203,5517,0.00,2.67,0.00,0.000,4,0.000,0.090,2750,3757,3492,0,0,0,0,0,0
$GC,5623,-2.38,-77.5,812.5,-12.5,205,5628,0.00,2.60,0.00,0.000,6,0.000,0.068,2750,2263,3491,0,0,0,0,0,0
$GC,5881,-2.42,-77.5,842.4,-11.8,212,5886,0.00,2.62,0.00,0.000,4,0.000,0.082,2750,3758,3489,0,0,0,0,0,0
$GC,5947,-2.42,-77.5,851.3,-13.4,213,5952,0.00,2.60,0.00,0.000,6,0.000,0.065,2750,2263,3489,0,0,0,0,0,0
$GC,6203,-2.45,-77.5,882.8,-12.4,220,6209,0.10,2.62,0.00,0.000,4,0.081,0.082,2707,3757,3487,0,0,0,0,0,0
$GC,6295,-2.39,-77.5,895.8,-14.7,222,6300,0.15,2.60,0.00,0.000,6,0.117,0.063,2736,2265,3487,0,0,0,0,0,0
$STATE,6327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6327,begin apogee
$GC,6333,-0.31,0.0,900.6,12.7,223,6401,2.12,0.00,63.25,1.197,6,0.104,0.000,3189,2346,3190,0,0,0,0,0,0
$STATE,6401,end apogee,CONTROL_FINISHED_OK
$STATE,6401,begin climb
$GC,6406,2.13,77.5,902.5,0.0,224,6479,2.20,0.00,68.15,1.172,6,0.031,0.000,3737,2346,2874,0,0,0,0,0,0
$GC,6696,2.13,77.5,875.3,11.7,232,6700,0.00,2.75,0.00,0.000,4,0.000,0.067,3737,3931,2869,0,0,0,0,0,0
$GC,6894,2.07,77.5,850.0,12.6,236,6899,0.12,2.62,0.00,0.000,6,0.150,0.046,3714,2379,2867,0,0,0,0,0,0
$GC,7155,2.07,77.5,820.2,11.2,243,7159,0.00,2.62,0.00,0.000,4,0.000,0.049,3714,3931,2865,0,0,0,0,0,0
$GC,7348,2.07,77.5,797.4,12.2,247,7353,0.00,2.60,0.00,0.000,6,0.000,0.045,3714,2384,2864,0,0,0,0,0,0
$GC,7614,2.07,77.5,769.8,10.3,254,7619,0.00,2.62,0.00,0.000,4,0.000,0.052,3714,3935,2863,0,0,0,0,0,0
$GC,7851,2.07,77.5,743.8,10.6,259,7856,0.00,2.58,0.00,0.000,6,0.000,0.040,3714,2394,2861,0,0,0,0,0,0
$GC,8118,2.11,78.4,717.2,9.9,266,8123,0.00,2.60,0.00,0.000,4,0.000,0.052,3714,3933,2861,0,0,0,0,0,0
$GC,8377,2.11,78.4,690.6,10.1,271,8383,0.00,2.55,0.00,0.000,6,0.000,0.044,3714,2398,2859,0,0,0,0,0,0
$GC,8628,2.15,82.9,667.3,9.3,278,8632,0.00,2.58,0.00,0.000,4,0.000,0.052,3714,3930,2859,0,0,0,0,0,0
$GC,8875,2.16,88.3,643.7,9.2,283,8891,0.00,2.55,7.93,0.897,6,0.000,0.038,3714,2397,2829,0,0,0,0,0,0
$GC,9135,2.21,90.2,619.1,9.7,290,9141,0.12,2.60,0.00,0.000,4,0.212,0.051,3750,3930,2827,0,0,0,0,0,0
$GC,9193,2.14,90.2,612.7,12.3,291,9198,0.12,2.55,0.00,0.000,6,0.146,0.041,3728,2398,2827,0,0,0,0,0,0
$GC,9460,2.14,90.2,584.6,10.4,298,9464,0.00,2.58,0.00,0.000,4,0.000,0.056,3728,3937,2827,0,0,0,0,0,0
$GC,9717,2.14,90.2,556.1,11.4,303,9723,0.00,2.50,0.00,0.000,6,0.000,0.040,3728,2416,2826,0,0,0,0,0,0
$GC,9967,2.14,90.2,529.9,10.5,310,9971,0.00,2.53,0.00,0.000,4,0.000,0.050,3728,3931,2826,0,0,0,0,0,0
$GC,10145,2.14,90.2,509.1,11.4,314,10150,0.00,2.47,0.00,0.000,6,0.000,0.036,3728,2414,2826,0,0,0,0,0,0
$GC,10430,2.17,90.2,479.0,10.7,321,10434,0.00,2.53,0.00,0.000,4,0.000,0.046,3728,3937,2826,0,0,0,0,0,0
$GC,10670,2.17,90.2,450.5,10.7,326,10674,0.00,2.45,0.00,0.000,6,0.000,0.031,3728,2420,2825,0,0,0,0,0,0
$GC,10936,2.22,90.2,422.6,10.4,333,10941,0.00,2.47,0.00,0.000,4,0.000,0.041,3728,3934,2826,0,0,0,0,0,0
$GC,10949,2.22,90.2,421.3,10.4,333,10953,0.00,2.42,0.00,0.000,6,0.000,0.030,3728,2425,2826,0,0,0,0,0,0
$GC,11215,2.27,90.2,394.6,10.1,340,11220,0.10,2.50,0.00,0.000,4,0.090,0.041,3759,3941,2826,0,0,0,0,0,0
$GC,11464,2.21,90.2,365.2,12.5,345,11468,0.00,2.40,0.00,0.000,6,0.000,0.027,3759,2436,2826,0,0,0,0,0,0
$GC,11719,2.21,90.2,337.2,10.9,352,11724,0.00,2.45,0.00,0.000,4,0.000,0.040,3759,3938,2826,0,0,0,0,0,0
$GC,11811,2.16,90.2,326.5,12.0,354,11816,0.15,2.40,0.00,0.000,6,0.133,0.025,3732,2435,2827,0,0,0,0,0,0
$GC,12089,2.21,93.0,299.2,9.6,361,12100,0.00,2.45,5.82,0.599,4,0.000,0.044,3732,3937,2809,0,0,0,0,0,0
$GC,12355,2.21,93.0,268.4,11.2,367,12359,0.00,2.35,0.00,0.000,6,0.000,0.023,3732,2443,2809,0,0,0,0,0,0
$GC,12639,2.28,93.0,239.3,10.0,374,12644,0.10,2.47,0.00,0.000,4,0.242,0.040,3763,3945,2810,0,0,0,0,0,0
$GC,12824,2.28,97.4,220.9,9.3,378,12834,0.00,2.38,5.53,0.539,6,0.000,0.024,3763,2447,2793,0,0,0,0,0,0
$GC,13096,2.29,105.8,197.2,8.7,385,13110,0.00,2.50,8.65,0.591,4,0.000,0.043,3763,3933,2758,0,0,0,0,0,0
$GC,13375,2.29,105.8,169.5,10.2,409,13380,0.00,2.33,0.00,0.000,6,0.000,0.029,3763,2464,2758,0,0,0,0,0,0
$GC,13645,2.36,122.5,152.4,7.5,433,13666,0.00,2.45,15.05,0.594,4,0.000,0.038,3763,3939,2689,0,0,0,0,0,0
$GC,13702,2.38,135.7,147.2,8.0,438,13720,0.00,2.35,12.45,0.574,6,0.000,0.022,3764,2449,2636,0,0,0,0,0,0
$GC,13976,2.53,180.9,131.4,3.2,463,14024,0.00,2.53,38.45,0.597,4,0.000,0.039,3763,3935,2450,0,0,0,0,0,0
$GC,14294,2.63,188.3,99.9,8.9,489,14314,0.00,2.33,7.22,0.482,6,0.000,0.021,3763,2461,2421,0,0,0,0,0,0
$GC,14572,2.77,188.3,71.9,11.6,515,14577,0.00,2.42,0.00,0.000,4,0.000,0.039,3763,3945,2421,0,0,0,0,0,0
$GC,14858,2.87,188.3,35.2,12.8,537,14867,0.00,2.35,0.00,0.000,6,0.000,0.023,3763,2473,2421,0,0,0,0,0,0
$STATE,15127,end climb,SURFACE_DEPTH_REACHED
$STATE,15127,begin surface coast
$FINISH,1.0,1.023462
$STATE,15176,end surface coast,CONTROL_FINISHED_OK
$STATE,15176,begin surface
$SM_CCo,15200,129.20,0.492,0,0,1763,350.04
$SM_GC,1.93,0.00,0.00,129.20,0.000,0.000,0.492,467,2199,1763,-12.85,-0.31,350.04
$IRIDIUM_FIX,1920.65,-8107.58,300502,080835
$TT8_MAMPS,0.026078
$HUMID,55.63
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.60
$XPDR_PINGS,59
$24V_AH,23.3,32.756
$10V_AH,10.4,28.758
$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,32.100,183.700,232.500,129.200,0.000,29.858,36.035,220.989,14.750,0.000,35.382,1392.568,10496.855,497.393,2697.349,713.059,33.355,1606.564,0.000,2651.804,0.000,0.537,0.000
$DEVICE_MAMPS,242.372,122.720,1196.520,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.105,272.841,357.724,479.160,913.392,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,44699,582
$CAP_FILE_SIZE,156741,0
$CFSIZE,260165632,112373760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050313,172405,1923.903,-8108.124,57,1.0,57,-3.8