version: 66.06
glider: 146
mission: 8
dive: 244
start: 3 8 113 8 30 17
data:
$ID,146
$MISSION,8
$DIVE,244
$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,-312245.72
$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,26
$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
$GPS1,081506,1923.575,-8107.642,35,1.2,35,-3.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.5
$GPS2,082919,1923.562,-8107.594,11,1.3,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.082,0.117
$KALMAN_X,-6140.0,404.8,-59.4,5462.5,125.0
$KALMAN_Y,10272.7,-224.4,-262.6,-9776.9,552.0
$MHEAD_RNG_PITCHd_Wd,328.6,1877,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.09,-44.5,0.0,0.0,0,92,0.00,0.00,-67.07,0.000,6,0.000,0.000,465,2203,3371,0,0,0,0,0,0
$GC,95,-2.13,-77.8,3.6,-5.0,9,121,12.68,2.60,-2.70,0.000,4,0.165,0.041,2785,3801,3509,0,0,0,0,0,0
$GC,153,-2.02,-77.8,20.7,-26.3,16,161,0.12,2.55,0.00,0.000,6,0.123,0.020,2813,2198,3509,0,0,0,0,0,0
$GC,425,-1.98,-77.8,85.1,-23.6,43,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2198,3509,0,0,0,0,0,0
$GC,688,-1.98,-77.8,141.6,-18.9,68,692,0.00,2.53,0.00,0.000,4,0.000,0.042,2813,635,3509,0,0,0,0,0,0
$GC,708,-1.98,-77.8,145.0,-17.8,69,712,0.00,2.45,0.00,0.000,6,0.000,0.024,2813,2250,3509,0,0,0,0,0,0
$GC,970,-2.05,-77.8,185.1,-14.6,93,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2250,3510,0,0,0,0,0,0
$GC,1249,-2.15,-77.8,221.7,-13.0,108,1253,0.00,2.40,0.00,0.000,4,0.000,0.032,2813,3773,3510,0,0,0,0,0,0
$GC,1355,-2.23,-77.8,235.6,-12.7,110,1360,0.17,2.45,0.00,0.000,6,0.052,0.017,2746,2197,3510,0,0,0,0,0,0
$GC,1620,-2.23,-77.8,272.0,-14.3,117,1625,0.12,2.53,0.00,0.000,4,0.118,0.035,2771,3771,3510,0,0,0,0,0,0
$GC,1659,-2.23,-77.8,278.2,-14.0,118,1663,0.00,2.42,0.00,0.000,6,0.000,0.020,2770,2228,3510,0,0,0,0,0,0
$GC,1942,-2.28,-77.8,315.3,-12.9,125,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2228,3510,0,0,0,0,0,0
$GC,2188,-2.33,-77.8,346.4,-12.8,131,2192,0.00,2.47,0.00,0.000,4,0.000,0.038,2771,3762,3510,0,0,0,0,0,0
$GC,2228,-2.33,-77.8,352.3,-14.0,132,2232,0.00,2.45,0.00,0.000,6,0.000,0.035,2771,2232,3509,0,0,0,0,0,0
$GC,2511,-2.39,-77.8,388.6,-12.7,139,2516,0.15,2.50,0.00,0.000,4,0.062,0.040,2716,3765,3508,0,0,0,0,0,0
$GC,2598,-2.33,-77.8,401.0,-14.9,141,2603,0.17,2.47,0.00,0.000,6,0.107,0.038,2751,2227,3508,0,0,0,0,0,0
$GC,2881,-2.33,-77.8,440.2,-13.5,148,2886,0.00,2.53,0.00,0.000,4,0.000,0.055,2751,3757,3507,0,0,0,0,0,0
$GC,2928,-2.33,-77.8,446.6,-14.4,149,2932,0.00,2.53,0.00,0.000,6,0.000,0.043,2751,2227,3507,0,0,0,0,0,0
$GC,3209,-2.33,-77.8,484.1,-13.4,156,3213,0.00,2.58,0.00,0.000,4,0.000,0.065,2751,3756,3505,0,0,0,0,0,0
$GC,3269,-2.33,-77.8,493.3,-13.9,157,3273,0.00,2.55,0.00,0.000,6,0.000,0.047,2751,2230,3505,0,0,0,0,0,0
$GC,3533,-2.33,-77.8,526.8,-12.7,164,3537,0.00,2.60,0.00,0.000,4,0.000,0.066,2751,3752,3504,0,0,0,0,0,0
$GC,3643,-2.33,-77.8,542.0,-13.9,166,3648,0.00,2.55,0.00,0.000,6,0.000,0.051,2751,2238,3503,0,0,0,0,0,0
$GC,3900,-2.36,-77.8,574.2,-12.8,173,3904,0.00,2.62,0.00,0.000,4,0.000,0.076,2751,3751,3502,0,0,0,0,0,0
$GC,3957,-2.36,-77.8,581.9,-13.6,174,3961,0.00,2.58,0.00,0.000,6,0.000,0.064,2751,2246,3502,0,0,0,0,0,0
$GC,4223,-2.40,-77.8,616.9,-12.9,181,4228,0.00,2.67,0.00,0.000,4,0.000,0.087,2751,3753,3500,0,0,0,0,0,0
$GC,4315,-2.40,-77.8,629.4,-13.7,183,4319,0.00,2.62,0.00,0.000,6,0.000,0.075,2751,2256,3499,0,0,0,0,0,0
$GC,4592,-2.44,-77.8,665.3,-12.8,190,4597,0.00,2.72,0.00,0.000,4,0.000,0.100,2752,3751,3498,0,0,0,0,0,0
$GC,4692,-2.44,-77.8,679.0,-14.3,192,4697,0.10,2.65,0.00,0.000,6,0.080,0.080,2712,2255,3497,0,0,0,0,0,0
$GC,4966,-2.44,-77.8,717.3,-14.2,199,4970,0.00,2.67,0.00,0.000,4,0.000,0.089,2708,3751,3495,0,0,0,0,0,0
$GC,5038,-2.38,-77.8,728.5,-15.4,200,5043,0.15,2.60,0.00,0.000,6,0.115,0.075,2738,2266,3494,0,0,0,0,0,0
$GC,5288,-2.38,-77.8,761.0,-12.7,206,5292,0.00,2.62,0.00,0.000,4,0.000,0.083,2738,3754,3493,0,0,0,0,0,0
$GC,5429,-2.38,-77.8,780.0,-13.8,209,5433,0.00,2.58,0.00,0.000,6,0.000,0.071,2738,2281,3492,0,0,0,0,0,0
$GC,5700,-2.38,-77.8,814.4,-12.4,216,5705,0.00,2.60,0.00,0.000,4,0.000,0.086,2738,3753,3490,0,0,0,0,0,0
$GC,5842,-2.38,-77.8,832.7,-14.2,219,5846,0.00,2.53,0.00,0.000,6,0.000,0.064,2738,2298,3489,0,0,0,0,0,0
$GC,6113,-2.38,-77.8,866.0,-12.0,226,6118,0.00,2.58,0.00,0.000,4,0.000,0.077,2738,3759,3487,0,0,0,0,0,0
$GC,6281,-2.38,-77.8,887.0,-12.5,229,6287,0.00,2.50,0.00,0.000,6,0.000,0.064,2738,2306,3486,0,0,0,0,0,0
$STATE,6407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6407,begin apogee
$GC,6412,-0.31,0.0,901.0,11.0,233,6480,2.12,0.00,63.22,1.194,6,0.107,0.000,3189,2306,3190,0,0,0,0,0,0
$STATE,6481,end apogee,CONTROL_FINISHED_OK
$STATE,6481,begin climb
$GC,6483,2.13,77.8,902.1,0.0,234,6556,2.20,0.00,68.40,1.167,6,0.032,0.000,3735,2306,2873,0,0,0,0,0,0
$GC,6775,2.13,77.8,870.9,12.6,242,6780,0.00,2.78,0.00,0.000,4,0.000,0.062,3735,3901,2868,0,0,0,0,0,0
$GC,6922,2.06,77.8,852.5,11.8,245,6927,0.12,2.58,0.00,0.000,6,0.152,0.048,3713,2376,2866,0,0,0,0,0,0
$GC,7191,2.06,77.8,823.3,10.7,252,7195,0.00,2.58,0.00,0.000,4,0.000,0.054,3713,3897,2865,0,0,0,0,0,0
$GC,7449,2.06,77.8,793.3,11.2,257,7455,0.00,2.53,0.00,0.000,6,0.000,0.038,3713,2378,2863,0,0,0,0,0,0
$GC,7701,2.06,77.8,767.5,10.4,264,7706,0.00,2.58,0.00,0.000,4,0.000,0.054,3713,3905,2862,0,0,0,0,0,0
$GC,7915,2.06,77.8,743.0,11.5,268,7921,0.00,2.55,0.00,0.000,6,0.000,0.041,3713,2385,2861,0,0,0,0,0,0
$GC,8168,2.06,79.1,718.2,9.8,275,8172,0.00,2.55,0.00,0.000,4,0.000,0.049,3713,3899,2860,0,0,0,0,0,0
$GC,8369,2.06,79.1,696.4,10.5,279,8373,0.00,2.53,0.00,0.000,6,0.000,0.044,3713,2393,2859,0,0,0,0,0,0
$GC,8628,2.11,83.8,672.3,9.3,286,8637,0.00,2.58,4.03,0.673,4,0.000,0.058,3713,3899,2848,0,0,0,0,0,0
$GC,8856,2.11,83.8,647.8,10.5,291,8860,0.00,2.53,0.00,0.000,6,0.000,0.042,3713,2395,2847,0,0,0,0,0,0
$GC,9137,2.15,83.8,619.7,10.1,298,9141,0.00,2.55,0.00,0.000,4,0.000,0.054,3713,3906,2847,0,0,0,0,0,0
$GC,9396,2.15,83.8,591.6,10.2,303,9402,0.00,2.50,0.00,0.000,6,0.000,0.037,3713,2401,2846,0,0,0,0,0,0
$GC,9646,2.21,87.7,568.0,9.4,310,9657,0.12,2.55,4.72,0.705,4,0.081,0.051,3750,3905,2831,0,0,0,0,0,0
$GC,9702,2.13,87.7,561.9,11.5,311,9707,0.12,2.50,0.00,0.000,6,0.144,0.035,3728,2398,2831,0,0,0,0,0,0
$GC,9970,2.13,87.7,535.2,10.0,318,9975,0.00,2.53,0.00,0.000,4,0.000,0.050,3727,3904,2831,0,0,0,0,0,0
$GC,10202,2.13,87.7,509.9,11.6,323,10206,0.00,2.45,0.00,0.000,6,0.000,0.034,3727,2413,2831,0,0,0,0,0,0
$GC,10473,2.13,87.7,481.7,10.2,330,10478,0.00,2.47,0.00,0.000,4,0.000,0.044,3728,3905,2831,0,0,0,0,0,0
$GC,10660,2.13,87.7,459.7,11.6,334,10665,0.00,2.42,0.00,0.000,6,0.000,0.033,3728,2413,2831,0,0,0,0,0,0
$GC,10933,2.17,88.3,432.3,9.9,341,10937,0.00,2.45,0.00,0.000,4,0.000,0.041,3728,3902,2831,0,0,0,0,0,0
$GC,11027,2.17,88.3,421.8,11.0,343,11031,0.00,2.40,0.00,0.000,6,0.000,0.025,3727,2414,2831,0,0,0,0,0,0
$GC,11308,2.22,92.6,395.6,9.4,350,11319,0.00,2.47,5.90,0.674,4,0.000,0.039,3728,3910,2812,0,0,0,0,0,0
$GC,11369,2.22,92.6,388.4,11.4,351,11373,0.00,2.38,0.00,0.000,6,0.000,0.031,3727,2421,2812,0,0,0,0,0,0
$GC,11639,2.26,92.6,359.7,11.0,358,11644,0.10,2.45,0.00,0.000,4,0.087,0.039,3759,3908,2812,0,0,0,0,0,0
$GC,11898,2.20,92.6,326.8,11.8,363,11904,0.00,2.35,0.00,0.000,6,0.000,0.030,3759,2435,2813,0,0,0,0,0,0
$GC,12150,2.20,92.6,297.2,11.6,370,12154,0.00,2.40,0.00,0.000,4,0.000,0.045,3759,3906,2813,0,0,0,0,0,0
$GC,12411,2.16,92.6,266.0,11.0,375,12418,0.15,2.35,0.00,0.000,6,0.130,0.030,3731,2427,2813,0,0,0,0,0,0
$GC,12662,2.21,95.2,241.6,9.6,382,12671,0.00,2.42,4.53,0.505,4,0.000,0.041,3731,3902,2801,0,0,0,0,0,0
$GC,12927,2.22,101.8,214.6,9.0,387,12941,0.00,2.30,7.38,0.586,6,0.000,0.031,3731,2457,2774,0,0,0,0,0,0
$GC,13195,2.31,113.5,192.4,8.2,398,13212,0.12,2.40,10.93,0.613,4,0.211,0.043,3770,3912,2726,0,0,0,0,0,0
$GC,13473,2.32,115.6,165.5,9.7,421,13479,0.00,2.28,0.00,0.000,6,0.000,0.021,3770,2466,2726,0,0,0,0,0,0
$GC,13739,2.42,153.1,147.9,4.4,446,13779,0.00,2.42,33.95,0.617,4,0.000,0.038,3770,3901,2564,0,0,0,0,0,0
$GC,14050,2.51,174.1,123.5,6.8,472,14077,0.00,2.28,18.12,0.571,6,0.000,0.021,3770,2458,2479,0,0,0,0,0,0
$GC,14331,2.63,174.1,97.0,10.9,498,14335,0.00,2.35,0.00,0.000,4,0.000,0.038,3770,3913,2477,0,0,0,0,0,0
$GC,14608,2.72,174.1,66.4,10.4,520,14617,0.00,2.28,0.00,0.000,6,0.000,0.021,3770,2482,2477,0,0,0,0,0,0
$GC,14879,2.86,174.7,40.1,9.9,545,14883,0.00,2.28,0.00,0.000,4,0.000,0.032,3770,3909,2478,0,0,0,0,0,0
$GC,15181,2.94,174.7,7.4,11.6,582,15190,0.00,2.22,0.00,0.000,6,0.000,0.019,3770,2496,2479,0,0,0,0,0,0
$STATE,15213,end climb,SURFACE_DEPTH_REACHED
$STATE,15213,begin surface coast
$FINISH,1.0,1.003163
$STATE,15264,end surface coast,CONTROL_FINISHED_OK
$STATE,15264,begin surface
$SM_CCo,15288,141.90,0.493,0,0,1762,350.04
$SM_GC,1.84,0.00,0.00,141.90,0.000,0.000,0.493,458,2181,1762,-12.89,-0.82,350.04
$IRIDIUM_FIX,1916.08,-8105.68,020602,080838
$TT8_MAMPS,0.026078
$HUMID,55.39
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.70
$XPDR_PINGS,64
$24V_AH,23.3,34.547
$10V_AH,10.3,30.360
$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,31.875,170.350,221.175,141.900,0.000,62.735,69.182,489.906,16.000,0.000,12.641,1411.157,10564.335,497.481,2747.446,1060.234,33.360,1617.682,0.000,2730.584,0.000,0.537,0.000
$DEVICE_MAMPS,210.925,99.710,1194.219,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.342,293.086,372.093,509.451,970.164,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,47809,593
$CAP_FILE_SIZE,160603,0
$CFSIZE,260165632,111443968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080313,124853,1924.412,-8108.915,24,1.1,41,-3.8