version: 66.06
glider: 146
mission: 8
dive: 255
start: 3 10 113 20 41 23
data:
$ID,146
$MISSION,8
$DIVE,255
$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,-312472.91
$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,46
$R_STBD_OVSHOOT,38
$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
$GPS1,202924,1923.936,-8106.718,72,1.8,91,-3.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.1
$GPS2,204030,1923.926,-8106.731,13,1.2,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.109,-0.092
$KALMAN_X,-16662.8,91.2,439.2,17301.8,-1267.1
$KALMAN_Y,15951.8,-120.1,-438.7,-14710.8,1843.5
$MHEAD_RNG_PITCHd_Wd,233.7,2458,-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,19,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-67.43,0.000,6,0.000,0.000,457,2190,3370,0,0,0,0,0,0
$GC,94,-2.14,-84.7,3.2,-4.0,9,120,12.62,2.55,-3.38,0.000,4,0.163,0.048,2786,645,3536,0,0,0,0,0,0
$GC,402,-2.04,-84.7,87.0,-26.5,40,407,0.15,2.45,0.00,0.000,6,0.141,0.016,2813,2241,3537,0,0,0,0,0,0
$GC,667,-2.04,-84.7,145.1,-20.2,64,671,0.00,2.60,0.00,0.000,4,0.000,0.041,2813,641,3537,0,0,0,0,0,0
$GC,732,-2.08,-84.7,157.4,-16.2,69,737,0.00,2.40,0.00,0.000,6,0.000,0.018,2813,2204,3537,0,0,0,0,0,0
$GC,997,-2.17,-84.7,196.2,-13.6,93,1006,0.12,0.00,0.00,0.000,6,0.064,0.000,2756,2204,3537,0,0,0,0,0,0
$GC,1268,-2.17,-84.7,237.6,-14.8,102,1273,0.15,2.50,0.00,0.000,4,0.112,0.033,2786,3775,3538,0,0,0,0,0,0
$GC,1324,-2.23,-84.7,245.8,-14.6,103,1328,0.00,2.42,0.00,0.000,6,0.000,0.018,2786,2219,3537,0,0,0,0,0,0
$GC,1592,-2.30,-84.7,281.3,-13.7,110,1597,0.12,2.53,0.00,0.000,4,0.065,0.038,2733,3772,3537,0,0,0,0,0,0
$GC,1706,-2.26,-84.7,298.7,-15.1,112,1711,0.17,2.42,0.00,0.000,6,0.104,0.028,2768,2227,3538,0,0,0,0,0,0
$GC,1964,-2.31,-84.7,334.8,-14.0,119,1968,0.00,2.47,0.00,0.000,4,0.000,0.044,2768,3768,3537,0,0,0,0,0,0
$GC,1990,-2.31,-84.7,339.2,-15.0,119,1995,0.00,2.45,0.00,0.000,6,0.000,0.026,2768,2222,3537,0,0,0,0,0,0
$GC,2246,-2.36,-84.7,374.4,-13.9,126,2251,0.00,2.50,0.00,0.000,4,0.000,0.046,2768,3759,3536,0,0,0,0,0,0
$GC,2366,-2.36,-84.7,392.6,-14.9,128,2370,0.00,2.47,0.00,0.000,6,0.000,0.041,2769,2236,3536,0,0,0,0,0,0
$GC,2616,-2.41,-84.7,427.6,-13.9,134,2621,0.15,2.53,0.00,0.000,4,0.060,0.054,2710,3758,3535,0,0,0,0,0,0
$GC,2690,-2.35,-84.7,440.0,-16.6,135,2696,0.17,2.47,0.00,0.000,6,0.108,0.044,2745,2245,3535,0,0,0,0,0,0
$GC,2940,-2.35,-84.7,476.9,-14.6,141,2944,0.00,2.55,0.00,0.000,4,0.000,0.063,2746,3755,3534,0,0,0,0,0,0
$GC,3040,-2.35,-84.7,492.4,-15.5,143,3044,0.00,2.53,0.00,0.000,6,0.000,0.051,2746,2242,3534,0,0,0,0,0,0
$GC,3308,-2.35,-84.7,529.6,-13.8,150,3313,0.00,2.60,0.00,0.000,4,0.000,0.070,2746,3757,3532,0,0,0,0,0,0
$GC,3386,-2.35,-84.7,541.3,-15.0,151,3392,0.00,2.53,0.00,0.000,6,0.000,0.049,2745,2256,3531,0,0,0,0,0,0
$GC,3639,-2.35,-84.7,574.4,-13.1,158,3643,0.00,2.60,0.00,0.000,4,0.000,0.077,2746,3756,3530,0,0,0,0,0,0
$GC,3669,-2.35,-84.7,578.7,-14.6,158,3673,0.00,2.58,0.00,0.000,6,0.000,0.064,2746,2252,3530,0,0,0,0,0,0
$GC,3919,-2.35,-84.7,613.0,-13.4,164,3923,0.00,2.67,0.00,0.000,4,0.000,0.087,2746,3752,3529,0,0,0,0,0,0
$GC,4035,-2.35,-84.7,630.5,-15.5,166,4040,0.00,2.65,0.00,0.000,6,0.000,0.084,2745,2265,3529,0,0,0,0,0,0
$GC,4288,-2.35,-84.7,664.2,-13.5,172,4292,0.00,2.78,0.00,0.000,4,0.000,0.107,2745,3751,3527,0,0,0,0,0,0
$GC,4310,-2.35,-84.7,667.6,-14.0,172,4315,0.00,2.70,0.00,0.000,6,0.000,0.095,2746,2275,3527,0,0,0,0,0,0
$GC,4565,-2.35,-84.7,702.2,-13.6,179,4569,0.00,2.70,0.00,0.000,4,0.000,0.097,2745,3751,3525,0,0,0,0,0,0
$GC,4656,-2.35,-84.7,715.1,-14.4,181,4660,0.00,2.60,0.00,0.000,6,0.000,0.075,2746,2280,3524,0,0,0,0,0,0
$GC,4933,-2.35,-84.7,751.9,-13.0,188,4937,0.00,2.65,0.00,0.000,4,0.000,0.086,2745,3759,3522,0,0,0,0,0,0
$GC,5010,-2.35,-84.7,762.7,-13.8,189,5016,0.00,2.58,0.00,0.000,6,0.000,0.070,2746,2285,3522,0,0,0,0,0,0
$GC,5263,-2.38,-84.7,795.5,-13.3,196,5267,0.00,2.62,0.00,0.000,4,0.000,0.081,2745,3760,3520,0,0,0,0,0,0
$GC,5312,-2.38,-84.7,802.8,-14.0,197,5316,0.00,2.58,0.00,0.000,6,0.000,0.068,2746,2284,3520,0,0,0,0,0,0
$GC,5584,-2.38,-84.7,839.1,-13.4,204,5589,0.00,2.60,0.00,0.000,4,0.000,0.084,2745,3753,3518,0,0,0,0,0,0
$GC,5726,-2.38,-84.7,859.5,-14.0,207,5730,0.00,2.55,0.00,0.000,6,0.000,0.066,2746,2286,3517,0,0,0,0,0,0
$GC,5998,-2.42,-84.7,893.4,-12.2,214,6003,0.00,2.58,0.00,0.000,4,0.000,0.075,2745,3761,3515,0,0,0,0,0,0
$GC,6034,-2.42,-84.7,897.5,-12.6,214,6040,0.00,2.55,0.00,0.000,6,0.000,0.063,2746,2292,3514,0,0,0,0,0,0
$STATE,6078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6078,begin apogee
$GC,6085,-0.31,0.0,903.5,12.2,216,6161,2.08,0.00,68.72,1.200,6,0.105,0.000,3187,2344,3191,0,0,0,0,0,0
$STATE,6162,end apogee,CONTROL_FINISHED_OK
$STATE,6162,begin climb
$GC,6164,2.14,84.7,905.2,0.0,218,6243,2.28,0.00,74.38,1.171,6,0.034,0.000,3741,2343,2844,0,0,0,0,0,0
$GC,6487,2.14,84.7,870.0,13.0,226,6492,0.00,2.75,0.00,0.000,4,0.000,0.067,3741,3930,2838,0,0,0,0,0,0
$GC,6694,2.07,84.7,842.0,12.7,230,6699,0.15,2.62,0.00,0.000,6,0.142,0.045,3714,2378,2837,0,0,0,0,0,0
$GC,6946,2.07,84.7,814.3,11.1,236,6950,0.00,2.65,0.00,0.000,4,0.000,0.057,3714,3932,2835,0,0,0,0,0,0
$GC,7079,2.07,84.7,797.9,11.9,239,7084,0.00,2.60,0.00,0.000,6,0.000,0.040,3714,2387,2834,0,0,0,0,0,0
$GC,7366,2.11,84.7,767.1,10.9,246,7370,0.00,2.65,0.00,0.000,4,0.000,0.058,3714,3936,2832,0,0,0,0,0,0
$GC,7625,2.11,84.7,736.2,11.3,251,7631,0.00,2.60,0.00,0.000,6,0.000,0.046,3714,2389,2830,0,0,0,0,0,0
$GC,7878,2.15,84.7,710.1,10.4,258,7882,0.00,2.62,0.00,0.000,4,0.000,0.058,3714,3937,2830,0,0,0,0,0,0
$GC,8079,2.15,84.7,686.8,11.4,262,8083,0.00,2.60,0.00,0.000,6,0.000,0.045,3714,2391,2828,0,0,0,0,0,0
$GC,8337,2.19,84.7,660.3,10.5,269,8342,0.10,2.62,0.00,0.000,4,0.096,0.054,3742,3938,2828,0,0,0,0,0,0
$GC,8597,2.14,84.7,628.7,13.0,274,8602,0.00,2.58,0.00,0.000,6,0.000,0.047,3742,2400,2827,0,0,0,0,0,0
$GC,8846,2.14,84.7,601.5,10.7,281,8851,0.00,2.60,0.00,0.000,4,0.000,0.055,3742,3939,2827,0,0,0,0,0,0
$GC,9106,2.08,84.7,572.1,11.5,286,9112,0.15,2.55,0.00,0.000,6,0.140,0.037,3714,2403,2826,0,0,0,0,0,0
$GC,9356,2.14,84.7,544.6,10.8,293,9361,0.00,2.58,0.00,0.000,4,0.000,0.055,3715,3936,2826,0,0,0,0,0,0
$GC,9423,2.14,84.7,536.8,11.6,294,9427,0.00,2.53,0.00,0.000,6,0.000,0.040,3715,2405,2826,0,0,0,0,0,0
$GC,9681,2.19,84.7,510.3,10.3,301,9685,0.00,2.55,0.00,0.000,4,0.000,0.049,3715,3934,2826,0,0,0,0,0,0
$GC,9938,2.19,84.7,482.4,11.7,306,9943,0.00,2.47,0.00,0.000,6,0.000,0.036,3715,2421,2826,0,0,0,0,0,0
$GC,10190,2.25,84.7,456.8,10.1,313,10195,0.15,2.50,0.00,0.000,4,0.070,0.042,3758,3936,2826,0,0,0,0,0,0
$GC,10392,2.19,84.7,432.7,11.9,317,10397,0.10,2.47,0.00,0.000,6,0.148,0.028,3739,2412,2826,0,0,0,0,0,0
$GC,10649,2.19,84.7,405.3,10.5,324,10654,0.00,2.53,0.00,0.000,4,0.000,0.048,3739,3944,2826,0,0,0,0,0,0
$GC,10910,2.15,84.7,374.2,11.3,329,10915,0.00,2.42,0.00,0.000,6,0.000,0.025,3739,2428,2826,0,0,0,0,0,0
$GC,11160,2.15,85.0,348.2,10.0,336,11164,0.00,2.45,0.00,0.000,4,0.000,0.042,3739,3938,2826,0,0,0,0,0,0
$GC,11382,2.15,85.0,323.1,11.9,341,11387,0.00,2.40,0.00,0.000,6,0.000,0.024,3739,2432,2828,0,0,0,0,0,0
$GC,11666,2.15,85.0,291.5,11.1,348,11670,0.00,2.45,0.00,0.000,4,0.000,0.045,3739,3945,2828,0,0,0,0,0,0
$GC,11895,2.15,85.0,264.7,11.5,353,11899,0.00,2.40,0.00,0.000,6,0.000,0.023,3739,2435,2829,0,0,0,0,0,0
$GC,12174,2.20,85.0,237.0,10.1,360,12178,0.00,2.45,0.00,0.000,4,0.000,0.044,3739,3937,2830,0,0,0,0,0,0
$GC,12431,2.21,95.2,211.9,8.5,365,12445,0.00,2.38,7.65,0.588,6,0.000,0.024,3739,2438,2801,0,0,0,0,0,0
$GC,12707,2.29,105.3,190.9,8.5,379,12722,0.00,2.50,10.00,0.600,4,0.000,0.041,3739,3935,2760,0,0,0,0,0,0
$GC,12889,2.30,115.4,174.5,8.5,394,12903,0.00,2.40,9.57,0.581,6,0.000,0.025,3739,2434,2719,0,0,0,0,0,0
$GC,13160,2.44,151.3,155.3,4.6,419,13198,0.08,2.55,30.88,0.620,4,0.106,0.039,3767,3934,2571,0,0,0,0,0,0
$GC,13474,2.49,155.2,125.1,9.4,445,13485,0.00,2.35,4.28,0.414,6,0.000,0.023,3767,2457,2556,0,0,0,0,0,0
$GC,13743,2.64,173.5,103.3,7.3,470,13767,0.00,2.47,16.60,0.553,4,0.000,0.037,3767,3935,2482,0,0,0,0,0,0
$GC,13858,2.72,173.5,93.0,11.2,479,13862,0.00,2.35,0.00,0.000,6,0.000,0.022,3767,2452,2481,0,0,0,0,0,0
$GC,14127,2.84,173.5,67.1,10.6,503,14131,0.00,2.42,0.00,0.000,4,0.000,0.037,3767,3942,2481,0,0,0,0,0,0
$GC,14234,2.93,173.5,55.3,11.1,511,14238,0.00,2.35,0.00,0.000,6,0.000,0.022,3767,2455,2481,0,0,0,0,0,0
$GC,14512,3.07,181.7,26.1,8.8,538,14530,0.00,2.45,8.62,0.453,4,0.000,0.035,3768,3935,2448,0,0,0,0,0,0
$STATE,14677,end climb,SURFACE_DEPTH_REACHED
$STATE,14677,begin surface coast
$FINISH,1.6,1.023769
$STATE,14693,end surface coast,CONTROL_FINISHED_OK
$STATE,14693,begin surface
$SM_CCo,14722,134.45,0.495,0,0,1762,350.04
$SM_GC,1.71,0.00,0.00,134.45,0.000,0.000,0.495,465,2187,1762,-12.86,-0.65,350.04
$IRIDIUM_FIX,1920.65,-8107.58,040602,151547
$TT8_MAMPS,0.025311
$HUMID,56.18
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.50
$XPDR_PINGS,58
$24V_AH,23.3,36.091
$10V_AH,10.4,31.769
$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,32.025,177.725,230.700,134.450,0.000,25.505,43.804,405.930,14.500,0.000,32.392,1345.227,10128.876,508.516,2624.143,903.834,33.352,1585.153,0.000,2582.568,0.000,0.538,0.000
$DEVICE_MAMPS,162.604,111.215,1199.588,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.038,273.154,353.591,469.107,894.205,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,44771,564
$CAP_FILE_SIZE,153662,0
$CFSIZE,260165632,110657536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110313,005044,1922.745,-8107.751,41,2.6,60,-3.8