version: 66.06
glider: 146
mission: 8
dive: 268
start: 3 13 113 15 24 25
data:
$ID,146
$MISSION,8
$DIVE,268
$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,-312725.75
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,151324,1923.497,-8107.962,38,1.4,38,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.4
$GPS2,152331,1923.457,-8107.929,12,1.4,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.055,0.132
$KALMAN_X,-22103.7,86.8,-98.6,21198.0,639.3
$KALMAN_Y,18048.8,-238.2,-229.1,-17763.3,109.9
$MHEAD_RNG_PITCHd_Wd,341.1,1936,-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,-67.50,0.000,6,0.000,0.000,464,2178,3371,0,0,0,0,0,0
$GC,95,-2.14,-85.3,3.4,-3.9,9,121,12.70,2.65,-3.38,0.000,4,0.165,0.040,2786,3803,3538,0,0,0,0,0,0
$GC,347,-2.07,-85.3,71.0,-26.3,35,352,0.10,2.50,0.00,0.000,6,0.150,0.021,2804,2203,3538,0,0,0,0,0,0
$GC,616,-2.07,-85.3,135.1,-21.3,59,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2204,3538,0,0,0,0,0,0
$GC,877,-2.14,-85.3,178.8,-13.7,84,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2203,3539,0,0,0,0,0,0
$GC,1128,-2.23,-85.3,211.8,-13.1,102,1133,0.12,2.58,0.00,0.000,4,0.064,0.032,2750,3817,3540,0,0,0,0,0,0
$GC,1152,-2.23,-85.3,214.9,-13.3,102,1157,0.12,2.53,0.00,0.000,6,0.117,0.025,2775,2194,3539,0,0,0,0,0,0
$GC,1407,-2.28,-85.3,251.0,-13.7,109,1412,0.00,2.58,0.00,0.000,4,0.000,0.038,2775,3807,3540,0,0,0,0,0,0
$GC,1479,-2.28,-85.3,261.4,-14.5,110,1483,0.00,2.45,0.00,0.000,6,0.000,0.025,2775,2230,3540,0,0,0,0,0,0
$GC,1732,-2.34,-85.3,296.6,-14.2,116,1737,0.10,2.53,0.00,0.000,4,0.079,0.043,2729,3802,3540,0,0,0,0,0,0
$GC,1810,-2.29,-85.3,309.9,-16.7,117,1817,0.15,2.47,0.00,0.000,6,0.111,0.031,2759,2232,3540,0,0,0,0,0,0
$GC,2062,-2.29,-85.3,346.7,-14.7,124,2067,0.00,2.55,0.00,0.000,4,0.000,0.041,2759,3802,3539,0,0,0,0,0,0
$GC,2123,-2.29,-85.3,356.7,-15.2,125,2128,0.00,2.50,0.00,0.000,6,0.000,0.028,2759,2236,3539,0,0,0,0,0,0
$GC,2391,-2.33,-85.3,393.8,-13.8,132,2395,0.00,2.55,0.00,0.000,4,0.000,0.046,2759,3799,3538,0,0,0,0,0,0
$GC,2447,-2.33,-85.3,402.2,-15.1,133,2452,0.00,2.55,0.00,0.000,6,0.000,0.041,2759,2238,3538,0,0,0,0,0,0
$GC,2714,-2.37,-85.3,437.9,-13.1,140,2718,0.00,2.58,0.00,0.000,4,0.000,0.056,2759,3793,3537,0,0,0,0,0,0
$GC,2753,-2.37,-85.3,443.5,-14.5,141,2757,0.00,2.53,0.00,0.000,6,0.000,0.040,2759,2251,3537,0,0,0,0,0,0
$GC,3038,-2.42,-85.3,481.6,-13.6,148,3043,0.10,2.62,0.00,0.000,4,0.079,0.066,2708,3797,3535,0,0,0,0,0,0
$GC,3060,-2.42,-85.3,485.5,-15.8,148,3065,0.12,2.60,0.00,0.000,6,0.117,0.050,2733,2234,3535,0,0,0,0,0,0
$GC,3315,-2.42,-85.3,522.1,-14.4,155,3319,0.00,2.65,0.00,0.000,4,0.000,0.070,2733,3790,3534,0,0,0,0,0,0
$GC,3377,-2.42,-85.3,531.2,-15.5,156,3382,0.00,2.60,0.00,0.000,6,0.000,0.055,2733,2243,3534,0,0,0,0,0,0
$GC,3638,-2.42,-85.3,569.2,-14.4,163,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2244,3533,0,0,0,0,0,0
$GC,3882,-2.42,-85.3,603.9,-14.2,169,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2244,3531,0,0,0,0,0,0
$GC,4128,-2.42,-85.3,638.5,-14.2,175,4132,0.00,2.85,0.00,0.000,4,0.000,0.108,2732,3792,3530,0,0,0,0,0,0
$GC,4167,-2.42,-85.3,644.7,-15.1,176,4171,0.00,2.80,0.00,0.000,6,0.000,0.088,2733,2236,3529,0,0,0,0,0,0
$GC,4449,-2.42,-85.3,684.9,-14.3,183,4454,0.00,2.92,0.00,0.000,4,0.000,0.117,2733,3793,3528,0,0,0,0,0,0
$GC,4525,-2.42,-85.3,695.9,-14.7,184,4530,0.00,2.92,0.00,0.000,6,0.000,0.112,2733,2246,3527,0,0,0,0,0,0
$GC,4775,-2.42,-85.3,731.9,-14.1,190,4779,0.00,2.80,0.00,0.000,4,0.000,0.099,2733,3788,3525,0,0,0,0,0,0
$GC,4841,-2.42,-85.3,741.5,-14.4,191,4845,0.00,2.72,0.00,0.000,6,0.000,0.079,2732,2244,3525,0,0,0,0,0,0
$GC,5098,-2.42,-85.3,776.7,-13.7,198,5102,0.00,2.78,0.00,0.000,4,0.000,0.087,2733,3790,3523,0,0,0,0,0,0
$GC,5175,-2.42,-85.3,788.2,-14.2,199,5181,0.00,2.67,0.00,0.000,6,0.000,0.075,2733,2256,3523,0,0,0,0,0,0
$GC,5425,-2.42,-85.3,821.2,-13.3,206,5430,0.00,2.72,0.00,0.000,4,0.000,0.090,2733,3793,3521,0,0,0,0,0,0
$GC,5471,-2.42,-85.3,827.5,-14.1,207,5475,0.00,2.65,0.00,0.000,6,0.000,0.073,2733,2265,3521,0,0,0,0,0,0
$GC,5748,-2.42,-85.3,863.3,-12.5,214,5753,0.00,2.70,0.00,0.000,4,0.000,0.086,2733,3790,3518,0,0,0,0,0,0
$GC,5842,-2.42,-85.3,876.0,-13.0,216,5846,0.00,2.62,0.00,0.000,6,0.000,0.068,2732,2271,3518,0,0,0,0,0,0
$STATE,6071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6072,begin apogee
$GC,6080,-0.31,0.0,903.7,11.8,222,6154,2.15,0.00,69.60,1.195,6,0.103,0.000,3190,2381,3190,0,0,0,0,0,0
$STATE,6155,end apogee,CONTROL_FINISHED_OK
$STATE,6155,begin climb
$GC,6158,2.14,85.3,905.5,0.0,224,6237,2.25,0.00,74.78,1.169,6,0.031,0.000,3743,2381,2841,0,0,0,0,0,0
$GC,6480,2.14,85.3,869.9,12.9,232,6485,0.00,2.70,0.00,0.000,4,0.000,0.066,3743,3935,2836,0,0,0,0,0,0
$GC,6536,2.06,85.3,862.1,14.0,233,6541,0.17,2.65,0.00,0.000,6,0.145,0.044,3711,2376,2835,0,0,0,0,0,0
$GC,6803,2.10,85.3,831.6,11.4,240,6808,0.00,2.67,0.00,0.000,4,0.000,0.059,3711,3940,2834,0,0,0,0,0,0
$GC,7049,2.10,85.3,800.6,12.1,245,7053,0.00,2.60,0.00,0.000,6,0.000,0.039,3711,2390,2832,0,0,0,0,0,0
$GC,7305,2.14,85.3,771.3,11.4,252,7309,0.00,2.62,0.00,0.000,4,0.000,0.060,3711,3934,2831,0,0,0,0,0,0
$GC,7495,2.14,85.3,748.7,12.1,256,7499,0.00,2.60,0.00,0.000,6,0.000,0.046,3711,2391,2830,0,0,0,0,0,0
$GC,7763,2.18,85.3,719.5,10.9,263,7768,0.10,2.62,0.00,0.000,4,0.096,0.054,3739,3932,2829,0,0,0,0,0,0
$GC,8004,2.12,85.3,689.8,13.1,268,8009,0.00,2.58,0.00,0.000,6,0.000,0.047,3739,2403,2827,0,0,0,0,0,0
$GC,8267,2.12,85.3,660.2,11.1,275,8272,0.00,2.60,0.00,0.000,4,0.000,0.053,3740,3935,2827,0,0,0,0,0,0
$GC,8431,2.06,85.3,640.1,12.9,278,8436,0.15,2.58,0.00,0.000,6,0.146,0.046,3713,2398,2826,0,0,0,0,0,0
$GC,8685,2.12,85.3,613.2,10.7,284,8689,0.00,2.60,0.00,0.000,4,0.000,0.058,3713,3931,2826,0,0,0,0,0,0
$GC,8852,2.12,85.3,593.7,12.3,287,8858,0.00,2.50,0.00,0.000,6,0.000,0.045,3712,2411,2825,0,0,0,0,0,0
$GC,9103,2.17,85.3,568.3,10.2,294,9107,0.00,2.58,0.00,0.000,4,0.000,0.059,3712,3933,2825,0,0,0,0,0,0
$GC,9199,2.17,85.3,557.7,11.8,296,9203,0.00,2.50,0.00,0.000,6,0.000,0.040,3712,2414,2824,0,0,0,0,0,0
$GC,9471,2.22,85.3,530.5,10.0,303,9476,0.12,2.53,0.00,0.000,4,0.082,0.054,3747,3935,2824,0,0,0,0,0,0
$GC,9489,2.23,86.2,528.5,9.9,303,9493,0.00,2.53,0.00,0.000,6,0.000,0.042,3747,2409,2824,0,0,0,0,0,0
$GC,9749,2.23,86.2,500.1,10.8,310,9754,0.00,2.55,0.00,0.000,4,0.000,0.048,3747,3934,2824,0,0,0,0,0,0
$GC,9955,2.17,86.2,477.2,11.7,314,9959,0.00,2.45,0.00,0.000,6,0.000,0.036,3747,2424,2824,0,0,0,0,0,0
$GC,10210,2.17,86.2,450.4,10.3,321,10214,0.00,2.50,0.00,0.000,4,0.000,0.045,3747,3941,2824,0,0,0,0,0,0
$GC,10469,2.12,86.2,420.9,12.0,326,10476,0.12,2.45,0.00,0.000,6,0.145,0.028,3725,2425,2824,0,0,0,0,0,0
$GC,10720,2.17,86.2,395.2,10.1,333,10724,0.00,2.47,0.00,0.000,4,0.000,0.041,3724,3939,2824,0,0,0,0,0,0
$GC,10881,2.17,86.2,377.1,11.3,336,10885,0.00,2.42,0.00,0.000,6,0.000,0.031,3725,2423,2824,0,0,0,0,0,0
$GC,11138,2.22,88.2,351.7,9.7,343,11142,0.00,2.47,0.00,0.000,4,0.000,0.044,3725,3940,2824,0,0,0,0,0,0
$GC,11391,2.22,88.2,323.8,10.7,348,11396,0.00,2.38,0.00,0.000,6,0.000,0.024,3725,2439,2825,0,0,0,0,0,0
$GC,11641,2.28,88.2,298.5,10.0,354,11646,0.12,2.47,0.00,0.000,4,0.077,0.041,3762,3948,2826,0,0,0,0,0,0
$GC,11657,2.28,88.2,296.4,10.3,354,11661,0.00,2.40,0.00,0.000,6,0.000,0.030,3762,2447,2826,0,0,0,0,0,0
$GC,11926,2.28,88.2,266.3,11.2,361,11931,0.00,2.45,0.00,0.000,4,0.000,0.040,3762,3950,2826,0,0,0,0,0,0
$GC,12183,2.23,88.2,237.8,10.3,366,12187,0.00,2.38,0.00,0.000,6,0.000,0.025,3762,2460,2827,0,0,0,0,0,0
$GC,12433,2.24,95.6,214.5,8.9,372,12447,0.00,2.50,7.60,0.589,4,0.000,0.041,3762,3948,2800,0,0,0,0,0,0
$GC,12458,2.24,97.7,211.8,9.7,372,12468,0.00,2.38,3.70,0.420,6,0.000,0.029,3762,2471,2790,0,0,0,0,0,0
$GC,12733,2.25,104.7,186.7,9.0,388,12747,0.00,2.50,7.28,0.564,4,0.000,0.047,3762,3945,2762,0,0,0,0,0,0
$GC,12778,2.25,104.7,181.8,10.2,392,12782,0.00,2.38,0.00,0.000,6,0.000,0.027,3762,2472,2762,0,0,0,0,0,0
$GC,13043,2.34,133.3,160.2,5.7,416,13076,0.00,2.47,24.50,0.624,4,0.000,0.047,3762,3943,2644,0,0,0,0,0,0
$GC,13346,2.36,146.8,131.8,8.0,441,13366,0.00,2.33,12.38,0.568,6,0.000,0.025,3762,2473,2591,0,0,0,0,0,0
$GC,13621,2.52,188.1,116.3,3.8,467,13669,0.00,2.53,35.22,0.585,4,0.000,0.039,3762,3946,2421,0,0,0,0,0,0
$GC,13927,2.61,188.1,82.2,12.8,492,13936,0.00,2.33,0.00,0.000,6,0.000,0.025,3762,2502,2419,0,0,0,0,0,0
$GC,14197,2.74,188.1,52.1,11.8,517,14201,0.00,2.35,0.00,0.000,4,0.000,0.039,3762,3939,2419,0,0,0,0,0,0
$GC,14333,2.84,188.1,33.0,13.0,527,14342,0.00,2.30,0.00,0.000,6,0.000,0.025,3762,2507,2419,0,0,0,0,0,0
$STATE,14568,end climb,SURFACE_DEPTH_REACHED
$STATE,14568,begin surface coast
$FINISH,1.0,1.015588
$STATE,14611,end surface coast,CONTROL_FINISHED_OK
$STATE,14611,begin surface
$SM_CCo,14634,129.73,0.496,0,0,1763,350.04
$SM_GC,1.83,0.00,0.00,129.73,0.000,0.000,0.496,458,2157,1763,-12.89,-1.50,350.04
$IRIDIUM_FIX,1913.80,-8105.68,070602,151551
$TT8_MAMPS,0.025311
$HUMID,56.57
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.30
$XPDR_PINGS,63
$24V_AH,23.3,37.776
$10V_AH,10.3,33.357
$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,32.000,174.775,235.050,129.725,0.000,53.293,70.173,247.137,15.750,0.000,13.659,1313.131,10311.267,505.260,2440.598,795.273,33.359,1517.429,0.000,2424.455,0.000,0.536,0.000
$DEVICE_MAMPS,164.905,116.584,1194.986,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.572,276.671,356.628,474.083,903.839,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355872
$DATA_FILE_SIZE,44681,567
$CAP_FILE_SIZE,148101,0
$CFSIZE,260165632,109740032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130313,193154,1924.372,-8108.475,39,1.1,39,-3.8