version: 66.06
glider: 146
mission: 8
dive: 390
start: 4 10 113 0 7 31
data:
$ID,146
$MISSION,8
$DIVE,390
$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,-315119.91
$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,59
$R_STBD_OVSHOOT,36
$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
$GPS1,235906,1925.899,-8107.756,35,1.2,35,-3.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.6
$GPS2,000637,1925.858,-8107.672,12,1.2,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.020,-0.150
$KALMAN_X,-239566.7,308.0,259.8,238525.0,-198.8
$KALMAN_Y,148689.0,-359.4,251.5,-144327.9,179.4
$MHEAD_RNG_PITCHd_Wd,191.5,2580,-31.0,-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,-2.00,-49.1,0.0,0.0,0,92,0.00,0.00,-68.30,0.000,6,0.000,0.000,465,2182,3390,0,0,0,0,0,0
$GC,97,-2.04,-84.7,3.6,-5.1,9,123,12.52,2.53,-2.85,0.000,4,0.153,0.050,2807,655,3539,0,0,0,0,0,0
$GC,322,-1.95,-84.7,64.1,-22.7,32,327,0.12,2.40,0.00,0.000,6,0.140,0.016,2831,2234,3539,0,0,0,0,0,0
$GC,587,-1.95,-84.7,120.5,-16.6,56,591,0.00,2.45,0.00,0.000,4,0.000,0.032,2831,3769,3540,0,0,0,0,0,0
$GC,727,-2.01,-84.7,142.7,-16.0,67,732,0.00,2.35,0.00,0.000,6,0.000,0.018,2831,2246,3540,0,0,0,0,0,0
$GC,996,-2.10,-84.7,177.5,-12.7,91,1001,0.12,2.42,0.00,0.000,4,0.064,0.031,2771,3769,3541,0,0,0,0,0,0
$GC,1048,-2.10,-84.7,186.2,-16.0,95,1053,0.15,2.38,0.00,0.000,6,0.104,0.024,2802,2233,3541,0,0,0,0,0,0
$GC,1325,-2.15,-84.7,222.7,-13.4,109,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2233,3541,0,0,0,0,0,0
$GC,1569,-2.21,-84.7,256.7,-14.1,115,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2233,3542,0,0,0,0,0,0
$GC,1810,-2.27,-84.7,288.7,-13.1,121,1812,0.15,0.00,0.00,0.000,6,0.058,0.000,2743,2233,3541,0,0,0,0,0,0
$GC,2056,-2.23,-84.7,325.0,-15.0,127,2061,0.15,2.53,0.00,0.000,4,0.110,0.040,2773,3766,3541,0,0,0,0,0,0
$GC,2095,-2.23,-84.7,331.6,-15.4,128,2100,0.00,2.38,0.00,0.000,6,0.000,0.030,2773,2270,3541,0,0,0,0,0,0
$GC,2379,-2.23,-84.7,370.6,-13.7,135,2383,0.00,2.45,0.00,0.000,4,0.000,0.044,2773,3760,3540,0,0,0,0,0,0
$GC,2453,-2.23,-84.7,380.7,-13.6,136,2457,0.00,2.38,0.00,0.000,6,0.000,0.036,2773,2285,3540,0,0,0,0,0,0
$GC,2708,-2.23,-84.7,414.1,-12.9,143,2712,0.00,2.47,0.00,0.000,4,0.000,0.053,2773,3761,3539,0,0,0,0,0,0
$GC,2740,-2.23,-84.7,418.6,-14.0,143,2746,0.00,2.40,0.00,0.000,6,0.000,0.043,2773,2295,3539,0,0,0,0,0,0
$GC,2992,-2.23,-84.7,450.8,-12.8,150,2997,0.00,2.47,0.00,0.000,4,0.000,0.056,2773,3755,3538,0,0,0,0,0,0
$GC,3122,-2.23,-84.7,469.6,-14.9,153,3126,0.00,2.40,0.00,0.000,6,0.000,0.042,2773,2312,3538,0,0,0,0,0,0
$GC,3407,-2.23,-84.7,508.9,-14.0,160,3411,0.00,2.47,0.00,0.000,4,0.000,0.068,2773,3753,3536,0,0,0,0,0,0
$GC,3478,-2.23,-84.7,520.1,-15.1,161,3483,0.00,2.40,0.00,0.000,6,0.000,0.052,2773,2316,3536,0,0,0,0,0,0
$GC,3734,-2.23,-84.7,554.7,-13.4,168,3738,0.00,2.50,0.00,0.000,4,0.000,0.073,2773,3761,3534,0,0,0,0,0,0
$GC,3821,-2.23,-84.7,566.5,-14.4,170,3825,0.00,2.42,0.00,0.000,6,0.000,0.054,2773,2321,3534,0,0,0,0,0,0
$GC,4104,-2.23,-84.7,604.6,-13.3,177,4108,0.00,2.53,0.00,0.000,4,0.000,0.078,2773,3752,3532,0,0,0,0,0,0
$GC,4119,-2.23,-84.7,606.8,-13.1,177,4123,0.00,2.47,0.00,0.000,6,0.000,0.071,2773,2324,3532,0,0,0,0,0,0
$GC,4388,-2.23,-84.7,641.9,-13.3,184,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2324,3530,0,0,0,0,0,0
$GC,4630,-2.27,-84.7,673.6,-12.9,190,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2324,3529,0,0,0,0,0,0
$GC,4873,-2.27,-84.7,705.5,-13.1,196,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2324,3528,0,0,0,0,0,0
$GC,5117,-2.27,-84.7,736.8,-12.6,202,5122,0.00,3.20,0.00,0.000,4,0.000,0.132,2773,659,3525,0,0,0,0,0,0
$GC,5163,-2.27,-84.7,742.9,-14.2,203,5168,0.00,2.78,0.00,0.000,6,0.000,0.068,2773,2249,3525,0,0,0,0,0,0
$GC,5441,-2.31,-84.7,777.4,-12.3,210,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2250,3524,0,0,0,0,0,0
$GC,5685,-2.35,-84.7,807.8,-12.6,216,5687,0.10,0.00,0.00,0.000,6,0.084,0.000,2736,2250,3523,0,0,0,0,0,0
$GC,5930,-2.35,-84.7,841.4,-13.9,222,5935,0.00,2.83,0.00,0.000,4,0.000,0.104,2736,3798,3521,0,0,0,0,0,0
$GC,6025,-2.29,-84.7,854.3,-13.2,224,6030,0.12,2.55,0.00,0.000,6,0.117,0.063,2760,2313,3521,0,0,0,0,0,0
$GC,6297,-2.29,-84.7,887.9,-12.2,231,6301,0.00,2.65,0.00,0.000,4,0.000,0.078,2760,3808,3519,0,0,0,0,0,0
$GC,6320,-2.29,-84.7,890.8,-13.5,231,6325,0.00,2.55,0.00,0.000,6,0.000,0.064,2760,2324,3519,0,0,0,0,0,0
$STATE,6411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6411,begin apogee
$GC,6417,-0.31,0.0,902.7,12.6,234,6493,1.98,0.00,70.90,1.188,6,0.095,0.000,3188,2389,3190,0,0,0,0,0,0
$STATE,6494,end apogee,CONTROL_FINISHED_OK
$STATE,6494,begin climb
$GC,6497,2.04,84.7,904.9,0.0,236,6578,2.12,0.00,74.53,1.167,6,0.031,0.000,3723,2389,2844,0,0,0,0,0,0
$GC,6822,2.04,84.7,872.7,11.8,244,6826,0.00,2.70,0.00,0.000,4,0.000,0.065,3723,3937,2838,0,0,0,0,0,0
$GC,6978,1.97,84.7,853.5,12.3,247,6983,0.17,2.55,0.00,0.000,6,0.136,0.043,3691,2410,2837,0,0,0,0,0,0
$GC,7239,1.97,84.7,825.1,10.6,254,7243,0.00,2.60,0.00,0.000,4,0.000,0.055,3690,3936,2836,0,0,0,0,0,0
$GC,7470,1.97,84.7,799.7,11.3,259,7475,0.00,2.60,0.00,0.000,6,0.000,0.048,3691,2393,2834,0,0,0,0,0,0
$GC,7743,2.01,86.0,772.6,9.8,266,7748,0.00,2.62,0.00,0.000,4,0.000,0.051,3691,3938,2833,0,0,0,0,0,0
$GC,7783,2.01,86.0,768.1,11.3,267,7787,0.00,2.60,0.00,0.000,6,0.000,0.048,3691,2393,2832,0,0,0,0,0,0
$GC,8071,2.05,92.6,741.8,9.1,274,8084,0.00,2.65,6.30,0.870,4,0.000,0.058,3691,3935,2811,0,0,0,0,0,0
$GC,8341,2.05,92.6,713.1,10.6,280,8345,0.00,2.58,0.00,0.000,6,0.000,0.043,3691,2404,2809,0,0,0,0,0,0
$GC,8624,2.10,94.8,685.3,9.7,287,8629,0.10,2.60,0.00,0.000,4,0.093,0.058,3720,3935,2809,0,0,0,0,0,0
$GC,8882,2.04,94.8,653.9,12.6,292,8888,0.00,2.55,0.00,0.000,6,0.000,0.046,3720,2413,2808,0,0,0,0,0,0
$GC,9132,2.04,94.8,626.8,10.7,299,9136,0.00,2.55,0.00,0.000,4,0.000,0.054,3720,3935,2808,0,0,0,0,0,0
$GC,9247,1.98,94.8,613.4,13.0,301,9252,0.15,2.50,0.00,0.000,6,0.137,0.038,3693,2418,2807,0,0,0,0,0,0
$GC,9503,2.03,94.8,585.2,10.9,308,9507,0.00,2.55,0.00,0.000,4,0.000,0.054,3693,3935,2807,0,0,0,0,0,0
$GC,9603,2.03,94.8,573.2,12.1,310,9607,0.00,2.50,0.00,0.000,6,0.000,0.037,3693,2422,2807,0,0,0,0,0,0
$GC,9872,2.09,94.8,545.9,10.1,317,9876,0.00,2.53,0.00,0.000,4,0.000,0.048,3693,3941,2807,0,0,0,0,0,0
$GC,10091,2.09,94.8,521.8,10.8,322,10095,0.00,2.50,0.00,0.000,6,0.000,0.038,3693,2425,2806,0,0,0,0,0,0
$GC,10377,2.14,95.1,494.2,10.0,329,10382,0.12,2.53,0.00,0.000,4,0.079,0.051,3730,3938,2807,0,0,0,0,0,0
$GC,10637,2.07,95.1,463.6,11.7,334,10642,0.00,2.45,0.00,0.000,6,0.000,0.036,3730,2432,2807,0,0,0,0,0,0
$GC,10887,2.07,95.1,437.3,10.3,341,10891,0.00,2.50,0.00,0.000,4,0.000,0.047,3730,3946,2806,0,0,0,0,0,0
$GC,11133,2.00,95.1,408.9,11.5,346,11138,0.17,2.42,0.00,0.000,6,0.130,0.025,3697,2434,2806,0,0,0,0,0,0
$GC,11389,2.06,95.1,383.6,10.1,353,11393,0.00,2.47,0.00,0.000,4,0.000,0.042,3697,3942,2807,0,0,0,0,0,0
$GC,11647,2.06,98.3,355.3,9.6,358,11657,0.00,2.38,5.43,0.626,6,0.000,0.030,3697,2441,2789,0,0,0,0,0,0
$GC,11936,2.12,98.3,326.6,10.3,366,11941,0.10,2.50,0.00,0.000,4,0.087,0.048,3728,3948,2789,0,0,0,0,0,0
$GC,12110,2.07,98.3,306.0,11.3,370,12114,0.00,2.38,0.00,0.000,6,0.000,0.025,3728,2446,2789,0,0,0,0,0,0
$GC,12396,2.07,98.3,274.3,11.4,377,12400,0.00,2.42,0.00,0.000,4,0.000,0.041,3728,3939,2790,0,0,0,0,0,0
$GC,12586,2.03,98.3,249.6,12.2,381,12591,0.12,2.38,0.00,0.000,6,0.137,0.024,3704,2443,2790,0,0,0,0,0,0
$GC,12855,2.08,98.3,222.2,10.1,388,12859,0.00,2.42,0.00,0.000,4,0.000,0.046,3704,3940,2791,0,0,0,0,0,0
$GC,13116,2.09,102.5,194.4,9.4,396,13128,0.00,2.38,6.05,0.547,6,0.000,0.025,3704,2462,2771,0,0,0,0,0,0
$GC,13391,2.18,110.9,168.5,8.9,422,13405,0.12,2.47,8.48,0.577,4,0.075,0.041,3744,3930,2736,0,0,0,0,0,0
$GC,13579,2.20,125.8,150.3,8.0,438,13601,0.00,2.35,13.48,0.598,6,0.000,0.024,3744,2466,2675,0,0,0,0,0,0
$GC,13856,2.26,139.6,126.0,8.1,464,13874,0.00,2.45,12.73,0.573,4,0.000,0.041,3744,3937,2620,0,0,0,0,0,0
$GC,13887,2.32,153.2,123.0,8.1,466,13905,0.00,2.30,13.18,0.567,6,0.000,0.022,3744,2480,2565,0,0,0,0,0,0
$GC,14167,2.44,167.6,101.2,8.0,491,14192,0.03,2.47,13.15,0.551,4,0.210,0.039,3768,3944,2505,0,0,0,0,0,0
$GC,14293,2.49,175.6,89.2,8.9,501,14313,0.00,2.30,7.95,0.499,6,0.000,0.022,3768,2481,2474,0,0,0,0,0,0
$GC,14569,2.56,175.6,62.8,11.0,527,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,2481,2472,0,0,0,0,0,0
$GC,14837,2.65,176.2,36.8,9.9,552,14841,0.00,2.40,0.00,0.000,4,0.000,0.039,3768,3950,2473,0,0,0,0,0,0
$GC,15144,2.65,176.2,4.3,10.3,592,15153,0.00,2.33,0.00,0.000,6,0.000,0.021,3768,2484,2474,0,0,0,0,0,0
$STATE,15161,end climb,SURFACE_DEPTH_REACHED
$STATE,15161,begin surface coast
$FINISH,1.2,1.000763
$STATE,15210,end surface coast,CONTROL_FINISHED_OK
$STATE,15210,begin surface
$SM_CCo,15236,140.43,0.496,0,0,1763,350.04
$SM_GC,1.85,0.00,0.00,140.43,0.000,0.000,0.496,459,2180,1763,-12.88,-0.85,350.04
$IRIDIUM_FIX,1920.65,-8107.58,040702,181812
$TT8_MAMPS,0.026078
$HUMID,58.03
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.00
$XPDR_PINGS,77
$24V_AH,23.1,54.960
$10V_AH,10.0,48.794
$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,31.800,155.400,232.150,140.425,0.000,29.936,33.454,212.457,19.250,0.000,14.445,1379.771,10622.214,476.240,2632.694,706.649,33.365,1553.124,0.000,2606.644,0.000,0.537,0.000
$DEVICE_MAMPS,210.158,131.924,1188.083,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.213,301.453,379.616,524.765,999.936,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,47871,601
$CAP_FILE_SIZE,150381,0
$CFSIZE,260165632,100990976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100413,042506,1924.397,-8107.493,35,1.2,35,-3.8