version: 66.06
glider: 146
mission: 8
dive: 401
start: 4 12 113 10 42 14
data:
$ID,146
$MISSION,8
$DIVE,401
$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,-315354.22
$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,71
$R_STBD_OVSHOOT,39
$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
$GPS1,103400,1925.028,-8106.461,43,1.9,43,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.2
$GPS2,104118,1925.043,-8106.459,11,1.3,15,-3.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.102,-0.100
$KALMAN_X,-238130.0,89.0,680.6,238999.5,-1282.6
$KALMAN_Y,149329.3,-200.8,175.9,-146566.7,352.5
$MHEAD_RNG_PITCHd_Wd,229.7,2873,-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,-67.28,0.000,6,0.000,0.000,465,2165,3372,0,0,0,0,0,0
$GC,96,-2.13,-72.5,3.8,-5.8,9,122,12.52,2.45,-2.17,0.000,4,0.155,0.050,2788,674,3488,0,0,0,0,0,0
$GC,212,-2.04,-72.5,36.4,-24.7,23,217,0.12,2.40,0.00,0.000,6,0.143,0.016,2810,2240,3488,0,0,0,0,0,0
$GC,481,-2.00,-72.5,98.8,-23.9,47,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2240,3490,0,0,0,0,0,0
$GC,742,-2.08,-72.5,149.0,-15.3,72,746,0.00,2.42,0.00,0.000,4,0.000,0.029,2810,3776,3490,0,0,0,0,0,0
$GC,753,-2.16,-72.5,150.5,-14.2,72,763,0.00,2.40,0.00,0.000,6,0.000,0.018,2811,2236,3490,0,0,0,0,0,0
$GC,1022,-2.26,-72.5,183.2,-12.0,97,1027,0.17,0.00,0.00,0.000,6,0.052,0.000,2744,2236,3490,0,0,0,0,0,0
$GC,1307,-2.26,-72.5,223.6,-14.0,113,1312,0.10,2.45,0.00,0.000,4,0.124,0.032,2765,3766,3491,0,0,0,0,0,0
$GC,1351,-2.26,-72.5,229.7,-13.3,114,1355,0.00,2.40,0.00,0.000,6,0.000,0.018,2765,2213,3491,0,0,0,0,0,0
$GC,1634,-2.30,-72.5,266.3,-13.0,121,1638,0.00,2.47,0.00,0.000,4,0.000,0.041,2765,3764,3491,0,0,0,0,0,0
$GC,1673,-2.30,-72.5,271.5,-13.6,122,1677,0.00,2.42,0.00,0.000,6,0.000,0.021,2765,2217,3491,0,0,0,0,0,0
$GC,1959,-2.34,-72.5,307.9,-12.8,129,1963,0.00,2.50,0.00,0.000,4,0.000,0.043,2765,3762,3491,0,0,0,0,0,0
$GC,2013,-2.34,-72.5,315.5,-13.6,130,2018,0.00,2.45,0.00,0.000,6,0.000,0.021,2765,2210,3491,0,0,0,0,0,0
$GC,2283,-2.39,-72.5,349.7,-12.8,137,2288,0.10,2.55,0.00,0.000,4,0.080,0.046,2719,3760,3489,0,0,0,0,0,0
$GC,2299,-2.39,-72.5,352.3,-12.5,137,2303,0.00,2.47,0.00,0.000,6,0.000,0.030,2719,2208,3489,0,0,0,0,0,0
$GC,2559,-2.39,-72.5,388.6,-14.0,144,2564,0.00,2.55,0.00,0.000,4,0.000,0.051,2719,3757,3489,0,0,0,0,0,0
$GC,2656,-2.34,-72.5,402.8,-14.8,146,2661,0.15,2.53,0.00,0.000,6,0.110,0.035,2749,2210,3488,0,0,0,0,0,0
$GC,2928,-2.34,-72.5,438.6,-12.9,153,2933,0.00,2.60,0.00,0.000,4,0.000,0.054,2749,3753,3487,0,0,0,0,0,0
$GC,3060,-2.34,-72.5,456.1,-14.1,156,3064,0.00,2.55,0.00,0.000,6,0.000,0.042,2749,2215,3487,0,0,0,0,0,0
$GC,3345,-2.34,-72.5,494.7,-13.9,163,3350,0.00,2.60,0.00,0.000,4,0.000,0.059,2749,3751,3486,0,0,0,0,0,0
$GC,3440,-2.34,-72.5,508.4,-13.7,165,3444,0.00,2.55,0.00,0.000,6,0.000,0.048,2749,2224,3485,0,0,0,0,0,0
$GC,3715,-2.34,-72.5,544.6,-13.6,172,3719,0.00,2.65,0.00,0.000,4,0.000,0.071,2749,3757,3484,0,0,0,0,0,0
$GC,3730,-2.34,-72.5,547.3,-13.8,172,3734,0.00,2.60,0.00,0.000,6,0.000,0.051,2749,2216,3484,0,0,0,0,0,0
$GC,3991,-2.34,-72.5,582.6,-13.2,179,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2216,3482,0,0,0,0,0,0
$GC,4238,-2.38,-72.5,615.9,-13.5,185,4242,0.00,2.72,0.00,0.000,4,0.000,0.088,2749,3750,3481,0,0,0,0,0,0
$GC,4343,-2.38,-72.5,631.3,-14.2,187,4348,0.00,2.67,0.00,0.000,6,0.000,0.081,2749,2232,3481,0,0,0,0,0,0
$GC,4605,-2.42,-72.5,665.2,-12.9,194,4610,0.00,2.80,0.00,0.000,4,0.000,0.108,2749,3751,3479,0,0,0,0,0,0
$GC,4668,-2.42,-72.5,673.7,-13.6,195,4672,0.00,2.80,0.00,0.000,6,0.000,0.097,2749,2239,3479,0,0,0,0,0,0
$GC,4928,-2.46,-72.5,705.9,-12.0,202,4934,0.10,2.95,0.00,0.000,4,0.082,0.131,2708,3747,3478,0,0,0,0,0,0
$GC,5007,-2.40,-72.5,716.8,-14.2,203,5013,0.12,2.72,0.00,0.000,6,0.118,0.086,2734,2239,3477,0,0,0,0,0,0
$GC,5259,-2.40,-72.5,749.6,-13.2,210,5264,0.00,2.72,0.00,0.000,4,0.000,0.098,2734,3750,3475,0,0,0,0,0,0
$GC,5393,-2.40,-72.5,769.1,-14.6,213,5397,0.00,2.65,0.00,0.000,6,0.000,0.077,2734,2250,3475,0,0,0,0,0,0
$GC,5673,-2.40,-72.5,804.6,-12.5,220,5677,0.00,2.70,0.00,0.000,4,0.000,0.091,2734,3751,3473,0,0,0,0,0,0
$GC,5772,-2.40,-72.5,818.1,-13.0,222,5777,0.00,2.60,0.00,0.000,6,0.000,0.071,2734,2265,3472,0,0,0,0,0,0
$GC,6039,-2.40,-72.5,849.7,-11.8,229,6044,0.00,2.65,0.00,0.000,4,0.000,0.087,2734,3751,3471,0,0,0,0,0,0
$GC,6208,-2.40,-72.5,871.8,-12.3,232,6213,0.00,2.58,0.00,0.000,6,0.000,0.067,2734,2274,3470,0,0,0,0,0,0
$STATE,6456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6456,begin apogee
$GC,6462,-0.31,0.0,901.9,11.8,239,6527,2.12,0.00,60.25,1.191,6,0.102,0.000,3187,2337,3190,0,0,0,0,0,0
$STATE,6528,end apogee,CONTROL_FINISHED_OK
$STATE,6528,begin climb
$GC,6530,2.13,72.5,903.4,0.0,240,6605,2.20,3.05,64.00,1.168,4,0.032,0.108,3735,776,2893,0,0,0,0,0,0
$GC,6617,2.13,79.5,898.4,9.0,242,6632,0.00,2.78,7.47,0.937,6,0.000,0.060,3735,2372,2866,0,0,0,0,0,0
$GC,6902,2.13,79.5,864.7,12.0,249,6906,0.00,2.75,0.00,0.000,4,0.000,0.073,3735,3934,2862,0,0,0,0,0,0
$GC,7013,2.08,79.5,850.5,12.8,251,7018,0.10,2.65,0.00,0.000,6,0.152,0.040,3718,2365,2861,0,0,0,0,0,0
$GC,7271,2.08,79.5,822.6,10.9,258,7275,0.00,2.67,0.00,0.000,4,0.000,0.056,3718,3937,2860,0,0,0,0,0,0
$GC,7528,2.08,79.5,791.9,11.3,263,7534,0.00,2.62,0.00,0.000,6,0.000,0.049,3718,2384,2858,0,0,0,0,0,0
$GC,7781,2.12,79.5,766.2,10.1,270,7785,0.00,2.62,0.00,0.000,4,0.000,0.058,3718,3940,2857,0,0,0,0,0,0
$GC,8040,2.12,79.5,739.0,10.3,275,8045,0.00,2.60,0.00,0.000,6,0.000,0.044,3718,2400,2856,0,0,0,0,0,0
$GC,8290,2.17,82.2,714.6,9.6,282,8294,0.00,2.60,0.00,0.000,4,0.000,0.055,3718,3945,2855,0,0,0,0,0,0
$GC,8551,2.17,82.2,687.3,11.0,287,8557,0.00,2.58,0.00,0.000,6,0.000,0.048,3718,2401,2854,0,0,0,0,0,0
$GC,8801,2.21,84.7,662.7,9.6,294,8812,0.10,2.65,3.88,0.648,4,0.089,0.058,3748,3937,2844,0,0,0,0,0,0
$GC,9067,2.15,84.7,633.7,11.2,299,9072,0.00,2.55,0.00,0.000,6,0.000,0.047,3748,2407,2844,0,0,0,0,0,0
$GC,9317,2.15,86.3,608.5,9.8,306,9321,0.00,2.58,0.00,0.000,4,0.000,0.054,3748,3937,2843,0,0,0,0,0,0
$GC,9425,2.09,86.3,597.3,10.4,308,9430,0.15,2.55,0.00,0.000,6,0.136,0.045,3720,2410,2843,0,0,0,0,0,0
$GC,9686,2.15,87.8,571.6,9.8,315,9695,0.00,2.58,4.10,0.640,4,0.000,0.052,3720,3937,2832,0,0,0,0,0,0
$GC,9839,2.15,87.8,554.7,11.8,318,9843,0.00,2.53,0.00,0.000,6,0.000,0.042,3720,2417,2831,0,0,0,0,0,0
$GC,10105,2.20,87.8,527.3,10.1,325,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,3720,2417,2832,0,0,0,0,0,0
$GC,10349,2.25,87.8,501.9,10.5,331,10354,0.12,2.55,0.00,0.000,4,0.077,0.050,3755,3941,2831,0,0,0,0,0,0
$GC,10495,2.19,87.8,484.6,11.3,334,10499,0.00,2.50,0.00,0.000,6,0.000,0.037,3755,2413,2831,0,0,0,0,0,0
$GC,10761,2.19,87.8,454.8,11.1,341,10765,0.00,2.53,0.00,0.000,4,0.000,0.048,3756,3941,2831,0,0,0,0,0,0
$GC,11019,2.13,87.8,424.7,11.5,346,11025,0.15,2.47,0.00,0.000,6,0.131,0.028,3727,2415,2831,0,0,0,0,0,0
$GC,11269,2.19,90.7,400.2,9.6,353,11278,0.00,2.55,4.22,0.558,4,0.000,0.041,3728,3948,2820,0,0,0,0,0,0
$GC,11400,2.19,90.7,385.6,11.4,355,11406,0.00,2.45,0.00,0.000,6,0.000,0.028,3728,2427,2820,0,0,0,0,0,0
$GC,11651,2.24,91.8,360.1,9.8,362,11655,0.00,2.50,0.00,0.000,4,0.000,0.041,3727,3946,2820,0,0,0,0,0,0
$GC,11775,2.24,91.8,347.0,10.4,364,11781,0.00,2.45,0.00,0.000,6,0.000,0.030,3728,2422,2820,0,0,0,0,0,0
$GC,12025,2.31,91.8,320.4,10.5,371,12030,0.12,2.50,0.00,0.000,4,0.074,0.045,3765,3949,2821,0,0,0,0,0,0
$GC,12200,2.26,91.8,299.5,11.9,375,12204,0.00,2.42,0.00,0.000,6,0.000,0.025,3766,2435,2821,0,0,0,0,0,0
$GC,12484,2.26,91.8,267.7,11.0,382,12488,0.00,2.47,0.00,0.000,4,0.000,0.040,3765,3950,2822,0,0,0,0,0,0
$GC,12633,2.21,91.8,250.4,11.3,385,12638,0.12,2.42,0.00,0.000,6,0.133,0.032,3743,2435,2822,0,0,0,0,0,0
$GC,12900,2.26,93.3,223.3,9.8,392,12910,0.00,2.47,4.95,0.525,4,0.000,0.040,3743,3950,2809,0,0,0,0,0,0
$GC,13007,2.26,93.3,211.5,12.1,394,13012,0.00,2.42,0.00,0.000,6,0.000,0.026,3743,2440,2808,0,0,0,0,0,0
$GC,13268,2.32,100.8,186.6,8.9,409,13283,0.05,2.50,7.93,0.586,4,0.143,0.039,3767,3937,2779,0,0,0,0,0,0
$GC,13331,2.32,100.8,180.1,10.0,414,13340,0.00,2.42,0.00,0.000,6,0.000,0.028,3767,2442,2778,0,0,0,0,0,0
$GC,13598,2.33,114.3,156.8,8.0,439,13619,0.00,2.55,12.38,0.601,4,0.000,0.044,3767,3944,2723,0,0,0,0,0,0
$GC,13657,2.34,120.1,151.2,9.1,444,13671,0.00,2.40,6.30,0.520,6,0.000,0.024,3767,2443,2700,0,0,0,0,0,0
$GC,13927,2.44,140.8,129.6,6.9,469,13951,0.00,2.50,18.80,0.594,4,0.000,0.039,3766,3949,2614,0,0,0,0,0,0
$GC,14076,2.52,166.4,120.0,6.2,481,14103,0.00,2.40,22.27,0.586,6,0.000,0.022,3767,2439,2511,0,0,0,0,0,0
$GC,14368,2.66,172.3,95.6,9.1,508,14383,0.00,2.53,5.97,0.465,4,0.000,0.038,3767,3946,2487,0,0,0,0,0,0
$GC,14656,2.75,172.3,66.0,10.8,531,14665,0.00,2.42,0.00,0.000,6,0.000,0.025,3767,2444,2487,0,0,0,0,0,0
$GC,14926,2.88,172.3,40.0,10.2,556,14930,0.00,2.45,0.00,0.000,4,0.000,0.039,3767,3942,2487,0,0,0,0,0,0
$GC,15232,3.00,172.3,7.8,10.6,594,15242,0.00,2.38,0.00,0.000,6,0.000,0.026,3767,2462,2488,0,0,0,0,0,0
$STATE,15264,end climb,SURFACE_DEPTH_REACHED
$STATE,15264,begin surface coast
$FINISH,1.0,1.023677
$STATE,15313,end surface coast,CONTROL_FINISHED_OK
$STATE,15313,begin surface
$SM_CCo,15336,143.48,0.495,0,0,1763,350.04
$SM_GC,1.94,0.00,0.00,143.48,0.000,0.000,0.495,461,2181,1763,-12.88,-0.82,350.04
$IRIDIUM_FIX,1918.37,-8109.84,070702,050533
$TT8_MAMPS,0.025311
$HUMID,58.34
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.20
$XPDR_PINGS,102
$24V_AH,23.1,56.536
$10V_AH,10.0,50.193
$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,31.875,184.750,222.525,143.475,0.000,30.449,34.264,191.514,25.500,0.000,16.540,1405.786,10622.257,500.943,2685.010,696.272,33.363,1612.681,0.000,2662.033,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,131.157,1191.151,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.193,299.379,383.875,524.784,998.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,47673,605
$CAP_FILE_SIZE,156948,0
$CFSIZE,260165632,100188160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120413,150200,1923.724,-8106.466,60,1.2,60,-3.8