version: 66.06
glider: 146
mission: 8
dive: 412
start: 4 14 113 21 9 37
data:
$ID,146
$MISSION,8
$DIVE,412
$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,-315567.59
$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,57
$R_STBD_OVSHOOT,41
$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
$GPS1,210106,1924.488,-8106.685,28,1.3,28,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.9
$GPS2,210843,1924.532,-8106.747,10,1.7,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.148,-0.006
$KALMAN_X,-221274.3,485.1,371.6,221556.0,489.2
$KALMAN_Y,145485.3,97.0,-56.2,-143731.1,52.8
$MHEAD_RNG_PITCHd_Wd,271.4,2190,-31.5,-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,-2.03,-47.4,0.0,0.0,0,92,0.00,0.00,-67.45,0.000,6,0.000,0.000,459,2172,3383,0,0,0,0,0,0
$GC,97,-2.07,-76.8,4.0,-5.8,9,123,12.65,2.50,-2.33,0.000,4,0.157,0.048,2802,654,3506,0,0,0,0,0,0
$GC,346,-1.97,-76.8,67.9,-23.6,34,351,0.15,2.40,0.00,0.000,6,0.133,0.015,2830,2235,3507,0,0,0,0,0,0
$GC,611,-1.97,-76.8,121.9,-19.1,58,615,0.00,2.42,0.00,0.000,4,0.000,0.030,2830,3775,3508,0,0,0,0,0,0
$GC,665,-1.97,-76.8,134.3,-21.8,62,670,0.00,2.42,0.00,0.000,6,0.000,0.021,2830,2230,3508,0,0,0,0,0,0
$GC,930,-2.05,-76.8,171.8,-12.9,86,935,0.00,2.42,0.00,0.000,4,0.000,0.031,2830,3766,3509,0,0,0,0,0,0
$GC,965,-2.11,-76.8,176.5,-12.4,88,971,0.12,2.42,0.00,0.000,6,0.063,0.017,2773,2199,3509,0,0,0,0,0,0
$GC,1235,-2.11,-76.8,210.8,-13.0,108,1240,0.12,2.50,0.00,0.000,4,0.111,0.039,2798,3765,3510,0,0,0,0,0,0
$GC,1279,-2.11,-76.8,216.9,-12.9,109,1283,0.00,2.38,0.00,0.000,6,0.000,0.016,2798,2223,3510,0,0,0,0,0,0
$GC,1563,-2.17,-76.8,250.1,-11.8,116,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2224,3510,0,0,0,0,0,0
$GC,1809,-2.23,-76.8,278.7,-11.8,122,1811,0.10,0.00,0.00,0.000,6,0.080,0.000,2751,2224,3510,0,0,0,0,0,0
$GC,2050,-2.23,-76.8,310.8,-13.3,128,2055,0.10,2.50,0.00,0.000,4,0.123,0.044,2771,3763,3509,0,0,0,0,0,0
$GC,2082,-2.23,-76.8,315.3,-13.8,128,2088,0.00,2.42,0.00,0.000,6,0.000,0.025,2771,2228,3509,0,0,0,0,0,0
$GC,2335,-2.23,-76.8,346.9,-12.6,135,2339,0.00,2.47,0.00,0.000,4,0.000,0.045,2772,3758,3507,0,0,0,0,0,0
$GC,2361,-2.23,-76.8,350.9,-13.7,135,2366,0.00,2.45,0.00,0.000,6,0.000,0.030,2771,2222,3508,0,0,0,0,0,0
$GC,2612,-2.23,-76.8,382.7,-12.7,141,2616,0.00,2.50,0.00,0.000,4,0.000,0.041,2771,3757,3507,0,0,0,0,0,0
$GC,2650,-2.23,-76.8,387.9,-13.2,142,2655,0.00,2.45,0.00,0.000,6,0.000,0.030,2770,2236,3507,0,0,0,0,0,0
$GC,2936,-2.23,-76.8,424.8,-12.8,149,2941,0.00,2.50,0.00,0.000,4,0.000,0.054,2771,3753,3506,0,0,0,0,0,0
$GC,2952,-2.23,-76.8,427.4,-12.7,149,2957,0.00,2.50,0.00,0.000,6,0.000,0.038,2771,2229,3506,0,0,0,0,0,0
$GC,3218,-2.23,-76.8,459.7,-12.3,156,3222,0.00,2.58,0.00,0.000,4,0.000,0.061,2771,3750,3505,0,0,0,0,0,0
$GC,3342,-2.23,-76.8,476.1,-13.1,158,3348,0.00,2.55,0.00,0.000,6,0.000,0.048,2771,2229,3504,0,0,0,0,0,0
$GC,3592,-2.23,-76.8,506.6,-12.3,165,3596,0.00,2.60,0.00,0.000,4,0.000,0.068,2771,3750,3503,0,0,0,0,0,0
$GC,3619,-2.23,-76.8,510.3,-13.3,165,3623,0.00,2.58,0.00,0.000,6,0.000,0.050,2771,2228,3503,0,0,0,0,0,0
$GC,3871,-2.23,-76.8,541.5,-12.4,171,3876,0.00,2.60,0.00,0.000,4,0.000,0.066,2771,3750,3501,0,0,0,0,0,0
$GC,3976,-2.23,-76.8,556.4,-14.6,173,3981,0.00,2.55,0.00,0.000,6,0.000,0.058,2771,2239,3501,0,0,0,0,0,0
$GC,4240,-2.23,-76.8,589.6,-12.8,180,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2239,3499,0,0,0,0,0,0
$GC,4481,-2.23,-76.8,619.9,-12.3,186,4486,0.00,2.72,0.00,0.000,4,0.000,0.091,2771,3753,3498,0,0,0,0,0,0
$GC,4525,-2.23,-76.8,625.7,-13.3,187,4529,0.00,2.65,0.00,0.000,6,0.000,0.077,2771,2241,3497,0,0,0,0,0,0
$GC,4805,-2.27,-76.8,659.6,-12.4,194,4810,0.00,2.75,0.00,0.000,4,0.000,0.099,2771,3749,3495,0,0,0,0,0,0
$GC,4899,-2.27,-76.8,672.3,-12.7,196,4904,0.00,2.78,0.00,0.000,6,0.000,0.094,2771,2238,3495,0,0,0,0,0,0
$GC,5172,-2.31,-76.8,705.1,-11.9,203,5177,0.00,2.90,0.00,0.000,4,0.000,0.123,2771,3750,3493,0,0,0,0,0,0
$GC,5280,-2.31,-76.8,718.4,-12.9,205,5284,0.00,2.70,0.00,0.000,6,0.000,0.085,2771,2242,3493,0,0,0,0,0,0
$GC,5541,-2.36,-76.8,749.3,-11.7,212,5546,0.10,2.72,0.00,0.000,4,0.084,0.091,2731,3750,3491,0,0,0,0,0,0
$GC,5593,-2.30,-76.8,756.4,-13.4,213,5599,0.12,2.65,0.00,0.000,6,0.118,0.076,2756,2238,3491,0,0,0,0,0,0
$GC,5866,-2.30,-76.8,790.5,-12.1,220,5870,0.00,2.70,0.00,0.000,4,0.000,0.087,2756,3750,3489,0,0,0,0,0,0
$GC,5926,-2.30,-76.8,798.0,-12.4,221,5930,0.00,2.62,0.00,0.000,6,0.000,0.071,2756,2250,3489,0,0,0,0,0,0
$GC,6195,-2.30,-76.8,829.1,-11.2,228,6200,0.00,2.67,0.00,0.000,4,0.000,0.085,2756,3753,3488,0,0,0,0,0,0
$GC,6269,-2.30,-76.8,838.0,-11.2,229,6274,0.00,2.62,0.00,0.000,6,0.000,0.068,2756,2257,3487,0,0,0,0,0,0
$GC,6519,-2.30,-76.8,866.5,-11.3,235,6523,0.00,2.65,0.00,0.000,4,0.000,0.083,2756,3754,3486,0,0,0,0,0,0
$GC,6673,-2.30,-76.8,884.2,-10.9,238,6677,0.00,2.60,0.00,0.000,6,0.000,0.067,2756,2270,3485,0,0,0,0,0,0
$STATE,6809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6809,begin apogee
$GC,6815,-0.31,0.0,900.0,11.2,242,6883,2.03,0.00,63.70,1.189,6,0.098,0.000,3190,2334,3190,0,0,0,0,0,0
$STATE,6884,end apogee,CONTROL_FINISHED_OK
$STATE,6884,begin climb
$GC,6889,2.07,76.8,901.5,0.0,243,6966,2.12,3.05,67.70,1.163,4,0.032,0.110,3724,780,2876,0,0,0,0,0,0
$GC,6973,2.09,94.4,897.4,7.5,244,6997,0.00,2.78,17.08,1.071,6,0.000,0.054,3724,2373,2805,0,0,0,0,0,0
$GC,7258,2.09,94.4,862.6,12.7,251,7263,0.00,2.75,0.00,0.000,4,0.000,0.074,3724,3938,2800,0,0,0,0,0,0
$GC,7461,2.03,94.4,835.1,13.6,255,7466,0.12,2.62,0.00,0.000,6,0.146,0.040,3702,2380,2797,0,0,0,0,0,0
$GC,7719,2.03,94.4,805.4,11.4,262,7723,0.00,2.67,0.00,0.000,4,0.000,0.058,3702,3946,2796,0,0,0,0,0,0
$GC,7977,2.03,94.4,773.7,11.8,267,7983,0.00,2.62,0.00,0.000,6,0.000,0.049,3702,2395,2794,0,0,0,0,0,0
$GC,8230,2.07,94.4,746.7,10.5,274,8234,0.00,2.65,0.00,0.000,4,0.000,0.057,3702,3948,2794,0,0,0,0,0,0
$GC,8459,2.07,94.4,719.0,11.4,279,8463,0.00,2.60,0.00,0.000,6,0.000,0.044,3702,2404,2793,0,0,0,0,0,0
$GC,8734,2.11,94.4,689.9,10.7,286,8738,0.00,2.60,0.00,0.000,4,0.000,0.054,3702,3938,2791,0,0,0,0,0,0
$GC,8995,2.11,94.4,659.2,12.0,291,9000,0.00,2.55,0.00,0.000,6,0.000,0.043,3703,2413,2790,0,0,0,0,0,0
$GC,9245,2.16,94.4,632.6,10.3,298,9250,0.12,2.60,0.00,0.000,4,0.079,0.058,3737,3945,2790,0,0,0,0,0,0
$GC,9505,2.09,94.4,601.4,11.8,303,9511,0.12,2.55,0.00,0.000,6,0.143,0.041,3715,2421,2789,0,0,0,0,0,0
$GC,9755,2.09,94.4,571.9,11.8,310,9759,0.00,2.58,0.00,0.000,4,0.000,0.053,3715,3945,2789,0,0,0,0,0,0
$GC,10014,2.04,94.4,539.1,13.2,315,10020,0.00,2.53,0.00,0.000,6,0.000,0.044,3715,2427,2789,0,0,0,0,0,0
$GC,10267,2.04,94.4,510.1,11.5,322,10271,0.00,2.55,0.00,0.000,4,0.000,0.046,3715,3949,2789,0,0,0,0,0,0
$GC,10524,2.04,94.4,477.3,12.5,327,10530,0.00,2.47,0.00,0.000,6,0.000,0.039,3715,2439,2789,0,0,0,0,0,0
$GC,10775,2.08,94.4,450.4,10.7,334,10779,0.00,2.50,0.00,0.000,4,0.000,0.050,3715,3949,2789,0,0,0,0,0,0
$GC,11034,2.08,94.4,420.3,11.0,339,11039,0.00,2.47,0.00,0.000,6,0.000,0.031,3715,2429,2788,0,0,0,0,0,0
$GC,11284,2.12,94.4,393.9,10.5,346,11288,0.00,2.50,0.00,0.000,4,0.000,0.048,3715,3944,2789,0,0,0,0,0,0
$GC,11380,2.12,94.4,383.1,11.1,348,11384,0.00,2.45,0.00,0.000,6,0.000,0.035,3715,2429,2788,0,0,0,0,0,0
$GC,11653,2.16,94.4,354.2,10.5,355,11657,0.00,2.50,0.00,0.000,4,0.000,0.046,3715,3948,2789,0,0,0,0,0,0
$GC,11910,2.16,94.4,325.6,11.1,360,11916,0.00,2.42,0.00,0.000,6,0.000,0.034,3715,2440,2789,0,0,0,0,0,0
$GC,12161,2.21,95.2,300.8,9.9,367,12166,0.10,2.47,0.00,0.000,4,0.086,0.048,3748,3945,2789,0,0,0,0,0,0
$GC,12419,2.14,95.2,270.5,11.6,372,12425,0.10,2.40,0.00,0.000,6,0.144,0.031,3729,2446,2790,0,0,0,0,0,0
$GC,12671,2.14,95.2,243.7,10.7,379,12675,0.00,2.45,0.00,0.000,4,0.000,0.041,3729,3944,2791,0,0,0,0,0,0
$GC,12866,2.14,95.2,220.6,11.0,383,12870,0.00,2.38,0.00,0.000,6,0.000,0.026,3729,2463,2791,0,0,0,0,0,0
$GC,13127,2.20,105.1,196.5,8.6,392,13142,0.00,2.47,7.95,0.590,4,0.000,0.040,3729,3940,2760,0,0,0,0,0,0
$GC,13281,2.21,113.6,181.1,8.8,405,13295,0.00,2.40,8.65,0.586,6,0.000,0.027,3729,2461,2726,0,0,0,0,0,0
$GC,13555,2.29,122.5,157.2,8.7,430,13570,0.12,2.50,8.77,0.568,4,0.072,0.038,3768,3945,2690,0,0,0,0,0,0
$GC,13591,2.30,124.1,153.8,9.8,433,13596,0.00,2.40,0.00,0.000,6,0.000,0.024,3769,2449,2690,0,0,0,0,0,0
$GC,13861,2.37,156.4,134.8,5.4,457,13898,0.00,2.58,29.65,0.607,4,0.000,0.040,3769,3954,2550,0,0,0,0,0,0
$GC,13943,2.43,163.0,128.1,9.1,464,13958,0.00,2.40,6.97,0.509,6,0.000,0.026,3769,2452,2524,0,0,0,0,0,0
$GC,14213,2.54,182.3,108.5,7.3,489,14238,0.00,2.50,17.45,0.563,4,0.000,0.038,3769,3937,2444,0,0,0,0,0,0
$GC,14385,2.60,182.3,91.0,11.0,503,14389,0.00,2.35,0.00,0.000,6,0.000,0.025,3768,2454,2443,0,0,0,0,0,0
$GC,14653,2.70,182.3,64.0,10.2,527,14657,0.00,2.45,0.00,0.000,4,0.000,0.039,3769,3949,2443,0,0,0,0,0,0
$GC,14910,2.78,185.4,34.8,9.6,547,14926,0.00,2.35,4.05,0.354,6,0.000,0.026,3769,2456,2434,0,0,0,0,0,0
$GC,15237,2.90,194.2,7.0,8.8,592,15253,0.00,2.78,9.50,0.447,4,0.000,0.044,3767,771,2397,0,0,0,0,0,0
$STATE,15262,end climb,SURFACE_DEPTH_REACHED
$STATE,15262,begin surface coast
$FINISH,1.1,1.017704
$STATE,15311,end surface coast,CONTROL_FINISHED_OK
$STATE,15311,begin surface
$SM_CCo,15339,125.72,0.492,0,0,1762,350.04
$SM_GC,1.89,0.00,0.00,125.72,0.000,0.000,0.492,464,2252,1762,-12.86,1.19,350.04
$IRIDIUM_FIX,1920.65,-8151.55,090702,151546
$TT8_MAMPS,0.026078
$HUMID,58.58
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.30
$XPDR_PINGS,96
$24V_AH,23.1,58.060
$10V_AH,10.0,51.625
$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,31.675,188.825,241.475,125.725,0.000,27.288,38.310,216.168,24.000,0.000,13.515,1414.427,10522.912,494.087,2749.223,729.944,33.368,1616.354,0.000,2719.742,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,123.487,1188.850,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,406.948,297.903,383.531,533.683,1017.793,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,47809,602
$CAP_FILE_SIZE,157312,0
$CFSIZE,260165632,99385344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150413,012836,1924.129,-8107.514,30,0.9,30,-3.8