version: 66.06
glider: 146
mission: 8
dive: 421
start: 4 16 113 23 2 44
data:
$ID,146
$MISSION,8
$DIVE,421
$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,-315759.19
$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,43
$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
$GPS1,225424,1925.164,-8106.539,37,1.3,37,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.0
$GPS2,230149,1925.175,-8106.638,14,1.2,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.104,-0.112
$KALMAN_X,-208950.2,600.7,700.1,208972.0,-487.4
$KALMAN_Y,147222.0,25.8,-241.4,-144017.1,768.7
$MHEAD_RNG_PITCHd_Wd,226.6,2688,-30.6,-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,16,begin dive
$GC,19,-1.98,-50.2,0.0,0.0,0,84,0.00,0.00,-63.10,0.000,2,0.000,0.000,462,2160,3280,0,0,0,0,0,0
$GC,89,-2.03,-98.3,3.2,-3.6,8,114,12.68,2.60,-6.22,0.000,4,0.157,0.040,2810,3784,3592,0,0,0,0,0,0
$GC,397,-1.95,-98.3,85.2,-24.0,39,402,0.12,2.42,0.00,0.000,6,0.134,0.020,2833,2231,3594,0,0,0,0,0,0
$GC,665,-1.95,-98.3,141.8,-17.2,63,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2230,3594,0,0,0,0,0,0
$GC,931,-2.02,-98.3,182.1,-13.5,88,935,0.00,2.60,0.00,0.000,4,0.000,0.045,2833,634,3596,0,0,0,0,0,0
$GC,996,-2.09,-98.3,191.1,-14.0,93,1001,0.12,2.45,0.00,0.000,6,0.063,0.021,2774,2232,3595,0,0,0,0,0,0
$GC,1258,-2.09,-98.3,230.7,-15.0,103,1260,0.15,0.00,0.00,0.000,6,0.107,0.000,2806,2233,3596,0,0,0,0,0,0
$GC,1504,-2.14,-98.3,263.4,-13.2,109,1509,0.00,2.65,0.00,0.000,4,0.000,0.052,2805,644,3596,0,0,0,0,0,0
$GC,1525,-2.14,-98.3,266.9,-13.9,109,1530,0.00,2.45,0.00,0.000,6,0.000,0.023,2806,2208,3596,0,0,0,0,0,0
$GC,1783,-2.20,-98.3,300.4,-13.1,116,1785,0.10,0.00,0.00,0.000,6,0.080,0.000,2757,2209,3595,0,0,0,0,0,0
$GC,2025,-2.20,-98.3,339.1,-16.2,122,2027,0.12,0.00,0.00,0.000,6,0.114,0.000,2783,2209,3595,0,0,0,0,0,0
$GC,2271,-2.20,-98.3,374.8,-14.5,128,2275,0.00,2.58,0.00,0.000,4,0.000,0.051,2782,3782,3594,0,0,0,0,0,0
$GC,2297,-2.20,-98.3,379.1,-14.0,128,2302,0.00,2.50,0.00,0.000,6,0.000,0.035,2782,2228,3594,0,0,0,0,0,0
$GC,2547,-2.20,-98.3,414.3,-14.1,134,2552,0.00,2.58,0.00,0.000,4,0.000,0.050,2782,3782,3593,0,0,0,0,0,0
$GC,2576,-2.20,-98.3,418.1,-14.1,134,2581,0.00,2.55,0.00,0.000,6,0.000,0.041,2782,2222,3593,0,0,0,0,0,0
$GC,2826,-2.20,-98.3,452.8,-13.8,140,2831,0.00,2.60,0.00,0.000,4,0.000,0.060,2782,3772,3593,0,0,0,0,0,0
$GC,2848,-2.20,-98.3,455.9,-13.6,140,2852,0.00,2.58,0.00,0.000,6,0.000,0.049,2782,2227,3593,0,0,0,0,0,0
$GC,3105,-2.20,-98.3,490.2,-13.5,147,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2227,3591,0,0,0,0,0,0
$GC,3346,-2.20,-98.3,522.9,-13.4,153,3351,0.00,2.70,0.00,0.000,4,0.000,0.077,2782,3773,3590,0,0,0,0,0,0
$GC,3424,-2.20,-98.3,534.1,-13.9,154,3429,0.00,2.60,0.00,0.000,6,0.000,0.054,2782,2234,3589,0,0,0,0,0,0
$GC,3674,-2.24,-98.3,566.9,-13.1,161,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2234,3588,0,0,0,0,0,0
$GC,3920,-2.27,-98.3,599.4,-13.4,167,3925,0.00,2.72,0.00,0.000,4,0.000,0.083,2782,3768,3586,0,0,0,0,0,0
$GC,3992,-2.27,-98.3,609.8,-13.3,168,3997,0.00,2.67,0.00,0.000,6,0.000,0.074,2782,2237,3586,0,0,0,0,0,0
$GC,4243,-2.31,-98.3,642.5,-13.2,174,4245,0.10,0.00,0.00,0.000,6,0.081,0.000,2742,2236,3584,0,0,0,0,0,0
$GC,4489,-2.31,-98.3,677.7,-14.4,180,4493,0.00,2.85,0.00,0.000,4,0.000,0.107,2742,3767,3582,0,0,0,0,0,0
$GC,4516,-2.25,-98.3,682.1,-14.6,180,4522,0.12,2.85,0.00,0.000,6,0.115,0.102,2766,2237,3582,0,0,0,0,0,0
$GC,4766,-2.25,-98.3,716.3,-13.4,186,4770,0.00,2.97,0.00,0.000,4,0.000,0.127,2766,3767,3580,0,0,0,0,0,0
$GC,4795,-2.25,-98.3,720.0,-13.7,186,4799,0.00,2.75,0.00,0.000,6,0.000,0.088,2766,2238,3580,0,0,0,0,0,0
$GC,5044,-2.25,-98.3,753.7,-13.6,192,5049,0.00,2.78,0.00,0.000,4,0.000,0.091,2766,3769,3578,0,0,0,0,0,0
$GC,5105,-2.25,-98.3,762.7,-15.3,193,5109,0.00,2.67,0.00,0.000,6,0.000,0.080,2766,2244,3578,0,0,0,0,0,0
$GC,5374,-2.25,-98.3,800.7,-14.3,200,5378,0.00,2.72,0.00,0.000,4,0.000,0.084,2766,3768,3576,0,0,0,0,0,0
$GC,5413,-2.25,-98.3,806.8,-15.4,201,5417,0.00,2.67,0.00,0.000,6,0.000,0.078,2766,2255,3576,0,0,0,0,0,0
$GC,5695,-2.25,-98.3,844.2,-13.1,208,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2255,3574,0,0,0,0,0,0
$GC,5941,-2.25,-98.3,876.3,-13.4,214,5946,0.00,2.70,0.00,0.000,4,0.000,0.081,2766,3775,3572,0,0,0,0,0,0
$GC,6025,-2.25,-98.3,888.2,-14.2,216,6030,0.00,2.65,0.00,0.000,6,0.000,0.066,2766,2253,3572,0,0,0,0,0,0
$STATE,6144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6144,begin apogee
$GC,6150,-0.31,0.0,903.7,12.7,219,6236,1.95,0.00,81.93,1.193,6,0.094,0.000,3188,2349,3190,0,0,0,0,0,0
$STATE,6237,end apogee,CONTROL_FINISHED_OK
$STATE,6237,begin climb
$GC,6242,2.03,98.3,905.5,0.0,221,6339,2.12,3.08,86.50,1.165,4,0.036,0.105,3718,781,2788,0,0,0,0,0,0
$GC,6356,1.99,98.3,897.1,11.9,223,6362,0.12,2.78,0.00,0.000,6,0.139,0.056,3696,2371,2786,0,0,0,0,0,0
$GC,6609,1.99,98.3,864.8,12.9,229,6613,0.00,2.75,0.00,0.000,4,0.000,0.073,3695,3935,2782,0,0,0,0,0,0
$GC,6821,1.99,98.3,836.8,13.2,233,6827,0.00,2.62,0.00,0.000,6,0.000,0.044,3696,2374,2779,0,0,0,0,0,0
$GC,7073,1.99,98.3,807.4,11.7,240,7078,0.00,2.67,0.00,0.000,4,0.000,0.058,3696,3940,2779,0,0,0,0,0,0
$GC,7302,1.99,98.3,778.2,11.9,245,7307,0.00,2.60,0.00,0.000,6,0.000,0.048,3696,2395,2777,0,0,0,0,0,0
$GC,7577,1.99,98.3,748.6,10.8,252,7581,0.00,2.65,0.00,0.000,4,0.000,0.055,3696,3946,2776,0,0,0,0,0,0
$GC,7788,1.99,98.3,723.0,12.1,256,7792,0.00,2.60,0.00,0.000,6,0.000,0.043,3696,2401,2775,0,0,0,0,0,0
$GC,8038,1.99,98.3,695.2,11.1,262,8042,0.00,2.60,0.00,0.000,4,0.000,0.056,3696,3944,2773,0,0,0,0,0,0
$GC,8184,1.99,98.3,677.6,12.1,265,8188,0.00,2.58,0.00,0.000,6,0.000,0.041,3697,2407,2773,0,0,0,0,0,0
$GC,8453,2.02,98.3,648.9,10.3,272,8457,0.00,2.60,0.00,0.000,4,0.000,0.058,3695,3941,2772,0,0,0,0,0,0
$GC,8659,2.02,98.3,623.5,12.1,276,8663,0.00,2.53,0.00,0.000,6,0.000,0.041,3696,2413,2771,0,0,0,0,0,0
$GC,8909,2.02,98.3,595.5,11.4,282,8914,0.00,2.60,0.00,0.000,4,0.000,0.058,3696,3946,2771,0,0,0,0,0,0
$GC,9083,2.02,98.3,574.9,12.5,286,9087,0.00,2.55,0.00,0.000,6,0.000,0.044,3696,2418,2771,0,0,0,0,0,0
$GC,9369,2.06,98.3,543.4,11.0,293,9373,0.00,2.58,0.00,0.000,4,0.000,0.057,3696,3944,2770,0,0,0,0,0,0
$GC,9520,2.06,98.3,524.3,13.1,296,9525,0.00,2.53,0.00,0.000,6,0.000,0.045,3696,2426,2770,0,0,0,0,0,0
$GC,9784,2.10,98.3,495.7,10.7,303,9789,0.00,2.53,0.00,0.000,4,0.000,0.053,3696,3947,2770,0,0,0,0,0,0
$GC,10005,2.10,98.3,469.4,11.3,308,10010,0.00,2.50,0.00,0.000,6,0.000,0.040,3696,2430,2770,0,0,0,0,0,0
$GC,10292,2.15,98.3,437.1,11.0,315,10297,0.12,2.53,0.00,0.000,4,0.078,0.044,3734,3946,2770,0,0,0,0,0,0
$GC,10347,2.07,98.3,430.1,12.1,316,10352,0.12,2.47,0.00,0.000,6,0.140,0.038,3711,2435,2770,0,0,0,0,0,0
$GC,10613,2.07,98.3,401.5,10.4,323,10618,0.00,2.50,0.00,0.000,4,0.000,0.048,3711,3943,2770,0,0,0,0,0,0
$GC,10727,2.07,98.3,387.6,12.8,325,10731,0.00,2.45,0.00,0.000,6,0.000,0.032,3711,2428,2770,0,0,0,0,0,0
$GC,10983,2.07,98.3,359.7,10.9,332,10987,0.00,2.53,0.00,0.000,4,0.000,0.042,3711,3949,2770,0,0,0,0,0,0
$GC,11157,2.07,98.3,339.7,11.3,336,11161,0.00,2.45,0.00,0.000,6,0.000,0.027,3711,2427,2770,0,0,0,0,0,0
$GC,11439,2.07,98.3,310.5,10.3,343,11444,0.00,2.50,0.00,0.000,4,0.000,0.046,3711,3942,2770,0,0,0,0,0,0
$GC,11526,2.07,98.3,300.4,11.8,345,11530,0.00,2.42,0.00,0.000,6,0.000,0.032,3711,2428,2771,0,0,0,0,0,0
$GC,11814,2.07,98.3,266.9,11.7,352,11819,0.00,2.47,0.00,0.000,4,0.000,0.045,3711,3943,2771,0,0,0,0,0,0
$GC,11920,2.07,98.3,253.5,12.8,354,11924,0.00,2.42,0.00,0.000,6,0.000,0.028,3711,2436,2772,0,0,0,0,0,0
$GC,12184,2.12,98.3,225.0,10.7,361,12189,0.00,2.47,0.00,0.000,4,0.000,0.048,3711,3944,2772,0,0,0,0,0,0
$GC,12343,2.12,100.3,208.0,9.7,364,12347,0.00,2.40,0.00,0.000,6,0.000,0.027,3711,2447,2773,0,0,0,0,0,0
$GC,12610,2.19,112.4,184.8,8.4,383,12629,0.10,0.00,10.35,0.607,6,0.085,0.000,3745,2447,2730,0,0,0,0,0,0
$GC,12887,2.21,125.7,161.0,8.2,409,12902,0.00,0.00,12.18,0.598,6,0.000,0.000,3745,2447,2677,0,0,0,0,0,0
$GC,13164,2.28,147.7,136.0,7.1,435,13191,0.00,2.80,19.90,0.597,4,0.000,0.051,3745,776,2586,0,0,0,0,0,0
$GC,13269,2.30,161.0,128.0,8.2,443,13293,0.00,2.70,12.73,0.565,6,0.000,0.020,3745,2487,2532,0,0,0,0,0,0
$GC,13549,2.43,188.2,106.3,6.4,469,13577,0.00,2.42,23.67,0.573,4,0.000,0.038,3745,3950,2421,0,0,0,0,0,0
$GC,13631,2.48,188.2,98.7,12.1,475,13635,0.00,2.45,0.00,0.000,6,0.000,0.025,3745,2424,2420,0,0,0,0,0,0
$GC,13898,2.59,188.2,70.6,10.2,499,13902,0.00,2.47,0.00,0.000,4,0.000,0.040,3745,3942,2420,0,0,0,0,0,0
$GC,14008,2.66,188.2,57.5,11.9,507,14017,0.00,2.42,0.00,0.000,6,0.000,0.027,3745,2441,2419,0,0,0,0,0,0
$GC,14275,2.79,188.6,30.2,9.9,532,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,3745,2441,2419,0,0,0,0,0,0
$STATE,14557,end climb,SURFACE_DEPTH_REACHED
$STATE,14557,begin surface coast
$FINISH,1.0,1.013382
$STATE,14619,end surface coast,CONTROL_FINISHED_OK
$STATE,14620,begin surface
$SM_CCo,14643,130.23,0.491,0,0,1763,350.04
$SM_GC,1.96,0.00,0.00,130.23,0.000,0.000,0.491,466,2171,1763,-12.86,-1.10,350.04
$IRIDIUM_FIX,1918.37,-8133.13,110702,171739
$TT8_MAMPS,0.026078
$HUMID,58.15
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.50
$XPDR_PINGS,100
$24V_AH,23.1,59.346
$10V_AH,10.1,52.786
$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,31.225,161.650,247.250,130.225,0.000,28.897,34.687,205.657,25.000,0.000,17.418,1302.351,10295.440,489.459,2432.231,690.773,33.371,1469.756,0.000,2411.270,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,127.322,1193.452,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.559,292.832,377.754,527.320,1002.522,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,44594,583
$CAP_FILE_SIZE,140767,0
$CFSIZE,260165632,98746368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170413,031023,1923.808,-8106.877,40,1.1,40,-3.8