version: 66.06
glider: 146
mission: 8
dive: 433
start: 4 19 113 16 10 37
data:
$ID,146
$MISSION,8
$DIVE,433
$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,-315946.69
$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,58
$R_STBD_OVSHOOT,34
$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
$GPS1,155836,1925.554,-8107.345,35,1.3,35,-3.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.1
$GPS2,160943,1925.550,-8107.342,12,1.7,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.075,-0.122
$KALMAN_X,-189483.1,529.0,492.4,188555.8,-242.8
$KALMAN_Y,142136.1,231.2,173.7,-138866.4,-494.7
$MHEAD_RNG_PITCHd_Wd,215.4,2259,-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,-44.5,0.0,0.0,0,85,0.00,0.00,-63.22,0.000,2,0.000,0.000,461,2180,3295,0,0,0,0,0,0
$GC,88,-2.13,-80.3,3.3,-4.6,8,114,12.57,2.53,-4.70,0.000,4,0.156,0.051,2787,658,3518,0,0,0,0,0,0
$GC,207,-2.01,-80.3,34.1,-25.7,23,212,0.17,2.40,0.00,0.000,6,0.136,0.016,2818,2235,3519,0,0,0,0,0,0
$GC,473,-2.01,-80.3,98.1,-23.2,47,478,0.00,2.58,0.00,0.000,4,0.000,0.041,2818,653,3519,0,0,0,0,0,0
$GC,492,-1.96,-80.3,103.9,-23.6,48,497,0.00,2.38,0.00,0.000,6,0.000,0.015,2818,2215,3519,0,0,0,0,0,0
$GC,755,-2.02,-80.3,154.9,-15.2,72,760,0.00,2.47,0.00,0.000,4,0.000,0.031,2818,3770,3520,0,0,0,0,0,0
$GC,776,-2.09,-80.3,157.6,-14.1,73,781,0.00,2.38,0.00,0.000,6,0.000,0.018,2818,2228,3520,0,0,0,0,0,0
$GC,1046,-2.19,-80.3,193.8,-13.0,97,1051,0.15,0.00,0.00,0.000,6,0.057,0.000,2758,2228,3520,0,0,0,0,0,0
$GC,1297,-2.19,-80.3,230.5,-14.3,107,1299,0.10,0.00,0.00,0.000,6,0.126,0.000,2778,2228,3520,0,0,0,0,0,0
$GC,1544,-2.25,-80.3,263.2,-13.5,113,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2228,3520,0,0,0,0,0,0
$GC,1785,-2.32,-80.3,294.4,-13.0,119,1787,0.10,0.00,0.00,0.000,6,0.077,0.000,2729,2228,3520,0,0,0,0,0,0
$GC,2028,-2.32,-80.3,330.1,-14.7,125,2030,0.12,0.00,0.00,0.000,6,0.115,0.000,2754,2228,3520,0,0,0,0,0,0
$GC,2272,-2.32,-80.3,364.1,-14.0,131,2276,0.00,2.53,0.00,0.000,4,0.000,0.043,2754,3757,3519,0,0,0,0,0,0
$GC,2301,-2.32,-80.3,368.0,-14.2,131,2305,0.00,2.45,0.00,0.000,6,0.000,0.028,2754,2237,3519,0,0,0,0,0,0
$GC,2551,-2.36,-80.3,402.8,-13.9,137,2555,0.00,2.53,0.00,0.000,4,0.000,0.049,2754,3762,3518,0,0,0,0,0,0
$GC,2600,-2.36,-80.3,410.0,-14.5,138,2605,0.00,2.50,0.00,0.000,6,0.000,0.041,2754,2230,3518,0,0,0,0,0,0
$GC,2876,-2.39,-80.3,446.1,-13.5,145,2880,0.00,2.58,0.00,0.000,4,0.000,0.054,2754,3757,3517,0,0,0,0,0,0
$GC,2908,-2.39,-80.3,451.3,-14.8,145,2914,0.00,2.53,0.00,0.000,6,0.000,0.041,2754,2229,3517,0,0,0,0,0,0
$GC,3158,-2.44,-80.3,485.1,-13.3,152,3163,0.10,2.60,0.00,0.000,4,0.081,0.066,2708,3750,3515,0,0,0,0,0,0
$GC,3194,-2.37,-80.3,490.4,-15.9,152,3200,0.15,2.53,0.00,0.000,6,0.112,0.048,2738,2240,3515,0,0,0,0,0,0
$GC,3444,-2.37,-80.3,525.8,-14.1,159,3448,0.00,2.60,0.00,0.000,4,0.000,0.067,2739,3746,3514,0,0,0,0,0,0
$GC,3527,-2.37,-80.3,538.4,-14.1,161,3532,0.00,2.53,0.00,0.000,6,0.000,0.051,2739,2245,3514,0,0,0,0,0,0
$GC,3813,-2.37,-80.3,577.1,-13.2,168,3818,0.00,2.65,0.00,0.000,4,0.000,0.081,2739,3753,3512,0,0,0,0,0,0
$GC,3898,-2.37,-80.3,589.2,-13.9,170,3902,0.00,2.60,0.00,0.000,6,0.000,0.068,2739,2253,3511,0,0,0,0,0,0
$GC,4183,-2.37,-80.3,626.1,-13.0,177,4188,0.00,2.70,0.00,0.000,4,0.000,0.097,2739,3745,3510,0,0,0,0,0,0
$GC,4250,-2.37,-80.3,635.6,-13.3,178,4254,0.00,2.67,0.00,0.000,6,0.000,0.084,2739,2256,3509,0,0,0,0,0,0
$GC,4511,-2.37,-80.3,669.5,-13.2,185,4516,0.00,2.80,0.00,0.000,4,0.000,0.112,2738,3743,3508,0,0,0,0,0,0
$GC,4574,-2.37,-80.3,678.5,-15.0,186,4578,0.00,2.80,0.00,0.000,6,0.000,0.106,2739,2252,3507,0,0,0,0,0,0
$GC,4834,-2.37,-80.3,713.7,-13.2,193,4839,0.00,2.92,0.00,0.000,4,0.000,0.132,2739,3742,3506,0,0,0,0,0,0
$GC,4918,-2.37,-80.3,725.6,-14.3,195,4923,0.00,2.70,0.00,0.000,6,0.000,0.085,2739,2252,3505,0,0,0,0,0,0
$GC,5203,-2.37,-80.3,763.4,-13.4,202,5208,0.00,2.72,0.00,0.000,4,0.000,0.095,2738,3746,3503,0,0,0,0,0,0
$GC,5332,-2.37,-80.3,781.3,-13.0,205,5337,0.00,2.62,0.00,0.000,6,0.000,0.077,2738,2262,3502,0,0,0,0,0,0
$GC,5618,-2.37,-80.3,818.5,-13.2,212,5623,0.00,2.67,0.00,0.000,4,0.000,0.090,2739,3746,3500,0,0,0,0,0,0
$GC,5713,-2.37,-80.3,831.6,-13.5,214,5717,0.00,2.62,0.00,0.000,6,0.000,0.077,2739,2260,3500,0,0,0,0,0,0
$GC,5986,-2.37,-80.3,866.6,-13.3,221,5990,0.00,2.65,0.00,0.000,4,0.000,0.089,2739,3747,3498,0,0,0,0,0,0
$GC,6147,-2.37,-80.3,888.1,-12.8,224,6151,0.00,2.60,0.00,0.000,6,0.000,0.074,2739,2272,3497,0,0,0,0,0,0
$STATE,6277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6278,begin apogee
$GC,6284,-0.31,0.0,904.6,12.0,228,6355,2.10,0.00,66.32,1.193,6,0.101,0.000,3187,2334,3190,0,0,0,0,0,0
$STATE,6355,end apogee,CONTROL_FINISHED_OK
$STATE,6355,begin climb
$GC,6360,2.13,80.3,906.2,0.0,229,6436,2.20,0.00,70.85,1.166,6,0.032,0.000,3742,2334,2862,0,0,0,0,0,0
$GC,6681,2.13,80.3,872.9,12.3,236,6685,0.00,2.78,0.00,0.000,4,0.000,0.071,3742,3935,2857,0,0,0,0,0,0
$GC,6837,2.07,80.3,853.8,12.3,239,6842,0.15,2.65,0.00,0.000,6,0.140,0.051,3715,2377,2855,0,0,0,0,0,0
$GC,7098,2.11,80.3,824.3,11.1,246,7103,0.00,2.67,0.00,0.000,4,0.000,0.059,3715,3935,2854,0,0,0,0,0,0
$GC,7356,2.11,80.3,794.2,12.2,251,7362,0.00,2.60,0.00,0.000,6,0.000,0.047,3715,2393,2852,0,0,0,0,0,0
$GC,7606,2.16,80.3,767.7,10.6,258,7611,0.00,2.65,0.00,0.000,4,0.000,0.058,3715,3940,2851,0,0,0,0,0,0
$GC,7866,2.16,80.3,738.2,11.0,263,7872,0.00,2.60,0.00,0.000,6,0.000,0.049,3715,2402,2850,0,0,0,0,0,0
$GC,8117,2.22,84.6,714.7,9.3,270,8122,0.12,2.62,0.00,0.000,4,0.081,0.061,3751,3940,2849,0,0,0,0,0,0
$GC,8375,2.14,84.6,685.3,11.9,275,8381,0.12,2.58,0.00,0.000,6,0.143,0.048,3729,2410,2848,0,0,0,0,0,0
$GC,8627,2.14,84.6,659.9,10.1,282,8632,0.00,2.60,0.00,0.000,4,0.000,0.056,3729,3940,2847,0,0,0,0,0,0
$GC,8884,2.14,84.6,632.5,11.0,287,8890,0.00,2.55,0.00,0.000,6,0.000,0.048,3729,2417,2846,0,0,0,0,0,0
$GC,9137,2.15,86.0,608.6,9.8,294,9142,0.00,2.58,0.00,0.000,4,0.000,0.058,3729,3937,2846,0,0,0,0,0,0
$GC,9395,2.15,86.0,580.6,10.2,299,9401,0.00,2.53,0.00,0.000,6,0.000,0.045,3729,2413,2845,0,0,0,0,0,0
$GC,9648,2.19,91.2,557.4,9.2,306,9662,0.00,2.65,7.47,0.821,4,0.000,0.053,3729,3938,2818,0,0,0,0,0,0
$GC,9921,2.19,91.2,526.6,12.1,312,9925,0.00,2.50,0.00,0.000,6,0.000,0.039,3729,2432,2818,0,0,0,0,0,0
$GC,10204,2.23,91.2,495.8,10.9,319,10209,0.00,2.53,0.00,0.000,4,0.000,0.048,3729,3942,2817,0,0,0,0,0,0
$GC,10374,2.23,91.2,475.9,11.4,322,10382,0.00,2.47,0.00,0.000,6,0.000,0.034,3729,2430,2817,0,0,0,0,0,0
$GC,10624,2.29,91.2,450.3,10.3,329,10629,0.12,2.53,0.00,0.000,4,0.077,0.048,3766,3950,2817,0,0,0,0,0,0
$GC,10840,2.23,91.2,425.4,12.2,333,10845,0.00,2.47,0.00,0.000,6,0.000,0.031,3766,2434,2817,0,0,0,0,0,0
$GC,11089,2.23,91.2,398.0,10.7,340,11093,0.00,2.47,0.00,0.000,4,0.000,0.042,3765,3949,2817,0,0,0,0,0,0
$GC,11299,2.18,91.2,373.4,12.0,344,11304,0.15,2.45,0.00,0.000,6,0.129,0.029,3737,2433,2817,0,0,0,0,0,0
$GC,11549,2.22,93.0,348.8,9.7,350,11554,0.00,2.47,0.00,0.000,4,0.000,0.048,3737,3941,2818,0,0,0,0,0,0
$GC,11610,2.22,93.0,342.0,11.6,351,11614,0.00,2.42,0.00,0.000,6,0.000,0.026,3737,2431,2818,0,0,0,0,0,0
$GC,11874,2.27,93.0,315.6,10.3,358,11876,0.00,0.00,0.00,0.000,6,0.000,0.000,3737,2432,2818,0,0,0,0,0,0
$GC,12118,2.32,93.0,289.5,10.8,364,12128,0.10,2.53,3.92,0.483,4,0.087,0.040,3770,3944,2810,0,0,0,0,0,0
$GC,12343,2.27,93.0,262.7,11.7,369,12348,0.00,2.42,0.00,0.000,6,0.000,0.025,3770,2429,2810,0,0,0,0,0,0
$GC,12627,2.27,93.0,231.3,10.9,376,12631,0.00,2.47,0.00,0.000,4,0.000,0.041,3770,3943,2811,0,0,0,0,0,0
$GC,12817,2.27,93.0,210.4,10.1,380,12821,0.00,2.42,0.00,0.000,6,0.000,0.026,3770,2445,2812,0,0,0,0,0,0
$GC,13077,2.29,109.8,189.2,7.5,394,13099,0.00,2.50,15.60,0.629,4,0.000,0.045,3770,3947,2741,0,0,0,0,0,0
$GC,13255,2.29,109.8,170.9,10.6,409,13259,0.00,2.40,0.00,0.000,6,0.000,0.025,3770,2448,2740,0,0,0,0,0,0
$GC,13524,2.41,153.2,153.0,3.5,433,13569,0.00,2.53,36.88,0.619,4,0.000,0.043,3770,3937,2564,0,0,0,0,0,0
$GC,13816,2.52,175.0,129.1,6.7,457,13841,0.00,2.38,19.10,0.577,6,0.000,0.024,3770,2446,2475,0,0,0,0,0,0
$GC,14096,2.65,180.0,105.3,9.3,483,14107,0.00,2.45,5.12,0.436,4,0.000,0.037,3770,3945,2457,0,0,0,0,0,0
$GC,14149,2.74,180.0,99.8,11.1,487,14153,0.00,2.38,0.00,0.000,6,0.000,0.024,3770,2452,2456,0,0,0,0,0,0
$GC,14416,2.87,180.0,72.2,10.6,511,14420,0.00,2.42,0.00,0.000,4,0.000,0.040,3770,3945,2456,0,0,0,0,0,0
$GC,14456,2.97,180.0,67.2,11.4,513,14465,0.00,2.40,0.00,0.000,6,0.000,0.025,3770,2452,2456,0,0,0,0,0,0
$GC,14723,3.12,182.2,40.8,9.7,538,14733,0.00,0.00,4.28,0.366,6,0.000,0.000,3770,2453,2446,0,0,0,0,0,0
$GC,15027,3.28,186.0,10.5,9.4,577,15038,0.00,2.50,5.53,0.393,4,0.000,0.039,3770,3941,2429,0,0,0,0,0,0
$STATE,15086,end climb,SURFACE_DEPTH_REACHED
$STATE,15086,begin surface coast
$FINISH,2.1,1.023339
$STATE,15102,end surface coast,CONTROL_FINISHED_OK
$STATE,15102,begin surface
$SM_CCo,15128,132.00,0.489,0,0,1763,350.04
$SM_GC,1.87,0.00,0.00,132.00,0.000,0.000,0.489,462,2181,1763,-12.87,-0.82,350.04
$IRIDIUM_FIX,1918.37,-8109.84,140702,161611
$TT8_MAMPS,0.026078
$HUMID,58.66
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.50
$XPDR_PINGS,96
$24V_AH,23.1,61.031
$10V_AH,9.9,54.325
$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,31.775,168.975,235.075,132.000,0.000,54.252,79.326,296.168,24.000,0.000,14.379,1364.424,10592.901,484.182,2609.171,870.804,33.375,1553.056,0.000,2588.452,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,131.924,1193.452,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.770,294.854,371.032,507.067,965.493,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,44757,587
$CAP_FILE_SIZE,152993,0
$CFSIZE,260165632,97865728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190413,202624,1923.960,-8106.530,40,1.5,40,-3.8