version: 66.06
glider: 146
mission: 8
dive: 462
start: 4 26 113 5 47 55
data:
$ID,146
$MISSION,8
$DIVE,462
$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,-316465.28
$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,46
$R_STBD_OVSHOOT,22
$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
$GPS1,053936,1924.774,-8106.684,28,1.2,28,-3.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.8
$GPS2,054700,1924.763,-8106.571,9,1.3,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.001
$KALMAN_X,-117782.0,694.4,630.8,117898.4,-493.7
$KALMAN_Y,123586.8,159.3,103.2,-121627.5,-470.2
$MHEAD_RNG_PITCHd_Wd,273.4,2543,-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,16,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,84,0.00,0.00,-63.00,0.000,2,0.000,0.000,456,2185,3282,0,0,0,0,0,0
$GC,89,-2.14,-82.7,3.2,-4.3,8,115,12.70,2.65,-4.93,0.000,4,0.159,0.042,2787,3807,3529,0,0,0,0,0,0
$GC,338,-2.07,-82.7,72.1,-24.8,33,343,0.10,2.47,0.00,0.000,6,0.143,0.023,2804,2220,3530,0,0,0,0,0,0
$GC,607,-2.07,-82.7,130.8,-19.4,57,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2220,3530,0,0,0,0,0,0
$GC,872,-2.15,-82.7,174.9,-14.3,82,876,0.00,2.55,0.00,0.000,4,0.000,0.032,2804,3811,3531,0,0,0,0,0,0
$GC,919,-2.22,-82.7,182.1,-14.8,85,925,0.12,2.53,0.00,0.000,6,0.063,0.018,2743,2187,3531,0,0,0,0,0,0
$GC,1204,-2.22,-82.7,223.8,-14.7,101,1206,0.15,0.00,0.00,0.000,6,0.108,0.000,2775,2187,3532,0,0,0,0,0,0
$GC,1448,-2.27,-82.7,256.3,-13.2,107,1453,0.00,2.62,0.00,0.000,4,0.000,0.040,2774,3812,3532,0,0,0,0,0,0
$GC,1511,-2.27,-82.7,264.8,-14.1,108,1516,0.00,2.50,0.00,0.000,6,0.000,0.020,2775,2207,3532,0,0,0,0,0,0
$GC,1772,-2.34,-82.7,299.2,-13.1,115,1777,0.10,2.60,0.00,0.000,4,0.078,0.040,2727,3805,3531,0,0,0,0,0,0
$GC,1824,-2.29,-82.7,306.8,-15.5,116,1830,0.15,2.53,0.00,0.000,6,0.108,0.029,2757,2210,3531,0,0,0,0,0,0
$GC,2097,-2.33,-82.7,344.9,-14.0,123,2101,0.00,2.62,0.00,0.000,4,0.000,0.044,2757,3796,3531,0,0,0,0,0,0
$GC,2163,-2.33,-82.7,354.7,-15.4,124,2167,0.00,2.53,0.00,0.000,6,0.000,0.034,2757,2206,3531,0,0,0,0,0,0
$GC,2421,-2.37,-82.7,389.6,-13.5,131,2425,0.00,2.65,0.00,0.000,4,0.000,0.050,2757,3801,3530,0,0,0,0,0,0
$GC,2442,-2.37,-82.7,393.1,-13.8,131,2446,0.00,2.55,0.00,0.000,6,0.000,0.031,2757,2207,3530,0,0,0,0,0,0
$GC,2697,-2.41,-82.7,427.8,-13.6,138,2702,0.00,2.65,0.00,0.000,4,0.000,0.053,2757,3794,3529,0,0,0,0,0,0
$GC,2761,-2.41,-82.7,437.0,-15.2,139,2765,0.00,2.58,0.00,0.000,6,0.000,0.038,2757,2210,3529,0,0,0,0,0,0
$GC,3021,-2.46,-82.7,472.1,-13.2,146,3027,0.15,2.70,0.00,0.000,4,0.058,0.061,2700,3793,3527,0,0,0,0,0,0
$GC,3242,-2.39,-82.7,508.6,-15.8,151,3247,0.17,2.62,0.00,0.000,6,0.112,0.053,2735,2228,3526,0,0,0,0,0,0
$GC,3525,-2.39,-82.7,548.1,-13.6,158,3530,0.00,2.75,0.00,0.000,4,0.000,0.074,2735,3793,3525,0,0,0,0,0,0
$GC,3644,-2.39,-82.7,565.1,-14.7,160,3649,0.00,2.65,0.00,0.000,6,0.000,0.058,2735,2234,3525,0,0,0,0,0,0
$GC,3894,-2.39,-82.7,599.3,-13.7,166,3899,0.00,2.78,0.00,0.000,4,0.000,0.084,2735,3796,3523,0,0,0,0,0,0
$GC,3966,-2.39,-82.7,610.0,-15.0,167,3970,0.00,2.72,0.00,0.000,6,0.000,0.073,2735,2239,3523,0,0,0,0,0,0
$GC,4218,-2.39,-82.7,644.9,-14.1,173,4223,0.00,2.88,0.00,0.000,4,0.000,0.101,2735,3794,3521,0,0,0,0,0,0
$GC,4284,-2.39,-82.7,655.3,-15.6,174,4289,0.00,2.83,0.00,0.000,6,0.000,0.091,2735,2239,3521,0,0,0,0,0,0
$GC,4539,-2.39,-82.7,690.6,-13.9,181,4544,0.00,2.97,0.00,0.000,4,0.000,0.118,2735,3786,3519,0,0,0,0,0,0
$GC,4613,-2.39,-82.7,701.5,-15.4,182,4618,0.00,2.78,0.00,0.000,6,0.000,0.090,2735,2250,3519,0,0,0,0,0,0
$GC,4863,-2.39,-82.7,736.7,-13.9,188,4868,0.00,2.83,0.00,0.000,4,0.000,0.095,2735,3790,3517,0,0,0,0,0,0
$GC,4954,-2.39,-82.7,749.7,-14.2,190,4959,0.00,2.72,0.00,0.000,6,0.000,0.081,2735,2256,3516,0,0,0,0,0,0
$GC,5231,-2.39,-82.7,786.8,-13.3,197,5236,0.00,2.80,0.00,0.000,4,0.000,0.094,2735,3791,3514,0,0,0,0,0,0
$GC,5292,-2.39,-82.7,795.5,-13.7,198,5296,0.00,2.70,0.00,0.000,6,0.000,0.077,2735,2258,3514,0,0,0,0,0,0
$GC,5560,-2.39,-82.7,831.1,-13.5,205,5565,0.00,2.78,0.00,0.000,4,0.000,0.091,2735,3787,3512,0,0,0,0,0,0
$GC,5581,-2.39,-82.7,834.4,-13.7,205,5586,0.00,2.67,0.00,0.000,6,0.000,0.074,2735,2264,3512,0,0,0,0,0,0
$GC,5837,-2.39,-82.7,868.6,-13.5,212,5842,0.00,2.75,0.00,0.000,4,0.000,0.086,2735,3790,3510,0,0,0,0,0,0
$GC,5928,-2.39,-82.7,881.3,-13.9,214,5932,0.00,2.65,0.00,0.000,6,0.000,0.069,2735,2279,3510,0,0,0,0,0,0
$STATE,6082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6082,begin apogee
$GC,6089,-0.31,0.0,901.8,13.1,218,6163,2.12,0.00,69.07,1.183,6,0.100,0.000,3189,2368,3190,0,0,0,0,0,0
$STATE,6164,end apogee,CONTROL_FINISHED_OK
$STATE,6164,begin climb
$GC,6167,2.14,82.7,904.3,0.0,220,6249,2.20,3.08,73.20,1.156,4,0.031,0.103,3744,774,2851,0,0,0,0,0,0
$GC,6259,2.15,91.5,899.3,8.7,222,6274,0.00,2.80,9.20,0.972,6,0.000,0.064,3743,2368,2817,0,0,0,0,0,0
$GC,6535,2.15,91.5,865.4,12.5,229,6540,0.00,2.80,0.00,0.000,4,0.000,0.082,3744,3940,2812,0,0,0,0,0,0
$GC,6782,2.09,91.5,831.3,14.8,234,6787,0.15,2.62,0.00,0.000,6,0.142,0.039,3717,2376,2810,0,0,0,0,0,0
$GC,7037,2.14,91.5,800.3,12.1,241,7042,0.00,2.70,0.00,0.000,4,0.000,0.055,3716,3942,2808,0,0,0,0,0,0
$GC,7216,2.14,91.5,777.5,13.7,245,7220,0.00,2.65,0.00,0.000,6,0.000,0.044,3717,2379,2807,0,0,0,0,0,0
$GC,7497,2.20,91.5,746.4,11.0,252,7501,0.00,2.70,0.00,0.000,4,0.000,0.062,3717,3948,2806,0,0,0,0,0,0
$GC,7758,2.20,91.5,716.6,10.8,257,7764,0.00,2.65,0.00,0.000,6,0.000,0.048,3717,2386,2804,0,0,0,0,0,0
$GC,8011,2.26,91.5,690.2,10.4,264,8016,0.15,2.65,0.00,0.000,4,0.072,0.059,3760,3940,2803,0,0,0,0,0,0
$GC,8269,2.19,91.5,657.9,11.9,269,8275,0.10,2.62,0.00,0.000,6,0.151,0.044,3742,2391,2802,0,0,0,0,0,0
$GC,8521,2.19,91.5,631.0,10.7,276,8525,0.00,2.65,0.00,0.000,4,0.000,0.058,3741,3941,2802,0,0,0,0,0,0
$GC,8781,2.16,91.5,599.1,12.8,281,8786,0.00,2.58,0.00,0.000,6,0.000,0.048,3741,2405,2801,0,0,0,0,0,0
$GC,9031,2.16,91.5,571.0,11.0,288,9035,0.00,2.60,0.00,0.000,4,0.000,0.054,3741,3942,2801,0,0,0,0,0,0
$GC,9291,2.12,91.5,539.2,12.6,293,9296,0.00,2.55,0.00,0.000,6,0.000,0.042,3741,2403,2800,0,0,0,0,0,0
$GC,9540,2.12,91.5,511.2,10.8,300,9545,0.00,2.60,0.00,0.000,4,0.000,0.054,3741,3950,2800,0,0,0,0,0,0
$GC,9704,2.12,91.5,492.0,11.3,303,9709,0.00,2.53,0.00,0.000,6,0.000,0.042,3742,2410,2800,0,0,0,0,0,0
$GC,9956,2.12,91.5,465.2,10.5,309,9961,0.00,2.58,0.00,0.000,4,0.000,0.054,3741,3949,2800,0,0,0,0,0,0
$GC,10124,2.07,91.5,445.3,12.0,312,10131,0.15,2.50,0.00,0.000,6,0.137,0.031,3714,2417,2800,0,0,0,0,0,0
$GC,10377,2.15,91.5,419.9,10.0,319,10381,0.00,2.55,0.00,0.000,4,0.000,0.051,3713,3952,2800,0,0,0,0,0,0
$GC,10449,2.15,91.5,411.9,10.6,320,10453,0.00,2.47,0.00,0.000,6,0.000,0.035,3713,2426,2800,0,0,0,0,0,0
$GC,10702,2.24,91.5,386.7,10.0,326,10707,0.15,2.53,0.00,0.000,4,0.104,0.042,3757,3951,2800,0,0,0,0,0,0
$GC,10887,2.19,91.5,363.0,12.9,330,10891,0.00,2.45,0.00,0.000,6,0.000,0.027,3757,2430,2801,0,0,0,0,0,0
$GC,11161,2.19,91.5,332.4,11.0,337,11165,0.00,2.50,0.00,0.000,4,0.000,0.044,3757,3945,2801,0,0,0,0,0,0
$GC,11421,2.15,91.5,299.6,12.8,342,11427,0.15,2.40,0.00,0.000,6,0.129,0.025,3729,2447,2802,0,0,0,0,0,0
$GC,11674,2.22,91.5,271.7,11.1,349,11678,0.00,2.47,0.00,0.000,4,0.000,0.044,3729,3948,2803,0,0,0,0,0,0
$GC,11852,2.22,91.5,249.7,11.9,353,11856,0.00,2.38,0.00,0.000,6,0.000,0.025,3729,2449,2803,0,0,0,0,0,0
$GC,12139,2.30,95.9,223.3,9.3,360,12144,0.12,2.47,0.00,0.000,4,0.218,0.042,3768,3946,2804,0,0,0,0,0,0
$GC,12343,2.31,101.3,202.4,9.2,364,12359,0.00,2.38,7.55,0.572,6,0.000,0.025,3768,2456,2777,0,0,0,0,0,0
$GC,12613,2.37,115.5,177.1,7.9,386,12637,0.00,2.53,12.77,0.604,4,0.000,0.048,3768,3941,2718,0,0,0,0,0,0
$GC,12902,2.38,124.2,148.3,8.7,410,12916,0.00,2.40,8.82,0.549,6,0.000,0.025,3768,2455,2683,0,0,0,0,0,0
$GC,13176,2.52,163.8,134.0,4.0,435,13223,0.00,2.50,34.15,0.594,4,0.000,0.039,3768,3945,2520,0,0,0,0,0,0
$GC,13265,2.58,169.1,128.3,9.2,442,13278,0.00,2.40,5.78,0.467,6,0.000,0.024,3768,2461,2500,0,0,0,0,0,0
$GC,13541,2.71,173.2,101.0,9.4,468,13559,0.00,2.50,4.75,0.420,4,0.000,0.040,3768,3951,2484,0,0,0,0,0,0
$GC,13830,2.81,173.2,74.2,10.1,491,13839,0.00,2.40,0.00,0.000,6,0.000,0.024,3768,2456,2484,0,0,0,0,0,0
$GC,14098,2.98,189.0,51.8,7.6,516,14126,0.00,2.53,15.20,0.499,4,0.000,0.041,3768,3946,2418,0,0,0,0,0,0
$GC,14413,3.12,192.8,21.6,9.4,547,14423,0.00,2.38,4.90,0.379,6,0.000,0.025,3768,2464,2402,0,0,0,0,0,0
$STATE,14579,end climb,SURFACE_DEPTH_REACHED
$STATE,14579,begin surface coast
$FINISH,1.2,1.023326
$STATE,14628,end surface coast,CONTROL_FINISHED_OK
$STATE,14628,begin surface
$SM_CCo,14652,127.47,0.481,0,0,1762,350.04
$SM_GC,1.85,0.00,0.00,127.47,0.000,0.000,0.481,463,2177,1762,-12.87,-0.90,350.04
$IRIDIUM_FIX,1920.65,-8112.10,210702,000041
$TT8_MAMPS,0.025311
$HUMID,59.09
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.90
$XPDR_PINGS,126
$24V_AH,23.1,65.069
$10V_AH,10.0,57.994
$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,32.350,178.275,245.400,127.475,0.000,27.140,34.175,207.932,31.500,0.000,16.071,1361.169,9946.106,491.878,2715.581,702.830,33.371,1606.873,0.000,2679.554,0.000,0.537,0.000
$DEVICE_MAMPS,217.828,118.118,1183.481,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.835,286.907,371.370,524.828,999.041,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355876
$DATA_FILE_SIZE,44699,578
$CAP_FILE_SIZE,151856,0
$CFSIZE,260165632,95776768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260413,095706,1924.091,-8106.512,125,0.8,125,-3.8