version: 66.06
glider: 146
mission: 8
dive: 256
start: 3 11 113 0 59 15
data:
$ID,146
$MISSION,8
$DIVE,256
$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,-312506.94
$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,40
$R_STBD_OVSHOOT,23
$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
$GPS1,005044,1922.745,-8107.751,41,2.6,60,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.2
$GPS2,005821,1922.726,-8107.744,12,3.0,31,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.035,0.139
$KALMAN_X,-16081.7,142.1,-34.9,15378.1,184.5
$KALMAN_Y,15428.4,-264.8,-264.1,-16436.9,772.8
$MHEAD_RNG_PITCHd_Wd,349.8,3315,-32.5,-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,-2.09,-44.7,0.0,0.0,0,92,0.00,0.00,-66.72,0.000,6,0.000,0.000,464,2187,3372,0,0,0,0,0,0
$GC,97,-2.11,-66.9,4.0,-6.7,9,123,12.68,2.62,-1.70,0.000,4,0.165,0.041,2791,3807,3465,0,0,0,0,0,0
$GC,323,-2.04,-66.9,64.8,-24.0,33,333,0.08,2.53,0.00,0.000,6,0.120,0.020,2808,2206,3466,0,0,0,0,0,0
$GC,587,-2.04,-66.9,122.5,-21.2,58,592,0.00,2.53,0.00,0.000,4,0.000,0.027,2808,3809,3466,0,0,0,0,0,0
$GC,599,-2.04,-66.9,126.1,-21.7,58,608,0.00,2.53,0.00,0.000,6,0.000,0.018,2808,2204,3466,0,0,0,0,0,0
$GC,864,-2.09,-66.9,167.3,-14.5,83,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2204,3467,0,0,0,0,0,0
$GC,1156,-2.17,-66.9,205.4,-12.0,108,1160,0.00,2.55,0.00,0.000,4,0.000,0.031,2808,3818,3467,0,0,0,0,0,0
$GC,1222,-2.24,-66.9,214.3,-12.7,109,1227,0.15,2.45,0.00,0.000,6,0.059,0.017,2746,2222,3467,0,0,0,0,0,0
$GC,1479,-2.24,-66.9,248.9,-13.3,116,1484,0.12,2.53,0.00,0.000,4,0.278,0.031,2771,3808,3467,0,0,0,0,0,0
$GC,1523,-2.24,-66.9,255.5,-14.3,117,1527,0.00,2.45,0.00,0.000,6,0.000,0.018,2771,2234,3468,0,0,0,0,0,0
$GC,1804,-2.28,-66.9,289.4,-12.2,124,1808,0.00,2.50,0.00,0.000,4,0.000,0.041,2770,3803,3468,0,0,0,0,0,0
$GC,1893,-2.28,-66.9,301.5,-12.8,126,1897,0.00,2.45,0.00,0.000,6,0.000,0.028,2770,2230,3467,0,0,0,0,0,0
$GC,2170,-2.33,-66.9,335.2,-12.3,133,2175,0.00,2.53,0.00,0.000,4,0.000,0.044,2770,3802,3467,0,0,0,0,0,0
$GC,2239,-2.33,-66.9,344.0,-13.6,134,2243,0.00,2.47,0.00,0.000,6,0.000,0.031,2770,2239,3467,0,0,0,0,0,0
$GC,2494,-2.37,-66.9,376.4,-12.6,141,2499,0.12,2.55,0.00,0.000,4,0.069,0.041,2718,3796,3466,0,0,0,0,0,0
$GC,2515,-2.37,-66.9,379.7,-14.2,141,2521,0.12,2.50,0.00,0.000,6,0.115,0.035,2742,2233,3466,0,0,0,0,0,0
$GC,2773,-2.37,-66.9,412.3,-12.7,148,2777,0.00,2.58,0.00,0.000,4,0.000,0.053,2742,3799,3465,0,0,0,0,0,0
$GC,2788,-2.37,-66.9,414.7,-12.2,148,2792,0.00,2.53,0.00,0.000,6,0.000,0.040,2742,2232,3465,0,0,0,0,0,0
$GC,3049,-2.37,-66.9,446.8,-12.3,155,3054,0.00,2.60,0.00,0.000,4,0.000,0.052,2742,3799,3464,0,0,0,0,0,0
$GC,3126,-2.37,-66.9,457.0,-12.7,156,3132,0.00,2.58,0.00,0.000,6,0.000,0.041,2742,2240,3464,0,0,0,0,0,0
$GC,3376,-2.37,-66.9,488.8,-12.7,163,3381,0.00,2.62,0.00,0.000,4,0.000,0.061,2742,3798,3463,0,0,0,0,0,0
$GC,3416,-2.37,-66.9,494.1,-13.4,164,3420,0.00,2.58,0.00,0.000,6,0.000,0.044,2742,2247,3463,0,0,0,0,0,0
$GC,3701,-2.37,-66.9,529.0,-12.3,171,3705,0.00,2.62,0.00,0.000,4,0.000,0.068,2742,3790,3461,0,0,0,0,0,0
$GC,3756,-2.37,-66.9,536.9,-13.1,172,3760,0.00,2.58,0.00,0.000,6,0.000,0.054,2742,2241,3461,0,0,0,0,0,0
$GC,4022,-2.37,-66.9,569.5,-12.1,179,4026,0.00,2.67,0.00,0.000,4,0.000,0.069,2742,3789,3459,0,0,0,0,0,0
$GC,4040,-2.37,-66.9,571.7,-12.2,179,4044,0.00,2.60,0.00,0.000,6,0.000,0.061,2742,2247,3459,0,0,0,0,0,0
$GC,4300,-2.37,-66.9,604.1,-12.5,186,4304,0.00,2.70,0.00,0.000,4,0.000,0.074,2742,3792,3458,0,0,0,0,0,0
$GC,4332,-2.37,-66.9,608.3,-13.5,186,4338,0.00,2.65,0.00,0.000,6,0.000,0.066,2742,2252,3458,0,0,0,0,0,0
$GC,4584,-2.37,-66.9,639.4,-12.4,193,4589,0.00,2.78,0.00,0.000,4,0.000,0.094,2742,3787,3457,0,0,0,0,0,0
$GC,4650,-2.37,-66.9,649.2,-13.8,194,4655,0.00,2.72,0.00,0.000,6,0.000,0.091,2742,2261,3456,0,0,0,0,0,0
$GC,4906,-2.37,-66.9,681.0,-12.3,201,4911,0.00,2.83,0.00,0.000,4,0.000,0.107,2742,3789,3455,0,0,0,0,0,0
$GC,5055,-2.37,-66.9,700.1,-13.1,204,5059,0.00,2.70,0.00,0.000,6,0.000,0.084,2742,2262,3454,0,0,0,0,0,0
$GC,5321,-2.37,-66.9,732.4,-11.8,211,5325,0.00,2.75,0.00,0.000,4,0.000,0.091,2742,3794,3452,0,0,0,0,0,0
$GC,5445,-2.37,-66.9,748.0,-13.6,213,5451,0.00,2.65,0.00,0.000,6,0.000,0.071,2742,2274,3451,0,0,0,0,0,0
$GC,5695,-2.37,-66.9,776.8,-11.1,220,5699,0.00,2.70,0.00,0.000,4,0.000,0.087,2742,3793,3449,0,0,0,0,0,0
$GC,5778,-2.37,-66.9,787.6,-12.8,222,5783,0.00,2.62,0.00,0.000,6,0.000,0.067,2742,2282,3450,0,0,0,0,0,0
$GC,6064,-2.37,-66.9,821.1,-11.9,229,6068,0.00,2.70,0.00,0.000,4,0.000,0.086,2742,3798,3448,0,0,0,0,0,0
$GC,6175,-2.37,-66.9,835.5,-12.4,231,6179,0.00,2.62,0.00,0.000,6,0.000,0.065,2742,2294,3447,0,0,0,0,0,0
$GC,6430,-2.37,-66.9,864.7,-11.2,238,6434,0.00,2.65,0.00,0.000,4,0.000,0.082,2742,3790,3446,0,0,0,0,0,0
$GC,6589,-2.37,-66.9,883.0,-11.0,241,6593,0.00,2.58,0.00,0.000,6,0.000,0.069,2742,2309,3444,0,0,0,0,0,0
$STATE,6760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6760,begin apogee
$GC,6766,-0.31,0.0,901.5,10.4,246,6825,2.10,0.00,54.20,1.195,6,0.105,0.000,3188,2376,3190,0,0,0,0,0,0
$STATE,6826,end apogee,CONTROL_FINISHED_OK
$STATE,6826,begin climb
$GC,6830,2.11,66.9,902.8,0.0,247,6897,2.17,2.80,58.25,1.172,4,0.031,0.075,3733,3937,2916,0,0,0,0,0,0
$GC,6961,2.03,66.9,892.5,11.4,250,6966,0.15,2.72,0.00,0.000,6,0.148,0.056,3706,2364,2914,0,0,0,0,0,0
$GC,7243,2.03,66.9,862.2,10.5,257,7248,0.00,2.72,0.00,0.000,4,0.000,0.058,3706,3937,2912,0,0,0,0,0,0
$GC,7489,2.03,66.9,835.0,11.0,262,7493,0.00,2.60,0.00,0.000,6,0.000,0.044,3706,2374,2910,0,0,0,0,0,0
$GC,7747,2.03,69.9,810.9,9.6,269,7752,0.00,2.65,0.00,0.000,4,0.000,0.056,3706,3933,2909,0,0,0,0,0,0
$GC,7976,2.03,69.9,787.8,10.2,274,7980,0.00,2.58,0.00,0.000,6,0.000,0.044,3706,2385,2907,0,0,0,0,0,0
$GC,8252,2.09,79.5,764.5,8.6,281,8267,0.00,2.65,10.12,0.995,4,0.000,0.054,3706,3931,2866,0,0,0,0,0,0
$GC,8290,2.09,79.5,760.5,10.1,282,8295,0.00,2.58,0.00,0.000,6,0.000,0.045,3707,2393,2866,0,0,0,0,0,0
$GC,8577,2.14,84.6,734.1,9.2,289,8590,0.00,2.65,6.32,0.873,4,0.000,0.057,3706,3931,2843,0,0,0,0,0,0
$GC,8846,2.14,84.6,705.8,10.7,295,8851,0.00,2.58,0.00,0.000,6,0.000,0.043,3706,2398,2842,0,0,0,0,0,0
$GC,9130,2.20,85.4,677.5,9.9,302,9136,0.12,2.62,0.00,0.000,4,0.082,0.053,3742,3931,2841,0,0,0,0,0,0
$GC,9363,2.14,85.4,650.7,11.6,307,9367,0.00,2.58,0.00,0.000,6,0.000,0.042,3742,2397,2841,0,0,0,0,0,0
$GC,9634,2.14,85.4,620.8,11.1,314,9639,0.00,2.60,0.00,0.000,4,0.000,0.051,3742,3934,2839,0,0,0,0,0,0
$GC,9774,2.08,85.4,605.5,11.5,317,9779,0.15,2.55,0.00,0.000,6,0.141,0.043,3714,2402,2839,0,0,0,0,0,0
$GC,10052,2.12,85.4,576.9,10.2,324,10057,0.00,2.58,0.00,0.000,4,0.000,0.054,3714,3933,2839,0,0,0,0,0,0
$GC,10310,2.12,85.4,548.4,11.5,329,10316,0.00,2.53,0.00,0.000,6,0.000,0.038,3714,2408,2839,0,0,0,0,0,0
$GC,10561,2.17,85.4,522.3,10.5,336,10565,0.00,2.53,0.00,0.000,4,0.000,0.053,3714,3933,2839,0,0,0,0,0,0
$GC,10604,2.17,85.4,517.5,10.6,337,10609,0.00,2.50,0.00,0.000,6,0.000,0.033,3714,2414,2838,0,0,0,0,0,0
$GC,10885,2.23,85.4,489.4,10.2,344,10890,0.12,2.55,0.00,0.000,4,0.079,0.047,3751,3938,2838,0,0,0,0,0,0
$GC,11145,2.15,85.4,459.4,11.5,349,11152,0.10,2.45,0.00,0.000,6,0.150,0.033,3733,2425,2839,0,0,0,0,0,0
$GC,11395,2.15,85.4,433.1,10.2,356,11399,0.00,2.50,0.00,0.000,4,0.000,0.042,3733,3942,2839,0,0,0,0,0,0
$GC,11520,2.15,85.4,419.1,11.2,358,11525,0.00,2.45,0.00,0.000,6,0.000,0.031,3733,2424,2839,0,0,0,0,0,0
$GC,11770,2.15,85.6,393.4,10.0,365,11774,0.00,2.50,0.00,0.000,4,0.000,0.046,3733,3946,2839,0,0,0,0,0,0
$GC,11950,2.15,85.6,373.8,12.0,369,11954,0.00,2.42,0.00,0.000,6,0.000,0.030,3733,2419,2839,0,0,0,0,0,0
$GC,12228,2.16,87.0,346.1,9.8,376,12232,0.00,2.50,0.00,0.000,4,0.000,0.040,3732,3948,2839,0,0,0,0,0,0
$GC,12487,2.16,87.0,319.4,10.1,381,12493,0.00,2.40,0.00,0.000,6,0.000,0.022,3732,2436,2841,0,0,0,0,0,0
$GC,12737,2.20,87.8,294.7,9.9,388,12746,0.00,2.50,3.80,0.478,4,0.000,0.038,3732,3938,2832,0,0,0,0,0,0
$GC,12820,2.20,87.8,285.8,11.9,389,12826,0.00,2.38,0.00,0.000,6,0.000,0.028,3733,2445,2832,0,0,0,0,0,0
$GC,13073,2.25,90.3,261.5,9.6,396,13082,0.00,2.47,4.10,0.487,4,0.000,0.045,3732,3945,2822,0,0,0,0,0,0
$GC,13223,2.25,90.3,244.3,11.5,399,13227,0.00,2.40,0.00,0.000,6,0.000,0.025,3732,2444,2822,0,0,0,0,0,0
$GC,13498,2.32,99.1,219.6,8.7,406,13513,0.10,2.47,9.45,0.622,4,0.087,0.039,3764,3938,2784,0,0,0,0,0,0
$GC,13769,2.32,99.1,189.4,11.9,415,13774,0.00,2.38,0.00,0.000,6,0.000,0.025,3764,2457,2784,0,0,0,0,0,0
$GC,14031,2.35,125.6,169.0,6.0,440,14059,0.00,2.50,22.48,0.630,4,0.000,0.041,3765,3938,2676,0,0,0,0,0,0
$GC,14330,2.37,134.5,139.7,8.7,465,14344,0.00,2.35,8.82,0.548,6,0.000,0.025,3765,2467,2640,0,0,0,0,0,0
$GC,14610,2.50,175.9,120.9,3.8,491,14652,0.00,2.83,35.03,0.593,4,0.000,0.044,3765,782,2473,0,0,0,0,0,0
$GC,14658,2.63,196.9,117.9,6.8,495,14683,0.00,2.70,19.10,0.565,6,0.000,0.020,3765,2484,2386,0,0,0,0,0,0
$GC,14942,2.76,196.9,86.7,11.7,521,14946,0.00,2.38,0.00,0.000,4,0.000,0.038,3765,3945,2383,0,0,0,0,0,0
$GC,15169,2.87,196.9,55.6,14.4,539,15173,0.00,2.35,0.00,0.000,6,0.000,0.023,3764,2464,2381,0,0,0,0,0,0
$GC,15451,3.01,196.9,17.7,15.4,569,15460,0.00,2.42,0.00,0.000,4,0.000,0.038,3765,3933,2382,0,0,0,0,0,0
$STATE,15541,end climb,SURFACE_DEPTH_REACHED
$STATE,15541,begin surface coast
$FINISH,1.0,1.014182
$STATE,15577,end surface coast,CONTROL_FINISHED_OK
$STATE,15581,begin surface
$SM_CCo,15606,122.32,0.498,0,0,1763,350.04
$SM_GC,1.73,0.00,0.00,122.32,0.000,0.000,0.498,462,2199,1763,-12.87,-0.31,350.04
$IRIDIUM_FIX,1918.37,-8110.19,040602,202059
$TT8_MAMPS,0.026078
$HUMID,56.30
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.00
$XPDR_PINGS,69
$24V_AH,23.3,36.187
$10V_AH,10.4,31.885
$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,31.575,200.550,231.675,122.325,0.000,28.395,48.726,193.843,17.250,0.000,33.391,1394.762,10906.688,484.915,2690.475,701.170,33.349,1633.458,0.000,2640.896,0.000,0.536,0.000
$DEVICE_MAMPS,277.654,106.613,1194.986,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.953,274.864,353.722,456.436,866.312,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,44619,587
$CAP_FILE_SIZE,159427,0
$CFSIZE,260165632,110583808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110313,052236,1923.805,-8108.463,29,1.3,29,-3.8