version: 66.06
glider: 146
mission: 8
dive: 257
start: 3 11 113 5 45 1
data:
$ID,146
$MISSION,8
$DIVE,257
$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,-312522.47
$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,34
$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
$GPS1,052236,1923.805,-8108.463,29,1.3,29,-3.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.9
$GPS2,054407,1923.760,-8108.496,13,1.3,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,0.121
$KALMAN_X,-16381.2,-55.3,-200.7,14739.7,195.8
$KALMAN_Y,14807.5,-344.4,-130.7,-13958.3,287.3
$MHEAD_RNG_PITCHd_Wd,35.6,1620,-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,-44.5,0.0,0.0,0,92,0.00,0.00,-67.10,0.000,6,0.000,0.000,462,2198,3371,0,0,0,0,0,0
$GC,95,-2.14,-80.9,3.5,-4.5,9,121,12.68,2.60,-3.00,0.000,4,0.165,0.048,2784,3799,3523,0,0,0,0,0,0
$GC,299,-2.06,-80.9,57.4,-23.8,31,304,0.12,2.50,0.00,0.000,6,0.143,0.020,2806,2204,3523,0,0,0,0,0,0
$GC,565,-2.06,-80.9,119.0,-20.5,55,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2203,3522,0,0,0,0,0,0
$GC,829,-2.12,-80.9,163.6,-16.0,80,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2203,3523,0,0,0,0,0,0
$GC,1081,-2.22,-80.9,199.1,-11.7,104,1086,0.12,2.58,0.00,0.000,4,0.066,0.040,2751,3805,3523,0,0,0,0,0,0
$GC,1132,-2.22,-80.9,206.6,-14.8,106,1138,0.12,2.45,0.00,0.000,6,0.114,0.016,2775,2207,3523,0,0,0,0,0,0
$GC,1405,-2.27,-80.9,243.2,-13.3,113,1409,0.00,2.55,0.00,0.000,4,0.000,0.038,2775,3811,3523,0,0,0,0,0,0
$GC,1456,-2.27,-80.9,250.7,-14.9,114,1461,0.00,2.47,0.00,0.000,6,0.000,0.025,2775,2228,3523,0,0,0,0,0,0
$GC,1729,-2.33,-80.9,287.4,-13.5,121,1733,0.00,2.53,0.00,0.000,4,0.000,0.034,2776,3809,3523,0,0,0,0,0,0
$GC,1778,-2.33,-80.9,294.4,-13.9,122,1783,0.10,2.47,0.00,0.000,6,0.077,0.027,2725,2238,3523,0,0,0,0,0,0
$GC,2052,-2.33,-80.9,335.1,-15.2,129,2057,0.12,2.55,0.00,0.000,4,0.116,0.036,2749,3801,3522,0,0,0,0,0,0
$GC,2096,-2.33,-80.9,342.5,-14.9,130,2101,0.00,2.47,0.00,0.000,6,0.000,0.027,2749,2247,3523,0,0,0,0,0,0
$GC,2374,-2.33,-80.9,380.6,-13.7,137,2379,0.00,2.53,0.00,0.000,4,0.000,0.048,2750,3804,3522,0,0,0,0,0,0
$GC,2420,-2.33,-80.9,386.8,-14.2,138,2425,0.00,2.53,0.00,0.000,6,0.000,0.037,2749,2249,3521,0,0,0,0,0,0
$GC,2697,-2.33,-80.9,425.7,-14.0,145,2701,0.00,2.58,0.00,0.000,4,0.000,0.054,2750,3801,3520,0,0,0,0,0,0
$GC,2713,-2.33,-80.9,428.0,-14.0,145,2718,0.00,2.53,0.00,0.000,6,0.000,0.041,2749,2249,3521,0,0,0,0,0,0
$GC,2977,-2.33,-80.9,464.0,-13.6,152,2981,0.00,2.60,0.00,0.000,4,0.000,0.063,2749,3801,3519,0,0,0,0,0,0
$GC,3042,-2.33,-80.9,473.9,-14.6,153,3047,0.00,2.58,0.00,0.000,6,0.000,0.045,2749,2244,3519,0,0,0,0,0,0
$GC,3304,-2.33,-80.9,509.0,-13.6,160,3308,0.00,2.65,0.00,0.000,4,0.000,0.061,2750,3795,3517,0,0,0,0,0,0
$GC,3394,-2.33,-80.9,522.2,-14.8,162,3399,0.00,2.55,0.00,0.000,6,0.000,0.052,2749,2263,3517,0,0,0,0,0,0
$GC,3673,-2.36,-80.9,560.5,-13.5,169,3677,0.00,2.65,0.00,0.000,4,0.000,0.070,2749,3790,3515,0,0,0,0,0,0
$GC,3688,-2.36,-80.9,562.8,-12.8,169,3692,0.00,2.58,0.00,0.000,6,0.000,0.060,2749,2264,3515,0,0,0,0,0,0
$GC,3958,-2.40,-80.9,597.7,-13.1,176,3962,0.00,2.67,0.00,0.000,4,0.000,0.073,2749,3790,3513,0,0,0,0,0,0
$GC,3990,-2.40,-80.9,602.5,-13.0,176,3996,0.00,2.62,0.00,0.000,6,0.000,0.066,2749,2262,3513,0,0,0,0,0,0
$GC,4240,-2.44,-80.9,634.5,-12.8,183,4245,0.00,2.72,0.00,0.000,4,0.000,0.087,2749,3789,3512,0,0,0,0,0,0
$GC,4286,-2.44,-80.9,640.5,-13.6,184,4290,0.00,2.72,0.00,0.000,6,0.000,0.082,2749,2267,3511,0,0,0,0,0,0
$GC,4564,-2.48,-80.9,676.4,-12.5,191,4569,0.12,2.85,0.00,0.000,4,0.069,0.107,2703,3791,3510,0,0,0,0,0,0
$GC,4680,-2.41,-80.9,693.5,-14.9,193,4685,0.15,2.70,0.00,0.000,6,0.117,0.087,2732,2269,3509,0,0,0,0,0,0
$GC,4935,-2.41,-80.9,728.8,-13.4,200,4939,0.00,2.78,0.00,0.000,4,0.000,0.098,2732,3793,3508,0,0,0,0,0,0
$GC,5023,-2.41,-80.9,741.6,-14.2,202,5028,0.00,2.65,0.00,0.000,6,0.000,0.076,2732,2287,3506,0,0,0,0,0,0
$GC,5304,-2.41,-80.9,780.1,-13.7,209,5308,0.00,2.67,0.00,0.000,4,0.000,0.088,2732,3790,3504,0,0,0,0,0,0
$GC,5347,-2.41,-80.9,786.7,-13.7,210,5352,0.00,2.62,0.00,0.000,6,0.000,0.070,2732,2288,3504,0,0,0,0,0,0
$GC,5625,-2.41,-80.9,823.7,-13.1,217,5630,0.00,2.67,0.00,0.000,4,0.000,0.086,2731,3788,3502,0,0,0,0,0,0
$GC,5648,-2.41,-80.9,826.6,-13.2,217,5653,0.00,2.60,0.00,0.000,6,0.000,0.065,2731,2297,3502,0,0,0,0,0,0
$GC,5903,-2.41,-80.9,858.2,-12.3,224,5908,0.00,2.65,0.00,0.000,4,0.000,0.082,2732,3790,3500,0,0,0,0,0,0
$GC,6061,-2.41,-80.9,879.4,-13.2,227,6066,0.00,2.55,0.00,0.000,6,0.000,0.069,2732,2312,3499,0,0,0,0,0,0
$STATE,6233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6233,begin apogee
$GC,6241,-0.31,0.0,901.0,12.2,232,6315,2.15,0.00,65.72,1.193,6,0.105,0.000,3188,2378,3190,0,0,0,0,0,0
$STATE,6316,end apogee,CONTROL_FINISHED_OK
$STATE,6316,begin climb
$GC,6318,2.14,80.9,902.6,0.0,234,6400,2.20,3.15,70.00,1.173,4,0.032,0.114,3741,790,2859,0,0,0,0,0,0
$GC,6410,2.14,80.9,896.1,10.6,236,6414,0.00,2.75,0.00,0.000,6,0.000,0.061,3741,2370,2858,0,0,0,0,0,0
$GC,6687,2.14,80.9,859.9,13.0,243,6692,0.00,2.78,0.00,0.000,4,0.000,0.077,3741,3936,2855,0,0,0,0,0,0
$GC,6945,2.06,80.9,826.4,12.8,248,6951,0.15,2.60,0.00,0.000,6,0.147,0.041,3713,2384,2853,0,0,0,0,0,0
$GC,7194,2.06,80.9,798.8,11.0,255,7199,0.00,2.65,0.00,0.000,4,0.000,0.058,3713,3938,2851,0,0,0,0,0,0
$GC,7293,2.06,80.9,786.8,12.6,257,7297,0.00,2.60,0.00,0.000,6,0.000,0.043,3714,2390,2850,0,0,0,0,0,0
$GC,7564,2.06,80.9,756.3,10.8,264,7569,0.00,2.62,0.00,0.000,4,0.000,0.052,3713,3938,2849,0,0,0,0,0,0
$GC,7822,2.06,80.9,726.8,11.1,269,7828,0.00,2.58,0.00,0.000,6,0.000,0.046,3713,2396,2848,0,0,0,0,0,0
$GC,8073,2.11,82.4,702.3,9.8,276,8077,0.00,2.60,0.00,0.000,4,0.000,0.058,3714,3942,2847,0,0,0,0,0,0
$GC,8252,2.11,82.4,682.9,11.1,280,8256,0.00,2.60,0.00,0.000,6,0.000,0.048,3713,2394,2846,0,0,0,0,0,0
$GC,8530,2.15,83.5,655.3,9.8,287,8534,0.00,2.62,0.00,0.000,4,0.000,0.051,3713,3943,2845,0,0,0,0,0,0
$GC,8673,2.15,83.5,641.0,10.4,290,8677,0.00,2.58,0.00,0.000,6,0.000,0.045,3714,2401,2845,0,0,0,0,0,0
$GC,8945,2.20,83.5,613.3,10.2,297,8950,0.10,2.62,0.00,0.000,4,0.094,0.054,3742,3942,2844,0,0,0,0,0,0
$GC,9159,2.14,83.5,587.2,12.2,301,9165,0.00,2.55,0.00,0.000,6,0.000,0.042,3742,2406,2844,0,0,0,0,0,0
$GC,9409,2.14,83.5,560.0,10.8,308,9413,0.00,2.58,0.00,0.000,4,0.000,0.051,3742,3939,2844,0,0,0,0,0,0
$GC,9588,2.08,83.5,539.8,10.5,312,9593,0.15,2.50,0.00,0.000,6,0.141,0.034,3715,2417,2844,0,0,0,0,0,0
$GC,9866,2.14,89.2,514.0,9.1,319,9877,0.00,2.58,5.65,0.740,4,0.000,0.051,3715,3944,2825,0,0,0,0,0,0
$GC,9955,2.14,89.2,504.5,10.9,321,9959,0.00,2.50,0.00,0.000,6,0.000,0.032,3715,2420,2825,0,0,0,0,0,0
$GC,10234,2.20,89.2,476.0,10.4,328,10239,0.10,2.55,0.00,0.000,4,0.257,0.044,3743,3942,2824,0,0,0,0,0,0
$GC,10382,2.15,89.2,458.7,11.7,331,10386,0.00,2.45,0.00,0.000,6,0.000,0.028,3743,2437,2824,0,0,0,0,0,0
$GC,10648,2.15,89.2,429.7,10.6,338,10652,0.00,2.47,0.00,0.000,4,0.000,0.044,3744,3945,2825,0,0,0,0,0,0
$GC,10720,2.11,89.2,421.1,11.3,339,10725,0.12,2.45,0.00,0.000,6,0.143,0.026,3721,2429,2824,0,0,0,0,0,0
$GC,10972,2.16,92.1,397.0,9.6,345,10982,0.00,2.55,4.20,0.571,4,0.000,0.048,3721,3942,2813,0,0,0,0,0,0
$GC,11050,2.16,92.1,388.6,10.9,346,11054,0.00,2.40,0.00,0.000,6,0.000,0.028,3721,2433,2813,0,0,0,0,0,0
$GC,11302,2.22,92.1,362.4,10.5,352,11307,0.00,2.47,0.00,0.000,4,0.000,0.041,3721,3943,2813,0,0,0,0,0,0
$GC,11425,2.22,92.1,348.2,11.4,354,11431,0.00,2.40,0.00,0.000,6,0.000,0.030,3721,2438,2814,0,0,0,0,0,0
$GC,11678,2.27,92.1,321.7,10.5,361,11683,0.15,2.47,0.00,0.000,4,0.069,0.039,3764,3945,2814,0,0,0,0,0,0
$GC,11747,2.22,92.1,313.4,11.7,362,11752,0.12,2.40,0.00,0.000,6,0.137,0.031,3742,2442,2814,0,0,0,0,0,0
$GC,12002,2.22,92.1,285.7,10.7,369,12006,0.00,2.45,0.00,0.000,4,0.000,0.039,3742,3944,2815,0,0,0,0,0,0
$GC,12259,2.22,92.1,255.8,11.5,374,12265,0.00,2.35,0.00,0.000,6,0.000,0.025,3742,2456,2815,0,0,0,0,0,0
$GC,12510,2.27,102.0,233.5,8.5,381,12526,0.00,2.45,10.50,0.643,4,0.000,0.045,3742,3949,2773,0,0,0,0,0,0
$GC,12770,2.27,102.0,204.3,10.1,386,12775,0.00,2.38,0.00,0.000,6,0.000,0.025,3742,2459,2773,0,0,0,0,0,0
$GC,13033,2.35,114.1,181.8,8.2,408,13051,0.08,2.47,11.30,0.607,4,0.107,0.044,3770,3937,2723,0,0,0,0,0,0
$GC,13315,2.35,114.1,151.2,10.8,432,13319,0.00,2.33,0.00,0.000,6,0.000,0.022,3770,2455,2723,0,0,0,0,0,0
$GC,13578,2.46,155.1,136.0,3.8,456,13618,0.00,2.53,34.83,0.608,4,0.000,0.038,3770,3946,2556,0,0,0,0,0,0
$GC,13770,2.52,155.1,116.7,10.5,472,13775,0.00,2.33,0.00,0.000,6,0.000,0.022,3770,2466,2554,0,0,0,0,0,0
$GC,14034,2.67,176.7,94.3,6.7,496,14058,0.00,2.45,18.88,0.551,4,0.000,0.035,3770,3948,2468,0,0,0,0,0,0
$GC,14283,2.74,176.7,68.5,12.6,516,14292,0.00,2.35,0.00,0.000,6,0.000,0.021,3770,2478,2466,0,0,0,0,0,0
$GC,14553,2.87,176.7,39.1,11.0,541,14561,0.00,0.00,0.00,0.000,6,0.000,0.000,3770,2478,2466,0,0,0,0,0,0
$GC,14861,3.00,176.7,7.0,11.3,583,14870,0.00,2.40,0.00,0.000,4,0.000,0.044,3769,3938,2468,0,0,0,0,0,0
$STATE,14886,end climb,SURFACE_DEPTH_REACHED
$STATE,14886,begin surface coast
$FINISH,1.0,1.016307
$STATE,14931,end surface coast,CONTROL_FINISHED_OK
$STATE,14931,begin surface
$SM_CCo,14959,139.50,0.495,0,0,1762,350.04
$SM_GC,1.72,0.00,0.00,139.50,0.000,0.000,0.495,462,2158,1762,-12.87,-1.47,350.04
$IRIDIUM_FIX,1916.08,-8107.94,050602,050547
$TT8_MAMPS,0.026078
$HUMID,56.22
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.40
$XPDR_PINGS,66
$24V_AH,23.3,36.315
$10V_AH,10.3,32.011
$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,32.050,189.875,221.075,139.500,0.000,125.883,183.169,529.844,16.500,0.000,14.893,1373.548,10599.204,495.019,2616.240,1296.503,33.358,1578.636,0.000,2589.927,0.000,0.538,0.000
$DEVICE_MAMPS,256.945,114.283,1192.685,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.651,292.297,374.394,512.107,976.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,47703,592
$CAP_FILE_SIZE,163535,0
$CFSIZE,260165632,110501888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110313,095824,1924.801,-8108.169,61,1.4,61,-3.8