version: 66.06
glider: 146
mission: 8
dive: 266
start: 3 13 113 6 52 20
data:
$ID,146
$MISSION,8
$DIVE,266
$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,-312695.38
$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,57
$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
$GPS1,064435,1925.020,-8107.140,35,1.3,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.9
$GPS2,065124,1925.014,-8107.100,9,1.4,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.022,-0.161
$KALMAN_X,-23949.1,311.5,369.1,23792.8,-1170.3
$KALMAN_Y,19285.5,-263.0,-335.9,-15999.7,1955.4
$MHEAD_RNG_PITCHd_Wd,191.4,1838,-28.9,-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,17,begin dive
$GC,19,-1.88,-56.2,0.0,0.0,0,91,0.00,0.00,-69.55,0.000,6,0.000,0.000,459,2171,3419,0,0,0,0,0,0
$GC,97,-1.94,-107.9,3.3,-3.8,9,123,12.93,2.50,-4.05,0.000,4,0.163,0.054,2831,650,3632,0,0,0,0,0,0
$GC,321,-1.80,-107.9,65.4,-26.3,32,326,0.17,2.42,0.00,0.000,6,0.133,0.016,2864,2243,3633,0,0,0,0,0,0
$GC,586,-1.80,-107.9,125.6,-20.6,56,590,0.00,2.58,0.00,0.000,4,0.000,0.041,2863,657,3632,0,0,0,0,0,0
$GC,616,-1.80,-107.9,132.1,-19.4,58,620,0.00,2.35,0.00,0.000,6,0.000,0.017,2863,2214,3633,0,0,0,0,0,0
$GC,885,-1.86,-107.9,171.8,-13.9,82,889,0.00,2.45,0.00,0.000,4,0.000,0.031,2863,3768,3634,0,0,0,0,0,0
$GC,902,-1.92,-107.9,175.4,-14.7,83,906,0.00,2.40,0.00,0.000,6,0.000,0.016,2863,2212,3634,0,0,0,0,0,0
$GC,1170,-2.01,-107.9,211.2,-13.3,102,1172,0.17,0.00,0.00,0.000,6,0.054,0.000,2797,2212,3634,0,0,0,0,0,0
$GC,1415,-2.01,-107.9,247.3,-15.0,108,1420,0.12,2.50,0.00,0.000,4,0.115,0.040,2822,3766,3635,0,0,0,0,0,0
$GC,1431,-2.01,-107.9,250.3,-15.1,108,1435,0.00,2.42,0.00,0.000,6,0.000,0.025,2822,2205,3634,0,0,0,0,0,0
$GC,1692,-2.01,-107.9,284.6,-13.2,115,1696,0.00,2.53,0.00,0.000,4,0.000,0.036,2822,3771,3635,0,0,0,0,0,0
$GC,1716,-2.01,-107.9,288.0,-14.6,115,1720,0.00,2.45,0.00,0.000,6,0.000,0.028,2822,2210,3635,0,0,0,0,0,0
$GC,1971,-2.04,-107.9,322.4,-13.2,122,1975,0.00,2.55,0.00,0.000,4,0.000,0.038,2822,3765,3635,0,0,0,0,0,0
$GC,1998,-2.04,-107.9,326.3,-13.7,122,2002,0.00,2.50,0.00,0.000,6,0.000,0.026,2822,2202,3634,0,0,0,0,0,0
$GC,2250,-2.09,-107.9,360.2,-13.5,128,2255,0.00,2.53,0.00,0.000,4,0.000,0.047,2822,3762,3634,0,0,0,0,0,0
$GC,2290,-2.09,-107.9,366.2,-14.1,129,2294,0.00,2.47,0.00,0.000,6,0.000,0.030,2822,2215,3633,0,0,0,0,0,0
$GC,2573,-2.13,-107.9,403.7,-13.0,136,2578,0.12,2.58,0.00,0.000,4,0.065,0.050,2765,3760,3633,0,0,0,0,0,0
$GC,2608,-2.05,-107.9,408.8,-14.9,136,2615,0.22,2.53,0.00,0.000,6,0.103,0.035,2811,2218,3633,0,0,0,0,0,0
$GC,2858,-2.05,-107.9,442.9,-13.4,143,2862,0.00,2.55,0.00,0.000,4,0.000,0.056,2811,3753,3632,0,0,0,0,0,0
$GC,2913,-2.05,-107.9,451.1,-14.6,144,2917,0.00,2.50,0.00,0.000,6,0.000,0.041,2811,2225,3632,0,0,0,0,0,0
$GC,3182,-2.09,-107.9,487.3,-13.4,151,3186,0.00,2.60,0.00,0.000,4,0.000,0.062,2811,3755,3630,0,0,0,0,0,0
$GC,3208,-2.09,-107.9,491.4,-14.0,151,3213,0.00,2.58,0.00,0.000,6,0.000,0.051,2811,2217,3631,0,0,0,0,0,0
$GC,3459,-2.12,-107.9,524.3,-13.2,157,3463,0.00,2.62,0.00,0.000,4,0.000,0.067,2811,3752,3630,0,0,0,0,0,0
$GC,3513,-2.12,-107.9,531.6,-13.4,158,3518,0.00,2.55,0.00,0.000,6,0.000,0.054,2811,2224,3630,0,0,0,0,0,0
$GC,3780,-2.16,-107.9,565.9,-12.7,165,3785,0.00,2.62,0.00,0.000,4,0.000,0.074,2811,3748,3628,0,0,0,0,0,0
$GC,3813,-2.16,-107.9,570.5,-14.0,165,3818,0.00,2.58,0.00,0.000,6,0.000,0.057,2811,2229,3628,0,0,0,0,0,0
$GC,4065,-2.20,-107.9,602.4,-12.7,172,4071,0.12,2.70,0.00,0.000,4,0.067,0.075,2763,3755,3627,0,0,0,0,0,0
$GC,4121,-2.14,-107.9,611.3,-15.7,173,4126,0.15,2.65,0.00,0.000,6,0.114,0.069,2793,2240,3627,0,0,0,0,0,0
$GC,4388,-2.14,-107.9,647.4,-13.4,180,4392,0.00,2.75,0.00,0.000,4,0.000,0.098,2792,3751,3625,0,0,0,0,0,0
$GC,4411,-2.14,-107.9,650.4,-13.9,180,4415,0.00,2.70,0.00,0.000,6,0.000,0.087,2792,2244,3625,0,0,0,0,0,0
$GC,4665,-2.14,-107.9,685.1,-13.6,187,4670,0.00,2.85,0.00,0.000,4,0.000,0.114,2793,3749,3623,0,0,0,0,0,0
$GC,4714,-2.14,-107.9,691.9,-14.2,188,4719,0.00,2.83,0.00,0.000,6,0.000,0.108,2793,2255,3622,0,0,0,0,0,0
$GC,4989,-2.14,-107.9,728.9,-13.5,195,4993,0.00,2.70,0.00,0.000,4,0.000,0.094,2793,3751,3621,0,0,0,0,0,0
$GC,5021,-2.14,-107.9,734.1,-14.3,195,5027,0.00,2.65,0.00,0.000,6,0.000,0.074,2793,2244,3621,0,0,0,0,0,0
$GC,5271,-2.14,-107.9,767.7,-13.3,202,5275,0.00,2.67,0.00,0.000,4,0.000,0.087,2793,3748,3618,0,0,0,0,0,0
$GC,5307,-2.14,-107.9,772.4,-14.3,202,5313,0.00,2.62,0.00,0.000,6,0.000,0.075,2793,2254,3618,0,0,0,0,0,0
$GC,5557,-2.14,-107.9,806.4,-13.4,209,5561,0.00,2.65,0.00,0.000,4,0.000,0.084,2793,3750,3617,0,0,0,0,0,0
$GC,5577,-2.14,-107.9,809.4,-13.6,209,5582,0.00,2.60,0.00,0.000,6,0.000,0.073,2792,2263,3617,0,0,0,0,0,0
$GC,5833,-2.14,-107.9,842.3,-12.8,216,5837,0.00,2.62,0.00,0.000,4,0.000,0.084,2793,3751,3615,0,0,0,0,0,0
$GC,5856,-2.14,-107.9,845.3,-13.5,216,5860,0.00,2.60,0.00,0.000,6,0.000,0.071,2792,2261,3615,0,0,0,0,0,0
$GC,6110,-2.14,-107.9,878.2,-12.6,223,6115,0.00,2.62,0.00,0.000,4,0.000,0.081,2792,3751,3613,0,0,0,0,0,0
$GC,6182,-2.14,-107.9,888.3,-13.8,224,6186,0.00,2.58,0.00,0.000,6,0.000,0.070,2793,2269,3613,0,0,0,0,0,0
$STATE,6308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6308,begin apogee
$GC,6316,-0.31,0.0,904.9,13.1,227,6410,1.83,0.00,89.28,1.196,6,0.091,0.000,3191,2335,3190,0,0,0,0,0,0
$STATE,6413,end apogee,CONTROL_FINISHED_OK
$STATE,6413,begin climb
$GC,6415,1.94,107.9,907.6,0.0,229,6514,2.08,0.00,94.38,1.169,6,0.033,0.000,3692,2335,2750,0,0,0,0,0,0
$GC,6756,1.94,107.9,871.9,13.1,238,6761,0.00,2.78,0.00,0.000,4,0.000,0.064,3692,3932,2742,0,0,0,0,0,0
$GC,6892,1.85,107.9,852.6,13.8,241,6897,0.15,2.65,0.00,0.000,6,0.143,0.048,3666,2374,2740,0,0,0,0,0,0
$GC,7172,1.85,107.9,817.7,12.5,248,7176,0.00,2.67,0.00,0.000,4,0.000,0.054,3666,3935,2738,0,0,0,0,0,0
$GC,7339,1.85,107.9,795.2,13.5,251,7345,0.00,2.62,0.00,0.000,6,0.000,0.042,3665,2386,2736,0,0,0,0,0,0
$GC,7589,1.85,107.9,765.0,12.1,258,7593,0.00,2.65,0.00,0.000,4,0.000,0.052,3666,3939,2736,0,0,0,0,0,0
$GC,7676,1.81,107.9,754.1,13.3,260,7680,0.00,2.60,0.00,0.000,6,0.000,0.045,3666,2392,2735,0,0,0,0,0,0
$GC,7958,1.81,107.9,720.6,11.5,267,7963,0.00,2.60,0.00,0.000,4,0.000,0.058,3666,3934,2734,0,0,0,0,0,0
$GC,8050,1.81,107.9,709.7,12.3,269,8054,0.00,2.60,0.00,0.000,6,0.000,0.040,3666,2387,2733,0,0,0,0,0,0
$GC,8327,1.81,107.9,678.0,11.4,276,8331,0.00,2.62,0.00,0.000,4,0.000,0.058,3666,3933,2733,0,0,0,0,0,0
$GC,8503,1.81,107.9,656.0,13.4,280,8507,0.00,2.55,0.00,0.000,6,0.000,0.044,3666,2406,2732,0,0,0,0,0,0
$GC,8786,1.81,107.9,622.0,11.9,287,8790,0.00,2.58,0.00,0.000,4,0.000,0.051,3666,3942,2732,0,0,0,0,0,0
$GC,8829,1.81,107.9,616.3,12.8,288,8833,0.00,2.55,0.00,0.000,6,0.000,0.043,3666,2400,2731,0,0,0,0,0,0
$GC,9109,1.81,107.9,584.1,11.4,295,9114,0.00,2.60,0.00,0.000,4,0.000,0.051,3665,3938,2730,0,0,0,0,0,0
$GC,9283,1.81,107.9,562.3,12.6,299,9288,0.00,2.53,0.00,0.000,6,0.000,0.044,3666,2409,2731,0,0,0,0,0,0
$GC,9569,1.81,107.9,530.1,11.2,306,9573,0.00,2.58,0.00,0.000,4,0.000,0.048,3666,3942,2731,0,0,0,0,0,0
$GC,9708,1.81,107.9,512.5,12.8,309,9713,0.00,2.53,0.00,0.000,6,0.000,0.040,3666,2411,2730,0,0,0,0,0,0
$GC,9980,1.81,107.9,481.9,11.4,316,9985,0.00,2.55,0.00,0.000,4,0.000,0.052,3666,3940,2730,0,0,0,0,0,0
$GC,10038,1.81,107.9,474.8,13.2,317,10043,0.00,2.50,0.00,0.000,6,0.000,0.033,3666,2414,2730,0,0,0,0,0,0
$GC,10307,1.85,107.9,443.4,11.5,324,10311,0.00,2.53,0.00,0.000,4,0.000,0.044,3665,3937,2730,0,0,0,0,0,0
$GC,10438,1.85,107.9,426.7,12.4,327,10442,0.00,2.45,0.00,0.000,6,0.000,0.026,3666,2417,2729,0,0,0,0,0,0
$GC,10721,1.89,107.9,396.9,10.3,334,10726,0.00,2.50,0.00,0.000,4,0.000,0.041,3666,3939,2730,0,0,0,0,0,0
$GC,10934,1.89,107.9,371.8,12.4,338,10940,0.00,2.42,0.00,0.000,6,0.000,0.031,3666,2425,2730,0,0,0,0,0,0
$GC,11185,1.93,107.9,343.8,11.3,345,11189,0.00,2.50,0.00,0.000,4,0.000,0.041,3666,3949,2730,0,0,0,0,0,0
$GC,11339,1.93,107.9,325.2,12.1,348,11343,0.00,2.42,0.00,0.000,6,0.000,0.028,3666,2429,2730,0,0,0,0,0,0
$GC,11599,1.98,107.9,295.4,11.3,355,11604,0.10,2.47,0.00,0.000,4,0.091,0.041,3697,3938,2731,0,0,0,0,0,0
$GC,11747,1.93,107.9,276.0,13.6,358,11751,0.00,2.40,0.00,0.000,6,0.000,0.031,3697,2435,2731,0,0,0,0,0,0
$GC,12019,1.93,107.9,243.1,11.9,365,12023,0.00,2.47,0.00,0.000,4,0.000,0.047,3697,3944,2732,0,0,0,0,0,0
$GC,12173,1.88,107.9,224.1,11.8,368,12178,0.12,2.38,0.00,0.000,6,0.137,0.025,3673,2442,2733,0,0,0,0,0,0
$GC,12434,1.94,107.9,197.1,10.1,375,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,2442,2734,0,0,0,0,0,0
$GC,12691,2.04,125.5,173.9,7.9,399,12709,0.12,0.00,12.98,0.611,6,0.074,0.000,3713,2442,2677,0,0,0,0,0,0
$GC,12964,2.05,140.4,149.2,8.2,425,12989,0.00,2.53,13.88,0.591,4,0.000,0.047,3713,3937,2616,0,0,0,0,0,0
$GC,13258,2.11,182.0,125.5,5.0,449,13301,0.00,2.38,35.42,0.597,6,0.000,0.022,3713,2435,2448,0,0,0,0,0,0
$GC,13559,2.23,194.4,102.5,8.5,477,13584,0.12,2.55,11.70,0.533,4,0.074,0.039,3753,3937,2396,0,0,0,0,0,0
$GC,13856,2.23,194.4,64.3,13.0,501,13865,0.00,2.40,0.00,0.000,6,0.000,0.025,3753,2451,2395,0,0,0,0,0,0
$GC,14124,2.27,194.4,32.9,11.9,526,14128,0.00,2.45,0.00,0.000,4,0.000,0.041,3753,3940,2395,0,0,0,0,0,0
$STATE,14337,end climb,SURFACE_DEPTH_REACHED
$STATE,14337,begin surface coast
$FINISH,1.1,1.023811
$STATE,14373,end surface coast,CONTROL_FINISHED_OK
$STATE,14373,begin surface
$SM_CCo,14399,125.07,0.497,0,0,1763,350.04
$SM_GC,1.87,0.00,0.00,125.07,0.000,0.000,0.497,466,2194,1763,-12.86,-0.45,350.04
$IRIDIUM_FIX,1918.37,-8107.58,070602,010154
$TT8_MAMPS,0.026078
$HUMID,56.89
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.20
$XPDR_PINGS,68
$24V_AH,23.3,37.572
$10V_AH,10.4,33.128
$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,31.825,189.675,257.625,125.075,0.000,22.859,33.545,184.462,17.000,0.000,16.149,1277.261,10182.389,535.397,2285.541,646.690,33.362,1491.650,0.000,2264.533,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,114.283,1195.753,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.353,268.602,349.018,461.407,879.567,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355872
$DATA_FILE_SIZE,44670,561
$CAP_FILE_SIZE,143333,0
$CFSIZE,260165632,109879296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130313,105535,1923.329,-8106.815,28,1.0,28,-3.8