version: 66.06
glider: 146
mission: 8
dive: 267
start: 3 13 113 11 3 24
data:
$ID,146
$MISSION,8
$DIVE,267
$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,-312711.47
$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,36
$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
$GPS1,105535,1923.329,-8106.815,28,1.0,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-76.0
$GPS2,110230,1923.319,-8106.787,8,1.0,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.126,0.068
$KALMAN_X,-22956.4,266.8,305.4,23455.2,-414.1
$KALMAN_Y,18996.5,-156.6,-318.6,-18960.4,1264.0
$MHEAD_RNG_PITCHd_Wd,302.1,3045,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-2.09,-44.5,0.0,0.0,0,93,0.00,0.00,-67.80,0.000,6,0.000,0.000,465,2193,3371,0,0,0,0,0,0
$GC,96,-2.14,-82.8,3.4,-4.2,9,122,12.65,2.58,-3.22,0.000,4,0.164,0.051,2786,638,3530,0,0,0,0,0,0
$GC,404,-2.04,-82.8,88.5,-25.6,40,409,0.15,2.45,0.00,0.000,6,0.138,0.016,2813,2250,3531,0,0,0,0,0,0
$GC,669,-2.09,-82.8,143.8,-16.5,64,673,0.00,2.62,0.00,0.000,4,0.000,0.041,2813,636,3531,0,0,0,0,0,0
$GC,714,-2.09,-82.8,151.2,-15.8,67,719,0.00,2.42,0.00,0.000,6,0.000,0.016,2813,2228,3531,0,0,0,0,0,0
$GC,983,-2.18,-82.8,188.8,-13.6,91,988,0.12,2.42,0.00,0.000,4,0.064,0.030,2758,3769,3532,0,0,0,0,0,0
$GC,1011,-2.18,-82.8,194.3,-15.6,93,1016,0.12,2.42,0.00,0.000,6,0.117,0.025,2782,2200,3533,0,0,0,0,0,0
$GC,1263,-2.24,-82.8,229.3,-13.6,102,1267,0.00,2.50,0.00,0.000,4,0.000,0.038,2782,3769,3533,0,0,0,0,0,0
$GC,1306,-2.24,-82.8,235.0,-14.9,103,1311,0.00,2.40,0.00,0.000,6,0.000,0.024,2782,2228,3533,0,0,0,0,0,0
$GC,1590,-2.31,-82.8,274.2,-13.2,110,1595,0.10,2.50,0.00,0.000,4,0.080,0.035,2738,3773,3533,0,0,0,0,0,0
$GC,1700,-2.27,-82.8,291.5,-16.8,112,1705,0.12,2.45,0.00,0.000,6,0.117,0.026,2762,2228,3533,0,0,0,0,0,0
$GC,1961,-2.27,-82.8,329.8,-14.6,119,1965,0.00,2.47,0.00,0.000,4,0.000,0.038,2762,3769,3532,0,0,0,0,0,0
$GC,1993,-2.27,-82.8,334.9,-15.9,119,1999,0.00,2.47,0.00,0.000,6,0.000,0.030,2762,2222,3532,0,0,0,0,0,0
$GC,2246,-2.31,-82.8,371.2,-14.5,126,2250,0.00,2.50,0.00,0.000,4,0.000,0.038,2762,3759,3532,0,0,0,0,0,0
$GC,2266,-2.31,-82.8,374.9,-14.7,126,2271,0.00,2.47,0.00,0.000,6,0.000,0.031,2762,2225,3532,0,0,0,0,0,0
$GC,2522,-2.35,-82.8,409.9,-13.6,133,2526,0.00,2.53,0.00,0.000,4,0.000,0.044,2762,3761,3531,0,0,0,0,0,0
$GC,2624,-2.35,-82.8,424.7,-14.1,135,2628,0.00,2.53,0.00,0.000,6,0.000,0.041,2762,2228,3531,0,0,0,0,0,0
$GC,2890,-2.40,-82.8,461.5,-13.7,142,2895,0.12,2.55,0.00,0.000,4,0.072,0.053,2714,3751,3530,0,0,0,0,0,0
$GC,2954,-2.34,-82.8,471.4,-15.8,143,2959,0.15,2.53,0.00,0.000,6,0.113,0.050,2745,2232,3530,0,0,0,0,0,0
$GC,3215,-2.34,-82.8,509.7,-14.4,150,3219,0.00,2.60,0.00,0.000,4,0.000,0.061,2745,3752,3529,0,0,0,0,0,0
$GC,3286,-2.34,-82.8,520.3,-14.6,151,3291,0.00,2.53,0.00,0.000,6,0.000,0.048,2746,2235,3529,0,0,0,0,0,0
$GC,3539,-2.34,-82.8,554.5,-13.6,157,3543,0.00,2.60,0.00,0.000,4,0.000,0.073,2746,3753,3528,0,0,0,0,0,0
$GC,3593,-2.34,-82.8,562.9,-14.3,158,3598,0.00,2.55,0.00,0.000,6,0.000,0.060,2746,2254,3528,0,0,0,0,0,0
$GC,3866,-2.34,-82.8,600.4,-13.7,165,3870,0.00,2.62,0.00,0.000,4,0.000,0.077,2746,3749,3526,0,0,0,0,0,0
$GC,3935,-2.34,-82.8,610.3,-14.8,166,3940,0.00,2.62,0.00,0.000,6,0.000,0.074,2746,2253,3526,0,0,0,0,0,0
$GC,4190,-2.34,-82.8,643.7,-13.0,173,4195,0.00,2.70,0.00,0.000,4,0.000,0.098,2745,3750,3523,0,0,0,0,0,0
$GC,4229,-2.34,-82.8,649.2,-14.1,174,4233,0.00,2.70,0.00,0.000,6,0.000,0.087,2745,2258,3523,0,0,0,0,0,0
$GC,4514,-2.34,-82.8,687.6,-13.4,181,4519,0.00,2.83,0.00,0.000,4,0.000,0.118,2746,3753,3522,0,0,0,0,0,0
$GC,4580,-2.34,-82.8,697.6,-15.2,182,4584,0.00,2.65,0.00,0.000,6,0.000,0.081,2745,2266,3522,0,0,0,0,0,0
$GC,4836,-2.34,-82.8,732.9,-13.8,189,4840,0.00,2.65,0.00,0.000,4,0.000,0.093,2746,3754,3520,0,0,0,0,0,0
$GC,4938,-2.34,-82.8,747.7,-14.9,191,4942,0.00,2.60,0.00,0.000,6,0.000,0.071,2745,2278,3519,0,0,0,0,0,0
$GC,5204,-2.34,-82.8,785.2,-14.0,198,5208,0.00,2.60,0.00,0.000,4,0.000,0.090,2746,3748,3517,0,0,0,0,0,0
$GC,5290,-2.34,-82.8,797.2,-14.4,200,5294,0.00,2.55,0.00,0.000,6,0.000,0.074,2745,2282,3516,0,0,0,0,0,0
$GC,5573,-2.34,-82.8,835.0,-13.0,207,5577,0.00,2.60,0.00,0.000,4,0.000,0.081,2746,3750,3515,0,0,0,0,0,0
$GC,5616,-2.34,-82.8,841.0,-13.8,208,5620,0.00,2.55,0.00,0.000,6,0.000,0.072,2745,2287,3514,0,0,0,0,0,0
$GC,5897,-2.38,-82.8,875.3,-12.2,215,5901,0.00,2.55,0.00,0.000,4,0.000,0.076,2746,3750,3512,0,0,0,0,0,0
$GC,6026,-2.38,-82.8,892.6,-13.0,218,6030,0.00,2.53,0.00,0.000,6,0.000,0.065,2745,2296,3511,0,0,0,0,0,0
$STATE,6103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6103,begin apogee
$GC,6112,-0.31,0.0,902.4,11.8,220,6186,2.08,0.00,68.45,1.190,6,0.106,0.000,3189,2332,3190,0,0,0,0,0,0
$STATE,6186,end apogee,CONTROL_FINISHED_OK
$STATE,6186,begin climb
$GC,6189,2.14,82.8,904.1,0.0,222,6266,2.25,0.00,72.50,1.164,6,0.032,0.000,3735,2332,2852,0,0,0,0,0,0
$GC,6509,2.14,82.8,870.2,12.2,230,6514,0.00,2.78,0.00,0.000,4,0.000,0.067,3735,3931,2847,0,0,0,0,0,0
$GC,6600,2.08,82.8,858.6,13.5,232,6606,0.12,2.67,0.00,0.000,6,0.151,0.050,3714,2365,2846,0,0,0,0,0,0
$GC,6879,2.12,82.8,827.1,11.1,239,6883,0.00,2.65,0.00,0.000,4,0.000,0.058,3714,3933,2844,0,0,0,0,0,0
$GC,7136,2.12,82.8,797.1,11.8,244,7141,0.00,2.62,0.00,0.000,6,0.000,0.044,3714,2376,2842,0,0,0,0,0,0
$GC,7386,2.15,82.8,770.3,10.7,251,7391,0.00,2.65,0.00,0.000,4,0.000,0.058,3714,3934,2841,0,0,0,0,0,0
$GC,7627,2.15,82.8,741.8,11.6,256,7631,0.00,2.60,0.00,0.000,6,0.000,0.048,3714,2391,2841,0,0,0,0,0,0
$GC,7889,2.19,82.8,713.8,10.6,263,7894,0.10,2.62,0.00,0.000,4,0.096,0.052,3742,3938,2839,0,0,0,0,0,0
$GC,8040,2.13,82.8,695.8,11.7,266,8044,0.00,2.58,0.00,0.000,6,0.000,0.041,3742,2401,2839,0,0,0,0,0,0
$GC,8301,2.13,82.8,667.6,10.8,273,8305,0.00,2.60,0.00,0.000,4,0.000,0.053,3742,3937,2838,0,0,0,0,0,0
$GC,8475,2.06,82.8,647.5,11.9,277,8481,0.17,2.55,0.00,0.000,6,0.142,0.046,3710,2410,2837,0,0,0,0,0,0
$GC,8759,2.12,82.8,617.9,10.3,284,8763,0.00,2.58,0.00,0.000,4,0.000,0.059,3710,3931,2836,0,0,0,0,0,0
$GC,9011,2.12,82.8,590.1,10.3,289,9015,0.00,2.53,0.00,0.000,6,0.000,0.038,3710,2412,2836,0,0,0,0,0,0
$GC,9266,2.18,88.9,566.8,9.1,296,9276,0.10,2.62,3.70,0.592,4,0.097,0.053,3738,3936,2827,0,0,0,0,0,0
$GC,9387,2.14,88.9,553.8,11.6,298,9391,0.00,2.53,0.00,0.000,6,0.000,0.038,3738,2414,2826,0,0,0,0,0,0
$GC,9641,2.14,88.9,526.2,10.8,305,9646,0.00,2.55,0.00,0.000,4,0.000,0.053,3738,3934,2826,0,0,0,0,0,0
$GC,9728,2.09,88.9,516.1,12.2,307,9733,0.10,2.45,0.00,0.000,6,0.156,0.038,3720,2427,2826,0,0,0,0,0,0
$GC,10012,2.14,88.9,485.2,10.6,314,10016,0.00,2.50,0.00,0.000,4,0.000,0.051,3720,3935,2826,0,0,0,0,0,0
$GC,10171,2.14,88.9,466.2,13.0,317,10176,0.00,2.45,0.00,0.000,6,0.000,0.029,3719,2433,2826,0,0,0,0,0,0
$GC,10427,2.20,88.9,437.1,11.1,324,10431,0.00,2.47,0.00,0.000,4,0.000,0.043,3720,3937,2825,0,0,0,0,0,0
$GC,10594,2.20,88.9,417.4,11.0,327,10600,0.00,2.40,0.00,0.000,6,0.000,0.025,3720,2440,2826,0,0,0,0,0,0
$GC,10845,2.25,89.8,392.2,9.9,334,10850,0.12,2.47,0.00,0.000,4,0.220,0.040,3755,3939,2826,0,0,0,0,0,0
$GC,11103,2.19,89.8,363.8,12.2,339,11109,0.00,2.40,0.00,0.000,6,0.000,0.030,3755,2434,2827,0,0,0,0,0,0
$GC,11353,2.19,89.8,336.9,10.7,346,11357,0.00,2.47,0.00,0.000,4,0.000,0.045,3755,3950,2827,0,0,0,0,0,0
$GC,11502,2.14,89.8,319.7,12.0,349,11507,0.15,2.40,0.00,0.000,6,0.133,0.028,3727,2443,2827,0,0,0,0,0,0
$GC,11769,2.20,89.8,290.9,10.4,356,11773,0.00,2.45,0.00,0.000,4,0.000,0.041,3728,3946,2828,0,0,0,0,0,0
$GC,11904,2.20,89.8,275.2,11.6,359,11909,0.00,2.38,0.00,0.000,6,0.000,0.024,3727,2454,2828,0,0,0,0,0,0
$GC,12183,2.25,89.8,247.3,10.0,366,12188,0.10,2.45,0.00,0.000,4,0.218,0.039,3759,3945,2829,0,0,0,0,0,0
$GC,12241,2.22,95.1,242.0,9.2,367,12255,0.00,2.38,7.38,0.603,6,0.000,0.025,3759,2446,2802,0,0,0,0,0,0
$GC,12511,2.22,98.4,215.4,9.5,374,12521,0.00,2.45,4.85,0.506,4,0.000,0.042,3759,3938,2787,0,0,0,0,0,0
$GC,12658,2.23,101.4,200.4,9.6,377,12667,0.00,2.40,4.25,0.463,6,0.000,0.028,3759,2450,2776,0,0,0,0,0,0
$GC,12930,2.28,116.9,174.7,7.7,401,12955,0.00,2.53,13.70,0.614,4,0.000,0.042,3759,3934,2712,0,0,0,0,0,0
$GC,13219,2.32,148.0,149.8,5.3,425,13251,0.00,2.35,27.00,0.615,6,0.000,0.024,3759,2461,2586,0,0,0,0,0,0
$GC,13519,2.46,169.2,125.7,6.8,453,13543,0.00,2.47,18.55,0.578,4,0.000,0.039,3759,3938,2499,0,0,0,0,0,0
$GC,13815,2.56,179.8,101.6,8.4,477,13835,0.00,2.33,10.07,0.521,6,0.000,0.023,3758,2471,2456,0,0,0,0,0,0
$GC,14091,2.69,179.8,74.5,10.1,503,14095,0.00,2.40,0.00,0.000,4,0.000,0.040,3759,3945,2455,0,0,0,0,0,0
$GC,14379,2.79,179.8,40.4,11.9,525,14388,0.00,2.33,0.00,0.000,6,0.000,0.025,3759,2491,2455,0,0,0,0,0,0
$GC,14685,2.94,179.8,6.7,11.1,565,14694,0.00,2.40,0.00,0.000,4,0.000,0.041,3758,3941,2457,0,0,0,0,0,0
$STATE,14710,end climb,SURFACE_DEPTH_REACHED
$STATE,14710,begin surface coast
$FINISH,1.1,1.011165
$STATE,14753,end surface coast,CONTROL_FINISHED_OK
$STATE,14753,begin surface
$SM_CCo,14781,137.68,0.495,0,0,1763,350.04
$SM_GC,1.80,0.00,0.00,137.68,0.000,0.000,0.495,464,2179,1763,-12.86,-0.88,350.04
$IRIDIUM_FIX,1918.37,-8105.33,070602,060656
$TT8_MAMPS,0.025311
$HUMID,56.34
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.40
$XPDR_PINGS,63
$24V_AH,23.3,37.671
$10V_AH,10.4,33.243
$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,32.100,187.200,230.450,137.675,0.000,30.727,46.042,180.326,15.750,0.000,15.474,1366.901,10168.253,511.709,2610.564,670.106,33.352,1589.247,0.000,2584.903,0.000,0.536,0.000
$DEVICE_MAMPS,220.129,131.924,1190.384,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.589,274.340,358.091,484.224,923.088,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,44672,574
$CAP_FILE_SIZE,153490,0
$CFSIZE,260165632,109805568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130313,151324,1923.497,-8107.962,38,1.4,38,-3.8