version: 66.06
glider: 146
mission: 8
dive: 51
start: 1 26 113 10 15 38
data:
$ID,146
$MISSION,8
$DIVE,51
$D_SURF,4
$D_FLARE,3
$D_TGT,960
$D_ABORT,1000
$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,320
$T_MISSION,640
$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,-308318.53
$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,3250
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,59
$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,3200
$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
$GPS1,100405,1923.204,-8109.158,35,1.0,35,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.9
$GPS2,101445,1923.196,-8109.214,11,2.6,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.026,0.140
$KALMAN_X,39800.6,-387.9,-109.2,-35919.2,2488.7
$KALMAN_Y,-3395.5,-183.5,-83.4,-3426.3,-8.1
$MHEAD_RNG_PITCHd_Wd,353.3,2945,-32.6,-10.000
$D_GRID,960
$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,-63.00,0.000,2,0.000,0.000,467,2186,3322,0,0,0,0,0,0
$GC,87,-2.14,-81.0,3.0,-4.5,8,113,12.75,2.62,-4.30,0.000,4,0.171,0.050,2772,3785,3532,0,0,0,0,0,0
$GC,205,-2.01,-81.0,35.8,-27.6,23,211,0.20,2.42,0.00,0.000,6,0.141,0.022,2808,2238,3533,0,0,0,0,0,0
$GC,472,-1.97,-81.0,105.9,-22.3,47,476,0.00,2.47,0.00,0.000,4,0.000,0.034,2808,3786,3533,0,0,0,0,0,0
$GC,532,-1.97,-81.0,121.4,-24.4,51,538,0.00,2.42,0.00,0.000,6,0.000,0.021,2808,2219,3534,0,0,0,0,0,0
$GC,801,-2.03,-81.0,167.5,-14.7,76,805,0.00,2.55,0.00,0.000,4,0.000,0.044,2808,656,3534,0,0,0,0,0,0
$GC,829,-2.03,-81.0,172.9,-15.7,78,833,0.00,2.40,0.00,0.000,6,0.000,0.023,2808,2236,3534,0,0,0,0,0,0
$GC,1111,-2.12,-81.0,211.4,-13.0,98,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2236,3535,0,0,0,0,0,0
$GC,1351,-2.21,-81.0,243.7,-13.2,104,1356,0.17,2.47,0.00,0.000,4,0.055,0.035,2747,3787,3534,0,0,0,0,0,0
$GC,1369,-2.25,-81.0,246.1,-13.2,104,1374,0.00,2.42,0.00,0.000,6,0.000,0.028,2747,2224,3535,0,0,0,0,0,0
$GC,1629,-2.25,-81.0,285.6,-15.0,111,1634,0.00,2.53,0.00,0.000,4,0.000,0.042,2747,3794,3535,0,0,0,0,0,0
$GC,1729,-2.25,-81.0,301.6,-16.1,113,1733,0.00,2.45,0.00,0.000,6,0.000,0.024,2747,2240,3534,0,0,0,0,0,0
$GC,2000,-2.25,-81.0,340.5,-14.3,120,2004,0.00,2.53,0.00,0.000,4,0.000,0.050,2747,3790,3534,0,0,0,0,0,0
$GC,2163,-2.25,-81.0,365.7,-15.4,123,2167,0.00,2.47,0.00,0.000,6,0.000,0.031,2747,2257,3534,0,0,0,0,0,0
$GC,2415,-2.25,-81.0,401.9,-14.3,129,2419,0.00,2.50,0.00,0.000,4,0.000,0.055,2747,3776,3532,0,0,0,0,0,0
$GC,2430,-2.25,-81.0,404.6,-14.4,129,2434,0.00,2.47,0.00,0.000,6,0.000,0.037,2747,2254,3533,0,0,0,0,0,0
$GC,2697,-2.25,-81.0,443.2,-14.3,136,2701,0.00,2.55,0.00,0.000,4,0.000,0.059,2747,3775,3532,0,0,0,0,0,0
$GC,2754,-2.25,-81.0,450.9,-14.2,137,2758,0.00,2.53,0.00,0.000,6,0.000,0.044,2747,2253,3532,0,0,0,0,0,0
$GC,3020,-2.25,-81.0,488.6,-14.2,144,3024,0.00,2.60,0.00,0.000,4,0.000,0.068,2746,3773,3530,0,0,0,0,0,0
$GC,3103,-2.25,-81.0,500.9,-14.7,146,3108,0.00,2.53,0.00,0.000,6,0.000,0.048,2746,2267,3529,0,0,0,0,0,0
$GC,3388,-2.25,-81.0,539.9,-13.5,153,3393,0.00,2.62,0.00,0.000,4,0.000,0.077,2746,3773,3528,0,0,0,0,0,0
$GC,3404,-2.25,-81.0,542.6,-13.3,153,3408,0.00,2.55,0.00,0.000,6,0.000,0.054,2746,2268,3528,0,0,0,0,0,0
$GC,3667,-2.25,-81.0,578.9,-13.9,160,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2268,3526,0,0,0,0,0,0
$GC,3909,-2.25,-81.0,612.7,-13.6,166,3914,0.00,2.70,0.00,0.000,4,0.000,0.093,2747,3772,3524,0,0,0,0,0,0
$GC,3983,-2.25,-81.0,623.6,-15.6,167,3988,0.00,2.65,0.00,0.000,6,0.000,0.079,2746,2274,3524,0,0,0,0,0,0
$GC,4233,-2.25,-81.0,658.5,-13.8,173,4238,0.00,2.78,0.00,0.000,4,0.000,0.113,2746,3771,3521,0,0,0,0,0,0
$GC,4340,-2.25,-81.0,674.0,-14.4,175,4345,0.00,2.62,0.00,0.000,6,0.000,0.078,2746,2285,3521,0,0,0,0,0,0
$GC,4601,-2.25,-81.0,709.9,-13.7,182,4606,0.00,2.72,0.00,0.000,4,0.000,0.099,2746,3776,3519,0,0,0,0,0,0
$GC,4622,-2.25,-81.0,713.1,-15.1,182,4627,0.00,2.65,0.00,0.000,6,0.000,0.081,2746,2281,3520,0,0,0,0,0,0
$GC,4878,-2.25,-81.0,747.9,-13.4,189,4882,0.00,2.67,0.00,0.000,4,0.000,0.096,2746,3773,3517,0,0,0,0,0,0
$GC,4923,-2.25,-81.0,754.3,-14.9,190,4927,0.00,2.60,0.00,0.000,6,0.000,0.074,2746,2283,3517,0,0,0,0,0,0
$GC,5200,-2.25,-81.0,791.9,-13.5,197,5205,0.00,2.67,0.00,0.000,4,0.000,0.090,2746,3778,3515,0,0,0,0,0,0
$GC,5267,-2.25,-81.0,801.6,-13.8,198,5271,0.00,2.58,0.00,0.000,6,0.000,0.071,2746,2287,3514,0,0,0,0,0,0
$GC,5530,-2.25,-81.0,836.3,-13.3,205,5535,0.00,2.65,0.00,0.000,4,0.000,0.087,2746,3776,3513,0,0,0,0,0,0
$GC,5614,-2.25,-81.0,848.3,-13.7,207,5618,0.00,2.55,0.00,0.000,6,0.000,0.061,2746,2290,3512,0,0,0,0,0,0
$GC,5899,-2.25,-81.0,885.4,-13.0,214,5903,0.00,2.60,0.00,0.000,4,0.000,0.077,2746,3773,3510,0,0,0,0,0,0
$GC,6028,-2.25,-81.0,903.1,-13.5,217,6032,0.00,2.55,0.00,0.000,6,0.000,0.067,2746,2295,3509,0,0,0,0,0,0
$GC,6311,-2.29,-81.0,937.8,-11.8,224,6315,0.00,2.60,0.00,0.000,4,0.000,0.077,2746,3773,3507,0,0,0,0,0,0
$GC,6390,-2.29,-81.0,947.7,-12.7,225,6396,0.00,2.53,0.00,0.000,6,0.000,0.066,2746,2308,3507,0,0,0,0,0,0
$STATE,6515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6515,begin apogee
$GC,6521,-0.31,0.0,963.1,12.0,229,6591,2.05,0.00,65.65,1.256,6,0.112,0.000,3178,2308,3200,0,0,0,0,0,0
$STATE,6592,end apogee,CONTROL_FINISHED_OK
$STATE,6592,begin climb
$GC,6594,2.14,81.0,964.6,0.0,230,6676,2.25,3.05,70.95,1.233,4,0.038,0.112,3729,768,2868,0,0,0,0,0,0
$GC,6685,2.14,86.8,959.2,9.1,232,6699,0.00,2.72,6.40,0.930,6,0.000,0.061,3729,2323,2846,0,0,0,0,0,0
$GC,6966,2.14,86.8,923.9,12.8,239,6971,0.00,2.90,0.00,0.000,4,0.000,0.086,3728,3937,2841,0,0,0,0,0,0
$GC,7135,2.09,86.8,901.9,12.8,242,7142,0.12,2.65,0.00,0.000,6,0.153,0.037,3707,2359,2839,0,0,0,0,0,0
$GC,7385,2.13,86.8,873.8,11.2,249,7390,0.00,2.72,0.00,0.000,4,0.000,0.060,3707,3942,2838,0,0,0,0,0,0
$GC,7597,2.13,86.8,848.6,12.2,253,7603,0.00,2.62,0.00,0.000,6,0.000,0.041,3707,2383,2836,0,0,0,0,0,0
$GC,7848,2.18,86.8,821.2,11.0,260,7852,0.00,2.67,0.00,0.000,4,0.000,0.056,3707,3942,2836,0,0,0,0,0,0
$GC,8060,2.18,86.8,796.3,11.5,264,8065,0.00,2.60,0.00,0.000,6,0.000,0.048,3707,2386,2834,0,0,0,0,0,0
$GC,8310,2.23,86.8,769.5,10.7,271,8315,0.12,2.65,0.00,0.000,4,0.087,0.062,3740,3938,2834,0,0,0,0,0,0
$GC,8448,2.17,86.8,752.4,12.8,274,8452,0.00,2.58,0.00,0.000,6,0.000,0.048,3740,2393,2832,0,0,0,0,0,0
$GC,8725,2.17,86.8,720.2,11.1,281,8730,0.00,2.65,0.00,0.000,4,0.000,0.057,3739,3943,2832,0,0,0,0,0,0
$GC,8982,2.11,86.8,689.4,11.2,286,8988,0.15,2.60,0.00,0.000,6,0.148,0.050,3712,2397,2831,0,0,0,0,0,0
$GC,9235,2.16,88.7,665.1,9.7,293,9239,0.00,2.62,0.00,0.000,4,0.000,0.063,3713,3938,2830,0,0,0,0,0,0
$GC,9491,2.16,88.7,637.2,10.4,298,9497,0.00,2.55,0.00,0.000,6,0.000,0.048,3712,2404,2831,0,0,0,0,0,0
$GC,9744,2.21,92.8,613.5,9.4,305,9753,0.00,2.67,3.70,0.623,4,0.000,0.062,3713,3939,2821,0,0,0,0,0,0
$GC,9996,2.21,92.8,585.2,11.2,310,10000,0.00,2.55,0.00,0.000,6,0.000,0.041,3713,2407,2821,0,0,0,0,0,0
$GC,10259,2.27,92.8,558.1,10.5,317,10264,0.12,2.62,0.00,0.000,4,0.087,0.055,3745,3942,2821,0,0,0,0,0,0
$GC,10367,2.21,92.8,544.4,11.8,319,10371,0.00,2.55,0.00,0.000,6,0.000,0.041,3745,2399,2820,0,0,0,0,0,0
$GC,10629,2.21,92.8,514.2,11.6,326,10633,0.00,2.60,0.00,0.000,4,0.000,0.059,3745,3939,2821,0,0,0,0,0,0
$GC,10858,2.15,92.8,485.6,12.4,331,10863,0.12,2.50,0.00,0.000,6,0.148,0.036,3722,2411,2820,0,0,0,0,0,0
$GC,11133,2.20,94.2,458.4,9.8,338,11137,0.00,2.58,0.00,0.000,4,0.000,0.050,3721,3946,2820,0,0,0,0,0,0
$GC,11354,2.20,94.2,433.2,11.4,343,11358,0.00,2.47,0.00,0.000,6,0.000,0.031,3722,2425,2820,0,0,0,0,0,0
$GC,11637,2.25,94.2,403.4,10.3,350,11641,0.00,2.53,0.00,0.000,4,0.000,0.044,3722,3945,2820,0,0,0,0,0,0
$GC,11697,2.25,95.7,397.2,9.8,351,11707,0.00,2.45,4.28,0.591,6,0.000,0.028,3722,2417,2809,0,0,0,0,0,0
$GC,11966,2.31,95.7,369.8,10.5,358,11971,0.12,2.55,0.00,0.000,4,0.097,0.044,3755,3943,2810,0,0,0,0,0,0
$GC,12224,2.26,95.7,336.5,12.7,363,12229,0.00,2.42,0.00,0.000,6,0.000,0.028,3754,2425,2810,0,0,0,0,0,0
$GC,12473,2.26,95.7,308.8,10.9,370,12478,0.00,2.53,0.00,0.000,4,0.000,0.051,3754,3949,2810,0,0,0,0,0,0
$GC,12733,2.22,95.7,277.1,12.7,375,12739,0.12,2.42,0.00,0.000,6,0.143,0.033,3732,2438,2811,0,0,0,0,0,0
$GC,12984,2.28,97.1,252.3,9.8,382,12988,0.00,2.47,0.00,0.000,4,0.000,0.049,3732,3943,2811,0,0,0,0,0,0
$GC,13085,2.28,97.1,241.9,11.0,384,13090,0.00,2.38,0.00,0.000,6,0.000,0.025,3732,2443,2811,0,0,0,0,0,0
$GC,13353,2.35,104.8,219.0,8.8,391,13365,0.10,0.00,10.20,0.640,6,0.095,0.000,3761,2443,2772,0,0,0,0,0,0
$GC,13601,2.35,105.1,194.7,10.0,400,13606,0.00,2.47,0.00,0.000,4,0.000,0.042,3762,3944,2772,0,0,0,0,0,0
$GC,13855,2.37,124.8,172.1,7.0,421,13879,0.00,2.38,17.45,0.631,6,0.000,0.025,3761,2439,2691,0,0,0,0,0,0
$GC,14141,2.45,133.8,146.2,8.6,448,14154,0.00,0.00,9.12,0.563,6,0.000,0.000,3761,2439,2653,0,0,0,0,0,0
$GC,14411,2.59,174.1,130.1,3.9,473,14451,0.00,2.85,34.85,0.605,4,0.000,0.051,3761,762,2488,0,0,0,0,0,0
$GC,14518,2.67,174.1,121.3,11.6,481,14523,0.00,2.72,0.00,0.000,6,0.000,0.025,3761,2482,2486,0,0,0,0,0,0
$GC,14787,2.82,184.8,97.8,8.4,505,14802,0.00,2.45,9.95,0.521,4,0.000,0.042,3761,3955,2445,0,0,0,0,0,0
$GC,14952,2.92,186.4,80.5,9.8,518,14961,0.00,2.40,0.00,0.000,6,0.000,0.023,3761,2455,2443,0,0,0,0,0,0
$GC,15221,3.07,186.4,54.6,10.3,543,15225,0.00,2.42,0.00,0.000,4,0.000,0.041,3761,3949,2444,0,0,0,0,0,0
$GC,15442,3.18,189.7,32.4,9.5,560,15457,0.00,2.33,6.20,0.426,6,0.000,0.022,3761,2457,2424,0,0,0,0,0,0
$STATE,15729,end climb,SURFACE_DEPTH_REACHED
$STATE,15730,begin surface coast
$FINISH,0.8,1.008558
$STATE,15779,end surface coast,CONTROL_FINISHED_OK
$STATE,15779,begin surface
$SM_CCo,15804,127.28,0.496,0,0,1773,350.04
$SM_GC,1.47,0.00,0.00,127.28,0.000,0.000,0.496,472,2175,1773,-12.78,-1.55,350.04
$IRIDIUM_FIX,1918.37,-8058.55,220402,050531
$TT8_MAMPS,0.026078
$HUMID,52.52
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,25.30
$XPDR_PINGS,55
$24V_AH,23.2,8.026
$10V_AH,10.5,6.530
$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,31.575,190.550,238.750,127.275,0.000,29.557,34.854,395.825,13.750,0.000,32.416,1424.661,11010.683,496.023,2752.264,878.540,33.364,1619.539,0.000,2709.365,0.000,0.537,0.000
$DEVICE_MAMPS,171.041,112.749,1255.579,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.537,297.732,376.497,514.662,981.025,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,48056,608
$CAP_FILE_SIZE,161601,0
$CFSIZE,260165632,125063168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260113,144230,1924.541,-8109.245,38,1.2,38,-3.8