version: 66.06
glider: 146
mission: 8
dive: 158
start: 2 17 113 8 12 51
data:
$ID,146
$MISSION,8
$DIVE,158
$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,0
$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,-310414.12
$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,52
$R_STBD_OVSHOOT,25
$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
$GPS1,075553,1924.462,-8106.645,39,1.8,57,-3.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.3
$GPS2,081201,1924.297,-8106.712,11,2.0,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.141,0.024
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,283.3,2281,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-65.72,0.000,6,0.000,0.000,462,2169,3371,0,0,0,0,0,0
$GC,96,-2.13,-77.6,3.7,-5.0,9,122,12.68,2.65,-2.53,0.000,4,0.165,0.042,2789,3800,3509,0,0,0,0,0,0
$GC,400,-2.06,-77.6,87.8,-24.4,38,406,0.10,2.47,0.00,0.000,6,0.150,0.021,2806,2214,3509,0,0,0,0,0,0
$GC,663,-2.10,-77.6,143.2,-16.3,62,668,0.00,2.53,0.00,0.000,4,0.000,0.038,2806,3810,3510,0,0,0,0,0,0
$GC,754,-2.15,-77.6,156.9,-15.1,69,758,0.00,2.47,0.00,0.000,6,0.000,0.018,2806,2197,3510,0,0,0,0,0,0
$GC,1017,-2.24,-77.6,192.2,-12.6,93,1018,0.15,0.00,0.00,0.000,6,0.058,0.000,2746,2197,3511,0,0,0,0,0,0
$GC,1281,-2.24,-77.6,228.6,-13.4,104,1286,0.12,2.58,0.00,0.000,4,0.118,0.039,2770,3805,3511,0,0,0,0,0,0
$GC,1373,-2.24,-77.6,241.0,-13.6,106,1378,0.00,2.47,0.00,0.000,6,0.000,0.019,2770,2221,3511,0,0,0,0,0,0
$GC,1651,-2.28,-77.6,277.6,-13.1,113,1655,0.00,2.53,0.00,0.000,4,0.000,0.035,2770,3801,3511,0,0,0,0,0,0
$GC,1680,-2.28,-77.6,281.4,-13.5,113,1684,0.00,2.47,0.00,0.000,6,0.000,0.021,2770,2219,3510,0,0,0,0,0,0
$GC,1930,-2.33,-77.6,315.1,-13.5,119,1934,0.00,2.58,0.00,0.000,4,0.000,0.038,2770,3808,3510,0,0,0,0,0,0
$GC,1996,-2.33,-77.6,324.9,-14.5,120,2000,0.00,2.50,0.00,0.000,6,0.000,0.026,2770,2233,3510,0,0,0,0,0,0
$GC,2253,-2.38,-77.6,359.1,-13.4,127,2258,0.12,2.55,0.00,0.000,4,0.069,0.040,2719,3801,3509,0,0,0,0,0,0
$GC,2314,-2.32,-77.6,368.7,-15.0,128,2320,0.17,2.50,0.00,0.000,6,0.110,0.029,2753,2234,3509,0,0,0,0,0,0
$GC,2575,-2.32,-77.6,404.5,-13.7,135,2580,0.00,2.55,0.00,0.000,4,0.000,0.045,2754,3793,3508,0,0,0,0,0,0
$GC,2655,-2.32,-77.6,415.7,-14.2,136,2661,0.00,2.53,0.00,0.000,6,0.000,0.035,2754,2249,3507,0,0,0,0,0,0
$GC,2905,-2.36,-77.6,449.2,-13.5,143,2910,0.00,2.58,0.00,0.000,4,0.000,0.052,2754,3798,3506,0,0,0,0,0,0
$GC,2963,-2.36,-77.6,457.1,-14.3,144,2967,0.00,2.58,0.00,0.000,6,0.000,0.042,2754,2245,3506,0,0,0,0,0,0
$GC,3229,-2.36,-77.6,491.2,-13.0,151,3233,0.00,2.60,0.00,0.000,4,0.000,0.061,2754,3789,3505,0,0,0,0,0,0
$GC,3283,-2.36,-77.6,499.1,-15.0,152,3288,0.00,2.58,0.00,0.000,6,0.000,0.047,2754,2248,3505,0,0,0,0,0,0
$GC,3552,-2.36,-77.6,533.7,-12.9,159,3557,0.00,2.62,0.00,0.000,4,0.000,0.072,2753,3786,3503,0,0,0,0,0,0
$GC,3630,-2.36,-77.6,544.9,-14.3,160,3635,0.00,2.58,0.00,0.000,6,0.000,0.051,2754,2258,3502,0,0,0,0,0,0
$GC,3880,-2.39,-77.6,577.0,-12.9,167,3884,0.00,2.67,0.00,0.000,4,0.000,0.077,2754,3785,3501,0,0,0,0,0,0
$GC,3976,-2.39,-77.6,589.9,-13.2,169,3981,0.00,2.62,0.00,0.000,6,0.000,0.063,2754,2268,3501,0,0,0,0,0,0
$GC,4248,-2.43,-77.6,625.5,-13.1,176,4253,0.10,2.75,0.00,0.000,4,0.084,0.091,2714,3785,3499,0,0,0,0,0,0
$GC,4323,-2.37,-77.6,636.5,-16.0,177,4328,0.12,2.67,0.00,0.000,6,0.122,0.087,2739,2281,3498,0,0,0,0,0,0
$GC,4573,-2.37,-77.6,670.3,-13.2,183,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2281,3496,0,0,0,0,0,0
$GC,4816,-2.37,-77.6,702.7,-13.3,189,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2281,3495,0,0,0,0,0,0
$GC,5060,-2.37,-77.6,734.4,-12.8,195,5065,0.00,2.97,0.00,0.000,4,0.000,0.145,2739,3789,3493,0,0,0,0,0,0
$GC,5122,-2.37,-77.6,743.0,-14.1,196,5127,0.00,2.67,0.00,0.000,6,0.000,0.079,2739,2276,3492,0,0,0,0,0,0
$GC,5383,-2.37,-77.6,777.9,-13.2,203,5388,0.00,2.72,0.00,0.000,4,0.000,0.088,2739,3793,3491,0,0,0,0,0,0
$GC,5416,-2.37,-77.6,782.7,-13.8,203,5422,0.00,2.65,0.00,0.000,6,0.000,0.074,2739,2278,3491,0,0,0,0,0,0
$GC,5668,-2.37,-77.6,814.8,-12.7,210,5673,0.00,2.67,0.00,0.000,4,0.000,0.084,2739,3787,3489,0,0,0,0,0,0
$GC,5752,-2.37,-77.6,826.4,-13.7,212,5757,0.00,2.62,0.00,0.000,6,0.000,0.067,2739,2282,3489,0,0,0,0,0,0
$GC,6036,-2.37,-77.6,863.4,-12.9,219,6040,0.00,2.67,0.00,0.000,4,0.000,0.079,2739,3790,3486,0,0,0,0,0,0
$GC,6132,-2.37,-77.6,876.0,-13.6,221,6136,0.00,2.60,0.00,0.000,6,0.000,0.068,2739,2293,3485,0,0,0,0,0,0
$STATE,6360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6360,begin apogee
$GC,6367,-0.31,0.0,904.5,12.2,227,6434,2.10,0.00,63.12,1.194,6,0.104,0.000,3188,2371,3190,0,0,0,0,0,0
$STATE,6435,end apogee,CONTROL_FINISHED_OK
$STATE,6435,begin climb
$GC,6440,2.13,77.6,905.9,0.0,228,6516,2.17,3.12,67.55,1.170,4,0.034,0.115,3736,778,2873,0,0,0,0,0,0
$GC,6535,2.09,77.6,899.7,10.2,229,6540,0.12,2.72,0.00,0.000,6,0.145,0.058,3714,2366,2871,0,0,0,0,0,0
$GC,6804,2.09,77.6,867.9,11.9,236,6808,0.00,2.75,0.00,0.000,4,0.000,0.078,3714,3937,2868,0,0,0,0,0,0
$GC,6971,2.05,77.6,847.2,12.4,239,6979,0.00,2.58,0.00,0.000,6,0.000,0.042,3715,2373,2866,0,0,0,0,0,0
$GC,7223,2.05,77.6,819.6,11.2,246,7227,0.00,2.67,0.00,0.000,4,0.000,0.051,3714,3942,2865,0,0,0,0,0,0
$GC,7328,2.05,77.6,806.2,11.7,248,7333,0.00,2.62,0.00,0.000,6,0.000,0.037,3714,2371,2864,0,0,0,0,0,0
$GC,7590,2.05,77.6,776.5,11.2,255,7595,0.00,2.65,0.00,0.000,4,0.000,0.053,3714,3941,2863,0,0,0,0,0,0
$GC,7848,2.05,77.6,745.6,11.3,260,7854,0.00,2.58,0.00,0.000,6,0.000,0.040,3715,2392,2862,0,0,0,0,0,0
$GC,8098,2.05,77.6,720.3,10.0,267,8102,0.00,2.62,0.00,0.000,4,0.000,0.055,3714,3944,2861,0,0,0,0,0,0
$GC,8310,2.05,77.6,698.7,10.5,271,8316,0.00,2.55,0.00,0.000,6,0.000,0.039,3715,2400,2860,0,0,0,0,0,0
$GC,8560,2.05,77.8,674.2,10.0,278,8565,0.00,2.60,0.00,0.000,4,0.000,0.051,3714,3939,2859,0,0,0,0,0,0
$GC,8618,2.05,77.8,668.1,10.5,279,8622,0.00,2.58,0.00,0.000,6,0.000,0.044,3715,2396,2859,0,0,0,0,0,0
$GC,8884,2.09,77.8,640.4,10.4,286,8888,0.00,2.62,0.00,0.000,4,0.000,0.053,3714,3948,2858,0,0,0,0,0,0
$GC,9132,2.09,77.8,613.2,10.6,291,9137,0.00,2.58,0.00,0.000,6,0.000,0.043,3715,2397,2858,0,0,0,0,0,0
$GC,9387,2.13,77.8,587.6,10.1,298,9391,0.00,2.60,0.00,0.000,4,0.000,0.051,3714,3942,2857,0,0,0,0,0,0
$GC,9571,2.13,77.8,567.9,10.3,302,9575,0.00,2.53,0.00,0.000,6,0.000,0.041,3715,2408,2857,0,0,0,0,0,0
$GC,9844,2.18,82.2,541.8,9.3,309,9849,0.00,2.58,0.00,0.000,4,0.000,0.049,3715,3942,2857,0,0,0,0,0,0
$GC,9888,2.18,87.0,537.3,9.3,310,9900,0.00,2.50,6.15,0.772,6,0.000,0.035,3714,2411,2835,0,0,0,0,0,0
$GC,10169,2.23,88.4,510.2,9.8,317,10174,0.12,2.58,0.00,0.000,4,0.079,0.047,3751,3941,2834,0,0,0,0,0,0
$GC,10301,2.15,88.4,495.9,11.1,320,10306,0.12,2.50,0.00,0.000,6,0.143,0.035,3728,2407,2834,0,0,0,0,0,0
$GC,10586,2.15,88.4,466.3,10.4,327,10591,0.00,2.55,0.00,0.000,4,0.000,0.051,3729,3944,2834,0,0,0,0,0,0
$GC,10801,2.11,88.4,442.0,10.7,331,10807,0.00,2.47,0.00,0.000,6,0.000,0.030,3729,2413,2834,0,0,0,0,0,0
$GC,11051,2.11,88.4,416.6,10.1,338,11055,0.00,2.53,0.00,0.000,4,0.000,0.048,3729,3946,2834,0,0,0,0,0,0
$GC,11203,2.11,88.4,399.7,11.2,341,11207,0.00,2.42,0.00,0.000,6,0.000,0.032,3729,2422,2835,0,0,0,0,0,0
$GC,11465,2.11,88.4,372.1,10.5,348,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,3729,2422,2834,0,0,0,0,0,0
$GC,11707,2.15,88.4,347.2,10.1,354,11712,0.00,2.50,0.00,0.000,4,0.000,0.047,3729,3948,2835,0,0,0,0,0,0
$GC,11816,2.15,88.4,335.4,11.2,356,11820,0.00,2.45,0.00,0.000,6,0.000,0.032,3729,2417,2835,0,0,0,0,0,0
$GC,12078,2.19,89.6,309.1,9.8,363,12087,0.00,2.55,4.43,0.538,4,0.000,0.041,3729,3950,2824,0,0,0,0,0,0
$GC,12253,2.19,89.6,289.3,11.3,366,12259,0.00,2.42,0.00,0.000,6,0.000,0.026,3729,2420,2823,0,0,0,0,0,0
$GC,12503,2.24,89.6,262.8,10.7,373,12507,0.00,2.50,0.00,0.000,4,0.000,0.041,3729,3944,2824,0,0,0,0,0,0
$GC,12684,2.24,89.6,242.4,11.3,377,12688,0.00,2.40,0.00,0.000,6,0.000,0.025,3729,2439,2825,0,0,0,0,0,0
$GC,12962,2.30,93.0,215.6,9.5,384,12973,0.12,2.50,5.38,0.533,4,0.075,0.040,3767,3952,2809,0,0,0,0,0,0
$GC,13076,2.26,93.0,203.4,10.9,386,13081,0.00,2.40,0.00,0.000,6,0.000,0.029,3767,2450,2809,0,0,0,0,0,0
$GC,13343,2.27,101.6,177.9,8.7,408,13357,0.00,2.47,8.90,0.585,4,0.000,0.044,3767,3953,2774,0,0,0,0,0,0
$GC,13447,2.27,101.6,166.9,11.5,416,13453,0.00,2.42,0.00,0.000,6,0.000,0.027,3766,2442,2773,0,0,0,0,0,0
$GC,13714,2.34,123.3,146.0,6.7,441,13738,0.00,2.50,18.52,0.604,4,0.000,0.038,3767,3951,2686,0,0,0,0,0,0
$GC,14003,2.44,170.6,130.6,2.9,465,14051,0.00,2.40,39.70,0.601,6,0.000,0.025,3766,2440,2494,0,0,0,0,0,0
$GC,14305,2.57,182.7,108.1,8.2,493,14329,0.00,2.72,11.12,0.531,4,0.000,0.051,3767,788,2443,0,0,0,0,0,0
$GC,14404,2.66,182.7,98.3,10.6,501,14408,0.00,2.67,0.00,0.000,6,0.000,0.028,3767,2487,2443,0,0,0,0,0,0
$GC,14674,2.79,184.3,71.6,9.8,525,14683,0.00,0.00,0.00,0.000,6,0.000,0.000,3767,2486,2443,0,0,0,0,0,0
$GC,14943,2.93,191.0,44.8,9.0,550,14958,0.00,2.40,8.90,0.466,4,0.000,0.040,3767,3955,2409,0,0,0,0,0,0
$GC,15101,3.00,191.0,27.8,12.2,563,15111,0.00,2.40,0.00,0.000,6,0.000,0.024,3767,2456,2408,0,0,0,0,0,0
$STATE,15280,end climb,SURFACE_DEPTH_REACHED
$STATE,15280,begin surface coast
$FINISH,0.9,0.999080
$STATE,15325,end surface coast,CONTROL_FINISHED_OK
$STATE,15325,begin surface
$SM_CCo,15348,127.72,0.489,0,0,1763,350.04
$SM_GC,1.61,0.00,0.00,127.72,0.000,0.000,0.489,471,2172,1763,-12.83,-1.07,350.04
$IRIDIUM_FIX,1916.08,-8107.94,140502,080843
$TT8_MAMPS,0.026078
$HUMID,54.76
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.70
$XPDR_PINGS,65
$24V_AH,23.3,22.435
$10V_AH,10.4,19.481
$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,31.500,185.975,233.775,127.725,0.000,77.311,108.635,481.921,16.250,0.000,12.738,1378.381,10876.024,488.928,2583.827,1109.915,29.239,1572.589,0.000,2559.101,0.000,0.537,0.000
$DEVICE_MAMPS,164.905,190.216,1194.219,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.546,288.657,373.724,499.445,950.760,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,47924,595
$CAP_FILE_SIZE,162771,0
$CFSIZE,260165632,117665792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170213,123354,1924.167,-8107.847,144,1.0,144,-3.8