version: 66.06
glider: 146
mission: 8
dive: 163
start: 2 18 113 10 57 10
data:
$ID,146
$MISSION,8
$DIVE,163
$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,-310549.41
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,104336,1927.122,-8118.991,68,1.1,68,-3.7
$_CALLS,2
$_XMS_NAKs,26
$_XMS_TOUTs,3
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.0
$GPS2,105613,1927.142,-8119.070,32,1.9,32,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.029
$KALMAN_X,-2365.4,-185.8,-290.8,-18733.1,102.6
$KALMAN_Y,-2179.3,-33.9,63.8,7417.3,-621.2
$MHEAD_RNG_PITCHd_Wd,82.1,1887,-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,-44.5,0.0,0.0,0,84,0.00,0.00,-63.30,0.000,2,0.000,0.000,464,2139,3322,0,0,0,0,0,0
$GC,87,-2.13,-74.7,3.4,-5.5,8,113,12.68,2.47,-3.53,0.000,4,0.166,0.042,2787,620,3495,0,0,0,0,0,0
$GC,266,-2.01,-74.7,53.5,-28.4,28,272,0.17,2.47,0.00,0.000,6,0.143,0.015,2818,2246,3496,0,0,0,0,0,0
$GC,529,-2.01,-74.7,114.1,-20.2,52,533,0.00,2.62,0.00,0.000,4,0.000,0.040,2818,624,3496,0,0,0,0,0,0
$GC,576,-2.01,-74.7,123.5,-21.8,55,580,0.00,2.40,0.00,0.000,6,0.000,0.016,2819,2215,3497,0,0,0,0,0,0
$GC,844,-2.09,-74.7,165.2,-15.5,79,848,0.00,2.42,0.00,0.000,4,0.000,0.037,2819,3764,3497,0,0,0,0,0,0
$GC,873,-2.15,-74.7,170.9,-16.0,81,878,0.12,2.45,0.00,0.000,6,0.066,0.018,2767,2177,3497,0,0,0,0,0,0
$GC,1156,-2.15,-74.7,211.9,-14.7,101,1161,0.10,2.55,0.00,0.000,4,0.130,0.031,2788,3769,3497,0,0,0,0,0,0
$GC,1173,-2.19,-74.7,215.2,-14.7,101,1177,0.00,2.38,0.00,0.000,6,0.000,0.024,2788,2217,3497,0,0,0,0,0,0
$GC,1436,-2.25,-74.7,247.1,-12.1,108,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2217,3498,0,0,0,0,0,0
$GC,1677,-2.33,-74.7,276.9,-12.6,114,1679,0.15,0.00,0.00,0.000,6,0.063,0.000,2733,2217,3498,0,0,0,0,0,0
$GC,1920,-2.33,-74.7,311.1,-13.8,120,1925,0.00,2.47,0.00,0.000,4,0.000,0.037,2733,3758,3498,0,0,0,0,0,0
$GC,1948,-2.28,-74.7,315.1,-14.3,120,1953,0.15,2.45,0.00,0.000,6,0.113,0.028,2763,2214,3497,0,0,0,0,0,0
$GC,2200,-2.31,-74.7,348.2,-13.2,126,2204,0.00,2.47,0.00,0.000,4,0.000,0.038,2763,3754,3497,0,0,0,0,0,0
$GC,2227,-2.31,-74.7,352.2,-13.8,126,2231,0.00,2.47,0.00,0.000,6,0.000,0.035,2763,2208,3497,0,0,0,0,0,0
$GC,2482,-2.36,-74.7,383.4,-11.9,133,2486,0.00,2.53,0.00,0.000,4,0.000,0.041,2762,3755,3496,0,0,0,0,0,0
$GC,2511,-2.36,-74.7,386.9,-12.5,133,2515,0.00,2.47,0.00,0.000,6,0.000,0.032,2763,2217,3496,0,0,0,0,0,0
$GC,2761,-2.40,-74.7,416.4,-11.5,139,2766,0.10,2.55,0.00,0.000,4,0.084,0.044,2721,3757,3495,0,0,0,0,0,0
$GC,2777,-2.40,-74.7,418.5,-11.8,139,2781,0.00,2.50,0.00,0.000,6,0.000,0.038,2721,2217,3495,0,0,0,0,0,0
$GC,3039,-2.40,-74.7,453.1,-13.2,146,3044,0.00,2.55,0.00,0.000,4,0.000,0.056,2722,3754,3494,0,0,0,0,0,0
$GC,3100,-2.34,-74.7,462.1,-15.0,147,3105,0.12,2.53,0.00,0.000,6,0.121,0.044,2746,2214,3494,0,0,0,0,0,0
$GC,3361,-2.34,-74.7,497.5,-13.5,154,3365,0.00,2.60,0.00,0.000,4,0.000,0.060,2746,3754,3493,0,0,0,0,0,0
$GC,3378,-2.34,-74.7,499.8,-13.6,154,3382,0.00,2.58,0.00,0.000,6,0.000,0.054,2746,2214,3492,0,0,0,0,0,0
$GC,3638,-2.34,-74.7,533.4,-12.6,161,3643,0.00,2.60,0.00,0.000,4,0.000,0.070,2746,3744,3491,0,0,0,0,0,0
$GC,3694,-2.34,-74.7,540.8,-12.9,162,3698,0.00,2.53,0.00,0.000,6,0.000,0.057,2746,2230,3490,0,0,0,0,0,0
$GC,3962,-2.34,-74.7,574.3,-12.7,169,3967,0.00,2.62,0.00,0.000,4,0.000,0.080,2746,3744,3489,0,0,0,0,0,0
$GC,4040,-2.34,-74.7,585.8,-13.8,170,4046,0.00,2.58,0.00,0.000,6,0.000,0.067,2746,2232,3489,0,0,0,0,0,0
$GC,4290,-2.34,-74.7,618.2,-13.1,177,4295,0.00,2.70,0.00,0.000,4,0.000,0.084,2746,3749,3487,0,0,0,0,0,0
$GC,4319,-2.34,-74.7,621.9,-14.1,177,4323,0.00,2.62,0.00,0.000,6,0.000,0.074,2746,2244,3487,0,0,0,0,0,0
$GC,4568,-2.34,-74.7,653.5,-12.4,183,4573,0.00,2.72,0.00,0.000,4,0.000,0.100,2746,3744,3486,0,0,0,0,0,0
$GC,4584,-2.34,-74.7,655.8,-12.5,183,4589,0.00,2.70,0.00,0.000,6,0.000,0.094,2746,2243,3486,0,0,0,0,0,0
$GC,4848,-2.34,-74.7,687.8,-12.4,190,4852,0.00,2.80,0.00,0.000,4,0.000,0.108,2746,3742,3485,0,0,0,0,0,0
$GC,4863,-2.34,-74.7,690.3,-12.9,190,4868,0.00,2.65,0.00,0.000,6,0.000,0.084,2746,2238,3484,0,0,0,0,0,0
$GC,5124,-2.34,-74.7,723.8,-12.7,197,5129,0.00,2.70,0.00,0.000,4,0.000,0.091,2746,3743,3483,0,0,0,0,0,0
$GC,5191,-2.34,-74.7,733.2,-14.1,198,5195,0.00,2.60,0.00,0.000,6,0.000,0.077,2746,2253,3482,0,0,0,0,0,0
$GC,5449,-2.34,-74.7,766.2,-12.8,205,5453,0.00,2.67,0.00,0.000,4,0.000,0.092,2746,3746,3481,0,0,0,0,0,0
$GC,5481,-2.34,-74.7,770.7,-13.1,205,5487,0.00,2.60,0.00,0.000,6,0.000,0.075,2746,2256,3480,0,0,0,0,0,0
$GC,5731,-2.34,-74.7,801.3,-12.2,212,5735,0.00,2.65,0.00,0.000,4,0.000,0.089,2746,3745,3479,0,0,0,0,0,0
$GC,5833,-2.34,-74.7,814.5,-13.0,214,5837,0.00,2.58,0.00,0.000,6,0.000,0.067,2746,2260,3478,0,0,0,0,0,0
$GC,6099,-2.34,-74.7,846.1,-11.7,221,6103,0.00,2.62,0.00,0.000,4,0.000,0.080,2746,3746,3477,0,0,0,0,0,0
$GC,6217,-2.34,-74.7,861.0,-13.3,223,6222,0.00,2.58,0.00,0.000,6,0.000,0.071,2746,2268,3476,0,0,0,0,0,0
$GC,6467,-2.34,-74.7,889.8,-11.3,229,6471,0.00,2.58,0.00,0.000,4,0.000,0.082,2746,3746,3475,0,0,0,0,0,0
$STATE,6553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6553,begin apogee
$GC,6562,-0.31,0.0,900.5,11.6,231,6627,2.03,0.00,60.47,1.190,6,0.110,0.000,3187,2364,3190,0,0,0,0,0,0
$STATE,6630,end apogee,CONTROL_FINISHED_OK
$STATE,6630,begin climb
$GC,6632,2.13,74.7,901.9,0.0,232,6707,2.20,3.08,64.80,1.170,4,0.035,0.107,3735,786,2884,0,0,0,0,0,0
$GC,6728,2.08,75.0,895.6,9.9,234,6733,0.12,2.62,0.00,0.000,6,0.140,0.051,3713,2321,2883,0,0,0,0,0,0
$GC,7000,2.08,75.0,864.1,11.4,241,7005,0.00,2.83,0.00,0.000,4,0.000,0.077,3714,3938,2880,0,0,0,0,0,0
$GC,7152,2.08,75.0,846.2,11.4,244,7156,0.00,2.60,0.00,0.000,6,0.000,0.037,3714,2375,2878,0,0,0,0,0,0
$GC,7414,2.08,75.0,819.0,10.2,251,7419,0.00,2.65,0.00,0.000,4,0.000,0.056,3713,3944,2876,0,0,0,0,0,0
$GC,7674,2.08,75.0,791.1,10.2,256,7679,0.00,2.58,0.00,0.000,6,0.000,0.040,3714,2400,2875,0,0,0,0,0,0
$GC,7923,2.08,79.3,767.5,9.4,263,7928,0.00,2.60,0.00,0.000,4,0.000,0.057,3714,3939,2875,0,0,0,0,0,0
$GC,8107,2.08,79.3,748.3,10.7,267,8112,0.00,2.53,0.00,0.000,6,0.000,0.043,3714,2407,2873,0,0,0,0,0,0
$GC,8382,2.08,79.3,721.3,10.0,274,8387,0.00,2.60,0.00,0.000,4,0.000,0.051,3714,3945,2872,0,0,0,0,0,0
$GC,8642,2.08,79.3,692.8,10.8,279,8648,0.00,2.55,0.00,0.000,6,0.000,0.042,3714,2411,2871,0,0,0,0,0,0
$GC,8892,2.08,79.7,668.1,9.9,286,8896,0.00,2.55,0.00,0.000,4,0.000,0.051,3714,3940,2870,0,0,0,0,0,0
$GC,8908,2.08,80.4,666.5,9.9,286,8912,0.00,2.55,0.00,0.000,6,0.000,0.037,3714,2407,2870,0,0,0,0,0,0
$GC,9169,2.12,80.7,640.5,10.0,293,9178,0.00,2.62,3.75,0.625,4,0.000,0.058,3714,3934,2861,0,0,0,0,0,0
$GC,9433,2.12,80.7,611.6,11.1,298,9438,0.00,2.53,0.00,0.000,6,0.000,0.038,3714,2414,2860,0,0,0,0,0,0
$GC,9685,2.16,80.9,586.5,10.0,305,9689,0.00,2.55,0.00,0.000,4,0.000,0.051,3713,3940,2860,0,0,0,0,0,0
$GC,9944,2.16,80.9,559.2,10.5,310,9949,0.00,2.50,0.00,0.000,6,0.000,0.036,3714,2426,2859,0,0,0,0,0,0
$GC,10196,2.22,87.9,536.4,8.9,317,10211,0.12,2.60,7.57,0.823,4,0.079,0.053,3751,3937,2831,0,0,0,0,0,0
$GC,10340,2.15,87.9,520.8,11.2,320,10345,0.12,2.45,0.00,0.000,6,0.142,0.031,3729,2430,2830,0,0,0,0,0,0
$GC,10616,2.15,92.4,494.8,9.3,327,10627,0.00,2.53,5.57,0.719,4,0.000,0.046,3729,3941,2812,0,0,0,0,0,0
$GC,10882,2.15,92.4,462.9,12.8,333,10886,0.00,2.45,0.00,0.000,6,0.000,0.029,3729,2435,2812,0,0,0,0,0,0
$GC,11166,2.19,92.4,431.9,10.8,340,11170,0.00,2.47,0.00,0.000,4,0.000,0.046,3729,3941,2812,0,0,0,0,0,0
$GC,11423,2.19,92.4,400.4,13.2,345,11429,0.00,2.40,0.00,0.000,6,0.000,0.025,3728,2443,2812,0,0,0,0,0,0
$GC,11673,2.19,92.4,370.6,12.0,352,11677,0.00,2.47,0.00,0.000,4,0.000,0.042,3728,3946,2812,0,0,0,0,0,0
$GC,11930,2.19,92.4,339.8,12.4,357,11936,0.00,2.38,0.00,0.000,6,0.000,0.025,3728,2458,2813,0,0,0,0,0,0
$GC,12182,2.23,92.4,313.4,10.5,364,12186,0.00,2.45,0.00,0.000,4,0.000,0.042,3728,3949,2813,0,0,0,0,0,0
$GC,12440,2.23,92.4,281.6,12.7,369,12446,0.00,2.35,0.00,0.000,6,0.000,0.030,3729,2469,2814,0,0,0,0,0,0
$GC,12690,2.28,92.4,254.9,10.7,376,12695,0.12,2.45,0.00,0.000,4,0.076,0.041,3767,3955,2815,0,0,0,0,0,0
$GC,12948,2.24,92.4,223.5,11.9,381,12954,0.00,2.35,0.00,0.000,6,0.000,0.032,3767,2478,2816,0,0,0,0,0,0
$GC,13198,2.24,95.2,198.0,9.6,388,13209,0.00,2.40,4.97,0.507,4,0.000,0.044,3767,3945,2802,0,0,0,0,0,0
$GC,13473,2.24,96.3,171.7,9.8,411,13482,0.00,2.33,0.00,0.000,6,0.000,0.025,3767,2494,2802,0,0,0,0,0,0
$GC,13742,2.29,133.6,157.5,4.4,436,13780,0.00,2.90,32.22,0.627,4,0.000,0.048,3766,768,2643,0,0,0,0,0,0
$GC,13838,2.29,133.6,148.6,12.6,444,13843,0.00,2.78,0.00,0.000,6,0.000,0.022,3767,2527,2642,0,0,0,0,0,0
$GC,14104,2.38,146.6,127.8,8.1,468,14118,0.00,0.00,12.05,0.559,6,0.000,0.000,3767,2527,2592,0,0,0,0,0,0
$GC,14375,2.52,178.2,112.6,5.2,493,14409,0.00,2.38,27.27,0.573,4,0.000,0.040,3766,3953,2462,0,0,0,0,0,0
$GC,14675,2.61,178.2,81.5,12.6,518,14684,0.00,2.40,0.00,0.000,6,0.000,0.024,3767,2462,2460,0,0,0,0,0,0
$GC,14945,2.74,184.0,56.5,9.1,543,14960,0.00,2.47,6.22,0.435,4,0.000,0.038,3766,3950,2439,0,0,0,0,0,0
$GC,15246,2.85,184.0,19.4,13.9,572,15256,0.00,2.38,0.00,0.000,6,0.000,0.023,3767,2464,2438,0,0,0,0,0,0
$STATE,15362,end climb,SURFACE_DEPTH_REACHED
$STATE,15362,begin surface coast
$FINISH,1.0,1.019203
$STATE,15402,end surface coast,CONTROL_FINISHED_OK
$STATE,15403,begin surface
$SM_CCo,15428,134.07,0.489,0,0,1762,350.04
$SM_GC,1.78,0.00,0.00,134.07,0.000,0.000,0.489,466,2163,1762,-12.85,-1.33,350.04
$IRIDIUM_FIX,1920.65,-8137.65,150502,101000
$TT8_MAMPS,0.025311
$HUMID,54.41
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.60
$XPDR_PINGS,64
$24V_AH,23.3,23.158
$10V_AH,10.4,20.123
$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,31.475,194.200,224.925,134.075,0.000,54.494,68.796,380.397,16.000,0.000,34.054,1389.999,10835.612,484.807,2665.518,940.864,33.342,1598.352,0.000,2615.604,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,108.147,1190.384,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.804,286.820,371.561,489.300,932.779,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,47850,594
$CAP_FILE_SIZE,161639,0
$CFSIZE,260165632,117305344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180213,151823,1927.824,-8118.590,48,99.0,67,-3.7