version: 66.06
glider: 146
mission: 8
dive: 194
start: 2 25 113 6 1 41
data:
$ID,146
$MISSION,8
$DIVE,194
$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,-311161.47
$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,59
$R_STBD_OVSHOOT,41
$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
$GPS1,055259,1925.684,-8106.876,38,1.6,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.1
$GPS2,060048,1925.717,-8106.863,12,1.5,29,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.049,-0.134
$KALMAN_X,288.4,553.3,537.7,-448.1,-1194.3
$KALMAN_Y,-169.9,-91.9,225.8,4020.2,-132.8
$MHEAD_RNG_PITCHd_Wd,203.9,3004,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,92,0.00,0.00,-67.03,0.000,6,0.000,0.000,461,2180,3372,0,0,0,0,0,0
$GC,97,-2.13,-75.9,3.8,-5.3,9,123,12.77,2.50,-2.42,0.000,4,0.169,0.054,2788,649,3503,0,0,0,0,0,0
$GC,250,-2.00,-75.9,50.2,-27.1,26,260,0.12,2.45,0.00,0.000,6,0.117,0.016,2816,2237,3503,0,0,0,0,0,0
$GC,518,-2.00,-75.9,109.9,-20.8,51,522,0.00,2.55,0.00,0.000,4,0.000,0.040,2816,659,3504,0,0,0,0,0,0
$GC,534,-2.00,-75.9,114.6,-19.6,52,538,0.00,2.38,0.00,0.000,6,0.000,0.018,2816,2225,3504,0,0,0,0,0,0
$GC,803,-2.08,-75.9,158.6,-14.9,77,807,0.00,2.45,0.00,0.000,4,0.000,0.031,2816,3771,3504,0,0,0,0,0,0
$GC,869,-2.15,-75.9,167.8,-13.5,82,875,0.10,2.38,0.00,0.000,6,0.077,0.021,2766,2219,3505,0,0,0,0,0,0
$GC,1130,-2.15,-75.9,206.7,-13.6,103,1135,0.12,2.45,0.00,0.000,4,0.119,0.038,2791,3762,3505,0,0,0,0,0,0
$GC,1160,-2.19,-75.9,211.0,-13.9,103,1164,0.00,2.38,0.00,0.000,6,0.000,0.017,2792,2214,3506,0,0,0,0,0,0
$GC,1410,-2.27,-75.9,243.7,-12.6,109,1415,0.10,2.50,0.00,0.000,4,0.081,0.035,2745,3769,3506,0,0,0,0,0,0
$GC,1431,-2.27,-75.9,246.8,-13.7,109,1436,0.10,2.38,0.00,0.000,6,0.124,0.025,2764,2224,3506,0,0,0,0,0,0
$GC,1689,-2.31,-75.9,280.5,-13.0,116,1693,0.00,2.45,0.00,0.000,4,0.000,0.041,2764,3762,3506,0,0,0,0,0,0
$GC,1709,-2.31,-75.9,283.8,-13.9,116,1714,0.00,2.38,0.00,0.000,6,0.000,0.020,2764,2232,3506,0,0,0,0,0,0
$GC,1970,-2.35,-75.9,319.1,-13.8,123,1975,0.00,2.45,0.00,0.000,4,0.000,0.041,2765,3761,3505,0,0,0,0,0,0
$GC,2005,-2.35,-75.9,324.0,-14.6,123,2011,0.00,2.42,0.00,0.000,6,0.000,0.031,2764,2222,3505,0,0,0,0,0,0
$GC,2255,-2.39,-75.9,357.2,-13.3,130,2260,0.12,2.50,0.00,0.000,4,0.067,0.043,2714,3756,3505,0,0,0,0,0,0
$GC,2324,-2.32,-75.9,367.6,-15.0,131,2330,0.17,2.42,0.00,0.000,6,0.109,0.035,2750,2234,3505,0,0,0,0,0,0
$GC,2580,-2.32,-75.9,401.6,-12.9,138,2584,0.00,2.50,0.00,0.000,4,0.000,0.051,2750,3755,3504,0,0,0,0,0,0
$GC,2629,-2.32,-75.9,407.9,-13.1,139,2633,0.00,2.45,0.00,0.000,6,0.000,0.041,2750,2243,3504,0,0,0,0,0,0
$GC,2908,-2.32,-75.9,443.3,-12.8,146,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2243,3503,0,0,0,0,0,0
$GC,3150,-2.32,-75.9,474.9,-12.9,152,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2242,3502,0,0,0,0,0,0
$GC,3394,-2.32,-75.9,506.4,-13.0,158,3398,0.00,2.60,0.00,0.000,4,0.000,0.073,2750,3747,3501,0,0,0,0,0,0
$GC,3465,-2.32,-75.9,516.3,-13.5,159,3470,0.00,2.50,0.00,0.000,6,0.000,0.052,2750,2243,3501,0,0,0,0,0,0
$GC,3723,-2.32,-75.9,549.5,-13.1,166,3727,0.00,2.58,0.00,0.000,4,0.000,0.072,2750,3748,3499,0,0,0,0,0,0
$GC,3744,-2.32,-75.9,552.8,-13.2,166,3748,0.00,2.50,0.00,0.000,6,0.000,0.058,2750,2245,3499,0,0,0,0,0,0
$GC,4000,-2.32,-75.9,586.7,-13.2,173,4004,0.00,2.60,0.00,0.000,4,0.000,0.076,2750,3746,3498,0,0,0,0,0,0
$GC,4068,-2.32,-75.9,596.6,-14.7,174,4072,0.00,2.58,0.00,0.000,6,0.000,0.066,2750,2249,3497,0,0,0,0,0,0
$GC,4323,-2.36,-75.9,631.0,-13.5,181,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2249,3496,0,0,0,0,0,0
$GC,4567,-2.41,-75.9,662.9,-12.9,187,4571,0.00,2.75,0.00,0.000,4,0.000,0.106,2750,3743,3494,0,0,0,0,0,0
$GC,4640,-2.41,-75.9,673.2,-14.3,188,4645,0.00,2.75,0.00,0.000,6,0.000,0.100,2750,2263,3494,0,0,0,0,0,0
$GC,4890,-2.45,-75.9,705.6,-12.8,194,4896,0.10,2.85,0.00,0.000,4,0.082,0.118,2709,3744,3493,0,0,0,0,0,0
$GC,4982,-2.39,-75.9,719.0,-15.6,196,4987,0.15,2.65,0.00,0.000,6,0.117,0.083,2739,2266,3492,0,0,0,0,0,0
$GC,5260,-2.39,-75.9,754.5,-12.5,203,5264,0.00,2.67,0.00,0.000,4,0.000,0.090,2738,3747,3490,0,0,0,0,0,0
$GC,5348,-2.39,-75.9,766.2,-13.7,205,5353,0.00,2.60,0.00,0.000,6,0.000,0.078,2739,2267,3490,0,0,0,0,0,0
$GC,5629,-2.39,-75.9,802.2,-12.7,212,5633,0.00,2.65,0.00,0.000,4,0.000,0.087,2738,3749,3488,0,0,0,0,0,0
$GC,5723,-2.39,-75.9,815.1,-13.7,214,5727,0.00,2.58,0.00,0.000,6,0.000,0.067,2738,2278,3487,0,0,0,0,0,0
$GC,5997,-2.39,-75.9,847.8,-11.8,221,6001,0.00,2.62,0.00,0.000,4,0.000,0.082,2738,3752,3485,0,0,0,0,0,0
$GC,6164,-2.39,-75.9,870.1,-13.0,224,6170,0.00,2.55,0.00,0.000,6,0.000,0.067,2738,2288,3484,0,0,0,0,0,0
$GC,6414,-2.39,-75.9,898.5,-11.0,231,6418,0.00,2.58,0.00,0.000,4,0.000,0.075,2738,3752,3483,0,0,0,0,0,0
$STATE,6427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6427,begin apogee
$GC,6438,-0.31,0.0,900.3,11.2,231,6505,2.08,0.00,62.42,1.193,6,0.107,0.000,3187,2369,3190,0,0,0,0,0,0
$STATE,6505,end apogee,CONTROL_FINISHED_OK
$STATE,6505,begin climb
$GC,6508,2.13,75.9,902.3,0.0,233,6583,2.20,3.10,66.43,1.166,4,0.033,0.112,3734,783,2879,0,0,0,0,0,0
$GC,6650,2.07,75.9,890.1,13.2,236,6655,0.12,2.65,0.00,0.000,6,0.143,0.052,3713,2322,2877,0,0,0,0,0,0
$GC,6922,2.07,75.9,857.6,11.7,243,6927,0.00,2.80,0.00,0.000,4,0.000,0.073,3712,3935,2874,0,0,0,0,0,0
$GC,7137,2.07,75.9,830.9,12.2,247,7143,0.00,2.60,0.00,0.000,6,0.000,0.037,3712,2370,2872,0,0,0,0,0,0
$GC,7387,2.07,75.9,804.0,10.7,254,7391,0.00,2.67,0.00,0.000,4,0.000,0.056,3712,3945,2870,0,0,0,0,0,0
$GC,7645,2.07,75.9,775.2,10.7,259,7651,0.00,2.62,0.00,0.000,6,0.000,0.044,3712,2379,2869,0,0,0,0,0,0
$GC,7895,2.07,79.3,751.7,9.5,266,7900,0.00,2.65,0.00,0.000,4,0.000,0.056,3712,3941,2868,0,0,0,0,0,0
$GC,8152,2.07,79.3,723.6,11.8,271,8158,0.00,2.58,0.00,0.000,6,0.000,0.039,3712,2400,2866,0,0,0,0,0,0
$GC,8403,2.08,82.7,699.2,9.5,278,8412,0.00,2.65,4.82,0.764,4,0.000,0.058,3712,3946,2852,0,0,0,0,0,0
$GC,8666,2.08,82.7,671.7,10.7,284,8670,0.00,2.55,0.00,0.000,6,0.000,0.038,3712,2407,2851,0,0,0,0,0,0
$GC,8951,2.12,82.7,643.3,10.0,291,8956,0.00,2.60,0.00,0.000,4,0.000,0.054,3712,3942,2850,0,0,0,0,0,0
$GC,9171,2.12,82.7,618.7,11.1,296,9175,0.00,2.55,0.00,0.000,6,0.000,0.042,3712,2409,2849,0,0,0,0,0,0
$GC,9456,2.17,86.2,591.3,9.5,303,9465,0.00,2.60,4.22,0.669,4,0.000,0.058,3712,3946,2838,0,0,0,0,0,0
$GC,9511,2.17,86.2,585.2,10.7,304,9515,0.00,2.55,0.00,0.000,6,0.000,0.040,3712,2411,2838,0,0,0,0,0,0
$GC,9784,2.22,86.2,558.1,10.0,311,9789,0.12,2.60,0.00,0.000,4,0.079,0.051,3750,3941,2837,0,0,0,0,0,0
$GC,9997,2.15,86.2,532.4,11.9,315,10003,0.10,2.53,0.00,0.000,6,0.153,0.040,3731,2411,2837,0,0,0,0,0,0
$GC,10249,2.15,86.2,506.8,10.2,322,10253,0.00,2.55,0.00,0.000,4,0.000,0.052,3730,3941,2837,0,0,0,0,0,0
$GC,10309,2.11,86.2,500.1,11.2,323,10314,0.00,2.50,0.00,0.000,6,0.000,0.035,3730,2417,2837,0,0,0,0,0,0
$GC,10570,2.11,86.2,473.4,10.1,330,10574,0.00,2.53,0.00,0.000,4,0.000,0.044,3731,3945,2837,0,0,0,0,0,0
$GC,10678,2.07,86.2,461.2,11.9,332,10682,0.00,2.45,0.00,0.000,6,0.000,0.028,3731,2432,2837,0,0,0,0,0,0
$GC,10938,2.07,86.2,433.9,10.6,339,10942,0.00,2.47,0.00,0.000,4,0.000,0.045,3731,3944,2837,0,0,0,0,0,0
$GC,11040,2.03,86.2,422.7,10.6,341,11045,0.15,2.42,0.00,0.000,6,0.137,0.027,3702,2437,2837,0,0,0,0,0,0
$GC,11307,2.11,92.9,398.4,9.0,348,11321,0.00,2.55,7.25,0.719,4,0.000,0.043,3702,3945,2811,0,0,0,0,0,0
$GC,11432,2.11,92.9,384.9,11.4,350,11437,0.00,2.42,0.00,0.000,6,0.000,0.025,3703,2439,2811,0,0,0,0,0,0
$GC,11682,2.20,92.9,358.3,10.5,356,11688,0.15,2.47,0.00,0.000,4,0.163,0.041,3744,3946,2811,0,0,0,0,0,0
$GC,11760,2.15,92.9,348.4,11.9,357,11766,0.00,2.40,0.00,0.000,6,0.000,0.029,3744,2445,2811,0,0,0,0,0,0
$GC,12012,2.15,92.9,320.5,11.1,364,12016,0.00,2.45,0.00,0.000,4,0.000,0.044,3745,3953,2811,0,0,0,0,0,0
$GC,12034,2.15,92.9,317.6,11.9,364,12038,0.00,2.42,0.00,0.000,6,0.000,0.032,3745,2436,2812,0,0,0,0,0,0
$GC,12295,2.15,92.9,288.4,11.3,371,12299,0.00,2.47,0.00,0.000,4,0.000,0.048,3744,3945,2812,0,0,0,0,0,0
$GC,12553,2.11,92.9,256.9,12.4,376,12559,0.12,2.40,0.00,0.000,6,0.135,0.026,3722,2437,2813,0,0,0,0,0,0
$GC,12803,2.17,92.9,231.3,10.2,383,12807,0.00,2.47,0.00,0.000,4,0.000,0.044,3722,3949,2814,0,0,0,0,0,0
$GC,12946,2.18,94.5,216.8,9.8,386,12955,0.00,2.38,4.22,0.469,6,0.000,0.028,3721,2456,2803,0,0,0,0,0,0
$GC,13211,2.27,104.8,192.9,8.4,397,13224,0.15,0.00,10.00,0.603,6,0.067,0.000,3767,2456,2761,0,0,0,0,0,0
$GC,13477,2.27,104.8,168.5,10.3,422,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,2456,2761,0,0,0,0,0,0
$GC,13736,2.36,134.3,148.3,5.6,446,13774,0.00,2.55,25.00,0.611,4,0.000,0.044,3767,3948,2640,0,0,0,0,0,0
$GC,14043,2.38,148.8,121.4,7.8,471,14063,0.00,2.35,13.45,0.561,6,0.000,0.025,3767,2460,2583,0,0,0,0,0,0
$GC,14318,2.53,183.0,106.6,4.9,497,14352,0.00,2.47,29.17,0.569,4,0.000,0.037,3767,3953,2443,0,0,0,0,0,0
$GC,14623,2.61,183.0,75.2,11.4,522,14632,0.00,2.35,0.00,0.000,6,0.000,0.022,3767,2483,2441,0,0,0,0,0,0
$GC,14892,2.74,183.0,45.3,11.9,547,14896,0.00,2.40,0.00,0.000,4,0.000,0.038,3767,3955,2441,0,0,0,0,0,0
$GC,15190,2.83,183.0,6.8,13.1,583,15199,0.00,2.35,0.00,0.000,6,0.000,0.023,3767,2484,2442,0,0,0,0,0,0
$STATE,15213,end climb,SURFACE_DEPTH_REACHED
$STATE,15213,begin surface coast
$FINISH,0.9,1.006998
$STATE,15254,end surface coast,CONTROL_FINISHED_OK
$STATE,15254,begin surface
$SM_CCo,15277,133.88,0.490,0,0,1762,350.04
$SM_GC,1.72,0.00,0.00,133.88,0.000,0.000,0.490,465,2169,1762,-12.86,-1.16,350.04
$IRIDIUM_FIX,1922.94,-8118.88,220502,000053
$TT8_MAMPS,0.025311
$HUMID,54.92
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.50
$XPDR_PINGS,70
$24V_AH,23.3,27.325
$10V_AH,10.4,24.062
$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,32.250,187.600,227.000,133.875,0.000,24.815,40.922,215.037,17.500,0.000,30.819,1369.649,10727.883,483.407,2583.652,703.093,33.354,1568.551,0.000,2544.243,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,118.118,1192.685,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.383,278.671,369.453,486.781,927.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,44795,592
$CAP_FILE_SIZE,155531,0
$CFSIZE,260165632,115064832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250213,101954,1924.263,-8106.407,39,1.3,39,-3.8