version: 66.06
glider: 146
mission: 8
dive: 196
start: 2 25 113 15 4 57
data:
$ID,146
$MISSION,8
$DIVE,196
$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,-311223.81
$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,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,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
$GPS1,145656,1923.379,-8107.383,26,2.4,45,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.1
$GPS2,150403,1923.409,-8107.372,12,3.2,31,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.124,0.079
$KALMAN_X,4119.3,46.9,85.3,-4196.4,1142.1
$KALMAN_Y,-345.3,-265.4,-235.1,573.9,583.7
$MHEAD_RNG_PITCHd_Wd,306.3,2299,-31.7,-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,20,-2.04,-46.8,0.0,0.0,0,92,0.00,0.00,-67.80,0.000,6,0.000,0.000,465,2167,3381,0,0,0,0,0,0
$GC,97,-2.08,-78.7,3.7,-5.4,9,123,12.85,2.50,-2.53,0.000,4,0.168,0.052,2797,656,3514,0,0,0,0,0,0
$GC,405,-1.96,-78.7,87.0,-25.4,39,410,0.17,2.38,0.00,0.000,6,0.129,0.015,2831,2214,3515,0,0,0,0,0,0
$GC,673,-2.00,-78.7,141.5,-17.2,63,678,0.00,2.58,0.00,0.000,4,0.000,0.044,2830,650,3515,0,0,0,0,0,0
$GC,754,-2.05,-78.7,155.1,-14.5,69,763,0.00,2.40,0.00,0.000,6,0.000,0.019,2831,2206,3516,0,0,0,0,0,0
$GC,1023,-2.14,-78.7,190.3,-13.6,94,1029,0.15,2.58,0.00,0.000,4,0.058,0.051,2767,653,3516,0,0,0,0,0,0
$GC,1056,-2.10,-78.7,196.7,-16.6,96,1065,0.12,2.38,0.00,0.000,6,0.090,0.017,2797,2208,3516,0,0,0,0,0,0
$GC,1330,-2.16,-78.7,231.8,-12.8,105,1334,0.00,2.42,0.00,0.000,4,0.000,0.031,2797,3761,3517,0,0,0,0,0,0
$GC,1340,-2.21,-78.7,233.5,-13.1,105,1345,0.00,2.40,0.00,0.000,6,0.000,0.018,2797,2210,3517,0,0,0,0,0,0
$GC,1607,-2.27,-78.7,265.5,-11.7,112,1612,0.12,2.47,0.00,0.000,4,0.067,0.041,2744,3753,3516,0,0,0,0,0,0
$GC,1676,-2.22,-78.7,275.0,-14.3,113,1681,0.15,2.40,0.00,0.000,6,0.107,0.021,2774,2218,3517,0,0,0,0,0,0
$GC,1931,-2.22,-78.7,310.0,-13.7,120,1936,0.00,2.65,0.00,0.000,4,0.000,0.066,2774,640,3516,0,0,0,0,0,0
$GC,1952,-2.22,-78.7,313.1,-14.0,120,1956,0.00,2.40,0.00,0.000,6,0.000,0.023,2774,2171,3516,0,0,0,0,0,0
$GC,2216,-2.22,-78.7,348.2,-13.4,127,2220,0.00,2.60,0.00,0.000,4,0.000,0.042,2774,3783,3515,0,0,0,0,0,0
$GC,2299,-2.22,-78.7,360.6,-14.3,129,2304,0.00,2.47,0.00,0.000,6,0.000,0.028,2774,2225,3515,0,0,0,0,0,0
$GC,2585,-2.26,-78.7,397.8,-12.8,136,2590,0.00,2.55,0.00,0.000,4,0.000,0.044,2774,3782,3515,0,0,0,0,0,0
$GC,2607,-2.26,-78.7,401.0,-12.9,136,2611,0.00,2.53,0.00,0.000,6,0.000,0.037,2774,2217,3515,0,0,0,0,0,0
$GC,2863,-2.31,-78.7,433.0,-12.4,143,2867,0.00,2.60,0.00,0.000,4,0.000,0.051,2774,3776,3514,0,0,0,0,0,0
$GC,2972,-2.31,-78.7,446.9,-13.0,145,2976,0.00,2.53,0.00,0.000,6,0.000,0.042,2774,2235,3514,0,0,0,0,0,0
$GC,3233,-2.35,-78.7,479.5,-12.4,152,3238,0.12,2.60,0.00,0.000,4,0.069,0.059,2724,3773,3512,0,0,0,0,0,0
$GC,3320,-2.29,-78.7,491.7,-15.0,154,3325,0.17,2.55,0.00,0.000,6,0.108,0.048,2760,2237,3512,0,0,0,0,0,0
$GC,3603,-2.29,-78.7,529.8,-13.1,161,3607,0.00,2.62,0.00,0.000,4,0.000,0.064,2759,3775,3511,0,0,0,0,0,0
$GC,3687,-2.29,-78.7,541.5,-13.8,163,3691,0.00,2.58,0.00,0.000,6,0.000,0.049,2760,2245,3510,0,0,0,0,0,0
$GC,3972,-2.29,-78.7,578.2,-12.8,170,3976,0.00,2.62,0.00,0.000,4,0.000,0.076,2760,3771,3509,0,0,0,0,0,0
$GC,4011,-2.29,-78.7,583.9,-14.4,171,4015,0.00,2.62,0.00,0.000,6,0.000,0.060,2760,2242,3509,0,0,0,0,0,0
$GC,4294,-2.29,-78.7,619.3,-12.5,178,4298,0.00,2.70,0.00,0.000,4,0.000,0.087,2760,3772,3507,0,0,0,0,0,0
$GC,4380,-2.29,-78.7,630.4,-13.4,180,4384,0.00,2.70,0.00,0.000,6,0.000,0.078,2760,2256,3507,0,0,0,0,0,0
$GC,4663,-2.33,-78.7,667.0,-12.8,187,4668,0.00,2.78,0.00,0.000,4,0.000,0.099,2760,3769,3505,0,0,0,0,0,0
$GC,4738,-2.33,-78.7,676.4,-12.7,188,4743,0.00,2.70,0.00,0.000,6,0.000,0.081,2760,2259,3504,0,0,0,0,0,0
$GC,4988,-2.33,-78.7,707.4,-12.3,194,4992,0.00,2.75,0.00,0.000,4,0.000,0.094,2760,3770,3503,0,0,0,0,0,0
$GC,5009,-2.33,-78.7,710.2,-12.5,194,5013,0.00,2.65,0.00,0.000,6,0.000,0.077,2759,2262,3502,0,0,0,0,0,0
$GC,5267,-2.33,-78.7,741.1,-11.9,201,5271,0.00,2.70,0.00,0.000,4,0.000,0.093,2760,3777,3500,0,0,0,0,0,0
$GC,5312,-2.33,-78.7,746.9,-12.3,202,5316,0.00,2.65,0.00,0.000,6,0.000,0.071,2760,2270,3500,0,0,0,0,0,0
$GC,5589,-2.33,-78.7,780.6,-11.9,209,5593,0.00,2.65,0.00,0.000,4,0.000,0.087,2760,3771,3498,0,0,0,0,0,0
$GC,5708,-2.33,-78.7,795.2,-12.4,211,5712,0.00,2.60,0.00,0.000,6,0.000,0.072,2760,2276,3498,0,0,0,0,0,0
$GC,5957,-2.33,-78.7,824.2,-11.6,217,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2276,3496,0,0,0,0,0,0
$GC,6201,-2.33,-78.7,852.7,-11.7,223,6205,0.00,2.62,0.00,0.000,4,0.000,0.083,2760,3775,3494,0,0,0,0,0,0
$GC,6258,-2.33,-78.7,859.5,-12.2,224,6262,0.00,2.60,0.00,0.000,6,0.000,0.069,2760,2278,3494,0,0,0,0,0,0
$GC,6524,-2.37,-78.7,890.7,-11.6,231,6528,0.00,2.60,0.00,0.000,4,0.000,0.074,2760,3772,3492,0,0,0,0,0,0
$STATE,6599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6599,begin apogee
$GC,6607,-0.31,0.0,900.4,12.1,232,6676,1.98,0.00,64.53,1.199,6,0.104,0.000,3190,2369,3190,0,0,0,0,0,0
$STATE,6677,end apogee,CONTROL_FINISHED_OK
$STATE,6677,begin climb
$GC,6682,2.08,78.7,902.1,0.0,234,6756,2.12,0.00,68.78,1.175,6,0.031,0.000,3725,2369,2869,0,0,0,0,0,0
$GC,6969,2.08,78.7,873.3,12.2,241,6974,0.00,2.67,0.00,0.000,4,0.000,0.060,3725,3913,2864,0,0,0,0,0,0
$GC,7160,2.00,78.7,847.7,13.5,245,7165,0.15,2.62,0.00,0.000,6,0.140,0.041,3699,2358,2862,0,0,0,0,0,0
$GC,7429,2.00,78.7,817.6,11.2,252,7433,0.00,2.65,0.00,0.000,4,0.000,0.050,3699,3922,2860,0,0,0,0,0,0
$GC,7452,2.00,78.7,815.1,11.3,252,7456,0.00,2.60,0.00,0.000,6,0.000,0.038,3699,2369,2861,0,0,0,0,0,0
$GC,7706,2.00,78.7,786.7,11.1,259,7711,0.00,2.62,0.00,0.000,4,0.000,0.058,3699,3924,2859,0,0,0,0,0,0
$GC,7738,2.00,78.7,783.0,11.5,259,7744,0.00,2.60,0.00,0.000,6,0.000,0.044,3698,2371,2859,0,0,0,0,0,0
$GC,7989,2.00,78.7,757.0,10.2,266,7993,0.00,2.62,0.00,0.000,4,0.000,0.058,3699,3919,2858,0,0,0,0,0,0
$GC,8246,2.00,80.8,729.3,9.7,271,8252,0.00,2.58,0.00,0.000,6,0.000,0.044,3699,2385,2857,0,0,0,0,0,0
$GC,8499,2.04,82.1,705.0,9.8,278,8503,0.00,2.60,0.00,0.000,4,0.000,0.057,3699,3923,2856,0,0,0,0,0,0
$GC,8688,2.04,82.1,685.0,10.9,282,8692,0.00,2.58,0.00,0.000,6,0.000,0.041,3698,2379,2855,0,0,0,0,0,0
$GC,8958,2.08,87.5,660.1,9.2,289,8972,0.00,2.67,6.53,0.855,4,0.000,0.055,3699,3915,2832,0,0,0,0,0,0
$GC,9181,2.08,87.5,635.6,11.2,294,9185,0.00,2.55,0.00,0.000,6,0.000,0.044,3698,2387,2831,0,0,0,0,0,0
$GC,9467,2.13,87.5,606.9,10.2,301,9472,0.10,2.60,0.00,0.000,4,0.092,0.051,3726,3918,2830,0,0,0,0,0,0
$GC,9675,2.07,87.5,582.8,11.5,305,9680,0.00,2.53,0.00,0.000,6,0.000,0.036,3726,2395,2830,0,0,0,0,0,0
$GC,9927,2.07,87.5,557.2,10.1,311,9932,0.00,2.55,0.00,0.000,4,0.000,0.050,3726,3916,2830,0,0,0,0,0,0
$GC,10039,2.01,87.5,544.4,11.3,313,10044,0.15,2.50,0.00,0.000,6,0.138,0.040,3699,2400,2829,0,0,0,0,0,0
$GC,10297,2.06,90.8,520.3,9.5,320,10306,0.00,2.58,4.10,0.628,4,0.000,0.053,3698,3923,2819,0,0,0,0,0,0
$GC,10389,2.06,90.8,510.8,10.4,322,10394,0.00,2.47,0.00,0.000,6,0.000,0.035,3699,2411,2818,0,0,0,0,0,0
$GC,10675,2.12,93.7,483.6,9.6,329,10685,0.10,2.53,4.43,0.642,4,0.089,0.046,3727,3919,2807,0,0,0,0,0,0
$GC,10915,2.07,93.7,455.4,12.3,334,10920,0.00,2.42,0.00,0.000,6,0.000,0.027,3727,2422,2806,0,0,0,0,0,0
$GC,11179,2.07,93.7,427.0,10.8,341,11183,0.00,2.45,0.00,0.000,4,0.000,0.049,3727,3921,2806,0,0,0,0,0,0
$GC,11309,2.02,93.7,411.8,12.0,344,11314,0.15,2.38,0.00,0.000,6,0.133,0.025,3699,2434,2806,0,0,0,0,0,0
$GC,11595,2.08,93.7,381.1,10.7,351,11599,0.00,2.42,0.00,0.000,4,0.000,0.046,3700,3924,2807,0,0,0,0,0,0
$GC,11785,2.08,93.7,358.2,12.0,355,11789,0.00,2.38,0.00,0.000,6,0.000,0.033,3699,2439,2807,0,0,0,0,0,0
$GC,12060,2.15,93.7,329.3,10.4,362,12065,0.12,2.45,0.00,0.000,4,0.120,0.041,3735,3924,2808,0,0,0,0,0,0
$GC,12211,2.09,93.7,310.0,12.1,365,12215,0.00,2.35,0.00,0.000,6,0.000,0.025,3735,2439,2808,0,0,0,0,0,0
$GC,12480,2.09,93.7,279.7,11.4,372,12484,0.00,2.42,0.00,0.000,4,0.000,0.041,3735,3924,2809,0,0,0,0,0,0
$GC,12638,2.05,93.7,259.9,13.5,375,12643,0.15,2.35,0.00,0.000,6,0.130,0.030,3707,2444,2810,0,0,0,0,0,0
$GC,12896,2.12,95.5,234.2,9.7,382,12905,0.00,2.45,4.12,0.473,4,0.000,0.042,3707,3927,2800,0,0,0,0,0,0
$GC,12967,2.12,95.5,226.6,11.0,383,12971,0.00,2.38,0.00,0.000,6,0.000,0.025,3707,2432,2800,0,0,0,0,0,0
$GC,13230,2.21,103.3,203.6,8.9,390,13245,0.15,2.50,8.27,0.592,4,0.154,0.043,3751,3921,2768,0,0,0,0,0,0
$GC,13430,2.17,106.2,182.4,9.6,404,13439,0.00,2.35,4.10,0.443,6,0.000,0.026,3752,2457,2756,0,0,0,0,0,0
$GC,13705,2.19,123.7,158.3,7.5,430,13726,0.00,2.42,15.38,0.604,4,0.000,0.041,3752,3920,2685,0,0,0,0,0,0
$GC,13994,2.23,155.1,135.1,5.5,454,14027,0.00,2.33,27.33,0.599,6,0.000,0.023,3752,2469,2557,0,0,0,0,0,0
$GC,14284,2.36,181.3,113.5,6.3,481,14312,0.00,2.42,22.73,0.569,4,0.000,0.044,3752,3919,2450,0,0,0,0,0,0
$GC,14578,2.43,181.3,83.4,10.4,505,14584,0.00,2.28,0.00,0.000,6,0.000,0.023,3752,2471,2447,0,0,0,0,0,0
$GC,14849,2.55,181.3,57.5,10.5,530,14853,0.00,2.35,0.00,0.000,4,0.000,0.041,3753,3918,2447,0,0,0,0,0,0
$GC,15135,2.64,181.3,24.1,11.0,556,15144,0.00,2.30,0.00,0.000,6,0.000,0.025,3752,2479,2448,0,0,0,0,0,0
$STATE,15324,end climb,SURFACE_DEPTH_REACHED
$STATE,15324,begin surface coast
$FINISH,0.9,1.013955
$STATE,15367,end surface coast,CONTROL_FINISHED_OK
$STATE,15367,begin surface
$SM_CCo,15392,135.57,0.491,0,0,1763,350.04
$SM_GC,1.64,0.00,0.00,135.57,0.000,0.000,0.491,463,2162,1763,-12.87,-1.36,350.04
$IRIDIUM_FIX,1916.08,-8103.07,220502,101021
$TT8_MAMPS,0.025311
$HUMID,54.41
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.70
$XPDR_PINGS,69
$24V_AH,23.3,27.527
$10V_AH,10.4,24.293
$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,32.200,192.550,230.275,135.575,0.000,30.912,33.341,177.983,17.250,0.000,33.980,1400.559,10731.746,495.123,2657.387,662.675,33.347,1594.516,0.000,2610.304,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,98.943,1198.821,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.831,282.116,366.677,491.534,936.417,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,44581,590
$CAP_FILE_SIZE,158184,0
$CFSIZE,260165632,114921472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250213,192530,1923.750,-8108.263,62,1.2,62,-3.8