version: 66.06
glider: 146
mission: 8
dive: 208
start: 2 28 113 9 1 19
data:
$ID,146
$MISSION,8
$DIVE,208
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,410
$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,-311426.41
$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,13
$R_STBD_OVSHOOT,52
$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
$GPS1,085259,1921.616,-8109.163,38,1.4,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.8
$GPS2,090025,1921.619,-8109.206,14,1.3,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.102,0.239
$KALMAN_X,11419.1,69.4,92.3,-14724.4,95.8
$KALMAN_Y,1294.9,-344.7,64.0,-4600.3,457.6
$MHEAD_RNG_PITCHd_Wd,26.9,5736,-17.5,-10.000
$D_GRID,600
$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,-1.27,-146.0,0.0,0.0,0,148,0.00,0.00,-125.57,0.000,2,0.000,0.000,466,2154,3574,0,0,0,0,0,0
$GC,153,-1.27,-146.0,4.2,-6.4,16,178,13.70,2.58,-3.72,0.000,4,0.168,0.038,2979,3779,3789,0,0,0,0,0,0
$GC,280,-1.12,-146.0,38.1,-18.1,31,290,0.12,2.55,0.00,0.000,6,0.084,0.025,3012,2186,3789,0,0,0,0,0,0
$GC,550,-0.97,-146.0,80.0,-15.9,56,555,0.17,2.55,0.00,0.000,4,0.103,0.044,3050,634,3789,0,0,0,0,0,0
$GC,620,-0.93,-146.0,90.8,-13.1,61,624,0.00,2.40,0.00,0.000,6,0.000,0.017,3051,2208,3789,0,0,0,0,0,0
$GC,888,-0.93,-146.0,123.7,-12.3,85,893,0.00,2.58,0.00,0.000,4,0.000,0.044,3050,630,3789,0,0,0,0,0,0
$GC,905,-0.93,-146.0,126.5,-11.3,86,909,0.00,2.38,0.00,0.000,6,0.000,0.023,3051,2200,3789,0,0,0,0,0,0
$GC,1171,-0.99,-146.0,150.0,-7.5,110,1175,0.00,2.50,0.00,0.000,4,0.000,0.035,3051,3773,3790,0,0,0,0,0,0
$GC,1204,-1.06,-146.0,152.5,-7.6,112,1209,0.00,2.47,0.00,0.000,6,0.000,0.020,3051,2168,3790,0,0,0,0,0,0
$GC,1473,-1.12,-146.0,172.9,-7.8,136,1478,0.15,2.50,0.00,0.000,4,0.058,0.048,2988,644,3791,0,0,0,0,0,0
$GC,1497,-1.12,-146.0,175.7,-8.9,137,1503,0.12,2.38,0.00,0.000,6,0.101,0.024,3016,2196,3791,0,0,0,0,0,0
$GC,1759,-1.12,-146.0,198.7,-7.8,162,1764,0.00,2.47,0.00,0.000,4,0.000,0.032,3016,3769,3791,0,0,0,0,0,0
$GC,1790,-1.12,-146.0,201.3,-8.5,163,1794,0.00,2.45,0.00,0.000,6,0.000,0.025,3016,2178,3791,0,0,0,0,0,0
$GC,2040,-1.12,-146.0,222.2,-8.2,169,2044,0.00,2.50,0.00,0.000,4,0.000,0.049,3016,645,3792,0,0,0,0,0,0
$GC,2092,-1.17,-146.0,226.3,-8.0,170,2096,0.00,2.35,0.00,0.000,6,0.000,0.023,3016,2185,3792,0,0,0,0,0,0
$GC,2364,-1.22,-146.0,246.2,-7.2,177,2369,0.00,2.53,0.00,0.000,4,0.000,0.054,3016,641,3792,0,0,0,0,0,0
$GC,2381,-1.27,-146.0,247.4,-7.1,177,2386,0.15,2.35,0.00,0.000,6,0.059,0.018,2953,2184,3792,0,0,0,0,0,0
$GC,2645,-1.20,-146.0,272.7,-9.8,184,2650,0.20,2.55,0.00,0.000,4,0.084,0.044,2999,3776,3792,0,0,0,0,0,0
$GC,2678,-1.20,-146.0,275.9,-8.3,184,2684,0.00,2.47,0.00,0.000,6,0.000,0.021,2999,2181,3792,0,0,0,0,0,0
$GC,2928,-1.20,-146.0,294.6,-7.7,191,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2181,3791,0,0,0,0,0,0
$GC,3174,-1.20,-146.0,313.7,-7.8,197,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2181,3792,0,0,0,0,0,0
$GC,3415,-1.20,-146.0,332.7,-8.0,203,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2181,3790,0,0,0,0,0,0
$GC,3659,-1.20,-146.0,351.5,-7.6,209,3664,0.00,2.58,0.00,0.000,4,0.000,0.040,2999,3772,3790,0,0,0,0,0,0
$GC,3680,-1.20,-146.0,353.2,-7.4,209,3685,0.00,2.47,0.00,0.000,6,0.000,0.023,2999,2192,3790,0,0,0,0,0,0
$GC,3938,-1.20,-146.0,373.1,-8.1,216,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2192,3789,0,0,0,0,0,0
$GC,4180,-1.24,-146.0,391.9,-7.6,222,4184,0.00,2.55,0.00,0.000,4,0.000,0.043,2999,3764,3788,0,0,0,0,0,0
$GC,4201,-1.24,-146.0,393.6,-7.7,222,4205,0.00,2.50,0.00,0.000,6,0.000,0.028,2999,2187,3788,0,0,0,0,0,0
$GC,4459,-1.28,-146.0,412.8,-7.4,229,4463,0.00,2.60,0.00,0.000,4,0.000,0.051,2999,3762,3788,0,0,0,0,0,0
$GC,4486,-1.32,-146.0,415.3,-8.6,229,4491,0.12,2.53,0.00,0.000,6,0.066,0.036,2944,2199,3788,0,0,0,0,0,0
$GC,4736,-1.26,-146.0,440.1,-10.2,235,4738,0.17,0.00,0.00,0.000,6,0.089,0.000,2985,2200,3786,0,0,0,0,0,0
$GC,4982,-1.26,-146.0,461.7,-8.6,241,4986,0.00,2.60,0.00,0.000,4,0.000,0.054,2985,3759,3786,0,0,0,0,0,0
$GC,5003,-1.26,-146.0,463.9,-8.9,241,5008,0.00,2.55,0.00,0.000,6,0.000,0.040,2985,2197,3785,0,0,0,0,0,0
$GC,5259,-1.26,-146.0,484.1,-7.8,248,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2197,3785,0,0,0,0,0,0
$GC,5505,-1.26,-146.0,502.8,-7.8,254,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2197,3784,0,0,0,0,0,0
$GC,5746,-1.26,-146.0,522.8,-8.2,260,5751,0.00,2.67,0.00,0.000,4,0.000,0.068,2985,3761,3783,0,0,0,0,0,0
$GC,5791,-1.30,-146.0,526.8,-8.9,261,5796,0.00,2.60,0.00,0.000,6,0.000,0.055,2985,2196,3783,0,0,0,0,0,0
$GC,6071,-1.30,-146.0,549.1,-8.0,268,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2196,3781,0,0,0,0,0,0
$GC,6312,-1.30,-146.0,569.2,-8.1,274,6317,0.00,2.72,0.00,0.000,4,0.000,0.075,2986,3761,3780,0,0,0,0,0,0
$GC,6345,-1.30,-146.0,571.8,-8.6,274,6350,0.00,2.62,0.00,0.000,6,0.000,0.054,2985,2210,3780,0,0,0,0,0,0
$GC,6597,-1.30,-146.0,590.8,-7.1,281,6602,0.00,2.70,0.00,0.000,4,0.000,0.072,2985,3759,3779,0,0,0,0,0,0
$GC,6618,-1.30,-146.0,592.5,-7.1,281,6623,0.00,2.65,0.00,0.000,6,0.000,0.066,2985,2210,3778,0,0,0,0,0,0
$STATE,6749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6749,begin apogee
$GC,6756,-0.31,0.0,601.9,7.0,285,6878,0.90,0.00,119.03,0.949,6,0.066,0.000,3193,2340,3190,0,0,0,0,0,0
$STATE,6879,end apogee,CONTROL_FINISHED_OK
$STATE,6879,begin climb
$GC,6883,1.27,146.0,604.2,0.0,288,7016,1.40,2.88,121.88,0.931,4,0.035,0.073,3540,3931,2593,0,0,0,0,0,0
$GC,7121,1.17,146.0,586.9,11.8,293,7126,0.12,2.70,0.00,0.000,6,0.127,0.056,3517,2367,2588,0,0,0,0,0,0
$GC,7382,1.20,170.2,563.3,8.9,300,7409,0.00,2.75,20.90,0.871,4,0.000,0.064,3516,3929,2495,0,0,0,0,0,0
$GC,7485,1.17,170.2,552.9,10.9,302,7490,0.00,2.60,0.00,0.000,6,0.000,0.046,3517,2379,2492,0,0,0,0,0,0
$GC,7751,1.17,170.2,525.5,10.1,309,7756,0.00,2.65,0.00,0.000,4,0.000,0.051,3517,3940,2490,0,0,0,0,0,0
$GC,7772,1.13,170.2,523.2,10.5,309,7777,0.00,2.60,0.00,0.000,6,0.000,0.047,3517,2382,2490,0,0,0,0,0,0
$GC,8030,1.13,170.2,496.6,10.5,316,8034,0.00,2.60,0.00,0.000,4,0.000,0.049,3517,3941,2488,0,0,0,0,0,0
$GC,8074,1.09,170.2,491.5,11.0,317,8078,0.00,2.58,0.00,0.000,6,0.000,0.036,3517,2390,2488,0,0,0,0,0,0
$GC,8351,1.10,174.5,464.0,9.8,324,8357,0.00,0.00,3.83,0.528,6,0.000,0.000,3517,2390,2478,0,0,0,0,0,0
$GC,8597,1.10,174.5,438.7,10.4,330,8601,0.00,2.55,0.00,0.000,4,0.000,0.051,3517,3938,2477,0,0,0,0,0,0
$GC,8618,1.10,174.5,435.9,11.6,330,8622,0.00,2.53,0.00,0.000,6,0.000,0.031,3517,2388,2477,0,0,0,0,0,0
$GC,8873,1.11,181.9,410.7,9.7,337,8887,0.00,2.62,7.85,0.709,4,0.000,0.050,3517,3930,2448,0,0,0,0,0,0
$GC,8929,1.11,181.9,405.0,11.2,338,8933,0.00,2.47,0.00,0.000,6,0.000,0.028,3517,2409,2447,0,0,0,0,0,0
$GC,9201,1.12,189.8,378.4,9.6,345,9215,0.00,2.60,8.43,0.704,4,0.000,0.051,3517,3930,2415,0,0,0,0,0,0
$GC,9248,1.12,189.8,373.3,11.1,346,9253,0.00,2.45,0.00,0.000,6,0.000,0.030,3517,2411,2414,0,0,0,0,0,0
$GC,9529,1.13,197.5,346.4,9.6,353,9544,0.00,2.80,8.32,0.681,4,0.000,0.058,3517,788,2384,0,0,0,0,0,0
$GC,9554,1.13,197.5,343.3,11.2,353,9559,0.00,2.62,0.00,0.000,6,0.000,0.027,3517,2434,2383,0,0,0,0,0,0
$GC,9810,1.13,197.5,316.5,10.5,360,9814,0.00,2.45,0.00,0.000,4,0.000,0.044,3517,3935,2381,0,0,0,0,0,0
$GC,9827,1.13,197.5,314.6,10.7,360,9832,0.00,2.42,0.00,0.000,6,0.000,0.029,3517,2404,2381,0,0,0,0,0,0
$GC,10088,1.13,197.5,286.3,10.8,367,10092,0.00,2.53,0.00,0.000,4,0.000,0.043,3516,3934,2381,0,0,0,0,0,0
$GC,10103,1.13,197.5,284.5,10.7,367,10107,0.00,2.40,0.00,0.000,6,0.000,0.029,3517,2420,2381,0,0,0,0,0,0
$GC,10372,1.13,197.5,257.2,10.2,374,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2420,2381,0,0,0,0,0,0
$GC,10614,1.13,197.5,233.0,10.0,380,10618,0.00,2.67,0.00,0.000,4,0.000,0.051,3517,792,2381,0,0,0,0,0,0
$GC,10640,1.13,197.5,230.1,10.7,380,10644,0.00,2.58,0.00,0.000,6,0.000,0.030,3516,2433,2381,0,0,0,0,0,0
$GC,10891,1.18,205.0,206.4,9.7,386,10905,0.00,2.78,7.65,0.575,4,0.000,0.047,3516,790,2354,0,0,0,0,0,0
$GC,10941,1.22,205.0,201.3,10.1,387,10946,0.00,2.55,0.00,0.000,6,0.000,0.027,3517,2412,2353,0,0,0,0,0,0
$GC,11209,1.28,210.5,177.0,9.7,410,11223,0.10,2.55,6.57,0.530,4,0.081,0.043,3553,3930,2330,0,0,0,0,0,0
$GC,11255,1.28,210.5,171.9,12.3,414,11259,0.00,2.45,0.00,0.000,6,0.000,0.024,3553,2392,2330,0,0,0,0,0,0
$GC,11520,1.28,210.5,146.4,10.0,438,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2392,2330,0,0,0,0,0,0
$GC,11789,1.41,265.2,125.3,7.5,463,11845,0.00,2.55,47.22,0.593,4,0.000,0.043,3553,3932,2106,0,0,0,0,0,0
$GC,11911,1.54,309.5,115.6,8.0,473,11960,0.17,2.42,37.58,0.576,6,0.054,0.029,3609,2412,1926,0,0,0,0,0,0
$GC,12214,1.54,309.5,80.1,12.1,501,12219,0.00,2.70,0.00,0.000,4,0.000,0.048,3608,782,1922,0,0,0,0,0,0
$GC,12250,1.54,309.5,75.8,13.6,503,12254,0.00,2.55,0.00,0.000,6,0.000,0.019,3609,2423,1920,0,0,0,0,0,0
$GC,12517,1.54,309.5,43.2,12.6,527,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,2423,1920,0,0,0,0,0,0
$GC,12823,1.54,309.5,5.8,12.6,567,12832,0.00,2.45,0.00,0.000,4,0.000,0.037,3608,3927,1920,0,0,0,0,0,0
$STATE,12840,end climb,SURFACE_DEPTH_REACHED
$STATE,12840,begin surface coast
$FINISH,0.9,1.011655
$STATE,12882,end surface coast,CONTROL_FINISHED_OK
$STATE,12883,begin surface
$SM_CCo,12907,30.67,0.485,0,0,1763,350.04
$SM_GC,1.65,0.00,0.00,30.67,0.000,0.000,0.485,465,2193,1763,-12.86,-0.48,350.04
$IRIDIUM_FIX,1918.37,-8107.58,250502,010156
$TT8_MAMPS,0.025311
$HUMID,57.08
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,58
$24V_AH,23.5,29.284
$10V_AH,10.3,25.786
$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,30.225,163.925,389.250,30.675,0.000,27.060,32.962,209.212,14.500,0.000,16.323,1180.111,8996.107,521.757,2019.467,652.638,33.352,1374.356,0.000,2011.927,0.000,0.535,0.000
$DEVICE_MAMPS,167.973,161.070,948.779,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.715,317.849,403.978,564.257,1076.534,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,44658,575
$CAP_FILE_SIZE,131363,0
$CFSIZE,260165632,114057216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280213,123823,1923.282,-8108.845,24,1.1,41,-3.8