version: 66.06
glider: 146
mission: 8
dive: 309
start: 3 22 113 19 2 45
data:
$ID,146
$MISSION,8
$DIVE,309
$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,-313543.97
$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,40
$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
$GPS1,185229,1925.388,-8116.556,37,1.9,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.0
$GPS2,190151,1925.435,-8116.551,17,2.1,36,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.135,0.118
$KALMAN_X,-72787.4,-662.5,-266.7,57753.6,-119.3
$KALMAN_Y,43052.9,-200.5,-16.6,-39361.4,759.3
$MHEAD_RNG_PITCHd_Wd,315.0,3848,-26.3,-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,-1.73,-67.3,0.0,0.0,0,85,0.00,0.00,-63.25,0.000,2,0.000,0.000,466,2187,3277,0,0,0,0,0,0
$GC,88,-1.81,-132.8,3.0,-3.5,8,122,13.02,2.55,-9.60,0.000,4,0.161,0.052,2858,645,3734,0,0,0,0,0,0
$GC,316,-1.65,-132.8,59.1,-24.0,32,321,0.20,2.45,0.00,0.000,6,0.123,0.016,2898,2249,3735,0,0,0,0,0,0
$GC,579,-1.54,-132.8,117.9,-21.1,56,581,0.12,0.00,0.00,0.000,6,0.122,0.000,2923,2249,3735,0,0,0,0,0,0
$GC,837,-1.60,-132.8,162.5,-14.4,80,841,0.00,2.65,0.00,0.000,4,0.000,0.042,2923,631,3736,0,0,0,0,0,0
$GC,889,-1.65,-132.8,170.6,-14.6,84,893,0.00,2.40,0.00,0.000,6,0.000,0.023,2923,2207,3736,0,0,0,0,0,0
$GC,1163,-1.76,-132.8,205.3,-11.7,106,1168,0.20,2.58,0.00,0.000,4,0.045,0.044,2846,642,3737,0,0,0,0,0,0
$GC,1203,-1.71,-132.8,211.2,-14.5,107,1208,0.20,2.38,0.00,0.000,6,0.103,0.025,2888,2203,3737,0,0,0,0,0,0
$GC,1486,-1.77,-132.8,247.5,-12.4,114,1491,0.00,2.50,0.00,0.000,4,0.000,0.044,2888,3776,3737,0,0,0,0,0,0
$GC,1531,-1.84,-132.8,252.9,-12.1,115,1536,0.12,2.45,0.00,0.000,6,0.064,0.020,2830,2205,3736,0,0,0,0,0,0
$GC,1808,-1.84,-132.8,292.5,-14.3,122,1813,0.12,2.65,0.00,0.000,4,0.117,0.058,2857,635,3737,0,0,0,0,0,0
$GC,1830,-1.84,-132.8,295.5,-13.3,122,1834,0.00,2.45,0.00,0.000,6,0.000,0.023,2857,2205,3737,0,0,0,0,0,0
$GC,2087,-1.84,-132.8,329.3,-13.2,129,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2205,3736,0,0,0,0,0,0
$GC,2329,-1.84,-132.8,360.5,-12.8,135,2333,0.00,2.67,0.00,0.000,4,0.000,0.071,2857,640,3736,0,0,0,0,0,0
$GC,2355,-1.84,-132.8,364.3,-14.0,135,2359,0.00,2.47,0.00,0.000,6,0.000,0.034,2857,2198,3736,0,0,0,0,0,0
$GC,2613,-1.84,-132.8,396.0,-12.5,142,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2198,3735,0,0,0,0,0,0
$GC,2854,-1.84,-132.8,427.0,-12.6,148,2859,0.00,2.65,0.00,0.000,4,0.000,0.059,2857,3786,3734,0,0,0,0,0,0
$GC,2898,-1.87,-132.8,432.9,-13.8,149,2903,0.00,2.55,0.00,0.000,6,0.000,0.039,2857,2224,3734,0,0,0,0,0,0
$GC,3179,-1.91,-132.8,468.7,-13.1,156,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2223,3732,0,0,0,0,0,0
$GC,3420,-1.95,-132.8,499.8,-12.7,162,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2223,3731,0,0,0,0,0,0
$GC,3664,-1.99,-132.8,530.4,-12.4,168,3666,0.12,0.00,0.00,0.000,6,0.069,0.000,2807,2223,3730,0,0,0,0,0,0
$GC,3908,-1.95,-132.8,564.7,-14.1,174,3913,0.12,2.78,0.00,0.000,4,0.113,0.084,2833,3782,3729,0,0,0,0,0,0
$GC,3926,-1.95,-132.8,567.3,-14.4,174,3931,0.00,2.70,0.00,0.000,6,0.000,0.065,2833,2212,3729,0,0,0,0,0,0
$GC,4186,-1.95,-132.8,603.9,-14.0,181,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2213,3728,0,0,0,0,0,0
$GC,4430,-1.95,-132.8,637.7,-13.7,187,4434,0.00,2.85,0.00,0.000,4,0.000,0.104,2833,3779,3726,0,0,0,0,0,0
$GC,4471,-1.95,-132.8,643.2,-14.1,188,4476,0.00,2.85,0.00,0.000,6,0.000,0.097,2833,2214,3726,0,0,0,0,0,0
$GC,4754,-1.95,-132.8,680.7,-13.2,195,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2215,3723,0,0,0,0,0,0
$GC,4998,-1.95,-132.8,712.1,-12.6,201,5003,0.00,3.08,0.00,0.000,4,0.000,0.137,2833,3776,3722,0,0,0,0,0,0
$GC,5027,-1.95,-132.8,715.9,-13.4,201,5031,0.00,2.85,0.00,0.000,6,0.000,0.093,2833,2217,3722,0,0,0,0,0,0
$GC,5277,-1.95,-132.8,749.6,-13.6,207,5281,0.00,2.83,0.00,0.000,4,0.000,0.095,2833,3787,3720,0,0,0,0,0,0
$GC,5297,-1.95,-132.8,752.7,-13.9,207,5302,0.00,2.75,0.00,0.000,6,0.000,0.081,2833,2234,3720,0,0,0,0,0,0
$GC,5553,-1.95,-132.8,786.1,-13.0,214,5557,0.00,2.78,0.00,0.000,4,0.000,0.087,2833,3786,3717,0,0,0,0,0,0
$GC,5576,-1.95,-132.8,789.2,-14.1,214,5580,0.00,2.75,0.00,0.000,6,0.000,0.074,2833,2233,3717,0,0,0,0,0,0
$GC,5831,-1.95,-132.8,822.6,-13.1,221,5835,0.00,2.78,0.00,0.000,4,0.000,0.084,2833,3786,3716,0,0,0,0,0,0
$GC,5847,-1.95,-132.8,824.9,-13.3,221,5852,0.00,2.72,0.00,0.000,6,0.000,0.079,2833,2242,3716,0,0,0,0,0,0
$GC,6110,-1.95,-132.8,858.5,-12.6,228,6115,0.00,2.72,0.00,0.000,4,0.000,0.083,2833,3780,3714,0,0,0,0,0,0
$GC,6132,-1.95,-132.8,861.9,-13.7,228,6136,0.00,2.70,0.00,0.000,6,0.000,0.074,2832,2244,3714,0,0,0,0,0,0
$GC,6387,-1.95,-132.8,893.3,-12.2,235,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2244,3712,0,0,0,0,0,0
$STATE,6466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6466,begin apogee
$GC,6475,-0.31,0.0,903.1,12.1,237,6589,1.60,0.00,110.00,1.200,6,0.081,0.000,3190,2366,3190,0,0,0,0,0,0
$STATE,6590,end apogee,CONTROL_FINISHED_OK
$STATE,6590,begin climb
$GC,6592,1.81,132.8,905.6,0.0,240,6717,1.95,2.85,114.68,1.166,4,0.031,0.075,3668,3940,2647,0,0,0,0,0,0
$GC,6776,1.70,132.8,888.5,15.7,244,6781,0.20,2.75,0.00,0.000,6,0.131,0.062,3631,2365,2643,0,0,0,0,0,0
$GC,7043,1.70,132.8,853.6,12.7,251,7047,0.00,2.72,0.00,0.000,4,0.000,0.062,3631,3931,2639,0,0,0,0,0,0
$GC,7182,1.66,132.8,834.9,14.2,254,7187,0.00,2.62,0.00,0.000,6,0.000,0.048,3631,2373,2638,0,0,0,0,0,0
$GC,7460,1.66,132.8,799.8,12.5,261,7464,0.00,2.67,0.00,0.000,4,0.000,0.058,3631,3935,2636,0,0,0,0,0,0
$GC,7593,1.66,132.8,781.4,13.9,264,7597,0.00,2.62,0.00,0.000,6,0.000,0.049,3631,2387,2635,0,0,0,0,0,0
$GC,7873,1.66,132.8,746.3,12.7,271,7878,0.00,2.65,0.00,0.000,4,0.000,0.058,3631,3931,2634,0,0,0,0,0,0
$GC,8040,1.66,132.8,722.9,13.4,274,8046,0.00,2.58,0.00,0.000,6,0.000,0.042,3631,2399,2633,0,0,0,0,0,0
$GC,8293,1.66,132.8,691.8,12.5,281,8297,0.00,2.62,0.00,0.000,4,0.000,0.058,3631,3932,2632,0,0,0,0,0,0
$GC,8353,1.66,132.8,683.4,13.2,282,8358,0.00,2.58,0.00,0.000,6,0.000,0.045,3631,2401,2632,0,0,0,0,0,0
$GC,8615,1.66,132.8,651.2,12.4,289,8619,0.00,2.62,0.00,0.000,4,0.000,0.058,3631,3931,2631,0,0,0,0,0,0
$GC,8677,1.66,132.8,642.9,13.7,290,8682,0.00,2.55,0.00,0.000,6,0.000,0.047,3631,2411,2631,0,0,0,0,0,0
$GC,8938,1.66,132.8,609.9,12.6,297,8942,0.00,2.60,0.00,0.000,4,0.000,0.063,3631,3934,2630,0,0,0,0,0,0
$GC,9022,1.66,132.8,598.3,14.6,299,9027,0.00,2.53,0.00,0.000,6,0.000,0.044,3631,2413,2630,0,0,0,0,0,0
$GC,9307,1.66,132.8,562.2,12.8,306,9312,0.00,2.58,0.00,0.000,4,0.000,0.060,3631,3932,2630,0,0,0,0,0,0
$GC,9396,1.66,132.8,549.6,13.8,308,9400,0.00,2.50,0.00,0.000,6,0.000,0.035,3631,2425,2629,0,0,0,0,0,0
$GC,9677,1.66,132.8,514.8,12.5,315,9681,0.00,2.53,0.00,0.000,4,0.000,0.048,3631,3935,2629,0,0,0,0,0,0
$GC,9776,1.66,132.8,500.7,14.1,317,9781,0.00,2.47,0.00,0.000,6,0.000,0.038,3631,2425,2628,0,0,0,0,0,0
$GC,10043,1.66,132.8,467.9,12.0,324,10047,0.00,2.53,0.00,0.000,4,0.000,0.047,3631,3941,2628,0,0,0,0,0,0
$GC,10162,1.66,132.8,453.7,12.0,326,10166,0.00,2.47,0.00,0.000,6,0.000,0.035,3631,2427,2628,0,0,0,0,0,0
$GC,10412,1.66,132.8,424.6,11.5,332,10416,0.00,2.50,0.00,0.000,4,0.000,0.045,3631,3937,2628,0,0,0,0,0,0
$GC,10514,1.66,132.8,411.6,13.4,334,10518,0.00,2.45,0.00,0.000,6,0.000,0.028,3631,2421,2628,0,0,0,0,0,0
$GC,10780,1.70,132.8,378.8,12.2,341,10784,0.00,2.53,0.00,0.000,4,0.000,0.045,3631,3946,2628,0,0,0,0,0,0
$GC,10902,1.70,132.8,362.4,13.4,343,10908,0.00,2.45,0.00,0.000,6,0.000,0.028,3631,2421,2628,0,0,0,0,0,0
$GC,11155,1.74,132.8,331.4,12.6,350,11159,0.00,2.50,0.00,0.000,4,0.000,0.044,3631,3940,2628,0,0,0,0,0,0
$GC,11232,1.74,132.8,320.4,13.3,351,11238,0.00,2.40,0.00,0.000,6,0.000,0.030,3631,2436,2629,0,0,0,0,0,0
$GC,11483,1.79,132.8,289.7,12.3,358,11487,0.00,2.47,0.00,0.000,4,0.000,0.045,3631,3938,2629,0,0,0,0,0,0
$GC,11596,1.79,132.8,274.9,12.9,360,11600,0.00,2.40,0.00,0.000,6,0.000,0.024,3631,2432,2629,0,0,0,0,0,0
$GC,11852,1.85,132.8,245.2,11.1,367,11857,0.12,2.50,0.00,0.000,4,0.074,0.044,3670,3945,2630,0,0,0,0,0,0
$GC,12050,1.80,132.8,220.9,11.6,371,12054,0.00,2.38,0.00,0.000,6,0.000,0.025,3670,2450,2630,0,0,0,0,0,0
$GC,12301,1.80,132.8,192.6,10.5,380,12306,0.00,2.45,0.00,0.000,4,0.000,0.046,3670,3941,2630,0,0,0,0,0,0
$GC,12390,1.80,132.8,182.0,12.0,387,12394,0.00,2.38,0.00,0.000,6,0.000,0.032,3670,2449,2630,0,0,0,0,0,0
$GC,12653,1.89,174.0,159.2,5.9,411,12691,0.00,2.53,32.72,0.630,4,0.000,0.046,3670,3941,2480,0,0,0,0,0,0
$GC,12766,1.89,174.0,149.6,10.2,420,12770,0.00,2.35,0.00,0.000,6,0.000,0.025,3670,2467,2477,0,0,0,0,0,0
$GC,13031,2.04,213.9,128.6,6.0,444,13072,0.15,2.50,34.55,0.597,4,0.064,0.041,3718,3935,2317,0,0,0,0,0,0
$GC,13188,2.04,213.9,110.9,12.4,457,13193,0.00,2.35,0.00,0.000,6,0.000,0.025,3718,2463,2315,0,0,0,0,0,0
$GC,13457,2.04,213.9,78.4,12.6,481,13461,0.00,2.42,0.00,0.000,4,0.000,0.040,3718,3939,2314,0,0,0,0,0,0
$GC,13477,2.04,213.9,75.2,12.6,482,13481,0.00,2.33,0.00,0.000,6,0.000,0.025,3718,2463,2314,0,0,0,0,0,0
$GC,13747,2.08,213.9,39.9,13.4,506,13752,0.00,2.42,0.00,0.000,4,0.000,0.041,3718,3944,2314,0,0,0,0,0,0
$GC,13793,2.08,213.9,32.8,14.4,509,13797,0.00,2.35,0.00,0.000,6,0.000,0.025,3718,2464,2314,0,0,0,0,0,0
$STATE,14016,end climb,SURFACE_DEPTH_REACHED
$STATE,14016,begin surface coast
$FINISH,1.0,1.023126
$STATE,14065,end surface coast,CONTROL_FINISHED_OK
$STATE,14065,begin surface
$SM_CCo,14091,109.45,0.499,0,0,1763,350.04
$SM_GC,1.73,0.00,0.00,109.45,0.000,0.000,0.499,464,2171,1763,-12.86,-1.10,350.04
$IRIDIUM_FIX,1918.37,-8114.71,160602,131302
$TT8_MAMPS,0.026078
$HUMID,58.62
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.30
$XPDR_PINGS,54
$24V_AH,23.3,43.475
$10V_AH,10.3,38.518
$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,31.325,175.875,291.950,109.450,0.000,24.004,35.320,308.262,13.500,0.000,38.464,1221.459,10121.712,508.723,2131.660,767.732,33.366,1400.309,0.000,2094.863,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,136.526,1199.588,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.462,265.131,338.393,451.273,860.239,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,41398,547
$CAP_FILE_SIZE,137957,0
$CFSIZE,260165632,106803200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220313,230036,1926.592,-8119.293,27,1.2,27,-3.7