version: 66.06
glider: 146
mission: 8
dive: 376
start: 4 6 113 18 20 51
data:
$ID,146
$MISSION,8
$DIVE,376
$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,-314892.81
$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,17
$R_STBD_OVSHOOT,18
$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
$GPS1,181204,1925.574,-8117.086,40,1.9,50,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.1
$GPS2,181957,1925.510,-8117.122,13,99.0,32,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,0.119
$KALMAN_X,-234079.8,11.5,143.1,216949.5,-2027.5
$KALMAN_Y,136668.9,-12.2,-94.6,-132947.1,1997.7
$MHEAD_RNG_PITCHd_Wd,37.1,3157,-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,20,-2.09,-44.5,0.0,0.0,0,92,0.00,0.00,-67.62,0.000,6,0.000,0.000,461,2269,3372,0,0,0,0,0,0
$GC,97,-2.13,-75.1,3.7,-5.4,9,123,12.70,2.50,-2.45,0.000,4,0.159,0.039,2789,3816,3498,0,0,0,0,0,0
$GC,135,-1.40,-75.1,16.3,-31.5,13,145,0.75,2.60,0.00,0.000,6,0.107,0.021,2946,2184,3498,0,0,0,0,0,0
$GC,418,-1.61,-75.1,61.3,-14.4,42,427,0.15,0.00,0.00,0.000,6,0.058,0.000,2885,2184,3499,0,0,0,0,0,0
$GC,684,-1.71,-75.1,109.9,-17.1,67,688,0.00,2.58,0.00,0.000,4,0.000,0.028,2885,3812,3499,0,0,0,0,0,0
$GC,705,-1.79,-75.1,114.9,-19.1,68,714,0.00,2.55,0.00,0.000,6,0.000,0.020,2885,2197,3499,0,0,0,0,0,0
$GC,971,-1.98,-75.1,154.4,-11.8,93,980,0.22,0.00,0.00,0.000,6,0.044,0.000,2805,2197,3500,0,0,0,0,0,0
$GC,1237,-2.07,-75.1,191.3,-13.5,118,1242,0.00,2.58,0.00,0.000,4,0.000,0.029,2804,3812,3500,0,0,0,0,0,0
$GC,1273,-2.15,-75.1,196.6,-13.5,120,1283,0.00,2.53,0.00,0.000,6,0.000,0.016,2804,2194,3500,0,0,0,0,0,0
$GC,1555,-2.25,-75.1,230.7,-11.9,130,1560,0.15,2.60,0.00,0.000,4,0.056,0.039,2742,3818,3501,0,0,0,0,0,0
$GC,1629,-2.25,-75.1,240.6,-14.0,131,1634,0.12,2.47,0.00,0.000,6,0.116,0.023,2767,2225,3501,0,0,0,0,0,0
$GC,1879,-2.29,-75.1,274.0,-13.3,137,1883,0.00,2.55,0.00,0.000,4,0.000,0.034,2767,3810,3501,0,0,0,0,0,0
$GC,1920,-2.29,-75.1,279.6,-14.4,138,1924,0.00,2.45,0.00,0.000,6,0.000,0.020,2767,2232,3501,0,0,0,0,0,0
$GC,2205,-2.34,-75.1,316.8,-12.8,145,2210,0.00,2.55,0.00,0.000,4,0.000,0.036,2767,3809,3501,0,0,0,0,0,0
$GC,2227,-2.34,-75.1,320.3,-13.6,145,2231,0.00,2.50,0.00,0.000,6,0.000,0.027,2767,2231,3501,0,0,0,0,0,0
$GC,2483,-2.40,-75.1,353.4,-13.2,152,2488,0.12,2.58,0.00,0.000,4,0.067,0.041,2716,3812,3500,0,0,0,0,0,0
$GC,2586,-2.33,-75.1,369.3,-16.1,154,2591,0.17,2.53,0.00,0.000,6,0.109,0.034,2750,2243,3500,0,0,0,0,0,0
$GC,2852,-2.33,-75.1,405.3,-13.3,161,2857,0.00,2.58,0.00,0.000,4,0.000,0.048,2750,3803,3499,0,0,0,0,0,0
$GC,2868,-2.33,-75.1,407.7,-13.1,161,2873,0.00,2.55,0.00,0.000,6,0.000,0.033,2750,2236,3498,0,0,0,0,0,0
$GC,3132,-2.33,-75.1,443.4,-13.6,168,3137,0.00,2.85,0.00,0.000,4,0.000,0.094,2750,622,3497,0,0,0,0,0,0
$GC,3159,-2.33,-75.1,447.8,-15.2,168,3163,0.00,2.62,0.00,0.000,6,0.000,0.041,2750,2244,3497,0,0,0,0,0,0
$GC,3409,-2.37,-75.1,482.2,-13.8,174,3414,0.00,2.85,0.00,0.000,4,0.000,0.086,2750,624,3496,0,0,0,0,0,0
$GC,3438,-2.37,-75.1,486.2,-14.7,174,3443,0.00,2.65,0.00,0.000,6,0.000,0.048,2750,2222,3496,0,0,0,0,0,0
$GC,3688,-2.41,-75.1,519.8,-13.3,180,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2222,3495,0,0,0,0,0,0
$GC,3932,-2.44,-75.1,553.5,-14.0,186,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2222,3493,0,0,0,0,0,0
$GC,4178,-2.48,-75.1,585.9,-13.3,192,4183,0.12,2.80,0.00,0.000,4,0.067,0.089,2698,3793,3492,0,0,0,0,0,0
$GC,4194,-2.48,-75.1,588.7,-13.5,192,4199,0.10,2.67,0.00,0.000,6,0.135,0.061,2716,2223,3492,0,0,0,0,0,0
$GC,4455,-2.48,-75.1,625.7,-14.0,199,4460,0.00,2.78,0.00,0.000,4,0.000,0.088,2716,3793,3490,0,0,0,0,0,0
$GC,4599,-2.43,-75.1,646.7,-14.9,202,4604,0.00,2.78,0.00,0.000,6,0.000,0.080,2716,2232,3489,0,0,0,0,0,0
$GC,4871,-2.43,-75.1,684.7,-13.7,209,4876,0.00,2.90,0.00,0.000,4,0.000,0.110,2716,3791,3488,0,0,0,0,0,0
$GC,5078,-2.38,-75.1,715.2,-15.6,213,5084,0.12,2.75,0.00,0.000,6,0.126,0.079,2740,2238,3487,0,0,0,0,0,0
$GC,5328,-2.38,-75.1,748.9,-13.2,219,5332,0.00,2.75,0.00,0.000,4,0.000,0.081,2739,3792,3485,0,0,0,0,0,0
$GC,5563,-2.38,-75.1,781.6,-13.7,224,5567,0.00,2.70,0.00,0.000,6,0.000,0.074,2740,2248,3484,0,0,0,0,0,0
$GC,5829,-2.38,-75.1,816.0,-12.9,231,5834,0.00,2.72,0.00,0.000,4,0.000,0.082,2740,3796,3482,0,0,0,0,0,0
$GC,5875,-2.38,-75.1,822.1,-13.7,232,5879,0.00,2.67,0.00,0.000,6,0.000,0.071,2740,2257,3482,0,0,0,0,0,0
$GC,6152,-2.38,-75.1,857.3,-12.7,239,6157,0.00,2.70,0.00,0.000,4,0.000,0.081,2740,3793,3481,0,0,0,0,0,0
$GC,6253,-2.38,-75.1,870.6,-13.9,241,6258,0.00,2.65,0.00,0.000,6,0.000,0.069,2739,2265,3480,0,0,0,0,0,0
$STATE,6518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6518,begin apogee
$GC,6526,-0.31,0.0,902.6,11.5,248,6593,2.10,0.00,62.00,1.187,6,0.101,0.000,3189,2376,3190,0,0,0,0,0,0
$STATE,6594,end apogee,CONTROL_FINISHED_OK
$STATE,6594,begin climb
$GC,6596,2.13,75.1,904.3,0.0,249,6671,2.17,3.12,65.62,1.163,4,0.031,0.105,3740,781,2882,0,0,0,0,0,0
$GC,6727,2.07,75.1,894.2,11.9,252,6732,0.15,2.70,0.00,0.000,6,0.135,0.051,3714,2363,2880,0,0,0,0,0,0
$GC,7011,2.11,75.1,863.6,10.5,259,7016,0.00,2.78,0.00,0.000,4,0.000,0.074,3713,3940,2878,0,0,0,0,0,0
$GC,7160,2.11,75.1,847.2,11.5,262,7164,0.00,2.62,0.00,0.000,6,0.000,0.041,3713,2371,2876,0,0,0,0,0,0
$GC,7426,2.15,75.1,819.5,10.1,269,7430,0.00,2.67,0.00,0.000,4,0.000,0.051,3713,3945,2875,0,0,0,0,0,0
$GC,7687,2.15,76.2,791.8,9.8,274,7693,0.00,2.58,0.00,0.000,6,0.000,0.038,3713,2397,2873,0,0,0,0,0,0
$GC,7938,2.20,82.1,768.8,9.1,281,7949,0.10,2.62,5.35,0.822,4,0.091,0.051,3742,3945,2856,0,0,0,0,0,0
$GC,8203,2.14,82.1,740.0,10.5,287,8207,0.00,2.58,0.00,0.000,6,0.000,0.045,3742,2411,2854,0,0,0,0,0,0
$GC,8488,2.14,82.1,711.3,10.2,294,8493,0.00,2.58,0.00,0.000,4,0.000,0.050,3742,3938,2854,0,0,0,0,0,0
$GC,8746,2.07,82.1,682.7,11.3,299,8752,0.15,2.55,0.00,0.000,6,0.141,0.042,3715,2414,2852,0,0,0,0,0,0
$GC,8999,2.12,83.2,658.0,9.8,306,9003,0.00,2.58,0.00,0.000,4,0.000,0.051,3715,3939,2852,0,0,0,0,0,0
$GC,9258,2.12,83.2,630.8,10.9,311,9263,0.00,2.50,0.00,0.000,6,0.000,0.044,3714,2425,2852,0,0,0,0,0,0
$GC,9510,2.19,89.1,607.9,9.1,318,9525,0.00,2.62,7.03,0.837,4,0.000,0.049,3715,3939,2826,0,0,0,0,0,0
$GC,9781,2.19,89.1,578.0,11.5,324,9786,0.00,2.50,0.00,0.000,6,0.000,0.035,3715,2432,2825,0,0,0,0,0,0
$GC,10065,2.25,89.1,548.6,10.4,331,10070,0.15,2.55,0.00,0.000,4,0.069,0.054,3758,3944,2824,0,0,0,0,0,0
$GC,10323,2.18,89.1,516.8,12.4,336,10330,0.12,2.47,0.00,0.000,6,0.139,0.033,3736,2441,2825,0,0,0,0,0,0
$GC,10573,2.18,89.1,489.4,11.2,343,10577,0.00,2.50,0.00,0.000,4,0.000,0.046,3736,3944,2825,0,0,0,0,0,0
$GC,10830,2.18,89.1,459.9,11.0,348,10836,0.00,2.45,0.00,0.000,6,0.000,0.036,3736,2442,2825,0,0,0,0,0,0
$GC,11080,2.18,89.1,433.0,10.7,355,11085,0.00,2.92,0.00,0.000,4,0.000,0.081,3736,775,2825,0,0,0,0,0,0
$GC,11098,2.18,89.1,431.3,11.0,355,11103,0.00,2.70,0.00,0.000,6,0.000,0.031,3736,2453,2825,0,0,0,0,0,0
$GC,11358,2.18,89.1,404.4,10.2,362,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,2453,2825,0,0,0,0,0,0
$GC,11603,2.22,89.1,377.8,11.0,368,11607,0.00,2.42,0.00,0.000,4,0.000,0.048,3736,3944,2825,0,0,0,0,0,0
$GC,11635,2.22,89.1,373.9,11.7,368,11641,0.00,2.45,0.00,0.000,6,0.000,0.028,3736,2417,2825,0,0,0,0,0,0
$GC,11888,2.27,89.1,346.3,10.8,375,11892,0.00,2.47,0.00,0.000,4,0.000,0.039,3736,3945,2825,0,0,0,0,0,0
$GC,12147,2.27,89.1,315.4,11.2,380,12152,0.00,2.42,0.00,0.000,6,0.000,0.023,3736,2421,2826,0,0,0,0,0,0
$GC,12397,2.32,89.1,289.1,10.6,387,12402,0.10,2.50,0.00,0.000,4,0.120,0.038,3768,3955,2826,0,0,0,0,0,0
$GC,12418,2.32,89.1,286.6,10.5,387,12423,0.00,2.42,0.00,0.000,6,0.000,0.024,3768,2428,2826,0,0,0,0,0,0
$GC,12677,2.32,89.1,258.7,11.0,394,12681,0.00,2.47,0.00,0.000,4,0.000,0.044,3768,3946,2826,0,0,0,0,0,0
$GC,12801,2.27,89.1,244.5,10.9,396,12806,0.00,2.40,0.00,0.000,6,0.000,0.024,3768,2435,2826,0,0,0,0,0,0
$GC,13051,2.27,90.4,220.0,9.8,403,13055,0.00,2.45,0.00,0.000,4,0.000,0.044,3768,3950,2827,0,0,0,0,0,0
$GC,13230,2.29,101.8,202.5,8.3,407,13249,0.00,2.40,12.62,0.640,6,0.000,0.023,3768,2437,2773,0,0,0,0,0,0
$GC,13514,2.33,102.6,175.0,9.9,431,13519,0.00,2.45,0.00,0.000,4,0.000,0.039,3768,3948,2773,0,0,0,0,0,0
$GC,13525,2.33,104.9,173.7,9.7,431,13534,0.00,2.40,4.07,0.443,6,0.000,0.026,3767,2438,2761,0,0,0,0,0,0
$GC,13803,2.42,136.3,155.9,5.3,457,13838,0.00,2.55,26.70,0.627,4,0.000,0.038,3768,3948,2633,0,0,0,0,0,0
$GC,13865,2.42,136.3,150.1,10.4,462,13875,0.00,2.40,0.00,0.000,6,0.000,0.023,3768,2463,2632,0,0,0,0,0,0
$GC,14135,2.56,170.2,127.6,4.9,487,14174,0.00,0.00,29.45,0.599,6,0.000,0.000,3767,2463,2494,0,0,0,0,0,0
$GC,14431,2.69,177.3,106.3,8.9,515,14444,0.00,2.50,7.00,0.490,4,0.000,0.037,3768,3949,2466,0,0,0,0,0,0
$GC,14567,2.78,177.3,92.4,11.0,526,14576,0.00,2.38,0.00,0.000,6,0.000,0.021,3769,2466,2466,0,0,0,0,0,0
$GC,14835,2.90,177.3,66.5,10.1,551,14840,0.00,2.40,0.00,0.000,4,0.000,0.038,3768,3952,2466,0,0,0,0,0,0
$GC,15018,3.00,177.3,44.3,12.1,565,15022,0.00,2.33,0.00,0.000,6,0.000,0.022,3767,2465,2467,0,0,0,0,0,0
$GC,15320,3.13,183.4,13.3,9.1,601,15338,0.00,2.45,6.95,0.427,4,0.000,0.039,3768,3934,2442,0,0,0,0,0,0
$STATE,15400,end climb,SURFACE_DEPTH_REACHED
$STATE,15400,begin surface coast
$FINISH,1.2,1.023480
$STATE,15444,end surface coast,CONTROL_FINISHED_OK
$STATE,15444,begin surface
$SM_CCo,15469,133.95,0.496,0,0,1762,350.04
$SM_GC,1.78,0.00,0.00,133.95,0.000,0.000,0.496,466,2190,1762,-12.85,-0.57,350.04
$IRIDIUM_FIX,1920.65,-8116.97,010702,141410
$TT8_MAMPS,0.026078
$HUMID,58.03
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.20
$XPDR_PINGS,76
$24V_AH,23.2,52.999
$10V_AH,10.1,46.998
$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,33.075,186.375,226.800,133.950,0.000,31.518,54.678,195.008,19.000,0.000,34.369,1417.056,10676.158,505.124,2742.771,728.894,33.371,1627.874,0.000,2696.850,0.000,0.536,0.000
$DEVICE_MAMPS,158.769,109.681,1187.316,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,417.603,314.506,399.988,555.150,1057.890,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,48023,618
$CAP_FILE_SIZE,156816,0
$CFSIZE,260165632,102002688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060413,224205,1927.176,-8117.887,25,1.5,25,-3.7