version: 66.06
glider: 146
mission: 8
dive: 395
start: 4 11 113 3 13 56
data:
$ID,146
$MISSION,8
$DIVE,395
$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,-315203.62
$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,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
$GPS1,025323,1925.477,-8117.712,38,1.7,38,-3.7
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.5
$GPS2,031300,1925.470,-8117.862,9,1.4,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.061,0.175
$KALMAN_X,-238813.7,150.6,-466.5,220875.6,844.4
$KALMAN_Y,146779.6,-293.2,71.2,-143019.3,-326.1
$MHEAD_RNG_PITCHd_Wd,344.5,2844,-25.4,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.68,-71.9,0.0,0.0,0,92,0.00,0.00,-69.78,0.000,2,0.000,0.000,459,2181,3451,0,0,0,0,0,0
$GC,95,-1.77,-142.6,3.3,-3.4,9,120,13.00,2.50,-6.32,0.000,4,0.156,0.055,2868,652,3774,0,0,0,0,0,0
$GC,321,-1.61,-142.6,65.6,-25.2,33,331,0.17,2.47,0.00,0.000,6,0.103,0.017,2906,2250,3774,0,0,0,0,0,0
$GC,583,-1.57,-142.6,120.2,-17.2,58,587,0.00,2.40,0.00,0.000,4,0.000,0.028,2906,3780,3775,0,0,0,0,0,0
$GC,595,-1.57,-142.6,122.8,-17.0,58,604,0.00,2.42,0.00,0.000,6,0.000,0.018,2907,2236,3775,0,0,0,0,0,0
$GC,861,-1.62,-142.6,160.3,-12.3,83,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2236,3775,0,0,0,0,0,0
$GC,1122,-1.69,-142.6,193.2,-12.1,108,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2236,3776,0,0,0,0,0,0
$GC,1391,-1.77,-142.6,224.7,-11.6,119,1396,0.15,2.62,0.00,0.000,4,0.057,0.058,2842,645,3775,0,0,0,0,0,0
$GC,1412,-1.77,-142.6,228.1,-13.6,119,1418,0.15,2.42,0.00,0.000,6,0.106,0.021,2873,2225,3776,0,0,0,0,0,0
$GC,1668,-1.77,-142.6,262.4,-13.6,126,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2225,3775,0,0,0,0,0,0
$GC,1914,-1.77,-142.6,295.2,-13.4,132,1918,0.00,2.50,0.00,0.000,4,0.000,0.044,2873,3779,3775,0,0,0,0,0,0
$GC,1953,-1.77,-142.6,301.0,-14.0,133,1957,0.00,2.42,0.00,0.000,6,0.000,0.030,2874,2234,3775,0,0,0,0,0,0
$GC,2235,-1.77,-142.6,338.0,-13.1,140,2240,0.00,2.70,0.00,0.000,4,0.000,0.069,2874,637,3774,0,0,0,0,0,0
$GC,2264,-1.77,-142.6,341.7,-13.6,140,2269,0.00,2.50,0.00,0.000,6,0.000,0.030,2874,2208,3773,0,0,0,0,0,0
$GC,2515,-1.81,-142.6,373.6,-12.6,146,2519,0.00,2.60,0.00,0.000,4,0.000,0.050,2874,3792,3773,0,0,0,0,0,0
$GC,2564,-1.86,-142.6,380.1,-13.8,147,2568,0.00,2.50,0.00,0.000,6,0.000,0.036,2874,2241,3772,0,0,0,0,0,0
$GC,2838,-1.91,-142.6,413.2,-12.1,154,2840,0.12,0.00,0.00,0.000,6,0.066,0.000,2824,2241,3771,0,0,0,0,0,0
$GC,3080,-1.87,-142.6,448.2,-14.6,160,3085,0.12,2.62,0.00,0.000,4,0.109,0.062,2850,3790,3770,0,0,0,0,0,0
$GC,3101,-1.87,-142.6,451.5,-14.8,160,3106,0.00,2.55,0.00,0.000,6,0.000,0.043,2850,2244,3770,0,0,0,0,0,0
$GC,3359,-1.87,-142.6,486.1,-13.6,167,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2244,3769,0,0,0,0,0,0
$GC,3600,-1.87,-142.6,519.1,-13.6,173,3605,0.00,2.65,0.00,0.000,4,0.000,0.070,2850,3781,3767,0,0,0,0,0,0
$GC,3621,-1.87,-142.6,522.3,-14.5,173,3626,0.00,2.60,0.00,0.000,6,0.000,0.049,2850,2241,3767,0,0,0,0,0,0
$GC,3879,-1.87,-142.6,557.0,-13.6,180,3884,0.00,3.08,0.00,0.000,4,0.000,0.119,2850,617,3765,0,0,0,0,0,0
$GC,3894,-1.87,-142.6,559.7,-13.2,180,3899,0.00,2.70,0.00,0.000,6,0.000,0.051,2850,2233,3765,0,0,0,0,0,0
$GC,4155,-1.87,-142.6,594.7,-13.2,187,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2234,3763,0,0,0,0,0,0
$GC,4399,-1.87,-142.6,627.3,-13.5,193,4403,0.00,2.90,0.00,0.000,4,0.000,0.114,2850,3801,3762,0,0,0,0,0,0
$GC,4422,-1.87,-142.6,630.3,-13.5,193,4427,0.00,2.78,0.00,0.000,6,0.000,0.082,2850,2236,3762,0,0,0,0,0,0
$GC,4677,-1.87,-142.6,664.3,-13.2,200,4682,0.00,2.88,0.00,0.000,4,0.000,0.100,2850,3793,3760,0,0,0,0,0,0
$GC,4698,-1.87,-142.6,667.3,-13.0,200,4703,0.00,2.83,0.00,0.000,6,0.000,0.096,2850,2243,3760,0,0,0,0,0,0
$GC,4956,-1.87,-142.6,701.0,-13.1,207,4961,0.00,2.95,0.00,0.000,4,0.000,0.116,2850,3792,3758,0,0,0,0,0,0
$GC,4971,-1.87,-142.6,703.5,-12.7,207,4976,0.00,2.83,0.00,0.000,6,0.000,0.096,2850,2247,3758,0,0,0,0,0,0
$GC,5232,-1.87,-142.6,737.7,-13.0,214,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2246,3757,0,0,0,0,0,0
$GC,5476,-1.87,-142.6,768.6,-12.8,220,5480,0.00,2.83,0.00,0.000,4,0.000,0.094,2850,3800,3755,0,0,0,0,0,0
$GC,5510,-1.87,-142.6,773.0,-13.2,220,5516,0.00,2.75,0.00,0.000,6,0.000,0.081,2850,2250,3755,0,0,0,0,0,0
$GC,5760,-1.87,-142.6,804.5,-12.3,227,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2250,3754,0,0,0,0,0,0
$GC,6004,-1.87,-142.6,835.1,-12.5,233,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2250,3752,0,0,0,0,0,0
$GC,6247,-1.87,-142.6,865.0,-12.4,239,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2249,3750,0,0,0,0,0,0
$GC,6493,-1.87,-142.6,894.6,-12.2,245,6498,0.00,2.75,0.00,0.000,4,0.000,0.088,2850,3801,3748,0,0,0,0,0,0
$GC,6520,-1.87,-142.6,898.3,-12.4,245,6525,0.00,2.67,0.00,0.000,6,0.000,0.065,2850,2253,3748,0,0,0,0,0,0
$STATE,6565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6565,begin apogee
$GC,6571,-0.31,0.0,904.0,12.5,246,6693,1.52,0.00,118.60,1.196,6,0.081,0.000,3191,2378,3190,0,0,0,0,0,0
$STATE,6694,end apogee,CONTROL_FINISHED_OK
$STATE,6694,begin climb
$GC,6699,1.77,142.6,907.1,0.0,249,6836,1.88,2.83,124.35,1.167,4,0.033,0.078,3652,3937,2606,0,0,0,0,0,0
$GC,6928,1.67,142.6,884.0,16.0,254,6934,0.15,2.72,0.00,0.000,6,0.128,0.060,3625,2369,2602,0,0,0,0,0,0
$GC,7197,1.67,142.6,847.0,13.5,261,7202,0.00,2.70,0.00,0.000,4,0.000,0.063,3625,3931,2598,0,0,0,0,0,0
$GC,7383,1.63,142.6,820.0,14.1,265,7387,0.00,2.62,0.00,0.000,6,0.000,0.044,3625,2387,2597,0,0,0,0,0,0
$GC,7654,1.63,142.6,785.1,12.7,272,7659,0.00,2.65,0.00,0.000,4,0.000,0.054,3625,3938,2595,0,0,0,0,0,0
$GC,7779,1.63,142.6,767.7,13.7,274,7785,0.00,2.62,0.00,0.000,6,0.000,0.051,3625,2394,2594,0,0,0,0,0,0
$GC,8029,1.63,142.6,735.8,12.7,281,8034,0.00,2.62,0.00,0.000,4,0.000,0.054,3625,3933,2593,0,0,0,0,0,0
$GC,8146,1.63,142.6,719.3,14.5,283,8150,0.00,2.58,0.00,0.000,6,0.000,0.049,3625,2410,2593,0,0,0,0,0,0
$GC,8398,1.63,142.6,687.4,12.8,289,8403,0.00,2.60,0.00,0.000,4,0.000,0.054,3625,3936,2592,0,0,0,0,0,0
$GC,8503,1.63,142.6,672.2,13.6,291,8508,0.00,2.55,0.00,0.000,6,0.000,0.047,3625,2423,2591,0,0,0,0,0,0
$GC,8765,1.63,142.6,638.7,12.9,298,8769,0.00,2.55,0.00,0.000,4,0.000,0.058,3625,3932,2591,0,0,0,0,0,0
$GC,8872,1.63,142.6,623.9,14.2,300,8877,0.00,2.53,0.00,0.000,6,0.000,0.047,3625,2431,2591,0,0,0,0,0,0
$GC,9133,1.63,142.6,590.6,12.6,307,9138,0.00,2.55,0.00,0.000,4,0.000,0.056,3625,3931,2590,0,0,0,0,0,0
$GC,9213,1.63,142.6,579.9,13.8,308,9218,0.00,2.47,0.00,0.000,6,0.000,0.040,3625,2441,2590,0,0,0,0,0,0
$GC,9465,1.63,142.6,549.1,12.3,315,9469,0.00,2.53,0.00,0.000,4,0.000,0.055,3625,3941,2589,0,0,0,0,0,0
$GC,9532,1.63,142.6,539.8,13.1,316,9537,0.00,2.45,0.00,0.000,6,0.000,0.042,3625,2452,2589,0,0,0,0,0,0
$GC,9788,1.63,142.6,508.3,12.2,323,9792,0.00,2.47,0.00,0.000,4,0.000,0.048,3625,3943,2589,0,0,0,0,0,0
$GC,9936,1.63,142.6,488.6,14.0,326,9940,0.00,2.45,0.00,0.000,6,0.000,0.038,3625,2457,2589,0,0,0,0,0,0
$GC,10203,1.63,142.6,454.6,12.8,333,10207,0.00,2.45,0.00,0.000,4,0.000,0.046,3625,3944,2589,0,0,0,0,0,0
$GC,10277,1.63,142.6,444.7,14.0,334,10281,0.00,2.42,0.00,0.000,6,0.000,0.036,3625,2458,2589,0,0,0,0,0,0
$GC,10526,1.63,142.6,413.1,12.4,340,10531,0.00,2.45,0.00,0.000,4,0.000,0.045,3625,3937,2589,0,0,0,0,0,0
$GC,10670,1.63,142.6,394.4,12.7,343,10674,0.00,2.35,0.00,0.000,6,0.000,0.025,3625,2474,2589,0,0,0,0,0,0
$GC,10947,1.63,142.6,360.4,12.1,350,10951,0.00,2.42,0.00,0.000,4,0.000,0.043,3625,3944,2589,0,0,0,0,0,0
$GC,11015,1.63,142.6,351.6,13.4,351,11020,0.00,2.35,0.00,0.000,6,0.000,0.031,3625,2482,2589,0,0,0,0,0,0
$GC,11273,1.63,142.6,319.9,12.6,358,11277,0.00,2.40,0.00,0.000,4,0.000,0.043,3625,3939,2589,0,0,0,0,0,0
$GC,11300,1.63,142.6,315.9,13.3,358,11304,0.00,2.30,0.00,0.000,6,0.000,0.028,3625,2485,2588,0,0,0,0,0,0
$GC,11558,1.67,142.6,283.4,12.7,365,11562,0.00,2.40,0.00,0.000,4,0.000,0.047,3625,3942,2589,0,0,0,0,0,0
$GC,11689,1.67,142.6,265.8,13.5,368,11693,0.00,2.28,0.00,0.000,6,0.000,0.026,3625,2497,2589,0,0,0,0,0,0
$GC,11973,1.72,142.6,231.4,11.9,375,11977,0.00,2.38,0.00,0.000,4,0.000,0.051,3625,3935,2589,0,0,0,0,0,0
$GC,12065,1.72,142.6,220.0,13.2,377,12069,0.00,2.30,0.00,0.000,6,0.000,0.025,3625,2492,2589,0,0,0,0,0,0
$GC,12329,1.77,142.6,191.0,10.7,388,12333,0.00,2.40,0.00,0.000,4,0.000,0.051,3625,3940,2590,0,0,0,0,0,0
$GC,12407,1.77,142.6,181.9,10.9,394,12411,0.00,2.28,0.00,0.000,6,0.000,0.026,3625,2511,2591,0,0,0,0,0,0
$GC,12677,1.86,150.0,156.1,9.3,418,12689,0.17,2.35,5.03,0.484,4,0.058,0.042,3678,3938,2577,0,0,0,0,0,0
$GC,12835,1.86,150.0,137.4,10.3,431,12840,0.00,2.22,0.00,0.000,6,0.000,0.026,3678,2527,2577,0,0,0,0,0,0
$GC,13102,1.90,186.7,116.8,6.6,455,13145,0.00,2.40,31.83,0.596,4,0.000,0.042,3678,3932,2428,0,0,0,0,0,0
$GC,13330,1.91,190.2,98.1,9.7,474,13341,0.00,2.28,4.62,0.421,6,0.000,0.022,3679,2511,2413,0,0,0,0,0,0
$GC,13601,2.00,204.0,76.0,8.7,499,13616,0.00,0.00,13.30,0.527,6,0.000,0.000,3678,2512,2357,0,0,0,0,0,0
$GC,13875,2.09,207.4,49.2,9.7,524,13890,0.15,2.40,4.53,0.388,4,0.062,0.043,3727,3934,2344,0,0,0,0,0,0
$GC,13972,2.04,207.4,37.6,12.1,531,13977,0.12,2.22,0.00,0.000,6,0.123,0.024,3703,2513,2344,0,0,0,0,0,0
$STATE,14277,end climb,SURFACE_DEPTH_REACHED
$STATE,14277,begin surface coast
$FINISH,1.0,0.999809
$STATE,14326,end surface coast,CONTROL_FINISHED_OK
$STATE,14326,begin surface
$SM_CCo,14351,115.78,0.495,0,0,1763,350.04
$SM_GC,1.77,0.00,0.00,115.78,0.000,0.000,0.495,465,2152,1763,-12.86,-1.64,350.04
$IRIDIUM_FIX,1916.08,-8119.23,060702,030315
$TT8_MAMPS,0.026078
$HUMID,58.93
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.30
$XPDR_PINGS,76
$24V_AH,23.1,55.706
$10V_AH,10.0,49.421
$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,30.725,168.700,302.250,115.775,0.000,82.404,122.046,653.519,19.000,0.000,16.201,1262.053,10322.491,523.237,2230.443,1295.714,33.367,1443.404,0.000,2217.155,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,118.885,1195.753,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.637,294.495,374.970,519.705,988.892,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355940
$DATA_FILE_SIZE,44697,580
$CAP_FILE_SIZE,146231,0
$CFSIZE,260165632,100634624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110413,071629,1926.885,-8118.975,38,1.1,43,-3.7