version: 66.06
glider: 146
mission: 8
dive: 224
start: 3 3 113 22 34 41
data:
$ID,146
$MISSION,8
$DIVE,224
$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,-311861.22
$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,41
$R_STBD_OVSHOOT,65
$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
$GPS1,221405,1927.777,-8119.271,70,1.4,75,-3.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.2
$GPS2,223343,1927.617,-8119.253,14,1.6,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.017
$KALMAN_X,6005.4,-153.1,-290.3,-26248.0,-174.8
$KALMAN_Y,949.6,-26.2,215.3,6365.0,-859.6
$MHEAD_RNG_PITCHd_Wd,100.4,2469,-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,-44.5,0.0,0.0,0,85,0.00,0.00,-63.08,0.000,2,0.000,0.000,462,2181,3309,0,0,0,0,0,0
$GC,88,-2.14,-82.4,3.3,-4.3,8,114,12.65,2.55,-4.55,0.000,4,0.165,0.058,2788,646,3527,0,0,0,0,0,0
$GC,364,-2.02,-82.4,79.7,-27.8,36,369,0.15,2.38,0.00,0.000,6,0.137,0.016,2815,2208,3528,0,0,0,0,0,0
$GC,627,-2.02,-82.4,138.4,-17.4,60,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2210,3528,0,0,0,0,0,0
$GC,883,-2.10,-82.4,179.6,-15.4,84,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2210,3528,0,0,0,0,0,0
$GC,1140,-2.20,-82.4,216.4,-13.4,100,1145,0.15,2.50,0.00,0.000,4,0.058,0.035,2755,3772,3529,0,0,0,0,0,0
$GC,1198,-2.20,-82.4,224.8,-16.5,101,1203,0.12,2.40,0.00,0.000,6,0.112,0.016,2780,2213,3529,0,0,0,0,0,0
$GC,1464,-2.25,-82.4,261.1,-13.4,108,1469,0.00,2.47,0.00,0.000,4,0.000,0.041,2780,3764,3528,0,0,0,0,0,0
$GC,1519,-2.25,-82.4,269.2,-14.4,109,1524,0.00,2.40,0.00,0.000,6,0.000,0.023,2780,2227,3529,0,0,0,0,0,0
$GC,1795,-2.31,-82.4,305.1,-13.1,116,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2226,3528,0,0,0,0,0,0
$GC,2036,-2.37,-82.4,338.1,-13.7,122,2038,0.15,0.00,0.00,0.000,6,0.061,0.000,2723,2226,3527,0,0,0,0,0,0
$GC,2280,-2.37,-82.4,376.5,-15.9,128,2285,0.10,2.55,0.00,0.000,4,0.130,0.051,2741,3761,3526,0,0,0,0,0,0
$GC,2342,-2.37,-82.4,386.6,-16.0,129,2347,0.00,2.45,0.00,0.000,6,0.000,0.039,2741,2237,3526,0,0,0,0,0,0
$GC,2603,-2.37,-82.4,424.7,-14.2,136,2608,0.00,2.53,0.00,0.000,4,0.000,0.051,2742,3762,3526,0,0,0,0,0,0
$GC,2643,-2.37,-82.4,430.2,-14.5,137,2647,0.00,2.47,0.00,0.000,6,0.000,0.045,2741,2239,3525,0,0,0,0,0,0
$GC,2928,-2.37,-82.4,467.9,-13.1,144,2932,0.00,2.55,0.00,0.000,4,0.000,0.060,2742,3754,3525,0,0,0,0,0,0
$GC,2988,-2.37,-82.4,476.5,-13.3,145,2992,0.00,2.50,0.00,0.000,6,0.000,0.050,2742,2237,3524,0,0,0,0,0,0
$GC,3249,-2.37,-82.4,512.9,-14.1,152,3254,0.00,2.55,0.00,0.000,4,0.000,0.067,2741,3752,3522,0,0,0,0,0,0
$GC,3307,-2.37,-82.4,521.6,-15.7,153,3311,0.00,2.53,0.00,0.000,6,0.000,0.053,2742,2247,3522,0,0,0,0,0,0
$GC,3573,-2.37,-82.4,558.9,-13.6,160,3577,0.00,2.60,0.00,0.000,4,0.000,0.077,2741,3751,3520,0,0,0,0,0,0
$GC,3650,-2.37,-82.4,570.4,-14.7,161,3656,0.00,2.58,0.00,0.000,6,0.000,0.057,2742,2238,3520,0,0,0,0,0,0
$GC,3902,-2.37,-82.4,603.8,-13.5,168,3907,0.00,2.67,0.00,0.000,4,0.000,0.079,2741,3753,3518,0,0,0,0,0,0
$GC,4019,-2.37,-82.4,621.0,-14.6,170,4024,0.00,2.62,0.00,0.000,6,0.000,0.080,2742,2252,3518,0,0,0,0,0,0
$GC,4272,-2.37,-82.4,653.8,-13.2,176,4276,0.00,2.75,0.00,0.000,4,0.000,0.104,2742,3753,3516,0,0,0,0,0,0
$GC,4304,-2.37,-82.4,658.8,-14.2,176,4310,0.00,2.65,0.00,0.000,6,0.000,0.084,2742,2252,3515,0,0,0,0,0,0
$GC,4554,-2.37,-82.4,691.2,-12.9,183,4558,0.00,2.72,0.00,0.000,4,0.000,0.097,2742,3752,3514,0,0,0,0,0,0
$GC,4648,-2.37,-82.4,704.1,-13.7,185,4652,0.00,2.60,0.00,0.000,6,0.000,0.078,2742,2257,3513,0,0,0,0,0,0
$GC,4923,-2.37,-82.4,739.7,-13.4,192,4927,0.00,2.67,0.00,0.000,4,0.000,0.084,2742,3754,3511,0,0,0,0,0,0
$GC,4944,-2.37,-82.4,743.0,-13.8,192,4948,0.00,2.62,0.00,0.000,6,0.000,0.069,2741,2254,3511,0,0,0,0,0,0
$GC,5199,-2.37,-82.4,776.7,-13.1,199,5203,0.00,2.65,0.00,0.000,4,0.000,0.084,2742,3753,3509,0,0,0,0,0,0
$GC,5312,-2.37,-82.4,792.3,-14.1,201,5317,0.00,2.58,0.00,0.000,6,0.000,0.068,2742,2270,3508,0,0,0,0,0,0
$GC,5568,-2.37,-82.4,824.6,-12.3,208,5572,0.00,2.60,0.00,0.000,4,0.000,0.080,2741,3754,3506,0,0,0,0,0,0
$GC,5613,-2.37,-82.4,830.4,-13.2,209,5618,0.00,2.58,0.00,0.000,6,0.000,0.068,2742,2273,3506,0,0,0,0,0,0
$GC,5891,-2.37,-82.4,865.0,-12.2,216,5895,0.00,2.60,0.00,0.000,4,0.000,0.075,2742,3754,3505,0,0,0,0,0,0
$GC,6030,-2.37,-82.4,883.2,-12.9,219,6034,0.00,2.55,0.00,0.000,6,0.000,0.064,2741,2275,3503,0,0,0,0,0,0
$STATE,6178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6178,begin apogee
$GC,6187,-0.31,0.0,901.5,12.2,223,6261,2.10,0.00,66.85,1.193,6,0.104,0.000,3190,2340,3190,0,0,0,0,0,0
$STATE,6261,end apogee,CONTROL_FINISHED_OK
$STATE,6262,begin climb
$GC,6264,2.14,82.4,903.6,0.0,225,6346,2.17,3.03,71.62,1.169,4,0.031,0.107,3739,781,2852,0,0,0,0,0,0
$GC,6367,2.09,82.4,896.5,10.1,227,6372,0.12,2.72,0.00,0.000,6,0.146,0.051,3718,2365,2851,0,0,0,0,0,0
$GC,6633,2.09,82.4,865.0,11.7,234,6638,0.00,2.75,0.00,0.000,4,0.000,0.069,3718,3936,2848,0,0,0,0,0,0
$GC,6735,2.09,82.4,852.5,12.3,236,6740,0.00,2.62,0.00,0.000,6,0.000,0.044,3718,2369,2846,0,0,0,0,0,0
$GC,7003,2.09,82.4,820.1,12.1,243,7008,0.00,2.67,0.00,0.000,4,0.000,0.056,3718,3942,2845,0,0,0,0,0,0
$GC,7179,2.09,82.4,797.9,12.9,247,7184,0.00,2.60,0.00,0.000,6,0.000,0.039,3718,2390,2843,0,0,0,0,0,0
$GC,7462,2.09,82.4,766.2,11.0,254,7466,0.00,2.60,0.00,0.000,4,0.000,0.055,3718,3938,2842,0,0,0,0,0,0
$GC,7689,2.09,82.4,739.5,11.8,259,7694,0.00,2.58,0.00,0.000,6,0.000,0.041,3718,2401,2841,0,0,0,0,0,0
$GC,7967,2.09,82.4,710.7,10.2,266,7971,0.00,2.60,0.00,0.000,4,0.000,0.052,3718,3945,2840,0,0,0,0,0,0
$GC,8051,2.09,82.4,701.6,10.9,268,8055,0.00,2.58,0.00,0.000,6,0.000,0.044,3718,2401,2839,0,0,0,0,0,0
$GC,8337,2.14,86.3,674.2,9.4,275,8341,0.00,2.60,0.00,0.000,4,0.000,0.054,3718,3946,2839,0,0,0,0,0,0
$GC,8496,2.14,86.3,658.2,11.2,278,8500,0.00,2.58,0.00,0.000,6,0.000,0.038,3718,2397,2838,0,0,0,0,0,0
$GC,8753,2.14,86.3,632.7,10.0,285,8757,0.00,2.60,0.00,0.000,4,0.000,0.056,3718,3942,2837,0,0,0,0,0,0
$GC,8971,2.14,86.3,608.2,10.7,290,8976,0.00,2.53,0.00,0.000,6,0.000,0.038,3718,2411,2836,0,0,0,0,0,0
$GC,9257,2.18,86.3,579.3,10.1,297,9262,0.00,2.58,0.00,0.000,4,0.000,0.051,3718,3945,2836,0,0,0,0,0,0
$GC,9363,2.18,86.3,567.4,10.2,299,9367,0.00,2.50,0.00,0.000,6,0.000,0.035,3718,2418,2836,0,0,0,0,0,0
$GC,9626,2.22,89.7,542.5,9.5,306,9636,0.10,2.58,4.22,0.650,4,0.091,0.054,3748,3943,2823,0,0,0,0,0,0
$GC,9892,2.16,89.7,511.7,12.4,312,9896,0.00,2.45,0.00,0.000,6,0.000,0.031,3749,2429,2824,0,0,0,0,0,0
$GC,10177,2.16,89.7,478.8,11.6,319,10181,0.00,2.50,0.00,0.000,4,0.000,0.049,3749,3941,2824,0,0,0,0,0,0
$GC,10437,2.10,89.7,446.4,12.4,324,10443,0.15,2.42,0.00,0.000,6,0.136,0.028,3721,2437,2824,0,0,0,0,0,0
$GC,10687,2.16,89.7,420.0,10.4,331,10691,0.00,2.50,0.00,0.000,4,0.000,0.049,3721,3950,2824,0,0,0,0,0,0
$GC,10820,2.16,89.7,404.7,11.1,334,10824,0.00,2.42,0.00,0.000,6,0.000,0.026,3721,2440,2824,0,0,0,0,0,0
$GC,11101,2.21,93.3,378.0,9.5,341,11112,0.00,2.47,5.28,0.631,4,0.000,0.041,3721,3945,2808,0,0,0,0,0,0
$GC,11232,2.21,93.3,364.1,10.9,344,11236,0.00,2.40,0.00,0.000,6,0.000,0.024,3721,2438,2808,0,0,0,0,0,0
$GC,11517,2.27,93.3,334.8,10.4,351,11522,0.15,2.50,0.00,0.000,4,0.182,0.041,3763,3952,2808,0,0,0,0,0,0
$GC,11694,2.22,93.3,312.6,12.6,355,11698,0.00,2.38,0.00,0.000,6,0.000,0.029,3763,2444,2809,0,0,0,0,0,0
$GC,11979,2.22,93.3,279.9,11.3,362,11983,0.00,2.45,0.00,0.000,4,0.000,0.046,3763,3943,2810,0,0,0,0,0,0
$GC,12114,2.17,93.3,263.1,11.7,365,12119,0.15,2.35,0.00,0.000,6,0.129,0.022,3735,2456,2810,0,0,0,0,0,0
$GC,12394,2.22,94.9,234.3,9.8,372,12399,0.00,2.45,0.00,0.000,4,0.000,0.044,3735,3946,2811,0,0,0,0,0,0
$GC,12656,2.22,95.7,207.6,9.9,377,12665,0.00,2.35,4.22,0.466,6,0.000,0.024,3735,2461,2800,0,0,0,0,0,0
$GC,12932,2.32,113.5,186.9,7.3,397,12954,0.10,2.47,16.00,0.630,4,0.085,0.039,3769,3954,2726,0,0,0,0,0,0
$GC,13124,2.34,130.1,171.1,7.5,413,13144,0.00,2.35,14.77,0.607,6,0.000,0.023,3769,2472,2659,0,0,0,0,0,0
$GC,13401,2.41,139.0,146.1,8.7,439,13421,0.00,2.85,8.82,0.548,4,0.000,0.046,3769,778,2623,0,0,0,0,0,0
$GC,13472,2.47,153.6,140.1,7.8,445,13497,0.00,2.75,13.52,0.574,6,0.000,0.025,3769,2518,2565,0,0,0,0,0,0
$GC,13752,2.60,173.3,121.3,7.0,471,13779,0.00,2.92,17.90,0.568,4,0.000,0.043,3769,770,2481,0,0,0,0,0,0
$GC,14047,2.69,175.7,94.6,9.7,495,14053,0.00,2.80,0.00,0.000,6,0.000,0.021,3769,2548,2480,0,0,0,0,0,0
$GC,14316,2.82,182.3,69.3,9.0,520,14331,0.00,2.90,8.98,0.483,4,0.000,0.038,3769,769,2445,0,0,0,0,0,0
$GC,14474,2.92,182.3,51.4,11.7,532,14483,0.00,2.83,0.00,0.000,6,0.000,0.021,3769,2549,2444,0,0,0,0,0,0
$GC,14760,3.06,182.3,17.1,12.0,564,14770,0.00,2.28,0.00,0.000,4,0.000,0.038,3769,3948,2445,0,0,0,0,0,0
$GC,14866,3.18,182.3,5.5,10.4,579,14875,0.00,2.28,0.00,0.000,6,0.000,0.023,3770,2509,2445,0,0,0,0,0,0
$STATE,14883,end climb,SURFACE_DEPTH_REACHED
$STATE,14883,begin surface coast
$FINISH,1.1,1.023618
$STATE,14932,end surface coast,CONTROL_FINISHED_OK
$STATE,14932,begin surface
$SM_CCo,14958,135.07,0.491,0,0,1763,350.04
$SM_GC,1.76,0.00,0.00,135.07,0.000,0.000,0.491,465,2166,1763,-12.86,-1.24,350.04
$IRIDIUM_FIX,1922.94,-8121.49,280502,222250
$TT8_MAMPS,0.026078
$HUMID,55.74
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.70
$XPDR_PINGS,62
$24V_AH,23.3,31.592
$10V_AH,10.4,27.848
$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,31.600,180.275,232.200,135.075,0.000,103.030,165.467,517.950,15.500,0.000,15.681,1376.195,10524.796,487.264,2630.616,1248.196,33.359,1582.303,0.000,2600.897,0.000,0.537,0.000
$DEVICE_MAMPS,181.779,106.613,1193.452,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.696,284.683,370.609,494.382,942.383,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,44596,588
$CAP_FILE_SIZE,161764,0
$CFSIZE,260165632,112881664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040313,024736,1927.594,-8118.327,39,1.5,39,-3.7