version: 66.06
glider: 146
mission: 8
dive: 236
start: 3 6 113 14 44 35
data:
$ID,146
$MISSION,8
$DIVE,236
$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,-312103.34
$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,27
$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
$GPS1,142323,1927.261,-8119.022,24,1.4,41,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.6
$GPS2,144342,1927.228,-8119.111,10,1.7,21,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.153,0.004
$KALMAN_X,-2291.6,-69.2,-171.8,-17901.4,-831.7
$KALMAN_Y,4089.9,89.1,35.2,2570.7,-490.7
$MHEAD_RNG_PITCHd_Wd,92.2,1985,-30.6,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.97,-50.3,0.0,0.0,0,91,0.00,0.00,-67.85,0.000,6,0.000,0.000,467,2154,3394,0,0,0,0,0,0
$GC,94,-2.03,-99.8,3.3,-3.4,9,120,12.77,2.53,-4.10,0.000,4,0.165,0.048,2810,623,3597,0,0,0,0,0,0
$GC,190,-1.89,-99.8,30.5,-26.8,22,200,0.15,2.50,0.00,0.000,6,0.115,0.016,2842,2242,3597,0,0,0,0,0,0
$GC,459,-1.82,-99.8,96.0,-24.7,47,464,0.10,0.00,0.00,0.000,6,0.152,0.000,2860,2243,3597,0,0,0,0,0,0
$GC,724,-1.88,-99.8,150.4,-16.6,72,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2243,3598,0,0,0,0,0,0
$GC,989,-1.98,-99.8,188.2,-13.5,97,994,0.12,2.42,0.00,0.000,4,0.068,0.037,2804,3769,3599,0,0,0,0,0,0
$GC,1022,-1.98,-99.8,193.9,-16.0,99,1032,0.08,2.45,0.00,0.000,6,0.091,0.018,2824,2200,3599,0,0,0,0,0,0
$GC,1276,-2.04,-99.8,229.1,-14.2,109,1280,0.00,2.50,0.00,0.000,4,0.000,0.031,2824,3766,3599,0,0,0,0,0,0
$GC,1299,-2.09,-99.8,232.9,-14.8,109,1303,0.00,2.42,0.00,0.000,6,0.000,0.024,2823,2205,3599,0,0,0,0,0,0
$GC,1557,-2.16,-99.8,265.6,-12.5,116,1558,0.15,0.00,0.00,0.000,6,0.058,0.000,2760,2205,3599,0,0,0,0,0,0
$GC,1800,-2.16,-99.8,301.7,-15.2,122,1805,0.12,2.55,0.00,0.000,4,0.117,0.043,2785,3773,3598,0,0,0,0,0,0
$GC,1860,-2.16,-99.8,311.4,-15.2,123,1865,0.00,2.45,0.00,0.000,6,0.000,0.031,2785,2227,3598,0,0,0,0,0,0
$GC,2122,-2.16,-99.8,349.7,-14.6,130,2126,0.00,2.47,0.00,0.000,4,0.000,0.043,2786,3765,3598,0,0,0,0,0,0
$GC,2196,-2.16,-99.8,361.0,-15.8,131,2200,0.00,2.45,0.00,0.000,6,0.000,0.037,2785,2228,3598,0,0,0,0,0,0
$GC,2445,-2.16,-99.8,398.4,-14.9,137,2450,0.00,2.53,0.00,0.000,4,0.000,0.053,2785,3761,3597,0,0,0,0,0,0
$GC,2490,-2.16,-99.8,405.5,-16.0,138,2494,0.00,2.47,0.00,0.000,6,0.000,0.035,2785,2222,3597,0,0,0,0,0,0
$GC,2769,-2.16,-99.8,444.2,-14.0,145,2773,0.00,2.58,0.00,0.000,4,0.000,0.054,2785,3762,3595,0,0,0,0,0,0
$GC,2808,-2.16,-99.8,450.5,-15.3,146,2812,0.00,2.53,0.00,0.000,6,0.000,0.050,2785,2232,3595,0,0,0,0,0,0
$GC,3093,-2.16,-99.8,488.8,-13.3,153,3097,0.00,2.55,0.00,0.000,4,0.000,0.057,2785,3754,3594,0,0,0,0,0,0
$GC,3119,-2.16,-99.8,492.9,-14.1,153,3124,0.00,2.53,0.00,0.000,6,0.000,0.046,2785,2227,3594,0,0,0,0,0,0
$GC,3371,-2.16,-99.8,526.3,-13.5,159,3376,0.00,2.62,0.00,0.000,4,0.000,0.070,2785,3758,3593,0,0,0,0,0,0
$GC,3404,-2.16,-99.8,531.3,-14.2,159,3410,0.00,2.55,0.00,0.000,6,0.000,0.051,2785,2230,3593,0,0,0,0,0,0
$GC,3656,-2.16,-99.8,563.6,-13.0,166,3661,0.00,2.62,0.00,0.000,4,0.000,0.075,2785,3755,3591,0,0,0,0,0,0
$GC,3722,-2.16,-99.8,573.0,-13.9,167,3727,0.00,2.58,0.00,0.000,6,0.000,0.059,2785,2241,3590,0,0,0,0,0,0
$GC,3984,-2.20,-99.8,607.7,-13.4,174,3989,0.00,2.67,0.00,0.000,4,0.000,0.085,2785,3755,3588,0,0,0,0,0,0
$GC,4007,-2.20,-99.8,610.9,-13.9,174,4012,0.00,2.62,0.00,0.000,6,0.000,0.069,2785,2242,3588,0,0,0,0,0,0
$GC,4262,-2.24,-99.8,645.0,-13.3,181,4267,0.00,2.72,0.00,0.000,4,0.000,0.098,2785,3749,3587,0,0,0,0,0,0
$GC,4323,-2.24,-99.8,653.7,-14.3,182,4327,0.00,2.72,0.00,0.000,6,0.000,0.089,2785,2252,3586,0,0,0,0,0,0
$GC,4586,-2.28,-99.8,687.7,-13.0,189,4591,0.00,2.85,0.00,0.000,4,0.000,0.123,2785,3753,3584,0,0,0,0,0,0
$GC,4618,-2.28,-99.8,692.6,-14.4,189,4624,0.00,2.70,0.00,0.000,6,0.000,0.090,2785,2244,3584,0,0,0,0,0,0
$GC,4869,-2.33,-99.8,725.6,-13.1,196,4874,0.15,2.78,0.00,0.000,4,0.061,0.096,2730,3754,3583,0,0,0,0,0,0
$GC,4938,-2.26,-99.8,736.5,-16.3,197,4943,0.17,2.65,0.00,0.000,6,0.114,0.081,2764,2253,3582,0,0,0,0,0,0
$GC,5193,-2.26,-99.8,773.3,-14.2,204,5198,0.00,2.67,0.00,0.000,4,0.000,0.088,2764,3754,3580,0,0,0,0,0,0
$GC,5262,-2.26,-99.8,783.3,-14.7,205,5266,0.00,2.62,0.00,0.000,6,0.000,0.071,2764,2255,3579,0,0,0,0,0,0
$GC,5516,-2.26,-99.8,819.1,-13.7,212,5521,0.00,2.67,0.00,0.000,4,0.000,0.090,2764,3754,3578,0,0,0,0,0,0
$GC,5555,-2.26,-99.8,824.6,-14.6,213,5560,0.00,2.58,0.00,0.000,6,0.000,0.069,2764,2267,3577,0,0,0,0,0,0
$GC,5841,-2.26,-99.8,862.1,-13.2,220,5845,0.00,2.62,0.00,0.000,4,0.000,0.078,2764,3753,3575,0,0,0,0,0,0
$GC,5896,-2.26,-99.8,870.0,-14.4,221,5900,0.00,2.55,0.00,0.000,6,0.000,0.073,2764,2274,3575,0,0,0,0,0,0
$STATE,6160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6160,begin apogee
$GC,6166,-0.31,0.0,903.4,12.5,228,6251,1.95,0.00,80.93,1.197,6,0.100,0.000,3188,2338,3190,0,0,0,0,0,0
$STATE,6252,end apogee,CONTROL_FINISHED_OK
$STATE,6252,begin climb
$GC,6257,2.03,99.8,905.7,0.0,230,6354,2.10,3.03,86.53,1.168,4,0.033,0.107,3715,782,2783,0,0,0,0,0,0
$GC,6360,2.00,99.8,899.0,10.2,232,6365,0.00,2.72,0.00,0.000,6,0.000,0.060,3715,2367,2781,0,0,0,0,0,0
$GC,6623,2.00,99.8,864.0,13.4,239,6627,0.00,2.72,0.00,0.000,4,0.000,0.076,3715,3934,2776,0,0,0,0,0,0
$GC,6758,1.92,99.8,844.6,14.0,242,6763,0.17,2.60,0.00,0.000,6,0.139,0.043,3682,2377,2774,0,0,0,0,0,0
$GC,7040,1.95,99.8,811.0,11.7,249,7045,0.00,2.65,0.00,0.000,4,0.000,0.051,3682,3937,2772,0,0,0,0,0,0
$GC,7198,1.95,99.8,790.4,12.9,252,7202,0.00,2.60,0.00,0.000,6,0.000,0.048,3681,2393,2771,0,0,0,0,0,0
$GC,7455,1.99,99.8,760.8,11.5,259,7460,0.00,2.62,0.00,0.000,4,0.000,0.057,3682,3941,2770,0,0,0,0,0,0
$GC,7685,1.99,99.8,732.0,11.8,264,7689,0.00,2.60,0.00,0.000,6,0.000,0.044,3682,2396,2768,0,0,0,0,0,0
$GC,7960,2.04,99.8,701.5,11.1,271,7964,0.00,2.60,0.00,0.000,4,0.000,0.057,3681,3937,2767,0,0,0,0,0,0
$GC,8089,2.04,99.8,685.7,11.9,274,8093,0.00,2.55,0.00,0.000,6,0.000,0.048,3682,2406,2766,0,0,0,0,0,0
$GC,8372,2.08,99.8,654.3,11.0,281,8377,0.12,2.58,0.00,0.000,4,0.110,0.050,3715,3937,2766,0,0,0,0,0,0
$GC,8523,2.00,99.8,634.4,12.9,284,8528,0.00,2.53,0.00,0.000,6,0.000,0.041,3715,2421,2765,0,0,0,0,0,0
$GC,8784,2.00,99.8,603.7,11.9,291,8789,0.00,2.55,0.00,0.000,4,0.000,0.054,3716,3937,2764,0,0,0,0,0,0
$GC,8980,1.94,99.8,577.1,13.8,295,8985,0.17,2.47,0.00,0.000,6,0.136,0.038,3682,2426,2764,0,0,0,0,0,0
$GC,9241,1.98,99.8,547.2,11.4,302,9246,0.00,2.53,0.00,0.000,4,0.000,0.049,3683,3938,2764,0,0,0,0,0,0
$GC,9305,1.98,99.8,539.7,12.4,303,9309,0.00,2.45,0.00,0.000,6,0.000,0.035,3683,2430,2763,0,0,0,0,0,0
$GC,9566,2.04,99.8,510.9,10.8,310,9570,0.00,2.53,0.00,0.000,4,0.000,0.052,3683,3946,2763,0,0,0,0,0,0
$GC,9720,2.04,99.8,493.1,12.3,313,9724,0.00,2.45,0.00,0.000,6,0.000,0.039,3683,2438,2763,0,0,0,0,0,0
$GC,9981,2.09,99.8,463.4,11.1,320,9986,0.12,2.47,0.00,0.000,4,0.077,0.049,3718,3948,2762,0,0,0,0,0,0
$GC,10114,2.02,99.8,446.6,13.4,323,10118,0.00,2.42,0.00,0.000,6,0.000,0.029,3718,2447,2763,0,0,0,0,0,0
$GC,10397,2.02,99.8,411.4,12.3,330,10401,0.00,2.47,0.00,0.000,4,0.000,0.048,3718,3942,2763,0,0,0,0,0,0
$GC,10546,1.97,99.8,392.4,13.5,333,10551,0.15,2.38,0.00,0.000,6,0.133,0.032,3690,2454,2763,0,0,0,0,0,0
$GC,10813,2.01,99.8,361.6,11.2,340,10817,0.00,2.45,0.00,0.000,4,0.000,0.048,3690,3943,2763,0,0,0,0,0,0
$GC,10935,2.01,99.8,346.0,12.7,342,10940,0.00,2.35,0.00,0.000,6,0.000,0.024,3690,2467,2763,0,0,0,0,0,0
$GC,11187,2.06,99.8,317.2,11.6,349,11192,0.00,2.42,0.00,0.000,4,0.000,0.044,3690,3944,2764,0,0,0,0,0,0
$GC,11265,2.06,99.8,306.8,13.6,350,11271,0.00,2.33,0.00,0.000,6,0.000,0.023,3690,2472,2763,0,0,0,0,0,0
$GC,11518,2.12,99.8,277.7,11.7,357,11523,0.12,2.42,0.00,0.000,4,0.203,0.041,3727,3948,2764,0,0,0,0,0,0
$GC,11579,2.06,99.8,269.1,13.8,358,11583,0.00,2.35,0.00,0.000,6,0.000,0.026,3728,2464,2764,0,0,0,0,0,0
$GC,11845,2.06,99.8,236.9,12.1,365,11849,0.00,2.42,0.00,0.000,4,0.000,0.049,3727,3944,2765,0,0,0,0,0,0
$GC,12005,2.01,99.8,218.2,10.7,368,12010,0.15,2.33,0.00,0.000,6,0.129,0.024,3699,2475,2766,0,0,0,0,0,0
$GC,12263,2.10,110.0,194.7,8.6,378,12278,0.00,2.45,7.05,0.567,4,0.000,0.042,3699,3941,2739,0,0,0,0,0,0
$GC,12456,2.11,117.3,177.4,9.0,394,12470,0.00,2.28,7.72,0.565,6,0.000,0.023,3699,2487,2711,0,0,0,0,0,0
$GC,12736,2.24,138.9,154.6,7.1,420,12761,0.20,2.45,18.98,0.611,4,0.056,0.042,3757,3946,2623,0,0,0,0,0,0
$GC,13027,2.27,165.1,131.3,6.5,444,13060,0.00,2.30,22.98,0.591,6,0.000,0.022,3757,2504,2515,0,0,0,0,0,0
$GC,13318,2.36,178.2,109.7,8.2,471,13342,0.00,2.45,12.12,0.541,4,0.000,0.041,3757,3945,2461,0,0,0,0,0,0
$GC,13610,2.41,181.8,79.5,9.5,495,13619,0.00,2.25,4.57,0.401,6,0.000,0.022,3757,2516,2447,0,0,0,0,0,0
$GC,13887,2.49,181.8,52.8,10.8,521,13891,0.00,2.35,0.00,0.000,4,0.000,0.041,3757,3948,2448,0,0,0,0,0,0
$GC,14098,2.53,181.8,28.0,11.6,538,14107,0.00,2.25,0.00,0.000,6,0.000,0.023,3757,2528,2448,0,0,0,0,0,0
$STATE,14309,end climb,SURFACE_DEPTH_REACHED
$STATE,14309,begin surface coast
$FINISH,1.0,1.011842
$STATE,14352,end surface coast,CONTROL_FINISHED_OK
$STATE,14352,begin surface
$SM_CCo,14375,135.48,0.494,0,0,1763,350.04
$SM_GC,1.80,0.00,0.00,135.48,0.000,0.000,0.494,463,2172,1763,-12.87,-1.07,350.04
$IRIDIUM_FIX,1920.65,-8121.49,310502,141417
$TT8_MAMPS,0.026078
$HUMID,55.47
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.70
$XPDR_PINGS,60
$24V_AH,23.3,33.443
$10V_AH,10.3,29.366
$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,32.275,182.775,240.875,135.475,0.000,85.788,104.552,717.997,15.000,0.000,22.641,1308.959,10145.796,503.176,2428.338,1337.125,33.353,1519.479,0.000,2405.072,0.000,0.538,0.000
$DEVICE_MAMPS,203.255,123.487,1196.520,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.691,288.373,368.457,501.966,956.964,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356116
$DATA_FILE_SIZE,44625,575
$CAP_FILE_SIZE,156887,0
$CFSIZE,260165632,112013312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060313,184736,1927.693,-8118.427,25,1.4,25,-3.7