version: 66.06
glider: 146
mission: 8
dive: 281
start: 3 16 113 16 4 22
data:
$ID,146
$MISSION,8
$DIVE,281
$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,-313013.34
$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,31
$R_STBD_OVSHOOT,21
$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
$GPS1,154336,1926.707,-8119.277,31,1.6,31,-3.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.2
$GPS2,160329,1926.685,-8119.413,32,1.4,48,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,0.025
$KALMAN_X,-33674.9,-248.5,-487.2,13444.6,535.2
$KALMAN_Y,17022.1,202.4,-295.3,-11144.3,234.9
$MHEAD_RNG_PITCHd_Wd,83.5,2536,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-2.09,-44.5,0.0,0.0,0,77,0.00,0.00,-54.08,0.000,2,0.000,0.000,458,2186,3097,0,0,0,0,0,0
$GC,81,-2.13,-78.4,3.5,-4.9,7,106,12.38,0.00,-8.95,0.000,6,0.150,0.000,2785,2186,3512,0,0,0,0,0,0
$GC,389,-1.92,-78.4,81.5,-28.6,41,394,0.28,2.58,0.00,0.000,4,0.136,0.045,2838,626,3513,0,0,0,0,0,0
$GC,421,-1.77,-78.4,94.3,-31.1,43,426,0.17,2.47,0.00,0.000,6,0.134,0.015,2870,2253,3513,0,0,0,0,0,0
$GC,688,-1.94,-78.4,150.0,-12.8,67,693,0.15,2.40,0.00,0.000,4,0.058,0.030,2810,3771,3513,0,0,0,0,0,0
$GC,707,-2.06,-78.4,153.1,-13.0,68,712,0.00,2.45,0.00,0.000,6,0.000,0.025,2810,2193,3513,0,0,0,0,0,0
$GC,970,-2.26,-89.5,188.7,-8.3,92,976,0.17,2.50,-0.25,0.000,4,0.051,0.048,2743,3772,3559,0,0,0,0,0,0
$GC,1049,-2.23,-89.5,200.4,-17.1,98,1054,0.15,2.38,0.00,0.000,6,0.113,0.021,2772,2214,3559,0,0,0,0,0,0
$GC,1299,-2.27,-89.5,238.7,-15.1,104,1304,0.00,2.47,0.00,0.000,4,0.000,0.038,2772,3768,3559,0,0,0,0,0,0
$GC,1346,-2.27,-89.5,245.3,-14.3,105,1350,0.00,2.38,0.00,0.000,6,0.000,0.025,2772,2237,3559,0,0,0,0,0,0
$GC,1623,-2.33,-89.5,284.4,-14.1,112,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2237,3560,0,0,0,0,0,0
$GC,1867,-2.38,-89.5,319.1,-14.3,118,1869,0.12,0.00,0.00,0.000,6,0.067,0.000,2718,2237,3559,0,0,0,0,0,0
$GC,2112,-2.38,-89.5,357.5,-15.7,124,2114,0.10,0.00,0.00,0.000,6,0.130,0.000,2738,2238,3558,0,0,0,0,0,0
$GC,2354,-2.38,-89.5,394.4,-15.1,130,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2237,3558,0,0,0,0,0,0
$GC,2598,-2.38,-89.5,430.3,-14.5,136,2602,0.00,2.53,0.00,0.000,4,0.000,0.050,2738,3754,3557,0,0,0,0,0,0
$GC,2647,-2.38,-89.5,437.9,-14.8,137,2651,0.00,2.50,0.00,0.000,6,0.000,0.045,2738,2236,3557,0,0,0,0,0,0
$GC,2921,-2.38,-89.5,477.2,-14.4,144,2925,0.00,2.55,0.00,0.000,4,0.000,0.058,2738,3751,3555,0,0,0,0,0,0
$GC,3032,-2.38,-89.5,494.3,-14.3,146,3036,0.00,2.55,0.00,0.000,6,0.000,0.054,2738,2231,3555,0,0,0,0,0,0
$GC,3287,-2.38,-89.5,529.8,-13.8,153,3292,0.00,2.60,0.00,0.000,4,0.000,0.067,2738,3754,3554,0,0,0,0,0,0
$GC,3305,-2.38,-89.5,532.2,-13.9,153,3310,0.00,2.60,0.00,0.000,6,0.000,0.058,2738,2225,3553,0,0,0,0,0,0
$GC,3565,-2.38,-89.5,569.5,-14.0,160,3570,0.00,2.67,0.00,0.000,4,0.000,0.074,2738,3750,3552,0,0,0,0,0,0
$GC,3592,-2.38,-89.5,573.7,-14.8,160,3597,0.00,2.60,0.00,0.000,6,0.000,0.067,2738,2230,3551,0,0,0,0,0,0
$GC,3845,-2.38,-89.5,608.3,-13.9,166,3849,0.00,2.67,0.00,0.000,4,0.000,0.086,2738,3747,3550,0,0,0,0,0,0
$GC,3888,-2.38,-89.5,615.2,-15.7,167,3892,0.00,2.67,0.00,0.000,6,0.000,0.081,2738,2230,3550,0,0,0,0,0,0
$GC,4172,-2.38,-89.5,655.6,-14.2,174,4177,0.00,2.78,0.00,0.000,4,0.000,0.105,2738,3746,3548,0,0,0,0,0,0
$GC,4234,-2.38,-89.5,664.6,-14.4,175,4239,0.00,2.80,0.00,0.000,6,0.000,0.097,2738,2232,3547,0,0,0,0,0,0
$GC,4495,-2.38,-89.5,700.6,-13.8,182,4499,0.00,2.90,0.00,0.000,4,0.000,0.129,2738,3745,3546,0,0,0,0,0,0
$GC,4555,-2.38,-89.5,710.2,-15.6,183,4559,0.00,2.72,0.00,0.000,6,0.000,0.083,2738,2227,3546,0,0,0,0,0,0
$GC,4819,-2.38,-89.5,747.7,-14.5,190,4823,0.00,2.72,0.00,0.000,4,0.000,0.087,2738,3747,3543,0,0,0,0,0,0
$GC,4862,-2.38,-89.5,754.7,-14.9,191,4867,0.00,2.65,0.00,0.000,6,0.000,0.075,2738,2229,3543,0,0,0,0,0,0
$GC,5140,-2.38,-89.5,793.6,-13.8,198,5145,0.00,2.72,0.00,0.000,4,0.000,0.085,2738,3754,3541,0,0,0,0,0,0
$GC,5236,-2.38,-89.5,808.3,-16.1,200,5241,0.00,2.62,0.00,0.000,6,0.000,0.070,2738,2243,3540,0,0,0,0,0,0
$GC,5508,-2.38,-89.5,847.8,-14.5,207,5512,0.00,2.67,0.00,0.000,4,0.000,0.084,2738,3754,3538,0,0,0,0,0,0
$GC,5594,-2.38,-89.5,860.5,-14.4,209,5599,0.00,2.62,0.00,0.000,6,0.000,0.067,2738,2240,3538,0,0,0,0,0,0
$GC,5877,-2.38,-89.5,899.4,-13.4,216,5881,0.00,2.08,0.00,0.000,3,0.000,0.073,2738,3428,3536,0,0,0,0,0,0
$STATE,5881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5882,begin apogee
$GC,5889,-0.31,0.0,900.1,13.4,216,5967,2.08,0.00,73.18,1.186,6,0.103,0.000,3189,2366,3190,0,0,0,0,0,0
$STATE,5968,end apogee,CONTROL_FINISHED_OK
$STATE,5968,begin climb
$GC,5973,2.15,89.5,902.8,0.0,218,6061,2.20,3.08,77.62,1.163,4,0.033,0.107,3742,777,2824,0,0,0,0,0,0
$GC,6067,2.15,90.2,896.5,9.9,220,6072,0.00,2.67,0.00,0.000,6,0.000,0.055,3742,2321,2823,0,0,0,0,0,0
$GC,6335,2.15,90.2,860.6,13.7,227,6340,0.00,2.83,0.00,0.000,4,0.000,0.074,3742,3944,2819,0,0,0,0,0,0
$GC,6466,2.08,90.2,842.1,14.1,230,6471,0.15,2.60,0.00,0.000,6,0.149,0.038,3716,2380,2817,0,0,0,0,0,0
$GC,6752,2.12,90.2,807.5,11.8,237,6756,0.00,2.65,0.00,0.000,4,0.000,0.057,3716,3949,2816,0,0,0,0,0,0
$GC,6904,2.12,90.2,788.2,12.8,240,6908,0.00,2.60,0.00,0.000,6,0.000,0.045,3716,2400,2814,0,0,0,0,0,0
$GC,7167,2.16,90.2,758.1,11.3,247,7171,0.00,2.62,0.00,0.000,4,0.000,0.057,3716,3945,2813,0,0,0,0,0,0
$GC,7353,2.16,90.2,735.1,12.4,251,7357,0.00,2.55,0.00,0.000,6,0.000,0.044,3716,2409,2812,0,0,0,0,0,0
$GC,7625,2.20,90.2,705.1,11.1,258,7630,0.10,2.60,0.00,0.000,4,0.094,0.057,3744,3941,2810,0,0,0,0,0,0
$GC,7765,2.14,90.2,688.1,12.3,261,7769,0.00,2.58,0.00,0.000,6,0.000,0.045,3744,2402,2810,0,0,0,0,0,0
$GC,8042,2.14,90.2,655.0,11.6,268,8046,0.00,2.58,0.00,0.000,4,0.000,0.058,3744,3942,2810,0,0,0,0,0,0
$GC,8300,2.08,90.2,623.0,12.2,273,8306,0.15,2.53,0.00,0.000,6,0.143,0.037,3717,2425,2808,0,0,0,0,0,0
$GC,8556,2.13,90.2,596.1,10.7,280,8560,0.00,2.58,0.00,0.000,4,0.000,0.053,3717,3949,2808,0,0,0,0,0,0
$GC,8813,2.13,90.2,563.5,13.0,285,8819,0.00,2.50,0.00,0.000,6,0.000,0.041,3717,2436,2807,0,0,0,0,0,0
$GC,9066,2.18,90.2,534.5,11.6,292,9070,0.00,2.50,0.00,0.000,4,0.000,0.052,3717,3941,2807,0,0,0,0,0,0
$GC,9290,2.18,90.2,506.6,12.2,297,9294,0.00,2.42,0.00,0.000,6,0.000,0.033,3717,2461,2807,0,0,0,0,0,0
$GC,9570,2.24,90.2,477.7,10.0,304,9575,0.12,2.45,0.00,0.000,4,0.079,0.051,3753,3944,2807,0,0,0,0,0,0
$GC,9830,2.17,90.2,447.0,12.4,309,9837,0.12,2.38,0.00,0.000,6,0.141,0.026,3731,2463,2806,0,0,0,0,0,0
$GC,10081,2.21,90.2,419.0,11.0,316,10085,0.00,2.45,0.00,0.000,4,0.000,0.041,3731,3953,2806,0,0,0,0,0,0
$GC,10319,2.21,90.2,391.5,12.0,321,10323,0.00,2.38,0.00,0.000,6,0.000,0.025,3731,2470,2806,0,0,0,0,0,0
$GC,10585,2.25,90.2,363.1,10.4,328,10589,0.00,2.42,0.00,0.000,4,0.000,0.047,3731,3955,2806,0,0,0,0,0,0
$GC,10674,2.25,90.2,352.5,12.3,330,10678,0.00,2.38,0.00,0.000,6,0.000,0.030,3731,2465,2807,0,0,0,0,0,0
$GC,10955,2.30,90.2,321.5,11.0,337,10960,0.12,2.42,0.00,0.000,4,0.077,0.038,3768,3953,2807,0,0,0,0,0,0
$GC,11080,2.25,90.2,305.1,13.6,339,11085,0.00,2.33,0.00,0.000,6,0.000,0.023,3768,2484,2807,0,0,0,0,0,0
$GC,11332,2.25,90.2,276.2,11.6,346,11336,0.00,2.40,0.00,0.000,4,0.000,0.041,3768,3957,2808,0,0,0,0,0,0
$GC,11589,2.20,90.2,244.1,11.0,351,11595,0.15,2.30,0.00,0.000,6,0.126,0.021,3740,2498,2808,0,0,0,0,0,0
$GC,11841,2.24,90.2,218.7,10.5,358,11846,0.00,2.35,0.00,0.000,4,0.000,0.047,3740,3949,2809,0,0,0,0,0,0
$GC,12103,2.24,90.2,192.5,10.1,366,12111,0.00,2.30,0.00,0.000,6,0.000,0.024,3740,2513,2810,0,0,0,0,0,0
$GC,12369,2.34,113.0,171.6,6.6,391,12391,0.08,0.00,17.70,0.624,6,0.107,0.000,3767,2513,2729,0,0,0,0,0,0
$GC,12646,2.40,123.4,149.6,8.4,417,12661,0.00,2.90,9.88,0.568,4,0.000,0.047,3767,765,2687,0,0,0,0,0,0
$GC,12819,2.41,128.2,134.5,9.3,431,12830,0.00,2.83,5.75,0.487,6,0.000,0.024,3767,2562,2667,0,0,0,0,0,0
$GC,13085,2.55,169.1,118.9,3.8,456,13124,0.00,0.00,35.17,0.591,6,0.000,0.000,3767,2562,2500,0,0,0,0,0,0
$GC,13381,2.68,180.1,97.7,8.3,484,13397,0.00,2.30,10.23,0.518,4,0.000,0.038,3767,3942,2455,0,0,0,0,0,0
$GC,13409,2.79,186.4,95.0,9.0,486,13421,0.00,2.30,6.80,0.469,6,0.000,0.021,3768,2506,2430,0,0,0,0,0,0
$GC,13689,2.93,186.4,65.5,11.5,512,13693,0.00,2.33,0.00,0.000,4,0.000,0.036,3767,3948,2429,0,0,0,0,0,0
$GC,13899,3.02,186.4,36.2,13.9,528,13909,0.00,2.28,0.00,0.000,6,0.000,0.022,3767,2520,2428,0,0,0,0,0,0
$STATE,14160,end climb,SURFACE_DEPTH_REACHED
$STATE,14160,begin surface coast
$FINISH,1.0,1.001686
$STATE,14203,end surface coast,CONTROL_FINISHED_OK
$STATE,14203,begin surface
$SM_CCo,14226,130.90,0.497,0,0,1762,350.04
$SM_GC,1.81,0.00,0.00,130.90,0.000,0.000,0.497,465,2170,1762,-12.86,-1.13,350.04
$IRIDIUM_FIX,1918.37,-8147.02,100602,161628
$TT8_MAMPS,0.026078
$HUMID,56.41
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.10
$XPDR_PINGS,54
$24V_AH,23.3,39.776
$10V_AH,10.3,35.039
$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,32.075,162.600,236.325,130.900,0.000,105.398,170.182,481.679,13.500,0.000,50.277,1305.549,10039.242,462.714,2516.121,1218.478,33.359,1475.641,0.000,2458.895,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,128.856,1185.782,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.783,284.510,366.743,489.310,932.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,44558,570
$CAP_FILE_SIZE,152523,0
$CFSIZE,260165632,108781568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160313,200500,1927.152,-8118.839,35,1.4,35,-3.7