version: 66.06
glider: 146
mission: 8
dive: 284
start: 3 17 113 5 8 54
data:
$ID,146
$MISSION,8
$DIVE,284
$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,-313081.06
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,045735,1927.513,-8117.154,35,1.2,35,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.7
$GPS2,050800,1927.506,-8117.229,9,1.3,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,-0.124
$KALMAN_X,-39283.5,229.0,203.1,21682.1,-2322.4
$KALMAN_Y,18672.2,226.6,15.6,-11618.3,789.2
$MHEAD_RNG_PITCHd_Wd,153.9,1640,-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,-67.35,0.000,6,0.000,0.000,465,2185,3370,0,0,0,0,0,0
$GC,95,-2.14,-81.0,3.6,-4.5,9,121,12.70,2.58,-3.05,0.000,4,0.164,0.051,2785,630,3523,0,0,0,0,0,0
$GC,136,-1.42,-81.0,15.5,-31.5,13,146,0.75,2.50,0.00,0.000,6,0.112,0.015,2942,2250,3524,0,0,0,0,0,0
$GC,422,-1.62,-81.0,65.9,-15.9,43,431,0.15,0.00,0.00,0.000,6,0.058,0.000,2878,2251,3524,0,0,0,0,0,0
$GC,688,-1.73,-81.0,117.1,-18.2,68,693,0.00,2.65,0.00,0.000,4,0.000,0.050,2878,627,3524,0,0,0,0,0,0
$GC,711,-1.81,-81.0,121.7,-20.8,69,715,0.00,2.40,0.00,0.000,6,0.000,0.021,2878,2217,3524,0,0,0,0,0,0
$GC,975,-2.00,-81.0,162.3,-13.7,93,980,0.22,2.42,0.00,0.000,4,0.044,0.028,2795,3762,3525,0,0,0,0,0,0
$GC,986,-2.16,-81.0,164.3,-12.9,93,996,0.00,2.45,0.00,0.000,6,0.000,0.017,2795,2189,3524,0,0,0,0,0,0
$GC,1253,-2.24,-81.0,200.9,-12.8,118,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2189,3525,0,0,0,0,0,0
$GC,1493,-2.32,-81.0,233.3,-13.0,124,1495,0.17,0.00,0.00,0.000,6,0.051,0.000,2726,2189,3526,0,0,0,0,0,0
$GC,1734,-2.32,-81.0,270.6,-15.3,130,1739,0.12,2.55,0.00,0.000,4,0.120,0.041,2751,3764,3525,0,0,0,0,0,0
$GC,1786,-2.32,-81.0,277.8,-14.9,131,1790,0.00,2.40,0.00,0.000,6,0.000,0.023,2751,2218,3526,0,0,0,0,0,0
$GC,2059,-2.32,-81.0,315.6,-13.9,138,2064,0.00,2.47,0.00,0.000,4,0.000,0.042,2752,3758,3525,0,0,0,0,0,0
$GC,2131,-2.32,-81.0,327.1,-15.7,139,2136,0.00,2.42,0.00,0.000,6,0.000,0.032,2751,2219,3525,0,0,0,0,0,0
$GC,2382,-2.32,-81.0,363.2,-14.4,145,2386,0.00,2.47,0.00,0.000,4,0.000,0.040,2751,3756,3524,0,0,0,0,0,0
$GC,2399,-2.32,-81.0,365.6,-14.5,145,2404,0.00,2.47,0.00,0.000,6,0.000,0.034,2751,2219,3524,0,0,0,0,0,0
$GC,2659,-2.32,-81.0,403.9,-14.9,152,2664,0.00,2.53,0.00,0.000,4,0.000,0.048,2751,3757,3524,0,0,0,0,0,0
$GC,2686,-2.32,-81.0,408.2,-15.6,152,2691,0.00,2.47,0.00,0.000,6,0.000,0.041,2751,2227,3524,0,0,0,0,0,0
$GC,2939,-2.32,-81.0,442.7,-13.7,158,2944,0.00,2.50,0.00,0.000,4,0.000,0.048,2751,3750,3523,0,0,0,0,0,0
$GC,3011,-2.32,-81.0,453.7,-14.5,159,3016,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,2226,3523,0,0,0,0,0,0
$GC,3261,-2.32,-81.0,487.5,-13.6,165,3266,0.00,2.58,0.00,0.000,4,0.000,0.061,2751,3752,3522,0,0,0,0,0,0
$GC,3279,-2.32,-81.0,489.6,-13.5,165,3283,0.00,2.53,0.00,0.000,6,0.000,0.051,2751,2231,3522,0,0,0,0,0,0
$GC,3540,-2.36,-81.0,524.8,-13.5,172,3544,0.00,2.58,0.00,0.000,4,0.000,0.068,2751,3747,3520,0,0,0,0,0,0
$GC,3606,-2.36,-81.0,534.2,-14.4,173,3610,0.00,2.53,0.00,0.000,6,0.000,0.056,2751,2239,3520,0,0,0,0,0,0
$GC,3864,-2.40,-81.0,567.6,-13.0,180,3868,0.00,2.60,0.00,0.000,4,0.000,0.071,2751,3746,3519,0,0,0,0,0,0
$GC,3918,-2.40,-81.0,575.7,-13.5,181,3923,0.00,2.58,0.00,0.000,6,0.000,0.061,2751,2242,3518,0,0,0,0,0,0
$GC,4185,-2.44,-81.0,611.6,-13.5,188,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2242,3518,0,0,0,0,0,0
$GC,4432,-2.48,-81.0,644.1,-13.3,194,4437,0.15,2.75,0.00,0.000,4,0.062,0.096,2694,3748,3515,0,0,0,0,0,0
$GC,4476,-2.40,-81.0,651.6,-16.6,195,4482,0.20,2.72,0.00,0.000,6,0.112,0.095,2733,2242,3515,0,0,0,0,0,0
$GC,4754,-2.40,-81.0,691.2,-14.1,202,4759,0.00,2.85,0.00,0.000,4,0.000,0.117,2733,3749,3513,0,0,0,0,0,0
$GC,4840,-2.40,-81.0,704.1,-15.4,204,4845,0.00,2.65,0.00,0.000,6,0.000,0.087,2733,2250,3512,0,0,0,0,0,0
$GC,5124,-2.40,-81.0,743.9,-13.7,211,5128,0.00,2.70,0.00,0.000,4,0.000,0.087,2733,3750,3511,0,0,0,0,0,0
$GC,5199,-2.40,-81.0,754.6,-14.8,212,5204,0.00,2.62,0.00,0.000,6,0.000,0.074,2733,2258,3511,0,0,0,0,0,0
$GC,5449,-2.40,-81.0,789.4,-13.6,218,5453,0.00,2.65,0.00,0.000,4,0.000,0.082,2733,3747,3508,0,0,0,0,0,0
$GC,5509,-2.40,-81.0,798.5,-14.8,219,5514,0.00,2.60,0.00,0.000,6,0.000,0.073,2733,2261,3508,0,0,0,0,0,0
$GC,5778,-2.40,-81.0,833.9,-13.1,226,5783,0.00,2.65,0.00,0.000,4,0.000,0.087,2733,3751,3506,0,0,0,0,0,0
$GC,5867,-2.40,-81.0,846.5,-14.3,228,5871,0.00,2.60,0.00,0.000,6,0.000,0.068,2733,2267,3506,0,0,0,0,0,0
$GC,6145,-2.40,-81.0,883.0,-12.9,235,6150,0.00,2.62,0.00,0.000,4,0.000,0.076,2733,3754,3504,0,0,0,0,0,0
$STATE,6272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6272,begin apogee
$GC,6284,-0.31,0.0,900.5,13.8,238,6355,2.15,0.00,66.65,1.188,6,0.107,0.000,3187,2366,3190,0,0,0,0,0,0
$STATE,6356,end apogee,CONTROL_FINISHED_OK
$STATE,6356,begin climb
$GC,6359,2.14,81.0,903.5,0.0,240,6437,2.25,0.00,70.70,1.168,6,0.031,0.000,3737,2366,2858,0,0,0,0,0,0
$GC,6680,2.14,81.0,870.8,12.1,248,6685,0.00,2.65,0.00,0.000,4,0.000,0.063,3736,3889,2854,0,0,0,0,0,0
$GC,6848,2.07,81.0,849.9,13.1,251,6854,0.12,2.58,0.00,0.000,6,0.153,0.047,3714,2367,2851,0,0,0,0,0,0
$GC,7100,2.07,81.0,822.9,10.8,258,7104,0.00,2.60,0.00,0.000,4,0.000,0.054,3714,3891,2851,0,0,0,0,0,0
$GC,7303,2.07,81.0,798.6,11.6,262,7307,0.00,2.55,0.00,0.000,6,0.000,0.044,3714,2374,2849,0,0,0,0,0,0
$GC,7561,2.11,81.0,771.4,10.7,269,7565,0.00,2.58,0.00,0.000,4,0.000,0.053,3714,3893,2848,0,0,0,0,0,0
$GC,7767,2.11,81.0,748.0,10.6,273,7771,0.00,2.55,0.00,0.000,6,0.000,0.043,3714,2380,2846,0,0,0,0,0,0
$GC,8020,2.15,81.0,722.6,10.2,279,8024,0.00,2.58,0.00,0.000,4,0.000,0.058,3714,3899,2846,0,0,0,0,0,0
$GC,8198,2.15,81.0,702.8,10.5,283,8202,0.00,2.53,0.00,0.000,6,0.000,0.043,3714,2391,2845,0,0,0,0,0,0
$GC,8479,2.19,81.0,674.9,10.0,290,8484,0.10,2.55,0.00,0.000,4,0.235,0.051,3742,3897,2844,0,0,0,0,0,0
$GC,8709,2.13,81.0,648.2,12.0,295,8713,0.00,2.47,0.00,0.000,6,0.000,0.041,3742,2412,2843,0,0,0,0,0,0
$GC,8983,2.13,81.0,618.5,11.1,302,8987,0.00,2.50,0.00,0.000,4,0.000,0.058,3742,3893,2843,0,0,0,0,0,0
$GC,9220,2.09,81.0,590.0,12.4,307,9225,0.15,2.42,0.00,0.000,6,0.145,0.042,3715,2420,2842,0,0,0,0,0,0
$GC,9487,2.14,81.0,562.8,10.0,314,9491,0.00,2.47,0.00,0.000,4,0.000,0.057,3715,3894,2842,0,0,0,0,0,0
$GC,9673,2.14,81.0,542.5,10.9,318,9677,0.00,2.40,0.00,0.000,6,0.000,0.038,3715,2431,2841,0,0,0,0,0,0
$GC,9952,2.19,83.2,515.7,9.7,325,9957,0.10,2.40,0.00,0.000,4,0.092,0.046,3744,3895,2841,0,0,0,0,0,0
$GC,10178,2.14,83.2,490.9,10.7,330,10182,0.00,2.35,0.00,0.000,6,0.000,0.028,3744,2434,2841,0,0,0,0,0,0
$GC,10461,2.14,83.2,461.8,10.2,337,10465,0.00,2.40,0.00,0.000,4,0.000,0.048,3744,3898,2841,0,0,0,0,0,0
$GC,10506,2.09,83.2,456.9,11.0,338,10511,0.15,2.38,0.00,0.000,6,0.139,0.033,3717,2426,2841,0,0,0,0,0,0
$GC,10793,2.15,85.9,429.2,9.6,345,10797,0.00,2.42,0.00,0.000,4,0.000,0.041,3717,3904,2841,0,0,0,0,0,0
$GC,10960,2.15,85.9,411.1,10.2,348,10966,0.00,2.35,0.00,0.000,6,0.000,0.031,3716,2436,2841,0,0,0,0,0,0
$GC,11213,2.21,85.9,386.0,10.0,355,11218,0.10,2.40,0.00,0.000,4,0.259,0.039,3746,3897,2841,0,0,0,0,0,0
$GC,11285,2.17,85.9,377.5,11.8,356,11289,0.00,2.35,0.00,0.000,6,0.000,0.032,3746,2433,2841,0,0,0,0,0,0
$GC,11537,2.17,85.9,351.0,10.6,362,11541,0.00,2.40,0.00,0.000,4,0.000,0.039,3746,3905,2842,0,0,0,0,0,0
$GC,11778,2.13,85.9,323.7,11.1,367,11782,0.12,2.33,0.00,0.000,6,0.140,0.031,3724,2444,2842,0,0,0,0,0,0
$GC,12041,2.19,88.7,298.7,9.6,374,12051,0.00,2.40,4.95,0.558,4,0.000,0.044,3724,3900,2827,0,0,0,0,0,0
$GC,12266,2.19,88.7,274.6,10.2,379,12270,0.00,2.30,0.00,0.000,6,0.000,0.028,3724,2453,2829,0,0,0,0,0,0
$GC,12544,2.25,88.7,246.2,10.3,386,12548,0.12,2.35,0.00,0.000,4,0.077,0.040,3762,3899,2829,0,0,0,0,0,0
$GC,12559,2.25,88.7,244.5,10.7,386,12563,0.00,2.35,0.00,0.000,6,0.000,0.025,3762,2442,2829,0,0,0,0,0,0
$GC,12829,2.26,90.1,218.5,9.8,393,12833,0.00,2.38,0.00,0.000,4,0.000,0.047,3762,3899,2830,0,0,0,0,0,0
$GC,13041,2.26,96.3,198.4,9.1,397,13057,0.00,2.25,8.65,0.592,6,0.000,0.025,3762,2467,2797,0,0,0,0,0,0
$GC,13312,2.28,108.1,175.9,8.2,423,13330,0.00,2.40,11.00,0.599,4,0.000,0.046,3762,3897,2748,0,0,0,0,0,0
$GC,13424,2.28,109.1,165.3,9.8,432,13433,0.00,2.30,0.00,0.000,6,0.000,0.025,3762,2474,2747,0,0,0,0,0,0
$GC,13693,2.38,142.4,147.9,5.0,457,13727,0.00,2.38,29.17,0.616,4,0.000,0.037,3762,3908,2608,0,0,0,0,0,0
$GC,13938,2.47,170.7,127.3,5.7,477,13967,0.00,2.28,24.25,0.588,6,0.000,0.024,3762,2465,2494,0,0,0,0,0,0
$GC,14225,2.62,180.9,105.1,8.5,504,14240,0.00,2.35,9.93,0.522,4,0.000,0.037,3762,3898,2451,0,0,0,0,0,0
$GC,14344,2.71,180.9,93.4,10.3,513,14350,0.00,2.25,0.00,0.000,6,0.000,0.024,3762,2482,2450,0,0,0,0,0,0
$GC,14613,2.84,180.9,64.3,11.5,538,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,3762,2483,2450,0,0,0,0,0,0
$GC,14881,2.98,185.4,35.8,9.3,563,14896,0.00,2.35,5.40,0.407,4,0.000,0.038,3762,3899,2433,0,0,0,0,0,0
$STATE,15137,end climb,SURFACE_DEPTH_REACHED
$STATE,15137,begin surface coast
$FINISH,1.0,1.013133
$STATE,15179,end surface coast,CONTROL_FINISHED_OK
$STATE,15179,begin surface
$SM_CCo,15204,131.45,0.498,0,0,1763,350.04
$SM_GC,1.85,0.00,0.00,131.45,0.000,0.000,0.498,465,2177,1763,-12.86,-0.93,350.04
$IRIDIUM_FIX,1934.38,-8109.14,110602,050557
$TT8_MAMPS,0.025311
$HUMID,57.40
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.40
$XPDR_PINGS,63
$24V_AH,23.3,40.138
$10V_AH,10.3,35.394
$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,33.000,179.325,230.700,131.450,0.000,56.437,73.349,261.440,15.750,0.000,16.366,1391.239,10605.704,490.136,2633.560,838.696,33.367,1577.723,0.000,2616.696,0.000,0.537,0.000
$DEVICE_MAMPS,259.246,116.584,1188.083,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.818,305.875,389.379,534.918,1019.753,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,47952,603
$CAP_FILE_SIZE,156221,0
$CFSIZE,260165632,108568576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170313,092554,1926.489,-8116.908,38,1.3,38,-3.7