version: 66.06
glider: 146
mission: 8
dive: 286
start: 3 17 113 13 52 18
data:
$ID,146
$MISSION,8
$DIVE,286
$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,-313114.34
$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,58
$R_STBD_OVSHOOT,17
$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
$GPS1,134436,1927.736,-8116.987,30,1.1,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.4
$GPS2,135124,1927.753,-8117.029,11,1.1,16,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.029,-0.140
$KALMAN_X,-41343.7,368.0,-1.5,24161.7,-2125.4
$KALMAN_Y,19596.2,-139.5,-94.5,-11600.7,710.1
$MHEAD_RNG_PITCHd_Wd,172.0,2196,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-2.09,-44.5,0.0,0.0,0,93,0.00,0.00,-67.78,0.000,6,0.000,0.000,460,2158,3371,0,0,0,0,0,0
$GC,96,-2.14,-85.0,3.3,-3.9,9,122,12.73,2.47,-3.42,0.000,4,0.163,0.050,2786,659,3538,0,0,0,0,0,0
$GC,188,-2.05,-85.0,28.4,-26.5,21,198,0.10,2.47,0.00,0.000,6,0.117,0.016,2809,2255,3539,0,0,0,0,0,0
$GC,450,-2.05,-85.0,93.7,-23.8,46,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2256,3538,0,0,0,0,0,0
$GC,707,-2.09,-85.0,148.3,-16.9,70,711,0.00,2.40,0.00,0.000,4,0.000,0.038,2808,3769,3539,0,0,0,0,0,0
$GC,742,-2.14,-85.0,155.1,-19.3,72,751,0.00,2.42,0.00,0.000,6,0.000,0.026,2808,2229,3539,0,0,0,0,0,0
$GC,1010,-2.23,-85.0,192.4,-13.6,97,1015,0.15,2.45,0.00,0.000,4,0.059,0.031,2751,3771,3540,0,0,0,0,0,0
$GC,1033,-2.27,-85.0,196.6,-13.4,98,1039,0.00,2.42,0.00,0.000,6,0.000,0.018,2751,2205,3540,0,0,0,0,0,0
$GC,1304,-2.27,-85.0,238.2,-15.3,107,1309,0.00,2.47,0.00,0.000,4,0.000,0.038,2751,3769,3540,0,0,0,0,0,0
$GC,1328,-2.27,-85.0,241.7,-15.2,107,1332,0.00,2.40,0.00,0.000,6,0.000,0.020,2751,2225,3540,0,0,0,0,0,0
$GC,1583,-2.27,-85.0,279.3,-14.6,114,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2225,3540,0,0,0,0,0,0
$GC,1826,-2.27,-85.0,315.8,-15.0,120,1831,0.00,2.47,0.00,0.000,4,0.000,0.038,2751,3765,3540,0,0,0,0,0,0
$GC,1861,-2.27,-85.0,321.0,-15.9,120,1867,0.00,2.45,0.00,0.000,6,0.000,0.025,2751,2228,3540,0,0,0,0,0,0
$GC,2111,-2.27,-85.0,358.2,-14.9,127,2115,0.00,2.53,0.00,0.000,4,0.000,0.047,2751,3771,3539,0,0,0,0,0,0
$GC,2171,-2.27,-85.0,367.4,-14.9,128,2176,0.00,2.47,0.00,0.000,6,0.000,0.036,2751,2226,3539,0,0,0,0,0,0
$GC,2435,-2.27,-85.0,404.1,-13.7,135,2439,0.00,2.53,0.00,0.000,4,0.000,0.045,2751,3757,3538,0,0,0,0,0,0
$GC,2490,-2.27,-85.0,412.3,-14.8,136,2494,0.00,2.47,0.00,0.000,6,0.000,0.040,2751,2228,3538,0,0,0,0,0,0
$GC,2756,-2.27,-85.0,447.7,-13.3,143,2760,0.00,2.55,0.00,0.000,4,0.000,0.058,2751,3765,3537,0,0,0,0,0,0
$GC,2807,-2.27,-85.0,454.6,-14.2,144,2812,0.00,2.55,0.00,0.000,6,0.000,0.042,2751,2228,3537,0,0,0,0,0,0
$GC,3080,-2.31,-85.0,491.7,-13.8,151,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2228,3535,0,0,0,0,0,0
$GC,3324,-2.35,-85.0,524.8,-13.7,157,3328,0.00,2.62,0.00,0.000,4,0.000,0.067,2751,3752,3534,0,0,0,0,0,0
$GC,3339,-2.35,-85.0,527.3,-14.2,157,3343,0.00,2.55,0.00,0.000,6,0.000,0.056,2751,2231,3534,0,0,0,0,0,0
$GC,3609,-2.39,-85.0,563.6,-13.7,164,3613,0.00,2.65,0.00,0.000,4,0.000,0.077,2751,3751,3533,0,0,0,0,0,0
$GC,3703,-2.39,-85.0,577.7,-14.4,166,3707,0.00,2.60,0.00,0.000,6,0.000,0.065,2751,2228,3533,0,0,0,0,0,0
$GC,3977,-2.43,-85.0,614.8,-13.8,173,3982,0.00,2.70,0.00,0.000,4,0.000,0.088,2751,3755,3531,0,0,0,0,0,0
$GC,4021,-2.43,-85.0,621.7,-14.6,174,4026,0.00,2.67,0.00,0.000,6,0.000,0.081,2751,2233,3531,0,0,0,0,0,0
$GC,4299,-2.47,-85.0,659.6,-13.6,181,4305,0.12,2.80,0.00,0.000,4,0.067,0.104,2699,3750,3530,0,0,0,0,0,0
$GC,4363,-2.40,-85.0,669.4,-16.5,182,4369,0.17,2.80,0.00,0.000,6,0.113,0.098,2733,2237,3529,0,0,0,0,0,0
$GC,4624,-2.40,-85.0,706.4,-13.8,189,4629,0.00,2.92,0.00,0.000,4,0.000,0.125,2733,3749,3528,0,0,0,0,0,0
$GC,4711,-2.40,-85.0,718.6,-14.7,191,4715,0.00,2.67,0.00,0.000,6,0.000,0.089,2733,2243,3527,0,0,0,0,0,0
$GC,4993,-2.40,-85.0,758.3,-13.9,198,4998,0.00,2.70,0.00,0.000,4,0.000,0.088,2733,3751,3524,0,0,0,0,0,0
$GC,5048,-2.40,-85.0,766.4,-14.7,199,5052,0.00,2.62,0.00,0.000,6,0.000,0.077,2733,2251,3525,0,0,0,0,0,0
$GC,5317,-2.40,-85.0,802.7,-13.6,206,5322,0.00,2.65,0.00,0.000,4,0.000,0.087,2733,3754,3523,0,0,0,0,0,0
$GC,5406,-2.40,-85.0,816.2,-14.1,208,5411,0.00,2.62,0.00,0.000,6,0.000,0.074,2733,2256,3522,0,0,0,0,0,0
$GC,5685,-2.40,-85.0,853.3,-13.4,215,5689,0.00,2.65,0.00,0.000,4,0.000,0.078,2733,3753,3521,0,0,0,0,0,0
$GC,5742,-2.40,-85.0,861.0,-13.5,216,5746,0.00,2.62,0.00,0.000,6,0.000,0.073,2733,2256,3520,0,0,0,0,0,0
$GC,6007,-2.40,-85.0,896.9,-13.5,223,6012,0.00,2.62,0.00,0.000,4,0.000,0.077,2733,3755,3518,0,0,0,0,0,0
$STATE,6032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6032,begin apogee
$GC,6042,-0.31,0.0,900.7,14.5,223,6117,2.10,0.00,69.82,1.188,6,0.106,0.000,3190,2365,3190,0,0,0,0,0,0
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6118,begin climb
$GC,6120,2.14,85.0,903.4,0.0,225,6206,2.17,3.03,73.88,1.166,4,0.039,0.106,3740,779,2842,0,0,0,0,0,0
$GC,6220,2.10,87.0,897.5,9.7,227,6225,0.12,2.67,0.00,0.000,6,0.146,0.052,3719,2328,2841,0,0,0,0,0,0
$GC,6487,2.10,87.0,865.5,12.1,234,6491,0.00,2.83,0.00,0.000,4,0.000,0.072,3719,3937,2837,0,0,0,0,0,0
$GC,6609,2.10,87.0,849.2,12.9,236,6615,0.00,2.60,0.00,0.000,6,0.000,0.043,3719,2365,2835,0,0,0,0,0,0
$GC,6863,2.10,87.0,820.6,11.4,243,6867,0.00,2.67,0.00,0.000,4,0.000,0.051,3719,3939,2834,0,0,0,0,0,0
$GC,7122,2.10,87.0,788.6,11.8,248,7128,0.00,2.60,0.00,0.000,6,0.000,0.038,3719,2380,2832,0,0,0,0,0,0
$GC,7374,2.10,87.0,762.4,10.5,255,7379,0.00,2.62,0.00,0.000,4,0.000,0.049,3719,3945,2831,0,0,0,0,0,0
$GC,7570,2.10,87.0,739.9,10.7,259,7575,0.00,2.60,0.00,0.000,6,0.000,0.047,3719,2380,2830,0,0,0,0,0,0
$GC,7834,2.10,87.0,712.4,10.3,266,7838,0.00,2.65,0.00,0.000,4,0.000,0.056,3719,3946,2829,0,0,0,0,0,0
$GC,8091,2.10,87.0,682.2,12.1,271,8097,0.00,2.60,0.00,0.000,6,0.000,0.045,3719,2387,2828,0,0,0,0,0,0
$GC,8344,2.14,87.0,654.9,11.0,278,8348,0.00,2.62,0.00,0.000,4,0.000,0.058,3719,3940,2827,0,0,0,0,0,0
$GC,8535,2.14,87.0,632.1,11.4,282,8539,0.00,2.55,0.00,0.000,6,0.000,0.045,3719,2402,2827,0,0,0,0,0,0
$GC,8803,2.18,87.0,602.7,11.1,289,8808,0.00,2.58,0.00,0.000,4,0.000,0.055,3719,3939,2826,0,0,0,0,0,0
$GC,9063,2.18,87.0,572.5,12.0,294,9068,0.00,2.55,0.00,0.000,6,0.000,0.043,3719,2407,2826,0,0,0,0,0,0
$GC,9313,2.23,87.0,546.6,10.1,301,9318,0.10,2.58,0.00,0.000,4,0.094,0.050,3749,3949,2826,0,0,0,0,0,0
$GC,9483,2.17,87.0,527.0,11.3,304,9489,0.00,2.53,0.00,0.000,6,0.000,0.035,3749,2416,2826,0,0,0,0,0,0
$GC,9733,2.17,87.0,499.8,11.0,311,9737,0.00,2.55,0.00,0.000,4,0.000,0.052,3750,3946,2826,0,0,0,0,0,0
$GC,9805,2.10,87.0,491.4,11.3,312,9810,0.15,2.50,0.00,0.000,6,0.142,0.031,3722,2418,2825,0,0,0,0,0,0
$GC,10057,2.15,87.0,465.4,10.3,318,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,2419,2825,0,0,0,0,0,0
$GC,10298,2.20,87.0,440.2,10.3,324,10303,0.00,2.53,0.00,0.000,4,0.000,0.042,3722,3949,2825,0,0,0,0,0,0
$GC,10558,2.20,87.0,410.3,10.7,329,10564,0.00,2.45,0.00,0.000,6,0.000,0.025,3722,2425,2825,0,0,0,0,0,0
$GC,10809,2.26,87.8,385.3,9.9,336,10814,0.12,2.50,0.00,0.000,4,0.210,0.040,3759,3946,2825,0,0,0,0,0,0
$GC,11067,2.20,87.8,354.2,12.1,341,11072,0.00,2.42,0.00,0.000,6,0.000,0.027,3759,2432,2826,0,0,0,0,0,0
$GC,11316,2.20,87.8,328.3,10.2,348,11321,0.00,2.47,0.00,0.000,4,0.000,0.044,3759,3948,2826,0,0,0,0,0,0
$GC,11514,2.15,87.8,305.0,11.5,352,11519,0.15,2.40,0.00,0.000,6,0.133,0.029,3731,2439,2827,0,0,0,0,0,0
$GC,11775,2.20,87.8,277.6,10.2,359,11780,0.00,2.45,0.00,0.000,4,0.000,0.041,3731,3947,2827,0,0,0,0,0,0
$GC,11884,2.20,87.8,265.7,10.8,361,11888,0.00,2.40,0.00,0.000,6,0.000,0.024,3731,2441,2828,0,0,0,0,0,0
$GC,12144,2.26,87.8,239.0,10.1,368,12149,0.00,2.45,0.00,0.000,4,0.000,0.039,3731,3948,2829,0,0,0,0,0,0
$GC,12247,2.26,87.8,228.4,10.0,370,12251,0.00,2.38,0.00,0.000,6,0.000,0.025,3731,2452,2829,0,0,0,0,0,0
$GC,12514,2.33,94.5,203.9,9.0,377,12528,0.10,2.53,7.03,0.573,4,0.087,0.044,3764,3955,2803,0,0,0,0,0,0
$GC,12792,2.35,111.8,176.7,7.4,398,12817,0.00,2.35,15.30,0.621,6,0.000,0.023,3764,2467,2733,0,0,0,0,0,0
$GC,13074,2.42,131.2,154.3,7.1,424,13098,0.00,2.53,16.95,0.606,4,0.000,0.038,3764,3952,2654,0,0,0,0,0,0
$GC,13372,2.46,162.4,128.7,5.3,449,13406,0.00,2.33,27.10,0.596,6,0.000,0.023,3764,2476,2527,0,0,0,0,0,0
$GC,13661,2.61,183.9,106.3,6.8,476,13686,0.00,2.45,18.88,0.562,4,0.000,0.037,3764,3949,2439,0,0,0,0,0,0
$GC,13954,2.70,183.9,73.5,12.1,500,13963,0.00,2.35,0.00,0.000,6,0.000,0.025,3764,2491,2437,0,0,0,0,0,0
$GC,14224,2.83,183.9,44.3,11.4,525,14228,0.00,2.38,0.00,0.000,4,0.000,0.038,3764,3949,2437,0,0,0,0,0,0
$GC,14438,2.92,183.9,17.1,12.1,548,14447,0.00,2.30,0.00,0.000,6,0.000,0.025,3764,2510,2438,0,0,0,0,0,0
$STATE,14541,end climb,SURFACE_DEPTH_REACHED
$STATE,14542,begin surface coast
$FINISH,1.1,1.023750
$STATE,14588,end surface coast,CONTROL_FINISHED_OK
$STATE,14588,begin surface
$SM_CCo,14611,133.35,0.497,0,0,1762,350.04
$SM_GC,1.71,0.00,0.00,133.35,0.000,0.000,0.497,460,2171,1762,-12.88,-1.10,350.04
$IRIDIUM_FIX,1918.37,-8119.23,110602,090923
$TT8_MAMPS,0.025311
$HUMID,57.28
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.30
$XPDR_PINGS,63
$24V_AH,23.3,40.335
$10V_AH,10.3,35.623
$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,31.550,178.975,228.950,133.350,0.000,30.141,37.206,171.141,15.750,0.000,17.760,1321.235,10171.501,491.870,2511.667,649.130,33.354,1542.980,0.000,2484.706,0.000,0.537,0.000
$DEVICE_MAMPS,210.158,125.021,1188.083,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.295,278.355,355.104,479.148,913.480,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,44617,569
$CAP_FILE_SIZE,147071,0
$CFSIZE,260165632,108445696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170313,175923,1926.460,-8116.979,37,2.0,37,-3.7