version: 66.06
glider: 146
mission: 8
dive: 287
start: 3 17 113 18 7 1
data:
$ID,146
$MISSION,8
$DIVE,287
$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,-313128.06
$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,44
$R_STBD_OVSHOOT,16
$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
$GPS1,175923,1926.460,-8116.979,37,2.0,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.0
$GPS2,180607,1926.465,-8117.022,11,1.2,11,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,0.065
$KALMAN_X,-41879.4,134.8,322.5,24614.2,-2071.2
$KALMAN_Y,19859.1,-382.4,-2.5,-14094.2,797.0
$MHEAD_RNG_PITCHd_Wd,66.8,1974,-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,-67.57,0.000,6,0.000,0.000,459,2171,3371,0,0,0,0,0,0
$GC,96,-2.14,-81.0,3.5,-4.5,9,122,12.82,2.67,-3.08,0.000,4,0.164,0.040,2783,3811,3523,0,0,0,0,0,0
$GC,142,-1.67,-81.0,16.5,-30.4,14,152,0.50,2.55,0.00,0.000,6,0.112,0.021,2888,2215,3524,0,0,0,0,0,0
$GC,426,-1.77,-81.0,74.0,-19.2,43,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2215,3523,0,0,0,0,0,0
$GC,691,-1.91,-81.0,122.0,-16.0,68,696,0.17,2.55,0.00,0.000,4,0.051,0.029,2823,3815,3524,0,0,0,0,0,0
$GC,726,-1.95,-81.0,128.3,-18.0,70,735,0.00,2.55,0.00,0.000,6,0.000,0.021,2822,2211,3524,0,0,0,0,0,0
$GC,991,-2.05,-81.0,168.2,-14.7,95,995,0.00,2.53,0.00,0.000,4,0.000,0.028,2822,3813,3524,0,0,0,0,0,0
$GC,1024,-2.14,-81.0,172.6,-13.5,97,1029,0.12,2.50,0.00,0.000,6,0.064,0.018,2763,2206,3524,0,0,0,0,0,0
$GC,1283,-2.14,-81.0,211.9,-14.4,115,1288,0.15,2.58,0.00,0.000,4,0.113,0.031,2793,3813,3525,0,0,0,0,0,0
$GC,1322,-2.19,-81.0,217.8,-14.3,116,1327,0.00,2.42,0.00,0.000,6,0.000,0.016,2793,2232,3525,0,0,0,0,0,0
$GC,1606,-2.27,-81.0,255.3,-12.9,123,1608,0.12,0.00,0.00,0.000,6,0.065,0.000,2742,2233,3525,0,0,0,0,0,0
$GC,1852,-2.27,-81.0,291.3,-14.8,129,1857,0.10,2.55,0.00,0.000,4,0.129,0.041,2761,3815,3525,0,0,0,0,0,0
$GC,1901,-2.27,-81.0,299.3,-14.9,130,1906,0.00,2.47,0.00,0.000,6,0.000,0.020,2761,2246,3525,0,0,0,0,0,0
$GC,2180,-2.31,-81.0,339.0,-14.3,137,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2246,3525,0,0,0,0,0,0
$GC,2426,-2.35,-81.0,373.1,-14.1,143,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2246,3524,0,0,0,0,0,0
$GC,2667,-2.40,-81.0,406.8,-13.7,149,2669,0.10,0.00,0.00,0.000,6,0.079,0.000,2714,2246,3523,0,0,0,0,0,0
$GC,2910,-2.40,-81.0,444.0,-15.5,155,2915,0.10,2.60,0.00,0.000,4,0.130,0.052,2735,3800,3523,0,0,0,0,0,0
$GC,2965,-2.40,-81.0,452.8,-15.5,156,2970,0.00,2.60,0.00,0.000,6,0.000,0.041,2735,2230,3524,0,0,0,0,0,0
$GC,3232,-2.40,-81.0,491.0,-14.1,163,3236,0.00,2.67,0.00,0.000,4,0.000,0.061,2735,3808,3522,0,0,0,0,0,0
$GC,3326,-2.40,-81.0,505.4,-14.8,165,3330,0.00,2.65,0.00,0.000,6,0.000,0.052,2734,2235,3521,0,0,0,0,0,0
$GC,3600,-2.40,-81.0,543.0,-13.7,172,3604,0.00,2.67,0.00,0.000,4,0.000,0.069,2735,3796,3520,0,0,0,0,0,0
$GC,3666,-2.40,-81.0,553.0,-14.8,173,3670,0.00,2.67,0.00,0.000,6,0.000,0.061,2735,2224,3519,0,0,0,0,0,0
$GC,3921,-2.40,-81.0,587.9,-13.8,180,3925,0.00,2.78,0.00,0.000,4,0.000,0.077,2735,3797,3518,0,0,0,0,0,0
$GC,3978,-2.40,-81.0,596.4,-15.8,181,3982,0.00,2.72,0.00,0.000,6,0.000,0.067,2735,2233,3518,0,0,0,0,0,0
$GC,4244,-2.40,-81.0,635.5,-14.7,188,4248,0.00,2.80,0.00,0.000,4,0.000,0.097,2735,3793,3516,0,0,0,0,0,0
$GC,4328,-2.40,-81.0,648.6,-15.9,190,4332,0.00,2.83,0.00,0.000,6,0.000,0.089,2734,2240,3516,0,0,0,0,0,0
$GC,4613,-2.40,-81.0,688.3,-13.8,197,4617,0.00,2.90,0.00,0.000,4,0.000,0.112,2735,3793,3514,0,0,0,0,0,0
$GC,4652,-2.40,-81.0,694.2,-14.6,198,4656,0.00,2.78,0.00,0.000,6,0.000,0.087,2735,2239,3513,0,0,0,0,0,0
$GC,4937,-2.40,-81.0,732.1,-13.2,205,4942,0.00,2.83,0.00,0.000,4,0.000,0.097,2735,3801,3512,0,0,0,0,0,0
$GC,5031,-2.40,-81.0,745.8,-14.2,207,5035,0.00,2.75,0.00,0.000,6,0.000,0.074,2735,2240,3512,0,0,0,0,0,0
$GC,5303,-2.40,-81.0,782.0,-13.4,214,5308,0.00,2.78,0.00,0.000,4,0.000,0.085,2735,3801,3509,0,0,0,0,0,0
$GC,5366,-2.40,-81.0,790.8,-14.4,215,5371,0.00,2.75,0.00,0.000,6,0.000,0.071,2735,2236,3509,0,0,0,0,0,0
$GC,5626,-2.40,-81.0,825.3,-13.3,222,5631,0.00,2.78,0.00,0.000,4,0.000,0.081,2735,3797,3507,0,0,0,0,0,0
$GC,5737,-2.40,-81.0,840.6,-13.5,224,5742,0.00,2.67,0.00,0.000,6,0.000,0.069,2735,2253,3506,0,0,0,0,0,0
$GC,5995,-2.40,-81.0,874.0,-12.8,231,6000,0.00,2.72,0.00,0.000,4,0.000,0.078,2735,3794,3505,0,0,0,0,0,0
$GC,6084,-2.40,-81.0,886.6,-13.9,233,6089,0.00,2.67,0.00,0.000,6,0.000,0.074,2735,2259,3504,0,0,0,0,0,0
$STATE,6198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6198,begin apogee
$GC,6206,-0.31,0.0,901.4,12.8,236,6280,2.12,0.00,66.80,1.193,6,0.104,0.000,3187,2385,3190,0,0,0,0,0,0
$STATE,6281,end apogee,CONTROL_FINISHED_OK
$STATE,6281,begin climb
$GC,6283,2.14,81.0,903.9,0.0,238,6359,2.20,0.00,70.55,1.174,6,0.032,0.000,3739,2384,2859,0,0,0,0,0,0
$GC,6568,2.14,81.0,875.3,12.4,245,6573,0.00,2.65,0.00,0.000,4,0.000,0.064,3739,3930,2854,0,0,0,0,0,0
$GC,6783,2.07,81.0,847.5,12.4,249,6789,0.15,2.62,0.00,0.000,6,0.150,0.043,3712,2378,2852,0,0,0,0,0,0
$GC,7033,2.11,81.0,819.2,11.3,256,7038,0.00,2.62,0.00,0.000,4,0.000,0.052,3712,3933,2851,0,0,0,0,0,0
$GC,7212,2.11,81.0,797.9,11.5,260,7217,0.00,2.55,0.00,0.000,6,0.000,0.046,3713,2399,2850,0,0,0,0,0,0
$GC,7491,2.15,81.0,767.9,10.7,267,7495,0.00,2.58,0.00,0.000,4,0.000,0.052,3712,3932,2849,0,0,0,0,0,0
$GC,7750,2.15,81.0,737.9,11.9,272,7756,0.00,2.58,0.00,0.000,6,0.000,0.047,3713,2401,2847,0,0,0,0,0,0
$GC,8001,2.19,81.9,713.0,9.9,279,8006,0.10,2.58,0.00,0.000,4,0.096,0.059,3741,3935,2846,0,0,0,0,0,0
$GC,8225,2.13,81.9,686.9,12.8,284,8229,0.00,2.55,0.00,0.000,6,0.000,0.040,3741,2409,2845,0,0,0,0,0,0
$GC,8504,2.13,81.9,656.7,10.9,291,8509,0.00,2.55,0.00,0.000,4,0.000,0.058,3741,3931,2844,0,0,0,0,0,0
$GC,8728,2.06,81.9,631.5,11.0,296,8733,0.15,2.53,0.00,0.000,6,0.150,0.042,3713,2413,2844,0,0,0,0,0,0
$GC,9009,2.12,85.7,605.1,9.4,303,9013,0.00,2.55,0.00,0.000,4,0.000,0.053,3713,3935,2844,0,0,0,0,0,0
$GC,9215,2.12,85.7,583.3,10.6,307,9220,0.00,2.50,0.00,0.000,6,0.000,0.037,3713,2425,2843,0,0,0,0,0,0
$GC,9468,2.17,86.5,558.4,9.9,313,9473,0.00,2.53,0.00,0.000,4,0.000,0.054,3713,3931,2842,0,0,0,0,0,0
$GC,9557,2.17,86.5,548.5,10.8,315,9562,0.00,2.45,0.00,0.000,6,0.000,0.036,3713,2435,2842,0,0,0,0,0,0
$GC,9836,2.23,86.5,519.9,10.1,322,9841,0.12,2.50,0.00,0.000,4,0.082,0.054,3750,3937,2842,0,0,0,0,0,0
$GC,10094,2.16,86.5,490.2,10.7,327,10099,0.00,2.40,0.00,0.000,6,0.000,0.035,3750,2456,2842,0,0,0,0,0,0
$GC,10346,2.16,86.5,464.0,10.5,334,10350,0.00,2.45,0.00,0.000,4,0.000,0.043,3750,3940,2842,0,0,0,0,0,0
$GC,10603,2.10,86.5,436.0,11.2,339,10609,0.15,2.35,0.00,0.000,6,0.140,0.025,3720,2465,2842,0,0,0,0,0,0
$GC,10856,2.15,86.9,410.7,9.9,346,10860,0.00,2.40,0.00,0.000,4,0.000,0.041,3720,3941,2842,0,0,0,0,0,0
$GC,11117,2.15,86.9,382.3,11.0,351,11122,0.00,2.35,0.00,0.000,6,0.000,0.025,3721,2468,2842,0,0,0,0,0,0
$GC,11367,2.21,92.2,358.2,9.2,358,11381,0.00,2.45,7.68,0.699,4,0.000,0.045,3720,3935,2814,0,0,0,0,0,0
$GC,11438,2.21,92.2,350.3,11.4,359,11442,0.00,2.33,0.00,0.000,6,0.000,0.024,3721,2472,2814,0,0,0,0,0,0
$GC,11702,2.27,92.2,322.2,10.7,366,11707,0.15,2.42,0.00,0.000,4,0.177,0.039,3763,3945,2814,0,0,0,0,0,0
$GC,11776,2.22,92.2,313.1,12.3,367,11780,0.00,2.35,0.00,0.000,6,0.000,0.028,3763,2473,2814,0,0,0,0,0,0
$GC,12026,2.22,92.2,283.7,11.4,373,12030,0.00,2.38,0.00,0.000,4,0.000,0.044,3763,3942,2814,0,0,0,0,0,0
$GC,12278,2.17,92.2,252.1,12.1,378,12283,0.15,2.30,0.00,0.000,6,0.131,0.024,3735,2485,2815,0,0,0,0,0,0
$GC,12531,2.23,97.6,228.0,9.2,384,12544,0.00,2.38,6.47,0.577,4,0.000,0.042,3736,3938,2793,0,0,0,0,0,0
$GC,12800,2.23,97.6,198.2,11.4,390,12804,0.00,2.28,0.00,0.000,6,0.000,0.024,3735,2499,2793,0,0,0,0,0,0
$GC,13072,2.32,112.0,174.6,7.8,415,13094,0.10,2.42,13.50,0.617,4,0.087,0.044,3769,3941,2733,0,0,0,0,0,0
$GC,13113,2.32,116.4,171.3,9.3,418,13124,0.00,2.30,5.20,0.489,6,0.000,0.024,3769,2492,2715,0,0,0,0,0,0
$GC,13384,2.39,126.4,146.7,8.5,443,13399,0.00,2.40,9.77,0.567,4,0.000,0.048,3769,3938,2674,0,0,0,0,0,0
$GC,13488,2.41,142.4,137.8,7.6,451,13512,0.00,2.28,14.95,0.587,6,0.000,0.023,3769,2508,2607,0,0,0,0,0,0
$GC,13768,2.52,163.5,114.5,6.8,477,13793,0.00,2.38,18.65,0.574,4,0.000,0.037,3769,3940,2522,0,0,0,0,0,0
$GC,13831,2.60,176.1,110.2,8.1,482,13848,0.00,2.30,11.95,0.545,6,0.000,0.025,3769,2506,2471,0,0,0,0,0,0
$GC,14113,2.73,182.5,86.1,9.0,508,14123,0.00,0.00,6.57,0.469,6,0.000,0.000,3768,2506,2445,0,0,0,0,0,0
$GC,14384,2.86,182.5,58.3,10.9,533,14388,0.00,2.33,0.00,0.000,4,0.000,0.038,3769,3947,2444,0,0,0,0,0,0
$GC,14639,2.95,182.5,26.7,12.6,555,14647,0.00,2.30,0.00,0.000,6,0.000,0.024,3769,2509,2445,0,0,0,0,0,0
$STATE,14825,end climb,SURFACE_DEPTH_REACHED
$STATE,14825,begin surface coast
$FINISH,1.0,1.014606
$STATE,14882,end surface coast,CONTROL_FINISHED_OK
$STATE,14882,begin surface
$SM_CCo,14908,134.35,0.499,0,0,1763,350.04
$SM_GC,1.68,0.00,0.00,134.35,0.000,0.000,0.499,463,2164,1763,-12.87,-1.27,350.04
$IRIDIUM_FIX,1920.65,-8119.23,110602,131308
$TT8_MAMPS,0.026078
$HUMID,57.24
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.20
$XPDR_PINGS,53
$24V_AH,23.3,40.432
$10V_AH,10.3,35.743
$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,32.800,168.550,232.100,134.350,0.000,23.253,39.843,175.007,13.250,0.000,13.081,1370.460,10284.751,496.893,2635.134,651.281,33.359,1571.132,0.000,2612.620,0.000,0.538,0.000
$DEVICE_MAMPS,177.177,111.982,1193.452,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.778,282.872,377.328,522.254,995.709,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,47797,591
$CAP_FILE_SIZE,149595,0
$CFSIZE,260165632,108367872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170313,221905,1927.287,-8116.398,39,1.3,39,-3.8