version: 66.06
glider: 146
mission: 8
dive: 288
start: 3 17 113 22 27 0
data:
$ID,146
$MISSION,8
$DIVE,288
$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,-313141.72
$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,57
$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
$GPS1,221905,1927.287,-8116.398,39,1.3,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.1
$GPS2,222606,1927.290,-8116.468,11,1.2,11,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.080,-0.119
$KALMAN_X,-42752.5,-21.6,64.0,26876.2,-1643.8
$KALMAN_Y,20130.8,-230.7,-80.8,-12913.2,993.4
$MHEAD_RNG_PITCHd_Wd,217.6,2730,-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,-67.40,0.000,6,0.000,0.000,462,2165,3371,0,0,0,0,0,0
$GC,96,-2.13,-77.2,3.6,-5.1,9,122,12.77,2.50,-2.70,0.000,4,0.165,0.049,2787,649,3507,0,0,0,0,0,0
$GC,361,-2.03,-77.2,73.8,-25.2,36,371,0.10,2.45,0.00,0.000,6,0.123,0.015,2809,2250,3508,0,0,0,0,0,0
$GC,629,-2.03,-77.2,128.8,-19.0,61,633,0.00,2.40,0.00,0.000,4,0.000,0.028,2809,3773,3508,0,0,0,0,0,0
$GC,694,-2.03,-77.2,142.7,-18.2,66,699,0.00,2.40,0.00,0.000,6,0.000,0.018,2809,2229,3508,0,0,0,0,0,0
$GC,959,-2.12,-77.2,182.3,-13.8,90,964,0.00,2.45,0.00,0.000,4,0.000,0.029,2809,3773,3509,0,0,0,0,0,0
$GC,1070,-2.19,-77.2,199.0,-13.5,99,1075,0.12,2.40,0.00,0.000,6,0.068,0.025,2757,2220,3509,0,0,0,0,0,0
$GC,1332,-2.19,-77.2,235.2,-13.7,106,1334,0.12,0.00,0.00,0.000,6,0.116,0.000,2782,2220,3509,0,0,0,0,0,0
$GC,1574,-2.26,-77.2,267.7,-13.3,112,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2220,3510,0,0,0,0,0,0
$GC,1819,-2.33,-77.2,300.1,-13.1,118,1824,0.12,2.53,0.00,0.000,4,0.067,0.037,2732,3773,3509,0,0,0,0,0,0
$GC,1830,-2.38,-77.2,301.8,-12.7,118,1834,0.00,2.40,0.00,0.000,6,0.000,0.027,2732,2256,3510,0,0,0,0,0,0
$GC,2098,-2.38,-77.2,341.0,-14.8,125,2102,0.00,2.45,0.00,0.000,4,0.000,0.038,2732,3764,3509,0,0,0,0,0,0
$GC,2193,-2.34,-77.2,356.3,-15.6,127,2197,0.00,2.45,0.00,0.000,6,0.000,0.036,2732,2247,3508,0,0,0,0,0,0
$GC,2466,-2.34,-77.2,396.6,-14.8,134,2471,0.00,2.47,0.00,0.000,4,0.000,0.048,2732,3758,3507,0,0,0,0,0,0
$GC,2533,-2.34,-77.2,407.0,-15.4,135,2537,0.00,2.45,0.00,0.000,6,0.000,0.040,2732,2253,3508,0,0,0,0,0,0
$GC,2789,-2.34,-77.2,443.8,-14.3,142,2793,0.00,2.50,0.00,0.000,4,0.000,0.057,2732,3755,3506,0,0,0,0,0,0
$GC,2851,-2.34,-77.2,452.8,-14.7,143,2855,0.00,2.47,0.00,0.000,6,0.000,0.043,2732,2258,3506,0,0,0,0,0,0
$GC,3111,-2.34,-77.2,488.9,-13.8,150,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2258,3506,0,0,0,0,0,0
$GC,3355,-2.34,-77.2,521.8,-13.4,156,3359,0.00,2.60,0.00,0.000,4,0.000,0.067,2732,3759,3505,0,0,0,0,0,0
$GC,3384,-2.34,-77.2,525.6,-14.3,156,3389,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,2253,3504,0,0,0,0,0,0
$GC,3634,-2.34,-77.2,562.3,-14.9,162,3638,0.00,2.60,0.00,0.000,4,0.000,0.070,2732,3752,3503,0,0,0,0,0,0
$GC,3655,-2.34,-77.2,565.6,-15.2,162,3659,0.00,2.55,0.00,0.000,6,0.000,0.063,2732,2254,3503,0,0,0,0,0,0
$GC,3910,-2.34,-77.2,601.6,-14.2,169,3914,0.00,2.62,0.00,0.000,4,0.000,0.083,2732,3752,3502,0,0,0,0,0,0
$GC,3978,-2.34,-77.2,611.2,-14.6,170,3982,0.00,2.60,0.00,0.000,6,0.000,0.070,2732,2261,3501,0,0,0,0,0,0
$GC,4233,-2.34,-77.2,645.8,-13.4,177,4237,0.00,2.72,0.00,0.000,4,0.000,0.100,2732,3757,3499,0,0,0,0,0,0
$GC,4299,-2.34,-77.2,655.5,-14.2,178,4303,0.00,2.70,0.00,0.000,6,0.000,0.091,2732,2276,3499,0,0,0,0,0,0
$GC,4556,-2.34,-77.2,690.4,-13.5,185,4561,0.00,2.80,0.00,0.000,4,0.000,0.120,2732,3750,3497,0,0,0,0,0,0
$GC,4633,-2.34,-77.2,701.6,-13.8,186,4639,0.00,2.62,0.00,0.000,6,0.000,0.086,2732,2276,3497,0,0,0,0,0,0
$GC,4883,-2.34,-77.2,734.2,-13.0,193,4888,0.00,2.65,0.00,0.000,4,0.000,0.091,2732,3753,3495,0,0,0,0,0,0
$GC,4952,-2.34,-77.2,743.6,-13.7,194,4956,0.00,2.58,0.00,0.000,6,0.000,0.073,2732,2281,3495,0,0,0,0,0,0
$GC,5207,-2.34,-77.2,776.3,-12.7,201,5211,0.00,2.62,0.00,0.000,4,0.000,0.083,2732,3754,3493,0,0,0,0,0,0
$GC,5250,-2.34,-77.2,782.3,-13.7,202,5255,0.00,2.58,0.00,0.000,6,0.000,0.069,2732,2288,3493,0,0,0,0,0,0
$GC,5531,-2.34,-77.2,817.7,-12.7,209,5535,0.00,2.60,0.00,0.000,4,0.000,0.082,2732,3753,3491,0,0,0,0,0,0
$GC,5677,-2.34,-77.2,837.8,-13.3,212,5681,0.00,2.53,0.00,0.000,6,0.000,0.073,2732,2303,3490,0,0,0,0,0,0
$GC,5945,-2.34,-77.2,871.3,-12.8,219,5949,0.00,2.58,0.00,0.000,4,0.000,0.078,2732,3759,3489,0,0,0,0,0,0
$GC,5960,-2.34,-77.2,873.7,-12.4,219,5965,0.00,2.53,0.00,0.000,6,0.000,0.070,2732,2305,3488,0,0,0,0,0,0
$STATE,6179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6179,begin apogee
$GC,6184,-0.31,0.0,900.4,12.1,225,6252,2.15,0.00,63.38,1.192,6,0.104,0.000,3188,2304,3190,0,0,0,0,0,0
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6258,2.13,77.2,901.7,0.0,226,6334,2.17,2.95,66.97,1.172,4,0.032,0.107,3736,776,2875,0,0,0,0,0,0
$GC,6420,2.08,77.2,886.6,13.5,228,6426,0.12,2.67,0.00,0.000,6,0.148,0.056,3715,2331,2871,0,0,0,0,0,0
$GC,6672,2.08,77.2,858.4,11.2,235,6676,0.00,2.83,0.00,0.000,4,0.000,0.080,3714,3935,2869,0,0,0,0,0,0
$GC,6835,2.08,77.2,838.6,12.4,238,6839,0.00,2.62,0.00,0.000,6,0.000,0.038,3714,2369,2868,0,0,0,0,0,0
$GC,7086,2.08,77.2,811.7,10.4,244,7091,0.00,2.67,0.00,0.000,4,0.000,0.055,3714,3937,2866,0,0,0,0,0,0
$GC,7343,2.08,77.2,782.8,11.6,249,7349,0.00,2.60,0.00,0.000,6,0.000,0.042,3714,2389,2865,0,0,0,0,0,0
$GC,7597,2.12,79.9,758.2,9.6,256,7601,0.00,2.65,0.00,0.000,4,0.000,0.056,3714,3942,2864,0,0,0,0,0,0
$GC,7803,2.12,79.9,735.6,10.5,260,7807,0.00,2.60,0.00,0.000,6,0.000,0.048,3714,2395,2863,0,0,0,0,0,0
$GC,8056,2.17,81.2,711.0,9.8,266,8060,0.00,2.62,0.00,0.000,4,0.000,0.058,3714,3937,2862,0,0,0,0,0,0
$GC,8313,2.17,81.2,682.5,11.3,271,8319,0.00,2.58,0.00,0.000,6,0.000,0.046,3714,2400,2861,0,0,0,0,0,0
$GC,8566,2.21,81.2,657.5,10.0,278,8571,0.10,2.62,0.00,0.000,4,0.097,0.054,3744,3937,2860,0,0,0,0,0,0
$GC,8728,2.14,81.2,639.9,11.0,281,8732,0.00,2.55,0.00,0.000,6,0.000,0.044,3744,2409,2860,0,0,0,0,0,0
$GC,8980,2.14,81.2,614.4,10.2,287,8985,0.00,2.58,0.00,0.000,4,0.000,0.059,3744,3938,2859,0,0,0,0,0,0
$GC,9104,2.08,81.2,599.8,11.2,289,9110,0.15,2.55,0.00,0.000,6,0.143,0.044,3717,2406,2859,0,0,0,0,0,0
$GC,9356,2.12,82.7,575.1,9.8,296,9361,0.00,2.58,0.00,0.000,4,0.000,0.056,3717,3945,2859,0,0,0,0,0,0
$GC,9558,2.12,82.7,553.5,10.1,300,9562,0.00,2.53,0.00,0.000,6,0.000,0.040,3717,2417,2858,0,0,0,0,0,0
$GC,9816,2.17,88.7,530.2,9.1,307,9826,0.00,0.00,7.90,0.831,6,0.000,0.000,3717,2417,2828,0,0,0,0,0,0
$GC,10099,2.22,88.7,500.5,10.5,314,10104,0.12,2.58,0.00,0.000,4,0.081,0.053,3753,3946,2828,0,0,0,0,0,0
$GC,10155,2.15,88.7,493.5,12.3,315,10160,0.12,2.53,0.00,0.000,6,0.144,0.038,3730,2412,2827,0,0,0,0,0,0
$GC,10423,2.15,88.7,464.2,10.7,322,10428,0.00,2.53,0.00,0.000,4,0.000,0.048,3730,3944,2827,0,0,0,0,0,0
$GC,10604,2.15,88.7,444.5,10.5,326,10608,0.00,2.47,0.00,0.000,6,0.000,0.031,3730,2416,2827,0,0,0,0,0,0
$GC,10883,2.15,88.7,416.1,10.3,333,10887,0.00,2.50,0.00,0.000,4,0.000,0.044,3731,3946,2828,0,0,0,0,0,0
$GC,10994,2.15,88.7,403.6,10.9,335,10998,0.00,2.45,0.00,0.000,6,0.000,0.025,3731,2422,2827,0,0,0,0,0,0
$GC,11253,2.19,89.2,378.2,9.9,342,11257,0.00,2.47,0.00,0.000,4,0.000,0.044,3731,3945,2827,0,0,0,0,0,0
$GC,11453,2.19,89.2,356.1,10.5,346,11457,0.00,2.40,0.00,0.000,6,0.000,0.025,3730,2437,2828,0,0,0,0,0,0
$GC,11717,2.24,89.2,329.9,10.2,353,11722,0.00,2.45,0.00,0.000,4,0.000,0.038,3731,3950,2829,0,0,0,0,0,0
$GC,11795,2.24,89.2,320.7,11.4,354,11801,0.00,2.40,0.00,0.000,6,0.000,0.025,3730,2441,2829,0,0,0,0,0,0
$GC,12046,2.29,89.2,294.1,10.6,361,12051,0.12,2.45,0.00,0.000,4,0.077,0.040,3768,3946,2830,0,0,0,0,0,0
$GC,12253,2.24,89.2,269.3,11.4,365,12258,0.10,2.38,0.00,0.000,6,0.140,0.024,3751,2447,2830,0,0,0,0,0,0
$GC,12505,2.24,90.2,244.4,9.8,371,12514,0.00,2.50,3.88,0.458,4,0.000,0.041,3751,3945,2821,0,0,0,0,0,0
$GC,12762,2.24,90.2,217.3,10.5,376,12766,0.00,2.35,0.00,0.000,6,0.000,0.024,3751,2456,2822,0,0,0,0,0,0
$GC,13022,2.30,103.4,196.0,8.0,386,13047,0.00,2.50,12.65,0.627,4,0.000,0.046,3751,3936,2767,0,0,0,0,0,0
$GC,13228,2.31,111.0,176.5,8.9,403,13244,0.00,2.35,7.62,0.558,6,0.000,0.023,3752,2459,2737,0,0,0,0,0,0
$GC,13499,2.40,130.4,155.1,7.1,429,13519,0.00,0.00,17.15,0.607,6,0.000,0.000,3751,2459,2657,0,0,0,0,0,0
$GC,13782,2.53,155.2,132.6,6.3,455,13810,0.00,2.83,21.90,0.593,4,0.000,0.047,3751,776,2556,0,0,0,0,0,0
$GC,13889,2.60,162.0,122.8,9.0,464,13904,0.00,2.72,7.00,0.500,6,0.000,0.021,3751,2500,2530,0,0,0,0,0,0
$GC,14160,2.76,183.8,101.2,6.7,489,14185,0.00,2.38,19.27,0.558,4,0.000,0.038,3751,3946,2440,0,0,0,0,0,0
$GC,14460,2.87,183.8,66.9,11.4,513,14469,0.00,2.35,0.00,0.000,6,0.000,0.025,3751,2485,2438,0,0,0,0,0,0
$GC,14727,3.02,183.8,38.0,11.2,538,14732,0.00,2.40,0.00,0.000,4,0.000,0.041,3751,3948,2439,0,0,0,0,0,0
$GC,14835,3.13,183.8,24.3,13.6,548,14844,0.00,2.35,0.00,0.000,6,0.000,0.027,3751,2487,2439,0,0,0,0,0,0
$STATE,14996,end climb,SURFACE_DEPTH_REACHED
$STATE,14996,begin surface coast
$FINISH,1.0,1.009347
$STATE,15041,end surface coast,CONTROL_FINISHED_OK
$STATE,15041,begin surface
$SM_CCo,15067,134.50,0.497,0,0,1762,350.04
$SM_GC,1.76,0.00,0.00,134.50,0.000,0.000,0.497,462,2195,1762,-12.88,-0.42,350.04
$IRIDIUM_FIX,1918.37,-8114.71,110602,181850
$TT8_MAMPS,0.026078
$HUMID,56.65
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.40
$XPDR_PINGS,57
$24V_AH,23.3,40.528
$10V_AH,10.3,35.857
$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,31.575,178.325,227.725,134.500,0.000,29.921,42.540,182.511,14.250,0.000,13.020,1342.896,10588.866,484.551,2528.857,671.686,33.368,1546.224,0.000,2500.131,0.000,0.537,0.000
$DEVICE_MAMPS,164.905,120.419,1191.918,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.925,276.533,360.983,479.174,913.512,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,44727,578
$CAP_FILE_SIZE,149807,0
$CFSIZE,260165632,108302336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180313,024136,1926.037,-8117.642,31,1.2,31,-3.7