version: 66.06
glider: 146
mission: 8
dive: 289
start: 3 18 113 2 49 12
data:
$ID,146
$MISSION,8
$DIVE,289
$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,-313158.81
$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,32
$R_STBD_OVSHOOT,18
$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
$GPS1,024136,1926.037,-8117.642,31,1.2,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.1
$GPS2,024818,1926.052,-8117.705,9,1.5,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,0.135
$KALMAN_X,-43450.1,91.5,-47.7,25409.9,-918.1
$KALMAN_Y,19805.8,-6.9,-176.1,-15005.1,582.5
$MHEAD_RNG_PITCHd_Wd,23.0,1830,-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,-67.45,0.000,6,0.000,0.000,462,2196,3371,0,0,0,0,0,0
$GC,96,-2.14,-81.0,3.6,-4.5,9,122,12.73,2.62,-3.03,0.000,4,0.163,0.041,2786,3807,3523,0,0,0,0,0,0
$GC,348,-2.07,-81.0,68.8,-25.8,35,353,0.10,2.50,0.00,0.000,6,0.153,0.021,2803,2205,3524,0,0,0,0,0,0
$GC,617,-2.07,-81.0,130.7,-21.6,59,621,0.00,2.55,0.00,0.000,4,0.000,0.026,2803,3816,3524,0,0,0,0,0,0
$GC,628,-2.07,-81.0,134.9,-20.0,59,634,0.00,2.53,0.00,0.000,6,0.000,0.021,2803,2176,3523,0,0,0,0,0,0
$GC,894,-2.15,-81.0,176.5,-14.5,84,898,0.00,2.60,0.00,0.000,4,0.000,0.029,2803,3820,3524,0,0,0,0,0,0
$GC,992,-2.21,-81.0,191.4,-13.8,92,998,0.10,2.50,0.00,0.000,6,0.077,0.017,2755,2209,3525,0,0,0,0,0,0
$GC,1254,-2.21,-81.0,231.4,-15.3,102,1259,0.10,2.55,0.00,0.000,4,0.126,0.032,2775,3809,3524,0,0,0,0,0,0
$GC,1272,-2.21,-81.0,233.9,-14.5,102,1277,0.00,2.47,0.00,0.000,6,0.000,0.017,2775,2207,3524,0,0,0,0,0,0
$GC,1534,-2.27,-81.0,270.0,-13.3,109,1538,0.00,2.55,0.00,0.000,4,0.000,0.035,2775,3807,3525,0,0,0,0,0,0
$GC,1562,-2.27,-81.0,274.0,-14.1,109,1566,0.00,2.50,0.00,0.000,6,0.000,0.025,2775,2205,3525,0,0,0,0,0,0
$GC,1814,-2.33,-81.0,309.0,-13.8,115,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2205,3524,0,0,0,0,0,0
$GC,2056,-2.39,-81.0,342.7,-13.9,121,2061,0.15,2.60,0.00,0.000,4,0.059,0.039,2716,3804,3524,0,0,0,0,0,0
$GC,2083,-2.35,-81.0,347.3,-16.2,121,2088,0.15,2.53,0.00,0.000,6,0.111,0.030,2746,2221,3524,0,0,0,0,0,0
$GC,2335,-2.35,-81.0,384.7,-14.8,127,2339,0.00,2.58,0.00,0.000,4,0.000,0.044,2746,3807,3523,0,0,0,0,0,0
$GC,2423,-2.35,-81.0,398.6,-14.6,129,2428,0.00,2.58,0.00,0.000,6,0.000,0.035,2746,2218,3523,0,0,0,0,0,0
$GC,2707,-2.35,-81.0,438.7,-14.2,136,2712,0.00,2.62,0.00,0.000,4,0.000,0.055,2746,3801,3523,0,0,0,0,0,0
$GC,2776,-2.35,-81.0,448.6,-14.4,137,2781,0.00,2.62,0.00,0.000,6,0.000,0.048,2746,2218,3522,0,0,0,0,0,0
$GC,3031,-2.35,-81.0,482.7,-13.3,144,3035,0.00,2.67,0.00,0.000,4,0.000,0.062,2746,3802,3522,0,0,0,0,0,0
$GC,3097,-2.35,-81.0,492.0,-13.8,145,3101,0.00,2.65,0.00,0.000,6,0.000,0.053,2746,2224,3521,0,0,0,0,0,0
$GC,3354,-2.35,-81.0,525.4,-13.0,152,3359,0.00,2.70,0.00,0.000,4,0.000,0.065,2746,3794,3520,0,0,0,0,0,0
$GC,3442,-2.35,-81.0,538.5,-13.6,154,3447,0.00,2.62,0.00,0.000,6,0.000,0.052,2746,2231,3520,0,0,0,0,0,0
$GC,3722,-2.35,-81.0,575.4,-13.4,161,3727,0.00,2.72,0.00,0.000,4,0.000,0.079,2746,3800,3518,0,0,0,0,0,0
$GC,3811,-2.35,-81.0,588.6,-14.2,163,3815,0.00,2.67,0.00,0.000,6,0.000,0.065,2746,2245,3517,0,0,0,0,0,0
$GC,4089,-2.35,-81.0,626.4,-13.9,170,4094,0.00,2.78,0.00,0.000,4,0.000,0.090,2746,3793,3516,0,0,0,0,0,0
$GC,4175,-2.35,-81.0,638.8,-14.8,172,4180,0.00,2.75,0.00,0.000,6,0.000,0.091,2746,2252,3515,0,0,0,0,0,0
$GC,4458,-2.39,-81.0,677.9,-13.8,179,4463,0.00,2.88,0.00,0.000,4,0.000,0.112,2746,3797,3513,0,0,0,0,0,0
$GC,4538,-2.39,-81.0,689.0,-14.5,180,4544,0.00,2.78,0.00,0.000,6,0.000,0.087,2746,2250,3513,0,0,0,0,0,0
$GC,4788,-2.43,-81.0,722.5,-13.0,187,4793,0.00,2.78,0.00,0.000,4,0.000,0.095,2746,3793,3512,0,0,0,0,0,0
$GC,4833,-2.43,-81.0,728.5,-13.6,188,4838,0.00,2.70,0.00,0.000,6,0.000,0.077,2746,2251,3512,0,0,0,0,0,0
$GC,5113,-2.43,-81.0,764.8,-13.1,195,5118,0.00,2.75,0.00,0.000,4,0.000,0.089,2746,3793,3509,0,0,0,0,0,0
$GC,5179,-2.43,-81.0,773.9,-12.9,196,5184,0.00,2.67,0.00,0.000,6,0.000,0.076,2746,2253,3509,0,0,0,0,0,0
$GC,5436,-2.46,-81.0,807.4,-13.1,203,5440,0.00,2.72,0.00,0.000,4,0.000,0.080,2746,3803,3507,0,0,0,0,0,0
$GC,5470,-2.46,-81.0,812.0,-13.7,203,5475,0.00,2.67,0.00,0.000,6,0.000,0.074,2746,2260,3507,0,0,0,0,0,0
$GC,5720,-2.50,-81.0,843.6,-12.5,210,5725,0.15,2.72,0.00,0.000,4,0.064,0.078,2697,3800,3505,0,0,0,0,0,0
$GC,5810,-2.43,-81.0,856.7,-14.3,212,5815,0.15,2.67,0.00,0.000,6,0.118,0.072,2728,2265,3505,0,0,0,0,0,0
$GC,6090,-2.43,-81.0,892.5,-12.5,219,6094,0.00,2.70,0.00,0.000,4,0.000,0.081,2728,3800,3503,0,0,0,0,0,0
$STATE,6142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6142,begin apogee
$GC,6151,-0.31,0.0,900.2,13.6,220,6222,2.12,0.00,66.45,1.193,6,0.108,0.000,3187,2361,3190,0,0,0,0,0,0
$STATE,6223,end apogee,CONTROL_FINISHED_OK
$STATE,6223,begin climb
$GC,6227,2.14,81.0,902.1,0.0,222,6307,2.25,2.83,70.95,1.170,4,0.031,0.069,3739,3938,2858,0,0,0,0,0,0
$GC,6346,2.05,81.0,892.6,14.0,225,6351,0.15,2.72,0.00,0.000,6,0.150,0.058,3712,2367,2856,0,0,0,0,0,0
$GC,6618,2.05,81.0,859.1,12.0,232,6623,0.00,2.72,0.00,0.000,4,0.000,0.058,3711,3941,2853,0,0,0,0,0,0
$GC,6847,2.05,81.0,830.8,11.6,237,6851,0.00,2.65,0.00,0.000,6,0.000,0.047,3712,2372,2851,0,0,0,0,0,0
$GC,7122,2.09,81.0,801.1,10.8,244,7127,0.00,2.67,0.00,0.000,4,0.000,0.055,3711,3946,2849,0,0,0,0,0,0
$GC,7264,2.09,81.0,784.2,11.4,247,7268,0.00,2.65,0.00,0.000,6,0.000,0.048,3712,2375,2848,0,0,0,0,0,0
$GC,7536,2.14,81.0,755.8,10.3,254,7540,0.00,2.65,0.00,0.000,4,0.000,0.061,3711,3937,2847,0,0,0,0,0,0
$GC,7705,2.14,81.0,737.1,10.9,257,7710,0.00,2.60,0.00,0.000,6,0.000,0.045,3711,2391,2847,0,0,0,0,0,0
$GC,7955,2.18,81.0,711.2,10.3,264,7960,0.10,2.65,0.00,0.000,4,0.098,0.056,3739,3944,2845,0,0,0,0,0,0
$GC,8215,2.12,81.0,681.4,11.2,269,8221,0.00,2.58,0.00,0.000,6,0.000,0.040,3739,2394,2845,0,0,0,0,0,0
$GC,8465,2.12,81.0,655.1,10.4,276,8469,0.00,2.62,0.00,0.000,4,0.000,0.054,3739,3942,2844,0,0,0,0,0,0
$GC,8722,2.06,81.0,626.1,11.1,281,8728,0.15,2.55,0.00,0.000,6,0.150,0.043,3712,2405,2843,0,0,0,0,0,0
$GC,8975,2.12,82.3,601.5,9.8,288,8979,0.00,2.60,0.00,0.000,4,0.000,0.053,3712,3944,2843,0,0,0,0,0,0
$GC,9232,2.12,82.3,572.2,11.8,293,9238,0.00,2.53,0.00,0.000,6,0.000,0.044,3712,2416,2842,0,0,0,0,0,0
$GC,9485,2.17,82.3,546.3,10.4,300,9489,0.00,2.55,0.00,0.000,4,0.000,0.051,3712,3936,2842,0,0,0,0,0,0
$GC,9743,2.17,82.3,518.4,11.5,305,9749,0.00,2.42,0.00,0.000,6,0.000,0.031,3712,2440,2841,0,0,0,0,0,0
$GC,9996,2.23,82.3,492.9,10.2,312,10001,0.12,2.50,0.00,0.000,4,0.083,0.050,3749,3945,2841,0,0,0,0,0,0
$GC,10256,2.17,82.3,462.8,11.0,317,10261,0.00,2.42,0.00,0.000,6,0.000,0.028,3749,2437,2841,0,0,0,0,0,0
$GC,10505,2.17,82.3,437.2,10.1,324,10510,0.00,2.47,0.00,0.000,4,0.000,0.044,3749,3947,2841,0,0,0,0,0,0
$GC,10617,2.11,82.3,425.2,10.9,326,10622,0.15,2.40,0.00,0.000,6,0.141,0.028,3722,2442,2841,0,0,0,0,0,0
$GC,10875,2.16,88.2,401.9,9.1,333,10885,0.00,2.50,4.32,0.582,4,0.000,0.047,3722,3949,2830,0,0,0,0,0,0
$GC,10992,2.16,88.2,389.4,11.0,335,10996,0.00,2.40,0.00,0.000,6,0.000,0.028,3722,2452,2829,0,0,0,0,0,0
$GC,11251,2.22,90.5,364.5,9.7,342,11260,0.00,2.50,3.72,0.505,4,0.000,0.045,3722,3945,2821,0,0,0,0,0,0
$GC,11474,2.22,90.5,338.8,12.1,347,11478,0.00,2.38,0.00,0.000,6,0.000,0.023,3722,2456,2821,0,0,0,0,0,0
$GC,11759,2.28,90.5,308.3,10.6,354,11764,0.15,2.42,0.00,0.000,4,0.078,0.040,3764,3945,2822,0,0,0,0,0,0
$GC,11897,2.23,90.5,292.2,11.4,357,11901,0.00,2.38,0.00,0.000,6,0.000,0.023,3764,2455,2822,0,0,0,0,0,0
$GC,12178,2.23,90.5,262.2,10.6,364,12182,0.00,2.45,0.00,0.000,4,0.000,0.042,3764,3952,2822,0,0,0,0,0,0
$GC,12187,2.23,90.5,260.5,11.1,364,12192,0.00,2.38,0.00,0.000,6,0.000,0.030,3764,2452,2823,0,0,0,0,0,0
$GC,12460,2.23,94.3,233.7,9.4,371,12471,0.00,2.47,6.00,0.564,4,0.000,0.044,3764,3948,2804,0,0,0,0,0,0
$GC,12692,2.19,94.3,208.6,10.2,376,12697,0.12,2.38,0.00,0.000,6,0.137,0.027,3740,2456,2804,0,0,0,0,0,0
$GC,12954,2.28,107.1,187.0,8.1,393,12972,0.00,2.53,11.93,0.613,4,0.000,0.044,3740,3944,2753,0,0,0,0,0,0
$GC,13144,2.29,116.8,168.5,8.5,409,13158,0.00,2.35,9.38,0.575,6,0.000,0.024,3740,2458,2713,0,0,0,0,0,0
$GC,13425,2.41,139.8,149.0,6.5,435,13453,0.08,2.42,19.90,0.605,4,0.107,0.042,3767,3942,2620,0,0,0,0,0,0
$GC,13551,2.41,139.8,136.5,10.0,445,13555,0.00,2.33,0.00,0.000,6,0.000,0.023,3767,2469,2619,0,0,0,0,0,0
$GC,13818,2.56,177.5,120.1,4.3,469,13856,0.00,2.85,32.42,0.589,4,0.000,0.046,3767,771,2465,0,0,0,0,0,0
$GC,13926,2.65,181.2,112.7,9.4,477,13937,0.00,2.70,4.40,0.408,6,0.000,0.021,3768,2497,2450,0,0,0,0,0,0
$GC,14195,2.79,181.2,82.7,10.2,502,14199,0.00,2.33,0.00,0.000,4,0.000,0.038,3767,3948,2449,0,0,0,0,0,0
$GC,14230,2.88,181.2,78.5,11.7,504,14239,0.00,2.38,0.00,0.000,6,0.000,0.023,3767,2462,2449,0,0,0,0,0,0
$GC,14499,3.00,181.9,49.3,9.9,529,14503,0.00,2.40,0.00,0.000,4,0.000,0.037,3767,3949,2449,0,0,0,0,0,0
$GC,14660,3.09,181.9,28.4,13.5,541,14669,0.00,2.38,0.00,0.000,6,0.000,0.023,3767,2456,2450,0,0,0,0,0,0
$STATE,14834,end climb,SURFACE_DEPTH_REACHED
$STATE,14836,begin surface coast
$FINISH,1.0,1.005332
$STATE,14872,end surface coast,CONTROL_FINISHED_OK
$STATE,14873,begin surface
$SM_CCo,14898,135.60,0.497,0,0,1763,350.04
$SM_GC,1.71,0.00,0.00,135.60,0.000,0.000,0.497,459,2171,1763,-12.88,-1.10,350.04
$IRIDIUM_FIX,1920.65,-8114.36,110602,222240
$TT8_MAMPS,0.025311
$HUMID,57.20
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,62
$24V_AH,23.3,40.625
$10V_AH,10.3,35.970
$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,32.200,196.150,229.475,135.600,0.000,24.511,35.230,172.800,15.500,0.000,16.472,1365.937,10320.231,505.933,2576.728,659.408,33.362,1585.621,0.000,2544.616,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,111.982,1192.685,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.695,270.053,354.080,466.490,889.363,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,44777,572
$CAP_FILE_SIZE,154415,0
$CFSIZE,260165632,108228608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180313,070105,1927.359,-8118.123,36,1.3,36,-3.7