version: 66.06
glider: 146
mission: 8
dive: 317
start: 3 24 113 6 47 20
data:
$ID,146
$MISSION,8
$DIVE,317
$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,-313683.78
$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,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
$GPS1,063929,1926.068,-8117.000,39,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.0
$GPS2,064624,1926.075,-8116.958,9,1.2,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,-0.094
$KALMAN_X,-88058.9,1.3,66.3,71307.1,-2482.5
$KALMAN_Y,53164.4,-379.8,-289.9,-47825.1,2274.2
$MHEAD_RNG_PITCHd_Wd,134.9,2500,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,84,0.00,0.00,-63.03,0.000,2,0.000,0.000,464,2163,3262,0,0,0,0,0,0
$GC,87,-2.14,-82.9,3.1,-4.2,8,113,12.62,2.62,-5.68,0.000,4,0.163,0.038,2787,3818,3529,0,0,0,0,0,0
$GC,127,-1.39,-82.9,13.6,-27.5,12,137,0.77,2.53,0.00,0.000,6,0.110,0.021,2950,2237,3529,0,0,0,0,0,0
$GC,407,-1.60,-82.9,65.9,-16.3,41,413,0.17,2.53,0.00,0.000,4,0.049,0.031,2879,3815,3530,0,0,0,0,0,0
$GC,447,-1.68,-82.9,74.1,-19.8,43,457,0.00,2.58,0.00,0.000,6,0.000,0.023,2879,2201,3530,0,0,0,0,0,0
$GC,710,-1.78,-82.9,123.8,-18.1,68,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2201,3531,0,0,0,0,0,0
$GC,965,-1.95,-82.9,166.1,-13.8,92,967,0.17,0.00,0.00,0.000,6,0.053,0.000,2814,2201,3531,0,0,0,0,0,0
$GC,1220,-2.06,-82.9,200.2,-10.9,116,1224,0.00,2.53,0.00,0.000,4,0.000,0.031,2814,3812,3532,0,0,0,0,0,0
$GC,1311,-2.15,-82.9,212.7,-14.4,118,1315,0.00,2.50,0.00,0.000,6,0.000,0.019,2814,2180,3532,0,0,0,0,0,0
$GC,1588,-2.27,-82.9,248.5,-12.2,125,1590,0.20,0.00,0.00,0.000,6,0.045,0.000,2737,2180,3532,0,0,0,0,0,0
$GC,1832,-2.27,-82.9,282.9,-14.3,131,1834,0.12,0.00,0.00,0.000,6,0.120,0.000,2763,2180,3532,0,0,0,0,0,0
$GC,2078,-2.31,-82.9,316.1,-13.7,137,2083,0.00,2.62,0.00,0.000,4,0.000,0.043,2763,3808,3532,0,0,0,0,0,0
$GC,2167,-2.31,-82.9,330.0,-15.0,139,2171,0.00,2.50,0.00,0.000,6,0.000,0.025,2762,2222,3531,0,0,0,0,0,0
$GC,2447,-2.35,-82.9,368.5,-13.8,146,2451,0.00,2.58,0.00,0.000,4,0.000,0.051,2763,3801,3531,0,0,0,0,0,0
$GC,2541,-2.35,-82.9,382.4,-14.0,148,2546,0.00,2.58,0.00,0.000,6,0.000,0.038,2763,2206,3531,0,0,0,0,0,0
$GC,2814,-2.40,-82.9,417.1,-12.8,155,2819,0.12,2.65,0.00,0.000,4,0.070,0.055,2714,3801,3529,0,0,0,0,0,0
$GC,2844,-2.35,-82.9,421.3,-15.2,155,2849,0.15,2.62,0.00,0.000,6,0.116,0.040,2743,2204,3529,0,0,0,0,0,0
$GC,3094,-2.35,-82.9,456.8,-14.0,161,3098,0.00,2.67,0.00,0.000,4,0.000,0.058,2743,3796,3528,0,0,0,0,0,0
$GC,3201,-2.35,-82.9,472.4,-15.0,163,3206,0.00,2.65,0.00,0.000,6,0.000,0.054,2743,2212,3528,0,0,0,0,0,0
$GC,3462,-2.35,-82.9,507.4,-13.2,170,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2211,3527,0,0,0,0,0,0
$GC,3705,-2.35,-82.9,539.4,-13.1,176,3710,0.00,2.78,0.00,0.000,4,0.000,0.077,2743,3793,3526,0,0,0,0,0,0
$GC,3749,-2.35,-82.9,545.7,-14.2,177,3754,0.00,2.67,0.00,0.000,6,0.000,0.060,2743,2214,3526,0,0,0,0,0,0
$GC,4030,-2.35,-82.9,583.2,-13.4,184,4034,0.00,2.75,0.00,0.000,4,0.000,0.081,2743,3793,3524,0,0,0,0,0,0
$GC,4079,-2.35,-82.9,590.9,-14.6,185,4083,0.00,2.75,0.00,0.000,6,0.000,0.067,2743,2208,3524,0,0,0,0,0,0
$GC,4351,-2.35,-82.9,628.7,-13.6,192,4356,0.00,2.85,0.00,0.000,4,0.000,0.091,2743,3793,3522,0,0,0,0,0,0
$GC,4397,-2.35,-82.9,635.1,-14.6,193,4402,0.00,2.85,0.00,0.000,6,0.000,0.087,2743,2218,3522,0,0,0,0,0,0
$GC,4674,-2.35,-82.9,674.7,-13.9,200,4679,0.00,2.92,0.00,0.000,4,0.000,0.116,2743,3792,3520,0,0,0,0,0,0
$GC,4760,-2.35,-82.9,687.7,-15.7,202,4765,0.00,2.85,0.00,0.000,6,0.000,0.094,2743,2211,3520,0,0,0,0,0,0
$GC,5043,-2.35,-82.9,728.2,-14.4,209,5048,0.00,2.90,0.00,0.000,4,0.000,0.095,2743,3801,3517,0,0,0,0,0,0
$GC,5109,-2.35,-82.9,737.9,-14.4,210,5114,0.00,2.78,0.00,0.000,6,0.000,0.077,2743,2221,3517,0,0,0,0,0,0
$GC,5367,-2.35,-82.9,774.8,-14.5,217,5372,0.00,2.80,0.00,0.000,4,0.000,0.091,2743,3801,3515,0,0,0,0,0,0
$GC,5451,-2.35,-82.9,787.6,-14.7,219,5456,0.00,2.78,0.00,0.000,6,0.000,0.077,2743,2219,3515,0,0,0,0,0,0
$GC,5734,-2.39,-82.9,824.7,-12.8,226,5739,0.00,2.78,0.00,0.000,4,0.000,0.088,2743,3794,3513,0,0,0,0,0,0
$GC,5791,-2.39,-82.9,832.0,-12.6,227,5796,0.00,2.75,0.00,0.000,6,0.000,0.074,2743,2225,3512,0,0,0,0,0,0
$GC,6058,-2.43,-82.9,865.3,-12.3,234,6062,0.00,2.78,0.00,0.000,4,0.000,0.084,2743,3793,3510,0,0,0,0,0,0
$GC,6112,-2.43,-82.9,872.7,-13.7,235,6117,0.00,2.75,0.00,0.000,6,0.000,0.071,2743,2221,3510,0,0,0,0,0,0
$STATE,6339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6339,begin apogee
$GC,6345,-0.31,0.0,900.5,12.3,241,6419,2.08,0.00,68.00,1.193,6,0.101,0.000,3187,2373,3190,0,0,0,0,0,0
$STATE,6419,end apogee,CONTROL_FINISHED_OK
$STATE,6420,begin climb
$GC,6422,2.14,82.9,903.2,0.0,243,6504,2.20,3.08,71.95,1.169,4,0.031,0.104,3744,780,2852,0,0,0,0,0,0
$GC,6542,2.08,82.9,894.9,13.0,245,6547,0.15,2.72,0.00,0.000,6,0.136,0.055,3716,2372,2850,0,0,0,0,0,0
$GC,6792,2.08,82.9,867.5,11.0,251,6796,0.00,2.75,0.00,0.000,4,0.000,0.079,3716,3934,2846,0,0,0,0,0,0
$GC,6837,2.08,82.9,862.4,11.8,252,6842,0.00,2.65,0.00,0.000,6,0.000,0.051,3716,2370,2846,0,0,0,0,0,0
$GC,7115,2.08,82.9,831.7,10.9,259,7120,0.00,2.70,0.00,0.000,4,0.000,0.062,3716,3937,2844,0,0,0,0,0,0
$GC,7308,2.08,82.9,808.6,11.6,263,7312,0.00,2.60,0.00,0.000,6,0.000,0.047,3716,2387,2843,0,0,0,0,0,0
$GC,7576,2.08,82.9,780.3,10.4,270,7580,0.00,2.62,0.00,0.000,4,0.000,0.058,3716,3946,2841,0,0,0,0,0,0
$GC,7775,2.08,82.9,758.7,11.2,274,7779,0.00,2.62,0.00,0.000,6,0.000,0.048,3716,2389,2840,0,0,0,0,0,0
$GC,8036,2.12,84.7,733.0,9.7,281,8040,0.00,2.62,0.00,0.000,4,0.000,0.053,3716,3938,2839,0,0,0,0,0,0
$GC,8227,2.12,84.7,712.7,11.3,285,8232,0.00,2.55,0.00,0.000,6,0.000,0.049,3716,2406,2839,0,0,0,0,0,0
$GC,8494,2.16,84.7,685.0,10.3,292,8499,0.00,2.60,0.00,0.000,4,0.000,0.052,3716,3944,2838,0,0,0,0,0,0
$GC,8743,2.16,84.7,656.4,11.7,297,8747,0.00,2.55,0.00,0.000,6,0.000,0.045,3716,2413,2837,0,0,0,0,0,0
$GC,8998,2.21,85.7,630.6,9.8,304,9000,0.10,0.00,0.00,0.000,6,0.095,0.000,3745,2413,2836,0,0,0,0,0,0
$GC,9242,2.21,86.0,606.0,10.0,310,9246,0.00,2.58,0.00,0.000,4,0.000,0.053,3744,3937,2836,0,0,0,0,0,0
$GC,9501,2.15,86.0,576.3,11.7,315,9506,0.00,2.53,0.00,0.000,6,0.000,0.038,3744,2410,2835,0,0,0,0,0,0
$GC,9750,2.15,86.0,550.2,10.2,322,9755,0.00,2.55,0.00,0.000,4,0.000,0.054,3744,3940,2835,0,0,0,0,0,0
$GC,10008,2.10,86.0,521.5,11.5,327,10015,0.12,2.47,0.00,0.000,6,0.147,0.039,3720,2418,2835,0,0,0,0,0,0
$GC,10261,2.14,86.0,495.7,10.4,334,10265,0.00,2.53,0.00,0.000,4,0.000,0.053,3721,3938,2834,0,0,0,0,0,0
$GC,10518,2.14,86.0,465.1,10.8,339,10524,0.00,2.45,0.00,0.000,6,0.000,0.035,3721,2424,2835,0,0,0,0,0,0
$GC,10771,2.20,86.0,439.9,10.2,346,10775,0.00,2.50,0.00,0.000,4,0.000,0.048,3721,3942,2835,0,0,0,0,0,0
$GC,11029,2.20,86.0,412.4,10.3,351,11035,0.00,2.42,0.00,0.000,6,0.000,0.027,3720,2435,2835,0,0,0,0,0,0
$GC,11282,2.26,91.9,389.5,9.1,358,11294,0.12,2.50,6.03,0.667,4,0.079,0.041,3758,3946,2814,0,0,0,0,0,0
$GC,11364,2.21,91.9,381.0,11.1,359,11370,0.00,2.45,0.00,0.000,6,0.000,0.026,3757,2423,2815,0,0,0,0,0,0
$GC,11614,2.21,91.9,355.5,10.1,366,11618,0.00,2.50,0.00,0.000,4,0.000,0.042,3758,3952,2814,0,0,0,0,0,0
$GC,11776,2.15,91.9,336.6,11.8,369,11781,0.15,2.42,0.00,0.000,6,0.133,0.024,3731,2435,2815,0,0,0,0,0,0
$GC,12028,2.20,91.9,310.1,10.5,375,12032,0.00,2.47,0.00,0.000,4,0.000,0.047,3730,3951,2815,0,0,0,0,0,0
$GC,12286,2.20,91.9,279.5,11.8,380,12292,0.00,2.40,0.00,0.000,6,0.000,0.029,3730,2440,2816,0,0,0,0,0,0
$GC,12539,2.26,91.9,251.6,11.1,387,12544,0.10,2.47,0.00,0.000,4,0.089,0.045,3762,3952,2816,0,0,0,0,0,0
$GC,12633,2.22,91.9,240.2,11.2,389,12638,0.00,2.40,0.00,0.000,6,0.000,0.034,3762,2451,2817,0,0,0,0,0,0
$GC,12908,2.23,102.5,215.2,8.4,396,12927,0.00,2.47,11.43,0.631,4,0.000,0.041,3762,3944,2769,0,0,0,0,0,0
$GC,13143,2.24,107.0,191.1,9.3,405,13157,0.00,2.38,4.88,0.492,6,0.000,0.025,3762,2442,2753,0,0,0,0,0,0
$GC,13413,2.32,132.4,171.9,6.2,430,13437,0.00,0.00,21.80,0.629,6,0.000,0.000,3762,2442,2650,0,0,0,0,0,0
$GC,13689,2.46,172.8,150.3,3.9,456,13730,0.00,2.55,34.88,0.617,4,0.000,0.048,3762,3939,2484,0,0,0,0,0,0
$GC,13765,2.55,189.0,145.8,7.6,462,13785,0.00,2.40,14.80,0.578,6,0.000,0.023,3762,2457,2419,0,0,0,0,0,0
$GC,14040,2.69,189.0,116.4,12.6,488,14044,0.00,2.45,0.00,0.000,4,0.000,0.040,3762,3948,2416,0,0,0,0,0,0
$GC,14301,2.78,189.0,85.4,11.9,509,14305,0.00,2.38,0.00,0.000,6,0.000,0.025,3762,2456,2415,0,0,0,0,0,0
$GC,14569,2.92,189.0,56.2,11.0,533,14573,0.00,2.40,0.00,0.000,4,0.000,0.040,3762,3941,2416,0,0,0,0,0,0
$GC,14678,3.03,189.0,43.2,11.8,541,14683,0.00,2.33,0.00,0.000,6,0.000,0.025,3762,2460,2416,0,0,0,0,0,0
$GC,14978,3.21,202.9,17.6,7.9,578,14996,0.00,2.50,13.32,0.474,4,0.000,0.041,3762,3942,2361,0,0,0,0,0,0
$GC,15104,3.34,202.9,4.8,12.2,595,15114,0.00,2.35,0.00,0.000,6,0.000,0.023,3762,2466,2360,0,0,0,0,0,0
$STATE,15121,end climb,SURFACE_DEPTH_REACHED
$STATE,15121,begin surface coast
$FINISH,1.0,1.011893
$STATE,15164,end surface coast,CONTROL_FINISHED_OK
$STATE,15164,begin surface
$SM_CCo,15187,117.97,0.494,0,0,1763,350.04
$SM_GC,1.83,0.00,0.00,117.97,0.000,0.000,0.494,459,2174,1763,-12.88,-1.02,350.04
$IRIDIUM_FIX,1918.37,-8114.71,180602,020223
$TT8_MAMPS,0.026078
$HUMID,57.04
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,61
$24V_AH,23.3,44.378
$10V_AH,10.2,39.457
$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,32.550,177.500,247.075,117.975,0.000,28.350,33.967,181.177,15.250,0.000,16.120,1395.733,10500.689,477.617,2678.669,662.297,33.365,1565.637,0.000,2650.645,0.000,0.536,0.000
$DEVICE_MAMPS,162.604,115.817,1192.685,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.749,301.978,383.584,540.012,1029.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,47905,603
$CAP_FILE_SIZE,152757,0
$CFSIZE,260165632,106237952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240313,110336,1925.568,-8116.765,25,1.4,25,-3.7