version: 66.06
glider: 146
mission: 8
dive: 369
start: 4 5 113 9 38 13
data:
$ID,146
$MISSION,8
$DIVE,369
$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,-314744.81
$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,48
$R_STBD_OVSHOOT,31
$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
$GPS1,092306,1926.955,-8119.593,40,1.2,40,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.6
$GPS2,093719,1926.946,-8119.669,12,1.3,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,0.002
$KALMAN_X,-220162.2,-746.2,-669.3,200174.8,477.8
$KALMAN_Y,126190.7,64.3,108.3,-120101.0,67.9
$MHEAD_RNG_PITCHd_Wd,92.9,2917,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.09,-44.5,0.0,0.0,0,92,0.00,0.00,-68.18,0.000,6,0.000,0.000,463,2180,3372,0,0,0,0,0,0
$GC,95,-2.14,-87.8,3.2,-3.5,9,121,12.27,2.62,-3.65,0.000,4,0.148,0.041,2787,3793,3549,0,0,0,0,0,0
$GC,212,-2.06,-87.8,35.9,-26.6,24,217,0.12,2.50,0.00,0.000,6,0.140,0.023,2809,2215,3549,0,0,0,0,0,0
$GC,477,-2.02,-87.8,102.2,-23.4,48,481,0.00,2.50,0.00,0.000,4,0.000,0.028,2809,3801,3549,0,0,0,0,0,0
$GC,500,-2.02,-87.8,107.8,-24.1,49,505,0.00,2.50,0.00,0.000,6,0.000,0.021,2809,2199,3550,0,0,0,0,0,0
$GC,769,-2.08,-87.8,162.4,-17.9,73,774,0.00,2.55,0.00,0.000,4,0.000,0.031,2809,3796,3550,0,0,0,0,0,0
$GC,803,-2.13,-87.8,170.1,-18.3,75,812,0.00,2.50,0.00,0.000,6,0.000,0.020,2810,2211,3550,0,0,0,0,0,0
$GC,1065,-2.24,-87.8,205.8,-12.4,97,1070,0.15,2.53,0.00,0.000,4,0.058,0.031,2749,3798,3551,0,0,0,0,0,0
$GC,1092,-2.24,-87.8,210.0,-13.5,97,1098,0.10,2.45,0.00,0.000,6,0.122,0.025,2769,2206,3551,0,0,0,0,0,0
$GC,1343,-2.29,-87.8,242.7,-13.5,103,1347,0.00,2.55,0.00,0.000,4,0.000,0.036,2769,3797,3551,0,0,0,0,0,0
$GC,1377,-2.29,-87.8,247.6,-14.3,103,1383,0.00,2.45,0.00,0.000,6,0.000,0.026,2769,2215,3551,0,0,0,0,0,0
$GC,1628,-2.35,-87.8,283.9,-14.4,110,1632,0.00,2.53,0.00,0.000,4,0.000,0.035,2769,3794,3551,0,0,0,0,0,0
$GC,1722,-2.39,-87.8,298.6,-15.2,112,1727,0.12,2.45,0.00,0.000,6,0.064,0.027,2713,2234,3551,0,0,0,0,0,0
$GC,1994,-2.39,-87.8,342.7,-16.5,119,1999,0.12,2.58,0.00,0.000,4,0.119,0.048,2737,3796,3550,0,0,0,0,0,0
$GC,2061,-2.39,-87.8,353.7,-16.7,120,2065,0.00,2.47,0.00,0.000,6,0.000,0.034,2737,2242,3550,0,0,0,0,0,0
$GC,2321,-2.39,-87.8,392.9,-15.1,127,2326,0.00,2.55,0.00,0.000,4,0.000,0.055,2737,3789,3549,0,0,0,0,0,0
$GC,2396,-2.39,-87.8,404.6,-15.9,128,2400,0.00,2.53,0.00,0.000,6,0.000,0.036,2737,2244,3549,0,0,0,0,0,0
$GC,2646,-2.39,-87.8,443.0,-15.2,134,2650,0.00,2.60,0.00,0.000,4,0.000,0.059,2737,3783,3547,0,0,0,0,0,0
$GC,2725,-2.39,-87.8,455.9,-16.5,135,2731,0.00,2.55,0.00,0.000,6,0.000,0.051,2737,2252,3547,0,0,0,0,0,0
$GC,2975,-2.39,-87.8,495.9,-15.8,142,2979,0.00,2.62,0.00,0.000,4,0.000,0.064,2737,3781,3546,0,0,0,0,0,0
$GC,2990,-2.39,-87.8,498.4,-15.0,142,2994,0.00,2.58,0.00,0.000,6,0.000,0.051,2737,2239,3546,0,0,0,0,0,0
$GC,3251,-2.39,-87.8,538.2,-15.1,149,3256,0.00,2.67,0.00,0.000,4,0.000,0.074,2737,3786,3544,0,0,0,0,0,0
$GC,3314,-2.39,-87.8,547.9,-15.8,150,3319,0.00,2.60,0.00,0.000,6,0.000,0.059,2737,2247,3544,0,0,0,0,0,0
$GC,3574,-2.39,-87.8,585.9,-14.4,157,3579,0.00,2.70,0.00,0.000,4,0.000,0.077,2737,3788,3543,0,0,0,0,0,0
$GC,3654,-2.39,-87.8,597.5,-15.1,158,3662,0.00,2.65,0.00,0.000,6,0.000,0.071,2737,2260,3542,0,0,0,0,0,0
$GC,3904,-2.39,-87.8,633.5,-14.4,165,3908,0.00,2.72,0.00,0.000,4,0.000,0.094,2736,3784,3540,0,0,0,0,0,0
$GC,3947,-2.39,-87.8,640.4,-15.7,166,3951,0.00,2.72,0.00,0.000,6,0.000,0.087,2737,2261,3540,0,0,0,0,0,0
$GC,4225,-2.39,-87.8,679.3,-13.8,173,4230,0.00,2.83,0.00,0.000,4,0.000,0.106,2737,3779,3539,0,0,0,0,0,0
$GC,4293,-2.39,-87.8,689.1,-14.5,174,4298,0.00,2.80,0.00,0.000,6,0.000,0.102,2737,2270,3539,0,0,0,0,0,0
$GC,4548,-2.39,-87.8,723.8,-13.7,181,4553,0.00,2.95,0.00,0.000,4,0.000,0.129,2737,3776,3536,0,0,0,0,0,0
$GC,4624,-2.39,-87.8,734.4,-14.2,182,4628,0.00,2.70,0.00,0.000,6,0.000,0.081,2737,2274,3536,0,0,0,0,0,0
$GC,4873,-2.39,-87.8,769.0,-13.6,188,4878,0.00,2.70,0.00,0.000,4,0.000,0.092,2737,3779,3534,0,0,0,0,0,0
$GC,4906,-2.39,-87.8,773.9,-15.2,188,4911,0.00,2.67,0.00,0.000,6,0.000,0.078,2737,2264,3534,0,0,0,0,0,0
$GC,5156,-2.39,-87.8,808.7,-13.9,195,5160,0.00,2.72,0.00,0.000,4,0.000,0.090,2737,3784,3533,0,0,0,0,0,0
$GC,5252,-2.39,-87.8,822.8,-14.9,197,5257,0.00,2.62,0.00,0.000,6,0.000,0.073,2737,2274,3532,0,0,0,0,0,0
$GC,5525,-2.39,-87.8,861.5,-14.0,204,5529,0.00,2.70,0.00,0.000,4,0.000,0.087,2737,3783,3530,0,0,0,0,0,0
$GC,5611,-2.39,-87.8,873.5,-14.5,206,5615,0.00,2.62,0.00,0.000,6,0.000,0.074,2737,2281,3530,0,0,0,0,0,0
$STATE,5810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5810,begin apogee
$GC,5816,-0.31,0.0,900.6,13.1,211,5893,2.10,0.00,72.40,1.181,6,0.098,0.000,3188,2359,3190,0,0,0,0,0,0
$STATE,5894,end apogee,CONTROL_FINISHED_OK
$STATE,5894,begin climb
$GC,5897,2.14,87.8,902.6,0.0,213,5982,2.28,2.88,77.28,1.160,4,0.032,0.079,3745,3938,2830,0,0,0,0,0,0
$GC,5995,2.14,87.8,896.3,10.5,215,6000,0.00,2.75,0.00,0.000,6,0.000,0.059,3745,2363,2828,0,0,0,0,0,0
$GC,6250,2.14,87.8,863.5,12.6,222,6255,0.00,2.72,0.00,0.000,4,0.000,0.061,3746,3937,2824,0,0,0,0,0,0
$GC,6399,2.08,87.8,844.5,12.9,225,6404,0.17,2.62,0.00,0.000,6,0.139,0.043,3713,2376,2822,0,0,0,0,0,0
$GC,6666,2.13,87.8,814.3,10.9,232,6671,0.00,2.65,0.00,0.000,4,0.000,0.055,3713,3945,2821,0,0,0,0,0,0
$GC,6926,2.13,87.8,783.5,12.2,237,6932,0.00,2.55,0.00,0.000,6,0.000,0.039,3713,2405,2820,0,0,0,0,0,0
$GC,7176,2.17,87.8,756.5,10.9,244,7181,0.00,2.60,0.00,0.000,4,0.000,0.057,3713,3935,2819,0,0,0,0,0,0
$GC,7436,2.17,87.8,726.8,10.9,249,7441,0.00,2.55,0.00,0.000,6,0.000,0.040,3713,2411,2817,0,0,0,0,0,0
$GC,7686,2.23,87.8,701.0,10.2,256,7691,0.12,2.58,0.00,0.000,4,0.080,0.052,3749,3935,2817,0,0,0,0,0,0
$GC,7944,2.17,87.8,668.8,13.1,261,7950,0.00,2.50,0.00,0.000,6,0.000,0.044,3749,2431,2816,0,0,0,0,0,0
$GC,8194,2.17,87.8,638.6,12.2,268,8198,0.00,2.55,0.00,0.000,4,0.000,0.053,3749,3942,2815,0,0,0,0,0,0
$GC,8452,2.11,87.8,605.2,12.5,273,8458,0.15,2.47,0.00,0.000,6,0.135,0.041,3722,2443,2815,0,0,0,0,0,0
$GC,8702,2.16,87.8,577.5,10.9,280,8706,0.00,2.50,0.00,0.000,4,0.000,0.051,3722,3942,2814,0,0,0,0,0,0
$GC,8959,2.16,87.8,547.1,11.6,285,8965,0.00,2.45,0.00,0.000,6,0.000,0.038,3722,2450,2814,0,0,0,0,0,0
$GC,9212,2.21,87.8,521.3,10.3,292,9216,0.00,2.50,0.00,0.000,4,0.000,0.050,3722,3944,2815,0,0,0,0,0,0
$GC,9334,2.21,87.8,507.4,11.4,294,9340,0.00,2.42,0.00,0.000,6,0.000,0.038,3722,2457,2814,0,0,0,0,0,0
$GC,9585,2.26,87.8,480.9,10.8,301,9590,0.12,2.45,0.00,0.000,4,0.078,0.046,3759,3938,2814,0,0,0,0,0,0
$GC,9643,2.20,87.8,474.1,11.9,302,9647,0.00,2.40,0.00,0.000,6,0.000,0.031,3759,2462,2814,0,0,0,0,0,0
$GC,9909,2.20,87.8,443.0,11.5,309,9913,0.00,2.45,0.00,0.000,4,0.000,0.050,3759,3942,2814,0,0,0,0,0,0
$GC,9924,2.20,87.8,441.1,11.8,309,9928,0.00,2.40,0.00,0.000,6,0.000,0.027,3759,2461,2813,0,0,0,0,0,0
$GC,10194,2.20,87.8,410.1,11.7,316,10198,0.00,2.45,0.00,0.000,4,0.000,0.049,3759,3948,2814,0,0,0,0,0,0
$GC,10215,2.20,87.8,407.3,12.4,316,10219,0.00,2.40,0.00,0.000,6,0.000,0.031,3759,2454,2814,0,0,0,0,0,0
$GC,10470,2.20,87.8,378.5,11.3,323,10474,0.00,2.42,0.00,0.000,4,0.000,0.041,3758,3940,2814,0,0,0,0,0,0
$GC,10567,2.15,87.8,367.6,11.5,325,10572,0.15,2.35,0.00,0.000,6,0.131,0.025,3731,2469,2814,0,0,0,0,0,0
$GC,10839,2.20,87.8,339.1,10.1,332,10843,0.00,2.40,0.00,0.000,4,0.000,0.048,3731,3944,2814,0,0,0,0,0,0
$GC,11051,2.20,87.8,315.3,11.1,336,11057,0.00,2.35,0.00,0.000,6,0.000,0.025,3731,2463,2814,0,0,0,0,0,0
$GC,11302,2.25,87.8,290.1,10.2,343,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,3732,2464,2814,0,0,0,0,0,0
$GC,11545,2.31,87.8,264.2,10.9,349,11547,0.12,0.00,0.00,0.000,6,0.086,0.000,3769,2464,2814,0,0,0,0,0,0
$GC,11791,2.31,87.8,238.0,10.7,355,11795,0.00,2.42,0.00,0.000,4,0.000,0.045,3769,3952,2815,0,0,0,0,0,0
$GC,11846,2.27,87.8,231.1,11.8,356,11850,0.00,2.38,0.00,0.000,6,0.000,0.025,3769,2459,2815,0,0,0,0,0,0
$GC,12112,2.27,92.4,205.2,9.3,363,12117,0.00,2.42,0.00,0.000,4,0.000,0.048,3769,3943,2816,0,0,0,0,0,0
$GC,12376,2.30,113.5,183.7,6.8,380,12400,0.00,2.30,19.12,0.640,6,0.000,0.023,3769,2483,2727,0,0,0,0,0,0
$GC,12660,2.39,138.9,163.1,6.2,406,12689,0.00,0.00,22.30,0.622,6,0.000,0.000,3769,2483,2622,0,0,0,0,0,0
$GC,12947,2.51,163.7,139.2,6.3,433,12974,0.00,2.45,21.88,0.598,4,0.000,0.038,3769,3937,2522,0,0,0,0,0,0
$GC,13008,2.60,183.9,134.9,7.0,438,13032,0.00,2.33,17.92,0.581,6,0.000,0.021,3769,2455,2440,0,0,0,0,0,0
$GC,13290,2.73,185.7,108.0,9.7,464,13294,0.00,2.75,0.00,0.000,4,0.000,0.045,3769,768,2437,0,0,0,0,0,0
$GC,13416,2.83,185.7,93.8,10.7,474,13420,0.00,2.70,0.00,0.000,6,0.000,0.021,3769,2503,2436,0,0,0,0,0,0
$GC,13685,2.97,185.7,65.9,10.8,498,13689,0.00,2.33,0.00,0.000,4,0.000,0.040,3769,3942,2436,0,0,0,0,0,0
$GC,13892,3.07,185.7,40.4,12.7,514,13901,0.00,2.33,0.00,0.000,6,0.000,0.023,3769,2476,2438,0,0,0,0,0,0
$GC,14198,3.21,185.7,8.1,11.2,554,14207,0.00,2.40,0.00,0.000,4,0.000,0.041,3769,3934,2438,0,0,0,0,0,0
$STATE,14229,end climb,SURFACE_DEPTH_REACHED
$STATE,14229,begin surface coast
$FINISH,1.1,1.023088
$STATE,14272,end surface coast,CONTROL_FINISHED_OK
$STATE,14272,begin surface
$SM_CCo,14300,133.38,0.492,0,0,1763,350.04
$SM_GC,1.88,0.00,0.00,133.38,0.000,0.000,0.492,458,2170,1763,-12.89,-1.13,350.04
$IRIDIUM_FIX,1918.37,-8119.23,300602,090941
$TT8_MAMPS,0.026078
$HUMID,57.95
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.30
$XPDR_PINGS,75
$24V_AH,23.2,52.164
$10V_AH,10.1,46.151
$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,31.450,189.125,230.900,133.375,0.000,59.763,73.383,480.163,18.750,0.000,13.743,1291.048,10044.792,518.589,2385.826,1035.630,33.361,1509.828,0.000,2364.395,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,128.856,1181.180,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.688,277.441,355.866,486.761,927.383,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,44821,564
$CAP_FILE_SIZE,149610,0
$CFSIZE,260165632,102506496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050413,134005,1927.566,-8119.643,35,2.0,35,-3.7