version: 66.06
glider: 146
mission: 8
dive: 374
start: 4 6 113 9 43 51
data:
$ID,146
$MISSION,8
$DIVE,374
$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,-314841.97
$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,55
$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
$GPS1,093606,1926.679,-8116.910,36,1.4,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.1
$GPS2,094255,1926.638,-8116.899,12,1.3,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.055,-0.132
$KALMAN_X,-231449.1,67.2,79.7,214706.7,-2420.5
$KALMAN_Y,134356.7,-329.1,49.8,-128377.1,1887.7
$MHEAD_RNG_PITCHd_Wd,161.0,2037,-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,-44.5,0.0,0.0,0,91,0.00,0.00,-68.07,0.000,6,0.000,0.000,461,2161,3372,0,0,0,0,0,0
$GC,94,-2.14,-85.9,3.3,-3.8,9,120,12.52,2.50,-3.45,0.000,4,0.153,0.050,2786,648,3541,0,0,0,0,0,0
$GC,346,-2.04,-85.9,70.7,-26.1,35,351,0.12,2.45,0.00,0.000,6,0.146,0.015,2810,2269,3542,0,0,0,0,0,0
$GC,614,-2.04,-85.9,132.1,-21.2,59,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2270,3543,0,0,0,0,0,0
$GC,875,-2.13,-85.9,174.9,-13.1,84,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2270,3543,0,0,0,0,0,0
$GC,1161,-2.25,-85.9,210.3,-11.7,105,1166,0.17,2.47,0.00,0.000,4,0.053,0.033,2744,3812,3544,0,0,0,0,0,0
$GC,1188,-2.25,-85.9,214.7,-14.6,105,1193,0.12,2.47,0.00,0.000,6,0.112,0.017,2769,2217,3544,0,0,0,0,0,0
$GC,1438,-2.29,-85.9,249.5,-14.0,111,1443,0.00,2.55,0.00,0.000,4,0.000,0.041,2769,3812,3544,0,0,0,0,0,0
$GC,1518,-2.29,-85.9,261.2,-14.6,112,1524,0.00,2.47,0.00,0.000,6,0.000,0.019,2769,2219,3544,0,0,0,0,0,0
$GC,1770,-2.34,-85.9,294.6,-13.0,119,1774,0.00,2.58,0.00,0.000,4,0.000,0.041,2769,3812,3544,0,0,0,0,0,0
$GC,1814,-2.34,-85.9,301.0,-14.1,120,1818,0.00,2.47,0.00,0.000,6,0.000,0.024,2769,2232,3544,0,0,0,0,0,0
$GC,2094,-2.40,-85.9,337.8,-13.2,127,2099,0.12,2.58,0.00,0.000,4,0.067,0.043,2715,3809,3543,0,0,0,0,0,0
$GC,2155,-2.34,-85.9,348.0,-16.0,128,2160,0.17,2.53,0.00,0.000,6,0.108,0.028,2749,2224,3543,0,0,0,0,0,0
$GC,2419,-2.34,-85.9,385.2,-14.1,135,2423,0.00,2.62,0.00,0.000,4,0.000,0.048,2749,3805,3542,0,0,0,0,0,0
$GC,2490,-2.34,-85.9,396.7,-16.0,136,2495,0.00,2.53,0.00,0.000,6,0.000,0.034,2749,2239,3542,0,0,0,0,0,0
$GC,2740,-2.34,-85.9,433.5,-14.6,142,2745,0.00,2.65,0.00,0.000,4,0.000,0.058,2749,3807,3541,0,0,0,0,0,0
$GC,2907,-2.34,-85.9,458.4,-14.2,145,2912,0.00,2.58,0.00,0.000,6,0.000,0.046,2749,2244,3540,0,0,0,0,0,0
$GC,3157,-2.34,-85.9,495.6,-14.7,151,3161,0.00,2.67,0.00,0.000,4,0.000,0.064,2749,3803,3539,0,0,0,0,0,0
$GC,3243,-2.34,-85.9,508.9,-15.5,153,3248,0.00,2.62,0.00,0.000,6,0.000,0.054,2749,2243,3539,0,0,0,0,0,0
$GC,3527,-2.38,-85.9,550.6,-14.5,160,3532,0.00,2.70,0.00,0.000,4,0.000,0.070,2749,3798,3537,0,0,0,0,0,0
$GC,3611,-2.38,-85.9,563.1,-14.5,162,3616,0.00,2.62,0.00,0.000,6,0.000,0.058,2749,2248,3537,0,0,0,0,0,0
$GC,3897,-2.42,-85.9,603.3,-14.2,169,3901,0.00,2.72,0.00,0.000,4,0.000,0.077,2749,3799,3535,0,0,0,0,0,0
$GC,3957,-2.42,-85.9,613.2,-15.5,170,3962,0.00,2.67,0.00,0.000,6,0.000,0.067,2749,2253,3535,0,0,0,0,0,0
$GC,4221,-2.46,-85.9,650.4,-14.3,177,4226,0.10,2.83,0.00,0.000,4,0.081,0.094,2707,3797,3532,0,0,0,0,0,0
$GC,4237,-2.46,-85.9,653.4,-14.2,177,4241,0.00,2.75,0.00,0.000,6,0.000,0.090,2707,2259,3532,0,0,0,0,0,0
$GC,4497,-2.46,-85.9,692.4,-14.9,184,4502,0.00,2.90,0.00,0.000,4,0.000,0.117,2707,3795,3531,0,0,0,0,0,0
$GC,4532,-2.40,-85.9,697.6,-15.2,184,4539,0.15,2.90,0.00,0.000,6,0.113,0.106,2736,2261,3531,0,0,0,0,0,0
$GC,4782,-2.40,-85.9,733.0,-14.0,191,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2261,3530,0,0,0,0,0,0
$GC,5026,-2.40,-85.9,767.9,-14.4,197,5030,0.00,2.78,0.00,0.000,4,0.000,0.091,2736,3794,3528,0,0,0,0,0,0
$GC,5092,-2.40,-85.9,778.1,-14.6,198,5096,0.00,2.67,0.00,0.000,6,0.000,0.075,2736,2268,3528,0,0,0,0,0,0
$GC,5350,-2.40,-85.9,814.3,-14.1,205,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2267,3526,0,0,0,0,0,0
$GC,5591,-2.40,-85.9,847.8,-13.7,211,5596,0.00,2.72,0.00,0.000,4,0.000,0.089,2736,3794,3525,0,0,0,0,0,0
$GC,5634,-2.40,-85.9,854.1,-14.9,212,5639,0.00,2.65,0.00,0.000,6,0.000,0.067,2736,2265,3525,0,0,0,0,0,0
$GC,5914,-2.40,-85.9,890.4,-12.8,219,5919,0.00,2.70,0.00,0.000,4,0.000,0.086,2736,3796,3523,0,0,0,0,0,0
$STATE,5978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5978,begin apogee
$GC,5986,-0.31,0.0,900.2,13.8,220,6062,2.08,0.00,71.18,1.183,6,0.100,0.000,3190,2366,3190,0,0,0,0,0,0
$STATE,6063,end apogee,CONTROL_FINISHED_OK
$STATE,6063,begin climb
$GC,6068,2.14,85.9,902.6,0.0,222,6149,2.20,0.00,75.30,1.157,6,0.031,0.000,3745,2366,2839,0,0,0,0,0,0
$GC,6393,2.14,85.9,868.3,12.8,230,6397,0.00,2.75,0.00,0.000,4,0.000,0.064,3745,3936,2834,0,0,0,0,0,0
$GC,6561,2.08,85.9,846.1,13.3,233,6567,0.15,2.65,0.00,0.000,6,0.143,0.041,3716,2369,2832,0,0,0,0,0,0
$GC,6815,2.12,85.9,818.3,11.0,240,6820,0.00,2.67,0.00,0.000,4,0.000,0.058,3716,3940,2831,0,0,0,0,0,0
$GC,7073,2.12,85.9,786.4,12.1,245,7079,0.00,2.60,0.00,0.000,6,0.000,0.043,3716,2391,2828,0,0,0,0,0,0
$GC,7323,2.17,85.9,759.7,10.8,252,7328,0.00,2.62,0.00,0.000,4,0.000,0.058,3716,3939,2827,0,0,0,0,0,0
$GC,7491,2.17,85.9,741.2,11.4,255,7496,0.00,2.60,0.00,0.000,6,0.000,0.048,3716,2397,2826,0,0,0,0,0,0
$GC,7741,2.22,85.9,714.6,10.5,261,7746,0.12,2.62,0.00,0.000,4,0.080,0.055,3752,3940,2826,0,0,0,0,0,0
$GC,7822,2.15,85.9,705.2,12.0,262,7828,0.12,2.60,0.00,0.000,6,0.144,0.046,3730,2394,2826,0,0,0,0,0,0
$GC,8074,2.15,85.9,678.4,10.7,269,8079,0.00,2.62,0.00,0.000,4,0.000,0.055,3730,3943,2825,0,0,0,0,0,0
$GC,8221,2.15,85.9,660.7,12.0,272,8225,0.00,2.55,0.00,0.000,6,0.000,0.041,3730,2401,2825,0,0,0,0,0,0
$GC,8489,2.15,85.9,631.4,11.1,279,8493,0.00,2.60,0.00,0.000,4,0.000,0.053,3730,3946,2824,0,0,0,0,0,0
$GC,8708,2.15,85.9,604.4,11.8,284,8712,0.00,2.53,0.00,0.000,6,0.000,0.038,3730,2410,2823,0,0,0,0,0,0
$GC,8993,2.15,85.9,573.8,10.7,291,8997,0.00,2.58,0.00,0.000,4,0.000,0.051,3730,3941,2822,0,0,0,0,0,0
$GC,9087,2.15,85.9,562.5,11.4,293,9092,0.00,2.50,0.00,0.000,6,0.000,0.037,3730,2417,2822,0,0,0,0,0,0
$GC,9362,2.15,85.9,534.4,10.4,300,9366,0.00,2.55,0.00,0.000,4,0.000,0.054,3730,3942,2822,0,0,0,0,0,0
$GC,9619,2.15,85.9,504.3,12.4,305,9625,0.00,2.47,0.00,0.000,6,0.000,0.032,3730,2426,2822,0,0,0,0,0,0
$GC,9872,2.19,85.9,477.3,10.8,312,9876,0.00,2.53,0.00,0.000,4,0.000,0.046,3730,3945,2822,0,0,0,0,0,0
$GC,9966,2.19,85.9,465.8,12.1,314,9970,0.00,2.45,0.00,0.000,6,0.000,0.030,3729,2431,2822,0,0,0,0,0,0
$GC,10242,2.23,85.9,436.1,10.8,321,10246,0.00,2.50,0.00,0.000,4,0.000,0.044,3730,3944,2822,0,0,0,0,0,0
$GC,10494,2.23,85.9,407.0,10.8,326,10498,0.00,2.40,0.00,0.000,6,0.000,0.026,3730,2435,2822,0,0,0,0,0,0
$GC,10744,2.27,85.9,381.6,10.2,332,10749,0.10,2.50,0.00,0.000,4,0.089,0.041,3761,3954,2822,0,0,0,0,0,0
$GC,10907,2.21,85.9,362.4,11.9,335,10911,0.00,2.42,0.00,0.000,6,0.000,0.024,3761,2436,2822,0,0,0,0,0,0
$GC,11162,2.21,85.9,335.3,10.5,342,11166,0.00,2.47,0.00,0.000,4,0.000,0.046,3761,3946,2823,0,0,0,0,0,0
$GC,11265,2.17,85.9,323.9,11.5,344,11270,0.15,2.38,0.00,0.000,6,0.132,0.025,3734,2441,2823,0,0,0,0,0,0
$GC,11532,2.22,88.5,297.6,9.6,351,11536,0.00,2.47,0.00,0.000,4,0.000,0.046,3734,3951,2823,0,0,0,0,0,0
$GC,11589,2.22,88.5,291.5,11.3,352,11593,0.00,2.40,0.00,0.000,6,0.000,0.029,3734,2439,2823,0,0,0,0,0,0
$GC,11856,2.27,88.5,264.4,10.2,359,11860,0.00,2.47,0.00,0.000,4,0.000,0.039,3734,3953,2823,0,0,0,0,0,0
$GC,12051,2.27,88.5,242.7,11.1,363,12056,0.00,2.40,0.00,0.000,6,0.000,0.022,3734,2449,2824,0,0,0,0,0,0
$GC,12319,2.34,94.5,218.1,9.1,370,12333,0.10,2.78,6.22,0.566,4,0.085,0.048,3768,766,2803,0,0,0,0,0,0
$GC,12339,2.34,97.0,216.0,9.6,370,12348,0.00,2.70,3.78,0.435,6,0.000,0.027,3768,2479,2794,0,0,0,0,0,0
$GC,12605,2.35,100.2,189.7,9.5,382,12616,0.00,2.42,4.68,0.489,4,0.000,0.050,3768,3945,2781,0,0,0,0,0,0
$GC,12771,2.36,109.4,174.2,8.6,396,12786,0.00,2.33,8.75,0.583,6,0.000,0.021,3768,2459,2744,0,0,0,0,0,0
$GC,13042,2.45,141.6,155.4,5.2,421,13076,0.00,2.50,27.45,0.627,4,0.000,0.044,3768,3938,2611,0,0,0,0,0,0
$GC,13107,2.46,150.3,150.8,8.7,426,13121,0.00,2.38,9.07,0.555,6,0.000,0.022,3768,2470,2577,0,0,0,0,0,0
$GC,13380,2.61,183.0,128.6,5.1,451,13414,0.00,2.85,27.92,0.597,4,0.000,0.045,3767,768,2442,0,0,0,0,0,0
$GC,13441,2.71,195.4,124.6,8.1,456,13458,0.00,2.72,11.98,0.551,6,0.000,0.022,3768,2499,2393,0,0,0,0,0,0
$GC,13721,2.85,195.4,92.5,10.9,482,13725,0.00,2.38,0.00,0.000,4,0.000,0.040,3767,3956,2390,0,0,0,0,0,0
$GC,14001,2.95,195.4,56.3,13.0,504,14010,0.00,2.40,0.00,0.000,6,0.000,0.022,3768,2456,2389,0,0,0,0,0,0
$GC,14281,3.10,195.4,24.2,11.7,533,14289,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,2457,2389,0,0,0,0,0,0
$STATE,14468,end climb,SURFACE_DEPTH_REACHED
$STATE,14468,begin surface coast
$FINISH,1.2,1.009538
$STATE,14519,end surface coast,CONTROL_FINISHED_OK
$STATE,14519,begin surface
$SM_CCo,14544,124.47,0.495,0,0,1763,350.04
$SM_GC,1.84,0.00,0.00,124.47,0.000,0.000,0.495,463,2151,1763,-12.87,-1.67,350.04
$IRIDIUM_FIX,1918.37,-8114.71,010702,050514
$TT8_MAMPS,0.025311
$HUMID,58.38
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.10
$XPDR_PINGS,72
$24V_AH,23.2,52.796
$10V_AH,10.1,46.753
$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,31.775,175.675,246.325,124.475,0.000,27.344,35.049,177.393,18.000,0.000,13.641,1313.376,10142.678,492.005,2459.905,663.618,33.389,1516.204,0.000,2442.530,0.000,0.535,0.000
$DEVICE_MAMPS,153.400,116.584,1182.714,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.971,279.046,359.530,486.726,927.417,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,44530,568
$CAP_FILE_SIZE,145868,0
$CFSIZE,260165632,102158336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060413,134937,1926.058,-8117.108,31,1.7,33,-3.7