version: 66.06
glider: 146
mission: 8
dive: 375
start: 4 6 113 13 59 43
data:
$ID,146
$MISSION,8
$DIVE,375
$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,-314857.81
$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,17
$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
$GPS1,134937,1926.058,-8117.108,31,1.7,33,-3.7
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-73.4
$GPS2,135845,1925.966,-8117.095,13,1.9,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,-0.124
$KALMAN_X,-232644.0,-105.7,136.7,215680.5,-1910.3
$KALMAN_Y,135649.7,-231.0,-223.4,-130738.3,2495.6
$MHEAD_RNG_PITCHd_Wd,153.8,2482,-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,17,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-67.30,0.000,6,0.000,0.000,463,2150,3368,0,0,0,0,0,0
$GC,94,-2.14,-80.8,3.7,-4.5,9,120,12.52,2.55,-3.05,0.000,4,0.157,0.052,2784,618,3522,0,0,0,0,0,0
$GC,211,-1.97,-80.8,37.4,-29.8,24,216,0.22,2.47,0.00,0.000,6,0.130,0.015,2827,2260,3522,0,0,0,0,0,0
$GC,475,-1.97,-80.8,100.2,-22.3,48,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2260,3522,0,0,0,0,0,0
$GC,743,-2.05,-80.8,155.0,-16.4,73,748,0.00,2.38,0.00,0.000,4,0.000,0.030,2826,3772,3523,0,0,0,0,0,0
$GC,821,-2.16,-80.8,167.9,-15.7,79,827,0.15,2.47,0.00,0.000,6,0.055,0.019,2763,2179,3523,0,0,0,0,0,0
$GC,1082,-2.16,-80.8,205.7,-13.3,100,1087,0.12,2.53,0.00,0.000,4,0.114,0.035,2788,3765,3524,0,0,0,0,0,0
$GC,1245,-2.22,-80.8,228.5,-13.7,103,1249,0.00,2.38,0.00,0.000,6,0.000,0.017,2788,2220,3524,0,0,0,0,0,0
$GC,1495,-2.30,-80.8,261.1,-13.0,109,1500,0.12,2.47,0.00,0.000,4,0.067,0.039,2735,3763,3524,0,0,0,0,0,0
$GC,1558,-2.30,-80.8,270.0,-14.7,110,1563,0.12,2.40,0.00,0.000,6,0.112,0.019,2760,2239,3524,0,0,0,0,0,0
$GC,1819,-2.30,-80.8,305.4,-13.2,117,1823,0.00,2.45,0.00,0.000,4,0.000,0.035,2760,3759,3524,0,0,0,0,0,0
$GC,1892,-2.30,-80.8,316.1,-14.4,118,1897,0.00,2.40,0.00,0.000,6,0.000,0.024,2760,2236,3523,0,0,0,0,0,0
$GC,2142,-2.34,-80.8,351.7,-14.3,124,2147,0.00,2.45,0.00,0.000,4,0.000,0.045,2760,3754,3523,0,0,0,0,0,0
$GC,2175,-2.34,-80.8,356.8,-15.5,124,2181,0.00,2.42,0.00,0.000,6,0.000,0.029,2760,2239,3523,0,0,0,0,0,0
$GC,2428,-2.38,-80.8,390.9,-13.7,131,2432,0.00,2.47,0.00,0.000,4,0.000,0.050,2761,3755,3523,0,0,0,0,0,0
$GC,2512,-2.38,-80.8,403.9,-15.1,133,2516,0.00,2.45,0.00,0.000,6,0.000,0.036,2760,2242,3522,0,0,0,0,0,0
$GC,2795,-2.43,-80.8,442.2,-12.9,140,2800,0.12,2.55,0.00,0.000,4,0.069,0.054,2707,3750,3521,0,0,0,0,0,0
$GC,3025,-2.36,-80.8,479.0,-16.5,145,3031,0.17,2.50,0.00,0.000,6,0.108,0.052,2742,2248,3519,0,0,0,0,0,0
$GC,3300,-2.36,-80.8,517.6,-13.9,152,3304,0.00,2.55,0.00,0.000,4,0.000,0.067,2743,3747,3518,0,0,0,0,0,0
$GC,3388,-2.36,-80.8,530.5,-13.9,154,3393,0.00,2.53,0.00,0.000,6,0.000,0.057,2742,2252,3517,0,0,0,0,0,0
$GC,3667,-2.36,-80.8,567.1,-13.1,161,3671,0.00,2.58,0.00,0.000,4,0.000,0.069,2742,3750,3517,0,0,0,0,0,0
$GC,3753,-2.36,-80.8,578.9,-14.2,163,3757,0.00,2.58,0.00,0.000,6,0.000,0.065,2742,2257,3515,0,0,0,0,0,0
$GC,4036,-2.36,-80.8,617.5,-13.6,170,4040,0.00,2.62,0.00,0.000,4,0.000,0.085,2742,3746,3513,0,0,0,0,0,0
$GC,4081,-2.36,-80.8,624.1,-15.4,171,4085,0.00,2.60,0.00,0.000,6,0.000,0.078,2742,2258,3513,0,0,0,0,0,0
$GC,4360,-2.36,-80.8,662.6,-13.8,178,4365,0.00,2.70,0.00,0.000,4,0.000,0.094,2742,3751,3512,0,0,0,0,0,0
$GC,4415,-2.36,-80.8,670.7,-13.7,179,4419,0.00,2.67,0.00,0.000,6,0.000,0.091,2743,2276,3512,0,0,0,0,0,0
$GC,4682,-2.36,-80.8,705.9,-13.1,186,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2276,3510,0,0,0,0,0,0
$GC,4928,-2.36,-80.8,738.3,-13.4,192,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2272,3509,0,0,0,0,0,0
$GC,5169,-2.36,-80.8,771.1,-13.5,198,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2272,3507,0,0,0,0,0,0
$GC,5413,-2.36,-80.8,804.7,-13.7,204,5417,0.00,2.60,0.00,0.000,4,0.000,0.088,2742,3746,3506,0,0,0,0,0,0
$GC,5509,-2.36,-80.8,818.2,-13.5,206,5514,0.00,2.60,0.00,0.000,6,0.000,0.076,2742,2266,3505,0,0,0,0,0,0
$GC,5782,-2.40,-80.8,854.7,-13.5,213,5786,0.00,2.60,0.00,0.000,4,0.000,0.081,2742,3749,3504,0,0,0,0,0,0
$GC,5887,-2.40,-80.8,869.9,-14.2,215,5892,0.00,2.55,0.00,0.000,6,0.000,0.073,2742,2277,3503,0,0,0,0,0,0
$STATE,6146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6146,begin apogee
$GC,6155,-0.31,0.0,902.7,12.3,222,6229,2.08,0.00,66.90,1.183,6,0.099,0.000,3188,2324,3190,0,0,0,0,0,0
$STATE,6229,end apogee,CONTROL_FINISHED_OK
$STATE,6229,begin climb
$GC,6232,2.14,80.8,905.0,0.0,224,6314,2.20,3.05,70.38,1.156,4,0.030,0.110,3747,782,2860,0,0,0,0,0,0
$GC,6368,2.08,80.8,893.9,12.9,227,6374,0.17,2.72,0.00,0.000,6,0.130,0.056,3715,2373,2857,0,0,0,0,0,0
$GC,6646,2.08,80.8,861.0,11.8,234,6651,0.00,2.78,0.00,0.000,4,0.000,0.076,3714,3937,2855,0,0,0,0,0,0
$GC,6760,2.08,80.8,847.5,12.0,236,6764,0.00,2.62,0.00,0.000,6,0.000,0.042,3714,2371,2854,0,0,0,0,0,0
$GC,7015,2.12,80.8,819.5,11.0,243,7019,0.00,2.67,0.00,0.000,4,0.000,0.055,3715,3945,2853,0,0,0,0,0,0
$GC,7272,2.12,80.8,791.1,11.2,248,7278,0.00,2.60,0.00,0.000,6,0.000,0.044,3715,2394,2851,0,0,0,0,0,0
$GC,7523,2.16,81.4,766.0,9.9,255,7527,0.00,2.62,0.00,0.000,4,0.000,0.054,3715,3941,2850,0,0,0,0,0,0
$GC,7782,2.16,81.4,736.1,12.1,260,7787,0.00,2.60,0.00,0.000,6,0.000,0.041,3715,2394,2849,0,0,0,0,0,0
$GC,8032,2.21,81.4,709.5,10.3,267,8037,0.10,2.60,0.00,0.000,4,0.091,0.053,3744,3943,2848,0,0,0,0,0,0
$GC,8293,2.14,81.4,679.6,11.3,272,8298,0.00,2.58,0.00,0.000,6,0.000,0.039,3744,2402,2846,0,0,0,0,0,0
$GC,8542,2.14,81.4,652.6,10.7,279,8547,0.00,2.60,0.00,0.000,4,0.000,0.056,3744,3942,2846,0,0,0,0,0,0
$GC,8801,2.09,81.4,622.1,12.1,284,8807,0.15,2.55,0.00,0.000,6,0.138,0.042,3716,2406,2846,0,0,0,0,0,0
$GC,9053,2.14,81.4,595.9,10.4,291,9057,0.00,2.58,0.00,0.000,4,0.000,0.055,3716,3939,2845,0,0,0,0,0,0
$GC,9312,2.14,81.4,566.8,10.8,296,9317,0.00,2.53,0.00,0.000,6,0.000,0.036,3716,2413,2845,0,0,0,0,0,0
$GC,9565,2.19,84.1,542.2,9.6,303,9569,0.00,2.55,0.00,0.000,4,0.000,0.048,3716,3948,2845,0,0,0,0,0,0
$GC,9822,2.19,84.1,515.7,10.2,308,9827,0.00,2.50,0.00,0.000,6,0.000,0.039,3716,2424,2845,0,0,0,0,0,0
$GC,10075,2.26,89.5,492.8,9.2,315,10087,0.15,2.53,5.95,0.725,4,0.070,0.046,3760,3945,2825,0,0,0,0,0,0
$GC,10343,2.20,89.5,463.5,11.1,321,10347,0.00,2.47,0.00,0.000,6,0.000,0.030,3760,2428,2824,0,0,0,0,0,0
$GC,10626,2.20,89.5,434.7,10.1,328,10630,0.00,2.50,0.00,0.000,4,0.000,0.044,3760,3942,2825,0,0,0,0,0,0
$GC,10835,2.15,89.5,410.4,12.1,332,10840,0.17,2.45,0.00,0.000,6,0.129,0.026,3727,2428,2824,0,0,0,0,0,0
$GC,11085,2.20,89.5,384.6,10.1,338,11089,0.00,2.50,0.00,0.000,4,0.000,0.047,3727,3950,2824,0,0,0,0,0,0
$GC,11167,2.20,89.5,376.4,10.5,339,11173,0.00,2.42,0.00,0.000,6,0.000,0.031,3727,2427,2825,0,0,0,0,0,0
$GC,11417,2.26,94.1,352.4,9.3,346,11429,0.10,2.50,5.97,0.644,4,0.088,0.039,3759,3944,2805,0,0,0,0,0,0
$GC,11515,2.21,94.1,341.3,11.8,348,11519,0.00,2.40,0.00,0.000,6,0.000,0.023,3760,2442,2805,0,0,0,0,0,0
$GC,11789,2.21,94.1,311.0,11.1,355,11793,0.00,2.47,0.00,0.000,4,0.000,0.044,3760,3952,2805,0,0,0,0,0,0
$GC,11810,2.21,94.1,308.1,11.0,355,11814,0.00,2.42,0.00,0.000,6,0.000,0.026,3760,2432,2805,0,0,0,0,0,0
$GC,12071,2.21,94.1,279.3,10.9,362,12076,0.00,2.47,0.00,0.000,4,0.000,0.044,3760,3944,2805,0,0,0,0,0,0
$GC,12331,2.16,94.1,246.5,12.1,367,12337,0.15,2.38,0.00,0.000,6,0.130,0.022,3732,2449,2806,0,0,0,0,0,0
$GC,12584,2.22,94.1,220.5,10.2,374,12588,0.00,2.45,0.00,0.000,4,0.000,0.044,3732,3947,2807,0,0,0,0,0,0
$GC,12745,2.22,94.1,202.4,10.5,377,12749,0.00,2.35,0.00,0.000,6,0.000,0.023,3732,2466,2807,0,0,0,0,0,0
$GC,13015,2.34,118.4,182.0,6.3,399,13043,0.10,2.50,21.10,0.644,4,0.087,0.044,3766,3939,2707,0,0,0,0,0,0
$GC,13275,2.34,118.4,156.7,10.9,421,13279,0.00,2.33,0.00,0.000,6,0.000,0.022,3766,2466,2705,0,0,0,0,0,0
$GC,13541,2.46,154.8,138.0,4.5,445,13584,0.00,2.50,31.55,0.611,4,0.000,0.039,3766,3939,2556,0,0,0,0,0,0
$GC,13664,2.56,181.1,132.2,6.0,455,13691,0.00,2.33,22.73,0.591,6,0.000,0.021,3766,2462,2451,0,0,0,0,0,0
$GC,13952,2.68,181.1,105.8,10.0,481,13956,0.00,2.42,0.00,0.000,4,0.000,0.039,3766,3952,2448,0,0,0,0,0,0
$GC,14115,2.78,181.1,86.6,12.6,494,14119,0.00,2.33,0.00,0.000,6,0.000,0.023,3766,2473,2447,0,0,0,0,0,0
$GC,14384,2.91,181.1,55.7,10.1,518,14389,0.00,2.40,0.00,0.000,4,0.000,0.040,3766,3950,2447,0,0,0,0,0,0
$GC,14516,3.01,181.1,40.9,10.3,528,14520,0.00,2.33,0.00,0.000,6,0.000,0.022,3766,2477,2448,0,0,0,0,0,0
$GC,14823,3.20,181.1,5.4,12.4,567,14832,0.00,2.83,0.00,0.000,4,0.000,0.047,3766,769,2449,0,0,0,0,0,0
$STATE,14840,end climb,SURFACE_DEPTH_REACHED
$STATE,14840,begin surface coast
$FINISH,1.1,1.023802
$STATE,14882,end surface coast,CONTROL_FINISHED_OK
$STATE,14882,begin surface
$SM_CCo,14908,136.93,0.494,0,0,1763,350.04
$SM_GC,1.90,0.00,0.00,136.93,0.000,0.000,0.494,462,2268,1763,-12.87,1.67,350.04
$IRIDIUM_FIX,1918.37,-8116.97,010702,090935
$TT8_MAMPS,0.025311
$HUMID,58.30
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.10
$XPDR_PINGS,71
$24V_AH,23.2,52.901
$10V_AH,10.1,46.871
$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,32.150,171.375,224.575,136.925,0.000,28.908,40.385,306.587,17.750,0.000,15.234,1361.974,10288.499,486.915,2639.476,814.799,33.368,1579.732,0.000,2616.689,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,120.419,1182.714,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.864,279.408,360.016,486.760,927.443,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,44631,575
$CAP_FILE_SIZE,152713,0
$CFSIZE,260165632,102080512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060413,181204,1925.574,-8117.086,40,1.9,50,-3.7