version: 66.06
glider: 146
mission: 8
dive: 396
start: 4 11 113 7 27 42
data:
$ID,146
$MISSION,8
$DIVE,396
$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,-315218.22
$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,11
$R_STBD_OVSHOOT,23
$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
$GPS1,071629,1926.885,-8118.975,38,1.1,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.9
$GPS2,072648,1926.879,-8119.055,7,2.0,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,0.017
$KALMAN_X,-239867.2,-225.1,9.4,219743.8,-790.8
$KALMAN_Y,146227.6,-78.2,-137.6,-139869.6,-80.7
$MHEAD_RNG_PITCHd_Wd,87.1,1856,-31.8,-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,-2.05,-46.6,0.0,0.0,0,92,0.00,0.00,-68.32,0.000,6,0.000,0.000,464,2152,3379,0,0,0,0,0,0
$GC,95,-2.10,-89.7,3.3,-3.8,9,121,12.60,2.67,-3.58,0.000,4,0.153,0.038,2792,3808,3557,0,0,0,0,0,0
$GC,214,-2.02,-89.7,36.7,-27.7,24,219,0.12,2.55,0.00,0.000,6,0.137,0.021,2816,2180,3557,0,0,0,0,0,0
$GC,477,-1.97,-89.7,102.2,-23.6,48,481,0.00,2.58,0.00,0.000,4,0.000,0.028,2817,3814,3558,0,0,0,0,0,0
$GC,524,-1.97,-89.7,112.5,-22.6,51,528,0.00,2.50,0.00,0.000,6,0.000,0.018,2816,2211,3558,0,0,0,0,0,0
$GC,789,-2.04,-89.7,157.2,-13.4,75,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2211,3558,0,0,0,0,0,0
$GC,1055,-2.14,-89.7,191.4,-12.1,100,1060,0.10,2.55,0.00,0.000,4,0.079,0.033,2768,3808,3559,0,0,0,0,0,0
$GC,1085,-2.14,-89.7,195.8,-13.9,102,1091,0.12,2.47,0.00,0.000,6,0.107,0.018,2794,2205,3559,0,0,0,0,0,0
$GC,1357,-2.21,-89.7,232.7,-13.1,110,1361,0.00,2.58,0.00,0.000,4,0.000,0.038,2794,3811,3559,0,0,0,0,0,0
$GC,1414,-2.25,-89.7,240.5,-14.2,111,1419,0.10,2.45,0.00,0.000,6,0.074,0.018,2741,2226,3559,0,0,0,0,0,0
$GC,1681,-2.25,-89.7,280.2,-14.9,118,1686,0.12,2.55,0.00,0.000,4,0.115,0.043,2766,3801,3558,0,0,0,0,0,0
$GC,1742,-2.25,-89.7,289.5,-15.0,119,1746,0.00,2.47,0.00,0.000,6,0.000,0.019,2766,2220,3558,0,0,0,0,0,0
$GC,2005,-2.25,-89.7,325.8,-14.1,126,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2220,3558,0,0,0,0,0,0
$GC,2246,-2.25,-89.7,360.8,-14.2,132,2250,0.00,2.58,0.00,0.000,4,0.000,0.043,2766,3796,3557,0,0,0,0,0,0
$GC,2261,-2.25,-89.7,363.2,-14.3,132,2266,0.00,2.50,0.00,0.000,6,0.000,0.034,2766,2230,3558,0,0,0,0,0,0
$GC,2525,-2.29,-89.7,399.3,-13.8,139,2530,0.00,2.60,0.00,0.000,4,0.000,0.054,2766,3793,3556,0,0,0,0,0,0
$GC,2609,-2.29,-89.7,411.6,-14.0,141,2614,0.00,2.55,0.00,0.000,6,0.000,0.042,2766,2234,3556,0,0,0,0,0,0
$GC,2893,-2.34,-89.7,449.2,-13.3,148,2898,0.00,2.65,0.00,0.000,4,0.000,0.063,2766,3795,3555,0,0,0,0,0,0
$GC,2940,-2.34,-89.7,455.5,-14.0,149,2944,0.00,2.58,0.00,0.000,6,0.000,0.050,2766,2234,3555,0,0,0,0,0,0
$GC,3217,-2.39,-89.7,494.3,-13.9,156,3223,0.12,2.67,0.00,0.000,4,0.067,0.066,2718,3792,3553,0,0,0,0,0,0
$GC,3267,-2.33,-89.7,502.5,-16.5,157,3273,0.15,2.60,0.00,0.000,6,0.108,0.048,2749,2237,3553,0,0,0,0,0,0
$GC,3540,-2.33,-89.7,541.7,-14.3,164,3544,0.00,2.70,0.00,0.000,4,0.000,0.070,2749,3797,3551,0,0,0,0,0,0
$GC,3583,-2.33,-89.7,548.4,-15.4,165,3588,0.00,2.62,0.00,0.000,6,0.000,0.055,2749,2252,3551,0,0,0,0,0,0
$GC,3864,-2.33,-89.7,588.2,-14.4,172,3868,0.00,2.70,0.00,0.000,4,0.000,0.078,2749,3788,3549,0,0,0,0,0,0
$GC,3941,-2.33,-89.7,600.4,-15.1,173,3947,0.00,2.67,0.00,0.000,6,0.000,0.064,2749,2250,3549,0,0,0,0,0,0
$GC,4191,-2.33,-89.7,636.2,-14.2,180,4196,0.00,2.78,0.00,0.000,4,0.000,0.096,2749,3787,3547,0,0,0,0,0,0
$GC,4265,-2.33,-89.7,647.1,-15.4,181,4270,0.00,2.78,0.00,0.000,6,0.000,0.091,2749,2255,3547,0,0,0,0,0,0
$GC,4515,-2.33,-89.7,682.4,-14.0,187,4520,0.00,2.90,0.00,0.000,4,0.000,0.113,2749,3789,3545,0,0,0,0,0,0
$GC,4603,-2.33,-89.7,695.6,-15.1,189,4608,0.00,2.75,0.00,0.000,6,0.000,0.094,2749,2263,3545,0,0,0,0,0,0
$GC,4884,-2.33,-89.7,733.6,-13.6,196,4888,0.00,2.78,0.00,0.000,4,0.000,0.090,2749,3794,3543,0,0,0,0,0,0
$GC,4989,-2.33,-89.7,749.2,-15.1,198,4993,0.00,2.70,0.00,0.000,6,0.000,0.081,2749,2272,3542,0,0,0,0,0,0
$GC,5253,-2.33,-89.7,784.7,-13.6,205,5257,0.00,2.70,0.00,0.000,4,0.000,0.087,2749,3789,3540,0,0,0,0,0,0
$GC,5268,-2.33,-89.7,787.2,-13.8,205,5273,0.00,2.67,0.00,0.000,6,0.000,0.071,2749,2269,3540,0,0,0,0,0,0
$GC,5529,-2.33,-89.7,823.5,-14.0,212,5534,0.00,2.72,0.00,0.000,4,0.000,0.083,2749,3794,3539,0,0,0,0,0,0
$GC,5621,-2.33,-89.7,836.6,-14.5,214,5625,0.00,2.62,0.00,0.000,6,0.000,0.068,2749,2285,3538,0,0,0,0,0,0
$GC,5898,-2.33,-89.7,873.9,-13.3,221,5902,0.00,2.65,0.00,0.000,4,0.000,0.085,2749,3789,3536,0,0,0,0,0,0
$GC,5913,-2.33,-89.7,876.1,-13.4,221,5917,0.00,2.62,0.00,0.000,6,0.000,0.066,2749,2284,3536,0,0,0,0,0,0
$STATE,6131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6131,begin apogee
$GC,6140,-0.31,0.0,904.8,12.9,227,6219,2.05,0.00,74.25,1.192,6,0.100,0.000,3188,2377,3190,0,0,0,0,0,0
$STATE,6219,end apogee,CONTROL_FINISHED_OK
$STATE,6220,begin climb
$GC,6222,2.10,89.7,907.4,0.0,229,6313,2.17,3.10,79.00,1.164,4,0.031,0.108,3733,778,2822,0,0,0,0,0,0
$GC,6568,2.05,89.7,868.7,13.1,236,6574,0.15,2.70,0.00,0.000,6,0.136,0.048,3707,2364,2817,0,0,0,0,0,0
$GC,6818,2.08,89.7,840.1,11.2,243,6823,0.00,2.85,0.00,0.000,4,0.000,0.077,3707,775,2815,0,0,0,0,0,0
$GC,7077,2.08,89.7,809.4,10.7,248,7083,0.00,2.70,0.00,0.000,6,0.000,0.048,3706,2378,2814,0,0,0,0,0,0
$GC,7327,2.12,89.7,782.2,10.7,255,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,2378,2812,0,0,0,0,0,0
$GC,7573,2.16,89.7,756.0,10.7,261,7578,0.10,2.75,0.00,0.000,4,0.090,0.077,3735,3938,2811,0,0,0,0,0,0
$GC,7793,2.10,89.7,728.7,13.1,266,7797,0.00,2.58,0.00,0.000,6,0.000,0.038,3735,2375,2809,0,0,0,0,0,0
$GC,8078,2.10,89.7,694.6,11.8,273,8083,0.00,2.65,0.00,0.000,4,0.000,0.053,3735,3939,2809,0,0,0,0,0,0
$GC,8339,2.04,89.7,661.8,12.7,278,8345,0.15,2.58,0.00,0.000,6,0.138,0.044,3707,2395,2808,0,0,0,0,0,0
$GC,8589,2.08,89.7,634.4,10.8,285,8593,0.00,2.60,0.00,0.000,4,0.000,0.057,3707,3938,2807,0,0,0,0,0,0
$GC,8846,2.08,89.7,603.7,11.5,290,8852,0.00,2.53,0.00,0.000,6,0.000,0.041,3707,2413,2807,0,0,0,0,0,0
$GC,9097,2.13,89.7,577.2,10.6,297,9101,0.00,2.58,0.00,0.000,4,0.000,0.051,3707,3940,2806,0,0,0,0,0,0
$GC,9316,2.13,89.7,552.0,11.8,302,9320,0.00,2.53,0.00,0.000,6,0.000,0.040,3707,2414,2806,0,0,0,0,0,0
$GC,9599,2.19,89.7,522.5,10.2,309,9604,0.12,2.53,0.00,0.000,4,0.078,0.047,3743,3941,2806,0,0,0,0,0,0
$GC,9657,2.12,89.7,515.8,11.8,310,9662,0.12,2.50,0.00,0.000,6,0.140,0.035,3721,2420,2805,0,0,0,0,0,0
$GC,9923,2.12,89.7,486.1,10.8,317,9928,0.00,2.50,0.00,0.000,4,0.000,0.051,3721,3941,2806,0,0,0,0,0,0
$GC,10046,2.12,89.7,471.2,11.9,319,10052,0.00,2.47,0.00,0.000,6,0.000,0.029,3721,2418,2805,0,0,0,0,0,0
$GC,10299,2.12,89.7,444.9,10.5,326,10303,0.00,2.50,0.00,0.000,4,0.000,0.048,3721,3942,2805,0,0,0,0,0,0
$GC,10556,2.12,89.7,414.7,11.4,331,10561,0.00,2.42,0.00,0.000,6,0.000,0.032,3721,2440,2805,0,0,0,0,0,0
$GC,10809,2.16,89.7,387.7,10.5,338,10813,0.00,2.47,0.00,0.000,4,0.000,0.044,3721,3946,2805,0,0,0,0,0,0
$GC,10863,2.16,89.7,381.0,11.4,339,10867,0.00,2.42,0.00,0.000,6,0.000,0.028,3720,2436,2805,0,0,0,0,0,0
$GC,11133,2.20,89.7,353.4,10.2,346,11137,0.00,2.45,0.00,0.000,4,0.000,0.047,3721,3943,2805,0,0,0,0,0,0
$GC,11357,2.20,89.7,326.7,12.0,351,11361,0.00,2.38,0.00,0.000,6,0.000,0.029,3720,2453,2806,0,0,0,0,0,0
$GC,11637,2.25,89.7,296.5,10.8,358,11642,0.12,2.45,0.00,0.000,4,0.096,0.040,3758,3946,2806,0,0,0,0,0,0
$GC,11895,2.18,89.7,264.0,12.6,363,11901,0.12,2.38,0.00,0.000,6,0.133,0.025,3735,2453,2807,0,0,0,0,0,0
$GC,12147,2.18,89.7,237.9,10.4,370,12152,0.00,2.45,0.00,0.000,4,0.000,0.046,3735,3945,2807,0,0,0,0,0,0
$GC,12402,2.18,89.7,208.0,11.6,375,12406,0.00,2.35,0.00,0.000,6,0.000,0.026,3735,2471,2808,0,0,0,0,0,0
$GC,12669,2.18,93.5,182.2,9.5,394,12673,0.00,2.42,0.00,0.000,4,0.000,0.040,3735,3952,2809,0,0,0,0,0,0
$GC,12935,2.21,114.6,159.2,7.0,416,12959,0.00,2.33,18.77,0.622,6,0.000,0.030,3735,2482,2721,0,0,0,0,0,0
$GC,13218,2.30,116.1,133.4,9.8,442,13223,0.10,2.42,0.00,0.000,4,0.084,0.038,3771,3953,2720,0,0,0,0,0,0
$GC,13488,2.35,157.9,120.5,4.0,464,13530,0.00,2.30,36.55,0.597,6,0.000,0.021,3771,2505,2545,0,0,0,0,0,0
$GC,13786,2.46,173.6,99.1,7.7,492,13805,0.00,2.38,14.07,0.544,4,0.000,0.036,3770,3952,2481,0,0,0,0,0,0
$GC,14078,2.53,179.7,70.9,9.1,515,14090,0.00,2.33,6.47,0.455,6,0.000,0.021,3770,2489,2457,0,0,0,0,0,0
$GC,14358,2.66,181.4,43.8,9.8,541,14362,0.00,2.38,0.00,0.000,4,0.000,0.038,3770,3945,2456,0,0,0,0,0,0
$GC,14660,2.73,181.9,11.4,9.9,576,14670,0.00,2.30,3.83,0.331,6,0.000,0.025,3771,2507,2448,0,0,0,0,0,0
$STATE,14724,end climb,SURFACE_DEPTH_REACHED
$STATE,14724,begin surface coast
$FINISH,1.1,0.999854
$STATE,14777,end surface coast,CONTROL_FINISHED_OK
$STATE,14778,begin surface
$SM_CCo,14801,134.98,0.494,0,0,1763,350.04
$SM_GC,1.87,0.00,0.00,134.98,0.000,0.000,0.494,461,2173,1763,-12.88,-1.05,350.04
$IRIDIUM_FIX,1918.37,-8119.23,060702,030319
$TT8_MAMPS,0.026078
$HUMID,58.62
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.30
$XPDR_PINGS,77
$24V_AH,23.1,55.819
$10V_AH,10.0,49.544
$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,31.950,175.375,232.950,134.975,0.000,30.596,37.033,380.146,19.250,0.000,13.958,1374.230,10132.554,479.261,2686.583,877.275,33.371,1576.474,0.000,2667.052,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,112.749,1191.918,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.618,303.186,383.522,524.821,997.435,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,47640,592
$CAP_FILE_SIZE,152115,0
$CFSIZE,260165632,100556800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110413,113806,1927.134,-8117.996,42,1.0,42,-3.7