version: 66.06
glider: 146
mission: 8
dive: 64
start: 1 29 113 8 31 24
data:
$ID,146
$MISSION,8
$DIVE,64
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,950
$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,200
$T_MISSION,400
$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,-308576.44
$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,3250
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,35
$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,3200
$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
$GPS1,082159,1926.014,-8112.820,59,1.9,59,-3.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.4
$GPS2,083031,1926.025,-8112.800,19,1.9,19,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.024
$KALMAN_X,68493.1,476.9,358.9,-72222.1,946.3
$KALMAN_Y,-7230.3,338.5,529.7,4491.8,-1244.9
$MHEAD_RNG_PITCHd_Wd,99.2,8973,-17.5,-10.000
$D_GRID,600
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-68.50,0.000,2,0.000,0.000,465,2205,3466,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.4,-4.9,9,120,13.75,0.00,-6.18,0.000,6,0.168,0.000,2966,2206,3796,0,0,0,0,0,0
$GC,401,-1.03,-146.0,71.7,-20.2,42,410,0.25,0.00,0.00,0.000,6,0.110,0.000,3022,2206,3796,0,0,0,0,0,0
$GC,665,-0.92,-146.0,112.1,-14.4,67,670,0.12,2.55,0.00,0.000,4,0.118,0.047,3049,656,3797,0,0,0,0,0,0
$GC,701,-0.88,-146.0,117.8,-13.0,69,707,0.00,2.42,0.00,0.000,6,0.000,0.016,3049,2257,3797,0,0,0,0,0,0
$GC,966,-0.88,-146.0,143.6,-8.7,94,970,0.00,2.62,0.00,0.000,4,0.000,0.049,3049,659,3797,0,0,0,0,0,0
$GC,1000,-0.94,-146.0,147.1,-9.7,96,1009,0.00,2.42,0.00,0.000,6,0.000,0.018,3049,2212,3797,0,0,0,0,0,0
$GC,1268,-0.99,-146.0,167.6,-7.9,121,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2212,3798,0,0,0,0,0,0
$GC,1531,-1.07,-146.0,187.5,-7.8,146,1533,0.12,0.00,0.00,0.000,6,0.067,0.000,2995,2212,3798,0,0,0,0,0,0
$GC,1791,-1.07,-146.0,210.7,-8.7,162,1793,0.10,0.00,0.00,0.000,6,0.114,0.000,3017,2212,3798,0,0,0,0,0,0
$GC,2033,-1.11,-146.0,229.3,-7.7,168,2038,0.00,2.55,0.00,0.000,4,0.000,0.049,3017,658,3798,0,0,0,0,0,0
$GC,2050,-1.15,-146.0,230.7,-7.4,168,2055,0.00,2.40,0.00,0.000,6,0.000,0.025,3017,2215,3798,0,0,0,0,0,0
$GC,2313,-1.20,-146.0,250.4,-7.5,175,2315,0.12,0.00,0.00,0.000,6,0.067,0.000,2963,2215,3798,0,0,0,0,0,0
$GC,2555,-1.15,-146.0,274.3,-9.9,181,2560,0.15,2.62,0.00,0.000,4,0.095,0.051,2998,3801,3798,0,0,0,0,0,0
$GC,2577,-1.15,-146.0,276.4,-8.9,181,2581,0.00,2.50,0.00,0.000,6,0.000,0.021,2998,2209,3798,0,0,0,0,0,0
$GC,2834,-1.15,-146.0,295.1,-7.2,188,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2209,3797,0,0,0,0,0,0
$GC,3075,-1.15,-146.0,313.4,-7.4,194,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2209,3797,0,0,0,0,0,0
$GC,3319,-1.15,-146.0,332.5,-7.9,200,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2209,3796,0,0,0,0,0,0
$GC,3565,-1.15,-146.0,352.4,-8.1,206,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2209,3795,0,0,0,0,0,0
$GC,3807,-1.15,-146.0,370.8,-7.5,212,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2209,3794,0,0,0,0,0,0
$GC,4050,-1.15,-146.0,389.0,-7.5,218,4055,0.00,2.67,0.00,0.000,4,0.000,0.056,2998,3799,3793,0,0,0,0,0,0
$GC,4073,-1.19,-146.0,390.8,-7.5,218,4077,0.00,2.58,0.00,0.000,6,0.000,0.037,2998,2207,3793,0,0,0,0,0,0
$GC,4330,-1.19,-146.0,410.0,-7.5,225,4334,0.00,2.65,0.00,0.000,4,0.000,0.058,2998,3788,3792,0,0,0,0,0,0
$GC,4346,-1.23,-146.0,411.6,-7.2,225,4350,0.00,2.58,0.00,0.000,6,0.000,0.038,2998,2205,3792,0,0,0,0,0,0
$GC,4609,-1.27,-146.0,430.9,-7.5,232,4614,0.10,2.78,0.00,0.000,4,0.081,0.088,2954,648,3791,0,0,0,0,0,0
$GC,4625,-1.27,-146.0,432.6,-7.7,232,4630,0.00,2.50,0.00,0.000,6,0.000,0.039,2954,2188,3791,0,0,0,0,0,0
$GC,4887,-1.22,-146.0,457.1,-9.5,239,4889,0.12,0.00,0.00,0.000,6,0.101,0.000,2982,2188,3790,0,0,0,0,0,0
$GC,5132,-1.22,-146.0,477.3,-8.2,245,5137,0.00,2.83,0.00,0.000,4,0.000,0.077,2982,3819,3789,0,0,0,0,0,0
$GC,5178,-1.22,-146.0,481.4,-8.4,246,5182,0.00,2.67,0.00,0.000,6,0.000,0.044,2982,2207,3788,0,0,0,0,0,0
$GC,5455,-1.22,-146.0,504.5,-8.3,253,5460,0.00,2.88,0.00,0.000,4,0.000,0.104,2982,644,3787,0,0,0,0,0,0
$GC,5473,-1.22,-146.0,505.8,-8.4,253,5477,0.00,2.60,0.00,0.000,6,0.000,0.047,2982,2214,3787,0,0,0,0,0,0
$GC,5733,-1.22,-146.0,527.6,-8.2,260,5738,0.00,2.83,0.00,0.000,4,0.000,0.088,2982,3814,3785,0,0,0,0,0,0
$GC,5749,-1.22,-146.0,529.0,-8.0,260,5753,0.00,2.70,0.00,0.000,6,0.000,0.051,2982,2200,3785,0,0,0,0,0,0
$GC,6012,-1.22,-146.0,550.4,-8.3,267,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3784,0,0,0,0,0,0
$GC,6253,-1.22,-146.0,570.4,-8.2,273,6258,0.00,2.85,0.00,0.000,4,0.000,0.081,2982,3812,3784,0,0,0,0,0,0
$GC,6269,-1.22,-146.0,571.8,-8.2,273,6273,0.00,2.70,0.00,0.000,6,0.000,0.061,2982,2207,3783,0,0,0,0,0,0
$GC,6530,-1.22,-146.0,592.9,-8.1,280,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2207,3782,0,0,0,0,0,0
$STATE,6653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6653,begin apogee
$GC,6661,-0.31,0.0,603.0,8.2,283,6782,0.88,0.00,117.25,0.966,6,0.071,0.000,3184,2366,3199,0,0,0,0,0,0
$STATE,6782,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6785,1.27,146.0,606.8,0.0,286,6919,1.42,2.90,120.53,0.941,4,0.045,0.084,3530,3917,2603,0,0,0,0,0,0
$GC,6942,1.19,152.3,599.2,9.7,289,6955,0.00,2.70,6.47,0.714,6,0.000,0.063,3530,2354,2578,0,0,0,0,0,0
$GC,7240,1.13,152.3,569.3,10.3,297,7245,0.15,2.78,0.00,0.000,4,0.110,0.071,3498,3927,2574,0,0,0,0,0,0
$GC,7282,1.14,160.0,565.3,9.6,298,7296,0.00,2.62,7.65,0.757,6,0.000,0.049,3498,2367,2547,0,0,0,0,0,0
$GC,7569,1.17,184.4,539.0,8.9,305,7598,0.00,2.83,21.85,0.874,4,0.000,0.061,3498,3935,2447,0,0,0,0,0,0
$GC,7614,1.21,217.9,535.0,8.5,306,7651,0.00,2.67,31.08,0.883,6,0.000,0.047,3498,2360,2311,0,0,0,0,0,0
$GC,7895,1.25,217.9,506.0,10.5,312,7897,0.10,0.00,0.00,0.000,6,0.084,0.000,3529,2360,2304,0,0,0,0,0,0
$GC,8138,1.25,217.9,475.7,12.6,318,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2360,2303,0,0,0,0,0,0
$GC,8382,1.25,217.9,445.4,12.4,324,8386,0.00,2.65,0.00,0.000,4,0.000,0.054,3529,3935,2302,0,0,0,0,0,0
$GC,8436,1.25,217.9,437.9,13.8,325,8441,0.00,2.55,0.00,0.000,6,0.000,0.030,3528,2365,2301,0,0,0,0,0,0
$GC,8703,1.25,217.9,407.2,11.4,332,8708,0.00,2.62,0.00,0.000,4,0.000,0.053,3529,3934,2301,0,0,0,0,0,0
$GC,8755,1.25,217.9,400.9,12.8,333,8759,0.00,2.55,0.00,0.000,6,0.000,0.033,3528,2363,2300,0,0,0,0,0,0
$GC,9026,1.25,217.9,368.2,12.2,340,9031,0.00,2.62,0.00,0.000,4,0.000,0.053,3529,3935,2299,0,0,0,0,0,0
$GC,9059,1.25,217.9,363.8,13.8,340,9065,0.00,2.50,0.00,0.000,6,0.000,0.032,3529,2383,2299,0,0,0,0,0,0
$GC,9311,1.25,217.9,333.2,12.1,347,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2383,2299,0,0,0,0,0,0
$GC,9552,1.25,217.9,304.8,11.7,353,9557,0.00,2.58,0.00,0.000,4,0.000,0.054,3529,3934,2298,0,0,0,0,0,0
$GC,9579,1.25,217.9,301.1,13.5,353,9583,0.00,2.47,0.00,0.000,6,0.000,0.033,3529,2392,2298,0,0,0,0,0,0
$GC,9829,1.25,217.9,270.6,12.2,359,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2392,2298,0,0,0,0,0,0
$GC,10072,1.25,217.9,241.9,11.8,365,10077,0.00,2.58,0.00,0.000,4,0.000,0.050,3529,3931,2298,0,0,0,0,0,0
$GC,10100,1.25,217.9,238.4,11.8,365,10104,0.00,2.45,0.00,0.000,6,0.000,0.033,3529,2397,2298,0,0,0,0,0,0
$GC,10350,1.25,217.9,211.3,10.9,371,10354,0.00,2.67,0.00,0.000,4,0.000,0.051,3529,781,2298,0,0,0,0,0,0
$GC,10384,1.25,217.9,207.6,11.4,371,10389,0.00,2.58,0.00,0.000,6,0.000,0.031,3529,2401,2298,0,0,0,0,0,0
$GC,10641,1.25,217.9,181.0,10.1,390,10645,0.00,2.50,0.00,0.000,4,0.000,0.052,3529,3924,2298,0,0,0,0,0,0
$GC,10674,1.29,217.9,177.0,11.9,392,10680,0.00,2.45,0.00,0.000,6,0.000,0.028,3529,2388,2298,0,0,0,0,0,0
$GC,10940,1.41,266.2,153.4,7.8,417,10988,0.12,2.60,40.35,0.621,4,0.074,0.049,3569,3934,2114,0,0,0,0,0,0
$GC,11051,1.41,266.2,140.9,12.2,426,11055,0.00,2.47,0.00,0.000,6,0.000,0.025,3569,2396,2111,0,0,0,0,0,0
$GC,11314,1.49,285.0,113.2,9.1,450,11332,0.00,0.00,16.83,0.558,6,0.000,0.000,3569,2396,2038,0,0,0,0,0,0
$GC,11591,1.57,293.3,87.3,9.6,476,11605,0.10,2.53,8.30,0.493,4,0.085,0.041,3605,3927,2005,0,0,0,0,0,0
$GC,11616,1.57,293.3,84.1,10.3,478,11621,0.00,2.42,0.00,0.000,6,0.000,0.024,3605,2396,2005,0,0,0,0,0,0
$GC,11886,1.57,293.3,54.6,10.8,502,11895,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,2396,2004,0,0,0,0,0,0
$GC,12163,1.57,293.3,23.5,10.9,531,12172,0.00,2.55,0.00,0.000,4,0.000,0.041,3605,3932,2004,0,0,0,0,0,0
$GC,12190,1.57,293.3,20.0,11.6,534,12199,0.00,2.42,0.00,0.000,6,0.000,0.024,3605,2416,2004,0,0,0,0,0,0
$STATE,12332,end climb,SURFACE_DEPTH_REACHED
$STATE,12333,begin surface coast
$FINISH,0.8,1.023354
$STATE,12385,end surface coast,CONTROL_FINISHED_OK
$STATE,12385,begin surface
$SM_CCo,12408,45.72,0.489,0,0,1773,350.04
$SM_GC,1.60,0.00,0.00,45.72,0.000,0.000,0.489,465,2211,1773,-12.81,-0.51,350.04
$IRIDIUM_FIX,1918.37,-8116.97,250402,020217
$TT8_MAMPS,0.025311
$HUMID,55.39
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.80
$XPDR_PINGS,40
$24V_AH,23.4,9.795
$10V_AH,10.5,8.144
$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,30.150,125.725,370.300,45.725,0.000,31.047,44.036,264.847,10.000,0.000,20.649,1126.047,8777.721,485.619,1878.023,691.819,33.354,1236.131,0.000,1874.539,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,104.312,966.420,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.554,310.129,398.868,555.283,1055.959,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,44717,562
$CAP_FILE_SIZE,118886,0
$CFSIZE,260165632,124145664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290113,120015,1926.256,-8109.796,13,2.1,32,-3.8