version: 66.06
glider: 146
mission: 8
dive: 65
start: 1 29 113 12 7 53
data:
$ID,146
$MISSION,8
$DIVE,65
$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,-308620.94
$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,48
$R_STBD_OVSHOOT,32
$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
$GPS1,120015,1926.256,-8109.796,13,2.1,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.8
$GPS2,120700,1926.276,-8109.787,42,1.1,42,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.221
$KALMAN_X,70783.7,494.5,148.7,-69061.8,1062.5
$KALMAN_Y,-6452.0,544.8,197.3,4295.2,-475.0
$MHEAD_RNG_PITCHd_Wd,152.3,4809,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-70.93,0.000,2,0.000,0.000,465,2212,3542,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.9,9,123,13.70,2.55,-4.65,0.000,4,0.169,0.051,2966,673,3797,0,0,0,0,0,0
$GC,264,-1.06,-146.0,45.1,-19.3,28,269,0.25,2.42,0.00,0.000,6,0.105,0.018,3019,2252,3797,0,0,0,0,0,0
$GC,529,-0.93,-146.0,87.5,-14.5,52,534,0.12,2.60,0.00,0.000,4,0.117,0.044,3045,670,3798,0,0,0,0,0,0
$GC,553,-0.81,-146.0,90.8,-14.7,53,558,0.12,2.38,0.00,0.000,6,0.110,0.017,3072,2228,3798,0,0,0,0,0,0
$GC,822,-0.81,-146.0,120.6,-9.7,77,829,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2228,3799,0,0,0,0,0,0
$GC,1085,-0.88,-146.0,142.2,-7.4,102,1089,0.00,2.55,0.00,0.000,4,0.000,0.042,3072,659,3799,0,0,0,0,0,0
$GC,1130,-0.99,-146.0,145.4,-7.0,105,1135,0.17,2.38,0.00,0.000,6,0.051,0.021,3005,2218,3799,0,0,0,0,0,0
$GC,1391,-0.99,-146.0,172.1,-9.8,129,1392,0.12,0.00,0.00,0.000,6,0.100,0.000,3035,2218,3800,0,0,0,0,0,0
$GC,1647,-1.04,-146.0,192.2,-7.1,153,1652,0.00,2.50,0.00,0.000,4,0.000,0.038,3034,3793,3800,0,0,0,0,0,0
$GC,1670,-1.10,-146.0,193.7,-7.5,154,1675,0.10,2.42,0.00,0.000,6,0.077,0.023,2983,2219,3800,0,0,0,0,0,0
$GC,1943,-1.10,-146.0,218.9,-9.2,165,1948,0.12,2.58,0.00,0.000,4,0.099,0.057,3012,664,3800,0,0,0,0,0,0
$GC,2012,-1.14,-146.0,224.7,-8.5,166,2016,0.00,2.35,0.00,0.000,6,0.000,0.022,3012,2199,3800,0,0,0,0,0,0
$GC,2267,-1.14,-146.0,244.5,-7.8,173,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2199,3800,0,0,0,0,0,0
$GC,2511,-1.19,-146.0,263.1,-7.8,179,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2199,3800,0,0,0,0,0,0
$GC,2757,-1.24,-146.0,280.5,-6.9,185,2759,0.12,0.00,0.00,0.000,6,0.068,0.000,2961,2199,3799,0,0,0,0,0,0
$GC,2999,-1.19,-146.0,302.4,-9.2,191,3004,0.12,2.60,0.00,0.000,4,0.100,0.046,2990,3792,3799,0,0,0,0,0,0
$GC,3020,-1.19,-146.0,304.5,-9.2,191,3025,0.00,2.47,0.00,0.000,6,0.000,0.028,2990,2206,3798,0,0,0,0,0,0
$GC,3278,-1.19,-146.0,325.1,-8.2,198,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2207,3798,0,0,0,0,0,0
$GC,3519,-1.19,-146.0,344.5,-7.9,204,3524,0.00,2.62,0.00,0.000,4,0.000,0.074,2989,658,3797,0,0,0,0,0,0
$GC,3535,-1.19,-146.0,346.0,-8.2,204,3540,0.00,2.42,0.00,0.000,6,0.000,0.027,2989,2189,3797,0,0,0,0,0,0
$GC,3799,-1.19,-146.0,367.1,-7.8,211,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2189,3796,0,0,0,0,0,0
$GC,4041,-1.19,-146.0,386.1,-7.7,217,4045,0.00,2.67,0.00,0.000,4,0.000,0.054,2990,3807,3795,0,0,0,0,0,0
$GC,4067,-1.19,-146.0,388.4,-8.3,217,4072,0.00,2.53,0.00,0.000,6,0.000,0.029,2990,2223,3795,0,0,0,0,0,0
$GC,4320,-1.19,-146.0,407.8,-7.8,223,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2223,3794,0,0,0,0,0,0
$GC,4561,-1.19,-146.0,426.1,-7.6,229,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2223,3792,0,0,0,0,0,0
$GC,4805,-1.19,-146.0,444.9,-7.7,235,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2223,3791,0,0,0,0,0,0
$GC,5049,-1.19,-146.0,463.8,-7.7,241,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2223,3791,0,0,0,0,0,0
$GC,5294,-1.19,-146.0,482.4,-7.7,247,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2223,3790,0,0,0,0,0,0
$GC,5536,-1.19,-146.0,501.9,-8.1,253,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2223,3788,0,0,0,0,0,0
$GC,5780,-1.19,-146.0,520.2,-7.4,259,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2223,3787,0,0,0,0,0,0
$GC,6023,-1.19,-146.0,538.3,-7.4,265,6028,0.00,2.80,0.00,0.000,4,0.000,0.084,2989,3804,3786,0,0,0,0,0,0
$GC,6047,-1.19,-146.0,540.1,-8.4,265,6051,0.00,2.65,0.00,0.000,6,0.000,0.058,2990,2222,3786,0,0,0,0,0,0
$GC,6302,-1.19,-146.0,560.1,-7.7,272,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2222,3784,0,0,0,0,0,0
$GC,6546,-1.23,-146.0,577.2,-7.0,278,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2222,3783,0,0,0,0,0,0
$GC,6791,-1.23,-146.0,596.0,-7.8,284,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2222,3782,0,0,0,0,0,0
$STATE,6868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6868,begin apogee
$GC,6874,-0.31,0.0,602.6,7.9,286,6994,0.82,0.00,117.12,0.968,6,0.067,0.000,3181,2348,3200,0,0,0,0,0,0
$STATE,6995,end apogee,CONTROL_FINISHED_OK
$STATE,6995,begin climb
$GC,6998,1.27,146.0,605.3,0.0,289,7132,1.42,2.97,120.38,0.943,4,0.038,0.088,3530,3924,2602,0,0,0,0,0,0
$GC,7154,1.19,146.0,596.4,10.2,292,7159,0.10,2.72,0.00,0.000,6,0.130,0.064,3511,2356,2600,0,0,0,0,0,0
$GC,7404,1.20,156.1,572.3,9.5,298,7415,0.00,0.00,9.30,0.792,6,0.000,0.000,3511,2356,2563,0,0,0,0,0,0
$GC,7650,1.22,169.3,549.7,9.4,304,7669,0.00,2.83,12.45,0.837,4,0.000,0.063,3511,3931,2509,0,0,0,0,0,0
$GC,7714,1.22,169.3,542.9,10.3,305,7718,0.00,2.65,0.00,0.000,6,0.000,0.048,3511,2357,2507,0,0,0,0,0,0
$GC,7975,1.24,187.3,518.1,9.2,312,7999,0.00,2.75,16.30,0.851,4,0.000,0.054,3511,3939,2436,0,0,0,0,0,0
$GC,8021,1.24,188.6,513.9,9.9,313,8025,0.00,2.65,0.00,0.000,6,0.000,0.046,3511,2370,2435,0,0,0,0,0,0
$GC,8305,1.24,188.6,484.1,10.6,320,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2370,2432,0,0,0,0,0,0
$GC,8547,1.24,188.6,459.0,10.2,326,8551,0.00,2.62,0.00,0.000,4,0.000,0.051,3511,3938,2431,0,0,0,0,0,0
$GC,8620,1.24,188.6,450.8,11.7,327,8625,0.00,2.58,0.00,0.000,6,0.000,0.038,3511,2371,2431,0,0,0,0,0,0
$GC,8870,1.25,195.6,426.3,9.7,333,8880,0.00,0.00,8.05,0.732,6,0.000,0.000,3511,2371,2402,0,0,0,0,0,0
$GC,9155,1.25,199.4,398.3,9.8,340,9165,0.00,2.65,4.88,0.602,4,0.000,0.053,3511,3941,2386,0,0,0,0,0,0
$GC,9198,1.25,199.4,393.4,11.0,341,9203,0.00,2.53,0.00,0.000,6,0.000,0.032,3511,2379,2386,0,0,0,0,0,0
$GC,9476,1.25,199.4,365.7,10.1,348,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2378,2385,0,0,0,0,0,0
$GC,9722,1.25,199.4,340.5,10.3,354,9726,0.00,2.60,0.00,0.000,4,0.000,0.048,3511,3939,2385,0,0,0,0,0,0
$GC,9771,1.25,199.4,334.5,11.8,355,9775,0.00,2.50,0.00,0.000,6,0.000,0.032,3511,2380,2384,0,0,0,0,0,0
$GC,10043,1.25,199.4,305.5,10.5,362,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2380,2384,0,0,0,0,0,0
$GC,10287,1.25,199.4,280.3,10.3,368,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2379,2384,0,0,0,0,0,0
$GC,10533,1.25,200.8,256.4,9.9,374,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2379,2384,0,0,0,0,0,0
$GC,10775,1.31,214.3,233.3,9.4,380,10796,0.10,2.62,14.25,0.657,4,0.087,0.053,3543,3945,2325,0,0,0,0,0,0
$GC,10820,1.27,214.3,228.5,11.7,381,10824,0.00,2.47,0.00,0.000,6,0.000,0.027,3543,2401,2324,0,0,0,0,0,0
$GC,11097,1.27,214.3,197.8,10.8,388,11102,0.00,2.70,0.00,0.000,4,0.000,0.056,3543,778,2324,0,0,0,0,0,0
$GC,11130,1.27,214.3,194.2,10.5,390,11140,0.00,2.62,0.00,0.000,6,0.000,0.031,3543,2412,2322,0,0,0,0,0,0
$GC,11399,1.27,214.3,167.4,10.3,415,11403,0.00,2.70,0.00,0.000,4,0.000,0.054,3543,772,2322,0,0,0,0,0,0
$GC,11426,1.27,214.3,163.9,10.8,417,11431,0.00,2.58,0.00,0.000,6,0.000,0.027,3543,2410,2322,0,0,0,0,0,0
$GC,11695,1.37,260.6,141.2,7.9,441,11740,0.00,0.00,40.45,0.609,6,0.000,0.000,3543,2410,2137,0,0,0,0,0,0
$GC,11995,1.49,290.1,114.1,8.6,469,12026,0.12,0.00,25.85,0.573,6,0.071,0.000,3586,2410,2016,0,0,0,0,0,0
$GC,12281,1.53,290.1,84.0,10.5,496,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2410,2014,0,0,0,0,0,0
$GC,12541,1.57,290.1,58.5,10.2,520,12546,0.00,2.47,0.00,0.000,4,0.000,0.041,3585,3928,2014,0,0,0,0,0,0
$GC,12577,1.57,290.1,54.7,10.1,522,12581,0.00,2.40,0.00,0.000,6,0.000,0.024,3586,2402,2013,0,0,0,0,0,0
$GC,12847,1.62,290.2,27.8,10.0,547,12856,0.00,2.53,0.00,0.000,4,0.000,0.040,3585,3930,2013,0,0,0,0,0,0
$GC,12877,1.67,290.2,24.8,10.3,550,12887,0.08,2.42,0.00,0.000,6,0.044,0.024,3623,2411,2013,0,0,0,0,0,0
$STATE,13054,end climb,SURFACE_DEPTH_REACHED
$STATE,13054,begin surface coast
$FINISH,0.8,1.023437
$STATE,13097,end surface coast,CONTROL_FINISHED_OK
$STATE,13097,begin surface
$SM_CCo,13121,47.75,0.487,0,0,1773,350.04
$SM_GC,1.58,0.00,0.00,47.75,0.000,0.000,0.487,460,2199,1773,-12.83,-0.88,350.04
$IRIDIUM_FIX,1916.08,-7925.77,250402,080828
$TT8_MAMPS,0.025311
$HUMID,56.02
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.90
$XPDR_PINGS,32
$24V_AH,23.4,9.905
$10V_AH,10.4,8.255
$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,30.125,103.575,369.025,47.750,0.000,29.404,38.132,160.090,8.000,0.000,43.885,1157.777,9432.279,472.379,1939.990,568.803,33.364,1206.877,0.000,1914.729,0.000,0.538,0.000
$DEVICE_MAMPS,168.740,98.176,967.954,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.050,319.164,409.379,572.999,1092.252,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,44529,582
$CAP_FILE_SIZE,115903,0
$CFSIZE,260165632,124092416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290113,154836,1924.951,-8107.353,31,1.5,31,-3.8