version: 66.06
glider: 146
mission: 8
dive: 67
start: 1 29 113 19 33 35
data:
$ID,146
$MISSION,8
$DIVE,67
$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,-308674.34
$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,72
$R_STBD_OVSHOOT,24
$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
$GPS1,192524,1924.047,-8107.784,51,1.3,51,-3.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.8
$GPS2,193239,1924.046,-8107.810,15,1.9,17,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.059
$KALMAN_X,75533.7,18.0,215.3,-69942.7,1232.2
$KALMAN_Y,-5927.5,-21.9,-71.3,496.9,-150.1
$MHEAD_RNG_PITCHd_Wd,286.9,18618,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,2,0.000,0.000,465,2180,3519,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-5.4,9,123,13.68,2.65,-4.95,0.000,4,0.167,0.049,2966,3826,3798,0,0,0,0,0,0
$GC,275,-1.09,-146.0,47.2,-18.5,29,282,0.17,2.50,0.00,0.000,6,0.087,0.025,3009,2267,3798,0,0,0,0,0,0
$GC,539,-0.94,-146.0,88.5,-16.2,54,545,0.15,2.67,0.00,0.000,4,0.109,0.045,3042,651,3799,0,0,0,0,0,0
$GC,588,-0.87,-146.0,96.4,-14.6,57,594,0.00,2.47,0.00,0.000,6,0.000,0.025,3042,2254,3799,0,0,0,0,0,0
$GC,851,-0.87,-146.0,126.6,-10.1,82,855,0.00,2.65,0.00,0.000,4,0.000,0.053,3042,648,3799,0,0,0,0,0,0
$GC,896,-0.87,-146.0,132.1,-11.3,85,902,0.00,2.40,0.00,0.000,6,0.000,0.025,3042,2207,3799,0,0,0,0,0,0
$GC,1161,-0.87,-146.0,156.6,-9.5,110,1166,0.00,2.55,0.00,0.000,4,0.000,0.046,3042,645,3799,0,0,0,0,0,0
$GC,1214,-0.93,-146.0,161.7,-9.0,114,1218,0.00,2.38,0.00,0.000,6,0.000,0.019,3042,2191,3799,0,0,0,0,0,0
$GC,1477,-0.99,-146.0,182.6,-7.6,138,1481,0.00,2.55,0.00,0.000,4,0.000,0.035,3042,3792,3800,0,0,0,0,0,0
$GC,1548,-1.08,-146.0,188.4,-8.1,143,1554,0.12,2.50,0.00,0.000,6,0.065,0.027,2986,2173,3800,0,0,0,0,0,0
$GC,1835,-1.04,-146.0,215.3,-9.4,159,1840,0.15,2.50,0.00,0.000,4,0.098,0.054,3022,652,3800,0,0,0,0,0,0
$GC,1899,-1.10,-146.0,220.8,-8.1,160,1903,0.00,2.35,0.00,0.000,6,0.000,0.027,3022,2175,3800,0,0,0,0,0,0
$GC,2160,-1.15,-146.0,240.6,-7.7,167,2165,0.10,2.60,0.00,0.000,4,0.081,0.038,2978,3800,3800,0,0,0,0,0,0
$GC,2212,-1.15,-146.0,245.3,-10.0,168,2216,0.00,2.53,0.00,0.000,6,0.000,0.022,2978,2169,3800,0,0,0,0,0,0
$GC,2484,-1.15,-146.0,270.6,-9.3,175,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2169,3800,0,0,0,0,0,0
$GC,2728,-1.15,-146.0,291.0,-8.4,181,2732,0.00,2.62,0.00,0.000,4,0.000,0.045,2978,3789,3799,0,0,0,0,0,0
$GC,2762,-1.15,-146.0,294.0,-9.2,181,2768,0.00,2.50,0.00,0.000,6,0.000,0.026,2978,2187,3799,0,0,0,0,0,0
$GC,3012,-1.15,-146.0,316.4,-9.0,188,3017,0.00,2.60,0.00,0.000,4,0.000,0.064,2978,654,3798,0,0,0,0,0,0
$GC,3045,-1.15,-146.0,319.8,-9.9,188,3051,0.00,2.38,0.00,0.000,6,0.000,0.023,2978,2165,3797,0,0,0,0,0,0
$GC,3298,-1.15,-146.0,341.8,-8.7,195,3302,0.00,2.62,0.00,0.000,4,0.000,0.052,2978,3785,3797,0,0,0,0,0,0
$GC,3352,-1.15,-146.0,346.9,-8.6,196,3357,0.00,2.55,0.00,0.000,6,0.000,0.028,2978,2187,3797,0,0,0,0,0,0
$GC,3619,-1.15,-146.0,369.3,-8.4,203,3623,0.00,2.65,0.00,0.000,4,0.000,0.076,2978,644,3796,0,0,0,0,0,0
$GC,3655,-1.15,-146.0,372.2,-8.7,203,3661,0.00,2.42,0.00,0.000,6,0.000,0.032,2978,2154,3796,0,0,0,0,0,0
$GC,3905,-1.15,-146.0,392.9,-8.2,210,3910,0.00,2.70,0.00,0.000,4,0.000,0.055,2978,3783,3795,0,0,0,0,0,0
$GC,3954,-1.15,-146.0,397.2,-8.4,211,3959,0.00,2.55,0.00,0.000,6,0.000,0.036,2978,2192,3794,0,0,0,0,0,0
$GC,4228,-1.15,-146.0,419.9,-8.4,218,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2192,3793,0,0,0,0,0,0
$GC,4470,-1.15,-146.0,440.6,-8.5,224,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2192,3791,0,0,0,0,0,0
$GC,4714,-1.15,-146.0,460.8,-8.2,230,4718,0.00,2.70,0.00,0.000,4,0.000,0.069,2978,3782,3791,0,0,0,0,0,0
$GC,4753,-1.15,-146.0,464.1,-8.2,231,4758,0.00,2.65,0.00,0.000,6,0.000,0.045,2978,2189,3791,0,0,0,0,0,0
$GC,5038,-1.15,-146.0,488.4,-8.7,238,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2189,3790,0,0,0,0,0,0
$GC,5280,-1.15,-146.0,509.4,-8.5,244,5284,0.00,2.85,0.00,0.000,4,0.000,0.107,2978,638,3788,0,0,0,0,0,0
$GC,5307,-1.15,-146.0,511.6,-9.0,244,5311,0.00,2.53,0.00,0.000,6,0.000,0.052,2978,2152,3788,0,0,0,0,0,0
$GC,5559,-1.15,-146.0,531.9,-7.9,250,5563,0.00,2.88,0.00,0.000,4,0.000,0.087,2978,3783,3786,0,0,0,0,0,0
$GC,5619,-1.15,-146.0,537.1,-8.6,251,5624,0.00,2.67,0.00,0.000,6,0.000,0.060,2978,2197,3786,0,0,0,0,0,0
$GC,5882,-1.15,-146.0,557.1,-7.8,258,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2197,3785,0,0,0,0,0,0
$GC,6124,-1.15,-146.0,577.2,-8.3,264,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2197,3783,0,0,0,0,0,0
$GC,6367,-1.15,-146.0,597.9,-8.5,270,6372,0.00,2.83,0.00,0.000,4,0.000,0.090,2978,3776,3782,0,0,0,0,0,0
$STATE,6386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6386,begin apogee
$GC,6394,-0.31,0.0,600.0,9.5,270,6515,0.85,0.00,117.03,0.966,6,0.070,0.000,3177,2356,3200,0,0,0,0,0,0
$STATE,6516,end apogee,CONTROL_FINISHED_OK
$STATE,6516,begin climb
$GC,6520,1.27,146.0,603.0,0.0,273,6651,1.48,2.85,120.68,0.940,4,0.039,0.077,3533,3898,2603,0,0,0,0,0,0
$GC,6670,1.20,161.3,596.1,9.3,277,6690,0.10,2.67,14.30,0.843,6,0.128,0.056,3513,2360,2542,0,0,0,0,0,0
$GC,6942,1.21,168.9,570.1,9.6,284,6956,0.00,2.78,7.00,0.739,4,0.000,0.072,3513,3899,2511,0,0,0,0,0,0
$GC,7008,1.21,168.9,562.9,10.4,285,7012,0.00,2.62,0.00,0.000,6,0.000,0.054,3513,2362,2510,0,0,0,0,0,0
$GC,7272,1.21,171.6,537.1,9.9,292,7276,0.00,2.65,0.00,0.000,4,0.000,0.060,3513,3902,2508,0,0,0,0,0,0
$GC,7305,1.17,171.6,533.4,10.6,292,7310,0.00,2.58,0.00,0.000,6,0.000,0.048,3513,2369,2507,0,0,0,0,0,0
$GC,7555,1.18,178.8,508.9,9.7,299,7569,0.00,2.65,9.40,0.792,4,0.000,0.055,3513,3902,2471,0,0,0,0,0,0
$GC,7616,1.18,178.8,502.5,11.2,300,7620,0.00,2.55,0.00,0.000,6,0.000,0.041,3512,2378,2470,0,0,0,0,0,0
$GC,7876,1.19,189.2,477.2,9.5,307,7892,0.00,3.03,10.70,0.794,4,0.000,0.102,3512,770,2427,0,0,0,0,0,0
$GC,7909,1.19,189.2,473.5,10.1,307,7915,0.00,2.62,0.00,0.000,6,0.000,0.044,3512,2353,2426,0,0,0,0,0,0
$GC,8161,1.19,189.2,447.8,10.4,314,8165,0.00,2.67,0.00,0.000,4,0.000,0.064,3513,3929,2424,0,0,0,0,0,0
$GC,8227,1.19,189.2,439.8,11.9,315,8231,0.00,2.53,0.00,0.000,6,0.000,0.036,3513,2384,2423,0,0,0,0,0,0
$GC,8488,1.19,189.2,412.7,10.2,322,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2383,2422,0,0,0,0,0,0
$GC,8734,1.19,189.2,388.5,10.0,328,8738,0.00,2.58,0.00,0.000,4,0.000,0.048,3513,3932,2422,0,0,0,0,0,0
$GC,8811,1.19,189.2,379.8,10.7,329,8817,0.00,2.47,0.00,0.000,6,0.000,0.025,3513,2392,2421,0,0,0,0,0,0
$GC,9061,1.19,191.3,355.1,9.9,336,9066,0.00,2.72,0.00,0.000,4,0.000,0.066,3513,778,2421,0,0,0,0,0,0
$GC,9095,1.19,191.3,351.5,10.6,336,9101,0.00,2.60,0.00,0.000,6,0.000,0.025,3512,2410,2420,0,0,0,0,0,0
$GC,9345,1.21,200.5,327.4,9.6,343,9361,0.00,2.55,10.25,0.700,4,0.000,0.049,3512,3924,2381,0,0,0,0,0,0
$GC,9388,1.21,200.5,322.8,11.3,344,9392,0.00,2.42,0.00,0.000,6,0.000,0.030,3513,2403,2380,0,0,0,0,0,0
$GC,9674,1.21,201.8,294.9,9.9,351,9679,0.00,2.53,0.00,0.000,4,0.000,0.048,3513,3927,2380,0,0,0,0,0,0
$GC,9695,1.21,201.8,292.3,11.3,351,9700,0.00,2.42,0.00,0.000,6,0.000,0.031,3513,2404,2380,0,0,0,0,0,0
$GC,9957,1.21,201.8,265.9,10.2,358,9961,0.00,2.55,0.00,0.000,4,0.000,0.054,3513,3932,2380,0,0,0,0,0,0
$GC,10002,1.21,201.8,261.1,10.8,359,10006,0.00,2.40,0.00,0.000,6,0.000,0.028,3513,2426,2379,0,0,0,0,0,0
$GC,10286,1.27,214.1,233.9,9.4,366,10305,0.00,2.80,12.98,0.652,4,0.000,0.056,3513,783,2326,0,0,0,0,0,0
$GC,10333,1.27,214.1,229.2,10.3,367,10337,0.00,2.60,0.00,0.000,6,0.000,0.026,3513,2420,2325,0,0,0,0,0,0
$GC,10614,1.33,222.2,202.3,9.6,374,10625,0.12,0.00,8.73,0.591,6,0.075,0.000,3551,2420,2293,0,0,0,0,0,0
$GC,10866,1.34,226.7,175.3,9.8,395,10874,0.00,0.00,5.45,0.500,6,0.000,0.000,3551,2420,2275,0,0,0,0,0,0
$GC,11133,1.40,247.2,150.3,9.1,420,11158,0.00,2.53,19.05,0.601,4,0.000,0.050,3551,3927,2191,0,0,0,0,0,0
$GC,11163,1.43,268.8,147.1,9.0,422,11188,0.00,2.45,19.58,0.588,6,0.000,0.023,3551,2417,2104,0,0,0,0,0,0
$GC,11443,1.51,291.4,119.6,9.0,448,11466,0.12,0.00,20.55,0.571,6,0.072,0.000,3593,2417,2011,0,0,0,0,0,0
$GC,11718,1.51,291.4,89.5,10.2,474,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2417,2008,0,0,0,0,0,0
$GC,11978,1.51,291.4,62.6,11.0,498,11983,0.00,2.45,0.00,0.000,4,0.000,0.040,3592,3927,2008,0,0,0,0,0,0
$GC,12012,1.51,291.4,58.8,11.0,500,12016,0.00,2.40,0.00,0.000,6,0.000,0.024,3593,2411,2007,0,0,0,0,0,0
$GC,12282,1.52,292.8,30.0,9.9,524,12291,0.00,2.72,0.00,0.000,4,0.000,0.048,3592,775,2007,0,0,0,0,0,0
$GC,12301,1.52,292.8,27.6,10.1,526,12310,0.00,2.60,0.00,0.000,6,0.000,0.021,3592,2421,2007,0,0,0,0,0,0
$STATE,12518,end climb,SURFACE_DEPTH_REACHED
$STATE,12518,begin surface coast
$FINISH,0.8,1.016712
$STATE,12567,end surface coast,CONTROL_FINISHED_OK
$STATE,12567,begin surface
$SM_CCo,12589,46.42,0.490,0,0,1772,350.04
$SM_GC,1.52,0.00,0.00,46.42,0.000,0.000,0.490,467,2175,1772,-12.80,-1.55,350.04
$IRIDIUM_FIX,1916.08,-8107.94,250402,161616
$TT8_MAMPS,0.025311
$HUMID,56.34
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,52
$24V_AH,23.5,10.138
$10V_AH,10.5,8.480
$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,29.450,160.775,375.675,46.425,0.000,28.826,37.233,218.211,13.000,0.000,18.579,1171.950,8716.663,528.902,2014.135,640.419,33.351,1314.784,0.000,2007.973,0.000,0.537,0.000
$DEVICE_MAMPS,167.206,107.380,965.653,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.052,312.972,398.050,562.906,1070.541,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,44912,565
$CAP_FILE_SIZE,126446,0
$CFSIZE,260165632,123969536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290113,230529,1924.223,-8108.455,35,1.6,35,-3.8