version: 66.06
glider: 146
mission: 8
dive: 68
start: 1 29 113 23 23 13
data:
$ID,146
$MISSION,8
$DIVE,68
$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,-308687.06
$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,31
$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
$GPS1,230529,1924.223,-8108.455,35,1.6,35,-3.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.4
$GPS2,232219,1924.239,-8108.490,10,1.7,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.041
$KALMAN_X,77750.0,-202.6,39.6,-72952.7,1564.0
$KALMAN_Y,-5920.5,-478.1,37.5,1192.8,-29.0
$MHEAD_RNG_PITCHd_Wd,282.9,17377,-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,-70.88,0.000,2,0.000,0.000,466,2174,3552,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-5.3,9,123,13.73,2.67,-4.38,0.000,4,0.169,0.042,2967,3815,3796,0,0,0,0,0,0
$GC,288,-1.10,-146.0,48.9,-16.4,30,294,0.17,2.53,0.00,0.000,6,0.110,0.024,3006,2222,3797,0,0,0,0,0,0
$GC,553,-0.96,-146.0,91.1,-16.0,54,558,0.15,2.58,0.00,0.000,4,0.111,0.046,3038,652,3797,0,0,0,0,0,0
$GC,600,-0.89,-146.0,97.9,-13.2,57,604,0.00,2.45,0.00,0.000,6,0.000,0.022,3038,2243,3796,0,0,0,0,0,0
$GC,867,-0.89,-146.0,128.1,-11.0,81,872,0.00,2.60,0.00,0.000,4,0.000,0.052,3038,650,3796,0,0,0,0,0,0
$GC,901,-0.89,-146.0,132.0,-11.2,83,905,0.00,2.40,0.00,0.000,6,0.000,0.018,3038,2212,3796,0,0,0,0,0,0
$GC,1163,-0.89,-146.0,158.3,-9.7,107,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2213,3797,0,0,0,0,0,0
$GC,1421,-0.94,-146.0,179.0,-7.7,131,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2213,3797,0,0,0,0,0,0
$GC,1684,-1.01,-146.0,200.3,-7.7,156,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2213,3798,0,0,0,0,0,0
$GC,1928,-1.08,-146.0,218.2,-7.3,162,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2213,3797,0,0,0,0,0,0
$GC,2170,-1.16,-146.0,235.6,-7.2,168,2175,0.17,2.53,0.00,0.000,4,0.054,0.042,2972,3793,3798,0,0,0,0,0,0
$GC,2192,-1.16,-146.0,237.7,-8.7,168,2197,0.12,2.50,0.00,0.000,6,0.100,0.027,3001,2195,3798,0,0,0,0,0,0
$GC,2449,-1.16,-146.0,258.6,-8.0,175,2454,0.00,2.53,0.00,0.000,4,0.000,0.058,3001,659,3797,0,0,0,0,0,0
$GC,2511,-1.19,-146.0,264.3,-8.4,176,2515,0.00,2.38,0.00,0.000,6,0.000,0.025,3001,2187,3796,0,0,0,0,0,0
$GC,2771,-1.19,-146.0,284.7,-7.8,183,2776,0.00,2.62,0.00,0.000,4,0.000,0.046,3002,3801,3796,0,0,0,0,0,0
$GC,2807,-1.24,-146.0,287.6,-8.6,183,2813,0.00,2.50,0.00,0.000,6,0.000,0.021,3001,2199,3796,0,0,0,0,0,0
$GC,3057,-1.24,-146.0,307.9,-8.1,190,3062,0.00,2.58,0.00,0.000,4,0.000,0.061,3002,656,3796,0,0,0,0,0,0
$GC,3079,-1.24,-146.0,309.9,-8.5,190,3084,0.00,2.40,0.00,0.000,6,0.000,0.025,3001,2185,3795,0,0,0,0,0,0
$GC,3337,-1.24,-146.0,330.9,-8.3,197,3341,0.00,2.62,0.00,0.000,4,0.000,0.045,3001,3804,3795,0,0,0,0,0,0
$GC,3387,-1.29,-146.0,335.5,-9.0,198,3392,0.15,2.55,0.00,0.000,6,0.059,0.032,2944,2199,3795,0,0,0,0,0,0
$GC,3661,-1.22,-146.0,364.1,-10.6,205,3667,0.17,2.67,0.00,0.000,4,0.092,0.074,2984,649,3793,0,0,0,0,0,0
$GC,3706,-1.22,-146.0,368.8,-9.2,206,3710,0.00,2.47,0.00,0.000,6,0.000,0.032,2984,2188,3793,0,0,0,0,0,0
$GC,3983,-1.22,-146.0,392.7,-8.4,213,3988,0.00,2.70,0.00,0.000,4,0.000,0.061,2984,3811,3791,0,0,0,0,0,0
$GC,4035,-1.22,-146.0,397.4,-8.9,214,4040,0.00,2.60,0.00,0.000,6,0.000,0.032,2984,2204,3791,0,0,0,0,0,0
$GC,4307,-1.22,-146.0,420.5,-8.3,221,4312,0.00,2.72,0.00,0.000,4,0.000,0.089,2984,648,3790,0,0,0,0,0,0
$GC,4340,-1.22,-146.0,423.5,-9.0,221,4346,0.00,2.53,0.00,0.000,6,0.000,0.043,2984,2202,3790,0,0,0,0,0,0
$GC,4593,-1.22,-146.0,442.3,-7.5,228,4597,0.00,2.75,0.00,0.000,4,0.000,0.069,2984,3819,3788,0,0,0,0,0,0
$GC,4632,-1.22,-146.0,445.7,-9.4,229,4636,0.00,2.62,0.00,0.000,6,0.000,0.041,2984,2207,3788,0,0,0,0,0,0
$GC,4915,-1.22,-146.0,468.6,-8.2,236,4920,0.00,2.72,0.00,0.000,4,0.000,0.059,2984,3810,3787,0,0,0,0,0,0
$GC,4944,-1.22,-146.0,471.0,-8.5,236,4949,0.00,2.62,0.00,0.000,6,0.000,0.049,2984,2217,3787,0,0,0,0,0,0
$GC,5195,-1.22,-146.0,489.9,-7.4,242,5200,0.00,2.90,0.00,0.000,4,0.000,0.105,2984,640,3785,0,0,0,0,0,0
$GC,5222,-1.22,-146.0,492.2,-7.7,242,5227,0.00,2.62,0.00,0.000,6,0.000,0.051,2984,2221,3785,0,0,0,0,0,0
$GC,5475,-1.22,-146.0,511.5,-7.8,248,5479,0.00,2.78,0.00,0.000,4,0.000,0.084,2984,3817,3784,0,0,0,0,0,0
$GC,5496,-1.22,-146.0,513.5,-8.2,248,5500,0.00,2.65,0.00,0.000,6,0.000,0.051,2984,2214,3784,0,0,0,0,0,0
$GC,5751,-1.22,-146.0,533.3,-7.6,255,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2214,3783,0,0,0,0,0,0
$GC,5997,-1.22,-146.0,552.5,-8.0,261,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2214,3781,0,0,0,0,0,0
$GC,6238,-1.22,-146.0,571.7,-7.8,267,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2214,3780,0,0,0,0,0,0
$GC,6482,-1.22,-146.0,589.8,-7.4,273,6487,0.00,2.88,0.00,0.000,4,0.000,0.087,2984,3815,3778,0,0,0,0,0,0
$GC,6503,-1.22,-146.0,591.4,-7.4,273,6508,0.00,2.72,0.00,0.000,6,0.000,0.064,2984,2227,3778,0,0,0,0,0,0
$STATE,6634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6634,begin apogee
$GC,6643,-0.31,0.0,601.3,7.4,277,6762,0.85,0.00,116.28,0.967,6,0.072,0.000,3181,2370,3200,0,0,0,0,0,0
$STATE,6763,end apogee,CONTROL_FINISHED_OK
$STATE,6763,begin climb
$GC,6765,1.27,146.0,603.7,0.0,280,6898,1.45,2.83,120.28,0.943,4,0.039,0.085,3533,3924,2603,0,0,0,0,0,0
$GC,6943,1.18,146.0,592.5,11.2,284,6948,0.12,2.72,0.00,0.000,6,0.118,0.059,3509,2357,2599,0,0,0,0,0,0
$GC,7219,1.21,166.5,567.2,9.0,291,7244,0.00,2.83,17.55,0.867,4,0.000,0.067,3509,3925,2520,0,0,0,0,0,0
$GC,7283,1.21,166.5,560.4,11.2,292,7288,0.00,2.65,0.00,0.000,6,0.000,0.051,3509,2369,2518,0,0,0,0,0,0
$GC,7545,1.21,168.0,534.4,9.9,299,7549,0.00,2.70,0.00,0.000,4,0.000,0.060,3509,3935,2516,0,0,0,0,0,0
$GC,7567,1.21,168.0,532.1,10.1,299,7572,0.00,2.65,0.00,0.000,6,0.000,0.046,3509,2367,2515,0,0,0,0,0,0
$GC,7822,1.23,182.7,508.1,9.3,306,7842,0.00,2.72,14.32,0.841,4,0.000,0.056,3509,3927,2455,0,0,0,0,0,0
$GC,7886,1.23,182.7,501.3,11.4,307,7891,0.00,2.60,0.00,0.000,6,0.000,0.046,3509,2374,2453,0,0,0,0,0,0
$GC,8144,1.24,191.1,476.6,9.6,314,8155,0.00,0.00,8.68,0.769,6,0.000,0.000,3509,2374,2420,0,0,0,0,0,0
$GC,8385,1.24,194.3,452.6,9.9,320,8395,0.00,2.65,3.90,0.545,4,0.000,0.054,3509,3935,2408,0,0,0,0,0,0
$GC,8423,1.24,194.3,448.4,11.0,320,8432,0.00,2.58,0.00,0.000,6,0.000,0.038,3509,2367,2407,0,0,0,0,0,0
$GC,8676,1.25,197.6,423.6,9.8,327,8686,0.00,2.65,4.82,0.611,4,0.000,0.054,3509,3931,2393,0,0,0,0,0,0
$GC,8708,1.25,197.6,419.9,10.3,327,8714,0.00,2.53,0.00,0.000,6,0.000,0.031,3509,2379,2393,0,0,0,0,0,0
$GC,8958,1.25,197.6,394.8,10.0,334,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2379,2392,0,0,0,0,0,0
$GC,9203,1.25,197.6,369.4,10.4,340,9208,0.00,2.60,0.00,0.000,4,0.000,0.048,3509,3939,2392,0,0,0,0,0,0
$GC,9269,1.25,197.6,361.9,11.1,341,9274,0.00,2.47,0.00,0.000,6,0.000,0.028,3509,2394,2392,0,0,0,0,0,0
$GC,9525,1.25,197.6,336.0,10.4,348,9529,0.00,2.72,0.00,0.000,4,0.000,0.058,3509,777,2391,0,0,0,0,0,0
$GC,9546,1.25,197.6,333.7,10.9,348,9550,0.00,2.60,0.00,0.000,6,0.000,0.025,3508,2413,2390,0,0,0,0,0,0
$GC,9804,1.25,197.6,307.2,10.3,355,9808,0.00,2.53,0.00,0.000,4,0.000,0.058,3509,3931,2390,0,0,0,0,0,0
$GC,9842,1.25,197.6,302.8,10.8,356,9847,0.00,2.42,0.00,0.000,6,0.000,0.031,3508,2407,2390,0,0,0,0,0,0
$GC,10126,1.25,197.6,274.0,10.1,363,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2407,2390,0,0,0,0,0,0
$GC,10372,1.26,207.7,250.6,9.5,369,10387,0.00,2.58,10.00,0.643,4,0.000,0.048,3509,3934,2353,0,0,0,0,0,0
$GC,10398,1.26,207.7,247.7,10.6,369,10402,0.00,2.42,0.00,0.000,6,0.000,0.025,3509,2407,2351,0,0,0,0,0,0
$GC,10654,1.32,220.9,223.5,9.4,376,10670,0.12,0.00,12.93,0.643,6,0.071,0.000,3548,2407,2299,0,0,0,0,0,0
$GC,10899,1.32,220.9,196.1,11.2,382,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2407,2297,0,0,0,0,0,0
$GC,11155,1.32,220.9,169.3,10.1,406,11159,0.00,2.53,0.00,0.000,4,0.000,0.046,3548,3942,2296,0,0,0,0,0,0
$GC,11174,1.32,220.9,167.0,10.4,407,11178,0.00,2.40,0.00,0.000,6,0.000,0.025,3548,2433,2296,0,0,0,0,0,0
$GC,11440,1.36,252.7,143.4,8.5,431,11474,0.00,2.78,28.30,0.606,4,0.000,0.049,3548,782,2169,0,0,0,0,0,0
$GC,11480,1.39,279.0,139.3,8.8,434,11515,0.00,2.67,23.83,0.588,6,0.000,0.025,3548,2433,2060,0,0,0,0,0,0
$GC,11770,1.51,303.6,112.2,8.9,461,11796,0.12,0.00,21.80,0.568,6,0.074,0.000,3589,2433,1961,0,0,0,0,0,0
$GC,12051,1.51,303.6,81.8,10.7,488,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2434,1960,0,0,0,0,0,0
$GC,12313,1.51,303.6,54.3,11.0,512,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2434,1960,0,0,0,0,0,0
$GC,12593,1.56,303.6,23.6,11.5,541,12602,0.00,2.75,0.00,0.000,4,0.000,0.044,3589,776,1960,0,0,0,0,0,0
$GC,12627,1.57,315.9,20.0,9.4,545,12645,0.00,2.62,11.60,0.467,6,0.000,0.021,3589,2432,1911,0,0,0,0,0,0
$STATE,12775,end climb,SURFACE_DEPTH_REACHED
$STATE,12775,begin surface coast
$FINISH,0.8,1.023512
$STATE,12818,end surface coast,CONTROL_FINISHED_OK
$STATE,12818,begin surface
$SM_CCo,12840,26.70,0.483,0,0,1773,350.04
$SM_GC,1.48,0.00,0.00,26.70,0.000,0.000,0.483,467,2179,1773,-12.80,-1.41,350.04
$IRIDIUM_FIX,1916.08,-8107.58,250402,232337
$TT8_MAMPS,0.025311
$HUMID,57.16
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,50
$24V_AH,23.5,10.270
$10V_AH,10.5,8.597
$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,29.825,152.175,394.275,26.700,0.000,116.408,188.740,350.438,12.500,0.000,12.094,1176.372,9180.856,491.997,1973.686,1050.437,33.358,1296.119,0.000,1979.379,0.000,0.538,0.000
$DEVICE_MAMPS,168.740,105.079,967.187,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.159,314.650,401.842,562.865,1072.887,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,44790,572
$CAP_FILE_SIZE,133896,0
$CFSIZE,260165632,123895808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300113,025954,1924.313,-8109.269,91,1.4,91,-3.8