version: 66.06
glider: 146
mission: 8
dive: 69
start: 1 30 113 3 7 36
data:
$ID,146
$MISSION,8
$DIVE,69
$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,-308705.53
$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,25
$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
$GPS1,025954,1924.313,-8109.269,91,1.4,91,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.2
$GPS2,030642,1924.312,-8109.282,11,1.2,16,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,0.007
$KALMAN_X,79574.5,-231.0,-65.0,-76023.8,1872.4
$KALMAN_Y,-6055.0,-630.8,-21.0,1674.9,318.1
$MHEAD_RNG_PITCHd_Wd,275.4,16018,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.20,0.000,2,0.000,0.000,467,2180,3562,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-6.6,9,123,13.70,2.62,-4.03,0.000,4,0.170,0.041,2968,3822,3797,0,0,0,0,0,0
$GC,310,-1.09,-146.0,53.9,-17.9,31,315,0.20,2.45,0.00,0.000,6,0.104,0.024,3011,2261,3798,0,0,0,0,0,0
$GC,578,-0.94,-146.0,95.6,-15.2,55,583,0.15,2.65,0.00,0.000,4,0.107,0.045,3044,650,3798,0,0,0,0,0,0
$GC,625,-0.90,-146.0,103.7,-13.5,58,635,0.00,2.50,0.00,0.000,6,0.000,0.025,3044,2251,3798,0,0,0,0,0,0
$GC,893,-0.90,-146.0,132.5,-10.5,83,898,0.00,2.60,0.00,0.000,4,0.000,0.045,3044,655,3799,0,0,0,0,0,0
$GC,934,-0.90,-146.0,137.4,-10.5,86,938,0.00,2.40,0.00,0.000,6,0.000,0.025,3044,2219,3799,0,0,0,0,0,0
$GC,1199,-0.94,-146.0,161.6,-8.3,110,1203,0.00,2.58,0.00,0.000,4,0.000,0.052,3044,655,3799,0,0,0,0,0,0
$GC,1220,-0.99,-146.0,163.8,-8.4,111,1230,0.00,2.40,0.00,0.000,6,0.000,0.020,3044,2207,3799,0,0,0,0,0,0
$GC,1489,-1.05,-146.0,182.8,-6.8,136,1494,0.10,0.00,0.00,0.000,6,0.079,0.000,2997,2207,3799,0,0,0,0,0,0
$GC,1768,-1.05,-146.0,207.7,-8.8,157,1773,0.10,2.55,0.00,0.000,4,0.110,0.046,3021,655,3799,0,0,0,0,0,0
$GC,1800,-1.05,-146.0,210.7,-8.7,157,1806,0.00,2.38,0.00,0.000,6,0.000,0.024,3021,2212,3800,0,0,0,0,0,0
$GC,2053,-1.10,-146.0,229.3,-7.4,164,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2212,3800,0,0,0,0,0,0
$GC,2295,-1.15,-146.0,246.9,-7.2,170,2299,0.00,2.55,0.00,0.000,4,0.000,0.056,3021,656,3800,0,0,0,0,0,0
$GC,2339,-1.21,-146.0,250.8,-8.3,171,2344,0.15,2.40,0.00,0.000,6,0.059,0.020,2963,2217,3800,0,0,0,0,0,0
$GC,2619,-1.17,-146.0,278.3,-10.1,178,2624,0.15,2.58,0.00,0.000,4,0.095,0.049,2997,3794,3799,0,0,0,0,0,0
$GC,2674,-1.17,-146.0,283.7,-8.9,179,2679,0.00,2.45,0.00,0.000,6,0.000,0.029,2997,2213,3799,0,0,0,0,0,0
$GC,2943,-1.17,-146.0,305.1,-8.1,186,2948,0.00,2.60,0.00,0.000,4,0.000,0.063,2997,656,3798,0,0,0,0,0,0
$GC,2992,-1.17,-146.0,309.7,-9.1,187,2997,0.00,2.45,0.00,0.000,6,0.000,0.028,2997,2215,3798,0,0,0,0,0,0
$GC,3265,-1.17,-146.0,331.8,-8.1,194,3269,0.00,2.58,0.00,0.000,4,0.000,0.045,2997,3805,3797,0,0,0,0,0,0
$GC,3295,-1.17,-146.0,334.2,-8.4,194,3300,0.00,2.47,0.00,0.000,6,0.000,0.031,2997,2230,3797,0,0,0,0,0,0
$GC,3545,-1.17,-146.0,353.8,-7.7,200,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2230,3796,0,0,0,0,0,0
$GC,3789,-1.17,-146.0,373.5,-8.2,206,3794,0.00,2.75,0.00,0.000,4,0.000,0.074,2997,649,3795,0,0,0,0,0,0
$GC,3824,-1.17,-146.0,376.3,-8.6,206,3829,0.00,2.50,0.00,0.000,6,0.000,0.032,2997,2217,3795,0,0,0,0,0,0
$GC,4074,-1.17,-146.0,397.0,-8.1,213,4078,0.00,2.62,0.00,0.000,4,0.000,0.052,2997,3814,3794,0,0,0,0,0,0
$GC,4095,-1.17,-146.0,398.8,-8.3,213,4099,0.00,2.53,0.00,0.000,6,0.000,0.035,2997,2229,3794,0,0,0,0,0,0
$GC,4352,-1.17,-146.0,418.9,-7.8,220,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2229,3793,0,0,0,0,0,0
$GC,4594,-1.20,-146.0,437.4,-7.4,226,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2229,3791,0,0,0,0,0,0
$GC,4838,-1.24,-146.0,456.0,-7.6,232,4842,0.00,2.67,0.00,0.000,4,0.000,0.058,2997,3812,3791,0,0,0,0,0,0
$GC,4859,-1.28,-146.0,457.9,-7.8,232,4865,0.12,2.60,0.00,0.000,6,0.067,0.039,2946,2234,3790,0,0,0,0,0,0
$GC,5117,-1.23,-146.0,483.0,-10.1,239,5119,0.17,0.00,0.00,0.000,6,0.092,0.000,2985,2234,3789,0,0,0,0,0,0
$GC,5359,-1.23,-146.0,503.4,-8.1,245,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2234,3788,0,0,0,0,0,0
$GC,5602,-1.23,-146.0,522.4,-7.8,251,5607,0.00,2.95,0.00,0.000,4,0.000,0.112,2985,645,3787,0,0,0,0,0,0
$GC,5631,-1.23,-146.0,524.7,-8.5,251,5636,0.00,2.62,0.00,0.000,6,0.000,0.058,2985,2218,3787,0,0,0,0,0,0
$GC,5881,-1.23,-146.0,545.4,-8.2,257,5886,0.00,2.85,0.00,0.000,4,0.000,0.095,2985,3815,3785,0,0,0,0,0,0
$GC,5908,-1.23,-146.0,547.7,-8.7,257,5913,0.00,2.67,0.00,0.000,6,0.000,0.058,2985,2225,3785,0,0,0,0,0,0
$GC,6160,-1.23,-146.0,567.4,-7.8,263,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2224,3784,0,0,0,0,0,0
$GC,6402,-1.23,-146.0,587.2,-8.3,269,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2224,3783,0,0,0,0,0,0
$STATE,6562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6562,begin apogee
$GC,6568,-0.31,0.0,600.7,8.3,273,6688,0.85,0.00,116.82,0.966,6,0.077,0.000,3181,2367,3200,0,0,0,0,0,0
$STATE,6689,end apogee,CONTROL_FINISHED_OK
$STATE,6689,begin climb
$GC,6693,1.27,146.0,603.8,0.0,276,6822,1.48,2.85,120.47,0.942,4,0.045,0.084,3536,3927,2603,0,0,0,0,0,0
$GC,6851,1.16,146.0,595.5,10.7,280,6857,0.15,2.75,0.00,0.000,6,0.112,0.064,3506,2354,2601,0,0,0,0,0,0
$GC,7132,1.20,172.6,571.0,8.8,287,7161,0.00,2.85,22.95,0.884,4,0.000,0.072,3506,3927,2495,0,0,0,0,0,0
$GC,7200,1.20,172.6,563.9,10.7,288,7205,0.00,2.65,0.00,0.000,6,0.000,0.051,3506,2364,2493,0,0,0,0,0,0
$GC,7459,1.22,189.0,539.8,9.2,295,7479,0.00,2.75,15.18,0.848,4,0.000,0.064,3506,3928,2428,0,0,0,0,0,0
$GC,7507,1.22,189.0,534.8,10.5,296,7511,0.00,2.62,0.00,0.000,6,0.000,0.048,3506,2373,2426,0,0,0,0,0,0
$GC,7780,1.22,191.0,507.9,9.9,303,7785,0.00,3.05,0.00,0.000,4,0.000,0.118,3506,770,2424,0,0,0,0,0,0
$GC,7803,1.22,191.0,505.5,11.1,303,7808,0.00,2.67,0.00,0.000,6,0.000,0.042,3506,2374,2423,0,0,0,0,0,0
$GC,8057,1.22,191.0,479.6,10.1,310,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2374,2422,0,0,0,0,0,0
$GC,8301,1.22,191.0,455.4,10.1,316,8306,0.00,2.65,0.00,0.000,4,0.000,0.058,3505,3937,2422,0,0,0,0,0,0
$GC,8356,1.22,191.0,448.9,12.2,317,8360,0.00,2.55,0.00,0.000,6,0.000,0.037,3506,2374,2421,0,0,0,0,0,0
$GC,8625,1.22,191.0,421.5,10.4,324,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2374,2420,0,0,0,0,0,0
$GC,8867,1.22,192.9,397.1,9.9,330,8871,0.00,2.60,0.00,0.000,4,0.000,0.051,3506,3939,2420,0,0,0,0,0,0
$GC,8893,1.22,192.9,394.1,10.3,330,8898,0.00,2.47,0.00,0.000,6,0.000,0.028,3506,2384,2419,0,0,0,0,0,0
$GC,9145,1.22,192.9,369.0,10.2,336,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2384,2419,0,0,0,0,0,0
$GC,9387,1.24,208.5,346.2,9.3,342,9406,0.00,0.00,16.77,0.755,6,0.000,0.000,3506,2384,2350,0,0,0,0,0,0
$GC,9631,1.24,208.6,321.9,10.0,348,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2384,2348,0,0,0,0,0,0
$GC,9874,1.24,208.6,296.8,10.4,354,9879,0.00,2.58,0.00,0.000,4,0.000,0.048,3506,3938,2347,0,0,0,0,0,0
$GC,9898,1.24,208.6,294.3,11.4,354,9902,0.00,2.50,0.00,0.000,6,0.000,0.026,3506,2378,2347,0,0,0,0,0,0
$GC,10156,1.29,208.8,268.6,10.0,361,10161,0.10,2.67,0.00,0.000,4,0.257,0.053,3537,783,2346,0,0,0,0,0,0
$GC,10188,1.29,208.8,264.2,11.9,361,10194,0.00,2.58,0.00,0.000,6,0.000,0.028,3537,2389,2346,0,0,0,0,0,0
$GC,10440,1.29,208.8,237.7,10.5,368,10445,0.00,2.53,0.00,0.000,4,0.000,0.048,3537,3928,2346,0,0,0,0,0,0
$GC,10501,1.29,208.8,230.0,11.3,369,10506,0.00,2.45,0.00,0.000,6,0.000,0.029,3537,2378,2345,0,0,0,0,0,0
$GC,10763,1.29,208.8,201.2,11.0,376,10767,0.00,2.65,0.00,0.000,4,0.000,0.052,3537,780,2346,0,0,0,0,0,0
$GC,10785,1.29,208.8,198.8,11.6,376,10790,0.00,2.55,0.00,0.000,6,0.000,0.028,3537,2389,2346,0,0,0,0,0,0
$GC,11053,1.30,223.6,172.2,9.3,401,11074,0.00,0.00,14.35,0.610,6,0.000,0.000,3537,2389,2287,0,0,0,0,0,0
$GC,11334,1.39,252.3,146.6,8.7,427,11363,0.00,0.00,25.75,0.608,6,0.000,0.000,3537,2389,2171,0,0,0,0,0,0
$GC,11621,1.53,296.1,121.6,8.0,454,11662,0.17,0.00,37.97,0.588,6,0.060,0.000,3590,2389,1992,0,0,0,0,0,0
$GC,11913,1.53,296.1,90.7,10.1,482,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2389,1989,0,0,0,0,0,0
$GC,12175,1.53,296.1,63.4,11.1,506,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2388,1989,0,0,0,0,0,0
$GC,12441,1.57,296.1,34.9,10.5,531,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2389,1989,0,0,0,0,0,0
$STATE,12718,end climb,SURFACE_DEPTH_REACHED
$STATE,12718,begin surface coast
$FINISH,0.8,1.011021
$STATE,12760,end surface coast,CONTROL_FINISHED_OK
$STATE,12760,begin surface
$SM_CCo,12782,42.62,0.488,0,0,1772,350.04
$SM_GC,1.71,0.00,0.00,42.62,0.000,0.000,0.488,466,2177,1772,-12.81,-1.53,350.04
$IRIDIUM_FIX,1916.08,-8110.19,250402,232331
$TT8_MAMPS,0.026078
$HUMID,56.89
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.80
$XPDR_PINGS,42
$24V_AH,23.5,10.382
$10V_AH,10.5,8.709
$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,30.050,125.450,370.275,42.625,0.000,30.240,36.752,180.171,10.500,0.000,17.836,1153.543,9040.071,504.829,1932.161,598.751,33.349,1244.762,0.000,1931.118,0.000,0.537,0.000
$DEVICE_MAMPS,256.945,118.118,966.420,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.091,317.719,408.218,569.684,1086.177,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,44656,576
$CAP_FILE_SIZE,118207,0
$CFSIZE,260165632,123846656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300113,064236,1924.050,-8109.937,32,1.5,32,-3.8