version: 66.06
glider: 146
mission: 8
dive: 70
start: 1 30 113 6 53 30
data:
$ID,146
$MISSION,8
$DIVE,70
$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,-308720.12
$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,80
$R_STBD_OVSHOOT,36
$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
$GPS1,064236,1924.050,-8109.937,32,1.5,32,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.7
$GPS2,065236,1924.066,-8109.957,12,1.4,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,0.000
$KALMAN_X,81188.5,-33.1,58.1,-79135.6,1671.7
$KALMAN_Y,-6597.8,-384.9,-230.3,1729.1,554.9
$MHEAD_RNG_PITCHd_Wd,273.9,15061,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.28,0.000,2,0.000,0.000,465,2177,3545,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.2,-7.4,9,121,13.68,2.65,-4.45,0.000,4,0.169,0.041,2967,3804,3797,0,0,0,0,0,0
$GC,286,-1.11,-146.0,50.5,-17.7,29,294,0.15,2.42,0.00,0.000,6,0.089,0.023,3005,2278,3797,0,0,0,0,0,0
$GC,549,-0.96,-146.0,92.7,-15.8,54,554,0.15,2.70,0.00,0.000,4,0.111,0.047,3038,651,3798,0,0,0,0,0,0
$GC,606,-0.88,-146.0,101.0,-14.1,58,610,0.00,2.42,0.00,0.000,6,0.000,0.017,3038,2239,3798,0,0,0,0,0,0
$GC,868,-0.88,-146.0,131.5,-10.4,82,873,0.00,2.58,0.00,0.000,4,0.000,0.045,3037,656,3798,0,0,0,0,0,0
$GC,891,-0.88,-146.0,133.4,-10.0,83,895,0.00,2.40,0.00,0.000,6,0.000,0.021,3038,2224,3798,0,0,0,0,0,0
$GC,1154,-0.88,-146.0,159.5,-9.5,107,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2223,3799,0,0,0,0,0,0
$GC,1411,-0.94,-146.0,180.0,-7.5,131,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2223,3799,0,0,0,0,0,0
$GC,1674,-1.02,-146.0,200.3,-7.5,156,1678,0.00,2.55,0.00,0.000,4,0.000,0.045,3037,657,3799,0,0,0,0,0,0
$GC,1720,-1.10,-146.0,203.7,-7.5,157,1725,0.12,2.35,0.00,0.000,6,0.067,0.018,2983,2198,3800,0,0,0,0,0,0
$GC,1998,-1.10,-146.0,228.7,-9.2,164,2000,0.12,0.00,0.00,0.000,6,0.100,0.000,3012,2198,3800,0,0,0,0,0,0
$GC,2242,-1.14,-146.0,246.6,-7.2,170,2247,0.00,2.58,0.00,0.000,4,0.000,0.046,3012,3793,3800,0,0,0,0,0,0
$GC,2317,-1.21,-146.0,252.1,-7.3,171,2322,0.12,2.53,0.00,0.000,6,0.065,0.024,2957,2184,3799,0,0,0,0,0,0
$GC,2568,-1.15,-146.0,275.4,-9.4,177,2573,0.17,2.62,0.00,0.000,4,0.091,0.041,2998,3799,3799,0,0,0,0,0,0
$GC,2597,-1.15,-146.0,277.9,-8.1,177,2602,0.00,2.50,0.00,0.000,6,0.000,0.030,2998,2208,3799,0,0,0,0,0,0
$GC,2847,-1.15,-146.0,297.8,-8.0,183,2852,0.00,2.62,0.00,0.000,4,0.000,0.068,2997,649,3798,0,0,0,0,0,0
$GC,2902,-1.15,-146.0,302.4,-8.0,184,2906,0.00,2.40,0.00,0.000,6,0.000,0.031,2998,2191,3798,0,0,0,0,0,0
$GC,3171,-1.15,-146.0,323.3,-7.7,191,3176,0.00,2.65,0.00,0.000,4,0.000,0.052,2998,3815,3797,0,0,0,0,0,0
$GC,3204,-1.15,-146.0,326.2,-8.5,191,3210,0.00,2.55,0.00,0.000,6,0.000,0.025,2998,2205,3796,0,0,0,0,0,0
$GC,3454,-1.15,-146.0,345.7,-7.8,198,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2205,3796,0,0,0,0,0,0
$GC,3698,-1.15,-146.0,363.7,-7.4,204,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2205,3794,0,0,0,0,0,0
$GC,3944,-1.19,-146.0,383.2,-8.0,210,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2205,3793,0,0,0,0,0,0
$GC,4185,-1.19,-146.0,401.3,-7.5,216,4189,0.00,2.72,0.00,0.000,4,0.000,0.079,2998,646,3792,0,0,0,0,0,0
$GC,4229,-1.23,-146.0,405.0,-8.2,217,4234,0.00,2.53,0.00,0.000,6,0.000,0.036,2998,2199,3792,0,0,0,0,0,0
$GC,4509,-1.28,-146.0,426.8,-7.8,224,4514,0.12,2.72,0.00,0.000,4,0.070,0.061,2948,3817,3791,0,0,0,0,0,0
$GC,4543,-1.22,-146.0,430.3,-9.7,224,4549,0.15,2.60,0.00,0.000,6,0.094,0.038,2983,2218,3791,0,0,0,0,0,0
$GC,4795,-1.22,-146.0,451.5,-8.5,231,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2218,3790,0,0,0,0,0,0
$GC,5039,-1.22,-146.0,471.2,-8.2,237,5043,0.00,2.70,0.00,0.000,4,0.000,0.059,2983,3811,3789,0,0,0,0,0,0
$GC,5072,-1.22,-146.0,474.1,-8.5,237,5077,0.00,2.65,0.00,0.000,6,0.000,0.052,2983,2216,3788,0,0,0,0,0,0
$GC,5324,-1.22,-146.0,492.9,-7.6,244,5328,0.00,2.88,0.00,0.000,4,0.000,0.108,2983,636,3787,0,0,0,0,0,0
$GC,5356,-1.22,-146.0,496.2,-9.8,244,5362,0.00,2.60,0.00,0.000,6,0.000,0.050,2983,2213,3787,0,0,0,0,0,0
$GC,5606,-1.22,-146.0,517.4,-8.4,251,5611,0.00,2.78,0.00,0.000,4,0.000,0.084,2983,3814,3786,0,0,0,0,0,0
$GC,5640,-1.22,-146.0,520.4,-8.6,251,5646,0.00,2.65,0.00,0.000,6,0.000,0.048,2983,2215,3786,0,0,0,0,0,0
$GC,5892,-1.22,-146.0,540.9,-8.2,258,5897,0.00,2.90,0.00,0.000,4,0.000,0.116,2983,643,3785,0,0,0,0,0,0
$GC,5925,-1.22,-146.0,544.0,-8.5,258,5930,0.00,2.65,0.00,0.000,6,0.000,0.058,2983,2220,3785,0,0,0,0,0,0
$GC,6175,-1.22,-146.0,563.9,-7.8,265,6179,0.00,2.85,0.00,0.000,4,0.000,0.096,2983,3822,3783,0,0,0,0,0,0
$GC,6198,-1.22,-146.0,565.6,-8.1,265,6202,0.00,2.72,0.00,0.000,6,0.000,0.061,2983,2214,3783,0,0,0,0,0,0
$GC,6453,-1.22,-146.0,585.9,-7.7,272,6458,0.00,2.97,0.00,0.000,4,0.000,0.119,2983,645,3782,0,0,0,0,0,0
$GC,6474,-1.22,-146.0,587.7,-8.2,272,6479,0.00,2.67,0.00,0.000,6,0.000,0.057,2983,2232,3782,0,0,0,0,0,0
$STATE,6645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6645,begin apogee
$GC,6654,-0.31,0.0,601.3,8.0,277,6774,0.88,0.00,116.62,0.965,6,0.071,0.000,3183,2364,3200,0,0,0,0,0,0
$STATE,6774,end apogee,CONTROL_FINISHED_OK
$STATE,6775,begin climb
$GC,6777,1.27,146.0,604.4,0.0,280,6911,1.45,2.97,120.43,0.943,4,0.047,0.101,3534,3923,2603,0,0,0,0,0,0
$GC,6917,1.22,174.2,598.0,8.7,283,6947,0.00,2.72,24.98,0.888,6,0.000,0.058,3534,2360,2489,0,0,0,0,0,0
$GC,7218,1.17,174.2,564.6,11.4,291,7223,0.15,2.75,0.00,0.000,4,0.107,0.070,3504,3931,2482,0,0,0,0,0,0
$GC,7253,1.17,174.2,560.8,10.5,291,7259,0.00,2.67,0.00,0.000,6,0.000,0.050,3504,2359,2481,0,0,0,0,0,0
$GC,7503,1.19,189.7,537.0,9.3,298,7518,0.00,0.00,13.60,0.840,6,0.000,0.000,3504,2359,2426,0,0,0,0,0,0
$GC,7746,1.21,203.7,514.2,9.4,304,7762,0.00,0.00,13.45,0.829,6,0.000,0.000,3504,2359,2369,0,0,0,0,0,0
$GC,7992,1.21,203.7,490.1,10.1,310,7996,0.00,2.67,0.00,0.000,4,0.000,0.057,3504,3937,2366,0,0,0,0,0,0
$GC,8007,1.21,203.7,488.3,10.1,310,8012,0.00,2.60,0.00,0.000,6,0.000,0.034,3504,2363,2365,0,0,0,0,0,0
$GC,8269,1.21,203.7,462.2,10.1,317,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2363,2365,0,0,0,0,0,0
$GC,8512,1.21,203.7,437.6,10.2,323,8517,0.00,2.65,0.00,0.000,4,0.000,0.045,3504,3946,2364,0,0,0,0,0,0
$GC,8587,1.21,203.7,429.4,11.7,324,8591,0.00,2.55,0.00,0.000,6,0.000,0.030,3504,2370,2363,0,0,0,0,0,0
$GC,8837,1.21,205.0,404.3,9.9,330,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2370,2362,0,0,0,0,0,0
$GC,9080,1.21,205.0,380.0,10.1,336,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2370,2362,0,0,0,0,0,0
$GC,9326,1.24,205.0,354.5,10.4,342,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2370,2362,0,0,0,0,0,0
$GC,9568,1.28,205.0,328.9,10.5,348,9570,0.10,0.00,0.00,0.000,6,0.204,0.000,3534,2370,2362,0,0,0,0,0,0
$GC,9811,1.28,205.0,300.2,11.9,354,9815,0.00,2.60,0.00,0.000,4,0.000,0.044,3535,3942,2362,0,0,0,0,0,0
$GC,9860,1.28,205.0,293.8,12.3,355,9864,0.00,2.53,0.00,0.000,6,0.000,0.025,3534,2358,2361,0,0,0,0,0,0
$GC,10133,1.28,205.0,261.3,11.8,362,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2358,2361,0,0,0,0,0,0
$GC,10376,1.28,205.0,234.0,10.9,368,10381,0.00,2.62,0.00,0.000,4,0.000,0.047,3535,3945,2361,0,0,0,0,0,0
$GC,10449,1.28,205.0,225.8,12.2,369,10454,0.00,2.50,0.00,0.000,6,0.000,0.027,3535,2377,2361,0,0,0,0,0,0
$GC,10701,1.28,205.0,199.1,10.6,375,10705,0.00,2.60,0.00,0.000,4,0.000,0.051,3535,3946,2361,0,0,0,0,0,0
$GC,10730,1.28,205.0,195.7,11.4,377,10734,0.00,2.47,0.00,0.000,6,0.000,0.026,3535,2393,2361,0,0,0,0,0,0
$GC,10994,1.30,219.5,170.7,9.3,401,11013,0.00,0.00,13.57,0.608,6,0.000,0.000,3535,2393,2306,0,0,0,0,0,0
$GC,11271,1.42,260.0,146.9,8.1,427,11311,0.10,0.00,36.10,0.614,6,0.083,0.000,3570,2393,2140,0,0,0,0,0,0
$GC,11566,1.48,282.0,118.5,9.0,455,11591,0.00,2.60,19.73,0.570,4,0.000,0.041,3570,3947,2048,0,0,0,0,0,0
$GC,11604,1.55,293.1,114.5,9.5,458,11621,0.00,2.50,11.10,0.531,6,0.000,0.024,3570,2392,2004,0,0,0,0,0,0
$GC,11883,1.63,300.7,88.2,9.6,484,11896,0.15,0.00,7.60,0.483,6,0.062,0.000,3619,2392,1974,0,0,0,0,0,0
$GC,12156,1.63,300.7,55.9,11.5,509,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,2392,1973,0,0,0,0,0,0
$GC,12436,1.63,300.7,21.0,12.2,539,12445,0.00,2.58,0.00,0.000,4,0.000,0.044,3619,3939,1973,0,0,0,0,0,0
$GC,12470,1.59,300.7,16.4,13.0,543,12479,0.08,2.47,0.00,0.000,6,0.094,0.021,3599,2377,1973,0,0,0,0,0,0
$STATE,12566,end climb,SURFACE_DEPTH_REACHED
$STATE,12566,begin surface coast
$FINISH,0.7,1.010448
$STATE,12612,end surface coast,CONTROL_FINISHED_OK
$STATE,12612,begin surface
$SM_CCo,12634,39.72,0.487,0,0,1772,350.04
$SM_GC,1.78,0.00,0.00,39.72,0.000,0.000,0.487,466,2221,1772,-12.81,-0.23,350.04
$IRIDIUM_FIX,1916.08,-8107.94,260402,030317
$TT8_MAMPS,0.026078
$HUMID,56.93
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,43
$24V_AH,23.4,10.507
$10V_AH,10.5,8.819
$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,30.150,131.625,377.175,39.725,0.000,22.431,47.018,372.718,10.750,0.000,13.968,1140.110,8953.582,500.582,1878.645,798.519,33.352,1254.765,0.000,1880.383,0.000,0.537,0.000
$DEVICE_MAMPS,204.022,118.885,964.886,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.641,309.846,395.918,542.125,1031.699,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,44656,563
$CAP_FILE_SIZE,122810,0
$CFSIZE,260165632,123781120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300113,102606,1923.899,-8110.591,39,1.5,39,-3.8