version: 66.06
glider: 146
mission: 8
dive: 72
start: 1 30 113 14 17 19
data:
$ID,146
$MISSION,8
$DIVE,72
$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,-308770.34
$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,33
$R_STBD_OVSHOOT,38
$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
$GPS1,140935,1924.074,-8111.485,34,1.1,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.6
$GPS2,141625,1924.084,-8111.502,14,1.3,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,0.110
$KALMAN_X,84326.0,356.4,4.2,-85310.0,1066.5
$KALMAN_Y,-8021.3,298.8,68.5,2200.6,-480.6
$MHEAD_RNG_PITCHd_Wd,298.8,12567,-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,-71.15,0.000,2,0.000,0.000,464,2175,3545,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.8,-6.1,9,123,13.75,2.62,-4.32,0.000,4,0.170,0.039,2967,3816,3796,0,0,0,0,0,0
$GC,285,-1.09,-146.0,47.8,-17.9,29,290,0.20,2.53,0.00,0.000,6,0.109,0.024,3009,2227,3797,0,0,0,0,0,0
$GC,554,-0.95,-146.0,89.8,-14.9,53,559,0.15,2.62,0.00,0.000,4,0.110,0.048,3042,650,3798,0,0,0,0,0,0
$GC,597,-0.89,-146.0,96.8,-13.0,56,601,0.00,2.45,0.00,0.000,6,0.000,0.021,3042,2240,3797,0,0,0,0,0,0
$GC,861,-0.89,-146.0,127.9,-10.3,80,870,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2240,3797,0,0,0,0,0,0
$GC,1122,-0.89,-146.0,153.4,-9.5,105,1127,0.00,2.60,0.00,0.000,4,0.000,0.047,3042,653,3798,0,0,0,0,0,0
$GC,1156,-0.89,-146.0,156.6,-9.4,107,1162,0.00,2.42,0.00,0.000,6,0.000,0.023,3042,2230,3798,0,0,0,0,0,0
$GC,1422,-0.96,-146.0,177.1,-6.8,132,1426,0.00,2.53,0.00,0.000,4,0.000,0.041,3042,3794,3799,0,0,0,0,0,0
$GC,1455,-1.06,-146.0,180.0,-7.7,134,1462,0.10,2.45,0.00,0.000,6,0.078,0.028,2992,2227,3799,0,0,0,0,0,0
$GC,1718,-1.06,-146.0,203.5,-8.9,156,1720,0.12,0.00,0.00,0.000,6,0.104,0.000,3021,2227,3799,0,0,0,0,0,0
$GC,1959,-1.11,-146.0,221.4,-7.2,162,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2227,3799,0,0,0,0,0,0
$GC,2204,-1.17,-146.0,238.3,-7.0,168,2206,0.10,0.00,0.00,0.000,6,0.081,0.000,2973,2227,3799,0,0,0,0,0,0
$GC,2446,-1.17,-146.0,261.7,-9.6,174,2451,0.10,2.62,0.00,0.000,4,0.112,0.064,2996,656,3799,0,0,0,0,0,0
$GC,2490,-1.17,-146.0,265.9,-9.3,175,2494,0.00,2.45,0.00,0.000,6,0.000,0.021,2996,2229,3798,0,0,0,0,0,0
$GC,2770,-1.17,-146.0,287.6,-7.7,182,2774,0.00,2.55,0.00,0.000,4,0.000,0.044,2996,3808,3798,0,0,0,0,0,0
$GC,2791,-1.17,-146.0,289.4,-7.5,182,2795,0.00,2.45,0.00,0.000,6,0.000,0.023,2996,2246,3798,0,0,0,0,0,0
$GC,3046,-1.17,-146.0,308.1,-7.3,189,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2246,3797,0,0,0,0,0,0
$GC,3292,-1.17,-146.0,327.3,-8.1,195,3296,0.00,2.53,0.00,0.000,4,0.000,0.045,2996,3799,3797,0,0,0,0,0,0
$GC,3319,-1.17,-146.0,329.9,-8.6,195,3323,0.00,2.45,0.00,0.000,6,0.000,0.022,2996,2247,3797,0,0,0,0,0,0
$GC,3569,-1.17,-146.0,350.8,-8.3,201,3573,0.00,2.72,0.00,0.000,4,0.000,0.068,2996,645,3796,0,0,0,0,0,0
$GC,3637,-1.21,-146.0,356.9,-9.2,202,3642,0.00,2.53,0.00,0.000,6,0.000,0.035,2996,2222,3795,0,0,0,0,0,0
$GC,3892,-1.21,-146.0,377.9,-8.2,209,3897,0.00,2.60,0.00,0.000,4,0.000,0.050,2996,3811,3794,0,0,0,0,0,0
$GC,3922,-1.25,-146.0,380.3,-9.1,209,3926,0.00,2.53,0.00,0.000,6,0.000,0.027,2996,2234,3794,0,0,0,0,0,0
$GC,4174,-1.29,-146.0,400.1,-7.8,215,4179,0.12,2.78,0.00,0.000,4,0.067,0.081,2948,649,3793,0,0,0,0,0,0
$GC,4214,-1.22,-146.0,404.0,-10.0,216,4219,0.15,2.55,0.00,0.000,6,0.099,0.038,2982,2227,3792,0,0,0,0,0,0
$GC,4500,-1.22,-146.0,426.6,-7.7,223,4504,0.00,2.65,0.00,0.000,4,0.000,0.060,2982,3819,3791,0,0,0,0,0,0
$GC,4561,-1.22,-146.0,431.8,-8.1,224,4565,0.00,2.55,0.00,0.000,6,0.000,0.038,2982,2241,3791,0,0,0,0,0,0
$GC,4821,-1.22,-146.0,451.9,-7.9,231,4826,0.00,2.85,0.00,0.000,4,0.000,0.091,2981,641,3791,0,0,0,0,0,0
$GC,4845,-1.22,-146.0,453.7,-7.9,231,4849,0.00,2.60,0.00,0.000,6,0.000,0.042,2982,2235,3790,0,0,0,0,0,0
$GC,5101,-1.22,-146.0,474.8,-8.3,238,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2235,3789,0,0,0,0,0,0
$GC,5343,-1.22,-146.0,494.0,-7.8,244,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2235,3787,0,0,0,0,0,0
$GC,5587,-1.22,-146.0,511.5,-7.1,250,5592,0.00,2.72,0.00,0.000,4,0.000,0.080,2982,3812,3786,0,0,0,0,0,0
$GC,5633,-1.22,-146.0,514.8,-7.3,251,5637,0.00,2.65,0.00,0.000,6,0.000,0.054,2982,2228,3786,0,0,0,0,0,0
$GC,5910,-1.22,-146.0,536.4,-7.9,258,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2228,3786,0,0,0,0,0,0
$GC,6154,-1.22,-146.0,555.2,-7.7,264,6159,0.00,2.92,0.00,0.000,4,0.000,0.114,2982,644,3784,0,0,0,0,0,0
$GC,6195,-1.22,-146.0,558.4,-8.4,265,6200,0.00,2.65,0.00,0.000,6,0.000,0.054,2982,2222,3784,0,0,0,0,0,0
$GC,6479,-1.22,-146.0,580.8,-7.8,272,6483,0.00,2.85,0.00,0.000,4,0.000,0.097,2981,3814,3783,0,0,0,0,0,0
$GC,6506,-1.22,-146.0,583.1,-8.3,272,6510,0.00,2.67,0.00,0.000,6,0.000,0.062,2982,2224,3782,0,0,0,0,0,0
$STATE,6753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6753,begin apogee
$GC,6761,-0.31,0.0,601.5,7.2,278,6881,0.88,0.00,116.50,0.968,6,0.071,0.000,3183,2371,3200,0,0,0,0,0,0
$STATE,6882,end apogee,CONTROL_FINISHED_OK
$STATE,6882,begin climb
$GC,6884,1.27,146.0,603.8,0.0,281,7018,1.42,2.88,120.10,0.943,4,0.041,0.083,3532,3923,2602,0,0,0,0,0,0
$GC,7053,1.18,146.0,593.2,11.9,285,7058,0.12,2.67,0.00,0.000,6,0.117,0.058,3508,2361,2599,0,0,0,0,0,0
$GC,7339,1.20,157.7,565.8,9.5,292,7354,0.00,2.75,10.30,0.811,4,0.000,0.070,3508,3925,2557,0,0,0,0,0,0
$GC,7373,1.21,167.7,561.9,9.5,292,7388,0.00,2.65,10.15,0.805,6,0.000,0.047,3508,2363,2516,0,0,0,0,0,0
$GC,7661,1.22,175.0,533.6,9.7,300,7676,0.00,3.08,7.40,0.751,4,0.000,0.110,3508,777,2485,0,0,0,0,0,0
$GC,7689,1.23,186.9,531.0,9.5,300,7708,0.00,2.65,11.85,0.820,6,0.000,0.045,3508,2350,2438,0,0,0,0,0,0
$GC,7994,1.24,196.2,501.0,9.6,308,8009,0.00,2.80,9.23,0.783,4,0.000,0.074,3508,3931,2400,0,0,0,0,0,0
$GC,8083,1.24,196.2,491.5,10.5,310,8088,0.00,2.60,0.00,0.000,6,0.000,0.041,3508,2366,2398,0,0,0,0,0,0
$GC,8361,1.26,209.2,465.1,9.4,317,8375,0.00,0.00,12.68,0.808,6,0.000,0.000,3508,2367,2347,0,0,0,0,0,0
$GC,8604,1.26,209.2,440.0,10.6,323,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2367,2345,0,0,0,0,0,0
$GC,8850,1.26,209.2,413.5,10.9,329,8854,0.00,2.62,0.00,0.000,4,0.000,0.046,3508,3939,2344,0,0,0,0,0,0
$GC,8905,1.26,209.2,406.7,12.0,330,8909,0.00,2.55,0.00,0.000,6,0.000,0.028,3508,2361,2342,0,0,0,0,0,0
$GC,9171,1.26,209.2,378.7,10.4,337,9176,0.00,2.72,0.00,0.000,4,0.000,0.066,3508,767,2342,0,0,0,0,0,0
$GC,9188,1.26,209.2,376.9,10.5,337,9193,0.00,2.60,0.00,0.000,6,0.000,0.027,3508,2392,2342,0,0,0,0,0,0
$GC,9449,1.27,216.6,351.5,9.7,344,9463,0.00,2.60,7.57,0.680,4,0.000,0.054,3508,3920,2316,0,0,0,0,0,0
$GC,9485,1.27,216.6,347.6,10.4,344,9491,0.00,2.50,0.00,0.000,6,0.000,0.030,3508,2365,2315,0,0,0,0,0,0
$GC,9738,1.27,216.6,322.1,10.4,351,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2365,2314,0,0,0,0,0,0
$GC,9979,1.27,216.6,297.1,10.2,357,9983,0.00,2.60,0.00,0.000,4,0.000,0.048,3508,3924,2314,0,0,0,0,0,0
$GC,10000,1.27,216.6,294.5,11.6,357,10004,0.00,2.47,0.00,0.000,6,0.000,0.026,3508,2373,2313,0,0,0,0,0,0
$GC,10262,1.31,216.6,266.8,10.7,364,10267,0.12,2.65,0.00,0.000,4,0.219,0.053,3549,777,2313,0,0,0,0,0,0
$GC,10280,1.31,216.6,264.7,11.0,364,10284,0.00,2.55,0.00,0.000,6,0.000,0.025,3549,2389,2313,0,0,0,0,0,0
$GC,10540,1.31,216.6,233.2,12.0,371,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2389,2313,0,0,0,0,0,0
$GC,10783,1.31,216.6,204.9,11.4,377,10788,0.00,2.53,0.00,0.000,4,0.000,0.048,3549,3923,2313,0,0,0,0,0,0
$GC,10881,1.31,216.6,193.1,11.3,380,10885,0.00,2.45,0.00,0.000,6,0.000,0.032,3549,2383,2313,0,0,0,0,0,0
$GC,11143,1.31,219.8,166.3,9.9,404,11154,0.00,2.58,4.15,0.436,4,0.000,0.050,3549,3927,2303,0,0,0,0,0,0
$GC,11207,1.31,219.8,159.8,10.8,409,11211,0.00,2.42,0.00,0.000,6,0.000,0.024,3549,2394,2303,0,0,0,0,0,0
$GC,11474,1.41,258.5,136.5,8.2,433,11513,0.00,0.00,34.65,0.604,6,0.000,0.000,3549,2394,2145,0,0,0,0,0,0
$GC,11769,1.55,295.0,109.8,8.3,461,11807,0.15,2.70,31.80,0.574,4,0.064,0.048,3597,781,1996,0,0,0,0,0,0
$GC,11812,1.55,295.0,105.1,10.5,464,11822,0.00,2.60,0.00,0.000,6,0.000,0.021,3597,2401,1995,0,0,0,0,0,0
$GC,12082,1.55,295.0,76.1,11.3,489,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2401,1994,0,0,0,0,0,0
$GC,12347,1.55,295.0,47.0,10.3,514,12352,0.00,2.65,0.00,0.000,4,0.000,0.043,3597,776,1994,0,0,0,0,0,0
$GC,12370,1.55,295.0,44.7,10.7,515,12374,0.00,2.50,0.00,0.000,6,0.000,0.021,3597,2388,1993,0,0,0,0,0,0
$GC,12666,1.59,295.0,12.5,10.1,551,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2388,1993,0,0,0,0,0,0
$STATE,12749,end climb,SURFACE_DEPTH_REACHED
$STATE,12749,begin surface coast
$FINISH,0.8,1.023178
$STATE,12798,end surface coast,CONTROL_FINISHED_OK
$STATE,12798,begin surface
$SM_CCo,12823,43.65,0.486,0,0,1773,350.04
$SM_GC,1.56,0.00,0.00,43.65,0.000,0.000,0.486,463,2118,1773,-12.82,-3.17,350.04
$IRIDIUM_FIX,1916.08,-8207.71,260402,101039
$TT8_MAMPS,0.026078
$HUMID,56.37
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.80
$XPDR_PINGS,47
$24V_AH,23.4,10.734
$10V_AH,10.5,9.043
$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,30.025,146.975,376.375,43.650,0.000,23.716,36.062,190.523,11.750,0.000,16.233,1176.559,8968.226,499.746,2014.923,613.875,33.355,1308.815,0.000,2008.006,0.000,0.538,0.000
$DEVICE_MAMPS,218.595,114.283,967.954,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.042,313.340,400.140,562.417,1071.731,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,44723,570
$CAP_FILE_SIZE,126170,0
$CFSIZE,260165632,123654144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300113,175306,1924.600,-8112.119,37,1.2,37,-3.8