version: 66.06
glider: 146
mission: 8
dive: 73
start: 1 30 113 18 1 13
data:
$ID,146
$MISSION,8
$DIVE,73
$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,-308783.22
$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,37
$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
$GPS1,175306,1924.600,-8112.119,37,1.2,37,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.4
$GPS2,180019,1924.616,-8112.133,10,1.2,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.227,0.126
$KALMAN_X,86035.9,293.7,60.1,-88118.8,1051.3
$KALMAN_Y,-8367.8,294.1,80.1,3520.4,-788.2
$MHEAD_RNG_PITCHd_Wd,302.8,11156,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.55,0.000,2,0.000,0.000,462,2118,3316,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-4.7,8,124,13.65,2.78,-9.43,0.000,4,0.167,0.045,2966,3808,3799,0,0,0,0,0,0
$GC,283,-1.09,-146.0,42.8,-16.9,31,288,0.20,2.50,0.00,0.000,6,0.106,0.022,3010,2223,3799,0,0,0,0,0,0
$GC,551,-0.95,-146.0,84.9,-15.5,55,556,0.15,2.58,0.00,0.000,4,0.112,0.045,3042,655,3799,0,0,0,0,0,0
$GC,609,-0.88,-146.0,93.7,-13.7,59,613,0.00,2.45,0.00,0.000,6,0.000,0.018,3042,2246,3799,0,0,0,0,0,0
$GC,877,-0.88,-146.0,125.6,-10.5,83,882,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2246,3800,0,0,0,0,0,0
$GC,1138,-0.88,-146.0,151.3,-9.3,108,1143,0.00,2.60,0.00,0.000,4,0.000,0.045,3042,651,3800,0,0,0,0,0,0
$GC,1205,-0.95,-146.0,157.6,-9.2,113,1209,0.00,2.40,0.00,0.000,6,0.000,0.021,3042,2225,3801,0,0,0,0,0,0
$GC,1468,-1.01,-146.0,179.3,-7.6,137,1473,0.00,2.50,0.00,0.000,4,0.000,0.036,3042,3793,3801,0,0,0,0,0,0
$GC,1505,-1.09,-146.0,182.1,-7.3,139,1511,0.12,2.45,0.00,0.000,6,0.065,0.020,2986,2218,3801,0,0,0,0,0,0
$GC,1785,-1.09,-146.0,207.8,-8.8,160,1787,0.12,0.00,0.00,0.000,6,0.104,0.000,3015,2218,3801,0,0,0,0,0,0
$GC,2027,-1.09,-146.0,227.4,-8.2,166,2032,0.00,2.55,0.00,0.000,4,0.000,0.055,3015,660,3801,0,0,0,0,0,0
$GC,2057,-1.13,-146.0,229.7,-8.1,166,2062,0.00,2.42,0.00,0.000,6,0.000,0.020,3015,2240,3801,0,0,0,0,0,0
$GC,2308,-1.17,-146.0,249.0,-7.5,172,2312,0.00,2.53,0.00,0.000,4,0.000,0.041,3015,3792,3801,0,0,0,0,0,0
$GC,2365,-1.25,-146.0,253.4,-7.7,173,2370,0.15,2.42,0.00,0.000,6,0.057,0.028,2952,2238,3801,0,0,0,0,0,0
$GC,2632,-1.18,-146.0,279.2,-9.7,180,2637,0.17,2.65,0.00,0.000,4,0.094,0.064,2992,652,3801,0,0,0,0,0,0
$GC,2672,-1.18,-146.0,282.8,-8.4,181,2676,0.00,2.47,0.00,0.000,6,0.000,0.022,2992,2233,3800,0,0,0,0,0,0
$GC,2957,-1.18,-146.0,305.7,-8.1,188,2962,0.00,2.60,0.00,0.000,4,0.000,0.054,2992,661,3800,0,0,0,0,0,0
$GC,2985,-1.18,-146.0,308.2,-8.8,188,2989,0.00,2.47,0.00,0.000,6,0.000,0.023,2992,2232,3799,0,0,0,0,0,0
$GC,3235,-1.18,-146.0,328.5,-8.1,194,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2233,3799,0,0,0,0,0,0
$GC,3481,-1.18,-146.0,348.7,-8.4,200,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2233,3798,0,0,0,0,0,0
$GC,3722,-1.18,-146.0,368.6,-8.1,206,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2233,3797,0,0,0,0,0,0
$GC,3966,-1.18,-146.0,387.8,-7.9,212,3970,0.00,2.60,0.00,0.000,4,0.000,0.059,2992,3803,3796,0,0,0,0,0,0
$GC,4001,-1.18,-146.0,390.6,-8.6,212,4006,0.00,2.50,0.00,0.000,6,0.000,0.028,2992,2249,3796,0,0,0,0,0,0
$GC,4251,-1.18,-146.0,411.2,-8.3,219,4255,0.00,2.83,0.00,0.000,4,0.000,0.081,2992,641,3795,0,0,0,0,0,0
$GC,4290,-1.18,-146.0,414.5,-8.0,220,4294,0.00,2.55,0.00,0.000,6,0.000,0.039,2992,2219,3795,0,0,0,0,0,0
$GC,4575,-1.18,-146.0,436.2,-7.4,227,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2219,3793,0,0,0,0,0,0
$GC,4817,-1.18,-146.0,454.3,-7.4,233,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2219,3792,0,0,0,0,0,0
$GC,5062,-1.18,-146.0,472.3,-7.4,239,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2219,3791,0,0,0,0,0,0
$GC,5304,-1.18,-146.0,490.8,-7.7,245,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2219,3790,0,0,0,0,0,0
$GC,5550,-1.21,-146.0,510.2,-8.0,251,5555,0.00,2.75,0.00,0.000,4,0.000,0.080,2992,3809,3789,0,0,0,0,0,0
$GC,5590,-1.26,-146.0,513.7,-8.2,252,5595,0.00,2.65,0.00,0.000,6,0.000,0.048,2992,2227,3788,0,0,0,0,0,0
$GC,5873,-1.26,-146.0,535.9,-7.7,259,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2226,3786,0,0,0,0,0,0
$GC,6119,-1.30,-146.0,553.9,-7.3,265,6125,0.10,2.95,0.00,0.000,4,0.083,0.110,2953,639,3785,0,0,0,0,0,0
$GC,6141,-1.30,-146.0,556.0,-8.1,265,6146,0.00,2.65,0.00,0.000,6,0.000,0.049,2953,2220,3785,0,0,0,0,0,0
$GC,6396,-1.30,-146.0,578.8,-9.2,272,6401,0.00,2.88,0.00,0.000,4,0.000,0.097,2953,3822,3784,0,0,0,0,0,0
$GC,6420,-1.26,-146.0,580.9,-9.5,272,6425,0.10,2.70,0.00,0.000,6,0.111,0.058,2976,2228,3784,0,0,0,0,0,0
$STATE,6673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6673,begin apogee
$GC,6679,-0.31,0.0,601.6,7.8,279,6800,0.90,0.00,117.10,0.965,6,0.074,0.000,3180,2373,3200,0,0,0,0,0,0
$STATE,6801,end apogee,CONTROL_FINISHED_OK
$STATE,6801,begin climb
$GC,6805,1.27,146.0,604.0,0.0,282,6937,1.45,2.88,120.22,0.940,4,0.054,0.081,3532,3923,2603,0,0,0,0,0,0
$GC,6993,1.18,146.0,591.5,11.3,286,6999,0.12,2.70,0.00,0.000,6,0.119,0.060,3508,2360,2600,0,0,0,0,0,0
$GC,7257,1.21,170.5,567.7,8.9,293,7280,0.00,0.00,21.20,0.877,6,0.000,0.000,3508,2359,2504,0,0,0,0,0,0
$GC,7543,1.21,170.5,538.9,10.2,300,7548,0.00,2.70,0.00,0.000,4,0.000,0.058,3508,3927,2499,0,0,0,0,0,0
$GC,7612,1.21,170.5,531.8,10.6,301,7616,0.00,2.60,0.00,0.000,6,0.000,0.043,3508,2364,2499,0,0,0,0,0,0
$GC,7869,1.23,182.2,507.2,9.5,308,7884,0.00,2.70,10.27,0.796,4,0.000,0.056,3508,3930,2458,0,0,0,0,0,0
$GC,7934,1.23,182.2,500.2,11.0,309,7938,0.00,2.60,0.00,0.000,6,0.000,0.041,3508,2371,2456,0,0,0,0,0,0
$GC,8192,1.24,194.7,475.9,9.4,316,8212,0.00,2.70,12.55,0.808,4,0.000,0.056,3508,3926,2405,0,0,0,0,0,0
$GC,8228,1.24,194.7,471.9,10.3,316,8234,0.00,2.58,0.00,0.000,6,0.000,0.034,3508,2378,2404,0,0,0,0,0,0
$GC,8478,1.24,194.7,446.5,10.1,323,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2377,2403,0,0,0,0,0,0
$GC,8724,1.25,197.3,422.5,9.9,329,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2377,2402,0,0,0,0,0,0
$GC,8966,1.25,200.8,398.5,9.8,335,8974,0.00,0.00,6.18,0.665,6,0.000,0.000,3508,2377,2381,0,0,0,0,0,0
$GC,9209,1.25,200.8,374.0,10.1,341,9214,0.00,2.58,0.00,0.000,4,0.000,0.044,3508,3932,2381,0,0,0,0,0,0
$GC,9249,1.25,200.8,369.4,12.5,342,9253,0.00,2.50,0.00,0.000,6,0.000,0.027,3508,2376,2380,0,0,0,0,0,0
$GC,9534,1.25,200.8,340.1,10.3,349,9538,0.00,2.60,0.00,0.000,4,0.000,0.049,3508,3933,2379,0,0,0,0,0,0
$GC,9549,1.25,200.8,338.1,10.4,349,9553,0.00,2.47,0.00,0.000,6,0.000,0.025,3508,2381,2380,0,0,0,0,0,0
$GC,9816,1.29,200.8,311.0,10.2,356,9818,0.10,0.00,0.00,0.000,6,0.099,0.000,3541,2380,2379,0,0,0,0,0,0
$GC,10063,1.29,200.8,283.7,11.2,362,10068,0.00,2.58,0.00,0.000,4,0.000,0.051,3541,3928,2379,0,0,0,0,0,0
$GC,10091,1.24,200.8,279.8,12.6,362,10095,0.00,2.45,0.00,0.000,6,0.000,0.026,3541,2390,2378,0,0,0,0,0,0
$GC,10340,1.24,200.8,251.8,11.1,368,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2390,2379,0,0,0,0,0,0
$GC,10586,1.24,200.8,224.5,11.2,374,10590,0.00,2.55,0.00,0.000,4,0.000,0.052,3541,3930,2378,0,0,0,0,0,0
$GC,10670,1.24,200.8,214.5,11.8,376,10674,0.00,2.47,0.00,0.000,6,0.000,0.027,3540,2379,2378,0,0,0,0,0,0
$GC,10929,1.27,222.5,188.5,9.0,389,10951,0.00,0.00,20.20,0.634,6,0.000,0.000,3540,2379,2292,0,0,0,0,0,0
$GC,11207,1.30,251.3,163.2,8.7,415,11242,0.00,2.65,25.75,0.616,4,0.000,0.044,3540,3928,2173,0,0,0,0,0,0
$GC,11250,1.31,254.8,158.6,9.8,418,11259,0.00,2.50,4.35,0.425,6,0.000,0.024,3541,2376,2161,0,0,0,0,0,0
$GC,11521,1.40,268.0,132.1,9.4,444,11540,0.00,2.67,12.80,0.559,4,0.000,0.056,3541,776,2107,0,0,0,0,0,0
$GC,11554,1.49,288.0,129.2,9.1,446,11579,0.15,2.55,18.58,0.570,6,0.066,0.025,3587,2388,2024,0,0,0,0,0,0
$GC,11836,1.53,292.5,98.5,9.8,472,11851,0.00,2.55,4.97,0.426,4,0.000,0.042,3587,3915,2007,0,0,0,0,0,0
$GC,11882,1.53,292.5,93.5,10.6,475,11887,0.00,2.47,0.00,0.000,6,0.000,0.025,3586,2364,2005,0,0,0,0,0,0
$GC,12148,1.57,292.9,67.0,10.0,500,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2364,2005,0,0,0,0,0,0
$GC,12417,1.61,292.9,39.2,10.6,525,12421,0.00,2.53,0.00,0.000,4,0.000,0.042,3586,3918,2005,0,0,0,0,0,0
$GC,12499,1.66,292.9,29.5,10.8,531,12508,0.08,2.45,0.00,0.000,6,0.045,0.024,3623,2379,2005,0,0,0,0,0,0
$STATE,12722,end climb,SURFACE_DEPTH_REACHED
$STATE,12722,begin surface coast
$FINISH,0.7,1.010470
$STATE,12765,end surface coast,CONTROL_FINISHED_OK
$STATE,12765,begin surface
$SM_CCo,12788,46.08,0.486,0,0,1773,350.04
$SM_GC,1.39,0.00,0.00,46.08,0.000,0.000,0.486,466,2195,1773,-12.81,-0.99,350.04
$IRIDIUM_FIX,1913.80,-8112.45,260402,141448
$TT8_MAMPS,0.026078
$HUMID,56.93
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,41
$24V_AH,23.4,10.848
$10V_AH,10.5,9.155
$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,30.150,129.925,374.175,46.075,0.000,27.931,35.317,212.472,10.250,0.000,12.260,1160.433,9010.773,484.783,1973.673,633.898,33.353,1261.298,0.000,1974.791,0.000,0.538,0.000
$DEVICE_MAMPS,167.206,133.458,964.886,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.969,305.330,401.034,570.245,1086.284,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,44705,570
$CAP_FILE_SIZE,122759,0
$CFSIZE,260165632,123596800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300113,213630,1925.122,-8112.583,40,1.5,40,-3.8