version: 66.06
glider: 146
mission: 8
dive: 74
start: 1 30 113 21 44 37
data:
$ID,146
$MISSION,8
$DIVE,74
$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,-308797.56
$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,58
$R_STBD_OVSHOOT,42
$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,3220
$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
$GPS1,213630,1925.122,-8112.583,40,1.5,40,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.3
$GPS2,214343,1925.138,-8112.585,12,1.6,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.238,0.103
$KALMAN_X,87901.3,133.0,264.6,-90817.9,861.5
$KALMAN_Y,-8573.1,67.6,-39.9,5037.7,-511.3
$MHEAD_RNG_PITCHd_Wd,297.3,10066,-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,-71.30,0.000,2,0.000,0.000,465,2194,3529,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.6,-5.2,9,124,13.70,2.47,-5.05,0.000,4,0.168,0.051,2968,671,3816,0,0,0,0,0,0
$GC,324,-1.06,-146.0,55.0,-18.1,33,329,0.22,2.42,0.00,0.000,6,0.107,0.018,3016,2243,3816,0,0,0,0,0,0
$GC,592,-0.93,-146.0,96.2,-14.2,57,598,0.15,0.00,0.00,0.000,6,0.109,0.000,3049,2243,3817,0,0,0,0,0,0
$GC,853,-0.93,-146.0,127.8,-9.7,82,858,0.00,2.58,0.00,0.000,4,0.000,0.048,3049,675,3817,0,0,0,0,0,0
$GC,890,-0.93,-146.0,131.2,-10.3,84,899,0.00,2.40,0.00,0.000,6,0.000,0.020,3049,2224,3817,0,0,0,0,0,0
$GC,1156,-0.93,-146.0,154.1,-8.2,109,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2224,3818,0,0,0,0,0,0
$GC,1421,-1.00,-146.0,176.4,-7.8,134,1425,0.00,2.55,0.00,0.000,4,0.000,0.048,3049,678,3818,0,0,0,0,0,0
$GC,1538,-1.09,-146.0,185.9,-7.9,143,1544,0.15,2.40,0.00,0.000,6,0.058,0.019,2989,2240,3818,0,0,0,0,0,0
$GC,1816,-1.09,-146.0,211.9,-9.2,161,1821,0.10,2.50,0.00,0.000,4,0.112,0.038,3012,3800,3819,0,0,0,0,0,0
$GC,1849,-1.09,-146.0,215.2,-8.7,161,1855,0.00,2.40,0.00,0.000,6,0.000,0.025,3012,2254,3819,0,0,0,0,0,0
$GC,2099,-1.09,-146.0,236.2,-8.2,168,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2254,3819,0,0,0,0,0,0
$GC,2345,-1.13,-146.0,256.1,-8.1,174,2350,0.00,2.65,0.00,0.000,4,0.000,0.061,3012,659,3819,0,0,0,0,0,0
$GC,2378,-1.16,-146.0,259.2,-9.0,174,2384,0.00,2.45,0.00,0.000,6,0.000,0.020,3012,2236,3818,0,0,0,0,0,0
$GC,2629,-1.21,-146.0,278.3,-7.6,181,2630,0.12,0.00,0.00,0.000,6,0.067,0.000,2962,2236,3818,0,0,0,0,0,0
$GC,2875,-1.17,-146.0,301.9,-9.7,187,2880,0.15,2.55,0.00,0.000,4,0.096,0.044,2996,3801,3818,0,0,0,0,0,0
$GC,2902,-1.17,-146.0,304.7,-9.0,187,2906,0.00,2.42,0.00,0.000,6,0.000,0.021,2996,2256,3818,0,0,0,0,0,0
$GC,3159,-1.17,-146.0,325.4,-8.0,194,3164,0.00,2.72,0.00,0.000,4,0.000,0.074,2996,646,3817,0,0,0,0,0,0
$GC,3226,-1.21,-146.0,331.0,-8.0,195,3230,0.00,2.50,0.00,0.000,6,0.000,0.030,2996,2229,3817,0,0,0,0,0,0
$GC,3481,-1.21,-146.0,350.9,-7.8,202,3485,0.00,2.62,0.00,0.000,4,0.000,0.054,2996,3812,3816,0,0,0,0,0,0
$GC,3516,-1.21,-146.0,353.6,-8.1,202,3521,0.00,2.47,0.00,0.000,6,0.000,0.032,2996,2240,3816,0,0,0,0,0,0
$GC,3765,-1.21,-146.0,374.1,-8.1,209,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2241,3815,0,0,0,0,0,0
$GC,4009,-1.21,-146.0,393.7,-8.0,215,4014,0.00,2.80,0.00,0.000,4,0.000,0.085,2996,644,3814,0,0,0,0,0,0
$GC,4036,-1.21,-146.0,396.0,-8.6,215,4041,0.00,2.55,0.00,0.000,6,0.000,0.038,2996,2234,3814,0,0,0,0,0,0
$GC,4288,-1.21,-146.0,416.3,-8.2,221,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2234,3813,0,0,0,0,0,0
$GC,4530,-1.25,-146.0,435.4,-7.7,227,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2234,3812,0,0,0,0,0,0
$GC,4774,-1.30,-146.0,453.9,-7.6,233,4779,0.12,2.78,0.00,0.000,4,0.066,0.075,2947,653,3810,0,0,0,0,0,0
$GC,4792,-1.30,-146.0,455.4,-7.9,233,4797,0.00,2.60,0.00,0.000,6,0.000,0.042,2947,2235,3810,0,0,0,0,0,0
$GC,5053,-1.24,-146.0,479.7,-9.1,240,5059,0.15,2.72,0.00,0.000,4,0.097,0.075,2981,3813,3809,0,0,0,0,0,0
$GC,5081,-1.24,-146.0,482.2,-8.4,240,5086,0.00,2.60,0.00,0.000,6,0.000,0.049,2981,2241,3809,0,0,0,0,0,0
$GC,5333,-1.24,-146.0,502.3,-8.1,246,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2241,3807,0,0,0,0,0,0
$GC,5575,-1.24,-146.0,522.3,-8.3,252,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2241,3806,0,0,0,0,0,0
$GC,5818,-1.24,-146.0,543.1,-8.5,258,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2241,3805,0,0,0,0,0,0
$GC,6064,-1.24,-146.0,563.8,-8.4,264,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2241,3803,0,0,0,0,0,0
$GC,6306,-1.24,-146.0,584.0,-8.1,270,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2241,3802,0,0,0,0,0,0
$STATE,6506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6506,begin apogee
$GC,6512,-0.31,0.0,601.1,8.6,275,6633,0.88,0.00,116.70,0.963,6,0.071,0.000,3182,2367,3220,0,0,0,0,0,0
$STATE,6633,end apogee,CONTROL_FINISHED_OK
$STATE,6633,begin climb
$GC,6638,1.27,146.0,604.3,0.0,278,6768,1.42,2.95,119.47,0.940,4,0.039,0.101,3531,3926,2623,0,0,0,0,0,0
$GC,6790,1.20,162.0,597.2,9.3,281,6811,0.00,2.75,14.95,0.845,6,0.000,0.062,3531,2357,2559,0,0,0,0,0,0
$GC,7087,1.14,162.0,566.3,10.6,289,7092,0.15,2.78,0.00,0.000,4,0.109,0.066,3501,3931,2553,0,0,0,0,0,0
$GC,7142,1.14,162.0,559.9,11.1,290,7147,0.00,2.65,0.00,0.000,6,0.000,0.049,3501,2362,2552,0,0,0,0,0,0
$GC,7411,1.17,182.7,535.5,9.0,297,7435,0.00,2.78,17.65,0.860,4,0.000,0.057,3501,3925,2475,0,0,0,0,0,0
$GC,7454,1.18,192.0,531.3,9.6,298,7469,0.00,2.65,9.68,0.787,6,0.000,0.048,3501,2357,2437,0,0,0,0,0,0
$GC,7738,1.19,201.3,504.5,9.6,305,7753,0.00,2.72,9.25,0.777,4,0.000,0.058,3501,3937,2399,0,0,0,0,0,0
$GC,7777,1.19,201.3,500.0,11.1,305,7783,0.00,2.62,0.00,0.000,6,0.000,0.042,3501,2367,2398,0,0,0,0,0,0
$GC,8027,1.19,201.3,474.7,10.1,312,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,2367,2396,0,0,0,0,0,0
$GC,8271,1.21,218.5,451.7,9.2,318,8294,0.00,2.65,16.33,0.821,4,0.000,0.052,3501,3934,2328,0,0,0,0,0,0
$GC,8330,1.21,218.5,445.8,11.2,319,8334,0.00,2.58,0.00,0.000,6,0.000,0.034,3501,2375,2326,0,0,0,0,0,0
$GC,8596,1.22,222.0,419.6,9.8,326,8606,0.00,2.85,4.32,0.567,4,0.000,0.081,3501,772,2314,0,0,0,0,0,0
$GC,8618,1.22,222.0,417.4,10.5,326,8623,0.00,2.60,0.00,0.000,6,0.000,0.034,3500,2387,2313,0,0,0,0,0,0
$GC,8874,1.26,222.0,391.4,10.3,333,8875,0.10,0.00,0.00,0.000,6,0.087,0.000,3532,2387,2312,0,0,0,0,0,0
$GC,9117,1.26,222.0,362.6,11.9,339,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2387,2312,0,0,0,0,0,0
$GC,9360,1.26,222.0,334.3,11.5,345,9365,0.00,2.55,0.00,0.000,4,0.000,0.048,3532,3930,2311,0,0,0,0,0,0
$GC,9391,1.26,222.0,330.8,12.4,345,9396,0.00,2.50,0.00,0.000,6,0.000,0.031,3532,2362,2310,0,0,0,0,0,0
$GC,9641,1.26,222.0,301.6,11.6,351,9645,0.00,2.60,0.00,0.000,4,0.000,0.054,3532,3931,2310,0,0,0,0,0,0
$GC,9656,1.26,222.0,299.6,11.7,351,9660,0.00,2.50,0.00,0.000,6,0.000,0.024,3532,2364,2310,0,0,0,0,0,0
$GC,9919,1.26,222.0,269.2,11.6,358,9924,0.00,2.58,0.00,0.000,4,0.000,0.049,3532,3925,2310,0,0,0,0,0,0
$GC,9959,1.26,222.0,263.8,13.2,359,9963,0.00,2.47,0.00,0.000,6,0.000,0.034,3532,2378,2310,0,0,0,0,0,0
$GC,10241,1.26,222.0,231.8,11.1,366,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2378,2310,0,0,0,0,0,0
$GC,10487,1.26,222.0,206.4,10.3,372,10492,0.00,2.55,0.00,0.000,4,0.000,0.053,3532,3927,2310,0,0,0,0,0,0
$GC,10583,1.26,222.0,195.3,11.0,375,10587,0.00,2.45,0.00,0.000,6,0.000,0.033,3532,2390,2310,0,0,0,0,0,0
$GC,10848,1.32,238.9,169.5,9.2,399,10872,0.00,2.72,15.77,0.614,4,0.000,0.050,3532,782,2243,0,0,0,0,0,0
$GC,10901,1.34,257.6,164.1,9.1,403,10931,0.00,2.55,17.40,0.607,6,0.000,0.029,3532,2406,2168,0,0,0,0,0,0
$GC,11184,1.42,266.4,136.7,9.6,430,11199,0.12,2.72,8.62,0.535,4,0.077,0.045,3572,777,2134,0,0,0,0,0,0
$GC,11210,1.42,266.4,133.7,10.2,432,11219,0.00,2.60,0.00,0.000,6,0.000,0.021,3572,2402,2132,0,0,0,0,0,0
$GC,11479,1.51,294.3,108.8,8.7,457,11512,0.00,2.60,24.88,0.568,4,0.000,0.042,3572,3932,2019,0,0,0,0,0,0
$GC,11586,1.56,294.3,97.8,10.1,466,11590,0.00,2.47,0.00,0.000,6,0.000,0.026,3572,2379,2017,0,0,0,0,0,0
$GC,11856,1.62,295.9,72.1,9.9,490,11861,0.12,2.65,0.00,0.000,4,0.071,0.046,3614,777,2017,0,0,0,0,0,0
$GC,11889,1.62,295.9,67.6,12.8,492,11894,0.00,2.53,0.00,0.000,6,0.000,0.021,3614,2388,2016,0,0,0,0,0,0
$GC,12159,1.62,295.9,36.4,11.9,516,12163,0.00,2.47,0.00,0.000,4,0.000,0.043,3614,3919,2016,0,0,0,0,0,0
$GC,12193,1.62,295.9,31.2,12.2,518,12203,0.00,2.42,0.00,0.000,6,0.000,0.023,3614,2396,2016,0,0,0,0,0,0
$STATE,12449,end climb,SURFACE_DEPTH_REACHED
$STATE,12449,begin surface coast
$FINISH,0.8,1.010258
$STATE,12491,end surface coast,CONTROL_FINISHED_OK
$STATE,12491,begin surface
$SM_CCo,12516,44.40,0.486,0,0,1792,350.04
$SM_GC,1.80,0.00,0.00,44.40,0.000,0.000,0.486,460,2204,1792,-12.83,-0.74,350.04
$IRIDIUM_FIX,1916.08,-8110.19,260402,181823
$TT8_MAMPS,0.025311
$HUMID,56.77
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.80
$XPDR_PINGS,44
$24V_AH,23.4,10.962
$10V_AH,10.5,9.265
$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,30.250,135.175,375.025,44.400,0.000,28.277,36.778,209.279,11.000,0.000,13.727,1140.040,8786.527,492.336,1937.097,634.602,33.355,1265.396,0.000,1935.491,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,107.380,963.352,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.011,307.395,398.096,557.799,1063.320,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,44750,562
$CAP_FILE_SIZE,121542,0
$CFSIZE,260165632,123535360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,011506,1925.424,-8113.110,25,1.1,25,-3.8