version: 66.06
glider: 146
mission: 8
dive: 76
start: 1 31 113 5 2 19
data:
$ID,146
$MISSION,8
$DIVE,76
$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,-308829.25
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,045435,1925.746,-8113.634,31,1.4,31,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.9
$GPS2,050125,1925.746,-8113.575,14,1.4,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.047
$KALMAN_X,92128.8,149.2,48.9,-96576.0,1561.7
$KALMAN_Y,-9288.7,-331.1,23.0,7218.3,-116.9
$MHEAD_RNG_PITCHd_Wd,284.3,8069,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.43,0.000,2,0.000,0.000,464,2149,3582,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-6.7,9,124,13.73,2.72,-3.88,0.000,4,0.169,0.040,2968,3825,3817,0,0,0,0,0,0
$GC,371,-1.07,-146.0,68.0,-17.8,35,376,0.22,2.50,0.00,0.000,6,0.103,0.022,3016,2226,3818,0,0,0,0,0,0
$GC,639,-0.95,-146.0,107.1,-14.0,59,644,0.12,2.55,0.00,0.000,4,0.117,0.038,3043,3821,3818,0,0,0,0,0,0
$GC,697,-0.95,-146.0,115.2,-12.1,63,701,0.00,2.47,0.00,0.000,6,0.000,0.022,3043,2233,3818,0,0,0,0,0,0
$GC,966,-0.99,-146.0,142.6,-9.1,87,970,0.00,2.55,0.00,0.000,4,0.000,0.031,3043,3823,3819,0,0,0,0,0,0
$GC,1021,-1.08,-146.0,148.3,-9.6,91,1027,0.12,2.47,0.00,0.000,6,0.066,0.021,2988,2241,3819,0,0,0,0,0,0
$GC,1286,-1.03,-146.0,177.7,-10.7,115,1292,0.17,0.00,0.00,0.000,6,0.093,0.000,3028,2241,3819,0,0,0,0,0,0
$GC,1549,-1.07,-146.0,198.9,-7.6,140,1554,0.00,2.60,0.00,0.000,4,0.000,0.049,3028,661,3819,0,0,0,0,0,0
$GC,1592,-1.15,-146.0,202.3,-8.7,142,1597,0.12,2.50,0.00,0.000,6,0.068,0.021,2976,2280,3819,0,0,0,0,0,0
$GC,1875,-1.15,-146.0,230.1,-9.5,149,1881,0.10,2.67,0.00,0.000,4,0.115,0.049,2999,660,3819,0,0,0,0,0,0
$GC,1899,-1.15,-146.0,232.0,-8.2,149,1904,0.00,2.45,0.00,0.000,6,0.000,0.027,2999,2242,3820,0,0,0,0,0,0
$GC,2156,-1.15,-146.0,253.1,-8.2,156,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2242,3820,0,0,0,0,0,0
$GC,2399,-1.15,-146.0,273.0,-8.0,162,2403,0.00,2.62,0.00,0.000,4,0.000,0.061,2999,657,3819,0,0,0,0,0,0
$GC,2440,-1.15,-146.0,276.3,-9.0,163,2444,0.00,2.45,0.00,0.000,6,0.000,0.028,2999,2241,3819,0,0,0,0,0,0
$GC,2723,-1.15,-146.0,299.2,-7.9,170,2727,0.00,2.53,0.00,0.000,4,0.000,0.045,2999,3810,3818,0,0,0,0,0,0
$GC,2756,-1.15,-146.0,301.9,-8.2,170,2762,0.00,2.47,0.00,0.000,6,0.000,0.027,2999,2237,3818,0,0,0,0,0,0
$GC,3008,-1.15,-146.0,322.2,-8.1,177,3012,0.00,2.65,0.00,0.000,4,0.000,0.069,2999,657,3818,0,0,0,0,0,0
$GC,3048,-1.18,-146.0,325.6,-8.3,178,3052,0.00,2.45,0.00,0.000,6,0.000,0.030,2999,2229,3818,0,0,0,0,0,0
$GC,3331,-1.22,-146.0,347.6,-7.7,185,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2229,3817,0,0,0,0,0,0
$GC,3577,-1.26,-146.0,365.8,-7.5,191,3579,0.10,0.00,0.00,0.000,6,0.087,0.000,2961,2229,3816,0,0,0,0,0,0
$GC,3818,-1.26,-146.0,388.9,-9.6,197,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2228,3815,0,0,0,0,0,0
$GC,4062,-1.26,-146.0,411.7,-9.4,203,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2229,3814,0,0,0,0,0,0
$GC,4308,-1.26,-146.0,434.1,-9.1,209,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2229,3813,0,0,0,0,0,0
$GC,4549,-1.26,-146.0,456.0,-8.9,215,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2229,3812,0,0,0,0,0,0
$GC,4793,-1.26,-146.0,477.7,-9.0,221,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2229,3810,0,0,0,0,0,0
$GC,5037,-1.26,-146.0,499.6,-9.0,227,5041,0.00,2.75,0.00,0.000,4,0.000,0.079,2960,3798,3809,0,0,0,0,0,0
$GC,5060,-1.26,-146.0,501.7,-9.5,227,5065,0.00,2.60,0.00,0.000,6,0.000,0.053,2960,2238,3809,0,0,0,0,0,0
$GC,5315,-1.26,-146.0,525.5,-9.3,234,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2238,3807,0,0,0,0,0,0
$GC,5559,-1.26,-146.0,547.7,-9.2,240,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2238,3807,0,0,0,0,0,0
$GC,5803,-1.26,-146.0,569.9,-9.1,246,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2238,3805,0,0,0,0,0,0
$GC,6049,-1.26,-146.0,591.3,-8.7,252,6053,0.00,3.00,0.00,0.000,4,0.000,0.121,2960,646,3804,0,0,0,0,0,0
$GC,6081,-1.26,-146.0,594.7,-9.4,252,6087,0.00,2.67,0.00,0.000,6,0.000,0.067,2960,2210,3803,0,0,0,0,0,0
$STATE,6166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6166,begin apogee
$GC,6172,-0.31,0.0,602.4,9.0,255,6293,0.95,0.00,117.25,0.963,6,0.070,0.000,3180,2363,3219,0,0,0,0,0,0
$STATE,6294,end apogee,CONTROL_FINISHED_OK
$STATE,6294,begin climb
$GC,6298,1.27,146.0,605.2,0.0,258,6428,1.45,3.03,120.45,0.937,4,0.038,0.108,3533,3924,2623,0,0,0,0,0,0
$GC,6446,1.17,146.0,597.5,10.3,261,6453,0.15,2.72,0.00,0.000,6,0.113,0.058,3505,2358,2621,0,0,0,0,0,0
$GC,6698,1.20,165.0,574.7,9.1,268,6717,0.00,0.00,16.80,0.857,6,0.000,0.000,3505,2358,2547,0,0,0,0,0,0
$GC,6986,1.22,180.4,547.6,9.3,275,7005,0.00,2.80,13.98,0.844,4,0.000,0.067,3504,3938,2484,0,0,0,0,0,0
$GC,7035,1.22,180.4,542.8,10.9,276,7040,0.00,2.67,0.00,0.000,6,0.000,0.042,3504,2352,2482,0,0,0,0,0,0
$GC,7313,1.23,191.1,516.4,9.5,283,7325,0.00,0.00,10.30,0.802,6,0.000,0.000,3504,2352,2441,0,0,0,0,0,0
$GC,7556,1.23,195.5,492.8,9.8,289,7567,0.00,2.72,5.28,0.658,4,0.000,0.057,3504,3943,2423,0,0,0,0,0,0
$GC,7619,1.23,195.5,486.0,12.1,290,7623,0.00,2.62,0.00,0.000,6,0.000,0.040,3504,2358,2421,0,0,0,0,0,0
$GC,7879,1.23,195.5,459.3,10.1,297,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2358,2420,0,0,0,0,0,0
$GC,8123,1.23,196.5,435.4,10.0,303,8127,0.00,2.65,0.00,0.000,4,0.000,0.050,3504,3950,2419,0,0,0,0,0,0
$GC,8162,1.23,196.5,431.4,10.1,304,8166,0.00,2.58,0.00,0.000,6,0.000,0.031,3504,2360,2419,0,0,0,0,0,0
$GC,8447,1.24,199.4,403.5,9.9,311,8456,0.00,2.65,4.28,0.561,4,0.000,0.051,3504,3942,2407,0,0,0,0,0,0
$GC,8484,1.24,199.4,399.3,10.5,311,8490,0.00,2.55,0.00,0.000,6,0.000,0.031,3504,2368,2406,0,0,0,0,0,0
$GC,8737,1.25,206.0,375.0,9.7,318,8746,0.00,0.00,7.72,0.696,6,0.000,0.000,3505,2368,2380,0,0,0,0,0,0
$GC,8978,1.26,216.9,351.6,9.5,324,8991,0.00,0.00,11.12,0.728,6,0.000,0.000,3504,2368,2335,0,0,0,0,0,0
$GC,9222,1.26,216.9,327.1,10.1,330,9226,0.00,2.70,0.00,0.000,4,0.000,0.064,3504,772,2333,0,0,0,0,0,0
$GC,9242,1.26,216.9,324.6,11.1,330,9247,0.00,2.60,0.00,0.000,6,0.000,0.029,3504,2397,2332,0,0,0,0,0,0
$GC,9500,1.30,216.9,298.9,10.1,337,9505,0.12,2.75,0.00,0.000,4,0.089,0.050,3541,762,2332,0,0,0,0,0,0
$GC,9540,1.24,216.9,294.1,12.1,338,9545,0.00,2.55,0.00,0.000,6,0.000,0.029,3541,2378,2331,0,0,0,0,0,0
$GC,9825,1.24,216.9,261.7,11.4,345,9829,0.00,2.55,0.00,0.000,4,0.000,0.047,3541,3923,2331,0,0,0,0,0,0
$GC,9848,1.20,216.9,258.9,11.8,345,9853,0.15,2.53,0.00,0.000,6,0.111,0.032,3511,2345,2331,0,0,0,0,0,0
$GC,10103,1.21,226.6,234.1,9.5,352,10116,0.00,0.00,9.55,0.627,6,0.000,0.000,3511,2345,2296,0,0,0,0,0,0
$GC,10394,1.26,231.1,205.6,9.8,359,10405,0.00,2.60,5.88,0.537,4,0.000,0.053,3510,777,2276,0,0,0,0,0,0
$GC,10449,1.32,231.1,199.9,10.0,360,10455,0.10,2.50,0.00,0.000,6,0.086,0.030,3544,2369,2275,0,0,0,0,0,0
$GC,10717,1.32,234.1,171.9,9.9,384,10729,0.00,0.00,4.10,0.434,6,0.000,0.000,3544,2369,2265,0,0,0,0,0,0
$GC,10987,1.34,251.1,146.7,9.2,409,11011,0.00,2.60,16.20,0.591,4,0.000,0.047,3544,3918,2195,0,0,0,0,0,0
$GC,11030,1.34,251.1,142.1,10.0,412,11039,0.00,2.55,0.00,0.000,6,0.000,0.025,3544,2347,2194,0,0,0,0,0,0
$GC,11296,1.49,288.6,120.1,8.3,437,11335,0.12,2.62,33.05,0.584,4,0.071,0.041,3588,3921,2042,0,0,0,0,0,0
$GC,11378,1.49,288.6,112.9,10.3,443,11382,0.00,2.53,0.00,0.000,6,0.000,0.025,3588,2349,2040,0,0,0,0,0,0
$GC,11644,1.50,296.8,86.4,9.6,467,11654,0.00,0.00,7.95,0.486,6,0.000,0.000,3588,2349,2010,0,0,0,0,0,0
$GC,11913,1.50,299.0,60.2,9.9,492,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2349,2009,0,0,0,0,0,0
$GC,12181,1.55,305.1,33.4,9.7,517,12196,0.00,2.58,9.05,0.461,4,0.000,0.045,3588,779,1975,0,0,0,0,0,0
$GC,12215,1.55,305.1,29.7,10.8,519,12225,0.00,2.50,0.00,0.000,6,0.000,0.020,3589,2367,1974,0,0,0,0,0,0
$STATE,12463,end climb,SURFACE_DEPTH_REACHED
$STATE,12463,begin surface coast
$FINISH,0.8,1.009842
$STATE,12512,end surface coast,CONTROL_FINISHED_OK
$STATE,12512,begin surface
$SM_CCo,12537,35.60,0.483,0,0,1792,350.04
$SM_GC,1.41,0.00,0.00,35.60,0.000,0.000,0.483,462,2204,1792,-12.82,-0.74,350.04
$IRIDIUM_FIX,1920.65,-8112.10,270402,010124
$TT8_MAMPS,0.026078
$HUMID,56.65
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.00
$XPDR_PINGS,36
$24V_AH,23.5,11.187
$10V_AH,10.5,9.481
$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,30.200,115.350,392.950,35.600,0.000,31.181,32.799,186.126,9.000,0.000,16.122,1139.334,8809.620,511.733,1910.975,608.853,33.359,1243.520,0.000,1910.391,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,122.720,963.352,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.280,309.799,397.510,560.316,1068.032,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,44771,563
$CAP_FILE_SIZE,116818,0
$CFSIZE,260165632,123424768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,083306,1925.831,-8114.060,34,0.9,34,-3.8