version: 66.06
glider: 146
mission: 8
dive: 77
start: 1 31 113 8 41 1
data:
$ID,146
$MISSION,8
$DIVE,77
$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,-308846.19
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,083306,1925.831,-8114.060,34,0.9,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.7
$GPS2,084007,1925.804,-8114.018,13,1.0,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.049
$KALMAN_X,94212.2,272.4,114.0,-99618.6,1536.7
$KALMAN_Y,-9788.5,-233.1,-24.8,7777.1,-99.6
$MHEAD_RNG_PITCHd_Wd,284.6,7299,-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,-71.22,0.000,2,0.000,0.000,462,2203,3584,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.2,-7.1,9,123,13.65,2.55,-3.88,0.000,4,0.167,0.038,2966,3810,3817,0,0,0,0,0,0
$GC,284,-1.11,-146.0,49.0,-18.2,29,289,0.20,2.47,0.00,0.000,6,0.105,0.024,3008,2245,3817,0,0,0,0,0,0
$GC,552,-0.95,-146.0,91.5,-15.9,53,558,0.15,2.62,0.00,0.000,4,0.106,0.046,3042,656,3817,0,0,0,0,0,0
$GC,610,-0.89,-146.0,100.5,-14.0,57,615,0.00,2.42,0.00,0.000,6,0.000,0.016,3042,2232,3817,0,0,0,0,0,0
$GC,878,-0.89,-146.0,132.8,-10.4,81,883,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2232,3817,0,0,0,0,0,0
$GC,1144,-0.93,-146.0,157.3,-9.0,106,1148,0.00,2.60,0.00,0.000,4,0.000,0.045,3042,650,3818,0,0,0,0,0,0
$GC,1191,-0.98,-146.0,161.6,-8.5,109,1197,0.00,2.42,0.00,0.000,6,0.000,0.018,3042,2226,3818,0,0,0,0,0,0
$GC,1454,-1.04,-146.0,182.8,-8.0,134,1459,0.00,2.50,0.00,0.000,4,0.000,0.036,3042,3794,3818,0,0,0,0,0,0
$GC,1491,-1.11,-146.0,185.2,-8.6,136,1496,0.15,2.47,0.00,0.000,6,0.058,0.028,2980,2205,3818,0,0,0,0,0,0
$GC,1763,-1.07,-146.0,212.0,-9.8,152,1768,0.15,2.55,0.00,0.000,4,0.096,0.058,3016,655,3818,0,0,0,0,0,0
$GC,1807,-1.14,-146.0,216.5,-8.7,153,1812,0.00,2.40,0.00,0.000,6,0.000,0.025,3015,2217,3819,0,0,0,0,0,0
$GC,2088,-1.18,-146.0,237.8,-7.6,160,2090,0.10,0.00,0.00,0.000,6,0.078,0.000,2968,2216,3819,0,0,0,0,0,0
$GC,2330,-1.14,-146.0,260.0,-9.0,166,2335,0.15,2.60,0.00,0.000,4,0.096,0.054,3002,656,3819,0,0,0,0,0,0
$GC,2372,-1.17,-146.0,263.5,-8.8,167,2376,0.00,2.38,0.00,0.000,6,0.000,0.021,3002,2204,3818,0,0,0,0,0,0
$GC,2655,-1.17,-146.0,285.9,-7.8,174,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2205,3818,0,0,0,0,0,0
$GC,2899,-1.17,-146.0,304.6,-7.6,180,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2204,3818,0,0,0,0,0,0
$GC,3145,-1.21,-146.0,323.0,-7.6,186,3149,0.00,2.58,0.00,0.000,4,0.000,0.051,3002,3794,3817,0,0,0,0,0,0
$GC,3167,-1.25,-146.0,325.0,-8.1,186,3172,0.10,2.50,0.00,0.000,6,0.080,0.031,2955,2211,3817,0,0,0,0,0,0
$GC,3423,-1.20,-146.0,349.2,-9.6,193,3428,0.15,2.65,0.00,0.000,4,0.097,0.072,2988,654,3815,0,0,0,0,0,0
$GC,3465,-1.20,-146.0,352.7,-8.8,194,3469,0.00,2.42,0.00,0.000,6,0.000,0.031,2988,2188,3815,0,0,0,0,0,0
$GC,3748,-1.20,-146.0,375.3,-7.8,201,3752,0.00,2.67,0.00,0.000,4,0.000,0.056,2989,3804,3814,0,0,0,0,0,0
$GC,3805,-1.20,-146.0,380.0,-8.1,202,3809,0.00,2.58,0.00,0.000,6,0.000,0.036,2988,2202,3814,0,0,0,0,0,0
$GC,4071,-1.20,-146.0,401.2,-7.9,209,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2202,3813,0,0,0,0,0,0
$GC,4315,-1.20,-146.0,420.8,-8.0,215,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2202,3812,0,0,0,0,0,0
$GC,4558,-1.20,-146.0,439.2,-7.6,221,4563,0.00,2.70,0.00,0.000,4,0.000,0.056,2989,3804,3810,0,0,0,0,0,0
$GC,4587,-1.20,-146.0,441.4,-7.9,221,4592,0.00,2.62,0.00,0.000,6,0.000,0.045,2988,2191,3810,0,0,0,0,0,0
$GC,4837,-1.20,-146.0,461.5,-8.1,227,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2191,3809,0,0,0,0,0,0
$GC,5081,-1.20,-146.0,481.4,-8.2,233,5086,0.00,2.80,0.00,0.000,4,0.000,0.099,2988,639,3808,0,0,0,0,0,0
$GC,5105,-1.20,-146.0,483.3,-8.3,233,5109,0.00,2.53,0.00,0.000,6,0.000,0.043,2989,2184,3807,0,0,0,0,0,0
$GC,5360,-1.20,-146.0,503.3,-7.7,240,5364,0.00,2.83,0.00,0.000,4,0.000,0.079,2989,3816,3806,0,0,0,0,0,0
$GC,5399,-1.25,-146.0,506.5,-8.3,241,5404,0.00,2.67,0.00,0.000,6,0.000,0.048,2989,2210,3806,0,0,0,0,0,0
$GC,5685,-1.25,-146.0,528.4,-7.7,248,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2210,3805,0,0,0,0,0,0
$GC,5926,-1.25,-146.0,547.8,-8.0,254,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2210,3803,0,0,0,0,0,0
$GC,6170,-1.25,-146.0,567.1,-7.9,260,6175,0.00,2.92,0.00,0.000,4,0.000,0.115,2988,645,3802,0,0,0,0,0,0
$GC,6193,-1.25,-146.0,569.0,-8.4,260,6198,0.00,2.62,0.00,0.000,6,0.000,0.058,2988,2215,3802,0,0,0,0,0,0
$GC,6449,-1.29,-146.0,587.8,-7.2,267,6453,0.00,2.92,0.00,0.000,4,0.000,0.107,2988,3812,3800,0,0,0,0,0,0
$GC,6470,-1.33,-146.0,589.6,-8.0,267,6476,0.12,2.70,0.00,0.000,6,0.067,0.064,2941,2214,3800,0,0,0,0,0,0
$STATE,6601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6601,begin apogee
$GC,6610,-0.31,0.0,602.0,9.5,271,6730,1.05,0.00,116.43,0.968,6,0.072,0.000,3180,2374,3219,0,0,0,0,0,0
$STATE,6730,end apogee,CONTROL_FINISHED_OK
$STATE,6731,begin climb
$GC,6733,1.27,146.0,605.2,0.0,274,6858,1.48,0.00,119.97,0.944,6,0.039,0.000,3536,2374,2624,0,0,0,0,0,0
$GC,7091,1.20,148.1,577.7,9.9,283,7096,0.12,2.75,0.00,0.000,4,0.114,0.073,3511,3923,2616,0,0,0,0,0,0
$GC,7163,1.15,148.1,570.1,10.0,284,7168,0.00,2.65,0.00,0.000,6,0.000,0.048,3511,2362,2616,0,0,0,0,0,0
$GC,7413,1.18,174.5,548.1,8.8,290,7443,0.00,3.08,24.30,0.884,4,0.000,0.110,3510,774,2507,0,0,0,0,0,0
$GC,7454,1.19,182.9,544.4,9.6,291,7468,0.00,2.67,8.82,0.769,6,0.000,0.047,3511,2364,2474,0,0,0,0,0,0
$GC,7742,1.20,187.0,515.6,9.8,298,7752,0.00,2.78,4.38,0.599,4,0.000,0.076,3511,3938,2457,0,0,0,0,0,0
$GC,7798,1.20,187.0,509.4,11.4,299,7803,0.00,2.62,0.00,0.000,6,0.000,0.038,3511,2367,2456,0,0,0,0,0,0
$GC,8065,1.20,187.0,482.6,10.1,306,8069,0.00,2.65,0.00,0.000,4,0.000,0.051,3511,3935,2454,0,0,0,0,0,0
$GC,8097,1.20,187.0,478.9,11.3,306,8103,0.00,2.58,0.00,0.000,6,0.000,0.040,3511,2371,2454,0,0,0,0,0,0
$GC,8349,1.20,187.4,454.0,10.0,313,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2371,2454,0,0,0,0,0,0
$GC,8591,1.20,187.4,429.6,10.0,319,8595,0.00,2.62,0.00,0.000,4,0.000,0.051,3511,3946,2453,0,0,0,0,0,0
$GC,8623,1.20,187.4,426.0,10.9,319,8631,0.00,2.58,0.00,0.000,6,0.000,0.030,3511,2364,2453,0,0,0,0,0,0
$GC,8875,1.21,195.5,401.6,9.6,326,8890,0.00,2.67,8.20,0.725,4,0.000,0.048,3511,3927,2422,0,0,0,0,0,0
$GC,8919,1.21,195.9,397.0,10.0,327,8923,0.00,2.53,0.00,0.000,6,0.000,0.031,3511,2372,2421,0,0,0,0,0,0
$GC,9202,1.22,208.0,369.5,9.4,334,9221,0.00,2.72,12.23,0.749,4,0.000,0.050,3511,3935,2372,0,0,0,0,0,0
$GC,9240,1.22,208.0,365.7,10.9,334,9246,0.00,2.53,0.00,0.000,6,0.000,0.032,3511,2382,2370,0,0,0,0,0,0
$GC,9490,1.23,210.6,340.6,9.9,341,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2382,2370,0,0,0,0,0,0
$GC,9733,1.23,210.6,315.6,10.3,347,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2382,2369,0,0,0,0,0,0
$GC,9977,1.23,210.6,290.3,10.3,353,9981,0.00,2.60,0.00,0.000,4,0.000,0.048,3511,3934,2369,0,0,0,0,0,0
$GC,10028,1.23,210.6,284.6,11.8,354,10033,0.00,2.50,0.00,0.000,6,0.000,0.027,3511,2375,2368,0,0,0,0,0,0
$GC,10302,1.23,210.6,256.3,10.4,361,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2375,2368,0,0,0,0,0,0
$GC,10544,1.26,210.6,230.9,10.3,367,10548,0.00,2.65,0.00,0.000,4,0.000,0.057,3511,774,2368,0,0,0,0,0,0
$GC,10567,1.26,210.6,228.6,11.0,367,10571,0.00,2.58,0.00,0.000,6,0.000,0.024,3511,2410,2368,0,0,0,0,0,0
$GC,10822,1.32,218.9,203.5,9.6,374,10839,0.10,2.55,10.88,0.615,4,0.104,0.047,3544,3933,2326,0,0,0,0,0,0
$GC,10855,1.32,218.9,199.8,10.5,374,10861,0.00,2.47,0.00,0.000,6,0.000,0.032,3543,2392,2325,0,0,0,0,0,0
$GC,11120,1.32,218.9,172.3,10.5,399,11124,0.00,2.55,0.00,0.000,4,0.000,0.053,3543,3927,2325,0,0,0,0,0,0
$GC,11142,1.32,218.9,169.5,10.4,400,11148,0.00,2.45,0.00,0.000,6,0.000,0.031,3544,2391,2324,0,0,0,0,0,0
$GC,11411,1.37,256.2,145.8,8.3,425,11449,0.00,2.60,32.95,0.611,4,0.000,0.051,3543,3935,2174,0,0,0,0,0,0
$GC,11467,1.42,270.4,140.5,9.3,429,11492,0.00,2.50,13.40,0.569,6,0.000,0.031,3544,2385,2116,0,0,0,0,0,0
$GC,11746,1.60,330.6,115.9,7.2,455,11806,0.22,0.00,52.17,0.584,6,0.051,0.000,3610,2384,1870,0,0,0,0,0,0
$GC,12063,1.60,330.6,77.7,12.7,485,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2384,1867,0,0,0,0,0,0
$GC,12331,1.60,330.6,43.8,11.8,510,12335,0.00,2.55,0.00,0.000,4,0.000,0.044,3610,3927,1867,0,0,0,0,0,0
$GC,12364,1.60,330.6,39.2,12.8,512,12368,0.00,2.42,0.00,0.000,6,0.000,0.025,3610,2389,1865,0,0,0,0,0,0
$STATE,12654,end climb,SURFACE_DEPTH_REACHED
$STATE,12655,begin surface coast
$FINISH,0.8,1.000558
$STATE,12697,end surface coast,CONTROL_FINISHED_OK
$STATE,12697,begin surface
$SM_CCo,12720,14.35,0.463,0,0,1792,350.04
$SM_GC,1.87,0.00,0.00,14.35,0.000,0.000,0.463,467,2176,1792,-12.80,-1.53,350.04
$IRIDIUM_FIX,1920.65,-8114.36,270402,050554
$TT8_MAMPS,0.026078
$HUMID,57.79
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,46
$24V_AH,23.4,11.301
$10V_AH,10.5,9.588
$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,30.450,141.100,403.725,14.350,0.000,28.870,34.779,198.164,11.500,0.000,16.299,1143.580,8982.780,498.383,1898.273,631.983,33.356,1263.991,0.000,1902.357,0.000,0.537,0.000
$DEVICE_MAMPS,167.206,131.924,967.954,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.053,299.595,386.174,531.510,1013.666,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,44730,557
$CAP_FILE_SIZE,123586,0
$CFSIZE,260165632,123351040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,121435,1925.802,-8114.639,35,1.0,35,-3.8