version: 66.06
glider: 146
mission: 8
dive: 78
start: 1 31 113 12 21 49
data:
$ID,146
$MISSION,8
$DIVE,78
$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,-308862.97
$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,3260
$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,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,31
$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
$GPS1,121435,1925.802,-8114.639,35,1.0,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.3
$GPS2,122055,1925.792,-8114.596,14,1.5,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.252,0.061
$KALMAN_X,96187.1,302.4,148.6,-102665.9,1218.2
$KALMAN_Y,-10453.1,-20.1,-166.2,8349.1,-49.1
$MHEAD_RNG_PITCHd_Wd,287.3,6352,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-70.90,0.000,2,0.000,0.000,467,2176,3545,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.6,9,123,13.73,2.58,-4.82,0.000,4,0.169,0.043,2976,3798,3816,0,0,0,0,0,0
$GC,216,-1.12,-146.0,34.0,-18.4,24,221,0.17,2.53,0.00,0.000,6,0.107,0.023,3014,2201,3817,0,0,0,0,0,0
$GC,485,-0.97,-146.0,77.4,-15.7,48,495,0.15,0.00,0.00,0.000,6,0.114,0.000,3046,2201,3817,0,0,0,0,0,0
$GC,753,-0.91,-146.0,113.4,-12.1,73,757,0.00,2.55,0.00,0.000,4,0.000,0.045,3046,630,3818,0,0,0,0,0,0
$GC,785,-0.86,-146.0,117.7,-12.7,75,790,0.12,2.45,0.00,0.000,6,0.112,0.021,3073,2225,3817,0,0,0,0,0,0
$GC,1054,-0.95,-146.0,141.2,-7.7,99,1058,0.00,2.60,0.00,0.000,4,0.000,0.045,3073,634,3818,0,0,0,0,0,0
$GC,1099,-1.07,-146.0,145.4,-7.7,102,1108,0.15,2.42,0.00,0.000,6,0.029,0.026,3008,2195,3818,0,0,0,0,0,0
$GC,1368,-1.07,-146.0,170.6,-9.7,127,1372,0.00,2.50,0.00,0.000,4,0.000,0.042,3008,3780,3819,0,0,0,0,0,0
$GC,1470,-1.11,-146.0,180.7,-8.8,135,1480,0.00,2.50,0.00,0.000,6,0.000,0.021,3008,2193,3819,0,0,0,0,0,0
$GC,1754,-1.11,-146.0,203.8,-8.4,159,1758,0.00,2.53,0.00,0.000,4,0.000,0.049,3008,640,3819,0,0,0,0,0,0
$GC,1786,-1.11,-146.0,207.0,-8.5,159,1792,0.00,2.38,0.00,0.000,6,0.000,0.018,3008,2195,3819,0,0,0,0,0,0
$GC,2039,-1.11,-146.0,227.0,-7.8,166,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2195,3819,0,0,0,0,0,0
$GC,2280,-1.15,-146.0,246.1,-7.8,172,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2195,3819,0,0,0,0,0,0
$GC,2524,-1.19,-146.0,265.0,-7.7,178,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2195,3819,0,0,0,0,0,0
$GC,2768,-1.23,-146.0,283.1,-7.3,184,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2195,3818,0,0,0,0,0,0
$GC,3014,-1.28,-146.0,300.7,-7.2,190,3016,0.12,0.00,0.00,0.000,6,0.070,0.000,2960,2195,3818,0,0,0,0,0,0
$GC,3255,-1.23,-146.0,323.0,-9.4,196,3261,0.15,2.60,0.00,0.000,4,0.094,0.046,2995,3773,3817,0,0,0,0,0,0
$GC,3277,-1.23,-146.0,325.0,-8.7,196,3282,0.00,2.47,0.00,0.000,6,0.000,0.022,2994,2188,3817,0,0,0,0,0,0
$GC,3535,-1.23,-146.0,345.1,-7.9,203,3539,0.00,2.58,0.00,0.000,4,0.000,0.050,2995,3772,3816,0,0,0,0,0,0
$GC,3558,-1.23,-146.0,347.1,-8.1,203,3562,0.00,2.47,0.00,0.000,6,0.000,0.031,2995,2197,3816,0,0,0,0,0,0
$GC,3813,-1.23,-146.0,367.3,-7.7,210,3817,0.00,2.65,0.00,0.000,4,0.000,0.068,2995,630,3815,0,0,0,0,0,0
$GC,3859,-1.27,-146.0,370.9,-8.1,211,3863,0.00,2.47,0.00,0.000,6,0.000,0.035,2995,2174,3815,0,0,0,0,0,0
$GC,4137,-1.27,-146.0,393.0,-8.0,218,4141,0.00,2.70,0.00,0.000,4,0.000,0.060,2994,3793,3814,0,0,0,0,0,0
$GC,4166,-1.31,-146.0,395.2,-8.1,218,4170,0.00,2.55,0.00,0.000,6,0.000,0.034,2995,2208,3814,0,0,0,0,0,0
$GC,4416,-1.31,-146.0,415.7,-8.1,224,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2208,3813,0,0,0,0,0,0
$GC,4660,-1.31,-146.0,435.1,-7.9,230,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2208,3812,0,0,0,0,0,0
$GC,4903,-1.31,-146.0,454.4,-7.9,236,4908,0.00,2.67,0.00,0.000,4,0.000,0.062,2995,3786,3811,0,0,0,0,0,0
$GC,4939,-1.36,-146.0,457.1,-8.0,236,4945,0.12,2.60,0.00,0.000,6,0.067,0.047,2947,2207,3810,0,0,0,0,0,0
$GC,5189,-1.30,-146.0,481.4,-9.8,243,5195,0.12,2.90,0.00,0.000,4,0.104,0.100,2975,624,3809,0,0,0,0,0,0
$GC,5217,-1.30,-146.0,484.2,-9.5,243,5222,0.00,2.60,0.00,0.000,6,0.000,0.048,2975,2202,3809,0,0,0,0,0,0
$GC,5469,-1.30,-146.0,505.8,-8.7,249,5474,0.00,2.78,0.00,0.000,4,0.000,0.076,2975,3796,3808,0,0,0,0,0,0
$GC,5498,-1.30,-146.0,508.6,-9.0,249,5502,0.00,2.62,0.00,0.000,6,0.000,0.053,2975,2206,3807,0,0,0,0,0,0
$GC,5748,-1.30,-146.0,530.3,-8.6,255,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2206,3807,0,0,0,0,0,0
$GC,5993,-1.30,-146.0,550.8,-8.3,261,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2206,3805,0,0,0,0,0,0
$GC,6235,-1.30,-146.0,571.0,-8.4,267,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2206,3804,0,0,0,0,0,0
$GC,6479,-1.30,-146.0,591.1,-8.2,273,6483,0.00,2.83,0.00,0.000,4,0.000,0.091,2974,3790,3802,0,0,0,0,0,0
$GC,6502,-1.30,-146.0,593.0,-8.9,273,6507,0.00,2.72,0.00,0.000,6,0.000,0.067,2975,2204,3802,0,0,0,0,0,0
$STATE,6592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6592,begin apogee
$GC,6598,-0.31,0.0,601.1,8.5,276,6719,0.95,0.00,116.85,0.964,6,0.073,0.000,3191,2378,3220,0,0,0,0,0,0
$STATE,6720,end apogee,CONTROL_FINISHED_OK
$STATE,6720,begin climb
$GC,6722,1.27,146.0,604.3,0.0,279,6854,1.42,2.85,120.00,0.937,4,0.039,0.084,3541,3928,2624,0,0,0,0,0,0
$GC,6910,1.15,146.0,594.3,10.4,283,6916,0.15,2.70,0.00,0.000,6,0.116,0.058,3511,2366,2619,0,0,0,0,0,0
$GC,7174,1.18,165.1,570.4,9.1,290,7198,0.00,2.83,16.77,0.855,4,0.000,0.067,3511,3924,2546,0,0,0,0,0,0
$GC,7221,1.12,165.1,565.5,10.2,291,7226,0.00,2.65,0.00,0.000,6,0.000,0.048,3511,2374,2545,0,0,0,0,0,0
$GC,7500,1.13,167.3,538.1,9.9,298,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2374,2542,0,0,0,0,0,0
$GC,7746,1.14,174.4,514.6,9.7,304,7760,0.00,2.70,8.82,0.780,4,0.000,0.059,3511,3928,2508,0,0,0,0,0,0
$GC,7783,1.10,176.4,510.5,9.9,304,7789,0.00,2.60,0.00,0.000,6,0.000,0.040,3511,2375,2506,0,0,0,0,0,0
$GC,8033,1.10,179.8,486.1,9.8,311,8044,0.00,2.62,5.80,0.683,4,0.000,0.051,3511,3930,2486,0,0,0,0,0,0
$GC,8062,1.10,179.8,483.0,11.0,311,8067,0.00,2.58,0.00,0.000,6,0.000,0.042,3511,2379,2486,0,0,0,0,0,0
$GC,8312,1.10,180.2,458.0,10.0,317,8317,0.00,2.60,0.00,0.000,4,0.000,0.054,3511,3935,2484,0,0,0,0,0,0
$GC,8345,1.10,180.2,454.3,10.7,317,8351,0.00,2.53,0.00,0.000,6,0.000,0.038,3511,2388,2484,0,0,0,0,0,0
$GC,8598,1.12,193.3,430.3,9.4,324,8617,0.00,2.65,12.85,0.789,4,0.000,0.049,3511,3920,2431,0,0,0,0,0,0
$GC,8633,1.12,193.3,426.2,10.5,324,8639,0.00,2.50,0.00,0.000,6,0.000,0.030,3511,2393,2430,0,0,0,0,0,0
$GC,8884,1.13,201.9,402.0,9.6,331,8898,0.00,2.62,9.02,0.733,4,0.000,0.049,3511,3931,2396,0,0,0,0,0,0
$GC,8939,1.13,201.9,396.2,11.4,332,8944,0.00,2.47,0.00,0.000,6,0.000,0.033,3512,2407,2394,0,0,0,0,0,0
$GC,9212,1.13,203.2,369.0,9.9,339,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2407,2393,0,0,0,0,0,0
$GC,9455,1.13,203.2,344.2,10.1,345,9460,0.00,2.72,0.00,0.000,4,0.000,0.065,3511,785,2393,0,0,0,0,0,0
$GC,9484,1.13,203.2,341.3,10.4,345,9488,0.00,2.62,0.00,0.000,6,0.000,0.028,3511,2416,2392,0,0,0,0,0,0
$GC,9733,1.13,203.2,314.9,10.6,351,9738,0.00,2.53,0.00,0.000,4,0.000,0.053,3511,3936,2392,0,0,0,0,0,0
$GC,9773,1.13,203.2,310.3,11.9,352,9777,0.00,2.45,0.00,0.000,6,0.000,0.031,3511,2402,2392,0,0,0,0,0,0
$GC,10058,1.13,203.2,280.9,10.1,359,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2401,2392,0,0,0,0,0,0
$GC,10299,1.13,203.2,256.4,10.0,365,10303,0.00,2.53,0.00,0.000,4,0.000,0.048,3511,3927,2392,0,0,0,0,0,0
$GC,10320,1.13,203.2,254.0,11.4,365,10324,0.00,2.42,0.00,0.000,6,0.000,0.028,3511,2406,2392,0,0,0,0,0,0
$GC,10581,1.13,206.1,228.0,9.9,372,10588,0.00,0.00,4.68,0.501,6,0.000,0.000,3511,2405,2379,0,0,0,0,0,0
$GC,10828,1.20,220.9,205.0,9.3,378,10846,0.00,0.00,14.50,0.636,6,0.000,0.000,3511,2405,2319,0,0,0,0,0,0
$GC,11103,1.27,224.6,178.9,9.8,398,11115,0.10,2.70,4.68,0.468,4,0.087,0.048,3545,785,2303,0,0,0,0,0,0
$GC,11134,1.27,224.6,176.5,10.3,400,11139,0.00,2.60,0.00,0.000,6,0.000,0.030,3544,2414,2303,0,0,0,0,0,0
$GC,11401,1.27,226.2,150.3,9.9,424,11405,0.00,2.50,0.00,0.000,4,0.000,0.045,3544,3935,2302,0,0,0,0,0,0
$GC,11447,1.29,240.9,146.0,9.3,427,11472,0.00,2.45,15.62,0.588,6,0.000,0.022,3544,2388,2237,0,0,0,0,0,0
$GC,11727,1.42,295.0,122.3,7.5,453,11777,0.10,0.00,46.60,0.588,6,0.083,0.000,3580,2388,2017,0,0,0,0,0,0
$GC,12029,1.46,299.2,93.1,9.8,482,12044,0.00,2.60,4.85,0.416,4,0.000,0.044,3580,3927,1999,0,0,0,0,0,0
$GC,12060,1.46,299.2,89.5,10.9,484,12070,0.00,2.45,0.00,0.000,6,0.000,0.023,3580,2400,1998,0,0,0,0,0,0
$GC,12330,1.54,312.5,63.1,9.4,509,12348,0.00,2.55,13.00,0.504,4,0.000,0.041,3580,3930,1946,0,0,0,0,0,0
$GC,12380,1.59,312.5,57.7,10.2,512,12385,0.10,2.42,0.00,0.000,6,0.081,0.023,3617,2403,1945,0,0,0,0,0,0
$GC,12655,1.59,312.5,26.0,11.2,538,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,2403,1944,0,0,0,0,0,0
$STATE,12870,end climb,SURFACE_DEPTH_REACHED
$STATE,12870,begin surface coast
$FINISH,0.8,1.023447
$STATE,12919,end surface coast,CONTROL_FINISHED_OK
$STATE,12919,begin surface
$SM_CCo,12943,29.58,0.482,0,0,1793,350.04
$SM_GC,1.55,0.00,0.00,29.58,0.000,0.000,0.482,464,2139,1793,-12.86,-2.01,350.04
$IRIDIUM_FIX,1918.37,-8112.10,270402,080824
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,46
$24V_AH,23.5,11.413
$10V_AH,10.5,9.701
$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,30.250,140.275,394.050,29.575,0.000,22.075,49.355,160.365,11.500,0.000,16.146,1177.657,9110.447,494.719,1967.093,602.116,33.356,1287.809,0.000,1973.469,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,129.623,964.119,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.498,321.864,409.712,580.325,1105.517,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,44820,577
$CAP_FILE_SIZE,125404,0
$CFSIZE,260165632,123293696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,155915,1925.871,-8115.249,10,2.6,29,-3.8