version: 66.06
glider: 146
mission: 8
dive: 79
start: 1 31 113 16 7 18
data:
$ID,146
$MISSION,8
$DIVE,79
$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,-308906.75
$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,36
$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
$GPS1,155915,1925.871,-8115.249,10,2.6,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.4
$GPS2,160623,1925.851,-8115.215,41,1.1,41,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.245,0.085
$KALMAN_X,98277.9,224.0,65.5,-105677.7,1267.4
$KALMAN_Y,-11247.8,106.0,-103.5,9065.6,-293.8
$MHEAD_RNG_PITCHd_Wd,293.0,5309,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-63.33,0.000,2,0.000,0.000,464,2140,3351,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.9,8,123,13.75,2.70,-8.73,0.000,4,0.168,0.040,2976,3798,3819,0,0,0,0,0,0
$GC,257,-1.12,-146.0,41.7,-18.3,28,266,0.15,2.53,0.00,0.000,6,0.087,0.024,3013,2213,3819,0,0,0,0,0,0
$GC,527,-0.99,-146.0,82.8,-13.9,53,532,0.15,2.60,0.00,0.000,4,0.111,0.051,3046,630,3820,0,0,0,0,0,0
$GC,547,-0.87,-146.0,86.9,-14.1,54,552,0.10,2.47,0.00,0.000,6,0.123,0.015,3067,2246,3819,0,0,0,0,0,0
$GC,811,-0.87,-146.0,117.2,-11.4,78,815,0.00,2.65,0.00,0.000,4,0.000,0.044,3067,635,3820,0,0,0,0,0,0
$GC,844,-0.92,-146.0,121.0,-10.5,80,848,0.00,2.40,0.00,0.000,6,0.000,0.017,3067,2197,3819,0,0,0,0,0,0
$GC,1109,-1.00,-146.0,144.3,-8.7,104,1118,0.10,0.00,0.00,0.000,6,0.080,0.000,3019,2197,3820,0,0,0,0,0,0
$GC,1371,-1.00,-146.0,170.5,-9.2,129,1373,0.10,0.00,0.00,0.000,6,0.110,0.000,3042,2197,3821,0,0,0,0,0,0
$GC,1628,-1.07,-146.0,189.6,-7.6,153,1632,0.00,2.53,0.00,0.000,4,0.000,0.041,3042,3776,3821,0,0,0,0,0,0
$GC,1660,-1.17,-146.0,192.2,-8.1,155,1665,0.15,2.45,0.00,0.000,6,0.058,0.028,2978,2191,3822,0,0,0,0,0,0
$GC,1943,-1.17,-146.0,218.7,-9.1,167,1948,0.12,2.55,0.00,0.000,4,0.103,0.058,3006,641,3821,0,0,0,0,0,0
$GC,1973,-1.17,-146.0,221.1,-8.3,167,1977,0.00,2.40,0.00,0.000,6,0.000,0.021,3006,2199,3822,0,0,0,0,0,0
$GC,2223,-1.17,-146.0,242.0,-8.4,173,2227,0.00,2.58,0.00,0.000,4,0.000,0.054,3006,632,3821,0,0,0,0,0,0
$GC,2244,-1.17,-146.0,243.7,-7.9,173,2249,0.00,2.42,0.00,0.000,6,0.000,0.021,3006,2197,3822,0,0,0,0,0,0
$GC,2503,-1.21,-146.0,263.3,-7.4,180,2507,0.00,2.55,0.00,0.000,4,0.000,0.044,3007,3779,3821,0,0,0,0,0,0
$GC,2552,-1.28,-146.0,267.5,-8.1,181,2558,0.10,2.45,0.00,0.000,6,0.079,0.029,2961,2203,3821,0,0,0,0,0,0
$GC,2827,-1.24,-146.0,293.1,-9.4,188,2832,0.12,2.62,0.00,0.000,4,0.101,0.060,2990,637,3821,0,0,0,0,0,0
$GC,2855,-1.24,-146.0,296.1,-9.8,188,2859,0.00,2.45,0.00,0.000,6,0.000,0.031,2990,2195,3820,0,0,0,0,0,0
$GC,3104,-1.24,-146.0,318.1,-8.8,194,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2195,3820,0,0,0,0,0,0
$GC,3350,-1.24,-146.0,339.5,-8.8,200,3355,0.00,2.60,0.00,0.000,4,0.000,0.055,2990,3786,3819,0,0,0,0,0,0
$GC,3377,-1.24,-146.0,342.1,-8.8,200,3382,0.00,2.50,0.00,0.000,6,0.000,0.031,2990,2206,3819,0,0,0,0,0,0
$GC,3627,-1.24,-146.0,363.6,-8.6,206,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2206,3818,0,0,0,0,0,0
$GC,3871,-1.24,-146.0,383.8,-8.2,212,3876,0.00,2.70,0.00,0.000,4,0.000,0.075,2990,631,3816,0,0,0,0,0,0
$GC,3906,-1.24,-146.0,386.3,-8.2,212,3911,0.00,2.50,0.00,0.000,6,0.000,0.029,2990,2192,3816,0,0,0,0,0,0
$GC,4156,-1.24,-146.0,406.3,-7.9,219,4160,0.00,2.67,0.00,0.000,4,0.000,0.057,2990,3793,3815,0,0,0,0,0,0
$GC,4188,-1.24,-146.0,409.2,-8.4,219,4194,0.00,2.55,0.00,0.000,6,0.000,0.038,2990,2211,3815,0,0,0,0,0,0
$GC,4440,-1.24,-146.0,429.3,-8.0,226,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2212,3814,0,0,0,0,0,0
$GC,4682,-1.24,-146.0,447.9,-7.6,232,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2212,3813,0,0,0,0,0,0
$GC,4926,-1.24,-146.0,466.9,-7.9,238,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2211,3811,0,0,0,0,0,0
$GC,5173,-1.24,-146.0,485.6,-7.6,244,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2211,3811,0,0,0,0,0,0
$GC,5413,-1.24,-146.0,503.8,-7.4,250,5418,0.00,2.88,0.00,0.000,4,0.000,0.103,2990,631,3809,0,0,0,0,0,0
$GC,5434,-1.24,-146.0,505.6,-8.0,250,5439,0.00,2.60,0.00,0.000,6,0.000,0.048,2990,2200,3809,0,0,0,0,0,0
$GC,5690,-1.28,-146.0,524.8,-7.6,257,5694,0.00,2.80,0.00,0.000,4,0.000,0.080,2990,3798,3808,0,0,0,0,0,0
$GC,5714,-1.32,-146.0,526.6,-7.7,257,5718,0.00,2.62,0.00,0.000,6,0.000,0.051,2990,2209,3807,0,0,0,0,0,0
$GC,5969,-1.35,-146.0,545.6,-7.4,264,5974,0.12,2.92,0.00,0.000,4,0.204,0.106,2944,623,3806,0,0,0,0,0,0
$GC,5991,-1.35,-146.0,547.8,-9.4,264,5995,0.00,2.62,0.00,0.000,6,0.000,0.054,2945,2200,3806,0,0,0,0,0,0
$GC,6248,-1.31,-146.0,573.1,-10.1,271,6254,0.15,2.88,0.00,0.000,4,0.097,0.092,2978,3794,3804,0,0,0,0,0,0
$GC,6294,-1.31,-146.0,577.7,-9.5,272,6299,0.00,2.72,0.00,0.000,6,0.000,0.064,2978,2194,3804,0,0,0,0,0,0
$STATE,6569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6570,begin apogee
$GC,6578,-0.31,0.0,602.1,8.8,279,6699,0.93,0.00,117.43,0.962,6,0.067,0.000,3191,2385,3220,0,0,0,0,0,0
$STATE,6699,end apogee,CONTROL_FINISHED_OK
$STATE,6700,begin climb
$GC,6702,1.27,146.0,605.8,0.0,282,6834,1.42,2.83,120.28,0.940,4,0.036,0.085,3542,3926,2622,0,0,0,0,0,0
$GC,6919,1.16,146.0,592.5,11.4,287,6924,0.15,2.70,0.00,0.000,6,0.117,0.059,3513,2365,2618,0,0,0,0,0,0
$GC,7197,1.20,177.9,568.1,8.5,294,7231,0.00,2.80,27.30,0.894,4,0.000,0.066,3514,3921,2493,0,0,0,0,0,0
$GC,7263,1.16,177.9,561.8,10.6,295,7268,0.00,2.62,0.00,0.000,6,0.000,0.051,3513,2374,2491,0,0,0,0,0,0
$GC,7523,1.16,177.9,535.7,10.0,302,7528,0.00,2.65,0.00,0.000,4,0.000,0.055,3513,3926,2488,0,0,0,0,0,0
$GC,7552,1.16,177.9,532.6,10.9,302,7557,0.00,2.60,0.00,0.000,6,0.000,0.041,3513,2372,2488,0,0,0,0,0,0
$GC,7802,1.16,177.9,506.8,10.3,308,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2372,2487,0,0,0,0,0,0
$GC,8046,1.16,180.0,482.4,9.9,314,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2372,2485,0,0,0,0,0,0
$GC,8289,1.17,183.0,458.4,9.9,320,8299,0.00,2.65,4.32,0.584,4,0.000,0.054,3513,3938,2473,0,0,0,0,0,0
$GC,8312,1.17,183.0,456.1,10.3,320,8316,0.00,2.58,0.00,0.000,6,0.000,0.032,3513,2371,2473,0,0,0,0,0,0
$GC,8568,1.17,190.1,431.1,9.7,327,8578,0.00,0.00,7.80,0.727,6,0.000,0.000,3513,2371,2444,0,0,0,0,0,0
$GC,8810,1.18,191.2,407.1,10.0,333,8815,0.00,2.60,0.00,0.000,4,0.000,0.049,3513,3935,2442,0,0,0,0,0,0
$GC,8879,1.18,191.2,399.7,11.6,334,8883,0.00,2.53,0.00,0.000,6,0.000,0.029,3513,2374,2441,0,0,0,0,0,0
$GC,9134,1.18,191.2,373.2,10.3,341,9138,0.00,2.60,0.00,0.000,4,0.000,0.051,3514,3938,2441,0,0,0,0,0,0
$GC,9154,1.18,191.2,370.9,10.5,341,9159,0.00,2.50,0.00,0.000,6,0.000,0.027,3513,2373,2441,0,0,0,0,0,0
$GC,9412,1.18,191.2,345.0,10.0,348,9416,0.00,2.60,0.00,0.000,4,0.000,0.052,3513,3935,2441,0,0,0,0,0,0
$GC,9439,1.18,191.2,341.9,10.4,348,9443,0.00,2.47,0.00,0.000,6,0.000,0.031,3513,2388,2441,0,0,0,0,0,0
$GC,9689,1.19,199.3,317.4,9.6,354,9700,0.00,0.00,9.07,0.684,6,0.000,0.000,3513,2388,2407,0,0,0,0,0,0
$GC,9935,1.19,204.8,293.5,9.7,360,9943,0.00,0.00,6.28,0.608,6,0.000,0.000,3513,2387,2386,0,0,0,0,0,0
$GC,10176,1.20,214.2,270.3,9.6,366,10188,0.00,0.00,10.05,0.662,6,0.000,0.000,3513,2388,2346,0,0,0,0,0,0
$GC,10420,1.20,214.2,245.0,10.5,372,10424,0.00,2.58,0.00,0.000,4,0.000,0.051,3513,3933,2345,0,0,0,0,0,0
$GC,10463,1.20,214.2,239.6,12.2,373,10468,0.00,2.47,0.00,0.000,6,0.000,0.033,3513,2390,2343,0,0,0,0,0,0
$GC,10743,1.24,214.2,211.2,10.1,380,10748,0.00,2.55,0.00,0.000,4,0.000,0.054,3513,3930,2343,0,0,0,0,0,0
$GC,10770,1.24,214.2,208.4,10.0,380,10774,0.00,2.45,0.00,0.000,6,0.000,0.028,3513,2399,2344,0,0,0,0,0,0
$GC,11036,1.31,223.9,183.1,9.6,399,11049,0.12,0.00,9.57,0.593,6,0.078,0.000,3552,2399,2307,0,0,0,0,0,0
$GC,11303,1.31,223.9,156.1,10.3,424,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2399,2306,0,0,0,0,0,0
$GC,11570,1.35,253.4,132.6,8.6,449,11602,0.00,2.72,26.80,0.598,4,0.000,0.049,3553,785,2185,0,0,0,0,0,0
$GC,11614,1.37,274.0,128.1,9.1,453,11638,0.00,2.58,18.65,0.572,6,0.000,0.022,3553,2413,2103,0,0,0,0,0,0
$GC,11898,1.53,327.9,105.0,7.5,479,11951,0.17,2.53,46.65,0.568,4,0.057,0.042,3606,3930,1882,0,0,0,0,0,0
$GC,11979,1.53,327.9,95.8,13.1,485,11983,0.00,2.45,0.00,0.000,6,0.000,0.025,3606,2403,1879,0,0,0,0,0,0
$GC,12247,1.53,327.9,61.5,12.7,509,12251,0.00,2.67,0.00,0.000,4,0.000,0.047,3606,784,1877,0,0,0,0,0,0
$GC,12269,1.53,327.9,58.5,12.3,510,12273,0.00,2.55,0.00,0.000,6,0.000,0.022,3606,2409,1876,0,0,0,0,0,0
$GC,12548,1.54,341.6,23.4,9.4,538,12566,0.00,2.47,12.35,0.469,4,0.000,0.040,3606,3927,1826,0,0,0,0,0,0
$GC,12623,1.54,341.6,14.0,12.6,548,12632,0.00,2.45,0.00,0.000,6,0.000,0.031,3606,2401,1825,0,0,0,0,0,0
$STATE,12700,end climb,SURFACE_DEPTH_REACHED
$STATE,12700,begin surface coast
$FINISH,0.7,1.003415
$STATE,12736,end surface coast,CONTROL_FINISHED_OK
$STATE,12736,begin surface
$SM_CCo,12761,6.00,0.396,0,0,1792,350.04
$SM_GC,1.93,0.00,0.00,6.00,0.000,0.000,0.396,466,2090,1792,-12.85,-3.42,350.04
$IRIDIUM_FIX,1932.09,-8118.54,270402,121247
$TT8_MAMPS,0.026078
$HUMID,57.87
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.50
$XPDR_PINGS,44
$24V_AH,23.5,11.525
$10V_AH,10.5,9.809
$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,30.500,145.725,416.550,6.000,0.000,24.434,43.893,174.120,11.000,0.000,43.171,1157.250,9026.594,479.717,1922.732,606.262,33.358,1259.110,0.000,1893.284,0.000,0.538,0.000
$DEVICE_MAMPS,204.022,105.846,961.818,395.772,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.616,306.348,395.834,542.439,1033.064,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,44752,564
$CAP_FILE_SIZE,125191,0
$CFSIZE,260165632,123232256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,194121,1926.025,-8115.583,13,99.0,32,-3.8