version: 66.06
glider: 146
mission: 8
dive: 80
start: 1 31 113 19 49 30
data:
$ID,146
$MISSION,8
$DIVE,80
$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,-308944.25
$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,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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,194121,1926.025,-8115.583,13,99.0,32,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.9
$GPS2,194836,1925.970,-8115.564,33,1.3,33,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,0.111
$KALMAN_X,100560.3,141.8,167.3,-108592.3,1440.8
$KALMAN_Y,-12080.8,31.8,10.7,10077.8,-714.7
$MHEAD_RNG_PITCHd_Wd,299.1,4663,-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,-71.15,0.000,2,0.000,0.000,466,2088,3582,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.2,-7.2,9,124,13.80,2.75,-3.95,0.000,4,0.170,0.039,2977,3786,3817,0,0,0,0,0,0
$GC,323,-1.08,-146.0,55.3,-17.8,32,328,0.20,2.50,0.00,0.000,6,0.104,0.023,3021,2203,3818,0,0,0,0,0,0
$GC,588,-0.96,-146.0,96.4,-15.0,56,593,0.12,2.58,0.00,0.000,4,0.117,0.047,3048,637,3818,0,0,0,0,0,0
$GC,643,-0.92,-146.0,104.5,-13.4,60,647,0.00,2.45,0.00,0.000,6,0.000,0.017,3048,2231,3818,0,0,0,0,0,0
$GC,907,-0.92,-146.0,135.3,-10.0,84,911,0.00,2.42,0.00,0.000,4,0.000,0.041,3048,3769,3819,0,0,0,0,0,0
$GC,942,-0.96,-146.0,139.0,-9.9,86,951,0.00,2.47,0.00,0.000,6,0.000,0.022,3048,2206,3819,0,0,0,0,0,0
$GC,1207,-1.01,-146.0,161.4,-7.5,111,1212,0.00,2.55,0.00,0.000,4,0.000,0.051,3048,634,3819,0,0,0,0,0,0
$GC,1279,-1.09,-146.0,168.1,-8.8,116,1285,0.10,2.40,0.00,0.000,6,0.079,0.018,2999,2199,3819,0,0,0,0,0,0
$GC,1544,-1.09,-146.0,193.3,-9.5,141,1549,0.10,2.50,0.00,0.000,4,0.111,0.037,3023,3772,3820,0,0,0,0,0,0
$GC,1578,-1.15,-146.0,196.8,-8.8,143,1584,0.00,2.42,0.00,0.000,6,0.000,0.019,3023,2201,3820,0,0,0,0,0,0
$GC,1832,-1.20,-146.0,216.5,-7.8,153,1834,0.10,0.00,0.00,0.000,6,0.080,0.000,2976,2201,3820,0,0,0,0,0,0
$GC,2076,-1.20,-146.0,238.1,-8.8,159,2081,0.10,2.55,0.00,0.000,4,0.114,0.037,2999,3770,3820,0,0,0,0,0,0
$GC,2099,-1.20,-146.0,240.4,-8.9,159,2103,0.00,2.42,0.00,0.000,6,0.000,0.019,2999,2201,3820,0,0,0,0,0,0
$GC,2354,-1.20,-146.0,260.7,-8.0,166,2358,0.00,2.58,0.00,0.000,4,0.000,0.054,2998,638,3820,0,0,0,0,0,0
$GC,2383,-1.20,-146.0,263.1,-8.4,166,2387,0.00,2.45,0.00,0.000,6,0.000,0.024,2999,2210,3820,0,0,0,0,0,0
$GC,2633,-1.20,-146.0,282.6,-7.7,172,2637,0.00,2.58,0.00,0.000,4,0.000,0.051,2999,3776,3819,0,0,0,0,0,0
$GC,2672,-1.25,-146.0,286.0,-8.5,173,2677,0.00,2.42,0.00,0.000,6,0.000,0.025,2999,2217,3819,0,0,0,0,0,0
$GC,2958,-1.25,-146.0,308.3,-8.0,180,2963,0.00,2.65,0.00,0.000,4,0.000,0.065,2999,641,3819,0,0,0,0,0,0
$GC,2999,-1.29,-146.0,312.0,-8.7,181,3003,0.00,2.47,0.00,0.000,6,0.000,0.025,2999,2207,3819,0,0,0,0,0,0
$GC,3284,-1.29,-146.0,334.2,-7.8,188,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2207,3818,0,0,0,0,0,0
$GC,3526,-1.33,-146.0,353.3,-7.7,194,3528,0.12,0.00,0.00,0.000,6,0.071,0.000,2952,2207,3817,0,0,0,0,0,0
$GC,3770,-1.28,-146.0,375.7,-9.2,200,3771,0.12,0.00,0.00,0.000,6,0.100,0.000,2980,2207,3816,0,0,0,0,0,0
$GC,4015,-1.28,-146.0,396.1,-8.3,206,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2207,3814,0,0,0,0,0,0
$GC,4257,-1.28,-146.0,416.1,-8.2,212,4261,0.00,2.62,0.00,0.000,4,0.000,0.064,2979,3780,3814,0,0,0,0,0,0
$GC,4289,-1.28,-146.0,418.8,-8.3,212,4295,0.00,2.53,0.00,0.000,6,0.000,0.041,2980,2224,3814,0,0,0,0,0,0
$GC,4541,-1.28,-146.0,438.7,-8.0,219,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2224,3812,0,0,0,0,0,0
$GC,4783,-1.28,-146.0,458.3,-8.1,225,4787,0.00,2.85,0.00,0.000,4,0.000,0.091,2980,626,3811,0,0,0,0,0,0
$GC,4804,-1.28,-146.0,460.2,-8.4,225,4808,0.00,2.58,0.00,0.000,6,0.000,0.046,2979,2196,3811,0,0,0,0,0,0
$GC,5059,-1.28,-146.0,481.4,-8.3,232,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2196,3810,0,0,0,0,0,0
$GC,5305,-1.28,-146.0,501.9,-8.5,238,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2196,3809,0,0,0,0,0,0
$GC,5546,-1.28,-146.0,523.4,-8.9,244,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2196,3807,0,0,0,0,0,0
$GC,5790,-1.28,-146.0,544.4,-8.6,250,5795,0.00,2.80,0.00,0.000,4,0.000,0.087,2980,3790,3806,0,0,0,0,0,0
$GC,5811,-1.28,-146.0,546.2,-8.3,250,5816,0.00,2.65,0.00,0.000,6,0.000,0.054,2980,2212,3806,0,0,0,0,0,0
$GC,6069,-1.28,-146.0,567.4,-8.1,257,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2213,3805,0,0,0,0,0,0
$GC,6310,-1.28,-146.0,587.5,-8.3,263,6315,0.00,2.78,0.00,0.000,4,0.000,0.078,2979,3794,3803,0,0,0,0,0,0
$GC,6344,-1.28,-146.0,590.4,-8.6,263,6350,0.00,2.70,0.00,0.000,6,0.000,0.065,2979,2213,3803,0,0,0,0,0,0
$STATE,6470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6470,begin apogee
$GC,6478,-0.31,0.0,600.7,8.1,267,6599,0.93,0.00,117.20,0.962,6,0.071,0.000,3190,2377,3220,0,0,0,0,0,0
$STATE,6599,end apogee,CONTROL_FINISHED_OK
$STATE,6599,begin climb
$GC,6602,1.27,146.0,603.6,0.0,270,6736,1.42,2.80,119.97,0.936,4,0.037,0.082,3543,3923,2623,0,0,0,0,0,0
$GC,6855,1.16,146.0,583.5,12.1,275,6861,0.15,2.65,0.00,0.000,6,0.115,0.053,3513,2369,2619,0,0,0,0,0,0
$GC,7107,1.17,152.9,558.8,9.7,282,7121,0.00,2.70,6.35,0.709,4,0.000,0.067,3513,3927,2595,0,0,0,0,0,0
$GC,7171,1.12,152.9,551.5,11.6,283,7176,0.00,2.60,0.00,0.000,6,0.000,0.048,3513,2375,2594,0,0,0,0,0,0
$GC,7432,1.15,170.6,527.2,9.2,290,7455,0.00,2.67,16.60,0.846,4,0.000,0.058,3513,3926,2523,0,0,0,0,0,0
$GC,7488,1.10,170.6,521.8,10.9,291,7492,0.00,2.60,0.00,0.000,6,0.000,0.045,3513,2376,2521,0,0,0,0,0,0
$GC,7759,1.12,181.2,495.7,9.5,298,7771,0.00,0.00,9.98,0.790,6,0.000,0.000,3513,2376,2481,0,0,0,0,0,0
$GC,8003,1.13,191.2,472.4,9.5,304,8015,0.00,0.00,10.02,0.779,6,0.000,0.000,3513,2376,2440,0,0,0,0,0,0
$GC,8249,1.13,194.5,448.6,9.8,310,8255,0.00,0.00,4.30,0.574,6,0.000,0.000,3513,2376,2427,0,0,0,0,0,0
$GC,8490,1.13,194.5,424.4,10.0,316,8495,0.00,2.58,0.00,0.000,4,0.000,0.050,3513,3931,2426,0,0,0,0,0,0
$GC,8523,1.13,194.5,420.6,11.0,316,8529,0.00,2.53,0.00,0.000,6,0.000,0.029,3513,2373,2424,0,0,0,0,0,0
$GC,8775,1.13,194.5,395.4,10.0,323,8779,0.00,2.58,0.00,0.000,4,0.000,0.050,3513,3930,2424,0,0,0,0,0,0
$GC,8814,1.13,194.5,390.8,11.9,324,8818,0.00,2.47,0.00,0.000,6,0.000,0.032,3513,2390,2424,0,0,0,0,0,0
$GC,9097,1.13,194.5,362.3,10.0,331,9101,0.00,2.55,0.00,0.000,4,0.000,0.045,3513,3928,2423,0,0,0,0,0,0
$GC,9138,1.13,194.5,358.1,10.9,332,9142,0.00,2.45,0.00,0.000,6,0.000,0.031,3513,2394,2423,0,0,0,0,0,0
$GC,9420,1.13,194.5,329.2,10.1,339,9425,0.00,2.55,0.00,0.000,4,0.000,0.047,3513,3934,2423,0,0,0,0,0,0
$GC,9437,1.13,194.5,327.5,10.5,339,9442,0.00,2.45,0.00,0.000,6,0.000,0.029,3513,2395,2422,0,0,0,0,0,0
$GC,9701,1.13,195.8,301.1,9.9,346,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2395,2422,0,0,0,0,0,0
$GC,9942,1.14,197.5,276.5,9.9,352,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2395,2422,0,0,0,0,0,0
$GC,10186,1.16,215.4,254.0,9.2,358,10210,0.00,2.62,18.80,0.688,4,0.000,0.048,3513,3928,2342,0,0,0,0,0,0
$GC,10251,1.16,215.4,247.5,11.0,359,10256,0.00,2.47,0.00,0.000,6,0.000,0.026,3513,2392,2340,0,0,0,0,0,0
$GC,10513,1.20,215.4,219.8,10.7,366,10517,0.00,2.58,0.00,0.000,4,0.000,0.047,3513,3937,2340,0,0,0,0,0,0
$GC,10534,1.20,215.4,217.3,10.9,366,10538,0.00,2.45,0.00,0.000,6,0.000,0.031,3513,2406,2339,0,0,0,0,0,0
$GC,10791,1.26,218.9,192.0,9.8,378,10805,0.00,2.58,4.53,0.469,4,0.000,0.052,3513,3928,2326,0,0,0,0,0,0
$GC,10818,1.30,219.6,189.0,10.0,380,10823,0.12,2.42,0.00,0.000,6,0.077,0.026,3552,2413,2326,0,0,0,0,0,0
$GC,11079,1.32,242.4,162.4,8.9,404,11107,0.00,2.78,21.67,0.614,4,0.000,0.056,3552,796,2230,0,0,0,0,0,0
$GC,11117,1.32,242.4,158.4,10.8,407,11123,0.00,2.60,0.00,0.000,6,0.000,0.029,3552,2428,2229,0,0,0,0,0,0
$GC,11382,1.36,271.7,133.7,8.6,432,11418,0.00,2.53,26.00,0.590,4,0.000,0.041,3552,3926,2111,0,0,0,0,0,0
$GC,11446,1.40,271.7,127.5,10.7,437,11450,0.00,2.42,0.00,0.000,6,0.000,0.024,3552,2411,2110,0,0,0,0,0,0
$GC,11715,1.54,310.8,105.8,8.2,461,11763,0.17,2.62,34.35,0.566,4,0.058,0.043,3605,3939,1951,0,0,0,0,0,0
$GC,11790,1.54,310.8,97.3,12.0,467,11794,0.00,2.40,0.00,0.000,6,0.000,0.025,3606,2425,1950,0,0,0,0,0,0
$GC,12058,1.54,310.8,66.2,12.2,491,12062,0.00,2.70,0.00,0.000,4,0.000,0.047,3606,787,1948,0,0,0,0,0,0
$GC,12092,1.54,310.8,61.1,11.8,493,12101,0.00,2.62,0.00,0.000,6,0.000,0.022,3606,2436,1947,0,0,0,0,0,0
$GC,12359,1.54,310.8,32.4,11.1,518,12363,0.00,2.42,0.00,0.000,4,0.000,0.041,3606,3932,1947,0,0,0,0,0,0
$GC,12403,1.54,310.8,27.3,12.3,522,12412,0.00,2.40,0.00,0.000,6,0.000,0.024,3606,2426,1947,0,0,0,0,0,0
$STATE,12605,end climb,SURFACE_DEPTH_REACHED
$STATE,12605,begin surface coast
$FINISH,0.7,1.021992
$STATE,12647,end surface coast,CONTROL_FINISHED_OK
$STATE,12648,begin surface
$SM_CCo,12672,31.35,0.481,0,0,1792,350.04
$SM_GC,1.53,0.00,0.00,31.35,0.000,0.000,0.481,462,2183,1792,-12.87,-0.79,350.04
$IRIDIUM_FIX,1916.08,-8114.71,270402,161636
$TT8_MAMPS,0.026078
$HUMID,57.48
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,44
$24V_AH,23.5,11.638
$10V_AH,10.5,9.918
$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,30.100,144.075,389.775,31.350,0.000,25.771,35.792,193.392,11.000,0.000,36.883,1150.034,8918.936,498.692,1942.589,624.906,33.354,1287.938,0.000,1918.989,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,91.273,961.818,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.258,298.848,389.168,542.585,1034.251,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,44597,558
$CAP_FILE_SIZE,124400,0
$CFSIZE,260165632,123170816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,232235,1926.263,-8115.782,39,0.9,39,-3.8