version: 66.06
glider: 146
mission: 8
dive: 82
start: 2 1 113 3 17 18
data:
$ID,146
$MISSION,8
$DIVE,82
$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,-308970.28
$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,65
$R_STBD_OVSHOOT,32
$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,3210
$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
$GPS1,030536,1926.516,-8116.102,39,1.2,39,-3.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-77.0
$GPS2,031624,1926.461,-8116.113,10,1.3,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.251,0.067
$KALMAN_X,105235.3,225.5,93.3,-114234.5,1511.3
$KALMAN_Y,-13371.3,-217.8,-56.1,12591.7,-343.9
$MHEAD_RNG_PITCHd_Wd,288.7,3444,-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,-70.85,0.000,2,0.000,0.000,466,2167,3572,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-6.6,9,123,13.75,0.00,-4.10,0.000,6,0.169,0.000,2977,2167,3807,0,0,0,0,0,0
$GC,398,-1.05,-146.0,72.8,-18.9,41,408,0.25,0.00,0.00,0.000,6,0.107,0.000,3033,2167,3808,0,0,0,0,0,0
$GC,663,-0.96,-146.0,110.8,-13.3,66,672,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2167,3808,0,0,0,0,0,0
$GC,928,-0.96,-146.0,140.1,-9.5,91,933,0.00,2.58,0.00,0.000,4,0.000,0.035,3033,3791,3809,0,0,0,0,0,0
$GC,1012,-1.01,-146.0,148.5,-9.2,97,1018,0.00,2.42,0.00,0.000,6,0.000,0.023,3033,2231,3809,0,0,0,0,0,0
$GC,1275,-1.05,-146.0,170.6,-8.0,122,1279,0.00,2.60,0.00,0.000,4,0.000,0.052,3033,644,3809,0,0,0,0,0,0
$GC,1344,-1.12,-146.0,175.7,-7.4,127,1348,0.00,2.42,0.00,0.000,6,0.000,0.019,3033,2227,3809,0,0,0,0,0,0
$GC,1611,-1.18,-146.0,195.7,-8.0,151,1616,0.12,0.00,0.00,0.000,6,0.066,0.000,2974,2227,3809,0,0,0,0,0,0
$GC,1895,-1.13,-146.0,224.2,-9.7,161,1897,0.17,0.00,0.00,0.000,6,0.091,0.000,3014,2227,3810,0,0,0,0,0,0
$GC,2137,-1.18,-146.0,242.5,-7.3,167,2141,0.00,2.47,0.00,0.000,4,0.000,0.042,3014,3769,3810,0,0,0,0,0,0
$GC,2164,-1.23,-146.0,244.6,-7.8,167,2169,0.10,2.42,0.00,0.000,6,0.079,0.028,2967,2192,3809,0,0,0,0,0,0
$GC,2417,-1.20,-146.0,268.0,-9.5,173,2419,0.15,0.00,0.00,0.000,6,0.097,0.000,3002,2192,3809,0,0,0,0,0,0
$GC,2658,-1.20,-146.0,288.5,-8.3,179,2662,0.00,2.55,0.00,0.000,4,0.000,0.061,3002,645,3809,0,0,0,0,0,0
$GC,2685,-1.20,-146.0,290.7,-8.6,179,2689,0.00,2.40,0.00,0.000,6,0.000,0.031,3001,2185,3809,0,0,0,0,0,0
$GC,2942,-1.20,-146.0,310.4,-7.7,186,2947,0.00,2.60,0.00,0.000,4,0.000,0.051,3001,3781,3808,0,0,0,0,0,0
$GC,2982,-1.25,-146.0,313.8,-8.5,187,2986,0.00,2.45,0.00,0.000,6,0.000,0.028,3002,2204,3808,0,0,0,0,0,0
$GC,3266,-1.29,-146.0,335.4,-7.6,194,3267,0.10,0.00,0.00,0.000,6,0.082,0.000,2960,2204,3806,0,0,0,0,0,0
$GC,3511,-1.25,-146.0,358.2,-9.6,200,3513,0.12,0.00,0.00,0.000,6,0.101,0.000,2988,2204,3806,0,0,0,0,0,0
$GC,3753,-1.25,-146.0,377.8,-7.9,206,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2205,3805,0,0,0,0,0,0
$GC,3996,-1.25,-146.0,398.1,-8.5,212,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2205,3804,0,0,0,0,0,0
$GC,4242,-1.25,-146.0,418.7,-8.4,218,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2204,3803,0,0,0,0,0,0
$GC,4484,-1.25,-146.0,438.7,-8.2,224,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2204,3802,0,0,0,0,0,0
$GC,4727,-1.25,-146.0,459.3,-8.5,230,4732,0.00,2.65,0.00,0.000,4,0.000,0.068,2988,3775,3801,0,0,0,0,0,0
$GC,4754,-1.25,-146.0,461.6,-8.4,230,4759,0.00,2.58,0.00,0.000,6,0.000,0.046,2988,2203,3800,0,0,0,0,0,0
$GC,5006,-1.25,-146.0,482.4,-8.1,236,5011,0.00,2.85,0.00,0.000,4,0.000,0.104,2988,624,3800,0,0,0,0,0,0
$GC,5028,-1.25,-146.0,484.4,-8.3,236,5032,0.00,2.55,0.00,0.000,6,0.000,0.044,2988,2177,3799,0,0,0,0,0,0
$GC,5283,-1.25,-146.0,504.6,-7.9,243,5287,0.00,2.80,0.00,0.000,4,0.000,0.078,2988,3800,3798,0,0,0,0,0,0
$GC,5306,-1.25,-146.0,506.4,-8.4,243,5311,0.00,2.67,0.00,0.000,6,0.000,0.046,2988,2185,3798,0,0,0,0,0,0
$GC,5561,-1.25,-146.0,525.4,-7.4,250,5566,0.00,2.72,0.00,0.000,4,0.000,0.063,2988,3794,3796,0,0,0,0,0,0
$GC,5584,-1.25,-146.0,527.1,-7.4,250,5588,0.00,2.65,0.00,0.000,6,0.000,0.053,2988,2192,3796,0,0,0,0,0,0
$GC,5841,-1.25,-146.0,546.7,-7.7,257,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2192,3795,0,0,0,0,0,0
$GC,6083,-1.25,-146.0,565.5,-7.8,263,6087,0.00,2.80,0.00,0.000,4,0.000,0.075,2988,3793,3794,0,0,0,0,0,0
$GC,6127,-1.31,-146.0,569.3,-8.6,264,6131,0.00,2.70,0.00,0.000,6,0.000,0.061,2988,2204,3793,0,0,0,0,0,0
$GC,6406,-1.31,-146.0,591.3,-7.7,271,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2203,3791,0,0,0,0,0,0
$STATE,6523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6523,begin apogee
$GC,6529,-0.31,0.0,600.7,7.8,274,6650,0.88,0.00,117.15,0.962,6,0.067,0.000,3190,2377,3210,0,0,0,0,0,0
$STATE,6651,end apogee,CONTROL_FINISHED_OK
$STATE,6651,begin climb
$GC,6653,1.27,146.0,603.5,0.0,277,6787,1.42,2.88,120.47,0.937,4,0.047,0.085,3543,3924,2613,0,0,0,0,0,0
$GC,6871,1.16,146.0,588.7,11.7,282,6876,0.15,2.67,0.00,0.000,6,0.116,0.054,3513,2370,2609,0,0,0,0,0,0
$GC,7151,1.19,168.0,563.2,9.0,289,7175,0.00,2.78,19.02,0.869,4,0.000,0.069,3513,3928,2525,0,0,0,0,0,0
$GC,7210,1.15,168.0,557.4,10.7,290,7215,0.00,2.65,0.00,0.000,6,0.000,0.048,3513,2369,2523,0,0,0,0,0,0
$GC,7476,1.16,175.8,531.7,9.6,297,7490,0.00,2.72,7.60,0.751,4,0.000,0.061,3513,3924,2493,0,0,0,0,0,0
$GC,7516,1.12,175.8,527.6,10.8,297,7521,0.00,2.60,0.00,0.000,6,0.000,0.047,3513,2376,2492,0,0,0,0,0,0
$GC,7766,1.12,175.8,501.9,10.2,304,7770,0.00,2.60,0.00,0.000,4,0.000,0.051,3513,3934,2490,0,0,0,0,0,0
$GC,7811,1.12,175.8,497.0,10.8,305,7815,0.00,2.55,0.00,0.000,6,0.000,0.037,3513,2387,2490,0,0,0,0,0,0
$GC,8096,1.12,176.7,469.0,10.0,312,8101,0.00,2.58,0.00,0.000,4,0.000,0.049,3513,3934,2489,0,0,0,0,0,0
$GC,8118,1.12,176.7,466.2,10.9,312,8122,0.00,2.53,0.00,0.000,6,0.000,0.035,3513,2387,2488,0,0,0,0,0,0
$GC,8374,1.12,178.7,440.7,9.9,319,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2387,2487,0,0,0,0,0,0
$GC,8619,1.14,191.3,417.4,9.4,325,8639,0.00,2.60,14.00,0.785,4,0.000,0.051,3513,3933,2430,0,0,0,0,0,0
$GC,8656,1.15,203.5,413.5,9.4,325,8676,0.00,2.50,12.45,0.767,6,0.000,0.033,3513,2392,2379,0,0,0,0,0,0
$GC,8951,1.15,203.5,384.3,10.1,333,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2392,2376,0,0,0,0,0,0
$GC,9193,1.16,203.8,359.9,10.0,339,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2392,2376,0,0,0,0,0,0
$GC,9437,1.16,204.7,335.5,10.0,345,9441,0.00,2.58,0.00,0.000,4,0.000,0.046,3513,3939,2375,0,0,0,0,0,0
$GC,9469,1.16,204.7,331.9,11.3,345,9475,0.00,2.50,0.00,0.000,6,0.000,0.032,3513,2376,2374,0,0,0,0,0,0
$GC,9721,1.16,206.6,307.0,9.9,352,9726,0.00,2.60,0.00,0.000,4,0.000,0.055,3513,3932,2374,0,0,0,0,0,0
$GC,9737,1.16,206.7,305.0,10.0,352,9742,0.00,2.45,0.00,0.000,6,0.000,0.025,3513,2393,2374,0,0,0,0,0,0
$GC,9998,1.16,206.7,277.8,10.6,359,10003,0.00,2.67,0.00,0.000,4,0.000,0.058,3513,779,2374,0,0,0,0,0,0
$GC,10016,1.16,206.7,276.0,10.6,359,10020,0.00,2.55,0.00,0.000,6,0.000,0.031,3513,2402,2374,0,0,0,0,0,0
$GC,10277,1.16,206.7,249.0,10.3,366,10282,0.00,2.53,0.00,0.000,4,0.000,0.050,3513,3935,2374,0,0,0,0,0,0
$GC,10322,1.16,206.7,243.9,11.2,367,10326,0.00,2.45,0.00,0.000,6,0.000,0.028,3512,2387,2374,0,0,0,0,0,0
$GC,10602,1.20,208.3,216.4,9.9,374,10608,0.00,0.00,4.88,0.500,6,0.000,0.000,3513,2387,2360,0,0,0,0,0,0
$GC,10845,1.28,235.1,193.2,8.8,383,10875,0.10,0.00,24.95,0.643,6,0.090,0.000,3545,2387,2250,0,0,0,0,0,0
$GC,11132,1.28,235.1,162.8,10.3,410,11136,0.00,2.55,0.00,0.000,4,0.000,0.049,3545,3929,2248,0,0,0,0,0,0
$GC,11165,1.28,235.1,158.8,11.0,412,11171,0.00,2.42,0.00,0.000,6,0.000,0.025,3545,2394,2247,0,0,0,0,0,0
$GC,11434,1.34,250.4,133.2,9.3,437,11458,0.00,0.00,14.12,0.568,6,0.000,0.000,3545,2394,2188,0,0,0,0,0,0
$GC,11714,1.50,314.8,110.8,7.0,463,11776,0.17,2.58,55.70,0.577,4,0.058,0.040,3598,3927,1925,0,0,0,0,0,0
$GC,11797,1.50,314.8,102.2,12.0,469,11803,0.00,2.45,0.00,0.000,6,0.000,0.031,3598,2399,1923,0,0,0,0,0,0
$GC,12065,1.50,314.8,71.7,12.1,494,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2399,1921,0,0,0,0,0,0
$GC,12333,1.50,314.8,41.9,11.1,519,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2399,1922,0,0,0,0,0,0
$GC,12636,1.50,314.8,6.6,11.9,559,12645,0.00,2.65,0.00,0.000,4,0.000,0.047,3598,795,1922,0,0,0,0,0,0
$STATE,12661,end climb,SURFACE_DEPTH_REACHED
$STATE,12661,begin surface coast
$FINISH,0.8,1.023324
$STATE,12710,end surface coast,CONTROL_FINISHED_OK
$STATE,12710,begin surface
$SM_CCo,12736,27.02,0.479,0,0,1783,350.04
$SM_GC,1.48,0.00,0.00,27.02,0.000,0.000,0.479,465,2228,1783,-12.86,0.51,350.04
$IRIDIUM_FIX,1920.65,-8119.23,280402,030345
$TT8_MAMPS,0.026078
$HUMID,56.73
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,46
$24V_AH,23.5,11.872
$10V_AH,10.5,10.137
$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,30.025,119.075,390.350,27.025,0.000,48.499,85.335,295.966,11.500,0.000,11.954,1135.785,9088.952,487.109,1917.083,780.310,33.352,1255.488,0.000,1919.541,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,104.312,961.818,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.492,309.845,398.762,557.770,1063.209,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355844
$DATA_FILE_SIZE,44741,569
$CAP_FILE_SIZE,121458,0
$CFSIZE,260165632,123056128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010213,065123,1926.631,-8116.561,38,1.7,38,-3.7