version: 66.06
glider: 146
mission: 8
dive: 83
start: 2 1 113 6 59 7
data:
$ID,146
$MISSION,8
$DIVE,83
$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,-308984.53
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,065123,1926.631,-8116.561,38,1.7,38,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.7
$GPS2,065813,1926.618,-8116.514,10,1.6,10,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.056
$KALMAN_X,107503.0,294.0,44.1,-117221.5,1657.9
$KALMAN_Y,-13988.5,-160.0,0.6,13385.2,-298.4
$MHEAD_RNG_PITCHd_Wd,286.2,2689,-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,-71.12,0.000,2,0.000,0.000,465,2231,3549,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.8,-5.6,9,124,13.77,2.47,-4.43,0.000,4,0.170,0.034,2977,3787,3807,0,0,0,0,0,0
$GC,238,-1.11,-146.0,40.0,-18.5,25,243,0.17,2.47,0.00,0.000,6,0.106,0.024,3015,2208,3808,0,0,0,0,0,0
$GC,506,-0.97,-146.0,84.6,-15.6,49,511,0.15,2.58,0.00,0.000,4,0.110,0.045,3047,631,3808,0,0,0,0,0,0
$GC,542,-0.89,-146.0,90.0,-13.2,51,546,0.00,2.45,0.00,0.000,6,0.000,0.017,3047,2230,3808,0,0,0,0,0,0
$GC,810,-0.89,-146.0,122.4,-11.8,75,815,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2229,3809,0,0,0,0,0,0
$GC,1072,-0.89,-146.0,148.7,-9.1,100,1076,0.00,2.60,0.00,0.000,4,0.000,0.044,3047,626,3809,0,0,0,0,0,0
$GC,1124,-0.95,-146.0,153.6,-8.7,104,1129,0.00,2.42,0.00,0.000,6,0.000,0.023,3047,2204,3810,0,0,0,0,0,0
$GC,1389,-1.03,-146.0,175.3,-7.6,128,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2205,3810,0,0,0,0,0,0
$GC,1655,-1.11,-146.0,193.4,-6.8,153,1664,0.12,0.00,0.00,0.000,6,0.067,0.000,2995,2205,3810,0,0,0,0,0,0
$GC,1938,-1.11,-146.0,218.4,-8.5,166,1943,0.10,2.60,0.00,0.000,4,0.113,0.048,3018,635,3810,0,0,0,0,0,0
$GC,1983,-1.17,-146.0,221.8,-7.6,167,1987,0.00,2.45,0.00,0.000,6,0.000,0.020,3018,2220,3810,0,0,0,0,0,0
$GC,2263,-1.23,-146.0,241.0,-6.8,174,2268,0.12,2.53,0.00,0.000,4,0.070,0.043,2968,3775,3810,0,0,0,0,0,0
$GC,2303,-1.23,-146.0,244.5,-8.5,175,2308,0.10,2.42,0.00,0.000,6,0.113,0.021,2991,2205,3810,0,0,0,0,0,0
$GC,2588,-1.23,-146.0,267.7,-8.1,182,2593,0.00,2.58,0.00,0.000,4,0.000,0.056,2991,641,3810,0,0,0,0,0,0
$GC,2633,-1.23,-146.0,271.9,-8.7,183,2637,0.00,2.45,0.00,0.000,6,0.000,0.029,2991,2211,3810,0,0,0,0,0,0
$GC,2910,-1.23,-146.0,294.8,-8.1,190,2915,0.00,2.55,0.00,0.000,4,0.000,0.051,2991,3785,3809,0,0,0,0,0,0
$GC,2934,-1.23,-146.0,296.8,-8.5,190,2939,0.00,2.47,0.00,0.000,6,0.000,0.025,2991,2205,3809,0,0,0,0,0,0
$GC,3189,-1.23,-146.0,318.1,-8.3,197,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2205,3808,0,0,0,0,0,0
$GC,3433,-1.23,-146.0,338.3,-8.1,203,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2205,3807,0,0,0,0,0,0
$GC,3676,-1.23,-146.0,358.0,-8.1,209,3681,0.00,2.60,0.00,0.000,4,0.000,0.054,2991,3784,3807,0,0,0,0,0,0
$GC,3700,-1.23,-146.0,359.7,-7.4,209,3704,0.00,2.50,0.00,0.000,6,0.000,0.026,2991,2212,3806,0,0,0,0,0,0
$GC,3955,-1.23,-146.0,379.6,-7.8,216,3959,0.00,2.72,0.00,0.000,4,0.000,0.074,2991,635,3805,0,0,0,0,0,0
$GC,3982,-1.23,-146.0,381.8,-8.2,216,3986,0.00,2.50,0.00,0.000,6,0.000,0.034,2991,2206,3805,0,0,0,0,0,0
$GC,4234,-1.23,-146.0,401.7,-7.9,222,4238,0.00,2.62,0.00,0.000,4,0.000,0.054,2991,3797,3804,0,0,0,0,0,0
$GC,4261,-1.23,-146.0,404.3,-8.8,222,4265,0.00,2.53,0.00,0.000,6,0.000,0.031,2991,2219,3804,0,0,0,0,0,0
$GC,4511,-1.23,-146.0,423.8,-7.7,228,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2219,3803,0,0,0,0,0,0
$GC,4757,-1.23,-146.0,442.7,-7.8,234,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2219,3801,0,0,0,0,0,0
$GC,5000,-1.23,-146.0,461.7,-7.8,240,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2219,3800,0,0,0,0,0,0
$GC,5242,-1.23,-146.0,479.9,-7.5,246,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2219,3800,0,0,0,0,0,0
$GC,5486,-1.23,-146.0,497.7,-7.2,252,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2219,3798,0,0,0,0,0,0
$GC,5732,-1.27,-146.0,515.8,-7.5,258,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2218,3797,0,0,0,0,0,0
$GC,5974,-1.30,-146.0,534.8,-7.7,264,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2219,3796,0,0,0,0,0,0
$GC,6217,-1.34,-146.0,552.5,-7.2,270,6219,0.10,0.00,0.00,0.000,6,0.084,0.000,2952,2218,3794,0,0,0,0,0,0
$GC,6463,-1.34,-146.0,573.6,-8.7,276,6467,0.00,2.83,0.00,0.000,4,0.000,0.089,2952,3790,3792,0,0,0,0,0,0
$GC,6484,-1.30,-146.0,575.8,-8.5,276,6490,0.10,2.65,0.00,0.000,6,0.110,0.059,2975,2223,3792,0,0,0,0,0,0
$GC,6742,-1.30,-146.0,595.3,-7.6,283,6746,0.00,3.08,0.00,0.000,4,0.000,0.130,2975,624,3791,0,0,0,0,0,0
$GC,6765,-1.30,-146.0,597.2,-7.9,283,6770,0.00,2.70,0.00,0.000,6,0.000,0.060,2976,2218,3792,0,0,0,0,0,0
$STATE,6814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6814,begin apogee
$GC,6820,-0.31,0.0,601.4,8.0,285,6941,0.93,0.00,117.20,0.964,6,0.070,0.000,3190,2377,3209,0,0,0,0,0,0
$STATE,6942,end apogee,CONTROL_FINISHED_OK
$STATE,6942,begin climb
$GC,6944,1.27,146.0,603.6,0.0,288,7078,1.42,2.95,120.35,0.938,4,0.045,0.101,3541,3927,2614,0,0,0,0,0,0
$GC,7113,1.16,146.0,594.3,11.3,292,7118,0.15,2.67,0.00,0.000,6,0.114,0.055,3511,2369,2610,0,0,0,0,0,0
$GC,7399,1.19,175.1,568.8,8.7,299,7429,0.00,2.78,25.10,0.884,4,0.000,0.070,3511,3938,2496,0,0,0,0,0,0
$GC,7452,1.15,175.1,563.6,10.1,300,7456,0.00,2.67,0.00,0.000,6,0.000,0.047,3511,2369,2494,0,0,0,0,0,0
$GC,7722,1.17,188.3,538.4,9.4,307,7737,0.00,0.00,12.57,0.830,6,0.000,0.000,3511,2369,2442,0,0,0,0,0,0
$GC,7964,1.17,194.7,514.7,9.7,313,7978,0.00,2.75,7.00,0.735,4,0.000,0.054,3511,3938,2416,0,0,0,0,0,0
$GC,8012,1.17,194.7,509.4,11.4,314,8016,0.00,2.58,0.00,0.000,6,0.000,0.037,3511,2383,2414,0,0,0,0,0,0
$GC,8292,1.17,194.7,481.6,10.1,321,8297,0.00,2.62,0.00,0.000,4,0.000,0.055,3511,3943,2412,0,0,0,0,0,0
$GC,8319,1.17,194.7,478.3,11.8,321,8323,0.00,2.58,0.00,0.000,6,0.000,0.035,3511,2379,2411,0,0,0,0,0,0
$GC,8569,1.18,199.7,453.7,9.8,327,8580,0.00,2.62,5.57,0.664,4,0.000,0.052,3511,3938,2395,0,0,0,0,0,0
$GC,8599,1.18,200.6,450.8,10.0,327,8603,0.00,2.55,0.00,0.000,6,0.000,0.037,3511,2382,2394,0,0,0,0,0,0
$GC,8848,1.18,202.6,426.2,9.9,333,8854,0.00,0.00,3.90,0.535,6,0.000,0.000,3511,2382,2384,0,0,0,0,0,0
$GC,9092,1.18,202.6,400.7,10.6,339,9096,0.00,2.60,0.00,0.000,4,0.000,0.053,3511,3937,2383,0,0,0,0,0,0
$GC,9113,1.18,202.6,398.0,12.1,339,9117,0.00,2.50,0.00,0.000,6,0.000,0.026,3511,2384,2382,0,0,0,0,0,0
$GC,9370,1.18,202.6,371.0,10.5,346,9375,0.00,2.60,0.00,0.000,4,0.000,0.052,3511,3934,2382,0,0,0,0,0,0
$GC,9387,1.18,202.6,369.0,10.5,346,9392,0.00,2.47,0.00,0.000,6,0.000,0.028,3511,2390,2382,0,0,0,0,0,0
$GC,9648,1.18,202.6,341.1,10.6,353,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2389,2382,0,0,0,0,0,0
$GC,9894,1.18,202.6,315.3,10.6,359,9898,0.00,2.58,0.00,0.000,4,0.000,0.054,3511,3938,2382,0,0,0,0,0,0
$GC,9937,1.18,202.6,310.0,12.1,360,9942,0.00,2.45,0.00,0.000,6,0.000,0.034,3511,2394,2381,0,0,0,0,0,0
$GC,10221,1.18,202.6,281.2,10.2,367,10225,0.00,2.58,0.00,0.000,4,0.000,0.054,3511,3942,2381,0,0,0,0,0,0
$GC,10244,1.18,202.6,278.8,11.0,367,10248,0.00,2.47,0.00,0.000,6,0.000,0.034,3511,2393,2381,0,0,0,0,0,0
$GC,10499,1.22,202.6,253.1,10.1,374,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2393,2381,0,0,0,0,0,0
$GC,10743,1.26,202.9,229.0,10.0,380,10745,0.10,0.00,0.00,0.000,6,0.086,0.000,3544,2393,2381,0,0,0,0,0,0
$GC,10986,1.26,202.9,202.5,11.0,386,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2393,2381,0,0,0,0,0,0
$GC,11241,1.26,202.9,177.0,10.1,407,11245,0.00,2.55,0.00,0.000,4,0.000,0.048,3544,3938,2381,0,0,0,0,0,0
$GC,11307,1.26,202.9,170.0,10.4,412,11312,0.00,2.45,0.00,0.000,6,0.000,0.025,3544,2390,2382,0,0,0,0,0,0
$GC,11572,1.32,251.5,146.7,7.8,436,11621,0.00,0.00,42.75,0.613,6,0.000,0.000,3544,2390,2184,0,0,0,0,0,0
$GC,11878,1.47,307.9,120.8,7.4,465,11935,0.15,2.65,48.70,0.584,4,0.064,0.043,3591,3939,1953,0,0,0,0,0,0
$GC,11945,1.47,308.2,114.6,10.0,470,11954,0.00,2.53,0.00,0.000,6,0.000,0.024,3591,2385,1952,0,0,0,0,0,0
$GC,12212,1.47,308.2,85.9,11.3,495,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2385,1950,0,0,0,0,0,0
$GC,12479,1.52,308.2,56.8,10.5,520,12483,0.00,2.62,0.00,0.000,4,0.000,0.047,3592,787,1950,0,0,0,0,0,0
$GC,12499,1.52,308.2,54.5,10.7,521,12503,0.00,2.53,0.00,0.000,6,0.000,0.022,3591,2409,1949,0,0,0,0,0,0
$GC,12776,1.58,322.9,25.4,9.3,548,12802,0.00,2.55,13.77,0.475,4,0.000,0.041,3592,3938,1891,0,0,0,0,0,0
$GC,12846,1.58,322.9,17.0,12.6,557,12855,0.00,2.47,0.00,0.000,6,0.000,0.023,3592,2387,1891,0,0,0,0,0,0
$STATE,12962,end climb,SURFACE_DEPTH_REACHED
$STATE,12962,begin surface coast
$FINISH,0.8,1.002658
$STATE,13015,end surface coast,CONTROL_FINISHED_OK
$STATE,13015,begin surface
$SM_CCo,13037,20.95,0.472,0,0,1783,350.04
$SM_GC,2.06,0.00,0.00,20.95,0.000,0.000,0.472,463,2112,1783,-12.87,-2.77,350.04
$IRIDIUM_FIX,1918.37,-8116.97,280402,030350
$TT8_MAMPS,0.026078
$HUMID,57.20
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,39
$24V_AH,23.5,11.984
$10V_AH,10.5,10.248
$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,30.050,129.675,396.925,20.950,0.000,25.074,35.254,194.274,9.750,0.000,13.635,1167.151,9275.211,478.290,1933.952,611.433,33.358,1262.081,0.000,1938.159,0.000,0.538,0.000
$DEVICE_MAMPS,170.274,129.623,964.119,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.906,317.873,409.063,567.915,1082.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,44545,581
$CAP_FILE_SIZE,122115,0
$CFSIZE,260165632,122994688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010213,103805,1926.567,-8117.038,36,1.6,36,-3.7