version: 66.06
glider: 146
mission: 8
dive: 84
start: 2 1 113 10 45 43
data:
$ID,146
$MISSION,8
$DIVE,84
$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,-309000.19
$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,36
$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
$GPS1,103805,1926.567,-8117.038,36,1.6,36,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.9
$GPS2,104449,1926.542,-8117.005,13,1.6,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.240,0.098
$KALMAN_X,109606.8,250.0,154.2,-120246.9,1316.5
$KALMAN_Y,-14820.8,-51.3,-74.3,14045.3,-418.2
$MHEAD_RNG_PITCHd_Wd,296.0,1933,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.30,0.000,2,0.000,0.000,463,2112,3321,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-4.1,8,124,13.77,2.72,-9.23,0.000,4,0.169,0.041,2976,3790,3808,0,0,0,0,0,0
$GC,209,-1.09,-146.0,30.9,-17.7,24,214,0.20,2.50,0.00,0.000,6,0.103,0.025,3019,2211,3808,0,0,0,0,0,0
$GC,479,-0.94,-146.0,73.8,-15.4,48,484,0.15,2.60,0.00,0.000,4,0.107,0.045,3053,634,3808,0,0,0,0,0,0
$GC,527,-0.90,-146.0,81.3,-12.8,51,531,0.00,2.42,0.00,0.000,6,0.000,0.016,3053,2225,3808,0,0,0,0,0,0
$GC,796,-0.85,-146.0,113.5,-12.1,75,801,0.10,2.62,0.00,0.000,4,0.120,0.044,3075,635,3809,0,0,0,0,0,0
$GC,853,-0.85,-146.0,120.4,-11.0,79,858,0.00,2.40,0.00,0.000,6,0.000,0.017,3075,2200,3809,0,0,0,0,0,0
$GC,1122,-0.94,-146.0,143.2,-7.1,103,1126,0.00,2.50,0.00,0.000,4,0.000,0.035,3075,3771,3809,0,0,0,0,0,0
$GC,1179,-1.08,-146.0,147.7,-8.1,107,1184,0.20,2.45,0.00,0.000,6,0.048,0.021,3007,2199,3810,0,0,0,0,0,0
$GC,1442,-1.08,-146.0,173.6,-8.9,131,1446,0.00,2.53,0.00,0.000,4,0.000,0.053,3006,640,3810,0,0,0,0,0,0
$GC,1493,-1.08,-146.0,178.6,-9.0,135,1498,0.00,2.38,0.00,0.000,6,0.000,0.023,3006,2213,3810,0,0,0,0,0,0
$GC,1786,-1.08,-146.0,203.4,-8.0,159,1790,0.00,2.47,0.00,0.000,4,0.000,0.038,3006,3770,3810,0,0,0,0,0,0
$GC,1832,-1.13,-146.0,207.3,-8.4,160,1836,0.00,2.42,0.00,0.000,6,0.000,0.021,3006,2197,3810,0,0,0,0,0,0
$GC,2110,-1.13,-146.0,228.6,-7.6,167,2115,0.00,2.55,0.00,0.000,4,0.000,0.056,3006,642,3810,0,0,0,0,0,0
$GC,2157,-1.13,-146.0,232.4,-8.6,168,2161,0.00,2.40,0.00,0.000,6,0.000,0.026,3006,2202,3810,0,0,0,0,0,0
$GC,2434,-1.13,-146.0,254.1,-7.7,175,2438,0.00,2.50,0.00,0.000,4,0.000,0.044,3006,3773,3810,0,0,0,0,0,0
$GC,2456,-1.18,-146.0,255.9,-8.2,175,2460,0.00,2.45,0.00,0.000,6,0.000,0.023,3006,2201,3810,0,0,0,0,0,0
$GC,2713,-1.18,-146.0,275.6,-7.8,182,2717,0.00,2.58,0.00,0.000,4,0.000,0.057,3006,638,3810,0,0,0,0,0,0
$GC,2746,-1.22,-146.0,278.5,-7.9,182,2752,0.00,2.42,0.00,0.000,6,0.000,0.021,3006,2200,3810,0,0,0,0,0,0
$GC,2996,-1.27,-146.0,296.6,-7.1,189,3001,0.00,2.55,0.00,0.000,4,0.000,0.046,3006,3778,3809,0,0,0,0,0,0
$GC,3026,-1.32,-146.0,298.9,-7.7,189,3031,0.15,2.45,0.00,0.000,6,0.057,0.022,2945,2202,3809,0,0,0,0,0,0
$GC,3277,-1.25,-146.0,322.9,-9.7,195,3279,0.20,0.00,0.00,0.000,6,0.087,0.000,2990,2202,3808,0,0,0,0,0,0
$GC,3520,-1.25,-146.0,341.1,-7.4,201,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2202,3807,0,0,0,0,0,0
$GC,3766,-1.25,-146.0,360.4,-8.0,207,3770,0.00,2.58,0.00,0.000,4,0.000,0.050,2991,3783,3806,0,0,0,0,0,0
$GC,3815,-1.29,-146.0,364.7,-8.6,208,3820,0.00,2.47,0.00,0.000,6,0.000,0.034,2991,2214,3806,0,0,0,0,0,0
$GC,4087,-1.29,-146.0,385.5,-7.7,215,4092,0.00,2.75,0.00,0.000,4,0.000,0.078,2990,631,3806,0,0,0,0,0,0
$GC,4122,-1.29,-146.0,388.3,-7.8,215,4128,0.00,2.53,0.00,0.000,6,0.000,0.040,2990,2200,3805,0,0,0,0,0,0
$GC,4372,-1.29,-146.0,408.0,-7.8,222,4376,0.00,2.65,0.00,0.000,4,0.000,0.060,2990,3796,3804,0,0,0,0,0,0
$GC,4405,-1.33,-146.0,410.8,-9.0,222,4410,0.00,2.58,0.00,0.000,6,0.000,0.034,2990,2200,3803,0,0,0,0,0,0
$GC,4657,-1.33,-146.0,431.0,-8.1,229,4661,0.00,2.80,0.00,0.000,4,0.000,0.087,2991,621,3802,0,0,0,0,0,0
$GC,4689,-1.33,-146.0,434.0,-8.5,229,4695,0.00,2.58,0.00,0.000,6,0.000,0.038,2990,2206,3802,0,0,0,0,0,0
$GC,4939,-1.33,-146.0,454.0,-7.9,236,4944,0.00,2.70,0.00,0.000,4,0.000,0.071,2991,3801,3801,0,0,0,0,0,0
$GC,4974,-1.33,-146.0,456.7,-8.2,236,4982,0.00,2.58,0.00,0.000,6,0.000,0.044,2991,2211,3801,0,0,0,0,0,0
$GC,5224,-1.37,-146.0,475.9,-7.7,243,5229,0.12,2.88,0.00,0.000,4,0.070,0.097,2944,621,3800,0,0,0,0,0,0
$GC,5258,-1.30,-146.0,479.2,-10.0,243,5264,0.15,2.62,0.00,0.000,6,0.096,0.044,2977,2212,3800,0,0,0,0,0,0
$GC,5509,-1.30,-146.0,500.1,-8.3,250,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2213,3798,0,0,0,0,0,0
$GC,5751,-1.30,-146.0,519.7,-8.1,256,5756,0.00,2.75,0.00,0.000,4,0.000,0.086,2977,3794,3797,0,0,0,0,0,0
$GC,5784,-1.30,-146.0,522.6,-8.4,256,5790,0.00,2.65,0.00,0.000,6,0.000,0.055,2977,2210,3797,0,0,0,0,0,0
$GC,6036,-1.30,-146.0,543.9,-8.5,263,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2210,3796,0,0,0,0,0,0
$GC,6277,-1.30,-146.0,565.3,-8.9,269,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2210,3794,0,0,0,0,0,0
$GC,6521,-1.30,-146.0,585.7,-8.3,275,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2210,3793,0,0,0,0,0,0
$STATE,6724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6724,begin apogee
$GC,6730,-0.31,0.0,602.0,8.0,280,6851,0.93,0.00,117.15,0.965,6,0.068,0.000,3190,2381,3209,0,0,0,0,0,0
$STATE,6852,end apogee,CONTROL_FINISHED_OK
$STATE,6852,begin climb
$GC,6856,1.27,146.0,604.7,0.0,283,6987,1.42,2.85,119.47,0.943,4,0.040,0.087,3542,3924,2614,0,0,0,0,0,0
$GC,7026,1.16,146.0,595.0,11.8,287,7032,0.15,2.70,0.00,0.000,6,0.115,0.060,3513,2370,2611,0,0,0,0,0,0
$GC,7310,1.16,148.9,566.6,9.9,294,7314,0.00,2.72,0.00,0.000,4,0.000,0.065,3513,3930,2608,0,0,0,0,0,0
$GC,7349,1.10,148.9,562.5,11.3,295,7354,0.00,2.65,0.00,0.000,6,0.000,0.051,3513,2365,2607,0,0,0,0,0,0
$GC,7634,1.11,151.5,534.9,9.9,302,7644,0.00,2.70,4.78,0.636,4,0.000,0.056,3513,3927,2592,0,0,0,0,0,0
$GC,7667,1.06,151.5,531.3,10.2,302,7673,0.10,2.60,0.00,0.000,6,0.127,0.038,3492,2368,2592,0,0,0,0,0,0
$GC,7919,1.09,175.1,508.6,8.9,309,7947,0.00,2.75,21.50,0.864,4,0.000,0.053,3492,3928,2495,0,0,0,0,0,0
$GC,7960,1.11,196.4,504.7,9.0,310,7985,0.00,2.60,20.05,0.851,6,0.000,0.039,3492,2372,2409,0,0,0,0,0,0
$GC,8241,1.17,211.7,478.1,9.3,317,8261,0.10,2.67,14.27,0.819,4,0.086,0.054,3523,3937,2345,0,0,0,0,0,0
$GC,8280,1.13,211.7,474.1,10.9,317,8286,0.00,2.60,0.00,0.000,6,0.000,0.039,3523,2368,2344,0,0,0,0,0,0
$GC,8531,1.13,211.7,446.7,11.0,324,8536,0.00,2.62,0.00,0.000,4,0.000,0.049,3523,3935,2343,0,0,0,0,0,0
$GC,8558,1.10,211.7,443.3,11.9,324,8563,0.12,2.55,0.00,0.000,6,0.115,0.032,3498,2374,2341,0,0,0,0,0,0
$GC,8811,1.14,219.4,419.0,9.6,330,8820,0.00,0.00,7.70,0.716,6,0.000,0.000,3498,2374,2315,0,0,0,0,0,0
$GC,9052,1.19,219.4,394.2,10.3,336,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2374,2313,0,0,0,0,0,0
$GC,9296,1.23,219.4,369.4,10.1,342,9301,0.12,2.75,0.00,0.000,4,0.076,0.065,3535,777,2312,0,0,0,0,0,0
$GC,9314,1.23,219.4,367.4,10.3,342,9318,0.00,2.55,0.00,0.000,6,0.000,0.026,3536,2391,2311,0,0,0,0,0,0
$GC,9574,1.23,219.4,336.3,12.0,349,9578,0.00,2.53,0.00,0.000,4,0.000,0.049,3535,3923,2311,0,0,0,0,0,0
$GC,9607,1.18,219.4,332.2,12.8,349,9612,0.00,2.47,0.00,0.000,6,0.000,0.025,3535,2370,2310,0,0,0,0,0,0
$GC,9858,1.18,219.4,301.6,12.3,356,9863,0.00,2.60,0.00,0.000,4,0.000,0.051,3535,3924,2310,0,0,0,0,0,0
$GC,9880,1.14,219.4,298.4,13.1,356,9885,0.12,2.45,0.00,0.000,6,0.114,0.032,3510,2389,2310,0,0,0,0,0,0
$GC,10136,1.14,219.4,270.5,10.8,363,10141,0.00,2.55,0.00,0.000,4,0.000,0.048,3509,3924,2310,0,0,0,0,0,0
$GC,10171,1.14,219.4,266.4,11.6,363,10177,0.00,2.45,0.00,0.000,6,0.000,0.032,3510,2391,2310,0,0,0,0,0,0
$GC,10421,1.18,219.4,238.8,10.9,370,10426,0.00,2.65,0.00,0.000,4,0.000,0.057,3510,784,2310,0,0,0,0,0,0
$GC,10442,1.18,219.4,236.5,10.8,370,10447,0.00,2.55,0.00,0.000,6,0.000,0.026,3510,2398,2309,0,0,0,0,0,0
$GC,10701,1.24,228.8,211.4,9.6,377,10712,0.00,0.00,9.18,0.605,6,0.000,0.000,3510,2398,2277,0,0,0,0,0,0
$GC,10948,1.31,237.2,187.4,9.6,392,10962,0.15,2.70,8.80,0.580,4,0.064,0.047,3556,787,2242,0,0,0,0,0,0
$GC,10974,1.31,237.2,185.2,10.4,394,10978,0.00,2.58,0.00,0.000,6,0.000,0.027,3556,2400,2242,0,0,0,0,0,0
$GC,11242,1.31,237.2,155.7,10.3,418,11246,0.00,2.50,0.00,0.000,4,0.000,0.044,3556,3929,2242,0,0,0,0,0,0
$GC,11310,1.31,237.2,147.3,10.0,423,11316,0.00,2.45,0.00,0.000,6,0.000,0.025,3556,2381,2241,0,0,0,0,0,0
$GC,11576,1.41,284.3,123.8,7.8,448,11620,0.00,0.00,41.08,0.592,6,0.000,0.000,3556,2381,2050,0,0,0,0,0,0
$GC,11878,1.55,324.0,98.4,8.2,476,11915,0.17,0.00,34.90,0.561,6,0.059,0.000,3609,2381,1888,0,0,0,0,0,0
$GC,12175,1.55,324.0,62.5,12.2,504,12179,0.00,2.60,0.00,0.000,4,0.000,0.048,3609,790,1886,0,0,0,0,0,0
$GC,12197,1.55,324.0,59.8,12.4,505,12202,0.00,2.53,0.00,0.000,6,0.000,0.024,3609,2409,1884,0,0,0,0,0,0
$GC,12467,1.55,324.0,27.8,12.4,530,12476,0.00,2.47,0.00,0.000,4,0.000,0.041,3609,3924,1884,0,0,0,0,0,0
$GC,12546,1.55,324.0,17.5,12.9,541,12556,0.00,2.40,0.00,0.000,6,0.000,0.024,3609,2414,1884,0,0,0,0,0,0
$STATE,12669,end climb,SURFACE_DEPTH_REACHED
$STATE,12669,begin surface coast
$FINISH,0.8,1.006173
$STATE,12715,end surface coast,CONTROL_FINISHED_OK
$STATE,12716,begin surface
$SM_CCo,12738,19.80,0.472,0,0,1783,350.04
$SM_GC,1.96,0.00,0.00,19.80,0.000,0.000,0.472,464,2086,1783,-12.86,-3.51,350.04
$IRIDIUM_FIX,1920.65,-8116.62,280402,070737
$TT8_MAMPS,0.025311
$HUMID,57.04
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.80
$XPDR_PINGS,56
$24V_AH,23.5,12.098
$10V_AH,10.5,10.358
$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,31.000,165.425,398.875,19.800,0.000,27.614,33.248,185.138,14.000,0.000,15.026,1175.412,8912.192,503.622,1945.759,621.690,33.359,1295.259,0.000,1946.664,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,144.963,964.886,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.469,310.472,396.517,555.252,1058.397,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,44752,565
$CAP_FILE_SIZE,130864,0
$CFSIZE,260165632,122925056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010213,142005,1926.865,-8117.509,61,1.2,61,-3.7