version: 66.06
glider: 146
mission: 8
dive: 85
start: 2 1 113 14 35 32
data:
$ID,146
$MISSION,8
$DIVE,85
$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,-309014.5
$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
$GPS1,142005,1926.865,-8117.509,61,1.2,61,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.8
$GPS2,143437,1926.788,-8117.423,12,1.6,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.071
$KALMAN_X,111820.4,159.4,155.7,-123103.8,1232.9
$KALMAN_Y,-15575.6,36.1,-124.9,15216.9,-326.4
$MHEAD_RNG_PITCHd_Wd,109.7,17094,-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,-63.22,0.000,2,0.000,0.000,463,2086,3340,0,0,0,0,0,0
$GC,87,-1.27,-146.0,3.2,-4.8,8,121,13.70,2.42,-9.18,0.000,4,0.166,0.058,2976,635,3808,0,0,0,0,0,0
$GC,181,-1.05,-146.0,25.4,-20.4,20,191,0.20,2.47,0.00,0.000,6,0.093,0.016,3023,2233,3808,0,0,0,0,0,0
$GC,459,-0.91,-146.0,72.0,-16.0,46,464,0.17,2.65,0.00,0.000,4,0.102,0.046,3062,633,3808,0,0,0,0,0,0
$GC,547,-0.91,-146.0,84.6,-12.9,52,556,0.00,2.40,0.00,0.000,6,0.000,0.017,3062,2188,3808,0,0,0,0,0,0
$GC,811,-0.91,-146.0,116.7,-11.0,77,818,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2188,3809,0,0,0,0,0,0
$GC,1074,-0.97,-146.0,139.6,-7.6,102,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2188,3809,0,0,0,0,0,0
$GC,1328,-1.05,-146.0,159.8,-8.2,126,1330,0.12,0.00,0.00,0.000,6,0.067,0.000,3006,2188,3810,0,0,0,0,0,0
$GC,1585,-1.05,-146.0,184.5,-8.9,150,1594,0.10,0.00,0.00,0.000,6,0.110,0.000,3031,2188,3810,0,0,0,0,0,0
$GC,1846,-1.11,-146.0,203.3,-6.8,172,1850,0.00,2.55,0.00,0.000,4,0.000,0.050,3032,627,3810,0,0,0,0,0,0
$GC,1881,-1.17,-146.0,205.9,-7.5,172,1887,0.12,2.40,0.00,0.000,6,0.067,0.021,2979,2188,3810,0,0,0,0,0,0
$GC,2131,-1.17,-146.0,229.4,-9.3,179,2136,0.12,2.53,0.00,0.000,4,0.100,0.038,3008,3773,3810,0,0,0,0,0,0
$GC,2173,-1.23,-146.0,232.6,-7.8,180,2177,0.00,2.45,0.00,0.000,6,0.000,0.022,3008,2183,3810,0,0,0,0,0,0
$GC,2458,-1.27,-146.0,253.8,-7.5,187,2460,0.10,0.00,0.00,0.000,6,0.081,0.000,2962,2182,3810,0,0,0,0,0,0
$GC,2700,-1.22,-146.0,275.8,-8.9,193,2702,0.15,0.00,0.00,0.000,6,0.093,0.000,2997,2182,3809,0,0,0,0,0,0
$GC,2943,-1.22,-146.0,294.6,-7.8,199,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2182,3808,0,0,0,0,0,0
$GC,3189,-1.22,-146.0,313.5,-7.6,205,3193,0.00,2.58,0.00,0.000,4,0.000,0.047,2997,3778,3807,0,0,0,0,0,0
$GC,3223,-1.26,-146.0,316.6,-8.8,205,3229,0.00,2.47,0.00,0.000,6,0.000,0.031,2997,2192,3807,0,0,0,0,0,0
$GC,3473,-1.26,-146.0,335.6,-7.5,212,3478,0.00,2.62,0.00,0.000,4,0.000,0.067,2997,634,3806,0,0,0,0,0,0
$GC,3491,-1.26,-146.0,336.9,-7.1,212,3495,0.00,2.42,0.00,0.000,6,0.000,0.025,2997,2175,3806,0,0,0,0,0,0
$GC,3752,-1.26,-146.0,356.2,-7.4,219,3756,0.00,2.60,0.00,0.000,4,0.000,0.052,2997,3783,3805,0,0,0,0,0,0
$GC,3785,-1.31,-146.0,358.9,-8.1,219,3790,0.00,2.50,0.00,0.000,6,0.000,0.033,2997,2199,3805,0,0,0,0,0,0
$GC,4037,-1.34,-146.0,377.8,-7.6,226,4039,0.12,0.00,0.00,0.000,6,0.066,0.000,2945,2199,3804,0,0,0,0,0,0
$GC,4279,-1.28,-146.0,400.9,-9.5,232,4281,0.15,0.00,0.00,0.000,6,0.094,0.000,2980,2199,3803,0,0,0,0,0,0
$GC,4524,-1.28,-146.0,421.3,-8.2,238,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2199,3802,0,0,0,0,0,0
$GC,4768,-1.28,-146.0,440.7,-8.0,244,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2199,3801,0,0,0,0,0,0
$GC,5009,-1.28,-146.0,460.3,-8.1,250,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2199,3799,0,0,0,0,0,0
$GC,5253,-1.28,-146.0,480.0,-8.1,256,5258,0.00,2.72,0.00,0.000,4,0.000,0.073,2980,3783,3798,0,0,0,0,0,0
$GC,5280,-1.28,-146.0,482.4,-8.7,256,5285,0.00,2.60,0.00,0.000,6,0.000,0.044,2980,2202,3798,0,0,0,0,0,0
$GC,5532,-1.28,-146.0,502.3,-8.0,262,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2202,3797,0,0,0,0,0,0
$GC,5774,-1.28,-146.0,521.6,-8.0,268,5778,0.00,2.70,0.00,0.000,4,0.000,0.072,2980,3782,3795,0,0,0,0,0,0
$GC,5795,-1.28,-146.0,523.7,-9.1,268,5800,0.00,2.62,0.00,0.000,6,0.000,0.057,2980,2202,3795,0,0,0,0,0,0
$GC,6053,-1.28,-146.0,544.8,-8.3,275,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2201,3793,0,0,0,0,0,0
$GC,6295,-1.28,-146.0,564.2,-7.9,281,6299,0.00,2.75,0.00,0.000,4,0.000,0.074,2980,3775,3792,0,0,0,0,0,0
$GC,6316,-1.28,-146.0,566.1,-8.2,281,6320,0.00,2.67,0.00,0.000,6,0.000,0.057,2980,2191,3792,0,0,0,0,0,0
$GC,6573,-1.28,-146.0,585.4,-7.5,288,6578,0.00,2.75,0.00,0.000,4,0.000,0.076,2980,3775,3790,0,0,0,0,0,0
$GC,6589,-1.28,-146.0,586.9,-7.5,288,6593,0.00,2.67,0.00,0.000,6,0.000,0.058,2980,2202,3790,0,0,0,0,0,0
$STATE,6765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6766,begin apogee
$GC,6772,-0.31,0.0,600.5,7.6,293,6892,0.93,0.00,116.65,0.964,6,0.068,0.000,3192,2362,3210,0,0,0,0,0,0
$STATE,6893,end apogee,CONTROL_FINISHED_OK
$STATE,6893,begin climb
$GC,6897,1.27,146.0,603.1,0.0,296,7029,1.40,2.90,120.20,0.938,4,0.035,0.078,3541,3927,2613,0,0,0,0,0,0
$GC,7093,1.16,146.0,590.7,11.4,300,7098,0.15,2.70,0.00,0.000,6,0.114,0.054,3511,2363,2609,0,0,0,0,0,0
$GC,7349,1.18,162.8,566.5,9.2,307,7369,0.00,2.78,14.62,0.846,4,0.000,0.070,3511,3927,2546,0,0,0,0,0,0
$GC,7397,1.13,162.8,561.6,10.8,308,7401,0.00,2.62,0.00,0.000,6,0.000,0.051,3511,2375,2544,0,0,0,0,0,0
$GC,7671,1.15,177.5,536.3,9.3,315,7686,0.00,0.00,13.70,0.838,6,0.000,0.000,3511,2375,2486,0,0,0,0,0,0
$GC,7912,1.16,184.1,512.5,9.7,321,7926,0.00,2.72,6.95,0.729,4,0.000,0.060,3511,3930,2459,0,0,0,0,0,0
$GC,7982,1.16,184.1,504.9,11.0,322,7986,0.00,2.58,0.00,0.000,6,0.000,0.044,3511,2378,2457,0,0,0,0,0,0
$GC,8246,1.16,184.5,479.0,10.0,329,8250,0.00,2.58,0.00,0.000,4,0.000,0.052,3511,3932,2456,0,0,0,0,0,0
$GC,8272,1.16,184.5,475.8,10.8,329,8277,0.00,2.55,0.00,0.000,6,0.000,0.038,3511,2378,2455,0,0,0,0,0,0
$GC,8523,1.17,193.0,451.8,9.6,335,8537,0.00,2.65,8.80,0.755,4,0.000,0.054,3511,3923,2422,0,0,0,0,0,0
$GC,8568,1.17,193.0,447.1,11.1,336,8572,0.00,2.50,0.00,0.000,6,0.000,0.031,3511,2398,2421,0,0,0,0,0,0
$GC,8851,1.17,193.0,417.9,10.1,343,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2398,2420,0,0,0,0,0,0
$GC,9095,1.17,193.0,392.9,10.4,349,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2398,2420,0,0,0,0,0,0
$GC,9340,1.17,193.0,366.8,10.7,355,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2398,2419,0,0,0,0,0,0
$GC,9584,1.17,193.0,341.4,10.5,361,9589,0.00,2.53,0.00,0.000,4,0.000,0.043,3511,3933,2419,0,0,0,0,0,0
$GC,9606,1.17,193.0,338.8,10.5,361,9610,0.00,2.45,0.00,0.000,6,0.000,0.032,3511,2387,2418,0,0,0,0,0,0
$GC,9867,1.17,193.0,312.4,10.0,368,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2387,2419,0,0,0,0,0,0
$GC,10113,1.17,193.0,287.3,10.3,374,10117,0.00,2.55,0.00,0.000,4,0.000,0.047,3511,3930,2418,0,0,0,0,0,0
$GC,10173,1.17,193.0,280.3,11.6,375,10177,0.00,2.42,0.00,0.000,6,0.000,0.031,3511,2398,2418,0,0,0,0,0,0
$GC,10440,1.17,194.5,253.2,9.9,382,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2398,2418,0,0,0,0,0,0
$GC,10686,1.18,199.9,229.3,9.8,388,10700,0.00,2.72,6.82,0.577,4,0.000,0.055,3511,789,2395,0,0,0,0,0,0
$GC,10711,1.18,202.5,226.7,9.9,388,10720,0.00,2.60,4.10,0.456,6,0.000,0.031,3511,2421,2384,0,0,0,0,0,0
$GC,10972,1.26,229.8,203.4,8.7,395,11000,0.10,0.00,25.15,0.653,6,0.087,0.000,3544,2420,2273,0,0,0,0,0,0
$GC,11228,1.26,229.8,175.9,10.3,416,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2421,2270,0,0,0,0,0,0
$GC,11489,1.27,233.1,149.8,9.8,441,11499,0.00,0.00,4.35,0.432,6,0.000,0.000,3544,2421,2258,0,0,0,0,0,0
$GC,11758,1.36,253.3,125.3,9.1,466,11783,0.00,2.50,18.70,0.574,4,0.000,0.042,3544,3934,2176,0,0,0,0,0,0
$GC,11923,1.51,298.2,110.8,7.9,479,11969,0.17,2.42,39.03,0.574,6,0.056,0.022,3598,2399,1993,0,0,0,0,0,0
$GC,12236,1.51,298.2,77.7,11.2,508,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2399,1989,0,0,0,0,0,0
$GC,12504,1.51,298.2,50.0,10.5,533,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2399,1989,0,0,0,0,0,0
$GC,12788,1.51,304.4,20.5,9.7,565,12806,0.00,2.70,6.32,0.413,4,0.000,0.048,3598,795,1969,0,0,0,0,0,0
$GC,12859,1.51,304.4,13.0,10.9,574,12868,0.00,2.55,0.00,0.000,6,0.000,0.028,3598,2406,1968,0,0,0,0,0,0
$STATE,12936,end climb,SURFACE_DEPTH_REACHED
$STATE,12936,begin surface coast
$FINISH,0.8,1.011230
$STATE,12989,end surface coast,CONTROL_FINISHED_OK
$STATE,12989,begin surface
$SM_CCo,13013,36.20,0.481,0,0,1783,350.04
$SM_GC,1.77,0.00,0.00,36.20,0.000,0.000,0.481,464,2179,1783,-12.86,-0.88,350.04
$IRIDIUM_FIX,1918.37,-8046.91,280402,141412
$TT8_MAMPS,0.025311
$HUMID,56.61
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.00
$XPDR_PINGS,37
$24V_AH,23.5,12.227
$10V_AH,10.5,10.477
$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,30.300,109.175,385.400,36.200,0.000,77.022,113.426,384.830,9.250,0.000,13.686,1173.482,9331.965,492.601,1971.922,948.378,33.359,1261.200,0.000,1975.939,0.000,0.538,0.000
$DEVICE_MAMPS,166.439,79.001,964.119,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.185,329.274,421.542,593.280,1130.905,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,47626,592
$CAP_FILE_SIZE,124131,0
$CFSIZE,260165632,122863616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010213,181424,1926.640,-8114.279,40,1.4,40,-3.8