version: 66.06
glider: 146
mission: 8
dive: 86
start: 2 1 113 18 22 18
data:
$ID,146
$MISSION,8
$DIVE,86
$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,-309030.16
$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,62
$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
$GPS1,181424,1926.640,-8114.279,40,1.4,40,-3.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.4
$GPS2,182124,1926.590,-8114.259,8,1.8,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.108
$KALMAN_X,114283.5,155.9,181.0,-120067.1,1505.7
$KALMAN_Y,-15612.6,179.5,224.4,14385.3,-378.0
$MHEAD_RNG_PITCHd_Wd,118.5,11728,-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,-63.50,0.000,2,0.000,0.000,464,2179,3348,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-5.1,8,124,13.65,2.53,-8.62,0.000,4,0.168,0.063,2976,668,3807,0,0,0,0,0,0
$GC,149,-0.97,-146.0,20.4,-22.9,15,159,0.30,2.42,0.00,0.000,6,0.091,0.017,3045,2233,3808,0,0,0,0,0,0
$GC,433,-0.89,-146.0,62.5,-14.1,44,437,0.00,2.60,0.00,0.000,4,0.000,0.044,3045,657,3808,0,0,0,0,0,0
$GC,530,-0.85,-146.0,76.9,-13.5,51,535,0.12,2.38,0.00,0.000,6,0.115,0.016,3072,2206,3808,0,0,0,0,0,0
$GC,798,-0.85,-146.0,106.9,-11.2,75,802,0.00,2.53,0.00,0.000,4,0.000,0.044,3072,657,3808,0,0,0,0,0,0
$GC,831,-0.85,-146.0,111.0,-11.8,77,835,0.00,2.33,0.00,0.000,6,0.000,0.025,3072,2193,3808,0,0,0,0,0,0
$GC,1097,-0.91,-146.0,134.6,-7.5,101,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2193,3809,0,0,0,0,0,0
$GC,1362,-1.00,-146.0,154.8,-8.3,126,1371,0.12,0.00,0.00,0.000,6,0.070,0.000,3018,2193,3810,0,0,0,0,0,0
$GC,1631,-1.00,-146.0,178.4,-8.9,151,1636,0.10,2.53,0.00,0.000,4,0.110,0.046,3042,655,3810,0,0,0,0,0,0
$GC,1655,-1.05,-146.0,180.9,-8.3,152,1663,0.00,2.33,0.00,0.000,6,0.000,0.025,3042,2180,3810,0,0,0,0,0,0
$GC,1918,-1.13,-146.0,199.3,-7.0,177,1919,0.12,0.00,0.00,0.000,6,0.067,0.000,2988,2180,3810,0,0,0,0,0,0
$GC,2182,-1.13,-146.0,223.6,-9.8,185,2184,0.10,0.00,0.00,0.000,6,0.109,0.000,3012,2181,3810,0,0,0,0,0,0
$GC,2425,-1.18,-146.0,242.0,-7.3,191,2429,0.00,2.53,0.00,0.000,4,0.000,0.044,3012,3772,3810,0,0,0,0,0,0
$GC,2446,-1.23,-146.0,243.8,-8.0,191,2451,0.00,2.40,0.00,0.000,6,0.000,0.028,3013,2211,3810,0,0,0,0,0,0
$GC,2704,-1.28,-146.0,264.0,-8.0,198,2709,0.12,2.60,0.00,0.000,4,0.067,0.055,2961,644,3810,0,0,0,0,0,0
$GC,2754,-1.23,-146.0,269.4,-10.3,199,2759,0.12,2.38,0.00,0.000,6,0.101,0.020,2989,2173,3810,0,0,0,0,0,0
$GC,3029,-1.23,-146.0,291.5,-7.8,206,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2173,3809,0,0,0,0,0,0
$GC,3270,-1.23,-146.0,311.1,-8.2,212,3275,0.00,2.58,0.00,0.000,4,0.000,0.049,2989,3776,3809,0,0,0,0,0,0
$GC,3310,-1.23,-146.0,314.6,-8.6,213,3315,0.00,2.47,0.00,0.000,6,0.000,0.022,2989,2191,3808,0,0,0,0,0,0
$GC,3595,-1.23,-146.0,338.2,-8.1,220,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2191,3807,0,0,0,0,0,0
$GC,3837,-1.23,-146.0,358.2,-8.3,226,3841,0.00,2.60,0.00,0.000,4,0.000,0.044,2989,3779,3806,0,0,0,0,0,0
$GC,3858,-1.23,-146.0,360.1,-8.1,226,3863,0.00,2.50,0.00,0.000,6,0.000,0.027,2989,2192,3806,0,0,0,0,0,0
$GC,4116,-1.23,-146.0,379.7,-7.4,233,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2192,3806,0,0,0,0,0,0
$GC,4358,-1.23,-146.0,398.9,-8.1,239,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2192,3804,0,0,0,0,0,0
$GC,4601,-1.23,-146.0,418.4,-8.1,245,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2192,3803,0,0,0,0,0,0
$GC,4845,-1.23,-146.0,437.8,-8.1,251,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2192,3802,0,0,0,0,0,0
$GC,5091,-1.23,-146.0,457.5,-8.1,257,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2192,3801,0,0,0,0,0,0
$GC,5332,-1.23,-146.0,478.5,-8.6,263,5337,0.00,2.67,0.00,0.000,4,0.000,0.070,2989,3770,3800,0,0,0,0,0,0
$GC,5354,-1.23,-146.0,480.3,-8.5,263,5358,0.00,2.55,0.00,0.000,6,0.000,0.050,2988,2211,3800,0,0,0,0,0,0
$GC,5611,-1.23,-146.0,500.5,-7.8,270,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2211,3798,0,0,0,0,0,0
$GC,5853,-1.27,-146.0,517.5,-6.9,276,5857,0.00,2.67,0.00,0.000,4,0.000,0.071,2989,3772,3797,0,0,0,0,0,0
$GC,5875,-1.31,-146.0,519.1,-7.1,276,5879,0.00,2.62,0.00,0.000,6,0.000,0.054,2989,2202,3797,0,0,0,0,0,0
$GC,6132,-1.35,-146.0,536.8,-6.8,283,6134,0.10,0.00,0.00,0.000,6,0.082,0.000,2951,2202,3795,0,0,0,0,0,0
$GC,6374,-1.31,-146.0,557.6,-8.7,289,6376,0.10,0.00,0.00,0.000,6,0.115,0.000,2974,2202,3794,0,0,0,0,0,0
$GC,6617,-1.31,-146.0,576.9,-7.9,295,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2202,3793,0,0,0,0,0,0
$GC,6861,-1.31,-146.0,597.2,-8.3,301,6865,0.00,2.80,0.00,0.000,4,0.000,0.093,2974,3766,3791,0,0,0,0,0,0
$GC,6884,-1.31,-146.0,599.0,-8.5,301,6889,0.00,2.67,0.00,0.000,6,0.000,0.064,2974,2199,3791,0,0,0,0,0,0
$STATE,6893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6893,begin apogee
$GC,6899,-0.31,0.0,600.2,9.0,302,7020,0.95,0.00,117.00,0.966,6,0.071,0.000,3192,2361,3210,0,0,0,0,0,0
$STATE,7020,end apogee,CONTROL_FINISHED_OK
$STATE,7020,begin climb
$GC,7023,1.27,146.0,603.5,0.0,305,7157,1.42,2.90,119.97,0.940,4,0.045,0.079,3543,3926,2613,0,0,0,0,0,0
$GC,7192,1.15,146.0,594.6,11.1,309,7197,0.15,2.70,0.00,0.000,6,0.115,0.058,3514,2370,2610,0,0,0,0,0,0
$GC,7477,1.18,166.6,568.1,9.0,316,7501,0.00,2.80,18.08,0.864,4,0.000,0.065,3514,3927,2530,0,0,0,0,0,0
$GC,7530,1.13,166.6,562.5,10.6,317,7535,0.00,2.65,0.00,0.000,6,0.000,0.052,3514,2370,2527,0,0,0,0,0,0
$GC,7806,1.13,166.6,534.8,10.2,324,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2370,2524,0,0,0,0,0,0
$GC,8048,1.13,170.9,510.7,9.8,330,8053,0.00,0.00,4.05,0.566,6,0.000,0.000,3513,2370,2513,0,0,0,0,0,0
$GC,8291,1.14,175.2,486.9,9.8,336,8302,0.00,2.62,5.57,0.674,4,0.000,0.055,3514,3928,2494,0,0,0,0,0,0
$GC,8366,1.10,175.2,479.0,10.7,337,8370,0.00,2.58,0.00,0.000,6,0.000,0.036,3514,2364,2493,0,0,0,0,0,0
$GC,8616,1.10,175.4,453.4,10.0,343,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2364,2492,0,0,0,0,0,0
$GC,8859,1.11,181.3,429.3,9.7,349,8873,0.00,2.67,6.53,0.690,4,0.000,0.051,3514,3930,2470,0,0,0,0,0,0
$GC,8907,1.11,181.3,424.2,11.0,350,8911,0.00,2.55,0.00,0.000,6,0.000,0.035,3513,2364,2468,0,0,0,0,0,0
$GC,9187,1.12,189.8,397.0,9.6,357,9198,0.00,0.00,8.77,0.729,6,0.000,0.000,3514,2364,2436,0,0,0,0,0,0
$GC,9429,1.13,198.5,373.9,9.6,363,9443,0.00,2.65,9.05,0.717,4,0.000,0.052,3514,3931,2400,0,0,0,0,0,0
$GC,9466,1.13,198.5,370.1,10.7,363,9472,0.00,2.53,0.00,0.000,6,0.000,0.025,3514,2367,2399,0,0,0,0,0,0
$GC,9718,1.13,198.5,344.6,10.3,370,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2367,2398,0,0,0,0,0,0
$GC,9960,1.13,198.5,319.3,10.3,376,9964,0.00,2.60,0.00,0.000,4,0.000,0.054,3514,3927,2397,0,0,0,0,0,0
$GC,10014,1.13,198.5,313.0,11.6,377,10019,0.00,2.47,0.00,0.000,6,0.000,0.028,3514,2378,2397,0,0,0,0,0,0
$GC,10283,1.13,198.5,285.7,10.2,384,10287,0.00,2.58,0.00,0.000,4,0.000,0.048,3514,3927,2397,0,0,0,0,0,0
$GC,10304,1.13,198.5,283.1,10.8,384,10308,0.00,2.47,0.00,0.000,6,0.000,0.033,3514,2377,2396,0,0,0,0,0,0
$GC,10560,1.13,198.5,256.9,10.1,391,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2377,2396,0,0,0,0,0,0
$GC,10806,1.13,203.7,233.0,9.8,397,10817,0.00,2.60,6.00,0.558,4,0.000,0.044,3514,3935,2377,0,0,0,0,0,0
$GC,10850,1.13,203.7,227.9,11.4,398,10854,0.00,2.50,0.00,0.000,6,0.000,0.034,3514,2376,2377,0,0,0,0,0,0
$GC,11129,1.19,220.1,201.5,9.2,405,11146,0.00,0.00,15.62,0.636,6,0.000,0.000,3514,2376,2312,0,0,0,0,0,0
$GC,11385,1.27,231.3,177.5,9.5,426,11401,0.10,0.00,11.27,0.592,6,0.088,0.000,3546,2377,2266,0,0,0,0,0,0
$GC,11658,1.27,231.4,150.1,10.0,452,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2376,2264,0,0,0,0,0,0
$GC,11915,1.38,268.7,128.6,8.3,476,11954,0.00,2.60,32.58,0.588,4,0.000,0.041,3546,3934,2114,0,0,0,0,0,0
$GC,12101,1.50,299.1,111.2,8.6,491,12134,0.17,2.45,26.90,0.565,6,0.059,0.024,3599,2389,1990,0,0,0,0,0,0
$GC,12401,1.50,299.1,78.4,11.1,519,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2389,1986,0,0,0,0,0,0
$GC,12667,1.50,299.1,49.8,10.5,544,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2389,1986,0,0,0,0,0,0
$GC,12953,1.50,299.1,18.6,12.1,576,12962,0.00,2.65,0.00,0.000,4,0.000,0.049,3599,792,1986,0,0,0,0,0,0
$GC,12981,1.50,299.1,14.6,12.8,579,12990,0.00,2.53,0.00,0.000,6,0.000,0.028,3599,2389,1986,0,0,0,0,0,0
$STATE,13064,end climb,SURFACE_DEPTH_REACHED
$STATE,13064,begin surface coast
$FINISH,1.1,1.023348
$STATE,13111,end surface coast,CONTROL_FINISHED_OK
$STATE,13111,begin surface
$SM_CCo,13133,40.50,0.481,0,0,1782,350.04
$SM_GC,1.94,0.00,0.00,40.50,0.000,0.000,0.481,461,2178,1782,-12.88,-0.90,350.04
$IRIDIUM_FIX,1920.65,-8114.36,280402,141441
$TT8_MAMPS,0.025311
$HUMID,57.08
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.90
$XPDR_PINGS,40
$24V_AH,23.5,12.338
$10V_AH,10.5,10.591
$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,30.250,108.350,381.400,40.500,0.000,28.862,39.034,188.719,10.000,0.000,15.035,1186.859,9320.731,485.137,1977.096,624.753,33.357,1258.390,0.000,1981.716,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,92.807,965.653,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.050,329.736,425.699,588.253,1121.269,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355876
$DATA_FILE_SIZE,47900,597
$CAP_FILE_SIZE,119841,0
$CFSIZE,260165632,122806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010213,220305,1926.141,-8110.940,28,1.4,28,-3.8