version: 66.06
glider: 146
mission: 8
dive: 87
start: 2 1 113 22 18 15
data:
$ID,146
$MISSION,8
$DIVE,87
$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,-309050.38
$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,48
$R_STBD_OVSHOOT,31
$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
$GPS1,220305,1926.141,-8110.940,28,1.4,28,-3.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.4
$GPS2,221722,1926.071,-8110.970,15,1.7,18,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.147
$KALMAN_X,116910.5,297.5,279.0,-117190.4,1409.7
$KALMAN_Y,-15470.6,285.8,293.5,13108.3,-739.5
$MHEAD_RNG_PITCHd_Wd,128.3,6138,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.32,0.000,2,0.000,0.000,461,2178,3569,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.2,-7.1,9,121,13.75,0.00,-4.07,0.000,6,0.167,0.000,2978,2178,3806,0,0,0,0,0,0
$GC,396,-1.06,-146.0,70.4,-19.4,41,401,0.22,2.55,0.00,0.000,4,0.109,0.045,3026,641,3806,0,0,0,0,0,0
$GC,444,-0.96,-146.0,79.3,-15.1,44,453,0.08,2.45,0.00,0.000,6,0.088,0.017,3047,2225,3806,0,0,0,0,0,0
$GC,713,-0.91,-146.0,112.1,-12.4,69,718,0.00,2.60,0.00,0.000,4,0.000,0.047,3048,648,3807,0,0,0,0,0,0
$GC,748,-0.88,-146.0,117.4,-12.7,71,753,0.00,2.38,0.00,0.000,6,0.000,0.016,3047,2216,3807,0,0,0,0,0,0
$GC,1012,-0.88,-146.0,142.9,-8.6,96,1017,0.00,2.55,0.00,0.000,4,0.000,0.050,3047,642,3807,0,0,0,0,0,0
$GC,1033,-0.88,-146.0,144.8,-9.0,97,1037,0.00,2.38,0.00,0.000,6,0.000,0.025,3047,2206,3807,0,0,0,0,0,0
$GC,1300,-0.93,-146.0,166.7,-8.3,121,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2206,3808,0,0,0,0,0,0
$GC,1565,-1.01,-146.0,186.7,-6.7,146,1570,0.00,2.55,0.00,0.000,4,0.000,0.045,3047,646,3808,0,0,0,0,0,0
$GC,1598,-1.09,-146.0,189.2,-7.8,148,1603,0.12,2.38,0.00,0.000,6,0.067,0.018,2996,2199,3808,0,0,0,0,0,0
$GC,1886,-1.09,-146.0,215.0,-8.8,163,1891,0.12,2.53,0.00,0.000,4,0.103,0.037,3024,3777,3808,0,0,0,0,0,0
$GC,1919,-1.16,-146.0,217.9,-8.0,163,1925,0.00,2.45,0.00,0.000,6,0.000,0.025,3025,2201,3807,0,0,0,0,0,0
$GC,2172,-1.22,-146.0,235.9,-7.2,170,2174,0.12,0.00,0.00,0.000,6,0.067,0.000,2970,2201,3808,0,0,0,0,0,0
$GC,2413,-1.22,-146.0,257.5,-8.8,176,2418,0.10,2.58,0.00,0.000,4,0.110,0.053,2994,641,3807,0,0,0,0,0,0
$GC,2447,-1.22,-146.0,260.5,-8.8,176,2453,0.00,2.38,0.00,0.000,6,0.000,0.021,2993,2193,3807,0,0,0,0,0,0
$GC,2699,-1.22,-146.0,281.2,-8.3,183,2704,0.00,2.53,0.00,0.000,4,0.000,0.043,2993,3775,3807,0,0,0,0,0,0
$GC,2721,-1.22,-146.0,283.4,-8.8,183,2725,0.00,2.45,0.00,0.000,6,0.000,0.021,2993,2206,3807,0,0,0,0,0,0
$GC,2976,-1.22,-146.0,304.6,-8.3,190,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2206,3806,0,0,0,0,0,0
$GC,3220,-1.22,-146.0,324.2,-8.1,196,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2206,3805,0,0,0,0,0,0
$GC,3465,-1.22,-146.0,343.6,-7.9,202,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2205,3804,0,0,0,0,0,0
$GC,3707,-1.22,-146.0,362.8,-7.7,208,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2206,3804,0,0,0,0,0,0
$GC,3951,-1.22,-146.0,381.6,-7.7,214,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2206,3802,0,0,0,0,0,0
$GC,4197,-1.22,-146.0,400.9,-8.0,220,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2206,3801,0,0,0,0,0,0
$GC,4439,-1.26,-146.0,420.4,-8.0,226,4443,0.00,2.60,0.00,0.000,4,0.000,0.058,2994,3779,3800,0,0,0,0,0,0
$GC,4460,-1.30,-146.0,422.3,-8.3,226,4465,0.00,2.53,0.00,0.000,6,0.000,0.038,2994,2219,3800,0,0,0,0,0,0
$GC,4718,-1.34,-146.0,442.2,-7.8,233,4720,0.10,0.00,0.00,0.000,6,0.081,0.000,2952,2219,3799,0,0,0,0,0,0
$GC,4960,-1.30,-146.0,464.1,-9.0,239,4965,0.12,2.88,0.00,0.000,4,0.100,0.098,2980,627,3797,0,0,0,0,0,0
$GC,4976,-1.30,-146.0,465.7,-8.8,239,4981,0.00,2.55,0.00,0.000,6,0.000,0.040,2980,2187,3797,0,0,0,0,0,0
$GC,5240,-1.30,-146.0,486.1,-7.9,246,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3796,0,0,0,0,0,0
$GC,5481,-1.30,-146.0,506.1,-8.2,252,5486,0.00,2.78,0.00,0.000,4,0.000,0.081,2980,3801,3794,0,0,0,0,0,0
$GC,5497,-1.30,-146.0,507.5,-8.4,252,5501,0.00,2.62,0.00,0.000,6,0.000,0.044,2980,2214,3794,0,0,0,0,0,0
$GC,5757,-1.30,-146.0,529.1,-8.3,259,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3793,0,0,0,0,0,0
$GC,6003,-1.30,-146.0,549.8,-8.5,265,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2214,3791,0,0,0,0,0,0
$GC,6245,-1.30,-146.0,569.4,-8.0,271,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2214,3790,0,0,0,0,0,0
$GC,6489,-1.30,-146.0,588.6,-8.0,277,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3789,0,0,0,0,0,0
$STATE,6648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6649,begin apogee
$GC,6657,-0.31,0.0,601.0,7.6,281,6776,0.93,0.00,116.28,0.963,6,0.069,0.000,3192,2373,3210,0,0,0,0,0,0
$STATE,6777,end apogee,CONTROL_FINISHED_OK
$STATE,6777,begin climb
$GC,6780,1.27,146.0,603.7,0.0,284,6912,1.42,2.95,120.05,0.937,4,0.037,0.092,3543,3930,2613,0,0,0,0,0,0
$GC,6925,1.18,164.4,597.0,9.1,287,6950,0.12,2.70,17.10,0.859,6,0.120,0.063,3518,2372,2539,0,0,0,0,0,0
$GC,7236,1.18,164.4,564.7,10.3,295,7240,0.00,2.72,0.00,0.000,4,0.000,0.071,3519,3934,2533,0,0,0,0,0,0
$GC,7282,1.13,164.4,559.5,12.0,296,7286,0.00,2.65,0.00,0.000,6,0.000,0.052,3519,2368,2532,0,0,0,0,0,0
$GC,7559,1.15,176.2,532.4,9.5,303,7571,0.00,0.00,10.07,0.799,6,0.000,0.000,3518,2368,2491,0,0,0,0,0,0
$GC,7803,1.15,181.6,508.8,9.8,309,7814,0.00,2.65,5.82,0.686,4,0.000,0.055,3518,3933,2470,0,0,0,0,0,0
$GC,7847,1.11,181.6,504.2,11.8,310,7851,0.00,2.55,0.00,0.000,6,0.000,0.041,3519,2378,2469,0,0,0,0,0,0
$GC,8130,1.11,181.6,474.4,10.4,317,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2377,2468,0,0,0,0,0,0
$GC,8373,1.11,181.6,448.8,10.6,323,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2377,2467,0,0,0,0,0,0
$GC,8619,1.11,181.6,423.9,10.0,329,8623,0.00,2.58,0.00,0.000,4,0.000,0.050,3518,3937,2466,0,0,0,0,0,0
$GC,8646,1.07,184.9,420.9,9.8,329,8658,0.12,2.50,3.88,0.527,6,0.117,0.028,3493,2376,2456,0,0,0,0,0,0
$GC,8902,1.15,215.0,398.8,8.6,336,8932,0.00,0.00,28.10,0.815,6,0.000,0.000,3493,2376,2333,0,0,0,0,0,0
$GC,9147,1.22,231.3,376.3,9.2,342,9165,0.15,0.00,15.55,0.763,6,0.065,0.000,3535,2376,2267,0,0,0,0,0,0
$GC,9388,1.22,231.3,347.2,12.4,348,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2376,2263,0,0,0,0,0,0
$GC,9632,1.22,231.3,316.1,12.8,354,9636,0.00,2.58,0.00,0.000,4,0.000,0.042,3536,3936,2263,0,0,0,0,0,0
$GC,9673,1.22,231.3,310.7,13.7,355,9677,0.00,2.47,0.00,0.000,6,0.000,0.032,3536,2386,2262,0,0,0,0,0,0
$GC,9958,1.22,231.3,275.7,11.9,362,9962,0.00,2.55,0.00,0.000,4,0.000,0.051,3536,3938,2262,0,0,0,0,0,0
$GC,10007,1.22,231.3,269.0,12.3,363,10011,0.00,2.45,0.00,0.000,6,0.000,0.031,3535,2395,2262,0,0,0,0,0,0
$GC,10287,1.22,231.3,236.3,11.8,370,10292,0.00,2.65,0.00,0.000,4,0.000,0.051,3536,783,2262,0,0,0,0,0,0
$GC,10326,1.22,231.3,231.4,12.3,371,10331,0.00,2.58,0.00,0.000,6,0.000,0.027,3536,2405,2261,0,0,0,0,0,0
$GC,10610,1.22,231.3,199.1,11.2,378,10614,0.00,2.50,0.00,0.000,4,0.000,0.044,3536,3931,2261,0,0,0,0,0,0
$GC,10640,1.22,231.3,196.0,10.8,380,10645,0.00,2.42,0.00,0.000,6,0.000,0.031,3536,2386,2260,0,0,0,0,0,0
$GC,10903,1.23,241.9,167.4,9.5,404,10918,0.00,2.58,9.98,0.576,4,0.000,0.048,3536,3931,2223,0,0,0,0,0,0
$GC,10979,1.23,241.9,159.7,10.8,410,10983,0.00,2.40,0.00,0.000,6,0.000,0.023,3536,2404,2221,0,0,0,0,0,0
$GC,11242,1.31,248.5,134.8,9.7,434,11257,0.00,2.70,7.03,0.512,4,0.000,0.048,3536,791,2197,0,0,0,0,0,0
$GC,11287,1.39,268.0,131.2,9.1,437,11312,0.12,2.58,18.55,0.578,6,0.070,0.025,3578,2421,2117,0,0,0,0,0,0
$GC,11567,1.47,303.9,105.1,8.3,463,11601,0.00,0.00,31.50,0.567,6,0.000,0.000,3577,2421,1971,0,0,0,0,0,0
$GC,11859,1.56,324.5,77.1,9.0,490,11883,0.00,0.00,18.70,0.527,6,0.000,0.000,3578,2421,1886,0,0,0,0,0,0
$GC,12143,1.61,324.5,46.6,10.9,516,12148,0.15,2.70,0.00,0.000,4,0.064,0.044,3625,782,1885,0,0,0,0,0,0
$GC,12189,1.57,324.5,39.6,14.9,519,12195,0.10,2.58,0.00,0.000,6,0.122,0.021,3604,2426,1884,0,0,0,0,0,0
$GC,12497,1.57,324.5,5.0,14.3,559,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2426,1884,0,0,0,0,0,0
$STATE,12514,end climb,SURFACE_DEPTH_REACHED
$STATE,12514,begin surface coast
$FINISH,1.0,1.023419
$STATE,12550,end surface coast,CONTROL_FINISHED_OK
$STATE,12550,begin surface
$SM_CCo,12572,20.80,0.472,0,0,1782,350.04
$SM_GC,1.81,0.00,0.00,20.80,0.000,0.000,0.472,466,2184,1782,-12.85,-0.71,350.04
$IRIDIUM_FIX,1920.65,-8116.97,280402,222220
$TT8_MAMPS,0.025311
$HUMID,57.48
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,34
$24V_AH,23.5,12.473
$10V_AH,10.5,10.704
$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,30.400,108.325,402.600,20.800,0.000,50.827,80.547,495.363,8.500,0.000,19.604,1127.079,8979.572,486.448,1868.151,989.025,33.357,1206.242,0.000,1867.603,0.000,0.538,0.000
$DEVICE_MAMPS,167.206,98.176,963.352,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.010,312.287,400.187,555.044,1057.246,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,44670,566
$CAP_FILE_SIZE,123010,0
$CFSIZE,260165632,122748928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020213,014930,1925.277,-8107.893,37,1.2,37,-3.8