version: 66.06
glider: 146
mission: 8
dive: 88
start: 2 2 113 1 57 31
data:
$ID,146
$MISSION,8
$DIVE,88
$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,-309063.34
$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,3270
$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
$GPS1,014930,1925.277,-8107.893,37,1.2,37,-3.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.6
$GPS2,015637,1925.228,-8107.901,10,1.3,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.134,-0.135
$KALMAN_X,119528.2,480.6,220.5,-114573.2,1449.5
$KALMAN_Y,-15004.1,350.4,-70.8,11377.0,-94.1
$MHEAD_RNG_PITCHd_Wd,228.7,1726,-24.8,-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,-1.64,-75.5,0.0,0.0,0,92,0.00,0.00,-69.53,0.000,6,0.000,0.000,465,2184,3518,0,0,0,0,0,0
$GC,98,-1.69,-112.3,4.2,-6.7,9,124,13.30,2.62,-2.65,0.000,4,0.169,0.048,2895,3800,3670,0,0,0,0,0,0
$GC,261,-1.57,-112.3,51.2,-22.6,26,271,0.10,2.50,0.00,0.000,6,0.107,0.023,2919,2224,3671,0,0,0,0,0,0
$GC,530,-1.49,-112.3,105.3,-19.7,51,535,0.12,2.53,0.00,0.000,4,0.131,0.037,2943,3794,3671,0,0,0,0,0,0
$GC,565,-1.45,-112.3,112.4,-18.6,53,570,0.00,2.45,0.00,0.000,6,0.000,0.021,2943,2212,3671,0,0,0,0,0,0
$GC,834,-1.51,-112.3,150.3,-12.4,77,838,0.00,2.55,0.00,0.000,4,0.000,0.046,2943,637,3671,0,0,0,0,0,0
$GC,925,-1.58,-112.3,162.9,-12.0,84,934,0.00,2.47,0.00,0.000,6,0.000,0.017,2943,2237,3672,0,0,0,0,0,0
$GC,1193,-1.68,-117.2,190.3,-9.6,109,1199,0.17,2.62,-0.10,0.000,4,0.055,0.061,2880,633,3691,0,0,0,0,0,0
$GC,1222,-1.68,-117.2,194.7,-12.5,111,1227,0.10,2.42,0.00,0.000,6,0.124,0.019,2902,2220,3691,0,0,0,0,0,0
$GC,1476,-1.72,-117.2,225.1,-11.9,120,1481,0.00,2.47,0.00,0.000,4,0.000,0.039,2902,3776,3692,0,0,0,0,0,0
$GC,1503,-1.72,-117.2,228.9,-12.7,120,1508,0.00,2.40,0.00,0.000,6,0.000,0.023,2902,2208,3691,0,0,0,0,0,0
$GC,1759,-1.77,-117.2,257.6,-11.5,127,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2208,3691,0,0,0,0,0,0
$GC,2003,-1.83,-117.2,285.6,-11.2,133,2004,0.12,0.00,0.00,0.000,6,0.067,0.000,2850,2208,3691,0,0,0,0,0,0
$GC,2248,-1.83,-117.2,317.1,-13.1,139,2253,0.10,2.55,0.00,0.000,4,0.121,0.041,2871,3768,3691,0,0,0,0,0,0
$GC,2275,-1.83,-117.2,321.3,-13.9,139,2279,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,2228,3691,0,0,0,0,0,0
$GC,2531,-1.83,-117.2,352.4,-12.1,146,2535,0.00,2.50,0.00,0.000,4,0.000,0.047,2871,3762,3690,0,0,0,0,0,0
$GC,2548,-1.83,-117.2,354.5,-11.8,146,2553,0.00,2.47,0.00,0.000,6,0.000,0.027,2871,2213,3690,0,0,0,0,0,0
$GC,2809,-1.83,-117.2,384.6,-11.1,153,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2213,3689,0,0,0,0,0,0
$GC,3054,-1.83,-117.2,412.1,-11.4,159,3059,0.00,2.58,0.00,0.000,4,0.000,0.052,2871,3765,3688,0,0,0,0,0,0
$GC,3081,-1.83,-117.2,415.8,-12.3,159,3085,0.00,2.47,0.00,0.000,6,0.000,0.036,2871,2228,3688,0,0,0,0,0,0
$GC,3333,-1.83,-117.2,444.6,-11.4,165,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2229,3687,0,0,0,0,0,0
$GC,3575,-1.83,-117.2,472.4,-11.3,171,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2228,3686,0,0,0,0,0,0
$GC,3818,-1.83,-117.2,500.3,-11.5,177,3823,0.00,2.62,0.00,0.000,4,0.000,0.067,2871,3755,3685,0,0,0,0,0,0
$GC,3853,-1.83,-117.2,504.3,-12.0,177,3859,0.00,2.55,0.00,0.000,6,0.000,0.054,2871,2231,3684,0,0,0,0,0,0
$GC,4103,-1.83,-117.2,532.9,-11.5,184,4107,0.00,2.65,0.00,0.000,4,0.000,0.077,2871,3758,3683,0,0,0,0,0,0
$GC,4129,-1.83,-117.2,536.2,-12.0,184,4134,0.00,2.55,0.00,0.000,6,0.000,0.058,2871,2233,3683,0,0,0,0,0,0
$GC,4385,-1.83,-117.2,564.8,-11.1,191,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2233,3681,0,0,0,0,0,0
$GC,4631,-1.83,-117.2,592.9,-11.6,197,4635,0.00,2.72,0.00,0.000,4,0.000,0.091,2871,3751,3680,0,0,0,0,0,0
$GC,4652,-1.83,-117.2,595.6,-11.3,197,4656,0.00,2.62,0.00,0.000,6,0.000,0.069,2871,2235,3680,0,0,0,0,0,0
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4701,begin apogee
$GC,4707,-0.31,0.0,601.4,11.4,199,4806,1.45,0.00,94.72,0.953,6,0.077,0.000,3199,2344,3210,0,0,0,0,0,0
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4811,1.70,117.2,603.1,0.0,201,4918,1.83,2.92,96.50,0.926,4,0.034,0.086,3650,3937,2731,0,0,0,0,0,0
$GC,4929,1.59,117.2,595.9,11.0,203,4936,0.17,2.75,0.00,0.000,6,0.133,0.064,3618,2369,2729,0,0,0,0,0,0
$GC,5181,1.59,117.2,567.1,11.2,210,5186,0.00,2.72,0.00,0.000,4,0.000,0.065,3618,3936,2725,0,0,0,0,0,0
$GC,5242,1.53,117.2,559.4,11.8,211,5247,0.00,2.65,0.00,0.000,6,0.000,0.052,3618,2370,2724,0,0,0,0,0,0
$GC,5502,1.53,117.2,530.5,11.0,218,5507,0.00,2.67,0.00,0.000,4,0.000,0.056,3618,3937,2723,0,0,0,0,0,0
$GC,5605,1.47,117.2,518.4,12.3,220,5610,0.12,2.58,0.00,0.000,6,0.141,0.038,3594,2384,2721,0,0,0,0,0,0
$GC,5872,1.47,117.2,490.1,10.5,227,5876,0.00,2.60,0.00,0.000,4,0.000,0.055,3594,3936,2720,0,0,0,0,0,0
$GC,5962,1.47,117.2,480.7,10.6,229,5966,0.00,2.53,0.00,0.000,6,0.000,0.032,3594,2390,2719,0,0,0,0,0,0
$GC,6240,1.51,120.1,453.7,9.7,236,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,2390,2719,0,0,0,0,0,0
$GC,6484,1.56,127.3,430.7,9.4,242,6498,0.00,2.65,7.22,0.710,4,0.000,0.051,3594,3941,2691,0,0,0,0,0,0
$GC,6551,1.56,127.3,423.4,11.3,243,6555,0.00,2.50,0.00,0.000,6,0.000,0.035,3594,2393,2690,0,0,0,0,0,0
$GC,6812,1.61,127.3,396.7,10.2,250,6817,0.12,2.58,0.00,0.000,4,0.079,0.045,3630,3937,2688,0,0,0,0,0,0
$GC,6888,1.54,127.3,387.7,12.5,251,6893,0.12,2.50,0.00,0.000,6,0.136,0.030,3607,2388,2688,0,0,0,0,0,0
$GC,7137,1.54,127.3,358.5,11.6,257,7142,0.00,2.58,0.00,0.000,4,0.000,0.048,3607,3940,2688,0,0,0,0,0,0
$GC,7192,1.54,127.3,351.9,12.1,258,7197,0.00,2.47,0.00,0.000,6,0.000,0.035,3607,2394,2688,0,0,0,0,0,0
$GC,7461,1.54,127.3,322.8,11.0,265,7465,0.00,2.55,0.00,0.000,4,0.000,0.048,3607,3935,2688,0,0,0,0,0,0
$GC,7510,1.54,127.3,316.4,13.3,266,7514,0.00,2.45,0.00,0.000,6,0.000,0.026,3607,2397,2687,0,0,0,0,0,0
$GC,7788,1.54,127.3,286.3,10.5,273,7792,0.00,2.55,0.00,0.000,4,0.000,0.047,3607,3935,2687,0,0,0,0,0,0
$GC,7942,1.54,127.3,268.0,11.9,276,7946,0.00,2.42,0.00,0.000,6,0.000,0.028,3607,2401,2686,0,0,0,0,0,0
$GC,8203,1.59,127.3,240.9,10.2,283,8207,0.00,2.53,0.00,0.000,4,0.000,0.048,3607,3935,2687,0,0,0,0,0,0
$GC,8243,1.59,127.3,236.5,11.2,284,8247,0.00,2.40,0.00,0.000,6,0.000,0.031,3607,2407,2686,0,0,0,0,0,0
$GC,8533,1.66,136.3,208.7,9.2,291,8548,0.10,2.60,8.38,0.591,4,0.086,0.054,3641,3935,2654,0,0,0,0,0,0
$GC,8637,1.61,136.3,197.3,12.5,294,8641,0.00,2.42,0.00,0.000,6,0.000,0.026,3641,2415,2653,0,0,0,0,0,0
$GC,8899,1.61,136.3,169.3,10.3,318,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,2415,2653,0,0,0,0,0,0
$GC,9155,1.63,150.0,147.6,8.8,342,9173,0.00,2.55,13.10,0.582,4,0.000,0.050,3640,3937,2597,0,0,0,0,0,0
$GC,9213,1.63,154.8,142.1,9.6,346,9226,0.00,2.47,5.88,0.487,6,0.000,0.025,3640,2399,2578,0,0,0,0,0,0
$GC,9491,1.75,191.2,120.0,6.8,372,9529,0.00,2.70,31.12,0.583,4,0.000,0.046,3640,779,2429,0,0,0,0,0,0
$GC,9595,1.89,242.4,114.1,5.5,380,9652,0.12,2.60,43.90,0.574,6,0.040,0.021,3686,2406,2220,0,0,0,0,0,0
$GC,9907,1.93,242.4,81.5,11.5,409,9911,0.00,2.47,0.00,0.000,4,0.000,0.041,3686,3923,2216,0,0,0,0,0,0
$GC,10124,1.93,242.4,53.1,13.3,426,10128,0.00,2.42,0.00,0.000,6,0.000,0.024,3686,2392,2215,0,0,0,0,0,0
$GC,10405,2.00,242.4,19.5,14.1,456,10414,0.00,2.53,0.00,0.000,4,0.000,0.040,3686,3922,2215,0,0,0,0,0,0
$GC,10439,2.05,242.4,15.1,13.6,460,10448,0.08,2.42,0.00,0.000,6,0.047,0.025,3722,2408,2215,0,0,0,0,0,0
$STATE,10523,end climb,SURFACE_DEPTH_REACHED
$STATE,10523,begin surface coast
$FINISH,0.8,0.999825
$STATE,10566,end surface coast,CONTROL_FINISHED_OK
$STATE,10566,begin surface
$SM_CCo,10589,85.70,0.487,0,0,1782,350.04
$SM_GC,1.62,0.00,0.00,85.70,0.000,0.000,0.487,467,2186,1782,-12.89,-0.68,350.04
$IRIDIUM_FIX,1918.37,-8109.84,280402,222231
$TT8_MAMPS,0.026078
$HUMID,56.30
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.70
$XPDR_PINGS,41
$24V_AH,23.5,12.571
$10V_AH,10.5,10.802
$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,31.150,133.075,300.825,85.700,0.000,27.080,39.932,203.098,10.250,0.000,12.340,1012.805,7244.604,451.964,1784.413,607.063,33.352,1195.214,0.000,1784.831,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,91.273,952.614,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.523,250.412,343.537,481.481,915.804,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,38360,478
$CAP_FILE_SIZE,111018,0
$CFSIZE,260165632,122703872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020213,045635,1923.980,-8107.717,26,1.7,26,-3.8