version: 66.06
glider: 146
mission: 8
dive: 89
start: 2 2 113 5 4 8
data:
$ID,146
$MISSION,8
$DIVE,89
$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,-309077.91
$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,51
$R_STBD_OVSHOOT,37
$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
$GPS1,045635,1923.980,-8107.717,26,1.7,26,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.0
$GPS2,050312,1923.940,-8107.736,12,1.8,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.045
$KALMAN_X,121720.7,412.4,-13.5,-116168.0,1793.7
$KALMAN_Y,-15334.1,72.5,-194.6,9738.3,-142.8
$MHEAD_RNG_PITCHd_Wd,283.9,18798,-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,-70.57,0.000,2,0.000,0.000,467,2185,3535,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.3,9,123,13.77,2.55,-4.68,0.000,4,0.168,0.038,2988,3790,3806,0,0,0,0,0,0
$GC,200,-1.12,-146.0,31.2,-16.8,23,205,0.17,2.47,0.00,0.000,6,0.103,0.024,3027,2225,3807,0,0,0,0,0,0
$GC,470,-0.99,-146.0,73.6,-16.1,47,475,0.12,2.60,0.00,0.000,4,0.113,0.045,3054,638,3807,0,0,0,0,0,0
$GC,505,-0.90,-146.0,79.5,-13.9,49,510,0.00,2.45,0.00,0.000,6,0.000,0.017,3054,2228,3807,0,0,0,0,0,0
$GC,774,-0.85,-146.0,112.4,-12.0,73,779,0.12,0.00,0.00,0.000,6,0.110,0.000,3082,2228,3808,0,0,0,0,0,0
$GC,1037,-0.96,-146.0,135.0,-6.8,98,1042,0.00,2.62,0.00,0.000,4,0.000,0.051,3082,629,3808,0,0,0,0,0,0
$GC,1083,-1.10,-146.0,138.0,-6.8,101,1088,0.22,2.42,0.00,0.000,6,0.045,0.018,3005,2206,3809,0,0,0,0,0,0
$GC,1344,-1.10,-146.0,165.1,-10.3,125,1349,0.12,2.50,0.00,0.000,4,0.101,0.035,3033,3778,3809,0,0,0,0,0,0
$GC,1413,-1.16,-146.0,171.3,-8.7,130,1418,0.00,2.45,0.00,0.000,6,0.000,0.020,3034,2190,3809,0,0,0,0,0,0
$GC,1678,-1.23,-146.0,191.2,-7.9,155,1683,0.15,2.55,0.00,0.000,4,0.059,0.051,2971,644,3809,0,0,0,0,0,0
$GC,1737,-1.18,-146.0,197.3,-10.0,159,1747,0.15,2.42,0.00,0.000,6,0.071,0.018,3010,2203,3809,0,0,0,0,0,0
$GC,2019,-1.18,-146.0,220.6,-8.0,169,2023,0.00,2.50,0.00,0.000,4,0.000,0.041,3010,3773,3810,0,0,0,0,0,0
$GC,2053,-1.23,-146.0,223.3,-8.0,169,2059,0.00,2.45,0.00,0.000,6,0.000,0.020,3010,2196,3810,0,0,0,0,0,0
$GC,2306,-1.27,-146.0,242.0,-7.5,176,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2196,3809,0,0,0,0,0,0
$GC,2547,-1.31,-146.0,260.2,-7.4,182,2549,0.12,0.00,0.00,0.000,6,0.068,0.000,2960,2196,3809,0,0,0,0,0,0
$GC,2791,-1.26,-146.0,283.2,-9.6,188,2793,0.15,0.00,0.00,0.000,6,0.091,0.000,2995,2196,3809,0,0,0,0,0,0
$GC,3036,-1.26,-146.0,302.9,-8.0,194,3041,0.00,2.55,0.00,0.000,4,0.000,0.048,2995,3776,3808,0,0,0,0,0,0
$GC,3058,-1.26,-146.0,305.1,-8.6,194,3063,0.00,2.45,0.00,0.000,6,0.000,0.025,2995,2213,3807,0,0,0,0,0,0
$GC,3314,-1.26,-146.0,326.0,-8.1,201,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2213,3806,0,0,0,0,0,0
$GC,3557,-1.26,-146.0,345.8,-8.1,207,3562,0.00,2.70,0.00,0.000,4,0.000,0.067,2995,630,3806,0,0,0,0,0,0
$GC,3603,-1.26,-146.0,349.6,-8.8,208,3608,0.00,2.47,0.00,0.000,6,0.000,0.031,2995,2185,3806,0,0,0,0,0,0
$GC,3881,-1.26,-146.0,371.7,-7.8,215,3886,0.00,2.62,0.00,0.000,4,0.000,0.054,2995,3789,3805,0,0,0,0,0,0
$GC,3923,-1.31,-146.0,375.0,-8.3,216,3928,0.00,2.50,0.00,0.000,6,0.000,0.028,2995,2209,3804,0,0,0,0,0,0
$GC,4206,-1.31,-146.0,397.7,-7.9,223,4211,0.00,2.62,0.00,0.000,4,0.000,0.051,2995,3794,3803,0,0,0,0,0,0
$GC,4228,-1.31,-146.0,399.8,-8.6,223,4233,0.00,2.53,0.00,0.000,6,0.000,0.034,2995,2211,3803,0,0,0,0,0,0
$GC,4486,-1.31,-146.0,420.3,-8.1,230,4490,0.00,2.78,0.00,0.000,4,0.000,0.081,2995,627,3802,0,0,0,0,0,0
$GC,4513,-1.31,-146.0,422.8,-8.5,230,4517,0.00,2.55,0.00,0.000,6,0.000,0.041,2996,2207,3801,0,0,0,0,0,0
$GC,4763,-1.35,-146.0,442.2,-7.8,236,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2207,3801,0,0,0,0,0,0
$GC,5009,-1.39,-146.0,461.1,-7.7,242,5014,0.12,2.72,0.00,0.000,4,0.068,0.071,2949,3798,3800,0,0,0,0,0,0
$GC,5031,-1.39,-146.0,463.3,-8.6,242,5035,0.00,2.60,0.00,0.000,6,0.000,0.039,2949,2199,3800,0,0,0,0,0,0
$GC,5287,-1.35,-146.0,487.3,-9.5,249,5288,0.12,0.00,0.00,0.000,6,0.104,0.000,2977,2200,3798,0,0,0,0,0,0
$GC,5532,-1.35,-146.0,508.0,-8.3,255,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2199,3797,0,0,0,0,0,0
$GC,5773,-1.35,-146.0,527.1,-7.8,261,5778,0.00,2.78,0.00,0.000,4,0.000,0.074,2977,3797,3796,0,0,0,0,0,0
$GC,5800,-1.35,-146.0,529.1,-7.4,261,5805,0.00,2.65,0.00,0.000,6,0.000,0.048,2977,2206,3795,0,0,0,0,0,0
$GC,6052,-1.35,-146.0,549.5,-8.4,267,6057,0.00,2.97,0.00,0.000,4,0.000,0.118,2977,621,3795,0,0,0,0,0,0
$GC,6079,-1.35,-146.0,552.0,-8.4,267,6084,0.00,2.65,0.00,0.000,6,0.000,0.051,2978,2202,3794,0,0,0,0,0,0
$GC,6329,-1.35,-146.0,572.5,-8.1,273,6334,0.00,2.85,0.00,0.000,4,0.000,0.098,2977,3793,3793,0,0,0,0,0,0
$GC,6356,-1.35,-146.0,574.8,-8.0,273,6361,0.00,2.65,0.00,0.000,6,0.000,0.058,2977,2211,3792,0,0,0,0,0,0
$GC,6608,-1.35,-146.0,594.8,-8.0,279,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2211,3791,0,0,0,0,0,0
$STATE,6685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6685,begin apogee
$GC,6691,-0.31,0.0,601.4,8.0,281,6811,0.98,0.00,117.12,0.962,6,0.068,0.000,3201,2386,3210,0,0,0,0,0,0
$STATE,6812,end apogee,CONTROL_FINISHED_OK
$STATE,6812,begin climb
$GC,6815,1.27,146.0,604.3,0.0,284,6949,1.42,2.83,120.57,0.934,4,0.035,0.084,3553,3916,2612,0,0,0,0,0,0
$GC,7039,1.14,146.0,587.8,12.8,289,7044,0.17,2.65,0.00,0.000,6,0.114,0.053,3519,2367,2608,0,0,0,0,0,0
$GC,7315,1.11,146.0,560.1,10.1,296,7320,0.00,2.70,0.00,0.000,4,0.000,0.063,3519,3928,2606,0,0,0,0,0,0
$GC,7376,1.04,146.0,553.2,11.4,297,7381,0.10,2.62,0.00,0.000,6,0.129,0.045,3499,2368,2605,0,0,0,0,0,0
$GC,7639,1.08,178.7,530.6,8.5,304,7669,0.00,0.00,27.90,0.879,6,0.000,0.000,3499,2368,2481,0,0,0,0,0,0
$GC,7881,1.09,189.4,507.8,9.5,310,7896,0.00,2.70,10.05,0.792,4,0.000,0.052,3499,3933,2438,0,0,0,0,0,0
$GC,7935,1.09,189.4,502.1,10.8,311,7939,0.00,2.55,0.00,0.000,6,0.000,0.035,3499,2378,2437,0,0,0,0,0,0
$GC,8204,1.10,192.9,476.3,9.8,318,8212,0.00,0.00,4.53,0.601,6,0.000,0.000,3499,2379,2423,0,0,0,0,0,0
$GC,8492,1.12,210.1,449.1,9.2,325,8511,0.00,0.00,16.70,0.815,6,0.000,0.000,3499,2378,2353,0,0,0,0,0,0
$GC,8736,1.13,218.2,426.0,9.6,331,8747,0.00,0.00,8.50,0.730,6,0.000,0.000,3498,2378,2320,0,0,0,0,0,0
$GC,8982,1.17,218.2,401.4,10.1,337,8984,0.10,0.00,0.00,0.000,6,0.242,0.000,3532,2378,2318,0,0,0,0,0,0
$GC,9223,1.17,218.2,373.7,11.6,343,9228,0.00,2.58,0.00,0.000,4,0.000,0.049,3532,3938,2317,0,0,0,0,0,0
$GC,9263,1.13,218.2,368.6,13.0,344,9268,0.00,2.47,0.00,0.000,6,0.000,0.027,3532,2382,2316,0,0,0,0,0,0
$GC,9549,1.13,218.2,335.2,11.6,351,9553,0.00,2.58,0.00,0.000,4,0.000,0.048,3532,3939,2316,0,0,0,0,0,0
$GC,9570,1.13,218.2,332.1,12.9,351,9574,0.00,2.47,0.00,0.000,6,0.000,0.025,3532,2385,2315,0,0,0,0,0,0
$GC,9825,1.13,218.2,301.0,12.3,358,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2385,2315,0,0,0,0,0,0
$GC,10072,1.13,218.2,271.5,11.9,364,10076,0.00,2.55,0.00,0.000,4,0.000,0.050,3532,3941,2315,0,0,0,0,0,0
$GC,10121,1.13,218.2,264.5,13.2,365,10126,0.00,2.45,0.00,0.000,6,0.000,0.025,3532,2397,2315,0,0,0,0,0,0
$GC,10394,1.13,218.2,233.7,11.0,372,10398,0.00,2.53,0.00,0.000,4,0.000,0.044,3532,3930,2315,0,0,0,0,0,0
$GC,10422,1.13,218.2,230.3,12.6,372,10426,0.00,2.45,0.00,0.000,6,0.000,0.028,3532,2393,2315,0,0,0,0,0,0
$GC,10672,1.13,218.2,202.5,10.9,378,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2393,2315,0,0,0,0,0,0
$GC,10925,1.13,218.2,176.8,10.1,399,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2393,2315,0,0,0,0,0,0
$GC,11184,1.20,242.4,153.2,8.9,423,11211,0.00,2.60,21.55,0.607,4,0.000,0.044,3532,3924,2220,0,0,0,0,0,0
$GC,11234,1.25,249.7,148.7,9.7,427,11248,0.00,2.45,7.88,0.530,6,0.000,0.024,3532,2381,2191,0,0,0,0,0,0
$GC,11514,1.39,291.8,124.0,8.1,453,11562,0.17,2.70,36.78,0.588,4,0.060,0.049,3585,799,2019,0,0,0,0,0,0
$GC,11574,1.39,291.8,117.7,10.6,458,11579,0.00,2.50,0.00,0.000,6,0.000,0.021,3586,2391,2018,0,0,0,0,0,0
$GC,11839,1.40,299.6,91.7,9.6,482,11854,0.00,2.53,7.70,0.486,4,0.000,0.042,3585,3930,1988,0,0,0,0,0,0
$GC,11928,1.40,299.6,82.1,11.4,489,11932,0.00,2.45,0.00,0.000,6,0.000,0.023,3585,2383,1987,0,0,0,0,0,0
$GC,12198,1.44,300.7,55.8,10.0,513,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2384,1987,0,0,0,0,0,0
$GC,12475,1.48,300.7,25.1,11.3,541,12485,0.00,2.53,0.00,0.000,4,0.000,0.037,3585,3925,1987,0,0,0,0,0,0
$GC,12503,1.53,300.7,21.4,11.5,544,12513,0.00,2.45,0.00,0.000,6,0.000,0.025,3585,2396,1987,0,0,0,0,0,0
$STATE,12652,end climb,SURFACE_DEPTH_REACHED
$STATE,12652,begin surface coast
$FINISH,0.8,1.023478
$STATE,12696,end surface coast,CONTROL_FINISHED_OK
$STATE,12696,begin surface
$SM_CCo,12720,41.67,0.483,0,0,1782,350.04
$SM_GC,1.83,0.00,0.00,41.67,0.000,0.000,0.483,467,2112,1782,-12.90,-2.77,350.04
$IRIDIUM_FIX,1918.37,-8109.84,290402,020254
$TT8_MAMPS,0.026078
$HUMID,57.28
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.70
$XPDR_PINGS,35
$24V_AH,23.5,12.684
$10V_AH,10.5,10.913
$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,30.775,134.550,379.275,41.675,0.000,28.133,35.948,189.916,8.750,0.000,13.931,1173.757,8916.642,502.929,1959.950,608.929,33.356,1272.638,0.000,1964.049,0.000,0.537,0.000
$DEVICE_MAMPS,242.372,118.118,961.818,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.416,318.990,408.301,572.721,1092.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355872
$DATA_FILE_SIZE,44758,572
$CAP_FILE_SIZE,124336,0
$CFSIZE,260165632,122630144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020213,083806,1923.910,-8108.374,33,1.0,33,-3.8