version: 66.06
glider: 146
mission: 8
dive: 90
start: 2 2 113 8 46 57
data:
$ID,146
$MISSION,8
$DIVE,90
$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,-309115.69
$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,33
$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
$GPS1,083806,1923.910,-8108.374,33,1.0,33,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.6
$GPS2,084604,1923.884,-8108.417,15,2.9,34,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.254,0.053
$KALMAN_X,123958.7,143.2,-102.2,-119233.7,1771.4
$KALMAN_Y,-15767.8,-259.9,-70.1,10273.4,-199.1
$MHEAD_RNG_PITCHd_Wd,285.6,17703,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.70,0.000,2,0.000,0.000,466,2112,3563,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-6.9,9,122,13.80,2.65,-4.12,0.000,4,0.169,0.038,2987,3790,3808,0,0,0,0,0,0
$GC,186,-1.13,-146.0,30.5,-16.8,21,191,0.17,2.50,0.00,0.000,6,0.106,0.022,3025,2202,3809,0,0,0,0,0,0
$GC,456,-1.00,-146.0,73.5,-16.1,45,461,0.12,2.60,0.00,0.000,4,0.117,0.046,3052,632,3809,0,0,0,0,0,0
$GC,516,-0.95,-146.0,82.8,-12.7,49,521,0.00,2.45,0.00,0.000,6,0.000,0.017,3051,2225,3809,0,0,0,0,0,0
$GC,785,-0.91,-146.0,114.4,-11.9,73,789,0.00,2.45,0.00,0.000,4,0.000,0.031,3052,3772,3809,0,0,0,0,0,0
$GC,801,-0.91,-146.0,117.6,-12.8,74,805,0.00,2.45,0.00,0.000,6,0.000,0.020,3051,2198,3809,0,0,0,0,0,0
$GC,1066,-0.96,-146.0,142.0,-8.2,98,1071,0.00,2.55,0.00,0.000,4,0.000,0.046,3052,635,3810,0,0,0,0,0,0
$GC,1144,-1.05,-146.0,149.0,-8.5,104,1148,0.00,2.40,0.00,0.000,6,0.000,0.025,3051,2198,3810,0,0,0,0,0,0
$GC,1409,-1.13,-146.0,169.1,-7.7,128,1414,0.12,0.00,0.00,0.000,6,0.066,0.000,2997,2198,3810,0,0,0,0,0,0
$GC,1674,-1.13,-146.0,192.5,-8.4,153,1683,0.12,0.00,0.00,0.000,6,0.100,0.000,3026,2198,3811,0,0,0,0,0,0
$GC,1941,-1.19,-146.0,212.0,-7.2,167,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2198,3811,0,0,0,0,0,0
$GC,2182,-1.27,-146.0,229.5,-7.3,173,2184,0.15,0.00,0.00,0.000,6,0.058,0.000,2963,2197,3811,0,0,0,0,0,0
$GC,2426,-1.22,-146.0,253.8,-10.2,179,2427,0.17,0.00,0.00,0.000,6,0.090,0.000,3004,2198,3811,0,0,0,0,0,0
$GC,2672,-1.26,-146.0,272.0,-7.3,185,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2198,3810,0,0,0,0,0,0
$GC,2913,-1.26,-146.0,289.8,-7.4,191,2917,0.00,2.53,0.00,0.000,4,0.000,0.048,3004,3772,3809,0,0,0,0,0,0
$GC,2953,-1.31,-146.0,292.8,-8.1,192,2957,0.00,2.45,0.00,0.000,6,0.000,0.027,3004,2195,3809,0,0,0,0,0,0
$GC,3238,-1.35,-146.0,313.3,-7.3,199,3243,0.12,2.62,0.00,0.000,4,0.067,0.064,2954,633,3808,0,0,0,0,0,0
$GC,3272,-1.29,-146.0,316.7,-9.5,199,3278,0.15,2.40,0.00,0.000,6,0.097,0.025,2987,2174,3808,0,0,0,0,0,0
$GC,3522,-1.29,-146.0,337.1,-8.0,206,3526,0.00,2.60,0.00,0.000,4,0.000,0.048,2987,3789,3807,0,0,0,0,0,0
$GC,3563,-1.29,-146.0,340.2,-8.3,207,3568,0.00,2.47,0.00,0.000,6,0.000,0.023,2987,2206,3807,0,0,0,0,0,0
$GC,3847,-1.29,-146.0,363.0,-8.0,214,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2206,3806,0,0,0,0,0,0
$GC,4091,-1.29,-146.0,382.5,-8.1,220,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2206,3805,0,0,0,0,0,0
$GC,4336,-1.29,-146.0,402.0,-8.0,226,4341,0.00,2.58,0.00,0.000,4,0.000,0.046,2987,3781,3803,0,0,0,0,0,0
$GC,4363,-1.29,-146.0,404.7,-9.2,226,4368,0.00,2.50,0.00,0.000,6,0.000,0.030,2986,2206,3803,0,0,0,0,0,0
$GC,4613,-1.29,-146.0,424.7,-8.0,232,4618,0.00,2.75,0.00,0.000,4,0.000,0.084,2987,627,3802,0,0,0,0,0,0
$GC,4642,-1.29,-146.0,426.9,-8.1,232,4647,0.00,2.53,0.00,0.000,6,0.000,0.037,2987,2189,3802,0,0,0,0,0,0
$GC,4892,-1.29,-146.0,446.3,-7.5,238,4897,0.00,2.67,0.00,0.000,4,0.000,0.059,2987,3794,3801,0,0,0,0,0,0
$GC,4937,-1.34,-146.0,449.8,-7.7,239,4941,0.00,2.58,0.00,0.000,6,0.000,0.045,2987,2207,3801,0,0,0,0,0,0
$GC,5216,-1.34,-146.0,470.5,-7.5,246,5221,0.00,2.85,0.00,0.000,4,0.000,0.094,2987,626,3800,0,0,0,0,0,0
$GC,5243,-1.34,-146.0,472.9,-7.7,246,5248,0.00,2.60,0.00,0.000,6,0.000,0.046,2987,2203,3800,0,0,0,0,0,0
$GC,5493,-1.34,-146.0,492.0,-7.7,252,5497,0.00,2.72,0.00,0.000,4,0.000,0.067,2987,3799,3799,0,0,0,0,0,0
$GC,5516,-1.34,-146.0,493.9,-8.2,252,5521,0.00,2.62,0.00,0.000,6,0.000,0.044,2987,2212,3799,0,0,0,0,0,0
$GC,5771,-1.34,-146.0,514.6,-8.0,259,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3797,0,0,0,0,0,0
$GC,6015,-1.34,-146.0,532.9,-7.5,265,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3796,0,0,0,0,0,0
$GC,6259,-1.34,-146.0,550.6,-7.2,271,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3795,0,0,0,0,0,0
$GC,6505,-1.38,-146.0,569.1,-7.6,277,6510,0.00,3.00,0.00,0.000,4,0.000,0.120,2986,623,3794,0,0,0,0,0,0
$GC,6532,-1.38,-146.0,571.5,-8.3,277,6536,0.00,2.67,0.00,0.000,6,0.000,0.059,2987,2209,3793,0,0,0,0,0,0
$GC,6782,-1.41,-146.0,591.3,-7.9,283,6784,0.12,0.00,0.00,0.000,6,0.069,0.000,2942,2209,3792,0,0,0,0,0,0
$STATE,6901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6901,begin apogee
$GC,6909,-0.31,0.0,603.0,9.2,286,7030,1.12,0.00,117.55,0.964,6,0.071,0.000,3199,2378,3210,0,0,0,0,0,0
$STATE,7031,end apogee,CONTROL_FINISHED_OK
$STATE,7031,begin climb
$GC,7034,1.27,146.0,606.7,0.0,289,7168,1.42,2.97,120.85,0.939,4,0.035,0.101,3555,3926,2612,0,0,0,0,0,0
$GC,7252,1.13,146.0,592.3,12.4,294,7257,0.20,2.70,0.00,0.000,6,0.107,0.060,3515,2364,2609,0,0,0,0,0,0
$GC,7532,1.15,164.2,566.5,9.2,301,7555,0.00,2.78,16.17,0.861,4,0.000,0.064,3515,3941,2538,0,0,0,0,0,0
$GC,7569,1.11,169.0,562.6,9.8,301,7579,0.00,2.67,5.35,0.660,6,0.000,0.049,3515,2368,2521,0,0,0,0,0,0
$GC,7857,1.11,169.0,533.4,10.3,309,7862,0.00,2.70,0.00,0.000,4,0.000,0.063,3515,3943,2517,0,0,0,0,0,0
$GC,7881,1.07,169.0,530.9,11.1,309,7885,0.00,2.62,0.00,0.000,6,0.000,0.045,3515,2374,2517,0,0,0,0,0,0
$GC,8136,1.07,169.0,504.5,10.2,316,8140,0.00,2.65,0.00,0.000,4,0.000,0.055,3515,3941,2516,0,0,0,0,0,0
$GC,8185,1.03,169.0,498.8,11.1,317,8190,0.00,2.58,0.00,0.000,6,0.000,0.041,3515,2382,2515,0,0,0,0,0,0
$GC,8459,1.03,169.0,471.1,10.0,324,8463,0.00,2.62,0.00,0.000,4,0.000,0.051,3515,3949,2514,0,0,0,0,0,0
$GC,8480,0.99,169.0,468.4,10.8,324,8485,0.15,2.55,0.00,0.000,6,0.110,0.039,3485,2379,2514,0,0,0,0,0,0
$GC,8736,1.08,205.4,446.5,8.3,331,8770,0.00,0.00,32.08,0.849,6,0.000,0.000,3484,2379,2372,0,0,0,0,0,0
$GC,8982,1.15,215.0,423.2,9.6,337,8997,0.15,2.65,9.50,0.746,4,0.067,0.052,3527,3942,2333,0,0,0,0,0,0
$GC,9036,1.15,215.0,416.2,13.0,338,9041,0.00,2.53,0.00,0.000,6,0.000,0.032,3527,2390,2331,0,0,0,0,0,0
$GC,9305,1.15,215.0,385.3,11.4,345,9310,0.00,2.58,0.00,0.000,4,0.000,0.047,3528,3940,2330,0,0,0,0,0,0
$GC,9321,1.15,215.0,382.9,11.8,345,9326,0.00,2.47,0.00,0.000,6,0.000,0.025,3527,2389,2330,0,0,0,0,0,0
$GC,9588,1.15,215.0,351.2,11.9,352,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2389,2329,0,0,0,0,0,0
$GC,9832,1.15,215.0,324.1,11.1,358,9836,0.00,2.58,0.00,0.000,4,0.000,0.047,3527,3948,2329,0,0,0,0,0,0
$GC,9890,1.15,215.0,317.3,12.6,359,9894,0.00,2.47,0.00,0.000,6,0.000,0.030,3527,2396,2328,0,0,0,0,0,0
$GC,10158,1.15,215.0,286.0,11.6,366,10162,0.00,2.58,0.00,0.000,4,0.000,0.048,3527,3939,2328,0,0,0,0,0,0
$GC,10184,1.15,215.0,282.5,12.0,366,10188,0.00,2.40,0.00,0.000,6,0.000,0.025,3527,2416,2328,0,0,0,0,0,0
$GC,10442,1.15,215.0,253.4,11.3,373,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2416,2328,0,0,0,0,0,0
$GC,10683,1.15,215.0,226.6,11.0,379,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2416,2328,0,0,0,0,0,0
$GC,10927,1.15,215.0,200.8,10.5,385,10932,0.00,2.67,0.00,0.000,4,0.000,0.050,3527,784,2328,0,0,0,0,0,0
$GC,10937,1.15,215.0,199.6,10.2,385,10942,0.00,2.62,0.00,0.000,6,0.000,0.030,3528,2450,2328,0,0,0,0,0,0
$GC,11213,1.22,239.4,173.7,8.9,409,11247,0.00,2.55,21.62,0.626,4,0.000,0.044,3527,3944,2233,0,0,0,0,0,0
$GC,11290,1.27,239.4,165.4,11.2,415,11295,0.00,2.45,0.00,0.000,6,0.000,0.025,3528,2413,2232,0,0,0,0,0,0
$GC,11553,1.37,265.7,141.4,8.8,440,11579,0.17,0.00,23.80,0.597,6,0.058,0.000,3581,2413,2125,0,0,0,0,0,0
$GC,11832,1.44,325.8,111.9,7.2,466,11891,0.00,2.72,52.15,0.580,4,0.000,0.047,3581,785,1879,0,0,0,0,0,0
$GC,11903,1.44,325.8,105.0,11.0,472,11908,0.00,2.65,0.00,0.000,6,0.000,0.021,3581,2449,1878,0,0,0,0,0,0
$GC,12173,1.49,325.8,76.1,10.6,496,12178,0.00,2.45,0.00,0.000,4,0.000,0.041,3581,3950,1876,0,0,0,0,0,0
$GC,12232,1.56,325.8,69.0,11.1,500,12237,0.12,2.38,0.00,0.000,6,0.069,0.023,3624,2437,1875,0,0,0,0,0,0
$GC,12498,1.56,325.8,37.4,11.5,524,12502,0.00,2.47,0.00,0.000,4,0.000,0.041,3624,3949,1875,0,0,0,0,0,0
$GC,12518,1.56,325.8,35.1,10.6,525,12522,0.00,2.35,0.00,0.000,6,0.000,0.021,3624,2444,1875,0,0,0,0,0,0
$STATE,12770,end climb,SURFACE_DEPTH_REACHED
$STATE,12770,begin surface coast
$FINISH,0.9,1.013295
$STATE,12813,end surface coast,CONTROL_FINISHED_OK
$STATE,12813,begin surface
$SM_CCo,12836,19.30,0.471,0,0,1783,350.04
$SM_GC,1.92,0.00,0.00,19.30,0.000,0.000,0.471,466,2186,1783,-12.90,-0.68,350.04
$IRIDIUM_FIX,1916.08,-8105.33,290402,050539
$TT8_MAMPS,0.025311
$HUMID,58.07
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,38
$24V_AH,23.5,12.801
$10V_AH,10.5,11.023
$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,30.975,140.275,399.075,19.300,0.000,24.255,35.404,234.565,9.500,0.000,37.149,1164.189,9062.021,486.942,1956.126,659.165,33.365,1260.828,0.000,1935.285,0.000,0.538,0.000
$DEVICE_MAMPS,168.740,120.419,964.119,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.468,308.565,396.884,545.829,1041.468,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355876
$DATA_FILE_SIZE,44652,566
$CAP_FILE_SIZE,126059,0
$CFSIZE,260165632,122568704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020213,122229,1923.967,-8108.948,34,1.5,34,-3.8