version: 66.06
glider: 146
mission: 8
dive: 91
start: 2 2 113 12 35 46
data:
$ID,146
$MISSION,8
$DIVE,91
$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,-309132.06
$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,52
$R_STBD_OVSHOOT,16
$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
$GPS1,122229,1923.967,-8108.948,34,1.5,34,-3.8
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.4
$GPS2,123449,1923.931,-8109.026,14,1.5,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.252,0.062
$KALMAN_X,126074.3,-218.7,124.6,-122278.3,1562.5
$KALMAN_Y,-16211.2,-497.0,64.5,10905.2,-216.3
$MHEAD_RNG_PITCHd_Wd,287.7,16671,-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,-71.07,0.000,2,0.000,0.000,466,2186,3610,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.5,-7.9,9,121,13.82,2.62,-3.30,0.000,4,0.170,0.040,2988,3807,3808,0,0,0,0,0,0
$GC,199,-1.13,-146.0,34.8,-16.0,22,209,0.12,2.50,0.00,0.000,6,0.091,0.021,3020,2223,3808,0,0,0,0,0,0
$GC,467,-0.98,-146.0,75.3,-15.3,47,472,0.15,2.62,0.00,0.000,4,0.111,0.046,3053,638,3808,0,0,0,0,0,0
$GC,529,-0.94,-146.0,84.0,-12.5,51,534,0.00,2.47,0.00,0.000,6,0.000,0.018,3053,2245,3808,0,0,0,0,0,0
$GC,795,-0.94,-146.0,116.1,-12.2,75,800,0.00,2.65,0.00,0.000,4,0.000,0.045,3053,638,3808,0,0,0,0,0,0
$GC,831,-0.94,-146.0,120.4,-10.2,77,837,0.00,2.35,0.00,0.000,6,0.000,0.017,3053,2194,3809,0,0,0,0,0,0
$GC,1096,-0.98,-146.0,144.7,-9.2,102,1101,0.00,2.50,0.00,0.000,4,0.000,0.035,3053,3770,3809,0,0,0,0,0,0
$GC,1142,-1.04,-146.0,149.2,-10.0,105,1146,0.00,2.45,0.00,0.000,6,0.000,0.026,3053,2184,3809,0,0,0,0,0,0
$GC,1407,-1.11,-146.0,171.2,-7.1,129,1412,0.10,2.53,0.00,0.000,4,0.077,0.052,3001,638,3809,0,0,0,0,0,0
$GC,1448,-1.11,-146.0,175.1,-9.4,132,1453,0.12,2.33,0.00,0.000,6,0.104,0.022,3030,2170,3809,0,0,0,0,0,0
$GC,1709,-1.16,-146.0,194.4,-7.1,156,1713,0.00,2.55,0.00,0.000,4,0.000,0.038,3029,3776,3810,0,0,0,0,0,0
$GC,1743,-1.24,-146.0,196.9,-7.8,158,1749,0.12,2.50,0.00,0.000,6,0.065,0.028,2974,2166,3810,0,0,0,0,0,0
$GC,2027,-1.20,-146.0,224.6,-9.8,168,2032,0.15,2.50,0.00,0.000,4,0.096,0.057,3008,641,3810,0,0,0,0,0,0
$GC,2049,-1.20,-146.0,226.8,-8.5,168,2053,0.00,2.35,0.00,0.000,6,0.000,0.025,3008,2191,3810,0,0,0,0,0,0
$GC,2310,-1.24,-146.0,247.1,-7.9,175,2314,0.00,2.50,0.00,0.000,4,0.000,0.041,3008,3765,3810,0,0,0,0,0,0
$GC,2339,-1.29,-146.0,249.3,-7.5,175,2344,0.00,2.47,0.00,0.000,6,0.000,0.025,3008,2180,3810,0,0,0,0,0,0
$GC,2589,-1.33,-146.0,268.2,-7.5,181,2591,0.12,0.00,0.00,0.000,6,0.070,0.000,2956,2180,3809,0,0,0,0,0,0
$GC,2833,-1.27,-146.0,290.9,-9.4,187,2839,0.17,2.58,0.00,0.000,4,0.089,0.047,2995,3768,3809,0,0,0,0,0,0
$GC,2857,-1.27,-146.0,292.9,-8.6,187,2862,0.00,2.47,0.00,0.000,6,0.000,0.028,2996,2184,3808,0,0,0,0,0,0
$GC,3113,-1.27,-146.0,312.2,-7.3,194,3117,0.00,2.60,0.00,0.000,4,0.000,0.064,2996,629,3807,0,0,0,0,0,0
$GC,3140,-1.27,-146.0,314.3,-7.5,194,3144,0.00,2.40,0.00,0.000,6,0.000,0.031,2995,2161,3807,0,0,0,0,0,0
$GC,3392,-1.27,-146.0,334.4,-8.3,200,3396,0.00,2.65,0.00,0.000,4,0.000,0.048,2995,3786,3806,0,0,0,0,0,0
$GC,3460,-1.32,-146.0,340.6,-8.2,201,3464,0.00,2.53,0.00,0.000,6,0.000,0.029,2996,2196,3806,0,0,0,0,0,0
$GC,3717,-1.32,-146.0,359.4,-7.3,208,3722,0.00,2.65,0.00,0.000,4,0.000,0.071,2996,631,3805,0,0,0,0,0,0
$GC,3745,-1.32,-146.0,361.7,-7.3,208,3749,0.00,2.47,0.00,0.000,6,0.000,0.027,2996,2192,3805,0,0,0,0,0,0
$GC,3995,-1.32,-146.0,379.8,-7.4,214,3999,0.00,2.62,0.00,0.000,4,0.000,0.053,2996,3796,3804,0,0,0,0,0,0
$GC,4022,-1.32,-146.0,382.2,-8.3,214,4026,0.00,2.55,0.00,0.000,6,0.000,0.034,2996,2185,3803,0,0,0,0,0,0
$GC,4274,-1.32,-146.0,402.0,-8.0,220,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2185,3802,0,0,0,0,0,0
$GC,4515,-1.32,-146.0,420.5,-7.5,226,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2185,3801,0,0,0,0,0,0
$GC,4760,-1.36,-146.0,439.3,-7.7,232,4764,0.00,2.65,0.00,0.000,4,0.000,0.052,2996,3786,3800,0,0,0,0,0,0
$GC,4801,-1.41,-146.0,442.6,-8.2,233,4807,0.15,2.60,0.00,0.000,6,0.059,0.038,2940,2183,3800,0,0,0,0,0,0
$GC,5085,-1.35,-146.0,469.8,-9.4,240,5091,0.17,2.80,0.00,0.000,4,0.094,0.095,2979,628,3799,0,0,0,0,0,0
$GC,5132,-1.35,-146.0,473.8,-8.2,241,5137,0.00,2.55,0.00,0.000,6,0.000,0.051,2979,2176,3799,0,0,0,0,0,0
$GC,5410,-1.35,-146.0,494.2,-7.4,248,5414,0.00,2.78,0.00,0.000,4,0.000,0.076,2979,3800,3797,0,0,0,0,0,0
$GC,5487,-1.35,-146.0,500.4,-8.3,249,5493,0.00,2.67,0.00,0.000,6,0.000,0.049,2979,2193,3797,0,0,0,0,0,0
$GC,5740,-1.35,-146.0,518.5,-7.1,256,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2193,3795,0,0,0,0,0,0
$GC,5981,-1.35,-146.0,537.1,-7.6,262,5986,0.00,2.75,0.00,0.000,4,0.000,0.070,2979,3792,3794,0,0,0,0,0,0
$GC,6047,-1.35,-146.0,542.5,-8.4,263,6052,0.00,2.67,0.00,0.000,6,0.000,0.056,2979,2198,3794,0,0,0,0,0,0
$GC,6305,-1.35,-146.0,563.8,-8.5,270,6310,0.00,2.97,0.00,0.000,4,0.000,0.123,2979,621,3792,0,0,0,0,0,0
$GC,6355,-1.35,-146.0,568.7,-9.5,271,6359,0.00,2.65,0.00,0.000,6,0.000,0.058,2979,2195,3792,0,0,0,0,0,0
$GC,6629,-1.35,-146.0,592.8,-8.9,278,6634,0.00,2.88,0.00,0.000,4,0.000,0.100,2979,3791,3791,0,0,0,0,0,0
$GC,6670,-1.35,-146.0,596.5,-10.2,279,6674,0.00,2.72,0.00,0.000,6,0.000,0.067,2979,2197,3791,0,0,0,0,0,0
$STATE,6707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6707,begin apogee
$GC,6713,-0.31,0.0,600.3,8.5,280,6834,0.98,0.00,117.38,0.960,6,0.067,0.000,3204,2388,3210,0,0,0,0,0,0
$STATE,6836,end apogee,CONTROL_FINISHED_OK
$STATE,6837,begin climb
$GC,6839,1.27,146.0,604.5,0.0,283,6973,1.40,2.85,120.40,0.937,4,0.033,0.079,3554,3927,2614,0,0,0,0,0,0
$GC,7112,1.14,146.0,585.4,11.4,289,7117,0.17,2.70,0.00,0.000,6,0.112,0.054,3519,2362,2608,0,0,0,0,0,0
$GC,7384,1.13,167.9,560.1,9.0,296,7406,0.00,0.00,19.30,0.867,6,0.000,0.000,3519,2361,2525,0,0,0,0,0,0
$GC,7627,1.13,167.9,534.8,10.8,302,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2361,2521,0,0,0,0,0,0
$GC,7873,1.13,167.9,507.7,11.5,308,7878,0.00,2.67,0.00,0.000,4,0.000,0.058,3519,3930,2519,0,0,0,0,0,0
$GC,8025,1.07,167.9,489.3,11.0,311,8030,0.00,2.58,0.00,0.000,6,0.000,0.039,3519,2364,2518,0,0,0,0,0,0
$GC,8287,1.09,186.9,464.7,9.1,318,8305,0.00,0.00,16.83,0.825,6,0.000,0.000,3519,2364,2447,0,0,0,0,0,0
$GC,8532,1.09,187.6,440.7,10.0,324,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2364,2443,0,0,0,0,0,0
$GC,8774,1.09,187.6,416.1,10.1,330,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2364,2442,0,0,0,0,0,0
$GC,9017,1.09,187.6,390.7,10.5,336,9022,0.00,2.60,0.00,0.000,4,0.000,0.045,3519,3933,2441,0,0,0,0,0,0
$GC,9059,1.09,187.6,386.3,11.2,337,9063,0.00,2.55,0.00,0.000,6,0.000,0.030,3519,2352,2440,0,0,0,0,0,0
$GC,9341,1.09,187.6,355.7,10.7,344,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2352,2440,0,0,0,0,0,0
$GC,9585,1.09,187.6,330.0,10.4,350,9590,0.00,2.62,0.00,0.000,4,0.000,0.044,3519,3938,2440,0,0,0,0,0,0
$GC,9618,1.09,187.6,326.2,11.9,350,9624,0.00,2.53,0.00,0.000,6,0.000,0.030,3519,2352,2440,0,0,0,0,0,0
$GC,9870,1.09,187.6,300.7,10.3,357,9875,0.00,2.60,0.00,0.000,4,0.000,0.046,3519,3930,2440,0,0,0,0,0,0
$GC,9931,1.09,187.6,293.6,11.5,358,9936,0.00,2.47,0.00,0.000,6,0.000,0.031,3519,2371,2440,0,0,0,0,0,0
$GC,10192,1.09,187.6,267.4,10.1,365,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2371,2439,0,0,0,0,0,0
$GC,10438,1.09,187.6,242.4,10.3,371,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2371,2440,0,0,0,0,0,0
$GC,10680,1.10,194.6,218.6,9.7,377,10694,0.00,2.65,7.22,0.580,4,0.000,0.048,3519,3930,2415,0,0,0,0,0,0
$GC,10750,1.10,194.6,210.9,11.4,378,10755,0.00,2.47,0.00,0.000,6,0.000,0.026,3519,2370,2415,0,0,0,0,0,0
$GC,11009,1.14,221.4,187.6,8.8,393,11042,0.00,2.62,24.02,0.640,4,0.000,0.051,3519,3930,2307,0,0,0,0,0,0
$GC,11129,1.19,221.4,175.6,11.2,403,11133,0.00,2.47,0.00,0.000,6,0.000,0.029,3519,2385,2306,0,0,0,0,0,0
$GC,11398,1.31,262.2,151.5,8.1,427,11438,0.15,0.00,36.05,0.613,6,0.185,0.000,3566,2385,2140,0,0,0,0,0,0
$GC,11692,1.32,268.3,120.3,9.7,455,11703,0.00,2.60,6.47,0.487,4,0.000,0.050,3567,3941,2115,0,0,0,0,0,0
$GC,11721,1.32,268.3,116.5,11.0,457,11726,0.00,2.50,0.00,0.000,6,0.000,0.026,3566,2382,2114,0,0,0,0,0,0
$GC,11986,1.44,310.1,95.4,8.1,482,12028,0.00,2.58,36.85,0.561,4,0.000,0.041,3566,3932,1944,0,0,0,0,0,0
$GC,12082,1.51,310.1,85.8,10.2,489,12089,0.12,2.45,0.00,0.000,6,0.073,0.024,3610,2397,1942,0,0,0,0,0,0
$GC,12346,1.51,310.1,55.7,11.4,514,12355,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2397,1941,0,0,0,0,0,0
$GC,12624,1.51,310.1,22.5,12.0,544,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2397,1941,0,0,0,0,0,0
$STATE,12770,end climb,SURFACE_DEPTH_REACHED
$STATE,12770,begin surface coast
$FINISH,0.9,1.011048
$STATE,12815,end surface coast,CONTROL_FINISHED_OK
$STATE,12815,begin surface
$SM_CCo,12837,31.05,0.482,0,0,1783,350.04
$SM_GC,1.53,0.00,0.00,31.05,0.000,0.000,0.482,468,2177,1783,-12.88,-0.93,350.04
$IRIDIUM_FIX,1918.37,-8107.58,290402,080820
$TT8_MAMPS,0.025311
$HUMID,57.16
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,51
$24V_AH,23.5,12.921
$10V_AH,10.5,11.137
$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,30.575,145.250,384.525,31.050,0.000,87.977,142.695,224.099,12.750,0.000,15.740,1184.147,9052.886,502.497,2039.074,829.482,33.363,1317.332,0.000,2035.045,0.000,0.538,0.000
$DEVICE_MAMPS,184.847,122.720,959.517,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.694,295.418,404.941,560.293,1068.053,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,44657,572
$CAP_FILE_SIZE,130014,0
$CFSIZE,260165632,122503168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020213,161139,1924.048,-8109.560,42,2.0,42,-3.8