version: 66.06
glider: 146
mission: 8
dive: 92
start: 2 2 113 16 19 24
data:
$ID,146
$MISSION,8
$DIVE,92
$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,-309149.84
$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,62
$R_STBD_OVSHOOT,27
$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
$GPS1,161139,1924.048,-8109.560,42,2.0,42,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.0
$GPS2,161831,1924.040,-8109.598,14,1.3,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,0.036
$KALMAN_X,128162.1,-333.4,165.8,-125293.8,1617.5
$KALMAN_Y,-16690.1,-401.5,-89.7,11645.1,122.5
$MHEAD_RNG_PITCHd_Wd,281.7,15663,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.53,0.000,2,0.000,0.000,468,2177,3542,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.6,9,123,13.75,2.60,-4.65,0.000,4,0.167,0.041,2986,3807,3808,0,0,0,0,0,0
$GC,250,-1.14,-146.0,40.6,-15.9,27,260,0.12,2.50,0.00,0.000,6,0.088,0.025,3019,2240,3809,0,0,0,0,0,0
$GC,520,-1.00,-146.0,79.8,-14.1,52,525,0.15,2.65,0.00,0.000,4,0.109,0.044,3052,631,3809,0,0,0,0,0,0
$GC,568,-0.96,-146.0,87.2,-13.5,55,572,0.00,2.45,0.00,0.000,6,0.000,0.017,3052,2225,3808,0,0,0,0,0,0
$GC,836,-0.96,-146.0,119.7,-10.4,79,840,0.00,2.45,0.00,0.000,4,0.000,0.031,3052,3773,3809,0,0,0,0,0,0
$GC,870,-0.96,-146.0,123.5,-10.5,81,874,0.00,2.47,0.00,0.000,6,0.000,0.021,3052,2189,3809,0,0,0,0,0,0
$GC,1139,-1.01,-146.0,147.2,-8.5,105,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2189,3810,0,0,0,0,0,0
$GC,1406,-1.08,-146.0,168.1,-7.4,130,1410,0.00,2.53,0.00,0.000,4,0.000,0.047,3051,641,3811,0,0,0,0,0,0
$GC,1469,-1.20,-146.0,173.1,-7.0,135,1474,0.17,2.42,0.00,0.000,6,0.052,0.025,2982,2219,3810,0,0,0,0,0,0
$GC,1730,-1.16,-146.0,197.4,-9.2,159,1735,0.15,2.50,0.00,0.000,4,0.094,0.036,3017,3782,3810,0,0,0,0,0,0
$GC,1808,-1.22,-146.0,203.8,-8.6,162,1812,0.00,2.40,0.00,0.000,6,0.000,0.028,3017,2219,3810,0,0,0,0,0,0
$GC,2058,-1.26,-146.0,223.3,-7.7,168,2062,0.00,2.58,0.00,0.000,4,0.000,0.051,3017,638,3810,0,0,0,0,0,0
$GC,2091,-1.32,-146.0,226.2,-8.7,168,2097,0.15,2.45,0.00,0.000,6,0.059,0.028,2960,2224,3811,0,0,0,0,0,0
$GC,2343,-1.27,-146.0,250.5,-9.7,175,2345,0.15,0.00,0.00,0.000,6,0.094,0.000,2994,2224,3811,0,0,0,0,0,0
$GC,2585,-1.27,-146.0,269.9,-7.9,181,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2224,3810,0,0,0,0,0,0
$GC,2828,-1.27,-146.0,290.0,-8.2,187,2833,0.00,2.65,0.00,0.000,4,0.000,0.055,2994,643,3809,0,0,0,0,0,0
$GC,2870,-1.27,-146.0,293.5,-9.1,188,2874,0.00,2.45,0.00,0.000,6,0.000,0.030,2994,2212,3809,0,0,0,0,0,0
$GC,3153,-1.27,-146.0,317.0,-8.0,195,3157,0.00,2.53,0.00,0.000,4,0.000,0.041,2994,3787,3809,0,0,0,0,0,0
$GC,3193,-1.30,-146.0,320.5,-9.1,196,3197,0.00,2.45,0.00,0.000,6,0.000,0.027,2994,2231,3809,0,0,0,0,0,0
$GC,3478,-1.30,-146.0,342.0,-7.5,203,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2231,3807,0,0,0,0,0,0
$GC,3719,-1.30,-146.0,359.7,-7.2,209,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2231,3807,0,0,0,0,0,0
$GC,3963,-1.30,-146.0,376.5,-6.9,215,3968,0.00,2.75,0.00,0.000,4,0.000,0.074,2994,637,3806,0,0,0,0,0,0
$GC,3992,-1.30,-146.0,378.7,-7.6,215,3996,0.00,2.50,0.00,0.000,6,0.000,0.028,2994,2208,3806,0,0,0,0,0,0
$GC,4242,-1.30,-146.0,398.4,-8.1,221,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2208,3804,0,0,0,0,0,0
$GC,4486,-1.30,-146.0,417.8,-7.8,227,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2208,3803,0,0,0,0,0,0
$GC,4730,-1.34,-146.0,435.9,-7.4,233,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2208,3802,0,0,0,0,0,0
$GC,4974,-1.38,-146.0,454.1,-7.6,239,4975,0.10,0.00,0.00,0.000,6,0.081,0.000,2952,2209,3801,0,0,0,0,0,0
$GC,5217,-1.34,-146.0,477.0,-9.5,245,5222,0.12,2.72,0.00,0.000,4,0.100,0.070,2980,3790,3800,0,0,0,0,0,0
$GC,5245,-1.34,-146.0,479.7,-8.8,245,5249,0.00,2.55,0.00,0.000,6,0.000,0.046,2980,2234,3800,0,0,0,0,0,0
$GC,5497,-1.34,-146.0,500.2,-8.3,251,5502,0.00,2.90,0.00,0.000,4,0.000,0.100,2980,628,3798,0,0,0,0,0,0
$GC,5524,-1.34,-146.0,502.7,-8.8,251,5528,0.00,2.60,0.00,0.000,6,0.000,0.045,2980,2216,3799,0,0,0,0,0,0
$GC,5774,-1.34,-146.0,523.0,-8.2,257,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3797,0,0,0,0,0,0
$GC,6020,-1.34,-146.0,541.9,-7.6,263,6024,0.00,2.78,0.00,0.000,4,0.000,0.084,2979,3793,3796,0,0,0,0,0,0
$GC,6048,-1.34,-146.0,544.3,-8.2,263,6053,0.00,2.60,0.00,0.000,6,0.000,0.055,2980,2225,3796,0,0,0,0,0,0
$GC,6298,-1.34,-146.0,563.2,-7.5,269,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2226,3794,0,0,0,0,0,0
$GC,6544,-1.34,-146.0,582.0,-7.8,275,6549,0.00,3.03,0.00,0.000,4,0.000,0.119,2980,622,3793,0,0,0,0,0,0
$GC,6571,-1.34,-146.0,584.5,-8.2,275,6576,0.00,2.67,0.00,0.000,6,0.000,0.054,2980,2221,3793,0,0,0,0,0,0
$STATE,6782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6782,begin apogee
$GC,6788,-0.31,0.0,601.1,8.1,280,6909,0.95,0.00,117.28,0.965,6,0.066,0.000,3200,2378,3210,0,0,0,0,0,0
$STATE,6909,end apogee,CONTROL_FINISHED_OK
$STATE,6909,begin climb
$GC,6914,1.27,146.0,604.4,0.0,283,7046,1.42,3.00,120.47,0.941,4,0.034,0.105,3554,3932,2612,0,0,0,0,0,0
$GC,7110,1.13,146.0,593.5,11.4,287,7115,0.17,2.70,0.00,0.000,6,0.113,0.061,3518,2369,2609,0,0,0,0,0,0
$GC,7365,1.17,179.7,571.1,8.4,294,7396,0.00,0.00,29.17,0.893,6,0.000,0.000,3518,2369,2477,0,0,0,0,0,0
$GC,7609,1.18,187.1,547.9,9.7,300,7623,0.00,2.78,7.35,0.748,4,0.000,0.064,3518,3932,2447,0,0,0,0,0,0
$GC,7650,1.14,187.1,543.8,10.6,300,7655,0.00,2.62,0.00,0.000,6,0.000,0.042,3518,2373,2445,0,0,0,0,0,0
$GC,7899,1.14,187.1,518.4,10.1,307,7904,0.00,2.67,0.00,0.000,4,0.000,0.060,3518,3945,2444,0,0,0,0,0,0
$GC,7921,1.10,187.1,516.0,10.7,307,7925,0.00,2.60,0.00,0.000,6,0.000,0.041,3517,2378,2443,0,0,0,0,0,0
$GC,8178,1.10,187.1,489.4,10.6,314,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2378,2442,0,0,0,0,0,0
$GC,8419,1.10,187.1,463.9,10.4,320,8424,0.00,2.62,0.00,0.000,4,0.000,0.054,3518,3946,2441,0,0,0,0,0,0
$GC,8452,1.10,187.1,460.2,11.1,320,8461,0.00,2.55,0.00,0.000,6,0.000,0.037,3518,2390,2441,0,0,0,0,0,0
$GC,8702,1.10,187.1,433.8,10.6,327,8707,0.00,2.60,0.00,0.000,4,0.000,0.049,3518,3949,2440,0,0,0,0,0,0
$GC,8745,1.10,187.1,429.5,11.6,328,8749,0.00,2.53,0.00,0.000,6,0.000,0.031,3518,2396,2440,0,0,0,0,0,0
$GC,9027,1.10,187.1,398.6,10.9,335,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2396,2439,0,0,0,0,0,0
$GC,9271,1.10,187.1,372.6,10.8,341,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2396,2439,0,0,0,0,0,0
$GC,9517,1.10,187.1,346.0,11.0,347,9521,0.00,2.72,0.00,0.000,4,0.000,0.067,3518,782,2439,0,0,0,0,0,0
$GC,9538,1.10,187.1,343.3,11.2,347,9542,0.00,2.60,0.00,0.000,6,0.000,0.031,3518,2423,2438,0,0,0,0,0,0
$GC,9793,1.10,187.1,316.3,10.6,354,9798,0.00,2.50,0.00,0.000,4,0.000,0.048,3517,3947,2438,0,0,0,0,0,0
$GC,9837,1.10,187.1,311.3,11.7,355,9842,0.00,2.45,0.00,0.000,6,0.000,0.027,3518,2407,2438,0,0,0,0,0,0
$GC,10127,1.10,188.0,282.9,10.0,362,10131,0.00,2.55,0.00,0.000,4,0.000,0.048,3518,3942,2438,0,0,0,0,0,0
$GC,10154,1.10,188.0,279.3,11.5,362,10158,0.00,2.42,0.00,0.000,6,0.000,0.025,3517,2405,2438,0,0,0,0,0,0
$GC,10409,1.10,188.0,253.5,10.2,369,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2405,2438,0,0,0,0,0,0
$GC,10655,1.10,188.1,228.8,10.0,375,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2405,2438,0,0,0,0,0,0
$GC,10896,1.12,202.9,205.7,9.3,381,10912,0.00,0.00,13.65,0.634,6,0.000,0.000,3518,2405,2383,0,0,0,0,0,0
$GC,11171,1.18,210.6,180.9,9.6,401,11186,0.00,2.60,8.23,0.569,4,0.000,0.046,3518,3932,2350,0,0,0,0,0,0
$GC,11268,1.25,221.7,171.4,9.5,409,11284,0.10,2.42,10.90,0.585,6,0.083,0.029,3552,2413,2306,0,0,0,0,0,0
$GC,11539,1.27,243.6,145.1,9.0,434,11566,0.00,2.80,20.12,0.597,4,0.000,0.049,3552,784,2216,0,0,0,0,0,0
$GC,11581,1.28,246.2,141.1,9.9,437,11590,0.00,2.62,4.00,0.398,6,0.000,0.022,3552,2430,2205,0,0,0,0,0,0
$GC,11856,1.33,253.1,115.7,9.7,463,11871,0.00,2.55,7.38,0.501,4,0.000,0.041,3552,3946,2177,0,0,0,0,0,0
$GC,11891,1.42,272.2,112.0,9.1,466,11916,0.12,2.40,17.85,0.558,6,0.070,0.024,3596,2424,2100,0,0,0,0,0,0
$GC,12170,1.42,272.2,85.6,10.2,492,12174,0.00,2.50,0.00,0.000,4,0.000,0.042,3596,3944,2098,0,0,0,0,0,0
$GC,12261,1.42,272.2,76.0,11.5,499,12266,0.00,2.38,0.00,0.000,6,0.000,0.024,3596,2443,2097,0,0,0,0,0,0
$GC,12531,1.44,283.9,49.2,9.5,523,12549,0.00,2.78,11.32,0.485,4,0.000,0.046,3596,791,2051,0,0,0,0,0,0
$GC,12573,1.44,283.9,44.6,10.5,526,12577,0.00,2.62,0.00,0.000,6,0.000,0.021,3596,2470,2051,0,0,0,0,0,0
$GC,12869,1.44,283.9,15.2,10.2,561,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,2471,2051,0,0,0,0,0,0
$STATE,12977,end climb,SURFACE_DEPTH_REACHED
$STATE,12978,begin surface coast
$FINISH,0.8,1.020313
$STATE,13028,end surface coast,CONTROL_FINISHED_OK
$STATE,13028,begin surface
$SM_CCo,13052,53.38,0.482,0,0,1782,350.04
$SM_GC,1.45,0.00,0.00,53.38,0.000,0.000,0.482,461,2179,1782,-12.92,-0.88,350.04
$IRIDIUM_FIX,1918.37,-8107.58,290402,121239
$TT8_MAMPS,0.026078
$HUMID,56.45
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.00
$XPDR_PINGS,37
$24V_AH,23.5,13.032
$10V_AH,10.5,11.252
$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,30.100,135.450,367.725,53.375,0.000,23.688,34.778,191.810,9.250,0.000,17.159,1193.745,9193.092,498.759,2007.605,620.059,33.365,1271.748,0.000,2010.189,0.000,0.538,0.000
$DEVICE_MAMPS,167.206,134.225,964.886,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.556,329.129,416.557,593.285,1130.939,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,44743,584
$CAP_FILE_SIZE,124211,0
$CFSIZE,260165632,122445824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020213,195903,1923.961,-8110.056,10,99.0,29,-3.8