version: 66.06
glider: 146
mission: 8
dive: 93
start: 2 2 113 20 9 49
data:
$ID,146
$MISSION,8
$DIVE,93
$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,-309192.81
$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,59
$R_STBD_OVSHOOT,18
$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
$GPS1,195903,1923.961,-8110.056,10,99.0,29,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.7
$GPS2,200854,1923.946,-8110.088,40,1.1,40,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.022
$KALMAN_X,130250.2,-40.2,-1.9,-128365.1,1918.4
$KALMAN_Y,-17457.8,-81.8,-221.8,12053.5,222.2
$MHEAD_RNG_PITCHd_Wd,278.6,14930,-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,-71.00,0.000,2,0.000,0.000,461,2179,3557,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.8,-6.0,9,121,13.55,2.65,-4.50,0.000,4,0.160,0.046,2986,3808,3806,0,0,0,0,0,0
$GC,272,-1.13,-146.0,43.6,-17.4,29,277,0.17,2.50,0.00,0.000,6,0.107,0.024,3024,2228,3807,0,0,0,0,0,0
$GC,541,-1.00,-146.0,85.0,-14.4,53,546,0.12,2.65,0.00,0.000,4,0.110,0.048,3051,633,3807,0,0,0,0,0,0
$GC,588,-0.96,-146.0,92.7,-13.1,56,597,0.00,2.50,0.00,0.000,6,0.000,0.018,3051,2240,3807,0,0,0,0,0,0
$GC,857,-0.96,-146.0,122.8,-10.0,81,861,0.00,2.42,0.00,0.000,4,0.000,0.038,3052,3779,3807,0,0,0,0,0,0
$GC,896,-0.96,-146.0,127.7,-10.9,84,901,0.00,2.45,0.00,0.000,6,0.000,0.021,3052,2196,3807,0,0,0,0,0,0
$GC,1162,-1.00,-146.0,151.9,-9.2,108,1166,0.00,2.55,0.00,0.000,4,0.000,0.046,3051,635,3808,0,0,0,0,0,0
$GC,1217,-1.09,-146.0,157.1,-9.0,112,1222,0.00,2.40,0.00,0.000,6,0.000,0.018,3051,2214,3807,0,0,0,0,0,0
$GC,1487,-1.17,-146.0,178.3,-7.1,136,1492,0.15,2.58,0.00,0.000,4,0.058,0.054,2989,641,3808,0,0,0,0,0,0
$GC,1519,-1.17,-146.0,182.1,-10.1,138,1528,0.08,2.40,0.00,0.000,6,0.079,0.023,3011,2192,3808,0,0,0,0,0,0
$GC,1812,-1.17,-146.0,206.9,-8.0,160,1816,0.00,2.47,0.00,0.000,4,0.000,0.039,3011,3766,3808,0,0,0,0,0,0
$GC,1880,-1.23,-146.0,212.8,-8.8,161,1884,0.00,2.45,0.00,0.000,6,0.000,0.020,3011,2196,3808,0,0,0,0,0,0
$GC,2138,-1.27,-146.0,232.8,-8.0,168,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2196,3808,0,0,0,0,0,0
$GC,2380,-1.31,-146.0,251.2,-7.6,174,2382,0.12,0.00,0.00,0.000,6,0.067,0.000,2961,2197,3808,0,0,0,0,0,0
$GC,2624,-1.26,-146.0,274.5,-9.7,180,2626,0.15,0.00,0.00,0.000,6,0.094,0.000,2995,2197,3807,0,0,0,0,0,0
$GC,2867,-1.26,-146.0,293.6,-7.6,186,2871,0.00,2.60,0.00,0.000,4,0.000,0.064,2995,635,3807,0,0,0,0,0,0
$GC,2902,-1.26,-146.0,296.3,-8.0,186,2907,0.00,2.45,0.00,0.000,6,0.000,0.028,2995,2200,3806,0,0,0,0,0,0
$GC,3152,-1.26,-146.0,315.4,-7.7,193,3156,0.00,2.55,0.00,0.000,4,0.000,0.041,2995,3782,3806,0,0,0,0,0,0
$GC,3218,-1.26,-146.0,321.1,-8.6,194,3222,0.00,2.45,0.00,0.000,6,0.000,0.025,2995,2229,3806,0,0,0,0,0,0
$GC,3475,-1.26,-146.0,342.0,-8.3,201,3480,0.00,2.70,0.00,0.000,4,0.000,0.073,2995,630,3805,0,0,0,0,0,0
$GC,3503,-1.26,-146.0,344.6,-8.7,201,3507,0.00,2.53,0.00,0.000,6,0.000,0.031,2995,2224,3804,0,0,0,0,0,0
$GC,3753,-1.26,-146.0,365.8,-8.5,207,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2224,3804,0,0,0,0,0,0
$GC,3999,-1.26,-146.0,387.0,-8.8,213,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2224,3803,0,0,0,0,0,0
$GC,4240,-1.26,-146.0,408.3,-8.7,219,4245,0.00,2.70,0.00,0.000,4,0.000,0.064,2995,637,3801,0,0,0,0,0,0
$GC,4267,-1.30,-146.0,410.9,-9.8,219,4272,0.00,2.55,0.00,0.000,6,0.000,0.038,2995,2211,3801,0,0,0,0,0,0
$GC,4520,-1.34,-146.0,431.4,-8.1,225,4524,0.00,2.62,0.00,0.000,4,0.000,0.060,2995,3793,3800,0,0,0,0,0,0
$GC,4541,-1.37,-146.0,433.4,-7.8,225,4547,0.10,2.55,0.00,0.000,6,0.079,0.040,2952,2228,3800,0,0,0,0,0,0
$GC,4797,-1.33,-146.0,458.2,-9.7,232,4799,0.12,0.00,0.00,0.000,6,0.104,0.000,2980,2228,3799,0,0,0,0,0,0
$GC,5044,-1.33,-146.0,479.3,-8.6,238,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2228,3797,0,0,0,0,0,0
$GC,5284,-1.33,-146.0,500.0,-8.5,244,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2228,3796,0,0,0,0,0,0
$GC,5528,-1.33,-146.0,520.5,-8.3,250,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2228,3795,0,0,0,0,0,0
$GC,5774,-1.33,-146.0,540.9,-8.4,256,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2228,3793,0,0,0,0,0,0
$GC,6016,-1.33,-146.0,561.8,-8.6,262,6020,0.00,3.00,0.00,0.000,4,0.000,0.114,2980,628,3792,0,0,0,0,0,0
$GC,6043,-1.33,-146.0,564.2,-8.9,262,6047,0.00,2.67,0.00,0.000,6,0.000,0.054,2980,2220,3791,0,0,0,0,0,0
$GC,6293,-1.33,-146.0,584.0,-7.9,268,6297,0.00,2.83,0.00,0.000,4,0.000,0.097,2980,3794,3791,0,0,0,0,0,0
$GC,6327,-1.33,-146.0,586.8,-8.9,268,6333,0.00,2.67,0.00,0.000,6,0.000,0.061,2980,2220,3790,0,0,0,0,0,0
$STATE,6493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6493,begin apogee
$GC,6499,-0.31,0.0,600.3,8.0,273,6619,0.95,0.00,116.62,0.962,6,0.067,0.000,3200,2382,3210,0,0,0,0,0,0
$STATE,6620,end apogee,CONTROL_FINISHED_OK
$STATE,6620,begin climb
$GC,6623,1.27,146.0,603.1,0.0,276,6755,1.40,2.80,120.05,0.940,4,0.035,0.081,3550,3925,2612,0,0,0,0,0,0
$GC,6920,1.15,146.0,578.7,12.4,282,6926,0.15,2.65,0.00,0.000,6,0.116,0.050,3521,2369,2607,0,0,0,0,0,0
$GC,7170,1.13,158.9,554.4,9.4,289,7188,0.00,2.72,11.27,0.818,4,0.000,0.059,3521,3926,2561,0,0,0,0,0,0
$GC,7251,1.07,158.9,546.3,11.1,290,7257,0.00,2.60,0.00,0.000,6,0.000,0.043,3521,2372,2559,0,0,0,0,0,0
$GC,7503,1.09,175.2,522.8,9.2,297,7523,0.00,2.70,14.95,0.843,4,0.000,0.055,3521,3927,2494,0,0,0,0,0,0
$GC,7548,1.03,175.2,518.1,10.3,298,7553,0.12,2.58,0.00,0.000,6,0.120,0.040,3497,2390,2492,0,0,0,0,0,0
$GC,7828,1.06,195.5,492.8,9.1,305,7849,0.00,0.00,18.70,0.845,6,0.000,0.000,3497,2389,2412,0,0,0,0,0,0
$GC,8069,1.06,195.5,467.3,10.9,311,8074,0.00,2.58,0.00,0.000,4,0.000,0.048,3497,3930,2409,0,0,0,0,0,0
$GC,8102,1.06,195.5,463.4,11.8,311,8108,0.00,2.55,0.00,0.000,6,0.000,0.035,3497,2381,2407,0,0,0,0,0,0
$GC,8355,1.10,198.7,438.2,9.9,318,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,2381,2407,0,0,0,0,0,0
$GC,8596,1.16,218.8,415.9,9.1,324,8625,0.10,2.65,21.17,0.808,4,0.089,0.050,3528,3940,2316,0,0,0,0,0,0
$GC,8648,1.11,218.8,410.1,11.9,325,8652,0.00,2.53,0.00,0.000,6,0.000,0.035,3528,2396,2315,0,0,0,0,0,0
$GC,8921,1.11,218.8,378.9,11.4,332,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2396,2313,0,0,0,0,0,0
$GC,9163,1.11,218.8,350.1,11.9,338,9167,0.00,2.55,0.00,0.000,4,0.000,0.048,3528,3932,2312,0,0,0,0,0,0
$GC,9184,1.11,218.8,347.2,12.5,338,9188,0.00,2.47,0.00,0.000,6,0.000,0.025,3528,2393,2312,0,0,0,0,0,0
$GC,9441,1.11,218.8,317.6,11.5,345,9445,0.00,2.55,0.00,0.000,4,0.000,0.051,3528,3931,2312,0,0,0,0,0,0
$GC,9462,1.11,218.8,314.8,11.7,345,9466,0.00,2.42,0.00,0.000,6,0.000,0.031,3528,2398,2311,0,0,0,0,0,0
$GC,9722,1.11,218.8,285.6,11.2,352,9727,0.00,2.67,0.00,0.000,4,0.000,0.055,3528,790,2311,0,0,0,0,0,0
$GC,9743,1.11,218.8,283.0,11.7,352,9748,0.00,2.58,0.00,0.000,6,0.000,0.032,3528,2412,2310,0,0,0,0,0,0
$GC,10007,1.11,218.8,253.9,11.1,359,10011,0.00,2.50,0.00,0.000,4,0.000,0.047,3528,3931,2310,0,0,0,0,0,0
$GC,10022,1.11,218.8,251.8,10.9,359,10027,0.00,2.40,0.00,0.000,6,0.000,0.025,3529,2401,2310,0,0,0,0,0,0
$GC,10283,1.11,218.8,222.8,10.9,366,10287,0.00,2.53,0.00,0.000,4,0.000,0.053,3528,3938,2310,0,0,0,0,0,0
$GC,10346,1.11,218.8,215.6,11.4,367,10350,0.00,2.42,0.00,0.000,6,0.000,0.026,3528,2415,2309,0,0,0,0,0,0
$GC,10603,1.11,218.8,189.6,10.1,379,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2415,2310,0,0,0,0,0,0
$GC,10869,1.19,246.5,163.9,8.7,404,10901,0.00,2.55,24.05,0.616,4,0.000,0.043,3528,3937,2203,0,0,0,0,0,0
$GC,10914,1.25,253.3,159.5,9.7,408,10929,0.00,2.45,7.62,0.529,6,0.000,0.024,3528,2411,2176,0,0,0,0,0,0
$GC,11184,1.36,274.4,134.7,9.0,433,11209,0.15,0.00,19.25,0.578,6,0.064,0.000,3576,2411,2090,0,0,0,0,0,0
$GC,11464,1.43,300.6,105.5,8.8,459,11493,0.00,2.72,23.67,0.559,4,0.000,0.053,3576,790,1982,0,0,0,0,0,0
$GC,11507,1.52,345.2,101.8,7.9,462,11555,0.10,2.60,39.05,0.560,6,0.086,0.022,3611,2425,1801,0,0,0,0,0,0
$GC,11817,1.52,345.2,62.4,13.6,490,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2425,1797,0,0,0,0,0,0
$GC,12087,1.52,345.2,26.2,12.6,517,12097,0.00,2.47,0.00,0.000,4,0.000,0.040,3611,3931,1797,0,0,0,0,0,0
$GC,12128,1.52,345.2,20.8,13.8,522,12137,0.00,2.45,0.00,0.000,6,0.000,0.031,3611,2399,1795,0,0,0,0,0,0
$STATE,12257,end climb,SURFACE_DEPTH_REACHED
$STATE,12257,begin surface coast
$FINISH,1.0,1.023526
$STATE,12303,end surface coast,CONTROL_FINISHED_OK
$STATE,12303,begin surface
$SM_CCo,12326,2.80,0.242,0,0,1783,350.04
$SM_GC,1.81,0.00,0.00,2.80,0.000,0.000,0.242,463,2136,1783,-12.91,-2.09,350.04
$IRIDIUM_FIX,1916.08,-8112.45,290402,161653
$TT8_MAMPS,0.026078
$HUMID,58.03
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.50
$XPDR_PINGS,45
$24V_AH,23.5,13.155
$10V_AH,10.5,11.361
$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,30.150,134.150,416.425,2.800,0.000,23.247,36.590,339.579,11.250,0.000,42.334,1117.570,8648.761,476.507,1914.893,758.754,33.366,1262.754,0.000,1885.924,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,141.128,961.818,241.605,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.362,297.758,384.543,534.322,1018.574,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,41510,547
$CAP_FILE_SIZE,122093,0
$CFSIZE,260165632,122388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020213,233633,1923.700,-8110.335,13,99.0,32,-3.8