version: 66.06
glider: 146
mission: 8
dive: 119
start: 2 8 113 14 9 48
data:
$ID,146
$MISSION,8
$DIVE,119
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,960
$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,233
$T_MISSION,600
$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,-309673.62
$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,58
$R_STBD_OVSHOOT,42
$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,3205
$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
$GPS1,140124,1921.458,-8059.101,40,1.3,40,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.1
$GPS2,140857,1921.380,-8059.014,10,3.1,29,-3.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,Temp3
$TGT_LATLONG,1919.000,-8058.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,-0.249
$KALMAN_X,233315.0,-877.9,708.1,-211952.5,2426.9
$KALMAN_Y,-53740.0,739.6,-497.6,43030.5,-923.1
$MHEAD_RNG_PITCHd_Wd,194.7,4751,-18.1,-10.014
$D_GRID,700
$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,20,-1.30,-138.3,0.0,0.0,0,93,0.00,0.00,-71.10,0.000,2,0.000,0.000,465,2171,3534,0,0,0,0,0,0
$GC,98,-1.31,-146.0,3.8,-5.8,9,124,13.73,2.50,-4.78,0.000,4,0.168,0.048,2979,630,3803,0,0,0,0,0,0
$GC,333,-1.17,-146.0,54.7,-16.7,34,338,0.15,2.45,0.00,0.000,6,0.118,0.018,3012,2225,3803,0,0,0,0,0,0
$GC,598,-1.06,-146.0,95.3,-13.8,58,603,0.12,2.60,0.00,0.000,4,0.116,0.041,3038,649,3804,0,0,0,0,0,0
$GC,623,-0.96,-146.0,98.5,-13.8,59,628,0.10,2.40,0.00,0.000,6,0.124,0.016,3061,2213,3804,0,0,0,0,0,0
$GC,891,-0.96,-146.0,129.8,-12.1,83,895,0.00,2.53,0.00,0.000,4,0.000,0.041,3061,657,3805,0,0,0,0,0,0
$GC,959,-1.00,-146.0,138.4,-10.1,88,969,0.00,2.35,0.00,0.000,6,0.000,0.023,3061,2174,3804,0,0,0,0,0,0
$GC,1225,-1.10,-146.0,160.8,-7.1,113,1230,0.12,2.47,0.00,0.000,4,0.066,0.041,3007,654,3805,0,0,0,0,0,0
$GC,1272,-1.10,-146.0,165.7,-10.2,116,1278,0.10,2.33,0.00,0.000,6,0.110,0.015,3030,2183,3806,0,0,0,0,0,0
$GC,1538,-1.19,-146.0,186.6,-8.0,141,1542,0.00,2.55,0.00,0.000,4,0.000,0.038,3029,3779,3807,0,0,0,0,0,0
$GC,1583,-1.28,-146.0,190.4,-8.1,144,1592,0.12,2.47,0.00,0.000,6,0.031,0.019,2968,2201,3807,0,0,0,0,0,0
$GC,1859,-1.28,-146.0,215.4,-9.0,159,1861,0.10,0.00,0.00,0.000,6,0.115,0.000,2992,2200,3807,0,0,0,0,0,0
$GC,2101,-1.28,-146.0,237.4,-9.2,165,2105,0.00,2.55,0.00,0.000,4,0.000,0.038,2991,3773,3807,0,0,0,0,0,0
$GC,2139,-1.28,-146.0,241.5,-10.5,166,2144,0.00,2.45,0.00,0.000,6,0.000,0.025,2991,2192,3807,0,0,0,0,0,0
$GC,2425,-1.28,-146.0,266.8,-8.5,173,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2192,3807,0,0,0,0,0,0
$GC,2666,-1.28,-146.0,286.9,-8.1,179,2671,0.00,2.55,0.00,0.000,4,0.000,0.043,2991,3767,3806,0,0,0,0,0,0
$GC,2699,-1.28,-146.0,289.6,-8.7,179,2705,0.00,2.47,0.00,0.000,6,0.000,0.021,2991,2182,3806,0,0,0,0,0,0
$GC,2951,-1.28,-146.0,311.2,-9.3,186,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2182,3806,0,0,0,0,0,0
$GC,3193,-1.28,-146.0,332.9,-9.3,192,3197,0.00,2.58,0.00,0.000,4,0.000,0.044,2991,3765,3805,0,0,0,0,0,0
$GC,3233,-1.33,-146.0,336.5,-9.5,193,3237,0.00,2.45,0.00,0.000,6,0.000,0.027,2991,2205,3805,0,0,0,0,0,0
$GC,3518,-1.37,-146.0,364.3,-10.0,200,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2206,3804,0,0,0,0,0,0
$GC,3760,-1.42,-146.0,385.7,-8.0,206,3762,0.12,0.00,0.00,0.000,6,0.071,0.000,2944,2206,3803,0,0,0,0,0,0
$GC,4004,-1.37,-146.0,406.1,-8.2,212,4005,0.12,0.00,0.00,0.000,6,0.103,0.000,2971,2206,3803,0,0,0,0,0,0
$GC,4249,-1.37,-146.0,427.7,-9.5,218,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3801,0,0,0,0,0,0
$GC,4491,-1.37,-146.0,448.6,-8.1,224,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3800,0,0,0,0,0,0
$GC,4734,-1.37,-146.0,468.5,-8.8,230,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3799,0,0,0,0,0,0
$GC,4978,-1.37,-146.0,494.1,-10.9,236,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2205,3798,0,0,0,0,0,0
$GC,5224,-1.37,-146.0,512.0,-6.1,242,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3797,0,0,0,0,0,0
$GC,5466,-1.37,-146.0,525.0,-5.5,248,5470,0.00,2.70,0.00,0.000,4,0.000,0.074,2971,3756,3796,0,0,0,0,0,0
$GC,5509,-1.37,-146.0,528.3,-7.9,249,5514,0.00,2.55,0.00,0.000,6,0.000,0.047,2971,2219,3796,0,0,0,0,0,0
$GC,5790,-1.37,-146.0,553.4,-9.8,256,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2219,3794,0,0,0,0,0,0
$GC,6031,-1.37,-146.0,577.9,-9.9,262,6036,0.00,2.70,0.00,0.000,4,0.000,0.081,2971,3761,3792,0,0,0,0,0,0
$GC,6052,-1.37,-146.0,580.0,-9.3,262,6057,0.00,2.65,0.00,0.000,6,0.000,0.057,2971,2198,3792,0,0,0,0,0,0
$GC,6308,-1.37,-146.0,599.9,-7.5,269,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2198,3791,0,0,0,0,0,0
$GC,6554,-1.37,-146.0,619.5,-8.4,275,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2198,3790,0,0,0,0,0,0
$GC,6798,-1.37,-146.0,639.8,-8.0,281,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2198,3789,0,0,0,0,0,0
$GC,7039,-1.37,-146.0,662.4,-9.9,287,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2198,3787,0,0,0,0,0,0
$GC,7282,-1.37,-146.0,687.3,-10.0,293,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2198,3786,0,0,0,0,0,0
$STATE,7444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7444,begin apogee
$GC,7453,-0.31,0.0,701.7,8.9,297,7575,1.00,0.00,119.20,1.031,6,0.070,0.000,3200,2326,3205,0,0,0,0,0,0
$STATE,7576,end apogee,CONTROL_FINISHED_OK
$STATE,7576,begin climb
$GC,7578,1.31,146.0,705.6,0.0,300,7714,1.45,3.30,122.53,1.013,4,0.043,0.134,3559,3938,2608,0,0,0,0,0,0
$GC,7759,1.17,146.0,696.9,11.4,304,7765,0.17,2.97,0.00,0.000,6,0.114,0.101,3525,2376,2605,0,0,0,0,0,0
$GC,8026,1.19,203.7,676.0,7.2,311,8083,0.00,2.97,50.53,0.986,4,0.000,0.104,3525,3940,2373,0,0,0,0,0,0
$GC,8127,1.19,203.7,666.0,11.7,313,8132,0.00,2.88,0.00,0.000,6,0.000,0.087,3525,2370,2370,0,0,0,0,0,0
$GC,8390,1.19,203.7,637.3,10.9,320,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2370,2367,0,0,0,0,0,0
$GC,8636,1.19,203.7,610.6,11.4,326,8640,0.00,2.78,0.00,0.000,4,0.000,0.072,3525,3941,2365,0,0,0,0,0,0
$GC,8684,1.19,203.7,604.0,13.2,327,8689,0.00,2.65,0.00,0.000,6,0.000,0.054,3525,2380,2364,0,0,0,0,0,0
$GC,8956,1.19,203.7,572.5,11.4,334,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2380,2363,0,0,0,0,0,0
$GC,9202,1.19,203.7,541.9,13.0,340,9207,0.00,2.65,0.00,0.000,4,0.000,0.063,3525,3946,2362,0,0,0,0,0,0
$GC,9229,1.16,203.7,537.9,13.8,340,9234,0.00,2.60,0.00,0.000,6,0.000,0.041,3525,2388,2362,0,0,0,0,0,0
$GC,9479,1.16,203.7,508.6,11.4,346,9483,0.00,2.62,0.00,0.000,4,0.000,0.051,3525,3948,2362,0,0,0,0,0,0
$GC,9522,1.16,203.7,502.9,13.1,347,9527,0.00,2.58,0.00,0.000,6,0.000,0.042,3525,2390,2361,0,0,0,0,0,0
$GC,9808,1.16,203.7,471.5,10.2,354,9812,0.00,2.60,0.00,0.000,4,0.000,0.048,3525,3952,2361,0,0,0,0,0,0
$GC,9857,1.11,203.7,465.4,13.5,355,9862,0.00,2.55,0.00,0.000,6,0.000,0.037,3525,2395,2360,0,0,0,0,0,0
$GC,10131,1.11,203.7,432.6,12.0,362,10136,0.00,2.58,0.00,0.000,4,0.000,0.044,3525,3949,2361,0,0,0,0,0,0
$GC,10147,1.11,203.7,430.2,12.6,362,10151,0.00,2.53,0.00,0.000,6,0.000,0.027,3525,2391,2360,0,0,0,0,0,0
$GC,10407,1.11,203.7,399.3,11.4,369,10412,0.00,2.58,0.00,0.000,4,0.000,0.045,3525,3949,2360,0,0,0,0,0,0
$GC,10456,1.11,203.7,392.5,13.7,370,10461,0.00,2.47,0.00,0.000,6,0.000,0.028,3525,2408,2359,0,0,0,0,0,0
$GC,10736,1.11,203.7,359.0,11.8,377,10741,0.00,2.55,0.00,0.000,4,0.000,0.048,3525,3948,2360,0,0,0,0,0,0
$GC,10758,1.11,203.7,355.9,12.2,377,10762,0.00,2.47,0.00,0.000,6,0.000,0.026,3525,2403,2360,0,0,0,0,0,0
$GC,11019,1.11,203.7,324.6,12.2,384,11023,0.00,2.58,0.00,0.000,4,0.000,0.050,3525,3953,2360,0,0,0,0,0,0
$GC,11065,1.11,203.7,318.7,13.8,385,11069,0.00,2.45,0.00,0.000,6,0.000,0.031,3525,2419,2360,0,0,0,0,0,0
$GC,11342,1.12,207.1,289.3,9.8,392,11347,0.00,2.55,0.00,0.000,4,0.000,0.057,3524,3953,2360,0,0,0,0,0,0
$GC,11383,1.12,207.1,284.8,11.9,393,11387,0.00,2.42,0.00,0.000,6,0.000,0.025,3525,2429,2359,0,0,0,0,0,0
$GC,11668,1.12,207.1,253.0,11.3,400,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2429,2360,0,0,0,0,0,0
$GC,11910,1.18,259.9,234.4,7.4,406,11964,0.00,2.67,47.15,0.690,4,0.000,0.055,3525,3953,2145,0,0,0,0,0,0
$GC,11990,1.18,259.9,224.9,13.2,407,11996,0.00,2.45,0.00,0.000,6,0.000,0.028,3525,2446,2143,0,0,0,0,0,0
$GC,12242,1.18,259.9,195.0,10.5,417,12246,0.00,2.75,0.00,0.000,4,0.000,0.048,3525,790,2141,0,0,0,0,0,0
$GC,12262,1.18,259.9,193.0,11.4,418,12266,0.00,2.70,0.00,0.000,6,0.000,0.029,3525,2488,2140,0,0,0,0,0,0
$GC,12531,1.25,259.9,165.1,11.8,442,12535,0.00,2.83,0.00,0.000,4,0.000,0.045,3525,785,2140,0,0,0,0,0,0
$GC,12617,1.37,270.5,154.4,9.5,449,12633,0.17,2.65,9.95,0.565,6,0.081,0.022,3578,2464,2102,0,0,0,0,0,0
$GC,12888,1.37,270.5,127.9,11.0,474,12892,0.00,2.40,0.00,0.000,4,0.000,0.048,3578,3950,2101,0,0,0,0,0,0
$GC,12922,1.37,270.5,124.3,10.5,476,12932,0.00,2.42,0.00,0.000,6,0.000,0.022,3578,2434,2100,0,0,0,0,0,0
$GC,13191,1.42,270.5,95.4,11.0,501,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2435,2100,0,0,0,0,0,0
$GC,13458,1.46,270.5,68.9,10.2,526,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2435,2100,0,0,0,0,0,0
$GC,13728,1.54,289.5,42.1,9.1,551,13752,0.10,2.55,17.83,0.501,4,0.083,0.042,3616,3959,2025,0,0,0,0,0,0
$GC,13781,1.54,289.5,36.1,11.6,555,13785,0.00,2.42,0.00,0.000,6,0.000,0.023,3616,2429,2023,0,0,0,0,0,0
$STATE,14057,end climb,SURFACE_DEPTH_REACHED
$STATE,14057,begin surface coast
$FINISH,0.8,1.001891
$STATE,14109,end surface coast,CONTROL_FINISHED_OK
$STATE,14109,begin surface
$SM_CCo,14131,48.55,0.484,0,0,1777,350.04
$SM_GC,1.56,0.00,0.00,48.55,0.000,0.000,0.484,464,2178,1777,-12.91,-0.90,350.04
$IRIDIUM_FIX,1911.51,-8103.42,050502,080801
$TT8_MAMPS,0.026078
$HUMID,56.22
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.60
$XPDR_PINGS,42
$24V_AH,23.4,16.864
$10V_AH,10.4,14.621
$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,30.325,135.100,367.175,48.550,0.000,25.660,34.061,208.374,10.500,0.000,31.894,1223.400,10208.146,488.369,2050.450,651.865,33.363,1304.726,0.000,2033.881,0.000,0.538,0.000
$DEVICE_MAMPS,167.973,144.196,1030.848,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.473,315.940,404.597,557.786,1060.868,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,47864,600
$CAP_FILE_SIZE,127290,0
$CFSIZE,260165632,120504320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080213,180729,1917.885,-8056.303,36,1.5,36,-3.9