version: 66.06
glider: 146
mission: 8
dive: 164
start: 2 18 113 15 30 39
data:
$ID,146
$MISSION,8
$DIVE,164
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$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,300
$T_MISSION,620
$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,-310584.12
$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,3260
$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,50
$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,3190
$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
$GPS1,151823,1927.824,-8118.590,48,99.0,67,-3.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-72.7
$GPS2,152945,1927.850,-8118.687,12,2.6,31,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,-0.067
$KALMAN_X,-4179.2,-238.2,-255.1,-16232.2,-727.2
$KALMAN_Y,-1783.1,66.3,343.0,7946.3,-553.9
$MHEAD_RNG_PITCHd_Wd,121.6,1978,-32.6,-10.000
$D_GRID,900
$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,-2.09,-44.5,0.0,0.0,0,92,0.00,0.00,-66.82,0.000,6,0.000,0.000,466,2162,3370,0,0,0,0,0,0
$GC,98,-2.14,-80.8,3.4,-4.5,9,124,12.68,2.67,-2.88,0.000,4,0.168,0.040,2784,3809,3522,0,0,0,0,0,0
$GC,135,-1.40,-80.8,17.1,-34.1,13,144,0.80,2.55,0.00,0.000,6,0.117,0.025,2950,2230,3522,0,0,0,0,0,0
$GC,420,-1.60,-80.8,68.6,-16.6,42,429,0.15,0.00,0.00,0.000,6,0.058,0.000,2892,2229,3522,0,0,0,0,0,0
$GC,686,-1.72,-80.8,117.4,-17.7,67,690,0.00,2.58,0.00,0.000,4,0.000,0.042,2891,632,3522,0,0,0,0,0,0
$GC,703,-1.83,-80.8,120.9,-16.5,68,708,0.12,2.50,0.00,0.000,6,0.068,0.021,2842,2266,3523,0,0,0,0,0,0
$GC,968,-1.95,-80.8,161.8,-12.9,92,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2267,3523,0,0,0,0,0,0
$GC,1229,-2.10,-80.8,195.3,-11.2,117,1231,0.17,0.00,0.00,0.000,6,0.052,0.000,2771,2267,3524,0,0,0,0,0,0
$GC,1477,-2.14,-80.8,228.6,-13.8,126,1482,0.10,2.72,0.00,0.000,4,0.133,0.049,2790,626,3524,0,0,0,0,0,0
$GC,1527,-2.19,-80.8,235.9,-13.8,127,1531,0.00,2.50,0.00,0.000,6,0.000,0.025,2790,2251,3524,0,0,0,0,0,0
$GC,1801,-2.27,-80.8,270.9,-13.0,134,1803,0.10,0.00,0.00,0.000,6,0.082,0.000,2744,2251,3523,0,0,0,0,0,0
$GC,2042,-2.27,-80.8,306.1,-14.5,140,2047,0.10,2.70,0.00,0.000,4,0.134,0.061,2763,634,3523,0,0,0,0,0,0
$GC,2058,-2.27,-80.8,308.5,-14.1,140,2062,0.00,2.45,0.00,0.000,6,0.000,0.025,2763,2210,3523,0,0,0,0,0,0
$GC,2321,-2.30,-80.8,342.4,-12.9,147,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2210,3523,0,0,0,0,0,0
$GC,2562,-2.35,-80.8,374.7,-13.4,153,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2210,3522,0,0,0,0,0,0
$GC,2806,-2.39,-80.8,406.9,-13.4,159,2808,0.10,0.00,0.00,0.000,6,0.083,0.000,2719,2210,3521,0,0,0,0,0,0
$GC,3049,-2.39,-80.8,442.2,-14.6,165,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2210,3520,0,0,0,0,0,0
$GC,3295,-2.39,-80.8,477.9,-14.9,171,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2210,3519,0,0,0,0,0,0
$GC,3537,-2.39,-80.8,512.2,-14.1,177,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2210,3518,0,0,0,0,0,0
$GC,3781,-2.39,-80.8,546.3,-13.8,183,3785,0.00,2.75,0.00,0.000,4,0.000,0.082,2719,3774,3517,0,0,0,0,0,0
$GC,3802,-2.35,-80.8,549.4,-14.1,183,3807,0.15,2.62,0.00,0.000,6,0.118,0.053,2748,2225,3517,0,0,0,0,0,0
$GC,4059,-2.35,-80.8,582.7,-13.1,190,4064,0.00,2.67,0.00,0.000,4,0.000,0.073,2748,3773,3515,0,0,0,0,0,0
$GC,4114,-2.35,-80.8,590.9,-13.8,191,4119,0.00,2.67,0.00,0.000,6,0.000,0.068,2748,2226,3515,0,0,0,0,0,0
$GC,4381,-2.35,-80.8,625.6,-13.0,198,4385,0.00,2.75,0.00,0.000,4,0.000,0.093,2748,3772,3513,0,0,0,0,0,0
$GC,4404,-2.35,-80.8,628.4,-13.1,198,4409,0.00,2.72,0.00,0.000,6,0.000,0.081,2748,2229,3513,0,0,0,0,0,0
$GC,4659,-2.35,-80.8,661.4,-12.9,205,4663,0.00,2.83,0.00,0.000,4,0.000,0.106,2748,3773,3511,0,0,0,0,0,0
$GC,4697,-2.35,-80.8,666.8,-13.8,206,4702,0.00,2.75,0.00,0.000,6,0.000,0.079,2748,2227,3511,0,0,0,0,0,0
$GC,4982,-2.35,-80.8,703.6,-13.1,213,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2226,3509,0,0,0,0,0,0
$GC,5224,-2.35,-80.8,735.2,-13.0,219,5228,0.00,2.78,0.00,0.000,4,0.000,0.091,2748,3775,3508,0,0,0,0,0,0
$GC,5329,-2.35,-80.8,749.8,-13.8,221,5334,0.00,2.70,0.00,0.000,6,0.000,0.074,2748,2233,3507,0,0,0,0,0,0
$GC,5592,-2.35,-80.8,782.0,-12.2,228,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2233,3505,0,0,0,0,0,0
$GC,5834,-2.38,-80.8,812.0,-12.2,234,5839,0.00,2.72,0.00,0.000,4,0.000,0.082,2748,3776,3504,0,0,0,0,0,0
$GC,5850,-2.38,-80.8,814.0,-11.9,234,5854,0.00,2.67,0.00,0.000,6,0.000,0.069,2748,2234,3503,0,0,0,0,0,0
$GC,6113,-2.38,-80.8,844.7,-11.5,241,6118,0.00,2.72,0.00,0.000,4,0.000,0.081,2748,3775,3502,0,0,0,0,0,0
$GC,6242,-2.38,-80.8,861.3,-13.1,244,6246,0.00,2.65,0.00,0.000,6,0.000,0.071,2748,2248,3501,0,0,0,0,0,0
$GC,6525,-2.42,-80.8,893.2,-10.9,251,6530,0.00,2.70,0.00,0.000,4,0.000,0.078,2748,3782,3498,0,0,0,0,0,0
$STATE,6583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6583,begin apogee
$GC,6594,-0.31,0.0,900.6,12.0,252,6664,2.05,0.00,65.90,1.193,6,0.107,0.000,3190,2363,3190,0,0,0,0,0,0
$STATE,6665,end apogee,CONTROL_FINISHED_OK
$STATE,6665,begin climb
$GC,6668,2.14,80.8,902.5,0.0,254,6750,2.20,3.05,70.12,1.170,4,0.034,0.100,3741,779,2859,0,0,0,0,0,0
$GC,6781,2.06,80.8,893.3,13.7,256,6787,0.15,2.70,0.00,0.000,6,0.133,0.054,3713,2351,2858,0,0,0,0,0,0
$GC,7037,2.06,80.8,862.4,11.8,263,7041,0.00,2.78,0.00,0.000,4,0.000,0.073,3713,3934,2855,0,0,0,0,0,0
$GC,7116,2.06,80.8,852.9,11.8,264,7122,0.00,2.62,0.00,0.000,6,0.000,0.041,3713,2368,2854,0,0,0,0,0,0
$GC,7366,2.06,80.8,825.4,10.9,271,7370,0.00,2.67,0.00,0.000,4,0.000,0.058,3713,3937,2853,0,0,0,0,0,0
$GC,7623,2.06,80.8,794.5,11.9,276,7629,0.00,2.58,0.00,0.000,6,0.000,0.042,3713,2390,2851,0,0,0,0,0,0
$GC,7875,2.06,80.8,767.6,10.8,283,7880,0.00,2.62,0.00,0.000,4,0.000,0.057,3713,3939,2849,0,0,0,0,0,0
$GC,8132,2.06,80.8,737.2,11.4,288,8138,0.00,2.55,0.00,0.000,6,0.000,0.042,3713,2399,2848,0,0,0,0,0,0
$GC,8383,2.11,80.8,711.1,10.4,295,8387,0.00,2.60,0.00,0.000,4,0.000,0.056,3713,3942,2847,0,0,0,0,0,0
$GC,8567,2.11,80.8,690.7,11.3,299,8571,0.00,2.55,0.00,0.000,6,0.000,0.036,3712,2404,2847,0,0,0,0,0,0
$GC,8839,2.15,80.8,662.9,10.2,306,8843,0.00,2.58,0.00,0.000,4,0.000,0.057,3713,3937,2847,0,0,0,0,0,0
$GC,8999,2.15,80.8,645.5,11.3,309,9003,0.00,2.53,0.00,0.000,6,0.000,0.039,3713,2412,2845,0,0,0,0,0,0
$GC,9254,2.19,80.8,619.4,10.1,316,9259,0.10,2.58,0.00,0.000,4,0.092,0.049,3741,3945,2845,0,0,0,0,0,0
$GC,9456,2.13,80.8,594.8,12.3,320,9460,0.00,2.53,0.00,0.000,6,0.000,0.041,3742,2417,2844,0,0,0,0,0,0
$GC,9710,2.13,80.8,567.7,10.4,327,9715,0.00,2.55,0.00,0.000,4,0.000,0.055,3741,3937,2843,0,0,0,0,0,0
$GC,9968,2.07,80.8,538.2,12.0,332,9975,0.15,2.47,0.00,0.000,6,0.138,0.039,3714,2431,2844,0,0,0,0,0,0
$GC,10219,2.12,80.8,513.2,10.1,339,10223,0.00,2.53,0.00,0.000,4,0.000,0.047,3714,3938,2843,0,0,0,0,0,0
$GC,10453,2.12,80.8,487.3,11.8,344,10457,0.00,2.45,0.00,0.000,6,0.000,0.035,3714,2433,2843,0,0,0,0,0,0
$GC,10726,2.17,80.8,459.2,10.2,351,10730,0.00,2.50,0.00,0.000,4,0.000,0.046,3714,3944,2843,0,0,0,0,0,0
$GC,10887,2.17,80.8,440.8,12.2,354,10892,0.00,2.45,0.00,0.000,6,0.000,0.032,3714,2427,2843,0,0,0,0,0,0
$GC,11143,2.23,80.8,413.8,10.1,361,11148,0.12,2.50,0.00,0.000,4,0.079,0.048,3751,3950,2843,0,0,0,0,0,0
$GC,11330,2.16,80.8,392.5,11.3,365,11334,0.00,2.42,0.00,0.000,6,0.000,0.030,3751,2438,2843,0,0,0,0,0,0
$GC,11602,2.16,80.8,363.6,10.5,372,11606,0.00,2.45,0.00,0.000,4,0.000,0.043,3751,3942,2843,0,0,0,0,0,0
$GC,11792,2.10,80.8,342.5,10.5,376,11797,0.17,2.40,0.00,0.000,6,0.130,0.024,3717,2435,2844,0,0,0,0,0,0
$GC,12059,2.16,83.4,316.5,9.6,383,12063,0.00,2.47,0.00,0.000,4,0.000,0.043,3717,3952,2844,0,0,0,0,0,0
$GC,12226,2.16,83.4,297.8,11.0,386,12231,0.00,2.40,0.00,0.000,6,0.000,0.025,3717,2439,2845,0,0,0,0,0,0
$GC,12476,2.23,83.4,272.0,10.3,393,12481,0.12,2.47,0.00,0.000,4,0.216,0.040,3754,3946,2845,0,0,0,0,0,0
$GC,12734,2.17,83.4,243.2,10.7,398,12740,0.00,2.38,0.00,0.000,6,0.000,0.025,3754,2452,2847,0,0,0,0,0,0
$GC,12984,2.17,83.5,218.5,10.0,405,12988,0.00,2.45,0.00,0.000,4,0.000,0.044,3754,3947,2848,0,0,0,0,0,0
$GC,13030,2.14,85.6,213.9,9.7,406,13035,0.15,2.38,0.00,0.000,6,0.130,0.025,3726,2451,2847,0,0,0,0,0,0
$GC,13292,2.23,102.1,192.7,7.5,417,13316,0.00,2.53,16.67,0.637,4,0.000,0.042,3726,3942,2772,0,0,0,0,0,0
$GC,13430,2.23,102.1,179.8,10.8,428,13435,0.00,2.38,0.00,0.000,6,0.000,0.025,3726,2460,2772,0,0,0,0,0,0
$GC,13693,2.34,117.4,159.3,7.7,453,13712,0.12,2.47,13.68,0.597,4,0.074,0.044,3765,3948,2710,0,0,0,0,0,0
$GC,13976,2.40,160.9,139.1,3.5,476,14019,0.00,2.38,36.70,0.607,6,0.000,0.023,3765,2465,2534,0,0,0,0,0,0
$GC,14274,2.53,177.4,114.3,7.5,504,14298,0.00,2.53,14.85,0.555,4,0.000,0.038,3765,3956,2464,0,0,0,0,0,0
$GC,14570,2.61,177.4,84.7,11.0,528,14580,0.00,2.38,0.00,0.000,6,0.000,0.022,3766,2471,2463,0,0,0,0,0,0
$GC,14841,2.74,177.4,56.8,10.7,553,14845,0.00,2.40,0.00,0.000,4,0.000,0.038,3765,3943,2463,0,0,0,0,0,0
$GC,15134,2.82,177.4,21.5,14.6,580,15143,0.00,2.38,0.00,0.000,6,0.000,0.025,3765,2460,2464,0,0,0,0,0,0
$STATE,15271,end climb,SURFACE_DEPTH_REACHED
$STATE,15272,begin surface coast
$FINISH,1.0,1.010175
$STATE,15318,end surface coast,CONTROL_FINISHED_OK
$STATE,15318,begin surface
$SM_CCo,15341,139.10,0.489,0,0,1763,350.04
$SM_GC,1.64,0.00,0.00,139.10,0.000,0.000,0.489,465,2118,1763,-12.86,-2.60,350.04
$IRIDIUM_FIX,1920.65,-8116.97,150502,151553
$TT8_MAMPS,0.026078
$HUMID,54.13
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.60
$XPDR_PINGS,49
$24V_AH,23.3,23.263
$10V_AH,10.4,20.246
$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,33.000,159.900,217.925,139.100,0.000,60.114,79.054,289.977,12.250,0.000,34.084,1366.845,10859.233,473.115,2603.729,855.371,33.347,1531.387,0.000,2570.565,0.000,0.537,0.000
$DEVICE_MAMPS,216.294,105.846,1192.685,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.714,299.973,383.842,522.127,994.385,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355824
$DATA_FILE_SIZE,47720,606
$CAP_FILE_SIZE,151920,0
$CFSIZE,260165632,117239808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180213,195035,1927.681,-8118.121,71,1.2,71,-3.7