version: 66.06
glider: 146
mission: 8
dive: 172
start: 2 20 113 9 37 44
data:
$ID,146
$MISSION,8
$DIVE,172
$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,0
$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,-310734.69
$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,41
$R_STBD_OVSHOOT,19
$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
$GPS1,093006,1923.207,-8107.873,36,1.3,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.8
$GPS2,093648,1923.200,-8107.923,11,1.3,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.027,0.140
$KALMAN_X,976.5,223.3,-42.9,10569.5,198.2
$KALMAN_Y,2163.0,-395.1,-204.1,-9783.4,702.9
$MHEAD_RNG_PITCHd_Wd,352.9,2411,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-67.40,0.000,6,0.000,0.000,464,2184,3371,0,0,0,0,0,0
$GC,96,-2.14,-84.0,3.3,-4.1,9,122,12.75,2.65,-3.17,0.000,4,0.168,0.042,2783,3805,3535,0,0,0,0,0,0
$GC,297,-2.05,-84.0,59.8,-26.9,30,302,0.15,2.50,0.00,0.000,6,0.133,0.020,2811,2201,3536,0,0,0,0,0,0
$GC,561,-2.05,-84.0,123.2,-21.3,54,565,0.00,2.58,0.00,0.000,4,0.000,0.028,2811,3819,3537,0,0,0,0,0,0
$GC,572,-2.05,-84.0,126.8,-21.3,54,582,0.00,2.53,0.00,0.000,6,0.000,0.016,2811,2206,3537,0,0,0,0,0,0
$GC,841,-2.13,-84.0,171.2,-16.0,79,846,0.00,2.53,0.00,0.000,4,0.000,0.049,2811,645,3537,0,0,0,0,0,0
$GC,894,-2.20,-84.0,180.4,-15.1,83,899,0.12,2.42,0.00,0.000,6,0.065,0.021,2758,2247,3536,0,0,0,0,0,0
$GC,1149,-2.20,-84.0,219.1,-15.0,98,1154,0.10,2.42,0.00,0.000,4,0.133,0.031,2779,3766,3537,0,0,0,0,0,0
$GC,1172,-2.20,-84.0,222.6,-16.0,98,1176,0.00,2.40,0.00,0.000,6,0.000,0.024,2779,2202,3537,0,0,0,0,0,0
$GC,1428,-2.26,-84.0,257.7,-13.4,105,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2202,3537,0,0,0,0,0,0
$GC,1672,-2.33,-84.0,289.8,-13.3,111,1677,0.12,2.53,0.00,0.000,4,0.068,0.042,2726,3766,3537,0,0,0,0,0,0
$GC,1769,-2.28,-84.0,304.8,-15.8,113,1774,0.17,2.45,0.00,0.000,6,0.108,0.030,2760,2221,3537,0,0,0,0,0,0
$GC,2041,-2.33,-84.0,343.2,-13.9,120,2045,0.00,2.50,0.00,0.000,4,0.000,0.039,2760,3765,3536,0,0,0,0,0,0
$GC,2177,-2.33,-84.0,362.8,-14.3,123,2181,0.00,2.50,0.00,0.000,6,0.000,0.031,2760,2210,3537,0,0,0,0,0,0
$GC,2454,-2.38,-84.0,400.0,-13.4,130,2459,0.00,2.58,0.00,0.000,4,0.000,0.054,2760,3762,3535,0,0,0,0,0,0
$GC,2579,-2.38,-84.0,416.7,-13.0,132,2585,0.00,2.53,0.00,0.000,6,0.000,0.043,2760,2223,3535,0,0,0,0,0,0
$GC,2829,-2.42,-84.0,449.0,-12.6,139,2834,0.12,2.58,0.00,0.000,4,0.070,0.056,2708,3758,3534,0,0,0,0,0,0
$GC,2918,-2.36,-84.0,462.6,-15.7,141,2924,0.17,2.53,0.00,0.000,6,0.110,0.042,2743,2222,3534,0,0,0,0,0,0
$GC,3198,-2.36,-84.0,501.7,-14.1,148,3203,0.00,2.62,0.00,0.000,4,0.000,0.069,2743,3756,3533,0,0,0,0,0,0
$GC,3345,-2.36,-84.0,523.6,-14.4,151,3350,0.00,2.53,0.00,0.000,6,0.000,0.053,2743,2236,3532,0,0,0,0,0,0
$GC,3616,-2.36,-84.0,559.0,-13.1,158,3620,0.00,2.62,0.00,0.000,4,0.000,0.069,2743,3750,3530,0,0,0,0,0,0
$GC,3738,-2.36,-84.0,577.1,-14.1,160,3744,0.00,2.55,0.00,0.000,6,0.000,0.059,2743,2243,3530,0,0,0,0,0,0
$GC,3988,-2.36,-84.0,610.8,-13.4,167,3992,0.00,2.65,0.00,0.000,4,0.000,0.083,2743,3753,3528,0,0,0,0,0,0
$GC,4067,-2.36,-84.0,621.8,-14.3,168,4073,0.00,2.62,0.00,0.000,6,0.000,0.078,2742,2251,3528,0,0,0,0,0,0
$GC,4317,-2.36,-84.0,655.1,-13.4,175,4321,0.00,2.70,0.00,0.000,4,0.000,0.101,2743,3748,3526,0,0,0,0,0,0
$GC,4383,-2.36,-84.0,664.8,-14.1,176,4387,0.00,2.65,0.00,0.000,6,0.000,0.078,2743,2257,3526,0,0,0,0,0,0
$GC,4640,-2.36,-84.0,697.7,-12.6,183,4645,0.00,2.72,0.00,0.000,4,0.000,0.099,2743,3753,3523,0,0,0,0,0,0
$GC,4706,-2.36,-84.0,707.3,-13.8,184,4710,0.00,2.60,0.00,0.000,6,0.000,0.071,2743,2267,3523,0,0,0,0,0,0
$GC,4967,-2.36,-84.0,742.1,-13.4,191,4972,0.00,2.65,0.00,0.000,4,0.000,0.088,2742,3751,3522,0,0,0,0,0,0
$GC,5013,-2.36,-84.0,748.5,-14.4,192,5017,0.00,2.58,0.00,0.000,6,0.000,0.071,2743,2267,3522,0,0,0,0,0,0
$GC,5290,-2.36,-84.0,785.4,-13.0,199,5294,0.00,2.62,0.00,0.000,4,0.000,0.087,2743,3758,3520,0,0,0,0,0,0
$GC,5408,-2.36,-84.0,801.9,-14.3,201,5413,0.00,2.58,0.00,0.000,6,0.000,0.066,2743,2269,3519,0,0,0,0,0,0
$GC,5659,-2.40,-84.0,832.7,-12.1,207,5663,0.00,2.62,0.00,0.000,4,0.000,0.084,2743,3753,3517,0,0,0,0,0,0
$GC,5754,-2.40,-84.0,845.0,-13.3,209,5759,0.00,2.55,0.00,0.000,6,0.000,0.064,2743,2285,3516,0,0,0,0,0,0
$GC,6029,-2.44,-84.0,880.4,-13.1,216,6033,0.00,2.58,0.00,0.000,4,0.000,0.077,2743,3751,3514,0,0,0,0,0,0
$GC,6123,-2.44,-84.0,893.9,-13.4,218,6128,0.00,2.53,0.00,0.000,6,0.000,0.062,2743,2293,3514,0,0,0,0,0,0
$STATE,6192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6192,begin apogee
$GC,6200,-0.31,0.0,902.7,12.9,220,6274,2.10,0.00,69.03,1.199,6,0.106,0.000,3188,2330,3190,0,0,0,0,0,0
$STATE,6274,end apogee,CONTROL_FINISHED_OK
$STATE,6274,begin climb
$GC,6277,2.14,84.0,905.6,0.0,222,6358,2.20,0.00,73.43,1.174,6,0.031,0.000,3744,2330,2846,0,0,0,0,0,0
$GC,6602,2.14,84.0,871.0,12.5,230,6606,0.00,2.78,0.00,0.000,4,0.000,0.067,3744,3934,2841,0,0,0,0,0,0
$GC,6826,2.06,84.0,840.0,14.5,235,6831,0.17,2.60,0.00,0.000,6,0.141,0.040,3712,2379,2838,0,0,0,0,0,0
$GC,7104,2.06,84.0,806.5,11.8,242,7108,0.00,2.65,0.00,0.000,4,0.000,0.055,3712,3938,2837,0,0,0,0,0,0
$GC,7310,2.06,84.0,780.5,12.1,246,7315,0.00,2.60,0.00,0.000,6,0.000,0.038,3712,2390,2835,0,0,0,0,0,0
$GC,7560,2.06,84.0,754.4,10.3,252,7564,0.00,2.62,0.00,0.000,4,0.000,0.052,3712,3935,2834,0,0,0,0,0,0
$GC,7819,2.06,84.0,724.4,11.1,257,7825,0.00,2.58,0.00,0.000,6,0.000,0.046,3712,2399,2832,0,0,0,0,0,0
$GC,8072,2.10,84.0,697.3,11.0,264,8076,0.00,2.60,0.00,0.000,4,0.000,0.056,3712,3938,2833,0,0,0,0,0,0
$GC,8329,2.10,84.0,667.2,10.9,269,8334,0.00,2.50,0.00,0.000,6,0.000,0.043,3712,2416,2832,0,0,0,0,0,0
$GC,8581,2.14,84.0,641.6,10.3,276,8586,0.00,2.58,0.00,0.000,4,0.000,0.052,3712,3942,2831,0,0,0,0,0,0
$GC,8670,2.14,84.0,631.2,11.2,278,8675,0.00,2.53,0.00,0.000,6,0.000,0.035,3712,2419,2830,0,0,0,0,0,0
$GC,8949,2.18,84.0,602.6,10.3,285,8954,0.10,2.55,0.00,0.000,4,0.091,0.049,3742,3941,2830,0,0,0,0,0,0
$GC,9184,2.12,84.0,573.8,12.4,290,9189,0.00,2.50,0.00,0.000,6,0.000,0.035,3741,2426,2829,0,0,0,0,0,0
$GC,9453,2.12,84.0,542.7,11.6,297,9457,0.00,2.53,0.00,0.000,4,0.000,0.048,3741,3938,2828,0,0,0,0,0,0
$GC,9711,2.06,84.0,510.8,12.6,302,9717,0.17,2.45,0.00,0.000,6,0.136,0.033,3709,2437,2828,0,0,0,0,0,0
$GC,9963,2.12,84.0,485.3,10.1,309,9967,0.00,2.50,0.00,0.000,4,0.000,0.047,3709,3944,2828,0,0,0,0,0,0
$GC,10186,2.12,84.0,459.8,11.5,314,10190,0.00,2.40,0.00,0.000,6,0.000,0.030,3709,2448,2828,0,0,0,0,0,0
$GC,10473,2.18,84.0,431.1,10.1,321,10478,0.10,2.47,0.00,0.000,4,0.089,0.046,3740,3946,2828,0,0,0,0,0,0
$GC,10733,2.12,84.0,400.0,12.1,326,10738,0.00,2.42,0.00,0.000,6,0.000,0.032,3739,2437,2828,0,0,0,0,0,0
$GC,10983,2.12,84.0,374.2,10.0,333,10987,0.00,2.47,0.00,0.000,4,0.000,0.042,3739,3942,2828,0,0,0,0,0,0
$GC,11187,2.07,84.0,351.6,10.4,337,11192,0.15,2.40,0.00,0.000,6,0.133,0.025,3711,2440,2828,0,0,0,0,0,0
$GC,11443,2.14,84.6,326.0,9.9,344,11447,0.00,2.45,0.00,0.000,4,0.000,0.048,3711,3937,2829,0,0,0,0,0,0
$GC,11568,2.14,84.6,312.4,11.0,346,11574,0.00,2.38,0.00,0.000,6,0.000,0.025,3711,2444,2829,0,0,0,0,0,0
$GC,11818,2.21,84.6,287.5,10.1,353,11823,0.12,2.45,0.00,0.000,4,0.077,0.041,3750,3940,2830,0,0,0,0,0,0
$GC,11964,2.16,84.6,270.4,12.2,356,11968,0.00,2.33,0.00,0.000,6,0.000,0.023,3750,2456,2830,0,0,0,0,0,0
$GC,12234,2.16,84.6,242.1,10.8,363,12238,0.00,2.42,0.00,0.000,4,0.000,0.046,3749,3939,2831,0,0,0,0,0,0
$GC,12494,2.16,88.0,214.5,9.5,368,12499,0.00,2.33,0.00,0.000,6,0.000,0.025,3750,2464,2832,0,0,0,0,0,0
$GC,12745,2.18,101.3,194.0,8.0,378,12764,0.00,2.45,13.35,0.628,4,0.000,0.040,3750,3937,2775,0,0,0,0,0,0
$GC,13026,2.20,116.1,169.2,7.8,401,13046,0.00,2.33,13.07,0.604,6,0.000,0.024,3750,2475,2715,0,0,0,0,0,0
$GC,13303,2.29,129.3,147.0,8.0,427,13328,0.00,2.50,11.98,0.578,4,0.000,0.048,3750,3942,2662,0,0,0,0,0,0
$GC,13355,2.32,146.6,143.3,7.4,431,13379,0.00,2.33,16.10,0.585,6,0.000,0.025,3749,2475,2592,0,0,0,0,0,0
$GC,13637,2.48,177.6,124.5,5.3,457,13671,0.00,2.47,26.85,0.584,4,0.000,0.041,3750,3945,2464,0,0,0,0,0,0
$GC,13942,2.58,180.8,97.5,9.5,482,13952,0.00,2.33,3.62,0.351,6,0.000,0.025,3750,2499,2453,0,0,0,0,0,0
$GC,14210,2.74,182.9,71.9,9.7,507,14228,0.00,2.40,3.80,0.354,4,0.000,0.041,3750,3935,2443,0,0,0,0,0,0
$GC,14346,2.84,182.9,57.6,11.2,517,14350,0.00,2.28,0.00,0.000,6,0.000,0.025,3750,2498,2443,0,0,0,0,0,0
$GC,14619,3.00,182.9,27.1,10.6,543,14628,0.00,2.38,0.00,0.000,4,0.000,0.041,3749,3933,2444,0,0,0,0,0,0
$GC,14787,3.12,182.9,7.3,11.9,567,14796,0.00,2.28,0.00,0.000,6,0.000,0.026,3750,2514,2444,0,0,0,0,0,0
$STATE,14812,end climb,SURFACE_DEPTH_REACHED
$STATE,14812,begin surface coast
$FINISH,1.0,1.001763
$STATE,14855,end surface coast,CONTROL_FINISHED_OK
$STATE,14855,begin surface
$SM_CCo,14878,134.10,0.489,0,0,1763,350.04
$SM_GC,1.69,0.00,0.00,134.10,0.000,0.000,0.489,466,2154,1763,-12.85,-1.58,350.04
$IRIDIUM_FIX,1918.37,-8105.33,170502,050523
$TT8_MAMPS,0.026078
$HUMID,54.13
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.80
$XPDR_PINGS,58
$24V_AH,23.3,24.381
$10V_AH,10.4,21.265
$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,31.975,176.550,231.225,134.100,0.000,30.203,33.066,175.811,14.500,0.000,13.044,1372.960,10198.333,502.615,2683.803,653.077,33.351,1627.228,0.000,2660.021,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,131.924,1198.821,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.873,281.731,362.529,486.775,927.870,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355844
$DATA_FILE_SIZE,44713,576
$CAP_FILE_SIZE,152927,0
$CFSIZE,260165632,116662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200213,134923,1924.307,-8108.529,24,1.7,41,-3.8