version: 66.06
glider: 146
mission: 8
dive: 176
start: 2 21 113 6 43 55
data:
$ID,146
$MISSION,8
$DIVE,176
$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,-310799.25
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,063206,1926.236,-8117.586,34,1.1,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.9
$GPS2,064301,1926.238,-8117.637,14,1.3,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.037,0.138
$KALMAN_X,-2170.8,23.8,-266.7,-2801.6,-103.3
$KALMAN_Y,-452.6,2.5,18.9,-2175.2,-624.7
$MHEAD_RNG_PITCHd_Wd,348.7,1547,-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,-67.55,0.000,6,0.000,0.000,467,2130,3371,0,0,0,0,0,0
$GC,95,-2.14,-84.4,3.4,-4.0,9,121,12.73,2.70,-3.22,0.000,4,0.168,0.039,2786,3793,3536,0,0,0,0,0,0
$GC,225,-2.07,-84.4,41.0,-24.9,24,234,0.08,2.53,0.00,0.000,6,0.117,0.024,2804,2211,3535,0,0,0,0,0,0
$GC,492,-2.02,-84.4,105.7,-23.7,49,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2210,3536,0,0,0,0,0,0
$GC,755,-2.08,-84.4,159.7,-17.1,74,760,0.00,2.55,0.00,0.000,4,0.000,0.036,2804,3811,3536,0,0,0,0,0,0
$GC,814,-2.12,-84.4,170.1,-16.2,78,824,0.00,2.53,0.00,0.000,6,0.000,0.017,2804,2201,3537,0,0,0,0,0,0
$GC,1077,-2.21,-84.4,205.9,-13.3,100,1079,0.10,0.00,0.00,0.000,6,0.078,0.000,2758,2201,3537,0,0,0,0,0,0
$GC,1317,-2.21,-84.4,239.8,-14.3,106,1319,0.10,0.00,0.00,0.000,6,0.130,0.000,2777,2201,3537,0,0,0,0,0,0
$GC,1561,-2.27,-84.4,271.3,-12.7,112,1565,0.00,2.58,0.00,0.000,4,0.000,0.037,2777,3798,3538,0,0,0,0,0,0
$GC,1652,-2.31,-84.4,283.9,-14.7,114,1656,0.00,2.45,0.00,0.000,6,0.000,0.027,2777,2230,3538,0,0,0,0,0,0
$GC,1930,-2.38,-84.4,322.1,-13.6,121,1935,0.15,2.55,0.00,0.000,4,0.059,0.045,2716,3801,3537,0,0,0,0,0,0
$GC,1940,-2.42,-84.4,323.9,-14.1,121,1945,0.00,2.47,0.00,0.000,6,0.000,0.025,2716,2233,3537,0,0,0,0,0,0
$GC,2208,-2.42,-84.4,367.1,-16.3,128,2213,0.00,2.58,0.00,0.000,4,0.000,0.047,2716,3802,3536,0,0,0,0,0,0
$GC,2298,-2.36,-84.4,382.5,-16.5,130,2303,0.12,2.55,0.00,0.000,6,0.118,0.038,2741,2225,3536,0,0,0,0,0,0
$GC,2577,-2.36,-84.4,422.6,-14.3,137,2582,0.00,2.60,0.00,0.000,4,0.000,0.055,2741,3798,3535,0,0,0,0,0,0
$GC,2632,-2.36,-84.4,431.2,-15.4,138,2637,0.00,2.55,0.00,0.000,6,0.000,0.038,2741,2244,3535,0,0,0,0,0,0
$GC,2899,-2.36,-84.4,467.9,-13.5,145,2903,0.00,2.62,0.00,0.000,4,0.000,0.062,2741,3790,3534,0,0,0,0,0,0
$GC,2950,-2.36,-84.4,474.9,-14.1,146,2955,0.00,2.58,0.00,0.000,6,0.000,0.045,2741,2239,3534,0,0,0,0,0,0
$GC,3222,-2.36,-84.4,511.9,-13.9,153,3226,0.00,2.67,0.00,0.000,4,0.000,0.064,2741,3793,3533,0,0,0,0,0,0
$GC,3293,-2.36,-84.4,522.2,-13.9,154,3298,0.00,2.58,0.00,0.000,6,0.000,0.048,2741,2248,3532,0,0,0,0,0,0
$GC,3551,-2.36,-84.4,556.7,-13.5,161,3556,0.00,2.67,0.00,0.000,4,0.000,0.074,2741,3785,3531,0,0,0,0,0,0
$GC,3673,-2.36,-84.4,575.1,-14.5,163,3679,0.00,2.62,0.00,0.000,6,0.000,0.063,2741,2251,3530,0,0,0,0,0,0
$GC,3925,-2.36,-84.4,610.8,-14.3,170,3930,0.00,2.72,0.00,0.000,4,0.000,0.085,2741,3785,3529,0,0,0,0,0,0
$GC,3946,-2.36,-84.4,614.5,-15.0,170,3951,0.00,2.67,0.00,0.000,6,0.000,0.075,2741,2257,3529,0,0,0,0,0,0
$GC,4208,-2.36,-84.4,650.0,-13.3,177,4212,0.00,2.78,0.00,0.000,4,0.000,0.096,2742,3785,3527,0,0,0,0,0,0
$GC,4273,-2.36,-84.4,659.2,-14.7,178,4278,0.00,2.78,0.00,0.000,6,0.000,0.099,2741,2260,3527,0,0,0,0,0,0
$GC,4536,-2.36,-84.4,693.8,-13.4,185,4541,0.00,2.92,0.00,0.000,4,0.000,0.125,2741,3783,3525,0,0,0,0,0,0
$GC,4568,-2.36,-84.4,698.8,-14.6,185,4574,0.00,2.70,0.00,0.000,6,0.000,0.084,2741,2261,3524,0,0,0,0,0,0
$GC,4819,-2.36,-84.4,732.7,-13.5,192,4823,0.00,2.75,0.00,0.000,4,0.000,0.091,2741,3791,3523,0,0,0,0,0,0
$GC,4916,-2.36,-84.4,746.2,-14.3,194,4921,0.00,2.65,0.00,0.000,6,0.000,0.073,2741,2272,3523,0,0,0,0,0,0
$GC,5188,-2.36,-84.4,781.8,-12.7,201,5193,0.00,2.70,0.00,0.000,4,0.000,0.090,2741,3793,3521,0,0,0,0,0,0
$GC,5227,-2.36,-84.4,786.8,-13.1,202,5232,0.00,2.67,0.00,0.000,6,0.000,0.070,2741,2269,3520,0,0,0,0,0,0
$GC,5513,-2.36,-84.4,822.1,-12.5,209,5517,0.00,2.67,0.00,0.000,4,0.000,0.081,2741,3787,3518,0,0,0,0,0,0
$GC,5556,-2.36,-84.4,828.1,-13.3,210,5561,0.00,2.65,0.00,0.000,6,0.000,0.071,2741,2274,3518,0,0,0,0,0,0
$GC,5834,-2.36,-84.4,862.2,-12.1,217,5839,0.00,2.67,0.00,0.000,4,0.000,0.081,2741,3789,3516,0,0,0,0,0,0
$GC,5970,-2.36,-84.4,879.5,-13.0,220,5974,0.00,2.60,0.00,0.000,6,0.000,0.071,2741,2285,3515,0,0,0,0,0,0
$STATE,6163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6164,begin apogee
$GC,6170,-0.31,0.0,903.2,12.0,225,6246,2.10,0.00,69.10,1.197,6,0.105,0.000,3187,2368,3190,0,0,0,0,0,0
$STATE,6247,end apogee,CONTROL_FINISHED_OK
$STATE,6247,begin climb
$GC,6251,2.14,84.4,905.1,0.0,227,6333,2.20,0.00,73.57,1.171,6,0.032,0.000,3741,2368,2844,0,0,0,0,0,0
$GC,6576,2.14,84.4,869.1,13.1,235,6581,0.00,2.72,0.00,0.000,4,0.000,0.067,3742,3938,2839,0,0,0,0,0,0
$GC,6834,2.06,84.4,833.7,13.6,240,6840,0.17,2.62,0.00,0.000,6,0.140,0.044,3709,2374,2836,0,0,0,0,0,0
$GC,7084,2.10,84.4,804.7,11.5,247,7088,0.00,2.67,0.00,0.000,4,0.000,0.056,3709,3941,2835,0,0,0,0,0,0
$GC,7174,2.10,84.4,793.9,12.1,249,7179,0.00,2.65,0.00,0.000,6,0.000,0.042,3709,2378,2834,0,0,0,0,0,0
$GC,7452,2.14,84.4,763.2,10.9,256,7457,0.00,2.65,0.00,0.000,4,0.000,0.052,3710,3936,2833,0,0,0,0,0,0
$GC,7585,2.14,84.4,747.6,11.5,259,7589,0.00,2.60,0.00,0.000,6,0.000,0.044,3709,2380,2832,0,0,0,0,0,0
$GC,7868,2.18,84.4,717.6,10.3,266,7873,0.10,2.62,0.00,0.000,4,0.094,0.052,3738,3938,2831,0,0,0,0,0,0
$GC,8126,2.12,84.4,687.4,12.2,271,8132,0.00,2.58,0.00,0.000,6,0.000,0.039,3738,2384,2830,0,0,0,0,0,0
$GC,8376,2.12,84.4,660.1,10.9,278,8380,0.00,2.60,0.00,0.000,4,0.000,0.057,3738,3932,2829,0,0,0,0,0,0
$GC,8633,2.06,84.4,630.8,11.9,283,8639,0.15,2.53,0.00,0.000,6,0.140,0.040,3710,2393,2828,0,0,0,0,0,0
$GC,8885,2.11,85.8,606.2,9.8,290,8890,0.00,2.60,0.00,0.000,4,0.000,0.053,3710,3935,2827,0,0,0,0,0,0
$GC,9081,2.11,85.8,585.6,10.3,294,9085,0.00,2.53,0.00,0.000,6,0.000,0.041,3711,2396,2827,0,0,0,0,0,0
$GC,9344,2.16,88.6,560.7,9.6,301,9349,0.00,2.58,0.00,0.000,4,0.000,0.054,3710,3932,2827,0,0,0,0,0,0
$GC,9585,2.16,88.6,533.9,11.8,306,9589,0.00,2.50,0.00,0.000,6,0.000,0.040,3710,2407,2827,0,0,0,0,0,0
$GC,9849,2.22,88.6,506.6,10.5,313,9854,0.12,2.58,0.00,0.000,4,0.080,0.051,3745,3938,2827,0,0,0,0,0,0
$GC,9992,2.15,88.6,488.8,12.4,316,9996,0.00,2.47,0.00,0.000,6,0.000,0.037,3745,2411,2826,0,0,0,0,0,0
$GC,10267,2.15,88.6,457.9,10.9,323,10272,0.00,2.53,0.00,0.000,4,0.000,0.048,3745,3935,2826,0,0,0,0,0,0
$GC,10525,2.09,88.6,427.6,11.9,328,10532,0.15,2.45,0.00,0.000,6,0.135,0.026,3717,2417,2826,0,0,0,0,0,0
$GC,10778,2.15,91.2,403.5,9.6,335,10787,0.00,2.55,3.62,0.514,4,0.000,0.043,3717,3936,2818,0,0,0,0,0,0
$GC,10961,2.15,91.2,382.2,11.8,339,10965,0.00,2.38,0.00,0.000,6,0.000,0.025,3717,2439,2818,0,0,0,0,0,0
$GC,11247,2.21,91.2,352.6,10.6,346,11252,0.10,2.47,0.00,0.000,4,0.116,0.041,3747,3935,2819,0,0,0,0,0,0
$GC,11445,2.16,91.2,327.8,12.4,350,11449,0.00,2.40,0.00,0.000,6,0.000,0.025,3747,2436,2819,0,0,0,0,0,0
$GC,11711,2.16,91.2,298.4,10.9,357,11715,0.00,2.47,0.00,0.000,4,0.000,0.041,3747,3943,2819,0,0,0,0,0,0
$GC,11937,2.11,91.2,272.0,11.1,362,11942,0.12,2.38,0.00,0.000,6,0.137,0.025,3723,2454,2820,0,0,0,0,0,0
$GC,12215,2.18,95.2,245.2,9.4,369,12226,0.00,2.45,6.07,0.575,4,0.000,0.043,3723,3939,2800,0,0,0,0,0,0
$GC,12296,2.18,95.2,236.9,10.3,370,12302,0.00,2.35,0.00,0.000,6,0.000,0.025,3723,2456,2800,0,0,0,0,0,0
$GC,12547,2.25,95.2,210.3,10.6,377,12551,0.10,2.47,0.00,0.000,4,0.087,0.045,3755,3940,2801,0,0,0,0,0,0
$GC,12811,2.27,112.1,186.4,7.5,391,12831,0.00,2.35,15.15,0.627,6,0.000,0.025,3756,2463,2732,0,0,0,0,0,0
$GC,13087,2.36,132.6,164.9,6.9,417,13111,0.00,2.47,18.02,0.614,4,0.000,0.041,3756,3939,2647,0,0,0,0,0,0
$GC,13361,2.42,155.6,143.1,6.5,440,13388,0.00,2.35,20.62,0.595,6,0.000,0.025,3755,2467,2554,0,0,0,0,0,0
$GC,13655,2.57,177.9,121.2,6.6,467,13680,0.00,2.45,19.52,0.570,4,0.000,0.041,3756,3935,2464,0,0,0,0,0,0
$GC,13949,2.66,178.5,91.3,9.9,491,13954,0.00,2.35,0.00,0.000,6,0.000,0.025,3756,2465,2462,0,0,0,0,0,0
$GC,14219,2.80,178.5,65.2,10.5,516,14223,0.00,2.42,0.00,0.000,4,0.000,0.041,3756,3940,2462,0,0,0,0,0,0
$GC,14366,2.90,178.5,48.2,11.2,527,14370,0.00,2.33,0.00,0.000,6,0.000,0.025,3756,2474,2462,0,0,0,0,0,0
$GC,14658,3.03,178.5,16.1,11.3,560,14667,0.00,2.40,0.00,0.000,4,0.000,0.038,3756,3934,2463,0,0,0,0,0,0
$STATE,14768,end climb,SURFACE_DEPTH_REACHED
$STATE,14768,begin surface coast
$FINISH,0.8,1.009905
$STATE,14812,end surface coast,CONTROL_FINISHED_OK
$STATE,14812,begin surface
$SM_CCo,14838,137.98,0.488,0,0,1762,350.04
$SM_GC,1.66,0.00,0.00,137.98,0.000,0.000,0.488,465,2195,1762,-12.86,-0.42,350.04
$IRIDIUM_FIX,1920.65,-8114.36,180502,010143
$TT8_MAMPS,0.025311
$HUMID,54.29
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.70
$XPDR_PINGS,54
$24V_AH,23.3,24.931
$10V_AH,10.4,21.763
$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,31.650,174.775,225.700,137.975,0.000,27.748,36.754,421.192,13.500,0.000,15.880,1359.364,10241.276,490.558,2644.067,887.196,33.365,1575.384,0.000,2616.561,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,125.021,1197.287,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.503,284.527,365.133,499.302,950.486,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,44550,582
$CAP_FILE_SIZE,152980,0
$CFSIZE,260165632,116371456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210213,105454,1927.412,-8118.740,38,1.3,38,-3.7