version: 66.06
glider: 146
mission: 8
dive: 183
start: 2 22 113 19 56 17
data:
$ID,146
$MISSION,8
$DIVE,183
$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,-310961
$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,44
$R_STBD_OVSHOOT,21
$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
$GPS1,194729,1924.448,-8106.520,66,1.4,72,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.8
$GPS2,195524,1924.430,-8106.543,13,1.4,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.092,-0.109
$KALMAN_X,-5771.6,229.6,504.3,19167.0,-988.8
$KALMAN_Y,4549.9,-199.2,-491.3,-9808.8,1937.6
$MHEAD_RNG_PITCHd_Wd,224.2,2548,-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,17,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-67.40,0.000,6,0.000,0.000,466,2192,3372,0,0,0,0,0,0
$GC,96,-2.14,-84.7,3.3,-3.9,9,122,12.77,2.55,-3.22,0.000,4,0.169,0.054,2786,645,3538,0,0,0,0,0,0
$GC,322,-2.03,-84.7,65.1,-26.8,33,327,0.15,2.47,0.00,0.000,6,0.146,0.016,2813,2256,3538,0,0,0,0,0,0
$GC,590,-2.03,-84.7,128.2,-23.5,57,594,0.00,2.40,0.00,0.000,4,0.000,0.029,2813,3772,3539,0,0,0,0,0,0
$GC,625,-2.03,-84.7,136.3,-19.7,59,629,0.00,2.42,0.00,0.000,6,0.000,0.019,2813,2220,3539,0,0,0,0,0,0
$GC,890,-2.12,-84.7,178.0,-13.3,83,894,0.00,2.47,0.00,0.000,4,0.000,0.031,2813,3773,3540,0,0,0,0,0,0
$GC,908,-2.19,-84.7,180.8,-13.2,84,913,0.12,2.42,0.00,0.000,6,0.064,0.018,2759,2210,3540,0,0,0,0,0,0
$GC,1195,-2.19,-84.7,224.1,-14.7,99,1200,0.10,2.50,0.00,0.000,4,0.129,0.031,2780,3777,3540,0,0,0,0,0,0
$GC,1320,-2.23,-84.7,242.8,-14.2,101,1326,0.00,2.42,0.00,0.000,6,0.000,0.025,2780,2222,3541,0,0,0,0,0,0
$GC,1570,-2.30,-84.7,276.1,-13.4,108,1574,0.00,2.47,0.00,0.000,4,0.000,0.042,2779,3765,3540,0,0,0,0,0,0
$GC,1672,-2.34,-84.7,289.7,-13.6,110,1677,0.12,2.40,0.00,0.000,6,0.069,0.025,2726,2242,3540,0,0,0,0,0,0
$GC,1939,-2.34,-84.7,328.8,-14.6,117,1944,0.12,2.50,0.00,0.000,4,0.120,0.044,2750,3768,3540,0,0,0,0,0,0
$GC,1996,-2.34,-84.7,337.3,-15.0,118,2000,0.00,2.40,0.00,0.000,6,0.000,0.031,2750,2255,3540,0,0,0,0,0,0
$GC,2262,-2.34,-84.7,374.1,-13.7,125,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2255,3540,0,0,0,0,0,0
$GC,2505,-2.34,-84.7,409.2,-14.3,131,2510,0.00,2.47,0.00,0.000,4,0.000,0.053,2750,3758,3539,0,0,0,0,0,0
$GC,2540,-2.34,-84.7,414.2,-15.3,131,2546,0.00,2.47,0.00,0.000,6,0.000,0.042,2750,2246,3539,0,0,0,0,0,0
$GC,2790,-2.34,-84.7,450.2,-14.3,138,2794,0.00,2.55,0.00,0.000,4,0.000,0.053,2750,3765,3538,0,0,0,0,0,0
$GC,2805,-2.34,-84.7,452.6,-13.8,138,2809,0.00,2.50,0.00,0.000,6,0.000,0.039,2750,2248,3538,0,0,0,0,0,0
$GC,3066,-2.34,-84.7,488.9,-13.8,145,3070,0.00,2.58,0.00,0.000,4,0.000,0.064,2750,3761,3537,0,0,0,0,0,0
$GC,3095,-2.34,-84.7,492.8,-13.8,145,3100,0.00,2.53,0.00,0.000,6,0.000,0.051,2750,2248,3537,0,0,0,0,0,0
$GC,3345,-2.34,-84.7,527.7,-13.8,151,3349,0.00,2.58,0.00,0.000,4,0.000,0.065,2750,3758,3535,0,0,0,0,0,0
$GC,3418,-2.34,-84.7,538.1,-14.2,152,3422,0.00,2.53,0.00,0.000,6,0.000,0.057,2750,2248,3535,0,0,0,0,0,0
$GC,3670,-2.38,-84.7,570.6,-12.9,158,3675,0.00,2.62,0.00,0.000,4,0.000,0.070,2750,3761,3533,0,0,0,0,0,0
$GC,3711,-2.38,-84.7,576.1,-13.1,159,3716,0.00,2.58,0.00,0.000,6,0.000,0.060,2750,2257,3533,0,0,0,0,0,0
$GC,3995,-2.42,-84.7,614.4,-13.5,166,3999,0.00,2.65,0.00,0.000,4,0.000,0.084,2750,3755,3532,0,0,0,0,0,0
$GC,4102,-2.42,-84.7,630.0,-13.9,168,4107,0.00,2.65,0.00,0.000,6,0.000,0.083,2750,2261,3532,0,0,0,0,0,0
$GC,4363,-2.46,-84.7,664.5,-13.0,175,4368,0.12,2.78,0.00,0.000,4,0.067,0.102,2700,3754,3530,0,0,0,0,0,0
$GC,4426,-2.40,-84.7,673.7,-15.3,176,4432,0.17,2.78,0.00,0.000,6,0.136,0.102,2734,2269,3529,0,0,0,0,0,0
$GC,4687,-2.40,-84.7,709.9,-13.8,183,4692,0.00,2.90,0.00,0.000,4,0.000,0.127,2734,3754,3528,0,0,0,0,0,0
$GC,4795,-2.40,-84.7,725.3,-14.2,185,4799,0.00,2.62,0.00,0.000,6,0.000,0.085,2734,2279,3527,0,0,0,0,0,0
$GC,5055,-2.40,-84.7,760.7,-13.5,192,5060,0.00,2.62,0.00,0.000,4,0.000,0.093,2734,3753,3525,0,0,0,0,0,0
$GC,5197,-2.40,-84.7,780.3,-13.6,195,5201,0.00,2.58,0.00,0.000,6,0.000,0.075,2734,2285,3524,0,0,0,0,0,0
$GC,5470,-2.40,-84.7,816.0,-13.0,202,5475,0.00,2.62,0.00,0.000,4,0.000,0.089,2734,3761,3522,0,0,0,0,0,0
$GC,5582,-2.40,-84.7,832.3,-14.6,204,5586,0.00,2.58,0.00,0.000,6,0.000,0.072,2734,2286,3521,0,0,0,0,0,0
$GC,5837,-2.40,-84.7,866.8,-13.7,211,5841,0.00,2.60,0.00,0.000,4,0.000,0.085,2734,3755,3519,0,0,0,0,0,0
$GC,5923,-2.40,-84.7,879.0,-14.3,213,5927,0.00,2.53,0.00,0.000,6,0.000,0.073,2734,2301,3519,0,0,0,0,0,0
$STATE,6081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6082,begin apogee
$GC,6088,-0.31,0.0,900.6,13.2,217,6164,2.15,0.00,69.88,1.191,6,0.106,0.000,3189,2336,3190,0,0,0,0,0,0
$STATE,6165,end apogee,CONTROL_FINISHED_OK
$STATE,6165,begin climb
$GC,6169,2.14,84.7,902.6,0.0,219,6251,2.20,0.00,74.12,1.167,6,0.032,0.000,3743,2336,2843,0,0,0,0,0,0
$GC,6494,2.14,84.7,867.2,12.8,227,6499,0.00,2.78,0.00,0.000,4,0.000,0.066,3744,3932,2837,0,0,0,0,0,0
$GC,6585,2.06,84.7,855.3,13.0,229,6591,0.17,2.62,0.00,0.000,6,0.135,0.049,3711,2376,2836,0,0,0,0,0,0
$GC,6863,2.06,84.7,822.7,11.4,236,6868,0.00,2.67,0.00,0.000,4,0.000,0.058,3711,3941,2835,0,0,0,0,0,0
$GC,7123,2.06,84.7,790.8,12.3,241,7131,0.00,2.60,0.00,0.000,6,0.000,0.039,3711,2386,2832,0,0,0,0,0,0
$GC,7373,2.06,84.7,762.6,11.2,248,7377,0.00,2.62,0.00,0.000,4,0.000,0.057,3711,3942,2831,0,0,0,0,0,0
$GC,7632,2.06,84.7,730.6,11.6,253,7638,0.00,2.58,0.00,0.000,6,0.000,0.039,3711,2398,2830,0,0,0,0,0,0
$GC,7883,2.11,84.7,705.0,10.1,260,7887,0.00,2.62,0.00,0.000,4,0.000,0.058,3711,3944,2829,0,0,0,0,0,0
$GC,8139,2.11,84.7,675.5,11.8,265,8145,0.00,2.58,0.00,0.000,6,0.000,0.045,3711,2405,2828,0,0,0,0,0,0
$GC,8390,2.16,87.7,651.1,9.5,272,8395,0.00,2.60,0.00,0.000,4,0.000,0.054,3711,3941,2827,0,0,0,0,0,0
$GC,8648,2.16,87.7,623.3,11.3,277,8654,0.00,2.53,0.00,0.000,6,0.000,0.036,3711,2411,2826,0,0,0,0,0,0
$GC,8899,2.20,88.0,598.1,10.0,284,8904,0.12,2.58,0.00,0.000,4,0.081,0.057,3746,3941,2826,0,0,0,0,0,0
$GC,9157,2.14,88.0,567.5,13.1,289,9163,0.10,2.53,0.00,0.000,6,0.153,0.036,3728,2409,2825,0,0,0,0,0,0
$GC,9406,2.14,88.0,539.9,11.0,296,9411,0.00,2.55,0.00,0.000,4,0.000,0.055,3728,3942,2825,0,0,0,0,0,0
$GC,9568,2.14,88.0,522.0,11.4,299,9573,0.00,2.50,0.00,0.000,6,0.000,0.032,3728,2416,2825,0,0,0,0,0,0
$GC,9823,2.14,88.0,494.3,11.0,306,9827,0.00,2.53,0.00,0.000,4,0.000,0.052,3728,3948,2825,0,0,0,0,0,0
$GC,9925,2.14,88.0,482.3,12.2,308,9929,0.00,2.50,0.00,0.000,6,0.000,0.035,3728,2414,2825,0,0,0,0,0,0
$GC,10191,2.14,88.0,452.5,11.1,315,10195,0.00,2.53,0.00,0.000,4,0.000,0.047,3728,3945,2825,0,0,0,0,0,0
$GC,10341,2.14,88.0,435.4,12.0,318,10345,0.00,2.45,0.00,0.000,6,0.000,0.030,3728,2421,2825,0,0,0,0,0,0
$GC,10609,2.17,88.0,407.3,10.3,325,10613,0.00,2.50,0.00,0.000,4,0.000,0.042,3728,3944,2825,0,0,0,0,0,0
$GC,10653,2.17,88.0,401.8,11.6,326,10657,0.00,2.45,0.00,0.000,6,0.000,0.026,3728,2416,2825,0,0,0,0,0,0
$GC,10933,2.21,88.6,373.8,9.9,333,10937,0.00,2.47,0.00,0.000,4,0.000,0.041,3728,3938,2825,0,0,0,0,0,0
$GC,10989,2.21,88.6,367.2,11.2,334,10993,0.00,2.42,0.00,0.000,6,0.000,0.027,3728,2429,2825,0,0,0,0,0,0
$GC,11255,2.21,88.6,338.6,10.5,341,11259,0.00,2.47,0.00,0.000,4,0.000,0.043,3728,3941,2826,0,0,0,0,0,0
$GC,11434,2.21,88.6,318.0,11.2,345,11438,0.00,2.40,0.00,0.000,6,0.000,0.025,3728,2432,2827,0,0,0,0,0,0
$GC,11711,2.26,88.6,288.5,10.7,352,11716,0.10,2.50,0.00,0.000,4,0.089,0.041,3760,3946,2827,0,0,0,0,0,0
$GC,11924,2.20,88.6,261.7,11.7,356,11930,0.10,2.40,0.00,0.000,6,0.144,0.025,3742,2432,2828,0,0,0,0,0,0
$GC,12176,2.20,88.6,235.3,10.6,363,12181,0.00,2.47,0.00,0.000,4,0.000,0.043,3742,3943,2829,0,0,0,0,0,0
$GC,12283,2.20,91.7,224.7,9.5,365,12292,0.00,2.40,4.57,0.495,6,0.000,0.025,3742,2433,2816,0,0,0,0,0,0
$GC,12549,2.27,101.9,200.7,8.5,372,12564,0.00,2.50,10.38,0.611,4,0.000,0.041,3742,3946,2773,0,0,0,0,0,0
$GC,12749,2.28,115.2,182.8,8.0,387,12766,0.00,2.40,11.85,0.607,6,0.000,0.025,3742,2443,2719,0,0,0,0,0,0
$GC,13028,2.37,125.9,156.7,8.4,413,13044,0.05,2.47,10.38,0.574,4,0.144,0.044,3768,3950,2675,0,0,0,0,0,0
$GC,13069,2.38,135.2,153.4,8.6,416,13083,0.00,2.42,9.18,0.556,6,0.000,0.025,3768,2440,2638,0,0,0,0,0,0
$GC,13348,2.51,169.0,130.9,4.9,442,13386,0.00,2.53,28.83,0.594,4,0.000,0.040,3768,3935,2500,0,0,0,0,0,0
$GC,13654,2.60,186.4,104.3,7.4,467,13676,0.00,2.38,15.75,0.548,6,0.000,0.024,3767,2432,2429,0,0,0,0,0,0
$GC,13947,2.73,186.4,74.7,10.8,494,13951,0.00,2.47,0.00,0.000,4,0.000,0.038,3768,3946,2428,0,0,0,0,0,0
$GC,14232,2.82,186.4,37.3,13.0,516,14242,0.00,2.40,0.00,0.000,6,0.000,0.025,3768,2452,2428,0,0,0,0,0,0
$STATE,14517,end climb,SURFACE_DEPTH_REACHED
$STATE,14517,begin surface coast
$FINISH,1.0,1.022636
$STATE,14560,end surface coast,CONTROL_FINISHED_OK
$STATE,14560,begin surface
$SM_CCo,14583,131.38,0.492,0,0,1763,350.04
$SM_GC,1.72,0.00,0.00,131.38,0.000,0.000,0.492,467,2171,1763,-12.85,-1.10,350.04
$IRIDIUM_FIX,1918.37,-8110.19,190502,141401
$TT8_MAMPS,0.026078
$HUMID,55.11
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.50
$XPDR_PINGS,63
$24V_AH,23.3,25.865
$10V_AH,10.4,22.665
$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,31.925,177.625,234.925,131.375,0.000,28.064,34.521,228.677,15.750,0.000,31.619,1330.008,10125.644,493.002,2544.210,690.845,33.354,1546.279,0.000,2503.196,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,138.060,1191.151,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.419,264.933,346.783,463.989,884.476,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,44765,561
$CAP_FILE_SIZE,148911,0
$CFSIZE,260165632,115863552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230213,000254,1923.028,-8106.637,37,1.2,37,-3.8