version: 66.06
glider: 146
mission: 8
dive: 185
start: 2 23 113 4 42 56
data:
$ID,146
$MISSION,8
$DIVE,185
$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,-310990.94
$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,47
$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
$GPS1,043135,1923.577,-8107.412,34,0.8,39,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.5
$GPS2,044206,1923.563,-8107.407,8,1.5,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.073,0.123
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,333.0,2022,-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,-67.28,0.000,6,0.000,0.000,461,2176,3372,0,0,0,0,0,0
$GC,94,-2.14,-85.3,3.4,-3.9,9,120,12.77,2.65,-3.33,0.000,4,0.169,0.041,2784,3800,3538,0,0,0,0,0,0
$GC,401,-2.08,-85.3,89.4,-25.3,40,406,0.10,2.47,0.00,0.000,6,0.145,0.021,2803,2218,3539,0,0,0,0,0,0
$GC,667,-2.08,-85.3,145.9,-17.0,64,672,0.00,2.53,0.00,0.000,4,0.000,0.031,2803,3810,3539,0,0,0,0,0,0
$GC,762,-2.12,-85.3,162.3,-15.6,71,767,0.00,2.50,0.00,0.000,6,0.000,0.021,2803,2197,3539,0,0,0,0,0,0
$GC,1027,-2.21,-85.3,201.0,-13.6,96,1032,0.10,2.58,0.00,0.000,4,0.077,0.031,2754,3812,3540,0,0,0,0,0,0
$GC,1048,-2.21,-85.3,205.0,-14.9,96,1053,0.12,2.47,0.00,0.000,6,0.113,0.025,2779,2215,3539,0,0,0,0,0,0
$GC,1303,-2.26,-85.3,239.7,-13.4,103,1308,0.00,2.55,0.00,0.000,4,0.000,0.038,2779,3811,3540,0,0,0,0,0,0
$GC,1345,-2.30,-85.3,245.4,-14.4,104,1349,0.00,2.47,0.00,0.000,6,0.000,0.018,2779,2226,3540,0,0,0,0,0,0
$GC,1628,-2.37,-85.3,283.2,-13.1,111,1633,0.15,2.55,0.00,0.000,4,0.059,0.044,2718,3808,3540,0,0,0,0,0,0
$GC,1774,-2.29,-85.3,306.7,-16.8,114,1779,0.20,2.50,0.00,0.000,6,0.105,0.023,2759,2229,3540,0,0,0,0,0,0
$GC,2041,-2.33,-85.3,344.0,-13.6,121,2045,0.00,2.55,0.00,0.000,4,0.000,0.046,2759,3798,3539,0,0,0,0,0,0
$GC,2064,-2.33,-85.3,347.2,-14.1,121,2069,0.00,2.53,0.00,0.000,6,0.000,0.034,2759,2225,3539,0,0,0,0,0,0
$GC,2319,-2.37,-85.3,383.3,-14.1,128,2324,0.00,2.58,0.00,0.000,4,0.000,0.048,2759,3797,3538,0,0,0,0,0,0
$GC,2386,-2.37,-85.3,393.6,-15.2,129,2390,0.00,2.55,0.00,0.000,6,0.000,0.040,2759,2228,3538,0,0,0,0,0,0
$GC,2649,-2.42,-85.3,429.1,-13.4,136,2654,0.10,2.62,0.00,0.000,4,0.081,0.052,2712,3794,3537,0,0,0,0,0,0
$GC,2734,-2.35,-85.3,442.1,-16.0,138,2739,0.17,2.58,0.00,0.000,6,0.110,0.039,2747,2231,3537,0,0,0,0,0,0
$GC,3019,-2.35,-85.3,482.6,-14.1,145,3024,0.00,2.65,0.00,0.000,4,0.000,0.061,2747,3800,3535,0,0,0,0,0,0
$GC,3058,-2.35,-85.3,488.6,-14.8,146,3063,0.00,2.58,0.00,0.000,6,0.000,0.043,2747,2231,3535,0,0,0,0,0,0
$GC,3342,-2.35,-85.3,528.2,-14.0,153,3346,0.00,2.67,0.00,0.000,4,0.000,0.067,2747,3794,3534,0,0,0,0,0,0
$GC,3496,-2.35,-85.3,550.0,-13.6,156,3500,0.00,2.62,0.00,0.000,6,0.000,0.058,2747,2243,3533,0,0,0,0,0,0
$GC,3756,-2.35,-85.3,585.3,-13.5,163,3761,0.00,2.70,0.00,0.000,4,0.000,0.078,2747,3797,3531,0,0,0,0,0,0
$GC,3828,-2.35,-85.3,596.4,-15.5,164,3832,0.00,2.67,0.00,0.000,6,0.000,0.064,2746,2242,3531,0,0,0,0,0,0
$GC,4080,-2.39,-85.3,630.9,-13.6,170,4085,0.00,2.78,0.00,0.000,4,0.000,0.091,2747,3790,3530,0,0,0,0,0,0
$GC,4186,-2.39,-85.3,646.3,-14.0,172,4190,0.00,2.78,0.00,0.000,6,0.000,0.091,2747,2256,3529,0,0,0,0,0,0
$GC,4449,-2.43,-85.3,680.7,-13.2,179,4453,0.00,2.90,0.00,0.000,4,0.000,0.112,2747,3793,3528,0,0,0,0,0,0
$GC,4475,-2.43,-85.3,685.2,-15.5,179,4480,0.00,2.75,0.00,0.000,6,0.000,0.087,2747,2253,3528,0,0,0,0,0,0
$GC,4726,-2.47,-85.3,718.9,-13.3,185,4731,0.10,2.85,0.00,0.000,4,0.086,0.100,2707,3793,3525,0,0,0,0,0,0
$GC,4795,-2.42,-85.3,729.3,-16.3,186,4800,0.12,2.70,0.00,0.000,6,0.120,0.076,2732,2266,3525,0,0,0,0,0,0
$GC,5050,-2.42,-85.3,766.0,-14.0,193,5055,0.00,2.72,0.00,0.000,4,0.000,0.094,2731,3791,3523,0,0,0,0,0,0
$GC,5111,-2.42,-85.3,774.9,-14.9,194,5115,0.00,2.65,0.00,0.000,6,0.000,0.074,2731,2280,3523,0,0,0,0,0,0
$GC,5373,-2.42,-85.3,810.4,-13.4,201,5378,0.00,2.70,0.00,0.000,4,0.000,0.092,2731,3795,3521,0,0,0,0,0,0
$GC,5406,-2.42,-85.3,815.3,-14.5,201,5411,0.00,2.65,0.00,0.000,6,0.000,0.072,2732,2281,3521,0,0,0,0,0,0
$GC,5656,-2.42,-85.3,848.9,-13.3,208,5660,0.00,2.67,0.00,0.000,4,0.000,0.082,2731,3791,3519,0,0,0,0,0,0
$GC,5763,-2.42,-85.3,863.5,-13.7,210,5768,0.00,2.60,0.00,0.000,6,0.000,0.069,2731,2294,3518,0,0,0,0,0,0
$GC,6023,-2.42,-85.3,897.6,-12.8,217,6028,0.00,2.65,0.00,0.000,4,0.000,0.081,2732,3791,3517,0,0,0,0,0,0
$STATE,6042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6042,begin apogee
$GC,6051,-0.31,0.0,900.5,13.5,217,6124,2.12,0.00,69.12,1.203,6,0.111,0.000,3187,2360,3190,0,0,0,0,0,0
$STATE,6125,end apogee,CONTROL_FINISHED_OK
$STATE,6125,begin climb
$GC,6130,2.14,85.3,902.6,0.0,219,6213,2.25,2.83,74.10,1.174,4,0.033,0.067,3738,3937,2841,0,0,0,0,0,0
$GC,6220,2.14,86.3,896.8,9.9,221,6226,0.00,2.72,0.00,0.000,6,0.000,0.056,3738,2367,2839,0,0,0,0,0,0
$GC,6472,2.14,86.3,864.6,12.9,228,6476,0.00,2.72,0.00,0.000,4,0.000,0.065,3738,3934,2835,0,0,0,0,0,0
$GC,6609,2.07,86.3,845.8,13.8,231,6614,0.15,2.62,0.00,0.000,6,0.144,0.041,3712,2370,2834,0,0,0,0,0,0
$GC,6889,2.07,86.3,813.0,11.4,238,6893,0.00,2.70,0.00,0.000,4,0.000,0.054,3711,3938,2832,0,0,0,0,0,0
$GC,7129,2.07,86.3,782.1,12.5,243,7133,0.00,2.62,0.00,0.000,6,0.000,0.047,3711,2378,2830,0,0,0,0,0,0
$GC,7394,2.11,86.3,753.0,11.0,250,7398,0.00,2.65,0.00,0.000,4,0.000,0.058,3711,3938,2829,0,0,0,0,0,0
$GC,7545,2.11,86.3,735.2,12.1,253,7550,0.00,2.62,0.00,0.000,6,0.000,0.047,3711,2377,2828,0,0,0,0,0,0
$GC,7809,2.16,86.3,706.6,10.8,260,7813,0.00,2.62,0.00,0.000,4,0.000,0.056,3711,3933,2827,0,0,0,0,0,0
$GC,8010,2.16,86.3,682.2,12.0,264,8014,0.00,2.58,0.00,0.000,6,0.000,0.038,3711,2389,2827,0,0,0,0,0,0
$GC,8267,2.20,86.3,654.0,11.1,271,8273,0.12,2.62,0.00,0.000,4,0.083,0.053,3745,3938,2826,0,0,0,0,0,0
$GC,8442,2.13,86.3,631.4,13.3,275,8447,0.10,2.55,0.00,0.000,6,0.157,0.040,3727,2393,2825,0,0,0,0,0,0
$GC,8726,2.13,86.3,599.8,11.0,282,8730,0.00,2.60,0.00,0.000,4,0.000,0.052,3727,3942,2825,0,0,0,0,0,0
$GC,8872,2.09,86.3,582.4,11.3,285,8877,0.00,2.58,0.00,0.000,6,0.000,0.043,3727,2392,2824,0,0,0,0,0,0
$GC,9140,2.09,86.3,552.8,11.0,292,9145,0.00,2.60,0.00,0.000,4,0.000,0.052,3727,3937,2824,0,0,0,0,0,0
$GC,9398,2.09,86.3,522.6,11.8,297,9404,0.00,2.53,0.00,0.000,6,0.000,0.041,3727,2401,2823,0,0,0,0,0,0
$GC,9650,2.09,86.3,496.6,10.3,304,9654,0.00,2.55,0.00,0.000,4,0.000,0.051,3727,3935,2823,0,0,0,0,0,0
$GC,9907,2.09,86.3,466.4,11.3,309,9913,0.00,2.50,0.00,0.000,6,0.000,0.032,3727,2400,2823,0,0,0,0,0,0
$GC,10159,2.09,86.3,440.0,10.6,316,10164,0.00,2.55,0.00,0.000,4,0.000,0.047,3727,3942,2823,0,0,0,0,0,0
$GC,10355,2.09,86.3,416.6,12.2,320,10359,0.00,2.47,0.00,0.000,6,0.000,0.034,3726,2409,2823,0,0,0,0,0,0
$GC,10624,2.12,86.3,387.5,11.0,327,10629,0.00,2.53,0.00,0.000,4,0.000,0.043,3727,3940,2823,0,0,0,0,0,0
$GC,10771,2.12,86.3,369.0,13.3,330,10775,0.00,2.40,0.00,0.000,6,0.000,0.025,3727,2424,2824,0,0,0,0,0,0
$GC,11039,2.16,86.3,338.7,11.2,337,11044,0.00,2.50,0.00,0.000,4,0.000,0.042,3727,3948,2824,0,0,0,0,0,0
$GC,11111,2.16,86.3,329.7,11.4,338,11116,0.00,2.42,0.00,0.000,6,0.000,0.024,3727,2426,2824,0,0,0,0,0,0
$GC,11368,2.20,86.3,302.8,10.5,345,11372,0.00,2.47,0.00,0.000,4,0.000,0.044,3727,3938,2825,0,0,0,0,0,0
$GC,11625,2.20,86.3,273.0,12.0,350,11631,0.00,2.40,0.00,0.000,6,0.000,0.024,3727,2426,2825,0,0,0,0,0,0
$GC,11876,2.26,90.1,248.8,9.4,357,11881,0.10,2.47,0.00,0.000,4,0.087,0.047,3760,3938,2826,0,0,0,0,0,0
$GC,12016,2.21,90.1,232.8,10.9,360,12020,0.00,2.38,0.00,0.000,6,0.000,0.025,3760,2443,2827,0,0,0,0,0,0
$GC,12288,2.22,95.8,206.8,9.1,367,12302,0.00,2.55,7.55,0.588,4,0.000,0.045,3760,3958,2799,0,0,0,0,0,0
$GC,12496,2.22,96.2,185.5,9.9,379,12500,0.00,2.38,0.00,0.000,6,0.000,0.024,3760,2460,2799,0,0,0,0,0,0
$GC,12765,2.24,109.7,165.4,8.0,403,12786,0.00,2.50,13.02,0.604,4,0.000,0.043,3760,3940,2741,0,0,0,0,0,0
$GC,13051,2.27,135.6,141.0,6.1,427,13080,0.00,2.38,22.08,0.602,6,0.000,0.024,3760,2447,2636,0,0,0,0,0,0
$GC,13335,2.39,153.5,122.2,7.3,454,13359,0.00,2.53,16.20,0.571,4,0.000,0.041,3760,3937,2563,0,0,0,0,0,0
$GC,13368,2.50,170.3,119.9,7.5,456,13390,0.00,2.42,15.32,0.558,6,0.000,0.025,3760,2445,2494,0,0,0,0,0,0
$GC,13657,2.64,181.5,96.5,8.3,483,13673,0.00,2.47,10.82,0.521,4,0.000,0.038,3760,3939,2448,0,0,0,0,0,0
$GC,13738,2.73,181.5,89.0,10.3,489,13742,0.00,2.35,0.00,0.000,6,0.000,0.024,3761,2452,2446,0,0,0,0,0,0
$GC,14004,2.86,181.5,61.4,10.8,513,14009,0.00,2.45,0.00,0.000,4,0.000,0.040,3760,3944,2446,0,0,0,0,0,0
$GC,14138,2.95,181.5,46.7,10.9,523,14143,0.00,2.38,0.00,0.000,6,0.000,0.025,3760,2449,2447,0,0,0,0,0,0
$GC,14435,3.08,181.5,14.2,11.9,558,14444,0.00,2.45,0.00,0.000,4,0.000,0.041,3760,3931,2447,0,0,0,0,0,0
$STATE,14512,end climb,SURFACE_DEPTH_REACHED
$STATE,14512,begin surface coast
$FINISH,1.0,1.023572
$STATE,14542,end surface coast,CONTROL_FINISHED_OK
$STATE,14542,begin surface
$SM_CCo,14567,134.70,0.492,0,0,1763,350.04
$SM_GC,1.85,0.00,0.00,134.70,0.000,0.000,0.492,464,2197,1763,-12.86,-0.37,350.04
$IRIDIUM_FIX,1916.08,-8107.94,200502,040400
$TT8_MAMPS,0.026078
$HUMID,55.43
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.60
$XPDR_PINGS,61
$24V_AH,23.3,26.085
$10V_AH,10.4,22.894
$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,32.025,195.950,228.225,134.700,0.000,56.676,87.826,250.324,15.250,0.000,15.141,1354.532,10054.481,496.151,2601.203,822.497,29.239,1573.551,0.000,2571.918,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,111.982,1202.656,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.635,275.236,362.171,491.818,937.560,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,44728,573
$CAP_FILE_SIZE,156422,0
$CFSIZE,260165632,115720192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230213,084923,1924.317,-8107.595,23,1.0,40,-3.8