version: 66.06
glider: 146
mission: 8
dive: 201
start: 2 26 113 18 10 1
data:
$ID,146
$MISSION,8
$DIVE,201
$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,-311296.41
$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,45
$R_STBD_OVSHOOT,25
$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
$GPS1,180036,1926.511,-8117.213,28,1.0,28,-3.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.0
$GPS2,180907,1926.535,-8117.146,14,1.0,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.122,0.075
$KALMAN_X,6965.9,2.5,-163.5,-23814.4,410.3
$KALMAN_Y,-2701.5,-169.6,54.1,8319.5,-306.0
$MHEAD_RNG_PITCHd_Wd,305.2,1724,-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,-44.5,0.0,0.0,0,91,0.00,0.00,-67.12,0.000,6,0.000,0.000,464,2185,3368,0,0,0,0,0,0
$GC,94,-2.13,-75.0,3.7,-5.4,9,120,12.65,2.65,-2.65,0.000,4,0.166,0.044,2789,3800,3499,0,0,0,0,0,0
$GC,401,-2.05,-75.0,86.1,-25.0,40,406,0.12,2.50,0.00,0.000,6,0.139,0.020,2811,2206,3499,0,0,0,0,0,0
$GC,664,-2.05,-75.0,139.9,-18.2,64,668,0.00,2.53,0.00,0.000,4,0.000,0.028,2811,3803,3500,0,0,0,0,0,0
$GC,701,-2.05,-75.0,146.0,-16.4,66,710,0.00,2.50,0.00,0.000,6,0.000,0.018,2811,2204,3501,0,0,0,0,0,0
$GC,967,-2.13,-75.0,183.9,-13.1,91,971,0.00,2.53,0.00,0.000,4,0.000,0.048,2811,644,3501,0,0,0,0,0,0
$GC,995,-2.19,-75.0,188.4,-14.2,93,1000,0.12,2.45,0.00,0.000,6,0.064,0.021,2758,2246,3501,0,0,0,0,0,0
$GC,1281,-2.19,-75.0,230.2,-14.6,105,1286,0.12,2.42,0.00,0.000,4,0.120,0.041,2782,3767,3501,0,0,0,0,0,0
$GC,1347,-2.19,-75.0,240.3,-14.0,106,1351,0.00,2.42,0.00,0.000,6,0.000,0.017,2782,2201,3501,0,0,0,0,0,0
$GC,1605,-2.25,-75.0,274.2,-13.2,113,1609,0.00,2.53,0.00,0.000,4,0.000,0.035,2782,3768,3501,0,0,0,0,0,0
$GC,1666,-2.29,-75.0,282.8,-12.8,114,1671,0.00,2.42,0.00,0.000,6,0.000,0.026,2782,2222,3501,0,0,0,0,0,0
$GC,1928,-2.35,-75.0,315.4,-12.4,121,1933,0.15,2.50,0.00,0.000,4,0.059,0.041,2726,3766,3501,0,0,0,0,0,0
$GC,1963,-2.29,-75.0,320.2,-14.2,121,1969,0.15,2.47,0.00,0.000,6,0.110,0.025,2757,2211,3501,0,0,0,0,0,0
$GC,2213,-2.29,-75.0,353.4,-13.0,128,2217,0.00,2.53,0.00,0.000,4,0.000,0.041,2757,3757,3501,0,0,0,0,0,0
$GC,2278,-2.29,-75.0,362.8,-14.5,129,2283,0.00,2.45,0.00,0.000,6,0.000,0.028,2757,2231,3501,0,0,0,0,0,0
$GC,2536,-2.29,-75.0,395.8,-13.0,136,2540,0.00,2.50,0.00,0.000,4,0.000,0.047,2757,3758,3500,0,0,0,0,0,0
$GC,2675,-2.29,-75.0,415.4,-13.8,139,2679,0.00,2.47,0.00,0.000,6,0.000,0.041,2757,2239,3500,0,0,0,0,0,0
$GC,2956,-2.33,-75.0,451.6,-13.0,146,2960,0.00,2.53,0.00,0.000,4,0.000,0.056,2757,3757,3498,0,0,0,0,0,0
$GC,3027,-2.33,-75.0,462.4,-14.5,147,3032,0.00,2.50,0.00,0.000,6,0.000,0.048,2757,2244,3498,0,0,0,0,0,0
$GC,3278,-2.38,-75.0,494.8,-12.9,153,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2243,3497,0,0,0,0,0,0
$GC,3524,-2.42,-75.0,526.5,-13.1,159,3529,0.10,2.60,0.00,0.000,4,0.082,0.075,2715,3749,3496,0,0,0,0,0,0
$GC,3615,-2.36,-75.0,539.9,-14.5,161,3620,0.15,2.53,0.00,0.000,6,0.110,0.052,2744,2245,3496,0,0,0,0,0,0
$GC,3894,-2.36,-75.0,576.5,-13.0,168,3899,0.00,2.62,0.00,0.000,4,0.000,0.079,2744,3749,3494,0,0,0,0,0,0
$GC,3943,-2.36,-75.0,583.6,-13.9,169,3948,0.00,2.58,0.00,0.000,6,0.000,0.062,2744,2252,3494,0,0,0,0,0,0
$GC,4215,-2.36,-75.0,618.4,-12.7,176,4220,0.00,2.67,0.00,0.000,4,0.000,0.087,2744,3747,3492,0,0,0,0,0,0
$GC,4369,-2.36,-75.0,639.0,-14.1,179,4374,0.00,2.70,0.00,0.000,6,0.000,0.091,2744,2251,3491,0,0,0,0,0,0
$GC,4630,-2.36,-75.0,672.3,-12.6,186,4634,0.00,2.80,0.00,0.000,4,0.000,0.107,2744,3749,3490,0,0,0,0,0,0
$GC,4726,-2.36,-75.0,685.3,-13.9,188,4730,0.00,2.70,0.00,0.000,6,0.000,0.085,2744,2257,3489,0,0,0,0,0,0
$GC,4998,-2.36,-75.0,719.3,-12.2,195,5002,0.00,2.72,0.00,0.000,4,0.000,0.098,2744,3747,3487,0,0,0,0,0,0
$GC,5047,-2.36,-75.0,725.9,-13.6,196,5051,0.00,2.62,0.00,0.000,6,0.000,0.075,2744,2264,3487,0,0,0,0,0,0
$GC,5321,-2.36,-75.0,759.7,-12.3,203,5325,0.00,2.65,0.00,0.000,4,0.000,0.090,2744,3753,3485,0,0,0,0,0,0
$GC,5456,-2.36,-75.0,777.6,-13.7,206,5460,0.00,2.60,0.00,0.000,6,0.000,0.072,2744,2277,3485,0,0,0,0,0,0
$GC,5733,-2.36,-75.0,811.0,-12.0,213,5737,0.00,2.62,0.00,0.000,4,0.000,0.087,2744,3753,3483,0,0,0,0,0,0
$GC,5840,-2.36,-75.0,824.5,-12.4,215,5845,0.00,2.58,0.00,0.000,6,0.000,0.073,2744,2279,3482,0,0,0,0,0,0
$GC,6101,-2.36,-75.0,854.3,-11.1,222,6106,0.00,2.58,0.00,0.000,4,0.000,0.077,2744,3749,3480,0,0,0,0,0,0
$GC,6204,-2.36,-75.0,866.1,-12.1,224,6208,0.00,2.53,0.00,0.000,6,0.000,0.070,2744,2296,3479,0,0,0,0,0,0
$GC,6470,-2.36,-75.0,894.8,-10.7,231,6474,0.00,2.55,0.00,0.000,4,0.000,0.080,2744,3749,3478,0,0,0,0,0,0
$STATE,6517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6517,begin apogee
$GC,6525,-0.31,0.0,900.6,11.2,232,6591,2.05,0.00,61.38,1.195,6,0.108,0.000,3188,2367,3190,0,0,0,0,0,0
$STATE,6592,end apogee,CONTROL_FINISHED_OK
$STATE,6592,begin climb
$GC,6597,2.13,75.0,902.1,0.0,233,6672,2.17,3.08,65.30,1.171,4,0.032,0.106,3736,786,2883,0,0,0,0,0,0
$GC,6680,2.14,80.8,897.0,9.1,235,6694,0.00,2.67,6.62,0.900,6,0.000,0.051,3736,2327,2860,0,0,0,0,0,0
$GC,6967,2.14,80.8,861.5,12.4,242,6972,0.00,2.85,0.00,0.000,4,0.000,0.071,3736,3942,2856,0,0,0,0,0,0
$GC,7199,2.06,80.8,831.4,12.8,247,7204,0.12,2.62,0.00,0.000,6,0.148,0.035,3713,2372,2853,0,0,0,0,0,0
$GC,7471,2.06,80.8,800.4,11.2,254,7475,0.00,2.67,0.00,0.000,4,0.000,0.058,3713,3938,2852,0,0,0,0,0,0
$GC,7719,2.06,80.8,770.2,12.4,259,7723,0.00,2.60,0.00,0.000,6,0.000,0.046,3713,2392,2851,0,0,0,0,0,0
$GC,7980,2.06,80.8,742.6,10.5,266,7985,0.00,2.65,0.00,0.000,4,0.000,0.054,3713,3945,2849,0,0,0,0,0,0
$GC,8178,2.06,80.8,720.3,11.3,270,8182,0.00,2.60,0.00,0.000,6,0.000,0.043,3713,2399,2849,0,0,0,0,0,0
$GC,8438,2.10,80.8,693.8,10.1,277,8443,0.00,2.62,0.00,0.000,4,0.000,0.060,3713,3944,2848,0,0,0,0,0,0
$GC,8673,2.10,83.6,668.9,9.6,282,8677,0.00,2.58,0.00,0.000,6,0.000,0.041,3713,2406,2847,0,0,0,0,0,0
$GC,8940,2.14,85.0,642.3,9.8,289,8945,0.00,2.58,0.00,0.000,4,0.000,0.051,3713,3941,2846,0,0,0,0,0,0
$GC,9037,2.14,85.0,631.9,10.6,291,9041,0.00,2.55,0.00,0.000,6,0.000,0.043,3713,2403,2846,0,0,0,0,0,0
$GC,9309,2.18,85.2,604.7,10.0,298,9313,0.00,2.60,0.00,0.000,4,0.000,0.054,3713,3941,2846,0,0,0,0,0,0
$GC,9568,2.18,85.2,576.4,10.9,303,9574,0.00,2.53,0.00,0.000,6,0.000,0.035,3713,2414,2845,0,0,0,0,0,0
$GC,9818,2.23,85.2,551.0,10.0,310,9823,0.12,2.58,0.00,0.000,4,0.081,0.054,3750,3945,2845,0,0,0,0,0,0
$GC,9934,2.15,85.2,537.9,11.6,312,9938,0.00,2.53,0.00,0.000,6,0.000,0.034,3750,2413,2844,0,0,0,0,0,0
$GC,10188,2.15,85.2,510.7,10.3,319,10193,0.00,2.55,0.00,0.000,4,0.000,0.048,3750,3940,2844,0,0,0,0,0,0
$GC,10324,2.08,85.2,495.8,10.8,322,10329,0.17,2.50,0.00,0.000,6,0.133,0.034,3716,2402,2844,0,0,0,0,0,0
$GC,10605,2.14,88.8,468.9,9.5,329,10615,0.00,2.58,5.30,0.690,4,0.000,0.045,3716,3949,2827,0,0,0,0,0,0
$GC,10852,2.14,88.8,440.6,12.1,334,10857,0.00,2.47,0.00,0.000,6,0.000,0.032,3717,2415,2827,0,0,0,0,0,0
$GC,11108,2.19,88.8,413.1,10.5,341,11112,0.00,2.53,0.00,0.000,4,0.000,0.042,3716,3943,2827,0,0,0,0,0,0
$GC,11310,2.19,89.7,390.7,9.9,345,11314,0.00,2.40,0.00,0.000,6,0.000,0.028,3716,2427,2827,0,0,0,0,0,0
$GC,11571,2.25,92.9,366.1,9.5,352,11583,0.15,2.50,5.43,0.629,4,0.068,0.039,3760,3946,2811,0,0,0,0,0,0
$GC,11807,2.19,92.9,336.9,12.2,357,11812,0.12,2.42,0.00,0.000,6,0.137,0.028,3738,2429,2810,0,0,0,0,0,0
$GC,12074,2.19,92.9,307.9,10.8,364,12078,0.00,2.50,0.00,0.000,4,0.000,0.044,3738,3947,2811,0,0,0,0,0,0
$GC,12176,2.19,92.9,295.4,12.4,366,12180,0.00,2.42,0.00,0.000,6,0.000,0.024,3738,2426,2811,0,0,0,0,0,0
$GC,12442,2.19,92.9,266.7,10.7,373,12446,0.00,2.50,0.00,0.000,4,0.000,0.043,3738,3948,2812,0,0,0,0,0,0
$GC,12699,2.19,92.9,237.3,12.3,378,12705,0.00,2.40,0.00,0.000,6,0.000,0.025,3738,2439,2813,0,0,0,0,0,0
$GC,12950,2.26,104.2,215.9,8.3,385,12969,0.00,2.58,11.52,0.631,4,0.000,0.044,3738,3949,2763,0,0,0,0,0,0
$GC,13213,2.26,105.0,189.0,9.9,396,13222,0.00,2.40,0.00,0.000,6,0.000,0.025,3738,2458,2763,0,0,0,0,0,0
$GC,13482,2.35,120.2,166.1,7.7,421,13504,0.08,2.50,14.30,0.602,4,0.105,0.041,3767,3953,2700,0,0,0,0,0,0
$GC,13769,2.38,138.5,137.4,7.2,445,13791,0.00,2.38,16.42,0.584,6,0.000,0.023,3767,2454,2625,0,0,0,0,0,0
$GC,14054,2.52,180.5,118.4,3.7,472,14095,0.00,2.55,35.88,0.584,4,0.000,0.041,3767,3946,2453,0,0,0,0,0,0
$GC,14362,2.61,187.4,89.1,9.0,497,14381,0.00,2.35,6.85,0.469,6,0.000,0.023,3767,2463,2425,0,0,0,0,0,0
$GC,14637,2.74,187.4,61.3,11.0,523,14641,0.00,2.40,0.00,0.000,4,0.000,0.039,3767,3947,2425,0,0,0,0,0,0
$GC,14928,2.83,187.4,28.2,13.3,546,14937,0.00,2.35,0.00,0.000,6,0.000,0.024,3767,2475,2425,0,0,0,0,0,0
$STATE,15111,end climb,SURFACE_DEPTH_REACHED
$STATE,15111,begin surface coast
$FINISH,0.9,1.014932
$STATE,15153,end surface coast,CONTROL_FINISHED_OK
$STATE,15153,begin surface
$SM_CCo,15179,132.20,0.490,0,0,1763,350.04
$SM_GC,1.75,0.00,0.00,132.20,0.000,0.000,0.490,462,2169,1763,-12.87,-1.16,350.04
$IRIDIUM_FIX,1925.22,-8053.32,230502,121233
$TT8_MAMPS,0.026078
$HUMID,54.88
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.60
$XPDR_PINGS,60
$24V_AH,23.3,28.219
$10V_AH,10.4,24.923
$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,31.725,183.975,229.000,132.200,0.000,28.791,35.435,275.473,15.000,0.000,16.386,1397.279,10440.153,472.297,2743.537,758.004,33.355,1629.676,0.000,2713.201,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,107.380,1194.986,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.176,271.767,357.016,476.649,904.843,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,44714,579
$CAP_FILE_SIZE,158183,0
$CFSIZE,260165632,114556928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260213,222635,1926.908,-8118.349,40,1.0,40,-3.7