version: 66.06
glider: 146
mission: 8
dive: 212
start: 3 1 113 5 41 1
data:
$ID,146
$MISSION,8
$DIVE,212
$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,-311514.88
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,053230,1926.254,-8117.012,39,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.7
$GPS2,054007,1926.280,-8117.066,12,1.0,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.129,0.060
$KALMAN_X,9598.9,-35.8,-348.1,-26081.0,468.3
$KALMAN_Y,935.9,-251.9,-2.7,4346.6,352.2
$MHEAD_RNG_PITCHd_Wd,298.8,2107,-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,-67.57,0.000,6,0.000,0.000,464,2135,3370,0,0,0,0,0,0
$GC,97,-2.14,-84.6,3.4,-4.0,9,123,12.62,2.70,-3.17,0.000,4,0.166,0.047,2784,3771,3539,0,0,0,0,0,0
$GC,322,-2.06,-84.6,71.0,-26.2,32,332,0.08,2.47,0.00,0.000,6,0.118,0.021,2801,2205,3540,0,0,0,0,0,0
$GC,591,-2.03,-84.6,133.1,-22.0,57,595,0.00,2.53,0.00,0.000,4,0.000,0.028,2801,3793,3539,0,0,0,0,0,0
$GC,612,-2.03,-84.6,139.9,-22.1,58,621,0.00,2.47,0.00,0.000,6,0.000,0.022,2801,2222,3540,0,0,0,0,0,0
$GC,878,-2.09,-84.6,183.7,-14.6,83,883,0.00,2.50,0.00,0.000,4,0.000,0.036,2801,3787,3540,0,0,0,0,0,0
$GC,935,-2.15,-84.6,193.1,-15.0,87,944,0.00,2.45,0.00,0.000,6,0.000,0.016,2801,2211,3540,0,0,0,0,0,0
$GC,1199,-2.23,-84.6,229.3,-13.7,98,1204,0.12,2.53,0.00,0.000,4,0.065,0.034,2748,3790,3541,0,0,0,0,0,0
$GC,1238,-2.23,-84.6,235.6,-15.4,99,1243,0.12,2.42,0.00,0.000,6,0.113,0.024,2773,2226,3541,0,0,0,0,0,0
$GC,1522,-2.28,-84.6,276.7,-13.9,106,1526,0.00,2.47,0.00,0.000,4,0.000,0.041,2774,3779,3541,0,0,0,0,0,0
$GC,1563,-2.28,-84.6,282.2,-14.7,107,1567,0.00,2.42,0.00,0.000,6,0.000,0.028,2774,2234,3541,0,0,0,0,0,0
$GC,1846,-2.33,-84.6,320.8,-13.6,114,1850,0.00,2.50,0.00,0.000,4,0.000,0.040,2774,3783,3541,0,0,0,0,0,0
$GC,1895,-2.33,-84.6,328.1,-14.0,115,1899,0.00,2.45,0.00,0.000,6,0.000,0.029,2774,2241,3541,0,0,0,0,0,0
$GC,2170,-2.39,-84.6,365.7,-13.7,122,2172,0.15,0.00,0.00,0.000,6,0.060,0.000,2717,2241,3540,0,0,0,0,0,0
$GC,2411,-2.39,-84.6,404.3,-16.0,128,2416,0.10,2.55,0.00,0.000,4,0.127,0.052,2737,3775,3540,0,0,0,0,0,0
$GC,2455,-2.39,-84.6,411.5,-15.8,129,2459,0.00,2.50,0.00,0.000,6,0.000,0.036,2736,2232,3540,0,0,0,0,0,0
$GC,2741,-2.39,-84.6,453.6,-14.7,136,2745,0.00,2.55,0.00,0.000,4,0.000,0.051,2737,3771,3539,0,0,0,0,0,0
$GC,2880,-2.39,-84.6,475.9,-15.7,139,2885,0.00,2.53,0.00,0.000,6,0.000,0.050,2737,2246,3538,0,0,0,0,0,0
$GC,3155,-2.39,-84.6,515.9,-14.7,146,3159,0.00,2.62,0.00,0.000,4,0.000,0.067,2736,3772,3537,0,0,0,0,0,0
$GC,3249,-2.39,-84.6,531.0,-16.0,148,3253,0.00,2.55,0.00,0.000,6,0.000,0.055,2737,2251,3536,0,0,0,0,0,0
$GC,3521,-2.39,-84.6,571.1,-14.7,155,3526,0.00,2.62,0.00,0.000,4,0.000,0.077,2737,3766,3535,0,0,0,0,0,0
$GC,3589,-2.39,-84.6,581.3,-14.7,156,3594,0.00,2.60,0.00,0.000,6,0.000,0.067,2737,2263,3535,0,0,0,0,0,0
$GC,3844,-2.39,-84.6,618.4,-14.6,163,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2263,3533,0,0,0,0,0,0
$GC,4088,-2.39,-84.6,653.6,-14.5,169,4092,0.00,2.75,0.00,0.000,4,0.000,0.108,2736,3764,3532,0,0,0,0,0,0
$GC,4178,-2.39,-84.6,667.2,-15.3,171,4183,0.00,2.78,0.00,0.000,6,0.000,0.104,2736,2266,3531,0,0,0,0,0,0
$GC,4456,-2.39,-84.6,706.5,-14.4,178,4461,0.00,2.88,0.00,0.000,4,0.000,0.128,2737,3766,3529,0,0,0,0,0,0
$GC,4569,-2.39,-84.6,723.1,-14.5,180,4574,0.00,2.65,0.00,0.000,6,0.000,0.084,2737,2278,3529,0,0,0,0,0,0
$GC,4825,-2.39,-84.6,758.4,-13.8,187,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2278,3526,0,0,0,0,0,0
$GC,5068,-2.39,-84.6,792.6,-13.9,193,5073,0.00,2.62,0.00,0.000,4,0.000,0.085,2736,3766,3525,0,0,0,0,0,0
$GC,5144,-2.39,-84.6,803.7,-14.8,194,5149,0.00,2.60,0.00,0.000,6,0.000,0.072,2737,2281,3524,0,0,0,0,0,0
$GC,5394,-2.39,-84.6,838.5,-13.9,200,5398,0.00,2.62,0.00,0.000,4,0.000,0.081,2737,3766,3522,0,0,0,0,0,0
$GC,5449,-2.39,-84.6,846.8,-15.2,201,5453,0.00,2.58,0.00,0.000,6,0.000,0.067,2737,2285,3522,0,0,0,0,0,0
$GC,5715,-2.39,-84.6,881.4,-12.8,208,5719,0.00,2.60,0.00,0.000,4,0.000,0.076,2737,3773,3520,0,0,0,0,0,0
$GC,5778,-2.39,-84.6,889.6,-12.9,209,5782,0.00,2.55,0.00,0.000,6,0.000,0.064,2737,2292,3520,0,0,0,0,0,0
$STATE,5873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5873,begin apogee
$GC,5879,-0.31,0.0,902.4,12.9,212,5955,2.12,0.00,69.97,1.190,6,0.104,0.000,3188,2345,3190,0,0,0,0,0,0
$STATE,5956,end apogee,CONTROL_FINISHED_OK
$STATE,5956,begin climb
$GC,5961,2.14,84.6,904.0,0.0,214,6042,2.20,0.00,74.00,1.166,6,0.032,0.000,3741,2345,2843,0,0,0,0,0,0
$GC,6286,2.14,84.6,867.8,13.2,222,6290,0.00,2.75,0.00,0.000,4,0.000,0.060,3741,3940,2837,0,0,0,0,0,0
$GC,6411,2.07,84.6,851.2,13.4,224,6417,0.15,2.65,0.00,0.000,6,0.141,0.048,3714,2375,2836,0,0,0,0,0,0
$GC,6660,2.07,84.6,823.0,11.0,231,6665,0.00,2.65,0.00,0.000,4,0.000,0.057,3714,3934,2835,0,0,0,0,0,0
$GC,6920,2.07,84.6,792.2,12.2,236,6926,0.00,2.60,0.00,0.000,6,0.000,0.040,3714,2388,2833,0,0,0,0,0,0
$GC,7170,2.07,84.6,764.3,11.0,243,7174,0.00,2.62,0.00,0.000,4,0.000,0.057,3714,3937,2832,0,0,0,0,0,0
$GC,7316,2.07,84.6,747.6,11.3,246,7320,0.00,2.60,0.00,0.000,6,0.000,0.044,3714,2389,2831,0,0,0,0,0,0
$GC,7584,2.10,84.6,719.1,10.6,253,7589,0.00,2.62,0.00,0.000,4,0.000,0.058,3714,3937,2830,0,0,0,0,0,0
$GC,7625,2.10,84.6,714.1,11.7,254,7630,0.00,2.60,0.00,0.000,6,0.000,0.048,3715,2390,2829,0,0,0,0,0,0
$GC,7908,2.10,84.6,684.2,10.4,261,7912,0.00,2.60,0.00,0.000,4,0.000,0.054,3714,3934,2829,0,0,0,0,0,0
$GC,8166,2.10,84.6,654.5,11.1,266,8172,0.00,2.58,0.00,0.000,6,0.000,0.046,3714,2392,2828,0,0,0,0,0,0
$GC,8419,2.15,84.6,628.9,10.1,273,8423,0.00,2.60,0.00,0.000,4,0.000,0.058,3715,3934,2827,0,0,0,0,0,0
$GC,8620,2.15,84.6,606.3,10.9,277,8624,0.00,2.53,0.00,0.000,6,0.000,0.037,3714,2408,2826,0,0,0,0,0,0
$GC,8875,2.20,84.6,580.0,10.4,284,8880,0.10,2.58,0.00,0.000,4,0.095,0.058,3742,3941,2826,0,0,0,0,0,0
$GC,8949,2.13,84.6,571.5,12.3,285,8954,0.00,2.55,0.00,0.000,6,0.000,0.036,3742,2397,2826,0,0,0,0,0,0
$GC,9199,2.13,84.6,544.5,10.8,291,9203,0.00,2.58,0.00,0.000,4,0.000,0.054,3742,3934,2826,0,0,0,0,0,0
$GC,9295,2.08,84.6,533.7,11.6,293,9300,0.15,2.50,0.00,0.000,6,0.139,0.038,3715,2411,2826,0,0,0,0,0,0
$GC,9568,2.14,90.0,507.8,9.2,300,9572,0.00,2.55,0.00,0.000,4,0.000,0.053,3715,3941,2826,0,0,0,0,0,0
$GC,9825,2.14,90.0,479.7,11.0,305,9831,0.00,2.47,0.00,0.000,6,0.000,0.035,3715,2417,2825,0,0,0,0,0,0
$GC,10076,2.19,90.0,454.5,10.0,312,10080,0.00,2.53,0.00,0.000,4,0.000,0.049,3715,3945,2826,0,0,0,0,0,0
$GC,10172,2.19,90.0,444.2,10.6,314,10176,0.00,2.45,0.00,0.000,6,0.000,0.032,3715,2421,2825,0,0,0,0,0,0
$GC,10446,2.25,90.0,416.4,10.2,321,10451,0.15,2.53,0.00,0.000,4,0.070,0.049,3758,3946,2826,0,0,0,0,0,0
$GC,10551,2.19,90.0,404.5,11.3,323,10556,0.12,2.45,0.00,0.000,6,0.139,0.031,3736,2418,2825,0,0,0,0,0,0
$GC,10817,2.19,90.0,376.4,10.5,330,10821,0.00,2.50,0.00,0.000,4,0.000,0.048,3736,3941,2826,0,0,0,0,0,0
$GC,11075,2.15,90.0,346.2,12.1,335,11080,0.00,2.42,0.00,0.000,6,0.000,0.030,3736,2416,2827,0,0,0,0,0,0
$GC,11325,2.19,90.0,320.2,10.3,342,11329,0.00,2.50,0.00,0.000,4,0.000,0.041,3735,3941,2827,0,0,0,0,0,0
$GC,11525,2.19,90.0,297.2,11.8,346,11529,0.00,2.38,0.00,0.000,6,0.000,0.028,3736,2438,2827,0,0,0,0,0,0
$GC,11787,2.23,90.0,269.2,10.7,353,11791,0.00,2.45,0.00,0.000,4,0.000,0.047,3736,3938,2828,0,0,0,0,0,0
$GC,11867,2.23,90.0,260.3,11.0,354,11873,0.00,2.38,0.00,0.000,6,0.000,0.022,3736,2435,2828,0,0,0,0,0,0
$GC,12120,2.28,90.0,234.8,10.1,361,12124,0.00,2.47,0.00,0.000,4,0.000,0.043,3736,3946,2829,0,0,0,0,0,0
$GC,12220,2.28,90.0,223.7,10.3,363,12224,0.00,2.38,0.00,0.000,6,0.000,0.031,3736,2447,2829,0,0,0,0,0,0
$GC,12495,2.36,107.5,202.1,7.4,370,12520,0.10,2.53,17.23,0.644,4,0.085,0.040,3769,3939,2750,0,0,0,0,0,0
$GC,12609,2.36,107.5,190.7,10.9,377,12613,0.00,2.38,0.00,0.000,6,0.000,0.025,3770,2449,2749,0,0,0,0,0,0
$GC,12874,2.37,120.4,166.1,8.1,401,12898,0.00,2.47,11.77,0.592,4,0.000,0.040,3770,3948,2698,0,0,0,0,0,0
$GC,13164,2.42,157.5,143.4,4.4,425,13207,0.00,2.33,31.73,0.608,6,0.000,0.022,3769,2463,2548,0,0,0,0,0,0
$GC,13464,2.54,170.6,120.0,8.0,453,13489,0.00,2.50,12.20,0.548,4,0.000,0.038,3770,3942,2492,0,0,0,0,0,0
$GC,13757,2.62,171.5,95.1,9.9,477,13763,0.00,2.35,0.00,0.000,6,0.000,0.023,3769,2458,2492,0,0,0,0,0,0
$GC,14028,2.75,177.5,71.4,9.1,502,14037,0.00,0.00,7.32,0.466,6,0.000,0.000,3769,2458,2466,0,0,0,0,0,0
$GC,14298,2.90,189.0,46.4,8.3,527,14317,0.00,0.00,11.45,0.484,6,0.000,0.000,3769,2458,2417,0,0,0,0,0,0
$GC,14602,3.04,189.0,12.8,11.5,564,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,3769,2458,2417,0,0,0,0,0,0
$STATE,14678,end climb,SURFACE_DEPTH_REACHED
$STATE,14678,begin surface coast
$FINISH,1.0,0.999760
$STATE,14720,end surface coast,CONTROL_FINISHED_OK
$STATE,14721,begin surface
$SM_CCo,14746,128.15,0.489,0,0,1763,350.04
$SM_GC,1.64,0.00,0.00,128.15,0.000,0.000,0.489,460,2182,1763,-12.88,-0.79,350.04
$IRIDIUM_FIX,1918.37,-8110.19,260502,000053
$TT8_MAMPS,0.025311
$HUMID,55.11
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.80
$XPDR_PINGS,58
$24V_AH,23.3,29.828
$10V_AH,10.4,26.285
$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,31.575,168.150,235.675,128.150,0.000,28.556,41.709,215.786,14.500,0.000,13.683,1331.986,10260.173,498.720,2540.341,689.201,33.359,1555.098,0.000,2518.700,0.000,0.537,0.000
$DEVICE_MAMPS,165.672,128.089,1190.384,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.392,289.036,367.632,509.579,971.397,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,44651,581
$CAP_FILE_SIZE,146583,0
$CFSIZE,260165632,113766400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010313,095005,1926.693,-8118.804,27,1.3,27,-3.7