version: 66.06
glider: 146
mission: 8
dive: 20
start: 1 19 113 17 38 54
data:
$ID,146
$MISSION,8
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,500
$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,300
$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,-307745.69
$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,3125
$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,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,12
$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
$GPS1,173256,1926.661,-8117.018,11,1.4,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.8
$GPS2,173801,1926.633,-8116.978,11,1.6,11,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1928.000,-8118.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.069,0.125
$KALMAN_X,-20483.7,489.0,735.4,12969.6,-2917.1
$KALMAN_Y,13156.7,-482.9,-71.0,-3401.9,447.3
$MHEAD_RNG_PITCHd_Wd,32.4,3098,-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,19,-2.09,-44.5,0.0,0.0,0,84,0.00,0.00,-59.08,0.000,6,0.000,0.000,475,2214,3373,0,0,0,0,0,0
$GC,87,-2.12,-64.6,3.9,-7.0,8,113,12.27,2.53,-1.52,0.000,4,0.178,0.043,2657,3761,3456,0,0,0,0,0,0
$GC,392,-1.80,-64.6,110.2,-31.1,37,397,0.38,2.53,0.00,0.000,6,0.145,0.026,2727,2154,3457,0,0,0,0,0,0
$GC,658,-1.66,-64.6,170.9,-19.9,61,663,0.17,0.00,0.00,0.000,6,0.156,0.000,2758,2154,3457,0,0,0,0,0,0
$GC,948,-1.60,-64.6,219.4,-15.5,80,952,0.00,2.58,0.00,0.000,4,0.000,0.036,2757,3763,3457,0,0,0,0,0,0
$GC,969,-1.53,-64.6,223.0,-15.0,80,974,0.17,2.50,0.00,0.000,6,0.153,0.020,2788,2151,3457,0,0,0,0,0,0
$GC,1224,-1.53,-64.6,256.5,-13.2,87,1228,0.00,2.60,0.00,0.000,4,0.000,0.036,2788,3757,3457,0,0,0,0,0,0
$GC,1252,-1.53,-64.6,260.5,-15.1,87,1257,0.00,2.53,0.00,0.000,6,0.000,0.028,2788,2160,3457,0,0,0,0,0,0
$GC,1502,-1.53,-64.6,294.2,-13.6,93,1506,0.00,2.58,0.00,0.000,4,0.000,0.041,2788,3754,3457,0,0,0,0,0,0
$GC,1517,-1.53,-64.6,296.6,-13.9,93,1522,0.00,2.55,0.00,0.000,6,0.000,0.026,2788,2157,3457,0,0,0,0,0,0
$GC,1781,-1.53,-64.6,332.9,-13.8,100,1785,0.00,2.60,0.00,0.000,4,0.000,0.043,2788,3757,3457,0,0,0,0,0,0
$GC,1846,-1.53,-64.6,343.1,-14.8,101,1851,0.00,2.58,0.00,0.000,6,0.000,0.031,2788,2167,3456,0,0,0,0,0,0
$GC,2102,-1.53,-64.6,377.6,-13.6,108,2106,0.00,2.60,0.00,0.000,4,0.000,0.051,2788,3753,3456,0,0,0,0,0,0
$GC,2125,-1.53,-64.6,380.7,-14.1,108,2129,0.00,2.60,0.00,0.000,6,0.000,0.041,2788,2160,3455,0,0,0,0,0,0
$GC,2379,-1.53,-64.6,416.0,-13.7,115,2384,0.00,2.65,0.00,0.000,4,0.000,0.053,2788,3746,3454,0,0,0,0,0,0
$GC,2428,-1.53,-64.6,423.1,-14.8,116,2433,0.00,2.60,0.00,0.000,6,0.000,0.050,2788,2171,3454,0,0,0,0,0,0
$GC,2703,-1.53,-64.6,459.2,-13.2,123,2707,0.00,2.67,0.00,0.000,4,0.000,0.063,2788,3747,3452,0,0,0,0,0,0
$GC,2780,-1.53,-64.6,470.5,-14.3,124,2786,0.00,2.62,0.00,0.000,6,0.000,0.055,2788,2175,3452,0,0,0,0,0,0
$GC,3030,-1.53,-64.6,503.4,-13.2,131,3034,0.00,2.67,0.00,0.000,4,0.000,0.065,2788,3741,3451,0,0,0,0,0,0
$GC,3137,-1.53,-64.6,518.2,-13.6,133,3141,0.00,2.62,0.00,0.000,6,0.000,0.056,2788,2185,3450,0,0,0,0,0,0
$GC,3397,-1.53,-64.6,552.8,-13.2,140,3402,0.00,2.72,0.00,0.000,4,0.000,0.077,2788,3746,3448,0,0,0,0,0,0
$GC,3486,-1.53,-64.6,565.4,-14.4,142,3490,0.00,2.67,0.00,0.000,6,0.000,0.062,2788,2182,3448,0,0,0,0,0,0
$GC,3765,-1.53,-64.6,602.2,-13.4,149,3770,0.00,2.80,0.00,0.000,4,0.000,0.089,2788,3744,3446,0,0,0,0,0,0
$GC,3831,-1.53,-64.6,611.5,-13.5,150,3835,0.00,2.75,0.00,0.000,6,0.000,0.075,2788,2191,3446,0,0,0,0,0,0
$GC,4087,-1.53,-64.6,646.1,-13.7,157,4091,0.00,2.83,0.00,0.000,4,0.000,0.104,2788,3738,3444,0,0,0,0,0,0
$GC,4188,-1.53,-64.6,659.9,-13.3,159,4192,0.00,2.75,0.00,0.000,6,0.000,0.086,2788,2207,3443,0,0,0,0,0,0
$GC,4454,-1.53,-64.6,694.1,-13.0,166,4458,0.00,2.88,0.00,0.000,4,0.000,0.117,2788,3739,3441,0,0,0,0,0,0
$GC,4469,-1.53,-64.6,696.3,-13.0,166,4473,0.00,2.75,0.00,0.000,6,0.000,0.089,2788,2210,3441,0,0,0,0,0,0
$GC,4732,-1.53,-64.6,729.3,-12.5,173,4737,0.00,2.83,0.00,0.000,4,0.000,0.101,2788,3739,3439,0,0,0,0,0,0
$GC,4804,-1.53,-64.6,739.6,-14.3,174,4808,0.00,2.72,0.00,0.000,6,0.000,0.080,2788,2209,3439,0,0,0,0,0,0
$GC,5054,-1.53,-64.6,771.2,-12.5,180,5058,0.00,2.78,0.00,0.000,4,0.000,0.094,2788,3739,3437,0,0,0,0,0,0
$GC,5172,-1.53,-64.6,787.0,-14.0,182,5177,0.00,2.67,0.00,0.000,6,0.000,0.074,2788,2230,3436,0,0,0,0,0,0
$GC,5422,-1.53,-64.6,817.8,-12.0,188,5426,0.00,2.70,0.00,0.000,4,0.000,0.087,2788,3744,3434,0,0,0,0,0,0
$GC,5490,-1.53,-64.6,826.3,-12.4,189,5494,0.00,2.65,0.00,0.000,6,0.000,0.078,2788,2242,3434,0,0,0,0,0,0
$GC,5744,-1.53,-64.6,856.0,-11.5,196,5749,0.00,2.65,0.00,0.000,4,0.000,0.086,2788,3744,3432,0,0,0,0,0,0
$GC,5874,-1.53,-64.6,872.1,-12.4,199,5878,0.00,2.60,0.00,0.000,6,0.000,0.075,2788,2260,3431,0,0,0,0,0,0
$STATE,6154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6154,begin apogee
$GC,6162,-0.31,0.0,904.5,11.3,206,6216,1.30,0.00,50.65,1.209,6,0.127,0.000,3053,2260,3190,0,0,0,0,0,0
$STATE,6217,end apogee,CONTROL_FINISHED_OK
$STATE,6217,begin climb
$GC,6219,2.12,64.6,907.1,0.0,207,6285,2.35,3.20,56.53,1.189,4,0.074,0.127,3582,663,2926,0,0,0,0,0,0
$GC,6330,2.41,92.1,903.4,5.9,209,6361,0.30,2.78,25.12,1.144,6,0.061,0.063,3654,2253,2814,0,0,0,0,0,0
$GC,6631,2.61,97.1,877.5,9.3,217,6642,0.15,2.85,5.15,0.835,4,0.083,0.082,3690,3837,2794,0,0,0,0,0,0
$GC,6782,2.68,97.1,860.8,12.2,220,6786,0.00,2.70,0.00,0.000,6,0.000,0.046,3691,2259,2792,0,0,0,0,0,0
$GC,7043,2.81,98.6,835.0,9.8,227,7048,0.20,2.75,0.00,0.000,4,0.081,0.061,3739,3844,2791,0,0,0,0,0,0
$GC,7300,2.81,98.6,802.8,13.0,232,7306,0.00,2.67,0.00,0.000,6,0.000,0.045,3740,2269,2789,0,0,0,0,0,0
$GC,7553,2.86,98.6,774.9,11.2,239,7557,0.00,2.70,0.00,0.000,4,0.000,0.060,3740,3841,2788,0,0,0,0,0,0
$GC,7809,2.86,98.6,744.4,12.1,244,7815,0.00,2.65,0.00,0.000,6,0.000,0.046,3739,2279,2786,0,0,0,0,0,0
$GC,8062,2.92,98.6,718.2,10.3,251,8066,0.00,2.67,0.00,0.000,4,0.000,0.059,3739,3840,2786,0,0,0,0,0,0
$GC,8240,2.92,98.6,697.3,11.8,255,8245,0.00,2.65,0.00,0.000,6,0.000,0.049,3739,2281,2785,0,0,0,0,0,0
$GC,8521,2.97,98.6,668.5,10.4,262,8526,0.08,2.70,0.00,0.000,4,0.123,0.059,3758,3846,2784,0,0,0,0,0,0
$GC,8700,2.97,98.6,647.5,11.0,266,8704,0.00,2.65,0.00,0.000,6,0.000,0.048,3758,2282,2784,0,0,0,0,0,0
$GC,8979,2.97,98.6,619.4,10.1,273,8984,0.00,2.65,0.00,0.000,4,0.000,0.058,3758,3840,2783,0,0,0,0,0,0
$GC,9237,2.97,98.6,589.5,11.5,278,9243,0.00,2.62,0.00,0.000,6,0.000,0.048,3759,2279,2783,0,0,0,0,0,0
$GC,9489,2.97,98.6,563.1,10.4,285,9493,0.00,2.65,0.00,0.000,4,0.000,0.053,3758,3844,2783,0,0,0,0,0,0
$GC,9718,2.97,98.6,537.0,11.2,290,9722,0.00,2.60,0.00,0.000,6,0.000,0.041,3758,2286,2782,0,0,0,0,0,0
$GC,9993,2.97,99.2,510.1,9.9,297,9997,0.00,2.60,0.00,0.000,4,0.000,0.055,3759,3844,2782,0,0,0,0,0,0
$GC,10103,2.97,99.2,498.1,11.1,299,10108,0.00,2.58,0.00,0.000,6,0.000,0.038,3758,2293,2782,0,0,0,0,0,0
$GC,10359,2.97,99.2,471.3,10.4,306,10363,0.00,2.60,0.00,0.000,4,0.000,0.049,3758,3845,2782,0,0,0,0,0,0
$GC,10610,2.97,99.2,443.0,11.7,311,10614,0.00,2.50,0.00,0.000,6,0.000,0.031,3758,2308,2782,0,0,0,0,0,0
$GC,10862,3.02,99.2,417.5,10.1,317,10867,0.00,2.58,0.00,0.000,4,0.000,0.047,3759,3854,2782,0,0,0,0,0,0
$GC,10974,3.02,101.6,405.5,9.6,319,10978,0.00,2.53,0.00,0.000,6,0.000,0.036,3758,2305,2782,0,0,0,0,0,0
$GC,11231,3.06,101.6,380.4,10.0,326,11236,0.00,2.55,0.00,0.000,4,0.000,0.051,3758,3853,2782,0,0,0,0,0,0
$GC,11471,3.06,101.6,354.3,11.1,331,11476,0.00,2.50,0.00,0.000,6,0.000,0.028,3759,2305,2783,0,0,0,0,0,0
$GC,11735,3.12,106.3,329.4,9.3,338,11749,0.00,2.62,7.12,0.682,4,0.000,0.045,3759,3844,2755,0,0,0,0,0,0
$GC,11930,3.12,106.3,307.3,11.1,342,11934,0.00,2.47,0.00,0.000,6,0.000,0.026,3758,2302,2756,0,0,0,0,0,0
$GC,12205,3.18,106.3,278.7,10.3,349,12209,0.00,2.53,0.00,0.000,4,0.000,0.042,3759,3844,2756,0,0,0,0,0,0
$GC,12346,3.18,106.3,262.4,11.1,352,12350,0.00,2.45,0.00,0.000,6,0.000,0.028,3759,2323,2756,0,0,0,0,0,0
$GC,12618,3.24,106.3,233.7,10.3,359,12622,0.00,2.50,0.00,0.000,4,0.000,0.044,3759,3845,2757,0,0,0,0,0,0
$GC,12874,3.24,110.1,208.2,9.4,364,12884,0.00,2.40,5.18,0.532,6,0.000,0.026,3759,2347,2741,0,0,0,0,0,0
$GC,13142,3.34,124.6,185.6,7.8,381,13161,0.00,2.50,13.48,0.637,4,0.000,0.040,3758,3845,2682,0,0,0,0,0,0
$GC,13173,3.43,136.9,182.9,8.2,383,13198,0.00,2.45,11.90,0.617,6,0.000,0.026,3758,2335,2631,0,0,0,0,0,0
$GC,13453,3.55,148.4,159.1,8.3,409,13468,0.00,0.00,11.57,0.597,6,0.000,0.000,3758,2335,2584,0,0,0,0,0,0
$GC,13732,3.70,165.4,136.0,7.4,435,13758,0.00,2.88,15.45,0.591,4,0.000,0.051,3758,656,2513,0,0,0,0,0,0
$GC,13786,3.80,167.3,131.0,9.7,439,13790,0.00,2.75,0.00,0.000,6,0.000,0.024,3758,2384,2513,0,0,0,0,0,0
$GC,14055,3.99,187.3,108.6,7.0,463,14083,0.00,2.97,19.38,0.572,4,0.000,0.050,3759,653,2425,0,0,0,0,0,0
$GC,14267,4.17,208.2,91.4,6.9,481,14292,0.00,2.72,18.92,0.551,6,0.000,0.023,3759,2391,2341,0,0,0,0,0,0
$GC,14548,4.40,219.5,66.2,8.3,507,14565,0.00,2.40,11.23,0.505,4,0.000,0.038,3759,3852,2293,0,0,0,0,0,0
$GC,14671,4.59,219.5,53.6,10.5,516,14681,0.00,2.42,0.00,0.000,6,0.000,0.025,3759,2354,2292,0,0,0,0,0,0
$GC,14942,4.59,220.4,27.7,9.9,542,14951,0.00,2.47,0.00,0.000,4,0.000,0.039,3759,3847,2292,0,0,0,0,0,0
$STATE,15146,end climb,SURFACE_DEPTH_REACHED
$STATE,15146,begin surface coast
$FINISH,0.6,1.022434
$STATE,15189,end surface coast,CONTROL_FINISHED_OK
$STATE,15189,begin surface
$SM_CCo,15214,64.65,0.494,0,0,1967,300.00
$SM_GC,1.53,0.00,0.00,64.65,0.000,0.000,0.494,470,2126,1967,-12.21,-0.68,300.00
$IRIDIUM_FIX,1918.37,-8119.23,150402,171718
$TT8_MAMPS,0.026078
$HUMID,54.48
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,25.10
$XPDR_PINGS,58
$24V_AH,23.2,3.648
$10V_AH,10.5,2.743
$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,30.625,195.600,251.675,64.650,0.000,0.000,0.000,0.000,14.500,0.000,13.192,1357.964,10603.766,437.698,2634.916,315.483,33.343,1556.909,0.000,2604.131,0.000,0.536,0.000
$DEVICE_MAMPS,177.944,127.322,1208.792,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.563,273.785,353.208,474.099,903.778,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,44661,578
$CAP_FILE_SIZE,167078,0
$CFSIZE,260165632,127275008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190113,215454,1927.546,-8115.695,38,1.3,38,-3.8