version: 66.06
glider: 146
mission: 8
dive: 22
start: 1 20 113 3 21 18
data:
$ID,146
$MISSION,8
$DIVE,22
$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,-307781.47
$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,3090
$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,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,19
$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
$GPS1,030836,1927.233,-8117.454,43,1.1,43,-3.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.1
$GPS2,032024,1927.157,-8117.410,11,1.7,16,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1928.000,-8118.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.130,0.058
$KALMAN_X,-16713.5,-204.6,273.6,9607.1,956.2
$KALMAN_Y,11336.6,-148.2,-416.7,-601.7,667.4
$MHEAD_RNG_PITCHd_Wd,297.7,1870,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-2.09,-44.5,0.0,0.0,0,95,0.00,0.00,-64.88,0.000,6,0.000,0.000,475,2121,3372,0,0,0,0,0,0
$GC,98,-2.11,-61.8,4.1,-7.4,9,124,12.12,2.75,-1.30,0.000,4,0.179,0.046,2622,3801,3445,0,0,0,0,0,0
$GC,276,-1.73,-61.8,70.4,-35.8,27,281,0.45,2.53,0.00,0.000,6,0.156,0.023,2707,2204,3446,0,0,0,0,0,0
$GC,542,-1.53,-61.8,146.7,-24.1,51,547,0.25,2.55,0.00,0.000,4,0.152,0.031,2755,3808,3446,0,0,0,0,0,0
$GC,727,-1.43,-61.8,181.7,-16.2,66,736,0.08,2.50,0.00,0.000,6,0.148,0.017,2770,2217,3446,0,0,0,0,0,0
$GC,982,-1.43,-61.8,219.9,-15.5,82,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2218,3447,0,0,0,0,0,0
$GC,1226,-1.43,-61.8,256.3,-15.1,88,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2217,3447,0,0,0,0,0,0
$GC,1472,-1.43,-61.8,291.7,-14.6,94,1476,0.00,2.58,0.00,0.000,4,0.000,0.038,2770,3794,3447,0,0,0,0,0,0
$GC,1561,-1.38,-61.8,305.4,-14.8,96,1565,0.00,2.47,0.00,0.000,6,0.000,0.028,2770,2235,3447,0,0,0,0,0,0
$GC,1840,-1.38,-61.8,345.0,-14.3,103,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2235,3447,0,0,0,0,0,0
$GC,2081,-1.38,-61.8,378.8,-13.8,109,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2235,3446,0,0,0,0,0,0
$GC,2325,-1.38,-61.8,411.2,-12.9,115,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2235,3446,0,0,0,0,0,0
$GC,2569,-1.38,-61.8,445.1,-14.2,121,2573,0.00,2.62,0.00,0.000,4,0.000,0.064,2770,3789,3444,0,0,0,0,0,0
$GC,2637,-1.35,-61.8,455.5,-15.5,122,2642,0.12,2.62,0.00,0.000,6,0.159,0.052,2791,2221,3444,0,0,0,0,0,0
$GC,2892,-1.35,-61.8,489.4,-13.1,129,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2221,3443,0,0,0,0,0,0
$GC,3137,-1.38,-61.8,520.2,-12.5,135,3141,0.00,2.75,0.00,0.000,4,0.000,0.077,2791,3786,3442,0,0,0,0,0,0
$GC,3188,-1.38,-61.8,526.8,-13.3,136,3192,0.00,2.67,0.00,0.000,6,0.000,0.052,2791,2211,3441,0,0,0,0,0,0
$GC,3460,-1.42,-61.8,561.7,-12.8,143,3464,0.00,2.75,0.00,0.000,4,0.000,0.076,2791,3780,3439,0,0,0,0,0,0
$GC,3548,-1.42,-61.8,574.4,-14.4,145,3553,0.00,2.70,0.00,0.000,6,0.000,0.063,2791,2222,3439,0,0,0,0,0,0
$GC,3828,-1.46,-61.8,613.0,-14.3,152,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2221,3437,0,0,0,0,0,0
$GC,4072,-1.51,-61.8,646.8,-13.8,158,4078,0.12,2.90,0.00,0.000,4,0.076,0.104,2752,3779,3436,0,0,0,0,0,0
$GC,4112,-1.45,-61.8,653.6,-16.1,159,4118,0.10,2.80,0.00,0.000,6,0.147,0.088,2769,2225,3435,0,0,0,0,0,0
$GC,4398,-1.45,-61.8,693.8,-14.3,166,4403,0.00,2.95,0.00,0.000,4,0.000,0.117,2769,3783,3432,0,0,0,0,0,0
$GC,4447,-1.45,-61.8,701.3,-14.2,167,4452,0.00,2.80,0.00,0.000,6,0.000,0.088,2769,2223,3432,0,0,0,0,0,0
$GC,4722,-1.45,-61.8,737.7,-13.3,174,4726,0.00,2.83,0.00,0.000,4,0.000,0.099,2769,3784,3431,0,0,0,0,0,0
$GC,4795,-1.45,-61.8,748.2,-13.7,175,4799,0.00,2.75,0.00,0.000,6,0.000,0.074,2769,2232,3431,0,0,0,0,0,0
$GC,5044,-1.45,-61.8,781.3,-13.3,181,5049,0.00,2.80,0.00,0.000,4,0.000,0.088,2770,3784,3429,0,0,0,0,0,0
$GC,5068,-1.45,-61.8,784.5,-13.9,181,5072,0.00,2.72,0.00,0.000,6,0.000,0.071,2770,2235,3429,0,0,0,0,0,0
$GC,5322,-1.45,-61.8,818.5,-13.4,188,5327,0.00,2.78,0.00,0.000,4,0.000,0.091,2769,3781,3427,0,0,0,0,0,0
$GC,5388,-1.45,-61.8,828.0,-14.5,189,5393,0.00,2.70,0.00,0.000,6,0.000,0.074,2769,2242,3427,0,0,0,0,0,0
$GC,5646,-1.45,-61.8,861.0,-13.2,196,5651,0.00,2.75,0.00,0.000,4,0.000,0.086,2769,3783,3425,0,0,0,0,0,0
$GC,5717,-1.45,-61.8,871.4,-13.2,197,5722,0.00,2.67,0.00,0.000,6,0.000,0.068,2769,2248,3424,0,0,0,0,0,0
$STATE,5971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5971,begin apogee
$GC,5977,-0.31,0.0,903.2,12.4,204,6030,1.20,0.00,49.42,1.209,6,0.134,0.000,3016,2311,3190,0,0,0,0,0,0
$STATE,6031,end apogee,CONTROL_FINISHED_OK
$STATE,6031,begin climb
$GC,6035,2.11,61.8,906.4,0.0,205,6095,2.35,0.00,54.22,1.190,6,0.076,0.000,3546,2311,2937,0,0,0,0,0,0
$GC,6322,2.52,94.5,894.8,5.1,212,6354,0.40,0.00,29.20,1.158,6,0.054,0.000,3642,2310,2804,0,0,0,0,0,0
$GC,6566,2.72,99.2,873.5,9.3,218,6578,0.17,2.78,5.35,0.853,4,0.074,0.069,3685,3887,2785,0,0,0,0,0,0
$GC,6623,2.79,99.2,867.0,11.9,219,6627,0.00,2.75,0.00,0.000,6,0.000,0.051,3686,2299,2783,0,0,0,0,0,0
$GC,6889,2.92,99.2,839.4,10.3,226,6894,0.17,2.80,0.00,0.000,4,0.083,0.067,3728,3893,2781,0,0,0,0,0,0
$GC,7119,2.92,99.2,810.9,12.3,231,7123,0.00,2.72,0.00,0.000,6,0.000,0.049,3728,2302,2779,0,0,0,0,0,0
$GC,7391,2.98,99.2,781.1,11.0,238,7396,0.00,2.72,0.00,0.000,4,0.000,0.063,3728,3884,2779,0,0,0,0,0,0
$GC,7648,2.98,99.2,750.0,12.2,243,7653,0.00,2.67,0.00,0.000,6,0.000,0.049,3728,2316,2777,0,0,0,0,0,0
$GC,7900,3.04,99.2,721.9,11.1,250,7905,0.10,2.70,0.00,0.000,4,0.102,0.062,3753,3890,2777,0,0,0,0,0,0
$GC,8159,3.04,99.2,690.1,12.1,255,8165,0.00,2.65,0.00,0.000,6,0.000,0.050,3753,2328,2776,0,0,0,0,0,0
$GC,8411,3.04,99.2,663.3,10.8,262,8415,0.00,2.67,0.00,0.000,4,0.000,0.062,3753,3893,2775,0,0,0,0,0,0
$GC,8578,3.04,99.2,644.1,11.4,265,8584,0.00,2.60,0.00,0.000,6,0.000,0.052,3753,2348,2774,0,0,0,0,0,0
$GC,8830,3.04,99.2,617.9,10.5,272,8834,0.00,2.62,0.00,0.000,4,0.000,0.057,3753,3887,2774,0,0,0,0,0,0
$GC,8952,3.04,99.2,603.4,11.8,274,8958,0.00,2.58,0.00,0.000,6,0.000,0.051,3753,2353,2773,0,0,0,0,0,0
$GC,9204,3.04,99.2,577.1,10.5,281,9209,0.00,2.62,0.00,0.000,4,0.000,0.056,3752,3894,2774,0,0,0,0,0,0
$GC,9329,3.04,99.2,563.1,11.6,283,9334,0.00,2.58,0.00,0.000,6,0.000,0.042,3753,2356,2773,0,0,0,0,0,0
$GC,9579,3.04,100.4,538.0,9.8,290,9583,0.00,2.60,0.00,0.000,4,0.000,0.060,3753,3890,2773,0,0,0,0,0,0
$GC,9819,3.04,100.4,511.3,11.6,295,9823,0.00,2.55,0.00,0.000,6,0.000,0.045,3753,2358,2773,0,0,0,0,0,0
$GC,10080,3.08,100.4,483.4,10.8,302,10084,0.00,2.58,0.00,0.000,4,0.000,0.051,3753,3894,2773,0,0,0,0,0,0
$GC,10337,3.08,100.4,453.3,12.0,307,10343,0.00,2.50,0.00,0.000,6,0.000,0.033,3753,2365,2773,0,0,0,0,0,0
$GC,10588,3.12,100.4,427.9,10.0,314,10592,0.00,2.53,0.00,0.000,4,0.000,0.054,3753,3888,2772,0,0,0,0,0,0
$GC,10712,3.12,100.4,414.3,11.2,316,10717,0.00,2.50,0.00,0.000,6,0.000,0.032,3753,2359,2773,0,0,0,0,0,0
$GC,10962,3.16,100.4,387.2,10.9,323,10966,0.00,2.55,0.00,0.000,4,0.000,0.047,3753,3888,2773,0,0,0,0,0,0
$GC,11086,3.16,100.4,373.3,11.7,325,11091,0.00,2.45,0.00,0.000,6,0.000,0.028,3753,2371,2773,0,0,0,0,0,0
$GC,11336,3.21,100.4,346.2,10.9,332,11340,0.00,2.53,0.00,0.000,4,0.000,0.045,3753,3894,2773,0,0,0,0,0,0
$GC,11595,3.21,100.4,316.7,11.0,337,11600,0.00,2.42,0.00,0.000,6,0.000,0.028,3753,2388,2774,0,0,0,0,0,0
$GC,11845,3.26,101.2,291.4,9.9,344,11849,0.00,2.50,0.00,0.000,4,0.000,0.050,3753,3898,2774,0,0,0,0,0,0
$GC,12104,3.27,102.7,264.3,9.8,349,12110,0.00,2.42,0.00,0.000,6,0.000,0.027,3753,2383,2775,0,0,0,0,0,0
$GC,12355,3.33,104.1,239.5,9.8,356,12364,0.00,2.53,4.07,0.482,4,0.000,0.044,3753,3887,2765,0,0,0,0,0,0
$GC,12450,3.34,109.3,230.0,9.2,358,12461,0.00,2.38,6.00,0.574,6,0.000,0.026,3753,2398,2744,0,0,0,0,0,0
$GC,12729,3.41,111.7,203.5,9.6,365,12738,0.00,2.53,3.78,0.436,4,0.000,0.051,3753,3894,2734,0,0,0,0,0,0
$GC,12999,3.42,119.6,178.5,8.8,385,13015,0.00,2.40,8.38,0.588,6,0.000,0.027,3752,2396,2701,0,0,0,0,0,0
$GC,13271,3.56,139.2,158.3,7.0,411,13295,0.00,2.53,17.65,0.620,4,0.000,0.044,3753,3890,2621,0,0,0,0,0,0
$GC,13562,3.67,160.7,137.4,6.8,435,13590,0.00,2.38,19.48,0.601,6,0.000,0.025,3753,2408,2533,0,0,0,0,0,0
$GC,13845,3.91,205.1,119.3,3.3,462,13892,0.00,2.58,37.97,0.592,4,0.000,0.043,3753,3899,2352,0,0,0,0,0,0
$GC,14161,4.09,206.9,89.2,9.7,488,14171,0.00,2.42,0.00,0.000,6,0.000,0.025,3753,2402,2349,0,0,0,0,0,0
$GC,14431,4.32,216.7,66.3,8.5,513,14449,0.00,2.53,10.98,0.499,4,0.000,0.041,3753,3894,2305,0,0,0,0,0,0
$GC,14681,4.51,216.7,39.2,11.3,533,14685,0.00,2.38,0.00,0.000,6,0.000,0.025,3753,2399,2304,0,0,0,0,0,0
$GC,14990,4.73,216.7,4.9,11.5,574,14999,0.00,2.83,0.00,0.000,4,0.000,0.047,3753,699,2304,0,0,0,0,0,0
$STATE,15007,end climb,SURFACE_DEPTH_REACHED
$STATE,15007,begin surface coast
$FINISH,0.6,1.010457
$STATE,15056,end surface coast,CONTROL_FINISHED_OK
$STATE,15056,begin surface
$SM_CCo,15083,66.25,0.492,0,0,1966,300.00
$SM_GC,1.70,0.00,0.00,66.25,0.000,0.000,0.492,467,2239,1966,-12.07,1.10,300.00
$IRIDIUM_FIX,1920.65,-8116.97,150402,222214
$TT8_MAMPS,0.025311
$HUMID,53.07
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.20
$XPDR_PINGS,48
$24V_AH,23.2,3.924
$10V_AH,10.4,2.976
$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,30.900,162.550,246.500,66.250,0.000,91.626,107.233,220.455,12.000,0.000,18.264,1335.522,10727.131,437.672,2543.383,806.183,33.343,1485.977,0.000,2514.352,0.000,0.537,0.000
$DEVICE_MAMPS,178.711,116.584,1208.792,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.382,277.501,361.953,484.002,921.850,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,44450,583
$CAP_FILE_SIZE,146709,0
$CFSIZE,260165632,127148032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200113,073529,1927.164,-8117.972,59,1.1,59,-3.7