version: 66.06
glider: 146
mission: 8
dive: 24
start: 1 20 113 12 15 50
data:
$ID,146
$MISSION,8
$DIVE,24
$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,-307811.94
$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,3120
$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,44
$R_STBD_OVSHOOT,26
$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
$GPS1,115730,1928.117,-8118.684,38,1.4,38,-3.7
$_CALLS,4
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.9
$GPS2,121454,1927.869,-8118.688,8,1.4,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1928.000,-8118.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.006,0.143
$KALMAN_X,-14473.7,121.9,-105.0,5191.9,1259.9
$KALMAN_Y,8277.4,-13.4,-102.1,3321.1,-1446.1
$MHEAD_RNG_PITCHd_Wd,1.5,1226,-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,-44.5,0.0,0.0,0,83,0.00,0.00,-56.92,0.000,6,0.000,0.000,470,2163,3372,0,0,0,0,0,0
$GC,89,-2.11,-58.3,4.3,-7.9,8,115,12.27,2.67,-0.98,0.000,4,0.177,0.041,2650,3794,3431,0,0,0,0,0,0
$GC,287,-1.75,-58.3,76.5,-34.3,28,297,0.40,2.55,0.00,0.000,6,0.142,0.031,2729,2206,3432,0,0,0,0,0,0
$GC,555,-1.62,-58.3,141.9,-21.1,53,560,0.20,2.53,0.00,0.000,4,0.158,0.031,2763,3790,3432,0,0,0,0,0,0
$GC,579,-1.50,-58.3,148.5,-19.9,54,589,0.10,2.53,0.00,0.000,6,0.137,0.022,2784,2195,3432,0,0,0,0,0,0
$GC,847,-1.50,-58.3,188.3,-12.8,79,851,0.00,2.55,0.00,0.000,4,0.000,0.037,2785,3796,3433,0,0,0,0,0,0
$GC,863,-1.50,-58.3,191.6,-14.0,80,868,0.00,2.50,0.00,0.000,6,0.000,0.020,2784,2181,3433,0,0,0,0,0,0
$GC,1136,-1.50,-58.3,230.8,-14.6,91,1140,0.00,2.58,0.00,0.000,4,0.000,0.038,2784,3799,3432,0,0,0,0,0,0
$GC,1198,-1.50,-58.3,239.4,-14.6,92,1202,0.00,2.47,0.00,0.000,6,0.000,0.025,2785,2203,3433,0,0,0,0,0,0
$GC,1458,-1.50,-58.3,272.9,-12.6,99,1463,0.00,2.55,0.00,0.000,4,0.000,0.044,2784,3787,3433,0,0,0,0,0,0
$GC,1474,-1.50,-58.3,275.1,-12.3,99,1478,0.00,2.47,0.00,0.000,6,0.000,0.023,2785,2205,3433,0,0,0,0,0,0
$GC,1741,-1.50,-58.3,311.0,-13.4,106,1745,0.00,2.60,0.00,0.000,4,0.000,0.041,2785,3790,3432,0,0,0,0,0,0
$GC,1775,-1.50,-58.3,315.7,-14.3,106,1781,0.00,2.55,0.00,0.000,6,0.000,0.025,2785,2195,3432,0,0,0,0,0,0
$GC,2025,-1.50,-58.3,349.1,-13.5,113,2029,0.00,2.60,0.00,0.000,4,0.000,0.049,2785,3785,3431,0,0,0,0,0,0
$GC,2118,-1.50,-58.3,362.1,-13.4,115,2123,0.00,2.53,0.00,0.000,6,0.000,0.031,2785,2210,3431,0,0,0,0,0,0
$GC,2392,-1.50,-58.3,396.9,-12.7,122,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2210,3431,0,0,0,0,0,0
$GC,2634,-1.50,-58.3,426.8,-12.2,128,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2210,3429,0,0,0,0,0,0
$GC,2878,-1.50,-58.3,458.7,-13.1,134,2882,0.00,2.67,0.00,0.000,4,0.000,0.061,2785,3776,3428,0,0,0,0,0,0
$GC,2895,-1.50,-58.3,460.9,-13.2,134,2900,0.00,2.60,0.00,0.000,6,0.000,0.051,2785,2205,3428,0,0,0,0,0,0
$GC,3155,-1.50,-58.3,495.4,-13.2,141,3160,0.00,2.70,0.00,0.000,4,0.000,0.070,2785,3785,3426,0,0,0,0,0,0
$GC,3171,-1.50,-58.3,497.8,-13.7,141,3176,0.00,2.67,0.00,0.000,6,0.000,0.052,2785,2199,3426,0,0,0,0,0,0
$GC,3441,-1.54,-58.3,532.6,-13.1,148,3445,0.00,2.75,0.00,0.000,4,0.000,0.072,2784,3780,3425,0,0,0,0,0,0
$GC,3514,-1.54,-58.3,543.0,-13.9,149,3518,0.00,2.67,0.00,0.000,6,0.000,0.058,2785,2205,3425,0,0,0,0,0,0
$GC,3764,-1.58,-58.3,574.8,-12.7,155,3768,0.00,2.75,0.00,0.000,4,0.000,0.084,2785,3773,3423,0,0,0,0,0,0
$GC,3805,-1.58,-58.3,580.1,-14.0,156,3809,0.00,2.67,0.00,0.000,6,0.000,0.064,2785,2206,3423,0,0,0,0,0,0
$GC,4088,-1.62,-58.3,616.0,-12.7,163,4092,0.00,2.83,0.00,0.000,4,0.000,0.090,2785,3778,3421,0,0,0,0,0,0
$GC,4114,-1.62,-58.3,619.8,-13.6,163,4119,0.00,2.75,0.00,0.000,6,0.000,0.075,2785,2211,3421,0,0,0,0,0,0
$GC,4367,-1.66,-58.3,652.1,-12.9,169,4372,0.12,2.92,0.00,0.000,4,0.078,0.108,2746,3775,3419,0,0,0,0,0,0
$GC,4394,-1.62,-58.3,656.3,-14.0,169,4399,0.00,2.80,0.00,0.000,6,0.000,0.085,2746,2211,3419,0,0,0,0,0,0
$GC,4644,-1.62,-58.3,691.1,-14.0,175,4650,0.10,2.97,0.00,0.000,4,0.144,0.116,2763,3778,3418,0,0,0,0,0,0
$GC,4679,-1.62,-58.3,696.0,-14.6,175,4685,0.00,2.78,0.00,0.000,6,0.000,0.089,2763,2222,3417,0,0,0,0,0,0
$GC,4929,-1.62,-58.3,729.2,-13.0,182,4933,0.00,2.88,0.00,0.000,4,0.000,0.104,2763,3779,3416,0,0,0,0,0,0
$GC,4968,-1.62,-58.3,734.3,-13.5,183,4972,0.00,2.75,0.00,0.000,6,0.000,0.082,2763,2225,3415,0,0,0,0,0,0
$GC,5252,-1.62,-58.3,771.6,-13.1,190,5257,0.00,2.83,0.00,0.000,4,0.000,0.092,2763,3778,3413,0,0,0,0,0,0
$GC,5374,-1.62,-58.3,788.6,-12.8,192,5380,0.00,2.70,0.00,0.000,6,0.000,0.076,2763,2232,3413,0,0,0,0,0,0
$GC,5624,-1.62,-58.3,819.7,-12.3,199,5629,0.00,2.78,0.00,0.000,4,0.000,0.087,2763,3774,3411,0,0,0,0,0,0
$GC,5726,-1.62,-58.3,832.4,-12.2,201,5730,0.00,2.70,0.00,0.000,6,0.000,0.075,2763,2238,3411,0,0,0,0,0,0
$GC,5992,-1.62,-58.3,863.5,-11.3,208,5996,0.00,2.72,0.00,0.000,4,0.000,0.083,2763,3773,3409,0,0,0,0,0,0
$GC,6087,-1.62,-58.3,875.2,-12.0,210,6092,0.00,2.67,0.00,0.000,6,0.000,0.067,2763,2249,3408,0,0,0,0,0,0
$STATE,6316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6317,begin apogee
$GC,6325,-0.31,0.0,901.4,11.1,216,6374,1.38,0.00,46.00,1.206,6,0.123,0.000,3046,2294,3190,0,0,0,0,0,0
$STATE,6375,end apogee,CONTROL_FINISHED_OK
$STATE,6375,begin climb
$GC,6378,2.11,58.3,904.1,0.0,217,6434,2.40,0.00,51.38,1.187,6,0.071,0.000,3578,2294,2952,0,0,0,0,0,0
$GC,6646,2.44,87.4,891.3,5.6,224,6680,0.28,3.12,26.12,1.149,4,0.064,0.111,3649,706,2832,0,0,0,0,0,0
$GC,6687,2.62,103.3,888.2,7.6,225,6709,0.17,2.80,15.62,1.090,6,0.078,0.061,3691,2303,2768,0,0,0,0,0,0
$GC,6976,2.73,103.3,856.3,11.4,232,6982,0.10,2.88,0.00,0.000,4,0.107,0.081,3716,3892,2763,0,0,0,0,0,0
$GC,7088,2.73,103.3,841.2,12.9,234,7093,0.00,2.67,0.00,0.000,6,0.000,0.043,3716,2304,2761,0,0,0,0,0,0
$GC,7344,2.79,103.3,811.2,11.6,241,7349,0.00,2.75,0.00,0.000,4,0.000,0.059,3716,3896,2759,0,0,0,0,0,0
$GC,7551,2.79,103.3,785.2,12.3,245,7555,0.00,2.65,0.00,0.000,6,0.000,0.051,3716,2318,2758,0,0,0,0,0,0
$GC,7801,2.85,103.3,757.6,11.0,251,7806,0.10,2.72,0.00,0.000,4,0.100,0.064,3741,3897,2757,0,0,0,0,0,0
$GC,7986,2.85,103.3,734.6,12.8,255,7990,0.00,2.67,0.00,0.000,6,0.000,0.048,3742,2321,2756,0,0,0,0,0,0
$GC,8264,2.85,103.3,702.9,11.4,262,8269,0.00,2.70,0.00,0.000,4,0.000,0.058,3742,3895,2755,0,0,0,0,0,0
$GC,8453,2.85,103.3,678.6,12.8,266,8458,0.00,2.62,0.00,0.000,6,0.000,0.052,3742,2336,2754,0,0,0,0,0,0
$GC,8720,2.85,103.3,646.7,12.1,273,8725,0.00,2.67,0.00,0.000,4,0.000,0.058,3742,3897,2754,0,0,0,0,0,0
$GC,8977,2.85,103.3,612.9,12.6,278,8983,0.00,2.60,0.00,0.000,6,0.000,0.043,3742,2349,2753,0,0,0,0,0,0
$GC,9227,2.85,103.3,583.9,11.3,285,9232,0.00,2.62,0.00,0.000,4,0.000,0.058,3742,3894,2753,0,0,0,0,0,0
$GC,9335,2.85,103.3,569.9,13.2,287,9339,0.00,2.58,0.00,0.000,6,0.000,0.045,3741,2351,2752,0,0,0,0,0,0
$GC,9595,2.89,103.3,539.0,11.3,294,9600,0.00,2.62,0.00,0.000,4,0.000,0.054,3742,3899,2752,0,0,0,0,0,0
$GC,9852,2.89,103.3,507.5,12.3,299,9858,0.00,2.53,0.00,0.000,6,0.000,0.044,3742,2364,2751,0,0,0,0,0,0
$GC,10103,2.93,103.3,480.0,10.9,306,10107,0.00,2.55,0.00,0.000,4,0.000,0.049,3741,3897,2752,0,0,0,0,0,0
$GC,10251,2.93,103.3,462.9,12.2,309,10255,0.00,2.50,0.00,0.000,6,0.000,0.035,3742,2365,2751,0,0,0,0,0,0
$GC,10517,2.97,103.3,432.6,11.2,316,10522,0.05,2.55,0.00,0.000,4,0.154,0.051,3760,3895,2752,0,0,0,0,0,0
$GC,10625,2.97,103.3,419.5,12.2,318,10629,0.00,2.47,0.00,0.000,6,0.000,0.038,3760,2364,2752,0,0,0,0,0,0
$GC,10885,2.97,103.3,387.6,12.1,325,10890,0.00,2.55,0.00,0.000,4,0.000,0.050,3760,3894,2752,0,0,0,0,0,0
$GC,11143,2.97,103.3,352.9,13.8,330,11149,0.00,2.45,0.00,0.000,6,0.000,0.034,3760,2369,2751,0,0,0,0,0,0
$GC,11393,2.97,103.3,324.7,10.9,337,11397,0.00,2.53,0.00,0.000,4,0.000,0.045,3760,3894,2752,0,0,0,0,0,0
$GC,11649,2.97,103.3,293.1,11.7,342,11655,0.00,2.42,0.00,0.000,6,0.000,0.026,3760,2378,2753,0,0,0,0,0,0
$GC,11900,2.97,103.3,265.6,10.9,349,11904,0.00,2.50,0.00,0.000,4,0.000,0.044,3760,3894,2753,0,0,0,0,0,0
$GC,12078,2.97,103.3,244.1,12.2,353,12082,0.00,2.38,0.00,0.000,6,0.000,0.026,3760,2389,2754,0,0,0,0,0,0
$GC,12356,3.02,103.3,215.0,10.7,360,12361,0.00,2.50,0.00,0.000,4,0.000,0.051,3760,3899,2755,0,0,0,0,0,0
$GC,12431,3.02,103.6,207.9,10.0,361,12435,0.00,2.40,0.00,0.000,6,0.000,0.028,3760,2398,2754,0,0,0,0,0,0
$GC,12694,3.09,116.7,183.8,8.0,379,12709,0.00,0.00,10.07,0.610,6,0.000,0.000,3760,2397,2714,0,0,0,0,0,0
$GC,12969,3.19,138.7,162.3,6.7,405,12996,0.00,2.58,19.62,0.630,4,0.000,0.043,3760,3897,2623,0,0,0,0,0,0
$GC,13265,3.23,142.0,134.8,9.5,430,13279,0.00,2.40,3.97,0.410,6,0.000,0.026,3760,2400,2611,0,0,0,0,0,0
$GC,13534,3.42,185.7,120.3,3.4,455,13582,0.00,2.55,38.12,0.598,4,0.000,0.041,3760,3898,2431,0,0,0,0,0,0
$GC,13693,3.56,195.4,110.3,8.5,468,13708,0.00,2.38,9.32,0.523,6,0.000,0.025,3760,2412,2393,0,0,0,0,0,0
$GC,13963,3.77,208.5,87.3,8.0,493,13988,0.00,2.50,12.73,0.525,4,0.000,0.040,3760,3893,2337,0,0,0,0,0,0
$GC,14103,3.93,208.5,72.4,11.4,504,14107,0.00,2.35,0.00,0.000,6,0.000,0.024,3760,2418,2337,0,0,0,0,0,0
$GC,14373,4.13,208.5,44.5,11.0,528,14377,0.00,2.42,0.00,0.000,4,0.000,0.039,3760,3897,2336,0,0,0,0,0,0
$GC,14673,4.29,208.5,10.5,11.9,563,14682,0.00,2.33,0.00,0.000,6,0.000,0.024,3760,2441,2337,0,0,0,0,0,0
$STATE,14730,end climb,SURFACE_DEPTH_REACHED
$STATE,14730,begin surface coast
$FINISH,0.8,1.023214
$STATE,14779,end surface coast,CONTROL_FINISHED_OK
$STATE,14780,begin surface
$SM_CCo,14803,73.03,0.495,0,0,1966,300.00
$SM_GC,1.78,0.00,0.00,73.03,0.000,0.000,0.495,474,2156,1966,-12.17,-1.24,300.00
$IRIDIUM_FIX,1920.65,-8116.97,160402,121238
$TT8_MAMPS,0.026078
$HUMID,53.58
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.10
$XPDR_PINGS,58
$24V_AH,23.2,4.151
$10V_AH,10.5,3.204
$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,31.025,189.275,232.975,73.025,0.000,115.228,278.072,306.728,14.500,0.000,15.950,1330.782,10550.164,446.853,2489.259,1101.693,33.386,1489.273,0.000,2468.349,0.000,0.537,0.000
$DEVICE_MAMPS,177.177,126.555,1205.724,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.343,276.859,364.094,486.780,927.921,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,44798,578
$CAP_FILE_SIZE,152000,0
$CFSIZE,260165632,127004672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200113,162506,1928.810,-8118.425,35,0.9,35,-3.7