version: 66.06
glider: 146
mission: 8
dive: 25
start: 1 20 113 16 37 45
data:
$ID,146
$MISSION,8
$DIVE,25
$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,-307826.88
$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,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,52
$R_STBD_OVSHOOT,14
$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
$GPS1,162506,1928.810,-8118.425,35,0.9,35,-3.7
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-77.2
$GPS2,163649,1928.667,-8118.438,12,1.0,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1928.000,-8118.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.123,0.073
$KALMAN_X,-13699.2,-197.8,-38.7,5104.2,1036.4
$KALMAN_Y,7111.6,-91.3,53.9,5883.5,-1396.3
$MHEAD_RNG_PITCHd_Wd,304.3,1453,-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,-44.5,0.0,0.0,0,84,0.00,0.00,-56.33,0.000,6,0.000,0.000,474,2156,3370,0,0,0,0,0,0
$GC,87,-2.10,-55.2,4.5,-8.4,8,105,12.25,2.55,-0.82,0.000,4,0.176,0.054,2653,628,3416,0,0,0,0,0,0
$GC,380,-1.75,-55.2,110.1,-33.0,36,390,0.40,2.53,0.00,0.000,6,0.141,0.018,2731,2243,3416,0,0,0,0,0,0
$GC,648,-1.64,-55.2,164.8,-17.4,61,654,0.15,2.62,0.00,0.000,4,0.152,0.049,2757,642,3418,0,0,0,0,0,0
$GC,669,-1.53,-55.2,169.6,-17.8,62,674,0.15,2.42,0.00,0.000,6,0.150,0.023,2783,2228,3418,0,0,0,0,0,0
$GC,932,-1.53,-55.2,206.1,-12.7,83,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2228,3419,0,0,0,0,0,0
$GC,1172,-1.53,-55.2,235.6,-12.3,89,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2228,3419,0,0,0,0,0,0
$GC,1415,-1.53,-55.2,265.8,-12.5,95,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2228,3419,0,0,0,0,0,0
$GC,1659,-1.53,-55.2,296.6,-12.5,101,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2228,3419,0,0,0,0,0,0
$GC,1905,-1.53,-55.2,327.8,-12.6,107,1909,0.00,2.47,0.00,0.000,4,0.000,0.046,2783,3751,3418,0,0,0,0,0,0
$GC,1999,-1.53,-55.2,341.1,-14.5,109,2003,0.00,2.40,0.00,0.000,6,0.000,0.028,2783,2259,3418,0,0,0,0,0,0
$GC,2279,-1.53,-55.2,375.0,-12.1,116,2284,0.00,2.45,0.00,0.000,4,0.000,0.046,2783,3753,3417,0,0,0,0,0,0
$GC,2325,-1.53,-55.2,380.5,-12.1,117,2329,0.00,2.42,0.00,0.000,6,0.000,0.041,2783,2265,3417,0,0,0,0,0,0
$GC,2603,-1.53,-55.2,413.4,-11.5,124,2607,0.00,2.45,0.00,0.000,4,0.000,0.057,2783,3746,3416,0,0,0,0,0,0
$GC,2682,-1.53,-55.2,423.4,-13.5,125,2688,0.00,2.42,0.00,0.000,6,0.000,0.045,2783,2278,3415,0,0,0,0,0,0
$GC,2932,-1.53,-55.2,454.1,-12.0,132,2936,0.00,2.47,0.00,0.000,4,0.000,0.062,2783,3742,3414,0,0,0,0,0,0
$GC,2958,-1.53,-55.2,457.5,-12.1,132,2962,0.00,2.40,0.00,0.000,6,0.000,0.048,2783,2290,3414,0,0,0,0,0,0
$GC,3214,-1.53,-55.2,487.9,-11.9,139,3218,0.00,2.47,0.00,0.000,4,0.000,0.061,2783,3746,3413,0,0,0,0,0,0
$GC,3265,-1.53,-55.2,494.2,-12.7,140,3269,0.00,2.42,0.00,0.000,6,0.000,0.048,2783,2297,3412,0,0,0,0,0,0
$GC,3537,-1.57,-55.2,526.8,-12.1,147,3541,0.00,2.50,0.00,0.000,4,0.000,0.069,2783,3745,3410,0,0,0,0,0,0
$GC,3569,-1.57,-55.2,531.1,-12.8,147,3575,0.00,2.45,0.00,0.000,6,0.000,0.057,2783,2294,3410,0,0,0,0,0,0
$GC,3821,-1.61,-55.2,562.2,-12.5,154,3826,0.00,2.53,0.00,0.000,4,0.000,0.074,2783,3742,3409,0,0,0,0,0,0
$GC,3910,-1.61,-55.2,573.7,-12.9,156,3914,0.00,2.47,0.00,0.000,6,0.000,0.058,2784,2292,3409,0,0,0,0,0,0
$GC,4197,-1.65,-55.2,606.1,-11.3,163,4202,0.10,2.60,0.00,0.000,4,0.089,0.085,2752,3737,3406,0,0,0,0,0,0
$GC,4236,-1.60,-55.2,611.4,-12.9,164,4241,0.00,2.50,0.00,0.000,6,0.000,0.071,2752,2305,3406,0,0,0,0,0,0
$GC,4520,-1.60,-55.2,647.6,-12.7,171,4524,0.00,2.62,0.00,0.000,4,0.000,0.102,2752,3740,3404,0,0,0,0,0,0
$GC,4571,-1.60,-55.2,654.4,-13.3,172,4576,0.10,2.55,0.00,0.000,6,0.145,0.084,2769,2309,3404,0,0,0,0,0,0
$GC,4843,-1.60,-55.2,686.9,-11.9,179,4847,0.00,2.65,0.00,0.000,4,0.000,0.103,2769,3738,3402,0,0,0,0,0,0
$GC,4863,-1.60,-55.2,689.4,-11.1,179,4868,0.00,2.50,0.00,0.000,6,0.000,0.078,2769,2320,3402,0,0,0,0,0,0
$GC,5121,-1.60,-55.2,719.0,-11.5,186,5125,0.00,2.60,0.00,0.000,4,0.000,0.100,2769,3745,3400,0,0,0,0,0,0
$GC,5205,-1.60,-55.2,729.9,-12.9,188,5209,0.00,2.47,0.00,0.000,6,0.000,0.077,2769,2330,3400,0,0,0,0,0,0
$GC,5488,-1.60,-55.2,763.5,-11.6,195,5492,0.00,2.53,0.00,0.000,4,0.000,0.086,2769,3739,3398,0,0,0,0,0,0
$GC,5522,-1.60,-55.2,767.6,-12.4,195,5527,0.00,2.45,0.00,0.000,6,0.000,0.072,2770,2329,3398,0,0,0,0,0,0
$GC,5771,-1.60,-55.2,796.2,-11.3,202,5776,0.00,2.50,0.00,0.000,4,0.000,0.087,2769,3747,3397,0,0,0,0,0,0
$GC,5805,-1.60,-55.2,800.1,-12.0,202,5811,0.00,2.47,0.00,0.000,6,0.000,0.070,2769,2325,3396,0,0,0,0,0,0
$GC,6057,-1.60,-55.2,827.3,-10.7,209,6061,0.00,2.53,0.00,0.000,4,0.000,0.082,2769,3743,3395,0,0,0,0,0,0
$GC,6168,-1.60,-55.2,839.8,-11.1,211,6172,0.00,2.42,0.00,0.000,6,0.000,0.071,2769,2343,3394,0,0,0,0,0,0
$GC,6429,-1.60,-55.2,867.6,-10.8,218,6433,0.00,2.47,0.00,0.000,4,0.000,0.084,2769,3744,3393,0,0,0,0,0,0
$GC,6470,-1.60,-55.2,872.0,-12.1,219,6474,0.00,2.42,0.00,0.000,6,0.000,0.063,2769,2347,3393,0,0,0,0,0,0
$STATE,6751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6751,begin apogee
$GC,6756,-0.31,0.0,902.2,10.7,226,6803,1.35,0.00,42.80,1.208,6,0.120,0.000,3048,2347,3190,0,0,0,0,0,0
$STATE,6804,end apogee,CONTROL_FINISHED_OK
$STATE,6804,begin climb
$GC,6806,2.10,55.2,904.8,0.0,227,6865,2.33,3.12,48.35,1.190,4,0.068,0.116,3580,752,2965,0,0,0,0,0,0
$GC,6893,2.39,91.3,902.3,4.6,229,6933,0.25,2.62,32.75,1.164,6,0.063,0.058,3640,2258,2817,0,0,0,0,0,0
$GC,7220,2.58,97.7,874.3,9.0,237,7234,0.17,2.95,6.03,0.898,4,0.075,0.085,3682,3886,2792,0,0,0,0,0,0
$GC,7402,2.65,97.7,854.3,11.2,241,7406,0.00,2.60,0.00,0.000,6,0.000,0.041,3682,2352,2790,0,0,0,0,0,0
$GC,7687,2.77,97.7,824.9,10.5,248,7692,0.17,2.65,0.00,0.000,4,0.080,0.061,3725,3890,2789,0,0,0,0,0,0
$GC,7884,2.77,97.7,800.9,12.0,252,7889,0.00,2.60,0.00,0.000,6,0.000,0.049,3725,2358,2787,0,0,0,0,0,0
$GC,8147,2.83,97.7,771.4,11.2,259,8152,0.00,2.60,0.00,0.000,4,0.000,0.055,3725,3888,2786,0,0,0,0,0,0
$GC,8236,2.83,97.7,760.5,12.6,261,8241,0.00,2.58,0.00,0.000,6,0.000,0.046,3725,2369,2786,0,0,0,0,0,0
$GC,8517,2.88,97.7,729.9,11.1,268,8522,0.10,2.62,0.00,0.000,4,0.100,0.062,3751,3888,2785,0,0,0,0,0,0
$GC,8617,2.84,97.7,717.0,12.4,270,8622,0.00,2.55,0.00,0.000,6,0.000,0.049,3750,2379,2784,0,0,0,0,0,0
$GC,8884,2.84,97.7,686.8,11.1,277,8888,0.00,2.58,0.00,0.000,4,0.000,0.061,3751,3891,2784,0,0,0,0,0,0
$GC,9141,2.81,97.7,654.6,12.5,282,9147,0.00,2.55,0.00,0.000,6,0.000,0.044,3751,2376,2783,0,0,0,0,0,0
$GC,9391,2.81,97.7,626.0,11.3,289,9395,0.00,2.58,0.00,0.000,4,0.000,0.054,3751,3890,2783,0,0,0,0,0,0
$GC,9504,2.77,97.7,612.9,11.1,291,9509,0.15,2.55,0.00,0.000,6,0.150,0.046,3725,2379,2782,0,0,0,0,0,0
$GC,9760,2.83,97.7,585.5,10.7,298,9764,0.00,2.58,0.00,0.000,4,0.000,0.058,3724,3890,2782,0,0,0,0,0,0
$GC,10016,2.83,97.7,556.0,10.8,303,10022,0.00,2.50,0.00,0.000,6,0.000,0.041,3725,2395,2782,0,0,0,0,0,0
$GC,10267,2.90,100.3,531.8,9.6,310,10272,0.12,2.55,0.00,0.000,4,0.090,0.054,3757,3888,2782,0,0,0,0,0,0
$GC,10319,2.90,100.3,526.3,11.0,311,10323,0.00,2.50,0.00,0.000,6,0.000,0.041,3757,2388,2782,0,0,0,0,0,0
$GC,10590,2.90,100.3,497.2,10.6,318,10595,0.00,2.55,0.00,0.000,4,0.000,0.058,3757,3898,2781,0,0,0,0,0,0
$GC,10704,2.90,100.3,484.1,11.8,320,10708,0.00,2.47,0.00,0.000,6,0.000,0.041,3757,2397,2781,0,0,0,0,0,0
$GC,10958,2.90,100.3,455.8,11.1,327,10963,0.00,2.50,0.00,0.000,4,0.000,0.048,3757,3892,2781,0,0,0,0,0,0
$GC,11148,2.90,100.3,431.9,12.0,331,11152,0.00,2.42,0.00,0.000,6,0.000,0.031,3757,2398,2781,0,0,0,0,0,0
$GC,11421,2.90,100.3,402.2,10.6,338,11425,0.00,2.50,0.00,0.000,4,0.000,0.048,3757,3900,2782,0,0,0,0,0,0
$GC,11674,2.90,100.3,373.6,11.7,343,11678,0.00,2.40,0.00,0.000,6,0.000,0.031,3757,2404,2781,0,0,0,0,0,0
$GC,11929,2.90,100.3,346.6,10.5,350,11933,0.00,2.47,0.00,0.000,4,0.000,0.051,3757,3895,2782,0,0,0,0,0,0
$GC,12113,2.90,100.5,326.7,10.0,354,12117,0.00,2.35,0.00,0.000,6,0.000,0.026,3757,2413,2782,0,0,0,0,0,0
$GC,12390,2.91,104.3,300.8,9.4,361,12401,0.00,2.45,5.60,0.618,4,0.000,0.049,3757,3894,2764,0,0,0,0,0,0
$GC,12654,2.91,104.3,270.4,12.6,367,12658,0.00,2.38,0.00,0.000,6,0.000,0.026,3757,2412,2764,0,0,0,0,0,0
$GC,12937,2.95,104.3,239.3,11.0,374,12942,0.00,2.45,0.00,0.000,4,0.000,0.046,3757,3891,2764,0,0,0,0,0,0
$GC,13138,2.95,104.3,216.7,10.6,378,13143,0.00,2.35,0.00,0.000,6,0.000,0.032,3757,2421,2765,0,0,0,0,0,0
$GC,13392,3.03,117.9,194.8,8.0,387,13407,0.00,0.00,12.82,0.644,6,0.000,0.000,3757,2421,2709,0,0,0,0,0,0
$GC,13665,3.12,124.6,173.2,9.0,412,13679,0.00,2.53,7.03,0.559,4,0.000,0.047,3757,3902,2682,0,0,0,0,0,0
$GC,13715,3.18,137.8,168.7,8.0,416,13734,0.00,2.38,12.73,0.614,6,0.000,0.026,3757,2424,2628,0,0,0,0,0,0
$GC,13986,3.29,141.9,144.8,9.4,442,14001,0.00,2.47,5.03,0.478,4,0.000,0.044,3757,3891,2611,0,0,0,0,0,0
$GC,14268,3.43,186.5,127.3,3.3,465,14314,0.00,2.33,38.50,0.611,6,0.000,0.024,3757,2427,2429,0,0,0,0,0,0
$GC,14579,3.64,204.5,101.5,7.3,494,14603,0.00,2.47,16.23,0.554,4,0.000,0.041,3757,3890,2355,0,0,0,0,0,0
$GC,14874,3.81,213.6,73.5,8.6,518,14888,0.00,2.35,9.18,0.495,6,0.000,0.024,3757,2427,2319,0,0,0,0,0,0
$GC,15149,4.02,220.4,48.0,9.0,543,15164,0.00,2.45,7.62,0.459,4,0.000,0.040,3757,3890,2290,0,0,0,0,0,0
$GC,15345,4.20,220.4,26.5,11.5,560,15354,0.00,2.33,0.00,0.000,6,0.000,0.023,3757,2435,2290,0,0,0,0,0,0
$STATE,15549,end climb,SURFACE_DEPTH_REACHED
$STATE,15549,begin surface coast
$FINISH,0.6,1.008710
$STATE,15607,end surface coast,CONTROL_FINISHED_OK
$STATE,15607,begin surface
$SM_CCo,15630,63.45,0.495,0,0,1967,300.00
$SM_GC,1.61,0.00,0.00,63.45,0.000,0.000,0.495,469,2185,1967,-12.19,-0.42,300.00
$IRIDIUM_FIX,1920.65,-8121.49,160402,161624
$TT8_MAMPS,0.026078
$HUMID,54.01
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.20
$XPDR_PINGS,59
$24V_AH,23.2,4.253
$10V_AH,10.5,3.324
$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,31.100,180.975,244.650,63.450,0.000,54.167,71.760,349.103,14.750,0.000,14.311,1392.519,11070.151,405.352,2631.231,893.062,33.350,1515.986,0.000,2608.372,0.000,0.537,0.000
$DEVICE_MAMPS,176.410,115.817,1208.025,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.079,281.443,364.755,486.773,928.026,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,47847,598
$CAP_FILE_SIZE,158658,0
$CFSIZE,260165632,126926848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200113,210036,1928.632,-8119.050,34,1.4,34,-3.7