version: 66.06
glider: 146
mission: 8
dive: 48
start: 1 25 113 19 43 17
data:
$ID,146
$MISSION,8
$DIVE,48
$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,600
$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,-308221.88
$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,3250
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,32
$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
$GPS1,191805,1924.902,-8106.484,76,1.7,76,-3.8
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.1
$GPS2,194219,1924.777,-8106.473,11,1.7,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.133,-0.051
$KALMAN_X,34241.4,457.0,622.7,-27176.0,-695.5
$KALMAN_Y,-1721.2,156.4,44.7,-2656.3,-126.2
$MHEAD_RNG_PITCHd_Wd,252.7,2809,-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,-62.95,0.000,2,0.000,0.000,466,2202,3326,0,0,0,0,0,0
$GC,87,-2.14,-85.3,3.1,-3.9,8,113,12.68,2.62,-4.10,0.000,4,0.169,0.048,2775,3807,3538,0,0,0,0,0,0
$GC,314,-2.02,-85.3,70.5,-27.0,31,319,0.17,2.47,0.00,0.000,6,0.138,0.022,2807,2240,3538,0,0,0,0,0,0
$GC,580,-2.02,-85.3,133.5,-19.5,55,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2240,3538,0,0,0,0,0,0
$GC,843,-2.08,-85.3,177.8,-15.1,80,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2240,3538,0,0,0,0,0,0
$GC,1122,-2.15,-85.3,217.1,-14.0,98,1127,0.12,2.53,0.00,0.000,4,0.069,0.037,2755,3816,3539,0,0,0,0,0,0
$GC,1145,-2.15,-85.3,220.6,-15.1,98,1150,0.12,2.50,0.00,0.000,6,0.119,0.026,2779,2214,3539,0,0,0,0,0,0
$GC,1401,-2.20,-85.3,257.1,-14.3,105,1405,0.00,2.58,0.00,0.000,4,0.000,0.041,2779,3815,3539,0,0,0,0,0,0
$GC,1485,-2.20,-85.3,269.2,-14.6,107,1489,0.00,2.47,0.00,0.000,6,0.000,0.021,2779,2237,3539,0,0,0,0,0,0
$GC,1770,-2.25,-85.3,307.3,-13.5,114,1774,0.00,2.55,0.00,0.000,4,0.000,0.040,2779,3819,3538,0,0,0,0,0,0
$GC,1786,-2.29,-85.3,310.0,-13.1,114,1791,0.12,2.50,0.00,0.000,6,0.070,0.024,2727,2238,3538,0,0,0,0,0,0
$GC,2047,-2.29,-85.3,350.2,-15.4,121,2052,0.12,2.60,0.00,0.000,4,0.123,0.046,2750,3808,3537,0,0,0,0,0,0
$GC,2088,-2.29,-85.3,356.2,-15.2,122,2093,0.00,2.50,0.00,0.000,6,0.000,0.036,2750,2243,3537,0,0,0,0,0,0
$GC,2371,-2.29,-85.3,398.1,-14.6,129,2375,0.00,2.60,0.00,0.000,4,0.000,0.058,2751,3804,3536,0,0,0,0,0,0
$GC,2450,-2.29,-85.3,410.1,-15.0,130,2456,0.00,2.55,0.00,0.000,6,0.000,0.044,2750,2245,3536,0,0,0,0,0,0
$GC,2700,-2.29,-85.3,445.4,-13.8,137,2704,0.00,2.65,0.00,0.000,4,0.000,0.062,2750,3808,3535,0,0,0,0,0,0
$GC,2799,-2.29,-85.3,460.2,-14.5,139,2804,0.00,2.55,0.00,0.000,6,0.000,0.051,2750,2256,3534,0,0,0,0,0,0
$GC,3067,-2.29,-85.3,496.4,-13.9,146,3072,0.00,2.65,0.00,0.000,4,0.000,0.068,2750,3801,3532,0,0,0,0,0,0
$GC,3083,-2.29,-85.3,498.9,-13.5,146,3087,0.00,2.60,0.00,0.000,6,0.000,0.055,2750,2245,3532,0,0,0,0,0,0
$GC,3343,-2.29,-85.3,535.5,-14.3,153,3348,0.00,2.72,0.00,0.000,4,0.000,0.078,2750,3800,3531,0,0,0,0,0,0
$GC,3451,-2.29,-85.3,551.6,-15.0,155,3455,0.00,2.65,0.00,0.000,6,0.000,0.058,2750,2249,3531,0,0,0,0,0,0
$GC,3711,-2.29,-85.3,587.0,-13.4,162,3716,0.00,2.72,0.00,0.000,4,0.000,0.083,2750,3797,3529,0,0,0,0,0,0
$GC,3728,-2.29,-85.3,589.2,-13.2,162,3732,0.00,2.67,0.00,0.000,6,0.000,0.069,2750,2252,3528,0,0,0,0,0,0
$GC,3990,-2.29,-85.3,624.1,-13.3,169,3995,0.00,2.83,0.00,0.000,4,0.000,0.097,2750,3806,3526,0,0,0,0,0,0
$GC,4084,-2.29,-85.3,637.7,-14.3,171,4089,0.00,2.75,0.00,0.000,6,0.000,0.088,2750,2262,3526,0,0,0,0,0,0
$GC,4356,-2.29,-85.3,673.2,-12.9,178,4361,0.00,2.90,0.00,0.000,4,0.000,0.119,2750,3796,3523,0,0,0,0,0,0
$GC,4401,-2.29,-85.3,679.4,-14.2,179,4406,0.00,2.75,0.00,0.000,6,0.000,0.083,2750,2263,3523,0,0,0,0,0,0
$GC,4679,-2.29,-85.3,716.0,-13.2,186,4683,0.00,2.80,0.00,0.000,4,0.000,0.099,2750,3804,3521,0,0,0,0,0,0
$GC,4728,-2.29,-85.3,723.0,-14.7,187,4732,0.00,2.70,0.00,0.000,6,0.000,0.077,2750,2264,3521,0,0,0,0,0,0
$GC,5002,-2.29,-85.3,760.0,-13.7,194,5006,0.00,2.78,0.00,0.000,4,0.000,0.089,2750,3805,3519,0,0,0,0,0,0
$GC,5118,-2.29,-85.3,776.8,-14.4,196,5123,0.00,2.65,0.00,0.000,6,0.000,0.074,2750,2282,3518,0,0,0,0,0,0
$GC,5368,-2.29,-85.3,809.9,-13.4,202,5373,0.00,2.72,0.00,0.000,4,0.000,0.087,2750,3804,3516,0,0,0,0,0,0
$GC,5430,-2.29,-85.3,818.7,-14.3,203,5435,0.00,2.65,0.00,0.000,6,0.000,0.071,2750,2280,3516,0,0,0,0,0,0
$GC,5691,-2.29,-85.3,853.2,-13.1,210,5695,0.00,2.72,0.00,0.000,4,0.000,0.084,2750,3808,3514,0,0,0,0,0,0
$GC,5740,-2.29,-85.3,860.1,-13.4,211,5744,0.00,2.65,0.00,0.000,6,0.000,0.066,2750,2278,3514,0,0,0,0,0,0
$GC,6014,-2.29,-85.3,895.8,-13.0,218,6018,0.00,2.70,0.00,0.000,4,0.000,0.087,2751,3800,3512,0,0,0,0,0,0
$STATE,6044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6044,begin apogee
$GC,6052,-0.31,0.0,900.6,13.8,218,6124,2.00,0.00,68.03,1.203,6,0.114,0.000,3178,2359,3190,0,0,0,0,0,0
$STATE,6125,end apogee,CONTROL_FINISHED_OK
$STATE,6125,begin climb
$GC,6130,2.14,85.3,902.8,0.0,220,6211,2.25,0.00,73.65,1.177,6,0.038,0.000,3730,2359,2842,0,0,0,0,0,0
$GC,6455,2.14,85.3,868.2,12.8,228,6459,0.00,2.75,0.00,0.000,4,0.000,0.069,3731,3927,2837,0,0,0,0,0,0
$GC,6541,2.09,85.3,856.9,14.2,230,6546,0.12,2.67,0.00,0.000,6,0.155,0.044,3709,2351,2835,0,0,0,0,0,0
$GC,6825,2.14,85.3,821.7,12.3,237,6830,0.00,2.70,0.00,0.000,4,0.000,0.062,3710,3926,2834,0,0,0,0,0,0
$GC,7082,2.14,85.3,789.4,12.1,242,7087,0.00,2.62,0.00,0.000,6,0.000,0.043,3710,2366,2831,0,0,0,0,0,0
$GC,7332,2.20,85.3,761.7,10.9,249,7337,0.00,2.67,0.00,0.000,4,0.000,0.058,3710,3929,2831,0,0,0,0,0,0
$GC,7591,2.20,85.3,731.9,11.1,254,7597,0.00,2.62,0.00,0.000,6,0.000,0.044,3709,2371,2829,0,0,0,0,0,0
$GC,7841,2.25,85.3,705.8,10.4,261,7847,0.12,2.65,0.00,0.000,4,0.088,0.060,3742,3924,2828,0,0,0,0,0,0
$GC,8054,2.19,85.3,681.5,11.0,265,8060,0.00,2.58,0.00,0.000,6,0.000,0.041,3741,2385,2827,0,0,0,0,0,0
$GC,8304,2.19,85.3,655.0,10.7,272,8308,0.00,2.62,0.00,0.000,4,0.000,0.061,3742,3927,2826,0,0,0,0,0,0
$GC,8556,2.14,85.3,624.7,12.7,277,8561,0.12,2.55,0.00,0.000,6,0.153,0.043,3720,2392,2826,0,0,0,0,0,0
$GC,8806,2.18,85.3,598.3,10.4,283,8810,0.00,2.60,0.00,0.000,4,0.000,0.056,3720,3925,2826,0,0,0,0,0,0
$GC,8965,2.18,85.3,580.5,10.9,286,8969,0.00,2.55,0.00,0.000,6,0.000,0.046,3720,2393,2825,0,0,0,0,0,0
$GC,9220,2.23,85.3,554.2,10.3,293,9225,0.00,2.60,0.00,0.000,4,0.000,0.061,3720,3928,2825,0,0,0,0,0,0
$GC,9277,2.23,85.3,548.1,10.9,294,9281,0.00,2.55,0.00,0.000,6,0.000,0.042,3720,2396,2825,0,0,0,0,0,0
$GC,9543,2.28,85.3,519.9,10.5,301,9548,0.12,2.58,0.00,0.000,4,0.084,0.055,3753,3922,2825,0,0,0,0,0,0
$GC,9668,2.22,85.3,505.1,13.1,303,9673,0.00,2.53,0.00,0.000,6,0.000,0.039,3752,2394,2824,0,0,0,0,0,0
$GC,9919,2.22,85.3,475.7,11.5,310,9924,0.00,2.58,0.00,0.000,4,0.000,0.052,3753,3927,2824,0,0,0,0,0,0
$GC,10031,2.17,85.3,461.6,12.1,312,10036,0.15,2.47,0.00,0.000,6,0.141,0.035,3725,2400,2824,0,0,0,0,0,0
$GC,10289,2.22,85.3,434.7,10.5,319,10293,0.00,2.53,0.00,0.000,4,0.000,0.048,3725,3924,2824,0,0,0,0,0,0
$GC,10524,2.22,86.8,409.7,9.8,324,10528,0.00,2.45,0.00,0.000,6,0.000,0.030,3726,2407,2824,0,0,0,0,0,0
$GC,10792,2.27,87.5,383.3,9.9,331,10797,0.00,2.53,0.00,0.000,4,0.000,0.047,3725,3931,2824,0,0,0,0,0,0
$GC,10864,2.27,87.5,375.4,10.8,332,10868,0.00,2.45,0.00,0.000,6,0.000,0.029,3725,2407,2825,0,0,0,0,0,0
$GC,11122,2.33,88.1,350.3,9.9,339,11127,0.12,2.53,0.00,0.000,4,0.081,0.044,3761,3927,2825,0,0,0,0,0,0
$GC,11260,2.28,88.1,334.4,11.3,342,11264,0.00,2.38,0.00,0.000,6,0.000,0.033,3761,2428,2825,0,0,0,0,0,0
$GC,11539,2.28,88.1,303.2,11.1,349,11543,0.00,2.47,0.00,0.000,4,0.000,0.044,3761,3933,2826,0,0,0,0,0,0
$GC,11674,2.24,88.1,286.9,11.5,352,11679,0.12,2.40,0.00,0.000,6,0.143,0.026,3739,2425,2826,0,0,0,0,0,0
$GC,11955,2.28,89.0,259.5,9.9,359,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,3739,2425,2827,0,0,0,0,0,0
$GC,12198,2.35,97.3,237.7,8.8,365,12212,0.08,2.53,8.77,0.631,4,0.281,0.044,3761,3926,2793,0,0,0,0,0,0
$GC,12468,2.35,97.3,208.5,11.3,371,12472,0.00,2.42,0.00,0.000,6,0.000,0.029,3761,2414,2793,0,0,0,0,0,0
$GC,12729,2.43,125.3,188.6,5.8,387,12758,0.00,2.53,24.05,0.653,4,0.000,0.046,3761,3925,2678,0,0,0,0,0,0
$GC,13018,2.43,125.3,159.9,12.3,411,13027,0.00,2.40,0.00,0.000,6,0.000,0.025,3761,2440,2676,0,0,0,0,0,0
$GC,13281,2.54,150.3,137.3,6.2,436,13309,0.00,2.47,22.08,0.600,4,0.000,0.041,3761,3928,2577,0,0,0,0,0,0
$GC,13545,2.63,151.3,114.0,9.9,458,13550,0.00,2.40,0.00,0.000,6,0.000,0.029,3761,2421,2575,0,0,0,0,0,0
$GC,13808,2.82,198.9,99.0,2.8,482,13855,0.00,2.50,41.15,0.574,4,0.000,0.039,3761,3928,2378,0,0,0,0,0,0
$GC,13897,2.93,210.0,94.2,8.3,489,13912,0.00,2.38,10.73,0.515,6,0.000,0.025,3761,2443,2333,0,0,0,0,0,0
$GC,14173,3.10,210.0,63.0,11.8,514,14178,0.00,2.42,0.00,0.000,4,0.000,0.040,3761,3935,2330,0,0,0,0,0,0
$GC,14452,3.25,210.0,28.5,15.2,536,14461,0.00,2.38,0.00,0.000,6,0.000,0.022,3761,2444,2329,0,0,0,0,0,0
$STATE,14650,end climb,SURFACE_DEPTH_REACHED
$STATE,14650,begin surface coast
$FINISH,0.8,1.017646
$STATE,14686,end surface coast,CONTROL_FINISHED_OK
$STATE,14686,begin surface
$SM_CCo,14709,113.22,0.495,0,0,1763,350.04
$SM_GC,1.43,0.00,0.00,113.22,0.000,0.000,0.495,468,2175,1763,-12.80,-1.55,350.04
$IRIDIUM_FIX,1916.08,-8105.33,210402,191954
$TT8_MAMPS,0.026078
$HUMID,53.34
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,25.00
$XPDR_PINGS,61
$24V_AH,23.3,7.624
$10V_AH,10.4,6.152
$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,31.775,181.200,248.450,113.225,0.000,147.613,203.484,666.047,15.250,0.000,13.391,1336.083,10496.357,472.141,2519.980,1447.585,33.354,1529.396,0.000,2500.014,0.000,0.538,0.000
$DEVICE_MAMPS,281.489,118.885,1203.423,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.215,272.366,355.745,466.566,889.325,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,44688,570
$CAP_FILE_SIZE,163734,0
$CFSIZE,260165632,125288448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250113,235227,1924.042,-8107.076,81,1.6,85,-3.8