version: 66.06
glider: 146
mission: 8
dive: 500
start: 5 5 113 0 38 49
data:
$ID,146
$MISSION,8
$DIVE,500
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$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,620
$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,-318744.38
$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,3260
$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,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,21
$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
$GPS1,002224,1927.022,-8118.500,63,1.0,63,-3.7
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.6
$GPS2,003754,1927.053,-8118.421,8,1.0,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRb
$TGT_LATLONG,1925.300,-8118.033
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.023,-0.141
$KALMAN_X,-27268.4,-19.1,-66.1,8116.2,1052.5
$KALMAN_Y,94003.4,17.6,64.6,-87622.4,-873.6
$MHEAD_RNG_PITCHd_Wd,192.8,3316,-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,20,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-65.93,0.000,6,0.000,0.000,463,2153,3371,0,0,0,0,0,0
$GC,94,-2.12,-69.2,4.2,-6.3,9,120,12.70,2.67,-1.92,0.000,4,0.158,0.042,2788,3800,3475,0,0,0,0,0,0
$GC,234,-2.01,-69.2,45.5,-26.6,25,240,0.15,2.53,0.00,0.000,6,0.135,0.023,2817,2188,3476,0,0,0,0,0,0
$GC,503,-2.01,-69.2,107.0,-20.3,49,508,0.00,2.58,0.00,0.000,4,0.000,0.028,2817,3811,3477,0,0,0,0,0,0
$GC,538,-2.01,-69.2,115.0,-20.8,51,543,0.00,2.47,0.00,0.000,6,0.000,0.020,2816,2213,3477,0,0,0,0,0,0
$GC,804,-2.08,-69.2,159.6,-15.1,75,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2214,3477,0,0,0,0,0,0
$GC,1069,-2.19,-69.2,195.6,-12.8,100,1074,0.15,2.55,0.00,0.000,4,0.056,0.031,2752,3818,3477,0,0,0,0,0,0
$GC,1138,-2.19,-69.2,206.0,-14.2,103,1143,0.15,2.45,0.00,0.000,6,0.110,0.017,2782,2218,3478,0,0,0,0,0,0
$GC,1394,-2.25,-69.2,239.2,-12.4,110,1398,0.00,2.53,0.00,0.000,4,0.000,0.035,2782,3811,3478,0,0,0,0,0,0
$GC,1438,-2.29,-69.2,245.1,-13.1,111,1442,0.00,2.45,0.00,0.000,6,0.000,0.018,2782,2234,3478,0,0,0,0,0,0
$GC,1718,-2.35,-69.2,280.0,-12.5,118,1723,0.15,2.53,0.00,0.000,4,0.057,0.038,2721,3804,3478,0,0,0,0,0,0
$GC,1728,-2.39,-69.2,281.8,-12.4,118,1733,0.00,2.45,0.00,0.000,6,0.000,0.023,2721,2234,3477,0,0,0,0,0,0
$GC,1997,-2.39,-69.2,320.1,-14.4,125,2002,0.00,2.55,0.00,0.000,4,0.000,0.039,2721,3806,3477,0,0,0,0,0,0
$GC,2059,-2.34,-69.2,329.8,-15.5,126,2064,0.12,2.47,0.00,0.000,6,0.116,0.024,2747,2244,3477,0,0,0,0,0,0
$GC,2319,-2.34,-69.2,363.7,-12.9,133,2324,0.00,2.55,0.00,0.000,4,0.000,0.047,2747,3801,3476,0,0,0,0,0,0
$GC,2349,-2.34,-69.2,367.7,-14.3,133,2353,0.00,2.50,0.00,0.000,6,0.000,0.031,2747,2240,3476,0,0,0,0,0,0
$GC,2599,-2.34,-69.2,399.7,-12.5,139,2603,0.00,2.58,0.00,0.000,4,0.000,0.048,2747,3801,3474,0,0,0,0,0,0
$GC,2676,-2.34,-69.2,410.1,-13.9,140,2682,0.00,2.50,0.00,0.000,6,0.000,0.032,2747,2244,3474,0,0,0,0,0,0
$GC,2928,-2.34,-69.2,441.9,-12.8,147,2933,0.00,2.60,0.00,0.000,4,0.000,0.054,2747,3794,3473,0,0,0,0,0,0
$GC,3000,-2.34,-69.2,452.2,-13.7,148,3004,0.00,2.53,0.00,0.000,6,0.000,0.044,2747,2246,3473,0,0,0,0,0,0
$GC,3250,-2.34,-69.2,485.0,-13.2,154,3254,0.00,2.62,0.00,0.000,4,0.000,0.067,2747,3795,3471,0,0,0,0,0,0
$GC,3324,-2.34,-69.2,495.3,-13.8,155,3329,0.00,2.55,0.00,0.000,6,0.000,0.044,2747,2253,3471,0,0,0,0,0,0
$GC,3574,-2.37,-69.2,527.3,-12.6,161,3579,0.00,2.65,0.00,0.000,4,0.000,0.066,2747,3797,3470,0,0,0,0,0,0
$GC,3630,-2.37,-69.2,534.7,-13.1,162,3634,0.00,2.58,0.00,0.000,6,0.000,0.049,2747,2262,3470,0,0,0,0,0,0
$GC,3899,-2.37,-69.2,568.1,-12.4,169,3903,0.00,2.65,0.00,0.000,4,0.000,0.071,2747,3794,3468,0,0,0,0,0,0
$GC,4004,-2.37,-69.2,582.4,-13.5,171,4008,0.00,2.60,0.00,0.000,6,0.000,0.059,2746,2271,3468,0,0,0,0,0,0
$GC,4271,-2.37,-69.2,616.9,-13.2,178,4275,0.00,2.67,0.00,0.000,4,0.000,0.083,2747,3791,3466,0,0,0,0,0,0
$GC,4357,-2.37,-69.2,628.5,-13.5,180,4362,0.00,2.65,0.00,0.000,6,0.000,0.074,2747,2278,3465,0,0,0,0,0,0
$GC,4641,-2.41,-69.2,664.5,-12.4,187,4646,0.00,2.80,0.00,0.000,4,0.000,0.101,2746,3793,3463,0,0,0,0,0,0
$GC,4698,-2.41,-69.2,672.2,-14.0,188,4703,0.00,2.78,0.00,0.000,6,0.000,0.093,2747,2284,3463,0,0,0,0,0,0
$GC,4965,-2.45,-69.2,705.6,-12.4,195,4970,0.00,2.88,0.00,0.000,4,0.000,0.123,2747,3787,3461,0,0,0,0,0,0
$GC,5072,-2.45,-69.2,719.6,-13.1,197,5077,0.00,2.67,0.00,0.000,6,0.000,0.082,2747,2286,3460,0,0,0,0,0,0
$GC,5336,-2.49,-69.2,751.2,-12.0,204,5341,0.12,2.78,0.00,0.000,4,0.070,0.094,2699,3797,3458,0,0,0,0,0,0
$GC,5382,-2.42,-69.2,757.8,-14.6,205,5387,0.15,2.65,0.00,0.000,6,0.117,0.077,2729,2293,3458,0,0,0,0,0,0
$GC,5662,-2.42,-69.2,791.4,-12.0,212,5667,0.00,2.72,0.00,0.000,4,0.000,0.091,2729,3796,3456,0,0,0,0,0,0
$GC,5728,-2.42,-69.2,800.6,-13.4,213,5732,0.00,2.65,0.00,0.000,6,0.000,0.080,2729,2293,3456,0,0,0,0,0,0
$GC,5989,-2.42,-69.2,832.2,-12.0,220,5994,0.00,2.70,0.00,0.000,4,0.000,0.092,2729,3790,3455,0,0,0,0,0,0
$GC,6069,-2.42,-69.2,842.8,-13.9,221,6075,0.00,2.62,0.00,0.000,6,0.000,0.072,2729,2297,3453,0,0,0,0,0,0
$GC,6319,-2.42,-69.2,872.9,-11.8,228,6323,0.00,2.67,0.00,0.000,4,0.000,0.087,2729,3790,3452,0,0,0,0,0,0
$GC,6413,-2.42,-69.2,885.5,-13.6,230,6417,0.00,2.60,0.00,0.000,6,0.000,0.072,2729,2306,3451,0,0,0,0,0,0
$STATE,6561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6561,begin apogee
$GC,6570,-0.31,0.0,903.1,11.7,234,6631,2.15,0.00,56.45,1.178,6,0.101,0.000,3188,2369,3190,0,0,0,0,0,0
$STATE,6631,end apogee,CONTROL_FINISHED_OK
$STATE,6632,begin climb
$GC,6634,2.12,69.2,904.8,0.0,235,6704,2.20,3.10,61.38,1.161,4,0.031,0.108,3741,782,2907,0,0,0,0,0,0
$GC,6748,2.06,69.2,897.5,10.9,237,6753,0.17,2.72,0.00,0.000,6,0.130,0.064,3710,2364,2905,0,0,1,0,0,0
$GC,7006,2.12,73.2,872.7,9.4,244,7016,0.00,2.80,4.38,0.742,4,0.000,0.077,3709,3938,2891,0,0,0,0,0,0
$GC,7033,2.12,73.8,869.8,9.9,244,7037,0.00,2.70,0.00,0.000,6,0.000,0.051,3709,2368,2891,0,0,0,0,0,0
$GC,7286,2.17,75.8,845.6,9.7,250,7291,0.10,2.75,0.00,0.000,4,0.094,0.066,3739,3943,2889,0,0,0,0,0,0
$GC,7490,2.11,75.8,823.0,11.7,254,7494,0.00,2.62,0.00,0.000,6,0.000,0.047,3739,2384,2887,0,0,0,0,0,0
$GC,7745,2.11,76.2,797.0,9.9,261,7750,0.00,2.67,0.00,0.000,4,0.000,0.061,3739,3945,2886,0,0,0,0,0,0
$GC,8005,2.06,76.2,769.3,10.9,266,8011,0.15,2.62,0.00,0.000,6,0.144,0.043,3712,2392,2885,0,0,0,0,0,0
$GC,8256,2.12,85.6,747.0,8.6,273,8272,0.00,2.70,10.90,0.988,4,0.000,0.056,3712,3948,2841,0,0,0,0,0,0
$GC,8526,2.12,85.6,719.3,10.7,279,8530,0.00,2.62,0.00,0.000,6,0.000,0.047,3712,2393,2838,0,0,0,0,0,0
$GC,8804,2.19,89.9,693.7,9.4,286,8815,0.10,2.65,5.20,0.781,4,0.093,0.061,3741,3938,2822,0,0,0,0,0,0
$GC,9069,2.15,89.9,662.2,12.2,292,9074,0.00,2.55,0.00,0.000,6,0.000,0.041,3741,2404,2820,0,0,0,0,0,0
$GC,9355,2.15,89.9,630.5,11.1,299,9360,0.00,2.62,0.00,0.000,4,0.000,0.059,3741,3942,2820,0,0,0,0,0,0
$GC,9577,2.10,89.9,605.0,12.3,304,9582,0.12,2.55,0.00,0.000,6,0.146,0.043,3719,2406,2819,0,0,0,0,0,0
$GC,9863,2.16,89.9,574.9,10.7,311,9868,0.00,2.60,0.00,0.000,4,0.000,0.053,3719,3941,2819,0,0,0,0,0,0
$GC,10123,2.16,89.9,545.4,11.2,316,10129,0.00,2.50,0.00,0.000,6,0.000,0.035,3720,2411,2819,0,0,0,0,0,0
$GC,10374,2.22,90.1,520.4,10.0,323,10379,0.10,2.60,0.00,0.000,4,0.091,0.052,3751,3947,2819,0,0,0,0,0,0
$GC,10459,2.17,90.1,511.1,10.8,325,10463,0.00,2.50,0.00,0.000,6,0.000,0.038,3752,2422,2819,0,0,0,0,0,0
$GC,10744,2.17,90.1,482.4,10.1,332,10748,0.00,2.50,0.00,0.000,4,0.000,0.048,3751,3941,2819,0,0,0,0,0,0
$GC,10968,2.13,90.1,455.8,11.6,337,10973,0.12,2.47,0.00,0.000,6,0.141,0.035,3727,2418,2819,0,0,0,0,0,0
$GC,11248,2.19,90.1,427.1,10.5,344,11253,0.00,2.53,0.00,0.000,4,0.000,0.043,3727,3944,2819,0,0,0,0,0,0
$GC,11509,2.19,90.1,398.1,10.9,349,11514,0.00,2.42,0.00,0.000,6,0.000,0.026,3727,2422,2819,0,0,0,0,0,0
$GC,11759,2.25,90.6,373.1,9.9,356,11764,0.10,2.53,0.00,0.000,4,0.087,0.047,3760,3949,2819,0,0,0,0,0,0
$GC,12017,2.21,90.6,342.9,12.0,361,12023,0.00,2.40,0.00,0.000,6,0.000,0.025,3760,2435,2820,0,0,0,0,0,0
$GC,12267,2.21,90.6,315.8,10.9,368,12271,0.00,2.47,0.00,0.000,4,0.000,0.044,3760,3945,2821,0,0,0,0,0,0
$GC,12446,2.17,90.6,295.0,11.3,372,12451,0.12,2.40,0.00,0.000,6,0.137,0.025,3736,2443,2821,0,0,0,0,0,0
$GC,12724,2.24,90.6,265.6,10.6,379,12728,0.00,2.47,0.00,0.000,4,0.000,0.047,3736,3949,2822,0,0,0,0,0,0
$GC,12844,2.24,90.6,253.2,10.6,381,12848,0.00,2.40,0.00,0.000,6,0.000,0.025,3736,2443,2822,0,0,0,0,0,0
$GC,13094,2.31,98.4,230.6,8.8,387,13109,0.10,2.50,9.00,0.614,4,0.084,0.040,3771,3953,2788,0,0,0,0,0,0
$GC,13228,2.31,98.4,216.7,10.9,390,13232,0.00,2.40,0.00,0.000,6,0.000,0.031,3771,2450,2787,0,0,0,0,0,0
$GC,13494,2.37,105.6,194.4,8.9,400,13509,0.00,2.53,7.55,0.565,4,0.000,0.044,3770,3944,2758,0,0,0,0,0,0
$GC,13775,2.38,120.9,169.1,7.7,424,13796,0.00,2.38,13.68,0.598,6,0.000,0.024,3770,2457,2696,0,0,0,0,0,0
$GC,14052,2.49,141.8,149.2,6.9,450,14077,0.00,2.47,19.12,0.591,4,0.000,0.040,3771,3944,2609,0,0,0,0,0,0
$GC,14347,2.56,158.7,124.5,7.5,474,14369,0.00,2.38,15.02,0.557,6,0.000,0.022,3771,2462,2542,0,0,0,0,0,0
$GC,14624,2.72,178.1,103.1,7.1,500,14649,0.00,2.50,17.55,0.543,4,0.000,0.041,3771,3953,2462,0,0,0,0,0,0
$GC,14920,2.83,182.4,74.5,9.4,524,14930,0.00,2.40,5.00,0.410,6,0.000,0.023,3771,2456,2446,0,0,0,0,0,0
$GC,15191,3.01,193.5,50.2,8.3,549,15209,0.00,2.50,11.35,0.478,4,0.000,0.041,3771,3937,2399,0,0,0,0,0,0
$GC,15369,3.15,196.0,32.5,9.6,563,15373,0.00,2.33,0.00,0.000,6,0.000,0.025,3771,2471,2398,0,0,0,0,0,0
$STATE,15637,end climb,SURFACE_DEPTH_REACHED
$STATE,15637,begin surface coast
$FINISH,1.1,1.001004
$STATE,15680,end surface coast,CONTROL_FINISHED_OK
$STATE,15680,begin surface
$SM_CCo,15706,127.12,0.478,0,0,1762,350.04
$SM_GC,1.95,0.00,0.00,127.12,0.000,0.000,0.478,460,2160,1762,-12.88,-1.41,350.04
$IRIDIUM_FIX,1920.65,-8116.97,300702,000006
$TT8_MAMPS,0.026078
$HUMID,58.11
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.30
$XPDR_PINGS,154
$24V_AH,23.1,70.782
$10V_AH,9.8,62.904
$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,32.550,196.400,236.575,127.125,0.000,89.922,128.649,383.158,38.500,0.000,14.783,1459.670,10915.444,480.384,2814.898,1085.198,33.364,1650.865,0.000,2781.848,0.000,0.537,0.000
$DEVICE_MAMPS,158.002,123.487,1178.112,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.785,297.338,380.417,517.387,984.530,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,47971,607
$CAP_FILE_SIZE,169980,0
$CFSIZE,260165632,92983296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050513,050500,1925.675,-8117.707,94,1.1,94,-3.7