version: 66.06
glider: 146
mission: 8
dive: 501
start: 5 5 113 5 28 12
data:
$ID,146
$MISSION,8
$DIVE,501
$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,-318758.31
$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,64
$R_STBD_OVSHOOT,15
$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
$GPS1,050500,1925.675,-8117.707,94,1.1,94,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.2
$GPS2,052713,1925.710,-8117.619,11,1.9,11,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRb
$TGT_LATLONG,1925.300,-8118.033
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,0.003
$KALMAN_X,-25989.2,196.2,221.0,7726.9,731.8
$KALMAN_Y,93844.7,86.3,181.9,-90141.0,-787.6
$MHEAD_RNG_PITCHd_Wd,275.0,1048,-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,-62.83,0.000,2,0.000,0.000,460,2161,3281,0,0,0,0,0,0
$GC,87,-2.15,-90.4,3.0,-3.1,8,111,12.45,2.65,-5.97,0.000,4,0.153,0.038,2783,3822,3558,0,0,0,0,0,0
$GC,152,-2.04,-90.4,19.8,-26.6,16,162,0.12,2.53,0.00,0.000,6,0.117,0.024,2810,2248,3558,0,0,0,0,0,0
$GC,431,-2.04,-90.4,92.7,-23.3,43,435,0.00,2.47,0.00,0.000,4,0.000,0.028,2811,3819,3558,0,0,0,0,0,0
$GC,443,-2.04,-90.4,97.0,-22.9,43,449,0.00,2.53,0.00,0.000,6,0.000,0.018,2811,2200,3558,0,0,0,0,0,0
$GC,709,-2.08,-90.4,151.4,-17.7,68,713,0.00,2.55,0.00,0.000,4,0.000,0.029,2811,3819,3559,0,0,0,0,0,0
$GC,730,-2.13,-90.4,156.1,-17.6,69,740,0.00,2.53,0.00,0.000,6,0.000,0.020,2811,2222,3559,0,0,0,0,0,0
$GC,999,-2.23,-90.4,195.5,-14.4,94,1004,0.15,2.55,0.00,0.000,4,0.054,0.031,2750,3823,3559,0,0,0,0,0,0
$GC,1043,-2.23,-90.4,204.1,-16.1,97,1048,0.12,2.47,0.00,0.000,6,0.110,0.018,2775,2213,3559,0,0,0,0,0,0
$GC,1324,-2.29,-90.4,243.1,-13.9,104,1328,0.00,2.55,0.00,0.000,4,0.000,0.036,2775,3820,3559,0,0,0,0,0,0
$GC,1429,-2.29,-90.4,259.5,-15.6,106,1433,0.00,2.42,0.00,0.000,6,0.000,0.018,2775,2245,3559,0,0,0,0,0,0
$GC,1690,-2.35,-90.4,296.7,-14.1,113,1692,0.12,0.00,0.00,0.000,6,0.065,0.000,2718,2246,3558,0,0,0,0,0,0
$GC,1936,-2.35,-90.4,336.2,-16.3,119,1941,0.12,2.55,0.00,0.000,4,0.115,0.042,2744,3807,3558,0,0,0,0,0,0
$GC,2014,-2.35,-90.4,349.2,-16.1,120,2020,0.00,2.47,0.00,0.000,6,0.000,0.034,2743,2255,3557,0,0,0,0,0,0
$GC,2264,-2.35,-90.4,386.0,-14.7,127,2268,0.00,2.58,0.00,0.000,4,0.000,0.052,2744,3811,3556,0,0,0,0,0,0
$GC,2355,-2.35,-90.4,399.7,-16.3,129,2359,0.00,2.53,0.00,0.000,6,0.000,0.039,2744,2252,3556,0,0,0,0,0,0
$GC,2632,-2.35,-90.4,439.1,-14.0,136,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2252,3554,0,0,0,0,0,0
$GC,2876,-2.35,-90.4,473.4,-14.1,142,2880,0.00,2.65,0.00,0.000,4,0.000,0.061,2744,3800,3553,0,0,0,0,0,0
$GC,2905,-2.35,-90.4,477.5,-14.8,142,2909,0.00,2.55,0.00,0.000,6,0.000,0.051,2744,2262,3553,0,0,0,0,0,0
$GC,3155,-2.35,-90.4,514.0,-14.3,148,3159,0.00,2.65,0.00,0.000,4,0.000,0.072,2744,3797,3551,0,0,0,0,0,0
$GC,3220,-2.35,-90.4,524.4,-16.4,149,3225,0.00,2.55,0.00,0.000,6,0.000,0.053,2744,2262,3551,0,0,0,0,0,0
$GC,3479,-2.39,-90.4,561.7,-14.7,156,3484,0.00,2.67,0.00,0.000,4,0.000,0.070,2744,3804,3549,0,0,0,0,0,0
$GC,3566,-2.39,-90.4,575.3,-15.1,158,3570,0.00,2.60,0.00,0.000,6,0.000,0.062,2743,2279,3549,0,0,0,0,0,0
$GC,3849,-2.43,-90.4,616.2,-14.1,165,3854,0.00,2.67,0.00,0.000,4,0.000,0.087,2744,3796,3547,0,0,0,0,0,0
$GC,3901,-2.43,-90.4,623.7,-14.8,166,3905,0.00,2.65,0.00,0.000,6,0.000,0.080,2744,2284,3546,0,0,0,0,0,0
$GC,4173,-2.47,-90.4,662.2,-14.0,173,4177,0.00,2.80,0.00,0.000,4,0.000,0.103,2744,3797,3545,0,0,0,0,0,0
$GC,4205,-2.47,-90.4,667.0,-14.6,173,4211,0.00,2.75,0.00,0.000,6,0.000,0.096,2744,2282,3544,0,0,0,0,0,0
$GC,4458,-2.51,-90.4,701.7,-13.9,180,4463,0.12,2.85,0.00,0.000,4,0.069,0.112,2692,3796,3542,0,0,0,0,0,0
$GC,4571,-2.44,-90.4,720.9,-17.6,182,4577,0.17,2.67,0.00,0.000,6,0.114,0.085,2725,2286,3542,0,0,0,0,0,0
$GC,4829,-2.44,-90.4,758.2,-14.4,189,4834,0.00,2.72,0.00,0.000,4,0.000,0.092,2725,3795,3540,0,0,0,0,0,0
$GC,4890,-2.44,-90.4,767.7,-15.0,190,4894,0.00,2.67,0.00,0.000,6,0.000,0.076,2725,2291,3539,0,0,0,0,0,0
$GC,5150,-2.44,-90.4,805.1,-14.5,197,5155,0.00,2.72,0.00,0.000,4,0.000,0.088,2725,3804,3537,0,0,0,0,0,0
$GC,5174,-2.44,-90.4,808.5,-15.4,197,5179,0.00,2.65,0.00,0.000,6,0.000,0.077,2725,2303,3537,0,0,0,0,0,0
$GC,5429,-2.44,-90.4,845.9,-14.6,204,5433,0.00,2.67,0.00,0.000,4,0.000,0.090,2725,3801,3535,0,0,0,0,0,0
$GC,5478,-2.44,-90.4,853.5,-14.7,205,5483,0.00,2.62,0.00,0.000,6,0.000,0.070,2725,2307,3534,0,0,0,0,0,0
$GC,5753,-2.44,-90.4,891.3,-13.7,212,5757,0.00,2.67,0.00,0.000,4,0.000,0.086,2726,3804,3533,0,0,0,0,0,0
$GC,5796,-2.44,-90.4,898.0,-14.8,213,5801,0.00,2.60,0.00,0.000,6,0.000,0.073,2725,2314,3532,0,0,0,0,0,0
$STATE,5810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5810,begin apogee
$GC,5817,-0.31,0.0,900.4,14.5,213,5895,2.12,0.00,73.55,1.174,6,0.104,0.000,3190,2381,3190,0,0,0,0,0,0
$STATE,5896,end apogee,CONTROL_FINISHED_OK
$STATE,5896,begin climb
$GC,5901,2.15,90.4,902.3,0.0,215,5986,2.22,0.00,80.30,1.147,6,0.029,0.000,3743,2381,2821,0,0,0,0,0,0
$GC,6196,2.15,90.4,870.7,13.4,223,6200,0.00,2.70,0.00,0.000,4,0.000,0.067,3743,3933,2815,0,0,0,0,0,0
$GC,6352,2.09,90.4,850.0,13.9,226,6358,0.12,2.62,0.00,0.000,6,0.147,0.045,3720,2388,2813,0,0,0,0,0,0
$GC,6614,2.14,90.4,818.5,11.6,233,6618,0.00,2.62,0.00,0.000,4,0.000,0.061,3720,3930,2812,0,0,0,0,0,0
$GC,6821,2.14,90.4,792.0,12.1,237,6825,0.00,2.60,0.00,0.000,6,0.000,0.048,3720,2386,2810,0,0,0,0,0,0
$GC,7071,2.19,90.4,762.9,11.7,243,7076,0.00,2.62,0.00,0.000,4,0.000,0.059,3720,3930,2809,0,0,0,0,0,0
$GC,7298,2.19,90.4,735.7,11.5,248,7303,0.00,2.58,0.00,0.000,6,0.000,0.048,3720,2395,2808,0,0,0,0,0,0
$GC,7576,2.25,90.4,706.0,10.7,255,7581,0.12,2.60,0.00,0.000,4,0.156,0.054,3754,3930,2806,0,0,0,0,0,0
$GC,7817,2.19,90.4,676.3,12.4,260,7822,0.00,2.55,0.00,0.000,6,0.000,0.043,3754,2397,2805,0,0,0,0,0,0
$GC,8078,2.19,90.4,645.9,11.7,267,8083,0.00,2.60,0.00,0.000,4,0.000,0.057,3754,3929,2804,0,0,0,0,0,0
$GC,8320,2.13,90.4,615.0,12.5,272,8325,0.15,2.53,0.00,0.000,6,0.136,0.044,3727,2404,2803,0,0,0,0,0,0
$GC,8582,2.18,90.4,586.3,10.8,279,8586,0.00,2.58,0.00,0.000,4,0.000,0.053,3727,3929,2803,0,0,0,0,0,0
$GC,8828,2.18,90.4,557.6,11.5,284,8832,0.00,2.53,0.00,0.000,6,0.000,0.043,3727,2400,2802,0,0,0,0,0,0
$GC,9084,2.23,90.4,529.4,11.0,291,9088,0.00,2.58,0.00,0.000,4,0.000,0.053,3727,3937,2802,0,0,0,0,0,0
$GC,9125,2.23,90.4,524.7,12.1,292,9130,0.00,2.50,0.00,0.000,6,0.000,0.041,3727,2412,2802,0,0,0,0,0,0
$GC,9409,2.28,90.4,494.2,10.5,299,9414,0.12,2.53,0.00,0.000,4,0.078,0.052,3763,3934,2802,0,0,0,0,0,0
$GC,9670,2.23,90.4,462.1,12.6,304,9675,0.00,2.45,0.00,0.000,6,0.000,0.037,3763,2424,2802,0,0,0,0,0,0
$GC,9919,2.23,90.4,432.4,11.7,311,9924,0.00,2.50,0.00,0.000,4,0.000,0.044,3763,3941,2802,0,0,0,0,0,0
$GC,10178,2.19,90.4,399.9,12.8,316,10184,0.12,2.45,0.00,0.000,6,0.136,0.035,3739,2418,2802,0,0,0,0,0,0
$GC,10428,2.23,90.4,372.7,10.9,323,10433,0.00,2.50,0.00,0.000,4,0.000,0.044,3739,3938,2802,0,0,0,0,0,0
$GC,10688,2.23,90.4,341.6,12.2,328,10694,0.00,2.38,0.00,0.000,6,0.000,0.024,3739,2441,2803,0,0,0,0,0,0
$GC,10941,2.28,90.4,313.7,11.2,335,10945,0.00,2.45,0.00,0.000,4,0.000,0.048,3739,3941,2803,0,0,0,0,0,0
$GC,11141,2.28,90.4,289.5,11.8,339,11145,0.00,2.38,0.00,0.000,6,0.000,0.028,3739,2442,2804,0,0,0,0,0,0
$GC,11406,2.33,90.4,260.7,11.0,346,11411,0.08,2.42,0.00,0.000,4,0.107,0.045,3766,3938,2805,0,0,0,0,0,0
$GC,11506,2.33,90.4,248.7,10.8,348,11510,0.00,2.38,0.00,0.000,6,0.000,0.025,3766,2446,2805,0,0,0,0,0,0
$GC,11772,2.33,92.4,222.5,9.7,355,11777,0.00,2.45,0.00,0.000,4,0.000,0.043,3766,3943,2806,0,0,0,0,0,0
$GC,12030,2.33,92.4,197.0,10.2,360,12039,0.00,2.38,0.00,0.000,6,0.000,0.025,3766,2444,2807,0,0,0,0,0,0
$GC,12300,2.39,109.2,177.5,7.5,385,12321,0.00,2.47,14.05,0.605,4,0.000,0.042,3766,3935,2743,0,0,0,0,0,0
$GC,12585,2.43,138.5,158.4,5.6,409,12615,0.00,2.35,25.10,0.606,6,0.000,0.022,3766,2448,2625,0,0,0,0,0,0
$GC,12867,2.56,159.3,136.1,6.9,436,12891,0.00,2.50,18.83,0.574,4,0.000,0.041,3766,3941,2539,0,0,0,0,0,0
$GC,13161,2.62,159.3,110.6,10.3,460,13170,0.00,2.40,0.00,0.000,6,0.000,0.024,3766,2444,2538,0,0,0,0,0,0
$GC,13430,2.79,189.0,93.3,5.5,485,13464,0.00,2.53,25.70,0.542,4,0.000,0.041,3766,3934,2418,0,0,0,0,0,0
$GC,13470,2.94,206.6,90.2,7.4,488,13493,0.00,2.42,16.70,0.520,6,0.000,0.025,3766,2438,2346,0,0,0,0,0,0
$GC,13760,3.10,206.6,58.3,11.1,515,13764,0.00,2.47,0.00,0.000,4,0.000,0.042,3766,3938,2342,0,0,0,0,0,0
$GC,13844,3.24,206.6,47.8,12.4,521,13848,0.00,2.38,0.00,0.000,6,0.000,0.025,3766,2441,2342,0,0,0,0,0,0
$GC,14136,3.42,206.6,16.2,13.3,554,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,3766,2441,2342,0,0,0,0,0,0
$STATE,14238,end climb,SURFACE_DEPTH_REACHED
$STATE,14239,begin surface coast
$FINISH,1.1,1.015258
$STATE,14292,end surface coast,CONTROL_FINISHED_OK
$STATE,14292,begin surface
$SM_CCo,14315,115.07,0.476,0,0,1762,350.04
$SM_GC,1.87,0.00,0.00,115.07,0.000,0.000,0.476,456,2145,1762,-12.90,-1.84,350.04
$IRIDIUM_FIX,1918.37,-8119.23,300702,050551
$TT8_MAMPS,0.025311
$HUMID,59.60
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.40
$XPDR_PINGS,151
$24V_AH,23.1,70.921
$10V_AH,9.9,63.032
$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,31.725,174.275,254.225,115.075,0.000,120.991,145.033,663.882,37.750,0.000,13.303,1338.243,9940.883,500.862,2561.345,1415.350,33.360,1550.377,0.000,2543.670,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,116.584,1174.277,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.803,292.915,372.540,504.658,958.083,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356140
$DATA_FILE_SIZE,44688,576
$CAP_FILE_SIZE,158015,0
$CFSIZE,260165632,92925952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,093106,1925.433,-8118.424,100,1.2,100,-3.7