version: 66.06
glider: 146
mission: 8
dive: 502
start: 5 5 113 9 55 49
data:
$ID,146
$MISSION,8
$DIVE,502
$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,-318773.91
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,093106,1925.433,-8118.424,100,1.2,100,-3.7
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-75.6
$GPS2,095454,1925.435,-8118.282,13,1.2,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRb
$TGT_LATLONG,1925.300,-8118.033
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.135,0.046
$KALMAN_X,-24458.2,267.8,27.4,5160.4,1065.8
$KALMAN_Y,93521.8,111.5,-86.7,-90080.6,-460.6
$MHEAD_RNG_PITCHd_Wd,292.4,501,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-2.09,-44.5,0.0,0.0,0,95,0.00,0.00,-65.68,0.000,6,0.000,0.000,456,2145,3371,0,0,0,0,0,0
$GC,99,-2.12,-69.8,4.3,-6.2,9,125,12.62,2.70,-1.98,0.000,4,0.156,0.042,2790,3806,3478,0,0,0,0,0,0
$GC,254,-1.97,-69.8,51.3,-28.6,26,264,0.15,2.55,0.00,0.000,6,0.115,0.023,2822,2201,3478,0,0,0,0,0,0
$GC,520,-1.97,-69.8,112.4,-22.5,51,524,0.00,2.53,0.00,0.000,4,0.000,0.028,2823,3805,3478,0,0,0,0,0,0
$GC,640,-1.97,-69.8,137.1,-19.3,60,649,0.00,2.50,0.00,0.000,6,0.000,0.020,2823,2222,3478,0,0,0,0,0,0
$GC,906,-2.08,-69.8,176.3,-12.7,85,910,0.00,2.53,0.00,0.000,4,0.000,0.038,2822,3813,3479,0,0,0,0,0,0
$GC,997,-2.17,-69.8,189.0,-13.2,92,1003,0.15,2.45,0.00,0.000,6,0.055,0.019,2758,2223,3479,0,0,0,0,0,0
$GC,1283,-2.17,-69.8,228.0,-13.7,105,1285,0.12,0.00,0.00,0.000,6,0.116,0.000,2783,2224,3479,0,0,0,0,0,0
$GC,1524,-2.24,-69.8,258.0,-12.3,111,1529,0.00,2.50,0.00,0.000,4,0.000,0.035,2783,3800,3479,0,0,0,0,0,0
$GC,1560,-2.28,-69.8,262.6,-13.9,111,1566,0.00,2.42,0.00,0.000,6,0.000,0.019,2783,2230,3479,0,0,0,0,0,0
$GC,1812,-2.36,-69.8,292.4,-11.7,118,1817,0.15,2.55,0.00,0.000,4,0.057,0.044,2724,3799,3478,0,0,0,0,0,0
$GC,1833,-2.36,-69.8,295.8,-13.4,118,1838,0.10,2.42,0.00,0.000,6,0.124,0.022,2743,2236,3478,0,0,0,0,0,0
$GC,2091,-2.36,-69.8,328.8,-12.7,125,2095,0.00,2.53,0.00,0.000,4,0.000,0.044,2743,3805,3477,0,0,0,0,0,0
$GC,2185,-2.36,-69.8,341.9,-13.4,127,2189,0.00,2.45,0.00,0.000,6,0.000,0.031,2743,2241,3477,0,0,0,0,0,0
$GC,2458,-2.36,-69.8,377.2,-13.3,134,2462,0.00,2.55,0.00,0.000,4,0.000,0.048,2744,3801,3476,0,0,0,0,0,0
$GC,2526,-2.36,-69.8,386.5,-13.9,135,2530,0.00,2.47,0.00,0.000,6,0.000,0.029,2743,2255,3475,0,0,0,0,0,0
$GC,2781,-2.36,-69.8,419.4,-12.6,142,2785,0.00,2.55,0.00,0.000,4,0.000,0.053,2744,3793,3474,0,0,0,0,0,0
$GC,2886,-2.36,-69.8,434.8,-13.6,144,2890,0.00,2.47,0.00,0.000,6,0.000,0.036,2743,2265,3473,0,0,0,0,0,0
$GC,3156,-2.36,-69.8,469.4,-12.9,151,3160,0.00,2.55,0.00,0.000,4,0.000,0.064,2744,3790,3472,0,0,0,0,0,0
$GC,3205,-2.36,-69.8,476.5,-13.6,152,3209,0.00,2.50,0.00,0.000,6,0.000,0.041,2744,2265,3472,0,0,0,0,0,0
$GC,3477,-2.36,-69.8,511.6,-12.8,159,3481,0.00,2.60,0.00,0.000,4,0.000,0.069,2744,3794,3470,0,0,0,0,0,0
$GC,3511,-2.36,-69.8,516.0,-14.4,159,3517,0.00,2.53,0.00,0.000,6,0.000,0.049,2743,2277,3470,0,0,0,0,0,0
$GC,3761,-2.36,-69.8,547.5,-12.3,166,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2278,3469,0,0,0,0,0,0
$GC,4005,-2.36,-69.8,577.4,-12.3,172,4009,0.00,2.65,0.00,0.000,4,0.000,0.080,2744,3793,3467,0,0,0,0,0,0
$GC,4091,-2.36,-69.8,588.5,-13.2,174,4095,0.00,2.55,0.00,0.000,6,0.000,0.058,2743,2286,3467,0,0,0,0,0,0
$GC,4374,-2.36,-69.8,623.5,-12.0,181,4378,0.00,2.67,0.00,0.000,4,0.000,0.084,2743,3786,3465,0,0,0,0,0,0
$GC,4423,-2.36,-69.8,629.9,-13.1,182,4427,0.00,2.62,0.00,0.000,6,0.000,0.079,2743,2291,3465,0,0,0,0,0,0
$GC,4698,-2.36,-69.8,661.6,-11.5,189,4703,0.00,2.72,0.00,0.000,4,0.000,0.105,2744,3786,3463,0,0,0,0,0,0
$GC,4719,-2.36,-69.8,664.6,-12.6,189,4724,0.00,2.70,0.00,0.000,6,0.000,0.093,2744,2298,3462,0,0,0,0,0,0
$GC,4975,-2.36,-69.8,695.0,-12.0,196,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2298,3461,0,0,0,0,0,0
$GC,5221,-2.36,-69.8,724.3,-12.1,202,5225,0.00,2.72,0.00,0.000,4,0.000,0.106,2743,3784,3459,0,0,0,0,0,0
$GC,5367,-2.36,-69.8,744.0,-12.6,205,5372,0.00,2.60,0.00,0.000,6,0.000,0.073,2744,2308,3458,0,0,0,0,0,0
$GC,5634,-2.36,-69.8,775.4,-11.6,212,5638,0.00,2.67,0.00,0.000,4,0.000,0.097,2744,3788,3457,0,0,0,0,0,0
$GC,5708,-2.36,-69.8,784.0,-11.7,213,5712,0.00,2.60,0.00,0.000,6,0.000,0.072,2744,2304,3456,0,0,0,0,0,0
$GC,5958,-2.36,-69.8,813.2,-11.5,219,5962,0.00,2.65,0.00,0.000,4,0.000,0.086,2744,3786,3454,0,0,0,0,0,0
$GC,6023,-2.36,-69.8,821.3,-12.1,220,6028,0.00,2.55,0.00,0.000,6,0.000,0.075,2744,2310,3453,0,0,0,0,0,0
$GC,6281,-2.36,-69.8,850.6,-11.3,227,6285,0.00,2.62,0.00,0.000,4,0.000,0.089,2744,3786,3452,0,0,0,0,0,0
$GC,6365,-2.36,-69.8,861.4,-13.4,229,6369,0.00,2.53,0.00,0.000,6,0.000,0.065,2744,2319,3452,0,0,0,0,0,0
$GC,6651,-2.40,-69.8,894.8,-11.6,236,6655,0.00,2.60,0.00,0.000,4,0.000,0.086,2744,3793,3449,0,0,0,0,0,0
$STATE,6692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6692,begin apogee
$GC,6701,-0.31,0.0,900.5,12.0,237,6761,2.03,0.00,55.95,1.178,6,0.104,0.000,3187,2374,3190,0,0,0,0,0,0
$STATE,6762,end apogee,CONTROL_FINISHED_OK
$STATE,6762,begin climb
$GC,6765,2.12,69.8,902.3,0.0,238,6832,2.22,0.00,62.40,1.155,6,0.031,0.000,3737,2374,2906,0,0,0,0,0,0
$GC,7063,2.12,69.8,877.2,10.3,246,7067,0.00,2.72,0.00,0.000,4,0.000,0.071,3737,3927,2901,0,0,0,0,0,0
$GC,7198,2.06,69.8,862.3,10.9,249,7204,0.15,2.65,0.00,0.000,6,0.145,0.050,3711,2367,2901,0,0,0,0,0,0
$GC,7482,2.11,71.1,834.5,9.8,256,7486,0.00,2.67,0.00,0.000,4,0.000,0.061,3711,3928,2898,0,0,0,0,0,0
$GC,7705,2.11,71.1,811.8,10.2,261,7710,0.00,2.60,0.00,0.000,6,0.000,0.047,3711,2374,2897,0,0,0,0,0,0
$GC,7987,2.17,81.0,787.7,8.5,268,8002,0.10,2.70,9.60,0.984,4,0.095,0.061,3739,3928,2859,0,0,0,0,0,0
$GC,8258,2.13,81.0,759.0,10.7,274,8263,0.00,2.60,0.00,0.000,6,0.000,0.050,3739,2388,2857,0,0,0,0,0,0
$GC,8536,2.13,82.2,731.4,9.8,281,8540,0.00,2.62,0.00,0.000,4,0.000,0.054,3739,3933,2856,0,0,0,0,0,0
$GC,8794,2.08,82.2,704.1,10.1,286,8800,0.12,2.60,0.00,0.000,6,0.153,0.043,3716,2382,2855,0,0,0,0,0,0
$GC,9044,2.14,85.8,680.4,9.5,293,9054,0.00,2.67,4.90,0.759,4,0.000,0.055,3716,3937,2840,0,0,0,0,0,0
$GC,9200,2.14,85.8,664.1,10.2,296,9205,0.00,2.60,0.00,0.000,6,0.000,0.044,3716,2381,2839,0,0,0,0,0,0
$GC,9457,2.20,88.1,639.8,9.7,303,9466,0.00,2.67,3.78,0.621,4,0.000,0.061,3716,3923,2830,0,0,0,0,0,0
$GC,9720,2.20,88.1,611.5,10.5,308,9725,0.00,2.53,0.00,0.000,6,0.000,0.043,3716,2401,2829,0,0,0,0,0,0
$GC,9970,2.25,88.1,586.8,10.1,315,9975,0.15,2.60,0.00,0.000,4,0.074,0.054,3759,3929,2829,0,0,0,0,0,0
$GC,10206,2.20,88.1,558.7,11.3,320,10210,0.00,2.53,0.00,0.000,6,0.000,0.038,3759,2404,2829,0,0,0,0,0,0
$GC,10475,2.20,88.1,529.8,10.8,327,10479,0.00,2.58,0.00,0.000,4,0.000,0.055,3759,3937,2829,0,0,0,0,0,0
$GC,10676,2.14,88.1,505.7,11.8,331,10681,0.17,2.53,0.00,0.000,6,0.132,0.041,3726,2404,2829,0,0,0,0,0,0
$GC,10934,2.19,88.1,479.7,10.0,338,10939,0.00,2.55,0.00,0.000,4,0.000,0.048,3726,3934,2828,0,0,0,0,0,0
$GC,11169,2.19,88.1,453.6,10.3,343,11174,0.00,2.45,0.00,0.000,6,0.000,0.034,3726,2420,2828,0,0,0,0,0,0
$GC,11440,2.25,91.1,427.8,9.6,350,11449,0.10,2.53,4.10,0.572,4,0.100,0.044,3756,3931,2818,0,0,0,0,0,0
$GC,11460,2.25,91.1,425.2,10.3,350,11465,0.00,2.45,0.00,0.000,6,0.000,0.034,3756,2417,2818,0,0,0,0,0,0
$GC,11724,2.25,91.2,398.6,10.0,357,11729,0.00,2.50,0.00,0.000,4,0.000,0.044,3756,3933,2818,0,0,0,0,0,0
$GC,11982,2.21,91.2,368.0,11.8,362,11991,0.00,2.40,0.00,0.000,6,0.000,0.031,3756,2428,2818,0,0,0,0,0,0
$GC,12235,2.21,91.2,340.2,11.3,369,12239,0.00,2.47,0.00,0.000,4,0.000,0.048,3756,3935,2819,0,0,0,0,0,0
$GC,12458,2.17,91.2,312.6,11.0,374,12463,0.12,2.38,0.00,0.000,6,0.136,0.025,3734,2444,2819,0,0,0,0,0,0
$GC,12739,2.24,91.2,283.4,10.5,381,12743,0.00,2.45,0.00,0.000,4,0.000,0.049,3734,3935,2820,0,0,0,0,0,0
$GC,12982,2.24,91.2,256.5,10.7,386,12986,0.00,2.38,0.00,0.000,6,0.000,0.025,3734,2442,2821,0,0,0,0,0,0
$GC,13243,2.32,98.6,233.4,8.9,393,13258,0.10,2.50,8.88,0.620,4,0.085,0.044,3767,3931,2787,0,0,0,0,0,0
$GC,13291,2.32,98.6,228.5,10.7,394,13295,0.00,2.38,0.00,0.000,6,0.000,0.025,3768,2447,2786,0,0,0,0,0,0
$GC,13578,2.32,103.8,201.4,9.2,401,13589,0.00,2.45,6.12,0.542,4,0.000,0.048,3768,3934,2765,0,0,0,0,0,0
$GC,13853,2.35,122.8,175.7,7.1,422,13878,0.00,2.35,16.73,0.614,6,0.000,0.024,3768,2453,2687,0,0,0,0,0,0
$GC,14133,2.46,146.4,155.2,6.5,448,14159,0.00,2.50,20.92,0.601,4,0.000,0.041,3768,3938,2592,0,0,0,0,0,0
$GC,14424,2.55,163.6,132.1,7.4,472,14447,0.00,2.38,15.60,0.564,6,0.000,0.025,3768,2463,2523,0,0,0,0,0,0
$GC,14714,2.70,175.7,110.4,8.2,499,14737,0.00,2.53,11.60,0.526,4,0.000,0.042,3768,3942,2472,0,0,0,0,0,0
$GC,15005,2.82,185.4,80.9,8.5,523,15025,0.00,2.35,9.85,0.492,6,0.000,0.025,3768,2467,2433,0,0,0,0,0,0
$GC,15284,3.00,196.5,56.4,8.3,549,15300,0.00,2.45,10.85,0.479,4,0.000,0.042,3768,3934,2388,0,0,0,0,0,0
$GC,15513,3.13,196.5,32.4,10.1,567,15517,0.00,2.33,0.00,0.000,6,0.000,0.025,3768,2463,2387,0,0,0,0,0,0
$STATE,15780,end climb,SURFACE_DEPTH_REACHED
$STATE,15780,begin surface coast
$FINISH,1.1,1.008138
$STATE,15829,end surface coast,CONTROL_FINISHED_OK
$STATE,15829,begin surface
$SM_CCo,15853,123.72,0.476,0,0,1763,350.04
$SM_GC,1.96,0.00,0.00,123.72,0.000,0.000,0.476,464,2179,1763,-12.87,-0.88,350.04
$IRIDIUM_FIX,1918.37,-8121.49,300702,090932
$TT8_MAMPS,0.025311
$HUMID,58.50
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.40
$XPDR_PINGS,173
$24V_AH,23.1,71.064
$10V_AH,9.9,63.167
$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,31.900,183.350,241.275,123.725,0.000,109.129,142.949,793.533,43.250,0.000,14.957,1438.331,11142.465,491.667,2794.376,1531.442,33.375,1644.240,0.000,2761.302,0.000,0.539,0.000
$DEVICE_MAMPS,155.701,105.846,1178.112,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,412.959,297.143,379.902,517.272,984.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,47964,612
$CAP_FILE_SIZE,173294,0
$CFSIZE,260165632,92835840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,142400,1925.447,-8118.741,68,1.2,68,-3.7