version: 66.06
glider: 146
mission: 8
dive: 503
start: 5 5 113 14 36 2
data:
$ID,146
$MISSION,8
$DIVE,503
$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,-318790.09
$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,50
$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
$GPS1,142400,1925.447,-8118.741,68,1.2,68,-3.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-73.8
$GPS2,143507,1925.416,-8118.601,14,1.2,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRb
$TGT_LATLONG,1925.300,-8118.033
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.126,0.068
$KALMAN_X,-22467.4,154.6,32.8,2718.0,1619.6
$KALMAN_Y,92800.8,-50.0,-64.0,-89252.0,-552.2
$MHEAD_RNG_PITCHd_Wd,302.0,1015,-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,-62.97,0.000,2,0.000,0.000,463,2179,3275,0,0,0,0,0,0
$GC,87,-2.14,-88.4,3.0,-3.4,8,113,12.68,0.00,-5.97,0.000,6,0.160,0.000,2782,2179,3552,0,0,0,0,0,0
$GC,390,-2.05,-88.4,86.7,-26.0,41,395,0.15,2.58,0.00,0.000,4,0.139,0.028,2810,3804,3553,0,0,0,0,0,0
$GC,407,-1.97,-88.4,91.9,-25.3,42,412,0.00,2.47,0.00,0.000,6,0.000,0.020,2810,2211,3553,0,0,0,0,0,0
$GC,672,-1.97,-88.4,147.6,-20.3,66,681,0.10,0.00,0.00,0.000,6,0.146,0.000,2827,2212,3554,0,0,0,0,0,0
$GC,938,-2.09,-88.4,189.1,-13.1,91,943,0.10,2.58,0.00,0.000,4,0.077,0.031,2777,3812,3554,0,0,0,0,0,0
$GC,970,-2.14,-88.4,194.4,-15.9,93,975,0.00,2.47,0.00,0.000,6,0.000,0.018,2777,2206,3554,0,0,0,0,0,0
$GC,1252,-2.19,-88.4,234.4,-13.7,102,1256,0.00,2.55,0.00,0.000,4,0.000,0.033,2777,3810,3554,0,0,0,0,0,0
$GC,1273,-2.23,-88.4,237.5,-14.1,102,1278,0.00,2.50,0.00,0.000,6,0.000,0.018,2777,2205,3554,0,0,0,0,0,0
$GC,1531,-2.29,-88.4,273.3,-14.2,109,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2206,3554,0,0,0,0,0,0
$GC,1772,-2.36,-88.4,306.3,-13.5,115,1777,0.12,2.60,0.00,0.000,4,0.064,0.046,2716,3797,3554,0,0,0,0,0,0
$GC,1822,-2.30,-88.4,314.7,-16.9,116,1827,0.20,2.47,0.00,0.000,6,0.101,0.024,2757,2229,3554,0,0,0,0,0,0
$GC,2097,-2.34,-88.4,353.8,-14.2,123,2102,0.00,2.55,0.00,0.000,4,0.000,0.044,2757,3793,3553,0,0,0,0,0,0
$GC,2158,-2.34,-88.4,363.4,-15.1,124,2163,0.00,2.53,0.00,0.000,6,0.000,0.032,2757,2215,3552,0,0,0,0,0,0
$GC,2422,-2.39,-88.4,400.1,-14.0,131,2427,0.00,2.60,0.00,0.000,4,0.000,0.049,2757,3792,3552,0,0,0,0,0,0
$GC,2483,-2.39,-88.4,409.4,-14.9,132,2487,0.00,2.55,0.00,0.000,6,0.000,0.036,2758,2220,3551,0,0,0,0,0,0
$GC,2744,-2.44,-88.4,445.0,-13.8,139,2749,0.12,2.65,0.00,0.000,4,0.067,0.056,2705,3793,3550,0,0,0,0,0,0
$GC,2762,-2.44,-88.4,447.5,-14.2,139,2767,0.12,2.58,0.00,0.000,6,0.117,0.039,2730,2222,3550,0,0,0,0,0,0
$GC,3023,-2.44,-88.4,486.3,-14.9,146,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2222,3549,0,0,0,0,0,0
$GC,3267,-2.44,-88.4,521.3,-14.3,152,3271,0.00,2.70,0.00,0.000,4,0.000,0.074,2730,3788,3547,0,0,0,0,0,0
$GC,3369,-2.44,-88.4,536.4,-14.5,154,3374,0.00,2.60,0.00,0.000,6,0.000,0.049,2730,2231,3547,0,0,0,0,0,0
$GC,3635,-2.44,-88.4,574.3,-14.0,161,3639,0.00,2.70,0.00,0.000,4,0.000,0.074,2730,3787,3545,0,0,0,0,0,0
$GC,3678,-2.44,-88.4,580.9,-14.4,162,3683,0.00,2.67,0.00,0.000,6,0.000,0.060,2730,2231,3545,0,0,0,0,0,0
$GC,3959,-2.44,-88.4,619.7,-14.1,169,3963,0.00,2.78,0.00,0.000,4,0.000,0.093,2730,3786,3543,0,0,0,0,0,0
$GC,4058,-2.44,-88.4,635.3,-15.8,171,4063,0.00,2.78,0.00,0.000,6,0.000,0.087,2730,2239,3543,0,0,0,0,0,0
$GC,4325,-2.44,-88.4,672.5,-13.9,178,4330,0.00,2.85,0.00,0.000,4,0.000,0.105,2730,3783,3541,0,0,0,0,0,0
$GC,4360,-2.44,-88.4,677.5,-15.1,178,4366,0.00,2.85,0.00,0.000,6,0.000,0.105,2730,2249,3541,0,0,0,0,0,0
$GC,4610,-2.44,-88.4,713.7,-14.4,185,4614,0.00,2.95,0.00,0.000,4,0.000,0.130,2730,3783,3538,0,0,0,0,0,0
$GC,4632,-2.44,-88.4,717.1,-15.4,185,4637,0.00,2.78,0.00,0.000,6,0.000,0.090,2729,2247,3538,0,0,0,0,0,0
$GC,4889,-2.44,-88.4,753.3,-14.1,192,4894,0.00,2.83,0.00,0.000,4,0.000,0.104,2730,3792,3537,0,0,0,0,0,0
$GC,4928,-2.44,-88.4,759.1,-13.9,193,4933,0.00,2.72,0.00,0.000,6,0.000,0.084,2730,2257,3536,0,0,0,0,0,0
$GC,5212,-2.44,-88.4,798.2,-13.8,200,5216,0.00,2.78,0.00,0.000,4,0.000,0.097,2730,3785,3534,0,0,0,0,0,0
$GC,5319,-2.44,-88.4,814.5,-15.9,202,5324,0.00,2.70,0.00,0.000,6,0.000,0.072,2730,2257,3534,0,0,0,0,0,0
$GC,5580,-2.44,-88.4,852.1,-14.4,209,5585,0.00,2.75,0.00,0.000,4,0.000,0.093,2730,3785,3531,0,0,0,0,0,0
$GC,5619,-2.44,-88.4,858.1,-15.5,210,5624,0.00,2.70,0.00,0.000,6,0.000,0.071,2729,2255,3531,0,0,0,0,0,0
$GC,5904,-2.44,-88.4,898.4,-14.2,217,5909,0.00,2.75,0.00,0.000,4,0.000,0.091,2730,3786,3529,0,0,0,0,0,0
$STATE,5912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5912,begin apogee
$GC,5921,-0.31,0.0,900.2,14.2,217,5998,2.12,0.00,73.20,1.175,6,0.105,0.000,3188,2360,3190,0,0,0,0,0,0
$STATE,5999,end apogee,CONTROL_FINISHED_OK
$STATE,5999,begin climb
$GC,6002,2.14,88.4,902.7,0.0,219,6085,2.20,0.00,78.30,1.148,6,0.031,0.000,3746,2360,2829,0,0,0,0,0,0
$GC,6331,2.14,88.4,868.7,12.4,227,6335,0.00,2.75,0.00,0.000,4,0.000,0.069,3746,3931,2823,0,0,0,0,0,0
$GC,6431,2.09,88.4,855.1,13.0,229,6436,0.15,2.65,0.00,0.000,6,0.140,0.045,3718,2373,2822,0,0,0,0,0,0
$GC,6701,2.13,88.4,825.4,11.0,236,6705,0.00,2.67,0.00,0.000,4,0.000,0.058,3718,3931,2820,0,0,0,0,0,0
$GC,6922,2.13,88.4,799.0,11.8,241,6927,0.00,2.60,0.00,0.000,6,0.000,0.050,3718,2390,2819,0,0,0,0,0,0
$GC,7206,2.18,88.4,768.3,10.4,248,7211,0.00,2.65,0.00,0.000,4,0.000,0.056,3718,3937,2818,0,0,0,0,0,0
$GC,7468,2.18,88.4,737.7,11.5,253,7474,0.00,2.58,0.00,0.000,6,0.000,0.047,3718,2394,2816,0,0,0,0,0,0
$GC,7718,2.23,88.4,710.8,10.6,260,7723,0.10,2.62,0.00,0.000,4,0.094,0.057,3749,3929,2815,0,0,0,0,0,0
$GC,7926,2.17,88.4,685.1,12.1,264,7931,0.00,2.58,0.00,0.000,6,0.000,0.041,3750,2395,2814,0,0,0,0,0,0
$GC,8176,2.17,88.4,656.7,11.5,270,8180,0.00,2.62,0.00,0.000,4,0.000,0.056,3749,3933,2814,0,0,0,0,0,0
$GC,8350,2.12,88.4,633.9,12.7,274,8356,0.12,2.53,0.00,0.000,6,0.145,0.046,3726,2404,2813,0,0,0,0,0,0
$GC,8639,2.17,88.4,602.7,10.7,281,8643,0.00,2.60,0.00,0.000,4,0.000,0.056,3726,3931,2812,0,0,0,0,0,0
$GC,8896,2.17,88.4,572.2,12.3,286,8902,0.00,2.53,0.00,0.000,6,0.000,0.043,3726,2409,2812,0,0,0,0,0,0
$GC,9147,2.22,88.4,546.4,10.3,293,9151,0.00,2.58,0.00,0.000,4,0.000,0.057,3726,3937,2812,0,0,0,0,0,0
$GC,9404,2.22,88.4,517.3,10.2,298,9410,0.00,2.50,0.00,0.000,6,0.000,0.037,3726,2415,2811,0,0,0,0,0,0
$GC,9655,2.27,88.4,491.7,10.2,305,9660,0.12,2.55,0.00,0.000,4,0.079,0.054,3762,3939,2811,0,0,0,0,0,0
$GC,9799,2.22,88.4,474.9,12.1,308,9803,0.00,2.45,0.00,0.000,6,0.000,0.031,3763,2427,2811,0,0,0,0,0,0
$GC,10071,2.22,88.4,444.0,11.1,315,10075,0.00,2.50,0.00,0.000,4,0.000,0.045,3762,3941,2811,0,0,0,0,0,0
$GC,10204,2.17,88.4,428.4,12.1,318,10209,0.15,2.42,0.00,0.000,6,0.131,0.030,3735,2429,2811,0,0,0,0,0,0
$GC,10489,2.22,88.4,398.6,10.0,325,10494,0.00,2.50,0.00,0.000,4,0.000,0.044,3735,3938,2811,0,0,0,0,0,0
$GC,10714,2.22,88.4,372.4,11.0,330,10718,0.00,2.40,0.00,0.000,6,0.000,0.031,3735,2436,2812,0,0,0,0,0,0
$GC,10997,2.27,88.4,342.6,10.4,337,11002,0.00,2.47,0.00,0.000,4,0.000,0.046,3735,3937,2812,0,0,0,0,0,0
$GC,11217,2.27,88.4,318.0,10.9,342,11221,0.00,2.38,0.00,0.000,6,0.000,0.025,3735,2444,2812,0,0,0,0,0,0
$GC,11500,2.33,88.4,288.6,10.4,349,11505,0.10,2.45,0.00,0.000,4,0.196,0.039,3767,3945,2813,0,0,0,0,0,0
$GC,11758,2.33,88.4,258.4,11.8,354,11764,0.00,2.35,0.00,0.000,6,0.000,0.024,3767,2459,2814,0,0,0,0,0,0
$GC,12011,2.33,89.3,233.6,9.9,361,12015,0.00,2.40,0.00,0.000,4,0.000,0.040,3767,3941,2815,0,0,0,0,0,0
$GC,12271,2.34,96.3,206.9,9.0,366,12281,0.00,2.33,5.57,0.523,6,0.000,0.025,3767,2471,2796,0,0,0,0,0,0
$GC,12538,2.40,110.7,185.6,7.8,386,12562,0.00,2.47,13.05,0.608,4,0.000,0.041,3768,3935,2738,0,0,0,0,0,0
$GC,12827,2.43,130.2,163.0,7.1,410,12849,0.00,2.33,17.40,0.601,6,0.000,0.022,3767,2464,2658,0,0,0,0,0,0
$GC,13118,2.56,157.8,143.7,5.8,437,13151,0.00,2.47,24.58,0.588,4,0.000,0.040,3767,3939,2545,0,0,0,0,0,0
$GC,13180,2.65,175.6,139.6,7.3,442,13202,0.00,2.42,15.95,0.565,6,0.000,0.023,3767,2440,2473,0,0,0,0,0,0
$GC,13469,2.79,179.0,112.4,9.5,469,13480,0.00,2.50,4.12,0.388,4,0.000,0.041,3767,3939,2460,0,0,0,0,0,0
$GC,13679,2.89,179.0,88.5,10.8,486,13688,0.00,2.40,0.00,0.000,6,0.000,0.026,3767,2453,2459,0,0,0,0,0,0
$GC,13950,3.07,195.2,62.6,7.6,511,13978,0.00,2.83,15.45,0.503,4,0.000,0.044,3767,770,2392,0,0,0,0,0,0
$GC,13984,3.25,210.1,59.0,7.7,513,14006,0.00,2.70,14.10,0.492,6,0.000,0.021,3767,2468,2332,0,0,0,0,0,0
$GC,14264,3.42,210.1,29.5,11.3,539,14273,0.00,2.42,0.00,0.000,4,0.000,0.045,3768,3928,2331,0,0,0,0,0,0
$STATE,14469,end climb,SURFACE_DEPTH_REACHED
$STATE,14469,begin surface coast
$FINISH,1.1,1.023172
$STATE,14511,end surface coast,CONTROL_FINISHED_OK
$STATE,14511,begin surface
$SM_CCo,14537,113.93,0.478,0,0,1762,350.04
$SM_GC,2.01,0.00,0.00,113.93,0.000,0.000,0.478,461,2181,1762,-12.88,-0.82,350.04
$IRIDIUM_FIX,1920.65,-8121.49,300702,090904
$TT8_MAMPS,0.026078
$HUMID,59.96
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.00
$XPDR_PINGS,151
$24V_AH,23.1,71.181
$10V_AH,9.9,63.287
$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,31.875,176.075,261.725,113.925,0.000,29.895,32.632,425.057,37.750,0.000,15.564,1334.598,10013.571,493.735,2550.749,915.016,33.371,1562.019,0.000,2523.611,0.000,0.537,0.000
$DEVICE_MAMPS,195.585,129.623,1175.044,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.179,287.768,364.062,494.427,939.721,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,44614,575
$CAP_FILE_SIZE,151091,0
$CFSIZE,260165632,92790784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,184136,1925.645,-8119.302,39,1.4,39,-3.7