version: 66.06
glider: 146
mission: 8
dive: 504
start: 5 5 113 18 49 39
data:
$ID,146
$MISSION,8
$DIVE,504
$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,-318823.31
$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,34
$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
$GPS1,184136,1925.645,-8119.302,39,1.4,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-75.7
$GPS2,184845,1925.598,-8119.242,11,99.0,30,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRb
$TGT_LATLONG,1925.300,-8118.033
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.099,0.103
$KALMAN_X,-20981.0,-166.6,11.3,463.9,1757.9
$KALMAN_Y,91956.6,-219.5,60.4,-88025.9,-916.0
$MHEAD_RNG_PITCHd_Wd,47.8,2182,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.09,-44.5,0.0,0.0,0,85,0.00,0.00,-63.15,0.000,2,0.000,0.000,460,2181,3266,0,0,0,0,0,0
$GC,88,-2.15,-90.2,3.0,-3.1,8,113,12.57,2.50,-6.32,0.000,4,0.160,0.047,2784,634,3558,0,0,0,0,0,0
$GC,166,-2.01,-90.2,23.8,-28.3,18,176,0.15,2.47,0.00,0.000,6,0.122,0.016,2815,2238,3558,0,0,0,0,0,0
$GC,438,-2.01,-90.2,95.3,-21.9,44,443,0.00,2.60,0.00,0.000,4,0.000,0.041,2815,634,3559,0,0,0,0,0,0
$GC,500,-2.01,-90.2,109.4,-23.4,48,509,0.00,2.40,0.00,0.000,6,0.000,0.016,2815,2193,3559,0,0,0,0,0,0
$GC,766,-2.07,-90.2,161.5,-15.6,73,770,0.00,2.50,0.00,0.000,4,0.000,0.031,2815,3769,3560,0,0,0,0,0,0
$GC,846,-2.14,-90.2,175.7,-17.4,79,851,0.00,2.45,0.00,0.000,6,0.000,0.019,2815,2196,3561,0,0,0,0,0,0
$GC,1134,-2.26,-90.2,216.8,-13.4,97,1139,0.20,2.55,0.00,0.000,4,0.046,0.046,2743,637,3561,0,0,0,0,0,0
$GC,1170,-2.21,-90.2,222.1,-16.3,97,1176,0.17,2.40,0.00,0.000,6,0.108,0.019,2778,2210,3561,0,0,0,0,0,0
$GC,1420,-2.27,-90.2,259.6,-14.5,104,1424,0.00,2.47,0.00,0.000,4,0.000,0.038,2778,3765,3561,0,0,0,0,0,0
$GC,1435,-2.33,-90.2,262.2,-15.0,104,1441,0.12,2.40,0.00,0.000,6,0.064,0.019,2718,2211,3561,0,0,0,0,0,0
$GC,1699,-2.33,-90.2,303.6,-16.1,111,1704,0.15,2.50,0.00,0.000,4,0.106,0.036,2748,3761,3560,0,0,0,0,0,0
$GC,1716,-2.33,-90.2,306.6,-15.5,111,1720,0.00,2.42,0.00,0.000,6,0.000,0.028,2748,2220,3561,0,0,0,0,0,0
$GC,1976,-2.33,-90.2,345.3,-14.6,118,1981,0.00,2.50,0.00,0.000,4,0.000,0.041,2748,3765,3560,0,0,0,0,0,0
$GC,2023,-2.33,-90.2,352.6,-15.6,119,2027,0.00,2.45,0.00,0.000,6,0.000,0.033,2748,2218,3560,0,0,0,0,0,0
$GC,2300,-2.33,-90.2,394.5,-15.3,126,2304,0.00,2.53,0.00,0.000,4,0.000,0.048,2748,3754,3559,0,0,0,0,0,0
$GC,2349,-2.33,-90.2,402.5,-15.1,127,2354,0.00,2.45,0.00,0.000,6,0.000,0.031,2748,2218,3559,0,0,0,0,0,0
$GC,2625,-2.37,-90.2,441.7,-14.6,134,2629,0.00,2.58,0.00,0.000,4,0.000,0.059,2748,3753,3558,0,0,0,0,0,0
$GC,2674,-2.37,-90.2,449.9,-16.0,135,2678,0.00,2.47,0.00,0.000,6,0.000,0.043,2748,2228,3558,0,0,0,0,0,0
$GC,2946,-2.41,-90.2,488.3,-13.9,142,2951,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3750,3556,0,0,0,0,0,0
$GC,2993,-2.41,-90.2,494.8,-14.2,143,2997,0.00,2.53,0.00,0.000,6,0.000,0.051,2748,2234,3556,0,0,0,0,0,0
$GC,3271,-2.45,-90.2,533.9,-14.0,150,3275,0.00,2.62,0.00,0.000,4,0.000,0.075,2748,3751,3555,0,0,0,0,0,0
$GC,3354,-2.45,-90.2,546.9,-15.3,152,3360,0.10,2.55,0.00,0.000,6,0.078,0.051,2702,2239,3554,0,0,0,0,0,0
$GC,3640,-2.45,-90.2,593.1,-16.3,159,3646,0.10,2.70,0.00,0.000,4,0.127,0.081,2722,3750,3552,0,0,0,0,0,0
$GC,3707,-2.45,-90.2,604.5,-15.5,160,3711,0.00,2.60,0.00,0.000,6,0.000,0.069,2722,2245,3552,0,0,0,0,0,0
$GC,3971,-2.45,-90.2,644.0,-15.1,167,3975,0.00,2.78,0.00,0.000,4,0.000,0.104,2722,3755,3550,0,0,0,0,0,0
$GC,4044,-2.45,-90.2,656.1,-16.0,168,4048,0.00,2.75,0.00,0.000,6,0.000,0.088,2722,2244,3550,0,0,0,0,0,0
$GC,4294,-2.45,-90.2,693.8,-14.9,174,4298,0.00,2.88,0.00,0.000,4,0.000,0.126,2722,3747,3548,0,0,0,0,0,0
$GC,4351,-2.45,-90.2,702.7,-15.6,175,4356,0.00,2.70,0.00,0.000,6,0.000,0.091,2722,2258,3548,0,0,0,0,0,0
$GC,4617,-2.45,-90.2,742.2,-14.6,182,4621,0.00,2.75,0.00,0.000,4,0.000,0.102,2722,3748,3546,0,0,0,0,0,0
$GC,4705,-2.45,-90.2,756.2,-15.3,184,4710,0.00,2.65,0.00,0.000,6,0.000,0.080,2722,2255,3546,0,0,0,0,0,0
$GC,4986,-2.45,-90.2,796.7,-14.4,191,4991,0.00,2.75,0.00,0.000,4,0.000,0.097,2722,3754,3543,0,0,0,0,0,0
$GC,5064,-2.45,-90.2,808.9,-15.1,192,5069,0.00,2.65,0.00,0.000,6,0.000,0.077,2722,2266,3542,0,0,0,0,0,0
$GC,5313,-2.45,-90.2,845.0,-14.5,199,5318,0.00,2.67,0.00,0.000,4,0.000,0.094,2722,3750,3540,0,0,0,0,0,0
$GC,5376,-2.45,-90.2,854.4,-15.5,200,5381,0.00,2.60,0.00,0.000,6,0.000,0.072,2722,2269,3540,0,0,0,0,0,0
$GC,5636,-2.45,-90.2,891.0,-13.9,207,5641,0.00,2.67,0.00,0.000,4,0.000,0.094,2722,3751,3538,0,0,0,0,0,0
$GC,5680,-2.45,-90.2,897.3,-14.2,208,5684,0.00,2.60,0.00,0.000,6,0.000,0.074,2722,2269,3538,0,0,0,0,0,0
$STATE,5699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5700,begin apogee
$GC,5708,-0.31,0.0,900.3,13.7,208,5788,2.15,0.00,75.05,1.174,6,0.104,0.000,3187,2333,3190,0,0,0,0,0,0
$STATE,5789,end apogee,CONTROL_FINISHED_OK
$STATE,5789,begin climb
$GC,5791,2.15,90.2,902.4,0.0,210,5879,2.25,0.00,79.75,1.149,6,0.031,0.000,3743,2332,2821,0,0,0,0,0,0
$GC,6123,2.15,90.2,867.0,12.7,219,6128,0.00,2.80,0.00,0.000,4,0.000,0.066,3743,3938,2817,0,0,0,0,0,0
$GC,6302,2.10,90.2,843.5,13.2,223,6308,0.12,2.65,0.00,0.000,6,0.146,0.044,3719,2363,2815,0,0,0,0,0,0
$GC,6583,2.14,90.2,811.0,11.8,230,6588,0.00,2.70,0.00,0.000,4,0.000,0.059,3720,3942,2813,0,0,0,0,0,0
$GC,6842,2.14,90.2,777.2,13.2,235,6848,0.00,2.62,0.00,0.000,6,0.000,0.048,3720,2384,2812,0,0,0,0,0,0
$GC,7092,2.19,90.2,748.1,11.5,242,7097,0.00,2.62,0.00,0.000,4,0.000,0.054,3720,3937,2810,0,0,0,0,0,0
$GC,7351,2.19,90.2,717.1,12.0,247,7357,0.00,2.60,0.00,0.000,6,0.000,0.048,3720,2392,2809,0,0,0,0,0,0
$GC,7604,2.25,90.2,690.1,10.8,254,7609,0.12,2.62,0.00,0.000,4,0.081,0.061,3755,3933,2808,0,0,0,0,0,0
$GC,7767,2.19,90.2,669.2,13.0,257,7771,0.00,2.58,0.00,0.000,6,0.000,0.045,3755,2399,2807,0,0,0,0,0,0
$GC,8019,2.19,90.2,639.6,11.8,263,8023,0.00,2.60,0.00,0.000,4,0.000,0.056,3755,3934,2807,0,0,0,0,0,0
$GC,8079,2.14,90.2,631.7,13.0,264,8084,0.15,2.55,0.00,0.000,6,0.137,0.040,3728,2404,2806,0,0,0,0,0,0
$GC,8341,2.18,90.2,602.5,11.2,271,8345,0.00,2.60,0.00,0.000,4,0.000,0.060,3728,3937,2806,0,0,0,0,0,0
$GC,8598,2.18,90.2,570.9,12.2,276,8604,0.00,2.53,0.00,0.000,6,0.000,0.044,3728,2413,2805,0,0,0,0,0,0
$GC,8850,2.23,90.2,544.0,10.6,283,8855,0.00,2.58,0.00,0.000,4,0.000,0.051,3728,3937,2805,0,0,0,0,0,0
$GC,9018,2.23,90.2,525.0,11.4,286,9022,0.00,2.50,0.00,0.000,6,0.000,0.041,3728,2426,2804,0,0,0,0,0,0
$GC,9268,2.28,90.2,497.6,10.7,292,9273,0.12,2.50,0.00,0.000,4,0.078,0.051,3764,3935,2804,0,0,0,0,0,0
$GC,9470,2.23,90.2,473.3,11.6,296,9475,0.00,2.45,0.00,0.000,6,0.000,0.030,3764,2436,2804,0,0,0,0,0,0
$GC,9726,2.23,90.2,445.0,11.0,303,9730,0.00,2.47,0.00,0.000,4,0.000,0.048,3764,3941,2804,0,0,0,0,0,0
$GC,9768,2.18,90.2,440.6,11.3,304,9773,0.15,2.45,0.00,0.000,6,0.131,0.031,3736,2435,2804,0,0,0,0,0,0
$GC,10051,2.22,90.2,410.2,10.4,311,10056,0.00,2.50,0.00,0.000,4,0.000,0.045,3736,3939,2804,0,0,0,0,0,0
$GC,10264,2.22,90.2,386.1,11.7,315,10270,0.00,2.42,0.00,0.000,6,0.000,0.029,3737,2425,2804,0,0,0,0,0,0
$GC,10516,2.27,90.2,359.4,10.8,322,10521,0.00,2.50,0.00,0.000,4,0.000,0.044,3736,3946,2804,0,0,0,0,0,0
$GC,10572,2.27,90.2,352.4,11.9,323,10576,0.00,2.42,0.00,0.000,6,0.000,0.025,3736,2436,2804,0,0,0,0,0,0
$GC,10841,2.33,90.2,321.8,11.3,330,10846,0.10,2.47,0.00,0.000,4,0.087,0.045,3769,3945,2805,0,0,0,0,0,0
$GC,11056,2.29,90.2,294.9,12.1,334,11062,0.00,2.40,0.00,0.000,6,0.000,0.024,3769,2440,2806,0,0,0,0,0,0
$GC,11306,2.29,90.2,266.3,11.3,341,11310,0.00,2.42,0.00,0.000,4,0.000,0.047,3769,3941,2806,0,0,0,0,0,0
$GC,11366,2.29,90.2,259.0,11.6,342,11370,0.00,2.38,0.00,0.000,6,0.000,0.025,3769,2450,2806,0,0,0,0,0,0
$GC,11636,2.29,92.2,232.1,9.7,349,11640,0.00,2.42,0.00,0.000,4,0.000,0.045,3769,3940,2808,0,0,0,0,0,0
$GC,11894,2.29,96.5,206.3,9.4,354,11903,0.00,2.33,4.32,0.465,6,0.000,0.024,3769,2468,2796,0,0,0,0,0,0
$GC,12166,2.36,112.9,184.3,7.5,374,12190,0.00,0.00,14.85,0.614,6,0.000,0.000,3769,2469,2729,0,0,0,0,0,0
$GC,12451,2.45,128.2,161.0,7.7,400,12472,0.00,2.85,13.98,0.588,4,0.000,0.047,3769,765,2666,0,0,0,0,0,0
$GC,12525,2.52,146.9,155.1,7.2,406,12555,0.00,2.78,17.05,0.590,6,0.000,0.024,3769,2521,2590,0,0,0,0,0,0
$GC,12813,2.65,165.0,134.6,7.3,433,12837,0.00,2.38,16.25,0.568,4,0.000,0.038,3769,3942,2516,0,0,0,0,0,0
$GC,13106,2.75,169.3,107.1,9.4,457,13116,0.00,2.30,5.30,0.440,6,0.000,0.021,3769,2482,2498,0,0,0,0,0,0
$GC,13372,2.90,177.0,82.6,8.8,482,13385,0.00,0.00,8.38,0.482,6,0.000,0.000,3769,2483,2467,0,0,0,0,0,0
$GC,13649,3.06,185.8,61.6,8.7,507,13663,0.00,2.83,8.60,0.467,4,0.000,0.043,3769,770,2433,0,0,0,0,0,0
$GC,13755,3.21,197.5,53.2,8.2,515,13772,0.00,2.72,11.85,0.482,6,0.000,0.020,3769,2523,2383,0,0,0,0,0,0
$GC,14050,3.38,197.5,23.4,10.3,545,14059,0.00,2.33,0.00,0.000,4,0.000,0.041,3769,3938,2382,0,0,0,0,0,0
$STATE,14223,end climb,SURFACE_DEPTH_REACHED
$STATE,14223,begin surface coast
$FINISH,1.1,1.023216
$STATE,14265,end surface coast,CONTROL_FINISHED_OK
$STATE,14265,begin surface
$SM_CCo,14291,122.78,0.477,0,0,1763,350.04
$SM_GC,1.91,0.00,0.00,122.78,0.000,0.000,0.477,460,2184,1763,-12.88,-0.74,350.04
$IRIDIUM_FIX,1920.65,-8119.23,300702,141438
$TT8_MAMPS,0.025311
$HUMID,59.17
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.30
$XPDR_PINGS,166
$24V_AH,23.1,71.284
$10V_AH,9.9,63.405
$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,32.100,184.475,255.375,122.775,0.000,26.098,33.607,176.297,41.500,0.000,32.599,1330.281,9773.301,526.566,2541.428,662.364,33.369,1551.082,0.000,2498.412,0.000,0.538,0.000
$DEVICE_MAMPS,159.536,125.788,1174.277,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.558,294.871,374.362,527.395,1000.613,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,44757,576
$CAP_FILE_SIZE,147037,0
$CFSIZE,260165632,92725248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,225106,1926.456,-8118.070,29,1.0,29,-3.7