version: 66.06
glider: 146
mission: 8
dive: 506
start: 5 6 113 3 40 51
data:
$ID,146
$MISSION,8
$DIVE,506
$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,-318853.06
$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,40
$R_STBD_OVSHOOT,22
$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
$GPS1,033254,1925.242,-8118.910,42,1.4,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-76.6
$GPS2,033955,1925.218,-8118.879,13,1.4,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRb
$TGT_LATLONG,1925.300,-8118.033
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.072,0.124
$KALMAN_X,-19324.8,-519.3,-45.5,-142.8,2082.6
$KALMAN_Y,90505.4,165.7,-13.2,-87590.8,-908.9
$MHEAD_RNG_PITCHd_Wd,333.6,1486,-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,-63.55,0.000,2,0.000,0.000,458,2193,3281,0,0,0,0,0,0
$GC,88,-2.15,-90.6,3.0,-3.1,8,113,12.62,2.53,-5.93,0.000,4,0.158,0.050,2785,640,3561,0,0,0,0,0,0
$GC,146,-1.97,-90.6,19.1,-28.9,15,156,0.17,2.47,0.00,0.000,6,0.114,0.016,2822,2238,3562,0,0,0,0,0,0
$GC,418,-1.97,-90.6,90.1,-23.1,42,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2240,3562,0,0,0,0,0,0
$GC,675,-2.03,-90.6,142.7,-17.8,66,679,0.00,2.40,0.00,0.000,4,0.000,0.030,2822,3771,3563,0,0,0,0,0,0
$GC,696,-2.09,-90.6,146.1,-16.6,67,700,0.00,2.42,0.00,0.000,6,0.000,0.019,2822,2202,3563,0,0,0,0,0,0
$GC,964,-2.20,-90.6,188.2,-14.7,91,969,0.17,0.00,0.00,0.000,6,0.049,0.000,2751,2202,3563,0,0,0,0,0,0
$GC,1237,-2.20,-90.6,233.0,-15.6,103,1239,0.12,0.00,0.00,0.000,6,0.116,0.000,2777,2202,3564,0,0,0,0,0,0
$GC,1481,-2.27,-90.6,266.4,-13.7,109,1485,0.00,2.50,0.00,0.000,4,0.000,0.034,2777,3771,3563,0,0,0,0,0,0
$GC,1505,-2.32,-90.6,269.7,-14.2,109,1510,0.00,2.42,0.00,0.000,6,0.000,0.018,2777,2217,3564,0,0,0,0,0,0
$GC,1764,-2.39,-90.6,306.3,-14.3,116,1769,0.15,2.53,0.00,0.000,4,0.057,0.045,2711,3775,3564,0,0,0,0,0,0
$GC,1797,-2.33,-90.6,312.1,-17.1,116,1803,0.20,2.45,0.00,0.000,6,0.102,0.028,2751,2225,3563,0,0,0,0,0,0
$GC,2049,-2.33,-90.6,349.0,-14.6,123,2053,0.00,2.53,0.00,0.000,4,0.000,0.042,2751,3770,3563,0,0,0,0,0,0
$GC,2071,-2.33,-90.6,352.9,-15.3,123,2075,0.00,2.47,0.00,0.000,6,0.000,0.029,2751,2217,3563,0,0,0,0,0,0
$GC,2326,-2.36,-90.6,390.5,-14.5,130,2331,0.00,2.53,0.00,0.000,4,0.000,0.051,2751,3761,3562,0,0,0,0,0,0
$GC,2350,-2.36,-90.6,393.9,-14.7,130,2355,0.00,2.47,0.00,0.000,6,0.000,0.037,2751,2231,3562,0,0,0,0,0,0
$GC,2606,-2.41,-90.6,432.4,-14.7,137,2610,0.00,2.53,0.00,0.000,4,0.000,0.051,2751,3757,3561,0,0,0,0,0,0
$GC,2622,-2.41,-90.6,434.9,-14.3,137,2626,0.00,2.50,0.00,0.000,6,0.000,0.042,2751,2226,3561,0,0,0,0,0,0
$GC,2885,-2.46,-90.6,471.7,-14.3,144,2890,0.12,2.62,0.00,0.000,4,0.067,0.065,2697,3760,3560,0,0,0,0,0,0
$GC,2913,-2.41,-90.6,476.7,-16.1,144,2918,0.17,2.53,0.00,0.000,6,0.106,0.041,2733,2232,3559,0,0,0,0,0,0
$GC,3162,-2.41,-90.6,513.9,-14.8,150,3167,0.00,2.62,0.00,0.000,4,0.000,0.071,2733,3759,3558,0,0,0,0,0,0
$GC,3249,-2.41,-90.6,527.0,-15.8,152,3254,0.00,2.55,0.00,0.000,6,0.000,0.053,2733,2236,3557,0,0,0,0,0,0
$GC,3532,-2.41,-90.6,569.7,-14.8,159,3537,0.00,2.67,0.00,0.000,4,0.000,0.078,2733,3753,3556,0,0,0,0,0,0
$GC,3590,-2.41,-90.6,578.5,-16.0,160,3595,0.00,2.58,0.00,0.000,6,0.000,0.062,2733,2246,3556,0,0,0,0,0,0
$GC,3857,-2.41,-90.6,618.3,-14.7,167,3861,0.00,2.70,0.00,0.000,4,0.000,0.095,2733,3753,3554,0,0,0,0,0,0
$GC,3900,-2.41,-90.6,625.5,-16.3,168,3905,0.00,2.62,0.00,0.000,6,0.000,0.080,2733,2255,3554,0,0,0,0,0,0
$GC,4181,-2.41,-90.6,665.5,-14.4,175,4186,0.00,2.83,0.00,0.000,4,0.000,0.111,2733,3754,3552,0,0,0,0,0,0
$GC,4265,-2.41,-90.6,678.5,-14.7,177,4269,0.00,2.70,0.00,0.000,6,0.000,0.089,2733,2258,3552,0,0,0,0,0,0
$GC,4548,-2.41,-90.6,719.4,-14.3,184,4552,0.00,2.83,0.00,0.000,4,0.000,0.110,2733,3755,3549,0,0,0,0,0,0
$GC,4599,-2.41,-90.6,727.1,-15.0,185,4604,0.00,2.67,0.00,0.000,6,0.000,0.078,2733,2256,3549,0,0,0,0,0,0
$GC,4871,-2.41,-90.6,766.1,-14.2,192,4875,0.00,2.75,0.00,0.000,4,0.000,0.099,2733,3751,3547,0,0,0,0,0,0
$GC,4892,-2.41,-90.6,769.3,-14.9,192,4896,0.00,2.62,0.00,0.000,6,0.000,0.081,2733,2258,3547,0,0,0,0,0,0
$GC,5150,-2.41,-90.6,805.2,-13.9,199,5155,0.00,2.72,0.00,0.000,4,0.000,0.099,2733,3751,3545,0,0,0,0,0,0
$GC,5195,-2.41,-90.6,812.0,-15.1,200,5200,0.00,2.62,0.00,0.000,6,0.000,0.075,2733,2267,3545,0,0,0,0,0,0
$GC,5472,-2.41,-90.6,850.1,-13.6,207,5477,0.00,2.67,0.00,0.000,4,0.000,0.091,2733,3755,3543,0,0,0,0,0,0
$GC,5546,-2.41,-90.6,860.5,-14.4,208,5551,0.00,2.62,0.00,0.000,6,0.000,0.071,2733,2264,3542,0,0,0,0,0,0
$GC,5797,-2.44,-90.6,894.6,-13.5,214,5801,0.00,2.70,0.00,0.000,4,0.000,0.089,2733,3760,3540,0,0,0,0,0,0
$STATE,5833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5833,begin apogee
$GC,5842,-0.31,0.0,900.0,13.6,215,5922,2.15,0.00,75.53,1.176,6,0.104,0.000,3189,2362,3190,0,0,0,0,0,0
$STATE,5923,end apogee,CONTROL_FINISHED_OK
$STATE,5923,begin climb
$GC,5928,2.15,90.6,902.4,0.0,217,6016,2.25,2.80,80.12,1.149,4,0.028,0.078,3750,3899,2819,0,0,0,0,0,0
$GC,6063,2.08,90.6,890.7,14.7,220,6069,0.17,2.67,0.00,0.000,6,0.139,0.059,3717,2361,2816,0,0,0,0,0,0
$GC,6322,2.13,90.6,858.6,12.4,227,6326,0.00,2.67,0.00,0.000,4,0.000,0.068,3717,3906,2813,0,0,0,0,0,0
$GC,6500,2.13,90.6,835.1,12.9,231,6504,0.00,2.58,0.00,0.000,6,0.000,0.042,3717,2378,2812,0,0,0,0,0,0
$GC,6781,2.17,90.6,802.5,11.6,238,6785,0.00,2.62,0.00,0.000,4,0.000,0.055,3717,3906,2810,0,0,0,0,0,0
$GC,6984,2.17,90.6,776.7,12.4,242,6989,0.00,2.58,0.00,0.000,6,0.000,0.048,3717,2379,2809,0,0,0,0,0,0
$GC,7243,2.22,90.6,748.5,11.1,249,7248,0.12,2.60,0.00,0.000,4,0.084,0.058,3752,3897,2807,0,0,0,0,0,0
$GC,7259,2.22,90.6,746.1,11.2,249,7263,0.00,2.53,0.00,0.000,6,0.000,0.041,3752,2384,2807,0,0,0,0,0,0
$GC,7519,2.22,90.6,714.8,12.0,256,7524,0.00,2.58,0.00,0.000,4,0.000,0.057,3752,3898,2806,0,0,0,0,0,0
$GC,7778,2.17,90.6,682.7,11.9,261,7783,0.00,2.53,0.00,0.000,6,0.000,0.041,3752,2392,2805,0,0,0,0,0,0
$GC,8030,2.17,90.6,654.5,11.2,268,8034,0.00,2.55,0.00,0.000,4,0.000,0.061,3752,3895,2804,0,0,0,0,0,0
$GC,8288,2.12,90.6,624.5,11.4,273,8294,0.15,2.50,0.00,0.000,6,0.141,0.038,3724,2396,2803,0,0,0,0,0,0
$GC,8540,2.17,90.6,599.7,10.0,280,8544,0.00,2.55,0.00,0.000,4,0.000,0.057,3725,3899,2803,0,0,0,0,0,0
$GC,8786,2.17,90.6,571.6,12.2,285,8790,0.00,2.50,0.00,0.000,6,0.000,0.041,3725,2388,2802,0,0,0,0,0,0
$GC,9045,2.22,90.6,544.0,10.8,292,9049,0.00,2.53,0.00,0.000,4,0.000,0.051,3724,3898,2802,0,0,0,0,0,0
$GC,9234,2.22,90.6,521.0,12.0,296,9238,0.00,2.47,0.00,0.000,6,0.000,0.041,3725,2399,2801,0,0,0,0,0,0
$GC,9504,2.28,90.6,491.7,10.9,303,9509,0.12,2.47,0.00,0.000,4,0.080,0.049,3761,3901,2801,0,0,0,0,0,0
$GC,9711,2.23,90.6,464.9,12.8,307,9716,0.00,2.42,0.00,0.000,6,0.000,0.036,3761,2406,2801,0,0,0,0,0,0
$GC,9963,2.23,90.6,436.7,11.3,313,9968,0.00,2.47,0.00,0.000,4,0.000,0.043,3761,3906,2801,0,0,0,0,0,0
$GC,10070,2.18,90.6,424.3,10.7,315,10075,0.12,2.42,0.00,0.000,6,0.140,0.032,3737,2406,2801,0,0,0,0,0,0
$GC,10334,2.23,90.6,396.7,10.7,322,10338,0.00,2.45,0.00,0.000,4,0.000,0.044,3737,3901,2801,0,0,0,0,0,0
$GC,10591,2.23,90.6,365.6,12.0,327,10597,0.00,2.38,0.00,0.000,6,0.000,0.027,3737,2415,2802,0,0,0,0,0,0
$GC,10844,2.28,90.6,338.1,11.0,334,10848,0.00,2.45,0.00,0.000,4,0.000,0.048,3737,3909,2802,0,0,0,0,0,0
$GC,11075,2.28,90.6,310.7,12.1,339,11079,0.00,2.38,0.00,0.000,6,0.000,0.031,3737,2419,2803,0,0,0,0,0,0
$GC,11347,2.33,90.6,279.9,11.3,346,11352,0.10,2.42,0.00,0.000,4,0.100,0.039,3769,3916,2804,0,0,0,0,0,0
$GC,11607,2.33,90.6,248.6,10.6,351,11613,0.00,2.35,0.00,0.000,6,0.000,0.024,3769,2438,2805,0,0,0,0,0,0
$GC,11857,2.34,91.9,223.1,9.8,358,11861,0.00,2.38,0.00,0.000,4,0.000,0.041,3769,3908,2805,0,0,0,0,0,0
$GC,11971,2.34,98.2,211.9,9.1,360,11981,0.00,2.33,5.32,0.516,6,0.000,0.025,3769,2444,2789,0,0,0,0,0,0
$GC,12234,2.39,107.6,188.2,8.6,375,12248,0.00,2.40,9.35,0.583,4,0.000,0.039,3769,3903,2750,0,0,0,0,0,0
$GC,12411,2.41,118.3,171.9,8.4,390,12426,0.00,2.30,10.05,0.577,6,0.000,0.023,3769,2453,2707,0,0,0,0,0,0
$GC,12681,2.51,142.3,152.6,6.4,415,12716,0.00,2.75,21.48,0.598,4,0.000,0.044,3769,788,2607,0,0,0,0,0,0
$GC,12982,2.62,167.3,126.9,6.2,440,13014,0.00,2.62,22.12,0.574,6,0.000,0.021,3769,2443,2505,0,0,0,0,0,0
$GC,13270,2.77,181.5,105.4,7.9,467,13294,0.00,2.45,12.80,0.530,4,0.000,0.040,3769,3908,2448,0,0,0,0,0,0
$GC,13563,2.88,181.5,74.0,10.5,491,13573,0.00,2.33,0.00,0.000,6,0.000,0.023,3769,2452,2448,0,0,0,0,0,0
$GC,13834,3.05,185.9,49.9,9.3,516,13849,0.00,2.42,5.35,0.407,4,0.000,0.040,3769,3900,2432,0,0,0,0,0,0
$GC,14135,3.19,187.5,21.5,9.8,546,14144,0.00,2.30,0.00,0.000,6,0.000,0.024,3769,2460,2432,0,0,0,0,0,0
$STATE,14340,end climb,SURFACE_DEPTH_REACHED
$STATE,14340,begin surface coast
$FINISH,1.2,1.015086
$STATE,14402,end surface coast,CONTROL_FINISHED_OK
$STATE,14402,begin surface
$SM_CCo,14425,132.70,0.479,0,0,1762,350.04
$SM_GC,1.81,0.00,0.00,132.70,0.000,0.000,0.479,459,2177,1762,-12.88,-0.93,350.04
$IRIDIUM_FIX,1918.37,-8119.23,300702,232307
$TT8_MAMPS,0.025311
$HUMID,58.23
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.30
$XPDR_PINGS,169
$24V_AH,23.1,71.507
$10V_AH,9.9,63.649
$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,32.225,178.000,242.125,132.700,0.000,27.412,35.856,184.309,42.250,0.000,14.642,1345.161,9845.174,504.208,2599.499,681.553,33.372,1556.118,0.000,2575.135,0.000,0.538,0.000
$DEVICE_MAMPS,158.002,111.215,1175.811,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.398,300.385,381.482,545.115,1034.833,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355896
$DATA_FILE_SIZE,44671,585
$CAP_FILE_SIZE,148561,0
$CFSIZE,260165632,92577792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060513,074453,1926.030,-8119.500,37,1.4,37,-3.7