version: 66.06
glider: 146
mission: 8
dive: 508
start: 5 6 113 12 24 58
data:
$ID,146
$MISSION,8
$DIVE,508
$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,-318881.38
$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,58
$R_STBD_OVSHOOT,18
$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
$GPS1,121659,1927.616,-8118.815,36,1.0,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-75.6
$GPS2,122402,1927.612,-8118.773,10,1.8,10,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRa
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.040,0.137
$KALMAN_X,-19119.3,-68.6,-280.2,-379.8,1371.1
$KALMAN_Y,89453.6,153.8,188.9,-82304.8,-1225.5
$MHEAD_RNG_PITCHd_Wd,347.4,1762,-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,17,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-66.72,0.000,6,0.000,0.000,457,2161,3371,0,0,0,0,0,0
$GC,94,-2.13,-77.6,3.9,-5.0,9,120,12.65,2.70,-2.60,0.000,4,0.160,0.042,2787,3815,3507,0,0,0,0,0,0
$GC,249,-2.03,-77.6,51.9,-28.2,26,259,0.10,2.53,0.00,0.000,6,0.114,0.025,2810,2238,3508,0,0,0,0,0,0
$GC,517,-2.03,-77.6,112.3,-21.4,51,522,0.00,2.60,0.00,0.000,4,0.000,0.041,2810,629,3509,0,0,0,0,0,0
$GC,541,-1.99,-77.6,119.3,-21.5,52,551,0.00,2.50,0.00,0.000,6,0.000,0.015,2809,2253,3508,0,0,0,0,0,0
$GC,804,-2.05,-77.6,166.5,-14.4,77,808,0.00,2.38,0.00,0.000,4,0.000,0.036,2810,3775,3510,0,0,0,0,0,0
$GC,828,-2.09,-77.6,170.6,-16.6,78,837,0.00,2.47,0.00,0.000,6,0.000,0.025,2810,2192,3509,0,0,0,0,0,0
$GC,1088,-2.19,-77.6,206.0,-12.7,100,1093,0.12,2.53,0.00,0.000,4,0.064,0.037,2754,3779,3510,0,0,0,0,0,0
$GC,1118,-2.19,-77.6,210.4,-14.9,100,1123,0.12,2.40,0.00,0.000,6,0.111,0.016,2779,2205,3510,0,0,0,0,0,0
$GC,1368,-2.25,-77.6,243.1,-12.8,106,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2205,3510,0,0,0,0,0,0
$GC,1611,-2.32,-77.6,275.2,-13.1,112,1613,0.12,0.00,0.00,0.000,6,0.066,0.000,2723,2205,3510,0,0,0,0,0,0
$GC,1857,-2.32,-77.6,311.6,-14.9,118,1859,0.15,0.00,0.00,0.000,6,0.109,0.000,2752,2205,3510,0,0,0,0,0,0
$GC,2098,-2.32,-77.6,344.6,-13.4,124,2103,0.00,2.58,0.00,0.000,4,0.000,0.042,2752,3772,3510,0,0,0,0,0,0
$GC,2170,-2.32,-77.6,355.1,-14.7,125,2175,0.00,2.42,0.00,0.000,6,0.000,0.025,2752,2240,3509,0,0,0,0,0,0
$GC,2423,-2.36,-77.6,389.4,-13.6,131,2428,0.00,2.47,0.00,0.000,4,0.000,0.051,2752,3759,3508,0,0,0,0,0,0
$GC,2456,-2.36,-77.6,394.6,-14.7,131,2462,0.00,2.50,0.00,0.000,6,0.000,0.031,2752,2210,3508,0,0,0,0,0,0
$GC,2706,-2.40,-77.6,428.8,-13.4,138,2711,0.00,2.60,0.00,0.000,4,0.000,0.051,2752,3755,3507,0,0,0,0,0,0
$GC,2761,-2.40,-77.6,436.7,-14.2,139,2766,0.00,2.53,0.00,0.000,6,0.000,0.041,2752,2216,3507,0,0,0,0,0,0
$GC,3030,-2.45,-77.6,471.6,-13.2,146,3036,0.10,2.60,0.00,0.000,4,0.081,0.057,2703,3754,3506,0,0,0,0,0,0
$GC,3075,-2.38,-77.6,479.0,-15.9,147,3080,0.17,2.53,0.00,0.000,6,0.107,0.048,2739,2216,3505,0,0,0,0,0,0
$GC,3355,-2.38,-77.6,517.6,-13.9,154,3359,0.00,2.62,0.00,0.000,4,0.000,0.065,2739,3753,3504,0,0,0,0,0,0
$GC,3443,-2.38,-77.6,530.8,-14.4,156,3448,0.00,2.53,0.00,0.000,6,0.000,0.052,2739,2226,3504,0,0,0,0,0,0
$GC,3721,-2.38,-77.6,567.8,-13.2,163,3725,0.00,2.65,0.00,0.000,4,0.000,0.074,2739,3755,3502,0,0,0,0,0,0
$GC,3784,-2.38,-77.6,576.4,-14.1,164,3788,0.00,2.62,0.00,0.000,6,0.000,0.056,2739,2224,3502,0,0,0,0,0,0
$GC,4044,-2.38,-77.6,611.0,-13.1,171,4049,0.00,2.72,0.00,0.000,4,0.000,0.086,2739,3756,3500,0,0,0,0,0,0
$GC,4099,-2.38,-77.6,618.9,-14.1,172,4104,0.00,2.65,0.00,0.000,6,0.000,0.069,2739,2231,3500,0,0,0,0,0,0
$GC,4368,-2.38,-77.6,655.3,-13.8,179,4373,0.00,2.80,0.00,0.000,4,0.000,0.104,2739,3750,3498,0,0,0,0,0,0
$GC,4401,-2.38,-77.6,660.6,-14.8,179,4406,0.00,2.75,0.00,0.000,6,0.000,0.094,2739,2232,3498,0,0,0,0,0,0
$GC,4651,-2.38,-77.6,694.0,-13.3,186,4655,0.00,2.88,0.00,0.000,4,0.000,0.118,2739,3748,3496,0,0,0,0,0,0
$GC,4725,-2.38,-77.6,704.3,-13.9,187,4729,0.00,2.67,0.00,0.000,6,0.000,0.086,2739,2244,3496,0,0,0,0,0,0
$GC,4974,-2.38,-77.6,738.4,-13.5,193,4979,0.00,2.75,0.00,0.000,4,0.000,0.094,2739,3753,3494,0,0,0,0,0,0
$GC,5029,-2.38,-77.6,746.3,-14.4,194,5034,0.00,2.67,0.00,0.000,6,0.000,0.077,2739,2250,3494,0,0,0,0,0,0
$GC,5299,-2.38,-77.6,781.5,-13.1,201,5303,0.00,2.70,0.00,0.000,4,0.000,0.094,2739,3756,3492,0,0,0,0,0,0
$GC,5342,-2.38,-77.6,787.8,-13.4,202,5346,0.00,2.67,0.00,0.000,6,0.000,0.080,2739,2245,3492,0,0,0,0,0,0
$GC,5620,-2.38,-77.6,823.7,-13.0,209,5625,0.00,2.67,0.00,0.000,4,0.000,0.085,2739,3751,3490,0,0,0,0,0,0
$GC,5689,-2.38,-77.6,833.1,-13.4,210,5693,0.00,2.65,0.00,0.000,6,0.000,0.073,2739,2245,3490,0,0,0,0,0,0
$GC,5944,-2.42,-77.6,867.2,-13.1,217,5948,0.00,2.67,0.00,0.000,4,0.000,0.088,2739,3756,3488,0,0,0,0,0,0
$GC,6004,-2.42,-77.6,875.3,-13.3,218,6008,0.00,2.62,0.00,0.000,6,0.000,0.069,2739,2252,3488,0,0,0,0,0,0
$STATE,6228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6228,begin apogee
$GC,6237,-0.31,0.0,903.9,12.7,224,6305,2.10,0.00,63.88,1.184,6,0.098,0.000,3190,2330,3190,0,0,0,0,0,0
$STATE,6306,end apogee,CONTROL_FINISHED_OK
$STATE,6306,begin climb
$GC,6308,2.13,77.6,905.8,0.0,225,6386,2.17,3.00,68.22,1.157,4,0.031,0.108,3741,781,2873,0,0,0,0,0,0
$GC,6401,2.15,89.6,901.2,8.2,226,6420,0.00,2.75,12.20,1.029,6,0.000,0.058,3742,2375,2823,0,0,0,0,0,0
$GC,6676,2.15,89.6,867.2,12.5,233,6681,0.00,2.75,0.00,0.000,4,0.000,0.077,3742,3938,2820,0,0,0,0,0,0
$GC,6699,2.15,89.6,864.3,13.2,233,6704,0.00,2.65,0.00,0.000,6,0.000,0.047,3742,2367,2819,0,0,0,0,0,0
$GC,6959,2.15,89.6,833.2,11.9,240,6963,0.00,2.70,0.00,0.000,4,0.000,0.062,3742,3940,2817,0,0,0,0,0,0
$GC,7219,2.09,89.6,800.4,12.6,245,7225,0.12,2.60,0.00,0.000,6,0.150,0.041,3719,2390,2816,0,0,0,0,0,0
$GC,7469,2.14,89.6,772.6,10.8,252,7473,0.00,2.65,0.00,0.000,4,0.000,0.057,3719,3944,2815,0,0,0,0,0,0
$GC,7688,2.14,89.6,746.5,11.8,257,7692,0.00,2.60,0.00,0.000,6,0.000,0.042,3718,2397,2813,0,0,0,0,0,0
$GC,7971,2.19,89.6,716.6,10.6,264,7976,0.00,2.62,0.00,0.000,4,0.000,0.056,3719,3938,2812,0,0,0,0,0,0
$GC,8103,2.19,89.6,701.6,11.3,267,8108,0.00,2.58,0.00,0.000,6,0.000,0.041,3719,2400,2812,0,0,0,0,0,0
$GC,8387,2.25,89.6,671.0,10.6,274,8392,0.12,2.62,0.00,0.000,4,0.192,0.055,3754,3938,2811,0,0,0,0,0,0
$GC,8575,2.18,89.6,647.4,12.8,278,8579,0.00,2.58,0.00,0.000,6,0.000,0.047,3754,2398,2810,0,0,0,0,0,0
$GC,8846,2.18,89.6,614.1,12.1,285,8851,0.00,2.62,0.00,0.000,4,0.000,0.059,3754,3940,2809,0,0,0,0,0,0
$GC,8958,2.13,89.6,599.7,12.3,287,8963,0.15,2.55,0.00,0.000,6,0.138,0.039,3727,2411,2809,0,0,0,0,0,0
$GC,9216,2.18,89.6,571.5,11.0,294,9221,0.00,2.60,0.00,0.000,4,0.000,0.058,3727,3942,2809,0,0,0,0,0,0
$GC,9282,2.18,89.6,563.6,11.2,295,9287,0.00,2.50,0.00,0.000,6,0.000,0.040,3727,2417,2809,0,0,0,0,0,0
$GC,9541,2.23,89.6,536.5,10.6,302,9545,0.00,2.58,0.00,0.000,4,0.000,0.051,3727,3944,2809,0,0,0,0,0,0
$GC,9663,2.23,89.6,521.9,11.7,304,9669,0.00,2.50,0.00,0.000,6,0.000,0.036,3727,2423,2809,0,0,0,0,0,0
$GC,9914,2.28,89.6,496.3,10.1,311,9919,0.12,2.53,0.00,0.000,4,0.078,0.051,3763,3941,2809,0,0,0,0,0,0
$GC,10161,2.23,89.6,467.2,12.2,316,10165,0.00,2.47,0.00,0.000,6,0.000,0.031,3763,2423,2808,0,0,0,0,0,0
$GC,10418,2.23,89.6,438.5,11.2,323,10422,0.00,2.53,0.00,0.000,4,0.000,0.042,3762,3949,2809,0,0,0,0,0,0
$GC,10578,2.18,89.6,419.5,12.0,326,10583,0.15,2.45,0.00,0.000,6,0.131,0.027,3735,2433,2809,0,0,0,0,0,0
$GC,10836,2.23,89.6,392.7,10.2,333,10840,0.00,2.50,0.00,0.000,4,0.000,0.048,3735,3950,2809,0,0,0,0,0,0
$GC,10896,2.23,89.6,385.9,10.5,334,10900,0.00,2.42,0.00,0.000,6,0.000,0.025,3735,2429,2809,0,0,0,0,0,0
$GC,11163,2.28,89.6,358.7,10.4,341,11168,0.00,2.47,0.00,0.000,4,0.000,0.047,3735,3945,2809,0,0,0,0,0,0
$GC,11422,2.28,89.6,328.1,11.8,346,11427,0.00,2.40,0.00,0.000,6,0.000,0.024,3735,2436,2810,0,0,0,0,0,0
$GC,11672,2.34,89.6,301.8,10.3,353,11677,0.10,2.47,0.00,0.000,4,0.087,0.039,3767,3954,2810,0,0,0,0,0,0
$GC,11868,2.30,89.6,278.5,12.0,357,11872,0.00,2.40,0.00,0.000,6,0.000,0.025,3767,2443,2811,0,0,0,0,0,0
$GC,12129,2.30,89.6,250.2,11.0,364,12133,0.00,2.45,0.00,0.000,4,0.000,0.041,3768,3945,2811,0,0,0,0,0,0
$GC,12238,2.30,89.6,237.9,10.9,366,12242,0.00,2.35,0.00,0.000,6,0.000,0.026,3768,2459,2811,0,0,0,0,0,0
$GC,12499,2.30,90.5,211.8,9.9,373,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,2459,2812,0,0,0,0,0,0
$GC,12753,2.34,118.8,193.4,5.7,385,12782,0.00,2.47,22.83,0.644,4,0.000,0.045,3768,3948,2704,0,0,0,0,0,0
$GC,12794,2.35,133.5,189.8,7.8,389,12819,0.00,2.42,13.65,0.606,6,0.000,0.030,3768,2442,2644,0,0,0,0,0,0
$GC,13077,2.44,142.2,162.3,8.7,415,13091,0.00,2.53,8.70,0.554,4,0.000,0.041,3768,3935,2609,0,0,0,0,0,0
$GC,13362,2.54,170.9,139.2,5.7,439,13396,0.00,2.35,25.20,0.590,6,0.000,0.022,3768,2451,2493,0,0,0,0,0,0
$GC,13652,2.69,178.7,115.8,8.8,466,13665,0.00,2.47,8.07,0.503,4,0.000,0.040,3768,3944,2460,0,0,0,0,0,0
$GC,13932,2.79,178.7,85.6,10.7,489,13938,0.00,2.35,0.00,0.000,6,0.000,0.025,3768,2462,2459,0,0,0,0,0,0
$GC,14203,2.96,186.0,60.2,8.9,514,14213,0.00,0.00,7.88,0.462,6,0.000,0.000,3768,2462,2431,0,0,0,0,0,0
$GC,14471,3.14,196.0,36.7,8.5,539,14490,0.00,0.00,10.12,0.463,6,0.000,0.000,3768,2462,2389,0,0,0,0,0,0
$GC,14796,3.30,196.0,4.1,10.5,584,14806,0.00,2.45,0.00,0.000,4,0.000,0.042,3768,3942,2389,0,0,0,0,0,0
$STATE,14813,end climb,SURFACE_DEPTH_REACHED
$STATE,14814,begin surface coast
$FINISH,1.2,1.023210
$STATE,14830,end surface coast,CONTROL_FINISHED_OK
$STATE,14830,begin surface
$SM_CCo,14859,124.03,0.479,0,0,1763,350.04
$SM_GC,1.93,0.00,0.00,124.03,0.000,0.000,0.479,466,2177,1763,-12.85,-0.93,350.04
$IRIDIUM_FIX,1916.08,-8044.66,310702,070738
$TT8_MAMPS,0.025311
$HUMID,59.84
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.10
$XPDR_PINGS,169
$24V_AH,23.1,71.727
$10V_AH,9.9,63.884
$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,31.875,185.575,240.750,124.025,0.000,27.789,32.293,193.616,42.250,0.000,11.917,1338.728,10387.635,489.864,2488.108,696.831,33.394,1534.298,0.000,2474.375,0.000,0.538,0.000
$DEVICE_MAMPS,191.750,118.118,1184.248,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.332,300.254,376.524,524.831,996.914,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,44768,588
$CAP_FILE_SIZE,149336,0
$CFSIZE,260165632,92438528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060513,163605,1928.473,-8118.727,36,0.9,41,-3.7