version: 66.06
glider: 146
mission: 8
dive: 511
start: 5 7 113 2 3 20
data:
$ID,146
$MISSION,8
$DIVE,511
$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,-318929
$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,60
$R_STBD_OVSHOOT,19
$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
$GPS1,015405,1925.157,-8117.892,28,1.2,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-75.9
$GPS2,020225,1925.156,-8117.843,13,1.3,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRb
$TGT_LATLONG,1925.300,-8118.033
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.109,0.092
$KALMAN_X,-16109.6,231.4,-35.7,-2320.2,1170.6
$KALMAN_Y,87558.1,-33.1,58.5,-84631.7,-1004.4
$MHEAD_RNG_PITCHd_Wd,314.0,426,-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,-63.00,0.000,2,0.000,0.000,469,2166,3276,0,0,0,0,0,0
$GC,89,-2.14,-88.5,3.1,-3.4,8,115,12.60,2.62,-5.57,0.000,4,0.156,0.038,2784,3809,3550,0,0,0,0,0,0
$GC,315,-2.08,-88.5,66.7,-26.1,32,320,0.10,2.47,0.00,0.000,6,0.146,0.024,2802,2238,3550,0,0,0,0,0,0
$GC,580,-2.08,-88.5,129.5,-22.9,56,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2239,3551,0,0,0,0,0,0
$GC,842,-2.14,-88.5,177.9,-16.8,81,846,0.00,2.50,0.00,0.000,4,0.000,0.034,2802,3809,3551,0,0,0,0,0,0
$GC,865,-2.21,-88.5,180.6,-16.3,82,870,0.10,2.50,0.00,0.000,6,0.076,0.018,2750,2188,3551,0,0,0,0,0,0
$GC,1139,-2.21,-88.5,226.1,-16.0,96,1144,0.12,2.60,0.00,0.000,4,0.114,0.034,2775,3816,3552,0,0,0,0,0,0
$GC,1166,-2.21,-88.5,230.6,-15.9,96,1171,0.00,2.47,0.00,0.000,6,0.000,0.020,2776,2215,3552,0,0,0,0,0,0
$GC,1419,-2.28,-88.5,265.7,-14.0,102,1424,0.00,2.53,0.00,0.000,4,0.000,0.039,2776,3808,3552,0,0,0,0,0,0
$GC,1469,-2.33,-88.5,273.2,-14.1,103,1474,0.10,2.47,0.00,0.000,6,0.077,0.025,2722,2223,3552,0,0,0,0,0,0
$GC,1743,-2.33,-88.5,314.8,-15.5,110,1749,0.15,2.55,0.00,0.000,4,0.108,0.045,2753,3804,3552,0,0,0,0,0,0
$GC,1759,-2.33,-88.5,318.1,-16.1,110,1764,0.00,2.50,0.00,0.000,6,0.000,0.029,2753,2217,3551,0,0,0,0,0,0
$GC,2021,-2.37,-88.5,357.6,-15.2,117,2025,0.00,2.60,0.00,0.000,4,0.000,0.046,2753,3803,3551,0,0,0,0,0,0
$GC,2062,-2.37,-88.5,363.6,-15.1,118,2067,0.00,2.53,0.00,0.000,6,0.000,0.031,2752,2225,3551,0,0,0,0,0,0
$GC,2346,-2.41,-88.5,405.8,-14.8,125,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2226,3550,0,0,0,0,0,0
$GC,2590,-2.46,-88.5,440.4,-14.1,131,2595,0.12,2.65,0.00,0.000,4,0.067,0.057,2697,3798,3549,0,0,0,0,0,0
$GC,2654,-2.39,-88.5,450.7,-17.1,132,2659,0.20,2.55,0.00,0.000,6,0.103,0.040,2738,2239,3549,0,0,0,0,0,0
$GC,2915,-2.39,-88.5,489.0,-14.3,139,2919,0.00,2.65,0.00,0.000,4,0.000,0.071,2738,3797,3547,0,0,0,0,0,0
$GC,2954,-2.39,-88.5,494.7,-14.5,140,2958,0.00,2.58,0.00,0.000,6,0.000,0.051,2738,2234,3548,0,0,0,0,0,0
$GC,3239,-2.39,-88.5,535.6,-14.6,147,3244,0.00,2.70,0.00,0.000,4,0.000,0.076,2738,3793,3546,0,0,0,0,0,0
$GC,3278,-2.39,-88.5,541.8,-14.9,148,3282,0.00,2.62,0.00,0.000,6,0.000,0.051,2738,2232,3546,0,0,0,0,0,0
$GC,3561,-2.39,-88.5,583.1,-14.5,155,3565,0.00,2.75,0.00,0.000,4,0.000,0.079,2738,3793,3544,0,0,0,0,0,0
$GC,3661,-2.39,-88.5,599.0,-16.0,157,3665,0.00,2.67,0.00,0.000,6,0.000,0.073,2738,2242,3543,0,0,0,0,0,0
$GC,3927,-2.39,-88.5,638.1,-14.5,164,3932,0.00,2.85,0.00,0.000,4,0.000,0.102,2738,3792,3542,0,0,0,0,0,0
$GC,4018,-2.39,-88.5,651.6,-15.1,166,4023,0.00,2.80,0.00,0.000,6,0.000,0.087,2738,2246,3541,0,0,0,0,0,0
$GC,4295,-2.39,-88.5,691.0,-14.2,173,4300,0.00,2.95,0.00,0.000,4,0.000,0.122,2738,3790,3539,0,0,0,0,0,0
$GC,4356,-2.39,-88.5,700.2,-14.7,174,4360,0.00,2.80,0.00,0.000,6,0.000,0.091,2738,2249,3539,0,0,0,0,0,0
$GC,4619,-2.39,-88.5,736.7,-14.0,181,4623,0.00,2.88,0.00,0.000,4,0.000,0.110,2738,3793,3537,0,0,0,0,0,0
$GC,4640,-2.39,-88.5,740.2,-14.4,181,4644,0.00,2.75,0.00,0.000,6,0.000,0.081,2738,2254,3536,0,0,0,0,0,0
$GC,4895,-2.43,-88.5,775.3,-13.7,188,4900,0.00,2.80,0.00,0.000,4,0.000,0.099,2738,3790,3535,0,0,0,0,0,0
$GC,4930,-2.43,-88.5,780.0,-14.5,188,4935,0.00,2.72,0.00,0.000,6,0.000,0.083,2738,2254,3534,0,0,0,0,0,0
$GC,5180,-2.46,-88.5,814.7,-13.8,195,5184,0.00,2.80,0.00,0.000,4,0.000,0.095,2738,3793,3533,0,0,0,0,0,0
$GC,5223,-2.46,-88.5,821.3,-14.4,196,5228,0.00,2.72,0.00,0.000,6,0.000,0.081,2738,2255,3532,0,0,0,0,0,0
$GC,5504,-2.50,-88.5,859.4,-13.9,203,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2255,3531,0,0,0,0,0,0
$GC,5745,-2.54,-88.5,891.9,-13.2,209,5750,0.12,2.78,0.00,0.000,4,0.071,0.094,2691,3794,3529,0,0,0,0,0,0
$STATE,5798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5798,begin apogee
$GC,5807,-0.31,0.0,900.5,15.5,210,5884,2.30,0.00,72.72,1.172,6,0.103,0.000,3188,2361,3190,0,0,0,0,0,0
$STATE,5885,end apogee,CONTROL_FINISHED_OK
$STATE,5885,begin climb
$GC,5890,2.14,88.5,903.1,0.0,212,5973,2.17,0.00,78.22,1.147,6,0.030,0.000,3742,2361,2829,0,0,0,0,0,0
$GC,6215,2.14,88.5,869.0,12.7,220,6220,0.00,2.78,0.00,0.000,4,0.000,0.071,3742,3942,2823,0,0,0,0,0,0
$GC,6439,2.09,88.5,839.3,12.4,225,6445,0.12,2.67,0.00,0.000,6,0.150,0.044,3719,2364,2822,0,0,0,0,0,0
$GC,6718,2.13,88.5,807.2,11.6,232,6722,0.00,2.70,0.00,0.000,4,0.000,0.061,3719,3944,2820,0,0,0,0,0,0
$GC,6874,2.13,88.5,788.1,12.7,235,6878,0.00,2.65,0.00,0.000,6,0.000,0.044,3719,2369,2818,0,0,0,0,0,0
$GC,7136,2.18,88.5,757.2,11.5,242,7141,0.00,2.65,0.00,0.000,4,0.000,0.057,3719,3934,2817,0,0,0,0,0,0
$GC,7315,2.18,88.5,735.0,12.3,246,7319,0.00,2.62,0.00,0.000,6,0.000,0.044,3719,2374,2816,0,0,0,0,0,0
$GC,7595,2.24,88.5,705.9,10.4,253,7600,0.12,2.67,0.00,0.000,4,0.082,0.063,3755,3937,2815,0,0,0,0,0,0
$GC,7786,2.17,88.5,682.5,12.9,257,7790,0.00,2.60,0.00,0.000,6,0.000,0.046,3754,2382,2814,0,0,0,0,0,0
$GC,8051,2.17,88.5,652.5,11.2,264,8056,0.00,2.65,0.00,0.000,4,0.000,0.058,3754,3937,2814,0,0,0,0,0,0
$GC,8311,2.11,88.5,621.4,11.4,269,8317,0.17,2.55,0.00,0.000,6,0.135,0.045,3722,2398,2813,0,0,0,0,0,0
$GC,8564,2.17,88.6,596.2,10.0,276,8568,0.00,2.60,0.00,0.000,4,0.000,0.058,3722,3935,2812,0,0,0,0,0,0
$GC,8810,2.17,88.6,568.5,10.8,281,8814,0.00,2.50,0.00,0.000,6,0.000,0.041,3722,2402,2812,0,0,0,0,0,0
$GC,9073,2.22,88.6,541.1,10.7,288,9078,0.00,2.58,0.00,0.000,4,0.000,0.058,3722,3937,2812,0,0,0,0,0,0
$GC,9174,2.22,88.6,528.2,12.6,290,9178,0.00,2.50,0.00,0.000,6,0.000,0.038,3722,2405,2811,0,0,0,0,0,0
$GC,9440,2.28,88.6,499.0,10.9,297,9446,0.15,2.58,0.00,0.000,4,0.072,0.047,3763,3948,2811,0,0,0,0,0,0
$GC,9648,2.23,88.6,473.3,12.5,301,9653,0.00,2.50,0.00,0.000,6,0.000,0.039,3764,2416,2811,0,0,0,0,0,0
$GC,9898,2.23,88.6,445.0,11.2,307,9902,0.00,2.53,0.00,0.000,4,0.000,0.046,3764,3942,2811,0,0,0,0,0,0
$GC,10158,2.18,88.6,414.3,12.0,312,10164,0.15,2.45,0.00,0.000,6,0.133,0.028,3736,2419,2811,0,0,0,0,0,0
$GC,10410,2.23,88.6,387.3,10.6,319,10414,0.00,2.50,0.00,0.000,4,0.000,0.050,3736,3939,2811,0,0,0,0,0,0
$GC,10532,2.23,88.6,372.7,11.5,321,10538,0.00,2.42,0.00,0.000,6,0.000,0.026,3737,2422,2812,0,0,0,0,0,0
$GC,10783,2.28,88.6,345.6,10.9,328,10787,0.00,2.50,0.00,0.000,4,0.000,0.042,3736,3943,2812,0,0,0,0,0,0
$GC,10829,2.28,88.6,340.0,12.3,329,10833,0.00,2.38,0.00,0.000,6,0.000,0.024,3737,2435,2812,0,0,0,0,0,0
$GC,11107,2.33,88.6,310.1,10.5,336,11111,0.10,2.47,0.00,0.000,4,0.262,0.040,3768,3946,2812,0,0,0,0,0,0
$GC,11246,2.33,88.6,294.4,12.6,339,11250,0.00,2.38,0.00,0.000,6,0.000,0.028,3768,2444,2812,0,0,0,0,0,0
$GC,11523,2.33,88.6,265.1,10.3,346,11528,0.00,2.45,0.00,0.000,4,0.000,0.041,3767,3944,2813,0,0,0,0,0,0
$GC,11782,2.33,88.6,237.4,10.6,351,11787,0.00,2.38,0.00,0.000,6,0.000,0.025,3768,2451,2814,0,0,0,0,0,0
$GC,12032,2.33,96.0,214.6,8.9,358,12042,0.00,2.47,5.50,0.523,4,0.000,0.046,3767,3949,2797,0,0,0,0,0,0
$GC,12306,2.34,103.3,189.0,8.9,370,12320,0.00,2.38,7.88,0.563,6,0.000,0.025,3767,2454,2767,0,0,0,0,0,0
$GC,12584,2.42,121.1,166.8,7.3,396,12608,0.00,2.50,15.48,0.599,4,0.000,0.045,3767,3936,2695,0,0,0,0,0,0
$GC,12621,2.48,135.6,163.9,7.8,399,12639,0.00,2.38,13.57,0.583,6,0.000,0.025,3767,2456,2637,0,0,0,0,0,0
$GC,12896,2.61,155.8,141.7,7.0,424,12921,0.00,2.50,18.65,0.581,4,0.000,0.047,3767,3942,2552,0,0,0,0,0,0
$GC,13191,2.70,173.6,120.4,7.3,448,13213,0.00,2.40,15.77,0.550,6,0.000,0.025,3767,2450,2481,0,0,0,0,0,0
$GC,13480,2.84,178.3,95.6,9.3,475,13491,0.00,2.50,5.43,0.433,4,0.000,0.046,3767,3947,2462,0,0,0,0,0,0
$GC,13666,2.95,178.3,75.4,10.2,490,13670,0.00,2.38,0.00,0.000,6,0.000,0.025,3767,2453,2461,0,0,0,0,0,0
$GC,13937,3.11,185.5,49.9,8.9,514,13947,0.00,0.00,8.00,0.453,6,0.000,0.000,3767,2453,2433,0,0,0,0,0,0
$GC,14210,3.29,194.7,27.1,8.6,541,14227,0.00,2.50,9.43,0.449,4,0.000,0.042,3767,3937,2395,0,0,0,0,0,0
$GC,14249,3.44,196.2,23.3,9.8,545,14258,0.00,2.38,0.00,0.000,6,0.000,0.024,3768,2451,2395,0,0,0,0,0,0
$STATE,14417,end climb,SURFACE_DEPTH_REACHED
$STATE,14419,begin surface coast
$FINISH,1.1,1.001852
$STATE,14468,end surface coast,CONTROL_FINISHED_OK
$STATE,14468,begin surface
$SM_CCo,14494,125.12,0.479,0,0,1763,350.04
$SM_GC,1.90,0.00,0.00,125.12,0.000,0.000,0.479,459,2176,1763,-12.88,-0.96,350.04
$IRIDIUM_FIX,1922.94,-8116.62,310702,212142
$TT8_MAMPS,0.026078
$HUMID,58.30
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.30
$XPDR_PINGS,173
$24V_AH,23.1,72.054
$10V_AH,9.9,64.243
$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,32.125,175.925,250.650,125.125,0.000,27.588,34.507,263.054,43.250,0.000,14.751,1341.848,9979.195,486.109,2552.512,750.092,33.371,1529.195,0.000,2524.797,0.000,0.539,0.000
$DEVICE_MAMPS,261.547,121.953,1171.976,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.149,288.552,369.575,517.109,984.290,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,44659,577
$CAP_FILE_SIZE,149069,0
$CFSIZE,260165632,92225536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070513,060823,1925.691,-8118.691,23,1.2,40,-3.7