version: 66.06
glider: 146
mission: 8
dive: 513
start: 5 7 113 10 44 20
data:
$ID,146
$MISSION,8
$DIVE,513
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$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,100
$T_MISSION,200
$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,300
$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,-318961.5
$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,54
$R_STBD_OVSHOOT,17
$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
$GPS1,103535,1925.756,-8116.985,35,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.3
$GPS2,104325,1925.741,-8116.961,14,1.3,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TRb
$TGT_LATLONG,1925.300,-8118.033
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,-0.046
$KALMAN_X,-14487.5,-407.3,-99.0,-1694.4,413.6
$KALMAN_Y,86827.6,205.7,299.1,-83306.0,-206.8
$MHEAD_RNG_PITCHd_Wd,263.5,2042,-17.5,-10.000
$D_GRID,300
$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,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.75,0.000,2,0.000,0.000,461,2163,3511,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-5.3,9,123,13.82,2.65,-4.82,0.000,4,0.163,0.037,2979,3822,3786,0,0,0,0,0,0
$GC,249,-1.12,-146.0,40.7,-16.4,26,254,0.17,2.53,0.00,0.000,6,0.098,0.023,3017,2229,3787,0,0,0,0,0,0
$GC,514,-1.00,-146.0,82.8,-14.9,50,520,0.10,2.65,0.00,0.000,4,0.118,0.046,3040,637,3788,0,0,0,0,0,0
$GC,562,-0.95,-146.0,89.2,-13.0,53,566,0.00,2.45,0.00,0.000,6,0.000,0.015,3040,2248,3787,0,0,0,0,0,0
$GC,831,-0.90,-146.0,121.0,-11.9,77,836,0.10,2.67,0.00,0.000,4,0.117,0.044,3063,637,3788,0,0,0,0,0,0
$GC,865,-0.90,-146.0,126.2,-12.0,79,871,0.00,2.40,0.00,0.000,6,0.000,0.016,3063,2214,3788,0,0,0,0,0,0
$GC,1131,-0.95,-146.0,151.9,-9.2,104,1135,0.00,2.60,0.00,0.000,4,0.000,0.043,3063,634,3788,0,0,0,0,0,0
$GC,1163,-1.03,-146.0,154.6,-8.5,106,1168,0.12,2.38,0.00,0.000,6,0.065,0.016,3000,2195,3789,0,0,0,0,0,0
$GC,1428,-1.03,-146.0,179.7,-9.6,130,1433,0.15,2.50,0.00,0.000,4,0.085,0.031,3037,3778,3789,0,0,0,0,0,0
$GC,1448,-1.03,-146.0,181.5,-8.3,131,1452,0.00,2.47,0.00,0.000,6,0.000,0.020,3036,2185,3789,0,0,0,0,0,0
$GC,1741,-1.11,-146.0,203.3,-7.5,155,1745,0.00,2.50,0.00,0.000,4,0.000,0.046,3036,644,3790,0,0,0,0,0,0
$GC,1768,-1.18,-146.0,205.1,-7.4,155,1773,0.15,2.40,0.00,0.000,6,0.057,0.024,2970,2213,3789,0,0,0,0,0,0
$GC,2024,-1.13,-146.0,229.9,-9.6,162,2026,0.20,0.00,0.00,0.000,6,0.077,0.000,3017,2213,3789,0,0,0,0,0,0
$GC,2267,-1.19,-146.0,248.7,-7.8,168,2272,0.00,2.55,0.00,0.000,4,0.000,0.045,3017,646,3789,0,0,0,0,0,0
$GC,2298,-1.24,-146.0,251.0,-7.9,168,2303,0.12,2.38,0.00,0.000,6,0.065,0.026,2956,2195,3789,0,0,0,0,0,0
$GC,2548,-1.19,-146.0,274.8,-9.5,174,2550,0.20,0.00,0.00,0.000,6,0.078,0.000,3004,2195,3788,0,0,0,0,0,0
$GC,2794,-1.23,-146.0,293.8,-7.8,180,2799,0.00,2.50,0.00,0.000,4,0.000,0.039,3004,3763,3788,0,0,0,0,0,0
$GC,2835,-1.29,-146.0,297.1,-7.8,181,2840,0.10,2.45,0.00,0.000,6,0.075,0.022,2948,2189,3788,0,0,0,0,0,0
$STATE,2865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2865,begin apogee
$GC,2871,-0.31,0.0,300.3,9.4,181,2991,1.02,0.00,116.47,0.682,6,0.062,0.000,3188,2411,3190,0,0,0,0,0,0
$STATE,2992,end apogee,CONTROL_FINISHED_OK
$STATE,2992,begin climb
$GC,2997,1.27,146.0,302.6,0.0,184,3125,1.40,2.50,116.10,0.670,4,0.032,0.047,3544,3867,2593,0,0,0,0,0,0
$GC,3172,1.22,146.0,292.1,10.8,188,3176,0.00,2.40,0.00,0.000,6,0.000,0.022,3544,2370,2591,0,0,0,0,0,0
$GC,3450,1.23,156.8,265.5,9.5,195,3464,0.00,2.53,9.75,0.572,4,0.000,0.043,3544,3866,2550,0,0,0,0,0,0
$GC,3521,1.18,156.8,257.8,10.7,196,3526,0.12,2.38,0.00,0.000,6,0.112,0.031,3518,2371,2548,0,0,0,0,0,0
$GC,3778,1.22,193.4,235.6,8.3,203,3815,0.00,2.50,31.25,0.622,4,0.000,0.043,3518,3865,2400,0,0,0,0,0,0
$GC,3861,1.24,204.6,227.8,9.5,204,3877,0.00,2.40,10.90,0.565,6,0.000,0.027,3518,2377,2355,0,0,0,0,0,0
$GC,4146,1.29,204.6,199.3,10.1,211,4152,0.10,0.00,0.00,0.000,6,0.081,0.000,3556,2377,2351,0,0,0,0,0,0
$GC,4409,1.32,222.8,171.4,9.2,236,4433,0.00,2.47,16.45,0.568,4,0.000,0.042,3556,3867,2280,0,0,0,0,0,0
$GC,4473,1.32,222.8,165.1,11.0,241,4478,0.00,2.38,0.00,0.000,6,0.000,0.025,3556,2384,2279,0,0,0,0,0,0
$GC,4740,1.44,271.4,142.1,7.8,265,4791,0.00,2.47,42.15,0.569,4,0.000,0.044,3556,3867,2081,0,0,0,0,0,0
$GC,4822,1.52,278.7,135.5,9.7,271,4836,0.15,2.38,7.43,0.476,6,0.060,0.025,3606,2384,2053,0,0,0,0,0,0
$GC,5101,1.52,278.7,105.3,11.0,297,5106,0.00,2.45,0.00,0.000,4,0.000,0.041,3606,3867,2050,0,0,0,0,0,0
$GC,5136,1.52,278.7,101.5,12.4,299,5140,0.00,2.38,0.00,0.000,6,0.000,0.025,3606,2386,2049,0,0,0,0,0,0
$GC,5403,1.52,278.7,70.8,11.2,323,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2386,2049,0,0,0,0,0,0
$GC,5672,1.53,286.0,43.4,9.7,348,5687,0.00,2.47,7.47,0.430,4,0.000,0.041,3606,3860,2022,0,0,0,0,0,0
$GC,5717,1.55,297.9,38.9,9.5,351,5734,0.00,2.35,11.68,0.457,6,0.000,0.025,3606,2389,1974,0,0,0,0,0,0
$GC,6042,1.58,297.9,4.2,10.2,394,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2389,1972,0,0,0,0,0,0
$STATE,6058,end climb,SURFACE_DEPTH_REACHED
$STATE,6058,begin surface coast
$FINISH,1.1,1.000185
$STATE,6114,end surface coast,CONTROL_FINISHED_OK
$STATE,6114,begin surface
$SM_CCo,6196,0.00,0.000,0,0,1965,300.49
$SM_GC,2.03,12.50,0.00,0.00,0.021,0.000,0.000,466,2170,1965,-12.72,-1.13,300.49
$IRIDIUM_FIX,1918.37,-8116.97,010802,060600
$TT8_MAMPS,0.025311
$HUMID,61.14
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,25.20
$XPDR_PINGS,70
$24V_AH,23.5,72.243
$10V_AH,10.0,64.462
$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,30.550,74.650,369.650,0.000,0.000,28.489,35.585,228.945,17.500,0.000,17.891,795.743,3287.273,389.656,1601.952,584.143,33.373,946.576,0.000,1603.769,0.000,0.538,0.000
$DEVICE_MAMPS,162.604,46.787,681.863,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,270.524,287.405,367.198,571.887,1089.039,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,32079,404
$CAP_FILE_SIZE,78089,0
$CFSIZE,260165632,92168192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070513,122851,1925.351,-8117.585,12,99.0,32,-3.7