version: 66.06
glider: 146
mission: 8
dive: 339
start: 3 29 113 8 55 36
data:
$ID,146
$MISSION,8
$DIVE,339
$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,-314086.53
$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,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
$GPS1,083835,1925.120,-8117.178,40,1.6,46,-3.7
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-75.3
$GPS2,085442,1925.113,-8117.310,12,1.6,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.022,0.163
$KALMAN_X,-146106.7,-588.2,-290.6,129702.2,-835.8
$KALMAN_Y,96743.6,-167.1,79.2,-93777.6,552.5
$MHEAD_RNG_PITCHd_Wd,356.2,3697,-28.6,-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,-1.86,-57.2,0.0,0.0,0,77,0.00,0.00,-55.42,0.000,2,0.000,0.000,461,2146,3101,0,0,0,0,0,0
$GC,80,-1.93,-110.4,3.1,-3.8,7,114,12.48,2.70,-12.27,0.000,4,0.150,0.039,2834,3808,3640,0,0,0,0,0,0
$GC,186,-1.81,-110.4,27.0,-23.7,21,196,0.10,2.58,0.00,0.000,6,0.113,0.025,2858,2206,3640,0,0,0,0,0,0
$GC,449,-1.71,-110.4,90.4,-23.7,46,454,0.12,2.60,0.00,0.000,4,0.133,0.045,2883,633,3640,0,0,0,0,0,0
$GC,477,-1.62,-110.4,97.1,-23.5,47,483,0.10,2.47,0.00,0.000,6,0.138,0.023,2903,2247,3640,0,0,0,0,0,0
$GC,739,-1.62,-110.4,149.5,-18.5,72,743,0.00,2.62,0.00,0.000,4,0.000,0.041,2902,631,3641,0,0,0,0,0,0
$GC,749,-1.62,-110.4,151.6,-17.5,72,758,0.00,2.42,0.00,0.000,6,0.000,0.022,2902,2220,3641,0,0,0,0,0,0
$GC,1018,-1.74,-110.4,188.5,-11.6,97,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2220,3641,0,0,0,0,0,0
$GC,1271,-1.88,-110.4,219.6,-11.2,110,1276,0.22,2.45,0.00,0.000,4,0.043,0.037,2823,3767,3642,0,0,0,0,0,0
$GC,1290,-1.98,-110.4,221.7,-10.9,110,1294,0.00,2.40,0.00,0.000,6,0.000,0.018,2822,2200,3641,0,0,0,0,0,0
$GC,1550,-1.98,-110.4,258.1,-14.0,117,1555,0.00,2.47,0.00,0.000,4,0.000,0.039,2823,3757,3642,0,0,0,0,0,0
$GC,1645,-1.98,-110.4,271.7,-13.6,119,1649,0.00,2.38,0.00,0.000,6,0.000,0.018,2823,2227,3642,0,0,0,0,0,0
$GC,1925,-1.98,-110.4,306.4,-12.4,126,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2227,3642,0,0,0,0,0,0
$GC,2167,-1.98,-110.4,338.8,-13.2,132,2171,0.00,2.45,0.00,0.000,4,0.000,0.039,2823,3751,3641,0,0,0,0,0,0
$GC,2199,-1.98,-110.4,343.3,-14.3,132,2205,0.00,2.40,0.00,0.000,6,0.000,0.024,2823,2235,3641,0,0,0,0,0,0
$GC,2452,-2.02,-110.4,376.7,-13.5,139,2456,0.00,2.47,0.00,0.000,4,0.000,0.051,2823,3756,3640,0,0,0,0,0,0
$GC,2478,-2.02,-110.4,381.0,-14.0,139,2483,0.00,2.42,0.00,0.000,6,0.000,0.037,2823,2248,3640,0,0,0,0,0,0
$GC,2729,-2.06,-110.4,412.3,-12.4,145,2733,0.00,2.45,0.00,0.000,4,0.000,0.050,2823,3746,3639,0,0,0,0,0,0
$GC,2750,-2.06,-110.4,415.1,-12.4,145,2754,0.00,2.42,0.00,0.000,6,0.000,0.043,2823,2243,3639,0,0,0,0,0,0
$GC,3008,-2.11,-110.4,445.1,-11.8,152,3013,0.10,2.90,0.00,0.000,4,0.080,0.095,2775,627,3638,0,0,0,0,0,0
$GC,3024,-2.11,-110.4,447.9,-12.3,152,3029,0.10,2.53,0.00,0.000,6,0.130,0.041,2796,2190,3638,0,0,0,0,0,0
$GC,3285,-2.11,-110.4,484.5,-14.1,159,3289,0.00,2.75,0.00,0.000,4,0.000,0.067,2796,3798,3636,0,0,0,0,0,0
$GC,3308,-2.11,-110.4,487.7,-14.9,159,3313,0.00,2.58,0.00,0.000,6,0.000,0.046,2796,2237,3636,0,0,0,0,0,0
$GC,3563,-2.11,-110.4,524.5,-14.2,166,3567,0.00,2.65,0.00,0.000,4,0.000,0.068,2796,3790,3635,0,0,0,0,0,0
$GC,3618,-2.11,-110.4,532.8,-14.9,167,3622,0.00,2.60,0.00,0.000,6,0.000,0.057,2796,2248,3635,0,0,0,0,0,0
$GC,3886,-2.11,-110.4,569.7,-13.9,174,3891,0.00,2.65,0.00,0.000,4,0.000,0.067,2796,3791,3633,0,0,0,0,0,0
$GC,3913,-2.11,-110.4,574.0,-14.3,174,3917,0.00,2.62,0.00,0.000,6,0.000,0.061,2796,2244,3633,0,0,0,0,0,0
$GC,4163,-2.11,-110.4,606.8,-12.9,180,4167,0.00,2.70,0.00,0.000,4,0.000,0.074,2796,3794,3631,0,0,0,0,0,0
$GC,4225,-2.11,-110.4,615.2,-14.2,181,4230,0.00,2.67,0.00,0.000,6,0.000,0.073,2796,2249,3631,0,0,0,0,0,0
$GC,4486,-2.11,-110.4,648.7,-12.6,188,4490,0.00,2.78,0.00,0.000,4,0.000,0.089,2796,3790,3629,0,0,0,0,0,0
$GC,4525,-2.11,-110.4,654.2,-14.0,189,4529,0.00,2.72,0.00,0.000,6,0.000,0.084,2796,2261,3629,0,0,0,0,0,0
$GC,4810,-2.11,-110.4,692.4,-13.5,196,4814,0.00,2.88,0.00,0.000,4,0.000,0.114,2796,3789,3627,0,0,0,0,0,0
$GC,4864,-2.11,-110.4,700.9,-14.4,197,4869,0.00,2.67,0.00,0.000,6,0.000,0.081,2796,2271,3627,0,0,0,0,0,0
$GC,5131,-2.11,-110.4,736.2,-13.5,204,5135,0.00,2.72,0.00,0.000,4,0.000,0.088,2796,3787,3625,0,0,0,0,0,0
$GC,5182,-2.11,-110.4,743.8,-15.3,205,5187,0.00,2.67,0.00,0.000,6,0.000,0.077,2796,2261,3625,0,0,0,0,0,0
$GC,5454,-2.11,-110.4,781.4,-13.6,212,5458,0.00,2.72,0.00,0.000,4,0.000,0.090,2796,3791,3623,0,0,0,0,0,0
$GC,5570,-2.11,-110.4,798.0,-14.2,214,5575,0.00,2.62,0.00,0.000,6,0.000,0.073,2796,2274,3622,0,0,0,0,0,0
$GC,5823,-2.11,-110.4,832.9,-14.4,220,5827,0.00,2.67,0.00,0.000,4,0.000,0.088,2796,3790,3621,0,0,0,0,0,0
$GC,5844,-2.11,-110.4,836.5,-14.2,220,5848,0.00,2.62,0.00,0.000,6,0.000,0.067,2796,2275,3621,0,0,0,0,0,0
$GC,6104,-2.11,-110.4,872.1,-13.3,227,6109,0.00,2.70,0.00,0.000,4,0.000,0.084,2796,3793,3619,0,0,0,0,0,0
$GC,6173,-2.11,-110.4,881.0,-12.9,228,6177,0.00,2.62,0.00,0.000,6,0.000,0.070,2796,2285,3619,0,0,0,0,0,0
$STATE,6344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6344,begin apogee
$GC,6350,-0.31,0.0,904.0,13.0,233,6445,1.77,0.00,90.53,1.183,6,0.084,0.000,3190,2368,3190,0,0,0,0,0,0
$STATE,6445,end apogee,CONTROL_FINISHED_OK
$STATE,6446,begin climb
$GC,6448,1.93,110.4,906.1,0.0,235,6557,2.03,2.85,95.75,1.160,4,0.031,0.080,3690,3925,2739,0,0,0,0,0,0
$GC,6588,1.84,110.4,895.0,14.0,238,6593,0.15,2.70,0.00,0.000,6,0.140,0.062,3663,2368,2736,0,0,0,0,0,0
$GC,6862,1.84,110.4,860.1,12.6,245,6867,0.00,2.72,0.00,0.000,4,0.000,0.064,3663,3930,2731,0,0,0,0,0,0
$GC,7108,1.84,110.4,827.4,13.7,250,7112,0.00,2.60,0.00,0.000,6,0.000,0.043,3663,2392,2729,0,0,0,0,0,0
$GC,7372,1.84,110.4,796.3,12.1,257,7376,0.00,2.65,0.00,0.000,4,0.000,0.059,3663,3938,2728,0,0,0,0,0,0
$GC,7477,1.84,110.4,782.4,12.9,259,7481,0.00,2.60,0.00,0.000,6,0.000,0.043,3663,2399,2728,0,0,0,0,0,0
$GC,7738,1.84,110.4,752.9,11.3,266,7743,0.00,2.62,0.00,0.000,4,0.000,0.060,3663,3935,2726,0,0,0,0,0,0
$GC,7917,1.84,110.4,730.2,13.1,270,7922,0.00,2.55,0.00,0.000,6,0.000,0.042,3663,2417,2725,0,0,0,0,0,0
$GC,8196,1.84,110.4,699.1,11.1,277,8200,0.00,2.58,0.00,0.000,4,0.000,0.055,3663,3931,2724,0,0,0,0,0,0
$GC,8380,1.84,110.4,675.9,13.3,281,8384,0.00,2.50,0.00,0.000,6,0.000,0.044,3663,2428,2723,0,0,0,0,0,0
$GC,8657,1.84,110.4,643.3,11.7,288,8662,0.00,2.55,0.00,0.000,4,0.000,0.056,3663,3932,2722,0,0,0,0,0,0
$GC,8812,1.84,110.4,624.3,12.5,291,8816,0.00,2.47,0.00,0.000,6,0.000,0.039,3663,2434,2722,0,0,0,0,0,0
$GC,9072,1.84,110.4,593.0,11.8,298,9077,0.00,2.55,0.00,0.000,4,0.000,0.054,3663,3938,2722,0,0,0,0,0,0
$GC,9233,1.84,110.4,571.6,14.3,301,9237,0.00,2.45,0.00,0.000,6,0.000,0.042,3663,2448,2721,0,0,0,0,0,0
$GC,9488,1.84,110.4,539.9,12.1,308,9492,0.00,2.50,0.00,0.000,4,0.000,0.058,3663,3937,2721,0,0,0,0,0,0
$GC,9559,1.84,110.4,530.5,13.2,309,9564,0.00,2.42,0.00,0.000,6,0.000,0.037,3663,2453,2721,0,0,0,0,0,0
$GC,9812,1.84,110.4,499.4,12.4,315,9816,0.00,2.47,0.00,0.000,4,0.000,0.049,3663,3937,2720,0,0,0,0,0,0
$GC,9945,1.84,110.4,481.0,12.9,318,9949,0.00,2.38,0.00,0.000,6,0.000,0.031,3663,2467,2720,0,0,0,0,0,0
$GC,10226,1.84,110.4,448.8,11.6,325,10230,0.00,2.45,0.00,0.000,4,0.000,0.045,3663,3936,2720,0,0,0,0,0,0
$GC,10320,1.84,110.4,437.5,12.4,327,10324,0.00,2.38,0.00,0.000,6,0.000,0.028,3663,2471,2720,0,0,0,0,0,0
$GC,10592,1.84,110.4,407.9,10.8,334,10596,0.00,2.42,0.00,0.000,4,0.000,0.044,3663,3935,2720,0,0,0,0,0,0
$GC,10728,1.84,110.4,391.8,12.3,337,10732,0.00,2.33,0.00,0.000,6,0.000,0.026,3663,2480,2720,0,0,0,0,0,0
$GC,11006,1.89,110.4,359.9,11.5,344,11010,0.00,2.42,0.00,0.000,4,0.000,0.051,3663,3943,2720,0,0,0,0,0,0
$GC,11063,1.89,110.4,353.0,12.5,345,11067,0.00,2.35,0.00,0.000,6,0.000,0.027,3663,2474,2720,0,0,0,0,0,0
$GC,11329,1.95,110.4,323.5,10.7,352,11333,0.00,2.42,0.00,0.000,4,0.000,0.049,3663,3944,2720,0,0,0,0,0,0
$GC,11460,1.95,110.4,308.8,11.8,355,11464,0.00,2.33,0.00,0.000,6,0.000,0.025,3663,2485,2720,0,0,0,0,0,0
$GC,11744,2.01,110.4,276.2,11.8,362,11749,0.15,2.40,0.00,0.000,4,0.066,0.042,3708,3941,2721,0,0,0,0,0,0
$GC,11948,1.94,110.4,249.2,12.9,366,11953,0.12,2.30,0.00,0.000,6,0.141,0.025,3684,2490,2721,0,0,0,0,0,0
$GC,12203,1.95,115.1,222.9,9.4,373,12207,0.00,2.38,0.00,0.000,4,0.000,0.041,3685,3941,2722,0,0,0,0,0,0
$GC,12400,1.96,119.8,202.9,9.4,377,12411,0.00,2.28,6.22,0.550,6,0.000,0.025,3685,2490,2701,0,0,0,0,0,0
$GC,12671,2.02,120.7,177.8,9.9,399,12675,0.00,2.40,0.00,0.000,4,0.000,0.043,3685,3945,2701,0,0,0,0,0,0
$GC,12941,2.14,188.8,164.6,2.0,421,13007,0.17,2.25,58.67,0.636,6,0.063,0.023,3735,2515,2419,0,0,0,0,0,0
$GC,13268,2.20,188.8,134.2,10.6,452,13273,0.00,2.35,0.00,0.000,4,0.000,0.041,3735,3938,2414,0,0,0,0,0,0
$GC,13543,2.20,188.8,98.1,11.6,474,13552,0.00,2.25,0.00,0.000,6,0.000,0.025,3735,2532,2414,0,0,0,0,0,0
$GC,13812,2.27,188.8,70.5,10.2,499,13816,0.00,2.30,0.00,0.000,4,0.000,0.042,3735,3935,2414,0,0,0,0,0,0
$GC,14035,2.30,213.0,47.2,7.2,516,14064,0.10,2.17,21.27,0.512,6,0.081,0.025,3771,2541,2320,0,0,0,0,0,0
$GC,14338,2.30,213.0,12.4,14.3,550,14348,0.00,2.30,0.00,0.000,4,0.000,0.037,3771,3944,2319,0,0,0,0,0,0
$STATE,14403,end climb,SURFACE_DEPTH_REACHED
$STATE,14403,begin surface coast
$FINISH,1.1,1.012423
$STATE,14439,end surface coast,CONTROL_FINISHED_OK
$STATE,14439,begin surface
$SM_CCo,14465,110.47,0.495,0,0,1763,350.04
$SM_GC,1.81,0.00,0.00,110.47,0.000,0.000,0.495,465,2179,1763,-12.86,-0.88,350.04
$IRIDIUM_FIX,1916.08,-8119.23,230602,080811
$TT8_MAMPS,0.026078
$HUMID,57.36
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.50
$XPDR_PINGS,60
$24V_AH,23.3,47.685
$10V_AH,10.2,42.238
$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,31.050,192.400,272.450,110.475,0.000,86.962,114.843,443.406,15.000,0.000,13.950,1298.100,10227.854,494.550,2413.998,1101.709,33.363,1522.499,0.000,2397.470,0.000,0.538,0.000
$DEVICE_MAMPS,149.565,120.419,1183.481,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.511,277.038,354.302,476.524,908.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,44725,564
$CAP_FILE_SIZE,153049,0
$CFSIZE,260165632,104673280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290313,130005,1926.862,-8119.206,43,1.0,48,-3.7