version: 66.06
glider: 146
mission: 5
dive: 34
start: 8 19 110 20 13 57
data:
$ID,146
$MISSION,5
$DIVE,34
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,375
$T_MISSION,420
$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,1.0275
$MASS,52407
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,-247773
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,55
$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,3001
$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,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$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,13
$ALTIM_PULSE,4
$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,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,200625,2251.527,-15756.198,66,1.1,66,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.0
$GPS2,201302,2251.564,-15756.247,14,1.0,14,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,0.226
$KALMAN_X,-23141.3,-307.5,56.0,48107.6,-694.0
$KALMAN_Y,41614.4,-195.6,-106.3,90158.6,1327.4
$MHEAD_RNG_PITCHd_Wd,9.9,12107,-14.1,-8.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,105,0.00,0.00,-86.85,0.000,2,0.000,0.000,476,1734,3526,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.6,-6.3,11,127,11.95,2.62,-1.20,0.000,4,0.151,0.046,2760,3336,3599,0,0,0,0,0,0
$GC,190,-0.94,-146.0,28.7,-15.4,22,200,0.12,2.55,0.00,0.000,6,0.084,0.035,2792,1799,3600,0,0,0,0,0,0
$GC,458,-0.86,-146.0,62.2,-11.3,47,463,0.10,2.83,0.00,0.000,4,0.127,0.067,2812,185,3601,0,0,0,0,0,0
$GC,552,-0.86,-146.0,73.6,-10.3,54,557,0.00,2.40,0.00,0.000,6,0.000,0.016,2812,1777,3601,0,0,0,0,0,0
$GC,815,-0.86,-146.0,99.2,-8.5,78,819,0.00,2.45,0.00,0.000,4,0.000,0.027,2812,3320,3602,0,0,0,0,0,0
$GC,843,-0.86,-146.0,101.5,-7.7,80,848,0.00,2.53,0.00,0.000,6,0.000,0.031,2812,1750,3602,0,0,0,0,0,0
$GC,1106,-0.86,-146.0,121.1,-7.0,104,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1749,3603,0,0,0,0,0,0
$GC,1361,-0.86,-146.0,139.5,-7.2,128,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1749,3602,0,0,0,0,0,0
$GC,1615,-0.90,-146.0,158.4,-7.4,152,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1749,3602,0,0,0,0,0,0
$GC,1871,-0.94,-146.0,177.9,-7.9,176,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1749,3602,0,0,0,0,0,0
$GC,2124,-0.99,-146.0,197.4,-7.9,200,2126,0.12,0.00,0.00,0.000,6,0.074,0.000,2771,1749,3603,0,0,0,0,0,0
$GC,2400,-0.95,-146.0,225.7,-10.6,209,2402,0.10,0.00,0.00,0.000,6,0.122,0.000,2791,1749,3602,0,0,0,0,0,0
$GC,2643,-0.95,-146.0,250.3,-10.1,215,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1749,3602,0,0,0,0,0,0
$GC,2886,-0.95,-146.0,272.3,-8.8,221,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1749,3602,0,0,0,0,0,0
$GC,3132,-0.95,-146.0,291.7,-7.7,227,3136,0.00,2.53,0.00,0.000,4,0.000,0.038,2792,3317,3602,0,0,0,0,0,0
$GC,3164,-1.01,-146.0,294.3,-7.4,227,3170,0.00,2.55,0.00,0.000,6,0.000,0.035,2791,1758,3602,0,0,0,0,0,0
$GC,3414,-1.01,-146.0,309.8,-5.9,234,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1759,3601,0,0,0,0,0,0
$GC,3660,-1.05,-146.0,323.8,-5.7,240,3664,0.00,2.80,0.00,0.000,4,0.000,0.090,2791,189,3601,0,0,0,0,0,0
$GC,3689,-1.12,-146.0,325.7,-6.2,240,3694,0.15,2.42,0.00,0.000,6,0.067,0.031,2746,1727,3601,0,0,0,0,0,0
$GC,3939,-1.07,-146.0,347.5,-8.9,246,3944,0.10,2.67,0.00,0.000,4,0.124,0.054,2767,3357,3600,0,0,0,0,0,0
$GC,3985,-1.14,-146.0,351.1,-7.5,247,3989,0.00,2.65,0.00,0.000,6,0.000,0.049,2767,1763,3600,0,0,0,0,0,0
$GC,4262,-1.14,-146.0,370.4,-6.6,254,4267,0.00,2.88,0.00,0.000,4,0.000,0.101,2766,185,3599,0,0,0,0,0,0
$GC,4283,-1.14,-146.0,371.9,-6.6,254,4288,0.00,2.47,0.00,0.000,6,0.000,0.028,2766,1758,3599,0,0,0,0,0,0
$GC,4540,-1.14,-146.0,387.6,-6.2,261,4545,0.00,2.67,0.00,0.000,4,0.000,0.054,2766,3361,3598,0,0,0,0,0,0
$GC,4567,-1.18,-146.0,389.4,-6.3,261,4573,0.10,2.72,0.00,0.000,6,0.088,0.058,2734,1760,3598,0,0,0,0,0,0
$GC,4818,-1.13,-146.0,408.3,-7.7,267,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1760,3597,0,0,0,0,0,0
$GC,5062,-1.09,-146.0,429.7,-9.0,273,5064,0.12,0.00,0.00,0.000,6,0.117,0.000,2760,1760,3595,0,0,0,0,0,0
$GC,5306,-1.09,-146.0,451.5,-9.1,279,5310,0.00,2.70,0.00,0.000,4,0.000,0.059,2760,3356,3594,0,0,0,0,0,0
$GC,5345,-1.14,-146.0,455.4,-9.8,280,5350,0.00,2.72,0.00,0.000,6,0.000,0.068,2760,1769,3594,0,0,0,0,0,0
$GC,5629,-1.14,-146.0,480.7,-8.7,287,5634,0.00,3.05,0.00,0.000,4,0.000,0.131,2760,182,3592,0,0,0,0,0,0
$GC,5656,-1.14,-146.0,483.1,-9.0,287,5660,0.00,2.58,0.00,0.000,6,0.000,0.041,2760,1757,3591,0,0,0,0,0,0
$GC,5906,-1.14,-146.0,502.5,-7.6,293,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1757,3590,0,0,0,0,0,0
$GC,6151,-1.14,-146.0,518.5,-6.4,299,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1757,3588,0,0,0,0,0,0
$GC,6393,-1.14,-146.0,531.3,-5.1,305,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1757,3587,0,0,0,0,0,0
$GC,6637,-1.14,-146.0,544.7,-5.5,311,6642,0.00,2.85,0.00,0.000,4,0.000,0.087,2759,3356,3585,0,0,0,0,0,0
$GC,6670,-1.20,-146.0,546.8,-6.9,311,6676,0.00,2.75,0.00,0.000,6,0.000,0.071,2759,1774,3585,0,0,0,0,0,0
$GC,6921,-1.24,-146.0,562.9,-6.4,318,6923,0.12,0.00,0.00,0.000,6,0.082,0.000,2724,1774,3584,0,0,0,0,0,0
$GC,7164,-1.24,-146.0,580.9,-7.2,324,7168,0.00,2.75,0.00,0.000,4,0.000,0.078,2724,3354,3581,0,0,0,0,0,0
$GC,7191,-1.24,-146.0,582.9,-7.7,324,7195,0.00,2.80,0.00,0.000,6,0.000,0.081,2723,1777,3581,0,0,0,0,0,0
$GC,7442,-1.24,-146.0,600.9,-7.1,330,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1776,3580,0,0,0,0,0,0
$GC,7684,-1.24,-146.0,618.1,-6.9,336,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1777,3579,0,0,0,0,0,0
$GC,7928,-1.24,-146.0,634.5,-6.7,342,7933,0.00,2.80,0.00,0.000,4,0.000,0.087,2724,3354,3577,0,0,0,0,0,0
$GC,7956,-1.24,-146.0,636.5,-7.0,342,7961,0.00,2.90,0.00,0.000,6,0.000,0.100,2724,1772,3577,0,0,0,0,0,0
$GC,8206,-1.24,-146.0,655.1,-7.5,348,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1772,3575,0,0,0,0,0,0
$GC,8450,-1.24,-146.0,674.0,-7.8,354,8454,0.00,2.92,0.00,0.000,4,0.000,0.100,2724,3360,3574,0,0,0,0,0,0
$GC,8482,-1.24,-146.0,676.6,-7.2,354,8488,0.00,3.00,0.00,0.000,6,0.000,0.119,2724,1786,3574,0,0,0,0,0,0
$GC,8734,-1.24,-146.0,695.1,-7.4,361,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1786,3573,0,0,0,0,0,0
$GC,8976,-1.24,-146.0,713.0,-7.4,367,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1786,3572,0,0,0,0,0,0
$GC,9220,-1.24,-146.0,732.0,-7.8,373,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1786,3570,0,0,0,0,0,0
$GC,9465,-1.24,-146.0,750.7,-7.7,379,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1786,3569,0,0,0,0,0,0
$GC,9707,-1.24,-146.0,770.9,-8.4,385,9712,0.00,3.08,0.00,0.000,4,0.000,0.133,2724,3363,3568,0,0,0,0,0,0
$GC,9728,-1.24,-146.0,772.9,-9.5,385,9733,0.00,2.78,0.00,0.000,6,0.000,0.079,2724,1784,3568,0,0,0,0,0,0
$GC,9984,-1.24,-146.0,795.8,-9.0,392,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1783,3567,0,0,0,0,0,0
$GC,10228,-1.24,-146.0,816.4,-8.3,398,10233,0.00,2.70,0.00,0.000,4,0.000,0.071,2724,3361,3566,0,0,0,0,0,0
$GC,10267,-1.24,-146.0,819.8,-8.6,399,10272,0.00,2.75,0.00,0.000,6,0.000,0.074,2724,1792,3566,0,0,0,0,0,0
$GC,10551,-1.24,-146.0,839.3,-6.6,406,10556,0.00,2.72,0.00,0.000,4,0.000,0.076,2724,3356,3565,0,0,0,0,0,0
$GC,10580,-1.24,-146.0,841.3,-6.6,406,10585,0.00,2.75,0.00,0.000,6,0.000,0.084,2724,1804,3565,0,0,0,0,0,0
$GC,10830,-1.24,-146.0,855.6,-5.7,412,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1804,3564,0,0,0,0,0,0
$GC,11074,-1.24,-146.0,869.3,-5.7,418,11078,0.00,2.72,0.00,0.000,4,0.000,0.077,2724,3362,3563,0,0,0,0,0,0
$GC,11096,-1.24,-146.0,870.8,-7.0,418,11101,0.00,2.78,0.00,0.000,6,0.000,0.081,2724,1809,3563,0,0,0,0,0,0
$GC,11351,-1.24,-146.0,886.7,-6.3,425,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1809,3562,0,0,0,0,0,0
$STATE,11551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11552,begin apogee
$GC,11557,-0.31,0.0,900.2,6.7,430,11684,0.93,0.00,123.57,1.263,6,0.087,0.000,2929,1809,3001,0,0,0,0,0,0
$STATE,11685,end apogee,CONTROL_FINISHED_OK
$STATE,11685,begin climb
$GC,11689,1.06,146.0,903.5,0.0,433,11830,1.30,2.88,133.57,1.232,4,0.044,0.071,3239,3408,2404,0,0,0,0,0,0
$GC,11849,0.84,147.0,898.4,8.0,436,11854,0.28,2.88,0.00,0.000,6,0.121,0.078,3186,1821,2399,0,0,0,0,0,0
$GC,12117,0.72,147.0,876.6,8.1,443,12122,0.12,2.78,0.00,0.000,4,0.137,0.067,3162,3404,2392,0,0,0,0,0,0
$GC,12157,0.74,156.5,873.4,7.6,444,12171,0.00,2.80,8.88,1.027,6,0.000,0.075,3162,1828,2362,0,0,0,0,0,0
$GC,12445,0.69,162.8,851.1,7.8,451,12454,0.00,0.00,6.95,0.973,6,0.000,0.000,3162,1828,2337,0,0,0,0,0,0
$GC,12690,0.64,169.8,832.2,7.7,457,12704,0.10,2.80,8.10,1.014,4,0.258,0.057,3144,3404,2308,0,0,0,0,0,0
$GC,12749,0.68,201.4,827.7,6.8,458,12788,0.00,2.78,31.12,1.167,6,0.000,0.066,3144,1829,2178,0,0,0,0,0,0
$GC,13064,0.73,241.8,806.8,6.5,466,13105,0.00,0.00,37.90,1.165,6,0.000,0.000,3144,1829,2015,0,0,0,0,0,0
$GC,13349,0.77,272.9,787.3,6.8,473,13381,0.10,0.00,29.65,1.140,6,0.106,0.000,3168,1829,1888,0,0,0,0,0,0
$GC,13594,0.77,272.9,765.9,9.0,479,13599,0.00,3.20,0.00,0.000,4,0.000,0.134,3168,229,1882,0,0,0,0,0,0
$GC,13626,0.69,272.9,762.3,10.5,479,13632,0.00,2.67,0.00,0.000,6,0.000,0.036,3168,1835,1881,0,0,0,0,0,0
$GC,13876,0.69,272.9,739.4,9.1,486,13877,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1835,1881,0,0,0,0,0,0
$GC,14120,0.69,272.9,717.8,8.7,492,14124,0.00,2.97,0.00,0.000,4,0.000,0.100,3168,231,1879,0,0,0,0,0,0
$GC,14150,0.62,272.9,715.0,9.6,492,14155,0.15,2.65,0.00,0.000,6,0.127,0.035,3137,1829,1878,0,0,0,0,0,0
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$STATE,22250,end climb,SURFACE_DEPTH_REACHED
$STATE,22250,begin surface coast
$FINISH,0.3,1.011232
$STATE,22301,end surface coast,CONTROL_FINISHED_OK
$STATE,22301,begin surface
$SM_CCo,22322,50.40,0.413,1,0,1288,420.20
$SM_GC,0.85,0.00,0.00,50.40,0.000,0.000,0.413,478,1752,1288,-11.60,-0.51,420.20
$IRIDIUM_FIX,2239.35,-15754.99,131199,141435
$TT8_MAMPS,0.026078
$HUMID,40.66
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.50
$XPDR_PINGS,69
$24V_AH,23.3,8.651
$10V_AH,10.4,7.766
$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,27.675,191.250,473.275,50.400,0.000,27.856,31.919,191.874,17.250,0.000,16.202,1725.990,17095.551,680.798,2610.844,652.711,33.375,1709.655,0.000,2607.930,0.000,0.535,0.000
$DEVICE_MAMPS,257.712,134.225,1263.249,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,583.733,430.789,518.632,859.005,1300.073,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,66925,856
$CAP_FILE_SIZE,180147,0
$CFSIZE,260165632,180908032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200810,022809,2254.688,-15755.693,33,1.4,33,10.1