version: 66.06
glider: 146
mission: 5
dive: 259
start: 9 22 110 2 21 40
data:
$ID,146
$MISSION,5
$DIVE,259
$D_SURF,4
$D_FLARE,3
$D_TGT,950
$D_ABORT,1000
$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,316
$T_MISSION,660
$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,120
$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,-252354.73
$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,69
$R_STBD_OVSHOOT,11
$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
$GPS1,021407,2233.391,-15749.924,42,1.1,42,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.0
$GPS2,022043,2233.296,-15749.970,12,1.2,12,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.008,0.235
$KALMAN_X,-261851.1,-26.5,-137.3,297529.0,-442.7
$KALMAN_Y,-293673.9,60.6,-151.1,391390.8,-3711.3
$MHEAD_RNG_PITCHd_Wd,348.1,46648,-19.8,-10.021
$D_GRID,950
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-85.85,0.000,6,0.000,0.000,473,1723,3479,0,0,0,0,0,0
$GC,106,-1.38,-116.8,4.4,-8.9,11,124,11.30,2.65,0.00,0.000,4,0.139,0.031,2691,3382,3481,0,0,0,0,0,0
$GC,207,-1.30,-116.8,31.4,-17.1,25,212,0.12,2.53,0.00,0.000,6,0.111,0.031,2718,1813,3482,0,0,0,0,0,0
$GC,475,-1.21,-116.8,74.8,-15.3,49,480,0.00,2.78,0.00,0.000,4,0.000,0.059,2718,187,3483,0,0,0,0,0,0
$GC,509,-1.13,-116.8,80.7,-16.5,51,514,0.17,2.50,0.00,0.000,6,0.097,0.015,2756,1823,3483,0,0,0,0,0,0
$GC,778,-1.18,-116.8,109.6,-9.7,75,782,0.00,2.45,0.00,0.000,4,0.000,0.026,2756,3387,3484,0,0,0,0,0,0
$GC,801,-1.25,-116.8,112.6,-10.0,76,810,0.08,2.65,0.00,0.000,6,0.044,0.028,2716,1760,3484,0,0,0,0,0,0
$GC,1066,-1.25,-116.8,142.3,-11.0,101,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1760,3484,0,0,0,0,0,0
$GC,1329,-1.25,-116.8,174.4,-12.3,126,1333,0.00,2.55,0.00,0.000,4,0.000,0.026,2716,3379,3485,0,0,0,0,0,0
$GC,1357,-1.25,-116.8,178.0,-11.6,128,1362,0.00,2.60,0.00,0.000,6,0.000,0.034,2716,1751,3485,0,0,0,0,0,0
$GC,1637,-1.25,-116.8,208.9,-10.6,148,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1751,3485,0,0,0,0,0,0
$GC,1879,-1.25,-116.8,234.7,-10.5,154,1883,0.00,2.58,0.00,0.000,4,0.000,0.031,2716,3381,3485,0,0,0,0,0,0
$GC,1918,-1.30,-116.8,238.6,-10.6,155,1923,0.00,2.62,0.00,0.000,6,0.000,0.034,2716,1743,3485,0,0,0,0,0,0
$GC,2203,-1.30,-116.8,268.5,-10.7,162,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1743,3485,0,0,0,0,0,0
$GC,2445,-1.34,-116.8,293.6,-10.0,168,2450,0.00,2.60,0.00,0.000,4,0.000,0.037,2716,3377,3485,0,0,0,0,0,0
$GC,2473,-1.39,-116.8,296.2,-9.6,168,2477,0.00,2.65,0.00,0.000,6,0.000,0.037,2716,1756,3485,0,0,0,0,0,0
$GC,2723,-1.44,-116.8,319.3,-9.2,174,2728,0.12,2.80,0.00,0.000,4,0.074,0.087,2672,186,3484,0,0,0,0,0,0
$GC,2741,-1.44,-116.8,320.9,-8.8,174,2745,0.00,2.50,0.00,0.000,6,0.000,0.026,2672,1783,3484,0,0,0,0,0,0
$GC,3001,-1.44,-116.8,348.8,-10.4,181,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1785,3483,0,0,0,0,0,0
$GC,3245,-1.44,-116.8,375.0,-10.7,187,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1785,3482,0,0,0,0,0,0
$GC,3490,-1.44,-116.8,400.6,-10.3,193,3494,0.00,2.60,0.00,0.000,4,0.000,0.052,2672,3353,3481,0,0,0,0,0,0
$GC,3539,-1.44,-116.8,406.2,-11.1,194,3543,0.00,2.70,0.00,0.000,6,0.000,0.058,2672,1756,3481,0,0,0,0,0,0
$GC,3817,-1.44,-116.8,435.5,-10.5,201,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1756,3479,0,0,0,0,0,0
$GC,4062,-1.44,-116.8,461.1,-10.4,207,4067,0.00,2.65,0.00,0.000,4,0.000,0.054,2672,3345,3478,0,0,0,0,0,0
$GC,4124,-1.48,-116.8,467.1,-9.8,208,4129,0.00,2.72,0.00,0.000,6,0.000,0.062,2672,1757,3478,0,0,0,0,0,0
$GC,4385,-1.48,-116.8,491.7,-9.5,215,4389,0.00,2.62,0.00,0.000,4,0.000,0.051,2672,3338,3476,0,0,0,0,0,0
$GC,4407,-1.48,-116.8,494.0,-10.0,215,4412,0.00,2.70,0.00,0.000,6,0.000,0.067,2672,1765,3476,0,0,0,0,0,0
$GC,4662,-1.48,-116.8,517.9,-9.3,222,4667,0.00,2.67,0.00,0.000,4,0.000,0.056,2672,3342,3474,0,0,0,0,0,0
$GC,4718,-1.52,-116.8,523.2,-9.5,223,4722,0.00,2.72,0.00,0.000,6,0.000,0.067,2672,1772,3474,0,0,0,0,0,0
$GC,4986,-1.52,-116.8,548.8,-9.7,230,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1772,3472,0,0,0,0,0,0
$GC,5229,-1.52,-116.8,574.8,-11.0,236,5234,0.00,2.70,0.00,0.000,4,0.000,0.074,2672,3332,3470,0,0,0,0,0,0
$GC,5280,-1.58,-116.8,580.7,-11.4,237,5285,0.00,2.75,0.00,0.000,6,0.000,0.076,2672,1776,3470,0,0,0,0,0,0
$GC,5553,-1.58,-116.8,610.2,-10.8,244,5558,0.00,2.75,0.00,0.000,4,0.000,0.081,2672,3333,3468,0,0,0,0,0,0
$GC,5639,-1.63,-116.8,619.3,-9.8,246,5644,0.12,2.80,0.00,0.000,6,0.082,0.089,2634,1793,3467,0,0,0,0,0,0
$GC,5924,-1.59,-116.8,649.2,-10.3,253,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1793,3465,0,0,0,0,0,0
$GC,6166,-1.59,-116.8,673.5,-10.0,259,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1793,3463,0,0,0,0,0,0
$GC,6410,-1.59,-116.8,698.2,-10.0,265,6414,0.00,2.90,0.00,0.000,4,0.000,0.110,2634,3332,3462,0,0,0,0,0,0
$GC,6453,-1.59,-116.8,702.9,-11.1,266,6458,0.00,3.00,0.00,0.000,6,0.000,0.124,2634,1794,3462,0,0,0,0,0,0
$GC,6732,-1.59,-116.8,734.8,-11.9,273,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1794,3460,0,0,0,0,0,0
$GC,6976,-1.59,-116.8,762.4,-11.3,279,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1794,3458,0,0,0,0,0,0
$GC,7218,-1.59,-116.8,789.0,-10.9,285,7223,0.00,3.20,0.00,0.000,4,0.000,0.165,2634,3327,3457,0,0,0,0,0,0
$GC,7263,-1.59,-116.8,793.8,-10.9,286,7268,0.00,2.75,0.00,0.000,6,0.000,0.080,2634,1785,3457,0,0,0,0,0,0
$GC,7540,-1.59,-116.8,822.1,-10.0,293,7545,0.00,2.65,0.00,0.000,4,0.000,0.064,2634,3335,3455,0,0,0,0,0,0
$GC,7581,-1.59,-116.8,825.9,-9.7,294,7585,0.00,2.70,0.00,0.000,6,0.000,0.072,2634,1791,3455,0,0,0,0,0,0
$GC,7865,-1.59,-116.8,853.1,-9.7,301,7870,0.00,2.65,0.00,0.000,4,0.000,0.072,2634,3336,3453,0,0,0,0,0,0
$GC,7893,-1.59,-116.8,856.0,-10.2,301,7897,0.00,2.72,0.00,0.000,6,0.000,0.073,2634,1794,3454,0,0,0,0,0,0
$GC,8143,-1.59,-116.8,880.1,-9.7,307,8147,0.00,2.67,0.00,0.000,4,0.000,0.068,2634,3336,3452,0,0,0,0,0,0
$GC,8169,-1.59,-116.8,883.0,-10.4,307,8174,0.00,2.72,0.00,0.000,6,0.000,0.073,2634,1794,3452,0,0,0,0,0,0
$GC,8421,-1.59,-116.8,906.8,-9.5,313,8426,0.00,2.67,0.00,0.000,4,0.000,0.067,2634,3334,3451,0,0,0,0,0,0
$GC,8461,-1.59,-116.8,910.8,-9.3,314,8465,0.00,2.67,0.00,0.000,6,0.000,0.075,2634,1807,3451,0,0,0,0,0,0
$GC,8745,-1.59,-116.8,936.2,-8.9,321,8750,0.00,2.62,0.00,0.000,4,0.000,0.073,2634,3334,3450,0,0,0,0,0,0
$GC,8789,-1.59,-116.8,940.0,-9.0,322,8793,0.00,2.67,0.00,0.000,6,0.000,0.071,2634,1814,3450,0,0,0,0,0,0
$STATE,8941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8942,begin apogee
$GC,8947,-0.31,0.0,953.2,8.6,326,9051,1.35,0.00,100.12,1.295,6,0.089,0.000,2930,1814,3000,0,0,0,0,0,0
$STATE,9052,end apogee,CONTROL_FINISHED_OK
$STATE,9052,begin climb
$GC,9056,1.38,116.8,954.1,0.0,328,9180,1.55,3.22,110.10,1.262,4,0.043,0.126,3301,232,2521,0,0,0,0,0,0
$GC,9186,1.18,123.2,948.1,9.7,331,9201,0.22,2.65,6.82,0.967,6,0.131,0.044,3259,1796,2498,0,0,0,0,0,0
$GC,9471,1.09,123.2,918.0,10.6,338,9476,0.10,2.83,0.00,0.000,4,0.149,0.076,3241,3410,2489,0,0,0,0,0,0
$GC,9613,1.09,123.2,902.8,10.4,341,9617,0.00,2.72,0.00,0.000,6,0.000,0.057,3241,1832,2486,0,0,0,0,0,0
$GC,9886,1.04,124.5,875.6,9.9,348,9891,0.00,2.67,0.00,0.000,4,0.000,0.054,3241,3407,2485,0,0,0,0,0,0
$GC,9947,1.04,125.8,869.1,9.9,349,9952,0.00,2.72,0.00,0.000,6,0.000,0.062,3241,1840,2484,0,0,0,0,0,0
$GC,10210,1.02,142.0,845.4,9.1,356,10233,0.00,2.72,16.60,1.137,4,0.000,0.051,3241,3407,2421,0,0,0,0,0,0
$GC,10273,1.03,152.4,839.1,9.4,357,10294,0.00,2.70,11.52,1.080,6,0.000,0.060,3241,1852,2378,0,0,0,0,0,0
$GC,10538,1.04,159.8,813.9,9.6,364,10552,0.00,2.72,7.88,1.003,4,0.000,0.050,3241,3405,2348,0,0,0,0,0,0
$GC,10571,1.04,160.4,810.6,10.0,364,10575,0.00,2.70,0.00,0.000,6,0.000,0.061,3241,1856,2348,0,0,0,0,0,0
$GC,10820,1.04,160.4,784.2,10.7,370,10825,0.00,2.62,0.00,0.000,4,0.000,0.051,3241,3409,2346,0,0,0,0,0,0
$GC,10853,1.04,160.4,780.5,10.9,370,10859,0.00,2.70,0.00,0.000,6,0.000,0.062,3241,1858,2345,0,0,0,0,0,0
$GC,11105,1.04,160.4,752.9,11.1,377,11109,0.00,2.62,0.00,0.000,4,0.000,0.053,3241,3407,2345,0,0,0,0,0,0
$GC,11170,1.04,160.4,745.4,11.1,378,11175,0.00,2.67,0.00,0.000,6,0.000,0.058,3241,1866,2343,0,0,0,0,0,0
$GC,11426,1.06,171.7,720.9,9.4,385,11445,0.00,2.72,12.10,1.048,4,0.000,0.054,3241,3409,2300,0,0,0,0,0,0
$GC,11480,1.07,179.7,716.0,9.6,386,11495,0.00,2.67,9.40,0.994,6,0.000,0.060,3241,1872,2268,0,0,0,0,0,0
$GC,11757,1.09,200.7,691.3,8.8,393,11780,0.00,0.00,21.33,1.075,6,0.000,0.000,3241,1872,2182,0,0,0,0,0,0
$GC,12002,1.09,200.7,666.7,10.3,399,12006,0.00,2.60,0.00,0.000,4,0.000,0.053,3241,3407,2176,0,0,0,0,0,0
$GC,12041,1.10,204.6,662.5,9.8,400,12045,0.00,2.65,0.00,0.000,6,0.000,0.063,3242,1880,2175,0,0,0,0,0,0
$GC,12324,1.10,204.6,632.1,10.8,407,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1879,2175,0,0,0,0,0,0
$GC,12568,1.10,204.6,605.8,10.8,413,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1880,2174,0,0,0,0,0,0
$GC,12811,1.10,204.6,580.7,10.1,419,12815,0.00,2.58,0.00,0.000,4,0.000,0.051,3241,3410,2173,0,0,0,0,0,0
$GC,12900,1.14,204.6,571.7,10.1,421,12904,0.00,2.65,0.00,0.000,6,0.000,0.067,3241,1885,2172,0,0,0,0,0,0
$GC,13179,1.16,220.4,546.4,9.1,428,13203,0.00,2.65,18.08,0.983,4,0.000,0.052,3241,3404,2102,0,0,0,0,0,0
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$STATE,18251,end climb,SURFACE_DEPTH_REACHED
$STATE,18251,begin surface coast
$FINISH,0.3,1.009963
$STATE,18302,end surface coast,CONTROL_FINISHED_OK
$STATE,18302,begin surface
$SM_CCo,18324,97.10,0.475,1,0,1287,420.20
$SM_GC,1.08,0.00,0.00,97.10,0.000,0.000,0.475,476,1715,1287,-11.62,-1.58,420.20
$IRIDIUM_FIX,2225.34,-15752.42,161299,212136
$TT8_MAMPS,0.026078
$HUMID,46.10
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.60
$XPDR_PINGS,78
$24V_AH,23.2,36.144
$10V_AH,10.2,36.934
$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,27.200,219.225,402.700,97.100,0.000,29.582,40.821,182.975,19.500,0.000,14.050,1501.593,13589.733,628.273,2452.638,650.629,33.369,1673.943,0.000,2441.118,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,164.905,1295.463,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,475.325,316.732,418.094,718.291,1087.439,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,54103,697
$CAP_FILE_SIZE,168630,0
$CFSIZE,260165632,167059456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220910,073036,2233.626,-15750.826,68,0.9,68,10.0