version: 66.06
glider: 146
mission: 5
dive: 263
start: 9 22 110 23 38 50
data:
$ID,146
$MISSION,5
$DIVE,263
$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,-252412.28
$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,32
$R_STBD_OVSHOOT,58
$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
$GPS1,233154,2233.362,-15750.566,23,1.2,41,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.8
$GPS2,233755,2233.268,-15750.678,12,1.3,12,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.035,0.232
$KALMAN_X,-267060.9,28.2,-42.5,301374.9,-1231.5
$KALMAN_Y,-310524.7,-118.4,-182.7,408403.4,-3665.7
$MHEAD_RNG_PITCHd_Wd,358.6,45946,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.68,0.000,6,0.000,0.000,472,1738,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.7,-9.8,11,126,11.30,2.53,0.00,0.000,4,0.139,0.025,2689,3339,3481,0,0,0,0,0,0
$GC,221,-1.28,-116.8,33.5,-16.8,26,227,0.15,2.53,0.00,0.000,6,0.106,0.032,2721,1772,3482,0,0,0,0,0,0
$GC,489,-1.21,-116.8,76.1,-14.1,50,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1772,3483,0,0,0,0,0,0
$GC,754,-1.21,-116.8,108.7,-11.2,75,758,0.00,2.45,0.00,0.000,4,0.000,0.029,2721,3336,3483,0,0,0,0,0,0
$GC,810,-1.21,-116.8,114.3,-10.2,79,814,0.00,2.50,0.00,0.000,6,0.000,0.028,2720,1771,3484,0,0,0,0,0,0
$GC,1076,-1.21,-116.8,145.0,-13.3,103,1080,0.00,2.72,0.00,0.000,4,0.000,0.069,2720,197,3485,0,0,0,0,0,0
$GC,1097,-1.21,-116.8,148.7,-13.3,104,1106,0.00,2.42,0.00,0.000,6,0.000,0.016,2720,1795,3484,0,0,0,0,0,0
$GC,1361,-1.21,-116.8,181.8,-12.6,129,1365,0.00,2.35,0.00,0.000,4,0.000,0.029,2721,3310,3485,0,0,0,0,0,0
$GC,1383,-1.21,-116.8,184.4,-13.0,130,1388,0.00,2.45,0.00,0.000,6,0.000,0.031,2721,1769,3485,0,0,0,0,0,0
$GC,1639,-1.21,-116.8,214.2,-11.1,145,1643,0.00,2.72,0.00,0.000,4,0.000,0.070,2721,192,3485,0,0,0,0,0,0
$GC,1661,-1.21,-116.8,216.5,-10.7,145,1665,0.00,2.38,0.00,0.000,6,0.000,0.018,2720,1780,3485,0,0,0,0,0,0
$GC,1918,-1.21,-116.8,238.8,-8.3,152,1922,0.00,2.42,0.00,0.000,4,0.000,0.027,2721,3320,3485,0,0,0,0,0,0
$GC,1945,-1.27,-116.8,241.2,-8.2,152,1950,0.00,2.45,0.00,0.000,6,0.000,0.033,2720,1798,3484,0,0,0,0,0,0
$GC,2197,-1.32,-116.8,263.3,-9.4,158,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1798,3485,0,0,0,0,0,0
$GC,2439,-1.38,-116.8,291.0,-11.5,164,2443,0.00,2.42,0.00,0.000,4,0.000,0.038,2721,3317,3485,0,0,0,0,0,0
$GC,2471,-1.47,-116.8,294.8,-11.1,164,2478,0.17,2.45,0.00,0.000,6,0.058,0.042,2664,1811,3485,0,0,0,0,0,0
$GC,2723,-1.43,-116.8,325.9,-12.3,171,2728,0.12,2.90,0.00,0.000,4,0.112,0.083,2690,189,3484,0,0,0,0,0,0
$GC,2756,-1.43,-116.8,330.3,-12.5,171,2762,0.00,2.47,0.00,0.000,6,0.000,0.028,2690,1767,3484,0,0,0,0,0,0
$GC,3006,-1.43,-116.8,358.9,-11.4,178,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1767,3483,0,0,0,0,0,0
$GC,3250,-1.43,-116.8,385.4,-10.6,184,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1767,3482,0,0,0,0,0,0
$GC,3495,-1.43,-116.8,406.3,-8.1,190,3500,0.00,2.62,0.00,0.000,4,0.000,0.054,2690,3351,3481,0,0,0,0,0,0
$GC,3556,-1.49,-116.8,411.6,-8.5,191,3561,0.00,2.60,0.00,0.000,6,0.000,0.051,2690,1812,3481,0,0,0,0,0,0
$GC,3818,-1.53,-116.8,434.1,-9.0,198,3820,0.10,0.00,0.00,0.000,6,0.089,0.000,2657,1812,3479,0,0,0,0,0,0
$GC,4062,-1.53,-116.8,461.4,-11.4,204,4067,0.00,2.55,0.00,0.000,4,0.000,0.047,2657,3349,3477,0,0,0,0,0,0
$GC,4095,-1.53,-116.8,465.4,-11.3,204,4101,0.00,2.60,0.00,0.000,6,0.000,0.065,2657,1815,3477,0,0,0,0,0,0
$GC,4345,-1.53,-116.8,492.5,-10.7,211,4350,0.00,3.10,0.00,0.000,4,0.000,0.119,2656,183,3475,0,0,0,0,0,0
$GC,4390,-1.53,-116.8,497.5,-11.6,212,4395,0.00,2.62,0.00,0.000,6,0.000,0.038,2657,1797,3475,0,0,0,0,0,0
$GC,4669,-1.53,-116.8,523.7,-9.2,219,4673,0.00,2.70,0.00,0.000,4,0.000,0.077,2657,3355,3474,0,0,0,0,0,0
$GC,4734,-1.53,-116.8,530.3,-10.1,220,4739,0.00,2.62,0.00,0.000,6,0.000,0.065,2657,1813,3473,0,0,0,0,0,0
$GC,4991,-1.53,-116.8,555.5,-10.1,227,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1812,3471,0,0,0,0,0,0
$GC,5233,-1.53,-116.8,581.0,-10.5,233,5238,0.00,2.67,0.00,0.000,4,0.000,0.071,2657,3354,3470,0,0,0,0,0,0
$GC,5260,-1.53,-116.8,584.1,-10.9,233,5264,0.00,2.72,0.00,0.000,6,0.000,0.077,2657,1810,3469,0,0,0,0,0,0
$GC,5510,-1.53,-116.8,611.4,-10.9,239,5514,0.00,2.70,0.00,0.000,4,0.000,0.074,2657,3355,3467,0,0,0,0,0,0
$GC,5542,-1.53,-116.8,614.9,-10.4,239,5548,0.00,2.75,0.00,0.000,6,0.000,0.084,2657,1825,3467,0,0,0,0,0,0
$GC,5792,-1.53,-116.8,640.6,-10.4,246,5797,0.00,3.28,0.00,0.000,4,0.000,0.145,2657,182,3465,0,0,0,0,0,0
$GC,5813,-1.53,-116.8,643.0,-10.7,246,5818,0.00,2.83,0.00,0.000,6,0.000,0.067,2657,1822,3465,0,0,0,0,0,0
$GC,6070,-1.53,-116.8,667.1,-9.2,253,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1822,3463,0,0,0,0,0,0
$GC,6313,-1.53,-116.8,688.7,-8.9,259,6317,0.00,2.85,0.00,0.000,4,0.000,0.117,2657,3353,3462,0,0,0,0,0,0
$GC,6345,-1.53,-116.8,691.8,-9.3,259,6351,0.00,2.72,0.00,0.000,6,0.000,0.084,2657,1830,3461,0,0,0,0,0,0
$GC,6597,-1.53,-116.8,715.5,-9.7,266,6601,0.00,2.70,0.00,0.000,4,0.000,0.082,2657,3361,3460,0,0,0,0,0,0
$GC,6641,-1.57,-116.8,720.2,-9.8,267,6646,0.00,2.67,0.00,0.000,6,0.000,0.075,2657,1842,3460,0,0,0,0,0,0
$GC,6918,-1.57,-116.8,749.5,-10.9,274,6923,0.00,3.25,0.00,0.000,4,0.000,0.137,2656,180,3458,0,0,0,0,0,0
$GC,6943,-1.57,-116.8,752.4,-12.2,274,6947,0.00,2.78,0.00,0.000,6,0.000,0.050,2657,1834,3458,0,0,0,0,0,0
$GC,7197,-1.57,-116.8,779.8,-10.6,281,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1834,3457,0,0,0,0,0,0
$GC,7441,-1.57,-116.8,804.0,-9.8,287,7446,0.00,2.72,0.00,0.000,4,0.000,0.092,2657,3360,3456,0,0,0,0,0,0
$GC,7476,-1.62,-116.8,807.3,-10.0,287,7482,0.00,2.62,0.00,0.000,6,0.000,0.071,2657,1846,3455,0,0,0,0,0,0
$GC,7726,-1.62,-116.8,829.5,-8.7,294,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1846,3454,0,0,0,0,0,0
$GC,7970,-1.62,-116.8,849.3,-8.0,300,7974,0.00,2.60,0.00,0.000,4,0.000,0.069,2657,3358,3453,0,0,0,0,0,0
$GC,8003,-1.66,-116.8,851.8,-7.2,300,8008,0.00,2.65,0.00,0.000,6,0.000,0.071,2657,1855,3453,0,0,0,0,0,0
$GC,8254,-1.66,-116.8,870.6,-7.5,307,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1855,3452,0,0,0,0,0,0
$GC,8496,-1.66,-116.8,888.6,-7.4,313,8501,0.00,2.60,0.00,0.000,4,0.000,0.071,2657,3360,3451,0,0,0,0,0,0
$GC,8564,-1.71,-116.8,893.7,-8.0,314,8569,0.12,2.65,0.00,0.000,6,0.077,0.072,2622,1854,3450,0,0,0,0,0,0
$GC,8821,-1.71,-116.8,916.2,-9.0,321,8825,0.00,2.58,0.00,0.000,4,0.000,0.066,2622,3354,3450,0,0,0,0,0,0
$GC,8855,-1.71,-116.8,919.4,-9.4,321,8862,0.00,2.58,0.00,0.000,6,0.000,0.071,2621,1871,3450,0,0,0,0,0,0
$GC,9105,-1.71,-116.8,943.0,-9.5,328,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1870,3449,0,0,0,0,0,0
$STATE,9183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9183,begin apogee
$GC,9191,-0.31,0.0,951.0,9.8,330,9294,1.40,0.00,99.57,1.290,6,0.089,0.000,2927,1820,3000,0,0,0,0,0,0
$STATE,9295,end apogee,CONTROL_FINISHED_OK
$STATE,9295,begin climb
$GC,9297,1.38,116.8,953.1,0.0,332,9418,1.60,2.80,109.22,1.262,4,0.041,0.063,3307,3401,2523,0,0,0,0,0,0
$GC,9431,1.26,158.9,948.9,7.6,336,9477,0.17,2.85,39.58,1.215,6,0.138,0.074,3275,1818,2353,0,0,0,0,0,0
$GC,9757,1.15,158.9,912.1,11.8,344,9762,0.12,2.75,0.00,0.000,4,0.145,0.059,3252,3411,2342,0,0,0,0,0,0
$GC,9831,1.15,158.9,903.7,10.7,345,9835,0.00,2.78,0.00,0.000,6,0.000,0.063,3252,1826,2340,0,0,0,0,0,0
$GC,10081,1.10,158.9,875.9,11.2,351,10085,0.00,2.70,0.00,0.000,4,0.000,0.056,3252,3406,2338,0,0,0,0,0,0
$GC,10171,1.10,158.9,865.4,10.9,353,10175,0.00,2.72,0.00,0.000,6,0.000,0.066,3252,1840,2338,0,0,0,0,0,0
$GC,10448,1.05,158.9,834.2,11.2,360,10453,0.12,2.67,0.00,0.000,4,0.130,0.054,3228,3406,2336,0,0,0,0,0,0
$GC,10516,1.05,158.9,827.0,10.9,361,10521,0.00,2.72,0.00,0.000,6,0.000,0.062,3228,1846,2336,0,0,0,0,0,0
$GC,10771,1.06,163.3,801.9,9.8,368,10776,0.00,2.65,0.00,0.000,4,0.000,0.053,3229,3407,2336,0,0,0,0,0,0
$GC,10810,1.06,169.6,798.1,9.7,369,10824,0.00,2.70,8.48,1.022,6,0.000,0.060,3228,1857,2308,0,0,0,0,0,0
$GC,11100,1.09,189.8,772.0,8.9,376,11126,0.00,2.67,20.52,1.124,4,0.000,0.053,3228,3404,2226,0,0,0,0,0,0
$GC,11171,1.13,191.8,765.1,9.9,377,11175,0.00,2.70,0.00,0.000,6,0.000,0.064,3228,1863,2224,0,0,0,0,0,0
$GC,11421,1.15,208.7,742.4,9.0,383,11442,0.10,0.00,19.02,1.099,6,0.099,0.000,3252,1863,2150,0,0,0,0,0,0
$GC,11666,1.15,208.7,716.4,10.7,389,11670,0.00,2.60,0.00,0.000,4,0.000,0.052,3253,3404,2146,0,0,0,0,0,0
$GC,11687,1.15,208.7,713.7,11.2,389,11691,0.00,2.67,0.00,0.000,6,0.000,0.058,3253,1870,2145,0,0,0,0,0,0
$GC,11942,1.15,208.7,683.6,12.0,396,11946,0.00,2.60,0.00,0.000,4,0.000,0.054,3252,3404,2143,0,0,0,0,0,0
$GC,11982,1.15,208.7,678.6,13.5,397,11986,0.00,2.65,0.00,0.000,6,0.000,0.059,3253,1884,2142,0,0,0,0,0,0
$GC,12265,1.15,208.7,642.3,12.6,404,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1884,2142,0,0,0,0,0,0
$GC,12508,1.15,208.7,614.2,11.3,410,12513,0.00,2.58,0.00,0.000,4,0.000,0.048,3252,3407,2142,0,0,0,0,0,0
$GC,12542,1.15,208.7,610.6,10.5,410,12548,0.00,2.65,0.00,0.000,6,0.000,0.059,3253,1881,2141,0,0,0,0,0,0
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$STATE,18248,end climb,SURFACE_DEPTH_REACHED
$STATE,18248,begin surface coast
$FINISH,0.3,1.013814
$STATE,18293,end surface coast,CONTROL_FINISHED_OK
$STATE,18294,begin surface
$SM_CCo,18315,88.97,0.466,1,0,1287,420.20
$SM_GC,0.99,0.00,0.00,88.97,0.000,0.000,0.466,473,1737,1287,-11.62,-0.93,420.20
$IRIDIUM_FIX,2227.67,-15756.74,171299,181855
$TT8_MAMPS,0.026078
$HUMID,46.06
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.80
$XPDR_PINGS,93
$24V_AH,23.2,36.781
$10V_AH,10.2,37.447
$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,27.600,240.325,399.450,88.975,0.000,27.299,27.587,162.150,23.250,0.000,14.009,1473.648,13691.813,642.159,2339.239,618.346,33.380,1674.591,0.000,2329.859,0.000,0.534,0.000
$DEVICE_MAMPS,144.963,158.002,1290.094,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.297,301.175,403.854,674.229,1019.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,54123,686
$CAP_FILE_SIZE,170742,0
$CFSIZE,260165632,166760448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230910,044701,2233.429,-15751.256,39,1.2,39,10.0