version: 66.06
glider: 146
mission: 5
dive: 265
start: 9 23 110 10 14 50
data:
$ID,146
$MISSION,5
$DIVE,265
$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,-252464.3
$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,45
$R_STBD_OVSHOOT,23
$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
$GPS1,100707,2233.518,-15751.582,30,1.0,30,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.4
$GPS2,101355,2233.388,-15751.644,14,1.0,31,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.052,0.229
$KALMAN_X,-270158.3,-166.8,-69.9,303032.8,-1110.0
$KALMAN_Y,-319310.4,-2.5,-24.4,417138.0,-4171.3
$MHEAD_RNG_PITCHd_Wd,2.8,44785,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.45,0.000,6,0.000,0.000,474,1740,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.7,-9.7,11,125,11.32,2.60,0.00,0.000,4,0.140,0.024,2690,3374,3481,0,0,0,0,0,0
$GC,232,-1.30,-116.8,35.6,-15.5,27,238,0.12,2.60,0.00,0.000,6,0.113,0.031,2716,1782,3481,0,0,0,0,0,0
$GC,500,-1.23,-116.8,74.9,-12.9,51,505,0.00,2.70,0.00,0.000,4,0.000,0.058,2716,189,3482,0,0,0,0,0,0
$GC,524,-1.16,-116.8,79.2,-13.3,52,534,0.10,2.50,0.00,0.000,6,0.088,0.016,2741,1816,3482,0,0,0,0,0,0
$GC,791,-1.16,-116.8,108.6,-11.1,77,795,0.00,2.35,0.00,0.000,4,0.000,0.025,2741,3317,3483,0,0,0,0,0,0
$GC,823,-1.22,-116.8,112.5,-11.7,79,827,0.00,2.50,0.00,0.000,6,0.000,0.031,2741,1753,3483,0,0,0,0,0,0
$GC,1089,-1.27,-116.8,140.1,-10.3,103,1094,0.00,2.62,0.00,0.000,4,0.000,0.061,2741,198,3484,0,0,0,0,0,0
$GC,1108,-1.31,-116.8,142.5,-10.1,104,1113,0.12,2.38,0.00,0.000,6,0.069,0.015,2698,1785,3484,0,0,0,0,0,0
$GC,1369,-1.31,-116.8,177.0,-13.2,128,1373,0.00,2.35,0.00,0.000,4,0.000,0.031,2698,3302,3484,0,0,0,0,0,0
$GC,1410,-1.31,-116.8,182.0,-12.8,131,1415,0.00,2.47,0.00,0.000,6,0.000,0.033,2698,1762,3484,0,0,0,0,0,0
$GC,1676,-1.31,-116.8,215.3,-12.1,147,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1762,3484,0,0,0,0,0,0
$GC,1921,-1.31,-116.8,242.7,-11.2,153,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1762,3484,0,0,0,0,0,0
$GC,2165,-1.31,-116.8,270.6,-11.4,159,2169,0.00,2.45,0.00,0.000,4,0.000,0.030,2697,3300,3484,0,0,0,0,0,0
$GC,2204,-1.36,-116.8,274.8,-11.0,160,2209,0.00,2.47,0.00,0.000,6,0.000,0.036,2698,1778,3484,0,0,0,0,0,0
$GC,2487,-1.36,-116.8,304.0,-10.0,167,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1777,3484,0,0,0,0,0,0
$GC,2731,-1.36,-116.8,327.6,-9.6,173,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1774,3484,0,0,0,0,0,0
$GC,2976,-1.40,-116.8,354.1,-11.1,179,2980,0.00,2.47,0.00,0.000,4,0.000,0.036,2697,3295,3483,0,0,0,0,0,0
$GC,3015,-1.47,-116.8,358.9,-11.9,180,3020,0.00,2.53,0.00,0.000,6,0.000,0.047,2698,1776,3483,0,0,0,0,0,0
$GC,3299,-1.52,-116.8,392.1,-11.7,187,3304,0.12,2.47,0.00,0.000,4,0.075,0.038,2654,3295,3481,0,0,0,0,0,0
$GC,3321,-1.52,-116.8,395.1,-13.1,187,3326,0.00,2.55,0.00,0.000,6,0.000,0.050,2654,1774,3481,0,0,0,0,0,0
$GC,3577,-1.52,-116.8,429.7,-13.3,194,3581,0.00,2.50,0.00,0.000,4,0.000,0.041,2654,3294,3479,0,0,0,0,0,0
$GC,3597,-1.52,-116.8,432.6,-12.9,194,3602,0.00,2.58,0.00,0.000,6,0.000,0.060,2654,1773,3479,0,0,0,0,0,0
$GC,3854,-1.52,-116.8,464.8,-12.6,201,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1773,3478,0,0,0,0,0,0
$GC,4096,-1.52,-116.8,493.4,-11.7,207,4100,0.00,2.55,0.00,0.000,4,0.000,0.050,2654,3293,3477,0,0,0,0,0,0
$GC,4140,-1.52,-116.8,498.8,-11.8,208,4145,0.00,2.60,0.00,0.000,6,0.000,0.063,2655,1788,3476,0,0,0,0,0,0
$GC,4420,-1.52,-116.8,532.9,-12.2,215,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1787,3474,0,0,0,0,0,0
$GC,4662,-1.52,-116.8,560.1,-10.8,221,4666,0.00,2.58,0.00,0.000,4,0.000,0.063,2654,3283,3472,0,0,0,0,0,0
$GC,4688,-1.52,-116.8,563.1,-11.0,221,4693,0.00,2.62,0.00,0.000,6,0.000,0.070,2654,1789,3472,0,0,0,0,0,0
$GC,4939,-1.52,-116.8,587.3,-9.5,227,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1789,3470,0,0,0,0,0,0
$GC,5184,-1.52,-116.8,607.7,-8.3,233,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1789,3468,0,0,0,0,0,0
$GC,5426,-1.52,-116.8,628.3,-8.7,239,5431,0.00,2.65,0.00,0.000,4,0.000,0.087,2654,3286,3466,0,0,0,0,0,0
$GC,5459,-1.52,-116.8,631.3,-8.9,239,5465,0.00,2.72,0.00,0.000,6,0.000,0.092,2654,1797,3466,0,0,0,0,0,0
$GC,5711,-1.52,-116.8,654.8,-9.6,246,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1797,3464,0,0,0,0,0,0
$GC,5953,-1.52,-116.8,679.1,-10.1,252,5957,0.00,2.72,0.00,0.000,4,0.000,0.099,2654,3278,3463,0,0,0,0,0,0
$GC,6026,-1.55,-116.8,686.4,-10.1,253,6031,0.00,2.62,0.00,0.000,6,0.000,0.090,2654,1811,3462,0,0,0,0,0,0
$GC,6278,-1.55,-116.8,710.4,-9.5,259,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1811,3461,0,0,0,0,0,0
$GC,6520,-1.55,-116.8,733.9,-9.7,265,6524,0.00,2.55,0.00,0.000,4,0.000,0.072,2654,3282,3459,0,0,0,0,0,0
$GC,6564,-1.60,-116.8,738.4,-9.9,266,6569,0.00,2.60,0.00,0.000,6,0.000,0.077,2654,1816,3459,0,0,0,0,0,0
$GC,6843,-1.60,-116.8,764.7,-9.4,273,6847,0.00,2.55,0.00,0.000,4,0.000,0.074,2654,3284,3457,0,0,0,0,0,0
$GC,6899,-1.60,-116.8,770.2,-9.3,274,6903,0.00,2.55,0.00,0.000,6,0.000,0.074,2654,1826,3457,0,0,0,0,0,0
$GC,7167,-1.60,-116.8,794.1,-8.9,281,7171,0.00,2.50,0.00,0.000,4,0.000,0.074,2654,3281,3455,0,0,0,0,0,0
$GC,7195,-1.60,-116.8,797.0,-9.9,281,7200,0.00,2.58,0.00,0.000,6,0.000,0.074,2654,1828,3455,0,0,0,0,0,0
$GC,7445,-1.60,-116.8,818.2,-8.4,287,7450,0.00,2.53,0.00,0.000,4,0.000,0.072,2654,3287,3454,0,0,0,0,0,0
$GC,7473,-1.60,-116.8,820.8,-9.0,287,7478,0.00,2.55,0.00,0.000,6,0.000,0.073,2654,1830,3454,0,0,0,0,0,0
$GC,7725,-1.60,-116.8,842.0,-8.6,293,7729,0.00,2.50,0.00,0.000,4,0.000,0.067,2654,3282,3452,0,0,0,0,0,0
$GC,7759,-1.63,-116.8,845.0,-8.2,293,7765,0.00,2.55,0.00,0.000,6,0.000,0.078,2654,1832,3452,0,0,0,0,0,0
$GC,8010,-1.63,-116.8,865.3,-8.1,300,8014,0.00,2.50,0.00,0.000,4,0.000,0.067,2654,3287,3451,0,0,0,0,0,0
$GC,8038,-1.67,-116.8,867.7,-8.4,300,8043,0.00,2.55,0.00,0.000,6,0.000,0.075,2654,1843,3451,0,0,0,0,0,0
$GC,8288,-1.67,-116.8,888.9,-8.5,306,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1843,3450,0,0,0,0,0,0
$GC,8532,-1.67,-116.8,910.5,-9.0,312,8536,0.00,2.47,0.00,0.000,4,0.000,0.072,2654,3284,3449,0,0,0,0,0,0
$GC,8554,-1.67,-116.8,912.4,-9.1,312,8558,0.00,2.50,0.00,0.000,6,0.000,0.071,2654,1850,3449,0,0,0,0,0,0
$GC,8810,-1.67,-116.8,935.1,-9.0,319,8814,0.00,2.45,0.00,0.000,4,0.000,0.070,2654,3284,3449,0,0,0,0,0,0
$GC,8838,-1.71,-116.8,937.8,-9.2,319,8843,0.12,2.53,0.00,0.000,6,0.080,0.069,2616,1851,3448,0,0,0,0,0,0
$STATE,8963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8964,begin apogee
$GC,8971,-0.31,0.0,951.0,10.4,322,9075,1.45,0.00,99.57,1.289,6,0.091,0.000,2932,1817,3001,0,0,0,0,0,0
$STATE,9075,end apogee,CONTROL_FINISHED_OK
$STATE,9075,begin climb
$GC,9078,1.38,116.8,953.3,0.0,324,9193,1.58,0.00,110.90,1.258,6,0.039,0.000,3308,1817,2523,0,0,0,0,0,0
$GC,9410,1.20,116.8,929.1,10.3,333,9415,0.22,2.62,0.00,0.000,4,0.130,0.054,3266,3339,2512,0,0,0,0,0,0
$GC,9525,1.13,124.8,918.4,9.6,335,9537,0.00,2.65,6.10,0.942,6,0.000,0.067,3266,1833,2492,0,0,0,0,0,0
$GC,9781,1.04,134.3,893.8,9.5,341,9797,0.17,2.58,10.60,1.087,4,0.132,0.048,3230,3335,2452,0,0,0,0,0,0
$GC,9855,1.07,155.3,886.8,8.8,342,9883,0.00,2.58,21.33,1.164,6,0.000,0.062,3230,1844,2367,0,0,0,0,0,0
$GC,10151,1.08,166.8,858.7,9.4,350,10165,0.00,0.00,11.90,1.093,6,0.000,0.000,3230,1844,2320,0,0,0,0,0,0
$GC,10396,1.10,178.3,835.8,9.4,356,10415,0.00,2.62,12.00,1.088,4,0.000,0.050,3230,3336,2274,0,0,0,0,0,0
$GC,10443,1.11,190.8,831.2,9.3,357,10463,0.00,2.60,13.68,1.095,6,0.000,0.063,3230,1849,2222,0,0,0,0,0,0
$GC,10725,1.13,202.8,805.0,9.3,364,10744,0.00,2.62,12.05,1.071,4,0.000,0.052,3230,3340,2173,0,0,0,0,0,0
$GC,10780,1.17,204.4,799.8,9.9,365,10785,0.10,2.60,0.00,0.000,6,0.102,0.058,3254,1854,2171,0,0,0,0,0,0
$GC,11052,1.17,204.4,771.1,10.5,372,11056,0.00,2.50,0.00,0.000,4,0.000,0.047,3254,3336,2169,0,0,0,0,0,0
$GC,11113,1.17,204.4,764.5,10.3,373,11118,0.00,2.55,0.00,0.000,6,0.000,0.056,3254,1863,2169,0,0,0,0,0,0
$GC,11374,1.17,204.4,737.3,10.5,380,11378,0.00,2.47,0.00,0.000,4,0.000,0.049,3254,3336,2168,0,0,0,0,0,0
$GC,11403,1.17,204.4,734.2,10.4,380,11407,0.00,2.55,0.00,0.000,6,0.000,0.062,3254,1868,2168,0,0,0,0,0,0
$GC,11654,1.17,204.4,707.4,10.8,386,11658,0.00,2.47,0.00,0.000,4,0.000,0.048,3254,3339,2167,0,0,0,0,0,0
$GC,11714,1.17,204.4,700.1,11.0,387,11719,0.00,2.55,0.00,0.000,6,0.000,0.064,3254,1868,2167,0,0,0,0,0,0
$GC,11981,1.17,204.4,670.6,11.0,394,11985,0.00,2.47,0.00,0.000,4,0.000,0.045,3254,3346,2167,0,0,0,0,0,0
$GC,12022,1.17,204.4,666.0,11.7,395,12026,0.00,2.55,0.00,0.000,6,0.000,0.059,3254,1875,2166,0,0,0,0,0,0
$GC,12305,1.17,204.4,634.7,11.0,402,12309,0.00,2.45,0.00,0.000,4,0.000,0.052,3254,3336,2165,0,0,0,0,0,0
$GC,12331,1.17,204.4,631.7,11.1,402,12336,0.00,2.53,0.00,0.000,6,0.000,0.059,3254,1881,2165,0,0,0,0,0,0
$GC,12583,1.17,208.3,606.0,9.8,408,12594,0.00,2.45,5.43,0.815,4,0.000,0.048,3254,3341,2150,0,0,0,0,0,0
$GC,12623,1.19,220.2,602.1,9.3,409,12642,0.00,2.53,13.00,0.983,6,0.000,0.064,3254,1889,2102,0,0,0,0,0,0
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$STATE,18311,end climb,SURFACE_DEPTH_REACHED
$STATE,18312,begin surface coast
$FINISH,0.4,1.010899
$STATE,18356,end surface coast,CONTROL_FINISHED_OK
$STATE,18356,begin surface
$SM_CCo,18378,78.90,0.461,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,78.90,0.000,0.000,0.461,475,1729,1288,-11.62,-1.16,420.20
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$TT8_MAMPS,0.025311
$HUMID,45.86
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.70
$XPDR_PINGS,87
$24V_AH,23.2,37.093
$10V_AH,10.1,37.703
$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,27.525,221.000,430.175,78.900,0.000,27.246,27.331,191.024,21.750,0.000,34.066,1469.564,13789.689,648.478,2308.555,649.203,33.383,1650.262,0.000,2282.531,0.000,0.534,0.000
$DEVICE_MAMPS,210.925,178.711,1288.560,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,463.657,306.380,400.286,680.607,1029.381,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,54198,680
$CAP_FILE_SIZE,169270,0
$CFSIZE,260165632,166612992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230910,152355,2233.778,-15751.657,39,1.6,39,10.0