version: 66.06
glider: 146
mission: 5
dive: 267
start: 9 23 110 20 47 44
data:
$ID,146
$MISSION,5
$DIVE,267
$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,-252496.61
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,204030,2234.111,-15751.667,36,1.7,41,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.5
$GPS2,204649,2233.989,-15751.758,8,1.9,13,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.086,0.218
$KALMAN_X,-273048.4,163.5,-129.7,305455.1,-1355.7
$KALMAN_Y,-327105.6,177.1,145.6,425690.5,-4513.3
$MHEAD_RNG_PITCHd_Wd,11.6,43773,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-78.40,0.000,2,0.000,0.000,476,1744,3225,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.3,10,127,11.32,2.60,-4.95,0.000,4,0.140,0.035,2689,3356,3479,0,0,0,0,0,0
$GC,204,-1.29,-116.8,26.7,-16.6,24,214,0.10,2.58,0.00,0.000,6,0.089,0.030,2714,1786,3480,0,0,0,0,0,0
$GC,482,-1.19,-116.8,73.7,-16.0,50,487,0.12,2.72,0.00,0.000,4,0.119,0.064,2739,189,3481,0,0,0,0,0,0
$GC,506,-1.11,-116.8,78.6,-14.9,51,516,0.00,2.50,0.00,0.000,6,0.000,0.016,2739,1819,3480,0,0,0,0,0,0
$GC,769,-1.11,-116.8,109.7,-10.8,76,773,0.00,2.35,0.00,0.000,4,0.000,0.031,2739,3322,3482,0,0,0,0,0,0
$GC,799,-1.17,-116.8,113.0,-10.5,78,808,0.00,2.50,0.00,0.000,6,0.000,0.028,2739,1775,3482,0,0,0,0,0,0
$GC,1066,-1.22,-116.8,139.2,-9.3,103,1070,0.00,2.42,0.00,0.000,4,0.000,0.031,2739,3324,3482,0,0,0,0,0,0
$GC,1108,-1.31,-116.8,143.2,-8.4,106,1113,0.10,2.47,0.00,0.000,6,0.081,0.034,2699,1782,3482,0,0,0,0,0,0
$GC,1373,-1.31,-116.8,169.1,-10.0,130,1377,0.00,2.67,0.00,0.000,4,0.000,0.066,2699,198,3483,0,0,0,0,0,0
$GC,1404,-1.25,-116.8,172.4,-10.5,132,1409,0.12,2.40,0.00,0.000,6,0.112,0.021,2724,1805,3483,0,0,0,0,0,0
$GC,1664,-1.25,-116.8,198.5,-10.5,156,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1806,3483,0,0,0,0,0,0
$GC,1929,-1.25,-116.8,227.2,-10.6,164,1933,0.00,2.35,0.00,0.000,4,0.000,0.033,2724,3309,3483,0,0,0,0,0,0
$GC,1964,-1.33,-116.8,230.5,-9.4,164,1969,0.00,2.42,0.00,0.000,6,0.000,0.035,2725,1790,3483,0,0,0,0,0,0
$GC,2215,-1.38,-116.8,253.3,-8.9,170,2217,0.12,0.00,0.00,0.000,6,0.084,0.000,2681,1789,3483,0,0,0,0,0,0
$GC,2458,-1.38,-116.8,279.1,-10.7,176,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1789,3483,0,0,0,0,0,0
$GC,2703,-1.38,-116.8,305.0,-10.9,182,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1787,3483,0,0,0,0,0,0
$GC,2945,-1.38,-116.8,331.7,-10.8,188,2949,0.00,2.45,0.00,0.000,4,0.000,0.041,2680,3306,3482,0,0,0,0,0,0
$GC,2960,-1.38,-116.8,333.5,-10.3,188,2965,0.00,2.47,0.00,0.000,6,0.000,0.038,2680,1803,3482,0,0,0,0,0,0
$GC,3222,-1.38,-116.8,358.6,-9.5,195,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1803,3481,0,0,0,0,0,0
$GC,3467,-1.38,-116.8,382.0,-9.6,201,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1803,3480,0,0,0,0,0,0
$GC,3709,-1.38,-116.8,405.6,-9.9,207,3714,0.00,2.92,0.00,0.000,4,0.000,0.098,2680,187,3479,0,0,0,0,0,0
$GC,3736,-1.38,-116.8,408.6,-10.7,207,3740,0.00,2.47,0.00,0.000,6,0.000,0.024,2680,1760,3478,0,0,0,0,0,0
$GC,3988,-1.38,-116.8,433.5,-9.9,213,3992,0.00,2.65,0.00,0.000,4,0.000,0.054,2680,3361,3477,0,0,0,0,0,0
$GC,4022,-1.43,-116.8,437.0,-9.8,213,4028,0.00,2.58,0.00,0.000,6,0.000,0.054,2680,1813,3477,0,0,0,0,0,0
$GC,4273,-1.43,-116.8,460.6,-9.6,220,4277,0.00,2.97,0.00,0.000,4,0.000,0.100,2680,185,3475,0,0,0,0,0,0
$GC,4299,-1.43,-116.8,463.4,-10.1,220,4304,0.00,2.60,0.00,0.000,6,0.000,0.031,2680,1797,3475,0,0,0,0,0,0
$GC,4551,-1.43,-116.8,483.6,-7.7,226,4555,0.00,2.62,0.00,0.000,4,0.000,0.061,2680,3357,3473,0,0,0,0,0,0
$GC,4591,-1.49,-116.8,486.8,-7.4,227,4595,0.00,2.60,0.00,0.000,6,0.000,0.059,2680,1811,3473,0,0,0,0,0,0
$GC,4876,-1.53,-116.8,509.3,-8.0,234,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1811,3471,0,0,0,0,0,0
$GC,5118,-1.58,-116.8,529.5,-8.6,240,5124,0.10,3.08,0.00,0.000,4,0.091,0.114,2650,182,3470,0,0,0,0,0,0
$GC,5135,-1.58,-116.8,531.4,-9.4,240,5139,0.00,2.65,0.00,0.000,6,0.000,0.037,2650,1808,3469,0,0,0,0,0,0
$GC,5396,-1.58,-116.8,560.3,-11.4,247,5401,0.00,2.70,0.00,0.000,4,0.000,0.078,2650,3353,3467,0,0,0,0,0,0
$GC,5417,-1.58,-116.8,563.0,-11.1,247,5422,0.00,2.67,0.00,0.000,6,0.000,0.067,2650,1809,3467,0,0,0,0,0,0
$GC,5672,-1.58,-116.8,591.8,-11.4,254,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1808,3465,0,0,0,0,0,0
$GC,5916,-1.58,-116.8,620.7,-11.9,260,5921,0.00,2.72,0.00,0.000,4,0.000,0.081,2649,3353,3464,0,0,0,0,0,0
$GC,5978,-1.58,-116.8,628.1,-12.2,261,5982,0.00,2.78,0.00,0.000,6,0.000,0.091,2650,1822,3463,0,0,0,0,0,0
$GC,6238,-1.58,-116.8,658.5,-11.6,268,6243,0.00,2.75,0.00,0.000,4,0.000,0.095,2650,3357,3462,0,0,0,0,0,0
$GC,6259,-1.58,-116.8,661.0,-11.7,268,6264,0.00,2.83,0.00,0.000,6,0.000,0.104,2650,1822,3462,0,0,0,0,0,0
$GC,6516,-1.58,-116.8,687.6,-10.1,275,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1822,3460,0,0,0,0,0,0
$GC,6758,-1.58,-116.8,709.7,-8.8,281,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1822,3458,0,0,0,0,0,0
$GC,7002,-1.58,-116.8,729.4,-8.1,287,7007,0.00,2.92,0.00,0.000,4,0.000,0.123,2650,3354,3457,0,0,0,0,0,0
$GC,7046,-1.58,-116.8,733.2,-9.0,288,7050,0.00,2.70,0.00,0.000,6,0.000,0.077,2650,1816,3457,0,0,0,0,0,0
$GC,7325,-1.58,-116.8,756.1,-8.4,295,7329,0.00,2.65,0.00,0.000,4,0.000,0.069,2650,3360,3455,0,0,0,0,0,0
$GC,7365,-1.58,-116.8,759.8,-9.1,296,7370,0.00,2.67,0.00,0.000,6,0.000,0.075,2650,1824,3455,0,0,0,0,0,0
$GC,7651,-1.58,-116.8,784.3,-8.7,303,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1823,3453,0,0,0,0,0,0
$GC,7893,-1.58,-116.8,806.4,-9.0,309,7897,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3354,3452,0,0,0,0,0,0
$GC,7914,-1.58,-116.8,808.4,-8.9,309,7919,0.00,2.67,0.00,0.000,6,0.000,0.073,2650,1824,3452,0,0,0,0,0,0
$GC,8170,-1.58,-116.8,831.9,-9.1,316,8174,0.00,2.65,0.00,0.000,4,0.000,0.067,2649,3354,3451,0,0,0,0,0,0
$GC,8211,-1.58,-116.8,835.5,-9.5,317,8215,0.00,2.67,0.00,0.000,6,0.000,0.076,2650,1837,3451,0,0,0,0,0,0
$GC,8494,-1.58,-116.8,859.8,-8.5,324,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1837,3450,0,0,0,0,0,0
$GC,8738,-1.58,-116.8,879.5,-8.0,330,8742,0.00,2.62,0.00,0.000,4,0.000,0.073,2650,3359,3449,0,0,0,0,0,0
$GC,8760,-1.58,-116.8,881.3,-8.4,330,8765,0.00,2.65,0.00,0.000,6,0.000,0.075,2650,1840,3449,0,0,0,0,0,0
$GC,9016,-1.58,-116.8,899.9,-7.2,337,9020,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3357,3448,0,0,0,0,0,0
$GC,9032,-1.58,-116.8,901.2,-6.9,337,9036,0.00,2.65,0.00,0.000,6,0.000,0.074,2650,1844,3448,0,0,0,0,0,0
$GC,9294,-1.58,-116.8,919.3,-6.9,344,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1843,3447,0,0,0,0,0,0
$GC,9536,-1.58,-116.8,936.8,-7.3,350,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1843,3446,0,0,0,0,0,0
$STATE,9736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9737,begin apogee
$GC,9743,-0.31,0.0,952.2,7.6,355,9846,1.27,0.00,100.03,1.295,6,0.092,0.000,2929,1821,3001,0,0,0,0,0,0
$STATE,9847,end apogee,CONTROL_FINISHED_OK
$STATE,9847,begin climb
$GC,9851,1.38,116.8,953.2,0.0,357,9967,1.58,0.00,111.72,1.263,6,0.044,0.000,3306,1820,2524,0,0,0,0,0,0
$GC,10179,1.21,116.8,926.0,11.5,365,10184,0.20,2.72,0.00,0.000,4,0.133,0.058,3267,3408,2512,0,0,0,0,0,0
$GC,10251,1.13,116.8,917.9,11.0,366,10255,0.00,2.78,0.00,0.000,6,0.000,0.061,3267,1829,2510,0,0,0,0,0,0
$GC,10501,1.03,116.8,891.8,10.6,372,10506,0.20,2.67,0.00,0.000,4,0.128,0.053,3229,3408,2507,0,0,0,0,0,0
$GC,10573,1.04,120.6,884.4,9.8,373,10578,0.00,2.72,0.00,0.000,6,0.000,0.058,3228,1839,2507,0,0,0,0,0,0
$GC,10825,1.05,132.8,861.3,9.3,379,10844,0.00,2.75,13.15,1.120,4,0.000,0.054,3228,3401,2459,0,0,0,0,0,0
$GC,10925,1.07,148.5,851.7,9.1,381,10948,0.00,2.67,16.58,1.137,6,0.000,0.060,3228,1853,2394,0,0,0,0,0,0
$GC,11201,1.09,165.5,826.6,9.0,388,11226,0.00,2.75,17.12,1.131,4,0.000,0.053,3228,3406,2325,0,0,0,0,0,0
$GC,11255,1.11,182.7,821.6,9.0,389,11279,0.00,2.70,18.52,1.125,6,0.000,0.061,3228,1853,2255,0,0,0,0,0,0
$GC,11531,1.13,199.4,796.3,9.1,396,11555,0.00,2.70,16.75,1.111,4,0.000,0.052,3228,3407,2185,0,0,0,0,0,0
$GC,11589,1.18,201.5,790.7,9.9,397,11595,0.12,2.70,0.00,0.000,6,0.089,0.063,3258,1868,2184,0,0,0,0,0,0
$GC,11856,1.14,201.5,762.7,10.7,404,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1868,2180,0,0,0,0,0,0
$GC,12102,1.11,201.5,736.7,10.8,410,12106,0.00,2.58,0.00,0.000,4,0.000,0.050,3257,3404,2179,0,0,0,0,0,0
$GC,12134,1.11,201.5,732.9,10.8,410,12140,0.00,2.65,0.00,0.000,6,0.000,0.058,3258,1878,2179,0,0,0,0,0,0
$GC,12384,1.11,201.5,706.5,10.5,417,12388,0.00,2.55,0.00,0.000,4,0.000,0.047,3258,3404,2178,0,0,0,0,0,0
$GC,12412,1.11,201.5,703.5,10.7,417,12416,0.00,2.65,0.00,0.000,6,0.000,0.062,3257,1875,2177,0,0,0,0,0,0
$GC,12661,1.11,201.5,677.5,10.3,423,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1875,2177,0,0,0,0,0,0
$GC,12905,1.11,201.5,652.8,10.1,429,12910,0.00,2.55,0.00,0.000,4,0.000,0.048,3258,3404,2177,0,0,0,0,0,0
$GC,12945,1.11,201.5,648.7,10.4,430,12949,0.00,2.62,0.00,0.000,6,0.000,0.064,3258,1889,2176,0,0,0,0,0,0
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$STATE,19085,end climb,SURFACE_DEPTH_REACHED
$STATE,19085,begin surface coast
$FINISH,0.4,1.005583
$STATE,19131,end surface coast,CONTROL_FINISHED_OK
$STATE,19131,begin surface
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$IRIDIUM_FIX,2225.34,-15752.42,181299,151558
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$HUMID,45.94
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$TCM_TEMP,22.50
$XPDR_PINGS,81
$24V_AH,23.2,37.406
$10V_AH,10.1,37.959
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.600,217.825,427.700,74.175,0.000,28.182,29.206,174.867,20.250,0.000,15.264,1511.407,14475.501,639.256,2328.288,651.173,33.382,1657.161,0.000,2328.948,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,57346,717
$CAP_FILE_SIZE,170708,0
$CFSIZE,260165632,166461440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240910,020937,2234.179,-15751.297,38,0.9,38,10.0