version: 66.06
glider: 146
mission: 5
dive: 268
start: 9 24 110 2 17 5
data:
$ID,146
$MISSION,5
$DIVE,268
$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,-252512.33
$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,46
$R_STBD_OVSHOOT,21
$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
$GPS1,020937,2234.179,-15751.297,38,0.9,38,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-68.8
$GPS2,021608,2234.123,-15751.347,13,1.0,13,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.078,0.221
$KALMAN_X,-274239.6,84.4,210.1,307089.4,-1844.1
$KALMAN_Y,-330715.2,72.7,-31.2,429828.7,-3719.9
$MHEAD_RNG_PITCHd_Wd,9.4,43996,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.32,0.000,2,0.000,0.000,475,1734,3218,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.1,-4.9,10,125,11.32,2.65,-5.12,0.000,4,0.140,0.038,2689,3379,3480,0,0,0,0,0,0
$GC,229,-1.28,-116.8,30.7,-16.9,28,234,0.15,2.55,0.00,0.000,6,0.106,0.029,2721,1787,3481,0,0,0,0,0,0
$GC,497,-1.17,-116.8,74.1,-15.7,52,502,0.10,2.70,0.00,0.000,4,0.131,0.057,2741,196,3482,0,0,0,0,0,0
$GC,520,-1.09,-116.8,78.0,-14.9,53,524,0.00,2.47,0.00,0.000,6,0.000,0.019,2741,1837,3482,0,0,0,0,0,0
$GC,786,-1.09,-116.8,109.5,-11.2,77,791,0.00,2.78,0.00,0.000,4,0.000,0.058,2741,197,3483,0,0,0,0,0,0
$GC,819,-1.09,-116.8,114.4,-12.5,79,825,0.00,2.47,0.00,0.000,6,0.000,0.022,2741,1834,3483,0,0,0,0,0,0
$GC,1082,-1.13,-116.8,142.6,-10.5,104,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1835,3484,0,0,0,0,0,0
$GC,1339,-1.18,-116.8,165.4,-8.2,128,1344,0.00,2.80,0.00,0.000,4,0.000,0.065,2741,190,3484,0,0,0,0,0,0
$GC,1379,-1.18,-116.8,169.4,-9.1,131,1384,0.00,2.45,0.00,0.000,6,0.000,0.018,2741,1823,3484,0,0,0,0,0,0
$GC,1644,-1.24,-116.8,193.2,-9.1,155,1648,0.00,2.42,0.00,0.000,4,0.000,0.027,2741,3379,3484,0,0,0,0,0,0
$GC,1661,-1.30,-116.8,195.3,-9.7,156,1666,0.12,2.60,0.00,0.000,6,0.067,0.032,2697,1750,3484,0,0,0,0,0,0
$GC,1913,-1.27,-116.8,225.4,-12.3,165,1915,0.12,0.00,0.00,0.000,6,0.107,0.000,2724,1750,3484,0,0,0,0,0,0
$GC,2158,-1.27,-116.8,250.1,-9.8,171,2163,0.00,2.65,0.00,0.000,4,0.000,0.072,2724,197,3484,0,0,0,0,0,0
$GC,2185,-1.27,-116.8,253.3,-11.0,171,2189,0.00,2.42,0.00,0.000,6,0.000,0.023,2724,1794,3484,0,0,0,0,0,0
$GC,2436,-1.32,-116.8,276.6,-9.2,177,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1797,3484,0,0,0,0,0,0
$GC,2681,-1.38,-116.8,300.5,-9.8,183,2686,0.10,2.80,0.00,0.000,4,0.087,0.072,2689,199,3484,0,0,0,0,0,0
$GC,2702,-1.38,-116.8,303.3,-10.9,183,2707,0.00,2.35,0.00,0.000,6,0.000,0.018,2688,1751,3484,0,0,0,0,0,0
$GC,2964,-1.38,-116.8,333.2,-11.2,190,2968,0.00,2.50,0.00,0.000,4,0.000,0.036,2689,3333,3483,0,0,0,0,0,0
$GC,2998,-1.42,-116.8,336.8,-10.8,190,3004,0.00,2.58,0.00,0.000,6,0.000,0.039,2688,1758,3483,0,0,0,0,0,0
$GC,3247,-1.42,-116.8,364.2,-11.1,197,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1758,3483,0,0,0,0,0,0
$GC,3491,-1.42,-116.8,391.3,-11.1,203,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1759,3482,0,0,0,0,0,0
$GC,3735,-1.42,-116.8,418.1,-10.8,209,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1758,3480,0,0,0,0,0,0
$GC,3981,-1.42,-116.8,441.9,-9.6,215,3985,0.00,2.58,0.00,0.000,4,0.000,0.051,2689,3327,3479,0,0,0,0,0,0
$GC,4008,-1.47,-116.8,444.5,-9.1,215,4013,0.00,2.67,0.00,0.000,6,0.000,0.056,2688,1750,3479,0,0,0,0,0,0
$GC,4259,-1.51,-116.8,464.8,-7.8,221,4263,0.00,2.60,0.00,0.000,4,0.000,0.045,2689,3326,3477,0,0,0,0,0,0
$GC,4287,-1.56,-116.8,467.0,-7.6,221,4293,0.12,2.67,0.00,0.000,6,0.077,0.063,2650,1752,3477,0,0,0,0,0,0
$GC,4537,-1.56,-116.8,492.4,-10.6,227,4542,0.00,2.95,0.00,0.000,4,0.000,0.111,2650,179,3475,0,0,0,0,0,0
$GC,4558,-1.50,-116.8,495.0,-11.6,227,4563,0.10,2.50,0.00,0.000,6,0.131,0.033,2670,1718,3475,0,0,0,0,0,0
$GC,4815,-1.50,-116.8,523.3,-11.1,234,4819,0.00,2.78,0.00,0.000,4,0.000,0.069,2670,3317,3474,0,0,0,0,0,0
$GC,4892,-1.54,-116.8,532.4,-11.1,235,4900,0.00,2.65,0.00,0.000,6,0.000,0.065,2671,1762,3473,0,0,0,0,0,0
$GC,5142,-1.54,-116.8,560.6,-11.3,242,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1762,3471,0,0,0,0,0,0
$GC,5387,-1.54,-116.8,585.7,-10.1,248,5392,0.00,2.70,0.00,0.000,4,0.000,0.071,2670,3317,3470,0,0,0,0,0,0
$GC,5443,-1.60,-116.8,591.2,-9.4,249,5447,0.00,2.75,0.00,0.000,6,0.000,0.076,2670,1764,3469,0,0,0,0,0,0
$GC,5709,-1.60,-116.8,613.4,-8.1,256,5714,0.00,2.70,0.00,0.000,4,0.000,0.077,2670,3316,3467,0,0,0,0,0,0
$GC,5738,-1.64,-116.8,615.6,-8.2,256,5743,0.12,2.78,0.00,0.000,6,0.077,0.081,2633,1765,3467,0,0,0,0,0,0
$GC,5988,-1.60,-116.8,640.9,-10.3,262,5993,0.00,2.78,0.00,0.000,4,0.000,0.084,2633,3316,3465,0,0,0,0,0,0
$GC,6004,-1.56,-116.8,642.8,-10.5,262,6009,0.12,2.83,0.00,0.000,6,0.112,0.091,2659,1775,3465,0,0,0,0,0,0
$GC,6266,-1.56,-116.8,668.9,-10.1,269,6271,0.00,2.83,0.00,0.000,4,0.000,0.096,2659,3314,3464,0,0,0,0,0,0
$GC,6305,-1.56,-116.8,673.1,-10.4,270,6310,0.00,2.75,0.00,0.000,6,0.000,0.089,2659,1788,3463,0,0,0,0,0,0
$GC,6590,-1.56,-116.8,702.7,-10.4,277,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1787,3462,0,0,0,0,0,0
$GC,6832,-1.56,-116.8,727.8,-10.3,283,6836,0.00,2.67,0.00,0.000,4,0.000,0.081,2659,3316,3460,0,0,0,0,0,0
$GC,6858,-1.56,-116.8,730.7,-10.6,283,6863,0.00,2.70,0.00,0.000,6,0.000,0.081,2659,1786,3460,0,0,0,0,0,0
$GC,7108,-1.56,-116.8,756.3,-10.3,289,7113,0.00,2.67,0.00,0.000,4,0.000,0.077,2659,3323,3458,0,0,0,0,0,0
$GC,7149,-1.61,-116.8,760.4,-10.6,290,7153,0.00,2.70,0.00,0.000,6,0.000,0.075,2659,1798,3458,0,0,0,0,0,0
$GC,7432,-1.61,-116.8,788.7,-10.0,297,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1797,3456,0,0,0,0,0,0
$GC,7676,-1.61,-116.8,812.6,-9.8,303,7680,0.00,2.65,0.00,0.000,4,0.000,0.074,2659,3316,3455,0,0,0,0,0,0
$GC,7721,-1.66,-116.8,816.9,-9.5,304,7726,0.00,2.67,0.00,0.000,6,0.000,0.079,2659,1797,3455,0,0,0,0,0,0
$GC,7999,-1.66,-116.8,842.9,-9.2,311,8004,0.00,2.65,0.00,0.000,4,0.000,0.071,2659,3316,3453,0,0,0,0,0,0
$GC,8044,-1.72,-116.8,847.0,-9.6,312,8049,0.15,2.67,0.00,0.000,6,0.071,0.074,2616,1805,3452,0,0,0,0,0,0
$GC,8323,-1.67,-116.8,875.3,-10.3,319,8328,0.00,2.60,0.00,0.000,4,0.000,0.073,2616,3317,3451,0,0,0,0,0,0
$GC,8345,-1.63,-116.8,877.9,-10.5,319,8350,0.12,2.67,0.00,0.000,6,0.121,0.078,2642,1808,3452,0,0,0,0,0,0
$GC,8602,-1.63,-116.8,902.6,-9.7,326,8607,0.00,2.62,0.00,0.000,4,0.000,0.068,2642,3320,3451,0,0,0,0,0,0
$GC,8647,-1.63,-116.8,907.2,-10.0,327,8651,0.00,2.62,0.00,0.000,6,0.000,0.077,2643,1819,3451,0,0,0,0,0,0
$GC,8924,-1.63,-116.8,934.7,-10.0,334,8929,0.00,2.60,0.00,0.000,4,0.000,0.073,2642,3317,3449,0,0,0,0,0,0
$GC,8953,-1.63,-116.8,937.7,-10.8,334,8958,0.00,2.62,0.00,0.000,6,0.000,0.072,2642,1828,3450,0,0,0,0,0,0
$STATE,9079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9079,begin apogee
$GC,9084,-0.31,0.0,950.8,10.2,337,9189,1.33,0.00,100.78,1.290,6,0.092,0.000,2930,1828,3001,0,0,0,0,0,0
$STATE,9190,end apogee,CONTROL_FINISHED_OK
$STATE,9190,begin climb
$GC,9192,1.38,116.8,953.4,0.0,339,9314,1.60,2.72,111.18,1.259,4,0.041,0.061,3309,3368,2523,0,0,0,0,0,0
$GC,9326,1.25,165.0,950.8,7.2,343,9378,0.17,2.78,45.45,1.219,6,0.141,0.072,3276,1821,2328,0,0,0,0,0,0
$GC,9647,1.15,165.0,917.2,11.0,351,9652,0.12,2.67,0.00,0.000,4,0.144,0.054,3253,3376,2317,0,0,0,0,0,0
$GC,9792,1.15,165.0,901.4,10.7,354,9796,0.00,2.72,0.00,0.000,6,0.000,0.067,3253,1827,2315,0,0,0,0,0,0
$GC,10059,1.09,165.0,873.0,10.9,361,10063,0.00,2.62,0.00,0.000,4,0.000,0.052,3253,3379,2313,0,0,0,0,0,0
$GC,10137,1.09,165.0,863.6,11.9,362,10143,0.00,2.67,0.00,0.000,6,0.000,0.061,3253,1836,2312,0,0,0,0,0,0
$GC,10387,1.04,165.0,833.6,12.1,369,10392,0.12,2.60,0.00,0.000,4,0.137,0.054,3230,3371,2311,0,0,0,0,0,0
$GC,10473,1.04,165.0,823.1,11.6,371,10478,0.00,2.62,0.00,0.000,6,0.000,0.059,3230,1857,2310,0,0,0,0,0,0
$GC,10756,1.04,165.0,788.5,12.2,378,10760,0.00,2.55,0.00,0.000,4,0.000,0.052,3230,3372,2310,0,0,0,0,0,0
$GC,10777,1.04,165.0,785.6,13.2,378,10781,0.00,2.62,0.00,0.000,6,0.000,0.057,3230,1856,2309,0,0,0,0,0,0
$GC,11034,1.04,165.0,753.7,12.6,385,11038,0.00,2.58,0.00,0.000,4,0.000,0.051,3230,3379,2309,0,0,0,0,0,0
$GC,11077,1.04,165.0,747.9,12.9,386,11082,0.00,2.58,0.00,0.000,6,0.000,0.058,3230,1871,2308,0,0,0,0,0,0
$GC,11356,1.04,165.0,718.2,10.4,393,11360,0.00,2.50,0.00,0.000,4,0.000,0.051,3230,3371,2308,0,0,0,0,0,0
$GC,11406,1.04,165.0,713.1,10.2,394,11410,0.00,2.55,0.00,0.000,6,0.000,0.057,3230,1881,2308,0,0,0,0,0,0
$GC,11678,1.08,199.0,690.2,8.1,401,11714,0.00,2.55,30.25,1.099,4,0.000,0.047,3230,3370,2187,0,0,0,0,0,0
$GC,11737,1.12,229.0,685.4,8.3,401,11772,0.00,2.58,29.40,1.077,6,0.000,0.061,3230,1883,2067,0,0,0,0,0,0
$GC,12041,1.19,255.2,658.7,8.5,409,12073,0.12,2.55,25.52,1.054,4,0.090,0.051,3260,3370,1959,0,0,0,0,0,0
$GC,12109,1.19,256.3,652.2,10.0,410,12114,0.00,2.60,0.00,0.000,6,0.000,0.064,3260,1890,1956,0,0,0,0,0,0
$GC,12365,1.20,259.8,627.0,9.8,417,12375,0.00,3.22,4.62,0.744,4,0.000,0.123,3260,230,1941,0,0,0,0,0,0
$GC,12386,1.15,259.8,624.6,10.5,417,12391,0.00,2.67,0.00,0.000,6,0.000,0.030,3260,1865,1941,0,0,0,0,0,0
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$GC,14628,1.31,260.8,374.8,11.8,473,14633,0.10,2.55,0.00,0.000,6,0.098,0.048,3286,1897,1933,0,0,0,0,0,0
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$STATE,17900,end climb,SURFACE_DEPTH_REACHED
$STATE,17900,begin surface coast
$FINISH,0.4,1.009759
$STATE,17942,end surface coast,CONTROL_FINISHED_OK
$STATE,17942,begin surface
$SM_CCo,17968,80.93,0.463,1,0,1287,420.20
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$TT8_MAMPS,0.026078
$HUMID,45.98
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.60
$XPDR_PINGS,97
$24V_AH,23.2,37.566
$10V_AH,10.1,38.086
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.100,250.800,413.975,80.925,0.000,29.265,34.719,181.050,24.250,0.000,15.098,1482.505,13279.501,641.809,2382.683,655.139,33.384,1674.835,0.000,2369.329,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.409,310.646,415.018,694.990,1046.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,54237,685
$CAP_FILE_SIZE,174024,0
$CFSIZE,260165632,166387712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240910,071924,2234.293,-15751.532,25,1.4,42,10.0