version: 66.06
glider: 146
mission: 5
dive: 274
start: 9 25 110 9 55 2
data:
$ID,146
$MISSION,5
$DIVE,274
$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,-252615.3
$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,49
$R_STBD_OVSHOOT,27
$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
$GPS1,094807,2236.032,-15752.520,28,1.1,28,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.8
$GPS2,095408,2235.942,-15752.570,8,1.5,8,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.026,0.233
$KALMAN_X,-282642.5,-89.9,19.9,313747.9,-1365.8
$KALMAN_Y,-352602.6,-183.4,27.0,455282.8,-3322.6
$MHEAD_RNG_PITCHd_Wd,356.5,40052,-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,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.62,0.000,2,0.000,0.000,476,1723,3226,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.3,10,127,11.23,2.65,-4.90,0.000,4,0.137,0.042,2688,3361,3478,0,0,0,0,0,0
$GC,225,-1.29,-116.8,30.1,-16.6,27,235,0.10,2.55,0.00,0.000,6,0.084,0.031,2715,1798,3480,0,0,0,0,0,0
$GC,492,-1.19,-116.8,75.2,-16.7,52,498,0.12,2.75,0.00,0.000,4,0.116,0.059,2741,192,3481,0,0,0,0,0,0
$GC,527,-1.11,-116.8,81.2,-15.3,54,532,0.00,2.45,0.00,0.000,6,0.000,0.015,2741,1817,3481,0,0,0,0,0,0
$GC,791,-1.11,-116.8,114.0,-11.5,78,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1819,3481,0,0,0,0,0,0
$GC,1058,-1.16,-116.8,141.0,-9.9,103,1063,0.00,2.75,0.00,0.000,4,0.000,0.058,2741,192,3483,0,0,0,0,0,0
$GC,1103,-1.21,-116.8,146.4,-10.8,106,1112,0.00,2.40,0.00,0.000,6,0.000,0.018,2741,1768,3483,0,0,0,0,0,0
$GC,1367,-1.27,-116.8,173.2,-9.6,131,1371,0.00,2.40,0.00,0.000,4,0.000,0.025,2740,3317,3483,0,0,0,0,0,0
$GC,1400,-1.35,-116.8,176.4,-10.1,133,1405,0.15,2.47,0.00,0.000,6,0.062,0.033,2690,1753,3483,0,0,0,0,0,0
$GC,1692,-1.35,-116.8,210.0,-11.4,154,1697,0.00,2.45,0.00,0.000,4,0.000,0.025,2689,3325,3483,0,0,0,0,0,0
$GC,1708,-1.35,-116.8,212.3,-11.1,154,1713,0.00,2.47,0.00,0.000,6,0.000,0.029,2689,1761,3483,0,0,0,0,0,0
$GC,1969,-1.35,-116.8,242.1,-11.5,161,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1761,3483,0,0,0,0,0,0
$GC,2214,-1.35,-116.8,271.3,-12.0,167,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1761,3484,0,0,0,0,0,0
$GC,2457,-1.35,-116.8,297.8,-10.6,173,2461,0.00,2.45,0.00,0.000,4,0.000,0.036,2689,3309,3483,0,0,0,0,0,0
$GC,2517,-1.39,-116.8,303.8,-10.1,174,2522,0.00,2.53,0.00,0.000,6,0.000,0.045,2689,1770,3484,0,0,0,0,0,0
$GC,2780,-1.39,-116.8,328.0,-9.8,181,2784,0.00,2.47,0.00,0.000,4,0.000,0.036,2689,3311,3483,0,0,0,0,0,0
$GC,2829,-1.46,-116.8,333.0,-8.9,182,2834,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,1784,3482,0,0,0,0,0,0
$GC,3101,-1.46,-116.8,360.6,-10.5,189,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1784,3481,0,0,0,0,0,0
$GC,3347,-1.50,-116.8,385.3,-10.1,195,3351,0.00,2.45,0.00,0.000,4,0.000,0.045,2689,3303,3480,0,0,0,0,0,0
$GC,3363,-1.54,-116.8,387.2,-10.2,195,3368,0.10,2.55,0.00,0.000,6,0.087,0.057,2654,1777,3480,0,0,0,0,0,0
$GC,3623,-1.54,-116.8,421.1,-13.4,202,3628,0.00,2.90,0.00,0.000,4,0.000,0.100,2653,187,3478,0,0,0,0,0,0
$GC,3639,-1.50,-116.8,423.4,-13.6,202,3644,0.10,2.45,0.00,0.000,6,0.126,0.032,2673,1735,3478,0,0,0,0,0,0
$GC,3901,-1.50,-116.8,456.6,-12.6,209,3906,0.00,2.70,0.00,0.000,4,0.000,0.061,2673,3354,3476,0,0,0,0,0,0
$GC,3934,-1.54,-116.8,460.8,-12.4,209,3939,0.00,2.67,0.00,0.000,6,0.000,0.055,2673,1781,3476,0,0,0,0,0,0
$GC,4183,-1.54,-116.8,489.6,-11.3,216,4188,0.00,2.62,0.00,0.000,4,0.000,0.058,2674,3350,3475,0,0,0,0,0,0
$GC,4246,-1.60,-116.8,496.3,-10.1,217,4251,0.10,2.67,0.00,0.000,6,0.090,0.064,2641,1782,3475,0,0,0,0,0,0
$GC,4507,-1.60,-116.8,525.1,-11.0,224,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1782,3472,0,0,0,0,0,0
$GC,4751,-1.60,-116.8,551.0,-10.6,230,4755,0.00,2.67,0.00,0.000,4,0.000,0.063,2641,3347,3471,0,0,0,0,0,0
$GC,4801,-1.60,-116.8,556.3,-10.7,231,4806,0.00,2.70,0.00,0.000,6,0.000,0.069,2641,1800,3470,0,0,0,0,0,0
$GC,5075,-1.60,-116.8,584.7,-10.5,238,5080,0.00,3.12,0.00,0.000,4,0.000,0.129,2641,183,3468,0,0,0,0,0,0
$GC,5102,-1.55,-116.8,588.2,-12.3,238,5107,0.10,2.70,0.00,0.000,6,0.128,0.054,2661,1787,3468,0,0,0,0,0,0
$GC,5353,-1.55,-116.8,614.0,-10.3,244,5358,0.00,2.78,0.00,0.000,4,0.000,0.093,2661,3353,3466,0,0,0,0,0,0
$GC,5392,-1.59,-116.8,618.3,-10.5,245,5397,0.00,2.80,0.00,0.000,6,0.000,0.088,2661,1797,3466,0,0,0,0,0,0
$GC,5677,-1.59,-116.8,648.3,-10.7,252,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3464,0,0,0,0,0,0
$GC,5919,-1.59,-116.8,673.5,-10.3,258,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3463,0,0,0,0,0,0
$GC,6163,-1.59,-116.8,698.3,-10.2,264,6167,0.00,2.92,0.00,0.000,4,0.000,0.112,2661,3355,3461,0,0,0,0,0,0
$GC,6235,-1.64,-116.8,705.4,-10.1,265,6239,0.00,2.78,0.00,0.000,6,0.000,0.081,2661,1798,3461,0,0,0,0,0,0
$GC,6486,-1.64,-116.8,729.3,-9.5,271,6491,0.00,2.72,0.00,0.000,4,0.000,0.074,2661,3357,3458,0,0,0,0,0,0
$GC,6519,-1.69,-116.8,732.7,-9.8,271,6525,0.12,2.75,0.00,0.000,6,0.078,0.079,2624,1804,3458,0,0,0,0,0,0
$GC,6769,-1.69,-116.8,758.7,-10.4,278,6773,0.00,2.70,0.00,0.000,4,0.000,0.070,2624,3356,3457,0,0,0,0,0,0
$GC,6797,-1.69,-116.8,761.5,-10.1,278,6801,0.00,2.70,0.00,0.000,6,0.000,0.078,2624,1816,3457,0,0,0,0,0,0
$GC,7047,-1.69,-116.8,785.9,-9.6,284,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1817,3455,0,0,0,0,0,0
$GC,7290,-1.69,-116.8,808.4,-9.2,290,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1816,3454,0,0,0,0,0,0
$GC,7536,-1.69,-116.8,831.2,-9.4,296,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1815,3453,0,0,0,0,0,0
$GC,7777,-1.69,-116.8,855.5,-10.2,302,7782,0.00,2.65,0.00,0.000,4,0.000,0.071,2624,3356,3451,0,0,0,0,0,0
$GC,7804,-1.69,-116.8,858.5,-11.7,302,7808,0.00,2.72,0.00,0.000,6,0.000,0.076,2624,1812,3451,0,0,0,0,0,0
$GC,8054,-1.69,-116.8,884.4,-10.3,308,8058,0.00,2.67,0.00,0.000,4,0.000,0.067,2624,3355,3451,0,0,0,0,0,0
$GC,8116,-1.69,-116.8,891.0,-11.0,309,8120,0.00,2.70,0.00,0.000,6,0.000,0.071,2624,1822,3450,0,0,0,0,0,0
$GC,8376,-1.69,-116.8,918.3,-10.5,316,8381,0.00,2.65,0.00,0.000,4,0.000,0.074,2623,3362,3449,0,0,0,0,0,0
$GC,8409,-1.69,-116.8,922.0,-11.5,316,8415,0.00,2.70,0.00,0.000,6,0.000,0.071,2624,1826,3449,0,0,0,0,0,0
$GC,8661,-1.69,-116.8,948.8,-10.8,323,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1825,3448,0,0,0,0,0,0
$STATE,8697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8697,begin apogee
$GC,8703,-0.31,0.0,953.1,10.9,324,8807,1.40,0.00,100.03,1.293,6,0.087,0.000,2932,1820,3001,0,0,0,0,0,0
$STATE,8808,end apogee,CONTROL_FINISHED_OK
$STATE,8808,begin climb
$GC,8810,1.38,116.8,956.0,0.0,326,8925,1.55,0.00,111.05,1.261,6,0.040,0.000,3306,1820,2524,0,0,0,0,0,0
$GC,9139,1.22,134.4,937.1,9.0,334,9163,0.20,2.75,15.85,1.146,4,0.127,0.060,3268,3405,2452,0,0,0,0,0,0
$GC,9309,1.19,167.9,922.8,8.1,337,9349,0.00,2.75,33.10,1.203,6,0.000,0.066,3268,1836,2315,0,0,0,0,0,0
$GC,9604,1.12,179.9,896.4,9.3,345,9624,0.12,2.80,11.98,1.101,4,0.140,0.053,3245,3414,2266,0,0,0,0,0,0
$GC,9700,1.13,187.3,887.4,9.6,347,9714,0.00,2.78,8.45,1.029,6,0.000,0.067,3245,1841,2236,0,0,0,0,0,0
$GC,9981,1.13,190.4,859.8,9.8,354,9986,0.00,2.67,0.00,0.000,4,0.000,0.052,3244,3408,2232,0,0,0,0,0,0
$GC,10025,1.13,190.4,855.2,10.1,355,10029,0.00,2.75,0.00,0.000,6,0.000,0.069,3245,1847,2231,0,0,0,0,0,0
$GC,10304,1.13,190.4,825.9,10.5,362,10309,0.00,2.67,0.00,0.000,4,0.000,0.053,3245,3412,2230,0,0,0,0,0,0
$GC,10325,1.13,190.4,823.4,11.0,362,10330,0.00,2.78,0.00,0.000,6,0.000,0.065,3245,1842,2229,0,0,0,0,0,0
$GC,10580,1.13,190.4,796.4,10.5,369,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1842,2229,0,0,0,0,0,0
$GC,10824,1.13,190.4,770.0,10.9,375,10829,0.00,2.67,0.00,0.000,4,0.000,0.058,3244,3411,2228,0,0,0,0,0,0
$GC,10875,1.13,190.4,764.4,10.6,376,10880,0.00,2.75,0.00,0.000,6,0.000,0.071,3245,1852,2227,0,0,0,0,0,0
$GC,11147,1.13,190.4,734.4,10.9,383,11151,0.00,2.65,0.00,0.000,4,0.000,0.059,3245,3406,2227,0,0,0,0,0,0
$GC,11196,1.13,190.4,728.8,11.4,384,11201,0.00,2.70,0.00,0.000,6,0.000,0.069,3245,1859,2227,0,0,0,0,0,0
$GC,11470,1.13,190.4,699.7,10.6,391,11475,0.00,2.62,0.00,0.000,4,0.000,0.057,3244,3406,2227,0,0,0,0,0,0
$GC,11486,1.13,190.4,697.7,10.7,391,11491,0.00,2.70,0.00,0.000,6,0.000,0.068,3245,1853,2227,0,0,0,0,0,0
$GC,11748,1.14,194.6,672.1,9.8,398,11761,0.00,2.72,6.57,0.906,4,0.000,0.054,3244,3406,2206,0,0,0,0,0,0
$GC,11814,1.15,207.2,665.4,9.3,399,11835,0.00,2.70,13.70,1.029,6,0.000,0.072,3245,1869,2154,0,0,0,0,0,0
$GC,12079,1.15,207.2,638.6,10.1,406,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1869,2152,0,0,0,0,0,0
$GC,12325,1.17,220.1,615.4,9.3,412,12344,0.00,2.70,12.98,0.997,4,0.000,0.058,3245,3406,2103,0,0,0,0,0,0
$GC,12373,1.24,237.0,610.7,9.0,413,12397,0.10,2.70,17.83,1.009,6,0.097,0.074,3268,1878,2033,0,0,0,0,0,0
$GC,12655,1.24,237.0,580.5,10.9,420,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1878,2028,0,0,0,0,0,0
$GC,12897,1.24,237.0,554.0,10.8,426,12901,0.00,2.60,0.00,0.000,4,0.000,0.057,3269,3409,2027,0,0,0,0,0,0
$GC,12936,1.24,237.0,549.6,11.8,427,12940,0.00,2.70,0.00,0.000,6,0.000,0.067,3269,1874,2026,0,0,0,0,0,0
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$STATE,17953,end climb,SURFACE_DEPTH_REACHED
$STATE,17953,begin surface coast
$FINISH,0.4,1.002325
$STATE,18005,end surface coast,CONTROL_FINISHED_OK
$STATE,18005,begin surface
$SM_CCo,18028,82.10,0.466,1,0,1287,420.20
$SM_GC,1.11,0.00,0.00,82.10,0.000,0.000,0.466,473,1739,1287,-11.62,-0.90,420.20
$IRIDIUM_FIX,2225.34,-15752.42,201299,040409
$TT8_MAMPS,0.026078
$HUMID,46.10
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.50
$XPDR_PINGS,76
$24V_AH,23.2,38.529
$10V_AH,10.1,38.858
$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,27.725,214.825,416.250,82.100,0.000,24.604,33.605,162.551,19.000,0.000,9.953,1455.679,13421.448,642.005,2319.391,631.126,33.384,1633.947,0.000,2322.564,0.000,0.534,0.000
$DEVICE_MAMPS,140.361,128.856,1293.162,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,468.317,320.641,414.293,721.352,1092.157,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,54327,687
$CAP_FILE_SIZE,163322,0
$CFSIZE,260165632,165961728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250910,145807,2236.674,-15752.968,29,1.0,29,10.0