version: 66.06
glider: 146
mission: 5
dive: 277
start: 9 26 110 1 38 56
data:
$ID,146
$MISSION,5
$DIVE,277
$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,-252657.03
$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,48
$R_STBD_OVSHOOT,15
$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
$GPS1,013155,2237.695,-15754.047,37,1.3,37,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.6
$GPS2,013801,2237.595,-15754.126,10,1.3,10,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.016,0.234
$KALMAN_X,-286829.6,34.8,-121.1,315282.3,-1268.5
$KALMAN_Y,-362618.0,39.7,-306.7,468477.7,-3191.3
$MHEAD_RNG_PITCHd_Wd,353.8,36006,-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,-78.35,0.000,2,0.000,0.000,476,1744,3228,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.5,10,127,11.25,2.62,-4.90,0.000,4,0.137,0.035,2694,3372,3478,0,0,0,0,0,0
$GC,232,-1.30,-116.8,31.9,-16.4,28,242,0.08,2.58,0.00,0.000,6,0.090,0.031,2715,1796,3479,0,0,0,0,0,0
$GC,499,-1.23,-116.8,74.0,-14.8,53,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1796,3480,0,0,0,0,0,0
$GC,760,-1.23,-116.8,108.7,-12.8,78,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1796,3481,0,0,0,0,0,0
$GC,1016,-1.23,-116.8,139.3,-12.2,102,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1796,3482,0,0,0,0,0,0
$GC,1270,-1.23,-116.8,170.7,-12.0,126,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1796,3482,0,0,0,0,0,0
$GC,1525,-1.23,-116.8,201.2,-11.8,150,1529,0.00,2.78,0.00,0.000,4,0.000,0.064,2715,188,3483,0,0,0,0,0,0
$GC,1547,-1.23,-116.8,203.9,-12.1,150,1552,0.00,2.53,0.00,0.000,6,0.000,0.018,2715,1842,3482,0,0,0,0,0,0
$GC,1803,-1.23,-116.8,230.6,-10.0,157,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1842,3483,0,0,0,0,0,0
$GC,2046,-1.23,-116.8,256.8,-10.9,163,2050,0.00,2.42,0.00,0.000,4,0.000,0.028,2715,3380,3483,0,0,0,0,0,0
$GC,2064,-1.27,-116.8,258.8,-11.1,163,2068,0.00,2.58,0.00,0.000,6,0.000,0.036,2715,1773,3483,0,0,0,0,0,0
$GC,2325,-1.31,-116.8,289.1,-11.7,170,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1772,3482,0,0,0,0,0,0
$GC,2569,-1.37,-116.8,312.6,-9.3,176,2573,0.00,2.58,0.00,0.000,4,0.000,0.034,2715,3379,3482,0,0,0,0,0,0
$GC,2614,-1.45,-116.8,316.7,-8.9,177,2620,0.15,2.62,0.00,0.000,6,0.067,0.044,2665,1787,3482,0,0,0,0,0,0
$GC,2892,-1.45,-116.8,347.5,-11.3,184,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1788,3481,0,0,0,0,0,0
$GC,3136,-1.45,-116.8,376.9,-12.3,190,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1787,3480,0,0,0,0,0,0
$GC,3380,-1.45,-116.8,406.5,-12.1,196,3384,0.00,2.60,0.00,0.000,4,0.000,0.044,2666,3367,3479,0,0,0,0,0,0
$GC,3442,-1.45,-116.8,413.2,-10.4,197,3446,0.00,2.67,0.00,0.000,6,0.000,0.060,2666,1789,3479,0,0,0,0,0,0
$GC,3702,-1.45,-116.8,441.3,-10.9,204,3706,0.00,2.60,0.00,0.000,4,0.000,0.048,2665,3368,3477,0,0,0,0,0,0
$GC,3729,-1.45,-116.8,444.2,-11.0,204,3733,0.00,2.67,0.00,0.000,6,0.000,0.057,2665,1790,3477,0,0,0,0,0,0
$GC,3980,-1.45,-116.8,470.9,-10.9,210,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1790,3475,0,0,0,0,0,0
$GC,4222,-1.45,-116.8,497.7,-10.9,216,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1790,3473,0,0,0,0,0,0
$GC,4466,-1.45,-116.8,525.9,-11.6,222,4470,0.00,2.67,0.00,0.000,4,0.000,0.064,2665,3368,3472,0,0,0,0,0,0
$GC,4517,-1.50,-116.8,532.0,-12.0,223,4522,0.00,2.72,0.00,0.000,6,0.000,0.064,2665,1805,3472,0,0,0,0,0,0
$GC,4788,-1.50,-116.8,563.4,-11.5,230,4793,0.00,2.65,0.00,0.000,4,0.000,0.062,2665,3360,3470,0,0,0,0,0,0
$GC,4804,-1.50,-116.8,565.3,-11.3,230,4808,0.00,2.72,0.00,0.000,6,0.000,0.071,2665,1799,3470,0,0,0,0,0,0
$GC,5065,-1.50,-116.8,591.9,-9.9,237,5070,0.00,3.15,0.00,0.000,4,0.000,0.127,2665,178,3468,0,0,0,0,0,0
$GC,5093,-1.50,-116.8,595.0,-11.4,237,5098,0.00,2.75,0.00,0.000,6,0.000,0.053,2665,1811,3468,0,0,0,0,0,0
$GC,5343,-1.50,-116.8,619.6,-9.7,243,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1811,3466,0,0,0,0,0,0
$GC,5587,-1.50,-116.8,641.1,-8.7,249,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1811,3464,0,0,0,0,0,0
$GC,5832,-1.50,-116.8,662.1,-8.8,255,5837,0.00,2.83,0.00,0.000,4,0.000,0.100,2665,3363,3462,0,0,0,0,0,0
$GC,5882,-1.55,-116.8,667.0,-9.6,256,5886,0.00,2.78,0.00,0.000,6,0.000,0.077,2665,1808,3462,0,0,0,0,0,0
$GC,6154,-1.55,-116.8,692.5,-9.6,263,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1808,3461,0,0,0,0,0,0
$GC,6399,-1.59,-116.8,716.7,-10.1,269,6403,0.00,2.72,0.00,0.000,4,0.000,0.076,2665,3366,3459,0,0,0,0,0,0
$GC,6426,-1.63,-116.8,719.6,-10.2,269,6430,0.00,2.78,0.00,0.000,6,0.000,0.074,2665,1802,3459,0,0,0,0,0,0
$GC,6676,-1.67,-116.8,742.3,-9.1,275,6678,0.12,0.00,0.00,0.000,6,0.079,0.000,2631,1801,3457,0,0,0,0,0,0
$GC,6921,-1.67,-116.8,766.5,-9.9,281,6926,0.00,2.67,0.00,0.000,4,0.000,0.072,2631,3357,3455,0,0,0,0,0,0
$GC,6942,-1.67,-116.8,768.9,-10.2,281,6947,0.00,2.75,0.00,0.000,6,0.000,0.076,2630,1806,3456,0,0,0,0,0,0
$GC,7198,-1.67,-116.8,793.4,-9.5,288,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1806,3454,0,0,0,0,0,0
$GC,7442,-1.67,-116.8,815.6,-9.0,294,7446,0.00,2.70,0.00,0.000,4,0.000,0.067,2631,3360,3453,0,0,0,0,0,0
$GC,7487,-1.67,-116.8,819.8,-9.0,295,7492,0.00,2.72,0.00,0.000,6,0.000,0.071,2631,1811,3453,0,0,0,0,0,0
$GC,7766,-1.67,-116.8,844.8,-9.0,302,7770,0.00,2.70,0.00,0.000,4,0.000,0.069,2631,3365,3451,0,0,0,0,0,0
$GC,7812,-1.67,-116.8,849.1,-9.6,303,7817,0.00,2.75,0.00,0.000,6,0.000,0.078,2631,1815,3451,0,0,0,0,0,0
$GC,8090,-1.67,-116.8,874.2,-9.0,310,8094,0.00,2.67,0.00,0.000,4,0.000,0.072,2631,3358,3450,0,0,0,0,0,0
$GC,8111,-1.67,-116.8,876.3,-9.5,310,8115,0.00,2.70,0.00,0.000,6,0.000,0.076,2631,1824,3450,0,0,0,0,0,0
$GC,8368,-1.67,-116.8,898.1,-8.4,317,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1824,3449,0,0,0,0,0,0
$GC,8610,-1.67,-116.8,917.6,-7.9,323,8614,0.00,2.65,0.00,0.000,4,0.000,0.071,2630,3357,3448,0,0,0,0,0,0
$GC,8637,-1.67,-116.8,919.8,-8.4,323,8641,0.00,2.70,0.00,0.000,6,0.000,0.073,2631,1823,3448,0,0,0,0,0,0
$GC,8887,-1.67,-116.8,939.7,-7.9,329,8891,0.00,2.62,0.00,0.000,4,0.000,0.067,2631,3359,3446,0,0,0,0,0,0
$GC,8932,-1.67,-116.8,943.4,-8.4,330,8936,0.00,2.70,0.00,0.000,6,0.000,0.069,2631,1826,3447,0,0,0,0,0,0
$STATE,9044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9044,begin apogee
$GC,9050,-0.31,0.0,952.8,8.1,333,9153,1.38,0.00,99.57,1.297,6,0.088,0.000,2932,1826,3001,0,0,0,0,0,0
$STATE,9154,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9156,1.38,116.8,953.5,0.0,335,9276,1.58,2.85,110.88,1.261,4,0.042,0.058,3306,3409,2522,0,0,0,0,0,0
$GC,9296,1.21,116.8,947.1,10.1,339,9302,0.22,2.85,0.00,0.000,6,0.137,0.071,3264,1817,2519,0,0,0,0,0,0
$GC,9575,1.12,124.3,919.3,9.6,346,9586,0.00,2.78,5.85,0.929,4,0.000,0.054,3265,3410,2493,0,0,0,0,0,0
$GC,9696,1.04,124.3,907.7,10.2,348,9701,0.17,2.78,0.00,0.000,6,0.133,0.064,3230,1830,2492,0,0,0,0,0,0
$GC,9946,1.08,156.2,886.7,8.2,354,9986,0.00,2.75,31.40,1.200,4,0.000,0.053,3231,3409,2362,0,0,0,0,0,0
$GC,10057,1.09,161.5,877.1,9.7,356,10070,0.00,2.75,6.20,0.937,6,0.000,0.061,3230,1841,2342,0,0,0,0,0,0
$GC,10321,1.11,182.0,853.2,8.8,363,10344,0.00,0.00,20.95,1.158,6,0.000,0.000,3230,1840,2257,0,0,0,0,0,0
$GC,10609,1.11,182.9,825.3,10.0,370,10614,0.00,2.67,0.00,0.000,4,0.000,0.049,3230,3410,2252,0,0,0,0,0,0
$GC,10625,1.11,182.9,823.3,10.3,370,10629,0.00,2.72,0.00,0.000,6,0.000,0.061,3230,1833,2251,0,0,0,0,0,0
$GC,10885,1.11,182.9,794.7,11.3,377,10890,0.00,2.67,0.00,0.000,4,0.000,0.051,3230,3417,2250,0,0,0,0,0,0
$GC,10981,1.15,182.9,783.3,12.0,379,10986,0.00,2.70,0.00,0.000,6,0.000,0.063,3231,1853,2249,0,0,0,0,0,0
$GC,11253,1.15,182.9,752.3,11.2,386,11257,0.00,2.62,0.00,0.000,4,0.000,0.048,3230,3410,2248,0,0,0,0,0,0
$GC,11268,1.15,182.9,750.5,11.0,386,11273,0.00,2.67,0.00,0.000,6,0.000,0.057,3231,1856,2248,0,0,0,0,0,0
$GC,11531,1.15,185.3,724.0,9.9,393,11536,0.00,2.62,0.00,0.000,4,0.000,0.050,3230,3410,2247,0,0,0,0,0,0
$GC,11575,1.20,188.0,719.6,9.9,394,11586,0.12,2.70,4.97,0.833,6,0.091,0.063,3260,1861,2234,0,0,0,0,0,0
$GC,11857,1.16,190.2,691.7,9.9,401,11861,0.00,2.62,0.00,0.000,4,0.000,0.048,3260,3410,2233,0,0,0,0,0,0
$GC,11906,1.17,194.3,686.5,9.8,402,11921,0.00,2.65,7.72,0.956,6,0.000,0.065,3260,1878,2208,0,0,0,0,0,0
$GC,12183,1.18,207.3,660.9,9.3,409,12203,0.00,2.65,13.95,1.035,4,0.000,0.053,3260,3412,2154,0,0,0,0,0,0
$GC,12216,1.19,210.1,657.8,9.9,409,12227,0.00,2.72,4.12,0.701,6,0.000,0.061,3260,1873,2144,0,0,0,0,0,0
$GC,12471,1.19,210.1,631.3,10.4,416,12475,0.00,2.58,0.00,0.000,4,0.000,0.048,3260,3411,2141,0,0,0,0,0,0
$GC,12486,1.19,210.1,629.7,10.6,416,12491,0.00,2.67,0.00,0.000,6,0.000,0.065,3261,1881,2140,0,0,0,0,0,0
$GC,12749,1.19,210.1,601.2,10.9,423,12753,0.00,2.58,0.00,0.000,4,0.000,0.051,3260,3411,2140,0,0,0,0,0,0
$GC,12804,1.19,210.1,594.4,12.6,424,12808,0.00,2.62,0.00,0.000,6,0.000,0.066,3260,1894,2139,0,0,0,0,0,0
$GC,13071,1.19,210.1,564.2,11.5,431,13076,0.00,2.55,0.00,0.000,4,0.000,0.050,3261,3411,2139,0,0,0,0,0,0
$GC,13087,1.19,210.1,562.0,11.9,431,13091,0.00,2.60,0.00,0.000,6,0.000,0.058,3260,1908,2139,0,0,0,0,0,0
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$STATE,18467,end climb,SURFACE_DEPTH_REACHED
$STATE,18467,begin surface coast
$FINISH,0.4,1.020750
$STATE,18516,end surface coast,CONTROL_FINISHED_OK
$STATE,18516,begin surface
$SM_CCo,18541,88.35,0.464,1,0,1288,420.20
$SM_GC,1.00,0.00,0.00,88.35,0.000,0.000,0.464,473,1745,1288,-11.62,-0.68,420.20
$IRIDIUM_FIX,2230.01,-15753.70,201299,202042
$TT8_MAMPS,0.026078
$HUMID,45.23
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.30
$XPDR_PINGS,76
$24V_AH,23.2,38.991
$10V_AH,10.1,39.242
$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,27.200,216.725,413.225,88.350,0.000,29.989,26.326,167.105,19.000,0.000,11.965,1493.060,13829.548,643.011,2393.223,636.733,33.381,1653.230,0.000,2395.980,0.000,0.533,0.000
$DEVICE_MAMPS,137.293,126.555,1296.997,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,484.556,327.916,430.052,740.565,1121.299,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,54331,711
$CAP_FILE_SIZE,165568,0
$CFSIZE,260165632,165740544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260910,065054,2238.271,-15754.711,24,1.1,42,10.0