version: 66.06
glider: 146
mission: 5
dive: 282
start: 9 27 110 3 56 57
data:
$ID,146
$MISSION,5
$DIVE,282
$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,-252736.75
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,035006,2240.944,-15755.559,36,1.1,41,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.7
$GPS2,035602,2240.861,-15755.613,11,1.3,11,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.010,0.234
$KALMAN_X,-292694.6,26.6,-59.8,318529.5,-1133.3
$KALMAN_Y,-378313.0,-190.5,-122.3,490260.0,-2928.4
$MHEAD_RNG_PITCHd_Wd,347.6,29714,-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,-78.32,0.000,2,0.000,0.000,478,1710,3207,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-5.4,10,127,11.25,2.67,-5.40,0.000,4,0.137,0.035,2691,3367,3479,0,0,0,0,0,0
$GC,243,-1.28,-116.8,32.9,-16.6,29,249,0.15,2.58,0.00,0.000,6,0.176,0.030,2722,1765,3480,0,0,0,0,0,0
$GC,512,-1.22,-116.8,73.3,-12.6,53,516,0.00,2.53,0.00,0.000,4,0.000,0.024,2722,3372,3481,0,0,0,0,0,0
$GC,533,-1.22,-116.8,76.8,-13.3,54,537,0.00,2.58,0.00,0.000,6,0.000,0.036,2722,1784,3480,0,0,0,0,0,0
$GC,794,-1.22,-116.8,107.4,-10.4,78,798,0.00,2.72,0.00,0.000,4,0.000,0.066,2722,190,3482,0,0,0,0,0,0
$GC,824,-1.22,-116.8,110.7,-11.7,80,828,0.00,2.53,0.00,0.000,6,0.000,0.021,2722,1847,3482,0,0,0,0,0,0
$GC,1086,-1.22,-116.8,137.7,-9.5,104,1090,0.00,2.40,0.00,0.000,4,0.000,0.028,2722,3375,3483,0,0,0,0,0,0
$GC,1109,-1.22,-116.8,140.1,-9.7,105,1115,0.00,2.55,0.00,0.000,6,0.000,0.031,2722,1777,3483,0,0,0,0,0,0
$GC,1377,-1.22,-116.8,166.8,-11.6,130,1381,0.00,2.50,0.00,0.000,4,0.000,0.025,2722,3371,3483,0,0,0,0,0,0
$GC,1398,-1.22,-116.8,170.0,-11.0,131,1404,0.00,2.55,0.00,0.000,6,0.000,0.031,2723,1784,3483,0,0,0,0,0,0
$GC,1662,-1.22,-116.8,200.2,-11.7,156,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1784,3483,0,0,0,0,0,0
$GC,1903,-1.22,-116.8,226.4,-10.4,162,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1784,3483,0,0,0,0,0,0
$GC,2147,-1.26,-116.8,251.2,-10.1,168,2151,0.00,2.53,0.00,0.000,4,0.000,0.031,2722,3371,3483,0,0,0,0,0,0
$GC,2188,-1.35,-116.8,255.1,-9.9,169,2193,0.00,2.55,0.00,0.000,6,0.000,0.031,2722,1793,3483,0,0,0,0,0,0
$GC,2472,-1.40,-116.8,282.8,-9.8,176,2477,0.12,2.83,0.00,0.000,4,0.071,0.080,2681,186,3483,0,0,0,0,0,0
$GC,2551,-1.36,-116.8,292.8,-12.5,177,2558,0.10,2.53,0.00,0.000,6,0.123,0.020,2702,1810,3483,0,0,0,0,0,0
$GC,2801,-1.36,-116.8,320.7,-11.1,184,2805,0.00,2.45,0.00,0.000,4,0.000,0.041,2701,3351,3483,0,0,0,0,0,0
$GC,2828,-1.40,-116.8,323.6,-10.7,184,2832,0.00,2.55,0.00,0.000,6,0.000,0.039,2701,1792,3482,0,0,0,0,0,0
$GC,3078,-1.40,-116.8,349.9,-10.5,190,3082,0.00,2.85,0.00,0.000,4,0.000,0.086,2701,187,3482,0,0,0,0,0,0
$GC,3113,-1.40,-116.8,353.5,-11.3,190,3119,0.00,2.50,0.00,0.000,6,0.000,0.023,2701,1786,3482,0,0,0,0,0,0
$GC,3363,-1.44,-116.8,378.4,-9.8,197,3368,0.00,2.53,0.00,0.000,4,0.000,0.044,2702,3344,3481,0,0,0,0,0,0
$GC,3426,-1.53,-116.8,384.7,-9.8,198,3431,0.15,2.62,0.00,0.000,6,0.064,0.051,2653,1789,3481,0,0,0,0,0,0
$GC,3687,-1.48,-116.8,415.7,-12.2,205,3693,0.10,2.97,0.00,0.000,4,0.123,0.100,2675,178,3479,0,0,0,0,0,0
$GC,3721,-1.44,-116.8,420.1,-13.1,205,3727,0.00,2.58,0.00,0.000,6,0.000,0.028,2675,1784,3479,0,0,0,0,0,0
$GC,3972,-1.44,-116.8,449.7,-11.9,212,3976,0.00,2.62,0.00,0.000,4,0.000,0.057,2675,3358,3478,0,0,0,0,0,0
$GC,3987,-1.44,-116.8,451.7,-11.6,212,3992,0.00,2.65,0.00,0.000,6,0.000,0.051,2675,1791,3478,0,0,0,0,0,0
$GC,4249,-1.44,-116.8,482.1,-11.7,219,4253,0.00,2.60,0.00,0.000,4,0.000,0.045,2675,3359,3477,0,0,0,0,0,0
$GC,4270,-1.44,-116.8,484.5,-11.2,219,4274,0.00,2.65,0.00,0.000,6,0.000,0.058,2675,1796,3477,0,0,0,0,0,0
$GC,4526,-1.44,-116.8,512.3,-10.7,226,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1796,3475,0,0,0,0,0,0
$GC,4769,-1.44,-116.8,535.1,-8.9,232,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1795,3473,0,0,0,0,0,0
$GC,5012,-1.44,-116.8,554.8,-8.1,238,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1795,3471,0,0,0,0,0,0
$GC,5258,-1.44,-116.8,576.0,-8.9,244,5262,0.00,2.70,0.00,0.000,4,0.000,0.071,2675,3349,3470,0,0,0,0,0,0
$GC,5302,-1.50,-116.8,580.4,-9.9,245,5307,0.00,2.72,0.00,0.000,6,0.000,0.076,2675,1797,3470,0,0,0,0,0,0
$GC,5579,-1.50,-116.8,608.2,-10.2,252,5584,0.00,3.15,0.00,0.000,4,0.000,0.133,2675,183,3468,0,0,0,0,0,0
$GC,5602,-1.50,-116.8,610.8,-11.5,252,5606,0.00,2.72,0.00,0.000,6,0.000,0.054,2675,1787,3467,0,0,0,0,0,0
$GC,5857,-1.54,-116.8,637.5,-10.2,259,5861,0.00,2.83,0.00,0.000,4,0.000,0.091,2675,3357,3466,0,0,0,0,0,0
$GC,5884,-1.60,-116.8,640.2,-9.7,259,5889,0.10,2.80,0.00,0.000,6,0.088,0.082,2644,1789,3465,0,0,0,0,0,0
$GC,6135,-1.60,-116.8,666.6,-10.8,265,6140,0.00,3.17,0.00,0.000,4,0.000,0.143,2643,183,3464,0,0,0,0,0,0
$GC,6163,-1.55,-116.8,670.1,-12.3,265,6167,0.00,2.75,0.00,0.000,6,0.000,0.063,2643,1784,3463,0,0,0,0,0,0
$GC,6412,-1.55,-116.8,695.9,-10.0,271,6417,0.00,2.83,0.00,0.000,4,0.000,0.091,2644,3356,3462,0,0,0,0,0,0
$GC,6453,-1.55,-116.8,699.7,-9.6,272,6458,0.00,2.78,0.00,0.000,6,0.000,0.077,2643,1789,3462,0,0,0,0,0,0
$GC,6736,-1.55,-116.8,723.9,-8.3,279,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1789,3460,0,0,0,0,0,0
$GC,6980,-1.55,-116.8,744.4,-8.5,285,6984,0.00,2.75,0.00,0.000,4,0.000,0.074,2644,3362,3458,0,0,0,0,0,0
$GC,7004,-1.55,-116.8,746.5,-8.9,285,7009,0.00,2.78,0.00,0.000,6,0.000,0.075,2644,1786,3458,0,0,0,0,0,0
$GC,7260,-1.55,-116.8,770.0,-9.4,292,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1786,3457,0,0,0,0,0,0
$GC,7503,-1.55,-116.8,794.3,-10.0,298,7507,0.00,2.72,0.00,0.000,4,0.000,0.071,2643,3362,3456,0,0,0,0,0,0
$GC,7524,-1.55,-116.8,796.5,-10.2,298,7528,0.00,2.78,0.00,0.000,6,0.000,0.071,2643,1790,3456,0,0,0,0,0,0
$GC,7780,-1.55,-116.8,822.2,-10.2,305,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1790,3454,0,0,0,0,0,0
$GC,8022,-1.55,-116.8,847.2,-10.2,311,8027,0.00,2.72,0.00,0.000,4,0.000,0.068,2644,3357,3453,0,0,0,0,0,0
$GC,8071,-1.55,-116.8,852.4,-11.1,312,8076,0.00,2.75,0.00,0.000,6,0.000,0.071,2644,1796,3452,0,0,0,0,0,0
$GC,8345,-1.55,-116.8,879.2,-9.8,319,8350,0.00,2.72,0.00,0.000,4,0.000,0.070,2644,3364,3451,0,0,0,0,0,0
$GC,8394,-1.55,-116.8,884.3,-10.1,320,8399,0.00,2.75,0.00,0.000,6,0.000,0.071,2644,1805,3451,0,0,0,0,0,0
$GC,8667,-1.55,-116.8,909.3,-9.1,327,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1805,3450,0,0,0,0,0,0
$GC,8912,-1.55,-116.8,931.4,-9.1,333,8916,0.00,2.67,0.00,0.000,4,0.000,0.064,2643,3365,3449,0,0,0,0,0,0
$GC,8951,-1.55,-116.8,935.2,-9.3,334,8956,0.00,2.75,0.00,0.000,6,0.000,0.074,2643,1808,3449,0,0,0,0,0,0
$STATE,9110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9111,begin apogee
$GC,9116,-0.31,0.0,950.1,9.2,338,9220,1.33,0.00,100.25,1.292,6,0.091,0.000,2932,1808,3001,0,0,0,0,0,0
$STATE,9221,end apogee,CONTROL_FINISHED_OK
$STATE,9221,begin climb
$GC,9225,1.38,116.8,952.1,0.0,340,9340,1.58,0.00,111.22,1.258,6,0.041,0.000,3307,1808,2524,0,0,0,0,0,0
$GC,9557,1.20,116.8,928.3,10.1,349,9563,0.22,2.78,0.00,0.000,4,0.131,0.057,3265,3408,2512,0,0,0,0,0,0
$GC,9661,1.13,125.8,918.9,9.5,351,9676,0.00,2.78,7.18,0.997,6,0.000,0.063,3265,1830,2488,0,0,0,0,0,0
$GC,9933,1.06,139.9,894.3,9.2,358,9954,0.17,2.75,14.80,1.140,4,0.130,0.054,3232,3414,2430,0,0,0,0,0,0
$GC,10013,1.08,156.3,887.3,9.1,359,10037,0.00,2.75,17.08,1.146,6,0.000,0.060,3232,1842,2362,0,0,0,0,0,0
$GC,10306,1.08,161.3,859.1,9.7,367,10316,0.00,2.70,5.65,0.913,4,0.000,0.053,3232,3410,2342,0,0,0,0,0,0
$GC,10361,1.08,161.3,853.3,11.0,368,10365,0.00,2.72,0.00,0.000,6,0.000,0.061,3232,1850,2340,0,0,0,0,0,0
$GC,10629,1.08,161.3,825.3,10.6,375,10634,0.00,2.65,0.00,0.000,4,0.000,0.048,3232,3415,2339,0,0,0,0,0,0
$GC,10668,1.08,161.3,820.8,11.3,376,10673,0.00,2.72,0.00,0.000,6,0.000,0.063,3232,1852,2338,0,0,0,0,0,0
$GC,10952,1.08,161.3,791.7,10.1,383,10956,0.00,2.65,0.00,0.000,4,0.000,0.048,3232,3418,2337,0,0,0,0,0,0
$GC,11014,1.08,161.3,785.4,10.4,384,11018,0.00,2.70,0.00,0.000,6,0.000,0.059,3232,1864,2336,0,0,0,0,0,0
$GC,11274,1.09,169.6,759.9,9.5,391,11288,0.00,2.70,8.43,1.012,4,0.000,0.049,3232,3412,2309,0,0,0,0,0,0
$GC,11324,1.09,169.6,755.2,10.0,392,11329,0.00,2.70,0.00,0.000,6,0.000,0.064,3232,1869,2308,0,0,0,0,0,0
$GC,11602,1.11,183.8,729.5,9.2,399,11622,0.00,2.67,15.43,1.085,4,0.000,0.048,3232,3412,2250,0,0,0,0,0,0
$GC,11645,1.12,192.1,725.5,9.5,400,11659,0.00,2.70,8.90,0.986,6,0.000,0.059,3232,1874,2218,0,0,0,0,0,0
$GC,11928,1.13,202.6,698.6,9.4,407,11941,0.00,0.00,11.40,1.025,6,0.000,0.000,3232,1874,2175,0,0,0,0,0,0
$GC,12170,1.15,213.6,675.9,9.4,413,12189,0.00,2.70,11.60,1.016,4,0.000,0.051,3232,3409,2130,0,0,0,0,0,0
$GC,12242,1.22,219.9,669.2,9.7,414,12258,0.15,2.67,7.85,0.933,6,0.086,0.062,3265,1889,2103,0,0,0,0,0,0
$GC,12502,1.18,219.9,640.9,11.0,421,12507,0.00,3.22,0.00,0.000,4,0.000,0.123,3266,232,2100,0,0,0,0,0,0
$GC,12524,1.09,219.9,638.0,12.7,421,12529,0.15,2.70,0.00,0.000,6,0.130,0.035,3237,1889,2099,0,0,0,0,0,0
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$GC,13659,1.25,236.2,518.4,9.1,450,13678,0.15,0.00,15.50,0.961,6,0.084,0.000,3272,1922,2038,0,0,0,0,0,0
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$STATE,18500,end climb,SURFACE_DEPTH_REACHED
$STATE,18500,begin surface coast
$FINISH,0.5,1.019635
$STATE,18550,end surface coast,CONTROL_FINISHED_OK
$STATE,18550,begin surface
$SM_CCo,18572,102.50,0.475,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,102.50,0.000,0.000,0.475,473,1729,1287,-11.63,-1.16,420.20
$IRIDIUM_FIX,2232.34,-15758.03,211299,222211
$TT8_MAMPS,0.025311
$HUMID,44.92
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.20
$XPDR_PINGS,89
$24V_AH,23.2,39.778
$10V_AH,10.1,39.885
$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,27.775,234.950,406.000,102.500,0.000,29.299,26.250,158.830,22.250,0.000,13.297,1532.263,13740.945,680.462,2444.873,634.114,33.384,1696.835,0.000,2443.811,0.000,0.534,0.000
$DEVICE_MAMPS,175.643,142.662,1292.395,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.221,329.208,431.731,741.332,1121.279,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355920
$DATA_FILE_SIZE,54096,715
$CAP_FILE_SIZE,172316,0
$CFSIZE,260165632,165367808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270910,090936,2241.513,-15756.430,36,0.9,36,10.0