version: 66.06
glider: 146
mission: 5
dive: 286
start: 9 28 110 1 13 39
data:
$ID,146
$MISSION,5
$DIVE,286
$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,-252795.09
$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,27
$R_STBD_OVSHOOT,18
$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
$GPS1,010636,2243.750,-15757.954,27,1.4,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.5
$GPS2,011244,2243.698,-15758.004,15,1.4,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,0.234
$KALMAN_X,-296366.8,258.7,-100.6,317895.9,-1070.5
$KALMAN_Y,-391223.7,149.3,-12.7,507978.7,-3528.3
$MHEAD_RNG_PITCHd_Wd,353.1,23073,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.95,0.000,6,0.000,0.000,475,1761,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.2,11,126,11.25,2.60,0.00,0.000,4,0.137,0.028,2689,3385,3481,0,0,0,0,0,0
$GC,260,-1.28,-116.8,39.2,-16.3,29,270,0.10,2.65,0.00,0.000,6,0.088,0.033,2715,1772,3482,0,0,0,0,0,0
$GC,524,-1.19,-116.8,83.1,-15.4,54,533,0.12,0.00,0.00,0.000,6,0.121,0.000,2740,1772,3483,0,0,0,0,0,0
$GC,789,-1.19,-116.8,119.3,-12.5,79,793,0.00,2.53,0.00,0.000,4,0.000,0.025,2740,3378,3484,0,0,0,0,0,0
$GC,822,-1.24,-116.8,124.0,-12.0,81,828,0.00,2.58,0.00,0.000,6,0.000,0.030,2740,1769,3484,0,0,0,0,0,0
$GC,1090,-1.24,-116.8,151.6,-10.2,106,1095,0.00,2.70,0.00,0.000,4,0.000,0.067,2740,193,3485,0,0,0,0,0,0
$GC,1147,-1.30,-116.8,157.9,-9.5,110,1153,0.10,2.47,0.00,0.000,6,0.083,0.020,2706,1834,3485,0,0,0,0,0,0
$GC,1411,-1.30,-116.8,185.0,-9.8,135,1415,0.00,2.40,0.00,0.000,4,0.000,0.028,2705,3375,3485,0,0,0,0,0,0
$GC,1444,-1.30,-116.8,188.8,-10.0,137,1450,0.00,2.58,0.00,0.000,6,0.000,0.026,2705,1769,3485,0,0,0,0,0,0
$GC,1731,-1.30,-116.8,219.2,-11.2,153,1736,0.00,2.53,0.00,0.000,4,0.000,0.031,2705,3378,3486,0,0,0,0,0,0
$GC,1747,-1.30,-116.8,221.5,-11.8,153,1752,0.00,2.53,0.00,0.000,6,0.000,0.033,2705,1783,3485,0,0,0,0,0,0
$GC,2008,-1.30,-116.8,253.8,-12.7,160,2013,0.00,2.78,0.00,0.000,4,0.000,0.071,2705,189,3486,0,0,0,0,0,0
$GC,2037,-1.26,-116.8,257.5,-13.4,160,2041,0.00,2.53,0.00,0.000,6,0.000,0.018,2705,1823,3486,0,0,0,0,0,0
$GC,2287,-1.26,-116.8,287.9,-11.7,166,2291,0.00,2.85,0.00,0.000,4,0.000,0.070,2705,191,3486,0,0,0,0,0,0
$GC,2313,-1.26,-116.8,291.1,-11.5,166,2318,0.00,2.50,0.00,0.000,6,0.000,0.020,2705,1799,3485,0,0,0,0,0,0
$GC,2564,-1.26,-116.8,313.2,-8.5,172,2568,0.00,2.47,0.00,0.000,4,0.000,0.039,2705,3345,3486,0,0,0,0,0,0
$GC,2605,-1.33,-116.8,316.3,-7.9,173,2610,0.00,2.60,0.00,0.000,6,0.000,0.038,2705,1769,3485,0,0,0,0,0,0
$GC,2888,-1.37,-116.8,337.5,-7.5,180,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1769,3485,0,0,0,0,0,0
$GC,3134,-1.42,-116.8,358.2,-8.9,186,3138,0.00,2.58,0.00,0.000,4,0.000,0.043,2705,3347,3484,0,0,0,0,0,0
$GC,3174,-1.51,-116.8,362.1,-9.7,187,3179,0.15,2.62,0.00,0.000,6,0.061,0.049,2651,1778,3484,0,0,0,0,0,0
$GC,3458,-1.46,-116.8,397.4,-12.9,194,3463,0.12,2.58,0.00,0.000,4,0.114,0.041,2678,3341,3482,0,0,0,0,0,0
$GC,3503,-1.46,-116.8,402.9,-11.1,195,3508,0.00,2.65,0.00,0.000,6,0.000,0.056,2678,1779,3482,0,0,0,0,0,0
$GC,3781,-1.46,-116.8,435.3,-11.7,202,3786,0.00,2.97,0.00,0.000,4,0.000,0.104,2678,176,3480,0,0,0,0,0,0
$GC,3820,-1.46,-116.8,440.0,-12.0,203,3825,0.00,2.55,0.00,0.000,6,0.000,0.038,2678,1759,3480,0,0,0,0,0,0
$GC,4105,-1.46,-116.8,468.8,-9.8,210,4109,0.00,2.70,0.00,0.000,4,0.000,0.062,2678,3354,3478,0,0,0,0,0,0
$GC,4155,-1.51,-116.8,473.8,-9.6,211,4159,0.00,2.70,0.00,0.000,6,0.000,0.061,2678,1781,3478,0,0,0,0,0,0
$GC,4428,-1.51,-116.8,498.5,-8.9,218,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1781,3476,0,0,0,0,0,0
$GC,4670,-1.51,-116.8,520.8,-9.3,224,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1781,3474,0,0,0,0,0,0
$GC,4913,-1.51,-116.8,545.8,-10.4,230,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1780,3473,0,0,0,0,0,0
$GC,5159,-1.55,-116.8,571.5,-10.6,236,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1780,3471,0,0,0,0,0,0
$GC,5403,-1.59,-116.8,598.7,-11.3,242,5408,0.12,2.78,0.00,0.000,4,0.077,0.077,2641,3351,3469,0,0,0,0,0,0
$GC,5436,-1.59,-116.8,603.2,-13.4,242,5442,0.00,2.78,0.00,0.000,6,0.000,0.079,2640,1787,3469,0,0,0,0,0,0
$GC,5686,-1.59,-116.8,634.7,-12.6,249,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1787,3467,0,0,0,0,0,0
$GC,5929,-1.59,-116.8,663.1,-11.4,255,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1787,3465,0,0,0,0,0,0
$GC,6175,-1.59,-116.8,687.6,-10.0,261,6180,0.00,2.85,0.00,0.000,4,0.000,0.106,2640,3343,3464,0,0,0,0,0,0
$GC,6214,-1.59,-116.8,691.7,-10.4,262,6219,0.00,2.80,0.00,0.000,6,0.000,0.081,2641,1786,3464,0,0,0,0,0,0
$GC,6497,-1.59,-116.8,719.1,-9.7,269,6502,0.00,2.72,0.00,0.000,4,0.000,0.078,2640,3351,3462,0,0,0,0,0,0
$GC,6525,-1.59,-116.8,722.0,-10.6,269,6530,0.00,2.78,0.00,0.000,6,0.000,0.078,2641,1794,3462,0,0,0,0,0,0
$GC,6775,-1.59,-116.8,746.2,-9.7,275,6780,0.00,2.72,0.00,0.000,4,0.000,0.075,2641,3354,3461,0,0,0,0,0,0
$GC,6802,-1.59,-116.8,749.0,-10.0,275,6807,0.00,2.78,0.00,0.000,6,0.000,0.074,2640,1790,3460,0,0,0,0,0,0
$GC,7054,-1.59,-116.8,773.9,-9.9,281,7058,0.00,2.70,0.00,0.000,4,0.000,0.070,2640,3350,3459,0,0,0,0,0,0
$GC,7103,-1.59,-116.8,779.2,-10.1,282,7107,0.00,2.75,0.00,0.000,6,0.000,0.076,2641,1798,3458,0,0,0,0,0,0
$GC,7376,-1.59,-116.8,805.1,-9.4,289,7380,0.00,2.67,0.00,0.000,4,0.000,0.074,2640,3347,3457,0,0,0,0,0,0
$GC,7410,-1.59,-116.8,808.3,-9.6,289,7415,0.00,2.75,0.00,0.000,6,0.000,0.075,2640,1801,3457,0,0,0,0,0,0
$GC,7660,-1.59,-116.8,830.5,-8.7,296,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1801,3456,0,0,0,0,0,0
$GC,7904,-1.59,-116.8,851.6,-8.8,302,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1801,3454,0,0,0,0,0,0
$GC,8147,-1.59,-116.8,873.9,-9.1,308,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1800,3453,0,0,0,0,0,0
$GC,8392,-1.59,-116.8,895.9,-9.1,314,8397,0.00,2.70,0.00,0.000,4,0.000,0.074,2641,3351,3452,0,0,0,0,0,0
$GC,8432,-1.59,-116.8,899.7,-9.3,315,8436,0.00,2.72,0.00,0.000,6,0.000,0.078,2640,1803,3452,0,0,0,0,0,0
$GC,8717,-1.59,-116.8,924.8,-8.8,322,8721,0.00,2.67,0.00,0.000,4,0.000,0.072,2641,3347,3451,0,0,0,0,0,0
$GC,8768,-1.59,-116.8,929.4,-9.4,323,8772,0.00,2.72,0.00,0.000,6,0.000,0.073,2640,1812,3451,0,0,0,0,0,0
$STATE,9037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9037,begin apogee
$GC,9043,-0.31,0.0,952.8,8.6,330,9147,1.33,0.00,100.65,1.294,6,0.091,0.000,2927,1811,3001,0,0,0,0,0,0
$STATE,9148,end apogee,CONTROL_FINISHED_OK
$STATE,9148,begin climb
$GC,9152,1.38,116.8,954.2,0.0,332,9267,1.58,0.00,111.03,1.262,6,0.043,0.000,3305,1812,2524,0,0,0,0,0,0
$GC,9479,1.21,116.8,930.2,10.2,340,9484,0.20,2.75,0.00,0.000,4,0.129,0.056,3266,3399,2512,0,0,0,0,0,0
$GC,9565,1.14,123.4,922.3,9.6,342,9576,0.00,2.80,4.93,0.857,6,0.000,0.070,3266,1815,2497,0,0,0,0,0,0
$GC,9849,1.07,147.9,897.7,8.6,349,9880,0.15,2.80,24.52,1.190,4,0.134,0.056,3236,3408,2397,0,0,0,0,0,0
$GC,9969,1.08,154.9,886.9,9.6,351,9984,0.00,2.78,7.95,1.022,6,0.000,0.062,3236,1827,2368,0,0,0,0,0,0
$GC,10262,1.10,174.8,860.7,8.9,359,10288,0.00,2.75,19.83,1.154,4,0.000,0.052,3236,3409,2287,0,0,0,0,0,0
$GC,10322,1.10,174.8,854.9,10.6,360,10327,0.00,2.78,0.00,0.000,6,0.000,0.059,3236,1836,2286,0,0,0,0,0,0
$GC,10583,1.10,174.8,828.2,10.2,367,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1836,2282,0,0,0,0,0,0
$GC,10827,1.11,179.4,804.2,9.8,373,10834,0.00,0.00,4.97,0.849,6,0.000,0.000,3236,1836,2269,0,0,0,0,0,0
$GC,11071,1.12,192.0,781.6,9.3,379,11090,0.00,2.75,13.27,1.086,4,0.000,0.053,3237,3402,2218,0,0,0,0,0,0
$GC,11131,1.14,203.0,776.0,9.4,380,11150,0.00,2.75,12.60,1.067,6,0.000,0.060,3236,1831,2172,0,0,0,0,0,0
$GC,11402,1.14,207.1,749.3,9.8,387,11412,0.00,2.70,4.60,0.792,4,0.000,0.048,3236,3404,2156,0,0,0,0,0,0
$GC,11447,1.19,207.6,744.6,10.0,388,11452,0.10,2.72,0.00,0.000,6,0.098,0.061,3260,1843,2155,0,0,0,0,0,0
$GC,11725,1.19,207.6,712.9,11.4,395,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1843,2154,0,0,0,0,0,0
$GC,11968,1.19,207.6,683.8,12.1,401,11973,0.00,2.62,0.00,0.000,4,0.000,0.048,3261,3400,2153,0,0,0,0,0,0
$GC,12036,1.19,207.6,675.4,12.5,402,12040,0.00,2.72,0.00,0.000,6,0.000,0.066,3260,1849,2152,0,0,0,0,0,0
$GC,12291,1.19,207.6,643.1,12.7,409,12295,0.00,2.62,0.00,0.000,4,0.000,0.048,3261,3408,2152,0,0,0,0,0,0
$GC,12358,1.19,207.6,634.4,12.6,410,12362,0.00,2.72,0.00,0.000,6,0.000,0.067,3261,1855,2151,0,0,0,0,0,0
$GC,12613,1.19,207.6,603.9,11.7,417,12617,0.00,2.60,0.00,0.000,4,0.000,0.051,3260,3405,2151,0,0,0,0,0,0
$GC,12652,1.19,207.6,599.3,11.7,418,12656,0.00,2.67,0.00,0.000,6,0.000,0.064,3260,1874,2151,0,0,0,0,0,0
$GC,12936,1.19,207.6,568.4,10.9,425,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1874,2151,0,0,0,0,0,0
$GC,13178,1.19,207.6,541.5,11.0,431,13182,0.00,2.55,0.00,0.000,4,0.000,0.051,3260,3402,2151,0,0,0,0,0,0
$GC,13204,1.19,207.6,538.3,11.4,431,13209,0.00,2.62,0.00,0.000,6,0.000,0.064,3261,1875,2150,0,0,0,0,0,0
$GC,13454,1.19,207.6,510.7,11.0,437,13459,0.00,2.55,0.00,0.000,4,0.000,0.049,3260,3402,2150,0,0,0,0,0,0
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$STATE,18213,end climb,SURFACE_DEPTH_REACHED
$STATE,18216,begin surface coast
$FINISH,0.4,0.998008
$STATE,18265,end surface coast,CONTROL_FINISHED_OK
$STATE,18266,begin surface
$SM_CCo,18287,107.53,0.482,1,0,1287,420.20
$SM_GC,1.17,0.00,0.00,107.53,0.000,0.000,0.482,476,1747,1287,-11.61,-0.65,420.20
$IRIDIUM_FIX,2234.68,-15755.87,221299,202028
$TT8_MAMPS,0.025311
$HUMID,45.58
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.70
$XPDR_PINGS,82
$24V_AH,23.2,40.402
$10V_AH,10.1,40.397
$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,27.425,218.500,396.800,107.525,0.000,28.975,27.868,158.244,20.500,0.000,17.266,1487.439,13586.341,646.545,2419.202,623.508,33.379,1676.138,0.000,2407.265,0.000,0.534,0.000
$DEVICE_MAMPS,137.293,111.982,1293.929,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.341,317.012,412.415,705.100,1068.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,54055,690
$CAP_FILE_SIZE,168000,0
$CFSIZE,260165632,165081088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280910,062137,2244.385,-15758.310,35,1.2,35,10.1