version: 66.06
glider: 146
mission: 5
dive: 293
start: 9 29 110 15 10 2
data:
$ID,146
$MISSION,5
$DIVE,293
$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,-252897.67
$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,28
$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
$GPS1,150200,2248.986,-15803.356,36,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.0
$GPS2,150907,2248.956,-15803.385,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.095,0.215
$KALMAN_X,-300690.7,-99.5,-183.9,313403.2,92.6
$KALMAN_Y,-411726.7,-142.8,-69.4,538571.1,-2006.6
$MHEAD_RNG_PITCHd_Wd,326.0,9703,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.85,0.000,2,0.000,0.000,473,1720,3239,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-6.2,10,126,11.48,2.65,-4.60,0.000,4,0.146,0.040,2689,3360,3478,0,0,0,0,0,0
$GC,243,-1.27,-116.8,33.9,-16.3,29,253,0.12,2.55,0.00,0.000,6,0.107,0.031,2718,1799,3479,0,0,0,0,0,0
$GC,510,-1.16,-116.8,73.8,-15.8,54,516,0.12,2.78,0.00,0.000,4,0.131,0.059,2742,190,3480,0,0,0,0,0,0
$GC,533,-1.05,-116.8,77.8,-15.5,55,538,0.12,2.47,0.00,0.000,6,0.125,0.016,2767,1829,3480,0,0,0,0,0,0
$GC,801,-1.10,-116.8,109.7,-10.5,79,806,0.00,2.78,0.00,0.000,4,0.000,0.057,2766,191,3480,0,0,0,0,0,0
$GC,834,-1.10,-116.8,113.7,-12.2,81,838,0.00,2.45,0.00,0.000,6,0.000,0.022,2767,1809,3480,0,0,0,0,0,0
$GC,1103,-1.19,-116.8,141.6,-10.0,105,1108,0.12,0.00,0.00,0.000,6,0.071,0.000,2725,1810,3481,0,0,0,0,0,0
$GC,1367,-1.19,-116.8,172.1,-11.0,130,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1810,3482,0,0,0,0,0,0
$GC,1629,-1.19,-116.8,199.5,-10.0,155,1633,0.00,2.78,0.00,0.000,4,0.000,0.064,2725,185,3482,0,0,0,0,0,0
$GC,1661,-1.19,-116.8,203.3,-11.7,155,1667,0.00,2.38,0.00,0.000,6,0.000,0.015,2724,1761,3482,0,0,0,0,0,0
$GC,1911,-1.19,-116.8,228.6,-10.1,162,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1762,3482,0,0,0,0,0,0
$GC,2155,-1.23,-116.8,253.0,-9.9,168,2160,0.00,2.45,0.00,0.000,4,0.000,0.030,2725,3310,3482,0,0,0,0,0,0
$GC,2197,-1.32,-116.8,256.7,-9.5,169,2201,0.00,2.50,0.00,0.000,6,0.000,0.032,2725,1757,3482,0,0,0,0,0,0
$GC,2481,-1.38,-116.8,283.8,-9.8,176,2486,0.12,2.75,0.00,0.000,4,0.070,0.074,2679,193,3482,0,0,0,0,0,0
$GC,2504,-1.38,-116.8,286.2,-10.5,176,2509,0.10,2.38,0.00,0.000,6,0.121,0.023,2699,1725,3482,0,0,0,0,0,0
$GC,2759,-1.38,-116.8,311.3,-9.5,183,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1725,3481,0,0,0,0,0,0
$GC,3003,-1.38,-116.8,334.8,-9.6,189,3007,0.00,2.60,0.00,0.000,4,0.000,0.038,2699,3342,3481,0,0,0,0,0,0
$GC,3054,-1.45,-116.8,339.7,-9.4,190,3059,0.00,2.62,0.00,0.000,6,0.000,0.048,2699,1756,3480,0,0,0,0,0,0
$GC,3327,-1.49,-116.8,367.3,-9.9,197,3333,0.10,2.83,0.00,0.000,4,0.088,0.094,2663,186,3479,0,0,0,0,0,0
$GC,3383,-1.49,-116.8,374.2,-12.8,198,3387,0.00,2.42,0.00,0.000,6,0.000,0.025,2663,1722,3479,0,0,0,0,0,0
$GC,3651,-1.49,-116.8,403.0,-10.6,205,3656,0.00,2.67,0.00,0.000,4,0.000,0.050,2663,3354,3478,0,0,0,0,0,0
$GC,3690,-1.49,-116.8,407.0,-9.5,206,3695,0.00,2.75,0.00,0.000,6,0.000,0.055,2663,1736,3478,0,0,0,0,0,0
$GC,3973,-1.49,-116.8,436.5,-10.8,213,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1732,3475,0,0,0,0,0,0
$GC,4218,-1.49,-116.8,464.1,-11.5,219,4223,0.00,2.70,0.00,0.000,4,0.000,0.046,2662,3352,3474,0,0,0,0,0,0
$GC,4268,-1.49,-116.8,470.2,-11.1,220,4273,0.00,2.78,0.00,0.000,6,0.000,0.064,2663,1740,3474,0,0,0,0,0,0
$GC,4540,-1.49,-116.8,500.6,-11.0,227,4545,0.00,2.70,0.00,0.000,4,0.000,0.054,2663,3341,3472,0,0,0,0,0,0
$GC,4585,-1.49,-116.8,505.3,-10.5,228,4590,0.00,2.80,0.00,0.000,6,0.000,0.066,2663,1734,3471,0,0,0,0,0,0
$GC,4863,-1.49,-116.8,533.0,-9.9,235,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1734,3469,0,0,0,0,0,0
$GC,5106,-1.49,-116.8,557.0,-9.8,241,5111,0.00,2.78,0.00,0.000,4,0.000,0.062,2663,3339,3468,0,0,0,0,0,0
$GC,5129,-1.49,-116.8,559.3,-10.6,241,5134,0.00,2.83,0.00,0.000,6,0.000,0.069,2663,1737,3468,0,0,0,0,0,0
$GC,5384,-1.49,-116.8,584.3,-9.6,248,5389,0.00,3.05,0.00,0.000,4,0.000,0.137,2662,185,3465,0,0,0,0,0,0
$GC,5428,-1.49,-116.8,589.1,-11.0,249,5432,0.00,2.58,0.00,0.000,6,0.000,0.051,2663,1727,3465,0,0,0,0,0,0
$GC,5707,-1.49,-116.8,615.8,-9.7,256,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1727,3462,0,0,0,0,0,0
$GC,5949,-1.49,-116.8,638.7,-9.4,262,5954,0.00,2.92,0.00,0.000,4,0.000,0.091,2663,3352,3461,0,0,0,0,0,0
$GC,5989,-1.54,-116.8,642.7,-9.7,263,5994,0.00,2.88,0.00,0.000,6,0.000,0.080,2663,1746,3461,0,0,0,0,0,0
$GC,6274,-1.54,-116.8,668.8,-9.2,270,6278,0.00,2.85,0.00,0.000,4,0.000,0.078,2663,3354,3459,0,0,0,0,0,0
$GC,6335,-1.59,-116.8,674.9,-9.3,271,6340,0.00,2.88,0.00,0.000,6,0.000,0.079,2663,1748,3458,0,0,0,0,0,0
$GC,6595,-1.59,-116.8,699.9,-9.7,278,6600,0.00,2.83,0.00,0.000,4,0.000,0.078,2663,3360,3457,0,0,0,0,0,0
$GC,6618,-1.59,-116.8,702.1,-10.1,278,6623,0.00,2.88,0.00,0.000,6,0.000,0.080,2663,1752,3457,0,0,0,0,0,0
$GC,6873,-1.59,-116.8,726.9,-9.6,285,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1752,3455,0,0,0,0,0,0
$GC,7117,-1.63,-116.8,750.0,-9.3,291,7122,0.00,2.80,0.00,0.000,4,0.000,0.072,2663,3360,3454,0,0,0,0,0,0
$GC,7146,-1.67,-116.8,752.7,-10.2,291,7151,0.12,2.85,0.00,0.000,6,0.083,0.076,2626,1758,3454,0,0,0,0,0,0
$GC,7395,-1.67,-116.8,778.7,-10.4,297,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1758,3452,0,0,0,0,0,0
$GC,7639,-1.67,-116.8,803.5,-10.3,303,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1757,3451,0,0,0,0,0,0
$GC,7883,-1.67,-116.8,828.4,-10.2,309,7887,0.00,2.80,0.00,0.000,4,0.000,0.074,2626,3361,3450,0,0,0,0,0,0
$GC,7907,-1.67,-116.8,830.7,-10.4,309,7911,0.00,2.88,0.00,0.000,6,0.000,0.079,2626,1747,3450,0,0,0,0,0,0
$GC,8161,-1.67,-116.8,857.5,-10.5,316,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1747,3449,0,0,0,0,0,0
$GC,8405,-1.67,-116.8,883.3,-10.6,322,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1747,3448,0,0,0,0,0,0
$GC,8650,-1.67,-116.8,908.7,-10.3,328,8655,0.00,2.80,0.00,0.000,4,0.000,0.068,2626,3354,3446,0,0,0,0,0,0
$GC,8724,-1.67,-116.8,916.3,-10.3,329,8728,0.00,2.83,0.00,0.000,6,0.000,0.079,2626,1764,3446,0,0,0,0,0,0
$GC,8974,-1.67,-116.8,941.4,-10.0,335,8978,0.00,2.75,0.00,0.000,4,0.000,0.067,2625,3362,3445,0,0,0,0,0,0
$GC,9002,-1.67,-116.8,944.1,-9.8,335,9007,0.00,2.83,0.00,0.000,6,0.000,0.073,2626,1767,3445,0,0,0,0,0,0
$STATE,9087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9087,begin apogee
$GC,9093,-0.31,0.0,952.7,9.6,337,9196,1.42,0.00,98.93,1.289,6,0.100,0.000,2929,1844,3001,0,0,0,0,0,0
$STATE,9197,end apogee,CONTROL_FINISHED_OK
$STATE,9197,begin climb
$GC,9199,1.38,116.8,954.4,0.0,339,9322,1.60,2.75,110.40,1.258,4,0.043,0.065,3307,3382,2522,0,0,0,0,0,0
$GC,9372,1.23,116.8,944.9,11.1,343,9379,0.20,2.80,0.00,0.000,6,0.139,0.072,3270,1812,2516,0,0,0,0,0,0
$GC,9622,1.12,116.8,918.9,10.4,350,9628,0.12,2.70,0.00,0.000,4,0.141,0.053,3247,3392,2510,0,0,0,0,0,0
$GC,9725,1.08,116.8,908.6,10.8,352,9729,0.00,2.75,0.00,0.000,6,0.000,0.061,3247,1830,2509,0,0,0,0,0,0
$GC,9991,1.04,130.8,883.6,9.2,359,10010,0.00,2.78,11.55,1.104,4,0.000,0.054,3247,3397,2465,0,0,0,0,0,0
$GC,10128,1.04,130.8,870.2,10.0,362,10133,0.10,2.70,0.00,0.000,6,0.151,0.064,3229,1852,2463,0,0,0,0,0,0
$GC,10406,1.07,161.3,847.0,8.3,369,10441,0.00,2.67,29.90,1.180,4,0.000,0.054,3229,3393,2342,0,0,0,0,0,0
$GC,10500,1.08,166.8,838.6,9.7,370,10513,0.00,2.67,6.35,0.937,6,0.000,0.065,3229,1863,2321,0,0,0,0,0,0
$GC,10776,1.09,172.9,811.9,9.7,377,10785,0.00,0.00,6.90,0.965,6,0.000,0.000,3229,1863,2296,0,0,0,0,0,0
$GC,11021,1.09,176.1,787.7,9.8,383,11031,0.00,2.65,4.85,0.831,4,0.000,0.051,3229,3401,2282,0,0,0,0,0,0
$GC,11065,1.13,176.1,782.9,10.7,384,11069,0.00,2.70,0.00,0.000,6,0.000,0.062,3229,1867,2281,0,0,0,0,0,0
$GC,11342,1.13,176.1,755.4,10.1,391,11346,0.00,2.58,0.00,0.000,4,0.000,0.053,3228,3393,2279,0,0,0,0,0,0
$GC,11370,1.13,179.3,752.6,9.8,391,11381,0.00,2.65,4.32,0.774,6,0.000,0.061,3229,1878,2270,0,0,0,0,0,0
$GC,11625,1.14,185.0,727.8,9.7,398,11639,0.00,2.65,7.07,0.948,4,0.000,0.048,3229,3394,2245,0,0,0,0,0,0
$GC,11651,1.15,192.5,725.0,9.6,398,11668,0.10,2.65,8.93,0.988,6,0.104,0.062,3252,1884,2216,0,0,0,0,0,0
$GC,11913,1.15,192.5,697.1,10.9,405,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1883,2212,0,0,0,0,0,0
$GC,12155,1.15,192.5,670.6,10.8,411,12159,0.00,2.55,0.00,0.000,4,0.000,0.053,3252,3393,2211,0,0,0,0,0,0
$GC,12209,1.15,192.5,664.6,10.7,412,12214,0.00,2.65,0.00,0.000,6,0.000,0.065,3252,1883,2210,0,0,0,0,0,0
$GC,12477,1.15,192.5,637.0,10.2,419,12482,0.00,2.55,0.00,0.000,4,0.000,0.051,3252,3394,2210,0,0,0,0,0,0
$GC,12578,1.15,192.5,626.5,10.5,421,12582,0.00,2.60,0.00,0.000,6,0.000,0.061,3252,1907,2209,0,0,0,0,0,0
$GC,12845,1.17,206.0,601.7,9.2,428,12861,0.00,0.00,13.30,0.999,6,0.000,0.000,3252,1906,2161,0,0,0,0,0,0
$GC,13088,1.18,214.8,578.6,9.5,434,13100,0.00,0.00,9.77,0.941,6,0.000,0.000,3252,1907,2125,0,0,0,0,0,0
$GC,13331,1.18,214.8,553.3,10.3,440,13336,0.00,3.22,0.00,0.000,4,0.000,0.120,3252,228,2122,0,0,0,0,0,0
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$STATE,18590,end climb,SURFACE_DEPTH_REACHED
$STATE,18590,begin surface coast
$FINISH,0.4,1.008966
$STATE,18649,end surface coast,CONTROL_FINISHED_OK
$STATE,18649,begin surface
$SM_CCo,18671,113.45,0.480,1,0,1288,420.20
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$TT8_MAMPS,0.026078
$HUMID,45.15
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$TCM_TEMP,23.30
$XPDR_PINGS,77
$24V_AH,23.2,41.536
$10V_AH,10.1,41.334
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.275,216.025,397.750,113.450,0.000,30.928,31.363,215.289,19.250,0.000,13.044,1527.771,13861.682,662.340,2470.605,687.346,33.376,1697.067,0.000,2466.903,0.000,0.534,0.000
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$SENSOR_SECS,486.583,326.325,429.644,738.091,1116.369,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,54314,714
$CAP_FILE_SIZE,172524,0
$CFSIZE,260165632,164556800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290910,202431,2249.944,-15804.293,37,1.4,37,10.1