version: 66.06
glider: 148
mission: 9
dive: 547
start: 1 18 111 20 41 20
data:
$ID,148
$MISSION,9
$DIVE,547
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-870133.19
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-11.449877
$PRESSURE_SLOPE,0.00011637
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,203306,2250.954,-15800.562,35,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.4
$GPS2,204028,2250.847,-15800.565,9,2.4,28,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.203,0.162
$KALMAN_X,-121392.2,334.7,113.6,136940.0,-270.3
$KALMAN_Y,-171522.6,1254.9,111.1,301556.1,-3769.4
$MHEAD_RNG_PITCHd_Wd,41.4,6286,-17.5,-10.000
$D_GRID,900
$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,18,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-67.80,0.000,2,0.000,0.000,410,1866,3251,0,0,0,0,0,0
$GC,93,-1.27,-146.0,3.8,-6.5,9,126,11.40,2.80,-8.65,0.000,4,0.152,0.054,2574,203,3719,0,0,0,0,0,0
$GC,202,-1.27,-146.0,27.2,-14.5,25,211,0.00,2.53,0.00,0.000,6,0.000,0.020,2574,1790,3720,0,0,0,0,0,0
$GC,474,-1.11,-146.0,68.4,-16.2,51,479,0.20,2.53,0.00,0.000,4,0.100,0.031,2616,3366,3720,0,0,0,0,0,0
$GC,562,-1.11,-146.0,80.3,-11.4,58,566,0.00,2.53,0.00,0.000,6,0.000,0.023,2616,1782,3721,0,0,0,0,0,0
$GC,826,-1.11,-146.0,110.7,-9.8,82,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1783,3722,0,0,0,0,0,0
$GC,1091,-1.18,-146.0,134.5,-8.6,107,1095,0.00,2.53,0.00,0.000,4,0.000,0.030,2616,3363,3722,0,0,0,0,0,0
$GC,1141,-1.32,-146.0,138.5,-7.6,111,1146,0.17,2.50,0.00,0.000,6,0.044,0.022,2516,1791,3723,0,0,0,0,0,0
$GC,1403,-1.11,-146.0,175.3,-14.1,135,1416,0.47,2.55,0.00,0.000,4,0.085,0.035,2611,204,3723,0,0,0,0,0,0
$GC,1421,-1.01,-146.0,178.0,-13.4,136,1427,0.12,2.50,0.00,0.000,6,0.102,0.020,2638,1809,3724,0,0,0,0,0,0
$GC,1686,-1.21,-146.0,196.6,-7.3,161,1691,0.17,2.47,0.00,0.000,4,0.047,0.030,2546,3360,3725,0,0,0,0,0,0
$GC,1754,-1.21,-146.0,204.2,-10.5,165,1760,0.22,2.47,0.00,0.000,6,0.081,0.023,2598,1807,3725,0,0,0,0,0,0
$GC,2020,-1.29,-146.0,228.8,-9.2,172,2024,0.00,2.50,0.00,0.000,4,0.000,0.031,2598,3355,3725,0,0,0,0,0,0
$GC,2039,-1.37,-146.0,230.7,-9.0,172,2044,0.15,2.45,0.00,0.000,6,0.054,0.022,2508,1802,3725,0,0,0,0,0,0
$GC,2305,-1.18,-146.0,268.0,-14.4,179,2312,0.47,2.53,0.00,0.000,4,0.084,0.031,2600,3362,3724,0,0,0,0,0,0
$GC,2346,-1.35,-146.0,272.3,-7.9,179,2352,0.15,2.45,0.00,0.000,6,0.053,0.025,2523,1830,3725,0,0,0,0,0,0
$GC,2597,-1.26,-146.0,300.6,-11.6,186,2599,0.28,0.00,0.00,0.000,6,0.085,0.000,2584,1831,3724,0,0,0,0,0,0
$GC,2840,-1.35,-146.0,320.9,-8.1,192,2844,0.00,2.50,0.00,0.000,4,0.000,0.038,2584,3357,3724,0,0,0,0,0,0
$GC,2883,-1.51,-146.0,324.3,-8.2,193,2888,0.22,2.45,0.00,0.000,6,0.038,0.028,2478,1833,3724,0,0,0,0,0,0
$GC,3172,-1.29,-146.0,363.5,-14.5,200,3180,0.43,2.70,0.00,0.000,4,0.085,0.048,2573,206,3723,0,0,0,0,0,0
$GC,3199,-1.29,-146.0,367.2,-12.3,200,3203,0.00,2.55,0.00,0.000,6,0.000,0.026,2573,1810,3723,0,0,0,0,0,0
$GC,3459,-1.37,-146.0,391.0,-9.3,207,3463,0.00,2.55,0.00,0.000,4,0.000,0.043,2573,3368,3722,0,0,0,0,0,0
$GC,3523,-1.49,-146.0,396.7,-9.3,208,3528,0.17,2.47,0.00,0.000,6,0.048,0.028,2482,1842,3722,0,0,0,0,0,0
$GC,3792,-1.30,-146.0,434.4,-14.3,215,3799,0.40,2.75,0.00,0.000,4,0.087,0.057,2571,215,3720,0,0,0,0,0,0
$GC,3815,-1.30,-146.0,437.5,-12.8,215,3820,0.00,2.62,0.00,0.000,6,0.000,0.029,2571,1836,3720,0,0,0,0,0,0
$GC,4080,-1.39,-146.0,463.4,-9.8,222,4084,0.00,2.55,0.00,0.000,4,0.000,0.051,2572,3368,3718,0,0,0,0,0,0
$GC,4127,-1.52,-146.0,468.0,-9.4,223,4132,0.17,2.47,0.00,0.000,6,0.048,0.031,2488,1840,3718,0,0,0,0,0,0
$GC,4412,-1.38,-146.0,505.8,-13.6,230,4419,0.30,2.80,0.00,0.000,4,0.089,0.064,2557,208,3716,0,0,0,0,0,0
$GC,4433,-1.38,-146.0,508.9,-12.4,230,4438,0.00,2.70,0.00,0.000,6,0.000,0.035,2557,1844,3716,0,0,0,0,0,0
$GC,4699,-1.38,-146.0,533.5,-9.2,237,4704,0.00,2.60,0.00,0.000,4,0.000,0.056,2557,3374,3714,0,0,0,0,0,0
$GC,4737,-1.48,-146.0,537.2,-8.9,237,4743,0.00,2.53,0.00,0.000,6,0.000,0.034,2557,1843,3714,0,0,0,0,0,0
$GC,4987,-1.54,-146.0,557.9,-8.3,244,4992,0.15,2.60,0.00,0.000,4,0.058,0.050,2492,3371,3712,0,0,0,0,0,0
$GC,5009,-1.54,-146.0,559.8,-8.7,244,5014,0.15,2.50,0.00,0.000,6,0.100,0.035,2525,1856,3711,0,0,0,0,0,0
$GC,5273,-1.54,-146.0,584.4,-9.3,251,5278,0.00,2.58,0.00,0.000,4,0.000,0.052,2525,3371,3710,0,0,0,0,0,0
$GC,5288,-1.54,-146.0,586.0,-9.8,251,5292,0.00,2.47,0.00,0.000,6,0.000,0.031,2525,1864,3710,0,0,0,0,0,0
$GC,5558,-1.54,-146.0,613.1,-10.2,258,5564,0.00,2.88,0.00,0.000,4,0.000,0.073,2525,216,3709,0,0,0,0,0,0
$GC,5592,-1.54,-146.0,617.2,-10.5,258,5597,0.00,2.72,0.00,0.000,6,0.000,0.041,2525,1851,3709,0,0,0,0,0,0
$GC,5842,-1.54,-146.0,642.5,-10.0,264,5846,0.00,2.60,0.00,0.000,4,0.000,0.063,2525,3367,3707,0,0,0,0,0,0
$GC,5867,-1.54,-146.0,645.0,-10.4,264,5872,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,1869,3707,0,0,0,0,0,0
$GC,6126,-1.54,-146.0,670.8,-9.8,271,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1869,3705,0,0,0,0,0,0
$GC,6370,-1.54,-146.0,694.5,-9.8,277,6374,0.00,2.55,0.00,0.000,4,0.000,0.054,2525,3373,3703,0,0,0,0,0,0
$GC,6406,-1.54,-146.0,697.7,-9.8,277,6410,0.00,2.50,0.00,0.000,6,0.000,0.038,2525,1872,3703,0,0,0,0,0,0
$GC,6656,-1.54,-146.0,722.3,-9.9,283,6663,0.00,2.92,0.00,0.000,4,0.000,0.076,2525,216,3702,0,0,0,0,0,0
$GC,6677,-1.54,-146.0,724.6,-12.1,283,6681,0.00,2.75,0.00,0.000,6,0.000,0.044,2525,1854,3701,0,0,0,0,0,0
$GC,6942,-1.54,-146.0,751.5,-10.1,290,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1854,3700,0,0,0,0,0,0
$GC,7188,-1.54,-146.0,777.5,-10.5,296,7192,0.00,2.60,0.00,0.000,4,0.000,0.070,2525,3365,3699,0,0,0,0,0,0
$GC,7211,-1.54,-146.0,780.3,-11.4,296,7215,0.00,2.47,0.00,0.000,6,0.000,0.037,2525,1873,3698,0,0,0,0,0,0
$GC,7470,-1.54,-146.0,806.0,-10.0,303,7476,0.00,2.90,0.00,0.000,4,0.000,0.075,2525,215,3697,0,0,0,0,0,0
$GC,7507,-1.54,-146.0,809.7,-10.4,303,7511,0.00,2.78,0.00,0.000,6,0.000,0.046,2525,1856,3697,0,0,0,0,0,0
$GC,7756,-1.54,-146.0,833.3,-9.2,309,7761,0.00,2.62,0.00,0.000,4,0.000,0.071,2525,3364,3696,0,0,0,0,0,0
$GC,7775,-1.54,-146.0,835.1,-9.5,309,7779,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,1869,3696,0,0,0,0,0,0
$GC,8041,-1.54,-146.0,859.8,-9.5,316,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1869,3695,0,0,0,0,0,0
$GC,8282,-1.54,-146.0,882.7,-9.4,322,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1869,3693,0,0,0,0,0,0
$STATE,8483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8483,begin apogee
$GC,8489,-0.31,0.0,901.8,9.4,327,8617,1.20,0.00,124.32,1.185,6,0.086,0.000,2789,1672,3120,0,0,0,0,0,0
$STATE,8617,end apogee,CONTROL_FINISHED_OK
$STATE,8617,begin climb
$GC,8620,1.27,146.0,906.9,0.0,330,8761,1.42,2.80,131.82,1.162,4,0.026,0.049,3145,3260,2523,0,0,0,0,0,0
$GC,8789,0.94,152.0,905.8,9.7,334,8802,0.38,2.70,6.57,0.879,6,0.107,0.039,3068,1683,2499,0,0,0,0,0,0
$GC,9082,0.84,191.0,881.1,8.2,341,9125,0.12,2.78,36.67,1.113,4,0.127,0.083,3044,169,2340,0,0,0,0,0,0
$GC,9182,0.69,191.0,872.1,10.0,343,9187,0.15,2.53,0.00,0.000,6,0.117,0.038,3014,1664,2338,0,0,0,0,0,0
$GC,9460,0.78,260.3,852.6,6.8,350,9532,0.00,2.75,65.82,1.118,4,0.000,0.071,3013,166,2058,0,0,0,0,0,0
$GC,9543,0.81,286.7,846.4,8.8,352,9576,0.10,2.58,26.67,1.070,6,0.081,0.039,3052,1678,1952,0,0,0,0,0,0
$GC,9827,0.81,286.7,814.3,11.6,359,9832,0.00,2.83,0.00,0.000,4,0.000,0.071,3052,3270,1943,0,0,0,0,0,0
$GC,9865,0.81,286.7,809.7,11.6,359,9870,0.00,2.70,0.00,0.000,6,0.000,0.039,3052,1676,1940,0,0,0,0,0,0
$GC,10114,0.81,286.7,781.6,11.2,366,10119,0.00,2.72,0.00,0.000,4,0.000,0.084,3052,163,1939,0,0,0,0,0,0
$GC,10142,0.75,286.7,778.0,12.8,366,10147,0.15,2.53,0.00,0.000,6,0.106,0.042,3022,1673,1939,0,0,0,0,0,0
$GC,10398,0.75,291.0,752.6,9.8,373,10402,0.00,2.80,0.00,0.000,4,0.000,0.074,3022,3264,1938,0,0,0,0,0,0
$GC,10428,0.82,291.0,749.8,10.3,373,10432,0.00,2.70,0.00,0.000,6,0.000,0.040,3022,1672,1937,0,0,0,0,0,0
$GC,10682,0.83,292.0,724.6,10.0,380,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1672,1937,0,0,0,0,0,0
$GC,10926,0.83,292.0,699.8,10.2,386,10927,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1672,1936,0,0,0,0,0,0
$GC,11171,0.83,296.6,675.8,9.8,392,11182,0.00,0.00,8.50,0.884,6,0.000,0.000,3022,1672,1910,0,0,0,0,0,0
$GC,11413,0.85,314.1,653.0,9.2,398,11439,0.10,2.88,18.70,0.971,4,0.081,0.057,3065,3268,1839,0,0,0,0,0,0
$GC,11453,0.85,314.1,648.6,11.3,398,11458,0.00,2.70,0.00,0.000,6,0.000,0.041,3065,1681,1836,0,0,0,0,0,0
$GC,11704,0.85,314.1,620.7,11.1,405,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1681,1834,0,0,0,0,0,0
$GC,11946,0.85,314.1,594.6,10.7,411,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1681,1834,0,0,0,0,0,0
$GC,12190,0.85,314.1,567.8,11.1,417,12194,0.00,2.78,0.00,0.000,4,0.000,0.058,3065,3274,1833,0,0,0,0,0,0
$GC,12217,0.85,314.1,564.5,10.9,417,12222,0.00,2.72,0.00,0.000,6,0.000,0.042,3066,1672,1832,0,0,0,0,0,0
$GC,12474,0.85,314.1,536.6,11.0,424,12478,0.00,2.78,0.00,0.000,4,0.000,0.061,3065,3265,1832,0,0,0,0,0,0
$GC,12488,0.85,314.1,534.7,11.0,424,12492,0.00,2.67,0.00,0.000,6,0.000,0.039,3065,1680,1831,0,0,0,0,0,0
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$STATE,17190,end climb,SURFACE_DEPTH_REACHED
$STATE,17191,begin surface coast
$FINISH,0.9,1.013129
$STATE,17229,end surface coast,CONTROL_FINISHED_OK
$STATE,17229,begin surface
$SM_CCo,17252,6.25,0.067,0,0,1570,380.21
$SM_GC,2.05,0.00,0.00,6.25,0.000,0.000,0.067,416,1846,1570,-11.24,1.58,380.21
$IRIDIUM_FIX,2241.69,-15802.37,130400,151504
$TT8_MAMPS,0.027612
$HUMID,50.90
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,21.10
$XPDR_PINGS,2
$24V_AH,22.9,70.744
$10V_AH,9.8,63.081
$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,31.275,235.450,469.425,6.250,0.000,28.789,36.124,199.569,0.500,0.000,31.233,1460.253,12645.588,572.423,2326.530,684.632,33.380,1634.551,0.000,2295.667,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,84.370,1185.015,66.729,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,456.488,325.976,415.383,562.811,995.335,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355328
$DATA_FILE_SIZE,50968,670
$CAP_FILE_SIZE,173306,0
$CFSIZE,260165632,140808192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190111,013007,2250.947,-15758.140,29,1.0,29,10.1