version: 66.06
glider: 148
mission: 9
dive: 582
start: 1 25 111 21 49 2
data:
$ID,148
$MISSION,9
$DIVE,582
$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,-870845.69
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,213407,2248.756,-15802.454,24,1.5,24,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.1
$GPS2,214808,2248.724,-15802.336,15,1.5,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.107,0.233
$KALMAN_X,-110845.3,282.5,-134.8,123642.1,784.7
$KALMAN_Y,-218977.7,21.3,136.2,346296.0,-1832.8
$MHEAD_RNG_PITCHd_Wd,325.3,2621,-17.8,-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,-1.29,-142.0,0.0,0.0,0,95,0.00,0.00,-74.95,0.000,2,0.000,0.000,414,1874,3351,0,0,0,0,0,0
$GC,98,-1.29,-146.0,3.7,-5.2,10,123,11.30,2.40,-6.97,0.000,4,0.147,0.039,2571,3370,3716,0,0,0,0,0,0
$GC,196,-1.29,-146.0,24.6,-14.0,24,205,0.00,2.58,0.00,0.000,6,0.000,0.025,2571,1786,3718,0,0,0,0,0,0
$GC,476,-1.14,-146.0,67.0,-15.6,52,481,0.17,2.60,0.00,0.000,4,0.105,0.031,2608,3376,3718,0,0,0,0,0,0
$GC,522,-1.14,-146.0,73.5,-13.3,55,527,0.00,2.55,0.00,0.000,6,0.000,0.023,2608,1788,3718,0,0,0,0,0,0
$GC,791,-1.14,-146.0,106.3,-12.9,79,796,0.00,2.55,0.00,0.000,4,0.000,0.030,2608,3376,3719,0,0,0,0,0,0
$GC,850,-1.25,-146.0,114.7,-11.3,84,859,0.00,2.53,0.00,0.000,6,0.000,0.030,2608,1809,3719,0,0,0,0,0,0
$GC,1119,-1.34,-146.0,141.5,-9.6,109,1124,0.17,2.53,0.00,0.000,4,0.049,0.030,2529,3376,3720,0,0,0,0,0,0
$GC,1190,-1.34,-146.0,151.1,-13.5,115,1195,0.17,2.45,0.00,0.000,6,0.094,0.023,2568,1831,3720,0,0,0,0,0,0
$GC,1454,-1.34,-146.0,180.7,-11.4,139,1459,0.00,2.65,0.00,0.000,4,0.000,0.040,2567,205,3720,0,0,0,0,0,0
$GC,1482,-1.34,-146.0,184.7,-13.5,141,1491,0.00,2.60,0.00,0.000,6,0.000,0.021,2567,1842,3721,0,0,0,0,0,0
$GC,1739,-1.34,-146.0,216.5,-13.0,157,1744,0.00,2.42,0.00,0.000,4,0.000,0.031,2567,3370,3721,0,0,0,0,0,0
$GC,1804,-1.34,-146.0,225.1,-12.3,158,1809,0.00,2.45,0.00,0.000,6,0.000,0.022,2567,1833,3721,0,0,0,0,0,0
$GC,2067,-1.34,-146.0,256.3,-11.8,165,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1833,3721,0,0,0,0,0,0
$GC,2314,-1.34,-146.0,279.7,-9.4,171,2318,0.00,2.47,0.00,0.000,4,0.000,0.031,2567,3374,3721,0,0,0,0,0,0
$GC,2344,-1.34,-146.0,282.5,-8.7,171,2348,0.00,2.42,0.00,0.000,6,0.000,0.024,2567,1846,3721,0,0,0,0,0,0
$GC,2598,-1.34,-146.0,305.2,-9.1,178,2602,0.00,2.70,0.00,0.000,4,0.000,0.047,2567,215,3721,0,0,0,0,0,0
$GC,2623,-1.34,-146.0,307.7,-10.8,178,2628,0.00,2.55,0.00,0.000,6,0.000,0.022,2567,1840,3721,0,0,0,0,0,0
$GC,2883,-1.34,-146.0,332.0,-9.4,185,2887,0.00,2.45,0.00,0.000,4,0.000,0.035,2567,3364,3720,0,0,0,0,0,0
$GC,2934,-1.46,-146.0,336.7,-8.5,186,2939,0.10,2.45,0.00,0.000,6,0.077,0.027,2497,1846,3720,0,0,0,0,0,0
$GC,3214,-1.29,-146.0,373.1,-13.7,193,3222,0.35,2.72,0.00,0.000,4,0.087,0.050,2573,213,3719,0,0,0,0,0,0
$GC,3255,-1.41,-146.0,378.1,-10.1,193,3260,0.00,2.60,0.00,0.000,6,0.000,0.025,2572,1838,3719,0,0,0,0,0,0
$GC,3507,-1.48,-146.0,400.8,-9.0,200,3512,0.15,2.53,0.00,0.000,4,0.057,0.041,2508,3373,3717,0,0,0,0,0,0
$GC,3541,-1.38,-146.0,404.8,-11.6,200,3546,0.22,2.45,0.00,0.000,6,0.087,0.028,2558,1847,3717,0,0,0,0,0,0
$GC,3790,-1.38,-146.0,427.4,-8.7,206,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1847,3716,0,0,0,0,0,0
$GC,4036,-1.38,-146.0,447.9,-8.2,212,4040,0.00,2.53,0.00,0.000,4,0.000,0.046,2558,3366,3714,0,0,0,0,0,0
$GC,4055,-1.38,-146.0,449.9,-9.5,212,4059,0.00,2.45,0.00,0.000,6,0.000,0.027,2558,1854,3714,0,0,0,0,0,0
$GC,4319,-1.38,-146.0,473.6,-9.3,219,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1854,3711,0,0,0,0,0,0
$GC,4564,-1.38,-146.0,496.3,-9.3,225,4568,0.00,2.53,0.00,0.000,4,0.000,0.048,2558,3369,3710,0,0,0,0,0,0
$GC,4593,-1.45,-146.0,499.2,-9.2,225,4597,0.00,2.45,0.00,0.000,6,0.000,0.031,2558,1859,3710,0,0,0,0,0,0
$GC,4851,-1.45,-146.0,524.0,-9.8,232,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1859,3708,0,0,0,0,0,0
$GC,5097,-1.45,-146.0,546.3,-9.0,238,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1859,3707,0,0,0,0,0,0
$GC,5341,-1.51,-146.0,567.1,-8.5,244,5343,0.12,0.00,0.00,0.000,6,0.066,0.000,2499,1853,3705,0,0,0,0,0,0
$GC,5583,-1.41,-146.0,596.7,-12.4,250,5585,0.25,0.00,0.00,0.000,6,0.089,0.000,2554,1854,3704,0,0,0,0,0,0
$GC,5827,-1.47,-146.0,619.1,-8.9,256,5831,0.00,2.55,0.00,0.000,4,0.000,0.053,2554,3369,3702,0,0,0,0,0,0
$GC,5857,-1.55,-146.0,622.0,-9.0,256,5862,0.12,2.50,0.00,0.000,6,0.063,0.036,2479,1856,3702,0,0,0,0,0,0
$GC,6113,-1.40,-146.0,654.6,-13.2,263,6120,0.32,2.88,0.00,0.000,4,0.090,0.074,2551,224,3701,0,0,0,0,0,0
$GC,6134,-1.40,-146.0,657.3,-11.1,263,6139,0.00,2.67,0.00,0.000,6,0.000,0.037,2551,1839,3700,0,0,0,0,0,0
$GC,6401,-1.47,-146.0,682.3,-9.4,270,6405,0.00,2.60,0.00,0.000,4,0.000,0.058,2551,3376,3698,0,0,0,0,0,0
$GC,6446,-1.59,-146.0,686.6,-9.5,271,6451,0.17,2.50,0.00,0.000,6,0.050,0.037,2470,1868,3699,0,0,0,0,0,0
$GC,6736,-1.43,-146.0,724.4,-13.5,278,6743,0.32,2.90,0.00,0.000,4,0.091,0.072,2543,221,3697,0,0,0,0,0,0
$GC,6785,-1.53,-146.0,730.4,-11.0,279,6790,0.00,2.72,0.00,0.000,6,0.000,0.039,2543,1854,3696,0,0,0,0,0,0
$GC,7070,-1.53,-146.0,757.0,-9.6,286,7074,0.00,2.58,0.00,0.000,4,0.000,0.061,2543,3374,3695,0,0,0,0,0,0
$GC,7113,-1.63,-146.0,761.4,-9.7,287,7118,0.17,2.47,0.00,0.000,6,0.050,0.038,2463,1869,3694,0,0,0,0,0,0
$GC,7403,-1.46,-146.0,799.0,-13.3,294,7410,0.32,2.90,0.00,0.000,4,0.090,0.073,2538,224,3693,0,0,0,0,0,0
$GC,7451,-1.53,-146.0,804.4,-11.2,295,7456,0.00,2.70,0.00,0.000,6,0.000,0.040,2538,1856,3693,0,0,0,0,0,0
$GC,7738,-1.53,-146.0,834.1,-10.4,302,7742,0.00,2.60,0.00,0.000,4,0.000,0.062,2538,3381,3691,0,0,0,0,0,0
$GC,7767,-1.53,-146.0,837.3,-10.5,302,7772,0.00,2.53,0.00,0.000,6,0.000,0.038,2538,1864,3691,0,0,0,0,0,0
$GC,8022,-1.53,-146.0,864.4,-10.7,309,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1864,3690,0,0,0,0,0,0
$GC,8265,-1.53,-146.0,890.0,-10.5,315,8270,0.00,2.58,0.00,0.000,4,0.000,0.050,2538,3382,3688,0,0,0,0,0,0
$GC,8298,-1.61,-146.0,893.4,-10.1,315,8303,0.12,2.53,0.00,0.000,6,0.067,0.038,2476,1868,3688,0,0,0,0,0,0
$STATE,8383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8383,begin apogee
$GC,8391,-0.31,0.0,904.1,12.4,317,8519,1.42,0.00,124.68,1.181,6,0.082,0.000,2789,1686,3120,0,0,0,0,0,0
$STATE,8520,end apogee,CONTROL_FINISHED_OK
$STATE,8520,begin climb
$GC,8522,1.29,146.0,910.8,0.0,320,8669,1.48,2.72,135.50,1.160,4,0.025,0.047,3145,3262,2523,0,0,0,0,0,0
$GC,8694,0.99,162.4,910.5,9.2,324,8717,0.32,2.70,16.05,1.050,6,0.107,0.038,3079,1686,2457,0,0,0,0,0,0
$GC,8962,0.84,177.5,886.1,9.3,331,8983,0.17,2.80,14.98,1.039,4,0.111,0.082,3043,169,2395,0,0,0,0,0,0
$GC,8995,0.80,237.3,883.1,7.2,331,9060,0.00,2.55,58.10,1.121,6,0.000,0.036,3043,1681,2151,0,0,0,0,0,0
$GC,9335,0.80,237.3,847.2,10.8,340,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1681,2142,0,0,0,0,0,0
$GC,9580,0.80,237.3,820.6,10.8,346,9585,0.00,2.67,0.00,0.000,4,0.000,0.069,3043,160,2141,0,0,0,0,0,0
$GC,9636,0.72,237.3,813.6,12.5,347,9642,0.12,2.55,0.00,0.000,6,0.119,0.039,3018,1677,2141,0,0,0,0,0,0
$GC,9912,0.72,237.3,785.9,10.0,354,9916,0.00,2.67,0.00,0.000,4,0.000,0.070,3018,166,2139,0,0,0,0,0,0
$GC,9935,0.72,237.3,783.1,10.9,354,9939,0.00,2.53,0.00,0.000,6,0.000,0.038,3018,1673,2139,0,0,0,0,0,0
$GC,10194,0.73,244.1,757.8,9.7,361,10201,0.00,0.00,5.30,0.785,6,0.000,0.000,3018,1674,2124,0,0,0,0,0,0
$GC,10438,0.74,258.7,734.9,9.3,367,10455,0.00,0.00,15.73,0.999,6,0.000,0.000,3018,1674,2065,0,0,0,0,0,0
$GC,10683,0.75,267.6,711.3,9.6,373,10699,0.00,2.75,9.68,0.918,4,0.000,0.069,3018,169,2029,0,0,0,0,0,0
$GC,10714,0.75,267.6,708.0,10.2,373,10718,0.00,2.53,0.00,0.000,6,0.000,0.038,3018,1669,2028,0,0,0,0,0,0
$GC,10970,0.83,271.2,683.0,9.8,380,10983,0.10,2.83,5.10,0.744,4,0.081,0.062,3060,3270,2013,0,0,0,0,0,0
$GC,11017,0.83,271.2,677.3,11.7,381,11022,0.00,2.72,0.00,0.000,6,0.000,0.041,3060,1672,2011,0,0,0,0,0,0
$GC,11304,0.83,271.2,642.5,12.2,388,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1672,2010,0,0,0,0,0,0
$GC,11549,0.83,271.2,612.1,12.3,394,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1672,2010,0,0,0,0,0,0
$GC,11791,0.83,271.2,584.4,11.3,400,11792,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1671,2010,0,0,0,0,0,0
$GC,12035,0.83,271.2,556.8,11.4,406,12039,0.00,2.62,0.00,0.000,4,0.000,0.074,3060,167,2010,0,0,0,0,0,0
$GC,12068,0.77,271.2,552.6,12.1,406,12073,0.15,2.47,0.00,0.000,6,0.108,0.032,3030,1678,2009,0,0,0,0,0,0
$GC,12320,0.85,280.9,528.4,9.5,412,12336,0.00,2.80,10.23,0.839,4,0.000,0.057,3029,3258,1974,0,0,0,0,0,0
$GC,12356,0.97,306.2,524.9,8.8,412,12389,0.17,2.70,26.40,0.910,6,0.054,0.037,3100,1665,1870,0,0,0,0,0,0
$GC,12653,0.87,306.2,486.7,13.2,420,12655,0.22,0.00,0.00,0.000,6,0.100,0.000,3051,1665,1866,0,0,0,0,0,0
$GC,12896,0.87,306.2,461.1,10.4,426,12901,0.00,2.72,0.00,0.000,4,0.000,0.048,3051,3261,1864,0,0,0,0,0,0
$GC,12922,0.88,314.9,458.6,9.6,426,12939,0.00,2.67,8.25,0.757,6,0.000,0.035,3051,1672,1836,0,0,0,0,0,0
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$STATE,16893,end climb,SURFACE_DEPTH_REACHED
$STATE,16893,begin surface coast
$FINISH,0.9,0.999649
$STATE,16939,end surface coast,CONTROL_FINISHED_OK
$STATE,16939,begin surface
$SM_CCo,16962,18.12,0.255,1,0,1570,380.21
$SM_GC,2.00,0.00,0.00,18.12,0.000,0.000,0.255,416,1889,1570,-11.25,2.80,380.21
$IRIDIUM_FIX,2239.35,-15802.37,200400,212129
$TT8_MAMPS,0.027612
$HUMID,52.63
$INTERNAL_PRESSURE,9.69174
$TCM_TEMP,20.70
$XPDR_PINGS,4
$24V_AH,22.9,76.505
$10V_AH,9.8,67.432
$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,30.925,207.900,466.250,18.125,0.000,59.944,69.554,479.995,1.000,0.000,16.998,1436.446,12453.430,608.279,2272.065,1047.345,33.375,1611.366,0.000,2265.731,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,82.069,1181.180,255.411,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,449.770,325.929,408.018,575.530,1017.742,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,51110,658
$CAP_FILE_SIZE,173993,0
$CFSIZE,260165632,138223616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260111,023324,2250.374,-15803.228,37,1.8,37,10.1