version: 66.06
glider: 148
mission: 10
dive: 214
start: 9 4 111 13 25 21
data:
$ID,148
$MISSION,10
$DIVE,214
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,0
$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,660
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,400
$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,-881436.75
$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,2950
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3015
$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,-11.834597
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,131726,2423.860,-15747.685,29,99.0,48,10.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.0
$GPS2,132425,2423.925,-15747.675,9,1.3,14,10.3
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,0.229
$KALMAN_X,-100359.4,-105.4,29.0,137708.2,629.3
$KALMAN_Y,13873.1,-79.1,302.2,287255.3,1435.9
$MHEAD_RNG_PITCHd_Wd,14.5,73101,-18.2,-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,-1.30,-136.3,0.0,0.0,0,88,0.00,0.00,-67.72,0.000,2,0.000,0.000,411,1976,3173,0,0,0,0,0,0
$GC,92,-1.30,-136.3,3.3,-5.2,9,117,12.35,2.35,-7.22,0.000,4,0.171,0.035,2658,3458,3572,0,0,0,0,0,0
$GC,142,-0.55,-136.3,19.6,-31.0,15,153,0.73,2.58,0.00,0.000,6,0.084,0.022,2822,1864,3573,0,0,0,0,0,0
$GC,429,-0.67,-136.3,50.4,-8.9,45,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1864,3575,0,0,0,0,0,0
$GC,697,-0.83,-136.3,74.0,-8.3,70,702,0.22,2.55,0.00,0.000,4,0.039,0.026,2713,3462,3575,0,0,0,0,0,0
$GC,720,-0.83,-136.3,77.1,-10.3,71,731,0.20,2.55,0.00,0.000,6,0.071,0.022,2764,1870,3575,0,0,0,0,0,0
$GC,983,-0.83,-136.3,105.7,-10.5,96,987,0.00,2.55,0.00,0.000,4,0.000,0.038,2763,294,3576,0,0,0,0,0,0
$GC,1013,-0.90,-136.3,109.0,-11.7,98,1018,0.00,2.47,0.00,0.000,6,0.000,0.018,2764,1894,3576,0,0,0,0,0,0
$GC,1277,-0.99,-136.3,136.6,-9.3,122,1282,0.12,2.45,0.00,0.000,4,0.063,0.028,2688,3440,3576,0,0,0,0,0,0
$GC,1310,-0.99,-136.3,140.4,-11.1,124,1321,0.17,2.50,0.00,0.000,6,0.071,0.022,2733,1878,3577,0,0,0,0,0,0
$GC,1574,-0.99,-136.3,165.5,-9.2,149,1578,0.00,2.55,0.00,0.000,4,0.000,0.038,2731,288,3577,0,0,0,0,0,0
$GC,1595,-0.99,-136.3,167.7,-9.9,150,1605,0.00,2.47,0.00,0.000,6,0.000,0.018,2731,1876,3577,0,0,0,0,0,0
$GC,1863,-0.99,-136.3,192.6,-8.9,175,1867,0.00,2.45,0.00,0.000,4,0.000,0.028,2732,3434,3578,0,0,0,0,0,0
$GC,1909,-1.09,-136.3,197.2,-8.1,179,1914,0.00,2.45,0.00,0.000,6,0.000,0.021,2731,1866,3578,0,0,0,0,0,0
$GC,2192,-1.16,-136.3,222.7,-9.3,188,2197,0.15,2.58,0.00,0.000,4,0.054,0.038,2652,290,3578,0,0,0,0,0,0
$GC,2272,-1.07,-136.3,234.3,-15.1,189,2277,0.28,2.47,0.00,0.000,6,0.091,0.019,2713,1882,3578,0,0,0,0,0,0
$GC,2522,-1.07,-136.3,260.3,-10.0,195,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1885,3578,0,0,0,0,0,0
$GC,2768,-1.07,-136.3,281.1,-8.2,201,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1885,3578,0,0,0,0,0,0
$GC,3009,-1.07,-136.3,300.7,-8.1,207,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1885,3578,0,0,0,0,0,0
$GC,3254,-1.14,-136.3,322.3,-9.1,213,3259,0.00,2.65,0.00,0.000,4,0.000,0.044,2713,300,3578,0,0,0,0,0,0
$GC,3274,-1.14,-136.3,324.4,-10.3,213,3278,0.00,2.45,0.00,0.000,6,0.000,0.021,2713,1876,3578,0,0,0,0,0,0
$GC,3543,-1.21,-136.3,346.6,-7.8,220,3545,0.12,0.00,0.00,0.000,6,0.061,0.000,2646,1876,3576,0,0,0,0,0,0
$GC,3786,-1.10,-136.3,373.4,-11.4,226,3792,0.25,2.65,0.00,0.000,4,0.087,0.052,2706,309,3575,0,0,0,0,0,0
$GC,3812,-1.10,-136.3,376.3,-10.4,226,3816,0.00,2.45,0.00,0.000,6,0.000,0.022,2706,1869,3575,0,0,0,0,0,0
$GC,4076,-1.17,-136.3,399.0,-8.2,233,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1869,3574,0,0,0,0,0,0
$GC,4323,-1.25,-136.3,417.9,-7.7,239,4324,0.12,0.00,0.00,0.000,6,0.063,0.000,2645,1869,3572,0,0,0,0,0,0
$GC,4564,-1.15,-136.3,444.1,-11.0,245,4571,0.25,2.65,0.00,0.000,4,0.085,0.054,2693,304,3570,0,0,0,0,0,0
$GC,4585,-1.15,-136.3,446.6,-10.1,245,4590,0.00,2.47,0.00,0.000,6,0.000,0.026,2696,1865,3570,0,0,0,0,0,0
$GC,4851,-1.22,-136.3,467.4,-7.7,252,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1865,3568,0,0,0,0,0,0
$GC,5094,-1.29,-136.3,485.3,-7.2,258,5099,0.12,2.67,0.00,0.000,4,0.065,0.061,2642,306,3567,0,0,0,0,0,0
$GC,5114,-1.29,-136.3,487.3,-9.3,258,5119,0.12,2.53,0.00,0.000,6,0.107,0.036,2669,1863,3567,0,0,0,0,0,0
$GC,5380,-1.29,-136.3,512.0,-9.6,265,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1864,3565,0,0,0,0,0,0
$GC,5623,-1.29,-136.3,535.4,-9.7,271,5628,0.00,2.70,0.00,0.000,4,0.000,0.064,2671,303,3563,0,0,0,0,0,0
$GC,5647,-1.29,-136.3,538.2,-11.2,271,5651,0.00,2.53,0.00,0.000,6,0.000,0.032,2671,1864,3563,0,0,0,0,0,0
$GC,5907,-1.29,-136.3,561.2,-8.8,278,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1864,3561,0,0,0,0,0,0
$GC,6150,-1.29,-136.3,583.6,-9.2,284,6155,0.00,2.67,0.00,0.000,4,0.000,0.065,2672,307,3559,0,0,0,0,0,0
$GC,6183,-1.29,-136.3,587.1,-10.8,284,6187,0.00,2.53,0.00,0.000,6,0.000,0.034,2672,1866,3559,0,0,0,0,0,0
$GC,6436,-1.29,-136.3,609.7,-8.8,290,6440,0.00,2.65,0.00,0.000,4,0.000,0.055,2672,3450,3558,0,0,0,0,0,0
$GC,6464,-1.29,-136.3,612.5,-9.4,290,6469,0.00,2.60,0.00,0.000,6,0.000,0.035,2671,1884,3558,0,0,0,0,0,0
$GC,6725,-1.29,-136.3,635.7,-8.9,297,6730,0.00,2.78,0.00,0.000,4,0.000,0.074,2672,283,3556,0,0,0,0,0,0
$GC,6753,-1.29,-136.3,638.6,-10.2,297,6757,0.00,2.60,0.00,0.000,6,0.000,0.036,2672,1866,3556,0,0,0,0,0,0
$GC,7008,-1.29,-136.3,660.3,-8.4,304,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1866,3554,0,0,0,0,0,0
$GC,7252,-1.29,-136.3,680.1,-8.1,310,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1872,3552,0,0,0,0,0,0
$GC,7495,-1.29,-136.3,698.4,-7.4,316,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1872,3551,0,0,0,0,0,0
$GC,7740,-1.29,-136.3,717.3,-7.9,322,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1872,3550,0,0,0,0,0,0
$GC,7982,-1.29,-136.3,737.3,-8.3,328,7987,0.00,2.75,0.00,0.000,4,0.000,0.070,2663,286,3548,0,0,0,0,0,0
$GC,8006,-1.29,-136.3,739.6,-10.2,328,8010,0.00,2.60,0.00,0.000,6,0.000,0.036,2667,1879,3548,0,0,0,0,0,0
$GC,8266,-1.29,-136.3,760.8,-8.1,335,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1879,3546,0,0,0,0,0,0
$GC,8509,-1.29,-136.3,782.0,-8.8,341,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1879,3546,0,0,0,0,0,0
$GC,8754,-1.29,-136.3,805.3,-9.6,347,8759,0.00,2.70,0.00,0.000,4,0.000,0.058,2666,3453,3544,0,0,0,0,0,0
$GC,8773,-1.29,-136.3,807.5,-10.0,347,8777,0.00,2.60,0.00,0.000,6,0.000,0.038,2663,1868,3544,0,0,0,0,0,0
$GC,9042,-1.29,-136.3,832.4,-9.3,354,9046,0.00,2.75,0.00,0.000,4,0.000,0.075,2671,286,3542,0,0,0,0,0,0
$GC,9086,-1.29,-136.3,836.9,-10.0,355,9090,0.00,2.60,0.00,0.000,6,0.000,0.037,2670,1863,3543,0,0,0,0,0,0
$GC,9373,-1.29,-136.3,863.1,-9.0,362,9378,0.00,2.78,0.00,0.000,4,0.000,0.069,2672,293,3542,0,0,0,0,0,0
$GC,9402,-1.29,-136.3,865.8,-9.1,362,9406,0.00,2.58,0.00,0.000,6,0.000,0.037,2671,1865,3541,0,0,0,0,0,0
$GC,9662,-1.29,-136.3,886.8,-8.0,369,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1865,3540,0,0,0,0,0,0
$STATE,9861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9861,begin apogee
$GC,9867,-0.31,0.0,901.9,7.3,374,9985,0.93,0.00,111.12,1.187,6,0.077,0.000,2878,1610,3014,0,0,0,0,0,0
$STATE,9985,end apogee,CONTROL_FINISHED_OK
$STATE,9986,begin climb
$GC,9988,1.30,136.3,905.0,0.0,377,10119,1.48,2.65,121.35,1.161,4,0.036,0.077,3242,185,2458,0,0,0,0,0,0
$GC,10154,0.92,136.3,899.1,11.9,380,10160,0.43,2.42,0.00,0.000,6,0.111,0.034,3155,1633,2453,0,0,0,0,0,0
$GC,10405,0.97,173.6,877.8,8.2,387,10448,0.00,2.67,33.62,1.111,4,0.000,0.071,3156,187,2306,0,0,0,0,0,0
$GC,10477,0.88,173.6,871.3,10.4,388,10481,0.00,2.38,0.00,0.000,6,0.000,0.033,3156,1625,2305,0,0,0,0,0,0
$GC,10737,0.92,203.9,848.6,8.5,395,10773,0.00,2.62,28.38,1.090,4,0.000,0.071,3156,186,2183,0,0,0,0,0,0
$GC,10827,0.92,203.9,839.8,11.6,397,10831,0.00,2.38,0.00,0.000,6,0.000,0.033,3156,1625,2181,0,0,0,0,0,0
$GC,11115,0.92,205.2,810.9,9.9,404,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1626,2178,0,0,0,0,0,0
$GC,11360,0.92,207.2,786.7,9.9,410,11365,0.00,2.72,0.00,0.000,4,0.000,0.054,3156,3218,2175,0,0,0,0,0,0
$GC,11396,0.92,207.2,783.0,10.2,410,11400,0.00,2.67,0.00,0.000,6,0.000,0.039,3156,1633,2173,0,0,0,0,0,0
$GC,11645,0.93,213.9,758.3,9.7,416,11662,0.00,2.70,9.50,0.944,4,0.000,0.081,3156,169,2142,0,0,0,0,0,0
$GC,11676,0.93,213.9,755.1,10.3,416,11680,0.00,2.40,0.00,0.000,6,0.000,0.039,3156,1627,2142,0,0,0,0,0,0
$GC,11930,0.93,213.9,729.5,10.0,423,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1627,2140,0,0,0,0,0,0
$GC,12175,0.93,213.9,704.5,10.4,429,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1628,2139,0,0,0,0,0,0
$GC,12419,0.94,220.1,680.2,9.7,435,12433,0.00,2.78,6.95,0.847,4,0.000,0.054,3156,3211,2117,0,0,0,0,0,0
$GC,12461,0.94,224.6,675.9,9.8,435,12475,0.00,2.67,5.70,0.785,6,0.000,0.038,3155,1616,2099,0,0,0,0,0,0
$GC,12758,0.95,229.9,647.4,9.7,443,12767,0.00,0.00,6.62,0.818,6,0.000,0.000,3155,1616,2077,0,0,0,0,0,0
$GC,13002,0.95,229.9,622.1,10.3,449,13007,0.00,2.70,0.00,0.000,4,0.000,0.044,3155,3219,2075,0,0,0,0,0,0
$GC,13021,0.95,229.9,619.8,10.1,449,13025,0.00,2.67,0.00,0.000,6,0.000,0.038,3155,1616,2074,0,0,0,0,0,0
$GC,13285,0.95,229.9,592.4,10.4,456,13289,0.00,2.70,0.00,0.000,4,0.000,0.044,3156,3211,2074,0,0,0,0,0,0
$GC,13305,0.96,241.2,590.5,9.4,456,13322,0.00,2.65,11.57,0.895,6,0.000,0.038,3155,1626,2031,0,0,0,0,0,0
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$STATE,18317,end climb,SURFACE_DEPTH_REACHED
$STATE,18318,begin surface coast
$FINISH,0.7,1.009943
$STATE,18359,end surface coast,CONTROL_FINISHED_OK
$STATE,18359,begin surface
$SM_CCo,18382,36.67,0.463,0,0,1384,400.08
$SM_GC,1.84,0.00,0.00,36.67,0.000,0.000,0.463,410,1931,1384,-11.68,1.72,400.08
$IRIDIUM_FIX,2411.01,-15748.64,281100,080801
$TT8_MAMPS,0.027612
$HUMID,58.97
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.70
$XPDR_PINGS,4
$24V_AH,23.2,21.849
$10V_AH,10.2,22.884
$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,30.925,196.425,421.000,36.675,0.000,31.170,32.968,190.557,1.000,0.000,15.806,1510.804,13476.569,522.101,2169.755,1152.157,33.378,1610.444,0.000,2552.102,0.000,0.538,0.000
$DEVICE_MAMPS,171.041,80.535,1186.549,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,481.397,513.819,609.802,567.849,1056.128,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,54323,705
$CAP_FILE_SIZE,170724,0
$CFSIZE,260165632,120557568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040911,183337,2426.467,-15746.424,36,1.4,36,10.3