version: 66.06
glider: 148
mission: 9
dive: 39
start: 11 15 110 23 53 32
data:
$ID,148
$MISSION,9
$DIVE,39
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1020
$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,600
$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,120
$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,450
$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,-858176.38
$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,2870
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3105
$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
$GPS1,233036,2244.877,-15800.467,58,1.0,58,10.1
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.3
$GPS2,235238,2245.086,-15800.682,11,2.0,11,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2254.800,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.160,0.171
$KALMAN_X,-20653.5,11.0,-118.8,36563.5,-514.8
$KALMAN_Y,6568.4,396.0,91.2,113680.9,153.4
$MHEAD_RNG_PITCHd_Wd,33.1,22258,-19.8,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.38,-116.8,0.0,0.0,0,106,0.00,0.00,-82.88,0.000,2,0.000,0.000,411,1824,3410,0,0,0,0,0,0
$GC,109,-1.38,-116.8,3.9,-7.4,11,134,12.02,2.40,-3.12,0.000,4,0.177,0.041,2559,3313,3586,0,0,0,0,0,0
$GC,175,-1.22,-116.8,23.2,-18.8,20,185,0.15,2.50,0.00,0.000,6,0.087,0.024,2596,1759,3586,0,0,0,0,0,0
$GC,452,-1.22,-116.8,63.3,-13.7,48,456,0.00,2.50,0.00,0.000,4,0.000,0.031,2596,3315,3587,0,0,0,0,0,0
$GC,497,-1.22,-116.8,69.2,-14.5,51,501,0.00,2.42,0.00,0.000,6,0.000,0.022,2596,1772,3587,0,0,0,0,0,0
$GC,764,-1.22,-116.8,100.6,-9.2,75,768,0.00,2.45,0.00,0.000,4,0.000,0.029,2596,3317,3588,0,0,0,0,0,0
$GC,792,-1.29,-116.8,103.7,-10.0,77,796,0.00,2.40,0.00,0.000,6,0.000,0.022,2596,1781,3588,0,0,0,0,0,0
$GC,1060,-1.40,-116.8,128.9,-9.8,101,1065,0.12,2.45,0.00,0.000,4,0.068,0.030,2531,3312,3588,0,0,0,0,0,0
$GC,1076,-1.40,-116.8,131.5,-10.1,102,1081,0.15,2.38,0.00,0.000,6,0.116,0.022,2563,1785,3588,0,0,0,0,0,0
$GC,1336,-1.40,-116.8,164.4,-12.1,126,1341,0.00,2.58,0.00,0.000,4,0.000,0.040,2562,196,3589,0,0,0,0,0,0
$GC,1362,-1.40,-116.8,167.7,-12.5,128,1366,0.00,2.40,0.00,0.000,6,0.000,0.020,2563,1756,3589,0,0,0,0,0,0
$GC,1625,-1.40,-116.8,200.6,-12.8,152,1629,0.00,2.53,0.00,0.000,4,0.000,0.031,2562,3354,3589,0,0,0,0,0,0
$GC,1685,-1.49,-116.8,208.8,-12.4,153,1690,0.00,2.47,0.00,0.000,6,0.000,0.023,2563,1792,3589,0,0,0,0,0,0
$GC,1955,-1.55,-116.8,241.0,-11.4,160,1960,0.12,2.60,0.00,0.000,4,0.066,0.042,2498,193,3589,0,0,0,0,0,0
$GC,1974,-1.55,-116.8,243.9,-13.0,160,1979,0.15,2.50,0.00,0.000,6,0.115,0.021,2529,1798,3589,0,0,0,0,0,0
$GC,2238,-1.55,-116.8,276.1,-11.8,167,2243,0.00,2.62,0.00,0.000,4,0.000,0.042,2529,194,3589,0,0,0,0,0,0
$GC,2295,-1.55,-116.8,283.2,-12.2,168,2299,0.00,2.50,0.00,0.000,6,0.000,0.022,2529,1786,3589,0,0,0,0,0,0
$GC,2568,-1.55,-116.8,314.0,-11.0,175,2572,0.00,2.50,0.00,0.000,4,0.000,0.035,2528,3346,3590,0,0,0,0,0,0
$GC,2610,-1.55,-116.8,318.8,-10.8,176,2615,0.00,2.45,0.00,0.000,6,0.000,0.026,2529,1794,3589,0,0,0,0,0,0
$GC,2898,-1.55,-116.8,350.7,-11.3,183,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1794,3587,0,0,0,0,0,0
$GC,3140,-1.55,-116.8,375.8,-10.3,189,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1794,3586,0,0,0,0,0,0
$GC,3384,-1.55,-116.8,403.0,-11.4,195,3388,0.00,2.67,0.00,0.000,4,0.000,0.054,2529,194,3584,0,0,0,0,0,0
$GC,3430,-1.55,-116.8,409.3,-12.8,196,3435,0.00,2.55,0.00,0.000,6,0.000,0.028,2529,1787,3584,0,0,0,0,0,0
$GC,3714,-1.55,-116.8,441.4,-11.0,203,3718,0.00,2.70,0.00,0.000,4,0.000,0.058,2529,198,3582,0,0,0,0,0,0
$GC,3737,-1.55,-116.8,444.3,-11.3,203,3741,0.00,2.55,0.00,0.000,6,0.000,0.030,2529,1789,3582,0,0,0,0,0,0
$GC,3996,-1.55,-116.8,468.8,-9.2,210,4000,0.00,2.55,0.00,0.000,4,0.000,0.046,2529,3348,3580,0,0,0,0,0,0
$GC,4020,-1.55,-116.8,470.9,-8.5,210,4025,0.00,2.53,0.00,0.000,6,0.000,0.032,2529,1794,3580,0,0,0,0,0,0
$GC,4280,-1.55,-116.8,492.1,-8.0,217,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1794,3578,0,0,0,0,0,0
$GC,4523,-1.55,-116.8,513.0,-8.8,223,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1794,3577,0,0,0,0,0,0
$GC,4768,-1.55,-116.8,537.3,-10.0,229,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1794,3575,0,0,0,0,0,0
$GC,5011,-1.55,-116.8,560.5,-9.2,235,5015,0.00,2.62,0.00,0.000,4,0.000,0.054,2529,3346,3573,0,0,0,0,0,0
$GC,5039,-1.55,-116.8,562.9,-8.3,235,5043,0.00,2.58,0.00,0.000,6,0.000,0.038,2529,1786,3572,0,0,0,0,0,0
$GC,5295,-1.62,-116.8,584.3,-8.3,242,5300,0.00,2.78,0.00,0.000,4,0.000,0.073,2528,190,3570,0,0,0,0,0,0
$GC,5332,-1.62,-116.8,587.8,-9.0,242,5338,0.00,2.60,0.00,0.000,6,0.000,0.039,2529,1769,3569,0,0,0,0,0,0
$GC,5583,-1.69,-116.8,609.4,-8.7,249,5584,0.12,0.00,0.00,0.000,6,0.072,0.000,2480,1769,3568,0,0,0,0,0,0
$GC,5827,-1.69,-116.8,638.7,-12.3,255,5834,0.10,2.78,0.00,0.000,4,0.134,0.071,2500,193,3566,0,0,0,0,0,0
$GC,5839,-1.69,-116.8,640.4,-12.4,255,5843,0.00,2.62,0.00,0.000,6,0.000,0.039,2500,1782,3565,0,0,0,0,0,0
$GC,6111,-1.69,-116.8,670.7,-11.0,262,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1783,3563,0,0,0,0,0,0
$GC,6355,-1.69,-116.8,695.8,-10.1,268,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1782,3562,0,0,0,0,0,0
$GC,6600,-1.69,-116.8,718.5,-9.0,274,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1783,3560,0,0,0,0,0,0
$GC,6843,-1.69,-116.8,739.3,-8.6,280,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1783,3558,0,0,0,0,0,0
$GC,7086,-1.69,-116.8,760.2,-8.7,286,7091,0.00,2.80,0.00,0.000,4,0.000,0.073,2500,190,3557,0,0,0,0,0,0
$GC,7121,-1.69,-116.8,763.5,-9.9,286,7125,0.00,2.65,0.00,0.000,6,0.000,0.043,2499,1781,3556,0,0,0,0,0,0
$GC,7370,-1.69,-116.8,785.8,-8.9,292,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1782,3555,0,0,0,0,0,0
$GC,7614,-1.69,-116.8,808.3,-9.5,298,7619,0.00,2.80,0.00,0.000,4,0.000,0.072,2500,187,3553,0,0,0,0,0,0
$GC,7657,-1.69,-116.8,812.8,-10.1,299,7661,0.00,2.65,0.00,0.000,6,0.000,0.043,2500,1777,3552,0,0,0,0,0,0
$GC,7945,-1.69,-116.8,840.0,-9.4,306,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1777,3551,0,0,0,0,0,0
$GC,8187,-1.69,-116.8,862.2,-9.0,312,8192,0.00,2.78,0.00,0.000,4,0.000,0.073,2500,193,3550,0,0,0,0,0,0
$GC,8215,-1.69,-116.8,865.1,-11.5,312,8220,0.00,2.62,0.00,0.000,6,0.000,0.042,2500,1770,3549,0,0,0,0,0,0
$GC,8471,-1.69,-116.8,887.6,-8.9,319,8476,0.00,2.78,0.00,0.000,4,0.000,0.073,2499,191,3549,0,0,0,0,0,0
$GC,8495,-1.69,-116.8,890.0,-9.5,319,8499,0.00,2.60,0.00,0.000,6,0.000,0.042,2499,1766,3549,0,0,0,0,0,0
$STATE,8629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8629,begin apogee
$GC,8637,-0.31,0.0,902.2,8.8,323,8735,1.38,0.00,94.20,1.213,6,0.094,0.000,2799,1641,3105,0,0,0,0,0,0
$STATE,8735,end apogee,CONTROL_FINISHED_OK
$STATE,8735,begin climb
$GC,8738,1.38,116.8,903.9,0.0,325,8848,1.52,0.00,105.60,1.186,6,0.025,0.000,3195,1642,2628,0,0,0,0,0,0
$GC,9065,0.95,116.8,879.2,12.1,333,9072,0.55,2.58,0.00,0.000,4,0.131,0.074,3084,182,2618,0,0,0,0,0,0
$GC,9188,0.68,116.8,866.0,11.4,335,9194,0.32,2.42,0.00,0.000,6,0.120,0.038,3019,1638,2616,0,0,0,0,0,0
$GC,9444,0.74,164.3,846.8,7.3,342,9492,0.00,2.70,42.12,1.141,4,0.000,0.074,3020,184,2434,0,0,0,0,0,0
$GC,9563,0.74,164.3,835.3,11.4,344,9567,0.00,2.40,0.00,0.000,6,0.000,0.038,3020,1629,2430,0,0,0,0,0,0
$GC,9817,0.80,166.0,810.3,9.9,351,9823,0.10,2.60,0.00,0.000,4,0.086,0.074,3055,181,2426,0,0,0,0,0,0
$GC,9853,0.67,166.0,806.2,13.2,351,9858,0.20,2.42,0.00,0.000,6,0.117,0.038,3016,1629,2425,0,0,0,0,0,0
$GC,10103,0.74,175.1,781.9,9.5,357,10119,0.00,2.65,10.05,0.992,4,0.000,0.074,3016,189,2391,0,0,0,0,0,0
$GC,10201,0.74,175.1,772.0,10.5,359,10205,0.00,2.40,0.00,0.000,6,0.000,0.039,3016,1623,2388,0,0,0,0,0,0
$GC,10483,0.85,202.4,747.4,8.4,366,10516,0.17,2.88,25.90,1.078,4,0.058,0.061,3074,3229,2278,0,0,0,0,0,0
$GC,10528,0.78,202.4,742.9,10.9,367,10536,0.17,2.75,0.00,0.000,6,0.114,0.044,3039,1626,2275,0,0,0,0,0,0
$GC,10818,0.78,202.5,713.7,10.0,374,10822,0.00,2.62,0.00,0.000,4,0.000,0.085,3039,166,2272,0,0,0,0,0,0
$GC,10869,0.78,202.5,707.9,11.4,375,10873,0.00,2.42,0.00,0.000,6,0.000,0.038,3039,1619,2271,0,0,0,0,0,0
$GC,11148,0.79,209.7,681.3,9.6,382,11156,0.00,0.00,6.57,0.858,6,0.000,0.000,3039,1621,2250,0,0,0,0,0,0
$GC,11390,0.80,222.6,658.4,9.3,388,11405,0.00,0.00,13.62,0.979,6,0.000,0.000,3039,1621,2197,0,0,0,0,0,0
$GC,11634,0.82,238.8,635.9,9.1,394,11652,0.00,0.00,16.20,0.983,6,0.000,0.000,3039,1622,2131,0,0,0,0,0,0
$GC,11879,0.90,246.4,612.9,9.6,400,11890,0.10,0.00,7.97,0.867,6,0.086,0.000,3079,1623,2100,0,0,0,0,0,0
$GC,12121,0.90,246.4,582.9,12.5,406,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1623,2096,0,0,0,0,0,0
$GC,12364,0.90,246.4,551.9,12.8,412,12369,0.00,2.55,0.00,0.000,4,0.000,0.065,3079,162,2095,0,0,0,0,0,0
$GC,12435,0.82,246.4,541.9,14.3,413,12441,0.15,2.40,0.00,0.000,6,0.124,0.032,3051,1624,2094,0,0,0,0,0,0
$GC,12695,0.88,246.4,512.6,11.1,420,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1624,2094,0,0,0,0,0,0
$GC,12940,0.95,246.4,484.4,11.5,426,12946,0.10,2.72,0.00,0.000,4,0.085,0.055,3088,3230,2092,0,0,0,0,0,0
$GC,12955,0.95,246.4,482.4,11.5,426,12960,0.00,2.70,0.00,0.000,6,0.000,0.038,3088,1604,2092,0,0,0,0,0,0
$GC,13223,0.95,246.4,450.4,11.5,433,13225,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1604,2092,0,0,0,0,0,0
$GC,13467,0.95,246.4,423.3,11.1,439,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1604,2092,0,0,0,0,0,0
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$STATE,17255,end climb,SURFACE_DEPTH_REACHED
$STATE,17255,begin surface coast
$FINISH,0.9,1.010677
$STATE,17294,end surface coast,CONTROL_FINISHED_OK
$STATE,17294,begin surface
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$SM_GC,1.47,0.00,0.00,61.67,0.000,0.000,0.063,417,1824,1269,-11.28,1.53,450.13
$IRIDIUM_FIX,2237.01,-15800.20,090200,232334
$TT8_MAMPS,0.026845
$HUMID,39.28
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,8.787
$10V_AH,10.4,7.412
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.075,185.575,390.500,61.675,0.000,83.969,108.940,852.991,0.000,0.000,12.746,1437.552,13010.393,573.877,2233.164,1436.691,33.374,1564.213,0.000,2238.802,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,453.452,328.623,408.520,552.727,977.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356144
$DATA_FILE_SIZE,51207,665
$CAP_FILE_SIZE,177066,0
$CFSIZE,260165632,169775104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,044445,2247.235,-15759.271,36,99.0,55,10.1