version: 66.06
glider: 148
mission: 9
dive: 45
start: 11 17 110 5 57 31
data:
$ID,148
$MISSION,9
$DIVE,45
$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,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,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,-858340.88
$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,34
$R_STBD_OVSHOOT,49
$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
$GPS1,054636,2255.079,-15750.914,32,1.0,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.5
$GPS2,055638,2255.128,-15750.969,12,1.4,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,INT2
$TGT_LATLONG,2257.000,-15743.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.256,0.041
$KALMAN_X,-26387.8,97.5,-76.9,58884.1,-976.7
$KALMAN_Y,11859.2,40.3,138.7,127299.0,178.5
$MHEAD_RNG_PITCHd_Wd,70.8,14025,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,103,0.00,0.00,-82.32,0.000,2,0.000,0.000,411,1847,3347,0,0,0,0,0,0
$GC,107,-1.27,-146.0,3.6,-5.5,11,131,11.82,2.40,-6.38,0.000,4,0.166,0.043,2585,3343,3703,0,0,0,0,0,0
$GC,140,0.16,-146.0,16.7,-35.5,15,150,1.42,2.53,0.00,0.000,6,0.086,0.021,2900,1762,3705,0,0,0,0,0,0
$GC,429,-0.73,-146.0,40.5,-8.3,52,441,0.80,2.58,0.00,0.000,4,0.058,0.043,2711,193,3706,0,0,0,0,0,0
$GC,753,-1.37,-146.0,67.8,-9.3,81,763,0.55,2.38,0.00,0.000,6,0.052,0.018,2569,1736,3707,0,0,0,0,0,0
$GC,1015,-1.24,-146.0,109.5,-15.9,106,1020,0.12,2.55,0.00,0.000,4,0.120,0.032,2596,3317,3707,0,0,0,0,0,0
$GC,1063,-1.24,-146.0,116.3,-13.4,110,1067,0.00,2.58,0.00,0.000,6,0.000,0.023,2596,1697,3707,0,0,0,0,0,0
$GC,1325,-1.24,-146.0,144.3,-9.4,134,1329,0.00,2.60,0.00,0.000,4,0.000,0.030,2596,3320,3708,0,0,0,0,0,0
$GC,1388,-1.31,-146.0,150.5,-9.8,139,1393,0.00,2.55,0.00,0.000,6,0.000,0.024,2596,1712,3708,0,0,0,0,0,0
$GC,1649,-1.31,-146.0,179.1,-10.8,164,1654,0.00,2.55,0.00,0.000,4,0.000,0.031,2596,3318,3709,0,0,0,0,0,0
$GC,1699,-1.39,-146.0,184.4,-9.8,168,1708,0.10,2.58,0.00,0.000,6,0.031,0.024,2517,1715,3709,0,0,0,0,0,0
$GC,1985,-1.20,-146.0,227.3,-15.9,184,1990,0.38,2.45,0.00,0.000,4,0.093,0.038,2602,190,3709,0,0,0,0,0,0
$GC,2028,-1.36,-146.0,232.6,-10.0,185,2033,0.12,2.30,0.00,0.000,6,0.066,0.020,2545,1692,3709,0,0,0,0,0,0
$GC,2317,-1.29,-146.0,272.2,-14.2,192,2322,0.20,2.60,0.00,0.000,4,0.097,0.031,2588,3324,3710,0,0,0,0,0,0
$GC,2336,-1.29,-146.0,275.0,-12.7,192,2341,0.00,2.58,0.00,0.000,6,0.000,0.024,2588,1708,3709,0,0,0,0,0,0
$GC,2602,-1.38,-146.0,300.0,-9.1,199,2606,0.00,2.60,0.00,0.000,4,0.000,0.036,2588,3313,3709,0,0,0,0,0,0
$GC,2645,-1.49,-146.0,303.7,-7.9,200,2650,0.17,2.53,0.00,0.000,6,0.050,0.026,2510,1723,3709,0,0,0,0,0,0
$GC,2934,-1.36,-146.0,336.4,-11.3,207,2940,0.25,2.60,0.00,0.000,4,0.100,0.041,2568,3310,3709,0,0,0,0,0,0
$GC,2959,-1.36,-146.0,339.3,-9.7,207,2963,0.00,2.55,0.00,0.000,6,0.000,0.028,2568,1716,3709,0,0,0,0,0,0
$GC,3218,-1.36,-146.0,360.7,-8.3,214,3222,0.00,2.60,0.00,0.000,4,0.000,0.041,2568,3308,3708,0,0,0,0,0,0
$GC,3252,-1.36,-146.0,363.4,-8.3,214,3256,0.00,2.58,0.00,0.000,6,0.000,0.028,2568,1712,3708,0,0,0,0,0,0
$GC,3501,-1.36,-146.0,385.1,-8.9,220,3506,0.00,2.65,0.00,0.000,4,0.000,0.043,2568,3317,3706,0,0,0,0,0,0
$GC,3566,-1.45,-146.0,391.6,-10.4,221,3571,0.00,2.58,0.00,0.000,6,0.000,0.030,2568,1728,3706,0,0,0,0,0,0
$GC,3832,-1.45,-146.0,417.6,-9.8,228,3836,0.00,2.62,0.00,0.000,4,0.000,0.045,2568,3307,3704,0,0,0,0,0,0
$GC,3878,-1.55,-146.0,422.3,-9.2,229,3883,0.15,2.55,0.00,0.000,6,0.056,0.031,2497,1738,3703,0,0,0,0,0,0
$GC,4163,-1.41,-146.0,457.8,-12.7,236,4170,0.25,2.62,0.00,0.000,4,0.102,0.061,2554,196,3702,0,0,0,0,0,0
$GC,4184,-1.41,-146.0,460.7,-12.2,236,4188,0.00,2.42,0.00,0.000,6,0.000,0.030,2554,1701,3702,0,0,0,0,0,0
$GC,4447,-1.41,-146.0,484.8,-8.8,243,4452,0.00,2.67,0.00,0.000,4,0.000,0.051,2554,3305,3699,0,0,0,0,0,0
$GC,4509,-1.48,-146.0,490.1,-7.9,244,4514,0.00,2.55,0.00,0.000,6,0.000,0.034,2554,1747,3699,0,0,0,0,0,0
$GC,4778,-1.48,-146.0,510.2,-7.4,251,4782,0.00,2.62,0.00,0.000,4,0.000,0.054,2553,3310,3697,0,0,0,0,0,0
$GC,4797,-1.48,-146.0,511.9,-8.3,251,4801,0.00,2.53,0.00,0.000,6,0.000,0.034,2553,1756,3697,0,0,0,0,0,0
$GC,5062,-1.48,-146.0,532.8,-8.0,258,5066,0.00,2.62,0.00,0.000,4,0.000,0.054,2554,3307,3695,0,0,0,0,0,0
$GC,5080,-1.48,-146.0,534.7,-8.5,258,5085,0.00,2.55,0.00,0.000,6,0.000,0.036,2553,1756,3695,0,0,0,0,0,0
$GC,5344,-1.48,-146.0,556.3,-8.4,265,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1756,3694,0,0,0,0,0,0
$GC,5589,-1.48,-146.0,577.7,-8.8,271,5594,0.00,2.62,0.00,0.000,4,0.000,0.056,2554,3302,3692,0,0,0,0,0,0
$GC,5636,-1.58,-146.0,582.1,-8.8,272,5641,0.12,2.55,0.00,0.000,6,0.064,0.040,2483,1767,3691,0,0,0,0,0,0
$GC,5919,-1.44,-146.0,618.0,-13.0,279,5921,0.32,0.00,0.00,0.000,6,0.099,0.000,2553,1767,3689,0,0,0,0,0,0
$GC,6163,-1.44,-146.0,642.1,-9.8,285,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1767,3687,0,0,0,0,0,0
$GC,6407,-1.50,-146.0,664.4,-8.9,291,6411,0.00,2.62,0.00,0.000,4,0.000,0.063,2552,3300,3685,0,0,0,0,0,0
$GC,6450,-1.60,-146.0,668.2,-8.8,292,6456,0.15,2.55,0.00,0.000,6,0.057,0.044,2478,1771,3685,0,0,0,0,0,0
$GC,6740,-1.47,-146.0,700.4,-11.1,299,6742,0.32,0.00,0.00,0.000,6,0.100,0.000,2547,1771,3683,0,0,0,0,0,0
$GC,6982,-1.47,-146.0,719.4,-7.7,305,6986,0.00,2.65,0.00,0.000,4,0.000,0.062,2547,3302,3682,0,0,0,0,0,0
$GC,7011,-1.47,-146.0,721.8,-8.5,305,7015,0.00,2.58,0.00,0.000,6,0.000,0.044,2547,1769,3682,0,0,0,0,0,0
$GC,7266,-1.47,-146.0,743.0,-8.4,312,7270,0.00,2.62,0.00,0.000,4,0.000,0.061,2547,3300,3680,0,0,0,0,0,0
$GC,7286,-1.47,-146.0,744.9,-9.3,312,7290,0.00,2.55,0.00,0.000,6,0.000,0.044,2547,1778,3680,0,0,0,0,0,0
$GC,7552,-1.53,-146.0,768.6,-9.1,319,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1778,3679,0,0,0,0,0,0
$GC,7795,-1.59,-146.0,791.1,-9.1,325,7801,0.10,2.65,0.00,0.000,4,0.085,0.062,2507,3306,3676,0,0,0,0,0,0
$GC,7824,-1.59,-146.0,794.3,-10.3,325,7829,0.00,2.58,0.00,0.000,6,0.000,0.045,2507,1773,3676,0,0,0,0,0,0
$GC,8080,-1.59,-146.0,821.2,-10.6,332,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1773,3675,0,0,0,0,0,0
$GC,8322,-1.59,-146.0,846.5,-10.3,338,8326,0.00,2.62,0.00,0.000,4,0.000,0.061,2507,3299,3674,0,0,0,0,0,0
$GC,8340,-1.59,-146.0,848.6,-10.6,338,8345,0.00,2.55,0.00,0.000,6,0.000,0.044,2507,1779,3674,0,0,0,0,0,0
$GC,8604,-1.59,-146.0,875.2,-10.1,345,8608,0.00,2.62,0.00,0.000,4,0.000,0.062,2507,3302,3672,0,0,0,0,0,0
$GC,8628,-1.59,-146.0,877.8,-11.0,345,8632,0.00,2.55,0.00,0.000,6,0.000,0.044,2507,1784,3672,0,0,0,0,0,0
$STATE,8885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8885,begin apogee
$GC,8890,-0.31,0.0,903.6,9.9,352,9014,1.33,0.00,119.50,1.209,6,0.087,0.000,2799,1644,3105,0,0,0,0,0,0
$STATE,9014,end apogee,CONTROL_FINISHED_OK
$STATE,9015,begin climb
$GC,9017,1.27,146.0,908.2,0.0,355,9156,1.48,2.70,130.62,1.183,4,0.031,0.084,3153,178,2507,0,0,0,0,0,0
$GC,9316,0.77,146.0,884.0,14.9,362,9323,0.57,2.40,0.00,0.000,6,0.130,0.040,3041,1601,2499,0,0,0,0,0,0
$GC,9601,0.69,174.3,858.1,8.7,369,9633,0.00,2.60,24.90,1.113,4,0.000,0.073,3041,176,2394,0,0,0,0,0,0
$GC,9658,0.50,174.3,852.6,10.9,370,9663,0.30,2.50,0.00,0.000,6,0.110,0.041,2981,1652,2392,0,0,0,0,0,0
$GC,9932,0.63,224.8,831.1,7.7,377,9981,0.10,0.00,46.60,1.129,6,0.082,0.000,3019,1653,2188,0,0,0,0,0,0
$GC,10215,0.63,224.8,802.3,10.3,384,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1653,2181,0,0,0,0,0,0
$GC,10461,0.63,225.3,777.8,10.0,390,10465,0.00,2.60,0.00,0.000,4,0.000,0.072,3019,177,2179,0,0,0,0,0,0
$GC,10474,0.63,225.3,776.1,10.1,390,10479,0.00,2.47,0.00,0.000,6,0.000,0.041,3019,1653,2178,0,0,0,0,0,0
$GC,10742,0.64,238.5,750.9,9.4,397,10762,0.00,2.65,12.38,1.009,4,0.000,0.072,3019,178,2132,0,0,0,0,0,0
$GC,10782,0.64,238.5,746.9,10.8,397,10787,0.00,2.50,0.00,0.000,6,0.000,0.041,3019,1652,2132,0,0,0,0,0,0
$GC,11031,0.65,246.0,722.7,9.7,404,11043,0.00,0.00,8.02,0.923,6,0.000,0.000,3019,1653,2102,0,0,0,0,0,0
$GC,11321,0.65,248.4,694.3,9.9,411,11325,0.00,2.78,0.00,0.000,4,0.000,0.069,3020,3236,2098,0,0,0,0,0,0
$GC,11346,0.69,278.6,692.0,8.6,411,11382,0.00,2.67,31.08,1.051,6,0.000,0.044,3019,1661,1969,0,0,0,0,0,0
$GC,11650,0.69,278.6,660.4,10.4,419,11655,0.00,2.75,0.00,0.000,4,0.000,0.060,3020,3237,1962,0,0,0,0,0,0
$GC,11685,0.76,278.6,656.9,10.8,419,11689,0.00,2.67,0.00,0.000,6,0.000,0.045,3019,1659,1961,0,0,0,0,0,0
$GC,11934,0.76,278.6,630.5,10.5,425,11938,0.00,2.67,0.00,0.000,4,0.000,0.081,3019,165,1961,0,0,0,0,0,0
$GC,11952,0.76,278.6,628.1,11.5,425,11957,0.00,2.50,0.00,0.000,6,0.000,0.038,3019,1665,1960,0,0,0,0,0,0
$GC,12217,0.76,278.6,600.5,10.2,432,12218,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1666,1960,0,0,0,0,0,0
$GC,12460,0.76,281.0,576.5,9.9,438,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1666,1960,0,0,0,0,0,0
$GC,12703,0.76,281.0,552.0,10.0,444,12708,0.00,2.72,0.00,0.000,4,0.000,0.064,3019,3236,1959,0,0,0,0,0,0
$GC,12736,0.88,302.8,548.7,9.0,444,12765,0.17,2.65,22.48,0.946,6,0.052,0.041,3078,1650,1869,0,0,0,0,0,0
$GC,13034,0.79,302.8,511.8,12.2,452,13039,0.17,2.58,0.00,0.000,4,0.118,0.071,3044,172,1863,0,0,0,0,0,0
$GC,13054,0.73,302.8,509.2,12.9,452,13058,0.00,2.45,0.00,0.000,6,0.000,0.030,3044,1670,1863,0,0,0,0,0,0
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$STATE,17562,end climb,SURFACE_DEPTH_REACHED
$STATE,17562,begin surface coast
$FINISH,0.7,1.018788
$STATE,17602,end surface coast,CONTROL_FINISHED_OK
$STATE,17602,begin surface
$SM_CCo,17624,51.17,0.417,1,0,1269,450.13
$SM_GC,1.52,0.00,0.00,51.17,0.000,0.000,0.417,413,1821,1269,-11.30,1.44,450.13
$IRIDIUM_FIX,2246.36,-15748.90,110200,050531
$TT8_MAMPS,0.026845
$HUMID,38.97
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.3,9.715
$10V_AH,10.4,8.165
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.200,221.250,445.250,51.175,0.000,47.674,64.523,280.676,0.250,0.000,13.600,1528.477,12801.060,611.666,2563.538,771.079,33.377,1728.479,0.000,2546.272,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.288,344.303,440.305,643.901,1137.398,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,54116,700
$CAP_FILE_SIZE,181536,0
$CFSIZE,260165632,169324544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171110,105330,2255.690,-15749.033,34,1.0,39,10.1