version: 66.06
glider: 148
mission: 9
dive: 565
start: 1 22 111 9 8 4
data:
$ID,148
$MISSION,9
$DIVE,565
$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,-870468.31
$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,30
$R_STBD_OVSHOOT,78
$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
$GPS1,084731,2246.980,-15757.808,62,1.0,62,10.1
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-65.5
$GPS2,090708,2246.877,-15757.706,11,1.5,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,0.134
$KALMAN_X,-116236.1,540.0,-22.9,136634.9,-153.4
$KALMAN_Y,-197182.2,-10.1,297.0,320952.6,-2310.4
$MHEAD_RNG_PITCHd_Wd,291.0,9043,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-75.40,0.000,2,0.000,0.000,406,1834,3407,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.0,-6.4,10,122,11.48,2.67,-5.65,0.000,4,0.152,0.046,2575,205,3718,0,0,0,0,0,0
$GC,241,-1.27,-146.0,33.6,-14.5,30,245,0.00,2.45,0.00,0.000,6,0.000,0.020,2575,1757,3720,0,0,0,0,0,0
$GC,507,-1.10,-146.0,76.3,-16.3,54,512,0.20,2.58,0.00,0.000,4,0.099,0.035,2618,3368,3720,0,0,0,0,0,0
$GC,553,-1.10,-146.0,82.6,-12.8,57,558,0.00,2.53,0.00,0.000,6,0.000,0.022,2619,1785,3720,0,0,0,0,0,0
$GC,819,-1.10,-146.0,112.5,-9.3,81,824,0.00,2.55,0.00,0.000,4,0.000,0.028,2618,3370,3720,0,0,0,0,0,0
$GC,838,-1.10,-146.0,114.5,-8.0,82,847,0.00,2.55,0.00,0.000,6,0.000,0.022,2618,1788,3720,0,0,0,0,0,0
$GC,1108,-1.19,-146.0,134.9,-7.7,107,1112,0.00,2.55,0.00,0.000,4,0.000,0.030,2619,3368,3721,0,0,0,0,0,0
$GC,1147,-1.36,-146.0,138.9,-7.9,110,1156,0.20,2.53,0.00,0.000,6,0.019,0.022,2508,1801,3721,0,0,0,0,0,0
$GC,1411,-1.15,-146.0,176.2,-14.9,135,1423,0.43,2.53,0.00,0.000,4,0.085,0.028,2606,3368,3721,0,0,0,0,0,0
$GC,1437,-1.15,-146.0,180.1,-11.0,137,1443,0.00,2.47,0.00,0.000,6,0.000,0.022,2606,1801,3722,0,0,0,0,0,0
$GC,1721,-1.24,-146.0,203.7,-8.1,161,1726,0.00,2.50,0.00,0.000,4,0.000,0.030,2606,3368,3722,0,0,0,0,0,0
$GC,1768,-1.42,-146.0,207.5,-7.0,162,1773,0.22,2.47,0.00,0.000,6,0.035,0.023,2493,1818,3722,0,0,0,0,0,0
$GC,2053,-1.18,-146.0,247.2,-14.8,169,2056,0.52,0.00,0.00,0.000,6,0.081,0.000,2602,1818,3722,0,0,0,0,0,0
$GC,2296,-1.30,-146.0,267.7,-8.0,175,2301,0.10,2.53,0.00,0.000,4,0.077,0.032,2548,3367,3722,0,0,0,0,0,0
$GC,2347,-1.30,-146.0,273.3,-10.8,176,2352,0.12,2.45,0.00,0.000,6,0.099,0.024,2576,1824,3722,0,0,0,0,0,0
$GC,2627,-1.30,-146.0,299.1,-9.3,183,2631,0.00,2.53,0.00,0.000,4,0.000,0.035,2576,3368,3721,0,0,0,0,0,0
$GC,2650,-1.30,-146.0,301.7,-10.6,183,2655,0.00,2.47,0.00,0.000,6,0.000,0.025,2576,1831,3721,0,0,0,0,0,0
$GC,2912,-1.36,-146.0,325.5,-9.3,190,2916,0.00,2.53,0.00,0.000,4,0.000,0.037,2576,3370,3720,0,0,0,0,0,0
$GC,2960,-1.48,-146.0,330.0,-9.1,191,2966,0.17,2.47,0.00,0.000,6,0.047,0.027,2485,1839,3719,0,0,0,0,0,0
$GC,3244,-1.26,-146.0,370.1,-14.5,198,3246,0.50,0.00,0.00,0.000,6,0.083,0.000,2585,1839,3717,0,0,0,0,0,0
$GC,3489,-1.35,-146.0,388.8,-7.1,204,3494,0.00,2.50,0.00,0.000,4,0.000,0.041,2585,3363,3716,0,0,0,0,0,0
$GC,3536,-1.52,-146.0,392.1,-5.8,205,3541,0.22,2.47,0.00,0.000,6,0.041,0.029,2486,1841,3716,0,0,0,0,0,0
$GC,3821,-1.32,-146.0,427.6,-13.3,212,3829,0.38,2.55,0.00,0.000,4,0.087,0.045,2569,3360,3714,0,0,0,0,0,0
$GC,3848,-1.32,-146.0,431.2,-11.0,212,3852,0.00,2.47,0.00,0.000,6,0.000,0.029,2569,1838,3714,0,0,0,0,0,0
$GC,4107,-1.32,-146.0,455.6,-9.7,219,4111,0.00,2.55,0.00,0.000,4,0.000,0.048,2569,3359,3711,0,0,0,0,0,0
$GC,4134,-1.38,-146.0,458.1,-10.9,219,4138,0.00,2.47,0.00,0.000,6,0.000,0.030,2569,1840,3712,0,0,0,0,0,0
$GC,4393,-1.45,-146.0,483.4,-9.6,226,4398,0.10,2.58,0.00,0.000,4,0.080,0.050,2525,3358,3710,0,0,0,0,0,0
$GC,4417,-1.45,-146.0,486.2,-11.9,226,4422,0.00,2.45,0.00,0.000,6,0.000,0.030,2525,1844,3710,0,0,0,0,0,0
$GC,4678,-1.45,-146.0,515.5,-11.4,233,4682,0.00,2.55,0.00,0.000,4,0.000,0.049,2525,3357,3708,0,0,0,0,0,0
$GC,4702,-1.39,-146.0,518.3,-11.4,233,4707,0.15,2.45,0.00,0.000,6,0.097,0.031,2558,1859,3708,0,0,0,0,0,0
$GC,4961,-1.39,-146.0,539.7,-7.8,240,4966,0.00,2.85,0.00,0.000,4,0.000,0.065,2559,205,3706,0,0,0,0,0,0
$GC,4978,-1.39,-146.0,540.8,-7.5,240,4982,0.00,2.70,0.00,0.000,6,0.000,0.034,2558,1849,3705,0,0,0,0,0,0
$GC,5246,-1.39,-146.0,560.9,-7.6,247,5251,0.00,2.53,0.00,0.000,4,0.000,0.055,2559,3357,3704,0,0,0,0,0,0
$GC,5284,-1.49,-146.0,563.8,-7.6,247,5290,0.00,2.45,0.00,0.000,6,0.000,0.034,2559,1866,3703,0,0,0,0,0,0
$GC,5536,-1.49,-146.0,583.8,-8.3,254,5538,0.10,0.00,0.00,0.000,6,0.081,0.000,2512,1865,3702,0,0,0,0,0,0
$GC,5778,-1.42,-146.0,608.7,-10.3,260,5783,0.17,2.55,0.00,0.000,4,0.097,0.054,2549,3356,3700,0,0,0,0,0,0
$GC,5807,-1.42,-146.0,611.7,-9.8,260,5811,0.00,2.45,0.00,0.000,6,0.000,0.035,2549,1872,3701,0,0,0,0,0,0
$GC,6063,-1.42,-146.0,632.7,-8.3,267,6067,0.00,2.53,0.00,0.000,4,0.000,0.050,2550,3363,3698,0,0,0,0,0,0
$GC,6091,-1.42,-146.0,635.4,-9.0,267,6095,0.00,2.45,0.00,0.000,6,0.000,0.035,2549,1881,3698,0,0,0,0,0,0
$GC,6346,-1.42,-146.0,658.6,-9.4,274,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1881,3697,0,0,0,0,0,0
$GC,6591,-1.42,-146.0,681.6,-9.4,280,6595,0.00,2.53,0.00,0.000,4,0.000,0.053,2550,3363,3696,0,0,0,0,0,0
$GC,6614,-1.42,-146.0,684.2,-9.6,280,6619,0.00,2.45,0.00,0.000,6,0.000,0.037,2549,1884,3696,0,0,0,0,0,0
$GC,6873,-1.42,-146.0,707.9,-9.1,287,6878,0.00,2.50,0.00,0.000,4,0.000,0.051,2550,3356,3694,0,0,0,0,0,0
$GC,6910,-1.50,-146.0,711.1,-8.6,287,6914,0.00,2.42,0.00,0.000,6,0.000,0.038,2550,1895,3693,0,0,0,0,0,0
$GC,7160,-1.50,-146.0,732.9,-8.7,293,7164,0.00,2.50,0.00,0.000,4,0.000,0.054,2550,3360,3692,0,0,0,0,0,0
$GC,7179,-1.50,-146.0,734.7,-9.5,293,7183,0.00,2.42,0.00,0.000,6,0.000,0.036,2550,1897,3692,0,0,0,0,0,0
$GC,7444,-1.50,-146.0,756.6,-8.3,300,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1897,3690,0,0,0,0,0,0
$GC,7686,-1.50,-146.0,777.5,-8.6,306,7690,0.00,2.47,0.00,0.000,4,0.000,0.054,2550,3359,3689,0,0,0,0,0,0
$GC,7705,-1.50,-146.0,779.3,-9.0,306,7709,0.00,2.42,0.00,0.000,6,0.000,0.037,2549,1899,3689,0,0,0,0,0,0
$GC,7971,-1.57,-146.0,800.3,-7.9,313,7976,0.12,2.47,0.00,0.000,4,0.068,0.054,2492,3355,3687,0,0,0,0,0,0
$GC,7991,-1.57,-146.0,802.4,-9.3,313,7996,0.12,2.40,0.00,0.000,6,0.109,0.037,2519,1908,3687,0,0,0,0,0,0
$GC,8255,-1.57,-146.0,826.4,-9.1,320,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1908,3686,0,0,0,0,0,0
$GC,8500,-1.57,-146.0,848.9,-9.3,326,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1908,3684,0,0,0,0,0,0
$GC,8743,-1.57,-146.0,871.8,-9.5,332,8747,0.00,2.47,0.00,0.000,4,0.000,0.053,2519,3359,3683,0,0,0,0,0,0
$GC,8766,-1.57,-146.0,874.2,-9.6,332,8770,0.00,2.42,0.00,0.000,6,0.000,0.038,2519,1903,3683,0,0,0,0,0,0
$GC,9027,-1.57,-146.0,898.1,-9.3,339,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1902,3683,0,0,0,0,0,0
$STATE,9063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9063,begin apogee
$GC,9069,-0.31,0.0,901.9,9.3,340,9195,1.23,0.00,122.18,1.182,6,0.077,0.000,2793,1677,3120,0,0,0,0,0,0
$STATE,9196,end apogee,CONTROL_FINISHED_OK
$STATE,9196,begin climb
$GC,9198,1.27,146.0,906.4,0.0,343,9343,1.42,2.80,132.65,1.159,4,0.027,0.050,3142,3240,2523,0,0,0,0,0,0
$GC,9409,0.97,146.0,899.9,12.0,347,9415,0.35,2.65,0.00,0.000,6,0.106,0.041,3070,1689,2518,0,0,0,0,0,0
$GC,9661,0.85,181.0,878.5,8.4,354,9703,0.12,2.83,32.15,1.106,4,0.119,0.087,3045,167,2380,0,0,0,0,0,0
$GC,9768,0.69,181.0,868.6,10.4,356,9774,0.17,2.50,0.00,0.000,6,0.110,0.036,3010,1657,2378,0,0,0,0,0,0
$GC,10040,0.77,246.2,849.6,7.0,363,10108,0.00,2.75,61.47,1.118,4,0.000,0.069,3010,164,2115,0,0,0,0,0,0
$GC,10129,0.79,264.8,842.4,9.1,365,10153,0.00,2.55,18.62,1.045,6,0.000,0.038,3010,1672,2040,0,0,0,0,0,0
$GC,10415,0.81,277.4,816.0,9.4,372,10435,0.10,2.88,12.55,0.993,4,0.079,0.067,3053,3270,1988,0,0,0,0,0,0
$GC,10445,0.81,277.4,812.5,10.7,372,10449,0.00,2.75,0.00,0.000,6,0.000,0.038,3053,1662,1985,0,0,0,0,0,0
$GC,10701,0.81,277.4,782.1,12.0,379,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1662,1983,0,0,0,0,0,0
$GC,10943,0.81,277.4,752.4,12.1,385,10947,0.00,2.70,0.00,0.000,4,0.000,0.084,3053,161,1982,0,0,0,0,0,0
$GC,10973,0.73,277.4,748.6,13.2,385,10978,0.15,2.53,0.00,0.000,6,0.106,0.038,3021,1669,1981,0,0,0,0,0,0
$GC,11228,0.73,277.4,721.1,10.5,392,11232,0.00,2.80,0.00,0.000,4,0.000,0.066,3022,3270,1980,0,0,0,0,0,0
$GC,11248,0.73,277.4,719.1,10.3,392,11253,0.00,2.72,0.00,0.000,6,0.000,0.039,3021,1660,1979,0,0,0,0,0,0
$GC,11512,0.75,289.2,693.2,9.5,399,11529,0.00,2.85,11.52,0.937,4,0.000,0.057,3021,3264,1941,0,0,0,0,0,0
$GC,11560,0.85,289.2,688.9,10.0,400,11565,0.10,2.72,0.00,0.000,6,0.081,0.042,3068,1672,1939,0,0,0,0,0,0
$GC,11843,0.85,289.2,658.3,10.8,407,11848,0.10,2.72,0.00,0.000,4,0.121,0.081,3046,160,1937,0,0,0,0,0,0
$GC,11876,0.85,289.2,654.5,11.0,407,11881,0.00,2.50,0.00,0.000,6,0.000,0.035,3046,1676,1937,0,0,0,0,0,0
$GC,12128,0.85,290.9,629.6,9.9,413,12132,0.00,2.62,0.00,0.000,4,0.000,0.065,3046,167,1937,0,0,0,0,0,0
$GC,12142,0.85,290.9,627.7,10.3,413,12146,0.00,2.50,0.00,0.000,6,0.000,0.034,3046,1677,1936,0,0,0,0,0,0
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$STATE,17881,end climb,SURFACE_DEPTH_REACHED
$STATE,17881,begin surface coast
$FINISH,1.0,1.011362
$STATE,17933,end surface coast,CONTROL_FINISHED_OK
$STATE,17933,begin surface
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$HUMID,51.37
$INTERNAL_PRESSURE,9.72104
$TCM_TEMP,21.10
$XPDR_PINGS,2
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$10V_AH,9.9,65.279
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355572
$DATA_FILE_SIZE,54110,697
$CAP_FILE_SIZE,191886,0
$CFSIZE,260165632,139472896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220111,140858,2247.432,-15759.965,30,99.0,49,10.1