version: 66.06
glider: 148
mission: 9
dive: 571
start: 1 23 111 15 22 43
data:
$ID,148
$MISSION,9
$DIVE,571
$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,-870611.75
$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,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,32
$R_STBD_OVSHOOT,57
$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
$GPS1,151044,2247.456,-15757.904,70,1.6,89,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.4
$GPS2,152149,2247.453,-15757.979,12,1.0,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.016
$KALMAN_X,-114417.6,-116.6,-155.9,135139.6,193.6
$KALMAN_Y,-203586.9,-202.9,-1.9,328908.4,-713.2
$MHEAD_RNG_PITCHd_Wd,263.4,8616,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-66.60,0.000,2,0.000,0.000,409,1829,3190,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-4.5,9,123,11.45,2.50,-10.65,0.000,4,0.151,0.043,2576,3352,3718,0,0,0,0,0,0
$GC,241,-1.27,-146.0,30.3,-13.2,31,245,0.00,2.50,0.00,0.000,6,0.000,0.025,2576,1790,3720,0,0,0,0,0,0
$GC,508,-1.14,-146.0,67.8,-13.9,55,517,0.15,0.00,0.00,0.000,6,0.111,0.000,2608,1789,3720,0,0,0,0,0,0
$GC,769,-1.14,-146.0,102.1,-12.8,80,773,0.00,2.53,0.00,0.000,4,0.000,0.029,2608,3357,3721,0,0,0,0,0,0
$GC,819,-1.23,-146.0,108.0,-10.4,84,828,0.00,2.50,0.00,0.000,6,0.000,0.023,2608,1802,3721,0,0,0,0,0,0
$GC,1088,-1.30,-146.0,133.5,-9.2,109,1093,0.12,2.50,0.00,0.000,4,0.064,0.028,2548,3362,3722,0,0,0,0,0,0
$GC,1116,-1.23,-146.0,137.0,-12.2,111,1121,0.20,2.45,0.00,0.000,6,0.091,0.021,2592,1807,3722,0,0,0,0,0,0
$GC,1377,-1.23,-146.0,164.8,-9.5,135,1381,0.00,2.47,0.00,0.000,4,0.000,0.028,2592,3365,3723,0,0,0,0,0,0
$GC,1403,-1.23,-146.0,167.3,-9.8,137,1407,0.00,2.42,0.00,0.000,6,0.000,0.022,2592,1821,3723,0,0,0,0,0,0
$GC,1667,-1.23,-146.0,190.0,-8.3,161,1671,0.00,2.47,0.00,0.000,4,0.000,0.029,2592,3362,3723,0,0,0,0,0,0
$GC,1715,-1.37,-146.0,194.5,-7.7,165,1725,0.10,2.47,0.00,0.000,6,0.030,0.024,2480,1827,3723,0,0,0,0,0,0
$GC,1968,-1.10,-146.0,233.1,-16.4,175,1971,0.62,0.00,0.00,0.000,6,0.082,0.000,2617,1827,3724,0,0,0,0,0,0
$GC,2211,-1.26,-146.0,254.7,-8.4,181,2216,0.12,2.47,0.00,0.000,4,0.063,0.031,2548,3354,3723,0,0,0,0,0,0
$GC,2254,-1.26,-146.0,259.4,-11.1,182,2259,0.17,2.42,0.00,0.000,6,0.087,0.024,2588,1834,3724,0,0,0,0,0,0
$GC,2545,-1.32,-146.0,286.7,-9.4,189,2550,0.00,2.45,0.00,0.000,4,0.000,0.032,2588,3357,3723,0,0,0,0,0,0
$GC,2589,-1.47,-146.0,290.7,-8.7,190,2594,0.20,2.40,0.00,0.000,6,0.043,0.025,2484,1852,3723,0,0,0,0,0,0
$GC,2878,-1.19,-146.0,337.3,-16.6,197,2886,0.60,2.70,0.00,0.000,4,0.084,0.045,2596,207,3723,0,0,0,0,0,0
$GC,2937,-1.39,-146.0,344.4,-9.4,198,2943,0.17,2.58,0.00,0.000,6,0.049,0.023,2520,1837,3723,0,0,0,0,0,0
$GC,3213,-1.29,-146.0,378.3,-12.5,205,3219,0.25,2.50,0.00,0.000,4,0.090,0.038,2579,3365,3722,0,0,0,0,0,0
$GC,3252,-1.42,-146.0,382.3,-8.2,205,3258,0.12,2.42,0.00,0.000,6,0.061,0.028,2480,1861,3722,0,0,0,0,0,0
$GC,3502,-1.22,-146.0,415.3,-13.7,212,3504,0.50,0.00,0.00,0.000,6,0.083,0.000,2590,1860,3721,0,0,0,0,0,0
$GC,3748,-1.35,-146.0,437.6,-8.9,218,3753,0.12,2.53,0.00,0.000,4,0.064,0.046,2535,3362,3719,0,0,0,0,0,0
$GC,3772,-1.35,-146.0,440.6,-11.4,218,3776,0.12,2.42,0.00,0.000,6,0.101,0.028,2564,1863,3719,0,0,0,0,0,0
$GC,4031,-1.35,-146.0,466.9,-10.0,225,4035,0.00,2.50,0.00,0.000,4,0.000,0.048,2564,3359,3718,0,0,0,0,0,0
$GC,4066,-1.43,-146.0,470.4,-10.7,225,4070,0.00,2.40,0.00,0.000,6,0.000,0.031,2564,1873,3718,0,0,0,0,0,0
$GC,4315,-1.43,-146.0,493.8,-9.2,231,4320,0.00,2.47,0.00,0.000,4,0.000,0.048,2564,3357,3715,0,0,0,0,0,0
$GC,4344,-1.50,-146.0,496.5,-9.1,231,4349,0.15,2.42,0.00,0.000,6,0.056,0.031,2490,1872,3716,0,0,0,0,0,0
$GC,4601,-1.34,-146.0,528.0,-12.7,238,4603,0.35,0.00,0.00,0.000,6,0.087,0.000,2566,1872,3713,0,0,0,0,0,0
$GC,4843,-1.42,-146.0,550.0,-8.8,244,4847,0.00,2.50,0.00,0.000,4,0.000,0.048,2565,3362,3712,0,0,0,0,0,0
$GC,4894,-1.53,-146.0,554.2,-8.5,245,4899,0.17,2.42,0.00,0.000,6,0.050,0.035,2484,1886,3712,0,0,0,0,0,0
$GC,5177,-1.36,-146.0,591.0,-13.2,252,5179,0.38,0.00,0.00,0.000,6,0.087,0.000,2562,1886,3710,0,0,0,0,0,0
$GC,5421,-1.43,-146.0,611.9,-8.2,258,5425,0.00,2.47,0.00,0.000,4,0.000,0.051,2562,3362,3708,0,0,0,0,0,0
$GC,5442,-1.50,-146.0,613.5,-8.2,258,5447,0.12,2.45,0.00,0.000,6,0.064,0.036,2491,1880,3708,0,0,0,0,0,0
$GC,5706,-1.36,-146.0,645.2,-12.4,265,5714,0.30,2.92,0.00,0.000,4,0.088,0.074,2559,220,3706,0,0,0,0,0,0
$GC,5728,-1.36,-146.0,647.6,-10.6,265,5732,0.00,2.72,0.00,0.000,6,0.000,0.038,2559,1868,3706,0,0,0,0,0,0
$GC,5994,-1.43,-146.0,670.2,-8.4,272,5998,0.00,2.55,0.00,0.000,4,0.000,0.063,2559,3355,3704,0,0,0,0,0,0
$GC,6041,-1.56,-146.0,674.1,-7.1,273,6046,0.17,2.42,0.00,0.000,6,0.051,0.038,2478,1895,3704,0,0,0,0,0,0
$GC,6324,-1.40,-146.0,707.3,-12.2,280,6332,0.32,2.95,0.00,0.000,4,0.092,0.072,2551,214,3702,0,0,0,0,0,0
$GC,6365,-1.50,-146.0,711.5,-8.5,280,6371,0.00,2.72,0.00,0.000,6,0.000,0.040,2551,1860,3702,0,0,0,0,0,0
$GC,6615,-1.50,-146.0,730.7,-7.6,287,6619,0.00,2.55,0.00,0.000,4,0.000,0.061,2551,3356,3700,0,0,0,0,0,0
$GC,6661,-1.60,-146.0,734.0,-7.0,288,6665,0.17,2.42,0.00,0.000,6,0.051,0.039,2469,1899,3700,0,0,0,0,0,0
$GC,6948,-1.41,-146.0,767.6,-11.9,295,6956,0.38,2.95,0.00,0.000,4,0.094,0.072,2550,217,3698,0,0,0,0,0,0
$GC,6967,-1.33,-146.0,769.6,-11.3,295,6972,0.00,2.75,0.00,0.000,6,0.000,0.039,2549,1872,3698,0,0,0,0,0,0
$GC,7238,-1.40,-146.0,791.4,-8.0,302,7243,0.00,2.53,0.00,0.000,4,0.000,0.063,2549,3354,3697,0,0,0,0,0,0
$GC,7271,-1.48,-146.0,794.3,-8.6,302,7276,0.00,2.42,0.00,0.000,6,0.000,0.039,2549,1898,3697,0,0,0,0,0,0
$GC,7524,-1.54,-146.0,814.8,-8.2,308,7526,0.12,0.00,0.00,0.000,6,0.070,0.000,2500,1898,3696,0,0,0,0,0,0
$GC,7765,-1.46,-146.0,840.4,-10.6,314,7770,0.20,2.47,0.00,0.000,4,0.095,0.051,2542,3355,3694,0,0,0,0,0,0
$GC,7813,-1.55,-146.0,844.8,-8.7,315,7817,0.00,2.40,0.00,0.000,6,0.000,0.039,2542,1903,3694,0,0,0,0,0,0
$GC,8095,-1.55,-146.0,865.9,-7.3,322,8101,0.00,2.97,0.00,0.000,4,0.000,0.077,2542,215,3693,0,0,0,0,0,0
$GC,8112,-1.55,-146.0,867.2,-7.4,322,8116,0.00,2.75,0.00,0.000,6,0.000,0.040,2542,1879,3693,0,0,0,0,0,0
$GC,8382,-1.55,-146.0,885.3,-6.6,329,8386,0.00,2.55,0.00,0.000,4,0.000,0.067,2542,3356,3692,0,0,0,0,0,0
$GC,8412,-1.62,-146.0,887.5,-7.4,329,8417,0.15,2.38,0.00,0.000,6,0.055,0.038,2464,1910,3691,0,0,0,0,0,0
$STATE,8543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8543,begin apogee
$GC,8549,-0.31,0.0,900.9,10.3,333,8677,1.50,0.00,123.93,1.180,6,0.090,0.000,2789,1683,3120,0,0,0,0,0,0
$STATE,8678,end apogee,CONTROL_FINISHED_OK
$STATE,8678,begin climb
$GC,8682,1.27,146.0,904.1,0.0,336,8824,1.42,2.75,133.40,1.157,4,0.027,0.045,3152,3255,2523,0,0,0,0,0,0
$GC,8877,0.94,146.0,897.0,12.5,340,8884,0.43,2.67,0.00,0.000,6,0.113,0.039,3067,1686,2517,0,0,0,0,0,0
$GC,9140,0.80,162.3,872.1,9.2,347,9160,0.15,2.83,14.57,1.034,4,0.117,0.086,3037,167,2458,0,0,0,0,0,0
$GC,9182,0.67,177.9,868.3,9.3,347,9206,0.15,2.50,16.55,1.041,6,0.114,0.035,3007,1661,2394,0,0,0,0,0,0
$GC,9477,0.72,223.1,844.9,7.9,355,9525,0.00,2.75,42.58,1.100,4,0.000,0.071,3006,172,2210,0,0,0,0,0,0
$GC,9577,0.72,223.1,835.3,10.4,357,9581,0.00,2.53,0.00,0.000,6,0.000,0.037,3007,1678,2206,0,0,0,0,0,0
$GC,9852,0.75,245.7,810.4,9.0,364,9876,0.00,0.00,22.25,1.050,6,0.000,0.000,3007,1679,2118,0,0,0,0,0,0
$GC,10096,0.77,259.7,787.8,9.4,370,10116,0.00,2.85,13.77,0.993,4,0.000,0.061,3007,3261,2061,0,0,0,0,0,0
$GC,10126,0.88,295.2,784.8,8.4,370,10170,0.17,2.72,35.92,1.058,6,0.053,0.040,3074,1672,1916,0,0,0,0,0,0
$GC,10427,0.79,295.2,745.4,13.3,378,10429,0.20,0.00,0.00,0.000,6,0.102,0.000,3032,1672,1908,0,0,0,0,0,0
$GC,10669,0.79,295.2,717.6,11.3,384,10673,0.00,2.78,0.00,0.000,4,0.000,0.053,3033,3270,1906,0,0,0,0,0,0
$GC,10687,0.79,295.2,715.4,10.6,384,10692,0.00,2.72,0.00,0.000,6,0.000,0.044,3032,1678,1904,0,0,0,0,0,0
$GC,10953,0.79,295.2,685.5,11.3,391,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1679,1904,0,0,0,0,0,0
$GC,11195,0.79,295.2,658.3,11.1,397,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1679,1903,0,0,0,0,0,0
$GC,11438,0.79,295.2,630.9,11.4,403,11443,0.00,2.72,0.00,0.000,4,0.000,0.084,3032,166,1902,0,0,0,0,0,0
$GC,11457,0.79,295.2,628.6,11.8,403,11461,0.00,2.50,0.00,0.000,6,0.000,0.035,3032,1677,1902,0,0,0,0,0,0
$GC,11722,0.79,295.2,598.3,11.4,410,11727,0.00,2.75,0.00,0.000,4,0.000,0.062,3032,3263,1902,0,0,0,0,0,0
$GC,11736,0.79,295.2,596.4,11.1,410,11741,0.00,2.65,0.00,0.000,6,0.000,0.038,3032,1674,1901,0,0,0,0,0,0
$GC,12005,0.79,295.2,567.0,10.8,417,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1674,1901,0,0,0,0,0,0
$GC,12248,0.79,295.2,541.7,10.4,423,12253,0.00,2.75,0.00,0.000,4,0.000,0.052,3032,3272,1900,0,0,0,0,0,0
$GC,12274,0.87,295.2,539.2,10.6,423,12279,0.00,2.70,0.00,0.000,6,0.000,0.040,3032,1674,1899,0,0,0,0,0,0
$GC,12533,0.87,295.2,511.4,10.7,430,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1674,1899,0,0,0,0,0,0
$GC,12777,0.93,297.9,486.7,9.9,436,12779,0.12,0.00,0.00,0.000,6,0.066,0.000,3086,1674,1899,0,0,0,0,0,0
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$STATE,17172,end climb,SURFACE_DEPTH_REACHED
$STATE,17173,begin surface coast
$FINISH,2.4,1.023968
$STATE,17180,end surface coast,CONTROL_FINISHED_OK
$STATE,17180,begin surface
$SM_CCo,17203,18.67,0.259,1,0,1570,380.21
$SM_GC,2.16,0.00,0.00,18.67,0.000,0.000,0.259,413,1795,1570,-11.25,0.14,380.21
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$TT8_MAMPS,0.027612
$HUMID,50.94
$INTERNAL_PRESSURE,9.72104
$TCM_TEMP,21.20
$XPDR_PINGS,1
$24V_AH,22.9,74.589
$10V_AH,9.8,66.044
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.525,216.375,461.075,18.675,0.000,24.465,36.332,443.670,0.250,0.000,13.927,1492.354,12497.475,572.800,2371.234,951.338,33.380,1646.731,0.000,2372.624,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,463.493,341.088,429.534,588.437,1040.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,50891,677
$CAP_FILE_SIZE,181038,0
$CFSIZE,260165632,139038720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230111,201107,2247.098,-15800.483,35,1.0,35,10.1