version: 66.06
glider: 148
mission: 9
dive: 572
start: 1 23 111 20 23 49
data:
$ID,148
$MISSION,9
$DIVE,572
$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,-870629.12
$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,28
$R_STBD_OVSHOOT,43
$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
$GPS1,201107,2247.098,-15800.483,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.8
$GPS2,202255,2247.193,-15800.421,10,1.6,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.018
$KALMAN_X,-114055.0,-308.5,132.1,130472.9,345.5
$KALMAN_Y,-204745.4,371.7,-175.7,329190.3,-666.3
$MHEAD_RNG_PITCHd_Wd,263.8,4418,-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,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-67.45,0.000,2,0.000,0.000,413,1796,3223,0,0,0,0,0,0
$GC,93,-1.27,-146.0,3.1,-3.5,9,125,11.45,2.55,-9.55,0.000,4,0.152,0.038,2575,3366,3720,0,0,0,0,0,0
$GC,260,-1.19,-146.0,34.8,-14.4,32,266,0.10,2.55,0.00,0.000,6,0.117,0.025,2598,1778,3722,0,0,0,0,0,0
$GC,530,-1.12,-146.0,69.6,-13.2,56,534,0.00,2.58,0.00,0.000,4,0.000,0.030,2598,3373,3722,0,0,0,0,0,0
$GC,584,-1.12,-146.0,77.2,-12.4,60,589,0.00,2.50,0.00,0.000,6,0.000,0.022,2598,1805,3722,0,0,0,0,0,0
$GC,847,-1.12,-146.0,108.0,-10.2,84,851,0.00,2.53,0.00,0.000,4,0.000,0.030,2598,3370,3723,0,0,0,0,0,0
$GC,876,-1.12,-146.0,111.4,-10.0,86,885,0.00,2.50,0.00,0.000,6,0.000,0.022,2598,1810,3723,0,0,0,0,0,0
$GC,1142,-1.12,-146.0,137.8,-10.0,111,1147,0.00,2.50,0.00,0.000,4,0.000,0.029,2598,3367,3724,0,0,0,0,0,0
$GC,1196,-1.26,-146.0,142.2,-8.2,115,1200,0.00,2.47,0.00,0.000,6,0.000,0.024,2598,1813,3724,0,0,0,0,0,0
$GC,1462,-1.26,-146.0,166.9,-9.5,139,1466,0.00,2.50,0.00,0.000,4,0.000,0.030,2598,3367,3724,0,0,0,0,0,0
$GC,1509,-1.35,-146.0,171.6,-9.2,143,1514,0.15,2.45,0.00,0.000,6,0.051,0.023,2504,1826,3724,0,0,0,0,0,0
$GC,1778,-1.08,-146.0,213.7,-15.8,162,1781,0.62,0.00,0.00,0.000,6,0.087,0.000,2623,1826,3724,0,0,0,0,0,0
$GC,2023,-1.23,-146.0,233.4,-7.5,168,2028,0.12,2.50,0.00,0.000,4,0.064,0.031,2554,3376,3725,0,0,0,0,0,0
$GC,2060,-1.23,-146.0,237.6,-10.8,168,2066,0.17,2.45,0.00,0.000,6,0.088,0.024,2593,1828,3725,0,0,0,0,0,0
$GC,2311,-1.30,-146.0,259.7,-8.5,175,2315,0.00,2.47,0.00,0.000,4,0.000,0.031,2593,3370,3725,0,0,0,0,0,0
$GC,2336,-1.38,-146.0,261.9,-8.3,175,2341,0.15,2.42,0.00,0.000,6,0.053,0.023,2508,1839,3725,0,0,0,0,0,0
$GC,2596,-1.18,-146.0,296.3,-13.5,182,2604,0.45,2.67,0.00,0.000,4,0.084,0.043,2599,214,3725,0,0,0,0,0,0
$GC,2648,-1.36,-146.0,301.2,-8.2,183,2653,0.15,2.55,0.00,0.000,6,0.054,0.021,2526,1841,3725,0,0,0,0,0,0
$GC,2931,-1.26,-146.0,334.4,-12.0,190,2936,0.28,2.45,0.00,0.000,4,0.087,0.035,2587,3363,3725,0,0,0,0,0,0
$GC,2946,-1.26,-146.0,336.2,-11.9,190,2950,0.00,2.42,0.00,0.000,6,0.000,0.024,2587,1836,3725,0,0,0,0,0,0
$GC,3217,-1.36,-146.0,359.2,-8.6,197,3219,0.10,0.00,0.00,0.000,6,0.077,0.000,2534,1836,3723,0,0,0,0,0,0
$GC,3458,-1.30,-146.0,387.7,-12.0,203,3465,0.20,2.75,0.00,0.000,4,0.092,0.053,2578,207,3722,0,0,0,0,0,0
$GC,3479,-1.30,-146.0,390.3,-10.6,203,3484,0.00,2.60,0.00,0.000,6,0.000,0.025,2578,1836,3722,0,0,0,0,0,0
$GC,3746,-1.38,-146.0,414.1,-8.8,210,3750,0.00,2.50,0.00,0.000,4,0.000,0.042,2578,3367,3720,0,0,0,0,0,0
$GC,3779,-1.49,-146.0,417.2,-8.4,210,3784,0.17,2.47,0.00,0.000,6,0.045,0.029,2481,1842,3720,0,0,0,0,0,0
$GC,4031,-1.25,-146.0,452.6,-14.9,216,4038,0.47,2.78,0.00,0.000,4,0.092,0.061,2576,212,3718,0,0,0,0,0,0
$GC,4071,-1.38,-146.0,457.9,-10.3,216,4077,0.00,2.62,0.00,0.000,6,0.000,0.030,2577,1837,3718,0,0,0,0,0,0
$GC,4321,-1.47,-146.0,481.7,-9.6,223,4326,0.15,2.55,0.00,0.000,4,0.057,0.049,2511,3366,3716,0,0,0,0,0,0
$GC,4342,-1.47,-146.0,483.8,-10.5,223,4348,0.12,2.50,0.00,0.000,6,0.107,0.031,2538,1833,3716,0,0,0,0,0,0
$GC,4607,-1.47,-146.0,511.8,-10.4,230,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1833,3714,0,0,0,0,0,0
$GC,4853,-1.47,-146.0,535.7,-9.8,236,4857,0.00,2.80,0.00,0.000,4,0.000,0.066,2538,212,3713,0,0,0,0,0,0
$GC,4887,-1.47,-146.0,539.3,-10.4,236,4892,0.00,2.62,0.00,0.000,6,0.000,0.035,2538,1827,3712,0,0,0,0,0,0
$GC,5137,-1.47,-146.0,563.3,-9.6,242,5142,0.00,2.62,0.00,0.000,4,0.000,0.055,2538,3377,3710,0,0,0,0,0,0
$GC,5193,-1.47,-146.0,568.5,-8.9,243,5197,0.00,2.53,0.00,0.000,6,0.000,0.036,2538,1844,3710,0,0,0,0,0,0
$GC,5468,-1.47,-146.0,592.9,-8.9,250,5472,0.00,2.60,0.00,0.000,4,0.000,0.050,2538,3381,3709,0,0,0,0,0,0
$GC,5496,-1.47,-146.0,595.8,-9.3,250,5500,0.00,2.50,0.00,0.000,6,0.000,0.035,2538,1854,3709,0,0,0,0,0,0
$GC,5751,-1.47,-146.0,619.2,-9.1,257,5755,0.00,2.58,0.00,0.000,4,0.000,0.051,2538,3371,3707,0,0,0,0,0,0
$GC,5776,-1.47,-146.0,621.5,-10.0,257,5780,0.00,2.50,0.00,0.000,6,0.000,0.035,2537,1860,3707,0,0,0,0,0,0
$GC,6035,-1.47,-146.0,644.8,-9.1,264,6039,0.00,2.58,0.00,0.000,4,0.000,0.051,2538,3373,3705,0,0,0,0,0,0
$GC,6049,-1.47,-146.0,646.3,-9.1,264,6053,0.00,2.50,0.00,0.000,6,0.000,0.035,2538,1857,3705,0,0,0,0,0,0
$GC,6319,-1.47,-146.0,671.2,-9.4,271,6326,0.00,2.90,0.00,0.000,4,0.000,0.075,2538,210,3703,0,0,0,0,0,0
$GC,6341,-1.47,-146.0,673.7,-10.5,271,6345,0.00,2.70,0.00,0.000,6,0.000,0.038,2538,1857,3703,0,0,0,0,0,0
$GC,6605,-1.47,-146.0,698.2,-9.1,278,6609,0.00,2.62,0.00,0.000,4,0.000,0.065,2538,3378,3702,0,0,0,0,0,0
$GC,6630,-1.47,-146.0,700.6,-9.6,278,6634,0.00,2.50,0.00,0.000,6,0.000,0.037,2538,1858,3701,0,0,0,0,0,0
$GC,6891,-1.47,-146.0,722.5,-8.3,285,6897,0.00,2.88,0.00,0.000,4,0.000,0.071,2538,211,3700,0,0,0,0,0,0
$GC,6908,-1.47,-146.0,724.2,-9.5,285,6912,0.00,2.72,0.00,0.000,6,0.000,0.038,2538,1858,3700,0,0,0,0,0,0
$GC,7178,-1.47,-146.0,747.7,-8.8,292,7182,0.00,2.62,0.00,0.000,4,0.000,0.067,2538,3373,3698,0,0,0,0,0,0
$GC,7192,-1.47,-146.0,749.3,-9.3,292,7196,0.00,2.50,0.00,0.000,6,0.000,0.035,2538,1860,3698,0,0,0,0,0,0
$GC,7461,-1.47,-146.0,775.0,-9.7,299,7465,0.00,2.58,0.00,0.000,4,0.000,0.051,2538,3375,3697,0,0,0,0,0,0
$GC,7481,-1.47,-146.0,776.8,-9.6,299,7486,0.00,2.50,0.00,0.000,6,0.000,0.037,2538,1869,3697,0,0,0,0,0,0
$GC,7745,-1.47,-146.0,802.1,-9.5,306,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1869,3696,0,0,0,0,0,0
$GC,7989,-1.47,-146.0,824.4,-9.1,312,7993,0.00,2.55,0.00,0.000,4,0.000,0.051,2538,3372,3694,0,0,0,0,0,0
$GC,8021,-1.47,-146.0,827.6,-8.9,312,8026,0.00,2.50,0.00,0.000,6,0.000,0.038,2538,1869,3694,0,0,0,0,0,0
$GC,8273,-1.47,-146.0,850.3,-9.4,318,8280,0.00,2.92,0.00,0.000,4,0.000,0.076,2538,210,3693,0,0,0,0,0,0
$GC,8289,-1.47,-146.0,852.5,-11.3,318,8294,0.00,2.78,0.00,0.000,6,0.000,0.040,2538,1879,3693,0,0,0,0,0,0
$GC,8558,-1.47,-146.0,878.8,-9.8,325,8562,0.00,2.60,0.00,0.000,4,0.000,0.067,2538,3376,3691,0,0,0,0,0,0
$GC,8583,-1.47,-146.0,881.3,-10.9,325,8588,0.00,2.47,0.00,0.000,6,0.000,0.037,2538,1882,3692,0,0,0,0,0,0
$STATE,8799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8799,begin apogee
$GC,8805,-0.31,0.0,902.7,10.0,331,8933,1.15,0.00,124.35,1.184,6,0.081,0.000,2792,1683,3120,0,0,0,0,0,0
$STATE,8934,end apogee,CONTROL_FINISHED_OK
$STATE,8934,begin climb
$GC,8936,1.27,146.0,908.7,0.0,334,9082,1.42,2.80,133.88,1.163,4,0.031,0.051,3137,3264,2521,0,0,0,0,0,0
$GC,9157,0.98,146.0,902.8,10.1,339,9164,0.30,2.65,0.00,0.000,6,0.112,0.038,3077,1686,2516,0,0,0,0,0,0
$GC,9440,0.82,165.6,877.2,9.1,346,9465,0.17,2.83,17.67,1.066,4,0.117,0.083,3041,170,2444,0,0,0,0,0,0
$GC,9541,0.67,171.2,867.7,9.7,348,9554,0.17,2.50,6.68,0.886,6,0.112,0.035,3006,1674,2422,0,0,0,0,0,0
$GC,9823,0.73,224.1,845.8,7.6,355,9880,0.00,2.75,50.47,1.117,4,0.000,0.068,3006,174,2205,0,0,0,0,0,0
$GC,9950,0.73,224.1,834.0,11.1,357,9955,0.00,2.50,0.00,0.000,6,0.000,0.035,3006,1673,2203,0,0,0,0,0,0
$GC,10200,0.78,259.2,812.7,8.4,364,10242,0.10,0.00,34.15,1.085,6,0.079,0.000,3052,1674,2061,0,0,0,0,0,0
$GC,10483,0.78,259.2,781.8,11.2,371,10485,0.10,0.00,0.00,0.000,6,0.123,0.000,3032,1674,2055,0,0,0,0,0,0
$GC,10729,0.78,259.2,755.7,10.7,377,10730,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1675,2053,0,0,0,0,0,0
$GC,10970,0.78,259.2,730.0,10.4,383,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1675,2052,0,0,0,0,0,0
$GC,11214,0.81,283.4,707.8,8.9,389,11243,0.00,2.72,22.95,1.016,4,0.000,0.067,3031,164,1964,0,0,0,0,0,0
$GC,11282,0.81,287.3,701.7,9.8,390,11294,0.00,2.53,5.45,0.766,6,0.000,0.035,3031,1673,1948,0,0,0,0,0,0
$GC,11549,0.84,310.7,677.6,8.9,397,11575,0.00,0.00,23.77,0.996,6,0.000,0.000,3031,1674,1853,0,0,0,0,0,0
$GC,11793,0.85,321.5,654.7,9.5,403,11806,0.00,0.00,11.07,0.907,6,0.000,0.000,3031,1674,1809,0,0,0,0,0,0
$GC,12038,0.85,321.5,628.3,11.1,409,12043,0.00,2.80,0.00,0.000,4,0.000,0.067,3031,3264,1805,0,0,0,0,0,0
$GC,12085,0.99,321.5,622.7,11.5,410,12092,0.17,2.72,0.00,0.000,6,0.052,0.040,3107,1659,1802,0,0,0,0,0,0
$GC,12372,0.85,321.5,578.1,15.9,417,12380,0.25,2.80,0.00,0.000,4,0.103,0.058,3051,3273,1802,0,0,0,0,0,0
$GC,12394,0.85,321.5,574.4,13.6,417,12398,0.00,2.72,0.00,0.000,6,0.000,0.040,3051,1666,1801,0,0,0,0,0,0
$GC,12658,0.85,321.5,543.8,11.1,424,12662,0.00,2.78,0.00,0.000,4,0.000,0.056,3051,3267,1800,0,0,0,0,0,0
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$STATE,17350,end climb,SURFACE_DEPTH_REACHED
$STATE,17350,begin surface coast
$FINISH,1.1,1.023214
$STATE,17395,end surface coast,CONTROL_FINISHED_OK
$STATE,17395,begin surface
$SM_CCo,17476,0.00,0.000,0,0,1485,401.07
$SM_GC,1.70,11.07,0.00,0.00,0.028,0.000,0.000,410,1855,1485,-11.19,1.84,401.07
$IRIDIUM_FIX,2237.01,-15757.16,180400,151559
$TT8_MAMPS,0.027612
$HUMID,52.16
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,22.9,74.770
$10V_AH,9.8,66.169
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.300,234.050,501.275,0.000,0.000,27.889,47.196,467.275,0.000,0.000,16.721,1475.975,12742.978,613.518,2355.132,982.777,33.385,1700.812,0.000,2345.233,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,456.821,322.494,410.416,563.801,994.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,50874,669
$CAP_FILE_SIZE,179568,0
$CFSIZE,260165632,138964992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240111,011627,2246.747,-15802.778,25,99.0,44,10.1