version: 66.06
glider: 148
mission: 9
dive: 574
start: 1 24 111 6 58 56
data:
$ID,148
$MISSION,9
$DIVE,574
$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,-870678.31
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,064307,2248.220,-15802.813,35,1.5,35,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.4
$GPS2,065802,2248.187,-15802.671,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.056,0.254
$KALMAN_X,-112936.8,438.5,-101.9,124970.4,445.2
$KALMAN_Y,-207373.8,-265.6,4.6,334111.4,-1203.7
$MHEAD_RNG_PITCHd_Wd,337.4,3405,-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,-146.0,0.0,0.0,0,133,0.00,0.00,-112.45,0.000,2,0.000,0.000,416,1853,3362,0,0,0,0,0,0
$GC,136,-1.27,-146.0,3.8,-5.5,15,161,11.48,2.42,-6.60,0.000,4,0.153,0.039,2576,3371,3716,0,0,0,0,0,0
$GC,233,-1.27,-146.0,25.6,-13.6,29,242,0.00,2.55,0.00,0.000,6,0.000,0.025,2576,1792,3717,0,0,0,0,0,0
$GC,505,-1.14,-146.0,66.6,-15.8,56,510,0.17,2.55,0.00,0.000,4,0.104,0.032,2613,3366,3717,0,0,0,0,0,0
$GC,552,-1.14,-146.0,73.0,-13.8,59,556,0.00,2.50,0.00,0.000,6,0.000,0.023,2613,1794,3717,0,0,0,0,0,0
$GC,817,-1.14,-146.0,106.5,-12.4,83,822,0.00,2.50,0.00,0.000,4,0.000,0.031,2613,3366,3717,0,0,0,0,0,0
$GC,855,-1.20,-146.0,111.4,-12.0,86,859,0.00,2.47,0.00,0.000,6,0.000,0.023,2613,1804,3717,0,0,0,0,0,0
$GC,1117,-1.20,-146.0,139.8,-10.5,110,1121,0.00,2.58,0.00,0.000,4,0.000,0.040,2613,205,3718,0,0,0,0,0,0
$GC,1143,-1.28,-146.0,142.4,-9.7,112,1148,0.12,2.50,0.00,0.000,6,0.064,0.018,2551,1824,3718,0,0,0,0,0,0
$GC,1408,-1.19,-146.0,172.5,-11.6,136,1413,0.22,2.45,0.00,0.000,4,0.091,0.028,2600,3363,3718,0,0,0,0,0,0
$GC,1437,-1.26,-146.0,176.1,-9.3,138,1446,0.00,2.47,0.00,0.000,6,0.000,0.022,2600,1814,3718,0,0,0,0,0,0
$GC,1706,-1.33,-146.0,200.3,-9.9,163,1711,0.12,2.50,0.00,0.000,4,0.064,0.031,2537,3359,3718,0,0,0,0,0,0
$GC,1735,-1.24,-146.0,204.5,-12.5,163,1740,0.22,2.45,0.00,0.000,6,0.082,0.023,2589,1815,3718,0,0,0,0,0,0
$GC,1992,-1.24,-146.0,231.6,-10.5,170,1996,0.00,2.45,0.00,0.000,4,0.000,0.031,2589,3356,3718,0,0,0,0,0,0
$GC,2025,-1.33,-146.0,235.1,-9.2,170,2029,0.00,2.42,0.00,0.000,6,0.000,0.023,2589,1828,3718,0,0,0,0,0,0
$GC,2275,-1.33,-146.0,257.9,-8.9,176,2279,0.00,2.47,0.00,0.000,4,0.000,0.032,2589,3363,3718,0,0,0,0,0,0
$GC,2315,-1.44,-146.0,261.5,-9.1,176,2321,0.17,2.42,0.00,0.000,6,0.048,0.024,2495,1838,3718,0,0,0,0,0,0
$GC,2565,-1.22,-146.0,297.8,-15.0,183,2572,0.43,2.65,0.00,0.000,4,0.087,0.041,2592,209,3717,0,0,0,0,0,0
$GC,2613,-1.38,-146.0,302.8,-9.8,184,2618,0.15,2.53,0.00,0.000,6,0.054,0.022,2523,1826,3718,0,0,0,0,0,0
$GC,2901,-1.27,-146.0,338.9,-12.8,191,2903,0.28,0.00,0.00,0.000,6,0.085,0.000,2583,1827,3716,0,0,0,0,0,0
$GC,3145,-1.35,-146.0,362.2,-9.3,197,3149,0.00,2.50,0.00,0.000,4,0.000,0.038,2583,3368,3715,0,0,0,0,0,0
$GC,3212,-1.49,-146.0,368.4,-8.5,198,3217,0.20,2.47,0.00,0.000,6,0.041,0.028,2486,1831,3715,0,0,0,0,0,0
$GC,3477,-1.29,-146.0,405.8,-14.1,205,3484,0.40,2.72,0.00,0.000,4,0.086,0.052,2575,207,3713,0,0,0,0,0,0
$GC,3525,-1.40,-146.0,411.1,-9.6,206,3530,0.00,2.58,0.00,0.000,6,0.000,0.027,2575,1833,3713,0,0,0,0,0,0
$GC,3813,-1.47,-146.0,434.8,-7.9,213,3818,0.15,2.53,0.00,0.000,4,0.057,0.044,2510,3366,3711,0,0,0,0,0,0
$GC,3863,-1.47,-146.0,439.9,-11.0,214,3869,0.12,2.50,0.00,0.000,6,0.104,0.031,2538,1826,3711,0,0,0,0,0,0
$GC,4146,-1.47,-146.0,468.8,-10.3,221,4151,0.00,2.58,0.00,0.000,4,0.000,0.049,2538,3364,3708,0,0,0,0,0,0
$GC,4165,-1.47,-146.0,470.8,-10.3,221,4169,0.00,2.47,0.00,0.000,6,0.000,0.029,2538,1831,3708,0,0,0,0,0,0
$GC,4430,-1.47,-146.0,498.2,-10.6,228,4435,0.00,2.58,0.00,0.000,4,0.000,0.049,2538,3363,3707,0,0,0,0,0,0
$GC,4453,-1.47,-146.0,501.2,-11.5,228,4458,0.00,2.47,0.00,0.000,6,0.000,0.031,2538,1841,3707,0,0,0,0,0,0
$GC,4714,-1.47,-146.0,528.3,-10.6,235,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1841,3705,0,0,0,0,0,0
$GC,4956,-1.47,-146.0,553.4,-10.2,241,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1841,3703,0,0,0,0,0,0
$GC,5201,-1.47,-146.0,578.8,-10.2,247,5206,0.00,2.58,0.00,0.000,4,0.000,0.056,2538,3363,3702,0,0,0,0,0,0
$GC,5248,-1.47,-146.0,583.6,-9.1,248,5252,0.00,2.50,0.00,0.000,6,0.000,0.037,2538,1847,3701,0,0,0,0,0,0
$GC,5530,-1.47,-146.0,610.6,-9.5,255,5534,0.00,2.55,0.00,0.000,4,0.000,0.051,2538,3369,3699,0,0,0,0,0,0
$GC,5555,-1.47,-146.0,612.9,-9.6,255,5560,0.00,2.50,0.00,0.000,6,0.000,0.035,2538,1849,3699,0,0,0,0,0,0
$GC,5815,-1.47,-146.0,636.9,-9.2,262,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1849,3698,0,0,0,0,0,0
$GC,6058,-1.47,-146.0,657.6,-8.6,268,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1849,3696,0,0,0,0,0,0
$GC,6304,-1.47,-146.0,679.2,-8.8,274,6308,0.00,2.58,0.00,0.000,4,0.000,0.056,2538,3368,3694,0,0,0,0,0,0
$GC,6332,-1.47,-146.0,682.2,-9.0,274,6336,0.00,2.50,0.00,0.000,6,0.000,0.037,2538,1858,3694,0,0,0,0,0,0
$GC,6587,-1.47,-146.0,706.0,-9.6,281,6591,0.00,2.55,0.00,0.000,4,0.000,0.054,2538,3367,3692,0,0,0,0,0,0
$GC,6621,-1.47,-146.0,709.3,-9.8,281,6626,0.00,2.50,0.00,0.000,6,0.000,0.038,2538,1859,3692,0,0,0,0,0,0
$GC,6871,-1.47,-146.0,733.4,-9.6,287,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1859,3690,0,0,0,0,0,0
$GC,7115,-1.47,-146.0,755.7,-9.1,293,7119,0.00,2.55,0.00,0.000,4,0.000,0.054,2538,3360,3688,0,0,0,0,0,0
$GC,7135,-1.47,-146.0,757.8,-10.0,293,7140,0.00,2.47,0.00,0.000,6,0.000,0.037,2538,1868,3687,0,0,0,0,0,0
$GC,7401,-1.47,-146.0,780.7,-8.7,300,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1868,3686,0,0,0,0,0,0
$GC,7643,-1.47,-146.0,800.8,-8.2,306,7647,0.00,2.53,0.00,0.000,4,0.000,0.054,2538,3363,3686,0,0,0,0,0,0
$GC,7662,-1.47,-146.0,802.6,-8.8,306,7666,0.00,2.47,0.00,0.000,6,0.000,0.037,2538,1870,3685,0,0,0,0,0,0
$GC,7927,-1.47,-146.0,823.7,-8.0,313,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1870,3684,0,0,0,0,0,0
$GC,8169,-1.47,-146.0,843.3,-8.1,319,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1870,3682,0,0,0,0,0,0
$GC,8413,-1.47,-146.0,863.8,-8.5,325,8419,0.00,2.92,0.00,0.000,4,0.000,0.079,2538,218,3681,0,0,0,0,0,0
$GC,8431,-1.47,-146.0,865.4,-9.9,325,8436,0.00,2.75,0.00,0.000,6,0.000,0.043,2538,1860,3681,0,0,0,0,0,0
$GC,8700,-1.47,-146.0,889.2,-8.8,332,8704,0.00,2.60,0.00,0.000,4,0.000,0.071,2538,3367,3680,0,0,0,0,0,0
$GC,8723,-1.47,-146.0,891.6,-10.4,332,8727,0.00,2.45,0.00,0.000,6,0.000,0.037,2538,1875,3679,0,0,0,0,0,0
$STATE,8859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8859,begin apogee
$GC,8867,-0.31,0.0,903.4,8.8,336,8993,1.15,0.00,122.15,1.183,6,0.084,0.000,2791,1679,3119,0,0,0,0,0,0
$STATE,8994,end apogee,CONTROL_FINISHED_OK
$STATE,8994,begin climb
$GC,8996,1.27,146.0,908.7,0.0,339,9143,1.42,2.78,135.23,1.164,4,0.027,0.051,3151,3251,2521,0,0,0,0,0,0
$GC,9188,0.94,146.0,905.0,11.3,343,9195,0.43,2.67,0.00,0.000,6,0.107,0.039,3064,1682,2517,0,0,0,0,0,0
$GC,9455,0.83,185.0,882.3,8.2,350,9499,0.12,2.78,36.35,1.113,4,0.123,0.083,3040,168,2364,0,0,0,0,0,0
$GC,9560,0.68,185.0,872.9,10.0,352,9565,0.15,2.53,0.00,0.000,6,0.115,0.041,3010,1663,2361,0,0,0,0,0,0
$GC,9834,0.76,248.1,853.2,7.1,359,9899,0.00,2.75,59.15,1.118,4,0.000,0.072,3010,163,2107,0,0,0,0,0,0
$GC,9964,0.77,255.2,842.3,9.7,362,9977,0.00,2.55,7.50,0.900,6,0.000,0.042,3009,1668,2079,0,0,0,0,0,0
$GC,10252,0.80,281.0,816.9,8.8,369,10280,0.10,0.00,25.30,1.064,6,0.078,0.000,3052,1669,1974,0,0,0,0,0,0
$GC,10539,0.80,281.0,782.7,12.1,376,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1669,1967,0,0,0,0,0,0
$GC,10783,0.80,281.0,752.3,12.6,382,10787,0.00,2.67,0.00,0.000,4,0.000,0.070,3052,161,1965,0,0,0,0,0,0
$GC,10818,0.72,281.0,747.7,14.6,382,10823,0.17,2.53,0.00,0.000,6,0.103,0.042,3016,1659,1965,0,0,0,0,0,0
$GC,11067,0.72,281.0,719.7,10.9,388,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1660,1963,0,0,0,0,0,0
$GC,11311,0.72,281.0,694.2,10.4,394,11316,0.00,2.85,0.00,0.000,4,0.000,0.071,3016,3273,1962,0,0,0,0,0,0
$GC,11360,0.86,282.5,689.3,9.9,395,11367,0.12,2.70,0.00,0.000,6,0.067,0.041,3068,1669,1960,0,0,0,0,0,0
$GC,11645,0.80,282.5,654.8,12.1,402,11652,0.17,2.67,0.00,0.000,4,0.103,0.082,3032,162,1960,0,0,0,0,0,0
$GC,11701,0.80,282.5,648.3,10.9,403,11705,0.00,2.50,0.00,0.000,6,0.000,0.041,3032,1669,1960,0,0,0,0,0,0
$GC,11978,0.80,283.1,620.2,10.0,410,11983,0.00,2.62,0.00,0.000,4,0.000,0.067,3032,163,1960,0,0,0,0,0,0
$GC,11997,0.81,291.0,618.0,9.6,410,12013,0.00,2.50,8.48,0.856,6,0.000,0.038,3032,1667,1933,0,0,0,0,0,0
$GC,12265,0.82,301.8,592.3,9.5,417,12285,0.00,2.85,12.05,0.892,4,0.000,0.068,3032,3265,1888,0,0,0,0,0,0
$GC,12310,0.92,307.5,587.8,9.7,418,12323,0.12,2.72,6.95,0.791,6,0.068,0.038,3081,1660,1866,0,0,0,0,0,0
$GC,12604,0.85,307.5,552.6,12.4,425,12606,0.17,0.00,0.00,0.000,6,0.104,0.000,3045,1660,1862,0,0,0,0,0,0
$GC,12844,0.85,307.5,525.1,11.4,431,12849,0.00,2.78,0.00,0.000,4,0.000,0.055,3045,3266,1862,0,0,0,0,0,0
$GC,12868,0.85,307.5,522.2,11.0,431,12872,0.00,2.67,0.00,0.000,6,0.000,0.037,3045,1672,1860,0,0,0,0,0,0
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$STATE,17588,end climb,SURFACE_DEPTH_REACHED
$STATE,17588,begin surface coast
$FINISH,1.0,1.010265
$STATE,17639,end surface coast,CONTROL_FINISHED_OK
$STATE,17639,begin surface
$SM_CCo,17662,26.23,0.326,1,0,1569,380.21
$SM_GC,1.79,0.00,0.00,26.23,0.000,0.000,0.326,410,1862,1569,-11.27,2.04,380.21
$IRIDIUM_FIX,2241.69,-15759.32,190400,060627
$TT8_MAMPS,0.027612
$HUMID,50.63
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,21.20
$XPDR_PINGS,1
$24V_AH,22.9,75.165
$10V_AH,9.8,66.440
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.375,221.550,441.300,26.225,0.000,53.390,99.551,511.854,0.250,0.000,14.181,1518.302,12885.066,581.115,2484.375,1110.157,33.379,1693.911,0.000,2470.471,0.000,0.536,0.000
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$SENSOR_SECS,473.805,349.522,435.720,616.951,1090.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,54156,695
$CAP_FILE_SIZE,183730,0
$CFSIZE,260165632,138805248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240111,115506,2250.143,-15803.282,37,1.1,37,10.1