version: 66.06
glider: 148
mission: 9
dive: 578
start: 1 25 111 2 9 12
data:
$ID,148
$MISSION,9
$DIVE,578
$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,-870778.44
$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,33
$R_STBD_OVSHOOT,58
$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
$GPS1,015748,2250.284,-15757.117,39,1.8,50,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.5
$GPS2,020819,2250.342,-15757.146,15,1.1,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.092,-0.227
$KALMAN_X,-111987.1,157.3,-42.0,133754.0,532.0
$KALMAN_Y,-213272.1,86.0,16.0,343640.3,-2102.7
$MHEAD_RNG_PITCHd_Wd,192.0,6288,-18.8,-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,-1.33,-128.4,0.0,0.0,0,88,0.00,0.00,-68.03,0.000,2,0.000,0.000,404,1812,3198,0,0,0,0,0,0
$GC,91,-1.35,-146.0,3.0,-3.0,9,123,12.02,2.65,-10.62,0.000,4,0.174,0.045,2556,214,3717,0,0,0,0,0,0
$GC,177,-1.35,-146.0,19.2,-11.7,21,186,0.00,2.47,0.00,0.000,6,0.000,0.021,2555,1773,3718,0,0,0,0,0,0
$GC,462,-1.21,-146.0,63.3,-16.8,52,467,0.17,2.55,0.00,0.000,4,0.104,0.031,2593,3366,3719,0,0,0,0,0,0
$GC,531,-1.31,-146.0,72.9,-12.4,57,535,0.00,2.53,0.00,0.000,6,0.000,0.024,2593,1791,3719,0,0,0,0,0,0
$GC,797,-1.38,-146.0,105.3,-10.7,81,802,0.15,2.55,0.00,0.000,4,0.058,0.030,2525,3367,3720,0,0,0,0,0,0
$GC,838,-1.31,-146.0,111.3,-13.9,84,848,0.20,2.50,0.00,0.000,6,0.081,0.023,2572,1815,3720,0,0,0,0,0,0
$GC,1105,-1.31,-146.0,141.1,-10.5,109,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1815,3721,0,0,0,0,0,0
$GC,1368,-1.31,-146.0,169.2,-10.8,134,1372,0.00,2.50,0.00,0.000,4,0.000,0.029,2572,3366,3722,0,0,0,0,0,0
$GC,1398,-1.39,-146.0,172.6,-10.9,136,1403,0.00,2.47,0.00,0.000,6,0.000,0.023,2573,1802,3722,0,0,0,0,0,0
$GC,1662,-1.45,-146.0,198.8,-9.7,161,1668,0.12,2.55,0.00,0.000,4,0.062,0.031,2504,3369,3722,0,0,0,0,0,0
$GC,1682,-1.45,-146.0,201.7,-11.6,162,1687,0.17,2.45,0.00,0.000,6,0.100,0.022,2542,1814,3723,0,0,0,0,0,0
$GC,1946,-1.45,-146.0,232.0,-11.7,169,1951,0.00,2.50,0.00,0.000,4,0.000,0.031,2542,3367,3722,0,0,0,0,0,0
$GC,1967,-1.45,-146.0,234.5,-12.8,169,1971,0.00,2.45,0.00,0.000,6,0.000,0.022,2542,1817,3722,0,0,0,0,0,0
$GC,2230,-1.45,-146.0,267.9,-12.7,176,2234,0.00,2.53,0.00,0.000,4,0.000,0.034,2542,3369,3722,0,0,0,0,0,0
$GC,2281,-1.45,-146.0,274.1,-11.3,177,2285,0.00,2.45,0.00,0.000,6,0.000,0.025,2542,1830,3722,0,0,0,0,0,0
$GC,2560,-1.45,-146.0,306.4,-12.0,184,2564,0.00,2.50,0.00,0.000,4,0.000,0.035,2542,3363,3722,0,0,0,0,0,0
$GC,2602,-1.45,-146.0,311.8,-11.4,185,2607,0.00,2.45,0.00,0.000,6,0.000,0.026,2542,1841,3722,0,0,0,0,0,0
$GC,2889,-1.45,-146.0,345.9,-11.9,192,2893,0.00,2.50,0.00,0.000,4,0.000,0.038,2542,3362,3721,0,0,0,0,0,0
$GC,2914,-1.45,-146.0,348.8,-12.2,192,2918,0.00,2.45,0.00,0.000,6,0.000,0.027,2542,1844,3721,0,0,0,0,0,0
$GC,3172,-1.45,-146.0,375.6,-10.4,199,3177,0.00,2.72,0.00,0.000,4,0.000,0.053,2542,207,3720,0,0,0,0,0,0
$GC,3196,-1.45,-146.0,378.3,-11.4,199,3200,0.00,2.58,0.00,0.000,6,0.000,0.025,2542,1829,3719,0,0,0,0,0,0
$GC,3457,-1.45,-146.0,405.1,-10.2,206,3461,0.00,2.55,0.00,0.000,4,0.000,0.041,2542,3376,3718,0,0,0,0,0,0
$GC,3500,-1.45,-146.0,409.6,-10.0,207,3504,0.00,2.47,0.00,0.000,6,0.000,0.029,2542,1839,3718,0,0,0,0,0,0
$GC,3786,-1.45,-146.0,439.7,-10.8,214,3791,0.00,2.78,0.00,0.000,4,0.000,0.059,2542,211,3716,0,0,0,0,0,0
$GC,3811,-1.45,-146.0,442.5,-12.6,214,3816,0.00,2.62,0.00,0.000,6,0.000,0.028,2542,1846,3716,0,0,0,0,0,0
$GC,4070,-1.45,-146.0,469.0,-10.0,221,4075,0.00,2.53,0.00,0.000,4,0.000,0.048,2542,3365,3714,0,0,0,0,0,0
$GC,4117,-1.53,-146.0,473.6,-9.4,222,4121,0.00,2.47,0.00,0.000,6,0.000,0.031,2542,1851,3714,0,0,0,0,0,0
$GC,4401,-1.53,-146.0,500.7,-9.5,229,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1851,3712,0,0,0,0,0,0
$GC,4643,-1.53,-146.0,524.0,-9.5,235,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1851,3711,0,0,0,0,0,0
$GC,4887,-1.53,-146.0,545.5,-8.8,241,4891,0.00,2.55,0.00,0.000,4,0.000,0.051,2542,3365,3709,0,0,0,0,0,0
$GC,4898,-1.53,-146.0,546.5,-8.8,241,4903,0.00,2.45,0.00,0.000,6,0.000,0.031,2542,1853,3709,0,0,0,0,0,0
$GC,5172,-1.60,-146.0,572.7,-9.6,248,5173,0.12,0.00,0.00,0.000,6,0.067,0.000,2485,1853,3709,0,0,0,0,0,0
$GC,5415,-1.50,-146.0,603.1,-12.7,254,5417,0.22,0.00,0.00,0.000,6,0.099,0.000,2533,1848,3706,0,0,0,0,0,0
$GC,5661,-1.50,-146.0,627.1,-9.7,260,5665,0.00,2.55,0.00,0.000,4,0.000,0.052,2533,3364,3704,0,0,0,0,0,0
$GC,5693,-1.50,-146.0,630.5,-9.2,260,5698,0.00,2.50,0.00,0.000,6,0.000,0.035,2533,1856,3704,0,0,0,0,0,0
$GC,5943,-1.50,-146.0,653.2,-9.1,266,5950,0.00,2.88,0.00,0.000,4,0.000,0.076,2533,214,3703,0,0,0,0,0,0
$GC,5968,-1.50,-146.0,655.4,-10.5,266,5973,0.00,2.72,0.00,0.000,6,0.000,0.041,2533,1847,3703,0,0,0,0,0,0
$GC,6232,-1.50,-146.0,680.8,-9.6,273,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1847,3701,0,0,0,0,0,0
$GC,6475,-1.50,-146.0,706.5,-10.6,279,6480,0.00,2.62,0.00,0.000,4,0.000,0.066,2533,3366,3701,0,0,0,0,0,0
$GC,6494,-1.50,-146.0,708.7,-11.9,279,6498,0.00,2.47,0.00,0.000,6,0.000,0.036,2533,1858,3701,0,0,0,0,0,0
$GC,6759,-1.50,-146.0,734.5,-9.6,286,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1858,3699,0,0,0,0,0,0
$GC,7001,-1.50,-146.0,757.1,-9.4,292,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1858,3698,0,0,0,0,0,0
$GC,7245,-1.56,-146.0,780.7,-9.7,298,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1857,3697,0,0,0,0,0,0
$GC,7491,-1.63,-146.0,806.7,-10.7,304,7496,0.12,2.58,0.00,0.000,4,0.069,0.052,2479,3362,3695,0,0,0,0,0,0
$GC,7505,-1.63,-146.0,808.7,-10.6,304,7510,0.12,2.50,0.00,0.000,6,0.114,0.036,2504,1856,3695,0,0,0,0,0,0
$GC,7774,-1.63,-146.0,838.4,-10.8,311,7781,0.00,2.88,0.00,0.000,4,0.000,0.076,2504,214,3693,0,0,0,0,0,0
$GC,7788,-1.63,-146.0,839.8,-10.5,311,7793,0.00,2.70,0.00,0.000,6,0.000,0.041,2504,1836,3694,0,0,0,0,0,0
$GC,8062,-1.63,-146.0,866.5,-9.7,318,8066,0.00,2.65,0.00,0.000,4,0.000,0.066,2504,3376,3693,0,0,0,0,0,0
$GC,8080,-1.63,-146.0,868.6,-10.3,318,8084,0.00,2.53,0.00,0.000,6,0.000,0.037,2504,1855,3693,0,0,0,0,0,0
$GC,8344,-1.63,-146.0,894.6,-10.1,325,8350,0.00,2.90,0.00,0.000,4,0.000,0.076,2505,211,3691,0,0,0,0,0,0
$STATE,8390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8390,begin apogee
$GC,8398,-0.31,0.0,900.4,12.2,326,8527,1.27,0.00,124.68,1.181,6,0.081,0.000,2790,1686,3120,0,0,0,0,0,0
$STATE,8528,end apogee,CONTROL_FINISHED_OK
$STATE,8528,begin climb
$GC,8530,1.35,146.0,906.3,0.0,329,8675,1.50,2.80,133.98,1.160,4,0.028,0.061,3154,3270,2522,0,0,0,0,0,0
$GC,8736,1.07,146.0,902.2,11.0,333,8745,0.30,2.70,0.00,0.000,6,0.113,0.039,3095,1685,2517,0,0,0,0,0,0
$GC,8990,0.91,162.2,879.1,9.2,340,9011,0.17,2.80,14.62,1.039,4,0.117,0.083,3059,169,2458,0,0,0,0,0,0
$GC,9198,0.74,162.2,857.2,11.5,344,9203,0.20,2.53,0.00,0.000,6,0.112,0.038,3019,1670,2454,0,0,0,0,0,0
$GC,9462,0.76,185.9,834.2,8.8,351,9491,0.00,2.75,23.12,1.071,4,0.000,0.071,3019,164,2362,0,0,0,0,0,0
$GC,9516,0.76,185.9,829.1,10.2,352,9521,0.00,2.53,0.00,0.000,6,0.000,0.038,3019,1670,2359,0,0,0,0,0,0
$GC,9789,0.78,199.4,803.3,9.3,359,9810,0.00,2.70,13.68,1.006,4,0.000,0.070,3019,169,2306,0,0,0,0,0,0
$GC,9836,0.78,199.4,799.0,10.5,360,9840,0.00,2.53,0.00,0.000,6,0.000,0.038,3019,1665,2305,0,0,0,0,0,0
$GC,10123,0.88,227.2,773.7,8.5,367,10154,0.15,0.00,27.70,1.053,6,0.061,0.000,3074,1666,2193,0,0,0,0,0,0
$GC,10366,0.88,227.2,748.4,10.5,373,10371,0.00,2.65,0.00,0.000,4,0.000,0.069,3073,167,2187,0,0,0,0,0,0
$GC,10401,0.74,227.2,744.4,13.0,373,10407,0.25,2.50,0.00,0.000,6,0.101,0.038,3022,1666,2187,0,0,0,0,0,0
$GC,10652,0.86,264.7,723.6,8.0,379,10695,0.10,2.72,36.15,1.040,4,0.081,0.068,3063,167,2040,0,0,0,0,0,0
$GC,10708,0.86,264.7,718.1,10.0,380,10712,0.00,2.53,0.00,0.000,6,0.000,0.039,3063,1657,2039,0,0,0,0,0,0
$GC,10985,0.86,264.7,686.8,11.3,387,10990,0.00,2.83,0.00,0.000,4,0.000,0.067,3063,3266,2035,0,0,0,0,0,0
$GC,11008,0.86,264.7,684.0,11.2,387,11013,0.00,2.72,0.00,0.000,6,0.000,0.040,3063,1650,2033,0,0,0,0,0,0
$GC,11269,0.86,264.7,655.0,11.0,394,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1650,2032,0,0,0,0,0,0
$GC,11511,0.86,264.7,629.9,10.2,400,11515,0.00,2.65,0.00,0.000,4,0.000,0.080,3063,167,2032,0,0,0,0,0,0
$GC,11554,0.86,264.7,625.0,11.9,401,11558,0.00,2.50,0.00,0.000,6,0.000,0.038,3062,1662,2031,0,0,0,0,0,0
$GC,11843,0.86,264.7,595.4,10.3,408,11847,0.00,2.80,0.00,0.000,4,0.000,0.064,3063,3269,2030,0,0,0,0,0,0
$GC,11880,0.86,264.7,591.1,11.1,408,11885,0.00,2.72,0.00,0.000,6,0.000,0.038,3063,1653,2028,0,0,0,0,0,0
$GC,12129,0.86,264.7,564.1,10.8,415,12134,0.00,2.65,0.00,0.000,4,0.000,0.077,3063,160,2028,0,0,0,0,0,0
$GC,12177,0.86,264.7,558.5,11.9,416,12182,0.00,2.47,0.00,0.000,6,0.000,0.033,3063,1662,2028,0,0,0,0,0,0
$GC,12460,0.88,276.1,531.4,9.4,423,12472,0.00,0.00,10.40,0.838,6,0.000,0.000,3063,1663,1994,0,0,0,0,0,0
$GC,12703,0.88,276.1,505.9,10.9,429,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1663,1992,0,0,0,0,0,0
$GC,12949,0.88,276.1,479.5,10.8,435,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1663,1990,0,0,0,0,0,0
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$STATE,17243,end climb,SURFACE_DEPTH_REACHED
$STATE,17243,begin surface coast
$FINISH,0.9,1.004788
$STATE,17276,end surface coast,CONTROL_FINISHED_OK
$STATE,17276,begin surface
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$HUMID,51.96
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$TCM_TEMP,20.30
$XPDR_PINGS,1
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$10V_AH,9.8,66.935
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355444
$DATA_FILE_SIZE,51054,672
$CAP_FILE_SIZE,172670,0
$CFSIZE,260165632,138522624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250111,065924,2247.383,-15758.413,32,1.2,50,10.1