version: 66.06
glider: 148
mission: 9
dive: 601
start: 1 29 111 13 47 6
data:
$ID,148
$MISSION,9
$DIVE,601
$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,100
$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,-871189.12
$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,21
$R_STBD_OVSHOOT,54
$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
$GPS1,133537,2246.768,-15759.709,27,1.2,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-68.9
$GPS2,134613,2246.761,-15759.587,11,1.2,28,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.199,0.082
$KALMAN_X,-113171.3,297.9,205.5,130342.2,-1020.0
$KALMAN_Y,-233877.8,362.7,26.2,357329.7,-1128.0
$MHEAD_RNG_PITCHd_Wd,282.3,5845,-21.7,-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,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-67.72,0.000,2,0.000,0.000,413,1843,3209,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.2,-3.1,9,116,11.27,2.45,-6.40,0.000,4,0.155,0.041,2530,3363,3518,0,0,0,0,0,0
$GC,201,-1.48,-97.3,24.4,-13.8,25,210,0.00,2.58,0.00,0.000,6,0.000,0.025,2530,1781,3520,0,0,0,0,0,0
$GC,481,-1.39,-97.3,70.3,-17.4,53,486,0.12,2.58,0.00,0.000,4,0.126,0.038,2555,209,3521,0,0,0,0,0,0
$GC,504,-1.33,-97.3,74.6,-17.6,54,509,0.00,2.47,0.00,0.000,6,0.000,0.019,2556,1785,3521,0,0,0,0,0,0
$GC,767,-1.33,-97.3,111.1,-12.6,78,771,0.00,2.53,0.00,0.000,4,0.000,0.030,2556,3362,3522,0,0,0,0,0,0
$GC,795,-1.40,-97.3,114.2,-10.3,80,800,0.00,2.53,0.00,0.000,6,0.000,0.022,2556,1782,3522,0,0,0,0,0,0
$GC,1060,-1.50,-97.3,138.6,-9.1,104,1065,0.10,2.55,0.00,0.000,4,0.077,0.039,2495,214,3523,0,0,0,0,0,0
$GC,1079,-1.50,-97.3,141.0,-10.6,105,1085,0.17,2.47,0.00,0.000,6,0.104,0.018,2532,1804,3523,0,0,0,0,0,0
$GC,1341,-1.57,-97.3,174.3,-12.1,129,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1806,3524,0,0,0,0,0,0
$GC,1626,-1.63,-97.3,204.7,-10.5,153,1631,0.12,2.65,0.00,0.000,4,0.065,0.041,2472,208,3525,0,0,0,0,0,0
$GC,1647,-1.63,-97.3,207.4,-12.6,153,1652,0.15,2.50,0.00,0.000,6,0.112,0.019,2503,1806,3525,0,0,0,0,0,0
$GC,1911,-1.63,-97.3,240.6,-12.7,160,1915,0.00,2.62,0.00,0.000,4,0.000,0.039,2503,211,3525,0,0,0,0,0,0
$GC,1934,-1.63,-97.3,243.9,-14.2,160,1939,0.00,2.47,0.00,0.000,6,0.000,0.021,2502,1797,3525,0,0,0,0,0,0
$GC,2195,-1.63,-97.3,277.3,-12.6,167,2200,0.00,2.62,0.00,0.000,4,0.000,0.042,2503,211,3525,0,0,0,0,0,0
$GC,2218,-1.63,-97.3,280.7,-13.9,167,2223,0.00,2.47,0.00,0.000,6,0.000,0.021,2503,1796,3524,0,0,0,0,0,0
$GC,2477,-1.63,-97.3,311.1,-11.5,174,2482,0.00,2.60,0.00,0.000,4,0.000,0.044,2503,215,3524,0,0,0,0,0,0
$GC,2498,-1.63,-97.3,313.3,-11.3,174,2502,0.00,2.50,0.00,0.000,6,0.000,0.022,2503,1794,3524,0,0,0,0,0,0
$GC,2761,-1.63,-97.3,341.5,-10.7,181,2766,0.00,2.55,0.00,0.000,4,0.000,0.036,2503,3363,3524,0,0,0,0,0,0
$GC,2784,-1.63,-97.3,344.0,-11.6,181,2789,0.00,2.55,0.00,0.000,6,0.000,0.026,2503,1787,3524,0,0,0,0,0,0
$GC,3045,-1.63,-97.3,373.3,-11.7,188,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1787,3523,0,0,0,0,0,0
$GC,3287,-1.63,-97.3,403.4,-12.4,194,3291,0.00,2.62,0.00,0.000,4,0.000,0.041,2503,3368,3522,0,0,0,0,0,0
$GC,3306,-1.63,-97.3,406.0,-13.2,194,3310,0.00,2.55,0.00,0.000,6,0.000,0.027,2503,1792,3522,0,0,0,0,0,0
$GC,3569,-1.63,-97.3,435.5,-10.9,201,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1792,3520,0,0,0,0,0,0
$GC,3815,-1.63,-97.3,460.1,-10.1,207,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1792,3519,0,0,0,0,0,0
$GC,4057,-1.63,-97.3,486.1,-10.6,213,4061,0.00,2.72,0.00,0.000,4,0.000,0.065,2503,214,3518,0,0,0,0,0,0
$GC,4089,-1.63,-97.3,490.1,-13.0,213,4094,0.00,2.55,0.00,0.000,6,0.000,0.031,2503,1777,3518,0,0,0,0,0,0
$GC,4341,-1.63,-97.3,517.6,-10.9,219,4345,0.00,2.67,0.00,0.000,4,0.000,0.049,2503,3377,3516,0,0,0,0,0,0
$GC,4355,-1.63,-97.3,519.4,-10.8,219,4359,0.00,2.60,0.00,0.000,6,0.000,0.031,2503,1794,3516,0,0,0,0,0,0
$GC,4623,-1.63,-97.3,547.4,-10.2,226,4627,0.00,2.65,0.00,0.000,4,0.000,0.047,2503,3369,3515,0,0,0,0,0,0
$GC,4642,-1.63,-97.3,549.5,-11.0,226,4646,0.00,2.60,0.00,0.000,6,0.000,0.033,2503,1789,3515,0,0,0,0,0,0
$GC,4908,-1.69,-97.3,572.5,-8.5,233,4912,0.00,2.75,0.00,0.000,4,0.000,0.070,2503,209,3513,0,0,0,0,0,0
$GC,4959,-1.69,-97.3,577.6,-10.1,234,4964,0.00,2.62,0.00,0.000,6,0.000,0.036,2503,1799,3513,0,0,0,0,0,0
$GC,5237,-1.75,-97.3,601.2,-8.9,241,5245,0.10,2.78,0.00,0.000,4,0.082,0.064,2458,211,3511,0,0,0,0,0,0
$GC,5310,-1.68,-97.3,610.6,-13.1,242,5316,0.17,2.62,0.00,0.000,6,0.109,0.038,2494,1789,3510,0,0,0,0,0,0
$GC,5572,-1.68,-97.3,636.8,-9.8,249,5577,0.00,2.75,0.00,0.000,4,0.000,0.066,2494,212,3509,0,0,0,0,0,0
$GC,5615,-1.68,-97.3,641.7,-10.9,250,5620,0.00,2.62,0.00,0.000,6,0.000,0.040,2494,1785,3508,0,0,0,0,0,0
$GC,5902,-1.68,-97.3,670.0,-9.7,257,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1786,3506,0,0,0,0,0,0
$GC,6148,-1.68,-97.3,693.7,-9.9,263,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1786,3505,0,0,0,0,0,0
$GC,6390,-1.68,-97.3,719.3,-10.6,269,6394,0.00,2.78,0.00,0.000,4,0.000,0.068,2494,205,3503,0,0,0,0,0,0
$GC,6418,-1.68,-97.3,722.7,-13.2,269,6422,0.00,2.62,0.00,0.000,6,0.000,0.041,2494,1783,3503,0,0,0,0,0,0
$GC,6672,-1.75,-97.3,749.4,-10.4,276,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1783,3501,0,0,0,0,0,0
$GC,6918,-1.82,-97.3,775.0,-10.5,282,6920,0.12,0.00,0.00,0.000,6,0.069,0.000,2447,1783,3500,0,0,0,0,0,0
$GC,7159,-1.82,-97.3,804.7,-12.2,288,7164,0.00,2.78,0.00,0.000,4,0.000,0.068,2447,203,3499,0,0,0,0,0,0
$GC,7180,-1.73,-97.3,807.4,-13.1,288,7186,0.15,2.65,0.00,0.000,6,0.117,0.041,2478,1785,3498,0,0,0,0,0,0
$GC,7447,-1.73,-97.3,834.3,-9.9,295,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1785,3497,0,0,0,0,0,0
$GC,7689,-1.73,-97.3,857.7,-9.6,301,7693,0.00,2.78,0.00,0.000,4,0.000,0.069,2478,204,3497,0,0,0,0,0,0
$GC,7708,-1.73,-97.3,859.7,-10.1,301,7712,0.00,2.62,0.00,0.000,6,0.000,0.041,2478,1781,3496,0,0,0,0,0,0
$GC,7973,-1.73,-97.3,883.5,-9.0,308,7978,0.00,2.75,0.00,0.000,4,0.000,0.068,2478,211,3495,0,0,0,0,0,0
$GC,7992,-1.73,-97.3,885.7,-9.9,308,7997,0.00,2.62,0.00,0.000,6,0.000,0.041,2478,1781,3495,0,0,0,0,0,0
$STATE,8172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8172,begin apogee
$GC,8178,-0.31,0.0,903.2,9.6,313,8265,1.40,0.00,82.18,1.183,6,0.081,0.000,2790,1672,3120,0,0,0,0,0,0
$STATE,8265,end apogee,CONTROL_FINISHED_OK
$STATE,8265,begin climb
$GC,8270,1.48,97.3,905.3,0.0,315,8363,1.65,0.00,89.38,1.160,6,0.027,0.000,3189,1672,2723,0,0,0,0,0,0
$GC,8579,1.20,139.4,894.8,7.1,323,8625,0.30,2.72,38.92,1.125,4,0.126,0.074,3126,183,2551,0,0,0,0,0,0
$GC,8652,0.93,147.6,889.5,9.4,324,8673,0.30,2.53,9.07,0.967,6,0.116,0.038,3068,1675,2517,0,0,0,0,0,0
$GC,8914,0.98,184.4,869.4,7.5,331,8957,0.00,2.72,34.80,1.113,4,0.000,0.070,3067,183,2367,0,0,0,0,0,0
$GC,9079,0.98,184.4,852.9,11.4,334,9083,0.00,2.50,0.00,0.000,6,0.000,0.038,3067,1665,2363,0,0,0,0,0,0
$GC,9338,0.99,193.8,828.8,9.4,341,9354,0.00,2.85,9.12,0.956,4,0.000,0.067,3067,3267,2329,0,0,0,0,0,0
$GC,9371,1.01,212.5,825.9,8.7,341,9396,0.00,2.72,18.95,1.049,6,0.000,0.041,3067,1674,2253,0,0,0,0,0,0
$GC,9675,1.01,212.5,793.7,10.9,349,9679,0.00,2.70,0.00,0.000,4,0.000,0.081,3067,169,2248,0,0,0,0,0,0
$GC,9756,1.01,212.5,783.4,13.4,350,9760,0.00,2.53,0.00,0.000,6,0.000,0.039,3067,1668,2247,0,0,0,0,0,0
$GC,10005,1.08,212.5,755.0,11.3,356,10013,0.12,2.83,0.00,0.000,4,0.071,0.069,3115,3274,2246,0,0,0,0,0,0
$GC,10022,1.08,212.5,752.6,13.2,356,10027,0.00,2.72,0.00,0.000,6,0.000,0.040,3115,1664,2245,0,0,0,0,0,0
$GC,10293,1.08,212.5,716.6,13.5,363,10297,0.00,2.67,0.00,0.000,4,0.000,0.080,3115,168,2245,0,0,0,0,0,0
$GC,10344,0.94,212.5,708.6,15.1,364,10349,0.22,2.50,0.00,0.000,6,0.114,0.039,3069,1660,2244,0,0,0,0,0,0
$GC,10623,1.02,212.5,678.4,10.3,371,10627,0.00,2.65,0.00,0.000,4,0.000,0.069,3069,164,2244,0,0,0,0,0,0
$GC,10662,1.02,212.5,674.1,10.9,371,10667,0.00,2.47,0.00,0.000,6,0.000,0.037,3069,1654,2243,0,0,0,0,0,0
$GC,10912,1.10,221.9,650.1,9.4,378,10928,0.12,2.85,8.45,0.871,4,0.070,0.065,3119,3266,2214,0,0,0,0,0,0
$GC,10934,1.10,221.9,647.7,11.1,378,10939,0.00,2.75,0.00,0.000,6,0.000,0.038,3119,1650,2214,0,0,0,0,0,0
$GC,11200,1.10,221.9,617.3,11.5,385,11204,0.00,2.60,0.00,0.000,4,0.000,0.076,3119,168,2212,0,0,0,0,0,0
$GC,11326,0.98,221.9,600.6,13.2,387,11331,0.22,2.47,0.00,0.000,6,0.117,0.035,3075,1660,2212,0,0,0,0,0,0
$GC,11578,1.07,229.0,576.2,9.5,393,11592,0.00,2.65,8.02,0.825,4,0.000,0.065,3075,167,2186,0,0,0,0,0,0
$GC,11677,1.07,229.0,565.0,10.5,395,11681,0.00,2.45,0.00,0.000,6,0.000,0.032,3075,1650,2185,0,0,0,0,0,0
$GC,11957,1.17,234.9,537.7,9.6,402,11970,0.17,2.65,6.95,0.774,4,0.053,0.062,3137,170,2162,0,0,0,0,0,0
$GC,11985,1.04,234.9,534.2,11.3,402,11990,0.25,2.42,0.00,0.000,6,0.124,0.030,3090,1641,2162,0,0,0,0,0,0
$GC,12247,1.04,234.9,506.1,10.7,409,12251,0.00,2.83,0.00,0.000,4,0.000,0.066,3090,3264,2160,0,0,0,0,0,0
$GC,12270,1.11,234.9,503.1,11.2,409,12275,0.00,2.70,0.00,0.000,6,0.000,0.038,3090,1648,2158,0,0,0,0,0,0
$GC,12530,1.18,235.2,476.8,10.0,416,12535,0.12,2.62,0.00,0.000,4,0.065,0.071,3138,160,2158,0,0,0,0,0,0
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$STATE,16762,end climb,SURFACE_DEPTH_REACHED
$STATE,16762,begin surface coast
$FINISH,1.0,1.007689
$STATE,16795,end surface coast,CONTROL_FINISHED_OK
$STATE,16795,begin surface
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$TT8_MAMPS,0.026845
$HUMID,50.90
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,20.60
$XPDR_PINGS,0
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$10V_AH,9.8,69.747
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.300,225.000,363.300,49.025,0.000,30.886,35.788,393.372,0.000,0.000,30.387,1442.176,12304.884,550.845,2290.363,912.195,33.375,1576.171,0.000,2275.043,0.000,0.536,0.000
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$MEM,355436
$DATA_FILE_SIZE,50979,652
$CAP_FILE_SIZE,173708,0
$CFSIZE,260165632,136835072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290111,183007,2247.383,-15801.683,68,1.9,68,10.1