version: 66.06
glider: 148
mission: 9
dive: 622
start: 2 2 111 18 30 8
data:
$ID,148
$MISSION,9
$DIVE,622
$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,-871586.31
$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,21
$R_STBD_OVSHOOT,45
$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
$GPS1,182150,2238.637,-15800.569,54,99.0,73,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-68.1
$GPS2,182914,2238.610,-15800.538,12,1.4,12,10.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,TEN
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,-0.210
$KALMAN_X,-118010.1,-83.5,-36.0,134170.8,190.1
$KALMAN_Y,-243948.1,275.8,141.2,352278.2,-628.7
$MHEAD_RNG_PITCHd_Wd,182.6,99431,-21.8,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-67.50,0.000,2,0.000,0.000,417,1884,3185,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.1,-3.9,9,117,11.05,2.80,-6.80,0.000,4,0.147,0.048,2528,194,3518,0,0,0,0,0,0
$GC,208,-1.39,-97.3,27.9,-19.3,26,217,0.10,2.55,0.00,0.000,6,0.088,0.020,2554,1793,3521,0,0,0,0,0,0
$GC,487,-1.39,-97.3,69.0,-13.4,52,491,0.00,2.53,0.00,0.000,4,0.000,0.028,2554,3369,3522,0,0,0,0,0,0
$GC,507,-1.39,-97.3,72.5,-14.0,53,512,0.00,2.53,0.00,0.000,6,0.000,0.023,2554,1777,3522,0,0,0,0,0,0
$GC,777,-1.39,-97.3,107.5,-11.8,77,781,0.00,2.58,0.00,0.000,4,0.000,0.028,2554,3376,3522,0,0,0,0,0,0
$GC,795,-1.39,-97.3,110.9,-11.7,78,804,0.00,2.55,0.00,0.000,6,0.000,0.022,2554,1789,3523,0,0,0,0,0,0
$GC,1063,-1.47,-97.3,142.8,-11.1,103,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1789,3524,0,0,0,0,0,0
$GC,1326,-1.57,-97.3,171.3,-10.8,128,1331,0.15,2.55,0.00,0.000,4,0.056,0.028,2488,3375,3525,0,0,0,0,0,0
$GC,1363,-1.50,-97.3,176.4,-14.0,131,1368,0.20,2.53,0.00,0.000,6,0.097,0.024,2530,1784,3525,0,0,0,0,0,0
$GC,1644,-1.50,-97.3,209.5,-11.4,151,1649,0.00,2.55,0.00,0.000,4,0.000,0.029,2531,3366,3525,0,0,0,0,0,0
$GC,1658,-1.50,-97.3,211.5,-11.2,151,1663,0.00,2.50,0.00,0.000,6,0.000,0.021,2530,1783,3525,0,0,0,0,0,0
$GC,1927,-1.50,-97.3,239.8,-10.4,158,1931,0.00,2.58,0.00,0.000,4,0.000,0.041,2530,207,3525,0,0,0,0,0,0
$GC,1972,-1.57,-97.3,244.7,-11.6,159,1976,0.00,2.50,0.00,0.000,6,0.000,0.020,2530,1800,3525,0,0,0,0,0,0
$GC,2259,-1.63,-97.3,275.0,-10.5,166,2264,0.12,2.53,0.00,0.000,4,0.065,0.031,2476,3362,3525,0,0,0,0,0,0
$GC,2299,-1.63,-97.3,280.0,-13.8,166,2305,0.12,2.47,0.00,0.000,6,0.112,0.024,2502,1801,3525,0,0,0,0,0,0
$GC,2548,-1.63,-97.3,308.9,-11.4,173,2553,0.00,2.60,0.00,0.000,4,0.000,0.046,2502,214,3525,0,0,0,0,0,0
$GC,2622,-1.63,-97.3,318.2,-12.4,174,2627,0.00,2.50,0.00,0.000,6,0.000,0.022,2502,1787,3525,0,0,0,0,0,0
$GC,2879,-1.63,-97.3,346.4,-10.9,181,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1788,3525,0,0,0,0,0,0
$GC,3120,-1.63,-97.3,375.0,-11.5,187,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1787,3524,0,0,0,0,0,0
$GC,3364,-1.63,-97.3,403.7,-11.8,193,3369,0.00,2.65,0.00,0.000,4,0.000,0.052,2502,217,3523,0,0,0,0,0,0
$GC,3383,-1.63,-97.3,406.2,-12.3,193,3387,0.00,2.53,0.00,0.000,6,0.000,0.025,2502,1794,3523,0,0,0,0,0,0
$GC,3648,-1.63,-97.3,435.8,-11.2,200,3653,0.00,2.70,0.00,0.000,4,0.000,0.055,2502,212,3522,0,0,0,0,0,0
$GC,3718,-1.63,-97.3,444.4,-12.3,201,3723,0.00,2.53,0.00,0.000,6,0.000,0.029,2502,1770,3521,0,0,0,0,0,0
$GC,3977,-1.63,-97.3,472.9,-11.0,208,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1770,3520,0,0,0,0,0,0
$GC,4223,-1.63,-97.3,501.2,-11.6,214,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1770,3518,0,0,0,0,0,0
$GC,4465,-1.63,-97.3,527.4,-10.6,220,4469,0.00,2.67,0.00,0.000,4,0.000,0.064,2502,219,3517,0,0,0,0,0,0
$GC,4508,-1.63,-97.3,532.7,-12.0,221,4512,0.00,2.55,0.00,0.000,6,0.000,0.035,2502,1768,3517,0,0,0,0,0,0
$GC,4797,-1.69,-97.3,563.1,-10.5,228,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1768,3515,0,0,0,0,0,0
$GC,5039,-1.76,-97.3,587.8,-10.2,234,5041,0.10,0.00,0.00,0.000,6,0.081,0.000,2461,1768,3514,0,0,0,0,0,0
$GC,5282,-1.76,-97.3,617.8,-12.7,240,5286,0.00,2.70,0.00,0.000,4,0.000,0.067,2461,221,3512,0,0,0,0,0,0
$GC,5303,-1.68,-97.3,620.5,-14.1,240,5308,0.15,2.58,0.00,0.000,6,0.108,0.036,2493,1778,3512,0,0,0,0,0,0
$GC,5567,-1.68,-97.3,650.0,-10.7,247,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1778,3511,0,0,0,0,0,0
$GC,5812,-1.68,-97.3,673.6,-9.7,253,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1778,3509,0,0,0,0,0,0
$GC,6055,-1.68,-97.3,696.2,-9.4,259,6060,0.00,2.72,0.00,0.000,4,0.000,0.067,2493,221,3508,0,0,0,0,0,0
$GC,6117,-1.68,-97.3,703.1,-12.1,260,6122,0.00,2.58,0.00,0.000,6,0.000,0.038,2493,1770,3507,0,0,0,0,0,0
$GC,6386,-1.68,-97.3,732.1,-11.0,267,6390,0.00,2.72,0.00,0.000,4,0.000,0.067,2493,214,3505,0,0,0,0,0,0
$GC,6400,-1.68,-97.3,733.7,-11.0,267,6404,0.00,2.58,0.00,0.000,6,0.000,0.036,2492,1770,3505,0,0,0,0,0,0
$GC,6671,-1.75,-97.3,762.9,-10.9,274,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1770,3504,0,0,0,0,0,0
$GC,6912,-1.81,-97.3,788.0,-10.3,280,6917,0.12,2.72,0.00,0.000,4,0.069,0.067,2447,221,3502,0,0,0,0,0,0
$GC,6946,-1.72,-97.3,792.4,-13.4,280,6952,0.17,2.58,0.00,0.000,6,0.105,0.039,2483,1761,3501,0,0,0,0,0,0
$GC,7198,-1.72,-97.3,818.2,-10.0,286,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1761,3501,0,0,0,0,0,0
$GC,7440,-1.72,-97.3,841.7,-9.7,292,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1761,3500,0,0,0,0,0,0
$GC,7684,-1.72,-97.3,865.8,-9.8,298,7688,0.00,2.67,0.00,0.000,4,0.000,0.068,2483,221,3498,0,0,0,0,0,0
$GC,7704,-1.72,-97.3,867.6,-10.0,298,7708,0.00,2.55,0.00,0.000,6,0.000,0.039,2483,1763,3498,0,0,0,0,0,0
$GC,7972,-1.72,-97.3,894.5,-9.9,305,7977,0.00,2.70,0.00,0.000,4,0.000,0.067,2483,213,3497,0,0,0,0,0,0
$GC,7996,-1.72,-97.3,897.1,-11.6,305,8000,0.00,2.58,0.00,0.000,6,0.000,0.040,2483,1760,3497,0,0,0,0,0,0
$STATE,8049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8049,begin apogee
$GC,8057,-0.31,0.0,902.5,9.9,307,8144,1.40,0.00,82.88,1.176,6,0.084,0.000,2791,1682,3120,0,0,0,0,0,0
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8147,1.48,97.3,904.7,0.0,309,8249,1.60,2.78,88.10,1.155,4,0.026,0.071,3189,181,2722,0,0,0,0,0,0
$GC,8513,1.03,117.1,883.6,8.6,317,8538,0.52,2.50,18.38,1.070,6,0.130,0.033,3088,1685,2642,0,0,0,0,0,0
$GC,8801,1.07,150.0,862.2,7.7,324,8837,0.00,2.75,31.38,1.102,4,0.000,0.068,3088,181,2508,0,0,0,0,0,0
$GC,9014,0.92,150.0,840.1,11.1,327,9020,0.12,2.50,0.00,0.000,6,0.140,0.035,3065,1672,2503,0,0,0,0,0,0
$GC,9264,0.95,174.4,818.9,8.3,333,9293,0.00,2.72,22.90,1.065,4,0.000,0.068,3064,178,2408,0,0,0,0,0,0
$GC,9341,0.95,174.4,811.4,11.3,334,9346,0.00,2.50,0.00,0.000,6,0.000,0.035,3064,1670,2406,0,0,0,0,0,0
$GC,9596,0.96,180.4,786.7,9.6,341,9604,0.00,0.00,6.68,0.863,6,0.000,0.000,3064,1671,2384,0,0,0,0,0,0
$GC,9840,0.96,183.5,762.7,9.8,347,9851,0.00,2.67,4.62,0.733,4,0.000,0.067,3064,177,2370,0,0,0,0,0,0
$GC,9918,0.96,183.5,754.2,11.2,348,9923,0.00,2.47,0.00,0.000,6,0.000,0.035,3064,1666,2369,0,0,0,0,0,0
$GC,10173,0.97,189.5,729.3,9.6,355,10185,0.00,2.67,6.80,0.852,4,0.000,0.067,3064,177,2347,0,0,0,0,0,0
$GC,10221,0.97,189.5,724.4,11.2,356,10225,0.00,2.47,0.00,0.000,6,0.000,0.035,3064,1658,2346,0,0,0,0,0,0
$GC,10508,1.05,201.0,697.3,9.2,363,10528,0.10,2.67,12.52,0.953,4,0.082,0.066,3106,176,2299,0,0,0,0,0,0
$GC,10637,0.92,201.0,682.0,11.7,365,10642,0.22,2.45,0.00,0.000,6,0.116,0.033,3061,1656,2297,0,0,0,0,0,0
$GC,10887,1.02,220.5,659.7,8.7,371,10912,0.00,2.70,18.77,0.972,4,0.000,0.067,3061,168,2221,0,0,0,0,0,0
$GC,10951,1.02,220.5,653.3,10.9,372,10955,0.00,2.50,0.00,0.000,6,0.000,0.034,3061,1656,2220,0,0,0,0,0,0
$GC,11220,1.12,226.8,627.3,9.6,379,11229,0.17,0.00,7.07,0.814,6,0.053,0.000,3125,1657,2195,0,0,0,0,0,0
$GC,11463,1.06,226.8,596.7,12.8,385,11468,0.15,2.60,0.00,0.000,4,0.119,0.064,3094,182,2193,0,0,0,0,0,0
$GC,11484,1.06,226.8,593.9,13.8,385,11489,0.00,2.42,0.00,0.000,6,0.000,0.031,3093,1655,2194,0,0,0,0,0,0
$GC,11752,1.06,226.8,560.9,12.0,392,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1656,2192,0,0,0,0,0,0
$GC,11996,1.06,226.8,532.1,11.8,398,12000,0.00,2.58,0.00,0.000,4,0.000,0.061,3094,177,2192,0,0,0,0,0,0
$GC,12030,1.06,226.8,528.0,12.2,398,12034,0.00,2.40,0.00,0.000,6,0.000,0.028,3093,1649,2192,0,0,0,0,0,0
$GC,12280,1.06,226.8,500.1,11.1,404,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1649,2191,0,0,0,0,0,0
$GC,12524,1.06,226.8,473.9,10.7,410,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1650,2190,0,0,0,0,0,0
$GC,12767,1.06,226.8,448.9,10.1,416,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1650,2190,0,0,0,0,0,0
$GC,13013,1.06,227.3,424.8,10.0,422,13017,0.00,2.53,0.00,0.000,4,0.000,0.058,3094,174,2190,0,0,0,0,0,0
$GC,13050,1.06,227.3,420.3,11.0,422,13056,0.00,2.42,0.00,0.000,6,0.000,0.025,3094,1665,2190,0,0,0,0,0,0
$GC,13300,1.12,227.3,393.9,10.9,429,13301,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1666,2189,0,0,0,0,0,0
$GC,13546,1.19,227.3,368.3,10.4,435,13551,0.10,2.58,0.00,0.000,4,0.081,0.058,3135,179,2189,0,0,0,0,0,0
$GC,13602,1.06,227.3,360.8,13.0,436,13608,0.22,2.38,0.00,0.000,6,0.120,0.025,3091,1660,2189,0,0,0,0,0,0
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$GC,14214,1.14,229.0,293.1,11.8,451,14221,0.30,2.70,0.00,0.000,4,0.111,0.044,3112,3256,2188,0,0,0,0,0,0
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$GC,14791,1.16,239.2,236.1,10.0,465,14795,0.00,2.65,0.00,0.000,4,0.000,0.046,3111,3246,2141,0,0,0,0,0,0
$GC,14838,1.28,244.7,231.3,9.6,466,14851,0.12,2.62,6.32,0.570,6,0.067,0.032,3174,1661,2122,0,0,0,0,0,0
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$STATE,17077,end climb,SURFACE_DEPTH_REACHED
$STATE,17077,begin surface coast
$FINISH,1.1,1.023004
$STATE,17109,end surface coast,CONTROL_FINISHED_OK
$STATE,17109,begin surface
$SM_CCo,17133,58.45,0.415,1,0,1570,380.21
$SM_GC,2.03,0.00,0.00,58.45,0.000,0.000,0.415,407,1821,1570,-11.28,0.88,380.21
$IRIDIUM_FIX,2232.34,-15803.24,280400,131306
$TT8_MAMPS,0.027612
$HUMID,50.78
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,20.90
$XPDR_PINGS,5
$24V_AH,22.8,81.848
$10V_AH,9.8,72.340
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.475,200.825,344.350,58.450,0.000,28.376,35.849,216.070,1.250,0.000,14.263,1478.804,12473.850,507.955,2442.371,731.272,33.380,1570.329,0.000,2434.327,0.000,0.535,0.000
$DEVICE_MAMPS,147.264,79.768,1175.811,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,458.631,337.388,423.972,593.189,1047.451,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,50907,671
$CAP_FILE_SIZE,168898,0
$CFSIZE,260165632,135303168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020211,231807,2236.497,-15800.845,40,1.8,40,10.0