version: 66.06
glider: 148
mission: 9
dive: 637
start: 2 5 111 19 49 49
data:
$ID,148
$MISSION,9
$DIVE,637
$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,-871886.25
$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,48
$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
$GPS1,194130,2212.138,-15807.094,36,1.5,41,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-68.2
$GPS2,194855,2212.171,-15807.096,8,1.7,13,10.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,TEN
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.036,-0.212
$KALMAN_X,-117630.7,-71.9,-36.2,122497.2,-859.0
$KALMAN_Y,-236268.4,185.7,-15.1,295876.7,711.3
$MHEAD_RNG_PITCHd_Wd,160.3,49503,-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,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,-67.22,0.000,2,0.000,0.000,410,1851,3185,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.1,-2.5,9,118,11.25,2.75,-6.78,0.000,4,0.153,0.049,2529,190,3520,0,0,0,0,0,0
$GC,215,-1.40,-97.3,30.8,-18.5,27,220,0.12,2.50,0.00,0.000,6,0.120,0.019,2554,1792,3522,0,0,0,0,0,0
$GC,484,-1.40,-97.3,73.5,-14.2,51,489,0.00,2.50,0.00,0.000,4,0.000,0.028,2554,3367,3523,0,0,0,0,0,0
$GC,516,-1.40,-97.3,78.8,-14.3,53,521,0.00,2.55,0.00,0.000,6,0.000,0.023,2554,1774,3523,0,0,0,0,0,0
$GC,784,-1.40,-97.3,117.0,-14.5,77,788,0.00,2.58,0.00,0.000,4,0.000,0.028,2554,3370,3524,0,0,0,0,0,0
$GC,824,-1.47,-97.3,123.6,-13.4,80,833,0.00,2.55,0.00,0.000,6,0.000,0.024,2554,1793,3524,0,0,0,0,0,0
$GC,1086,-1.54,-97.3,153.6,-10.1,105,1092,0.12,2.58,0.00,0.000,4,0.064,0.038,2494,208,3525,0,0,0,0,0,0
$GC,1140,-1.44,-97.3,160.9,-14.2,109,1146,0.22,2.47,0.00,0.000,6,0.100,0.018,2542,1815,3525,0,0,0,0,0,0
$GC,1402,-1.44,-97.3,191.5,-11.9,134,1406,0.00,2.42,0.00,0.000,4,0.000,0.028,2543,3357,3526,0,0,0,0,0,0
$GC,1443,-1.52,-97.3,196.4,-11.8,137,1448,0.00,2.50,0.00,0.000,6,0.000,0.022,2543,1791,3526,0,0,0,0,0,0
$GC,1725,-1.59,-97.3,231.8,-13.1,147,1730,0.12,2.55,0.00,0.000,4,0.064,0.029,2482,3363,3527,0,0,0,0,0,0
$GC,1771,-1.52,-97.3,238.6,-15.9,148,1776,0.20,2.47,0.00,0.000,6,0.095,0.023,2526,1809,3527,0,0,0,0,0,0
$GC,2061,-1.52,-97.3,276.9,-12.8,155,2065,0.00,2.60,0.00,0.000,4,0.000,0.041,2526,211,3527,0,0,0,0,0,0
$GC,2093,-1.52,-97.3,281.3,-12.8,155,2098,0.00,2.50,0.00,0.000,6,0.000,0.020,2526,1805,3527,0,0,0,0,0,0
$GC,2345,-1.52,-97.3,309.7,-11.1,161,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1808,3527,0,0,0,0,0,0
$GC,2587,-1.59,-97.3,335.9,-10.5,167,2591,0.00,2.65,0.00,0.000,4,0.000,0.044,2526,215,3527,0,0,0,0,0,0
$GC,2652,-1.67,-97.3,343.5,-11.2,168,2657,0.12,2.47,0.00,0.000,6,0.064,0.021,2470,1799,3527,0,0,0,0,0,0
$GC,2919,-1.60,-97.3,376.7,-12.8,175,2926,0.20,2.67,0.00,0.000,4,0.096,0.048,2513,215,3527,0,0,0,0,0,0
$GC,2950,-1.60,-97.3,381.0,-13.0,175,2954,0.00,2.53,0.00,0.000,6,0.000,0.023,2513,1802,3527,0,0,0,0,0,0
$GC,3204,-1.60,-97.3,410.6,-11.8,182,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1803,3526,0,0,0,0,0,0
$GC,3450,-1.60,-97.3,437.9,-11.2,188,3454,0.00,2.70,0.00,0.000,4,0.000,0.056,2513,218,3524,0,0,0,0,0,0
$GC,3497,-1.67,-97.3,443.7,-11.7,189,3501,0.00,2.53,0.00,0.000,6,0.000,0.028,2513,1794,3524,0,0,0,0,0,0
$GC,3779,-1.75,-97.3,472.5,-10.2,196,3786,0.15,2.75,0.00,0.000,4,0.059,0.061,2457,211,3523,0,0,0,0,0,0
$GC,3798,-1.75,-97.3,474.5,-10.9,196,3803,0.00,2.55,0.00,0.000,6,0.000,0.030,2457,1794,3522,0,0,0,0,0,0
$GC,4067,-1.68,-97.3,508.3,-12.5,203,4074,0.17,2.75,0.00,0.000,4,0.102,0.062,2494,217,3521,0,0,0,0,0,0
$GC,4113,-1.68,-97.3,513.9,-12.6,204,4117,0.00,2.58,0.00,0.000,6,0.000,0.035,2494,1786,3521,0,0,0,0,0,0
$GC,4401,-1.68,-97.3,544.2,-10.3,211,4406,0.00,2.67,0.00,0.000,4,0.000,0.052,2494,3373,3519,0,0,0,0,0,0
$GC,4415,-1.68,-97.3,546.0,-10.5,211,4420,0.00,2.60,0.00,0.000,6,0.000,0.034,2494,1797,3519,0,0,0,0,0,0
$GC,4686,-1.68,-97.3,573.3,-10.2,218,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1796,3517,0,0,0,0,0,0
$GC,4927,-1.68,-97.3,600.1,-11.1,224,4932,0.00,2.78,0.00,0.000,4,0.000,0.071,2494,206,3515,0,0,0,0,0,0
$GC,4951,-1.68,-97.3,602.9,-12.9,224,4955,0.00,2.58,0.00,0.000,6,0.000,0.036,2494,1785,3514,0,0,0,0,0,0
$GC,5210,-1.68,-97.3,631.9,-11.2,231,5214,0.00,2.75,0.00,0.000,4,0.000,0.067,2494,211,3513,0,0,0,0,0,0
$GC,5249,-1.68,-97.3,636.7,-12.8,231,5255,0.00,2.60,0.00,0.000,6,0.000,0.038,2494,1779,3512,0,0,0,0,0,0
$GC,5499,-1.68,-97.3,665.5,-11.3,238,5503,0.00,2.75,0.00,0.000,4,0.000,0.061,2494,3381,3511,0,0,0,0,0,0
$GC,5513,-1.68,-97.3,667.2,-10.5,238,5518,0.00,2.67,0.00,0.000,6,0.000,0.038,2494,1777,3511,0,0,0,0,0,0
$GC,5783,-1.68,-97.3,695.4,-10.6,245,5788,0.00,2.75,0.00,0.000,4,0.000,0.074,2494,210,3509,0,0,0,0,0,0
$GC,5802,-1.68,-97.3,697.8,-10.8,245,5806,0.00,2.60,0.00,0.000,6,0.000,0.037,2494,1782,3509,0,0,0,0,0,0
$GC,6066,-1.74,-97.3,725.4,-10.5,252,6071,0.00,2.78,0.00,0.000,4,0.000,0.069,2494,202,3507,0,0,0,0,0,0
$GC,6085,-1.74,-97.3,727.9,-12.1,252,6089,0.00,2.62,0.00,0.000,6,0.000,0.038,2494,1782,3507,0,0,0,0,0,0
$GC,6351,-1.80,-97.3,757.9,-11.4,259,6353,0.12,0.00,0.00,0.000,6,0.070,0.000,2449,1782,3506,0,0,0,0,0,0
$GC,6592,-1.80,-97.3,788.6,-12.6,265,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1782,3504,0,0,0,0,0,0
$GC,6836,-1.80,-97.3,817.5,-11.8,271,6840,0.00,2.78,0.00,0.000,4,0.000,0.070,2449,205,3502,0,0,0,0,0,0
$GC,6903,-1.71,-97.3,826.1,-12.9,272,6909,0.17,2.62,0.00,0.000,6,0.107,0.039,2484,1780,3502,0,0,0,0,0,0
$GC,7170,-1.71,-97.3,853.3,-9.9,279,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1780,3501,0,0,0,0,0,0
$GC,7414,-1.71,-97.3,876.6,-9.6,285,7418,0.00,2.78,0.00,0.000,4,0.000,0.071,2484,204,3499,0,0,0,0,0,0
$GC,7472,-1.71,-97.3,882.5,-11.1,286,7476,0.00,2.60,0.00,0.000,6,0.000,0.040,2484,1772,3499,0,0,0,0,0,0
$STATE,7702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7702,begin apogee
$GC,7708,-0.31,0.0,903.6,8.9,292,7795,1.40,0.00,83.20,1.174,6,0.086,0.000,2792,1668,3119,0,0,0,0,0,0
$STATE,7796,end apogee,CONTROL_FINISHED_OK
$STATE,7796,begin climb
$GC,7800,1.48,97.3,905.3,0.0,294,7895,1.60,0.00,88.20,1.153,6,0.024,0.000,3185,1668,2722,0,0,0,0,0,0
$GC,8127,1.18,115.3,889.1,8.8,302,8153,0.30,2.67,16.73,1.060,4,0.123,0.071,3123,183,2649,0,0,0,0,0,0
$GC,8238,0.91,119.1,878.7,9.7,304,8251,0.30,2.50,4.75,0.762,6,0.116,0.034,3062,1677,2634,0,0,0,0,0,0
$GC,8513,0.97,169.9,860.2,6.5,311,8568,0.00,2.70,48.15,1.121,4,0.000,0.068,3062,182,2426,0,0,0,0,0,0
$GC,8615,0.91,169.9,851.6,10.4,313,8619,0.00,2.50,0.00,0.000,6,0.000,0.036,3062,1665,2423,0,0,0,0,0,0
$GC,8885,0.92,178.4,826.7,9.4,320,8901,0.00,2.67,8.45,0.935,4,0.000,0.068,3062,174,2392,0,0,0,0,0,0
$GC,8952,0.92,178.4,818.8,11.9,321,8956,0.00,2.47,0.00,0.000,6,0.000,0.036,3061,1661,2390,0,0,0,0,0,0
$GC,9220,0.92,180.1,792.0,9.9,328,9225,0.00,2.62,0.00,0.000,4,0.000,0.068,3062,181,2389,0,0,0,0,0,0
$GC,9315,0.92,180.1,782.0,10.2,330,9319,0.00,2.45,0.00,0.000,6,0.000,0.036,3061,1657,2388,0,0,0,0,0,0
$GC,9597,0.94,196.8,756.8,8.9,337,9617,0.00,0.00,18.17,1.024,6,0.000,0.000,3062,1657,2317,0,0,0,0,0,0
$GC,9843,0.95,209.2,734.6,9.1,343,9863,0.00,2.67,12.62,0.969,4,0.000,0.067,3062,181,2266,0,0,0,0,0,0
$GC,9905,0.95,209.2,727.9,11.1,344,9909,0.00,2.47,0.00,0.000,6,0.000,0.036,3062,1652,2265,0,0,0,0,0,0
$GC,10173,1.03,209.8,701.6,10.0,351,10178,0.10,2.62,0.00,0.000,4,0.082,0.067,3106,178,2262,0,0,0,0,0,0
$GC,10195,1.03,209.8,699.0,12.1,351,10200,0.10,2.45,0.00,0.000,6,0.137,0.035,3086,1652,2262,0,0,0,0,0,0
$GC,10459,1.03,209.8,668.3,11.6,358,10464,0.00,2.60,0.00,0.000,4,0.000,0.067,3086,177,2261,0,0,0,0,0,0
$GC,10511,0.96,209.8,661.7,13.0,359,10515,0.00,2.45,0.00,0.000,6,0.000,0.035,3086,1650,2261,0,0,0,0,0,0
$GC,10790,0.96,209.8,631.4,10.6,366,10794,0.00,2.60,0.00,0.000,4,0.000,0.066,3086,173,2260,0,0,0,0,0,0
$GC,10827,0.89,209.8,626.7,12.2,366,10836,0.12,2.42,0.00,0.000,6,0.104,0.033,3057,1642,2260,0,0,0,0,0,0
$GC,11080,1.01,225.7,604.0,8.9,373,11102,0.10,2.65,15.80,0.929,4,0.082,0.066,3106,176,2199,0,0,0,0,0,0
$GC,11132,0.91,225.7,597.8,13.5,374,11137,0.22,2.45,0.00,0.000,6,0.114,0.034,3061,1642,2197,0,0,0,0,0,0
$GC,11413,1.01,226.7,569.8,9.9,381,11418,0.00,2.83,0.00,0.000,4,0.000,0.060,3061,3270,2195,0,0,0,0,0,0
$GC,11460,1.17,226.7,564.7,10.3,382,11468,0.22,2.72,0.00,0.000,6,0.041,0.036,3152,1652,2194,0,0,0,0,0,0
$GC,11746,1.05,226.7,526.0,13.6,389,11753,0.28,2.60,0.00,0.000,4,0.110,0.072,3092,173,2194,0,0,0,0,0,0
$GC,11779,1.05,226.7,522.1,12.4,389,11783,0.00,2.40,0.00,0.000,6,0.000,0.029,3092,1646,2193,0,0,0,0,0,0
$GC,12038,1.05,228.1,495.5,9.9,396,12042,0.00,2.58,0.00,0.000,4,0.000,0.062,3091,167,2193,0,0,0,0,0,0
$GC,12070,1.05,228.1,492.3,10.2,396,12075,0.00,2.40,0.00,0.000,6,0.000,0.027,3091,1643,2194,0,0,0,0,0,0
$GC,12322,1.07,241.6,469.8,9.1,402,12340,0.00,0.00,15.98,0.848,6,0.000,0.000,3092,1643,2134,0,0,0,0,0,0
$GC,12564,1.07,244.9,446.3,9.8,408,12572,0.00,0.00,4.10,0.577,6,0.000,0.000,3091,1643,2121,0,0,0,0,0,0
$GC,12857,1.14,244.9,414.9,11.1,415,12861,0.00,2.55,0.00,0.000,4,0.000,0.059,3092,163,2120,0,0,0,0,0,0
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$STATE,16715,end climb,SURFACE_DEPTH_REACHED
$STATE,16715,begin surface coast
$FINISH,1.1,1.012483
$STATE,16762,end surface coast,CONTROL_FINISHED_OK
$STATE,16762,begin surface
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$SM_GC,1.82,0.00,0.00,53.38,0.000,0.000,0.064,416,1882,1570,-11.24,2.60,380.21
$IRIDIUM_FIX,2206.70,-15807.59,010500,151531
$TT8_MAMPS,0.026845
$HUMID,49.88
$INTERNAL_PRESSURE,9.7308
$TCM_TEMP,21.90
$XPDR_PINGS,1
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$10V_AH,9.8,74.151
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.850,217.275,342.375,53.375,0.000,30.710,39.103,207.139,0.250,0.000,15.031,1462.212,12168.688,522.124,2369.978,752.851,33.381,1577.636,0.000,2372.423,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,74.399,1173.510,64.428,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,446.399,334.497,413.522,556.109,980.853,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,51002,654
$CAP_FILE_SIZE,170113,0
$CFSIZE,260165632,134197248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060211,003200,2210.099,-15807.612,52,1.3,52,10.0