version: 66.06
glider: 148
mission: 9
dive: 624
start: 2 3 111 4 30 0
data:
$ID,148
$MISSION,9
$DIVE,624
$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,-871655.69
$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,29
$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
$GPS1,041536,2234.481,-15800.898,24,1.4,24,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-68.5
$GPS2,042907,2234.493,-15800.775,15,1.2,31,10.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,TEN
$TGT_LATLONG,2145.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.042,-0.211
$KALMAN_X,-117392.9,217.1,46.7,132756.1,213.0
$KALMAN_Y,-243429.2,-33.9,-74.0,344652.2,342.2
$MHEAD_RNG_PITCHd_Wd,181.2,91832,-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,-67.53,0.000,2,0.000,0.000,414,1874,3212,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.2,-4.1,9,118,11.48,2.75,-6.18,0.000,4,0.163,0.048,2529,205,3518,0,0,0,0,0,0
$GC,134,-0.74,-97.3,14.5,-25.7,14,143,0.73,2.53,0.00,0.000,6,0.079,0.019,2692,1797,3519,0,0,0,0,0,0
$GC,435,-1.13,-97.3,37.6,-7.1,54,441,0.30,2.50,0.00,0.000,4,0.030,0.027,2565,3364,3521,0,0,0,0,0,0
$GC,492,-1.13,-97.3,44.8,-13.4,58,501,0.17,2.55,0.00,0.000,6,0.074,0.024,2608,1792,3521,0,0,0,0,0,0
$GC,761,-1.25,-97.3,75.3,-12.3,83,765,0.00,2.55,0.00,0.000,4,0.000,0.028,2608,3372,3521,0,0,0,0,0,0
$GC,784,-1.39,-97.3,79.1,-11.6,84,793,0.17,2.53,0.00,0.000,6,0.025,0.023,2518,1806,3521,0,0,0,0,0,0
$GC,1052,-1.33,-97.3,121.0,-15.8,109,1058,0.25,0.00,0.00,0.000,6,0.093,0.000,2575,1805,3522,0,0,0,0,0,0
$GC,1316,-1.46,-97.3,150.4,-9.9,134,1318,0.15,0.00,0.00,0.000,6,0.057,0.000,2513,1806,3523,0,0,0,0,0,0
$GC,1570,-1.46,-97.3,185.0,-13.7,158,1575,0.12,2.60,0.00,0.000,4,0.114,0.040,2539,205,3523,0,0,0,0,0,0
$GC,1610,-1.53,-97.3,190.6,-12.9,161,1616,0.00,2.53,0.00,0.000,6,0.000,0.019,2539,1824,3524,0,0,0,0,0,0
$GC,1865,-1.53,-97.3,220.6,-12.0,174,1870,0.00,2.65,0.00,0.000,4,0.000,0.039,2539,210,3524,0,0,0,0,0,0
$GC,1917,-1.60,-97.3,227.0,-12.2,175,1922,0.12,2.45,0.00,0.000,6,0.065,0.019,2484,1791,3524,0,0,0,0,0,0
$GC,2195,-1.53,-97.3,261.9,-12.5,182,2197,0.17,0.00,0.00,0.000,6,0.100,0.000,2523,1794,3524,0,0,0,0,0,0
$GC,2441,-1.53,-97.3,289.9,-11.3,188,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1795,3524,0,0,0,0,0,0
$GC,2682,-1.53,-97.3,317.8,-11.3,194,2687,0.00,2.62,0.00,0.000,4,0.000,0.043,2523,208,3524,0,0,0,0,0,0
$GC,2738,-1.60,-97.3,324.9,-12.1,195,2743,0.00,2.47,0.00,0.000,6,0.000,0.021,2523,1785,3524,0,0,0,0,0,0
$GC,3014,-1.66,-97.3,353.7,-10.3,202,3019,0.10,2.65,0.00,0.000,4,0.078,0.047,2472,212,3524,0,0,0,0,0,0
$GC,3065,-1.66,-97.3,360.9,-13.2,203,3070,0.12,2.47,0.00,0.000,6,0.114,0.021,2497,1777,3523,0,0,0,0,0,0
$GC,3345,-1.66,-97.3,393.5,-12.0,210,3350,0.00,2.60,0.00,0.000,4,0.000,0.039,2497,3361,3522,0,0,0,0,0,0
$GC,3364,-1.66,-97.3,396.3,-12.7,210,3368,0.00,2.55,0.00,0.000,6,0.000,0.026,2497,1782,3523,0,0,0,0,0,0
$GC,3628,-1.66,-97.3,426.8,-11.6,217,3632,0.00,2.67,0.00,0.000,4,0.000,0.058,2497,208,3521,0,0,0,0,0,0
$GC,3680,-1.66,-97.3,433.4,-12.1,218,3685,0.00,2.50,0.00,0.000,6,0.000,0.028,2498,1771,3521,0,0,0,0,0,0
$GC,3958,-1.66,-97.3,464.5,-11.1,225,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1771,3519,0,0,0,0,0,0
$GC,4202,-1.66,-97.3,494.5,-12.6,231,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1771,3518,0,0,0,0,0,0
$GC,4445,-1.66,-97.3,524.6,-12.2,237,4450,0.00,2.70,0.00,0.000,4,0.000,0.064,2497,209,3516,0,0,0,0,0,0
$GC,4490,-1.66,-97.3,530.0,-12.2,238,4495,0.00,2.53,0.00,0.000,6,0.000,0.035,2497,1755,3516,0,0,0,0,0,0
$GC,4777,-1.66,-97.3,562.3,-11.1,245,4781,0.00,2.65,0.00,0.000,4,0.000,0.064,2497,217,3514,0,0,0,0,0,0
$GC,4800,-1.66,-97.3,565.4,-12.7,245,4805,0.00,2.55,0.00,0.000,6,0.000,0.035,2497,1767,3514,0,0,0,0,0,0
$GC,5061,-1.66,-97.3,593.6,-10.6,252,5066,0.00,2.75,0.00,0.000,4,0.000,0.058,2497,3377,3512,0,0,0,0,0,0
$GC,5094,-1.66,-97.3,597.4,-10.7,252,5098,0.00,2.65,0.00,0.000,6,0.000,0.036,2497,1769,3512,0,0,0,0,0,0
$GC,5343,-1.66,-97.3,623.2,-10.5,258,5348,0.00,2.75,0.00,0.000,4,0.000,0.073,2497,201,3510,0,0,0,0,0,0
$GC,5392,-1.66,-97.3,629.1,-11.9,259,5397,0.00,2.58,0.00,0.000,6,0.000,0.037,2497,1767,3509,0,0,0,0,0,0
$GC,5675,-1.66,-97.3,659.6,-10.5,266,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1768,3507,0,0,0,0,0,0
$GC,5918,-1.66,-97.3,682.9,-9.4,272,5923,0.00,2.75,0.00,0.000,4,0.000,0.068,2497,201,3506,0,0,0,0,0,0
$GC,5939,-1.66,-97.3,684.9,-10.4,272,5944,0.00,2.60,0.00,0.000,6,0.000,0.037,2497,1770,3506,0,0,0,0,0,0
$GC,6203,-1.73,-97.3,709.0,-9.1,279,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1772,3504,0,0,0,0,0,0
$GC,6449,-1.80,-97.3,732.3,-9.6,285,6456,0.12,2.75,0.00,0.000,4,0.067,0.071,2448,207,3502,0,0,0,0,0,0
$GC,6468,-1.80,-97.3,734.8,-12.1,285,6472,0.00,2.60,0.00,0.000,6,0.000,0.038,2448,1770,3502,0,0,0,0,0,0
$GC,6737,-1.73,-97.3,768.0,-12.3,292,6744,0.15,2.75,0.00,0.000,4,0.110,0.069,2480,211,3500,0,0,0,0,0,0
$GC,6753,-1.73,-97.3,770.2,-12.5,292,6758,0.00,2.58,0.00,0.000,6,0.000,0.039,2480,1754,3500,0,0,0,0,0,0
$GC,7024,-1.73,-97.3,799.8,-11.1,299,7028,0.00,2.72,0.00,0.000,4,0.000,0.069,2480,204,3499,0,0,0,0,0,0
$GC,7043,-1.73,-97.3,802.4,-12.3,299,7047,0.00,2.60,0.00,0.000,6,0.000,0.041,2480,1758,3499,0,0,0,0,0,0
$GC,7306,-1.73,-97.3,831.9,-11.2,306,7311,0.00,2.72,0.00,0.000,4,0.000,0.070,2480,208,3497,0,0,0,0,0,0
$GC,7327,-1.73,-97.3,834.5,-11.8,306,7331,0.00,2.58,0.00,0.000,6,0.000,0.041,2480,1756,3497,0,0,0,0,0,0
$GC,7591,-1.73,-97.3,863.9,-11.0,313,7595,0.00,2.72,0.00,0.000,4,0.000,0.070,2480,206,3496,0,0,0,0,0,0
$GC,7614,-1.73,-97.3,866.7,-12.4,313,7618,0.00,2.60,0.00,0.000,6,0.000,0.041,2480,1756,3496,0,0,0,0,0,0
$GC,7875,-1.73,-97.3,892.1,-9.7,320,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1757,3495,0,0,0,0,0,0
$STATE,7992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7992,begin apogee
$GC,7999,-0.31,0.0,903.2,9.2,323,8084,1.40,0.00,81.93,1.174,6,0.084,0.000,2789,1665,3120,0,0,0,0,0,0
$STATE,8085,end apogee,CONTROL_FINISHED_OK
$STATE,8085,begin climb
$GC,8088,1.48,97.3,904.6,0.0,325,8181,1.65,0.00,88.85,1.150,6,0.027,0.000,3186,1665,2723,0,0,0,0,0,0
$GC,8401,1.18,112.9,888.8,8.9,333,8422,0.32,2.88,14.60,1.043,4,0.125,0.060,3119,3269,2658,0,0,0,0,0,0
$GC,8433,1.10,147.6,886.1,7.6,333,8473,0.00,2.65,33.53,1.104,6,0.000,0.037,3119,1694,2517,0,0,0,0,0,0
$GC,8736,0.99,147.6,855.9,10.3,341,8744,0.20,2.75,0.00,0.000,4,0.118,0.079,3079,168,2510,0,0,0,0,0,0
$GC,8869,0.87,151.5,841.8,9.7,343,8876,0.15,2.53,0.00,0.000,6,0.131,0.036,3051,1677,2508,0,0,0,0,0,0
$GC,9122,0.99,189.5,822.9,7.4,350,9167,0.10,2.78,38.38,1.090,4,0.081,0.071,3091,177,2347,0,0,0,0,0,0
$GC,9279,0.87,189.5,805.5,11.4,353,9284,0.20,2.50,0.00,0.000,6,0.116,0.037,3052,1664,2343,0,0,0,0,0,0
$GC,9546,0.97,199.7,780.5,9.3,360,9562,0.00,2.75,9.95,0.946,4,0.000,0.070,3052,168,2305,0,0,0,0,0,0
$GC,9576,0.97,199.7,776.9,11.1,360,9580,0.00,2.50,0.00,0.000,6,0.000,0.036,3052,1664,2304,0,0,0,0,0,0
$GC,9833,1.07,199.7,751.0,10.3,367,9835,0.17,0.00,0.00,0.000,6,0.053,0.000,3118,1665,2301,0,0,0,0,0,0
$GC,10075,0.99,199.7,720.7,12.5,373,10080,0.20,2.65,0.00,0.000,4,0.113,0.067,3078,170,2300,0,0,0,0,0,0
$GC,10099,0.99,199.7,717.5,12.3,373,10103,0.00,2.47,0.00,0.000,6,0.000,0.036,3078,1660,2300,0,0,0,0,0,0
$GC,10360,0.99,199.7,689.3,10.9,380,10364,0.00,2.65,0.00,0.000,4,0.000,0.069,3078,161,2299,0,0,0,0,0,0
$GC,10443,0.99,199.7,678.4,13.0,381,10449,0.00,2.50,0.00,0.000,6,0.000,0.035,3078,1660,2299,0,0,0,0,0,0
$GC,10693,0.99,199.7,651.6,10.6,388,10697,0.00,2.62,0.00,0.000,4,0.000,0.067,3078,170,2298,0,0,0,0,0,0
$GC,10741,0.99,199.7,646.1,12.0,389,10745,0.00,2.47,0.00,0.000,6,0.000,0.035,3078,1659,2299,0,0,0,0,0,0
$GC,11023,1.00,206.3,618.1,9.5,396,11031,0.00,0.00,6.38,0.792,6,0.000,0.000,3078,1660,2278,0,0,0,0,0,0
$GC,11267,1.01,213.7,594.7,9.5,402,11282,0.00,2.65,8.48,0.844,4,0.000,0.065,3078,165,2248,0,0,0,0,0,0
$GC,11299,1.01,213.7,591.5,10.1,402,11303,0.00,2.47,0.00,0.000,6,0.000,0.031,3078,1653,2247,0,0,0,0,0,0
$GC,11553,1.01,215.5,565.9,9.9,409,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1653,2245,0,0,0,0,0,0
$GC,11798,1.08,217.0,542.0,9.9,415,11807,0.00,2.62,4.10,0.613,4,0.000,0.062,3078,164,2234,0,0,0,0,0,0
$GC,11823,1.08,217.0,539.2,11.5,415,11827,0.00,2.45,0.00,0.000,6,0.000,0.028,3078,1654,2235,0,0,0,0,0,0
$GC,12083,1.16,226.5,513.7,9.3,422,12100,0.15,2.83,10.60,0.832,4,0.061,0.060,3140,3259,2196,0,0,0,0,0,0
$GC,12112,1.09,226.5,510.7,10.3,422,12119,0.20,2.75,0.00,0.000,6,0.114,0.037,3100,1638,2194,0,0,0,0,0,0
$GC,12374,1.09,226.5,483.4,10.6,429,12378,0.00,2.60,0.00,0.000,4,0.000,0.074,3099,166,2194,0,0,0,0,0,0
$GC,12420,1.09,226.5,477.7,12.2,430,12424,0.00,2.42,0.00,0.000,6,0.000,0.026,3100,1658,2193,0,0,0,0,0,0
$GC,12704,1.09,226.5,448.0,10.6,437,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1658,2192,0,0,0,0,0,0
$GC,12946,1.09,226.5,423.1,10.0,443,12947,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1658,2192,0,0,0,0,0,0
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$STATE,16837,end climb,SURFACE_DEPTH_REACHED
$STATE,16838,begin surface coast
$FINISH,1.1,1.013008
$STATE,16882,end surface coast,CONTROL_FINISHED_OK
$STATE,16883,begin surface
$SM_CCo,16904,53.25,0.066,0,0,1570,380.21
$SM_GC,1.94,0.00,0.00,53.25,0.000,0.000,0.066,415,1823,1570,-11.25,0.96,380.21
$IRIDIUM_FIX,2225.34,-15801.95,290400,040458
$TT8_MAMPS,0.026845
$HUMID,51.02
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,21.00
$XPDR_PINGS,1
$24V_AH,22.9,82.118
$10V_AH,9.8,72.594
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.225,208.650,338.800,53.250,0.000,84.337,106.083,300.632,0.250,0.000,33.269,1474.643,12380.933,528.116,2424.103,950.502,33.382,1543.170,0.000,2399.112,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,461.747,347.146,429.159,628.670,1112.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,51039,676
$CAP_FILE_SIZE,172416,0
$CFSIZE,260165632,135151616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030211,091400,2232.430,-15800.624,41,1.1,41,10.0