version: 66.06
glider: 148
mission: 10
dive: 217
start: 9 5 111 5 16 16
data:
$ID,148
$MISSION,10
$DIVE,217
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,0
$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,660
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,400
$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,-881485.12
$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,2950
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3015
$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,-11.834597
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,050831,2432.989,-15744.487,36,1.6,36,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.5
$GPS2,051520,2433.080,-15744.498,12,1.8,12,10.4
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.150,0.202
$KALMAN_X,-101076.9,-304.0,31.6,144097.1,-240.0
$KALMAN_Y,18949.9,135.4,38.7,299177.5,1281.1
$MHEAD_RNG_PITCHd_Wd,26.2,55478,-18.2,-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,-1.30,-136.3,0.0,0.0,0,88,0.00,0.00,-67.78,0.000,2,0.000,0.000,407,1957,3162,0,0,0,0,0,0
$GC,92,-1.30,-136.3,3.1,-4.1,9,117,12.35,2.45,-7.43,0.000,4,0.171,0.041,2654,3453,3575,0,0,0,0,0,0
$GC,142,-0.52,-136.3,19.5,-31.2,15,153,0.80,2.55,0.00,0.000,6,0.083,0.022,2833,1868,3576,0,0,0,0,0,0
$GC,425,-0.69,-136.3,48.4,-8.8,45,430,0.15,2.58,0.00,0.000,4,0.054,0.039,2746,286,3577,0,0,0,0,0,0
$GC,448,-0.75,-136.3,51.1,-9.8,46,453,0.17,2.47,0.00,0.000,6,0.101,0.018,2783,1892,3577,0,0,0,0,0,0
$GC,712,-0.75,-136.3,82.9,-10.5,70,716,0.00,2.45,0.00,0.000,4,0.000,0.028,2782,3438,3577,0,0,0,0,0,0
$GC,742,-0.84,-136.3,86.0,-9.9,72,746,0.00,2.45,0.00,0.000,6,0.000,0.020,2780,1868,3578,0,0,0,0,0,0
$GC,1007,-0.96,-136.3,109.5,-7.7,96,1012,0.17,2.53,0.00,0.000,4,0.046,0.038,2678,293,3579,0,0,0,0,0,0
$GC,1059,-0.79,-136.3,116.4,-13.7,100,1070,0.40,2.47,0.00,0.000,6,0.074,0.018,2774,1872,3579,0,0,0,0,0,0
$GC,1330,-0.94,-136.3,134.6,-7.1,125,1335,0.12,2.50,0.00,0.000,4,0.062,0.028,2685,3449,3579,0,0,0,0,0,0
$GC,1366,-0.94,-136.3,138.9,-10.7,128,1371,0.28,2.47,0.00,0.000,6,0.081,0.021,2747,1877,3580,0,0,0,0,0,0
$GC,1631,-1.02,-136.3,164.6,-9.7,152,1636,0.00,2.58,0.00,0.000,4,0.000,0.038,2748,289,3580,0,0,0,0,0,0
$GC,1662,-1.16,-136.3,168.2,-10.2,154,1671,0.17,2.42,0.00,0.000,6,0.021,0.018,2637,1873,3581,0,0,0,0,0,0
$GC,1922,-0.94,-136.3,206.4,-14.1,176,1929,0.45,2.47,0.00,0.000,4,0.083,0.027,2742,3442,3581,0,0,0,0,0,0
$GC,1949,-1.00,-136.3,209.5,-9.8,176,1954,0.00,2.45,0.00,0.000,6,0.000,0.021,2742,1870,3581,0,0,0,0,0,0
$GC,2210,-1.13,-136.3,229.5,-7.9,183,2212,0.15,0.00,0.00,0.000,6,0.053,0.000,2655,1870,3581,0,0,0,0,0,0
$GC,2453,-0.99,-136.3,261.4,-13.6,189,2458,0.32,2.50,0.00,0.000,4,0.084,0.028,2730,3435,3581,0,0,0,0,0,0
$GC,2482,-1.07,-136.3,264.8,-10.2,189,2487,0.00,2.45,0.00,0.000,6,0.000,0.021,2730,1873,3581,0,0,0,0,0,0
$GC,2737,-1.18,-136.3,285.3,-7.8,196,2743,0.15,2.62,0.00,0.000,4,0.054,0.044,2642,300,3581,0,0,0,0,0,0
$GC,2768,-1.04,-136.3,288.9,-12.9,196,2773,0.35,2.42,0.00,0.000,6,0.084,0.019,2720,1865,3581,0,0,0,0,0,0
$GC,3028,-1.13,-136.3,310.4,-7.7,203,3033,0.00,2.58,0.00,0.000,4,0.000,0.043,2721,297,3581,0,0,0,0,0,0
$GC,3054,-1.22,-136.3,312.5,-9.1,203,3059,0.15,2.45,0.00,0.000,6,0.054,0.021,2641,1868,3581,0,0,0,0,0,0
$GC,3315,-1.10,-136.3,341.3,-11.6,210,3321,0.28,2.58,0.00,0.000,4,0.086,0.034,2706,3442,3580,0,0,0,0,0,0
$GC,3340,-1.10,-136.3,344.4,-11.7,210,3344,0.00,2.50,0.00,0.000,6,0.000,0.025,2706,1865,3580,0,0,0,0,0,0
$GC,3604,-1.16,-136.3,370.9,-10.2,217,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1864,3579,0,0,0,0,0,0
$GC,3847,-1.23,-136.3,392.9,-8.6,223,3849,0.10,0.00,0.00,0.000,6,0.076,0.000,2644,1864,3577,0,0,0,0,0,0
$GC,4092,-1.13,-136.3,420.8,-11.8,229,4099,0.25,2.65,0.00,0.000,4,0.086,0.054,2705,289,3576,0,0,0,0,0,0
$GC,4138,-1.24,-136.3,425.9,-10.1,230,4144,0.10,2.53,0.00,0.000,6,0.074,0.026,2645,1869,3575,0,0,0,0,0,0
$GC,4428,-1.16,-136.3,458.8,-11.1,237,4430,0.22,0.00,0.00,0.000,6,0.087,0.000,2695,1870,3574,0,0,0,0,0,0
$GC,4671,-1.22,-136.3,476.8,-6.9,243,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1870,3572,0,0,0,0,0,0
$GC,4915,-1.30,-136.3,492.6,-6.5,249,4920,0.12,2.65,0.00,0.000,4,0.064,0.048,2632,3449,3571,0,0,0,0,0,0
$GC,4930,-1.30,-136.3,494.0,-7.0,249,4935,0.15,2.58,0.00,0.000,6,0.098,0.032,2665,1868,3571,0,0,0,0,0,0
$GC,5200,-1.30,-136.3,520.2,-10.2,256,5205,0.00,2.67,0.00,0.000,4,0.000,0.064,2666,297,3568,0,0,0,0,0,0
$GC,5252,-1.30,-136.3,526.4,-12.0,257,5256,0.00,2.55,0.00,0.000,6,0.000,0.034,2666,1857,3568,0,0,0,0,0,0
$GC,5529,-1.30,-136.3,556.4,-10.5,264,5534,0.00,2.70,0.00,0.000,4,0.000,0.053,2666,3459,3566,0,0,0,0,0,0
$GC,5557,-1.30,-136.3,559.5,-10.4,264,5562,0.00,2.62,0.00,0.000,6,0.000,0.035,2665,1864,3566,0,0,0,0,0,0
$GC,5814,-1.30,-136.3,581.1,-8.2,271,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1863,3564,0,0,0,0,0,0
$GC,6056,-1.30,-136.3,600.5,-8.0,277,6060,0.00,2.75,0.00,0.000,4,0.000,0.071,2666,283,3563,0,0,0,0,0,0
$GC,6103,-1.30,-136.3,604.9,-9.6,278,6107,0.00,2.60,0.00,0.000,6,0.000,0.035,2666,1865,3562,0,0,0,0,0,0
$GC,6389,-1.30,-136.3,630.9,-9.3,285,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1865,3560,0,0,0,0,0,0
$GC,6629,-1.30,-136.3,653.1,-8.9,291,6633,0.00,2.72,0.00,0.000,4,0.000,0.061,2666,3460,3558,0,0,0,0,0,0
$GC,6648,-1.30,-136.3,654.9,-9.5,291,6652,0.00,2.62,0.00,0.000,6,0.000,0.041,2666,1856,3558,0,0,0,0,0,0
$GC,6914,-1.30,-136.3,677.0,-8.4,298,6918,0.00,2.72,0.00,0.000,4,0.000,0.073,2667,283,3556,0,0,0,0,0,0
$GC,6961,-1.30,-136.3,681.5,-9.1,299,6965,0.00,2.60,0.00,0.000,6,0.000,0.036,2666,1861,3556,0,0,0,0,0,0
$GC,7245,-1.30,-136.3,704.6,-8.0,306,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1862,3554,0,0,0,0,0,0
$GC,7491,-1.30,-136.3,725.1,-8.4,312,7495,0.00,2.75,0.00,0.000,4,0.000,0.067,2666,285,3553,0,0,0,0,0,0
$GC,7510,-1.30,-136.3,727.1,-9.1,312,7515,0.00,2.62,0.00,0.000,6,0.000,0.036,2666,1863,3552,0,0,0,0,0,0
$GC,7779,-1.30,-136.3,749.6,-8.4,319,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1863,3551,0,0,0,0,0,0
$GC,8025,-1.30,-136.3,770.4,-8.6,325,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1863,3550,0,0,0,0,0,0
$GC,8267,-1.30,-136.3,791.4,-8.6,331,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1863,3548,0,0,0,0,0,0
$GC,8510,-1.30,-136.3,811.8,-8.4,337,8516,0.00,2.78,0.00,0.000,4,0.000,0.068,2666,290,3548,0,0,0,0,0,0
$GC,8534,-1.30,-136.3,814.0,-10.0,337,8539,0.00,2.58,0.00,0.000,6,0.000,0.036,2666,1862,3547,0,0,0,0,0,0
$GC,8799,-1.30,-136.3,836.2,-8.4,344,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1861,3547,0,0,0,0,0,0
$GC,9045,-1.30,-136.3,856.4,-8.2,350,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1862,3545,0,0,0,0,0,0
$GC,9286,-1.30,-136.3,875.6,-7.7,356,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1862,3544,0,0,0,0,0,0
$GC,9530,-1.30,-136.3,894.4,-7.7,362,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1862,3543,0,0,0,0,0,0
$STATE,9608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9608,begin apogee
$GC,9614,-0.31,0.0,900.7,7.8,364,9732,0.95,0.00,111.80,1.185,6,0.076,0.000,2879,1618,3015,0,0,0,0,0,0
$STATE,9732,end apogee,CONTROL_FINISHED_OK
$STATE,9732,begin climb
$GC,9735,1.30,136.3,904.5,0.0,367,9862,1.48,0.00,122.38,1.160,6,0.035,0.000,3241,1618,2459,0,0,0,0,0,0
$GC,10105,1.03,136.3,876.3,11.5,376,10112,0.30,2.58,0.00,0.000,4,0.107,0.074,3177,183,2449,0,0,0,0,0,0
$GC,10198,0.85,136.3,866.0,10.2,378,10203,0.20,2.40,0.00,0.000,6,0.108,0.032,3136,1630,2448,0,0,0,0,0,0
$GC,10488,0.90,182.4,842.9,7.7,385,10538,0.00,2.78,41.33,1.109,4,0.000,0.054,3136,3223,2268,0,0,0,0,0,0
$GC,10559,0.95,221.1,836.9,8.1,386,10602,0.00,2.70,36.92,1.089,6,0.000,0.040,3136,1645,2113,0,0,0,0,0,0
$GC,10867,1.02,221.3,806.7,10.0,394,10868,0.15,0.00,0.00,0.000,6,0.058,0.000,3190,1645,2105,0,0,0,0,0,0
$GC,11113,0.96,221.3,776.1,12.7,400,11115,0.15,0.00,0.00,0.000,6,0.110,0.000,3159,1645,2103,0,0,0,0,0,0
$GC,11354,0.96,221.3,747.1,11.9,406,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1645,2102,0,0,0,0,0,0
$GC,11597,0.96,221.3,718.6,11.5,412,11602,0.00,2.70,0.00,0.000,4,0.000,0.044,3159,3214,2101,0,0,0,0,0,0
$GC,11635,0.96,221.3,714.4,10.4,412,11640,0.00,2.70,0.00,0.000,6,0.000,0.041,3159,1633,2099,0,0,0,0,0,0
$GC,11891,0.99,246.4,690.8,8.8,419,11915,0.00,0.00,22.35,1.008,6,0.000,0.000,3159,1633,2010,0,0,0,0,0,0
$GC,12175,0.99,246.4,663.6,10.1,426,12180,0.00,2.70,0.00,0.000,4,0.000,0.044,3159,3222,2005,0,0,0,0,0,0
$GC,12193,0.99,246.4,661.5,10.3,426,12198,0.00,2.70,0.00,0.000,6,0.000,0.039,3159,1625,2004,0,0,0,0,0,0
$GC,12458,0.99,246.4,632.6,10.9,433,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1624,2004,0,0,0,0,0,0
$GC,12701,0.99,246.4,607.1,10.4,439,12706,0.00,2.67,0.00,0.000,4,0.000,0.045,3159,3218,2003,0,0,0,0,0,0
$GC,12729,1.00,252.9,604.0,9.7,439,12743,0.00,2.67,6.47,0.791,6,0.000,0.041,3159,1624,1983,0,0,0,0,0,0
$GC,12988,1.01,261.5,578.6,9.6,446,13000,0.00,0.00,9.90,0.864,6,0.000,0.000,3159,1624,1948,0,0,0,0,0,0
$GC,13233,1.10,283.6,556.9,8.9,452,13262,0.12,2.67,22.60,0.928,4,0.069,0.043,3206,3216,1857,0,0,0,0,0,0
$GC,13323,1.10,283.6,546.3,12.9,454,13328,0.00,2.62,0.00,0.000,6,0.000,0.037,3206,1637,1852,0,0,0,0,0,0
$GC,13611,1.10,283.6,508.8,13.3,461,13615,0.00,2.58,0.00,0.000,4,0.000,0.071,3205,168,1852,0,0,0,0,0,0
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$STATE,17992,end climb,SURFACE_DEPTH_REACHED
$STATE,17992,begin surface coast
$FINISH,0.9,1.023267
$STATE,18039,end surface coast,CONTROL_FINISHED_OK
$STATE,18040,begin surface
$SM_CCo,18061,50.78,0.453,1,0,1382,400.08
$SM_GC,1.64,0.00,0.00,50.78,0.000,0.000,0.453,414,1896,1382,-11.67,0.74,400.08
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$HUMID,57.91
$INTERNAL_PRESSURE,9.3597
$TCM_TEMP,23.00
$XPDR_PINGS,5
$24V_AH,23.2,22.290
$10V_AH,10.2,23.281
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.650,195.500,410.125,50.775,0.000,28.514,31.829,185.194,1.250,0.000,13.757,1530.147,13105.886,555.965,2173.735,1153.453,33.376,1609.422,0.000,2575.250,0.000,0.537,0.000
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$SENSOR_SECS,482.904,569.938,654.498,587.859,1104.219,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356048
$DATA_FILE_SIZE,54149,707
$CAP_FILE_SIZE,172039,0
$CFSIZE,260165632,120328192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050911,101936,2436.008,-15742.750,35,1.4,41,10.4