version: 66.06
glider: 148
mission: 10
dive: 631
start: 10 4 111 0 41 4
data:
$ID,148
$MISSION,10
$DIVE,631
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,120
$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,-890539.56
$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,2990
$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,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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
$GPS1,003038,2231.504,-15821.509,34,1.7,35,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.8
$GPS2,004007,2231.496,-15821.649,7,1.2,12,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,0.071
$KALMAN_X,-130859.4,1166.6,220.1,35852.8,-4693.3
$KALMAN_Y,-79393.9,639.2,-213.8,11395.1,-1732.9
$MHEAD_RNG_PITCHd_Wd,62.4,44640,-19.8,-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,19,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-74.68,0.000,2,0.000,0.000,407,1744,3345,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.3,-8.2,10,116,12.45,0.00,-1.55,0.000,6,0.170,0.000,2684,1744,3434,0,0,0,0,0,0
$GC,389,-1.16,-116.8,60.5,-17.3,43,394,0.25,2.58,0.00,0.000,4,0.099,0.038,2740,168,3436,0,0,0,0,0,0
$GC,410,-1.00,-116.8,64.0,-15.8,44,415,0.15,2.42,0.00,0.000,6,0.100,0.018,2772,1743,3437,0,0,0,0,0,0
$GC,674,-1.16,-116.8,87.9,-7.0,68,679,0.15,2.47,0.00,0.000,4,0.053,0.026,2679,3294,3438,0,0,0,0,0,0
$GC,739,-1.16,-116.8,94.6,-9.6,73,745,0.25,2.50,0.00,0.000,6,0.083,0.023,2735,1719,3438,0,0,0,0,0,0
$GC,1003,-1.28,-116.8,113.1,-7.5,98,1008,0.10,2.53,0.00,0.000,4,0.074,0.025,2668,3292,3439,0,0,0,0,0,0
$GC,1031,-1.28,-116.8,116.0,-10.0,100,1036,0.17,2.50,0.00,0.000,6,0.092,0.023,2709,1723,3439,0,0,0,0,0,0
$GC,1295,-1.28,-116.8,138.1,-7.7,124,1299,0.00,2.50,0.00,0.000,4,0.000,0.041,2710,179,3439,0,0,0,0,0,0
$GC,1335,-1.37,-116.8,141.4,-9.2,127,1339,0.00,2.38,0.00,0.000,6,0.000,0.017,2710,1742,3439,0,0,0,0,0,0
$GC,1604,-1.45,-116.8,165.9,-10.3,151,1609,0.15,2.55,0.00,0.000,4,0.055,0.041,2641,177,3440,0,0,0,0,0,0
$GC,1644,-1.34,-116.8,170.8,-12.9,154,1649,0.25,2.35,0.00,0.000,6,0.089,0.017,2697,1722,3440,0,0,0,0,0,0
$GC,1914,-1.34,-116.8,195.1,-7.5,178,1919,0.00,2.45,0.00,0.000,4,0.000,0.025,2697,3284,3440,0,0,0,0,0,0
$GC,1953,-1.45,-116.8,198.0,-6.9,181,1958,0.10,2.50,0.00,0.000,6,0.073,0.022,2628,1714,3440,0,0,0,0,0,0
$GC,2225,-1.30,-116.8,226.0,-10.6,189,2230,0.32,2.50,0.00,0.000,4,0.084,0.039,2701,179,3440,0,0,0,0,0,0
$GC,2247,-1.30,-116.8,228.4,-10.4,189,2253,0.00,2.40,0.00,0.000,6,0.000,0.018,2701,1719,3440,0,0,0,0,0,0
$GC,2517,-1.38,-116.8,254.7,-10.6,196,2521,0.00,2.50,0.00,0.000,4,0.000,0.026,2701,3293,3440,0,0,0,0,0,0
$GC,2536,-1.49,-116.8,257.0,-11.4,196,2541,0.15,2.50,0.00,0.000,6,0.052,0.024,2618,1717,3440,0,0,0,0,0,0
$GC,2803,-1.33,-116.8,292.3,-13.3,203,2810,0.38,2.53,0.00,0.000,4,0.086,0.043,2697,175,3440,0,0,0,0,0,0
$GC,2833,-1.40,-116.8,296.2,-10.3,203,2838,0.00,2.40,0.00,0.000,6,0.000,0.019,2697,1714,3440,0,0,0,0,0,0
$GC,3088,-1.51,-116.8,317.3,-8.2,210,3090,0.15,0.00,0.00,0.000,6,0.054,0.000,2624,1718,3439,0,0,0,0,0,0
$GC,3334,-1.39,-116.8,347.7,-13.1,216,3339,0.25,2.58,0.00,0.000,4,0.086,0.047,2685,179,3438,0,0,0,0,0,0
$GC,3373,-1.47,-116.8,352.4,-9.9,216,3378,0.00,2.40,0.00,0.000,6,0.000,0.021,2684,1713,3438,0,0,0,0,0,0
$GC,3624,-1.56,-116.8,376.0,-9.3,223,3630,0.15,2.60,0.00,0.000,4,0.054,0.037,2610,3287,3436,0,0,0,0,0,0
$GC,3640,-1.56,-116.8,377.9,-9.1,223,3646,0.17,2.50,0.00,0.000,6,0.095,0.026,2648,1723,3436,0,0,0,0,0,0
$GC,3914,-1.56,-116.8,404.3,-9.6,230,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1723,3435,0,0,0,0,0,0
$GC,4164,-1.56,-116.8,428.2,-9.7,236,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1723,3433,0,0,0,0,0,0
$GC,4401,-1.56,-116.8,453.2,-10.5,242,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1723,3432,0,0,0,0,0,0
$GC,4645,-1.56,-116.8,479.4,-10.7,248,4650,0.00,2.70,0.00,0.000,4,0.000,0.066,2646,175,3430,0,0,0,0,0,0
$GC,4715,-1.56,-116.8,487.3,-10.6,249,4719,0.00,2.50,0.00,0.000,6,0.000,0.029,2645,1722,3429,0,0,0,0,0,0
$GC,4980,-1.56,-116.8,512.6,-9.5,256,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1722,3428,0,0,0,0,0,0
$GC,5223,-1.56,-116.8,534.3,-8.9,262,5227,0.00,2.67,0.00,0.000,4,0.000,0.065,2640,180,3426,0,0,0,0,0,0
$GC,5237,-1.56,-116.8,535.6,-8.3,262,5242,0.00,2.47,0.00,0.000,6,0.000,0.033,2640,1714,3426,0,0,0,0,0,0
$GC,5508,-1.56,-116.8,558.2,-8.4,269,5513,0.00,2.67,0.00,0.000,4,0.000,0.056,2641,3307,3424,0,0,0,0,0,0
$GC,5546,-1.62,-116.8,561.9,-9.0,269,5552,0.00,2.62,0.00,0.000,6,0.000,0.037,2642,1720,3424,0,0,0,0,0,0
$GC,5796,-1.62,-116.8,584.5,-9.3,276,5802,0.00,2.75,0.00,0.000,4,0.000,0.072,2640,175,3422,0,0,0,0,0,0
$GC,5817,-1.62,-116.8,586.7,-10.0,276,5822,0.00,2.53,0.00,0.000,6,0.000,0.034,2640,1721,3422,0,0,0,0,0,0
$GC,6085,-1.62,-116.8,612.5,-9.6,283,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1720,3420,0,0,0,0,0,0
$GC,6329,-1.62,-116.8,634.6,-8.9,289,6334,0.00,2.72,0.00,0.000,4,0.000,0.068,2643,176,3419,0,0,0,0,0,0
$GC,6359,-1.62,-116.8,637.5,-10.3,289,6363,0.00,2.53,0.00,0.000,6,0.000,0.035,2640,1723,3419,0,0,0,0,0,0
$GC,6618,-1.62,-116.8,658.1,-7.7,296,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1723,3417,0,0,0,0,0,0
$GC,6862,-1.62,-116.8,676.0,-7.4,302,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1723,3415,0,0,0,0,0,0
$GC,7107,-1.62,-116.8,694.0,-7.5,308,7111,0.00,2.75,0.00,0.000,4,0.000,0.065,2641,3312,3413,0,0,0,0,0,0
$GC,7133,-1.62,-116.8,696.2,-8.8,308,7138,0.00,2.70,0.00,0.000,6,0.000,0.040,2642,1709,3413,0,0,0,0,0,0
$GC,7399,-1.62,-116.8,718.9,-8.7,315,7403,0.00,2.70,0.00,0.000,4,0.000,0.050,2643,3308,3412,0,0,0,0,0,0
$GC,7423,-1.62,-116.8,721.0,-9.6,315,7427,0.00,2.65,0.00,0.000,6,0.000,0.039,2641,1717,3412,0,0,0,0,0,0
$GC,7684,-1.62,-116.8,744.6,-9.3,322,7689,0.00,2.72,0.00,0.000,4,0.000,0.077,2647,172,3411,0,0,0,0,0,0
$GC,7698,-1.62,-116.8,746.2,-9.2,322,7703,0.00,2.53,0.00,0.000,6,0.000,0.036,2645,1719,3410,0,0,0,0,0,0
$GC,7967,-1.62,-116.8,770.0,-8.6,329,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1719,3409,0,0,0,0,0,0
$GC,8212,-1.62,-116.8,788.9,-7.8,335,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1719,3408,0,0,0,0,0,0
$GC,8454,-1.62,-116.8,805.7,-6.7,341,8458,0.00,2.72,0.00,0.000,4,0.000,0.064,2644,3308,3407,0,0,0,0,0,0
$GC,8487,-1.70,-116.8,807.9,-6.8,341,8492,0.10,2.67,0.00,0.000,6,0.078,0.040,2594,1709,3407,0,0,0,0,0,0
$GC,8740,-1.59,-116.8,827.9,-8.1,347,8747,0.22,2.70,0.00,0.000,4,0.095,0.074,2631,166,3406,0,0,0,0,0,0
$GC,8771,-1.59,-116.8,830.7,-7.7,347,8775,0.00,2.58,0.00,0.000,6,0.000,0.038,2646,1724,3406,0,0,0,0,0,0
$GC,9025,-1.59,-116.8,847.5,-6.8,354,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1723,3405,0,0,0,0,0,0
$GC,9271,-1.59,-116.8,867.3,-8.4,360,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1723,3404,0,0,0,0,0,0
$GC,9513,-1.59,-116.8,888.6,-8.8,366,9518,0.00,2.72,0.00,0.000,4,0.000,0.071,2593,173,3403,0,0,0,0,0,0
$GC,9541,-1.59,-116.8,891.3,-9.1,366,9546,0.10,2.55,0.00,0.000,6,0.121,0.038,2642,1715,3403,0,0,0,0,0,0
$STATE,9672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9672,begin apogee
$GC,9678,-0.31,0.0,901.9,8.0,370,9779,1.33,0.00,97.12,1.170,6,0.072,0.000,2809,1715,2955,0,0,0,0,0,0
$STATE,9780,end apogee,CONTROL_FINISHED_OK
$STATE,9780,begin climb
$GC,9783,1.38,116.8,905.0,0.0,372,9898,1.83,2.75,106.80,1.145,4,0.021,0.067,3370,166,2477,0,0,0,0,0,0
$GC,10162,0.62,116.8,858.8,17.7,380,10170,1.42,2.55,0.00,0.000,6,0.117,0.036,3127,1703,2468,0,0,0,0,0,0
$GC,10426,0.65,146.5,835.4,8.3,387,10455,0.00,0.00,27.15,1.066,6,0.000,0.000,3120,1703,2357,0,0,0,0,0,0
$GC,10670,0.74,162.1,813.4,9.1,393,10691,0.12,2.80,15.05,1.006,4,0.067,0.064,3164,3284,2294,0,0,0,0,0,0
$GC,10712,0.74,162.1,808.9,10.0,394,10716,0.00,2.67,0.00,0.000,6,0.000,0.035,3141,1701,2292,0,0,0,0,0,0
$GC,10998,0.74,162.1,778.3,10.6,401,11003,0.00,2.72,0.00,0.000,4,0.000,0.052,3136,3294,2290,0,0,0,0,0,0
$GC,11049,0.74,162.1,772.6,10.6,402,11054,0.00,2.70,0.00,0.000,6,0.000,0.039,3136,1712,2288,0,0,0,0,0,0
$GC,11334,0.77,185.6,746.8,8.6,409,11359,0.00,0.00,22.55,1.019,6,0.000,0.000,3157,1711,2198,0,0,0,0,0,0
$GC,11577,0.81,213.5,726.4,8.4,415,11610,0.00,2.80,27.27,1.018,4,0.000,0.055,3157,3284,2084,0,0,0,0,0,0
$GC,11634,0.84,236.1,721.4,8.7,416,11663,0.00,2.67,22.67,0.992,6,0.000,0.040,3157,1705,1991,0,0,0,0,0,0
$GC,11953,0.86,252.1,692.3,9.1,424,11975,0.00,2.80,15.93,0.955,4,0.000,0.056,3158,3284,1926,0,0,0,0,0,0
$GC,12029,0.95,270.7,684.8,8.9,425,12054,0.12,2.70,19.10,0.962,6,0.031,0.040,3210,1716,1851,0,0,0,0,0,0
$GC,12332,0.86,270.7,644.7,13.5,433,12341,0.15,2.75,0.00,0.000,4,0.114,0.058,3180,3284,1846,0,0,0,0,0,0
$GC,12384,0.86,270.7,638.2,10.7,434,12388,0.00,2.65,0.00,0.000,6,0.000,0.041,3180,1723,1844,0,0,0,0,0,0
$GC,12666,0.86,270.7,603.9,12.2,441,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1723,1844,0,0,0,0,0,0
$GC,12910,0.86,270.7,574.0,12.2,447,12915,0.00,2.72,0.00,0.000,4,0.000,0.056,3192,3281,1843,0,0,0,0,0,0
$GC,12935,0.86,270.7,570.8,11.9,447,12939,0.00,2.65,0.00,0.000,6,0.000,0.038,3192,1714,1841,0,0,0,0,0,0
$GC,13199,0.86,270.7,539.2,12.0,454,13203,0.00,2.70,0.00,0.000,4,0.000,0.054,3196,3290,1842,0,0,0,0,0,0
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$STATE,17699,end climb,SURFACE_DEPTH_REACHED
$STATE,17699,begin surface coast
$FINISH,0.9,1.023290
$STATE,17737,end surface coast,CONTROL_FINISHED_OK
$STATE,17737,begin surface
$SM_CCo,17758,47.80,0.457,0,0,1324,400.08
$SM_GC,1.67,0.00,0.00,47.80,0.000,0.000,0.457,410,1752,1324,-11.86,0.90,400.08
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$TT8_MAMPS,0.027612
$HUMID,68.15
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$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.0,56.858
$10V_AH,9.8,66.404
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.772,526.192,616.112,550.826,1026.569,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356160
$DATA_FILE_SIZE,54324,695
$CAP_FILE_SIZE,174988,0
$CFSIZE,260165632,103043072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041011,053907,2230.703,-15820.437,35,1.3,35,10.0