version: 66.06
glider: 148
mission: 10
dive: 643
start: 10 6 111 17 53 33
data:
$ID,148
$MISSION,10
$DIVE,643
$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,-890768.88
$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,34
$R_STBD_OVSHOOT,21
$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
$GPS1,173437,2235.449,-15813.883,39,1.4,39,10.0
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.6
$GPS2,175236,2235.360,-15814.081,12,1.2,29,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,0.123
$KALMAN_X,-155717.7,-303.9,41.1,75258.3,-1693.0
$KALMAN_Y,-101979.9,-356.6,-114.4,42050.0,-793.3
$MHEAD_RNG_PITCHd_Wd,48.4,29952,-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,18,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-66.90,0.000,2,0.000,0.000,410,1756,3093,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.1,-4.8,9,116,12.38,2.50,-6.72,0.000,4,0.166,0.035,2678,3325,3433,0,0,0,0,0,0
$GC,129,-0.01,-116.8,12.8,-25.7,13,139,1.35,2.60,0.00,0.000,6,0.073,0.025,2983,1725,3435,0,0,0,0,0,0
$GC,437,-0.86,-116.8,39.8,-11.2,55,452,0.73,2.55,0.00,0.000,4,0.035,0.026,2800,3323,3436,0,0,0,0,0,0
$GC,509,-1.26,-116.8,46.9,-7.8,60,520,0.32,2.58,0.00,0.000,6,0.019,0.021,2707,1723,3436,0,0,0,0,0,0
$GC,779,-1.26,-116.8,81.1,-12.5,85,783,0.00,2.55,0.00,0.000,4,0.000,0.024,2706,3330,3436,0,0,0,0,0,0
$GC,794,-1.26,-116.8,83.7,-11.9,86,798,0.00,2.55,0.00,0.000,6,0.000,0.023,2706,1734,3435,0,0,0,0,0,0
$GC,1056,-1.26,-116.8,112.9,-11.0,110,1060,0.00,2.53,0.00,0.000,4,0.000,0.023,2706,3325,3436,0,0,0,0,0,0
$GC,1075,-1.26,-116.8,114.8,-11.5,111,1079,0.00,2.53,0.00,0.000,6,0.000,0.022,2706,1739,3436,0,0,0,0,0,0
$GC,1344,-1.26,-116.8,144.9,-11.1,135,1348,0.00,2.53,0.00,0.000,4,0.000,0.041,2706,178,3436,0,0,0,0,0,0
$GC,1375,-1.34,-116.8,149.0,-11.1,137,1381,0.00,2.47,0.00,0.000,6,0.000,0.017,2707,1798,3436,0,0,0,0,0,0
$GC,1639,-1.34,-116.8,171.3,-7.7,162,1644,0.00,2.65,0.00,0.000,4,0.000,0.040,2707,173,3437,0,0,0,0,0,0
$GC,1691,-1.45,-116.8,175.6,-7.6,166,1697,0.15,2.42,0.00,0.000,6,0.051,0.017,2590,1775,3437,0,0,0,0,0,0
$GC,1962,-1.19,-116.8,206.6,-13.3,189,1969,0.60,2.42,0.00,0.000,4,0.084,0.023,2727,3326,3437,0,0,0,0,0,0
$GC,1994,-1.37,-116.8,209.9,-7.9,189,2000,0.15,2.55,0.00,0.000,6,0.051,0.022,2630,1706,3437,0,0,0,0,0,0
$GC,2251,-1.17,-116.8,242.7,-13.2,196,2258,0.55,2.47,0.00,0.000,4,0.081,0.040,2731,179,3437,0,0,0,0,0,0
$GC,2276,-1.26,-116.8,245.3,-9.6,196,2281,0.00,2.42,0.00,0.000,6,0.000,0.018,2731,1753,3437,0,0,0,0,0,0
$GC,2541,-1.45,-116.8,261.1,-5.4,203,2547,0.25,2.45,0.00,0.000,4,0.037,0.025,2625,3282,3437,0,0,0,0,0,0
$GC,2580,-1.38,-116.8,264.5,-9.5,203,2585,0.28,2.50,0.00,0.000,6,0.082,0.024,2687,1717,3437,0,0,0,0,0,0
$GC,2833,-1.45,-116.8,287.7,-9.5,209,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1717,3436,0,0,0,0,0,0
$GC,3074,-1.51,-116.8,313.6,-10.6,215,3076,0.12,0.00,0.00,0.000,6,0.064,0.000,2623,1717,3435,0,0,0,0,0,0
$GC,3318,-1.40,-116.8,340.4,-10.9,221,3324,0.25,2.58,0.00,0.000,4,0.087,0.046,2683,187,3434,0,0,0,0,0,0
$GC,3339,-1.40,-116.8,342.5,-10.0,221,3344,0.00,2.38,0.00,0.000,6,0.000,0.021,2683,1700,3434,0,0,0,0,0,0
$GC,3608,-1.46,-116.8,361.1,-6.9,228,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1700,3432,0,0,0,0,0,0
$GC,3852,-1.53,-116.8,377.6,-6.7,234,3857,0.12,2.65,0.00,0.000,4,0.065,0.036,2624,3293,3430,0,0,0,0,0,0
$GC,3878,-1.53,-116.8,379.8,-9.6,234,3883,0.15,2.58,0.00,0.000,6,0.099,0.028,2658,1709,3430,0,0,0,0,0,0
$GC,4142,-1.53,-116.8,403.0,-9.2,241,4147,0.00,2.60,0.00,0.000,4,0.000,0.037,2658,3293,3429,0,0,0,0,0,0
$GC,4162,-1.53,-116.8,404.7,-9.0,241,4166,0.00,2.55,0.00,0.000,6,0.000,0.029,2658,1708,3428,0,0,0,0,0,0
$GC,4427,-1.53,-116.8,429.8,-9.7,248,4431,0.00,2.58,0.00,0.000,4,0.000,0.059,2655,177,3426,0,0,0,0,0,0
$GC,4450,-1.53,-116.8,432.4,-10.4,248,4456,0.00,2.45,0.00,0.000,6,0.000,0.024,2655,1702,3426,0,0,0,0,0,0
$GC,4717,-1.53,-116.8,456.9,-9.4,255,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1702,3425,0,0,0,0,0,0
$GC,4960,-1.53,-116.8,479.2,-9.2,261,4964,0.00,2.60,0.00,0.000,4,0.000,0.061,2656,177,3422,0,0,0,0,0,0
$GC,4974,-1.53,-116.8,480.8,-9.2,261,4980,0.00,2.47,0.00,0.000,6,0.000,0.027,2657,1701,3422,0,0,0,0,0,0
$GC,5249,-1.53,-116.8,504.4,-8.6,268,5254,0.00,2.70,0.00,0.000,4,0.000,0.045,2657,3304,3420,0,0,0,0,0,0
$GC,5307,-1.60,-116.8,509.3,-7.7,269,5311,0.00,2.62,0.00,0.000,6,0.000,0.035,2657,1709,3420,0,0,0,0,0,0
$GC,5585,-1.60,-116.8,534.1,-8.8,276,5589,0.00,2.65,0.00,0.000,4,0.000,0.068,2657,177,3418,0,0,0,0,0,0
$GC,5610,-1.60,-116.8,536.2,-8.8,276,5614,0.00,2.47,0.00,0.000,6,0.000,0.031,2657,1704,3418,0,0,0,0,0,0
$GC,5870,-1.60,-116.8,557.6,-8.1,283,5875,0.00,2.67,0.00,0.000,4,0.000,0.054,2658,3305,3417,0,0,0,0,0,0
$GC,5913,-1.67,-116.8,561.1,-7.9,284,5919,0.12,2.62,0.00,0.000,6,0.067,0.037,2597,1714,3416,0,0,0,0,0,0
$GC,6204,-1.53,-116.8,588.8,-9.5,291,6206,0.28,0.00,0.00,0.000,6,0.087,0.000,2659,1714,3414,0,0,0,0,0,0
$GC,6446,-1.53,-116.8,606.5,-7.3,297,6450,0.00,2.67,0.00,0.000,4,0.000,0.048,2658,3312,3414,0,0,0,0,0,0
$GC,6460,-1.53,-116.8,607.8,-7.4,297,6465,0.00,2.62,0.00,0.000,6,0.000,0.042,2658,1717,3413,0,0,0,0,0,0
$GC,6729,-1.53,-116.8,627.6,-7.5,304,6734,0.00,2.70,0.00,0.000,4,0.000,0.076,2659,167,3411,0,0,0,0,0,0
$GC,6762,-1.53,-116.8,630.5,-7.8,304,6767,0.00,2.55,0.00,0.000,6,0.000,0.035,2659,1721,3411,0,0,0,0,0,0
$GC,7013,-1.53,-116.8,650.9,-8.4,310,7018,0.00,2.70,0.00,0.000,4,0.000,0.059,2659,3305,3410,0,0,0,0,0,0
$GC,7040,-1.59,-116.8,653.1,-9.5,310,7045,0.00,2.65,0.00,0.000,6,0.000,0.040,2659,1728,3409,0,0,0,0,0,0
$GC,7305,-1.59,-116.8,675.6,-8.4,317,7310,0.00,2.72,0.00,0.000,4,0.000,0.076,2655,172,3407,0,0,0,0,0,0
$GC,7343,-1.66,-116.8,678.9,-9.3,317,7349,0.12,2.55,0.00,0.000,6,0.065,0.037,2604,1719,3407,0,0,0,0,0,0
$GC,7595,-1.55,-116.8,703.2,-9.7,324,7597,0.20,0.00,0.00,0.000,6,0.095,0.000,2649,1719,3406,0,0,0,0,0,0
$GC,7837,-1.55,-116.8,723.8,-8.4,330,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1719,3405,0,0,0,0,0,0
$GC,8080,-1.55,-116.8,745.6,-9.0,336,8085,0.00,2.75,0.00,0.000,4,0.000,0.071,2644,169,3403,0,0,0,0,0,0
$GC,8127,-1.55,-116.8,749.8,-9.4,336,8133,0.00,2.55,0.00,0.000,6,0.000,0.038,2644,1715,3403,0,0,0,0,0,0
$GC,8377,-1.55,-116.8,773.7,-9.5,343,8382,0.00,2.72,0.00,0.000,4,0.000,0.062,2648,3305,3402,0,0,0,0,0,0
$GC,8396,-1.55,-116.8,775.7,-10.3,343,8401,0.00,2.65,0.00,0.000,6,0.000,0.041,2649,1716,3401,0,0,0,0,0,0
$GC,8662,-1.55,-116.8,801.0,-9.7,350,8667,0.00,2.70,0.00,0.000,4,0.000,0.051,2650,3308,3401,0,0,0,0,0,0
$GC,8677,-1.55,-116.8,802.8,-9.6,350,8681,0.00,2.62,0.00,0.000,6,0.000,0.039,2650,1717,3400,0,0,0,0,0,0
$GC,8945,-1.55,-116.8,824.9,-8.0,357,8950,0.00,2.72,0.00,0.000,4,0.000,0.077,2647,169,3399,0,0,0,0,0,0
$GC,8970,-1.55,-116.8,827.0,-8.1,357,8974,0.00,2.58,0.00,0.000,6,0.000,0.038,2650,1725,3399,0,0,0,0,0,0
$GC,9230,-1.55,-116.8,845.1,-6.8,364,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1724,3398,0,0,0,0,0,0
$GC,9473,-1.55,-116.8,859.7,-5.8,370,9477,0.00,2.72,0.00,0.000,4,0.000,0.064,2651,3304,3397,0,0,0,0,0,0
$GC,9498,-1.61,-116.8,861.1,-6.7,370,9503,0.00,2.65,0.00,0.000,6,0.000,0.041,2650,1718,3397,0,0,0,0,0,0
$GC,9759,-1.61,-116.8,874.9,-5.3,377,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1719,3396,0,0,0,0,0,0
$GC,10001,-1.61,-116.8,887.3,-5.0,383,10006,0.00,2.72,0.00,0.000,4,0.000,0.077,2630,169,3395,0,0,0,0,0,0
$GC,10030,-1.61,-116.8,889.0,-5.5,383,10034,0.00,2.58,0.00,0.000,6,0.000,0.040,2633,1723,3395,0,0,0,0,0,0
$STATE,10283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10283,begin apogee
$GC,10290,-0.31,0.0,902.2,5.2,390,10389,1.27,0.00,95.60,1.167,6,0.076,0.000,2919,1723,2955,0,0,0,0,0,0
$STATE,10390,end apogee,CONTROL_FINISHED_OK
$STATE,10390,begin climb
$GC,10393,1.38,116.8,903.1,0.0,392,10510,1.55,2.80,106.97,1.144,4,0.024,0.071,3338,176,2477,0,0,0,0,0,0
$GC,10704,0.83,116.8,872.5,13.7,399,10710,0.75,2.58,0.00,0.000,6,0.102,0.036,3176,1697,2468,0,0,0,0,0,0
$GC,10965,0.88,162.3,852.0,7.4,406,11008,0.00,0.00,41.78,1.093,6,0.000,0.000,3175,1697,2293,0,0,0,0,0,0
$GC,11249,0.90,178.7,827.0,9.1,413,11271,0.00,2.85,15.70,1.015,4,0.000,0.067,3175,3290,2225,0,0,0,0,0,0
$GC,11331,0.93,196.9,819.6,9.0,414,11356,0.17,2.70,18.33,1.022,6,0.053,0.040,3231,1705,2151,0,0,0,0,0,0
$GC,11629,0.78,196.9,781.7,12.8,422,11638,0.32,2.78,0.00,0.000,4,0.096,0.081,3166,170,2146,0,0,0,0,0,0
$GC,11654,0.78,196.9,778.7,10.8,422,11658,0.00,2.58,0.00,0.000,6,0.000,0.037,3171,1706,2147,0,0,0,0,0,0
$GC,11917,0.78,196.9,752.2,10.0,429,11922,0.00,2.78,0.00,0.000,4,0.000,0.066,3171,3291,2145,0,0,0,0,0,0
$GC,11960,0.86,196.9,747.9,10.5,430,11965,0.00,2.70,0.00,0.000,6,0.000,0.040,3168,1696,2143,0,0,0,0,0,0
$GC,12248,0.87,203.1,720.0,9.6,437,12256,0.00,0.00,5.90,0.795,6,0.000,0.000,3168,1696,2126,0,0,0,0,0,0
$GC,12533,0.88,214.1,692.8,9.4,444,12550,0.00,2.83,11.88,0.929,4,0.000,0.056,3168,3288,2081,0,0,0,0,0,0
$GC,12585,0.97,214.2,687.9,10.0,445,12592,0.15,2.70,0.00,0.000,6,0.058,0.044,3225,1714,2079,0,0,0,0,0,0
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$STATE,18887,end climb,SURFACE_DEPTH_REACHED
$STATE,18887,begin surface coast
$FINISH,1.0,1.023248
$STATE,18935,end surface coast,CONTROL_FINISHED_OK
$STATE,18935,begin surface
$SM_CCo,18956,54.25,0.442,1,0,1324,400.08
$SM_GC,1.80,0.00,0.00,54.25,0.000,0.000,0.442,408,1730,1324,-11.88,0.28,400.08
$IRIDIUM_FIX,2227.67,-15816.68,301200,171719
$TT8_MAMPS,0.027612
$HUMID,65.67
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,19.50
$XPDR_PINGS,2
$24V_AH,23.0,58.559
$10V_AH,9.8,68.048
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,36.425,245.350,399.525,54.250,0.000,96.468,197.143,393.796,0.500,0.000,31.013,1634.990,13752.584,571.764,2413.047,1713.257,33.359,1771.720,0.000,2805.347,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,504.989,573.436,666.877,621.720,1160.152,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,57325,740
$CAP_FILE_SIZE,200997,0
$CFSIZE,260165632,102084608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061011,231157,2235.541,-15813.255,23,2.8,42,10.0