version: 66.06
glider: 148
mission: 10
dive: 679
start: 10 14 111 16 1 26
data:
$ID,148
$MISSION,10
$DIVE,679
$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,-891446.69
$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,2980
$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,48
$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
$GPS1,154837,2221.513,-15801.853,41,1.2,41,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.3
$GPS2,160030,2221.459,-15801.854,9,1.9,13,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.058,-0.227
$KALMAN_X,-194983.4,241.3,216.6,134614.4,-769.2
$KALMAN_Y,-133796.5,132.6,85.8,47426.4,-519.1
$MHEAD_RNG_PITCHd_Wd,184.4,58728,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,85,0.00,0.00,-64.12,0.000,2,0.000,0.000,411,1683,2987,0,0,0,0,0,0
$GC,89,-1.38,-116.8,3.1,-5.1,12,118,11.85,2.53,-9.40,0.000,4,0.149,0.054,2670,186,3435,0,0,0,0,0,0
$GC,252,-1.20,-116.8,31.6,-15.3,46,261,0.17,2.45,0.00,0.000,6,0.080,0.018,2713,1753,3436,0,0,0,0,0,0
$GC,519,-1.08,-116.8,65.5,-12.1,71,524,0.15,2.45,0.00,0.000,4,0.104,0.025,2745,3302,3437,0,0,0,0,0,0
$GC,532,-0.98,-116.8,67.9,-11.7,71,541,0.08,2.53,0.00,0.000,6,0.078,0.022,2765,1728,3437,0,0,0,0,0,0
$GC,799,-1.15,-116.8,89.8,-7.5,96,804,0.17,2.53,0.00,0.000,4,0.047,0.025,2673,3298,3437,0,0,0,0,0,0
$GC,824,-1.15,-116.8,93.0,-11.4,98,829,0.25,2.50,0.00,0.000,6,0.084,0.023,2729,1721,3437,0,0,0,0,0,0
$GC,1088,-1.24,-116.8,116.2,-9.0,122,1094,0.10,2.58,0.00,0.000,4,0.074,0.041,2671,174,3438,0,0,0,0,0,0
$GC,1146,-1.24,-116.8,122.6,-10.7,128,1151,0.17,2.38,0.00,0.000,6,0.094,0.016,2709,1730,3438,0,0,0,0,0,0
$GC,1408,-1.31,-116.8,143.9,-8.0,152,1412,0.00,2.42,0.00,0.000,4,0.000,0.024,2710,3283,3439,0,0,0,0,0,0
$GC,1445,-1.45,-116.8,146.8,-8.5,155,1450,0.20,2.47,0.00,0.000,6,0.043,0.022,2619,1712,3439,0,0,0,0,0,0
$GC,1706,-1.23,-116.8,179.4,-12.9,179,1708,0.43,0.00,0.00,0.000,6,0.084,0.000,2709,1711,3440,0,0,0,0,0,0
$GC,1964,-1.31,-116.8,200.3,-7.0,203,1969,0.00,2.50,0.00,0.000,4,0.000,0.025,2709,3283,3440,0,0,0,0,0,0
$GC,1997,-1.47,-116.8,203.0,-6.9,203,2002,0.20,2.47,0.00,0.000,6,0.043,0.023,2613,1720,3440,0,0,0,0,0,0
$GC,2248,-1.27,-116.8,230.5,-12.0,209,2255,0.40,2.53,0.00,0.000,4,0.084,0.040,2701,170,3440,0,0,0,0,0,0
$GC,2272,-1.27,-116.8,233.3,-10.7,209,2278,0.00,2.40,0.00,0.000,6,0.000,0.018,2701,1716,3439,0,0,0,0,0,0
$GC,2542,-1.35,-116.8,253.5,-6.8,216,2547,0.00,2.50,0.00,0.000,4,0.000,0.026,2701,3289,3440,0,0,0,0,0,0
$GC,2575,-1.50,-116.8,255.8,-6.4,216,2580,0.20,2.50,0.00,0.000,6,0.044,0.024,2608,1714,3440,0,0,0,0,0,0
$GC,2827,-1.31,-116.8,283.5,-11.9,222,2834,0.35,2.53,0.00,0.000,4,0.082,0.042,2689,170,3439,0,0,0,0,0,0
$GC,2895,-1.41,-116.8,290.7,-8.7,223,2901,0.00,2.40,0.00,0.000,6,0.000,0.019,2689,1708,3438,0,0,0,0,0,0
$GC,3167,-1.47,-116.8,312.0,-7.8,230,3169,0.12,0.00,0.00,0.000,6,0.062,0.000,2628,1711,3437,0,0,0,0,0,0
$GC,3410,-1.35,-116.8,336.9,-10.4,236,3415,0.25,2.58,0.00,0.000,4,0.085,0.046,2689,174,3437,0,0,0,0,0,0
$GC,3454,-1.46,-116.8,341.0,-8.6,237,3459,0.12,2.33,0.00,0.000,6,0.063,0.020,2628,1688,3437,0,0,0,0,0,0
$GC,3745,-1.36,-116.8,370.0,-9.9,244,3751,0.25,2.62,0.00,0.000,4,0.086,0.031,2688,3290,3435,0,0,0,0,0,0
$GC,3796,-1.50,-116.8,374.3,-7.0,245,3801,0.15,2.55,0.00,0.000,6,0.053,0.028,2612,1702,3435,0,0,0,0,0,0
$GC,4084,-1.35,-116.8,403.2,-10.3,252,4091,0.30,2.58,0.00,0.000,4,0.084,0.057,2680,170,3433,0,0,0,0,0,0
$GC,4106,-1.35,-116.8,405.4,-9.1,252,4110,0.00,2.38,0.00,0.000,6,0.000,0.022,2681,1696,3433,0,0,0,0,0,0
$GC,4372,-1.42,-116.8,422.0,-6.1,259,4377,0.00,2.60,0.00,0.000,4,0.000,0.036,2681,3291,3431,0,0,0,0,0,0
$GC,4416,-1.54,-116.8,425.0,-5.9,260,4422,0.15,2.58,0.00,0.000,6,0.055,0.031,2610,1701,3431,0,0,0,0,0,0
$GC,4706,-1.40,-116.8,455.0,-11.5,267,4713,0.25,2.60,0.00,0.000,4,0.089,0.064,2671,176,3429,0,0,0,0,0,0
$GC,4736,-1.40,-116.8,458.6,-9.8,267,4740,0.00,2.42,0.00,0.000,6,0.000,0.027,2671,1694,3429,0,0,0,0,0,0
$GC,4992,-1.40,-116.8,479.2,-7.9,274,4996,0.00,2.67,0.00,0.000,4,0.000,0.042,2671,3309,3427,0,0,0,0,0,0
$GC,5031,-1.50,-116.8,482.1,-7.4,274,5036,0.00,2.65,0.00,0.000,6,0.000,0.035,2671,1702,3427,0,0,0,0,0,0
$GC,5281,-1.50,-116.8,498.2,-6.3,281,5286,0.00,2.67,0.00,0.000,4,0.000,0.043,2671,3293,3425,0,0,0,0,0,0
$GC,5301,-1.50,-116.8,499.6,-6.5,281,5305,0.00,2.58,0.00,0.000,6,0.000,0.034,2671,1714,3425,0,0,0,0,0,0
$GC,5569,-1.50,-116.8,515.8,-6.0,288,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1713,3424,0,0,0,0,0,0
$GC,5812,-1.50,-116.8,532.6,-7.1,294,5818,0.00,2.70,0.00,0.000,4,0.000,0.072,2671,180,3422,0,0,0,0,0,0
$GC,5828,-1.50,-116.8,533.9,-7.1,294,5832,0.00,2.47,0.00,0.000,6,0.000,0.031,2669,1708,3422,0,0,0,0,0,0
$GC,6102,-1.50,-116.8,554.3,-7.5,301,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1708,3420,0,0,0,0,0,0
$GC,6344,-1.50,-116.8,571.0,-6.8,307,6349,0.00,2.70,0.00,0.000,4,0.000,0.067,2669,174,3418,0,0,0,0,0,0
$GC,6364,-1.50,-116.8,572.5,-7.4,307,6368,0.00,2.50,0.00,0.000,6,0.000,0.032,2670,1710,3419,0,0,0,0,0,0
$GC,6633,-1.50,-116.8,591.3,-7.3,314,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1710,3417,0,0,0,0,0,0
$GC,6878,-1.50,-116.8,608.7,-6.9,320,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1710,3416,0,0,0,0,0,0
$GC,7121,-1.50,-116.8,623.6,-5.9,326,7126,0.00,2.67,0.00,0.000,4,0.000,0.070,2669,176,3414,0,0,0,0,0,0
$GC,7148,-1.56,-116.8,625.6,-7.8,326,7153,0.12,2.50,0.00,0.000,6,0.064,0.035,2613,1705,3413,0,0,0,0,0,0
$GC,7413,-1.45,-116.8,648.4,-8.9,333,7415,0.22,0.00,0.00,0.000,6,0.092,0.000,2663,1705,3412,0,0,0,0,0,0
$GC,7652,-1.45,-116.8,667.1,-7.6,339,7656,0.00,2.72,0.00,0.000,4,0.000,0.059,2663,3307,3410,0,0,0,0,0,0
$GC,7696,-1.55,-116.8,670.4,-7.4,340,7700,0.00,2.65,0.00,0.000,6,0.000,0.040,2664,1702,3410,0,0,0,0,0,0
$GC,7984,-1.55,-116.8,692.9,-8.1,347,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1703,3409,0,0,0,0,0,0
$GC,8228,-1.55,-116.8,711.3,-7.4,353,8232,0.00,2.70,0.00,0.000,4,0.000,0.078,2664,172,3408,0,0,0,0,0,0
$GC,8242,-1.55,-116.8,712.5,-7.3,353,8247,0.00,2.50,0.00,0.000,6,0.000,0.035,2665,1704,3408,0,0,0,0,0,0
$GC,8511,-1.55,-116.8,731.7,-7.0,360,8516,0.00,2.70,0.00,0.000,4,0.000,0.054,2665,3307,3407,0,0,0,0,0,0
$GC,8536,-1.62,-116.8,733.4,-7.8,360,8543,0.15,2.65,0.00,0.000,6,0.057,0.040,2598,1704,3407,0,0,0,0,0,0
$GC,8799,-1.48,-116.8,759.5,-10.2,367,8806,0.25,2.67,0.00,0.000,4,0.091,0.076,2656,173,3406,0,0,0,0,0,0
$GC,8834,-1.48,-116.8,763.2,-9.5,367,8839,0.00,2.53,0.00,0.000,6,0.000,0.035,2656,1712,3405,0,0,0,0,0,0
$GC,9087,-1.48,-116.8,782.6,-7.8,373,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1712,3404,0,0,0,0,0,0
$GC,9329,-1.48,-116.8,799.6,-6.9,379,9334,0.00,2.72,0.00,0.000,4,0.000,0.072,2656,165,3403,0,0,0,0,0,0
$GC,9373,-1.48,-116.8,803.0,-7.8,380,9377,0.00,2.50,0.00,0.000,6,0.000,0.036,2657,1704,3404,0,0,0,0,0,0
$GC,9660,-1.48,-116.8,822.0,-6.9,387,9665,0.00,2.72,0.00,0.000,4,0.000,0.055,2657,3298,3402,0,0,0,0,0,0
$GC,9691,-1.56,-116.8,824.3,-7.6,387,9695,0.00,2.67,0.00,0.000,6,0.000,0.041,2657,1696,3402,0,0,0,0,0,0
$GC,9950,-1.56,-116.8,844.1,-7.7,394,9955,0.00,2.67,0.00,0.000,4,0.000,0.077,2656,173,3401,0,0,0,0,0,0
$GC,9994,-1.62,-116.8,847.7,-8.1,395,9999,0.12,2.50,0.00,0.000,6,0.067,0.036,2610,1698,3401,0,0,0,0,0,0
$GC,10285,-1.54,-116.8,875.3,-9.6,402,10291,0.15,2.72,0.00,0.000,4,0.105,0.072,2643,172,3400,0,0,0,0,0,0
$GC,10315,-1.54,-116.8,878.7,-9.7,402,10319,0.00,2.50,0.00,0.000,6,0.000,0.037,2643,1690,3400,0,0,0,0,0,0
$GC,10576,-1.54,-116.8,896.8,-6.8,409,10577,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1690,3399,0,0,0,0,0,0
$STATE,10653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10653,begin apogee
$GC,10658,-0.31,0.0,901.7,6.2,411,10759,1.20,0.00,97.40,1.164,6,0.075,0.000,2912,1690,2955,0,0,0,0,0,0
$STATE,10760,end apogee,CONTROL_FINISHED_OK
$STATE,10760,begin climb
$GC,10763,1.38,116.8,902.2,0.0,413,10881,1.50,2.78,108.18,1.140,4,0.028,0.070,3298,168,2478,0,0,0,0,0,0
$GC,10910,0.93,116.8,893.3,13.2,416,10917,0.55,2.58,0.00,0.000,6,0.107,0.036,3185,1700,2474,0,0,0,0,0,0
$GC,11178,0.93,119.6,866.2,9.8,423,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1700,2468,0,0,0,0,0,0
$GC,11420,0.95,137.2,844.2,9.0,429,11441,0.00,0.00,18.48,1.043,6,0.000,0.000,3186,1700,2395,0,0,0,0,0,0
$GC,11665,0.96,144.1,820.7,9.6,435,11678,0.00,2.75,7.45,0.891,4,0.000,0.071,3185,173,2367,0,0,0,0,0,0
$GC,11693,0.88,144.1,817.7,10.2,435,11697,0.00,2.55,0.00,0.000,6,0.000,0.035,3185,1700,2367,0,0,0,0,0,0
$GC,11949,0.90,156.3,793.6,9.3,442,11969,0.00,2.75,13.00,0.984,4,0.000,0.056,3186,3285,2316,0,0,0,0,0,0
$GC,11979,0.94,189.3,790.6,8.1,442,12017,0.00,2.67,32.00,1.048,6,0.000,0.037,3185,1697,2183,0,0,0,0,0,0
$GC,12279,0.94,189.3,760.5,10.4,450,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1697,2176,0,0,0,0,0,0
$GC,12520,0.94,189.3,733.0,11.5,456,12525,0.00,2.75,0.00,0.000,4,0.000,0.048,3185,3286,2175,0,0,0,0,0,0
$GC,12571,0.94,189.3,726.8,12.4,457,12576,0.00,2.70,0.00,0.000,6,0.000,0.043,3185,1701,2173,0,0,0,0,0,0
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$STATE,19260,end climb,SURFACE_DEPTH_REACHED
$STATE,19261,begin surface coast
$FINISH,0.9,1.023383
$STATE,19298,end surface coast,CONTROL_FINISHED_OK
$STATE,19298,begin surface
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$HUMID,68.11
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$TCM_TEMP,20.20
$XPDR_PINGS,1
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$10V_AH,9.8,72.543
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.350,259.150,423.025,44.925,0.000,54.079,72.963,330.582,0.250,0.000,14.620,1683.103,14406.064,560.340,2047.504,1370.375,33.368,1790.380,0.000,2320.676,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,57177,767
$CAP_FILE_SIZE,205556,0
$CFSIZE,260165632,99303424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141011,212606,2219.054,-15802.231,62,1.2,69,10.0