version: 66.06
glider: 148
mission: 10
dive: 680
start: 10 14 111 21 41 16
data:
$ID,148
$MISSION,10
$DIVE,680
$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,-891462.69
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,212606,2219.054,-15802.231,62,1.2,69,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.3
$GPS2,214020,2219.023,-15802.364,13,1.2,13,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.087,-0.218
$KALMAN_X,-194668.5,334.5,-30.2,133586.0,-248.1
$KALMAN_Y,-134064.4,68.6,-5.1,43339.5,-476.7
$MHEAD_RNG_PITCHd_Wd,191.8,54220,-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,18,-1.38,-116.8,0.0,0.0,0,85,0.00,0.00,-64.65,0.000,2,0.000,0.000,416,1740,3017,0,0,0,0,0,0
$GC,88,-1.38,-116.8,3.2,-5.5,12,118,11.70,2.62,-8.65,0.000,4,0.143,0.051,2669,177,3434,0,0,0,0,0,0
$GC,245,-1.17,-116.8,32.3,-16.5,44,253,0.22,2.42,0.00,0.000,6,0.086,0.017,2721,1738,3435,0,0,0,0,0,0
$GC,514,-1.08,-116.8,66.5,-13.5,69,520,0.10,0.00,0.00,0.000,6,0.124,0.000,2743,1741,3436,0,0,0,0,0,0
$GC,778,-1.17,-116.8,92.8,-8.5,94,782,0.00,2.45,0.00,0.000,4,0.000,0.024,2742,3291,3436,0,0,0,0,0,0
$GC,815,-1.33,-116.8,95.9,-8.4,97,821,0.20,2.55,0.00,0.000,6,0.018,0.023,2626,1707,3436,0,0,0,0,0,0
$GC,1085,-1.16,-116.8,128.3,-11.8,122,1097,0.43,2.47,0.00,0.000,4,0.083,0.038,2723,175,3437,0,0,0,0,0,0
$GC,1121,-1.30,-116.8,132.0,-9.8,125,1126,0.12,2.38,0.00,0.000,6,0.061,0.016,2658,1738,3437,0,0,0,0,0,0
$GC,1384,-1.24,-116.8,159.1,-9.5,149,1389,0.22,2.42,0.00,0.000,4,0.087,0.023,2710,3279,3437,0,0,0,0,0,0
$GC,1434,-1.40,-116.8,163.4,-7.5,153,1443,0.10,2.45,0.00,0.000,6,0.031,0.022,2629,1741,3438,0,0,0,0,0,0
$GC,1700,-1.27,-116.8,192.4,-10.8,178,1705,0.30,2.53,0.00,0.000,4,0.084,0.039,2699,177,3438,0,0,0,0,0,0
$GC,1773,-1.41,-116.8,198.8,-7.4,185,1778,0.12,2.35,0.00,0.000,6,0.062,0.018,2635,1720,3438,0,0,0,0,0,0
$GC,2034,-1.31,-116.8,221.7,-8.7,192,2040,0.25,2.47,0.00,0.000,4,0.086,0.024,2695,3278,3438,0,0,0,0,0,0
$GC,2064,-1.43,-116.8,224.3,-7.5,192,2069,0.12,2.47,0.00,0.000,6,0.062,0.023,2620,1702,3438,0,0,0,0,0,0
$GC,2326,-1.29,-116.8,253.0,-11.4,199,2331,0.32,2.47,0.00,0.000,4,0.084,0.041,2694,170,3438,0,0,0,0,0,0
$GC,2336,-1.19,-116.8,254.4,-11.9,199,2342,0.10,2.38,0.00,0.000,6,0.077,0.018,2721,1718,3438,0,0,0,0,0,0
$GC,2618,-1.36,-116.8,273.7,-6.7,206,2620,0.17,0.00,0.00,0.000,6,0.046,0.000,2634,1721,3438,0,0,0,0,0,0
$GC,2861,-1.28,-116.8,295.8,-9.1,212,2866,0.28,2.55,0.00,0.000,4,0.083,0.044,2699,176,3436,0,0,0,0,0,0
$GC,2899,-1.45,-116.8,299.1,-7.9,212,2906,0.15,2.35,0.00,0.000,6,0.053,0.019,2628,1700,3436,0,0,0,0,0,0
$GC,3151,-1.35,-116.8,322.9,-9.7,219,3157,0.25,2.55,0.00,0.000,4,0.087,0.030,2688,3280,3434,0,0,0,0,0,0
$GC,3202,-1.50,-116.8,326.8,-7.3,220,3207,0.15,2.45,0.00,0.000,6,0.054,0.027,2608,1732,3434,0,0,0,0,0,0
$GC,3490,-1.34,-116.8,356.5,-10.7,227,3493,0.38,0.00,0.00,0.000,6,0.082,0.000,2688,1732,3433,0,0,0,0,0,0
$GC,3733,-1.43,-116.8,377.1,-8.3,233,3739,0.00,2.62,0.00,0.000,4,0.000,0.058,2690,183,3431,0,0,0,0,0,0
$GC,3763,-1.51,-116.8,379.7,-9.2,233,3768,0.17,2.40,0.00,0.000,6,0.049,0.021,2616,1719,3431,0,0,0,0,0,0
$GC,4024,-1.38,-116.8,406.0,-10.2,240,4030,0.25,2.60,0.00,0.000,4,0.090,0.056,2675,176,3429,0,0,0,0,0,0
$GC,4049,-1.38,-116.8,408.4,-8.9,240,4053,0.00,2.40,0.00,0.000,6,0.000,0.024,2675,1703,3429,0,0,0,0,0,0
$GC,4311,-1.38,-116.8,426.0,-6.7,247,4315,0.00,2.58,0.00,0.000,4,0.000,0.036,2676,3297,3427,0,0,0,0,0,0
$GC,4342,-1.48,-116.8,428.3,-7.1,247,4347,0.00,2.58,0.00,0.000,6,0.000,0.032,2675,1710,3427,0,0,0,0,0,0
$GC,4597,-1.48,-116.8,447.9,-8.1,254,4603,0.00,2.65,0.00,0.000,4,0.000,0.065,2676,172,3425,0,0,0,0,0,0
$GC,4660,-1.56,-116.8,453.4,-9.3,255,4665,0.15,2.42,0.00,0.000,6,0.056,0.025,2613,1705,3424,0,0,0,0,0,0
$GC,4934,-1.43,-116.8,483.4,-11.5,262,4939,0.25,2.62,0.00,0.000,4,0.091,0.042,2671,3298,3423,0,0,0,0,0,0
$GC,4958,-1.43,-116.8,486.2,-10.7,262,4962,0.00,2.60,0.00,0.000,6,0.000,0.035,2671,1698,3423,0,0,0,0,0,0
$GC,5219,-1.43,-116.8,509.1,-8.8,269,5224,0.00,2.65,0.00,0.000,4,0.000,0.043,2672,3297,3421,0,0,0,0,0,0
$GC,5244,-1.51,-116.8,511.4,-8.6,269,5249,0.00,2.65,0.00,0.000,6,0.000,0.035,2672,1700,3421,0,0,0,0,0,0
$GC,5508,-1.51,-116.8,532.0,-7.5,276,5513,0.00,2.65,0.00,0.000,4,0.000,0.072,2672,171,3418,0,0,0,0,0,0
$GC,5529,-1.51,-116.8,533.5,-7.0,276,5533,0.00,2.45,0.00,0.000,6,0.000,0.031,2671,1694,3419,0,0,0,0,0,0
$GC,5794,-1.51,-116.8,550.5,-6.5,283,5798,0.00,2.67,0.00,0.000,4,0.000,0.048,2671,3305,3416,0,0,0,0,0,0
$GC,5830,-1.62,-116.8,552.8,-6.5,283,5835,0.17,2.62,0.00,0.000,6,0.048,0.035,2593,1705,3416,0,0,0,0,0,0
$GC,6081,-1.45,-116.8,576.5,-9.8,289,6087,0.28,2.70,0.00,0.000,4,0.091,0.071,2654,170,3415,0,0,0,0,0,0
$GC,6120,-1.45,-116.8,580.1,-8.2,289,6125,0.00,2.50,0.00,0.000,6,0.000,0.032,2655,1703,3414,0,0,0,0,0,0
$GC,6377,-1.45,-116.8,600.6,-8.2,296,6381,0.00,2.65,0.00,0.000,4,0.000,0.067,2657,173,3413,0,0,0,0,0,0
$GC,6405,-1.45,-116.8,603.3,-9.6,296,6409,0.00,2.47,0.00,0.000,6,0.000,0.033,2657,1700,3412,0,0,0,0,0,0
$GC,6660,-1.45,-116.8,624.5,-8.3,303,6665,0.00,2.70,0.00,0.000,4,0.000,0.056,2656,3303,3411,0,0,0,0,0,0
$GC,6687,-1.45,-116.8,626.5,-8.6,303,6692,0.00,2.67,0.00,0.000,6,0.000,0.039,2658,1701,3411,0,0,0,0,0,0
$GC,6953,-1.45,-116.8,648.3,-8.3,310,6957,0.00,2.67,0.00,0.000,4,0.000,0.076,2658,170,3409,0,0,0,0,0,0
$GC,6990,-1.45,-116.8,651.7,-9.5,310,6996,0.00,2.47,0.00,0.000,6,0.000,0.035,2658,1693,3409,0,0,0,0,0,0
$GC,7242,-1.45,-116.8,672.2,-8.1,317,7247,0.00,2.65,0.00,0.000,4,0.000,0.071,2658,172,3407,0,0,0,0,0,0
$GC,7257,-1.45,-116.8,673.8,-8.2,317,7261,0.00,2.45,0.00,0.000,6,0.000,0.033,2658,1683,3407,0,0,0,0,0,0
$GC,7525,-1.45,-116.8,694.4,-7.5,324,7530,0.00,2.70,0.00,0.000,4,0.000,0.054,2658,3302,3406,0,0,0,0,0,0
$GC,7555,-1.51,-116.8,696.6,-7.7,324,7559,0.00,2.65,0.00,0.000,6,0.000,0.040,2658,1689,3406,0,0,0,0,0,0
$GC,7810,-1.51,-116.8,715.4,-7.7,331,7814,0.00,2.65,0.00,0.000,4,0.000,0.077,2659,172,3405,0,0,0,0,0,0
$GC,7875,-1.57,-116.8,721.2,-8.3,332,7881,0.08,2.47,0.00,0.000,6,0.038,0.036,2615,1677,3405,0,0,0,0,0,0
$GC,8147,-1.48,-116.8,747.3,-9.8,339,8153,0.17,2.67,0.00,0.000,4,0.100,0.071,2654,170,3403,0,0,0,0,0,0
$GC,8177,-1.48,-116.8,750.3,-9.2,339,8181,0.00,2.45,0.00,0.000,6,0.000,0.035,2654,1676,3402,0,0,0,0,0,0
$GC,8437,-1.48,-116.8,771.1,-8.0,346,8442,0.00,2.75,0.00,0.000,4,0.000,0.055,2654,3305,3401,0,0,0,0,0,0
$GC,8471,-1.56,-116.8,773.9,-7.4,346,8475,0.00,2.70,0.00,0.000,6,0.000,0.041,2654,1682,3402,0,0,0,0,0,0
$GC,8721,-1.56,-116.8,792.8,-7.7,352,8726,0.00,2.67,0.00,0.000,4,0.000,0.078,2654,173,3401,0,0,0,0,0,0
$GC,8751,-1.56,-116.8,795.4,-9.4,352,8756,0.00,2.45,0.00,0.000,6,0.000,0.035,2654,1678,3400,0,0,0,0,0,0
$GC,9010,-1.56,-116.8,818.2,-8.8,359,9014,0.00,2.75,0.00,0.000,4,0.000,0.057,2654,3302,3399,0,0,0,0,0,0
$GC,9025,-1.56,-116.8,819.6,-8.7,359,9030,0.00,2.72,0.00,0.000,6,0.000,0.041,2654,1681,3399,0,0,0,0,0,0
$GC,9300,-1.56,-116.8,843.0,-8.5,366,9305,0.00,2.67,0.00,0.000,4,0.000,0.078,2654,172,3399,0,0,0,0,0,0
$GC,9338,-1.56,-116.8,846.6,-8.8,366,9344,0.00,2.47,0.00,0.000,6,0.000,0.037,2654,1672,3399,0,0,0,0,0,0
$GC,9594,-1.56,-116.8,866.7,-7.8,373,9599,0.00,2.75,0.00,0.000,4,0.000,0.056,2654,3302,3398,0,0,0,0,0,0
$GC,9627,-1.64,-116.8,869.4,-9.1,373,9636,0.15,2.70,0.00,0.000,6,0.056,0.041,2593,1678,3398,0,0,0,0,0,0
$GC,9882,-1.51,-116.8,894.3,-10.0,380,9889,0.25,2.62,0.00,0.000,4,0.094,0.076,2650,170,3397,0,0,0,0,0,0
$GC,9913,-1.51,-116.8,897.5,-9.2,380,9917,0.00,2.47,0.00,0.000,6,0.000,0.037,2651,1684,3396,0,0,0,0,0,0
$STATE,9961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9962,begin apogee
$GC,9970,-0.31,0.0,901.6,8.1,382,10070,1.15,0.00,96.45,1.162,6,0.074,0.000,2912,1684,2955,0,0,0,0,0,0
$STATE,10071,end apogee,CONTROL_FINISHED_OK
$STATE,10071,begin climb
$GC,10073,1.38,116.8,904.2,0.0,384,10190,1.48,2.78,107.78,1.144,4,0.028,0.072,3291,175,2477,0,0,0,0,0,0
$GC,10432,0.96,116.8,871.9,13.2,392,10441,0.50,2.50,0.00,0.000,6,0.106,0.035,3189,1697,2468,0,0,0,0,0,0
$GC,10726,1.01,155.3,848.2,7.8,399,10768,0.00,2.80,34.78,1.083,4,0.000,0.058,3189,3284,2320,0,0,0,0,0,0
$GC,10787,1.04,184.5,842.8,8.3,400,10821,0.00,2.65,28.17,1.062,6,0.000,0.037,3189,1702,2201,0,0,0,0,0,0
$GC,11099,1.05,185.5,812.8,9.9,408,11105,0.00,2.72,0.00,0.000,4,0.000,0.050,3189,3281,2194,0,0,0,0,0,0
$GC,11119,1.05,185.5,810.4,11.4,408,11124,0.00,2.67,0.00,0.000,6,0.000,0.041,3189,1701,2193,0,0,0,0,0,0
$GC,11389,1.05,185.5,782.2,10.5,415,11393,0.00,2.70,0.00,0.000,4,0.000,0.050,3189,3284,2192,0,0,0,0,0,0
$GC,11447,1.05,185.5,776.2,11.0,416,11452,0.00,2.65,0.00,0.000,6,0.000,0.043,3189,1717,2191,0,0,0,0,0,0
$GC,11722,1.07,202.1,750.7,9.0,423,11747,0.00,2.70,16.17,0.988,4,0.000,0.049,3189,3284,2130,0,0,0,0,0,0
$GC,11758,1.09,223.5,747.1,8.8,423,11787,0.12,2.67,21.80,1.002,6,0.068,0.044,3235,1720,2042,0,0,0,0,0,0
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$STATE,18678,end climb,SURFACE_DEPTH_REACHED
$STATE,18678,begin surface coast
$FINISH,0.9,1.023161
$STATE,18745,end surface coast,CONTROL_FINISHED_OK
$STATE,18745,begin surface
$SM_CCo,18769,53.95,0.452,0,0,1323,400.08
$SM_GC,1.82,0.00,0.00,53.95,0.000,0.000,0.452,412,1632,1323,-11.81,-2.49,400.08
$IRIDIUM_FIX,2209.02,-15807.59,070101,212142
$TT8_MAMPS,0.027612
$HUMID,67.72
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,22.9,63.593
$10V_AH,9.8,72.654
$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
$DEVICE_SECS,34.150,283.800,401.000,53.950,0.000,53.369,71.784,457.095,0.000,0.000,15.352,1709.589,13711.188,574.389,2149.794,1520.141,33.365,1874.298,0.000,2413.619,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,514.281,526.014,642.665,686.428,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356160
$DATA_FILE_SIZE,57334,756
$CAP_FILE_SIZE,214503,0
$CFSIZE,260165632,99213312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151011,025636,2216.806,-15802.645,41,1.4,51,10.0