version: 66.06
glider: 148
mission: 10
dive: 686
start: 10 16 111 7 35 40
data:
$ID,148
$MISSION,10
$DIVE,686
$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,-891621.75
$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,42
$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,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
$GPS1,072125,2206.097,-15804.732,50,2.0,50,10.0
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,2
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.6
$GPS2,073444,2206.157,-15804.723,40,1.5,40,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.123,-0.199
$KALMAN_X,-187971.3,61.6,422.4,122694.5,-264.6
$KALMAN_Y,-135281.1,-396.7,112.6,21076.7,-324.8
$MHEAD_RNG_PITCHd_Wd,201.7,31143,-19.7,-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,-63.62,0.000,2,0.000,0.000,413,1692,2986,0,0,0,0,0,0
$GC,88,-1.38,-116.8,3.2,-5.8,12,118,11.62,2.53,-9.12,0.000,4,0.143,0.053,2671,188,3435,0,0,0,0,0,0
$GC,208,-1.19,-116.8,26.0,-16.1,36,217,0.17,2.40,0.00,0.000,6,0.089,0.017,2713,1737,3436,0,0,0,0,0,0
$GC,486,-1.06,-116.8,62.7,-13.3,63,492,0.15,0.00,0.00,0.000,6,0.107,0.000,2746,1740,3436,0,0,0,0,0,0
$GC,748,-1.06,-116.8,91.6,-11.1,88,753,0.00,2.58,0.00,0.000,4,0.000,0.039,2747,183,3437,0,0,0,0,0,0
$GC,779,-1.18,-116.8,95.0,-10.6,91,784,0.10,2.38,0.00,0.000,6,0.075,0.016,2684,1742,3437,0,0,0,0,0,0
$GC,1043,-1.18,-116.8,120.3,-9.7,115,1050,0.17,0.00,0.00,0.000,6,0.092,0.000,2722,1746,3438,0,0,0,0,0,0
$GC,1308,-1.28,-116.8,142.8,-8.0,140,1312,0.00,2.40,0.00,0.000,4,0.000,0.023,2722,3280,3439,0,0,0,0,0,0
$GC,1345,-1.45,-116.8,146.1,-9.1,143,1351,0.20,2.47,0.00,0.000,6,0.021,0.022,2615,1725,3439,0,0,0,0,0,0
$GC,1613,-1.24,-116.8,177.0,-9.8,168,1625,0.38,2.50,0.00,0.000,4,0.084,0.038,2703,176,3439,0,0,0,0,0,0
$GC,1663,-1.35,-116.8,181.2,-7.3,173,1668,0.00,2.35,0.00,0.000,6,0.000,0.017,2703,1719,3439,0,0,0,0,0,0
$GC,1926,-1.42,-116.8,203.8,-9.5,194,1932,0.15,2.47,0.00,0.000,4,0.055,0.025,2629,3277,3439,0,0,0,0,0,0
$GC,1952,-1.36,-116.8,207.2,-12.0,194,1957,0.22,2.45,0.00,0.000,6,0.085,0.023,2680,1708,3439,0,0,0,0,0,0
$GC,2218,-1.36,-116.8,230.2,-7.9,201,2222,0.00,2.45,0.00,0.000,4,0.000,0.025,2680,3281,3438,0,0,0,0,0,0
$GC,2256,-1.47,-116.8,233.5,-8.0,201,2262,0.00,2.45,0.00,0.000,6,0.000,0.024,2680,1719,3439,0,0,0,0,0,0
$GC,2506,-1.47,-116.8,255.0,-8.7,208,2511,0.00,2.55,0.00,0.000,4,0.000,0.044,2681,173,3438,0,0,0,0,0,0
$GC,2546,-1.53,-116.8,258.6,-9.0,208,2552,0.12,2.40,0.00,0.000,6,0.025,0.019,2602,1721,3439,0,0,0,0,0,0
$GC,2803,-1.34,-116.8,286.9,-11.7,215,2810,0.35,2.53,0.00,0.000,4,0.084,0.042,2684,174,3437,0,0,0,0,0,0
$GC,2821,-1.25,-116.8,288.9,-11.4,215,2826,0.10,2.38,0.00,0.000,6,0.114,0.020,2707,1713,3438,0,0,0,0,0,0
$GC,3091,-1.38,-116.8,310.4,-7.9,222,3096,0.12,2.50,0.00,0.000,4,0.061,0.029,2641,3290,3436,0,0,0,0,0,0
$GC,3106,-1.38,-116.8,312.0,-7.9,222,3112,0.17,2.47,0.00,0.000,6,0.088,0.025,2681,1715,3437,0,0,0,0,0,0
$GC,3377,-1.38,-116.8,333.9,-8.1,229,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1715,3435,0,0,0,0,0,0
$GC,3622,-1.38,-116.8,353.1,-7.7,235,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1715,3434,0,0,0,0,0,0
$GC,3863,-1.38,-116.8,370.8,-7.1,241,3867,0.00,2.55,0.00,0.000,4,0.000,0.052,2681,179,3432,0,0,0,0,0,0
$GC,3897,-1.44,-116.8,373.5,-8.4,241,3902,0.00,2.38,0.00,0.000,6,0.000,0.021,2681,1711,3432,0,0,0,0,0,0
$GC,4148,-1.44,-116.8,393.3,-8.0,247,4153,0.00,2.50,0.00,0.000,4,0.000,0.033,2681,3289,3430,0,0,0,0,0,0
$GC,4204,-1.56,-116.8,397.7,-7.1,248,4209,0.17,2.47,0.00,0.000,6,0.048,0.030,2596,1735,3429,0,0,0,0,0,0
$GC,4479,-1.37,-116.8,426.7,-10.6,255,4486,0.35,2.62,0.00,0.000,4,0.087,0.058,2676,170,3428,0,0,0,0,0,0
$GC,4547,-1.43,-116.8,432.3,-7.5,256,4551,0.00,2.42,0.00,0.000,6,0.000,0.023,2676,1715,3427,0,0,0,0,0,0
$GC,4812,-1.43,-116.8,450.1,-6.7,263,4817,0.00,2.62,0.00,0.000,4,0.000,0.059,2676,183,3425,0,0,0,0,0,0
$GC,4846,-1.43,-116.8,452.9,-7.7,263,4850,0.00,2.42,0.00,0.000,6,0.000,0.025,2676,1712,3425,0,0,0,0,0,0
$GC,5101,-1.43,-116.8,471.8,-7.5,270,5105,0.00,2.60,0.00,0.000,4,0.000,0.042,2676,3305,3424,0,0,0,0,0,0
$GC,5135,-1.53,-116.8,474.6,-8.1,270,5141,0.12,2.60,0.00,0.000,6,0.064,0.035,2616,1711,3424,0,0,0,0,0,0
$GC,5386,-1.41,-116.8,498.2,-9.6,276,5392,0.25,2.65,0.00,0.000,4,0.088,0.043,2675,3296,3422,0,0,0,0,0,0
$GC,5417,-1.50,-116.8,500.8,-7.3,276,5422,0.00,2.55,0.00,0.000,6,0.000,0.036,2675,1722,3422,0,0,0,0,0,0
$GC,5677,-1.50,-116.8,520.0,-7.4,283,5681,0.00,2.67,0.00,0.000,4,0.000,0.070,2675,170,3420,0,0,0,0,0,0
$GC,5698,-1.50,-116.8,521.7,-7.9,283,5702,0.00,2.50,0.00,0.000,6,0.000,0.031,2675,1721,3420,0,0,0,0,0,0
$GC,5966,-1.50,-116.8,541.5,-7.6,290,5970,0.00,2.60,0.00,0.000,4,0.000,0.048,2675,3308,3418,0,0,0,0,0,0
$GC,5990,-1.60,-116.8,543.5,-7.2,290,5996,0.15,2.60,0.00,0.000,6,0.027,0.035,2600,1730,3418,0,0,0,0,0,0
$GC,6256,-1.44,-116.8,569.8,-10.2,297,6265,0.28,2.67,0.00,0.000,4,0.091,0.070,2664,172,3416,0,0,0,0,0,0
$GC,6306,-1.50,-116.8,574.4,-9.7,298,6311,0.00,2.53,0.00,0.000,6,0.000,0.033,2664,1735,3416,0,0,0,0,0,0
$GC,6593,-1.50,-116.8,596.4,-7.4,305,6597,0.00,2.67,0.00,0.000,4,0.000,0.067,2664,175,3414,0,0,0,0,0,0
$GC,6612,-1.50,-116.8,598.1,-8.4,305,6616,0.00,2.50,0.00,0.000,6,0.000,0.034,2664,1717,3414,0,0,0,0,0,0
$GC,6878,-1.50,-116.8,618.2,-7.8,312,6882,0.00,2.65,0.00,0.000,4,0.000,0.054,2664,3314,3412,0,0,0,0,0,0
$GC,6918,-1.60,-116.8,621.8,-8.8,312,6924,0.15,2.60,0.00,0.000,6,0.056,0.038,2598,1722,3412,0,0,0,0,0,0
$GC,7169,-1.45,-116.8,648.7,-11.1,319,7175,0.28,2.72,0.00,0.000,4,0.091,0.074,2662,174,3410,0,0,0,0,0,0
$GC,7215,-1.52,-116.8,653.2,-9.2,319,7221,0.00,2.53,0.00,0.000,6,0.000,0.035,2662,1724,3410,0,0,0,0,0,0
$GC,7465,-1.52,-116.8,674.5,-8.5,326,7470,0.00,2.70,0.00,0.000,4,0.000,0.071,2662,173,3409,0,0,0,0,0,0
$GC,7480,-1.52,-116.8,675.7,-8.1,326,7485,0.00,2.50,0.00,0.000,6,0.000,0.036,2662,1708,3409,0,0,0,0,0,0
$GC,7750,-1.52,-116.8,694.8,-6.8,333,7755,0.00,2.70,0.00,0.000,4,0.000,0.057,2662,3312,3408,0,0,0,0,0,0
$GC,7782,-1.60,-116.8,697.0,-7.4,333,7787,0.12,2.67,0.00,0.000,6,0.061,0.041,2595,1698,3407,0,0,0,0,0,0
$GC,8039,-1.45,-116.8,721.3,-9.8,340,8045,0.28,2.70,0.00,0.000,4,0.093,0.076,2659,172,3406,0,0,0,0,0,0
$GC,8110,-1.45,-116.8,727.8,-8.6,341,8115,0.00,2.50,0.00,0.000,6,0.000,0.038,2659,1700,3406,0,0,0,0,0,0
$GC,8375,-1.45,-116.8,747.8,-7.7,348,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1700,3405,0,0,0,0,0,0
$GC,8617,-1.45,-116.8,765.9,-7.4,354,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1700,3403,0,0,0,0,0,0
$GC,8862,-1.45,-116.8,783.0,-6.8,360,8867,0.00,2.72,0.00,0.000,4,0.000,0.059,2660,3309,3402,0,0,0,0,0,0
$GC,8894,-1.53,-116.8,785.0,-7.3,360,8899,0.00,2.70,0.00,0.000,6,0.000,0.042,2659,1688,3402,0,0,0,0,0,0
$GC,9150,-1.53,-116.8,801.7,-6.5,367,9156,0.00,2.67,0.00,0.000,4,0.000,0.079,2659,176,3401,0,0,0,0,0,0
$GC,9170,-1.53,-116.8,803.1,-6.9,367,9175,0.00,2.50,0.00,0.000,6,0.000,0.038,2659,1698,3401,0,0,0,0,0,0
$GC,9438,-1.53,-116.8,821.7,-7.1,374,9443,0.00,2.75,0.00,0.000,4,0.000,0.061,2659,3316,3401,0,0,0,0,0,0
$GC,9464,-1.62,-116.8,823.5,-7.7,374,9471,0.12,2.70,0.00,0.000,6,0.064,0.041,2600,1694,3400,0,0,0,0,0,0
$GC,9726,-1.48,-116.8,847.8,-9.5,381,9733,0.25,2.67,0.00,0.000,4,0.092,0.077,2657,170,3399,0,0,0,0,0,0
$GC,9804,-1.54,-116.8,854.5,-9.2,382,9809,0.00,2.47,0.00,0.000,6,0.000,0.038,2657,1683,3399,0,0,0,0,0,0
$GC,10060,-1.54,-116.8,873.2,-7.4,389,10065,0.00,2.78,0.00,0.000,4,0.000,0.061,2658,3314,3398,0,0,0,0,0,0
$GC,10092,-1.63,-116.8,875.6,-8.3,389,10099,0.15,2.72,0.00,0.000,6,0.056,0.041,2598,1679,3398,0,0,0,0,0,0
$GC,10351,-1.50,-116.8,899.7,-9.4,396,10357,0.25,2.67,0.00,0.000,4,0.092,0.077,2653,172,3397,0,0,0,0,0,0
$STATE,10360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10360,begin apogee
$GC,10369,-0.31,0.0,901.1,9.3,396,10469,1.10,0.00,96.50,1.164,6,0.075,0.000,2907,1704,2955,0,0,0,0,0,0
$STATE,10470,end apogee,CONTROL_FINISHED_OK
$STATE,10470,begin climb
$GC,10474,1.38,116.8,903.5,0.0,398,10593,1.58,2.78,108.53,1.141,4,0.031,0.060,3306,3287,2475,0,0,0,0,0,0
$GC,10632,1.04,116.8,897.5,11.8,402,10642,0.47,2.67,0.00,0.000,6,0.116,0.038,3210,1702,2470,0,0,0,0,0,0
$GC,10902,0.96,139.4,873.2,8.7,409,10925,0.00,0.00,20.58,1.058,6,0.000,0.000,3210,1701,2385,0,0,0,0,0,0
$GC,11191,0.89,157.3,847.2,9.0,416,11216,0.17,2.85,17.30,1.035,4,0.114,0.082,3172,169,2313,0,0,0,0,0,0
$GC,11230,0.92,186.8,843.5,8.3,416,11267,0.00,2.58,29.12,1.066,6,0.000,0.035,3174,1709,2192,0,0,0,0,0,0
$GC,11525,0.94,201.4,817.2,9.2,424,11545,0.00,2.75,14.88,1.002,4,0.000,0.063,3174,3286,2132,0,0,0,0,0,0
$GC,11564,0.95,213.9,813.1,9.3,424,11583,0.00,2.67,13.20,0.981,6,0.000,0.038,3174,1704,2082,0,0,0,0,0,0
$GC,11863,0.97,224.4,785.2,9.4,432,11879,0.00,2.78,10.50,0.943,4,0.000,0.050,3174,3284,2040,0,0,0,0,0,0
$GC,11939,1.07,253.9,778.1,8.3,433,11976,0.17,2.67,30.40,1.039,6,0.054,0.043,3234,1710,1918,0,0,0,0,0,0
$GC,12245,0.97,253.9,738.0,13.3,441,12254,0.20,2.70,0.00,0.000,4,0.108,0.053,3194,3285,1912,0,0,0,0,0,0
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$STATE,18712,end climb,SURFACE_DEPTH_REACHED
$STATE,18712,begin surface coast
$FINISH,0.8,1.012938
$STATE,18739,end surface coast,CONTROL_FINISHED_OK
$STATE,18740,begin surface
$SM_CCo,18761,43.58,0.452,0,0,1323,400.08
$SM_GC,1.80,0.00,0.00,43.58,0.000,0.000,0.452,409,1682,1323,-11.83,-1.05,400.08
$IRIDIUM_FIX,2159.71,-15801.98,090101,020222
$TT8_MAMPS,0.027612
$HUMID,67.91
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,22.9,64.648
$10V_AH,9.8,73.329
$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
$DEVICE_SECS,34.400,273.750,416.475,43.575,0.000,28.504,36.753,520.965,0.000,0.000,43.408,1670.744,13763.353,556.733,2117.129,1483.686,33.369,1829.884,0.000,2328.331,0.000,0.535,0.000
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$SENSOR_SECS,508.320,471.002,597.656,656.219,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356144
$DATA_FILE_SIZE,57169,748
$CAP_FILE_SIZE,209535,0
$CFSIZE,260165632,98709504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161011,125031,2204.164,-15804.884,39,2.0,40,9.9