version: 66.06
glider: 148
mission: 10
dive: 688
start: 10 16 111 19 7 52
data:
$ID,148
$MISSION,10
$DIVE,688
$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,-891653.69
$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,29
$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
$GPS1,183737,2202.310,-15804.673,28,1.6,28,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.3
$GPS2,190656,2202.396,-15804.767,15,1.5,15,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.211,-0.103
$KALMAN_X,-183468.1,320.3,-40.9,118315.5,1581.3
$KALMAN_Y,-135753.9,253.6,138.5,13910.4,-709.6
$MHEAD_RNG_PITCHd_Wd,234.0,25506,-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,-63.47,0.000,2,0.000,0.000,414,1686,2995,0,0,0,0,0,0
$GC,88,-1.38,-116.8,3.1,-5.8,12,118,11.85,2.65,-9.05,0.000,4,0.149,0.037,2674,3322,3434,0,0,0,0,0,0
$GC,209,-1.25,-116.8,23.8,-12.8,36,218,0.10,2.55,0.00,0.000,6,0.084,0.023,2701,1734,3435,0,0,0,0,0,0
$GC,482,-1.11,-116.8,59.8,-12.6,65,488,0.17,2.58,0.00,0.000,4,0.100,0.040,2739,181,3435,0,0,0,0,0,0
$GC,536,-1.18,-116.8,65.7,-10.1,70,541,0.00,2.40,0.00,0.000,6,0.000,0.016,2739,1754,3436,0,0,0,0,0,0
$GC,802,-1.18,-116.8,93.9,-10.6,94,806,0.00,2.38,0.00,0.000,4,0.000,0.022,2739,3291,3435,0,0,0,0,0,0
$GC,818,-1.18,-116.8,95.7,-9.6,95,824,0.00,2.55,0.00,0.000,6,0.000,0.023,2739,1700,3436,0,0,0,0,0,0
$GC,1089,-1.30,-116.8,117.1,-7.6,120,1094,0.17,2.53,0.00,0.000,4,0.048,0.024,2660,3290,3436,0,0,0,0,0,0
$GC,1126,-1.30,-116.8,120.9,-10.7,123,1131,0.15,2.53,0.00,0.000,6,0.095,0.023,2695,1698,3436,0,0,0,0,0,0
$GC,1388,-1.30,-116.8,144.1,-7.8,147,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1697,3436,0,0,0,0,0,0
$GC,1642,-1.30,-116.8,164.1,-8.0,171,1647,0.00,2.53,0.00,0.000,4,0.000,0.024,2695,3283,3436,0,0,0,0,0,0
$GC,1671,-1.40,-116.8,166.0,-8.1,173,1677,0.00,2.50,0.00,0.000,6,0.000,0.022,2695,1702,3436,0,0,0,0,0,0
$GC,1934,-1.40,-116.8,185.7,-7.7,198,1938,0.00,2.47,0.00,0.000,4,0.000,0.042,2695,172,3436,0,0,0,0,0,0
$GC,1986,-1.48,-116.8,191.1,-10.3,203,1992,0.12,2.35,0.00,0.000,6,0.025,0.018,2617,1706,3436,0,0,0,0,0,0
$GC,2267,-1.29,-116.8,224.6,-12.0,215,2272,0.32,2.50,0.00,0.000,4,0.083,0.039,2694,180,3436,0,0,0,0,0,0
$GC,2287,-1.22,-116.8,227.0,-10.4,215,2291,0.00,2.30,0.00,0.000,6,0.000,0.018,2694,1695,3436,0,0,0,0,0,0
$GC,2552,-1.22,-116.8,249.8,-8.6,222,2556,0.00,2.50,0.00,0.000,4,0.000,0.025,2694,3283,3436,0,0,0,0,0,0
$GC,2576,-1.33,-116.8,252.0,-8.9,222,2581,0.00,2.55,0.00,0.000,6,0.000,0.024,2694,1683,3436,0,0,0,0,0,0
$GC,2838,-1.40,-116.8,273.5,-8.4,229,2843,0.00,2.45,0.00,0.000,4,0.000,0.045,2694,177,3434,0,0,0,0,0,0
$GC,2876,-1.53,-116.8,276.7,-8.2,229,2882,0.20,2.30,0.00,0.000,6,0.044,0.018,2607,1685,3434,0,0,0,0,0,0
$GC,3126,-1.36,-116.8,302.2,-10.3,236,3131,0.30,2.50,0.00,0.000,4,0.084,0.026,2679,3273,3433,0,0,0,0,0,0
$GC,3147,-1.36,-116.8,304.0,-8.6,236,3151,0.00,2.55,0.00,0.000,6,0.000,0.026,2678,1685,3433,0,0,0,0,0,0
$GC,3412,-1.36,-116.8,322.1,-7.1,243,3416,0.00,2.47,0.00,0.000,4,0.000,0.049,2678,177,3431,0,0,0,0,0,0
$GC,3463,-1.44,-116.8,326.6,-8.8,244,3467,0.00,2.30,0.00,0.000,6,0.000,0.020,2678,1668,3431,0,0,0,0,0,0
$GC,3742,-1.44,-116.8,349.2,-8.1,251,3746,0.00,2.58,0.00,0.000,4,0.000,0.031,2678,3276,3429,0,0,0,0,0,0
$GC,3793,-1.55,-116.8,353.4,-7.1,252,3799,0.12,2.60,0.00,0.000,6,0.026,0.028,2602,1685,3429,0,0,0,0,0,0
$GC,4080,-1.37,-116.8,381.9,-9.9,259,4087,0.32,2.55,0.00,0.000,4,0.087,0.054,2679,170,3427,0,0,0,0,0,0
$GC,4160,-1.47,-116.8,389.0,-7.7,260,4164,0.00,2.30,0.00,0.000,6,0.000,0.021,2679,1648,3426,0,0,0,0,0,0
$GC,4416,-1.53,-116.8,407.7,-7.4,267,4421,0.15,2.65,0.00,0.000,4,0.054,0.035,2610,3273,3424,0,0,0,0,0,0
$GC,4487,-1.45,-116.8,414.4,-9.7,268,4493,0.25,2.60,0.00,0.000,6,0.085,0.032,2666,1679,3423,0,0,0,0,0,0
$GC,4750,-1.45,-116.8,433.8,-7.3,275,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1679,3421,0,0,0,0,0,0
$GC,4991,-1.45,-116.8,450.7,-7.1,281,4996,0.00,2.60,0.00,0.000,4,0.000,0.038,2666,3272,3420,0,0,0,0,0,0
$GC,5014,-1.45,-116.8,452.7,-8.2,281,5019,0.00,2.62,0.00,0.000,6,0.000,0.035,2665,1676,3419,0,0,0,0,0,0
$GC,5274,-1.45,-116.8,477.2,-9.9,288,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1676,3417,0,0,0,0,0,0
$GC,5520,-1.45,-116.8,501.0,-9.5,294,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1676,3415,0,0,0,0,0,0
$GC,5761,-1.45,-116.8,522.1,-8.5,300,5766,0.00,2.60,0.00,0.000,4,0.000,0.072,2666,175,3414,0,0,0,0,0,0
$GC,5785,-1.45,-116.8,524.2,-8.8,300,5789,0.00,2.38,0.00,0.000,6,0.000,0.029,2666,1653,3413,0,0,0,0,0,0
$GC,6046,-1.45,-116.8,545.2,-8.0,307,6050,0.00,2.65,0.00,0.000,4,0.000,0.048,2666,3262,3412,0,0,0,0,0,0
$GC,6070,-1.45,-116.8,547.4,-7.9,307,6075,0.00,2.62,0.00,0.000,6,0.000,0.036,2666,1687,3411,0,0,0,0,0,0
$GC,6335,-1.45,-116.8,569.5,-8.7,314,6340,0.00,2.62,0.00,0.000,4,0.000,0.042,2666,3254,3410,0,0,0,0,0,0
$GC,6361,-1.51,-116.8,571.8,-9.5,314,6366,0.00,2.60,0.00,0.000,6,0.000,0.038,2666,1684,3410,0,0,0,0,0,0
$GC,6625,-1.51,-116.8,593.3,-8.0,321,6629,0.00,2.65,0.00,0.000,4,0.000,0.075,2665,167,3408,0,0,0,0,0,0
$GC,6644,-1.51,-116.8,595.0,-8.6,321,6648,0.00,2.40,0.00,0.000,6,0.000,0.032,2665,1653,3407,0,0,0,0,0,0
$GC,6910,-1.51,-116.8,613.4,-6.8,328,6915,0.00,2.70,0.00,0.000,4,0.000,0.051,2666,3263,3406,0,0,0,0,0,0
$GC,6942,-1.59,-116.8,615.7,-7.2,328,6947,0.15,2.60,0.00,0.000,6,0.057,0.038,2598,1696,3406,0,0,0,0,0,0
$GC,7201,-1.43,-116.8,639.7,-9.6,335,7208,0.28,2.67,0.00,0.000,4,0.090,0.078,2662,167,3404,0,0,0,0,0,0
$GC,7221,-1.37,-116.8,641.6,-8.9,335,7226,0.00,2.42,0.00,0.000,6,0.000,0.035,2663,1641,3404,0,0,0,0,0,0
$GC,7495,-1.37,-116.8,663.2,-7.8,342,7500,0.00,2.75,0.00,0.000,4,0.000,0.054,2663,3256,3402,0,0,0,0,0,0
$GC,7558,-1.46,-116.8,668.1,-7.9,343,7562,0.00,2.60,0.00,0.000,6,0.000,0.041,2663,1697,3402,0,0,0,0,0,0
$GC,7831,-1.46,-116.8,687.7,-7.1,350,7835,0.00,2.67,0.00,0.000,4,0.000,0.076,2660,169,3401,0,0,0,0,0,0
$GC,7859,-1.46,-116.8,689.8,-7.8,350,7863,0.00,2.42,0.00,0.000,6,0.000,0.035,2661,1659,3400,0,0,0,0,0,0
$GC,8115,-1.46,-116.8,705.8,-6.0,357,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1660,3399,0,0,0,0,0,0
$GC,8357,-1.46,-116.8,721.9,-6.7,363,8362,0.00,2.72,0.00,0.000,4,0.000,0.056,2663,3268,3398,0,0,0,0,0,0
$GC,8395,-1.57,-116.8,724.6,-7.7,363,8401,0.10,2.60,0.00,0.000,6,0.075,0.041,2599,1709,3398,0,0,0,0,0,0
$GC,8648,-1.43,-116.8,747.5,-9.3,370,8655,0.28,2.70,0.00,0.000,4,0.091,0.075,2662,163,3396,0,0,0,0,0,0
$GC,8688,-1.50,-116.8,750.9,-7.5,370,8694,0.00,2.45,0.00,0.000,6,0.000,0.036,2663,1661,3396,0,0,0,0,0,0
$GC,8939,-1.50,-116.8,766.6,-6.3,377,8944,0.00,2.72,0.00,0.000,4,0.000,0.058,2663,3265,3395,0,0,0,0,0,0
$GC,8976,-1.60,-116.8,768.8,-6.4,377,8981,0.15,2.62,0.00,0.000,6,0.055,0.041,2595,1696,3395,0,0,0,0,0,0
$GC,9226,-1.45,-116.8,791.0,-9.3,383,9235,0.28,2.67,0.00,0.000,4,0.093,0.076,2658,165,3394,0,0,0,0,0,0
$GC,9275,-1.45,-116.8,795.2,-8.5,384,9279,0.00,2.45,0.00,0.000,6,0.000,0.037,2659,1662,3393,0,0,0,0,0,0
$GC,9564,-1.45,-116.8,817.4,-7.9,391,9568,0.00,2.72,0.00,0.000,4,0.000,0.058,2660,3261,3392,0,0,0,0,0,0
$GC,9615,-1.55,-116.8,821.8,-8.6,392,9619,0.00,2.60,0.00,0.000,6,0.000,0.041,2659,1705,3392,0,0,0,0,0,0
$GC,9894,-1.55,-116.8,844.1,-8.2,399,9899,0.00,2.72,0.00,0.000,4,0.000,0.078,2659,173,3391,0,0,0,0,0,0
$GC,9923,-1.55,-116.8,847.0,-8.9,399,9927,0.00,2.42,0.00,0.000,6,0.000,0.037,2659,1654,3390,0,0,0,0,0,0
$GC,10182,-1.55,-116.8,868.4,-8.2,406,10187,0.00,2.75,0.00,0.000,4,0.000,0.059,2660,3266,3390,0,0,0,0,0,0
$GC,10222,-1.66,-116.8,871.7,-8.6,406,10228,0.17,2.62,0.00,0.000,6,0.050,0.042,2583,1700,3390,0,0,0,0,0,0
$GC,10474,-1.50,-116.8,896.5,-9.9,413,10481,0.28,2.67,0.00,0.000,4,0.095,0.076,2637,170,3390,0,0,0,0,0,0
$STATE,10511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10511,begin apogee
$GC,10521,-0.31,0.0,900.2,8.2,413,10619,1.15,0.00,94.97,1.163,6,0.074,0.000,2911,1657,2955,0,0,0,0,0,0
$STATE,10620,end apogee,CONTROL_FINISHED_OK
$STATE,10620,begin climb
$GC,10623,1.38,116.8,902.9,0.0,416,10741,1.52,2.70,107.57,1.144,4,0.030,0.071,3305,173,2476,0,0,0,0,0,0
$GC,10765,0.89,116.8,898.0,12.9,419,10773,0.62,2.58,0.00,0.000,6,0.107,0.038,3178,1702,2472,0,0,0,0,0,0
$GC,11037,0.96,173.1,878.1,6.8,426,11095,0.00,2.83,51.17,1.106,4,0.000,0.071,3177,168,2248,0,0,0,0,0,0
$GC,11108,1.02,222.5,873.1,7.2,427,11162,0.10,2.58,47.78,1.095,6,0.082,0.037,3213,1700,2047,0,0,0,0,0,0
$GC,11408,0.95,222.5,837.9,12.5,434,11415,0.12,2.75,0.00,0.000,4,0.119,0.063,3188,3287,2037,0,0,0,0,0,0
$GC,11466,0.95,222.5,830.4,13.6,435,11471,0.00,2.67,0.00,0.000,6,0.000,0.038,3188,1704,2035,0,0,0,0,0,0
$GC,11740,0.95,222.5,797.3,12.2,442,11744,0.00,2.72,0.00,0.000,4,0.000,0.051,3188,3292,2034,0,0,0,0,0,0
$GC,11778,0.95,222.5,792.5,11.7,442,11784,0.00,2.67,0.00,0.000,6,0.000,0.043,3188,1717,2032,0,0,0,0,0,0
$GC,12029,0.95,222.5,763.2,11.8,449,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1718,2032,0,0,0,0,0,0
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$GC,13446,1.03,234.0,612.4,9.9,483,13452,0.00,2.67,0.00,0.000,6,0.000,0.043,3189,1730,2006,0,0,0,0,0,0
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$STATE,19075,end climb,SURFACE_DEPTH_REACHED
$STATE,19075,begin surface coast
$FINISH,1.0,1.023196
$STATE,19123,end surface coast,CONTROL_FINISHED_OK
$STATE,19123,begin surface
$SM_CCo,19145,46.50,0.439,1,0,1323,400.08
$SM_GC,1.61,0.00,0.00,46.50,0.000,0.000,0.439,418,1705,1323,-11.79,-0.42,400.08
$IRIDIUM_FIX,2155.06,-15801.98,090101,191930
$TT8_MAMPS,0.026845
$HUMID,67.79
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,20.70
$XPDR_PINGS,2
$24V_AH,22.9,65.035
$10V_AH,9.8,73.566
$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,32.750,284.550,414.575,46.500,0.000,145.226,244.359,914.805,0.500,0.000,16.916,1715.393,14277.697,571.755,2130.948,2244.643,33.369,1842.957,0.000,2396.635,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,93.574,1162.772,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356152
$DATA_FILE_SIZE,60415,778
$CAP_FILE_SIZE,223923,0
$CFSIZE,260165632,98525184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171011,002909,2201.167,-15805.637,35,1.0,35,9.9