version: 66.06
glider: 148
mission: 10
dive: 691
start: 10 17 111 11 55 49
data:
$ID,148
$MISSION,10
$DIVE,691
$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,-891741.25
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,114237,2157.719,-15806.749,38,1.0,38,9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.9
$GPS2,115455,2157.740,-15806.667,13,1.2,30,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.187,-0.141
$KALMAN_X,-176765.8,5.7,421.5,108230.4,854.5
$KALMAN_Y,-136338.4,-302.6,-154.1,6719.7,527.2
$MHEAD_RNG_PITCHd_Wd,223.2,17155,-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,19,-1.38,-116.8,0.0,0.0,0,86,0.00,0.00,-65.05,0.000,2,0.000,0.000,415,1749,3020,0,0,0,0,0,0
$GC,89,-1.38,-116.8,3.0,-5.1,12,119,11.68,2.65,-8.45,0.000,4,0.144,0.050,2669,165,3434,0,0,0,0,0,0
$GC,163,-1.19,-116.8,18.3,-15.4,26,170,0.20,2.45,0.00,0.000,6,0.085,0.018,2717,1736,3435,0,0,0,0,0,0
$GC,436,-1.04,-116.8,54.9,-13.6,59,443,0.15,0.00,0.00,0.000,6,0.104,0.000,2750,1740,3436,0,0,0,0,0,0
$GC,697,-1.04,-116.8,84.7,-12.2,84,703,0.00,2.47,0.00,0.000,4,0.000,0.024,2750,3292,3436,0,0,0,0,0,0
$GC,761,-1.16,-116.8,91.2,-9.8,90,770,0.05,2.55,0.00,0.000,6,0.044,0.023,2674,1704,3436,0,0,0,0,0,0
$GC,1025,-1.07,-116.8,119.0,-10.1,115,1030,0.28,2.47,0.00,0.000,4,0.084,0.039,2740,178,3437,0,0,0,0,0,0
$GC,1064,-1.19,-116.8,122.9,-8.8,118,1070,0.00,2.38,0.00,0.000,6,0.000,0.017,2740,1725,3437,0,0,0,0,0,0
$GC,1330,-1.33,-116.8,141.7,-6.4,143,1335,0.20,2.42,0.00,0.000,4,0.043,0.021,2651,3283,3438,0,0,0,0,0,0
$GC,1399,-1.25,-116.8,149.1,-11.0,149,1406,0.25,2.50,0.00,0.000,6,0.084,0.022,2707,1706,3438,0,0,0,0,0,0
$GC,1662,-1.25,-116.8,171.4,-8.1,174,1667,0.00,2.47,0.00,0.000,4,0.000,0.041,2707,177,3439,0,0,0,0,0,0
$GC,1710,-1.35,-116.8,175.4,-8.8,178,1715,0.00,2.30,0.00,0.000,6,0.000,0.017,2707,1697,3438,0,0,0,0,0,0
$GC,1975,-1.41,-116.8,197.2,-8.9,203,1980,0.15,2.50,0.00,0.000,4,0.054,0.025,2635,3275,3439,0,0,0,0,0,0
$GC,2034,-1.33,-116.8,203.5,-10.4,206,2040,0.25,2.50,0.00,0.000,6,0.081,0.023,2692,1692,3439,0,0,0,0,0,0
$GC,2310,-1.33,-116.8,228.1,-8.4,213,2314,0.00,2.45,0.00,0.000,4,0.000,0.042,2692,179,3439,0,0,0,0,0,0
$GC,2333,-1.33,-116.8,230.1,-8.3,213,2339,0.00,2.33,0.00,0.000,6,0.000,0.018,2692,1692,3439,0,0,0,0,0,0
$GC,2600,-1.33,-116.8,248.9,-7.2,220,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1696,3439,0,0,0,0,0,0
$GC,2843,-1.33,-116.8,271.1,-9.3,226,2847,0.00,2.47,0.00,0.000,4,0.000,0.043,2692,173,3439,0,0,0,0,0,0
$GC,2881,-1.43,-116.8,274.9,-10.0,226,2887,0.10,2.33,0.00,0.000,6,0.075,0.018,2635,1694,3439,0,0,0,0,0,0
$GC,3132,-1.32,-116.8,300.8,-10.4,233,3137,0.25,2.50,0.00,0.000,4,0.084,0.025,2695,3283,3437,0,0,0,0,0,0
$GC,3145,-1.26,-116.8,302.2,-10.1,233,3149,0.00,2.55,0.00,0.000,6,0.000,0.024,2695,1686,3437,0,0,0,0,0,0
$GC,3419,-1.35,-116.8,323.0,-7.4,240,3424,0.00,2.47,0.00,0.000,4,0.000,0.049,2695,179,3436,0,0,0,0,0,0
$GC,3456,-1.46,-116.8,325.5,-7.6,240,3461,0.15,2.33,0.00,0.000,6,0.054,0.019,2625,1689,3437,0,0,0,0,0,0
$GC,3706,-1.34,-116.8,349.0,-9.7,246,3711,0.25,2.55,0.00,0.000,4,0.085,0.028,2685,3283,3435,0,0,0,0,0,0
$GC,3727,-1.34,-116.8,351.0,-9.5,246,3731,0.00,2.58,0.00,0.000,6,0.000,0.028,2685,1688,3435,0,0,0,0,0,0
$GC,3992,-1.41,-116.8,375.3,-9.4,253,3997,0.00,2.58,0.00,0.000,4,0.000,0.031,2684,3280,3434,0,0,0,0,0,0
$GC,4012,-1.50,-116.8,377.1,-8.2,253,4017,0.12,2.58,0.00,0.000,6,0.063,0.030,2615,1696,3434,0,0,0,0,0,0
$GC,4279,-1.37,-116.8,402.0,-9.1,260,4281,0.30,0.00,0.00,0.000,6,0.083,0.000,2682,1696,3432,0,0,0,0,0,0
$GC,4521,-1.44,-116.8,420.6,-7.6,266,4526,0.00,2.60,0.00,0.000,4,0.000,0.035,2682,3271,3431,0,0,0,0,0,0
$GC,4546,-1.54,-116.8,422.9,-8.8,266,4551,0.17,2.58,0.00,0.000,6,0.047,0.033,2595,1696,3430,0,0,0,0,0,0
$GC,4812,-1.33,-116.8,454.3,-12.4,273,4819,0.43,2.62,0.00,0.000,4,0.086,0.064,2688,167,3429,0,0,0,0,0,0
$GC,4862,-1.45,-116.8,459.6,-8.6,274,4867,0.10,2.38,0.00,0.000,6,0.074,0.026,2633,1663,3428,0,0,0,0,0,0
$GC,5147,-1.38,-116.8,486.8,-9.3,281,5153,0.20,2.67,0.00,0.000,4,0.089,0.041,2678,3270,3426,0,0,0,0,0,0
$GC,5163,-1.38,-116.8,488.4,-8.8,281,5167,0.00,2.62,0.00,0.000,6,0.000,0.034,2678,1676,3426,0,0,0,0,0,0
$GC,5436,-1.44,-116.8,508.5,-7.6,288,5441,0.00,2.58,0.00,0.000,4,0.000,0.070,2678,174,3424,0,0,0,0,0,0
$GC,5493,-1.51,-116.8,513.4,-8.4,289,5499,0.08,2.38,0.00,0.000,6,0.037,0.029,2626,1642,3424,0,0,0,0,0,0
$GC,5773,-1.44,-116.8,539.8,-9.6,296,5779,0.17,2.75,0.00,0.000,4,0.094,0.048,2665,3272,3422,0,0,0,0,0,0
$GC,5832,-1.53,-116.8,544.5,-7.6,297,5837,0.00,2.62,0.00,0.000,6,0.000,0.035,2665,1683,3422,0,0,0,0,0,0
$GC,6110,-1.53,-116.8,564.3,-7.0,304,6114,0.00,2.65,0.00,0.000,4,0.000,0.041,2665,3277,3420,0,0,0,0,0,0
$GC,6144,-1.59,-116.8,566.8,-7.5,304,6150,0.15,2.62,0.00,0.000,6,0.055,0.037,2593,1693,3420,0,0,0,0,0,0
$GC,6396,-1.41,-116.8,592.4,-10.6,310,6403,0.32,2.65,0.00,0.000,4,0.091,0.073,2669,172,3417,0,0,0,0,0,0
$GC,6436,-1.49,-116.8,596.4,-9.0,310,6441,0.00,2.40,0.00,0.000,6,0.000,0.032,2669,1654,3417,0,0,0,0,0,0
$GC,6687,-1.49,-116.8,614.7,-7.3,317,6693,0.00,2.72,0.00,0.000,4,0.000,0.049,2669,3269,3415,0,0,0,0,0,0
$GC,6731,-1.60,-116.8,617.9,-7.0,317,6738,0.10,2.65,0.00,0.000,6,0.029,0.038,2601,1686,3415,0,0,0,0,0,0
$GC,6982,-1.46,-116.8,639.6,-8.9,324,6989,0.25,2.67,0.00,0.000,4,0.092,0.074,2660,163,3414,0,0,0,0,0,0
$GC,7050,-1.46,-116.8,644.9,-6.9,325,7055,0.00,2.40,0.00,0.000,6,0.000,0.034,2660,1641,3413,0,0,0,0,0,0
$GC,7315,-1.46,-116.8,661.6,-6.3,332,7320,0.00,2.75,0.00,0.000,4,0.000,0.053,2660,3270,3412,0,0,0,0,0,0
$GC,7352,-1.54,-116.8,664.0,-6.5,332,7356,0.00,2.67,0.00,0.000,6,0.000,0.039,2660,1665,3412,0,0,0,0,0,0
$GC,7602,-1.54,-116.8,682.7,-7.8,338,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1665,3410,0,0,0,0,0,0
$GC,7847,-1.54,-116.8,703.1,-8.6,344,7851,0.00,2.67,0.00,0.000,4,0.000,0.044,2660,3276,3409,0,0,0,0,0,0
$GC,7892,-1.63,-116.8,706.9,-8.9,345,7897,0.15,2.65,0.00,0.000,6,0.055,0.040,2593,1678,3409,0,0,0,0,0,0
$GC,8179,-1.48,-116.8,738.1,-10.9,352,8188,0.25,2.65,0.00,0.000,4,0.096,0.077,2652,165,3407,0,0,0,0,0,0
$GC,8231,-1.48,-116.8,743.3,-9.1,353,8235,0.00,2.42,0.00,0.000,6,0.000,0.035,2652,1648,3407,0,0,0,0,0,0
$GC,8514,-1.48,-116.8,766.9,-8.3,360,8518,0.00,2.75,0.00,0.000,4,0.000,0.054,2652,3275,3405,0,0,0,0,0,0
$GC,8547,-1.55,-116.8,769.8,-8.6,360,8552,0.00,2.67,0.00,0.000,6,0.000,0.041,2651,1674,3406,0,0,0,0,0,0
$GC,8800,-1.55,-116.8,790.0,-8.1,366,8804,0.00,2.65,0.00,0.000,4,0.000,0.078,2652,169,3404,0,0,0,0,0,0
$GC,8814,-1.55,-116.8,791.6,-7.8,366,8820,0.00,2.42,0.00,0.000,6,0.000,0.035,2652,1641,3404,0,0,0,0,0,0
$GC,9091,-1.55,-116.8,812.6,-7.7,373,9096,0.00,2.75,0.00,0.000,4,0.000,0.054,2652,3269,3403,0,0,0,0,0,0
$GC,9113,-1.55,-116.8,814.4,-7.4,373,9118,0.00,2.70,0.00,0.000,6,0.000,0.041,2651,1674,3403,0,0,0,0,0,0
$GC,9383,-1.55,-116.8,834.7,-7.6,380,9388,0.00,2.67,0.00,0.000,4,0.000,0.078,2651,170,3401,0,0,0,0,0,0
$GC,9428,-1.55,-116.8,838.2,-8.0,380,9433,0.00,2.40,0.00,0.000,6,0.000,0.035,2652,1644,3401,0,0,0,0,0,0
$GC,9679,-1.55,-116.8,855.8,-7.0,387,9683,0.00,2.78,0.00,0.000,4,0.000,0.056,2651,3273,3400,0,0,0,0,0,0
$GC,9712,-1.62,-116.8,858.1,-6.5,387,9717,0.12,2.67,0.00,0.000,6,0.064,0.041,2595,1676,3400,0,0,0,0,0,0
$GC,9963,-1.49,-116.8,879.0,-8.6,393,9970,0.25,2.65,0.00,0.000,4,0.094,0.077,2651,163,3400,0,0,0,0,0,0
$GC,9990,-1.49,-116.8,881.1,-8.9,393,9994,0.00,2.42,0.00,0.000,6,0.000,0.036,2652,1644,3400,0,0,0,0,0,0
$STATE,10254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10254,begin apogee
$GC,10260,-0.31,0.0,901.4,7.9,400,10360,1.15,0.00,96.88,1.167,6,0.078,0.000,2909,1644,2955,0,0,0,0,0,0
$STATE,10361,end apogee,CONTROL_FINISHED_OK
$STATE,10361,begin climb
$GC,10363,1.38,116.8,904.5,0.0,402,10481,1.52,2.70,108.15,1.145,4,0.030,0.071,3304,176,2476,0,0,0,0,0,0
$GC,10616,0.92,116.8,888.8,12.6,407,10622,0.55,2.50,0.00,0.000,6,0.102,0.035,3186,1660,2470,0,0,0,0,0,0
$GC,10877,0.98,166.6,869.3,7.1,414,10930,0.00,2.67,45.65,1.101,4,0.000,0.068,3185,173,2274,0,0,0,0,0,0
$GC,10953,0.88,166.6,862.1,12.0,415,10957,0.00,2.55,0.00,0.000,6,0.000,0.036,3185,1693,2273,0,0,0,0,0,0
$GC,11204,0.88,168.2,837.3,9.9,421,11209,0.00,2.75,0.00,0.000,4,0.000,0.058,3185,3285,2267,0,0,0,0,0,0
$GC,11219,0.89,171.3,835.7,9.8,421,11230,0.00,2.70,4.25,0.697,6,0.000,0.038,3185,1698,2256,0,0,0,0,0,0
$GC,11490,0.89,171.3,808.4,10.2,428,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1697,2255,0,0,0,0,0,0
$GC,11733,0.89,171.3,783.6,10.2,434,11738,0.00,2.72,0.00,0.000,4,0.000,0.048,3185,3284,2253,0,0,0,0,0,0
$GC,11767,0.89,173.9,780.2,9.9,434,11771,0.00,2.70,0.00,0.000,6,0.000,0.043,3184,1696,2252,0,0,0,0,0,0
$GC,12023,0.89,174.6,754.6,10.0,441,12028,0.00,2.70,0.00,0.000,4,0.000,0.049,3185,3290,2251,0,0,0,0,0,0
$GC,12079,0.89,174.7,749.0,10.0,442,12088,0.00,2.70,4.03,0.664,6,0.000,0.044,3185,1703,2241,0,0,0,0,0,0
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$STATE,19029,end climb,SURFACE_DEPTH_REACHED
$STATE,19031,begin surface coast
$FINISH,0.9,1.015609
$STATE,19064,end surface coast,CONTROL_FINISHED_OK
$STATE,19064,begin surface
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$TT8_MAMPS,0.026845
$HUMID,69.80
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$TCM_TEMP,20.00
$XPDR_PINGS,2
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$10V_AH,9.7,73.885
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356076
$DATA_FILE_SIZE,57352,744
$CAP_FILE_SIZE,209794,0
$CFSIZE,260165632,98287616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,171607,2156.372,-15807.028,37,2.0,37,9.9