version: 66.06
glider: 148
mission: 10
dive: 692
start: 10 17 111 17 35 10
data:
$ID,148
$MISSION,10
$DIVE,692
$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,-891774.19
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,171607,2156.372,-15807.028,37,2.0,37,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.2
$GPS2,173416,2156.418,-15807.035,11,4.1,30,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.217,-0.090
$KALMAN_X,-174064.5,223.9,197.3,104905.9,1349.8
$KALMAN_Y,-136756.5,39.2,22.5,4171.1,-19.0
$MHEAD_RNG_PITCHd_Wd,237.5,15218,-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,-116.8,0.0,0.0,0,91,0.00,0.00,-68.80,0.000,2,0.000,0.000,409,1685,3158,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.7,-7.0,13,117,11.88,2.60,-5.25,0.000,4,0.150,0.032,2672,3323,3432,0,0,0,0,0,0
$GC,232,-1.23,-116.8,30.6,-14.3,41,237,0.17,2.53,0.00,0.000,6,0.097,0.024,2711,1728,3434,0,0,0,0,0,0
$GC,499,-1.09,-116.8,68.1,-14.1,65,504,0.15,2.58,0.00,0.000,4,0.105,0.041,2744,167,3434,0,0,0,0,0,0
$GC,522,-1.09,-116.8,72.2,-13.4,66,529,0.00,2.45,0.00,0.000,6,0.000,0.017,2744,1750,3434,0,0,0,0,0,0
$GC,790,-1.16,-116.8,98.8,-7.6,91,794,0.00,2.40,0.00,0.000,4,0.000,0.024,2744,3294,3434,0,0,0,0,0,0
$GC,809,-1.26,-116.8,100.9,-8.1,92,816,0.12,2.55,0.00,0.000,6,0.025,0.023,2653,1705,3434,0,0,0,0,0,0
$GC,1075,-1.13,-116.8,130.9,-10.8,117,1080,0.32,2.47,0.00,0.000,4,0.083,0.038,2730,176,3435,0,0,0,0,0,0
$GC,1129,-1.32,-116.8,136.6,-8.9,122,1135,0.12,2.33,0.00,0.000,6,0.025,0.016,2654,1706,3436,0,0,0,0,0,0
$GC,1397,-1.24,-116.8,163.4,-9.7,147,1402,0.25,2.50,0.00,0.000,4,0.083,0.038,2715,172,3436,0,0,0,0,0,0
$GC,1442,-1.37,-116.8,167.2,-8.2,151,1447,0.15,2.25,0.00,0.000,6,0.053,0.017,2642,1676,3436,0,0,0,0,0,0
$GC,1707,-1.25,-116.8,194.8,-10.9,175,1712,0.25,2.47,0.00,0.000,4,0.085,0.022,2703,3263,3436,0,0,0,0,0,0
$GC,1726,-1.25,-116.8,197.3,-10.4,176,1733,0.00,2.55,0.00,0.000,6,0.000,0.023,2703,1678,3436,0,0,0,0,0,0
$GC,1980,-1.34,-116.8,215.7,-7.3,186,1984,0.00,2.50,0.00,0.000,4,0.000,0.024,2703,3270,3436,0,0,0,0,0,0
$GC,2013,-1.49,-116.8,218.5,-7.7,186,2018,0.20,2.53,0.00,0.000,6,0.043,0.024,2610,1686,3436,0,0,0,0,0,0
$GC,2266,-1.32,-116.8,246.2,-11.4,192,2271,0.32,2.45,0.00,0.000,4,0.084,0.041,2687,177,3436,0,0,0,0,0,0
$GC,2313,-1.41,-116.8,251.2,-8.9,193,2317,0.00,2.28,0.00,0.000,6,0.000,0.018,2687,1671,3436,0,0,0,0,0,0
$GC,2596,-1.48,-116.8,274.4,-8.0,200,2598,0.12,0.00,0.00,0.000,6,0.063,0.000,2622,1674,3435,0,0,0,0,0,0
$GC,2841,-1.35,-116.8,300.5,-11.0,206,2846,0.25,2.47,0.00,0.000,4,0.085,0.044,2683,174,3434,0,0,0,0,0,0
$GC,2856,-1.29,-116.8,302.5,-10.9,206,2862,0.00,2.33,0.00,0.000,6,0.000,0.020,2683,1663,3434,0,0,0,0,0,0
$GC,3131,-1.35,-116.8,326.3,-8.7,213,3136,0.00,2.60,0.00,0.000,4,0.000,0.028,2683,3274,3433,0,0,0,0,0,0
$GC,3176,-1.47,-116.8,330.1,-8.1,213,3183,0.08,2.60,0.00,0.000,6,0.035,0.027,2612,1683,3433,0,0,0,0,0,0
$GC,3426,-1.31,-116.8,358.5,-11.5,220,3431,0.32,2.53,0.00,0.000,4,0.086,0.053,2689,172,3431,0,0,0,0,0,0
$GC,3479,-1.44,-116.8,363.5,-9.0,221,3485,0.08,2.33,0.00,0.000,6,0.034,0.021,2633,1649,3431,0,0,0,0,0,0
$GC,3764,-1.37,-116.8,391.5,-10.2,228,3769,0.22,2.65,0.00,0.000,4,0.087,0.033,2683,3263,3428,0,0,0,0,0,0
$GC,3795,-1.48,-116.8,394.3,-7.9,228,3800,0.10,2.62,0.00,0.000,6,0.074,0.032,2616,1662,3429,0,0,0,0,0,0
$GC,4055,-1.35,-116.8,421.3,-10.4,235,4061,0.28,2.55,0.00,0.000,4,0.085,0.067,2680,165,3426,0,0,0,0,0,0
$GC,4117,-1.46,-116.8,426.6,-7.9,236,4123,0.00,2.35,0.00,0.000,6,0.000,0.025,2680,1637,3426,0,0,0,0,0,0
$GC,4396,-1.54,-116.8,446.7,-7.5,243,4402,0.15,2.67,0.00,0.000,4,0.056,0.039,2614,3262,3424,0,0,0,0,0,0
$GC,4452,-1.54,-116.8,452.7,-10.2,244,4457,0.12,2.62,0.00,0.000,6,0.103,0.035,2643,1668,3423,0,0,0,0,0,0
$GC,4728,-1.54,-116.8,477.8,-9.3,251,4732,0.00,2.58,0.00,0.000,4,0.000,0.068,2645,172,3422,0,0,0,0,0,0
$GC,4742,-1.54,-116.8,479.5,-9.5,251,4746,0.00,2.35,0.00,0.000,6,0.000,0.027,2645,1640,3421,0,0,0,0,0,0
$GC,5012,-1.54,-116.8,502.4,-8.5,258,5016,0.00,2.67,0.00,0.000,4,0.000,0.043,2645,3267,3420,0,0,0,0,0,0
$GC,5056,-1.54,-116.8,506.2,-8.4,259,5061,0.00,2.62,0.00,0.000,6,0.000,0.036,2645,1681,3419,0,0,0,0,0,0
$GC,5344,-1.54,-116.8,531.3,-8.9,266,5348,0.00,2.62,0.00,0.000,4,0.000,0.041,2645,3261,3417,0,0,0,0,0,0
$GC,5363,-1.54,-116.8,533.2,-9.6,266,5367,0.00,2.60,0.00,0.000,6,0.000,0.035,2645,1686,3417,0,0,0,0,0,0
$GC,5629,-1.54,-116.8,557.2,-9.2,273,5634,0.00,2.65,0.00,0.000,4,0.000,0.072,2645,165,3415,0,0,0,0,0,0
$GC,5685,-1.54,-116.8,562.9,-9.5,274,5690,0.00,2.38,0.00,0.000,6,0.000,0.031,2645,1636,3415,0,0,0,0,0,0
$GC,5959,-1.54,-116.8,586.4,-8.4,281,5964,0.00,2.72,0.00,0.000,4,0.000,0.048,2645,3266,3413,0,0,0,0,0,0
$GC,5978,-1.54,-116.8,588.1,-8.4,281,5983,0.00,2.65,0.00,0.000,6,0.000,0.043,2645,1668,3413,0,0,0,0,0,0
$GC,6244,-1.54,-116.8,608.4,-7.7,288,6248,0.00,2.60,0.00,0.000,4,0.000,0.074,2642,170,3410,0,0,0,0,0,0
$GC,6288,-1.54,-116.8,612.2,-9.1,289,6292,0.00,2.35,0.00,0.000,6,0.000,0.032,2643,1620,3410,0,0,0,0,0,0
$GC,6575,-1.54,-116.8,635.8,-8.6,296,6579,0.00,2.78,0.00,0.000,4,0.000,0.051,2644,3266,3408,0,0,0,0,0,0
$GC,6637,-1.54,-116.8,640.9,-8.5,297,6641,0.00,2.65,0.00,0.000,6,0.000,0.038,2644,1677,3408,0,0,0,0,0,0
$GC,6910,-1.54,-116.8,663.1,-8.3,304,6915,0.00,2.65,0.00,0.000,4,0.000,0.077,2644,168,3406,0,0,0,0,0,0
$GC,6943,-1.54,-116.8,666.3,-8.9,304,6947,0.00,2.40,0.00,0.000,6,0.000,0.035,2644,1639,3407,0,0,0,0,0,0
$GC,7193,-1.54,-116.8,687.8,-8.6,310,7198,0.00,2.75,0.00,0.000,4,0.000,0.053,2644,3266,3405,0,0,0,0,0,0
$GC,7238,-1.54,-116.8,691.4,-8.8,311,7243,0.00,2.65,0.00,0.000,6,0.000,0.040,2643,1679,3405,0,0,0,0,0,0
$GC,7525,-1.54,-116.8,714.6,-8.0,318,7530,0.00,2.67,0.00,0.000,4,0.000,0.044,2644,3257,3403,0,0,0,0,0,0
$GC,7540,-1.54,-116.8,716.1,-8.1,318,7545,0.00,2.62,0.00,0.000,6,0.000,0.039,2644,1685,3403,0,0,0,0,0,0
$GC,7815,-1.54,-116.8,737.6,-7.8,325,7820,0.00,2.67,0.00,0.000,4,0.000,0.078,2644,169,3401,0,0,0,0,0,0
$GC,7852,-1.54,-116.8,741.0,-9.6,325,7858,0.00,2.40,0.00,0.000,6,0.000,0.035,2645,1638,3401,0,0,0,0,0,0
$GC,8103,-1.54,-116.8,761.5,-8.4,332,8108,0.00,2.72,0.00,0.000,4,0.000,0.051,2645,3258,3400,0,0,0,0,0,0
$GC,8148,-1.54,-116.8,765.0,-7.6,333,8153,0.00,2.62,0.00,0.000,6,0.000,0.041,2644,1685,3400,0,0,0,0,0,0
$GC,8435,-1.54,-116.8,786.5,-7.2,340,8439,0.00,2.65,0.00,0.000,4,0.000,0.077,2644,166,3399,0,0,0,0,0,0
$GC,8495,-1.54,-116.8,790.9,-7.7,341,8499,0.00,2.40,0.00,0.000,6,0.000,0.035,2644,1635,3399,0,0,0,0,0,0
$GC,8769,-1.54,-116.8,809.8,-6.8,348,8773,0.00,2.75,0.00,0.000,4,0.000,0.053,2646,3266,3397,0,0,0,0,0,0
$GC,8800,-1.54,-116.8,812.0,-7.4,348,8805,0.00,2.65,0.00,0.000,6,0.000,0.041,2645,1680,3397,0,0,0,0,0,0
$GC,9057,-1.54,-116.8,828.8,-6.7,355,9061,0.00,2.65,0.00,0.000,4,0.000,0.077,2644,172,3396,0,0,0,0,0,0
$GC,9100,-1.54,-116.8,832.2,-7.3,356,9104,0.00,2.40,0.00,0.000,6,0.000,0.035,2645,1641,3396,0,0,0,0,0,0
$GC,9387,-1.54,-116.8,850.9,-6.6,363,9392,0.00,2.75,0.00,0.000,4,0.000,0.053,2645,3258,3395,0,0,0,0,0,0
$GC,9418,-1.54,-116.8,853.0,-6.8,363,9422,0.00,2.65,0.00,0.000,6,0.000,0.041,2645,1673,3395,0,0,0,0,0,0
$GC,9677,-1.54,-116.8,868.9,-6.0,370,9682,0.00,2.65,0.00,0.000,4,0.000,0.078,2644,165,3394,0,0,0,0,0,0
$GC,9710,-1.54,-116.8,871.4,-7.1,370,9714,0.00,2.40,0.00,0.000,6,0.000,0.035,2645,1633,3394,0,0,0,0,0,0
$GC,9962,-1.54,-116.8,887.6,-6.6,376,9967,0.00,2.78,0.00,0.000,4,0.000,0.054,2644,3259,3393,0,0,0,0,0,0
$GC,9996,-1.54,-116.8,890.1,-6.3,376,10000,0.00,2.65,0.00,0.000,6,0.000,0.041,2644,1674,3393,0,0,0,0,0,0
$STATE,10166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10167,begin apogee
$GC,10172,-0.31,0.0,901.6,6.7,381,10272,1.17,0.00,95.80,1.167,6,0.074,0.000,2911,1674,2955,0,0,0,0,0,0
$STATE,10273,end apogee,CONTROL_FINISHED_OK
$STATE,10273,begin climb
$GC,10277,1.38,116.8,903.4,0.0,383,10394,1.52,2.78,108.10,1.145,4,0.031,0.077,3296,172,2477,0,0,0,0,0,0
$GC,10415,0.93,116.8,899.7,10.3,386,10422,0.55,2.47,0.00,0.000,6,0.110,0.035,3186,1656,2473,0,0,0,0,0,0
$GC,10691,0.97,152.1,876.9,8.0,393,10729,0.00,2.88,32.30,1.092,4,0.000,0.055,3186,3292,2333,0,0,0,0,0,0
$GC,10745,1.02,185.0,872.6,8.1,394,10782,0.00,2.70,31.88,1.084,6,0.000,0.038,3185,1704,2200,0,0,0,0,0,0
$GC,11064,1.02,185.0,840.6,10.2,402,11070,0.00,2.72,0.00,0.000,4,0.000,0.051,3185,3271,2192,0,0,0,0,0,0
$GC,11094,1.02,185.0,837.4,10.4,402,11099,0.00,2.65,0.00,0.000,6,0.000,0.042,3185,1714,2190,0,0,0,0,0,0
$GC,11354,1.02,185.0,811.0,10.0,409,11358,0.00,2.67,0.00,0.000,4,0.000,0.048,3185,3281,2189,0,0,0,0,0,0
$GC,11375,1.02,185.0,808.9,10.2,409,11380,0.00,2.67,0.00,0.000,6,0.000,0.044,3186,1712,2188,0,0,0,0,0,0
$GC,11639,1.02,185.0,782.1,10.2,416,11645,0.00,2.70,0.00,0.000,4,0.000,0.049,3185,3279,2188,0,0,0,0,0,0
$GC,11656,1.02,185.0,780.4,10.2,416,11660,0.00,2.67,0.00,0.000,6,0.000,0.045,3186,1714,2187,0,0,0,0,0,0
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$STATE,19065,end climb,SURFACE_DEPTH_REACHED
$STATE,19065,begin surface coast
$FINISH,0.8,1.010076
$STATE,19104,end surface coast,CONTROL_FINISHED_OK
$STATE,19104,begin surface
$SM_CCo,19126,26.40,0.445,0,0,1323,400.08
$SM_GC,1.81,0.00,0.00,26.40,0.000,0.000,0.445,414,1689,1323,-11.80,-0.88,400.08
$IRIDIUM_FIX,2145.77,-15808.03,100101,171743
$TT8_MAMPS,0.026845
$HUMID,69.25
$INTERNAL_PRESSURE,9.31087
$TCM_TEMP,20.10
$XPDR_PINGS,2
$24V_AH,22.9,65.700
$10V_AH,9.8,73.997
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.525,289.700,436.325,26.400,0.000,49.141,74.641,697.456,0.500,0.000,32.326,1701.826,14005.754,564.985,2197.124,1758.755,33.367,1864.682,0.000,2429.701,0.000,0.536,0.000
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$SENSOR_SECS,507.716,468.224,590.132,636.344,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356124
$DATA_FILE_SIZE,57468,746
$CAP_FILE_SIZE,217540,0
$CFSIZE,260165632,98197504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,225536,2155.402,-15807.542,27,1.4,27,9.9