version: 66.06
glider: 148
mission: 10
dive: 695
start: 10 18 111 10 34 3
data:
$ID,148
$MISSION,10
$DIVE,695
$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,-891825.19
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,102155,2153.370,-15810.073,49,1.5,49,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.7
$GPS2,103309,2153.415,-15810.066,15,1.8,16,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.045
$KALMAN_X,-166594.0,-217.0,6.9,92910.6,1954.5
$KALMAN_Y,-138047.6,-371.9,-91.2,426.4,57.7
$MHEAD_RNG_PITCHd_Wd,248.9,8059,-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,-64.22,0.000,2,0.000,0.000,414,1726,2996,0,0,0,0,0,0
$GC,90,-1.38,-116.8,3.1,-6.1,12,120,11.68,2.55,-8.75,0.000,4,0.144,0.035,2674,3303,3433,0,0,0,0,0,0
$GC,216,-1.25,-116.8,25.5,-14.0,39,223,0.08,2.58,0.00,0.000,6,0.088,0.025,2707,1719,3435,0,0,0,0,0,0
$GC,494,-1.09,-116.8,61.8,-13.3,67,499,0.15,2.53,0.00,0.000,4,0.107,0.041,2739,173,3435,0,0,0,0,0,0
$GC,535,-1.16,-116.8,67.3,-11.0,70,539,0.00,2.38,0.00,0.000,6,0.000,0.017,2739,1733,3436,0,0,0,0,0,0
$GC,799,-1.16,-116.8,94.4,-9.6,94,803,0.00,2.42,0.00,0.000,4,0.000,0.025,2739,3283,3436,0,0,0,0,0,0
$GC,885,-1.32,-116.8,102.5,-8.5,102,892,0.17,2.50,0.00,0.000,6,0.021,0.023,2642,1722,3436,0,0,0,0,0,0
$GC,1150,-1.17,-116.8,134.0,-11.1,127,1157,0.32,0.00,0.00,0.000,6,0.087,0.000,2718,1721,3437,0,0,0,0,0,0
$GC,1415,-1.25,-116.8,155.1,-7.9,152,1420,0.00,2.47,0.00,0.000,4,0.000,0.024,2719,3285,3437,0,0,0,0,0,0
$GC,1446,-1.39,-116.8,157.8,-7.6,154,1453,0.17,2.45,0.00,0.000,6,0.047,0.022,2625,1741,3438,0,0,0,0,0,0
$GC,1709,-1.21,-116.8,186.8,-11.3,179,1715,0.38,2.50,0.00,0.000,4,0.086,0.025,2712,3285,3438,0,0,0,0,0,0
$GC,1744,-1.33,-116.8,190.0,-7.7,182,1750,0.00,2.45,0.00,0.000,6,0.000,0.022,2712,1744,3438,0,0,0,0,0,0
$GC,2001,-1.42,-116.8,210.1,-7.9,198,2007,0.17,2.47,0.00,0.000,4,0.048,0.025,2632,3279,3439,0,0,0,0,0,0
$GC,2035,-1.32,-116.8,213.7,-10.3,198,2040,0.25,2.42,0.00,0.000,6,0.085,0.022,2689,1752,3438,0,0,0,0,0,0
$GC,2292,-1.32,-116.8,237.2,-9.1,205,2296,0.00,2.55,0.00,0.000,4,0.000,0.042,2689,181,3438,0,0,0,0,0,0
$GC,2336,-1.41,-116.8,241.2,-9.1,206,2340,0.00,2.42,0.00,0.000,6,0.000,0.018,2689,1769,3438,0,0,0,0,0,0
$GC,2623,-1.41,-116.8,262.7,-7.4,213,2628,0.00,2.35,0.00,0.000,4,0.000,0.025,2689,3275,3438,0,0,0,0,0,0
$GC,2661,-1.52,-116.8,266.0,-8.5,213,2667,0.17,2.42,0.00,0.000,6,0.047,0.024,2600,1752,3438,0,0,0,0,0,0
$GC,2912,-1.32,-116.8,294.8,-11.9,220,2919,0.38,2.58,0.00,0.000,4,0.084,0.043,2689,180,3437,0,0,0,0,0,0
$GC,2986,-1.43,-116.8,301.3,-7.5,221,2991,0.00,2.40,0.00,0.000,6,0.000,0.019,2689,1713,3437,0,0,0,0,0,0
$GC,3251,-1.49,-116.8,317.0,-5.8,228,3256,0.15,2.55,0.00,0.000,4,0.054,0.028,2618,3300,3436,0,0,0,0,0,0
$GC,3282,-1.39,-116.8,319.4,-8.5,228,3287,0.28,2.53,0.00,0.000,6,0.084,0.025,2678,1724,3436,0,0,0,0,0,0
$GC,3538,-1.39,-116.8,337.8,-7.4,235,3543,0.00,2.58,0.00,0.000,4,0.000,0.051,2678,179,3434,0,0,0,0,0,0
$GC,3577,-1.47,-116.8,341.1,-8.8,235,3582,0.00,2.40,0.00,0.000,6,0.000,0.020,2678,1720,3434,0,0,0,0,0,0
$GC,3828,-1.47,-116.8,360.4,-7.7,242,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1722,3433,0,0,0,0,0,0
$GC,4071,-1.47,-116.8,380.1,-8.3,248,4076,0.00,2.60,0.00,0.000,4,0.000,0.053,2678,180,3431,0,0,0,0,0,0
$GC,4086,-1.47,-116.8,381.5,-8.3,248,4090,0.00,2.40,0.00,0.000,6,0.000,0.021,2678,1709,3432,0,0,0,0,0,0
$GC,4356,-1.47,-116.8,404.9,-9.0,255,4360,0.00,2.55,0.00,0.000,4,0.000,0.035,2678,3297,3429,0,0,0,0,0,0
$GC,4374,-1.54,-116.8,406.9,-10.2,255,4380,0.15,2.58,0.00,0.000,6,0.054,0.031,2604,1716,3430,0,0,0,0,0,0
$GC,4640,-1.38,-116.8,437.7,-11.8,262,4648,0.30,2.62,0.00,0.000,4,0.087,0.062,2676,173,3427,0,0,0,0,0,0
$GC,4688,-1.49,-116.8,442.2,-9.1,263,4692,0.00,2.40,0.00,0.000,6,0.000,0.025,2676,1701,3427,0,0,0,0,0,0
$GC,4974,-1.49,-116.8,465.2,-8.0,270,4980,0.00,2.62,0.00,0.000,4,0.000,0.041,2676,3285,3425,0,0,0,0,0,0
$GC,4991,-1.55,-116.8,466.6,-8.1,270,4997,0.15,2.60,0.00,0.000,6,0.055,0.033,2608,1702,3425,0,0,0,0,0,0
$GC,5265,-1.40,-116.8,495.2,-10.3,277,5272,0.25,2.65,0.00,0.000,4,0.089,0.068,2668,167,3423,0,0,0,0,0,0
$GC,5312,-1.48,-116.8,499.3,-8.2,278,5317,0.00,2.45,0.00,0.000,6,0.000,0.031,2668,1684,3423,0,0,0,0,0,0
$GC,5603,-1.48,-116.8,522.0,-8.1,285,5607,0.00,2.70,0.00,0.000,4,0.000,0.047,2668,3307,3421,0,0,0,0,0,0
$GC,5622,-1.48,-116.8,524.1,-8.8,285,5627,0.00,2.67,0.00,0.000,6,0.000,0.035,2668,1686,3421,0,0,0,0,0,0
$GC,5887,-1.48,-116.8,545.8,-8.5,292,5891,0.00,2.65,0.00,0.000,4,0.000,0.072,2668,164,3419,0,0,0,0,0,0
$GC,5910,-1.48,-116.8,548.0,-9.6,292,5915,0.00,2.45,0.00,0.000,6,0.000,0.031,2668,1688,3419,0,0,0,0,0,0
$GC,6171,-1.48,-116.8,571.0,-8.9,299,6175,0.00,2.65,0.00,0.000,4,0.000,0.067,2667,166,3417,0,0,0,0,0,0
$GC,6188,-1.48,-116.8,572.5,-8.8,299,6193,0.00,2.50,0.00,0.000,6,0.000,0.032,2667,1687,3416,0,0,0,0,0,0
$GC,6462,-1.48,-116.8,596.2,-8.4,306,6467,0.00,2.75,0.00,0.000,4,0.000,0.054,2668,3304,3416,0,0,0,0,0,0
$GC,6512,-1.60,-116.8,600.5,-8.4,307,6518,0.15,2.67,0.00,0.000,6,0.055,0.038,2603,1690,3415,0,0,0,0,0,0
$GC,6801,-1.46,-116.8,629.7,-10.0,314,6808,0.25,2.67,0.00,0.000,4,0.091,0.074,2663,170,3413,0,0,0,0,0,0
$GC,6840,-1.46,-116.8,633.3,-8.6,314,6844,0.00,2.47,0.00,0.000,6,0.000,0.034,2663,1687,3413,0,0,0,0,0,0
$GC,7092,-1.46,-116.8,651.2,-7.2,320,7096,0.00,2.72,0.00,0.000,4,0.000,0.054,2663,3310,3411,0,0,0,0,0,0
$GC,7116,-1.53,-116.8,653.0,-7.3,320,7122,0.00,2.72,0.00,0.000,6,0.000,0.039,2662,1691,3411,0,0,0,0,0,0
$GC,7381,-1.53,-116.8,671.8,-7.1,327,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1691,3410,0,0,0,0,0,0
$GC,7626,-1.53,-116.8,690.1,-7.6,333,7630,0.00,2.67,0.00,0.000,4,0.000,0.077,2663,170,3409,0,0,0,0,0,0
$GC,7657,-1.53,-116.8,692.7,-9.1,333,7662,0.00,2.47,0.00,0.000,6,0.000,0.035,2663,1685,3408,0,0,0,0,0,0
$GC,7912,-1.53,-116.8,712.4,-7.6,340,7917,0.00,2.78,0.00,0.000,4,0.000,0.058,2663,3303,3407,0,0,0,0,0,0
$GC,7963,-1.64,-116.8,716.0,-7.1,341,7970,0.17,2.70,0.00,0.000,6,0.050,0.041,2594,1687,3406,0,0,0,0,0,0
$GC,8254,-1.49,-116.8,742.6,-9.1,348,8262,0.25,2.67,0.00,0.000,4,0.096,0.077,2651,170,3405,0,0,0,0,0,0
$GC,8286,-1.49,-116.8,746.0,-9.9,348,8291,0.00,2.47,0.00,0.000,6,0.000,0.034,2651,1689,3405,0,0,0,0,0,0
$GC,8542,-1.49,-116.8,766.8,-8.6,355,8547,0.00,2.65,0.00,0.000,4,0.000,0.070,2652,170,3404,0,0,0,0,0,0
$GC,8566,-1.49,-116.8,769.0,-8.3,355,8571,0.00,2.47,0.00,0.000,6,0.000,0.036,2652,1692,3404,0,0,0,0,0,0
$GC,8826,-1.49,-116.8,788.3,-7.6,362,8831,0.00,2.78,0.00,0.000,4,0.000,0.059,2652,3305,3403,0,0,0,0,0,0
$GC,8852,-1.49,-116.8,790.2,-8.0,362,8856,0.00,2.70,0.00,0.000,6,0.000,0.041,2652,1690,3402,0,0,0,0,0,0
$GC,9116,-1.49,-116.8,810.1,-7.6,369,9120,0.00,2.67,0.00,0.000,4,0.000,0.077,2651,170,3401,0,0,0,0,0,0
$GC,9149,-1.49,-116.8,812.9,-8.2,369,9153,0.00,2.50,0.00,0.000,6,0.000,0.035,2652,1694,3400,0,0,0,0,0,0
$GC,9401,-1.49,-116.8,830.7,-7.2,375,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1695,3400,0,0,0,0,0,0
$GC,9642,-1.49,-116.8,848.2,-7.0,381,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1694,3400,0,0,0,0,0,0
$GC,9886,-1.49,-116.8,865.4,-7.2,387,9892,0.00,2.70,0.00,0.000,4,0.000,0.072,2651,170,3398,0,0,0,0,0,0
$GC,9934,-1.49,-116.8,868.8,-8.1,387,9939,0.00,2.50,0.00,0.000,6,0.000,0.037,2651,1690,3399,0,0,0,0,0,0
$GC,10184,-1.49,-116.8,887.6,-7.3,394,10189,0.00,2.78,0.00,0.000,4,0.000,0.060,2651,3301,3398,0,0,0,0,0,0
$GC,10199,-1.49,-116.8,888.9,-6.9,394,10204,0.00,2.70,0.00,0.000,6,0.000,0.041,2652,1684,3398,0,0,0,0,0,0
$STATE,10351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10351,begin apogee
$GC,10359,-0.31,0.0,900.5,7.9,398,10459,1.15,0.00,96.53,1.168,6,0.074,0.000,2912,1684,2955,0,0,0,0,0,0
$STATE,10460,end apogee,CONTROL_FINISHED_OK
$STATE,10460,begin climb
$GC,10463,1.38,116.8,903.1,0.0,400,10581,1.52,2.75,107.80,1.145,4,0.028,0.074,3301,163,2476,0,0,0,0,0,0
$GC,10670,0.93,116.8,890.4,12.8,405,10676,0.52,2.60,0.00,0.000,6,0.098,0.038,3188,1698,2470,0,0,0,0,0,0
$GC,10936,0.92,156.3,868.7,7.7,412,10979,0.00,2.80,36.22,1.091,4,0.000,0.069,3188,175,2316,0,0,0,0,0,0
$GC,11000,0.80,156.3,863.1,11.6,413,11005,0.17,2.58,0.00,0.000,6,0.116,0.037,3155,1706,2315,0,0,0,0,0,0
$GC,11264,0.83,185.8,840.2,8.3,420,11298,0.00,2.80,27.75,1.064,4,0.000,0.061,3155,3293,2196,0,0,0,0,0,0
$GC,11338,0.94,192.4,833.9,9.6,421,11353,0.08,2.72,7.32,0.877,6,0.038,0.039,3198,1704,2170,0,0,0,0,0,0
$GC,11598,0.94,192.6,808.0,10.0,428,11602,0.00,2.72,0.00,0.000,4,0.000,0.050,3198,3292,2166,0,0,0,0,0,0
$GC,11621,0.96,206.0,805.3,9.2,428,11642,0.00,2.70,14.40,0.993,6,0.000,0.041,3198,1715,2114,0,0,0,0,0,0
$GC,11935,0.96,206.0,769.3,12.6,436,11940,0.00,2.80,0.00,0.000,4,0.000,0.085,3196,168,2110,0,0,0,0,0,0
$GC,11954,0.96,206.0,766.0,11.7,436,11960,0.00,2.60,0.00,0.000,6,0.000,0.038,3197,1706,2110,0,0,0,0,0,0
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$STATE,19098,end climb,SURFACE_DEPTH_REACHED
$STATE,19098,begin surface coast
$FINISH,0.8,1.010035
$STATE,19137,end surface coast,CONTROL_FINISHED_OK
$STATE,19137,begin surface
$SM_CCo,19160,40.70,0.452,0,0,1324,400.08
$SM_GC,1.64,0.00,0.00,40.70,0.000,0.000,0.452,412,1687,1324,-11.81,-0.93,400.08
$IRIDIUM_FIX,2145.77,-15808.90,110101,040458
$TT8_MAMPS,0.027612
$HUMID,68.27
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,20.10
$XPDR_PINGS,2
$24V_AH,22.9,66.187
$10V_AH,9.7,74.325
$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
$DEVICE_SECS,32.400,279.275,419.875,40.700,0.000,31.286,32.638,422.922,0.500,0.000,17.599,1687.939,14071.399,583.951,2109.570,1406.450,33.363,1838.362,0.000,2377.461,0.000,0.535,0.000
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$SENSOR_SECS,516.783,507.546,628.505,662.906,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356136
$DATA_FILE_SIZE,57420,761
$CAP_FILE_SIZE,207041,0
$CFSIZE,260165632,97951744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181011,155524,2152.732,-15811.306,35,1.6,35,9.9