version: 66.06
glider: 148
mission: 10
dive: 696
start: 10 18 111 16 14 13
data:
$ID,148
$MISSION,10
$DIVE,696
$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,-891853.5
$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,21
$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
$GPS1,155524,2152.732,-15811.306,35,1.6,35,9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.5
$GPS2,161319,2152.775,-15811.381,15,1.8,26,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.229,-0.052
$KALMAN_X,-164795.7,-180.5,79.7,88767.6,1702.4
$KALMAN_Y,-138606.3,-193.5,-68.6,-402.4,279.1
$MHEAD_RNG_PITCHd_Wd,247.3,5550,-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,-116.8,0.0,0.0,0,85,0.00,0.00,-64.18,0.000,2,0.000,0.000,411,1685,3022,0,0,0,0,0,0
$GC,88,-1.38,-116.8,3.4,-7.3,12,118,11.80,2.65,-8.05,0.000,4,0.149,0.036,2669,3318,3434,0,0,0,0,0,0
$GC,231,-1.24,-116.8,28.6,-14.1,42,239,0.12,2.58,0.00,0.000,6,0.077,0.025,2703,1724,3435,0,0,0,0,0,0
$GC,506,-1.08,-116.8,66.2,-14.0,68,511,0.17,2.55,0.00,0.000,4,0.101,0.040,2741,176,3435,0,0,0,0,0,0
$GC,567,-1.08,-116.8,73.7,-11.3,73,572,0.00,2.42,0.00,0.000,6,0.000,0.017,2741,1755,3436,0,0,0,0,0,0
$GC,832,-1.15,-116.8,96.7,-7.8,97,836,0.00,2.60,0.00,0.000,4,0.000,0.040,2741,176,3436,0,0,0,0,0,0
$GC,923,-1.28,-116.8,104.3,-7.2,106,928,0.17,2.38,0.00,0.000,6,0.048,0.017,2663,1753,3436,0,0,0,0,0,0
$GC,1184,-1.19,-116.8,132.7,-11.0,130,1189,0.25,2.40,0.00,0.000,4,0.085,0.022,2723,3279,3437,0,0,0,0,0,0
$GC,1223,-1.35,-116.8,135.8,-8.3,133,1228,0.15,2.45,0.00,0.000,6,0.054,0.022,2645,1721,3437,0,0,0,0,0,0
$GC,1485,-1.22,-116.8,166.3,-11.4,157,1491,0.30,2.55,0.00,0.000,4,0.082,0.040,2712,180,3438,0,0,0,0,0,0
$GC,1521,-1.32,-116.8,169.9,-10.4,160,1525,0.00,2.33,0.00,0.000,6,0.000,0.017,2712,1721,3438,0,0,0,0,0,0
$GC,1787,-1.41,-116.8,192.1,-7.4,184,1792,0.15,2.47,0.00,0.000,4,0.055,0.025,2639,3282,3438,0,0,0,0,0,0
$GC,1831,-1.41,-116.8,196.5,-10.0,188,1837,0.12,2.50,0.00,0.000,6,0.070,0.024,2673,1727,3438,0,0,0,0,0,0
$GC,2120,-1.41,-116.8,221.2,-8.2,198,2124,0.00,2.55,0.00,0.000,4,0.000,0.042,2673,172,3438,0,0,0,0,0,0
$GC,2139,-1.41,-116.8,222.9,-8.7,198,2143,0.00,2.38,0.00,0.000,6,0.000,0.018,2673,1723,3438,0,0,0,0,0,0
$GC,2405,-1.41,-116.8,244.1,-8.3,205,2409,0.00,2.47,0.00,0.000,4,0.000,0.025,2673,3290,3438,0,0,0,0,0,0
$GC,2456,-1.41,-116.8,249.2,-9.0,206,2461,0.00,2.50,0.00,0.000,6,0.000,0.024,2674,1726,3438,0,0,0,0,0,0
$GC,2734,-1.41,-116.8,271.2,-7.7,213,2738,0.00,2.55,0.00,0.000,4,0.000,0.045,2673,179,3437,0,0,0,0,0,0
$GC,2768,-1.41,-116.8,274.0,-9.1,213,2772,0.00,2.40,0.00,0.000,6,0.000,0.018,2674,1731,3437,0,0,0,0,0,0
$GC,3019,-1.41,-116.8,293.8,-7.9,219,3023,0.00,2.47,0.00,0.000,4,0.000,0.028,2673,3291,3436,0,0,0,0,0,0
$GC,3081,-1.50,-116.8,298.9,-7.7,220,3085,0.00,2.47,0.00,0.000,6,0.000,0.025,2674,1748,3435,0,0,0,0,0,0
$GC,3350,-1.50,-116.8,318.8,-7.5,227,3354,0.00,2.60,0.00,0.000,4,0.000,0.050,2674,176,3434,0,0,0,0,0,0
$GC,3388,-1.57,-116.8,322.1,-8.8,227,3394,0.15,2.45,0.00,0.000,6,0.054,0.020,2604,1741,3434,0,0,0,0,0,0
$GC,3640,-1.41,-116.8,349.6,-11.3,234,3645,0.28,2.47,0.00,0.000,4,0.087,0.030,2670,3290,3432,0,0,0,0,0,0
$GC,3678,-1.48,-116.8,353.3,-8.2,234,3684,0.00,2.50,0.00,0.000,6,0.000,0.028,2670,1746,3432,0,0,0,0,0,0
$GC,3929,-1.48,-116.8,374.3,-8.4,241,3933,0.00,2.67,0.00,0.000,4,0.000,0.057,2668,166,3430,0,0,0,0,0,0
$GC,3977,-1.55,-116.8,378.5,-8.9,242,3983,0.08,2.47,0.00,0.000,6,0.035,0.021,2614,1723,3430,0,0,0,0,0,0
$GC,4267,-1.41,-116.8,406.2,-9.6,249,4274,0.25,2.65,0.00,0.000,4,0.088,0.061,2673,168,3428,0,0,0,0,0,0
$GC,4287,-1.41,-116.8,407.9,-8.1,249,4293,0.00,2.47,0.00,0.000,6,0.000,0.023,2673,1720,3428,0,0,0,0,0,0
$GC,4561,-1.41,-116.8,426.9,-7.0,256,4567,0.00,2.58,0.00,0.000,4,0.000,0.035,2673,3293,3425,0,0,0,0,0,0
$GC,4596,-1.51,-116.8,429.5,-7.3,256,4601,0.10,2.55,0.00,0.000,6,0.077,0.032,2616,1732,3425,0,0,0,0,0,0
$GC,4853,-1.40,-116.8,453.1,-9.4,263,4860,0.25,2.67,0.00,0.000,4,0.087,0.064,2678,170,3424,0,0,0,0,0,0
$GC,4900,-1.50,-116.8,456.9,-7.5,264,4905,0.10,2.45,0.00,0.000,6,0.075,0.025,2627,1719,3423,0,0,0,0,0,0
$GC,5191,-1.42,-116.8,482.4,-8.8,271,5197,0.20,2.62,0.00,0.000,4,0.090,0.041,2671,3293,3422,0,0,0,0,0,0
$GC,5221,-1.52,-116.8,485.2,-7.0,271,5226,0.00,2.60,0.00,0.000,6,0.000,0.035,2671,1715,3421,0,0,0,0,0,0
$GC,5480,-1.52,-116.8,503.3,-7.0,278,5485,0.00,2.67,0.00,0.000,4,0.000,0.071,2670,174,3419,0,0,0,0,0,0
$GC,5526,-1.60,-116.8,506.7,-7.4,279,5531,0.17,2.47,0.00,0.000,6,0.049,0.029,2599,1709,3418,0,0,0,0,0,0
$GC,5818,-1.44,-116.8,534.2,-9.9,286,5825,0.28,2.65,0.00,0.000,4,0.091,0.045,2664,3308,3416,0,0,0,0,0,0
$GC,5833,-1.33,-116.8,536.1,-10.4,286,5839,0.08,2.65,0.00,0.000,6,0.081,0.034,2687,1712,3417,0,0,0,0,0,0
$GC,6113,-1.44,-116.8,556.9,-7.5,293,6119,0.00,2.70,0.00,0.000,4,0.000,0.072,2687,180,3414,0,0,0,0,0,0
$GC,6161,-1.57,-116.8,560.7,-8.5,293,6167,0.20,2.50,0.00,0.000,6,0.046,0.031,2613,1718,3414,0,0,0,0,0,0
$GC,6412,-1.46,-116.8,585.3,-10.0,300,6421,0.22,2.67,0.00,0.000,4,0.093,0.055,2663,3310,3412,0,0,0,0,0,0
$GC,6450,-1.55,-116.8,588.8,-8.7,300,6455,0.00,2.67,0.00,0.000,6,0.000,0.038,2663,1713,3412,0,0,0,0,0,0
$GC,6707,-1.55,-116.8,609.2,-8.2,307,6711,0.00,2.70,0.00,0.000,4,0.000,0.074,2662,174,3410,0,0,0,0,0,0
$GC,6753,-1.62,-116.8,613.3,-9.5,308,6758,0.15,2.50,0.00,0.000,6,0.056,0.032,2603,1710,3410,0,0,0,0,0,0
$GC,7044,-1.49,-116.8,642.4,-10.2,315,7051,0.22,2.72,0.00,0.000,4,0.094,0.054,2652,3313,3408,0,0,0,0,0,0
$GC,7066,-1.49,-116.8,644.9,-9.7,315,7071,0.00,2.70,0.00,0.000,6,0.000,0.038,2652,1709,3408,0,0,0,0,0,0
$GC,7336,-1.49,-116.8,667.2,-8.6,322,7341,0.00,2.72,0.00,0.000,4,0.000,0.076,2652,176,3407,0,0,0,0,0,0
$GC,7351,-1.49,-116.8,668.7,-8.8,322,7356,0.00,2.50,0.00,0.000,6,0.000,0.034,2652,1704,3406,0,0,0,0,0,0
$GC,7625,-1.49,-116.8,689.4,-7.4,329,7629,0.00,2.70,0.00,0.000,4,0.000,0.055,2652,3311,3405,0,0,0,0,0,0
$GC,7677,-1.57,-116.8,693.2,-7.0,330,7682,0.00,2.70,0.00,0.000,6,0.000,0.041,2652,1712,3405,0,0,0,0,0,0
$GC,7962,-1.57,-116.8,714.9,-7.9,337,7967,0.00,2.72,0.00,0.000,4,0.000,0.076,2652,164,3403,0,0,0,0,0,0
$GC,8037,-1.57,-116.8,721.6,-8.5,338,8042,0.00,2.55,0.00,0.000,6,0.000,0.035,2652,1701,3403,0,0,0,0,0,0
$GC,8298,-1.57,-116.8,740.5,-7.3,345,8302,0.00,2.72,0.00,0.000,4,0.000,0.056,2652,3309,3401,0,0,0,0,0,0
$GC,8332,-1.64,-116.8,743.1,-7.2,345,8338,0.12,2.70,0.00,0.000,6,0.063,0.040,2597,1693,3401,0,0,0,0,0,0
$GC,8584,-1.51,-116.8,766.2,-9.4,351,8591,0.25,2.67,0.00,0.000,4,0.094,0.074,2655,172,3400,0,0,0,0,0,0
$GC,8620,-1.51,-116.8,769.4,-7.6,351,8625,0.00,2.53,0.00,0.000,6,0.000,0.036,2655,1705,3400,0,0,0,0,0,0
$GC,8870,-1.51,-116.8,786.4,-6.8,357,8876,0.00,2.75,0.00,0.000,4,0.000,0.058,2655,3310,3399,0,0,0,0,0,0
$GC,8886,-1.51,-116.8,787.7,-6.8,357,8890,0.00,2.70,0.00,0.000,6,0.000,0.040,2655,1694,3399,0,0,0,0,0,0
$GC,9160,-1.51,-116.8,806.4,-7.0,364,9165,0.00,2.67,0.00,0.000,4,0.000,0.076,2655,170,3398,0,0,0,0,0,0
$GC,9184,-1.51,-116.8,808.4,-9.0,364,9189,0.00,2.53,0.00,0.000,6,0.000,0.036,2655,1704,3398,0,0,0,0,0,0
$GC,9446,-1.51,-116.8,827.3,-7.3,371,9451,0.00,2.72,0.00,0.000,4,0.000,0.058,2655,3309,3397,0,0,0,0,0,0
$GC,9476,-1.58,-116.8,829.6,-7.5,371,9480,0.00,2.67,0.00,0.000,6,0.000,0.041,2655,1703,3398,0,0,0,0,0,0
$GC,9731,-1.58,-116.8,847.6,-7.1,378,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1703,3396,0,0,0,0,0,0
$GC,9975,-1.58,-116.8,863.6,-6.6,384,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1703,3395,0,0,0,0,0,0
$GC,10218,-1.58,-116.8,881.0,-7.2,390,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1703,3394,0,0,0,0,0,0
$GC,10463,-1.58,-116.8,899.1,-7.4,396,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1703,3394,0,0,0,0,0,0
$STATE,10500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10501,begin apogee
$GC,10506,-0.31,0.0,901.9,7.3,397,10605,1.12,0.00,95.45,1.170,6,0.074,0.000,2910,1703,2955,0,0,0,0,0,0
$STATE,10606,end apogee,CONTROL_FINISHED_OK
$STATE,10606,begin climb
$GC,10609,1.38,116.8,904.1,0.0,399,10725,1.52,0.00,107.93,1.146,6,0.029,0.000,3299,1703,2478,0,0,0,0,0,0
$GC,10937,1.05,116.8,880.3,10.9,407,10939,0.43,0.00,0.00,0.000,6,0.107,0.000,3211,1703,2467,0,0,0,0,0,0
$GC,11180,0.96,145.1,859.5,8.4,413,11207,0.00,0.00,25.60,1.071,6,0.000,0.000,3211,1703,2363,0,0,0,0,0,0
$GC,11426,0.87,152.7,836.8,9.6,419,11442,0.20,2.72,8.20,0.916,4,0.111,0.047,3171,3286,2331,0,0,0,0,0,0
$GC,11461,0.89,169.2,833.1,9.0,419,11485,0.00,2.67,16.65,1.021,6,0.000,0.039,3171,1701,2265,0,0,0,0,0,0
$GC,11762,0.90,174.1,804.7,9.7,427,11774,0.00,2.72,5.43,0.791,4,0.000,0.049,3171,3284,2244,0,0,0,0,0,0
$GC,11798,0.90,174.3,800.8,10.0,427,11802,0.00,2.70,0.00,0.000,6,0.000,0.042,3171,1704,2243,0,0,0,0,0,0
$GC,12048,0.92,186.6,777.4,9.3,433,12068,0.00,2.78,13.27,0.980,4,0.000,0.051,3171,3286,2192,0,0,0,0,0,0
$GC,12089,0.94,207.6,773.5,8.8,433,12118,0.00,2.72,21.62,1.017,6,0.000,0.045,3171,1706,2108,0,0,0,0,0,0
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$STATE,19414,end climb,SURFACE_DEPTH_REACHED
$STATE,19414,begin surface coast
$FINISH,0.9,1.023266
$STATE,19454,end surface coast,CONTROL_FINISHED_OK
$STATE,19454,begin surface
$SM_CCo,19479,49.55,0.450,0,0,1323,400.08
$SM_GC,1.85,0.00,0.00,49.55,0.000,0.000,0.450,415,1690,1323,-11.80,-0.85,400.08
$IRIDIUM_FIX,2143.45,-15811.05,110101,101040
$TT8_MAMPS,0.027612
$HUMID,67.95
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,20.60
$XPDR_PINGS,4
$24V_AH,22.9,66.344
$10V_AH,9.8,74.436
$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
$DEVICE_SECS,33.150,280.675,403.475,49.550,0.000,117.108,172.477,404.217,1.000,0.000,27.662,1734.286,14506.366,581.784,2146.123,1620.201,33.372,1833.285,0.000,2406.711,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,525.781,521.519,639.245,676.778,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356168
$DATA_FILE_SIZE,57271,772
$CAP_FILE_SIZE,214255,0
$CFSIZE,260165632,97865728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181011,214118,2152.033,-15812.479,41,1.6,52,9.9