version: 66.06
glider: 148
mission: 10
dive: 709
start: 10 21 111 8 33 15
data:
$ID,148
$MISSION,10
$DIVE,709
$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,-892064.56
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,082503,2150.059,-15812.572,38,1.8,40,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-72.1
$GPS2,083219,2150.070,-15812.593,9,1.9,14,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SECOND
$TGT_LATLONG,2148.000,-15812.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.051,-0.201
$KALMAN_X,-154721.5,-313.0,201.9,76638.4,84.0
$KALMAN_Y,-141415.6,-33.8,154.5,-2991.8,-212.8
$MHEAD_RNG_PITCHd_Wd,155.7,3966,-22.6,-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,18,-1.53,-90.1,0.0,0.0,0,85,0.00,0.00,-64.78,0.000,2,0.000,0.000,409,1699,3017,0,0,0,0,0,0
$GC,89,-1.56,-116.8,3.5,-6.0,12,119,11.60,2.58,-8.05,0.000,4,0.148,0.054,2635,178,3434,0,0,0,0,0,0
$GC,169,-1.40,-116.8,23.9,-20.8,28,177,0.15,2.45,0.00,0.000,6,0.089,0.018,2670,1733,3435,0,0,0,0,0,0
$GC,441,-1.28,-116.8,67.6,-13.8,55,446,0.12,2.55,0.00,0.000,4,0.116,0.040,2698,180,3437,0,0,0,0,0,0
$GC,463,-1.20,-116.8,71.4,-14.5,56,467,0.00,2.38,0.00,0.000,6,0.000,0.017,2698,1716,3437,0,0,0,0,0,0
$GC,728,-1.27,-116.8,102.1,-9.6,80,732,0.00,2.47,0.00,0.000,4,0.000,0.025,2698,3290,3437,0,0,0,0,0,0
$GC,794,-1.45,-116.8,109.1,-9.6,86,801,0.12,2.53,0.00,0.000,6,0.026,0.022,2621,1725,3438,0,0,0,0,0,0
$GC,1062,-1.37,-116.8,141.8,-12.7,111,1067,0.25,2.53,0.00,0.000,4,0.087,0.037,2681,177,3439,0,0,0,0,0,0
$GC,1091,-1.44,-116.8,145.8,-11.8,113,1095,0.00,2.38,0.00,0.000,6,0.000,0.017,2681,1728,3439,0,0,0,0,0,0
$GC,1355,-1.54,-116.8,171.7,-9.7,137,1361,0.15,0.00,0.00,0.000,6,0.055,0.000,2612,1731,3440,0,0,0,0,0,0
$GC,1628,-1.48,-116.8,204.8,-11.5,160,1633,0.20,2.45,0.00,0.000,4,0.091,0.021,2656,3282,3440,0,0,0,0,0,0
$GC,1665,-1.60,-116.8,208.6,-9.5,160,1671,0.10,2.50,0.00,0.000,6,0.077,0.023,2597,1703,3440,0,0,0,0,0,0
$GC,1916,-1.51,-116.8,238.5,-12.0,166,1921,0.25,2.50,0.00,0.000,4,0.091,0.040,2656,181,3440,0,0,0,0,0,0
$GC,1954,-1.58,-116.8,243.1,-10.9,166,1960,0.00,2.35,0.00,0.000,6,0.000,0.018,2656,1705,3440,0,0,0,0,0,0
$GC,2207,-1.66,-116.8,266.8,-9.6,173,2209,0.17,0.00,0.00,0.000,6,0.050,0.000,2584,1708,3440,0,0,0,0,0,0
$GC,2448,-1.55,-116.8,296.9,-12.6,179,2450,0.25,0.00,0.00,0.000,6,0.091,0.000,2639,1708,3440,0,0,0,0,0,0
$GC,2695,-1.55,-116.8,320.1,-9.4,185,2699,0.00,2.53,0.00,0.000,4,0.000,0.029,2639,3279,3439,0,0,0,0,0,0
$GC,2726,-1.63,-116.8,323.3,-10.4,185,2731,0.00,2.58,0.00,0.000,6,0.000,0.027,2639,1704,3438,0,0,0,0,0,0
$GC,2986,-1.63,-116.8,349.6,-9.9,192,2990,0.00,2.58,0.00,0.000,4,0.000,0.052,2639,172,3437,0,0,0,0,0,0
$GC,3023,-1.63,-116.8,353.8,-11.1,192,3028,0.00,2.35,0.00,0.000,6,0.000,0.020,2638,1685,3437,0,0,0,0,0,0
$GC,3276,-1.69,-116.8,378.8,-9.9,199,3281,0.12,2.60,0.00,0.000,4,0.064,0.034,2584,3289,3435,0,0,0,0,0,0
$GC,3311,-1.69,-116.8,383.1,-12.4,199,3316,0.12,2.60,0.00,0.000,6,0.109,0.032,2611,1694,3435,0,0,0,0,0,0
$GC,3562,-1.69,-116.8,409.9,-10.5,205,3566,0.00,2.58,0.00,0.000,4,0.000,0.067,2611,173,3434,0,0,0,0,0,0
$GC,3631,-1.69,-116.8,418.1,-11.3,206,3636,0.00,2.38,0.00,0.000,6,0.000,0.024,2611,1686,3433,0,0,0,0,0,0
$GC,3891,-1.69,-116.8,443.4,-9.6,213,3896,0.00,2.62,0.00,0.000,4,0.000,0.061,2611,176,3432,0,0,0,0,0,0
$GC,3907,-1.69,-116.8,445.0,-10.0,213,3912,0.00,2.40,0.00,0.000,6,0.000,0.025,2611,1691,3431,0,0,0,0,0,0
$GC,4180,-1.69,-116.8,472.7,-10.4,220,4185,0.00,2.60,0.00,0.000,4,0.000,0.063,2611,173,3429,0,0,0,0,0,0
$GC,4203,-1.69,-116.8,475.3,-11.5,220,4208,0.00,2.42,0.00,0.000,6,0.000,0.028,2611,1687,3429,0,0,0,0,0,0
$GC,4464,-1.69,-116.8,504.8,-11.5,227,4469,0.00,2.60,0.00,0.000,4,0.000,0.064,2611,174,3427,0,0,0,0,0,0
$GC,4479,-1.69,-116.8,506.8,-11.1,227,4483,0.00,2.42,0.00,0.000,6,0.000,0.029,2611,1685,3427,0,0,0,0,0,0
$GC,4747,-1.69,-116.8,535.5,-10.9,234,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1685,3425,0,0,0,0,0,0
$GC,4990,-1.69,-116.8,560.5,-10.1,240,4996,0.00,2.75,0.00,0.000,4,0.000,0.049,2611,3307,3424,0,0,0,0,0,0
$GC,5021,-1.69,-116.8,563.3,-9.8,240,5026,0.00,2.72,0.00,0.000,6,0.000,0.037,2612,1673,3424,0,0,0,0,0,0
$GC,5280,-1.69,-116.8,587.1,-9.3,247,5284,0.00,2.62,0.00,0.000,4,0.000,0.074,2611,172,3422,0,0,0,0,0,0
$GC,5312,-1.69,-116.8,590.7,-11.0,247,5316,0.00,2.45,0.00,0.000,6,0.000,0.034,2611,1674,3421,0,0,0,0,0,0
$GC,5565,-1.69,-116.8,614.3,-9.3,253,5569,0.00,2.75,0.00,0.000,4,0.000,0.051,2610,3301,3420,0,0,0,0,0,0
$GC,5584,-1.69,-116.8,616.5,-10.0,253,5589,0.00,2.72,0.00,0.000,6,0.000,0.038,2611,1683,3420,0,0,0,0,0,0
$GC,5853,-1.69,-116.8,643.0,-10.1,260,5859,0.00,2.70,0.00,0.000,4,0.000,0.077,2611,166,3417,0,0,0,0,0,0
$GC,5916,-1.69,-116.8,649.6,-10.4,261,5920,0.00,2.47,0.00,0.000,6,0.000,0.036,2611,1676,3417,0,0,0,0,0,0
$GC,6189,-1.69,-116.8,675.6,-9.3,268,6194,0.00,2.62,0.00,0.000,4,0.000,0.070,2611,166,3416,0,0,0,0,0,0
$GC,6213,-1.69,-116.8,678.2,-11.2,268,6217,0.00,2.47,0.00,0.000,6,0.000,0.036,2611,1673,3415,0,0,0,0,0,0
$GC,6474,-1.69,-116.8,702.5,-9.3,275,6479,0.00,2.65,0.00,0.000,4,0.000,0.071,2611,162,3414,0,0,0,0,0,0
$GC,6501,-1.69,-116.8,705.1,-10.5,275,6505,0.00,2.45,0.00,0.000,6,0.000,0.036,2611,1664,3414,0,0,0,0,0,0
$GC,6760,-1.69,-116.8,729.6,-9.5,282,6766,0.00,2.65,0.00,0.000,4,0.000,0.071,2611,168,3412,0,0,0,0,0,0
$GC,6777,-1.69,-116.8,731.3,-9.5,282,6781,0.00,2.45,0.00,0.000,6,0.000,0.035,2611,1658,3412,0,0,0,0,0,0
$GC,7050,-1.69,-116.8,757.1,-9.4,289,7055,0.00,2.80,0.00,0.000,4,0.000,0.056,2611,3306,3410,0,0,0,0,0,0
$GC,7068,-1.69,-116.8,759.0,-10.3,289,7073,0.00,2.78,0.00,0.000,6,0.000,0.041,2611,1652,3410,0,0,0,0,0,0
$GC,7335,-1.69,-116.8,783.8,-9.3,296,7339,0.00,2.62,0.00,0.000,4,0.000,0.077,2611,162,3409,0,0,0,0,0,0
$GC,7363,-1.69,-116.8,787.0,-10.5,296,7367,0.00,2.42,0.00,0.000,6,0.000,0.036,2611,1653,3409,0,0,0,0,0,0
$GC,7617,-1.69,-116.8,811.9,-9.7,303,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1653,3408,0,0,0,0,0,0
$GC,7863,-1.69,-116.8,833.1,-8.6,309,7868,0.00,2.60,0.00,0.000,4,0.000,0.071,2611,169,3407,0,0,0,0,0,0
$GC,7882,-1.69,-116.8,835.1,-8.6,309,7888,0.00,2.45,0.00,0.000,6,0.000,0.037,2611,1641,3407,0,0,0,0,0,0
$GC,8152,-1.69,-116.8,856.6,-7.9,316,8157,0.00,2.60,0.00,0.000,4,0.000,0.071,2611,172,3406,0,0,0,0,0,0
$GC,8172,-1.69,-116.8,858.4,-8.2,316,8176,0.00,2.42,0.00,0.000,6,0.000,0.036,2611,1643,3406,0,0,0,0,0,0
$GC,8442,-1.69,-116.8,880.2,-8.2,323,8447,0.00,2.83,0.00,0.000,4,0.000,0.058,2611,3307,3405,0,0,0,0,0,0
$GC,8465,-1.69,-116.8,882.4,-8.6,323,8470,0.00,2.80,0.00,0.000,6,0.000,0.041,2611,1639,3405,0,0,0,0,0,0
$STATE,8682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8682,begin apogee
$GC,8691,-0.31,0.0,901.1,8.7,329,8792,1.35,0.00,97.80,1.160,6,0.080,0.000,2914,1749,2955,0,0,0,0,0,0
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8796,1.56,116.8,903.6,0.0,331,8909,1.65,0.00,108.30,1.140,6,0.028,0.000,3338,1749,2478,0,0,0,0,0,0
$GC,9125,1.24,116.8,879.0,11.2,339,9132,0.40,2.85,0.00,0.000,4,0.115,0.073,3253,168,2469,0,0,0,0,0,0
$GC,9215,1.05,120.2,869.8,9.7,340,9221,0.22,2.45,0.00,0.000,6,0.116,0.042,3209,1641,2467,0,0,0,0,0,0
$GC,9466,1.09,158.8,851.4,7.1,347,9507,0.00,0.00,38.67,1.091,6,0.000,0.000,3208,1641,2307,0,0,0,0,0,0
$GC,9751,1.10,162.0,825.3,9.8,354,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1642,2300,0,0,0,0,0,0
$GC,9993,1.10,162.0,800.1,10.3,360,9997,0.00,2.78,0.00,0.000,4,0.000,0.059,3208,3241,2299,0,0,0,0,0,0
$GC,10025,1.10,162.0,796.5,10.8,360,10030,0.00,2.60,0.00,0.000,6,0.000,0.038,3208,1690,2298,0,0,0,0,0,0
$GC,10276,1.10,162.0,769.5,11.1,366,10281,0.00,2.65,0.00,0.000,4,0.000,0.050,3208,3236,2298,0,0,0,0,0,0
$GC,10304,1.10,162.0,766.6,11.1,366,10308,0.00,2.60,0.00,0.000,6,0.000,0.041,3208,1701,2297,0,0,0,0,0,0
$GC,10566,1.10,162.0,736.4,11.5,373,10570,0.00,2.60,0.00,0.000,4,0.000,0.049,3208,3234,2297,0,0,0,0,0,0
$GC,10585,1.10,162.0,733.9,11.1,373,10589,0.00,2.58,0.00,0.000,6,0.000,0.041,3208,1704,2296,0,0,0,0,0,0
$GC,10850,1.10,162.0,706.6,10.1,380,10854,0.00,2.62,0.00,0.000,4,0.000,0.048,3208,3242,2296,0,0,0,0,0,0
$GC,10888,1.16,162.7,702.8,9.9,380,10894,0.10,2.60,0.00,0.000,6,0.082,0.044,3246,1704,2295,0,0,0,0,0,0
$GC,11138,1.16,162.7,676.0,11.0,387,11143,0.00,2.75,0.00,0.000,4,0.000,0.084,3246,163,2295,0,0,0,0,0,0
$GC,11209,1.04,162.7,667.1,12.7,388,11215,0.15,2.47,0.00,0.000,6,0.101,0.034,3211,1653,2294,0,0,0,0,0,0
$GC,11475,1.07,184.6,643.4,8.4,395,11500,0.00,0.00,23.27,0.963,6,0.000,0.000,3211,1653,2202,0,0,0,0,0,0
$GC,11722,1.16,202.4,622.1,8.7,401,11741,0.00,0.00,17.92,0.927,6,0.000,0.000,3211,1653,2130,0,0,0,0,0,0
$GC,11964,1.24,202.4,597.8,10.1,407,11971,0.15,2.85,0.00,0.000,4,0.062,0.059,3260,3285,2126,0,0,0,0,0,0
$GC,11985,1.24,202.4,595.1,10.9,407,11991,0.00,2.70,0.00,0.000,6,0.000,0.036,3259,1696,2124,0,0,0,0,0,0
$GC,12256,1.24,202.4,563.0,12.4,414,12262,0.00,2.75,0.00,0.000,4,0.000,0.078,3260,165,2124,0,0,0,0,0,0
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$STATE,17452,end climb,SURFACE_DEPTH_REACHED
$STATE,17452,begin surface coast
$FINISH,0.9,1.023379
$STATE,17483,end surface coast,CONTROL_FINISHED_OK
$STATE,17483,begin surface
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$HUMID,67.32
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$TCM_TEMP,20.40
$XPDR_PINGS,3
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$10V_AH,9.8,75.677
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.275,232.500,405.825,49.650,0.000,24.638,34.503,191.476,0.750,0.000,15.724,1496.506,13087.675,601.212,1736.099,1056.409,33.374,1632.104,0.000,1973.752,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356028
$DATA_FILE_SIZE,50929,687
$CAP_FILE_SIZE,175697,0
$CFSIZE,260165632,96915456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211011,132801,2148.234,-15811.826,86,1.4,86,9.9