version: 66.06
glider: 148
mission: 10
dive: 728
start: 10 25 111 4 3 37
data:
$ID,148
$MISSION,10
$DIVE,728
$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,-892390.44
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,035054,2147.033,-15811.671,38,1.8,38,9.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.6
$GPS2,040243,2147.071,-15811.713,14,1.6,30,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,10mile
$TGT_LATLONG,2145.000,-15812.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.044,-0.230
$KALMAN_X,-142832.0,172.1,-176.9,66144.2,368.7
$KALMAN_Y,-139844.0,-24.9,-174.2,-9794.2,847.1
$MHEAD_RNG_PITCHd_Wd,180.9,3867,-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,-116.6,0.0,0.0,0,90,0.00,0.00,-69.07,0.000,2,0.000,0.000,416,1744,3132,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.6,-7.4,13,123,11.77,2.65,-5.80,0.000,4,0.145,0.048,2672,165,3434,0,0,0,0,0,0
$GC,198,-1.22,-116.8,25.7,-15.1,34,207,0.15,2.50,0.00,0.000,6,0.085,0.018,2709,1755,3435,0,0,0,0,0,0
$GC,472,-1.08,-116.8,62.8,-13.4,61,479,0.15,0.00,0.00,0.000,6,0.110,0.000,2742,1759,3436,0,0,0,0,0,0
$GC,734,-1.08,-116.8,93.2,-10.0,86,738,0.00,2.42,0.00,0.000,4,0.000,0.025,2742,3296,3436,0,0,0,0,0,0
$GC,771,-1.16,-116.8,96.6,-9.2,89,775,0.00,2.55,0.00,0.000,6,0.000,0.022,2742,1700,3437,0,0,0,0,0,0
$GC,1035,-1.24,-116.8,121.9,-8.7,113,1040,0.15,2.50,0.00,0.000,4,0.054,0.041,2668,177,3438,0,0,0,0,0,0
$GC,1072,-1.24,-116.8,125.6,-11.0,116,1077,0.17,2.35,0.00,0.000,6,0.094,0.016,2706,1717,3438,0,0,0,0,0,0
$GC,1333,-1.24,-116.8,149.5,-9.3,140,1337,0.00,2.47,0.00,0.000,4,0.000,0.025,2706,3285,3439,0,0,0,0,0,0
$GC,1404,-1.37,-116.8,156.2,-9.4,147,1409,0.10,2.50,0.00,0.000,6,0.072,0.022,2641,1701,3439,0,0,0,0,0,0
$GC,1665,-1.24,-116.8,184.6,-10.3,171,1671,0.28,2.55,0.00,0.000,4,0.084,0.023,2706,3282,3439,0,0,0,0,0,0
$GC,1707,-1.38,-116.8,188.0,-7.8,175,1713,0.08,2.50,0.00,0.000,6,0.033,0.023,2636,1727,3439,0,0,0,0,0,0
$GC,1978,-1.25,-116.8,220.0,-12.1,189,1984,0.28,2.53,0.00,0.000,4,0.083,0.039,2702,175,3439,0,0,0,0,0,0
$GC,1994,-1.25,-116.8,221.8,-12.2,189,1998,0.00,2.38,0.00,0.000,6,0.000,0.018,2702,1736,3439,0,0,0,0,0,0
$GC,2264,-1.35,-116.8,243.5,-7.7,196,2268,0.00,2.45,0.00,0.000,4,0.000,0.025,2702,3282,3439,0,0,0,0,0,0
$GC,2299,-1.51,-116.8,245.9,-6.8,196,2304,0.22,2.42,0.00,0.000,6,0.038,0.023,2603,1747,3439,0,0,0,0,0,0
$GC,2551,-1.33,-116.8,273.5,-11.8,202,2558,0.35,2.60,0.00,0.000,4,0.081,0.042,2684,177,3440,0,0,0,0,0,0
$GC,2597,-1.43,-116.8,278.3,-9.5,203,2602,0.00,2.42,0.00,0.000,6,0.000,0.018,2685,1744,3439,0,0,0,0,0,0
$GC,2889,-1.49,-116.8,304.7,-9.5,210,2894,0.12,2.45,0.00,0.000,4,0.062,0.029,2621,3283,3438,0,0,0,0,0,0
$GC,2936,-1.49,-116.8,310.4,-10.6,211,2941,0.15,2.45,0.00,0.000,6,0.095,0.025,2655,1745,3438,0,0,0,0,0,0
$GC,3221,-1.49,-116.8,337.0,-9.4,218,3225,0.00,2.62,0.00,0.000,4,0.000,0.049,2654,174,3437,0,0,0,0,0,0
$GC,3272,-1.49,-116.8,342.3,-9.2,219,3278,0.00,2.47,0.00,0.000,6,0.000,0.021,2655,1731,3436,0,0,0,0,0,0
$GC,3557,-1.49,-116.8,365.4,-8.1,226,3561,0.00,2.55,0.00,0.000,4,0.000,0.034,2655,3303,3435,0,0,0,0,0,0
$GC,3588,-1.49,-116.8,368.3,-9.0,226,3592,0.00,2.50,0.00,0.000,6,0.000,0.028,2655,1746,3435,0,0,0,0,0,0
$GC,3843,-1.49,-116.8,392.8,-9.6,233,3847,0.00,2.65,0.00,0.000,4,0.000,0.055,2655,176,3433,0,0,0,0,0,0
$GC,3886,-1.49,-116.8,397.3,-10.0,234,3890,0.00,2.45,0.00,0.000,6,0.000,0.024,2655,1738,3433,0,0,0,0,0,0
$GC,4174,-1.49,-116.8,422.7,-8.7,241,4180,0.00,2.58,0.00,0.000,4,0.000,0.039,2655,3292,3431,0,0,0,0,0,0
$GC,4225,-1.49,-116.8,427.2,-9.0,242,4229,0.00,2.53,0.00,0.000,6,0.000,0.031,2655,1746,3431,0,0,0,0,0,0
$GC,4514,-1.49,-116.8,451.9,-8.4,249,4518,0.00,2.55,0.00,0.000,4,0.000,0.041,2655,3294,3429,0,0,0,0,0,0
$GC,4547,-1.49,-116.8,455.3,-8.5,249,4551,0.00,2.53,0.00,0.000,6,0.000,0.034,2656,1747,3429,0,0,0,0,0,0
$GC,4798,-1.49,-116.8,477.1,-8.6,255,4802,0.00,2.72,0.00,0.000,4,0.000,0.066,2655,172,3427,0,0,0,0,0,0
$GC,4850,-1.49,-116.8,481.7,-8.6,256,4855,0.00,2.50,0.00,0.000,6,0.000,0.029,2655,1732,3426,0,0,0,0,0,0
$GC,5128,-1.49,-116.8,505.2,-8.7,263,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1732,3424,0,0,0,0,0,0
$GC,5372,-1.49,-116.8,525.9,-8.6,269,5377,0.00,2.65,0.00,0.000,4,0.000,0.049,2655,3301,3423,0,0,0,0,0,0
$GC,5389,-1.49,-116.8,527.3,-8.7,269,5393,0.00,2.58,0.00,0.000,6,0.000,0.035,2655,1729,3423,0,0,0,0,0,0
$GC,5662,-1.49,-116.8,550.2,-8.2,276,5667,0.00,2.70,0.00,0.000,4,0.000,0.071,2654,168,3421,0,0,0,0,0,0
$GC,5682,-1.49,-116.8,552.1,-8.8,276,5686,0.00,2.55,0.00,0.000,6,0.000,0.032,2655,1736,3421,0,0,0,0,0,0
$GC,5948,-1.49,-116.8,574.2,-8.5,283,5953,0.00,2.65,0.00,0.000,4,0.000,0.054,2655,3306,3419,0,0,0,0,0,0
$GC,5992,-1.56,-116.8,578.0,-8.1,284,5996,0.00,2.60,0.00,0.000,6,0.000,0.037,2655,1734,3418,0,0,0,0,0,0
$GC,6279,-1.56,-116.8,602.0,-8.3,291,6284,0.00,2.72,0.00,0.000,4,0.000,0.074,2650,176,3416,0,0,0,0,0,0
$GC,6318,-1.56,-116.8,605.2,-8.6,291,6324,0.00,2.55,0.00,0.000,6,0.000,0.035,2653,1733,3416,0,0,0,0,0,0
$GC,6569,-1.56,-116.8,624.9,-7.8,298,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1733,3415,0,0,0,0,0,0
$GC,6812,-1.56,-116.8,646.0,-8.9,304,6817,0.00,2.75,0.00,0.000,4,0.000,0.071,2654,166,3413,0,0,0,0,0,0
$GC,6841,-1.56,-116.8,648.9,-10.9,304,6846,0.00,2.55,0.00,0.000,6,0.000,0.038,2655,1730,3413,0,0,0,0,0,0
$GC,7099,-1.56,-116.8,673.1,-9.2,311,7103,0.00,2.72,0.00,0.000,4,0.000,0.071,2655,167,3411,0,0,0,0,0,0
$GC,7120,-1.56,-116.8,675.0,-9.2,311,7124,0.00,2.58,0.00,0.000,6,0.000,0.038,2655,1728,3411,0,0,0,0,0,0
$GC,7385,-1.56,-116.8,697.4,-8.5,318,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1728,3410,0,0,0,0,0,0
$GC,7628,-1.56,-116.8,717.5,-8.1,324,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1728,3409,0,0,0,0,0,0
$GC,7872,-1.56,-116.8,733.8,-6.4,330,7877,0.00,2.72,0.00,0.000,4,0.000,0.072,2654,176,3407,0,0,0,0,0,0
$GC,7896,-1.56,-116.8,735.6,-7.5,330,7901,0.00,2.53,0.00,0.000,6,0.000,0.038,2654,1720,3407,0,0,0,0,0,0
$GC,8158,-1.56,-116.8,752.1,-6.4,337,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1720,3406,0,0,0,0,0,0
$GC,8399,-1.56,-116.8,767.2,-6.3,343,8404,0.00,2.75,0.00,0.000,4,0.000,0.063,2655,3307,3406,0,0,0,0,0,0
$GC,8443,-1.64,-116.8,770.1,-6.5,344,8449,0.12,2.65,0.00,0.000,6,0.067,0.041,2600,1707,3405,0,0,0,0,0,0
$GC,8735,-1.52,-116.8,793.0,-8.0,351,8740,0.22,2.72,0.00,0.000,4,0.094,0.077,2649,178,3404,0,0,0,0,0,0
$GC,8769,-1.52,-116.8,795.9,-7.0,351,8774,0.00,2.55,0.00,0.000,6,0.000,0.038,2649,1708,3404,0,0,0,0,0,0
$GC,9031,-1.52,-116.8,811.5,-6.0,358,9035,0.00,2.75,0.00,0.000,4,0.000,0.063,2650,3309,3402,0,0,0,0,0,0
$GC,9054,-1.52,-116.8,813.1,-7.4,358,9059,0.00,2.67,0.00,0.000,6,0.000,0.041,2648,1707,3403,0,0,0,0,0,0
$GC,9315,-1.52,-116.8,828.3,-5.9,365,9319,0.00,2.70,0.00,0.000,4,0.000,0.077,2646,172,3402,0,0,0,0,0,0
$GC,9332,-1.52,-116.8,829.5,-5.8,365,9337,0.00,2.55,0.00,0.000,6,0.000,0.038,2648,1704,3402,0,0,0,0,0,0
$GC,9606,-1.52,-116.8,846.2,-6.2,372,9612,0.00,2.78,0.00,0.000,4,0.000,0.063,2648,3307,3401,0,0,0,0,0,0
$GC,9626,-1.52,-116.8,847.6,-6.8,372,9631,0.00,2.65,0.00,0.000,6,0.000,0.041,2649,1705,3401,0,0,0,0,0,0
$GC,9897,-1.52,-116.8,864.9,-6.7,379,9901,0.00,2.67,0.00,0.000,4,0.000,0.077,2648,172,3400,0,0,0,0,0,0
$GC,9911,-1.52,-116.8,866.3,-6.9,379,9915,0.00,2.53,0.00,0.000,6,0.000,0.037,2649,1717,3400,0,0,0,0,0,0
$GC,10181,-1.52,-116.8,886.0,-7.5,386,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1717,3399,0,0,0,0,0,0
$STATE,10380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10380,begin apogee
$GC,10387,-0.31,0.0,902.6,8.2,391,10488,1.15,0.00,96.75,1.162,6,0.072,0.000,2910,1717,2955,0,0,0,0,0,0
$STATE,10488,end apogee,CONTROL_FINISHED_OK
$STATE,10489,begin climb
$GC,10491,1.38,116.8,905.1,0.0,393,10609,1.50,2.78,107.80,1.140,4,0.028,0.071,3291,178,2476,0,0,0,0,0,0
$GC,10710,0.97,116.8,891.4,12.3,398,10718,0.47,2.53,0.00,0.000,6,0.107,0.037,3194,1700,2469,0,0,0,0,0,0
$GC,10997,0.92,139.9,866.9,8.7,405,11025,0.00,2.78,21.00,1.056,4,0.000,0.069,3193,172,2383,0,0,0,0,0,0
$GC,11054,0.79,139.9,860.8,10.9,406,11059,0.20,2.55,0.00,0.000,6,0.109,0.037,3154,1698,2381,0,0,0,0,0,0
$GC,11328,0.81,163.5,837.2,8.6,413,11353,0.00,0.00,22.80,1.048,6,0.000,0.000,3154,1699,2288,0,0,0,0,0,0
$GC,11574,0.81,163.5,810.6,11.1,419,11578,0.00,2.78,0.00,0.000,4,0.000,0.064,3154,3289,2283,0,0,0,0,0,0
$GC,11612,0.90,163.5,806.0,11.5,419,11618,0.10,2.67,0.00,0.000,6,0.078,0.038,3195,1702,2282,0,0,0,0,0,0
$GC,11862,0.90,163.5,774.6,12.7,426,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1702,2280,0,0,0,0,0,0
$GC,12107,0.90,163.5,745.3,12.0,432,12112,0.00,2.72,0.00,0.000,4,0.000,0.050,3195,3294,2281,0,0,0,0,0,0
$GC,12126,0.90,163.5,742.6,10.7,432,12132,0.00,2.70,0.00,0.000,6,0.000,0.042,3195,1712,2279,0,0,0,0,0,0
$GC,12396,0.90,163.5,712.0,11.4,439,12400,0.00,2.67,0.00,0.000,4,0.000,0.051,3195,3289,2279,0,0,0,0,0,0
$GC,12453,0.90,163.5,705.4,12.1,440,12458,0.00,2.70,0.00,0.000,6,0.000,0.044,3195,1714,2279,0,0,0,0,0,0
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$STATE,18973,end climb,SURFACE_DEPTH_REACHED
$STATE,18974,begin surface coast
$FINISH,0.9,1.023437
$STATE,19007,end surface coast,CONTROL_FINISHED_OK
$STATE,19008,begin surface
$SM_CCo,19030,42.75,0.452,0,0,1323,400.08
$SM_GC,1.69,0.00,0.00,42.75,0.000,0.000,0.452,414,1729,1323,-11.80,0.25,400.08
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$TT8_MAMPS,0.026845
$HUMID,69.84
$INTERNAL_PRESSURE,9.31087
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,22.9,70.146
$10V_AH,9.8,77.504
$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
$DEVICE_SECS,32.450,270.425,414.675,42.750,0.000,59.205,76.281,297.440,0.250,0.000,32.135,1662.160,14102.432,561.989,2098.736,1341.424,33.383,1812.925,0.000,2323.379,0.000,0.535,0.000
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$SENSOR_SECS,505.383,496.119,603.773,614.401,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,57320,742
$CAP_FILE_SIZE,206802,0
$CFSIZE,260165632,95444992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251011,092315,2145.801,-15811.569,40,2.3,59,9.9