version: 66.06
glider: 148
mission: 9
dive: 19
start: 11 11 110 14 44 25
data:
$ID,148
$MISSION,9
$DIVE,19
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$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,330
$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,52499
$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,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-857803.19
$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,2870
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3105
$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,-11.449877
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,142837,2156.549,-15808.265,30,1.1,30,9.9
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.8
$GPS2,144331,2156.562,-15808.343,9,1.2,14,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.081,0.220
$KALMAN_X,-6238.4,328.0,117.4,8405.8,-983.8
$KALMAN_Y,-3181.8,176.1,313.5,33560.6,-472.7
$MHEAD_RNG_PITCHd_Wd,10.3,90833,-19.8,-10.000
$D_GRID,990
$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,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-82.45,0.000,2,0.000,0.000,413,1795,3411,0,0,0,0,0,0
$GC,106,-1.38,-116.8,4.3,-8.4,11,131,11.48,2.50,-3.05,0.000,4,0.160,0.041,2559,3342,3586,0,0,0,0,0,0
$GC,153,-0.80,-116.8,22.6,-34.9,17,162,0.60,2.53,0.00,0.000,6,0.091,0.023,2692,1763,3587,0,0,0,0,0,0
$GC,432,-1.07,-116.8,48.2,-5.9,46,437,0.22,2.53,0.00,0.000,4,0.044,0.032,2608,3329,3588,0,0,0,0,0,0
$GC,476,-1.07,-116.8,53.3,-15.0,49,481,0.12,2.45,0.00,0.000,6,0.110,0.025,2634,1774,3588,0,0,0,0,0,0
$GC,744,-1.15,-116.8,88.5,-12.5,73,748,0.00,2.47,0.00,0.000,4,0.000,0.033,2634,3330,3588,0,0,0,0,0,0
$GC,783,-1.31,-116.8,93.7,-10.2,76,792,0.17,2.47,0.00,0.000,6,0.027,0.024,2550,1779,3588,0,0,0,0,0,0
$GC,1050,-1.31,-116.8,128.5,-11.3,101,1055,0.15,0.00,0.00,0.000,6,0.109,0.000,2581,1779,3589,0,0,0,0,0,0
$GC,1312,-1.38,-116.8,158.1,-10.8,126,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1780,3590,0,0,0,0,0,0
$GC,1568,-1.47,-116.8,183.6,-9.8,150,1569,0.15,0.00,0.00,0.000,6,0.062,0.000,2525,1779,3590,0,0,0,0,0,0
$GC,1825,-1.40,-116.8,216.3,-12.9,166,1830,0.17,2.50,0.00,0.000,4,0.110,0.032,2562,3330,3590,0,0,0,0,0,0
$GC,1840,-1.40,-116.8,218.1,-12.1,166,1844,0.00,2.42,0.00,0.000,6,0.000,0.023,2562,1776,3590,0,0,0,0,0,0
$GC,2109,-1.40,-116.8,246.6,-11.3,173,2113,0.00,2.58,0.00,0.000,4,0.000,0.050,2562,190,3590,0,0,0,0,0,0
$GC,2165,-1.50,-116.8,253.9,-12.5,174,2169,0.00,2.45,0.00,0.000,6,0.000,0.023,2562,1767,3590,0,0,0,0,0,0
$GC,2439,-1.57,-116.8,282.4,-10.3,181,2444,0.15,2.53,0.00,0.000,4,0.063,0.035,2506,3351,3590,0,0,0,0,0,0
$GC,2472,-1.51,-116.8,286.6,-11.8,181,2478,0.15,2.45,0.00,0.000,6,0.112,0.025,2539,1789,3590,0,0,0,0,0,0
$GC,2722,-1.51,-116.8,314.5,-11.2,187,2726,0.00,2.62,0.00,0.000,4,0.000,0.048,2539,191,3590,0,0,0,0,0,0
$GC,2779,-1.61,-116.8,321.3,-12.0,188,2783,0.00,2.50,0.00,0.000,6,0.000,0.025,2538,1776,3590,0,0,0,0,0,0
$GC,3052,-1.61,-116.8,351.9,-10.9,195,3056,0.00,2.55,0.00,0.000,4,0.000,0.040,2539,3352,3589,0,0,0,0,0,0
$GC,3095,-1.68,-116.8,356.3,-10.4,196,3100,0.15,2.50,0.00,0.000,6,0.062,0.029,2470,1777,3589,0,0,0,0,0,0
$GC,3384,-1.54,-116.8,394.5,-12.9,203,3391,0.25,2.62,0.00,0.000,4,0.106,0.055,2527,196,3587,0,0,0,0,0,0
$GC,3418,-1.54,-116.8,398.9,-11.9,203,3423,0.00,2.50,0.00,0.000,6,0.000,0.029,2527,1772,3587,0,0,0,0,0,0
$GC,3669,-1.54,-116.8,424.2,-10.4,209,3674,0.00,2.65,0.00,0.000,4,0.000,0.058,2527,196,3585,0,0,0,0,0,0
$GC,3701,-1.54,-116.8,428.2,-11.9,209,3706,0.00,2.53,0.00,0.000,6,0.000,0.032,2527,1777,3585,0,0,0,0,0,0
$GC,3951,-1.54,-116.8,455.0,-10.7,215,3955,0.00,2.60,0.00,0.000,4,0.000,0.052,2527,3350,3583,0,0,0,0,0,0
$GC,3970,-1.54,-116.8,457.2,-11.3,215,3975,0.00,2.53,0.00,0.000,6,0.000,0.031,2527,1774,3583,0,0,0,0,0,0
$GC,4234,-1.54,-116.8,485.5,-10.8,222,4238,0.00,2.65,0.00,0.000,4,0.000,0.058,2527,3348,3581,0,0,0,0,0,0
$GC,4257,-1.54,-116.8,488.1,-10.9,222,4261,0.00,2.55,0.00,0.000,6,0.000,0.035,2527,1772,3581,0,0,0,0,0,0
$GC,4515,-1.54,-116.8,515.8,-11.1,229,4520,0.00,2.65,0.00,0.000,4,0.000,0.054,2527,3356,3579,0,0,0,0,0,0
$GC,4530,-1.54,-116.8,517.6,-10.6,229,4535,0.00,2.58,0.00,0.000,6,0.000,0.035,2527,1776,3579,0,0,0,0,0,0
$GC,4798,-1.54,-116.8,545.0,-10.1,236,4803,0.00,2.70,0.00,0.000,4,0.000,0.070,2527,193,3577,0,0,0,0,0,0
$GC,4860,-1.61,-116.8,551.7,-12.1,237,4865,0.00,2.60,0.00,0.000,6,0.000,0.039,2527,1774,3577,0,0,0,0,0,0
$GC,5129,-1.68,-116.8,575.9,-8.6,244,5134,0.10,2.70,0.00,0.000,4,0.086,0.060,2489,3363,3574,0,0,0,0,0,0
$GC,5153,-1.68,-116.8,578.5,-10.7,244,5157,0.00,2.60,0.00,0.000,6,0.000,0.040,2489,1774,3574,0,0,0,0,0,0
$GC,5413,-1.68,-116.8,604.4,-10.2,251,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1773,3572,0,0,0,0,0,0
$GC,5655,-1.68,-116.8,630.1,-10.7,257,5660,0.00,2.75,0.00,0.000,4,0.000,0.075,2488,194,3569,0,0,0,0,0,0
$GC,5692,-1.68,-116.8,634.3,-11.3,257,5698,0.00,2.62,0.00,0.000,6,0.000,0.042,2489,1778,3569,0,0,0,0,0,0
$GC,5942,-1.68,-116.8,660.1,-10.4,264,5946,0.00,2.78,0.00,0.000,4,0.000,0.071,2489,184,3567,0,0,0,0,0,0
$GC,5967,-1.62,-116.8,662.4,-10.4,264,5972,0.12,2.62,0.00,0.000,6,0.127,0.043,2514,1768,3567,0,0,0,0,0,0
$GC,6227,-1.62,-116.8,686.6,-8.5,271,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1769,3565,0,0,0,0,0,0
$GC,6470,-1.62,-116.8,710.2,-9.6,277,6475,0.00,2.72,0.00,0.000,4,0.000,0.067,2514,3357,3563,0,0,0,0,0,0
$GC,6490,-1.62,-116.8,712.1,-9.5,277,6495,0.00,2.65,0.00,0.000,6,0.000,0.044,2514,1768,3563,0,0,0,0,0,0
$GC,6754,-1.62,-116.8,737.4,-9.9,284,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1767,3561,0,0,0,0,0,0
$GC,6998,-1.62,-116.8,761.2,-9.7,290,7002,0.00,2.78,0.00,0.000,4,0.000,0.079,2514,183,3560,0,0,0,0,0,0
$GC,7018,-1.62,-116.8,763.4,-10.4,290,7022,0.00,2.65,0.00,0.000,6,0.000,0.044,2514,1779,3560,0,0,0,0,0,0
$GC,7281,-1.62,-116.8,788.9,-9.4,297,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1780,3559,0,0,0,0,0,0
$GC,7526,-1.68,-116.8,812.2,-9.6,303,7530,0.00,2.78,0.00,0.000,4,0.000,0.072,2514,189,3557,0,0,0,0,0,0
$GC,7549,-1.68,-116.8,814.8,-11.4,303,7553,0.00,2.62,0.00,0.000,6,0.000,0.044,2514,1766,3557,0,0,0,0,0,0
$GC,7809,-1.68,-116.8,839.3,-9.4,310,7814,0.00,2.75,0.00,0.000,4,0.000,0.073,2514,190,3555,0,0,0,0,0,0
$GC,7828,-1.68,-116.8,841.4,-9.8,310,7832,0.00,2.62,0.00,0.000,6,0.000,0.043,2514,1769,3555,0,0,0,0,0,0
$GC,8092,-1.74,-116.8,865.6,-9.2,317,8094,0.10,0.00,0.00,0.000,6,0.089,0.000,2480,1770,3554,0,0,0,0,0,0
$GC,8337,-1.74,-116.8,889.3,-9.7,323,8341,0.00,2.80,0.00,0.000,4,0.000,0.073,2479,183,3553,0,0,0,0,0,0
$GC,8355,-1.74,-116.8,891.5,-10.5,323,8360,0.00,2.60,0.00,0.000,6,0.000,0.043,2480,1760,3553,0,0,0,0,0,0
$GC,8619,-1.74,-116.8,915.2,-9.0,330,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1760,3552,0,0,0,0,0,0
$GC,8864,-1.74,-116.8,936.8,-8.9,336,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1760,3551,0,0,0,0,0,0
$GC,9106,-1.74,-116.8,958.7,-8.9,342,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1760,3550,0,0,0,0,0,0
$GC,9350,-1.74,-116.8,981.7,-9.6,348,9355,0.00,2.75,0.00,0.000,4,0.000,0.073,2479,188,3549,0,0,0,0,0,0
$GC,9369,-1.74,-116.8,983.8,-10.3,348,9373,0.00,2.60,0.00,0.000,6,0.000,0.043,2479,1764,3549,0,0,0,0,0,0
$STATE,9467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9467,begin apogee
$GC,9474,-0.31,0.0,993.8,10.2,351,9574,1.50,0.00,95.20,1.286,6,0.100,0.000,2802,1627,3105,0,0,0,0,0,0
$STATE,9574,end apogee,CONTROL_FINISHED_OK
$STATE,9574,begin climb
$GC,9577,1.38,116.8,996.2,0.0,353,9695,1.55,2.83,106.22,1.256,4,0.030,0.058,3177,3236,2627,0,0,0,0,0,0
$GC,9770,0.99,116.8,990.2,10.9,358,9777,0.45,2.65,0.00,0.000,6,0.145,0.043,3092,1665,2621,0,0,0,0,0,0
$GC,10052,0.82,138.1,965.6,8.8,365,10078,0.20,2.75,19.25,1.164,4,0.137,0.086,3054,171,2541,0,0,0,0,0,0
$GC,10148,0.64,138.1,956.0,10.7,367,10153,0.22,2.47,0.00,0.000,6,0.130,0.039,3011,1648,2539,0,0,0,0,0,0
$GC,10428,0.69,180.0,934.3,7.6,374,10473,0.00,2.72,39.10,1.206,4,0.000,0.074,3011,172,2370,0,0,0,0,0,0
$GC,10525,0.70,183.1,925.5,9.8,376,10535,0.00,2.47,3.95,0.723,6,0.000,0.040,3010,1642,2358,0,0,0,0,0,0
$GC,10804,0.72,204.3,901.0,8.8,383,10832,0.00,2.83,20.77,1.148,4,0.000,0.064,3011,3242,2269,0,0,0,0,0,0
$GC,10843,0.82,236.3,897.3,8.2,383,10880,0.17,2.75,30.75,1.164,6,0.062,0.043,3068,1636,2141,0,0,0,0,0,0
$GC,11137,0.76,236.3,860.0,13.0,391,11139,0.15,0.00,0.00,0.000,6,0.126,0.000,3039,1635,2133,0,0,0,0,0,0
$GC,11378,0.76,236.3,831.4,11.7,397,11379,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1636,2131,0,0,0,0,0,0
$GC,11622,0.76,236.3,803.8,11.2,403,11626,0.00,2.62,0.00,0.000,4,0.000,0.084,3038,170,2130,0,0,0,0,0,0
$GC,11678,0.76,236.3,796.6,12.3,404,11683,0.00,2.42,0.00,0.000,6,0.000,0.040,3038,1634,2130,0,0,0,0,0,0
$GC,11951,0.76,236.3,765.8,11.0,411,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1635,2129,0,0,0,0,0,0
$GC,12194,0.76,236.3,738.3,11.2,417,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1636,2127,0,0,0,0,0,0
$GC,12438,0.76,236.3,711.4,11.0,423,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1636,2128,0,0,0,0,0,0
$GC,12683,0.76,236.3,685.8,10.3,429,12684,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1638,2127,0,0,0,0,0,0
$GC,12926,0.76,237.5,661.3,9.9,435,12931,0.00,2.75,0.00,0.000,4,0.000,0.063,3038,3242,2126,0,0,0,0,0,0
$GC,12954,0.79,258.1,658.3,8.8,435,12978,0.00,2.72,18.75,1.026,6,0.000,0.041,3038,1621,2051,0,0,0,0,0,0
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$STATE,18509,end climb,SURFACE_DEPTH_REACHED
$STATE,18509,begin surface coast
$FINISH,0.7,1.022771
$STATE,18542,end surface coast,CONTROL_FINISHED_OK
$STATE,18542,begin surface
$SM_CCo,18563,61.17,0.065,0,0,1269,450.13
$SM_GC,1.61,0.00,0.00,61.17,0.000,0.000,0.065,408,1816,1269,-11.33,1.30,450.13
$IRIDIUM_FIX,2148.09,-15805.88,050200,141450
$TT8_MAMPS,0.026845
$HUMID,38.89
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.3,5.307
$10V_AH,10.4,4.814
$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,31.125,233.475,399.025,61.175,0.000,59.484,70.742,473.362,0.500,0.000,16.232,1545.473,13893.629,576.067,2436.571,1039.324,33.354,1672.763,0.000,2420.210,0.000,0.536,0.000
$DEVICE_MAMPS,160.303,85.904,1286.259,65.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,479.809,332.888,421.542,584.645,1034.631,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,54194,704
$CAP_FILE_SIZE,190948,0
$CFSIZE,260165632,171257856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111110,195639,2159.077,-15807.520,67,1.4,69,9.9