version: 66.06
glider: 148
mission: 10
dive: 16
start: 8 14 111 11 21 28
data:
$ID,148
$MISSION,10
$DIVE,16
$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,600
$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,-876982.44
$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,2950
$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,1890
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3095
$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
$GPS1,111315,2152.138,-15809.446,91,99.0,110,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.1
$GPS2,112034,2152.109,-15809.504,9,99.0,28,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,0.160
$KALMAN_X,-11387.3,142.4,449.7,10499.0,-2769.4
$KALMAN_Y,-1524.9,-521.8,595.0,21639.4,-989.0
$MHEAD_RNG_PITCHd_Wd,37.1,99290,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-67.75,0.000,2,0.000,0.000,415,1936,3263,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-6.3,9,115,11.93,2.38,-5.53,0.000,4,0.158,0.035,2642,3436,3573,0,0,0,0,0,0
$GC,158,-1.04,-116.8,24.6,-24.5,18,169,0.32,2.50,0.00,0.000,6,0.094,0.023,2715,1887,3574,0,0,0,0,0,0
$GC,436,-0.91,-116.8,72.9,-16.3,44,441,0.15,2.58,0.00,0.000,4,0.120,0.036,2747,310,3575,0,0,0,0,0,0
$GC,448,-0.83,-116.8,76.4,-15.5,44,459,0.08,2.45,0.00,0.000,6,0.101,0.019,2766,1864,3575,0,0,0,0,0,0
$GC,717,-0.96,-116.8,102.5,-8.8,69,722,0.12,0.00,0.00,0.000,6,0.067,0.000,2708,1867,3577,0,0,0,0,0,0
$GC,978,-0.96,-116.8,134.6,-11.0,94,980,0.15,0.00,0.00,0.000,6,0.108,0.000,2740,1867,3577,0,0,0,0,0,0
$GC,1240,-1.09,-116.8,158.0,-8.7,118,1246,0.12,0.00,0.00,0.000,6,0.070,0.000,2687,1867,3578,0,0,0,0,0,0
$GC,1501,-1.09,-116.8,189.3,-11.7,143,1503,0.10,0.00,0.00,0.000,6,0.125,0.000,2709,1867,3578,0,0,0,0,0,0
$GC,1771,-1.18,-116.8,217.9,-10.5,157,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1867,3578,0,0,0,0,0,0
$GC,2014,-1.28,-116.8,242.1,-9.5,163,2016,0.15,0.00,0.00,0.000,6,0.061,0.000,2654,1867,3579,0,0,0,0,0,0
$GC,2258,-1.28,-116.8,270.2,-11.5,169,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1867,3579,0,0,0,0,0,0
$GC,2501,-1.28,-116.8,300.0,-12.2,175,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1867,3579,0,0,0,0,0,0
$GC,2745,-1.28,-116.8,328.4,-11.7,181,2751,0.00,2.62,0.00,0.000,4,0.000,0.048,2653,311,3578,0,0,0,0,0,0
$GC,2760,-1.28,-116.8,330.3,-11.3,181,2764,0.00,2.50,0.00,0.000,6,0.000,0.024,2653,1879,3578,0,0,0,0,0,0
$GC,3033,-1.28,-116.8,361.4,-11.3,188,3037,0.00,2.65,0.00,0.000,4,0.000,0.051,2653,310,3577,0,0,0,0,0,0
$GC,3089,-1.28,-116.8,368.0,-11.5,189,3094,0.00,2.53,0.00,0.000,6,0.000,0.028,2653,1878,3577,0,0,0,0,0,0
$GC,3362,-1.28,-116.8,396.6,-10.4,196,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1878,3575,0,0,0,0,0,0
$GC,3606,-1.28,-116.8,423.4,-10.8,202,3610,0.00,2.62,0.00,0.000,4,0.000,0.048,2653,3463,3574,0,0,0,0,0,0
$GC,3636,-1.28,-116.8,426.3,-10.0,202,3641,0.00,2.58,0.00,0.000,6,0.000,0.037,2653,1894,3573,0,0,0,0,0,0
$GC,3896,-1.28,-116.8,452.3,-9.9,209,3901,0.00,2.72,0.00,0.000,4,0.000,0.064,2653,309,3572,0,0,0,0,0,0
$GC,3965,-1.28,-116.8,459.7,-9.8,210,3970,0.00,2.55,0.00,0.000,6,0.000,0.034,2653,1879,3571,0,0,0,0,0,0
$GC,4226,-1.28,-116.8,482.4,-8.6,217,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1879,3569,0,0,0,0,0,0
$GC,4469,-1.28,-116.8,502.2,-8.0,223,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1879,3567,0,0,0,0,0,0
$GC,4712,-1.28,-116.8,523.4,-8.9,229,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1879,3566,0,0,0,0,0,0
$GC,4957,-1.28,-116.8,546.5,-9.5,235,4961,0.00,2.72,0.00,0.000,4,0.000,0.068,2653,308,3564,0,0,0,0,0,0
$GC,4982,-1.28,-116.8,549.0,-11.2,235,4988,0.00,2.62,0.00,0.000,6,0.000,0.039,2653,1877,3564,0,0,0,0,0,0
$GC,5247,-1.28,-116.8,573.8,-9.2,242,5252,0.00,2.70,0.00,0.000,4,0.000,0.067,2653,317,3561,0,0,0,0,0,0
$GC,5279,-1.28,-116.8,577.2,-9.9,242,5284,0.00,2.60,0.00,0.000,6,0.000,0.040,2653,1880,3561,0,0,0,0,0,0
$GC,5531,-1.28,-116.8,598.9,-8.5,248,5536,0.00,2.75,0.00,0.000,4,0.000,0.069,2653,310,3559,0,0,0,0,0,0
$GC,5561,-1.28,-116.8,601.6,-8.7,248,5565,0.00,2.58,0.00,0.000,6,0.000,0.040,2653,1872,3559,0,0,0,0,0,0
$GC,5815,-1.28,-116.8,621.7,-7.8,255,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1871,3557,0,0,0,0,0,0
$GC,6061,-1.34,-116.8,641.4,-8.1,261,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1872,3555,0,0,0,0,0,0
$GC,6303,-1.40,-116.8,663.1,-9.1,267,6308,0.00,2.78,0.00,0.000,4,0.000,0.067,2653,3477,3553,0,0,0,0,0,0
$GC,6323,-1.46,-116.8,664.9,-9.0,267,6328,0.00,2.65,0.00,0.000,6,0.000,0.042,2653,1878,3554,0,0,0,0,0,0
$GC,6589,-1.52,-116.8,689.3,-9.4,274,6596,0.15,2.75,0.00,0.000,4,0.059,0.077,2603,313,3552,0,0,0,0,0,0
$GC,6630,-1.44,-116.8,694.4,-12.3,274,6636,0.15,2.60,0.00,0.000,6,0.116,0.042,2634,1870,3552,0,0,0,0,0,0
$GC,6883,-1.44,-116.8,721.0,-10.5,281,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1870,3550,0,0,0,0,0,0
$GC,7124,-1.44,-116.8,745.5,-9.8,287,7128,0.00,2.75,0.00,0.000,4,0.000,0.073,2634,311,3549,0,0,0,0,0,0
$GC,7156,-1.44,-116.8,748.9,-10.2,287,7161,0.00,2.60,0.00,0.000,6,0.000,0.043,2634,1869,3549,0,0,0,0,0,0
$GC,7406,-1.44,-116.8,771.9,-9.2,293,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1869,3548,0,0,0,0,0,0
$GC,7652,-1.44,-116.8,793.3,-8.7,299,7656,0.00,2.75,0.00,0.000,4,0.000,0.073,2634,309,3547,0,0,0,0,0,0
$GC,7684,-1.44,-116.8,796.6,-10.6,299,7688,0.00,2.60,0.00,0.000,6,0.000,0.043,2634,1866,3546,0,0,0,0,0,0
$GC,7934,-1.44,-116.8,819.2,-9.1,305,7938,0.00,2.72,0.00,0.000,4,0.000,0.072,2634,307,3546,0,0,0,0,0,0
$GC,7955,-1.44,-116.8,821.4,-10.4,305,7959,0.00,2.60,0.00,0.000,6,0.000,0.043,2634,1865,3545,0,0,0,0,0,0
$GC,8220,-1.44,-116.8,845.5,-9.1,312,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1864,3544,0,0,0,0,0,0
$GC,8463,-1.44,-116.8,867.5,-9.1,318,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1864,3543,0,0,0,0,0,0
$GC,8706,-1.44,-116.8,889.4,-8.9,324,8711,0.00,2.75,0.00,0.000,4,0.000,0.073,2634,304,3543,0,0,0,0,0,0
$GC,8739,-1.44,-116.8,892.6,-10.5,324,8744,0.00,2.60,0.00,0.000,6,0.000,0.044,2634,1866,3542,0,0,0,0,0,0
$STATE,8824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8824,begin apogee
$GC,8830,-0.31,0.0,900.2,8.9,326,8928,1.12,0.00,94.20,1.192,6,0.087,0.000,2881,1688,3094,0,0,0,0,0,0
$STATE,8928,end apogee,CONTROL_FINISHED_OK
$STATE,8928,begin climb
$GC,8931,1.38,116.8,902.2,0.0,328,9043,1.52,2.67,103.30,1.167,4,0.037,0.080,3256,189,2617,0,0,0,0,0,0
$GC,9053,1.13,211.4,904.4,4.5,330,9150,0.30,2.58,84.88,1.148,6,0.125,0.039,3199,1707,2232,0,0,0,0,0,0
$GC,9435,1.06,211.4,859.3,12.8,340,9440,0.00,2.75,0.00,0.000,4,0.000,0.074,3199,184,2223,0,0,0,0,0,0
$GC,9483,0.93,211.4,852.2,13.6,341,9488,0.22,2.55,0.00,0.000,6,0.116,0.041,3155,1697,2223,0,0,0,0,0,0
$GC,9766,0.93,211.4,820.2,11.2,348,9771,0.00,2.80,0.00,0.000,4,0.000,0.066,3156,3287,2221,0,0,0,0,0,0
$GC,9784,0.93,211.4,817.9,11.7,348,9789,0.00,2.67,0.00,0.000,6,0.000,0.041,3155,1706,2219,0,0,0,0,0,0
$GC,10050,0.93,211.4,787.0,11.8,355,10054,0.00,2.83,0.00,0.000,4,0.000,0.090,3155,167,2219,0,0,0,0,0,0
$GC,10093,0.93,211.4,781.2,13.8,356,10097,0.00,2.58,0.00,0.000,6,0.000,0.039,3155,1699,2218,0,0,0,0,0,0
$GC,10379,0.93,211.4,747.5,11.6,363,10383,0.00,2.75,0.00,0.000,4,0.000,0.075,3155,166,2218,0,0,0,0,0,0
$GC,10402,0.93,211.4,744.5,12.8,363,10407,0.00,2.55,0.00,0.000,6,0.000,0.038,3155,1690,2218,0,0,0,0,0,0
$GC,10662,0.93,211.4,716.0,10.7,370,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1691,2217,0,0,0,0,0,0
$GC,10905,0.93,211.4,690.3,10.7,376,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1692,2217,0,0,0,0,0,0
$GC,11149,0.93,215.1,666.3,9.8,382,11154,0.00,2.72,0.00,0.000,4,0.000,0.074,3155,177,2216,0,0,0,0,0,0
$GC,11188,0.93,215.1,662.0,10.4,382,11193,0.00,2.55,0.00,0.000,6,0.000,0.038,3155,1689,2216,0,0,0,0,0,0
$GC,11443,0.93,215.1,636.4,10.2,389,11447,0.00,2.78,0.00,0.000,4,0.000,0.061,3155,3291,2215,0,0,0,0,0,0
$GC,11486,1.02,215.1,632.1,10.4,390,11490,0.00,2.70,0.00,0.000,6,0.000,0.041,3154,1691,2215,0,0,0,0,0,0
$GC,11774,1.08,215.1,602.1,10.3,397,11780,0.12,2.80,0.00,0.000,4,0.071,0.089,3198,169,2214,0,0,0,0,0,0
$GC,11831,0.97,215.1,594.9,12.5,398,11836,0.17,2.55,0.00,0.000,6,0.121,0.036,3164,1704,2214,0,0,0,0,0,0
$GC,12111,0.98,229.8,568.8,9.2,405,12131,0.00,2.80,14.85,0.923,4,0.000,0.071,3164,166,2158,0,0,0,0,0,0
$GC,12188,0.98,229.8,560.1,12.2,406,12193,0.00,2.55,0.00,0.000,6,0.000,0.034,3164,1697,2157,0,0,0,0,0,0
$GC,12444,1.05,229.8,533.0,10.4,413,12448,0.00,2.70,0.00,0.000,4,0.000,0.068,3164,169,2155,0,0,0,0,0,0
$GC,12476,1.05,229.8,529.4,10.5,413,12480,0.00,2.50,0.00,0.000,6,0.000,0.032,3164,1686,2156,0,0,0,0,0,0
$GC,12727,1.07,243.7,506.2,9.2,419,12743,0.00,0.00,14.32,0.879,6,0.000,0.000,3164,1686,2101,0,0,0,0,0,0
$GC,12971,1.15,243.7,482.1,10.0,425,12978,0.15,2.78,0.00,0.000,4,0.063,0.064,3214,3279,2098,0,0,0,0,0,0
$GC,13016,1.15,243.7,476.4,11.7,426,13021,0.00,2.70,0.00,0.000,6,0.000,0.040,3215,1683,2097,0,0,0,0,0,0
$GC,13303,1.15,243.7,441.6,12.2,433,13304,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1683,2097,0,0,0,0,0,0
$GC,13548,1.15,243.7,411.9,12.3,439,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1683,2097,0,0,0,0,0,0
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$STATE,17204,end climb,SURFACE_DEPTH_REACHED
$STATE,17204,begin surface coast
$FINISH,0.6,1.010242
$STATE,17241,end surface coast,CONTROL_FINISHED_OK
$STATE,17241,begin surface
$SM_CCo,17264,51.12,0.475,0,0,1464,400.08
$SM_GC,1.37,0.00,0.00,51.12,0.000,0.000,0.475,408,1960,1464,-11.69,1.98,400.08
$IRIDIUM_FIX,2141.13,-15809.76,071100,060643
$TT8_MAMPS,0.028379
$HUMID,57.48
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.2,2.237
$10V_AH,10.3,2.678
$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,29.400,189.925,387.750,51.125,0.000,25.701,31.739,208.338,1.000,0.000,31.167,1414.921,12665.515,499.231,2089.152,1079.573,33.355,1537.131,0.000,2414.808,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,89.739,1191.918,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,449.496,468.382,553.673,515.489,964.057,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356120
$DATA_FILE_SIZE,50954,658
$CAP_FILE_SIZE,161072,0
$CFSIZE,260165632,130166784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140811,161125,2153.163,-15808.630,39,1.8,39,9.9