version: 66.06
glider: 148
mission: 10
dive: 19
start: 8 15 111 2 15 40
data:
$ID,148
$MISSION,10
$DIVE,19
$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,-877048.88
$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,1850
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,47
$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
$GPS1,020611,2157.226,-15808.545,95,1.4,99,9.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.4
$GPS2,021446,2157.188,-15808.651,12,3.2,31,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.132,0.194
$KALMAN_X,-15875.5,16.2,179.6,16860.4,-2035.3
$KALMAN_Y,-3055.1,239.4,194.9,32217.3,-1520.1
$MHEAD_RNG_PITCHd_Wd,24.2,89772,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.38,-116.8,0.0,0.0,0,91,0.00,0.00,-67.35,0.000,2,0.000,0.000,409,1871,3279,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.8,-6.4,9,119,12.07,2.65,-5.05,0.000,4,0.161,0.044,2641,268,3574,0,0,0,0,0,0
$GC,137,-0.26,-116.8,21.1,-42.1,14,148,1.12,2.53,0.00,0.000,6,0.095,0.022,2885,1842,3575,0,0,0,0,0,0
$GC,418,-0.72,-116.8,43.5,-6.6,43,432,0.35,2.53,0.00,0.000,4,0.033,0.028,2767,3431,3576,0,0,0,0,0,0
$GC,461,-0.89,-116.8,47.8,-11.0,46,465,0.00,2.50,0.00,0.000,6,0.000,0.024,2767,1854,3576,0,0,0,0,0,0
$GC,725,-0.95,-116.8,82.3,-12.2,70,730,0.00,2.58,0.00,0.000,4,0.000,0.040,2766,268,3577,0,0,0,0,0,0
$GC,758,-1.09,-116.8,86.4,-11.9,72,768,0.20,2.53,0.00,0.000,6,0.021,0.020,2682,1862,3577,0,0,0,0,0,0
$GC,1026,-0.99,-116.8,122.5,-12.2,97,1032,0.25,0.00,0.00,0.000,6,0.100,0.000,2738,1863,3578,0,0,0,0,0,0
$GC,1289,-1.11,-116.8,144.6,-7.5,122,1294,0.12,2.50,0.00,0.000,4,0.068,0.031,2683,3432,3578,0,0,0,0,0,0
$GC,1332,-1.11,-116.8,148.2,-10.5,125,1338,0.10,2.50,0.00,0.000,6,0.123,0.022,2705,1840,3578,0,0,0,0,0,0
$GC,1593,-1.17,-116.8,177.9,-10.9,149,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1840,3579,0,0,0,0,0,0
$GC,1847,-1.25,-116.8,204.8,-10.2,170,1852,0.12,2.58,0.00,0.000,4,0.069,0.031,2657,3428,3579,0,0,0,0,0,0
$GC,1904,-1.25,-116.8,211.9,-13.1,171,1908,0.00,2.53,0.00,0.000,6,0.000,0.022,2657,1834,3579,0,0,0,0,0,0
$GC,2177,-1.25,-116.8,243.8,-11.5,178,2181,0.00,2.55,0.00,0.000,4,0.000,0.041,2657,276,3579,0,0,0,0,0,0
$GC,2228,-1.25,-116.8,250.2,-12.2,179,2233,0.00,2.47,0.00,0.000,6,0.000,0.021,2657,1837,3579,0,0,0,0,0,0
$GC,2512,-1.25,-116.8,282.9,-11.6,186,2516,0.00,2.55,0.00,0.000,4,0.000,0.035,2657,3421,3579,0,0,0,0,0,0
$GC,2531,-1.25,-116.8,285.4,-12.3,186,2536,0.00,2.55,0.00,0.000,6,0.000,0.030,2657,1844,3579,0,0,0,0,0,0
$GC,2800,-1.25,-116.8,318.0,-12.2,193,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1844,3578,0,0,0,0,0,0
$GC,3044,-1.25,-116.8,344.0,-10.6,199,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1844,3577,0,0,0,0,0,0
$GC,3287,-1.25,-116.8,368.0,-9.8,205,3292,0.00,2.62,0.00,0.000,4,0.000,0.054,2657,275,3576,0,0,0,0,0,0
$GC,3320,-1.25,-116.8,371.4,-10.4,205,3324,0.00,2.47,0.00,0.000,6,0.000,0.027,2657,1828,3576,0,0,0,0,0,0
$GC,3570,-1.25,-116.8,394.4,-9.0,211,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1828,3574,0,0,0,0,0,0
$GC,3814,-1.25,-116.8,415.8,-8.7,217,3819,0.00,2.62,0.00,0.000,4,0.000,0.058,2657,281,3573,0,0,0,0,0,0
$GC,3850,-1.25,-116.8,418.9,-9.0,217,3854,0.00,2.50,0.00,0.000,6,0.000,0.031,2657,1835,3573,0,0,0,0,0,0
$GC,4099,-1.25,-116.8,438.2,-7.5,223,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1835,3570,0,0,0,0,0,0
$GC,4344,-1.25,-116.8,457.6,-8.2,229,4349,0.00,2.67,0.00,0.000,4,0.000,0.052,2657,3429,3569,0,0,0,0,0,0
$GC,4363,-1.25,-116.8,459.5,-8.7,229,4368,0.00,2.60,0.00,0.000,6,0.000,0.031,2657,1835,3568,0,0,0,0,0,0
$GC,4627,-1.25,-116.8,483.7,-9.5,236,4632,0.00,2.67,0.00,0.000,4,0.000,0.069,2657,276,3566,0,0,0,0,0,0
$GC,4664,-1.25,-116.8,487.9,-10.4,236,4669,0.00,2.55,0.00,0.000,6,0.000,0.035,2657,1832,3566,0,0,0,0,0,0
$GC,4914,-1.25,-116.8,512.0,-9.7,243,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1832,3564,0,0,0,0,0,0
$GC,5158,-1.25,-116.8,535.6,-9.6,249,5162,0.00,2.70,0.00,0.000,4,0.000,0.055,2657,3426,3562,0,0,0,0,0,0
$GC,5177,-1.25,-116.8,537.6,-9.4,249,5181,0.00,2.62,0.00,0.000,6,0.000,0.037,2657,1837,3562,0,0,0,0,0,0
$GC,5442,-1.25,-116.8,562.9,-9.8,256,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1837,3560,0,0,0,0,0,0
$GC,5685,-1.25,-116.8,586.7,-9.9,262,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1837,3559,0,0,0,0,0,0
$GC,5928,-1.32,-116.8,612.2,-10.4,268,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1837,3557,0,0,0,0,0,0
$GC,6173,-1.39,-116.8,636.8,-10.0,274,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1837,3555,0,0,0,0,0,0
$GC,6416,-1.46,-116.8,661.2,-10.0,280,6418,0.12,0.00,0.00,0.000,6,0.072,0.000,2613,1837,3553,0,0,0,0,0,0
$GC,6663,-1.46,-116.8,689.2,-11.5,286,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1835,3552,0,0,0,0,0,0
$GC,6903,-1.46,-116.8,716.7,-11.3,292,6907,0.00,2.78,0.00,0.000,4,0.000,0.079,2612,269,3551,0,0,0,0,0,0
$GC,6940,-1.46,-116.8,721.2,-11.9,292,6946,0.00,2.62,0.00,0.000,6,0.000,0.044,2613,1836,3551,0,0,0,0,0,0
$GC,7191,-1.46,-116.8,749.0,-11.1,299,7196,0.00,2.75,0.00,0.000,4,0.000,0.073,2613,275,3549,0,0,0,0,0,0
$GC,7246,-1.46,-116.8,755.8,-11.8,300,7251,0.00,2.62,0.00,0.000,6,0.000,0.044,2613,1842,3549,0,0,0,0,0,0
$GC,7519,-1.46,-116.8,783.9,-10.1,307,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1842,3548,0,0,0,0,0,0
$GC,7764,-1.46,-116.8,806.5,-9.2,313,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1842,3547,0,0,0,0,0,0
$GC,8007,-1.46,-116.8,828.0,-8.8,319,8012,0.00,2.75,0.00,0.000,4,0.000,0.074,2613,272,3545,0,0,0,0,0,0
$GC,8053,-1.46,-116.8,832.7,-9.6,320,8058,0.00,2.62,0.00,0.000,6,0.000,0.045,2613,1845,3545,0,0,0,0,0,0
$GC,8339,-1.46,-116.8,858.3,-9.2,327,8343,0.00,2.75,0.00,0.000,4,0.000,0.073,2613,272,3544,0,0,0,0,0,0
$GC,8389,-1.46,-116.8,863.7,-10.2,328,8394,0.00,2.62,0.00,0.000,6,0.000,0.044,2613,1837,3544,0,0,0,0,0,0
$GC,8667,-1.46,-116.8,889.4,-9.3,335,8672,0.00,2.75,0.00,0.000,4,0.000,0.073,2613,273,3543,0,0,0,0,0,0
$GC,8691,-1.46,-116.8,891.9,-11.2,335,8695,0.00,2.62,0.00,0.000,6,0.000,0.044,2613,1837,3543,0,0,0,0,0,0
$STATE,8785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8785,begin apogee
$GC,8791,-0.31,0.0,901.1,9.6,338,8889,1.23,0.00,94.40,1.187,6,0.091,0.000,2879,1643,3095,0,0,0,0,0,0
$STATE,8890,end apogee,CONTROL_FINISHED_OK
$STATE,8890,begin climb
$GC,8892,1.38,116.8,903.3,0.0,340,9008,1.55,2.83,103.68,1.161,4,0.036,0.057,3260,3238,2617,0,0,0,0,0,0
$GC,9067,1.14,157.2,901.7,7.7,344,9110,0.30,2.70,36.75,1.122,6,0.128,0.042,3202,1665,2454,0,0,0,0,0,0
$GC,9356,1.02,165.2,875.0,9.5,351,9370,0.15,2.80,7.70,0.927,4,0.133,0.091,3173,169,2421,0,0,0,0,0,0
$GC,9403,0.90,165.2,870.0,10.6,352,9409,0.12,2.50,0.00,0.000,6,0.133,0.038,3150,1652,2419,0,0,0,0,0,0
$GC,9687,0.96,213.6,848.7,7.2,359,9739,0.00,2.72,44.95,1.119,4,0.000,0.076,3150,166,2224,0,0,0,0,0,0
$GC,9792,0.96,213.6,839.0,10.9,361,9796,0.00,2.50,0.00,0.000,6,0.000,0.041,3150,1639,2222,0,0,0,0,0,0
$GC,10064,0.97,222.5,813.3,9.5,368,10074,0.00,0.00,8.85,0.946,6,0.000,0.000,3149,1641,2187,0,0,0,0,0,0
$GC,10305,1.04,222.5,788.9,10.2,374,10307,0.12,0.00,0.00,0.000,6,0.071,0.000,3191,1641,2183,0,0,0,0,0,0
$GC,10548,1.04,222.5,760.4,11.8,380,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1642,2183,0,0,0,0,0,0
$GC,10791,1.04,222.5,730.8,12.2,386,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1642,2182,0,0,0,0,0,0
$GC,11037,1.04,222.5,702.2,11.7,392,11041,0.00,2.62,0.00,0.000,4,0.000,0.074,3191,170,2182,0,0,0,0,0,0
$GC,11087,0.95,222.5,695.1,12.8,393,11092,0.15,2.47,0.00,0.000,6,0.122,0.039,3161,1647,2182,0,0,0,0,0,0
$GC,11366,0.95,222.5,664.1,10.9,400,11371,0.00,2.78,0.00,0.000,4,0.000,0.064,3161,3239,2180,0,0,0,0,0,0
$GC,11404,1.04,222.5,659.9,10.9,400,11410,0.00,2.70,0.00,0.000,6,0.000,0.043,3161,1648,2180,0,0,0,0,0,0
$GC,11655,1.04,223.0,634.9,10.0,407,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1648,2180,0,0,0,0,0,0
$GC,11897,1.04,223.0,610.6,10.0,413,11902,0.00,2.67,0.00,0.000,4,0.000,0.087,3161,165,2179,0,0,0,0,0,0
$GC,11948,1.04,223.0,605.1,10.5,414,11954,0.00,2.47,0.00,0.000,6,0.000,0.036,3161,1644,2179,0,0,0,0,0,0
$GC,12233,1.04,228.9,577.7,9.7,421,12245,0.00,2.83,5.88,0.761,4,0.000,0.062,3161,3235,2161,0,0,0,0,0,0
$GC,12288,1.15,237.1,572.2,9.5,422,12305,0.17,2.70,9.62,0.861,6,0.055,0.042,3216,1648,2127,0,0,0,0,0,0
$GC,12571,1.08,237.1,537.4,12.5,429,12578,0.15,2.75,0.00,0.000,4,0.118,0.050,3186,3241,2125,0,0,0,0,0,0
$GC,12596,1.08,237.1,534.1,10.8,429,12601,0.00,2.70,0.00,0.000,6,0.000,0.043,3186,1638,2125,0,0,0,0,0,0
$GC,12857,1.08,237.1,504.4,11.5,436,12861,0.00,2.60,0.00,0.000,4,0.000,0.078,3186,169,2124,0,0,0,0,0,0
$GC,12900,1.08,237.1,498.6,13.5,437,12904,0.00,2.42,0.00,0.000,6,0.000,0.031,3186,1653,2124,0,0,0,0,0,0
$GC,13187,1.08,237.1,463.7,12.1,444,13192,0.00,2.70,0.00,0.000,4,0.000,0.055,3186,3224,2124,0,0,0,0,0,0
$GC,13238,1.08,237.1,457.4,11.7,445,13243,0.00,2.65,0.00,0.000,6,0.000,0.039,3186,1642,2123,0,0,0,0,0,0
$GC,13520,1.08,237.1,428.0,10.1,452,13525,0.00,2.70,0.00,0.000,4,0.000,0.048,3186,3234,2123,0,0,0,0,0,0
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$STATE,17550,end climb,SURFACE_DEPTH_REACHED
$STATE,17550,begin surface coast
$FINISH,0.6,1.023411
$STATE,17586,end surface coast,CONTROL_FINISHED_OK
$STATE,17586,begin surface
$SM_CCo,17608,51.17,0.471,0,0,1463,400.08
$SM_GC,1.55,0.00,0.00,51.17,0.000,0.000,0.471,413,1887,1463,-11.67,1.02,400.08
$IRIDIUM_FIX,2145.77,-15808.90,071100,212157
$TT8_MAMPS,0.027612
$HUMID,57.75
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.60
$XPDR_PINGS,5
$24V_AH,23.2,2.652
$10V_AH,10.3,3.065
$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,31.175,187.250,391.750,51.175,0.000,31.718,40.445,265.495,1.250,0.000,33.628,1489.024,12696.127,520.429,2259.404,1203.409,33.365,1593.429,0.000,2613.579,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,90.506,1187.316,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,472.414,536.189,624.338,575.719,1085.731,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356100
$DATA_FILE_SIZE,54145,692
$CAP_FILE_SIZE,165792,0
$CFSIZE,260165632,129949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150811,071106,2158.649,-15808.005,25,1.5,25,9.9