version: 66.06
glider: 148
mission: 10
dive: 25
start: 8 16 111 9 1 51
data:
$ID,148
$MISSION,10
$DIVE,25
$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,-877257.62
$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,33
$R_STBD_OVSHOOT,53
$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
$GPS1,085003,2207.275,-15805.685,42,1.7,45,10.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.3
$GPS2,090057,2207.232,-15805.705,9,1.4,16,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,0.227
$KALMAN_X,-21879.1,65.0,-200.7,28261.7,-462.4
$KALMAN_Y,-6283.9,99.0,-311.6,54692.9,21.3
$MHEAD_RNG_PITCHd_Wd,4.3,70621,-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,18,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-67.12,0.000,2,0.000,0.000,413,1837,3261,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.4,-5.6,9,115,11.98,2.55,-5.53,0.000,4,0.159,0.036,2640,3431,3573,0,0,0,0,0,0
$GC,176,-1.11,-116.8,30.5,-24.8,21,190,0.30,2.53,0.00,0.000,6,0.103,0.024,2704,1842,3574,0,0,0,0,0,0
$GC,449,-0.99,-116.8,78.7,-15.3,46,454,0.12,2.60,0.00,0.000,4,0.129,0.041,2730,269,3575,0,0,0,0,0,0
$GC,474,-0.93,-116.8,83.7,-14.4,47,480,0.00,2.47,0.00,0.000,6,0.000,0.018,2730,1848,3574,0,0,0,0,0,0
$GC,737,-0.93,-116.8,110.5,-9.2,72,741,0.00,2.60,0.00,0.000,4,0.000,0.040,2730,273,3575,0,0,0,0,0,0
$GC,779,-1.01,-116.8,114.4,-10.4,75,784,0.00,2.45,0.00,0.000,6,0.000,0.018,2730,1846,3576,0,0,0,0,0,0
$GC,1047,-1.09,-116.8,143.1,-11.3,99,1051,0.00,2.47,0.00,0.000,4,0.000,0.028,2730,3416,3577,0,0,0,0,0,0
$GC,1075,-1.18,-116.8,146.4,-11.4,101,1081,0.12,2.53,0.00,0.000,6,0.031,0.023,2657,1846,3577,0,0,0,0,0,0
$GC,1344,-1.08,-116.8,183.5,-13.2,126,1349,0.25,2.55,0.00,0.000,4,0.101,0.042,2714,275,3578,0,0,0,0,0,0
$GC,1396,-1.23,-116.8,189.2,-8.9,130,1403,0.12,2.45,0.00,0.000,6,0.067,0.020,2659,1842,3578,0,0,0,0,0,0
$GC,1661,-1.23,-116.8,219.4,-11.7,144,1666,0.10,2.60,0.00,0.000,4,0.127,0.041,2680,276,3578,0,0,0,0,0,0
$GC,1687,-1.23,-116.8,222.2,-10.8,144,1693,0.00,2.45,0.00,0.000,6,0.000,0.020,2680,1824,3578,0,0,0,0,0,0
$GC,1952,-1.23,-116.8,247.2,-9.4,151,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1828,3578,0,0,0,0,0,0
$GC,2197,-1.23,-116.8,269.2,-8.9,157,2201,0.00,2.55,0.00,0.000,4,0.000,0.034,2680,3418,3578,0,0,0,0,0,0
$GC,2227,-1.31,-116.8,272.0,-9.7,157,2233,0.00,2.58,0.00,0.000,6,0.000,0.025,2680,1830,3579,0,0,0,0,0,0
$GC,2488,-1.38,-116.8,294.6,-8.6,164,2490,0.12,0.00,0.00,0.000,6,0.069,0.000,2630,1830,3577,0,0,0,0,0,0
$GC,2732,-1.32,-116.8,321.4,-11.2,170,2734,0.15,0.00,0.00,0.000,6,0.110,0.000,2662,1830,3577,0,0,0,0,0,0
$GC,2976,-1.32,-116.8,345.6,-9.9,176,2980,0.00,2.62,0.00,0.000,4,0.000,0.038,2662,3424,3575,0,0,0,0,0,0
$GC,3009,-1.39,-116.8,349.2,-10.5,176,3013,0.00,2.60,0.00,0.000,6,0.000,0.029,2662,1827,3575,0,0,0,0,0,0
$GC,3259,-1.39,-116.8,375.0,-10.6,182,3264,0.00,2.62,0.00,0.000,4,0.000,0.056,2662,274,3573,0,0,0,0,0,0
$GC,3282,-1.39,-116.8,377.8,-12.0,182,3288,0.00,2.50,0.00,0.000,6,0.000,0.025,2662,1816,3573,0,0,0,0,0,0
$GC,3548,-1.39,-116.8,404.7,-10.0,189,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1816,3571,0,0,0,0,0,0
$GC,3792,-1.39,-116.8,428.6,-9.6,195,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1816,3569,0,0,0,0,0,0
$GC,4035,-1.39,-116.8,451.6,-9.4,201,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1816,3567,0,0,0,0,0,0
$GC,4279,-1.39,-116.8,474.5,-9.3,207,4284,0.00,2.70,0.00,0.000,4,0.000,0.064,2662,275,3566,0,0,0,0,0,0
$GC,4303,-1.39,-116.8,477.3,-10.8,207,4308,0.00,2.53,0.00,0.000,6,0.000,0.032,2662,1825,3565,0,0,0,0,0,0
$GC,4566,-1.39,-116.8,502.9,-9.9,214,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1825,3564,0,0,0,0,0,0
$GC,4810,-1.46,-116.8,527.8,-10.1,220,4812,0.12,0.00,0.00,0.000,6,0.071,0.000,2617,1825,3562,0,0,0,0,0,0
$GC,5055,-1.46,-116.8,556.7,-11.8,226,5060,0.00,2.70,0.00,0.000,4,0.000,0.054,2617,3433,3560,0,0,0,0,0,0
$GC,5082,-1.39,-116.8,560.0,-13.1,226,5087,0.12,2.65,0.00,0.000,6,0.118,0.043,2644,1835,3560,0,0,0,0,0,0
$GC,5342,-1.39,-116.8,587.0,-10.1,233,5347,0.00,2.75,0.00,0.000,4,0.000,0.074,2644,278,3558,0,0,0,0,0,0
$GC,5388,-1.39,-116.8,591.6,-10.7,233,5393,0.00,2.55,0.00,0.000,6,0.000,0.038,2644,1820,3557,0,0,0,0,0,0
$GC,5638,-1.39,-116.8,615.6,-9.3,240,5642,0.00,2.70,0.00,0.000,4,0.000,0.071,2644,271,3556,0,0,0,0,0,0
$GC,5666,-1.39,-116.8,618.2,-9.6,240,5670,0.00,2.55,0.00,0.000,6,0.000,0.039,2644,1820,3556,0,0,0,0,0,0
$GC,5922,-1.39,-116.8,637.3,-7.1,247,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1820,3554,0,0,0,0,0,0
$GC,6164,-1.39,-116.8,654.6,-7.1,253,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1820,3553,0,0,0,0,0,0
$GC,6408,-1.39,-116.8,673.5,-7.9,259,6413,0.00,2.75,0.00,0.000,4,0.000,0.073,2644,276,3552,0,0,0,0,0,0
$GC,6438,-1.39,-116.8,676.3,-9.7,259,6442,0.00,2.60,0.00,0.000,6,0.000,0.041,2644,1830,3551,0,0,0,0,0,0
$GC,6697,-1.39,-116.8,698.3,-8.5,266,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1830,3549,0,0,0,0,0,0
$GC,6941,-1.39,-116.8,720.4,-9.2,272,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1830,3548,0,0,0,0,0,0
$GC,7185,-1.39,-116.8,742.4,-9.1,278,7190,0.00,2.72,0.00,0.000,4,0.000,0.073,2644,272,3547,0,0,0,0,0,0
$GC,7211,-1.39,-116.8,744.8,-9.8,278,7216,0.00,2.62,0.00,0.000,6,0.000,0.043,2644,1820,3547,0,0,0,0,0,0
$GC,7476,-1.39,-116.8,768.5,-8.8,285,7480,0.00,2.72,0.00,0.000,4,0.000,0.073,2643,272,3546,0,0,0,0,0,0
$GC,7501,-1.39,-116.8,771.0,-10.0,285,7506,0.00,2.58,0.00,0.000,6,0.000,0.041,2644,1828,3546,0,0,0,0,0,0
$GC,7762,-1.39,-116.8,793.3,-8.6,292,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1828,3545,0,0,0,0,0,0
$GC,8004,-1.39,-116.8,813.1,-8.1,298,8009,0.00,2.75,0.00,0.000,4,0.000,0.073,2644,270,3544,0,0,0,0,0,0
$GC,8027,-1.39,-116.8,815.2,-9.2,298,8032,0.00,2.58,0.00,0.000,6,0.000,0.042,2644,1812,3543,0,0,0,0,0,0
$GC,8288,-1.39,-116.8,836.7,-8.3,305,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1812,3543,0,0,0,0,0,0
$GC,8531,-1.45,-116.8,858.1,-8.9,311,8535,0.00,2.72,0.00,0.000,4,0.000,0.074,2643,271,3542,0,0,0,0,0,0
$GC,8574,-1.45,-116.8,862.3,-9.5,312,8579,0.00,2.55,0.00,0.000,6,0.000,0.043,2644,1806,3541,0,0,0,0,0,0
$GC,8861,-1.45,-116.8,888.7,-9.2,319,8867,0.00,2.83,0.00,0.000,4,0.000,0.065,2643,3430,3541,0,0,0,0,0,0
$GC,8881,-1.45,-116.8,890.7,-9.2,319,8886,0.00,2.72,0.00,0.000,6,0.000,0.043,2643,1807,3540,0,0,0,0,0,0
$STATE,8984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8984,begin apogee
$GC,8990,-0.31,0.0,900.4,9.1,322,9088,1.08,0.00,93.90,1.187,6,0.090,0.000,2878,1642,3095,0,0,0,0,0,0
$STATE,9088,end apogee,CONTROL_FINISHED_OK
$STATE,9088,begin climb
$GC,9092,1.38,116.8,903.3,0.0,324,9206,1.55,2.70,104.10,1.164,4,0.039,0.086,3265,170,2616,0,0,0,0,0,0
$GC,9281,0.96,116.8,901.2,10.1,328,9288,0.50,2.50,0.00,0.000,6,0.114,0.038,3163,1653,2611,0,0,0,0,0,0
$GC,9557,1.04,186.4,883.7,6.0,335,9622,0.00,0.00,63.10,1.140,6,0.000,0.000,3162,1653,2335,0,0,0,0,0,0
$GC,9841,1.04,186.4,857.2,10.0,342,9846,0.00,2.67,0.00,0.000,4,0.000,0.074,3163,171,2328,0,0,0,0,0,0
$GC,9888,0.98,186.4,851.9,11.7,343,9893,0.00,2.50,0.00,0.000,6,0.000,0.039,3163,1649,2327,0,0,0,0,0,0
$GC,10170,0.98,186.4,822.9,10.3,350,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1650,2325,0,0,0,0,0,0
$GC,10414,0.98,186.4,797.3,10.5,356,10419,0.00,2.67,0.00,0.000,4,0.000,0.075,3163,178,2323,0,0,0,0,0,0
$GC,10452,0.98,186.4,793.0,12.9,356,10458,0.00,2.47,0.00,0.000,6,0.000,0.040,3162,1631,2323,0,0,0,0,0,0
$GC,10708,0.99,190.1,767.8,9.8,363,10712,0.00,2.58,0.00,0.000,4,0.000,0.074,3163,177,2323,0,0,0,0,0,0
$GC,10736,0.99,190.1,764.7,11.2,363,10740,0.00,2.42,0.00,0.000,6,0.000,0.039,3163,1634,2322,0,0,0,0,0,0
$GC,10992,1.00,198.8,740.7,9.5,370,11004,0.00,0.00,10.25,0.958,6,0.000,0.000,3162,1634,2284,0,0,0,0,0,0
$GC,11235,1.01,206.9,717.5,9.5,376,11246,0.00,0.00,9.05,0.923,6,0.000,0.000,3162,1635,2251,0,0,0,0,0,0
$GC,11479,1.02,214.5,694.1,9.6,382,11494,0.00,2.62,8.43,0.896,4,0.000,0.073,3163,176,2219,0,0,0,0,0,0
$GC,11518,1.02,214.5,689.9,10.2,382,11524,0.00,2.45,0.00,0.000,6,0.000,0.039,3162,1636,2219,0,0,0,0,0,0
$GC,11768,1.03,222.7,665.5,9.5,389,11778,0.00,0.00,8.73,0.888,6,0.000,0.000,3162,1637,2187,0,0,0,0,0,0
$GC,12013,1.03,226.4,641.8,9.8,395,12025,0.00,2.85,5.07,0.734,4,0.000,0.066,3162,3239,2171,0,0,0,0,0,0
$GC,12063,1.12,226.4,636.3,11.0,396,12072,0.12,2.70,0.00,0.000,6,0.067,0.044,3209,1643,2170,0,0,0,0,0,0
$GC,12351,1.06,226.4,599.2,13.2,403,12356,0.15,2.65,0.00,0.000,4,0.117,0.086,3179,172,2169,0,0,0,0,0,0
$GC,12454,1.06,226.4,584.9,12.8,405,12459,0.00,2.42,0.00,0.000,6,0.000,0.035,3179,1638,2169,0,0,0,0,0,0
$GC,12727,1.06,226.4,551.0,12.3,412,12731,0.00,2.78,0.00,0.000,4,0.000,0.062,3179,3236,2168,0,0,0,0,0,0
$GC,12783,1.06,226.4,543.6,12.6,413,12788,0.00,2.72,0.00,0.000,6,0.000,0.043,3179,1642,2168,0,0,0,0,0,0
$GC,13064,1.06,226.4,509.2,12.1,420,13069,0.00,2.60,0.00,0.000,4,0.000,0.077,3179,170,2168,0,0,0,0,0,0
$GC,13083,1.06,226.4,506.4,12.4,420,13087,0.00,2.40,0.00,0.000,6,0.000,0.030,3179,1643,2167,0,0,0,0,0,0
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$STATE,17632,end climb,SURFACE_DEPTH_REACHED
$STATE,17633,begin surface coast
$FINISH,0.7,1.014297
$STATE,17682,end surface coast,CONTROL_FINISHED_OK
$STATE,17683,begin surface
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$HUMID,56.73
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$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.2,3.533
$10V_AH,10.3,3.820
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.650,196.925,376.800,50.050,0.000,55.434,65.791,305.925,0.500,0.000,17.492,1445.346,13125.984,536.669,2033.632,1262.853,33.367,1551.138,0.000,2373.170,0.000,0.537,0.000
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$MEM,356076
$DATA_FILE_SIZE,50968,664
$CAP_FILE_SIZE,166349,0
$CFSIZE,260165632,129527808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160811,135920,2209.368,-15805.289,40,1.8,53,10.0