version: 66.06
glider: 148
mission: 10
dive: 27
start: 8 16 111 19 23 46
data:
$ID,148
$MISSION,10
$DIVE,27
$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,-877296.56
$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,34
$R_STBD_OVSHOOT,43
$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
$GPS1,191057,2210.623,-15804.424,39,99.0,58,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.3
$GPS2,192250,2210.524,-15804.549,10,1.3,10,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,0.227
$KALMAN_X,-23068.4,132.0,-123.6,31287.7,-554.8
$KALMAN_Y,-7712.6,-214.9,-286.4,62509.9,4.6
$MHEAD_RNG_PITCHd_Wd,4.5,64320,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-67.62,0.000,2,0.000,0.000,414,1906,3297,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.7,-6.1,9,118,11.95,2.45,-4.80,0.000,4,0.159,0.035,2643,3428,3574,0,0,0,0,0,0
$GC,161,-1.04,-116.8,26.5,-23.9,18,172,0.32,2.55,0.00,0.000,6,0.091,0.025,2717,1852,3575,0,0,0,0,0,0
$GC,441,-1.04,-116.8,76.6,-15.0,44,445,0.00,2.60,0.00,0.000,4,0.000,0.046,2717,266,3575,0,0,0,0,0,0
$GC,473,-1.04,-116.8,82.1,-15.3,46,477,0.00,2.47,0.00,0.000,6,0.000,0.019,2717,1859,3576,0,0,0,0,0,0
$GC,736,-1.04,-116.8,116.6,-12.8,70,740,0.00,2.47,0.00,0.000,4,0.000,0.028,2717,3426,3577,0,0,0,0,0,0
$GC,778,-1.13,-116.8,121.3,-12.1,73,783,0.00,2.50,0.00,0.000,6,0.000,0.023,2717,1844,3576,0,0,0,0,0,0
$GC,1046,-1.19,-116.8,152.0,-10.8,97,1052,0.12,2.58,0.00,0.000,4,0.066,0.041,2662,268,3577,0,0,0,0,0,0
$GC,1075,-1.10,-116.8,156.6,-14.2,99,1086,0.17,2.50,0.00,0.000,6,0.084,0.019,2704,1853,3578,0,0,0,0,0,0
$GC,1342,-1.10,-116.8,182.2,-9.2,124,1346,0.00,2.58,0.00,0.000,4,0.000,0.040,2704,276,3578,0,0,0,0,0,0
$GC,1368,-1.10,-116.8,185.0,-9.2,126,1372,0.00,2.45,0.00,0.000,6,0.000,0.020,2704,1859,3578,0,0,0,0,0,0
$GC,1627,-1.16,-116.8,207.3,-8.5,144,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1860,3578,0,0,0,0,0,0
$GC,1873,-1.25,-116.8,230.1,-9.5,150,1878,0.12,2.50,0.00,0.000,4,0.068,0.034,2653,3415,3578,0,0,0,0,0,0
$GC,1892,-1.25,-116.8,232.7,-10.7,150,1898,0.12,2.47,0.00,0.000,6,0.113,0.024,2679,1851,3578,0,0,0,0,0,0
$GC,2157,-1.25,-116.8,258.1,-9.0,157,2161,0.00,2.58,0.00,0.000,4,0.000,0.044,2679,276,3578,0,0,0,0,0,0
$GC,2172,-1.25,-116.8,259.5,-8.4,157,2176,0.00,2.47,0.00,0.000,6,0.000,0.021,2679,1844,3578,0,0,0,0,0,0
$GC,2441,-1.25,-116.8,283.5,-9.0,164,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1845,3577,0,0,0,0,0,0
$GC,2684,-1.25,-116.8,307.0,-9.7,170,2688,0.00,2.58,0.00,0.000,4,0.000,0.036,2679,3429,3576,0,0,0,0,0,0
$GC,2718,-1.34,-116.8,310.2,-9.1,170,2722,0.00,2.53,0.00,0.000,6,0.000,0.028,2679,1864,3576,0,0,0,0,0,0
$GC,2970,-1.42,-116.8,334.9,-9.8,176,2971,0.15,0.00,0.00,0.000,6,0.060,0.000,2621,1864,3575,0,0,0,0,0,0
$GC,3212,-1.33,-116.8,365.8,-13.1,182,3219,0.17,2.67,0.00,0.000,4,0.106,0.055,2657,276,3574,0,0,0,0,0,0
$GC,3252,-1.33,-116.8,371.2,-13.5,182,3257,0.00,2.53,0.00,0.000,6,0.000,0.027,2657,1856,3573,0,0,0,0,0,0
$GC,3502,-1.33,-116.8,399.5,-11.2,189,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1856,3572,0,0,0,0,0,0
$GC,3745,-1.33,-116.8,424.3,-9.9,195,3750,0.00,2.60,0.00,0.000,4,0.000,0.045,2657,3425,3570,0,0,0,0,0,0
$GC,3765,-1.33,-116.8,426.2,-9.8,195,3770,0.00,2.55,0.00,0.000,6,0.000,0.031,2657,1864,3570,0,0,0,0,0,0
$GC,4030,-1.33,-116.8,449.5,-8.7,202,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1864,3568,0,0,0,0,0,0
$GC,4273,-1.33,-116.8,470.9,-9.0,208,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1864,3565,0,0,0,0,0,0
$GC,4516,-1.33,-116.8,492.1,-8.7,214,4522,0.00,2.80,0.00,0.000,4,0.000,0.070,2657,270,3564,0,0,0,0,0,0
$GC,4587,-1.33,-116.8,498.8,-9.3,215,4592,0.00,2.60,0.00,0.000,6,0.000,0.035,2657,1857,3563,0,0,0,0,0,0
$GC,4851,-1.33,-116.8,520.7,-8.3,222,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1858,3561,0,0,0,0,0,0
$GC,5095,-1.33,-116.8,542.1,-8.9,228,5100,0.00,2.80,0.00,0.000,4,0.000,0.068,2657,271,3560,0,0,0,0,0,0
$GC,5152,-1.40,-116.8,548.1,-11.1,229,5157,0.00,2.62,0.00,0.000,6,0.000,0.038,2657,1867,3558,0,0,0,0,0,0
$GC,5430,-1.40,-116.8,575.7,-10.2,236,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1867,3557,0,0,0,0,0,0
$GC,5678,-1.47,-116.8,599.5,-9.7,242,5680,0.12,0.00,0.00,0.000,6,0.074,0.000,2614,1867,3555,0,0,0,0,0,0
$GC,5917,-1.47,-116.8,625.9,-10.8,248,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1867,3554,0,0,0,0,0,0
$GC,6162,-1.47,-116.8,650.6,-9.9,254,6167,0.00,2.83,0.00,0.000,4,0.000,0.073,2614,278,3552,0,0,0,0,0,0
$GC,6200,-1.47,-116.8,654.7,-10.5,254,6205,0.00,2.67,0.00,0.000,6,0.000,0.044,2614,1855,3552,0,0,0,0,0,0
$GC,6456,-1.47,-116.8,678.3,-9.2,261,6461,0.00,2.78,0.00,0.000,4,0.000,0.071,2614,276,3550,0,0,0,0,0,0
$GC,6493,-1.47,-116.8,682.2,-9.8,261,6499,0.00,2.62,0.00,0.000,6,0.000,0.043,2614,1856,3550,0,0,0,0,0,0
$GC,6744,-1.47,-116.8,703.5,-8.3,268,6749,0.00,2.78,0.00,0.000,4,0.000,0.071,2614,276,3549,0,0,0,0,0,0
$GC,6766,-1.40,-116.8,705.3,-9.2,268,6772,0.10,2.67,0.00,0.000,6,0.092,0.043,2639,1856,3549,0,0,0,0,0,0
$GC,7039,-1.40,-116.8,725.4,-7.3,275,7043,0.00,2.78,0.00,0.000,4,0.000,0.071,2639,277,3547,0,0,0,0,0,0
$GC,7070,-1.40,-116.8,728.0,-8.8,275,7075,0.00,2.62,0.00,0.000,6,0.000,0.042,2639,1857,3547,0,0,0,0,0,0
$GC,7326,-1.40,-116.8,747.4,-7.6,282,7331,0.00,2.78,0.00,0.000,4,0.000,0.071,2639,267,3546,0,0,0,0,0,0
$GC,7361,-1.40,-116.8,750.7,-9.6,282,7365,0.00,2.65,0.00,0.000,6,0.000,0.043,2639,1847,3545,0,0,0,0,0,0
$GC,7612,-1.40,-116.8,771.7,-8.6,288,7616,0.00,2.75,0.00,0.000,4,0.000,0.071,2639,272,3545,0,0,0,0,0,0
$GC,7637,-1.40,-116.8,774.0,-10.0,288,7642,0.00,2.65,0.00,0.000,6,0.000,0.042,2638,1837,3545,0,0,0,0,0,0
$GC,7902,-1.40,-116.8,798.3,-9.1,295,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1837,3543,0,0,0,0,0,0
$GC,8147,-1.40,-116.8,819.7,-8.8,301,8151,0.00,2.72,0.00,0.000,4,0.000,0.072,2639,276,3543,0,0,0,0,0,0
$GC,8185,-1.40,-116.8,823.6,-9.8,301,8191,0.00,2.62,0.00,0.000,6,0.000,0.043,2639,1840,3542,0,0,0,0,0,0
$GC,8435,-1.40,-116.8,845.4,-8.8,308,8441,0.00,2.78,0.00,0.000,4,0.000,0.064,2639,3435,3541,0,0,0,0,0,0
$GC,8460,-1.40,-116.8,847.8,-9.6,308,8464,0.00,2.65,0.00,0.000,6,0.000,0.044,2639,1843,3541,0,0,0,0,0,0
$GC,8725,-1.40,-116.8,870.9,-8.8,315,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1843,3540,0,0,0,0,0,0
$GC,8967,-1.40,-116.8,892.6,-9.0,321,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1842,3539,0,0,0,0,0,0
$STATE,9087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9087,begin apogee
$GC,9093,-0.31,0.0,903.5,9.0,324,9190,1.10,0.00,93.82,1.192,6,0.087,0.000,2880,1646,3095,0,0,0,0,0,0
$STATE,9191,end apogee,CONTROL_FINISHED_OK
$STATE,9191,begin climb
$GC,9193,1.38,116.8,906.0,0.0,326,9305,1.52,0.00,104.10,1.167,6,0.034,0.000,3257,1647,2618,0,0,0,0,0,0
$GC,9521,1.12,139.0,891.9,8.7,334,9550,0.28,2.80,20.60,1.090,4,0.119,0.050,3199,3238,2526,0,0,0,0,0,0
$GC,9567,1.07,190.3,888.2,7.0,335,9620,0.00,2.70,47.45,1.129,6,0.000,0.041,3199,1658,2319,0,0,0,0,0,0
$GC,9893,0.98,190.3,852.6,11.2,343,9895,0.17,0.00,0.00,0.000,6,0.115,0.000,3164,1658,2311,0,0,0,0,0,0
$GC,10138,0.99,200.0,829.2,9.4,349,10154,0.00,2.75,8.43,0.943,4,0.000,0.051,3164,3232,2279,0,0,0,0,0,0
$GC,10177,1.01,214.2,825.0,9.2,349,10198,0.00,2.72,14.95,1.031,6,0.000,0.044,3164,1652,2220,0,0,0,0,0,0
$GC,10472,1.02,224.1,796.8,9.4,357,10488,0.00,2.80,10.00,0.971,4,0.000,0.093,3164,176,2181,0,0,0,0,0,0
$GC,10511,1.02,224.1,792.5,10.8,357,10517,0.00,2.47,0.00,0.000,6,0.000,0.038,3164,1651,2180,0,0,0,0,0,0
$GC,10761,1.02,224.1,767.5,10.0,364,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1652,2177,0,0,0,0,0,0
$GC,11007,1.02,224.1,743.0,10.0,370,11011,0.00,2.65,0.00,0.000,4,0.000,0.074,3164,170,2176,0,0,0,0,0,0
$GC,11049,1.02,224.1,738.0,12.1,371,11053,0.00,2.45,0.00,0.000,6,0.000,0.038,3164,1646,2175,0,0,0,0,0,0
$GC,11335,1.02,224.1,708.8,10.1,378,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1648,2174,0,0,0,0,0,0
$GC,11581,1.03,230.0,684.9,9.7,384,11589,0.00,0.00,6.12,0.816,6,0.000,0.000,3164,1648,2157,0,0,0,0,0,0
$GC,11824,1.03,232.1,660.9,9.9,390,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1649,2155,0,0,0,0,0,0
$GC,12066,1.03,236.0,637.0,9.8,396,12076,0.00,0.00,7.53,0.848,6,0.000,0.000,3164,1650,2132,0,0,0,0,0,0
$GC,12311,1.03,236.0,612.1,10.4,402,12316,0.00,2.78,0.00,0.000,4,0.000,0.061,3164,3234,2129,0,0,0,0,0,0
$GC,12367,1.12,236.0,605.9,10.5,403,12374,0.12,2.67,0.00,0.000,6,0.070,0.041,3208,1646,2128,0,0,0,0,0,0
$GC,12642,1.12,236.0,570.1,13.3,410,12647,0.00,2.62,0.00,0.000,4,0.000,0.082,3208,166,2128,0,0,0,0,0,0
$GC,12680,1.00,236.0,564.7,14.0,410,12686,0.20,2.45,0.00,0.000,6,0.116,0.034,3169,1666,2128,0,0,0,0,0,0
$GC,12931,1.00,236.0,535.9,11.4,417,12935,0.00,2.70,0.00,0.000,4,0.000,0.061,3168,3230,2127,0,0,0,0,0,0
$GC,12962,1.07,236.0,532.4,10.6,417,12967,0.00,2.65,0.00,0.000,6,0.000,0.039,3168,1655,2126,0,0,0,0,0,0
$GC,13218,1.13,236.0,505.3,10.4,424,13224,0.12,2.65,0.00,0.000,4,0.071,0.075,3211,175,2126,0,0,0,0,0,0
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$GC,14068,1.21,303.1,423.8,8.1,444,14106,0.12,2.67,31.08,0.847,6,0.034,0.038,3228,1650,1859,0,0,0,0,0,0
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$STATE,17425,end climb,SURFACE_DEPTH_REACHED
$STATE,17425,begin surface coast
$FINISH,0.7,1.009815
$STATE,17461,end surface coast,CONTROL_FINISHED_OK
$STATE,17461,begin surface
$SM_CCo,17482,29.67,0.461,0,0,1463,400.08
$SM_GC,1.60,0.00,0.00,29.67,0.000,0.000,0.461,412,1906,1463,-11.67,1.58,400.08
$IRIDIUM_FIX,2204.37,-15805.43,091100,191907
$TT8_MAMPS,0.027612
$HUMID,58.42
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.50
$XPDR_PINGS,5
$24V_AH,23.2,3.820
$10V_AH,10.3,4.064
$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,29.325,183.825,414.100,29.675,0.000,52.333,70.829,362.296,1.250,0.000,12.407,1401.203,13050.806,502.133,1951.452,1316.282,33.371,1499.000,0.000,2283.560,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,92.807,1191.918,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,443.362,428.484,516.731,479.617,891.915,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356056
$DATA_FILE_SIZE,51144,649
$CAP_FILE_SIZE,163726,0
$CFSIZE,260165632,129388544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170811,001707,2212.488,-15804.117,47,1.7,47,10.0