version: 66.06
glider: 148
mission: 10
dive: 29
start: 8 17 111 5 27 16
data:
$ID,148
$MISSION,10
$DIVE,29
$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,-877328.69
$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,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,75
$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
$GPS1,051925,2214.291,-15803.484,64,2.0,64,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.9
$GPS2,052621,2214.274,-15803.486,14,1.3,15,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.065,0.225
$KALMAN_X,-23704.3,56.3,159.2,33547.6,-857.7
$KALMAN_Y,-9534.0,65.2,67.9,70641.8,-1052.7
$MHEAD_RNG_PITCHd_Wd,6.2,57215,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-60.67,0.000,2,0.000,0.000,413,1879,3061,0,0,0,0,0,0
$GC,85,-1.38,-116.8,3.0,-4.8,8,117,12.43,2.47,-9.73,0.000,4,0.176,0.039,2644,3402,3575,0,0,0,0,0,0
$GC,173,-1.13,-116.8,24.7,-19.4,20,184,0.22,2.50,0.00,0.000,6,0.091,0.025,2696,1854,3576,0,0,0,0,0,0
$GC,451,-0.88,-116.8,78.2,-19.8,46,456,0.25,2.58,0.00,0.000,4,0.114,0.037,2751,267,3576,0,0,0,0,0,0
$GC,496,-0.88,-116.8,86.9,-13.3,49,502,0.00,2.42,0.00,0.000,6,0.000,0.020,2751,1825,3577,0,0,0,0,0,0
$GC,760,-0.98,-116.8,111.5,-8.7,74,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1829,3577,0,0,0,0,0,0
$GC,1027,-1.12,-116.8,133.8,-8.9,99,1032,0.20,2.55,0.00,0.000,4,0.048,0.028,2678,3433,3578,0,0,0,0,0,0
$GC,1045,-1.18,-116.8,135.8,-9.5,100,1051,0.00,2.58,0.00,0.000,6,0.000,0.023,2677,1830,3579,0,0,0,0,0,0
$GC,1313,-1.18,-116.8,169.0,-11.2,125,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1830,3579,0,0,0,0,0,0
$GC,1567,-1.18,-116.8,197.3,-10.7,149,1572,0.00,2.55,0.00,0.000,4,0.000,0.030,2678,3428,3580,0,0,0,0,0,0
$GC,1588,-1.18,-116.8,199.6,-11.6,150,1598,0.00,2.55,0.00,0.000,6,0.000,0.023,2678,1842,3580,0,0,0,0,0,0
$GC,1837,-1.18,-116.8,224.8,-10.0,157,1841,0.00,2.55,0.00,0.000,4,0.000,0.043,2677,273,3580,0,0,0,0,0,0
$GC,1860,-1.18,-116.8,227.4,-10.9,157,1864,0.00,2.45,0.00,0.000,6,0.000,0.021,2677,1850,3580,0,0,0,0,0,0
$GC,2120,-1.18,-116.8,255.5,-10.9,164,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1853,3580,0,0,0,0,0,0
$GC,2363,-1.18,-116.8,282.3,-11.0,170,2368,0.00,2.55,0.00,0.000,4,0.000,0.034,2677,3428,3580,0,0,0,0,0,0
$GC,2392,-1.25,-116.8,285.7,-11.8,170,2397,0.00,2.58,0.00,0.000,6,0.000,0.026,2677,1843,3580,0,0,0,0,0,0
$GC,2652,-1.25,-116.8,314.5,-11.1,177,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1843,3579,0,0,0,0,0,0
$GC,2896,-1.25,-116.8,339.7,-9.9,183,2901,0.00,2.62,0.00,0.000,4,0.000,0.051,2677,275,3578,0,0,0,0,0,0
$GC,2952,-1.33,-116.8,345.3,-10.3,184,2957,0.00,2.47,0.00,0.000,6,0.000,0.024,2677,1839,3578,0,0,0,0,0,0
$GC,3226,-1.33,-116.8,369.3,-8.7,191,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1840,3576,0,0,0,0,0,0
$GC,3469,-1.40,-116.8,390.4,-8.5,197,3475,0.15,2.70,0.00,0.000,4,0.061,0.055,2624,278,3575,0,0,0,0,0,0
$GC,3499,-1.31,-116.8,393.8,-11.1,197,3504,0.17,2.53,0.00,0.000,6,0.104,0.029,2661,1850,3575,0,0,0,0,0,0
$GC,3760,-1.31,-116.8,414.9,-7.8,204,3764,0.00,2.60,0.00,0.000,4,0.000,0.043,2662,3429,3573,0,0,0,0,0,0
$GC,3781,-1.31,-116.8,416.6,-8.5,204,3786,0.00,2.55,0.00,0.000,6,0.000,0.039,2662,1856,3573,0,0,0,0,0,0
$GC,4045,-1.31,-116.8,439.1,-8.5,211,4051,0.00,2.75,0.00,0.000,4,0.000,0.064,2662,271,3571,0,0,0,0,0,0
$GC,4075,-1.31,-116.8,441.9,-9.4,211,4080,0.00,2.58,0.00,0.000,6,0.000,0.031,2662,1857,3571,0,0,0,0,0,0
$GC,4334,-1.31,-116.8,464.7,-8.7,218,4338,0.00,2.75,0.00,0.000,4,0.000,0.063,2662,268,3569,0,0,0,0,0,0
$GC,4367,-1.31,-116.8,467.8,-9.6,218,4371,0.00,2.58,0.00,0.000,6,0.000,0.032,2662,1844,3569,0,0,0,0,0,0
$GC,4618,-1.31,-116.8,489.5,-8.8,224,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1844,3567,0,0,0,0,0,0
$GC,4861,-1.31,-116.8,510.8,-8.7,230,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1844,3565,0,0,0,0,0,0
$GC,5104,-1.31,-116.8,533.1,-9.1,236,5109,0.00,2.75,0.00,0.000,4,0.000,0.068,2661,270,3563,0,0,0,0,0,0
$GC,5141,-1.37,-116.8,537.1,-10.5,236,5149,0.00,2.58,0.00,0.000,6,0.000,0.038,2662,1840,3563,0,0,0,0,0,0
$GC,5393,-1.43,-116.8,561.5,-9.7,243,5398,0.10,2.72,0.00,0.000,4,0.080,0.055,2621,3441,3561,0,0,0,0,0,0
$GC,5427,-1.43,-116.8,565.6,-11.3,243,5431,0.00,2.60,0.00,0.000,6,0.000,0.038,2621,1856,3561,0,0,0,0,0,0
$GC,5677,-1.43,-116.8,593.5,-11.3,249,5682,0.00,2.80,0.00,0.000,4,0.000,0.074,2621,269,3560,0,0,0,0,0,0
$GC,5697,-1.36,-116.8,596.1,-11.6,249,5702,0.15,2.60,0.00,0.000,6,0.114,0.039,2651,1849,3559,0,0,0,0,0,0
$GC,5965,-1.36,-116.8,622.2,-9.5,256,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1849,3558,0,0,0,0,0,0
$GC,6209,-1.36,-116.8,644.5,-9.0,262,6214,0.00,2.80,0.00,0.000,4,0.000,0.072,2651,273,3556,0,0,0,0,0,0
$GC,6234,-1.36,-116.8,646.9,-9.6,262,6239,0.00,2.62,0.00,0.000,6,0.000,0.041,2651,1847,3556,0,0,0,0,0,0
$GC,6498,-1.36,-116.8,668.7,-8.4,269,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1847,3554,0,0,0,0,0,0
$GC,6741,-1.36,-116.8,688.0,-7.9,275,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1847,3552,0,0,0,0,0,0
$GC,6987,-1.36,-116.8,706.4,-7.4,281,6991,0.00,2.78,0.00,0.000,4,0.000,0.072,2650,272,3552,0,0,0,0,0,0
$GC,7015,-1.36,-116.8,708.9,-8.7,281,7019,0.00,2.60,0.00,0.000,6,0.000,0.041,2650,1845,3552,0,0,0,0,0,0
$GC,7270,-1.36,-116.8,728.5,-7.7,288,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1845,3550,0,0,0,0,0,0
$GC,7515,-1.36,-116.8,747.9,-8.1,294,7520,0.00,2.78,0.00,0.000,4,0.000,0.072,2651,269,3549,0,0,0,0,0,0
$GC,7534,-1.36,-116.8,749.6,-8.3,294,7539,0.00,2.65,0.00,0.000,6,0.000,0.041,2651,1841,3549,0,0,0,0,0,0
$GC,7804,-1.42,-116.8,771.5,-8.1,301,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1841,3548,0,0,0,0,0,0
$GC,8049,-1.49,-116.8,791.2,-8.0,307,8051,0.12,0.00,0.00,0.000,6,0.068,0.000,2607,1841,3546,0,0,0,0,0,0
$GC,8291,-1.49,-116.8,814.2,-9.5,313,8296,0.00,2.78,0.00,0.000,4,0.000,0.072,2607,265,3545,0,0,0,0,0,0
$GC,8310,-1.42,-116.8,816.2,-11.0,313,8315,0.15,2.62,0.00,0.000,6,0.114,0.042,2638,1844,3545,0,0,0,0,0,0
$GC,8576,-1.42,-116.8,837.2,-7.8,320,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1845,3545,0,0,0,0,0,0
$GC,8818,-1.42,-116.8,856.3,-7.9,326,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1845,3544,0,0,0,0,0,0
$GC,9062,-1.42,-116.8,875.1,-7.7,332,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1844,3543,0,0,0,0,0,0
$GC,9306,-1.42,-116.8,893.4,-7.4,338,9311,0.00,2.78,0.00,0.000,4,0.000,0.072,2638,270,3542,0,0,0,0,0,0
$GC,9332,-1.42,-116.8,895.5,-8.8,338,9337,0.00,2.65,0.00,0.000,6,0.000,0.044,2638,1835,3542,0,0,0,0,0,0
$STATE,9391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9391,begin apogee
$GC,9397,-0.31,0.0,900.2,7.8,340,9495,1.10,0.00,94.57,1.189,6,0.088,0.000,2879,1614,3095,0,0,0,0,0,0
$STATE,9496,end apogee,CONTROL_FINISHED_OK
$STATE,9496,begin climb
$GC,9499,1.38,116.8,901.6,0.0,342,9610,1.55,0.00,103.95,1.162,6,0.036,0.000,3260,1614,2618,0,0,0,0,0,0
$GC,9826,1.09,116.8,881.7,10.5,350,9828,0.35,0.00,0.00,0.000,6,0.115,0.000,3190,1614,2610,0,0,0,0,0,0
$GC,10069,1.02,149.1,861.2,8.1,356,10105,0.00,2.60,28.88,1.104,4,0.000,0.076,3191,183,2486,0,0,0,0,0,0
$GC,10116,0.87,156.7,857.0,9.6,357,10132,0.25,2.45,8.27,0.935,6,0.114,0.039,3141,1620,2455,0,0,0,0,0,0
$GC,10402,0.90,178.7,832.3,8.7,364,10425,0.00,0.00,21.45,1.073,6,0.000,0.000,3141,1621,2366,0,0,0,0,0,0
$GC,10646,0.91,190.7,810.0,9.3,370,10660,0.00,0.00,11.95,1.000,6,0.000,0.000,3141,1621,2317,0,0,0,0,0,0
$GC,10889,0.92,194.5,786.3,9.8,376,10901,0.00,2.85,4.68,0.746,4,0.000,0.067,3141,3221,2301,0,0,0,0,0,0
$GC,10920,1.00,205.2,783.2,9.4,376,10939,0.12,2.72,11.57,0.986,6,0.068,0.044,3187,1634,2258,0,0,0,0,0,0
$GC,11231,1.00,205.2,747.4,11.8,384,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1634,2254,0,0,0,0,0,0
$GC,11470,1.00,205.2,720.7,10.8,390,11474,0.00,2.67,0.00,0.000,4,0.000,0.090,3187,164,2253,0,0,0,0,0,0
$GC,11498,0.89,205.2,717.4,11.9,390,11504,0.20,2.42,0.00,0.000,6,0.114,0.038,3147,1627,2252,0,0,0,0,0,0
$GC,11755,0.99,231.1,695.1,8.5,397,11787,0.00,2.83,24.52,1.022,4,0.000,0.062,3147,3221,2152,0,0,0,0,0,0
$GC,11802,1.08,245.1,690.6,9.2,398,11824,0.17,2.72,14.82,0.965,6,0.050,0.043,3211,1624,2094,0,0,0,0,0,0
$GC,12090,1.01,245.1,655.4,12.6,405,12095,0.20,2.65,0.00,0.000,4,0.110,0.086,3171,169,2089,0,0,0,0,0,0
$GC,12114,1.01,245.1,651.9,12.5,405,12118,0.00,2.42,0.00,0.000,6,0.000,0.038,3171,1627,2088,0,0,0,0,0,0
$GC,12374,1.01,245.1,623.1,11.1,412,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1628,2087,0,0,0,0,0,0
$GC,12616,1.01,245.1,594.6,11.8,418,12621,0.00,2.78,0.00,0.000,4,0.000,0.068,3171,3217,2086,0,0,0,0,0,0
$GC,12640,1.01,245.1,591.6,11.8,418,12644,0.00,2.70,0.00,0.000,6,0.000,0.041,3171,1612,2085,0,0,0,0,0,0
$GC,12901,1.01,245.1,560.2,12.2,425,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1612,2085,0,0,0,0,0,0
$GC,13142,1.01,245.1,531.3,11.9,431,13147,0.00,2.75,0.00,0.000,4,0.000,0.051,3171,3220,2085,0,0,0,0,0,0
$GC,13180,1.09,245.1,526.7,12.7,431,13186,0.00,2.72,0.00,0.000,6,0.000,0.043,3171,1617,2083,0,0,0,0,0,0
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$STATE,17938,end climb,SURFACE_DEPTH_REACHED
$STATE,17938,begin surface coast
$FINISH,0.9,1.023335
$STATE,17998,end surface coast,CONTROL_FINISHED_OK
$STATE,17998,begin surface
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$SM_GC,1.48,0.00,0.00,58.80,0.000,0.000,0.474,411,1924,1463,-11.68,2.09,400.08
$IRIDIUM_FIX,2204.37,-15803.27,101100,000021
$TT8_MAMPS,0.027612
$HUMID,56.85
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,23.2,4.095
$10V_AH,10.3,4.318
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.975,183.325,385.650,58.800,0.000,25.174,36.135,195.598,0.750,0.000,17.195,1476.430,13321.126,527.314,2049.774,1116.404,33.371,1536.452,0.000,2427.411,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.009,530.851,616.436,557.308,1049.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356100
$DATA_FILE_SIZE,54046,696
$CAP_FILE_SIZE,165261,0
$CFSIZE,260165632,129241088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170811,103000,2215.734,-15803.481,37,1.7,42,10.0