version: 66.06
glider: 148
mission: 10
dive: 34
start: 8 18 111 7 10 13
data:
$ID,148
$MISSION,10
$DIVE,34
$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,-877423
$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,32
$R_STBD_OVSHOOT,93
$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
$GPS1,070212,2223.282,-15803.543,27,1.7,32,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.3
$GPS2,070918,2223.221,-15803.590,8,1.7,12,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,0.217
$KALMAN_X,-28078.7,124.6,-21.4,37865.1,-1161.2
$KALMAN_Y,-13418.0,-36.3,23.4,91242.8,-1103.7
$MHEAD_RNG_PITCHd_Wd,12.1,40798,-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,-67.07,0.000,2,0.000,0.000,413,1904,3245,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.6,-6.2,9,116,12.02,2.38,-5.68,0.000,4,0.161,0.036,2642,3391,3573,0,0,0,0,0,0
$GC,172,-1.07,-116.8,28.6,-21.9,20,183,0.30,2.50,0.00,0.000,6,0.091,0.023,2710,1846,3574,0,0,0,0,0,0
$GC,442,-1.07,-116.8,67.5,-11.7,45,446,0.00,2.45,0.00,0.000,4,0.000,0.028,2710,3385,3576,0,0,0,0,0,0
$GC,463,-1.07,-116.8,70.3,-11.3,46,468,0.00,2.42,0.00,0.000,6,0.000,0.021,2710,1844,3576,0,0,0,0,0,0
$GC,725,-1.07,-116.8,102.5,-13.4,70,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1844,3577,0,0,0,0,0,0
$GC,979,-1.07,-116.8,132.5,-11.5,94,984,0.00,2.47,0.00,0.000,4,0.000,0.029,2710,3380,3578,0,0,0,0,0,0
$GC,999,-1.07,-116.8,134.5,-12.5,95,1003,0.00,2.40,0.00,0.000,6,0.000,0.022,2710,1856,3578,0,0,0,0,0,0
$GC,1262,-1.14,-116.8,167.7,-11.1,119,1266,0.00,2.58,0.00,0.000,4,0.000,0.041,2710,279,3578,0,0,0,0,0,0
$GC,1331,-1.28,-116.8,176.1,-10.4,125,1338,0.15,2.40,0.00,0.000,6,0.057,0.019,2647,1820,3579,0,0,0,0,0,0
$GC,1602,-1.17,-116.8,211.0,-13.3,145,1607,0.20,2.53,0.00,0.000,4,0.103,0.038,2692,274,3579,0,0,0,0,0,0
$GC,1625,-1.17,-116.8,214.6,-12.5,145,1629,0.00,2.47,0.00,0.000,6,0.000,0.020,2692,1864,3579,0,0,0,0,0,0
$GC,1885,-1.17,-116.8,239.5,-9.4,152,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1867,3579,0,0,0,0,0,0
$GC,2129,-1.24,-116.8,263.4,-9.7,158,2133,0.00,2.50,0.00,0.000,4,0.000,0.033,2692,3418,3579,0,0,0,0,0,0
$GC,2157,-1.33,-116.8,266.7,-10.4,158,2162,0.15,2.47,0.00,0.000,6,0.056,0.025,2612,1857,3579,0,0,0,0,0,0
$GC,2413,-1.18,-116.8,303.1,-14.6,165,2420,0.32,2.60,0.00,0.000,4,0.096,0.044,2686,276,3579,0,0,0,0,0,0
$GC,2446,-1.18,-116.8,307.4,-12.4,165,2450,0.00,2.50,0.00,0.000,6,0.000,0.024,2686,1848,3579,0,0,0,0,0,0
$GC,2701,-1.26,-116.8,333.9,-10.2,172,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1849,3578,0,0,0,0,0,0
$GC,2946,-1.35,-116.8,357.8,-9.8,178,2951,0.12,2.60,0.00,0.000,4,0.068,0.040,2638,3435,3577,0,0,0,0,0,0
$GC,2976,-1.35,-116.8,361.3,-11.3,178,2981,0.00,2.58,0.00,0.000,6,0.000,0.029,2638,1866,3576,0,0,0,0,0,0
$GC,3236,-1.35,-116.8,391.3,-11.4,185,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1866,3576,0,0,0,0,0,0
$GC,3481,-1.35,-116.8,417.1,-10.3,191,3485,0.00,2.72,0.00,0.000,4,0.000,0.059,2638,267,3574,0,0,0,0,0,0
$GC,3524,-1.35,-116.8,421.7,-10.7,192,3528,0.00,2.55,0.00,0.000,6,0.000,0.030,2638,1856,3573,0,0,0,0,0,0
$GC,3810,-1.35,-116.8,451.8,-10.5,199,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1856,3572,0,0,0,0,0,0
$GC,4055,-1.35,-116.8,477.3,-10.4,205,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1856,3570,0,0,0,0,0,0
$GC,4298,-1.35,-116.8,504.5,-11.2,211,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1856,3568,0,0,0,0,0,0
$GC,4542,-1.35,-116.8,531.2,-11.0,217,4548,0.00,2.78,0.00,0.000,4,0.000,0.067,2637,276,3566,0,0,0,0,0,0
$GC,4566,-1.35,-116.8,534.3,-12.3,217,4571,0.00,2.62,0.00,0.000,6,0.000,0.037,2638,1864,3566,0,0,0,0,0,0
$GC,4830,-1.35,-116.8,560.8,-9.7,224,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1864,3564,0,0,0,0,0,0
$GC,5074,-1.35,-116.8,584.6,-9.8,230,5079,0.00,2.80,0.00,0.000,4,0.000,0.067,2638,273,3562,0,0,0,0,0,0
$GC,5112,-1.35,-116.8,588.7,-10.0,230,5118,0.00,2.65,0.00,0.000,6,0.000,0.039,2638,1856,3562,0,0,0,0,0,0
$GC,5368,-1.35,-116.8,612.6,-9.4,237,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1856,3560,0,0,0,0,0,0
$GC,5612,-1.35,-116.8,635.8,-9.4,243,5617,0.00,2.80,0.00,0.000,4,0.000,0.071,2637,276,3559,0,0,0,0,0,0
$GC,5637,-1.35,-116.8,638.4,-9.9,243,5641,0.00,2.65,0.00,0.000,6,0.000,0.043,2638,1872,3559,0,0,0,0,0,0
$GC,5900,-1.35,-116.8,663.8,-9.6,250,5905,0.00,2.80,0.00,0.000,4,0.000,0.070,2637,276,3558,0,0,0,0,0,0
$GC,5933,-1.35,-116.8,667.4,-9.9,250,5938,0.00,2.67,0.00,0.000,6,0.000,0.043,2638,1872,3557,0,0,0,0,0,0
$GC,6185,-1.35,-116.8,689.6,-8.6,256,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1872,3555,0,0,0,0,0,0
$GC,6427,-1.35,-116.8,709.3,-8.0,262,6431,0.00,2.70,0.00,0.000,4,0.000,0.067,2638,3434,3554,0,0,0,0,0,0
$GC,6445,-1.35,-116.8,711.0,-8.9,262,6450,0.00,2.62,0.00,0.000,6,0.000,0.041,2638,1862,3554,0,0,0,0,0,0
$GC,6711,-1.35,-116.8,732.2,-8.0,269,6716,0.00,2.83,0.00,0.000,4,0.000,0.077,2638,265,3553,0,0,0,0,0,0
$GC,6738,-1.35,-116.8,734.3,-9.3,269,6742,0.00,2.67,0.00,0.000,6,0.000,0.042,2638,1864,3552,0,0,0,0,0,0
$GC,6997,-1.35,-116.8,754.9,-7.8,276,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1864,3551,0,0,0,0,0,0
$GC,7242,-1.35,-116.8,774.5,-8.2,282,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1864,3550,0,0,0,0,0,0
$GC,7484,-1.35,-116.8,794.6,-8.2,288,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1864,3549,0,0,0,0,0,0
$GC,7729,-1.35,-116.8,814.2,-8.1,294,7734,0.00,2.80,0.00,0.000,4,0.000,0.071,2638,271,3547,0,0,0,0,0,0
$GC,7748,-1.35,-116.8,816.1,-8.8,294,7754,0.00,2.70,0.00,0.000,6,0.000,0.043,2638,1865,3547,0,0,0,0,0,0
$GC,8018,-1.35,-116.8,837.7,-8.0,301,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1865,3546,0,0,0,0,0,0
$GC,8262,-1.35,-116.8,856.9,-7.8,307,8267,0.00,2.83,0.00,0.000,4,0.000,0.072,2637,265,3546,0,0,0,0,0,0
$GC,8295,-1.35,-116.8,859.9,-9.7,307,8299,0.00,2.70,0.00,0.000,6,0.000,0.044,2637,1869,3545,0,0,0,0,0,0
$GC,8545,-1.35,-116.8,879.7,-7.9,313,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1869,3544,0,0,0,0,0,0
$GC,8789,-1.35,-116.8,898.3,-7.5,319,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1869,3544,0,0,0,0,0,0
$STATE,8826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8826,begin apogee
$GC,8832,-0.31,0.0,901.3,7.5,320,8931,1.10,0.00,95.10,1.190,6,0.088,0.000,2878,1618,3095,0,0,0,0,0,0
$STATE,8932,end apogee,CONTROL_FINISHED_OK
$STATE,8932,begin climb
$GC,8935,1.38,116.8,902.7,0.0,322,9051,1.55,2.85,104.43,1.165,4,0.038,0.057,3255,3221,2616,0,0,0,0,0,0
$GC,9080,1.13,152.8,901.2,7.9,325,9120,0.28,2.72,33.00,1.119,6,0.126,0.042,3201,1641,2471,0,0,0,0,0,0
$GC,9398,1.01,152.8,865.7,11.5,333,9404,0.15,2.72,0.00,0.000,4,0.132,0.089,3172,179,2464,0,0,0,0,0,0
$GC,9450,0.89,152.8,859.4,13.6,334,9456,0.12,2.42,0.00,0.000,6,0.129,0.038,3147,1634,2463,0,0,0,0,0,0
$GC,9734,0.90,161.1,832.3,9.5,341,9748,0.00,2.70,7.18,0.907,4,0.000,0.077,3147,176,2438,0,0,0,0,0,0
$GC,9790,0.90,161.1,826.2,11.2,342,9795,0.00,2.42,0.00,0.000,6,0.000,0.037,3146,1619,2437,0,0,0,0,0,0
$GC,10068,0.90,163.6,799.0,9.9,349,10073,0.00,2.62,0.00,0.000,4,0.000,0.076,3147,173,2435,0,0,0,0,0,0
$GC,10102,0.90,163.6,795.3,11.3,349,10107,0.00,2.45,0.00,0.000,6,0.000,0.038,3147,1619,2434,0,0,0,0,0,0
$GC,10362,0.92,178.2,771.4,9.2,356,10386,0.00,2.65,17.27,1.039,4,0.000,0.074,3147,175,2367,0,0,0,0,0,0
$GC,10407,0.92,178.2,767.0,10.4,357,10411,0.00,2.42,0.00,0.000,6,0.000,0.038,3146,1621,2365,0,0,0,0,0,0
$GC,10693,0.93,183.7,739.0,9.7,364,10705,0.00,2.78,6.30,0.845,4,0.000,0.060,3147,3213,2344,0,0,0,0,0,0
$GC,10729,0.93,183.7,735.6,10.1,364,10733,0.00,2.72,0.00,0.000,6,0.000,0.045,3147,1617,2343,0,0,0,0,0,0
$GC,10980,0.95,199.0,712.6,9.1,370,10997,0.00,0.00,15.25,0.996,6,0.000,0.000,3147,1617,2283,0,0,0,0,0,0
$GC,11223,0.96,210.8,690.0,9.3,376,11240,0.00,2.70,11.88,0.953,4,0.000,0.091,3146,170,2235,0,0,0,0,0,0
$GC,11259,0.96,210.8,686.3,10.1,376,11264,0.00,2.45,0.00,0.000,6,0.000,0.038,3146,1621,2234,0,0,0,0,0,0
$GC,11510,1.06,231.8,664.1,8.8,383,11538,0.15,2.83,20.67,0.992,4,0.061,0.061,3197,3217,2148,0,0,0,0,0,0
$GC,11577,1.06,231.8,657.2,11.0,384,11581,0.00,2.75,0.00,0.000,6,0.000,0.044,3197,1620,2145,0,0,0,0,0,0
$GC,11841,1.06,231.8,629.6,10.3,391,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1620,2144,0,0,0,0,0,0
$GC,12084,1.06,231.8,604.1,10.5,397,12089,0.00,2.65,0.00,0.000,4,0.000,0.088,3197,174,2143,0,0,0,0,0,0
$GC,12123,0.97,231.8,599.4,12.4,397,12128,0.12,2.45,0.00,0.000,6,0.097,0.038,3168,1626,2143,0,0,0,0,0,0
$GC,12379,0.99,243.3,575.2,9.3,404,12396,0.00,2.78,11.10,0.883,4,0.000,0.063,3167,3214,2102,0,0,0,0,0,0
$GC,12420,1.05,243.3,571.1,10.2,404,12425,0.00,2.72,0.00,0.000,6,0.000,0.042,3167,1623,2100,0,0,0,0,0,0
$GC,12670,1.05,243.3,546.0,10.1,411,12671,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1623,2100,0,0,0,0,0,0
$GC,12914,1.05,243.3,520.4,10.5,417,12918,0.00,2.75,0.00,0.000,4,0.000,0.051,3167,3221,2100,0,0,0,0,0,0
$GC,12947,1.13,243.3,516.9,10.0,417,12955,0.12,2.70,0.00,0.000,6,0.069,0.045,3214,1628,2098,0,0,0,0,0,0
$GC,13201,1.07,243.3,487.8,11.6,424,13206,0.15,2.62,0.00,0.000,4,0.118,0.080,3184,163,2098,0,0,0,0,0,0
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$GC,14547,1.09,261.4,345.6,9.0,456,14569,0.00,2.72,16.88,0.777,4,0.000,0.043,3183,3209,2028,0,0,0,0,0,0
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$STATE,17492,end climb,SURFACE_DEPTH_REACHED
$STATE,17493,begin surface coast
$FINISH,0.7,1.009890
$STATE,17534,end surface coast,CONTROL_FINISHED_OK
$STATE,17534,begin surface
$SM_CCo,17557,50.60,0.476,0,0,1464,400.08
$SM_GC,1.83,0.00,0.00,50.60,0.000,0.000,0.476,411,1924,1464,-11.68,2.09,400.08
$IRIDIUM_FIX,2213.68,-15801.53,111100,020209
$TT8_MAMPS,0.026845
$HUMID,57.75
$INTERNAL_PRESSURE,9.34016
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.2,4.821
$10V_AH,10.3,4.941
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.850,198.525,389.275,50.600,0.000,30.723,36.154,198.957,0.250,0.000,13.930,1424.195,12960.151,516.439,2027.805,1100.073,33.371,1542.507,0.000,2382.006,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,452.649,484.592,572.411,515.837,968.124,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356108
$DATA_FILE_SIZE,51082,662
$CAP_FILE_SIZE,161039,0
$CFSIZE,260165632,128888832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180811,120500,2225.033,-15803.123,38,1.2,38,10.0