version: 66.06
glider: 148
mission: 10
dive: 40
start: 8 19 111 13 29 57
data:
$ID,148
$MISSION,10
$DIVE,40
$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,-877573.06
$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,35
$R_STBD_OVSHOOT,86
$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
$GPS1,132137,2233.868,-15801.798,37,1.5,37,10.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.3
$GPS2,132902,2233.868,-15801.824,13,1.2,13,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.069,0.224
$KALMAN_X,-32836.8,-54.5,-34.3,45849.0,-712.8
$KALMAN_Y,-17545.9,-166.3,-2.5,115242.5,-529.4
$MHEAD_RNG_PITCHd_Wd,7.2,20851,-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,-67.22,0.000,2,0.000,0.000,414,1892,3245,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.6,-5.8,9,117,12.45,2.40,-5.80,0.000,4,0.177,0.035,2644,3399,3573,0,0,0,0,0,0
$GC,203,-1.14,-116.8,33.9,-20.9,24,208,0.25,2.47,0.00,0.000,6,0.103,0.025,2697,1843,3575,0,0,0,0,0,0
$GC,467,-1.01,-116.8,85.2,-17.5,48,472,0.15,2.58,0.00,0.000,4,0.123,0.040,2727,265,3576,0,0,0,0,0,0
$GC,533,-1.10,-116.8,95.6,-12.3,53,539,0.00,2.38,0.00,0.000,6,0.000,0.018,2727,1819,3576,0,0,0,0,0,0
$GC,796,-1.19,-116.8,123.8,-9.2,78,801,0.15,2.58,0.00,0.000,4,0.057,0.029,2665,3421,3578,0,0,0,0,0,0
$GC,858,-1.19,-116.8,131.8,-12.3,83,865,0.12,2.50,0.00,0.000,6,0.111,0.023,2692,1835,3578,0,0,0,0,0,0
$GC,1121,-1.19,-116.8,162.6,-12.4,108,1126,0.00,2.53,0.00,0.000,4,0.000,0.029,2692,3419,3578,0,0,0,0,0,0
$GC,1142,-1.19,-116.8,165.0,-12.7,109,1147,0.00,2.47,0.00,0.000,6,0.000,0.022,2692,1849,3578,0,0,0,0,0,0
$GC,1411,-1.19,-116.8,194.7,-9.4,133,1415,0.00,2.58,0.00,0.000,4,0.000,0.041,2692,273,3579,0,0,0,0,0,0
$GC,1486,-1.27,-116.8,202.0,-8.9,138,1491,0.00,2.42,0.00,0.000,6,0.000,0.020,2692,1842,3580,0,0,0,0,0,0
$GC,1746,-1.33,-116.8,225.5,-9.1,145,1748,0.12,0.00,0.00,0.000,6,0.067,0.000,2641,1844,3580,0,0,0,0,0,0
$GC,1991,-1.25,-116.8,257.5,-13.5,151,1993,0.17,0.00,0.00,0.000,6,0.105,0.000,2677,1844,3579,0,0,0,0,0,0
$GC,2232,-1.25,-116.8,285.3,-11.1,157,2237,0.00,2.60,0.00,0.000,4,0.000,0.044,2677,270,3580,0,0,0,0,0,0
$GC,2256,-1.25,-116.8,288.1,-12.1,157,2260,0.00,2.47,0.00,0.000,6,0.000,0.023,2677,1828,3580,0,0,0,0,0,0
$GC,2517,-1.25,-116.8,313.6,-9.6,164,2521,0.00,2.60,0.00,0.000,4,0.000,0.037,2677,3424,3579,0,0,0,0,0,0
$GC,2560,-1.35,-116.8,318.0,-9.7,165,2564,0.00,2.53,0.00,0.000,6,0.000,0.032,2677,1845,3578,0,0,0,0,0,0
$GC,2848,-1.35,-116.8,345.6,-9.6,172,2852,0.00,2.60,0.00,0.000,4,0.000,0.051,2677,276,3578,0,0,0,0,0,0
$GC,2876,-1.35,-116.8,348.7,-10.5,172,2880,0.00,2.47,0.00,0.000,6,0.000,0.025,2677,1840,3577,0,0,0,0,0,0
$GC,3131,-1.35,-116.8,370.6,-8.3,179,3136,0.00,2.58,0.00,0.000,4,0.000,0.038,2677,3429,3575,0,0,0,0,0,0
$GC,3151,-1.41,-116.8,372.3,-8.1,179,3156,0.15,2.55,0.00,0.000,6,0.058,0.029,2613,1845,3575,0,0,0,0,0,0
$GC,3416,-1.30,-116.8,403.4,-12.1,186,3423,0.25,2.65,0.00,0.000,4,0.100,0.057,2670,273,3574,0,0,0,0,0,0
$GC,3442,-1.30,-116.8,406.4,-10.7,186,3446,0.00,2.53,0.00,0.000,6,0.000,0.028,2670,1853,3574,0,0,0,0,0,0
$GC,3702,-1.30,-116.8,432.1,-10.1,193,3707,0.00,2.60,0.00,0.000,4,0.000,0.044,2670,3425,3572,0,0,0,0,0,0
$GC,3740,-1.39,-116.8,436.4,-9.9,193,3746,0.00,2.50,0.00,0.000,6,0.000,0.032,2670,1850,3572,0,0,0,0,0,0
$GC,3991,-1.45,-116.8,461.3,-10.0,200,3999,0.15,2.75,0.00,0.000,4,0.061,0.066,2618,267,3570,0,0,0,0,0,0
$GC,4019,-1.35,-116.8,464.7,-12.5,200,4025,0.17,2.58,0.00,0.000,6,0.105,0.032,2654,1846,3570,0,0,0,0,0,0
$GC,4278,-1.35,-116.8,492.4,-10.5,207,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1846,3568,0,0,0,0,0,0
$GC,4522,-1.35,-116.8,518.7,-10.8,213,4527,0.00,2.67,0.00,0.000,4,0.000,0.053,2654,3429,3567,0,0,0,0,0,0
$GC,4541,-1.35,-116.8,520.8,-11.0,213,4545,0.00,2.60,0.00,0.000,6,0.000,0.035,2654,1850,3567,0,0,0,0,0,0
$GC,4805,-1.35,-116.8,549.7,-10.9,220,4810,0.00,2.78,0.00,0.000,4,0.000,0.070,2654,268,3564,0,0,0,0,0,0
$GC,4824,-1.35,-116.8,551.9,-10.9,220,4829,0.00,2.60,0.00,0.000,6,0.000,0.036,2655,1844,3564,0,0,0,0,0,0
$GC,5087,-1.35,-116.8,579.6,-10.7,227,5092,0.00,2.72,0.00,0.000,4,0.000,0.067,2654,269,3562,0,0,0,0,0,0
$GC,5111,-1.35,-116.8,582.2,-12.1,227,5115,0.00,2.58,0.00,0.000,6,0.000,0.038,2654,1840,3562,0,0,0,0,0,0
$GC,5371,-1.35,-116.8,607.8,-9.7,234,5376,0.00,2.72,0.00,0.000,4,0.000,0.067,2654,269,3560,0,0,0,0,0,0
$GC,5402,-1.35,-116.8,610.6,-9.9,234,5407,0.00,2.60,0.00,0.000,6,0.000,0.038,2654,1836,3560,0,0,0,0,0,0
$GC,5658,-1.35,-116.8,633.2,-8.7,241,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1836,3559,0,0,0,0,0,0
$GC,5902,-1.35,-116.8,653.5,-8.4,247,5906,0.00,2.75,0.00,0.000,4,0.000,0.063,2655,3433,3557,0,0,0,0,0,0
$GC,5921,-1.35,-116.8,655.2,-8.3,247,5925,0.00,2.65,0.00,0.000,6,0.000,0.039,2654,1840,3557,0,0,0,0,0,0
$GC,6185,-1.35,-116.8,675.9,-7.8,254,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1841,3555,0,0,0,0,0,0
$GC,6432,-1.41,-116.8,694.3,-7.5,260,6436,0.00,2.78,0.00,0.000,4,0.000,0.077,2654,266,3554,0,0,0,0,0,0
$GC,6455,-1.41,-116.8,696.4,-8.5,260,6461,0.00,2.62,0.00,0.000,6,0.000,0.041,2654,1832,3553,0,0,0,0,0,0
$GC,6721,-1.48,-116.8,715.3,-7.1,267,6723,0.12,0.00,0.00,0.000,6,0.070,0.000,2609,1832,3552,0,0,0,0,0,0
$GC,6965,-1.41,-116.8,738.5,-9.8,273,6972,0.15,2.78,0.00,0.000,4,0.111,0.071,2640,265,3551,0,0,0,0,0,0
$GC,6990,-1.41,-116.8,741.2,-11.0,273,6995,0.00,2.62,0.00,0.000,6,0.000,0.041,2640,1839,3551,0,0,0,0,0,0
$GC,7258,-1.41,-116.8,765.0,-9.1,280,7262,0.00,2.72,0.00,0.000,4,0.000,0.071,2640,271,3550,0,0,0,0,0,0
$GC,7277,-1.41,-116.8,767.4,-9.9,280,7282,0.00,2.62,0.00,0.000,6,0.000,0.041,2641,1830,3550,0,0,0,0,0,0
$GC,7546,-1.41,-116.8,793.0,-9.6,287,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1830,3548,0,0,0,0,0,0
$GC,7791,-1.41,-116.8,817.1,-9.9,293,7796,0.00,2.75,0.00,0.000,4,0.000,0.074,2641,272,3547,0,0,0,0,0,0
$GC,7818,-1.41,-116.8,819.9,-11.3,293,7822,0.00,2.62,0.00,0.000,6,0.000,0.041,2641,1839,3547,0,0,0,0,0,0
$GC,8080,-1.41,-116.8,845.0,-9.5,300,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1839,3547,0,0,0,0,0,0
$GC,8321,-1.41,-116.8,868.9,-9.8,306,8325,0.00,2.75,0.00,0.000,4,0.000,0.072,2640,271,3545,0,0,0,0,0,0
$GC,8364,-1.41,-116.8,873.5,-11.8,307,8369,0.00,2.62,0.00,0.000,6,0.000,0.044,2641,1833,3545,0,0,0,0,0,0
$STATE,8649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8649,begin apogee
$GC,8655,-0.31,0.0,900.7,9.4,314,8754,1.08,0.00,95.82,1.187,6,0.084,0.000,2878,1613,3095,0,0,0,0,0,0
$STATE,8755,end apogee,CONTROL_FINISHED_OK
$STATE,8755,begin climb
$GC,8758,1.38,116.8,903.5,0.0,316,8869,1.55,0.00,104.53,1.166,6,0.037,0.000,3251,1613,2618,0,0,0,0,0,0
$GC,9087,1.14,145.8,890.6,8.3,324,9117,0.25,0.00,26.80,1.106,6,0.117,0.000,3201,1613,2500,0,0,0,0,0,0
$GC,9331,1.05,170.4,869.9,8.6,330,9357,0.10,0.00,23.60,1.091,6,0.150,0.000,3181,1613,2400,0,0,0,0,0,0
$GC,9574,1.01,187.9,848.2,9.0,336,9598,0.00,2.62,16.98,1.054,4,0.000,0.080,3181,183,2328,0,0,0,0,0,0
$GC,9646,0.90,187.9,840.5,11.5,337,9651,0.12,2.47,0.00,0.000,6,0.100,0.039,3152,1627,2326,0,0,0,0,0,0
$GC,9911,0.92,207.0,816.6,8.9,344,9935,0.00,2.70,18.23,1.052,4,0.000,0.077,3152,183,2250,0,0,0,0,0,0
$GC,9967,0.92,207.0,810.7,10.4,345,9972,0.00,2.42,0.00,0.000,6,0.000,0.039,3152,1626,2250,0,0,0,0,0,0
$GC,10241,0.94,217.0,784.8,9.4,352,10258,0.00,2.85,10.23,0.966,4,0.000,0.064,3152,3208,2210,0,0,0,0,0,0
$GC,10281,1.01,225.1,781.0,9.5,352,10299,0.00,2.70,9.05,0.937,6,0.000,0.044,3152,1630,2177,0,0,0,0,0,0
$GC,10579,1.02,238.0,753.8,9.3,360,10600,0.00,2.78,13.68,0.997,4,0.000,0.092,3152,169,2124,0,0,0,0,0,0
$GC,10624,1.02,238.0,749.1,10.8,361,10628,0.00,2.45,0.00,0.000,6,0.000,0.040,3152,1629,2123,0,0,0,0,0,0
$GC,10910,1.11,247.5,721.8,9.5,368,10927,0.17,2.85,9.80,0.933,4,0.056,0.064,3209,3210,2085,0,0,0,0,0,0
$GC,10951,1.04,247.5,716.8,13.0,368,10957,0.15,2.72,0.00,0.000,6,0.114,0.045,3179,1628,2083,0,0,0,0,0,0
$GC,11202,1.04,247.5,688.2,11.4,375,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1629,2082,0,0,0,0,0,0
$GC,11444,1.04,247.5,660.5,11.2,381,11448,0.00,2.72,0.00,0.000,4,0.000,0.052,3179,3213,2081,0,0,0,0,0,0
$GC,11486,1.04,247.5,655.7,11.1,382,11491,0.00,2.72,0.00,0.000,6,0.000,0.050,3179,1629,2080,0,0,0,0,0,0
$GC,11772,1.04,247.5,625.7,10.1,389,11778,0.00,2.67,0.00,0.000,4,0.000,0.091,3178,173,2080,0,0,0,0,0,0
$GC,11797,1.04,247.5,622.9,10.4,389,11802,0.00,2.40,0.00,0.000,6,0.000,0.037,3178,1632,2080,0,0,0,0,0,0
$GC,12060,1.04,247.5,595.9,10.3,396,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1633,2080,0,0,0,0,0,0
$GC,12304,1.04,247.5,569.9,11.0,402,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1633,2079,0,0,0,0,0,0
$GC,12549,1.04,247.5,539.8,12.6,408,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1634,2079,0,0,0,0,0,0
$GC,12791,1.04,247.5,507.7,13.4,414,12796,0.00,2.72,0.00,0.000,4,0.000,0.060,3179,3214,2078,0,0,0,0,0,0
$GC,12834,1.11,247.5,502.1,13.9,415,12839,0.00,2.65,0.00,0.000,6,0.000,0.039,3178,1619,2077,0,0,0,0,0,0
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$STATE,17343,end climb,SURFACE_DEPTH_REACHED
$STATE,17343,begin surface coast
$FINISH,0.7,1.000624
$STATE,17378,end surface coast,CONTROL_FINISHED_OK
$STATE,17379,begin surface
$SM_CCo,17402,41.33,0.469,0,0,1464,400.08
$SM_GC,1.75,0.00,0.00,41.33,0.000,0.000,0.469,405,1866,1464,-11.71,0.45,400.08
$IRIDIUM_FIX,2223.01,-15759.78,121100,080813
$TT8_MAMPS,0.027612
$HUMID,58.58
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.2,5.673
$10V_AH,10.3,5.677
$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
$DEVICE_SECS,30.300,203.750,398.425,41.325,0.000,31.322,37.571,217.301,0.500,0.000,15.275,1430.833,12818.107,539.361,1987.313,1107.468,33.380,1536.727,0.000,2330.807,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,444.225,471.265,547.408,481.713,900.797,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356068
$DATA_FILE_SIZE,50919,649
$CAP_FILE_SIZE,165316,0
$CFSIZE,260165632,128462848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190811,182201,2235.501,-15801.756,39,1.0,39,10.0