version: 66.06
glider: 148
mission: 10
dive: 41
start: 8 19 111 18 29 58
data:
$ID,148
$MISSION,10
$DIVE,41
$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,-877585.69
$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,34
$R_STBD_OVSHOOT,60
$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
$GPS1,182201,2235.501,-15801.756,39,1.0,39,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.1
$GPS2,182902,2235.463,-15801.745,10,1.2,10,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,0.221
$KALMAN_X,-33903.7,-112.5,-16.1,47094.7,-859.8
$KALMAN_Y,-18616.6,-95.6,-79.3,119275.3,-622.9
$MHEAD_RNG_PITCHd_Wd,9.8,17913,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-68.05,0.000,2,0.000,0.000,405,1866,3267,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.6,-5.6,9,117,12.48,2.47,-5.35,0.000,4,0.176,0.035,2644,3422,3572,0,0,0,0,0,0
$GC,203,-1.16,-116.8,32.9,-18.8,24,208,0.22,2.50,0.00,0.000,6,0.108,0.023,2692,1847,3574,0,0,0,0,0,0
$GC,472,-1.07,-116.8,77.9,-13.5,48,477,0.12,2.60,0.00,0.000,4,0.133,0.046,2716,268,3574,0,0,0,0,0,0
$GC,517,-1.07,-116.8,83.6,-11.9,51,521,0.00,2.42,0.00,0.000,6,0.000,0.018,2716,1840,3575,0,0,0,0,0,0
$GC,785,-1.07,-116.8,117.5,-12.9,75,789,0.00,2.55,0.00,0.000,4,0.000,0.038,2716,273,3576,0,0,0,0,0,0
$GC,816,-1.07,-116.8,121.6,-13.4,77,820,0.00,2.45,0.00,0.000,6,0.000,0.018,2716,1842,3577,0,0,0,0,0,0
$GC,1078,-1.07,-116.8,152.9,-10.6,101,1083,0.00,2.53,0.00,0.000,4,0.000,0.029,2716,3426,3577,0,0,0,0,0,0
$GC,1137,-1.20,-116.8,157.9,-8.7,106,1143,0.12,2.53,0.00,0.000,6,0.064,0.023,2648,1827,3577,0,0,0,0,0,0
$GC,1405,-1.10,-116.8,187.5,-11.0,130,1410,0.25,2.53,0.00,0.000,4,0.100,0.038,2705,271,3578,0,0,0,0,0,0
$GC,1456,-1.19,-116.8,192.9,-8.3,134,1462,0.00,2.42,0.00,0.000,6,0.000,0.020,2705,1834,3578,0,0,0,0,0,0
$GC,1721,-1.27,-116.8,213.5,-7.8,148,1726,0.15,2.53,0.00,0.000,4,0.059,0.031,2646,3418,3578,0,0,0,0,0,0
$GC,1755,-1.27,-116.8,217.2,-11.2,148,1760,0.12,2.55,0.00,0.000,6,0.110,0.024,2672,1822,3578,0,0,0,0,0,0
$GC,2004,-1.27,-116.8,244.2,-10.9,154,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1822,3578,0,0,0,0,0,0
$GC,2249,-1.27,-116.8,269.6,-10.3,160,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1822,3578,0,0,0,0,0,0
$GC,2492,-1.27,-116.8,294.1,-10.4,166,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1821,3578,0,0,0,0,0,0
$GC,2737,-1.27,-116.8,318.8,-9.9,172,2742,0.00,2.58,0.00,0.000,4,0.000,0.048,2672,283,3577,0,0,0,0,0,0
$GC,2756,-1.27,-116.8,321.0,-10.2,172,2761,0.00,2.42,0.00,0.000,6,0.000,0.024,2672,1814,3577,0,0,0,0,0,0
$GC,3024,-1.27,-116.8,348.3,-10.4,179,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1813,3575,0,0,0,0,0,0
$GC,3269,-1.27,-116.8,376.0,-11.6,185,3273,0.00,2.62,0.00,0.000,4,0.000,0.041,2672,3422,3574,0,0,0,0,0,0
$GC,3287,-1.27,-116.8,378.3,-11.2,185,3292,0.00,2.58,0.00,0.000,6,0.000,0.028,2672,1822,3575,0,0,0,0,0,0
$GC,3552,-1.27,-116.8,407.1,-10.7,192,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1822,3573,0,0,0,0,0,0
$GC,3795,-1.27,-116.8,430.9,-9.5,198,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1822,3572,0,0,0,0,0,0
$GC,4040,-1.33,-116.8,453.0,-9.0,204,4045,0.00,2.67,0.00,0.000,4,0.000,0.064,2672,276,3570,0,0,0,0,0,0
$GC,4086,-1.41,-116.8,457.4,-9.6,204,4092,0.12,2.47,0.00,0.000,6,0.067,0.030,2623,1819,3570,0,0,0,0,0,0
$GC,4336,-1.34,-116.8,487.1,-12.2,211,4345,0.15,2.72,0.00,0.000,4,0.111,0.052,2656,3432,3568,0,0,0,0,0,0
$GC,4360,-1.34,-116.8,490.0,-12.2,211,4364,0.00,2.62,0.00,0.000,6,0.000,0.034,2656,1832,3568,0,0,0,0,0,0
$GC,4623,-1.34,-116.8,517.5,-10.6,218,4628,0.00,2.67,0.00,0.000,4,0.000,0.067,2656,271,3566,0,0,0,0,0,0
$GC,4665,-1.34,-116.8,522.3,-11.4,219,4670,0.00,2.53,0.00,0.000,6,0.000,0.035,2656,1820,3566,0,0,0,0,0,0
$GC,4953,-1.34,-116.8,550.0,-9.2,226,4958,0.00,2.75,0.00,0.000,4,0.000,0.057,2656,3429,3564,0,0,0,0,0,0
$GC,4973,-1.34,-116.8,552.0,-9.4,226,4977,0.00,2.65,0.00,0.000,6,0.000,0.037,2656,1826,3564,0,0,0,0,0,0
$GC,5242,-1.34,-116.8,573.4,-7.7,233,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1826,3562,0,0,0,0,0,0
$GC,5488,-1.34,-116.8,591.5,-7.3,239,5493,0.00,2.70,0.00,0.000,4,0.000,0.073,2656,266,3561,0,0,0,0,0,0
$GC,5525,-1.40,-116.8,595.1,-9.1,239,5531,0.00,2.58,0.00,0.000,6,0.000,0.039,2656,1822,3561,0,0,0,0,0,0
$GC,5776,-1.40,-116.8,615.9,-8.4,246,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1822,3559,0,0,0,0,0,0
$GC,6021,-1.47,-116.8,637.9,-9.1,252,6022,0.10,0.00,0.00,0.000,6,0.085,0.000,2616,1822,3557,0,0,0,0,0,0
$GC,6262,-1.47,-116.8,664.9,-11.2,258,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1821,3555,0,0,0,0,0,0
$GC,6506,-1.47,-116.8,691.3,-10.8,264,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1822,3554,0,0,0,0,0,0
$GC,6752,-1.47,-116.8,717.6,-11.0,270,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1822,3553,0,0,0,0,0,0
$GC,6994,-1.47,-116.8,742.5,-10.1,276,6998,0.00,2.72,0.00,0.000,4,0.000,0.073,2616,272,3551,0,0,0,0,0,0
$GC,7022,-1.40,-116.8,745.8,-11.0,276,7027,0.12,2.60,0.00,0.000,6,0.118,0.043,2642,1822,3551,0,0,0,0,0,0
$GC,7278,-1.40,-116.8,768.6,-8.8,283,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1822,3550,0,0,0,0,0,0
$GC,7522,-1.40,-116.8,789.8,-8.8,289,7527,0.00,2.72,0.00,0.000,4,0.000,0.072,2642,272,3549,0,0,0,0,0,0
$GC,7554,-1.40,-116.8,793.1,-9.5,289,7559,0.00,2.60,0.00,0.000,6,0.000,0.043,2642,1822,3548,0,0,0,0,0,0
$GC,7805,-1.40,-116.8,815.3,-8.8,295,7810,0.00,2.72,0.00,0.000,4,0.000,0.072,2642,272,3547,0,0,0,0,0,0
$GC,7826,-1.40,-116.8,817.2,-9.1,295,7832,0.00,2.60,0.00,0.000,6,0.000,0.043,2642,1808,3547,0,0,0,0,0,0
$GC,8096,-1.40,-116.8,841.5,-9.0,302,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1808,3546,0,0,0,0,0,0
$GC,8340,-1.40,-116.8,863.7,-9.2,308,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1808,3545,0,0,0,0,0,0
$GC,8584,-1.40,-116.8,884.3,-8.4,314,8589,0.00,2.72,0.00,0.000,4,0.000,0.073,2642,266,3544,0,0,0,0,0,0
$GC,8607,-1.40,-116.8,886.5,-9.5,314,8612,0.00,2.60,0.00,0.000,6,0.000,0.044,2642,1812,3544,0,0,0,0,0,0
$STATE,8782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8783,begin apogee
$GC,8789,-0.31,0.0,901.1,8.2,319,8888,1.08,0.00,95.43,1.183,6,0.084,0.000,2880,1620,3095,0,0,0,0,0,0
$STATE,8888,end apogee,CONTROL_FINISHED_OK
$STATE,8888,begin climb
$GC,8892,1.38,116.8,902.9,0.0,321,9008,1.52,2.83,104.40,1.162,4,0.035,0.057,3253,3216,2616,0,0,0,0,0,0
$GC,9022,1.19,195.5,903.7,5.5,324,9104,0.22,2.70,71.18,1.140,6,0.132,0.044,3211,1641,2298,0,0,0,0,0,0
$GC,9346,1.07,195.5,863.4,13.5,332,9351,0.15,2.67,0.00,0.000,4,0.137,0.087,3183,172,2290,0,0,0,0,0,0
$GC,9393,0.96,195.5,856.6,14.1,333,9398,0.12,2.45,0.00,0.000,6,0.129,0.041,3159,1629,2289,0,0,0,0,0,0
$GC,9676,0.96,195.5,824.4,11.3,340,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1630,2286,0,0,0,0,0,0
$GC,9920,0.96,195.5,797.7,10.9,346,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1630,2285,0,0,0,0,0,0
$GC,10163,0.96,195.5,771.3,10.8,352,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1631,2284,0,0,0,0,0,0
$GC,10407,0.96,195.5,745.7,10.5,358,10413,0.00,2.65,0.00,0.000,4,0.000,0.076,3159,173,2284,0,0,0,0,0,0
$GC,10453,0.96,195.5,740.4,11.8,358,10458,0.00,2.42,0.00,0.000,6,0.000,0.039,3159,1630,2283,0,0,0,0,0,0
$GC,10702,0.96,195.5,712.7,11.0,365,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1630,2282,0,0,0,0,0,0
$GC,10947,0.96,195.5,687.9,10.1,371,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1631,2282,0,0,0,0,0,0
$GC,11191,0.97,202.7,664.2,9.6,377,11197,0.00,0.00,4.80,0.725,6,0.000,0.000,3159,1632,2268,0,0,0,0,0,0
$GC,11435,0.99,219.2,641.7,9.1,383,11461,0.00,2.83,17.08,0.970,4,0.000,0.062,3159,3213,2199,0,0,0,0,0,0
$GC,11506,1.09,233.0,635.3,9.2,384,11529,0.08,2.75,13.70,0.935,6,0.039,0.044,3200,1629,2146,0,0,0,0,0,0
$GC,11773,1.09,233.0,605.7,11.0,391,11777,0.00,2.65,0.00,0.000,4,0.000,0.087,3201,166,2143,0,0,0,0,0,0
$GC,11819,0.99,233.0,599.9,12.2,392,11825,0.17,2.45,0.00,0.000,6,0.120,0.038,3166,1629,2143,0,0,0,0,0,0
$GC,12103,1.01,251.9,574.1,8.9,399,12128,0.00,2.85,18.35,0.931,4,0.000,0.065,3166,3207,2067,0,0,0,0,0,0
$GC,12156,1.10,255.4,568.9,9.8,400,12170,0.10,2.72,4.38,0.643,6,0.079,0.043,3206,1621,2053,0,0,0,0,0,0
$GC,12441,1.10,255.4,537.0,11.3,407,12446,0.00,2.78,0.00,0.000,4,0.000,0.052,3206,3216,2052,0,0,0,0,0,0
$GC,12460,1.10,255.4,534.4,11.6,407,12465,0.00,2.72,0.00,0.000,6,0.000,0.044,3207,1624,2051,0,0,0,0,0,0
$GC,12728,1.10,255.4,505.9,10.6,414,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1623,2051,0,0,0,0,0,0
$GC,12973,1.10,255.4,478.8,11.4,420,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1623,2050,0,0,0,0,0,0
$GC,13217,1.10,255.4,449.2,12.3,426,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1624,2050,0,0,0,0,0,0
$GC,13459,1.10,255.4,417.8,12.9,432,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1624,2050,0,0,0,0,0,0
$GC,13703,1.10,255.4,387.9,12.1,438,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1623,2050,0,0,0,0,0,0
$GC,13948,1.10,255.4,358.7,12.0,444,13953,0.00,2.55,0.00,0.000,4,0.000,0.074,3207,159,2049,0,0,0,0,0,0
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$GC,14273,1.10,255.4,318.5,11.9,451,14279,0.00,2.60,0.00,0.000,6,0.000,0.037,3207,1626,2048,0,0,0,0,0,0
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$STATE,17117,end climb,SURFACE_DEPTH_REACHED
$STATE,17117,begin surface coast
$FINISH,0.7,1.013907
$STATE,17166,end surface coast,CONTROL_FINISHED_OK
$STATE,17166,begin surface
$SM_CCo,17190,43.40,0.459,1,0,1464,400.08
$SM_GC,1.36,0.00,0.00,43.40,0.000,0.000,0.459,410,1847,1464,-11.68,-0.08,400.08
$IRIDIUM_FIX,2223.01,-15757.62,121100,131300
$TT8_MAMPS,0.027612
$HUMID,58.23
$INTERNAL_PRESSURE,9.34016
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.2,5.811
$10V_AH,10.3,5.796
$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,29.725,180.575,405.575,43.400,0.000,27.785,34.591,205.163,0.500,0.000,11.970,1388.266,12729.673,511.714,1949.664,1075.667,33.381,1489.129,0.000,2288.834,0.000,0.536,0.000
$DEVICE_MAMPS,175.643,86.671,1182.714,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,447.408,477.071,562.955,510.605,953.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356096
$DATA_FILE_SIZE,50899,655
$CAP_FILE_SIZE,154513,0
$CFSIZE,260165632,128401408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190811,231857,2237.480,-15801.387,39,99.0,58,10.0