version: 66.06
glider: 148
mission: 10
dive: 43
start: 8 20 111 4 32 15
data:
$ID,148
$MISSION,10
$DIVE,43
$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,-877615.81
$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,69
$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
$GPS1,042404,2239.353,-15800.891,72,1.2,75,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.0
$GPS2,043120,2239.421,-15800.946,13,1.0,13,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,0.218
$KALMAN_X,-35666.5,112.9,147.4,49837.0,-1085.1
$KALMAN_Y,-19772.1,242.8,75.6,127261.9,-1023.4
$MHEAD_RNG_PITCHd_Wd,11.5,10457,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.38,-116.8,0.0,0.0,0,91,0.00,0.00,-67.40,0.000,2,0.000,0.000,412,1877,3270,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.9,-6.3,9,119,12.48,2.62,-5.25,0.000,4,0.177,0.041,2644,259,3574,0,0,0,0,0,0
$GC,144,-0.57,-116.8,22.6,-37.4,15,155,0.80,2.50,0.00,0.000,6,0.099,0.021,2817,1824,3575,0,0,0,0,0,0
$GC,428,-0.78,-116.8,51.5,-8.2,42,433,0.15,2.58,0.00,0.000,4,0.053,0.029,2722,3435,3576,0,0,0,0,0,0
$GC,486,-0.78,-116.8,58.6,-13.2,46,491,0.25,2.53,0.00,0.000,6,0.091,0.024,2778,1840,3576,0,0,0,0,0,0
$GC,749,-0.96,-116.8,88.8,-10.3,70,754,0.15,2.55,0.00,0.000,4,0.057,0.028,2700,3431,3577,0,0,0,0,0,0
$GC,782,-0.96,-116.8,93.3,-13.6,72,793,0.10,2.53,0.00,0.000,6,0.084,0.022,2726,1858,3577,0,0,0,0,0,0
$GC,1051,-1.04,-116.8,127.2,-11.1,97,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1858,3578,0,0,0,0,0,0
$GC,1312,-1.13,-116.8,156.2,-10.5,122,1316,0.00,2.58,0.00,0.000,4,0.000,0.041,2726,268,3579,0,0,0,0,0,0
$GC,1344,-1.21,-116.8,159.7,-11.5,124,1350,0.17,2.53,0.00,0.000,6,0.051,0.019,2651,1889,3579,0,0,0,0,0,0
$GC,1607,-1.12,-116.8,194.0,-12.1,149,1615,0.25,2.65,0.00,0.000,4,0.097,0.037,2708,270,3580,0,0,0,0,0,0
$GC,1632,-1.12,-116.8,197.1,-10.8,151,1638,0.00,2.47,0.00,0.000,6,0.000,0.020,2708,1868,3580,0,0,0,0,0,0
$GC,1916,-1.21,-116.8,219.6,-7.9,161,1921,0.00,2.62,0.00,0.000,4,0.000,0.041,2707,273,3581,0,0,0,0,0,0
$GC,1943,-1.31,-116.8,221.8,-8.7,161,1948,0.17,2.47,0.00,0.000,6,0.051,0.020,2639,1865,3581,0,0,0,0,0,0
$GC,2204,-1.22,-116.8,253.5,-12.7,168,2206,0.20,0.00,0.00,0.000,6,0.100,0.000,2681,1867,3581,0,0,0,0,0,0
$GC,2448,-1.22,-116.8,278.2,-9.7,174,2452,0.00,2.62,0.00,0.000,4,0.000,0.044,2681,271,3580,0,0,0,0,0,0
$GC,2476,-1.22,-116.8,281.3,-10.5,174,2481,0.00,2.53,0.00,0.000,6,0.000,0.022,2682,1849,3580,0,0,0,0,0,0
$GC,2737,-1.22,-116.8,307.6,-10.0,181,2741,0.00,2.53,0.00,0.000,4,0.000,0.035,2681,3426,3579,0,0,0,0,0,0
$GC,2760,-1.22,-116.8,310.1,-11.2,181,2764,0.00,2.53,0.00,0.000,6,0.000,0.025,2681,1857,3579,0,0,0,0,0,0
$GC,3021,-1.29,-116.8,334.2,-9.4,188,3025,0.00,2.62,0.00,0.000,4,0.000,0.049,2682,269,3578,0,0,0,0,0,0
$GC,3044,-1.29,-116.8,336.7,-10.7,188,3049,0.00,2.55,0.00,0.000,6,0.000,0.023,2681,1856,3578,0,0,0,0,0,0
$GC,3310,-1.36,-116.8,358.6,-8.1,195,3315,0.12,2.58,0.00,0.000,4,0.069,0.038,2634,3428,3577,0,0,0,0,0,0
$GC,3325,-1.36,-116.8,360.1,-7.8,195,3329,0.00,2.53,0.00,0.000,6,0.000,0.027,2634,1850,3577,0,0,0,0,0,0
$GC,3595,-1.36,-116.8,386.4,-9.8,202,3600,0.00,2.65,0.00,0.000,4,0.000,0.054,2635,275,3575,0,0,0,0,0,0
$GC,3626,-1.36,-116.8,390.0,-11.5,202,3630,0.00,2.53,0.00,0.000,6,0.000,0.027,2635,1862,3575,0,0,0,0,0,0
$GC,3880,-1.36,-116.8,417.5,-10.9,209,3885,0.00,2.55,0.00,0.000,4,0.000,0.042,2635,3426,3574,0,0,0,0,0,0
$GC,3898,-1.36,-116.8,419.6,-11.0,209,3903,0.00,2.53,0.00,0.000,6,0.000,0.030,2635,1861,3573,0,0,0,0,0,0
$GC,4164,-1.36,-116.8,450.0,-11.7,216,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1861,3572,0,0,0,0,0,0
$GC,4405,-1.36,-116.8,477.3,-11.0,222,4410,0.00,2.72,0.00,0.000,4,0.000,0.067,2632,269,3570,0,0,0,0,0,0
$GC,4456,-1.36,-116.8,483.5,-12.0,223,4462,0.00,2.62,0.00,0.000,6,0.000,0.035,2634,1856,3570,0,0,0,0,0,0
$GC,4741,-1.36,-116.8,513.2,-10.4,230,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1855,3568,0,0,0,0,0,0
$GC,4983,-1.36,-116.8,537.1,-9.7,236,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1856,3566,0,0,0,0,0,0
$GC,5227,-1.36,-116.8,561.3,-10.0,242,5232,0.00,2.78,0.00,0.000,4,0.000,0.067,2635,280,3564,0,0,0,0,0,0
$GC,5279,-1.36,-116.8,567.0,-11.3,243,5283,0.00,2.60,0.00,0.000,6,0.000,0.038,2635,1863,3563,0,0,0,0,0,0
$GC,5561,-1.36,-116.8,597.9,-11.0,250,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1863,3561,0,0,0,0,0,0
$GC,5804,-1.36,-116.8,623.9,-10.5,256,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1862,3560,0,0,0,0,0,0
$GC,6049,-1.36,-116.8,648.4,-10.1,262,6054,0.00,2.80,0.00,0.000,4,0.000,0.071,2634,269,3558,0,0,0,0,0,0
$GC,6070,-1.36,-116.8,650.5,-10.2,262,6075,0.00,2.65,0.00,0.000,6,0.000,0.040,2634,1847,3558,0,0,0,0,0,0
$GC,6339,-1.36,-116.8,678.5,-10.5,269,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1847,3556,0,0,0,0,0,0
$GC,6584,-1.36,-116.8,705.0,-10.8,275,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1847,3555,0,0,0,0,0,0
$GC,6826,-1.36,-116.8,730.4,-10.3,281,6831,0.00,2.78,0.00,0.000,4,0.000,0.071,2634,269,3553,0,0,0,0,0,0
$GC,6850,-1.36,-116.8,733.0,-11.9,281,6854,0.00,2.65,0.00,0.000,6,0.000,0.040,2634,1858,3553,0,0,0,0,0,0
$GC,7110,-1.36,-116.8,758.0,-9.5,288,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1858,3552,0,0,0,0,0,0
$GC,7353,-1.36,-116.8,781.4,-9.6,294,7357,0.00,2.78,0.00,0.000,4,0.000,0.070,2635,277,3551,0,0,0,0,0,0
$GC,7383,-1.36,-116.8,784.5,-10.2,294,7387,0.00,2.62,0.00,0.000,6,0.000,0.041,2635,1862,3550,0,0,0,0,0,0
$GC,7639,-1.36,-116.8,808.3,-9.2,301,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1862,3549,0,0,0,0,0,0
$GC,7881,-1.36,-116.8,829.4,-8.5,307,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1862,3548,0,0,0,0,0,0
$GC,8126,-1.36,-116.8,849.7,-8.3,313,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1862,3547,0,0,0,0,0,0
$GC,8370,-1.36,-116.8,869.9,-8.4,319,8374,0.00,2.80,0.00,0.000,4,0.000,0.070,2634,269,3546,0,0,0,0,0,0
$GC,8394,-1.36,-116.8,872.3,-9.7,319,8399,0.00,2.67,0.00,0.000,6,0.000,0.041,2635,1852,3545,0,0,0,0,0,0
$GC,8658,-1.36,-116.8,895.8,-9.0,326,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1852,3545,0,0,0,0,0,0
$STATE,8737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8737,begin apogee
$GC,8744,-0.31,0.0,903.5,9.3,328,8843,1.10,0.00,95.47,1.184,6,0.083,0.000,2878,1628,3095,0,0,0,0,0,0
$STATE,8843,end apogee,CONTROL_FINISHED_OK
$STATE,8844,begin climb
$GC,8846,1.38,116.8,906.3,0.0,330,8963,1.55,2.80,104.30,1.162,4,0.035,0.054,3254,3215,2616,0,0,0,0,0,0
$GC,9005,1.16,166.8,907.4,7.1,333,9060,0.25,2.70,45.62,1.129,6,0.129,0.043,3207,1643,2412,0,0,0,0,0,0
$GC,9303,1.03,166.8,879.4,10.0,341,9310,0.15,2.70,0.00,0.000,4,0.129,0.087,3177,166,2407,0,0,0,0,0,0
$GC,9339,0.90,166.8,875.6,10.5,341,9344,0.15,2.47,0.00,0.000,6,0.118,0.038,3147,1638,2406,0,0,0,0,0,0
$GC,9590,0.94,203.1,855.5,7.9,347,9629,0.00,0.00,33.20,1.104,6,0.000,0.000,3147,1639,2265,0,0,0,0,0,0
$GC,9875,0.95,208.9,828.8,9.7,354,9882,0.00,0.00,5.90,0.837,6,0.000,0.000,3147,1639,2243,0,0,0,0,0,0
$GC,10118,0.96,216.7,805.2,9.6,360,10128,0.00,0.00,8.65,0.937,6,0.000,0.000,3147,1639,2211,0,0,0,0,0,0
$GC,10363,1.04,228.5,782.4,9.3,366,10385,0.12,2.80,12.40,0.995,4,0.069,0.061,3191,3221,2162,0,0,0,0,0,0
$GC,10414,1.04,228.5,776.4,11.7,367,10418,0.00,2.75,0.00,0.000,6,0.000,0.043,3191,1623,2161,0,0,0,0,0,0
$GC,10696,1.04,228.5,742.9,12.0,374,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1622,2159,0,0,0,0,0,0
$GC,10940,1.04,228.5,714.3,11.6,380,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1623,2158,0,0,0,0,0,0
$GC,11183,1.04,228.5,687.0,11.0,386,11188,0.00,2.60,0.00,0.000,4,0.000,0.085,3191,169,2158,0,0,0,0,0,0
$GC,11222,0.95,228.5,682.4,11.7,386,11228,0.15,2.45,0.00,0.000,6,0.119,0.037,3161,1641,2157,0,0,0,0,0,0
$GC,11472,0.95,228.5,657.0,10.2,393,11477,0.00,2.72,0.00,0.000,4,0.000,0.061,3159,3214,2157,0,0,0,0,0,0
$GC,11503,0.95,228.5,653.7,10.4,393,11508,0.00,2.67,0.00,0.000,6,0.000,0.040,3159,1631,2156,0,0,0,0,0,0
$GC,11758,0.95,228.5,625.3,11.2,400,11759,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1631,2156,0,0,0,0,0,0
$GC,12002,0.95,228.5,597.1,11.7,406,12007,0.00,2.67,0.00,0.000,4,0.000,0.045,3160,3212,2156,0,0,0,0,0,0
$GC,12046,1.05,228.5,591.8,12.1,407,12050,0.00,2.67,0.00,0.000,6,0.000,0.042,3160,1632,2155,0,0,0,0,0,0
$GC,12333,1.11,228.5,558.0,11.6,414,12335,0.12,0.00,0.00,0.000,6,0.068,0.000,3207,1631,2155,0,0,0,0,0,0
$GC,12577,1.11,228.5,526.5,13.2,420,12581,0.00,2.58,0.00,0.000,4,0.000,0.077,3208,172,2155,0,0,0,0,0,0
$GC,12601,1.01,228.5,522.5,16.3,420,12607,0.15,2.42,0.00,0.000,6,0.097,0.030,3173,1643,2155,0,0,0,0,0,0
$GC,12866,1.01,228.5,488.5,12.8,427,12871,0.00,2.55,0.00,0.000,4,0.000,0.064,3173,164,2155,0,0,0,0,0,0
$GC,12885,1.01,228.5,485.7,14.1,427,12889,0.00,2.38,0.00,0.000,6,0.000,0.029,3173,1628,2155,0,0,0,0,0,0
$GC,13149,1.01,228.5,453.3,12.2,434,13154,0.00,2.50,0.00,0.000,4,0.000,0.062,3173,169,2155,0,0,0,0,0,0
$GC,13170,1.01,228.5,450.7,12.6,434,13175,0.00,2.38,0.00,0.000,6,0.000,0.035,3173,1622,2155,0,0,0,0,0,0
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$STATE,17327,end climb,SURFACE_DEPTH_REACHED
$STATE,17327,begin surface coast
$FINISH,0.6,1.001520
$STATE,17377,end surface coast,CONTROL_FINISHED_OK
$STATE,17377,begin surface
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$HUMID,58.15
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$TCM_TEMP,22.20
$XPDR_PINGS,2
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$10V_AH,10.3,6.048
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.975,192.500,399.125,49.950,0.000,23.604,31.466,222.817,0.500,0.000,15.370,1422.656,12795.803,550.018,1994.138,1116.781,33.380,1538.965,0.000,2365.602,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356108
$DATA_FILE_SIZE,50814,674
$CAP_FILE_SIZE,159536,0
$CFSIZE,260165632,128258048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200811,092453,2241.118,-15800.764,51,1.8,67,10.0