version: 66.06
glider: 148
mission: 10
dive: 45
start: 8 20 111 14 38 31
data:
$ID,148
$MISSION,10
$DIVE,45
$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,-877678.69
$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,48
$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
$GPS1,143030,2242.864,-15800.388,66,1.7,66,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.9
$GPS2,143737,2242.841,-15800.427,11,1.7,29,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.094,0.215
$KALMAN_X,-37606.1,-58.7,114.4,52878.5,-1126.7
$KALMAN_Y,-20890.6,-171.2,69.0,135138.7,-773.4
$MHEAD_RNG_PITCHd_Wd,13.7,4064,-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,18,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-67.38,0.000,2,0.000,0.000,413,1827,3266,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.0,9,117,12.40,2.58,-5.25,0.000,4,0.175,0.036,2640,3435,3575,0,0,0,0,0,0
$GC,190,-1.10,-116.8,34.1,-22.0,22,200,0.28,2.55,0.00,0.000,6,0.091,0.024,2704,1848,3577,0,0,0,0,0,0
$GC,459,-1.10,-116.8,81.3,-14.4,47,464,0.00,2.55,0.00,0.000,4,0.000,0.038,2704,266,3578,0,0,0,0,0,0
$GC,492,-1.10,-116.8,87.1,-14.6,49,498,0.00,2.47,0.00,0.000,6,0.000,0.019,2704,1837,3578,0,0,0,0,0,0
$GC,753,-1.10,-116.8,122.5,-11.5,74,757,0.00,2.55,0.00,0.000,4,0.000,0.038,2703,268,3579,0,0,0,0,0,0
$GC,772,-1.10,-116.8,124.3,-10.8,75,777,0.00,2.45,0.00,0.000,6,0.000,0.018,2703,1857,3579,0,0,0,0,0,0
$GC,1040,-1.10,-116.8,149.3,-9.6,99,1044,0.00,2.47,0.00,0.000,4,0.000,0.030,2703,3421,3581,0,0,0,0,0,0
$GC,1062,-1.10,-116.8,152.4,-10.5,100,1068,0.00,2.55,0.00,0.000,6,0.000,0.022,2703,1830,3581,0,0,0,0,0,0
$GC,1324,-1.10,-116.8,180.6,-11.8,125,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1830,3581,0,0,0,0,0,0
$GC,1575,-1.18,-116.8,209.5,-11.5,143,1580,0.00,2.58,0.00,0.000,4,0.000,0.030,2703,3410,3581,0,0,0,0,0,0
$GC,1608,-1.31,-116.8,213.5,-10.9,143,1613,0.15,2.53,0.00,0.000,6,0.056,0.025,2618,1830,3581,0,0,0,0,0,0
$GC,1864,-1.14,-116.8,253.5,-15.6,150,1871,0.35,2.55,0.00,0.000,4,0.094,0.040,2695,266,3581,0,0,0,0,0,0
$GC,1919,-1.25,-116.8,260.1,-11.4,151,1923,0.00,2.42,0.00,0.000,6,0.000,0.021,2696,1817,3581,0,0,0,0,0,0
$GC,2197,-1.34,-116.8,285.0,-8.6,158,2202,0.15,2.62,0.00,0.000,4,0.058,0.038,2637,3429,3581,0,0,0,0,0,0
$GC,2248,-1.34,-116.8,291.0,-11.7,159,2254,0.00,2.60,0.00,0.000,6,0.000,0.026,2637,1829,3581,0,0,0,0,0,0
$GC,2534,-1.27,-116.8,324.1,-11.8,166,2539,0.17,2.58,0.00,0.000,4,0.101,0.048,2675,273,3580,0,0,0,0,0,0
$GC,2610,-1.35,-116.8,332.8,-10.8,167,2614,0.00,2.45,0.00,0.000,6,0.000,0.024,2675,1825,3580,0,0,0,0,0,0
$GC,2865,-1.35,-116.8,356.7,-9.2,174,2871,0.00,2.65,0.00,0.000,4,0.000,0.040,2675,3428,3579,0,0,0,0,0,0
$GC,2895,-1.41,-116.8,359.5,-9.6,174,2900,0.12,2.58,0.00,0.000,6,0.067,0.028,2615,1826,3579,0,0,0,0,0,0
$GC,3155,-1.31,-116.8,390.1,-12.2,181,3157,0.22,0.00,0.00,0.000,6,0.100,0.000,2663,1826,3578,0,0,0,0,0,0
$GC,3399,-1.31,-116.8,415.6,-10.5,187,3404,0.00,2.65,0.00,0.000,4,0.000,0.045,2663,3422,3576,0,0,0,0,0,0
$GC,3422,-1.31,-116.8,418.4,-10.9,187,3426,0.00,2.60,0.00,0.000,6,0.000,0.031,2663,1818,3576,0,0,0,0,0,0
$GC,3682,-1.31,-116.8,447.7,-11.7,194,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1818,3575,0,0,0,0,0,0
$GC,3925,-1.31,-116.8,473.4,-10.2,200,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1818,3573,0,0,0,0,0,0
$GC,4169,-1.31,-116.8,497.0,-9.7,206,4174,0.00,2.70,0.00,0.000,4,0.000,0.070,2660,278,3572,0,0,0,0,0,0
$GC,4193,-1.31,-116.8,499.5,-11.1,206,4197,0.00,2.50,0.00,0.000,6,0.000,0.035,2661,1816,3571,0,0,0,0,0,0
$GC,4458,-1.31,-116.8,524.0,-9.3,213,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1816,3569,0,0,0,0,0,0
$GC,4700,-1.31,-116.8,545.8,-8.8,219,4706,0.00,2.75,0.00,0.000,4,0.000,0.054,2661,3429,3567,0,0,0,0,0,0
$GC,4739,-1.41,-116.8,549.3,-8.5,219,4745,0.00,2.67,0.00,0.000,6,0.000,0.038,2661,1826,3567,0,0,0,0,0,0
$GC,4995,-1.47,-116.8,570.9,-8.4,226,4997,0.12,0.00,0.00,0.000,6,0.069,0.000,2613,1825,3565,0,0,0,0,0,0
$GC,5239,-1.41,-116.8,596.1,-10.5,232,5245,0.15,2.75,0.00,0.000,4,0.111,0.074,2646,273,3563,0,0,0,0,0,0
$GC,5278,-1.41,-116.8,600.6,-10.2,232,5283,0.00,2.58,0.00,0.000,6,0.000,0.039,2647,1812,3563,0,0,0,0,0,0
$GC,5533,-1.41,-116.8,624.3,-9.2,239,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1818,3561,0,0,0,0,0,0
$GC,5781,-1.41,-116.8,646.8,-9.0,245,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1818,3560,0,0,0,0,0,0
$GC,6021,-1.41,-116.8,668.1,-8.7,251,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1818,3559,0,0,0,0,0,0
$GC,6265,-1.41,-116.8,688.8,-8.4,257,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1818,3557,0,0,0,0,0,0
$GC,6510,-1.41,-116.8,708.7,-8.1,263,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1818,3555,0,0,0,0,0,0
$GC,6752,-1.41,-116.8,728.5,-8.1,269,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1817,3554,0,0,0,0,0,0
$GC,6996,-1.41,-116.8,749.3,-8.7,275,7001,0.00,2.80,0.00,0.000,4,0.000,0.062,2646,3431,3553,0,0,0,0,0,0
$GC,7016,-1.41,-116.8,751.3,-9.8,275,7020,0.00,2.67,0.00,0.000,6,0.000,0.041,2646,1814,3553,0,0,0,0,0,0
$GC,7285,-1.41,-116.8,775.3,-9.1,282,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1815,3552,0,0,0,0,0,0
$GC,7528,-1.41,-116.8,797.4,-9.0,288,7533,0.00,2.75,0.00,0.000,4,0.000,0.079,2647,272,3550,0,0,0,0,0,0
$GC,7557,-1.41,-116.8,800.3,-9.1,288,7561,0.00,2.58,0.00,0.000,6,0.000,0.041,2647,1815,3550,0,0,0,0,0,0
$GC,7819,-1.41,-116.8,824.3,-9.1,295,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1815,3550,0,0,0,0,0,0
$GC,8062,-1.41,-116.8,846.7,-9.2,301,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1815,3549,0,0,0,0,0,0
$GC,8307,-1.41,-116.8,869.3,-9.2,307,8311,0.00,2.72,0.00,0.000,4,0.000,0.071,2647,266,3548,0,0,0,0,0,0
$GC,8330,-1.41,-116.8,871.9,-10.5,307,8335,0.00,2.60,0.00,0.000,6,0.000,0.042,2646,1806,3547,0,0,0,0,0,0
$GC,8596,-1.47,-116.8,896.2,-9.1,314,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1807,3547,0,0,0,0,0,0
$STATE,8673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8673,begin apogee
$GC,8679,-0.31,0.0,903.5,9.0,316,8779,1.05,0.00,96.20,1.187,6,0.084,0.000,2879,1613,3095,0,0,0,0,0,0
$STATE,8780,end apogee,CONTROL_FINISHED_OK
$STATE,8780,begin climb
$GC,8782,1.38,116.8,906.0,0.0,318,8895,1.52,2.55,103.82,1.164,4,0.035,0.078,3250,190,2617,0,0,0,0,0,0
$GC,8905,1.17,211.8,908.5,4.5,320,9002,0.22,2.45,86.00,1.147,6,0.124,0.037,3207,1635,2230,0,0,0,0,0,0
$GC,9287,1.07,211.8,863.3,13.0,330,9292,0.12,2.58,0.00,0.000,4,0.131,0.072,3183,184,2221,0,0,0,0,0,0
$GC,9326,0.99,211.8,857.9,13.1,330,9331,0.00,2.45,0.00,0.000,6,0.000,0.039,3184,1633,2220,0,0,0,0,0,0
$GC,9575,0.99,211.8,828.1,12.0,337,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1634,2218,0,0,0,0,0,0
$GC,9820,0.99,211.8,798.1,12.3,343,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1635,2217,0,0,0,0,0,0
$GC,10063,0.99,211.8,767.5,12.7,349,10067,0.00,2.58,0.00,0.000,4,0.000,0.072,3183,183,2216,0,0,0,0,0,0
$GC,10096,0.90,211.8,763.0,14.0,349,10101,0.17,2.45,0.00,0.000,6,0.116,0.038,3149,1643,2216,0,0,0,0,0,0
$GC,10347,0.97,211.8,733.7,11.6,355,10352,0.00,2.72,0.00,0.000,4,0.000,0.064,3149,3220,2215,0,0,0,0,0,0
$GC,10382,1.06,211.8,729.6,11.8,355,10391,0.15,2.65,0.00,0.000,6,0.061,0.044,3201,1650,2214,0,0,0,0,0,0
$GC,10636,0.99,211.8,694.7,13.7,362,10638,0.15,0.00,0.00,0.000,6,0.117,0.000,3169,1650,2214,0,0,0,0,0,0
$GC,10879,0.99,211.8,666.1,11.5,368,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1650,2214,0,0,0,0,0,0
$GC,11122,0.99,211.8,639.4,10.9,374,11126,0.00,2.67,0.00,0.000,4,0.000,0.086,3169,171,2214,0,0,0,0,0,0
$GC,11165,0.99,211.8,634.1,13.8,375,11170,0.00,2.45,0.00,0.000,6,0.000,0.037,3169,1646,2213,0,0,0,0,0,0
$GC,11451,0.99,211.8,603.4,10.6,382,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1646,2213,0,0,0,0,0,0
$GC,11696,0.99,211.8,578.1,10.3,388,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1647,2212,0,0,0,0,0,0
$GC,11940,1.00,217.7,553.9,9.7,394,11944,0.00,2.67,0.00,0.000,4,0.000,0.059,3169,3213,2212,0,0,0,0,0,0
$GC,11959,1.03,243.4,552.0,8.5,394,11992,0.00,2.62,27.30,0.943,6,0.000,0.038,3169,1634,2101,0,0,0,0,0,0
$GC,12274,1.10,249.9,522.9,9.6,402,12282,0.00,0.00,6.45,0.750,6,0.000,0.000,3169,1634,2076,0,0,0,0,0,0
$GC,12516,1.18,249.9,498.2,10.3,408,12521,0.15,2.70,0.00,0.000,4,0.061,0.046,3224,3214,2074,0,0,0,0,0,0
$GC,12551,1.18,249.9,493.8,12.4,408,12555,0.00,2.67,0.00,0.000,6,0.000,0.041,3224,1633,2073,0,0,0,0,0,0
$GC,12801,1.11,249.9,461.2,13.0,414,12806,0.15,2.58,0.00,0.000,4,0.120,0.077,3195,171,2073,0,0,0,0,0,0
$GC,12829,1.11,249.9,457.4,12.9,414,12834,0.00,2.40,0.00,0.000,6,0.000,0.028,3195,1650,2073,0,0,0,0,0,0
$GC,13085,1.11,249.9,428.5,11.1,421,13089,0.00,2.65,0.00,0.000,4,0.000,0.057,3194,3208,2072,0,0,0,0,0,0
$GC,13145,1.11,249.9,421.4,11.5,422,13149,0.00,2.62,0.00,0.000,6,0.000,0.039,3194,1647,2071,0,0,0,0,0,0
$GC,13413,1.11,249.9,391.0,11.4,429,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1647,2071,0,0,0,0,0,0
$GC,13656,1.11,249.9,365.1,10.3,435,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1647,2071,0,0,0,0,0,0
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$GC,14565,1.22,269.5,272.8,9.6,456,14578,0.00,2.58,7.60,0.627,6,0.000,0.033,3194,1640,1996,0,0,0,0,0,0
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$STATE,16937,end climb,SURFACE_DEPTH_REACHED
$STATE,16937,begin surface coast
$FINISH,0.7,1.006533
$STATE,16979,end surface coast,CONTROL_FINISHED_OK
$STATE,16980,begin surface
$SM_CCo,17001,42.85,0.470,0,0,1464,400.08
$SM_GC,1.73,0.00,0.00,42.85,0.000,0.000,0.470,409,1918,1464,-11.69,1.92,400.08
$IRIDIUM_FIX,2232.34,-15758.91,131100,090950
$TT8_MAMPS,0.027612
$HUMID,57.60
$INTERNAL_PRESSURE,9.34016
$TCM_TEMP,22.50
$XPDR_PINGS,4
$24V_AH,23.2,6.388
$10V_AH,10.3,6.284
$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
$DEVICE_SECS,30.175,175.600,393.825,42.850,0.000,26.563,31.739,196.494,1.000,0.000,31.034,1369.266,12612.948,479.955,1968.938,1035.111,33.384,1480.801,0.000,2272.948,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,437.060,444.798,530.234,483.550,904.154,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356108
$DATA_FILE_SIZE,51064,640
$CAP_FILE_SIZE,154880,0
$CFSIZE,260165632,128122880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200811,192355,2244.077,-15759.879,39,1.3,39,10.1