version: 66.06
glider: 148
mission: 10
dive: 46
start: 8 20 111 19 38 28
data:
$ID,148
$MISSION,10
$DIVE,46
$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,-877695.19
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,192355,2244.077,-15759.879,39,1.3,39,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.5
$GPS2,193732,2244.131,-15759.994,14,1.2,14,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,0.155
$KALMAN_X,-38410.9,-132.7,40.7,54573.8,-898.7
$KALMAN_Y,-21936.7,-325.1,-203.6,139004.8,-179.4
$MHEAD_RNG_PITCHd_Wd,16.4,1609,-27.2,-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,-1.78,-63.0,0.0,0.0,0,88,0.00,0.00,-67.07,0.000,2,0.000,0.000,408,1919,3286,0,0,0,0,0,0
$GC,91,-1.82,-98.2,3.8,-6.3,9,116,11.85,2.72,-3.67,0.000,4,0.174,0.041,2543,263,3497,0,0,0,0,0,0
$GC,146,-1.37,-98.2,25.1,-36.8,16,157,0.47,2.53,0.00,0.000,6,0.111,0.021,2643,1851,3498,0,0,0,0,0,0
$GC,422,-1.45,-98.2,83.3,-15.4,42,426,0.00,2.53,0.00,0.000,4,0.000,0.028,2643,3431,3499,0,0,0,0,0,0
$GC,444,-1.53,-98.2,86.6,-16.2,43,449,0.12,2.53,0.00,0.000,6,0.067,0.021,2595,1838,3499,0,0,0,0,0,0
$GC,712,-1.53,-98.2,135.6,-18.2,67,717,0.10,2.55,0.00,0.000,4,0.134,0.038,2614,277,3500,0,0,0,0,0,0
$GC,825,-1.65,-98.2,156.6,-16.3,77,829,0.00,2.42,0.00,0.000,6,0.000,0.019,2614,1849,3500,0,0,0,0,0,0
$GC,1088,-1.73,-98.2,195.0,-14.4,101,1093,0.17,2.58,0.00,0.000,4,0.058,0.038,2558,275,3501,0,0,0,0,0,0
$GC,1107,-1.73,-98.2,198.7,-16.1,102,1117,0.00,2.47,0.00,0.000,6,0.000,0.019,2558,1843,3501,0,0,0,0,0,0
$GC,1367,-1.73,-98.2,240.0,-15.8,110,1372,0.00,2.58,0.00,0.000,4,0.000,0.039,2558,274,3501,0,0,0,0,0,0
$GC,1465,-1.73,-98.2,256.3,-17.3,112,1469,0.00,2.42,0.00,0.000,6,0.000,0.021,2558,1832,3501,0,0,0,0,0,0
$GC,1742,-1.73,-98.2,300.7,-15.5,119,1746,0.00,2.58,0.00,0.000,4,0.000,0.044,2558,282,3501,0,0,0,0,0,0
$GC,1794,-1.73,-98.2,308.8,-15.7,120,1799,0.00,2.47,0.00,0.000,6,0.000,0.023,2558,1823,3501,0,0,0,0,0,0
$GC,2078,-1.73,-98.2,347.3,-13.2,127,2082,0.00,2.60,0.00,0.000,4,0.000,0.048,2558,275,3501,0,0,0,0,0,0
$GC,2163,-1.73,-98.2,360.4,-15.5,128,2168,0.00,2.47,0.00,0.000,6,0.000,0.025,2558,1833,3500,0,0,0,0,0,0
$GC,2413,-1.73,-98.2,395.7,-14.3,135,2417,0.00,2.62,0.00,0.000,4,0.000,0.053,2558,285,3499,0,0,0,0,0,0
$GC,2544,-1.73,-98.2,416.4,-15.0,137,2550,0.00,2.45,0.00,0.000,6,0.000,0.030,2558,1816,3498,0,0,0,0,0,0
$GC,2794,-1.73,-98.2,455.4,-15.8,144,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1816,3496,0,0,0,0,0,0
$GC,3038,-1.73,-98.2,492.6,-15.0,150,3042,0.00,2.65,0.00,0.000,4,0.000,0.062,2557,280,3494,0,0,0,0,0,0
$GC,3121,-1.73,-98.2,506.1,-15.4,151,3127,0.00,2.47,0.00,0.000,6,0.000,0.036,2558,1799,3494,0,0,0,0,0,0
$GC,3372,-1.73,-98.2,540.3,-13.5,158,3376,0.00,2.60,0.00,0.000,4,0.000,0.062,2557,282,3491,0,0,0,0,0,0
$GC,3437,-1.73,-98.2,549.9,-14.4,159,3442,0.00,2.50,0.00,0.000,6,0.000,0.038,2557,1794,3491,0,0,0,0,0,0
$GC,3700,-1.73,-98.2,584.3,-12.8,166,3705,0.00,2.60,0.00,0.000,4,0.000,0.064,2558,283,3489,0,0,0,0,0,0
$GC,3761,-1.73,-98.2,592.1,-13.1,167,3766,0.00,2.47,0.00,0.000,6,0.000,0.038,2558,1789,3489,0,0,0,0,0,0
$GC,4031,-1.81,-98.2,624.4,-12.2,174,4036,0.00,2.65,0.00,0.000,4,0.000,0.067,2557,286,3486,0,0,0,0,0,0
$GC,4114,-1.81,-98.2,635.6,-13.1,175,4118,0.00,2.50,0.00,0.000,6,0.000,0.041,2557,1785,3486,0,0,0,0,0,0
$GC,4366,-1.89,-98.2,665.0,-11.7,181,4370,0.00,2.60,0.00,0.000,4,0.000,0.068,2557,286,3484,0,0,0,0,0,0
$GC,4417,-1.89,-98.2,672.0,-13.4,182,4421,0.00,2.47,0.00,0.000,6,0.000,0.040,2557,1772,3483,0,0,0,0,0,0
$GC,4695,-1.98,-98.2,705.9,-12.4,189,4700,0.17,2.62,0.00,0.000,4,0.064,0.069,2506,284,3481,0,0,0,0,0,0
$GC,4795,-1.90,-98.2,721.9,-16.5,191,4800,0.10,2.50,0.00,0.000,6,0.112,0.042,2529,1763,3481,0,0,0,0,0,0
$GC,5079,-1.90,-98.2,762.7,-14.0,198,5084,0.00,2.60,0.00,0.000,4,0.000,0.069,2530,282,3478,0,0,0,0,0,0
$GC,5130,-1.90,-98.2,770.9,-15.8,199,5135,0.00,2.50,0.00,0.000,6,0.000,0.043,2529,1771,3478,0,0,0,0,0,0
$GC,5407,-1.90,-98.2,810.2,-14.5,206,5411,0.00,2.58,0.00,0.000,4,0.000,0.069,2530,289,3476,0,0,0,0,0,0
$GC,5476,-1.90,-98.2,821.4,-15.7,207,5481,0.00,2.47,0.00,0.000,6,0.000,0.042,2529,1766,3475,0,0,0,0,0,0
$GC,5736,-1.90,-98.2,860.8,-15.5,214,5741,0.00,2.60,0.00,0.000,4,0.000,0.070,2530,296,3474,0,0,0,0,0,0
$GC,5815,-1.90,-98.2,874.3,-17.5,215,5819,0.00,2.42,0.00,0.000,6,0.000,0.045,2530,1768,3473,0,0,0,0,0,0
$STATE,5988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5988,begin apogee
$GC,5996,-0.31,0.0,901.2,15.6,220,6081,1.62,0.00,80.22,1.170,6,0.097,0.000,2880,1632,3095,0,0,0,0,0,0
$STATE,6081,end apogee,CONTROL_FINISHED_OK
$STATE,6082,begin climb
$GC,6084,1.82,98.2,905.8,0.0,222,6181,1.95,2.78,87.35,1.148,4,0.037,0.055,3358,3204,2692,0,0,0,0,0,0
$GC,6199,1.69,188.9,910.5,0.3,224,6290,0.20,2.67,81.70,1.135,6,0.136,0.040,3322,1637,2324,0,0,0,0,0,0
$GC,6541,1.61,188.9,864.2,15.5,233,6546,0.10,2.67,0.00,0.000,4,0.165,0.086,3304,170,2315,0,0,0,0,0,0
$GC,6668,1.48,188.9,842.4,17.1,235,6673,0.15,2.40,0.00,0.000,6,0.142,0.035,3275,1622,2312,0,0,0,0,0,0
$GC,6920,1.48,188.9,807.0,14.1,241,6924,0.00,2.58,0.00,0.000,4,0.000,0.071,3274,173,2311,0,0,0,0,0,0
$GC,7057,1.48,188.9,784.4,17.4,244,7062,0.00,2.38,0.00,0.000,6,0.000,0.035,3274,1619,2309,0,0,0,0,0,0
$GC,7346,1.48,188.9,741.5,14.5,251,7350,0.00,2.58,0.00,0.000,4,0.000,0.070,3274,167,2308,0,0,0,0,0,0
$GC,7389,1.48,188.9,734.8,15.6,252,7394,0.00,2.42,0.00,0.000,6,0.000,0.035,3273,1626,2308,0,0,0,0,0,0
$GC,7675,1.48,188.9,694.6,13.8,259,7681,0.00,2.60,0.00,0.000,4,0.000,0.069,3274,168,2307,0,0,0,0,0,0
$GC,7806,1.48,188.9,674.6,16.2,261,7812,0.00,2.42,0.00,0.000,6,0.000,0.035,3273,1616,2307,0,0,0,0,0,0
$GC,8062,1.48,188.9,642.1,12.4,268,8067,0.00,2.55,0.00,0.000,4,0.000,0.068,3273,167,2306,0,0,0,0,0,0
$GC,8187,1.48,188.9,625.4,12.4,270,8192,0.00,2.35,0.00,0.000,6,0.000,0.033,3273,1611,2305,0,0,0,0,0,0
$GC,8438,1.48,188.9,597.8,11.0,276,8443,0.00,2.55,0.00,0.000,4,0.000,0.067,3273,174,2304,0,0,0,0,0,0
$GC,8489,1.48,188.9,590.6,14.6,277,8493,0.00,2.38,0.00,0.000,6,0.000,0.032,3273,1617,2304,0,0,0,0,0,0
$GC,8770,1.48,188.9,556.7,12.1,284,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1617,2304,0,0,0,0,0,0
$GC,9015,1.54,188.9,525.8,12.9,290,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1619,2303,0,0,0,0,0,0
$GC,9259,1.61,188.9,494.3,12.8,296,9264,0.10,2.53,0.00,0.000,4,0.085,0.062,3306,165,2303,0,0,0,0,0,0
$GC,9437,1.51,188.9,467.9,15.7,299,9443,0.12,2.38,0.00,0.000,6,0.139,0.029,3282,1625,2302,0,0,0,0,0,0
$GC,9686,1.51,188.9,437.4,11.9,306,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1625,2302,0,0,0,0,0,0
$GC,9931,1.57,188.9,409.4,11.4,312,9936,0.00,2.50,0.00,0.000,4,0.000,0.061,3282,172,2302,0,0,0,0,0,0
$GC,9996,1.57,188.9,400.8,12.6,313,10000,0.00,2.33,0.00,0.000,6,0.000,0.027,3282,1614,2301,0,0,0,0,0,0
$GC,10260,1.64,188.9,369.4,12.0,320,10265,0.10,2.50,0.00,0.000,4,0.086,0.060,3316,164,2301,0,0,0,0,0,0
$GC,10351,1.53,188.9,356.1,15.2,322,10357,0.12,2.33,0.00,0.000,6,0.111,0.026,3288,1600,2301,0,0,0,0,0,0
$GC,10646,1.59,188.9,317.9,12.8,329,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1603,2300,0,0,0,0,0,0
$GC,10888,1.66,188.9,290.5,11.0,335,10893,0.10,2.42,0.00,0.000,4,0.086,0.057,3322,170,2301,0,0,0,0,0,0
$GC,10927,1.54,188.9,285.6,13.7,335,10933,0.17,2.28,0.00,0.000,6,0.128,0.025,3287,1603,2300,0,0,0,0,0,0
$GC,11178,1.62,193.7,261.2,9.5,342,11182,0.00,2.45,0.00,0.000,4,0.000,0.056,3288,165,2300,0,0,0,0,0,0
$GC,11267,1.62,193.7,251.3,11.8,344,11271,0.00,2.25,0.00,0.000,6,0.000,0.023,3288,1605,2300,0,0,0,0,0,0
$GC,11554,1.73,206.8,226.1,8.6,351,11574,0.15,2.45,12.57,0.653,4,0.064,0.052,3340,170,2250,0,0,0,0,0,0
$GC,11581,1.67,213.8,223.6,9.3,351,11595,0.12,2.25,7.50,0.589,6,0.140,0.023,3316,1590,2223,0,0,0,0,0,0
$GC,11842,1.67,213.8,194.2,12.2,360,11846,0.00,2.42,0.00,0.000,4,0.000,0.051,3317,160,2221,0,0,0,0,0,0
$GC,11864,1.67,213.8,192.0,13.4,361,11868,0.00,2.25,0.00,0.000,6,0.000,0.024,3316,1592,2221,0,0,0,0,0,0
$GC,12132,1.67,213.8,153.6,14.0,385,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1592,2220,0,0,0,0,0,0
$GC,12393,1.67,213.8,122.5,10.2,410,12397,0.00,2.62,0.00,0.000,4,0.000,0.035,3317,3204,2221,0,0,0,0,0,0
$GC,12457,1.76,223.4,116.6,9.0,415,12476,0.00,2.65,9.60,0.537,6,0.000,0.031,3317,1580,2183,0,0,0,0,0,0
$GC,12732,1.85,223.4,91.4,10.0,441,12737,0.15,2.35,0.00,0.000,4,0.063,0.048,3369,176,2182,0,0,0,0,0,0
$GC,13050,1.80,272.0,53.0,4.8,467,13106,0.12,2.22,42.85,0.532,6,0.133,0.020,3346,1608,1984,0,0,0,0,0,0
$GC,13372,1.90,272.0,22.7,12.4,500,13382,0.00,2.40,0.00,0.000,4,0.000,0.043,3345,177,1981,0,0,0,0,0,0
$GC,13393,1.97,272.0,19.8,13.0,502,13404,0.10,2.22,0.00,0.000,6,0.039,0.020,3404,1585,1981,0,0,0,0,0,0
$STATE,13503,end climb,SURFACE_DEPTH_REACHED
$STATE,13503,begin surface coast
$FINISH,0.7,1.023391
$STATE,13540,end surface coast,CONTROL_FINISHED_OK
$STATE,13541,begin surface
$SM_CCo,13563,64.90,0.474,0,0,1462,400.08
$SM_GC,1.71,0.00,0.00,64.90,0.000,0.000,0.474,413,1871,1462,-11.67,0.59,400.08
$IRIDIUM_FIX,2237.01,-15758.03,131100,191908
$TT8_MAMPS,0.027612
$HUMID,57.75
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.00
$XPDR_PINGS,4
$24V_AH,23.2,6.518
$10V_AH,10.3,6.397
$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,30.475,170.100,321.800,64.900,0.000,84.987,103.032,322.427,1.000,0.000,15.893,1225.124,9375.760,456.994,2111.329,1272.777,33.382,1487.020,0.000,2406.753,0.000,0.536,0.000
$DEVICE_MAMPS,174.109,85.904,1170.442,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.006,387.637,458.752,445.157,833.457,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356056
$DATA_FILE_SIZE,41618,523
$CAP_FILE_SIZE,147097,0
$CFSIZE,260165632,128069632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200811,232700,2245.523,-15759.567,41,1.6,41,10.1