version: 66.06
glider: 148
mission: 9
dive: 20
start: 11 11 110 20 8 7
data:
$ID,148
$MISSION,9
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$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,330
$T_MISSION,660
$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,52499
$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,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-857815.81
$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,2870
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,82
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3105
$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,-11.449877
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,195639,2159.077,-15807.520,67,1.4,69,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.6
$GPS2,200713,2159.024,-15807.645,10,1.4,10,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.090,0.217
$KALMAN_X,-6548.2,421.6,-54.8,9988.3,-1055.5
$KALMAN_Y,-2569.7,301.0,-194.5,37891.3,410.5
$MHEAD_RNG_PITCHd_Wd,12.7,86142,-19.8,-10.000
$D_GRID,990
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.38,-116.8,0.0,0.0,0,107,0.00,0.00,-82.82,0.000,2,0.000,0.000,408,1816,3390,0,0,0,0,0,0
$GC,110,-1.38,-116.8,3.8,-6.8,11,135,11.52,2.42,-3.50,0.000,4,0.160,0.042,2563,3317,3585,0,0,0,0,0,0
$GC,187,-1.28,-116.8,25.9,-17.5,22,196,0.10,2.50,0.00,0.000,6,0.092,0.025,2588,1768,3587,0,0,0,0,0,0
$GC,467,-1.22,-116.8,69.2,-14.7,49,471,0.00,2.50,0.00,0.000,4,0.000,0.034,2588,3316,3587,0,0,0,0,0,0
$GC,489,-1.13,-116.8,73.7,-14.8,50,498,0.15,2.47,0.00,0.000,6,0.091,0.023,2625,1767,3588,0,0,0,0,0,0
$GC,757,-1.27,-116.8,103.0,-9.6,75,762,0.12,0.00,0.00,0.000,6,0.070,0.000,2573,1767,3588,0,0,0,0,0,0
$GC,1018,-1.27,-116.8,132.3,-9.9,100,1023,0.10,2.45,0.00,0.000,4,0.124,0.032,2594,3315,3589,0,0,0,0,0,0
$GC,1050,-1.38,-116.8,135.4,-9.6,102,1059,0.08,2.45,0.00,0.000,6,0.041,0.024,2545,1779,3590,0,0,0,0,0,0
$GC,1315,-1.38,-116.8,164.8,-11.1,127,1320,0.10,2.55,0.00,0.000,4,0.127,0.041,2566,194,3590,0,0,0,0,0,0
$GC,1356,-1.44,-116.8,169.8,-12.3,130,1360,0.00,2.40,0.00,0.000,6,0.000,0.021,2566,1742,3591,0,0,0,0,0,0
$GC,1623,-1.51,-116.8,199.1,-11.1,154,1628,0.10,2.55,0.00,0.000,4,0.083,0.033,2520,3352,3591,0,0,0,0,0,0
$GC,1648,-1.51,-116.8,203.3,-14.5,154,1652,0.00,2.47,0.00,0.000,6,0.000,0.024,2520,1781,3591,0,0,0,0,0,0
$GC,1907,-1.44,-116.8,237.5,-13.1,161,1912,0.17,2.58,0.00,0.000,4,0.110,0.042,2556,193,3591,0,0,0,0,0,0
$GC,1945,-1.50,-116.8,242.4,-11.3,161,1951,0.00,2.45,0.00,0.000,6,0.000,0.021,2556,1775,3591,0,0,0,0,0,0
$GC,2196,-1.56,-116.8,268.8,-10.9,168,2201,0.12,2.53,0.00,0.000,4,0.071,0.035,2508,3343,3591,0,0,0,0,0,0
$GC,2248,-1.56,-116.8,275.6,-12.8,169,2253,0.10,2.45,0.00,0.000,6,0.125,0.025,2529,1787,3591,0,0,0,0,0,0
$GC,2526,-1.56,-116.8,311.0,-12.2,176,2531,0.00,2.62,0.00,0.000,4,0.000,0.047,2529,187,3591,0,0,0,0,0,0
$GC,2611,-1.56,-116.8,321.8,-12.3,177,2616,0.00,2.47,0.00,0.000,6,0.000,0.025,2528,1773,3590,0,0,0,0,0,0
$GC,2860,-1.56,-116.8,347.9,-10.2,184,2864,0.00,2.58,0.00,0.000,4,0.000,0.042,2529,3351,3590,0,0,0,0,0,0
$GC,2879,-1.56,-116.8,350.0,-10.9,184,2883,0.00,2.50,0.00,0.000,6,0.000,0.028,2528,1775,3590,0,0,0,0,0,0
$GC,3143,-1.56,-116.8,377.8,-10.6,191,3148,0.00,2.60,0.00,0.000,4,0.000,0.048,2529,3345,3588,0,0,0,0,0,0
$GC,3176,-1.56,-116.8,381.6,-10.5,191,3180,0.00,2.53,0.00,0.000,6,0.000,0.030,2529,1778,3588,0,0,0,0,0,0
$GC,3425,-1.56,-116.8,408.6,-10.9,197,3429,0.00,2.60,0.00,0.000,4,0.000,0.052,2529,3342,3586,0,0,0,0,0,0
$GC,3445,-1.56,-116.8,410.9,-12.5,197,3449,0.00,2.53,0.00,0.000,6,0.000,0.031,2529,1779,3586,0,0,0,0,0,0
$GC,3708,-1.56,-116.8,440.3,-11.1,204,3713,0.00,2.70,0.00,0.000,4,0.000,0.061,2529,187,3584,0,0,0,0,0,0
$GC,3731,-1.56,-116.8,443.1,-12.2,204,3736,0.00,2.55,0.00,0.000,6,0.000,0.033,2529,1777,3584,0,0,0,0,0,0
$GC,3991,-1.56,-116.8,470.6,-10.6,211,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1777,3582,0,0,0,0,0,0
$GC,4234,-1.56,-116.8,494.5,-9.9,217,4238,0.00,2.65,0.00,0.000,4,0.000,0.058,2529,3349,3580,0,0,0,0,0,0
$GC,4268,-1.56,-116.8,497.8,-9.9,217,4273,0.00,2.53,0.00,0.000,6,0.000,0.035,2529,1791,3580,0,0,0,0,0,0
$GC,4519,-1.56,-116.8,521.5,-9.4,223,4524,0.00,2.65,0.00,0.000,4,0.000,0.058,2529,3349,3578,0,0,0,0,0,0
$GC,4542,-1.56,-116.8,524.1,-10.4,223,4547,0.00,2.53,0.00,0.000,6,0.000,0.036,2529,1790,3578,0,0,0,0,0,0
$GC,4801,-1.56,-116.8,549.9,-10.0,230,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1790,3577,0,0,0,0,0,0
$GC,5045,-1.62,-116.8,573.7,-9.9,236,5050,0.00,2.78,0.00,0.000,4,0.000,0.072,2529,189,3575,0,0,0,0,0,0
$GC,5090,-1.71,-116.8,578.1,-10.1,237,5095,0.12,2.60,0.00,0.000,6,0.073,0.041,2484,1779,3575,0,0,0,0,0,0
$GC,5378,-1.64,-116.8,610.3,-10.7,244,5380,0.12,0.00,0.00,0.000,6,0.125,0.000,2508,1779,3572,0,0,0,0,0,0
$GC,5623,-1.64,-116.8,633.2,-9.3,250,5628,0.00,2.78,0.00,0.000,4,0.000,0.071,2508,186,3570,0,0,0,0,0,0
$GC,5656,-1.64,-116.8,637.0,-10.3,250,5660,0.00,2.65,0.00,0.000,6,0.000,0.042,2508,1785,3570,0,0,0,0,0,0
$GC,5905,-1.64,-116.8,662.7,-10.4,256,5910,0.00,2.80,0.00,0.000,4,0.000,0.073,2508,187,3568,0,0,0,0,0,0
$GC,5924,-1.64,-116.8,664.9,-11.6,256,5928,0.00,2.62,0.00,0.000,6,0.000,0.044,2508,1780,3568,0,0,0,0,0,0
$GC,6188,-1.64,-116.8,692.1,-10.3,263,6193,0.00,2.72,0.00,0.000,4,0.000,0.076,2508,3354,3566,0,0,0,0,0,0
$GC,6231,-1.64,-116.8,696.8,-10.9,264,6236,0.00,2.58,0.00,0.000,6,0.000,0.044,2508,1790,3566,0,0,0,0,0,0
$GC,6519,-1.64,-116.8,726.1,-10.1,271,6524,0.00,2.80,0.00,0.000,4,0.000,0.078,2507,190,3564,0,0,0,0,0,0
$GC,6593,-1.64,-116.8,734.1,-11.5,272,6598,0.00,2.62,0.00,0.000,6,0.000,0.044,2508,1782,3564,0,0,0,0,0,0
$GC,6848,-1.64,-116.8,756.8,-8.7,279,6852,0.00,2.78,0.00,0.000,4,0.000,0.073,2508,190,3562,0,0,0,0,0,0
$GC,6877,-1.64,-116.8,759.7,-9.5,279,6882,0.00,2.65,0.00,0.000,6,0.000,0.045,2508,1779,3561,0,0,0,0,0,0
$GC,7132,-1.64,-116.8,780.1,-8.0,286,7136,0.00,2.78,0.00,0.000,4,0.000,0.073,2508,190,3561,0,0,0,0,0,0
$GC,7160,-1.64,-116.8,782.8,-9.3,286,7164,0.00,2.62,0.00,0.000,6,0.000,0.044,2508,1777,3560,0,0,0,0,0,0
$GC,7416,-1.64,-116.8,803.5,-8.2,293,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1778,3560,0,0,0,0,0,0
$GC,7658,-1.64,-116.8,824.8,-8.9,299,7663,0.00,2.75,0.00,0.000,4,0.000,0.072,2508,190,3558,0,0,0,0,0,0
$GC,7681,-1.64,-116.8,827.3,-10.2,299,7686,0.00,2.62,0.00,0.000,6,0.000,0.044,2508,1771,3557,0,0,0,0,0,0
$GC,7940,-1.64,-116.8,851.5,-9.4,306,7945,0.00,2.78,0.00,0.000,4,0.000,0.073,2508,186,3556,0,0,0,0,0,0
$GC,7960,-1.64,-116.8,853.6,-10.0,306,7965,0.00,2.62,0.00,0.000,6,0.000,0.044,2508,1773,3556,0,0,0,0,0,0
$GC,8224,-1.64,-116.8,878.0,-9.1,313,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1773,3555,0,0,0,0,0,0
$GC,8468,-1.64,-116.8,899.9,-8.9,319,8472,0.00,2.75,0.00,0.000,4,0.000,0.072,2508,3358,3554,0,0,0,0,0,0
$GC,8490,-1.64,-116.8,901.9,-9.8,319,8494,0.00,2.62,0.00,0.000,6,0.000,0.044,2508,1772,3554,0,0,0,0,0,0
$GC,8755,-1.64,-116.8,926.2,-9.3,326,8760,0.00,2.70,0.00,0.000,4,0.000,0.059,2508,3358,3553,0,0,0,0,0,0
$GC,8774,-1.64,-116.8,928.3,-9.9,326,8779,0.00,2.65,0.00,0.000,6,0.000,0.044,2508,1769,3553,0,0,0,0,0,0
$GC,9039,-1.64,-116.8,953.1,-9.5,333,9044,0.00,2.72,0.00,0.000,4,0.000,0.059,2508,3363,3552,0,0,0,0,0,0
$GC,9060,-1.64,-116.8,955.1,-9.7,333,9064,0.00,2.62,0.00,0.000,6,0.000,0.044,2508,1777,3552,0,0,0,0,0,0
$GC,9324,-1.64,-116.8,979.4,-9.2,340,9328,0.00,2.80,0.00,0.000,4,0.000,0.081,2508,183,3551,0,0,0,0,0,0
$GC,9344,-1.64,-116.8,981.5,-11.1,340,9348,0.00,2.65,0.00,0.000,6,0.000,0.044,2508,1777,3551,0,0,0,0,0,0
$STATE,9442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9442,begin apogee
$GC,9448,-0.31,0.0,990.9,9.3,343,9547,1.33,0.00,95.70,1.276,6,0.090,0.000,2800,1636,3105,0,0,0,0,0,0
$STATE,9548,end apogee,CONTROL_FINISHED_OK
$STATE,9548,begin climb
$GC,9550,1.38,116.8,993.2,0.0,345,9668,1.52,2.85,106.22,1.250,4,0.030,0.061,3174,3242,2627,0,0,0,0,0,0
$GC,9696,1.00,120.8,991.8,9.8,348,9709,0.45,2.70,4.30,0.775,6,0.150,0.044,3092,1659,2612,0,0,0,0,0,0
$GC,9967,0.82,129.0,966.3,9.5,355,9983,0.20,2.72,8.43,1.031,4,0.127,0.085,3052,164,2578,0,0,0,0,0,0
$GC,10081,0.63,129.0,954.6,10.2,357,10086,0.22,2.50,0.00,0.000,6,0.127,0.041,3009,1653,2576,0,0,0,0,0,0
$GC,10346,0.68,168.5,933.8,7.7,364,10386,0.00,0.00,37.25,1.203,6,0.000,0.000,3009,1654,2418,0,0,0,0,0,0
$GC,10629,0.68,170.8,906.9,9.9,371,10633,0.00,2.78,0.00,0.000,4,0.000,0.068,3009,3235,2412,0,0,0,0,0,0
$GC,10653,0.74,171.8,904.4,9.9,371,10658,0.10,2.70,0.00,0.000,6,0.087,0.043,3045,1640,2411,0,0,0,0,0,0
$GC,10914,0.74,171.8,874.4,11.7,378,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1640,2410,0,0,0,0,0,0
$GC,11156,0.74,171.8,846.9,11.1,384,11160,0.00,2.62,0.00,0.000,4,0.000,0.085,3046,173,2409,0,0,0,0,0,0
$GC,11230,0.62,171.8,838.0,11.6,385,11236,0.20,2.45,0.00,0.000,6,0.125,0.041,3008,1651,2408,0,0,0,0,0,0
$GC,11487,0.66,200.9,815.8,8.3,392,11523,0.00,2.72,29.52,1.140,4,0.000,0.073,3008,168,2285,0,0,0,0,0,0
$GC,11578,0.66,200.9,807.4,11.0,394,11583,0.00,2.45,0.00,0.000,6,0.000,0.041,3008,1638,2283,0,0,0,0,0,0
$GC,11867,0.77,223.9,781.7,8.7,401,11892,0.12,0.00,21.90,1.097,6,0.075,0.000,3059,1639,2192,0,0,0,0,0,0
$GC,12109,0.77,223.9,753.2,12.0,407,12113,0.00,2.60,0.00,0.000,4,0.000,0.072,3059,171,2186,0,0,0,0,0,0
$GC,12227,0.68,223.9,737.3,13.6,409,12232,0.20,2.45,0.00,0.000,6,0.126,0.041,3021,1635,2185,0,0,0,0,0,0
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$STATE,19015,end climb,SURFACE_DEPTH_REACHED
$STATE,19015,begin surface coast
$FINISH,0.6,1.010522
$STATE,19048,end surface coast,CONTROL_FINISHED_OK
$STATE,19048,begin surface
$SM_CCo,19068,72.18,0.437,1,0,1269,450.13
$SM_GC,1.46,0.00,0.00,72.18,0.000,0.000,0.437,414,1822,1269,-11.30,1.47,450.13
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$TT8_MAMPS,0.027612
$HUMID,38.14
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,22.80
$XPDR_PINGS,5
$24V_AH,23.3,5.464
$10V_AH,10.4,4.942
$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
$DEVICE_SECS,30.900,254.675,390.725,72.175,0.000,28.735,37.406,356.620,1.250,0.000,11.986,1604.472,14129.450,621.679,2505.768,891.730,33.350,1775.743,0.000,2504.722,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,54188,708
$CAP_FILE_SIZE,197127,0
$CFSIZE,260165632,171171840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121110,012854,2201.690,-15806.661,60,1.2,60,9.9