version: 66.06
glider: 148
mission: 9
dive: 21
start: 11 12 110 1 46 33
data:
$ID,148
$MISSION,9
$DIVE,21
$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,636.30817
$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,-857841.38
$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,31
$R_STBD_OVSHOOT,78
$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
$GPS1,012854,2201.690,-15806.661,60,1.2,60,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.0
$GPS2,014540,2201.790,-15806.762,15,1.5,23,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.084,0.219
$KALMAN_X,-6609.2,-56.3,231.2,11758.8,-1079.6
$KALMAN_Y,-1959.6,60.5,275.7,42173.9,-347.6
$MHEAD_RNG_PITCHd_Wd,11.0,80855,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-82.50,0.000,2,0.000,0.000,413,1823,3375,0,0,0,0,0,0
$GC,107,-1.38,-116.8,3.5,-5.0,11,132,11.57,2.42,-3.80,0.000,4,0.164,0.043,2561,3316,3583,0,0,0,0,0,0
$GC,161,-1.05,-116.8,20.6,-24.8,18,170,0.32,2.47,0.00,0.000,6,0.087,0.023,2636,1768,3585,0,0,0,0,0,0
$GC,443,-1.14,-116.8,56.8,-11.9,48,447,0.00,2.47,0.00,0.000,4,0.000,0.032,2636,3313,3585,0,0,0,0,0,0
$GC,497,-1.27,-116.8,63.3,-11.6,52,502,0.17,2.42,0.00,0.000,6,0.054,0.023,2567,1779,3585,0,0,0,0,0,0
$GC,759,-1.27,-116.8,104.7,-14.3,76,764,0.12,2.58,0.00,0.000,4,0.116,0.046,2593,196,3585,0,0,0,0,0,0
$GC,833,-1.49,-116.8,113.6,-11.3,82,842,0.17,2.40,0.00,0.000,6,0.028,0.019,2524,1734,3586,0,0,0,0,0,0
$GC,1098,-1.39,-116.8,149.2,-13.4,107,1103,0.20,2.55,0.00,0.000,4,0.106,0.029,2566,3354,3586,0,0,0,0,0,0
$GC,1118,-1.39,-116.8,152.5,-13.3,108,1127,0.00,2.53,0.00,0.000,6,0.000,0.022,2566,1764,3587,0,0,0,0,0,0
$GC,1384,-1.39,-116.8,184.6,-12.3,133,1388,0.00,2.53,0.00,0.000,4,0.000,0.031,2566,3343,3587,0,0,0,0,0,0
$GC,1424,-1.47,-116.8,189.0,-12.1,136,1428,0.00,2.47,0.00,0.000,6,0.000,0.024,2566,1765,3587,0,0,0,0,0,0
$GC,1677,-1.53,-116.8,218.0,-10.8,148,1682,0.12,2.58,0.00,0.000,4,0.071,0.041,2518,187,3587,0,0,0,0,0,0
$GC,1692,-1.53,-116.8,220.0,-10.4,148,1696,0.00,2.42,0.00,0.000,6,0.000,0.021,2518,1767,3587,0,0,0,0,0,0
$GC,1962,-1.47,-116.8,255.8,-13.5,155,1963,0.15,0.00,0.00,0.000,6,0.114,0.000,2549,1769,3587,0,0,0,0,0,0
$GC,2203,-1.47,-116.8,285.2,-12.3,161,2207,0.00,2.50,0.00,0.000,4,0.000,0.035,2549,3340,3587,0,0,0,0,0,0
$GC,2230,-1.47,-116.8,288.6,-11.9,161,2235,0.00,2.47,0.00,0.000,6,0.000,0.025,2549,1768,3587,0,0,0,0,0,0
$GC,2486,-1.47,-116.8,314.1,-9.8,168,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1768,3587,0,0,0,0,0,0
$GC,2729,-1.54,-116.8,336.0,-8.9,174,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1768,3586,0,0,0,0,0,0
$GC,2973,-1.62,-116.8,356.9,-8.6,180,2978,0.15,2.60,0.00,0.000,4,0.062,0.043,2494,3338,3586,0,0,0,0,0,0
$GC,3011,-1.62,-116.8,361.6,-12.7,180,3018,0.10,2.47,0.00,0.000,6,0.128,0.028,2514,1777,3584,0,0,0,0,0,0
$GC,3261,-1.62,-116.8,389.2,-11.0,187,3265,0.00,2.65,0.00,0.000,4,0.000,0.056,2515,194,3583,0,0,0,0,0,0
$GC,3351,-1.62,-116.8,400.2,-12.8,189,3356,0.00,2.50,0.00,0.000,6,0.000,0.029,2515,1754,3583,0,0,0,0,0,0
$GC,3639,-1.62,-116.8,432.6,-11.1,196,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1754,3581,0,0,0,0,0,0
$GC,3881,-1.62,-116.8,460.3,-11.3,202,3886,0.00,2.62,0.00,0.000,4,0.000,0.050,2515,3349,3579,0,0,0,0,0,0
$GC,3904,-1.62,-116.8,463.2,-11.9,202,3909,0.00,2.58,0.00,0.000,6,0.000,0.033,2514,1764,3579,0,0,0,0,0,0
$GC,4164,-1.62,-116.8,491.1,-10.7,209,4169,0.00,2.67,0.00,0.000,4,0.000,0.055,2514,3347,3577,0,0,0,0,0,0
$GC,4187,-1.62,-116.8,493.9,-11.0,209,4192,0.00,2.58,0.00,0.000,6,0.000,0.035,2514,1759,3577,0,0,0,0,0,0
$GC,4446,-1.62,-116.8,519.6,-10.1,216,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1758,3575,0,0,0,0,0,0
$GC,4690,-1.62,-116.8,543.9,-9.9,222,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1759,3573,0,0,0,0,0,0
$GC,4935,-1.62,-116.8,566.7,-9.3,228,4939,0.00,2.72,0.00,0.000,4,0.000,0.072,2515,186,3571,0,0,0,0,0,0
$GC,4949,-1.62,-116.8,568.3,-9.2,228,4954,0.00,2.60,0.00,0.000,6,0.000,0.038,2515,1772,3571,0,0,0,0,0,0
$GC,5217,-1.62,-116.8,594.3,-9.6,235,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1772,3568,0,0,0,0,0,0
$GC,5463,-1.62,-116.8,618.0,-9.8,241,5467,0.00,2.67,0.00,0.000,4,0.000,0.065,2515,3351,3566,0,0,0,0,0,0
$GC,5481,-1.62,-116.8,620.2,-10.4,241,5486,0.00,2.60,0.00,0.000,6,0.000,0.040,2515,1774,3566,0,0,0,0,0,0
$GC,5745,-1.62,-116.8,645.2,-9.4,248,5749,0.00,2.67,0.00,0.000,4,0.000,0.057,2514,3360,3564,0,0,0,0,0,0
$GC,5774,-1.62,-116.8,647.9,-8.4,248,5779,0.00,2.62,0.00,0.000,6,0.000,0.042,2514,1767,3564,0,0,0,0,0,0
$GC,6029,-1.62,-116.8,671.1,-9.1,255,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1767,3562,0,0,0,0,0,0
$GC,6272,-1.62,-116.8,692.8,-9.0,261,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1765,3560,0,0,0,0,0,0
$GC,6516,-1.62,-116.8,713.5,-8.4,267,6521,0.00,2.75,0.00,0.000,4,0.000,0.081,2515,193,3559,0,0,0,0,0,0
$GC,6573,-1.62,-116.8,718.9,-10.3,268,6578,0.00,2.62,0.00,0.000,6,0.000,0.044,2515,1770,3558,0,0,0,0,0,0
$GC,6846,-1.62,-116.8,742.1,-8.4,275,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1770,3556,0,0,0,0,0,0
$GC,7090,-1.62,-116.8,763.1,-8.8,281,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1770,3555,0,0,0,0,0,0
$GC,7335,-1.68,-116.8,784.7,-8.9,287,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1770,3553,0,0,0,0,0,0
$GC,7577,-1.68,-116.8,806.0,-8.8,293,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1770,3552,0,0,0,0,0,0
$GC,7821,-1.68,-116.8,826.6,-8.4,299,7825,0.00,2.78,0.00,0.000,4,0.000,0.071,2515,3359,3551,0,0,0,0,0,0
$GC,7841,-1.68,-116.8,828.2,-9.2,299,7846,0.00,2.62,0.00,0.000,6,0.000,0.044,2514,1774,3551,0,0,0,0,0,0
$GC,8105,-1.75,-116.8,851.4,-9.1,306,8112,0.10,2.80,0.00,0.000,4,0.089,0.079,2478,187,3550,0,0,0,0,0,0
$GC,8140,-1.75,-116.8,855.6,-12.8,306,8145,0.00,2.65,0.00,0.000,6,0.000,0.045,2478,1776,3550,0,0,0,0,0,0
$GC,8391,-1.75,-116.8,883.4,-11.2,312,8396,0.00,2.78,0.00,0.000,4,0.000,0.072,2479,188,3549,0,0,0,0,0,0
$GC,8414,-1.75,-116.8,886.5,-12.8,312,8419,0.00,2.60,0.00,0.000,6,0.000,0.044,2478,1765,3548,0,0,0,0,0,0
$GC,8673,-1.75,-116.8,915.2,-11.2,319,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1765,3548,0,0,0,0,0,0
$GC,8916,-1.75,-116.8,941.8,-10.9,325,8921,0.00,2.75,0.00,0.000,4,0.000,0.073,2478,188,3547,0,0,0,0,0,0
$GC,8950,-1.75,-116.8,945.9,-12.7,325,8955,0.00,2.60,0.00,0.000,6,0.000,0.045,2478,1766,3547,0,0,0,0,0,0
$GC,9200,-1.75,-116.8,973.2,-11.0,331,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1766,3546,0,0,0,0,0,0
$STATE,9360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9360,begin apogee
$GC,9365,-0.31,0.0,990.8,10.8,335,9464,1.50,0.00,94.65,1.284,6,0.102,0.000,2799,1629,3105,0,0,0,0,0,0
$STATE,9465,end apogee,CONTROL_FINISHED_OK
$STATE,9465,begin climb
$GC,9468,1.38,116.8,993.4,0.0,337,9585,1.58,2.88,106.10,1.254,4,0.031,0.062,3177,3237,2627,0,0,0,0,0,0
$GC,9607,1.03,159.0,993.3,7.6,341,9653,0.43,2.67,39.12,1.209,6,0.143,0.043,3099,1659,2456,0,0,0,0,0,0
$GC,9935,0.83,159.0,956.6,11.5,349,9942,0.22,2.67,0.00,0.000,4,0.139,0.083,3057,166,2446,0,0,0,0,0,0
$GC,10042,0.67,159.0,944.4,11.5,351,10047,0.20,2.47,0.00,0.000,6,0.135,0.041,3019,1646,2445,0,0,0,0,0,0
$GC,10316,0.70,185.3,920.5,8.5,358,10345,0.00,2.70,23.65,1.167,4,0.000,0.074,3019,166,2349,0,0,0,0,0,0
$GC,10369,0.70,185.3,915.5,10.4,359,10374,0.00,2.50,0.00,0.000,6,0.000,0.041,3019,1646,2347,0,0,0,0,0,0
$GC,10642,0.71,190.0,889.2,9.7,366,10654,0.00,2.78,5.07,0.849,4,0.000,0.067,3019,3233,2329,0,0,0,0,0,0
$GC,10670,0.73,203.4,886.6,9.2,366,10691,0.00,2.67,14.02,1.101,6,0.000,0.043,3019,1645,2275,0,0,0,0,0,0
$GC,10979,0.74,213.2,856.9,9.4,374,10995,0.00,2.72,9.95,1.037,4,0.000,0.085,3019,174,2235,0,0,0,0,0,0
$GC,11024,0.74,213.2,851.9,11.7,375,11029,0.00,2.47,0.00,0.000,6,0.000,0.041,3019,1646,2234,0,0,0,0,0,0
$GC,11312,0.74,217.8,823.7,9.7,382,11320,0.00,0.00,5.35,0.858,6,0.000,0.000,3019,1646,2216,0,0,0,0,0,0
$GC,11555,0.75,222.4,800.0,9.7,388,11562,0.00,0.00,5.68,0.871,6,0.000,0.000,3019,1647,2198,0,0,0,0,0,0
$GC,11800,0.81,222.4,775.1,10.3,394,11807,0.12,2.80,0.00,0.000,4,0.077,0.068,3068,3239,2197,0,0,0,0,0,0
$GC,11816,0.81,222.4,772.8,10.3,394,11821,0.10,2.67,0.00,0.000,6,0.139,0.041,3050,1644,2196,0,0,0,0,0,0
$GC,12085,0.81,222.4,739.3,12.6,401,12090,0.00,2.62,0.00,0.000,4,0.000,0.084,3050,171,2196,0,0,0,0,0,0
$GC,12103,0.81,222.4,736.8,12.7,401,12108,0.00,2.42,0.00,0.000,6,0.000,0.041,3049,1641,2195,0,0,0,0,0,0
$GC,12368,0.81,222.4,704.8,11.9,408,12372,0.00,2.60,0.00,0.000,4,0.000,0.071,3049,163,2195,0,0,0,0,0,0
$GC,12442,0.74,222.4,695.0,13.9,409,12447,0.00,2.45,0.00,0.000,6,0.000,0.039,3049,1639,2195,0,0,0,0,0,0
$GC,12698,0.74,222.4,665.2,11.6,416,12702,0.00,2.58,0.00,0.000,4,0.000,0.071,3050,169,2194,0,0,0,0,0,0
$GC,12735,0.74,222.4,660.2,12.1,416,12740,0.00,2.40,0.00,0.000,6,0.000,0.039,3049,1632,2195,0,0,0,0,0,0
$GC,12984,0.74,222.4,631.2,11.5,423,12988,0.00,2.78,0.00,0.000,4,0.000,0.067,3050,3235,2194,0,0,0,0,0,0
$GC,13041,0.74,222.4,624.6,12.5,424,13045,0.00,2.67,0.00,0.000,6,0.000,0.044,3050,1640,2193,0,0,0,0,0,0
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$STATE,18722,end climb,SURFACE_DEPTH_REACHED
$STATE,18722,begin surface coast
$FINISH,0.7,1.023026
$STATE,18768,end surface coast,CONTROL_FINISHED_OK
$STATE,18769,begin surface
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$TT8_MAMPS,0.027612
$HUMID,36.29
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$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.3,5.611
$10V_AH,10.4,5.070
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.575,222.000,381.925,174.700,0.000,140.020,400.430,0.000,0.500,0.000,24.915,1518.604,14378.942,676.349,2388.218,979.657,33.355,1766.001,0.000,2373.125,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356088
$DATA_FILE_SIZE,54190,697
$CAP_FILE_SIZE,177137,0
$CFSIZE,260165632,171057152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121110,070400,2204.228,-15806.255,36,1.0,41,9.9