version: 66.06
glider: 148
mission: 9
dive: 23
start: 11 12 110 12 40 50
data:
$ID,148
$MISSION,9
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$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,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,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,-857870.44
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,122327,2206.859,-15806.631,38,2.0,40,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.5
$GPS2,123956,2206.926,-15806.645,13,1.2,13,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.047,0.230
$KALMAN_X,-7871.1,-216.3,20.8,13603.2,-34.1
$KALMAN_Y,-595.3,-33.9,-39.1,50732.9,920.8
$MHEAD_RNG_PITCHd_Wd,1.7,71421,-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,17,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,-82.38,0.000,2,0.000,0.000,415,1827,3404,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.0,-7.2,11,132,11.43,2.45,-3.25,0.000,4,0.158,0.041,2563,3350,3585,0,0,0,0,0,0
$GC,155,-0.82,-116.8,21.5,-33.2,17,164,0.55,2.53,0.00,0.000,6,0.090,0.022,2685,1768,3586,0,0,0,0,0,0
$GC,430,-1.05,-116.8,47.9,-8.7,46,435,0.17,2.55,0.00,0.000,4,0.053,0.033,2614,3345,3587,0,0,0,0,0,0
$GC,464,-1.05,-116.8,52.5,-13.9,48,474,0.10,2.50,0.00,0.000,6,0.084,0.021,2640,1772,3587,0,0,0,0,0,0
$GC,731,-1.17,-116.8,80.9,-9.3,73,736,0.10,2.53,0.00,0.000,4,0.081,0.031,2592,3355,3588,0,0,0,0,0,0
$GC,760,-1.17,-116.8,84.2,-10.6,75,766,0.10,2.47,0.00,0.000,6,0.121,0.024,2614,1776,3588,0,0,0,0,0,0
$GC,1028,-1.30,-116.8,108.9,-9.6,99,1033,0.12,0.00,0.00,0.000,6,0.070,0.000,2561,1777,3589,0,0,0,0,0,0
$GC,1290,-1.30,-116.8,140.4,-11.3,124,1292,0.12,0.00,0.00,0.000,6,0.115,0.000,2587,1777,3589,0,0,0,0,0,0
$GC,1548,-1.39,-116.8,166.6,-10.5,148,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1777,3589,0,0,0,0,0,0
$GC,1812,-1.50,-116.8,194.0,-9.9,173,1817,0.17,2.55,0.00,0.000,4,0.056,0.042,2521,198,3590,0,0,0,0,0,0
$GC,1832,-1.50,-116.8,196.7,-11.7,174,1841,0.08,2.50,0.00,0.000,6,0.097,0.021,2541,1794,3590,0,0,0,0,0,0
$GC,2113,-1.50,-116.8,230.8,-12.2,184,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1798,3589,0,0,0,0,0,0
$GC,2356,-1.50,-116.8,258.4,-11.3,190,2360,0.00,2.47,0.00,0.000,4,0.000,0.033,2541,3349,3589,0,0,0,0,0,0
$GC,2388,-1.50,-116.8,262.2,-10.5,190,2392,0.00,2.42,0.00,0.000,6,0.000,0.024,2541,1796,3589,0,0,0,0,0,0
$GC,2637,-1.50,-116.8,289.0,-10.8,196,2642,0.00,2.62,0.00,0.000,4,0.000,0.045,2541,187,3590,0,0,0,0,0,0
$GC,2675,-1.50,-116.8,293.4,-11.6,196,2681,0.00,2.50,0.00,0.000,6,0.000,0.023,2540,1794,3590,0,0,0,0,0,0
$GC,2924,-1.50,-116.8,323.5,-12.3,203,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1795,3589,0,0,0,0,0,0
$GC,3168,-1.50,-116.8,350.7,-11.1,209,3173,0.00,2.50,0.00,0.000,4,0.000,0.041,2541,3348,3588,0,0,0,0,0,0
$GC,3192,-1.50,-116.8,353.2,-10.5,209,3197,0.00,2.45,0.00,0.000,6,0.000,0.027,2541,1803,3588,0,0,0,0,0,0
$GC,3452,-1.50,-116.8,376.7,-9.0,216,3456,0.00,2.67,0.00,0.000,4,0.000,0.053,2541,195,3587,0,0,0,0,0,0
$GC,3489,-1.57,-116.8,380.4,-9.7,216,3495,0.00,2.55,0.00,0.000,6,0.000,0.027,2541,1808,3587,0,0,0,0,0,0
$GC,3740,-1.57,-116.8,403.8,-9.2,223,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1808,3585,0,0,0,0,0,0
$GC,3983,-1.63,-116.8,428.0,-10.0,229,3985,0.12,0.00,0.00,0.000,6,0.071,0.000,2485,1808,3583,0,0,0,0,0,0
$GC,4226,-1.55,-116.8,456.6,-11.7,235,4233,0.22,2.75,0.00,0.000,4,0.107,0.059,2532,197,3582,0,0,0,0,0,0
$GC,4258,-1.55,-116.8,460.1,-10.6,235,4263,0.00,2.60,0.00,0.000,6,0.000,0.033,2532,1804,3582,0,0,0,0,0,0
$GC,4512,-1.55,-116.8,484.3,-9.6,242,4517,0.00,2.58,0.00,0.000,4,0.000,0.052,2532,3351,3580,0,0,0,0,0,0
$GC,4540,-1.55,-116.8,487.2,-9.5,242,4545,0.00,2.50,0.00,0.000,6,0.000,0.034,2532,1807,3580,0,0,0,0,0,0
$GC,4796,-1.55,-116.8,510.7,-9.1,249,4801,0.00,2.78,0.00,0.000,4,0.000,0.067,2532,191,3578,0,0,0,0,0,0
$GC,4843,-1.62,-116.8,515.5,-10.1,250,4847,0.00,2.60,0.00,0.000,6,0.000,0.038,2532,1794,3578,0,0,0,0,0,0
$GC,5126,-1.69,-116.8,540.8,-9.0,257,5131,0.12,2.65,0.00,0.000,4,0.073,0.058,2486,3355,3575,0,0,0,0,0,0
$GC,5142,-1.69,-116.8,542.5,-9.4,257,5146,0.00,2.55,0.00,0.000,6,0.000,0.037,2486,1801,3575,0,0,0,0,0,0
$GC,5410,-1.63,-116.8,575.7,-12.6,264,5412,0.15,0.00,0.00,0.000,6,0.118,0.000,2516,1801,3573,0,0,0,0,0,0
$GC,5653,-1.63,-116.8,605.0,-12.1,270,5658,0.00,2.80,0.00,0.000,4,0.000,0.074,2516,193,3571,0,0,0,0,0,0
$GC,5682,-1.63,-116.8,608.6,-12.3,270,5687,0.00,2.67,0.00,0.000,6,0.000,0.041,2516,1805,3570,0,0,0,0,0,0
$GC,5937,-1.63,-116.8,638.8,-11.9,277,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1805,3568,0,0,0,0,0,0
$GC,6180,-1.63,-116.8,664.6,-10.2,283,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1805,3567,0,0,0,0,0,0
$GC,6424,-1.63,-116.8,686.9,-8.7,289,6429,0.00,2.83,0.00,0.000,4,0.000,0.072,2516,193,3564,0,0,0,0,0,0
$GC,6488,-1.63,-116.8,692.5,-9.2,290,6492,0.00,2.67,0.00,0.000,6,0.000,0.044,2516,1799,3563,0,0,0,0,0,0
$GC,6756,-1.63,-116.8,714.0,-7.9,297,6761,0.00,2.83,0.00,0.000,4,0.000,0.072,2516,183,3562,0,0,0,0,0,0
$GC,6809,-1.63,-116.8,718.6,-9.2,298,6813,0.00,2.67,0.00,0.000,6,0.000,0.044,2516,1792,3562,0,0,0,0,0,0
$GC,7087,-1.69,-116.8,741.3,-8.1,305,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1792,3561,0,0,0,0,0,0
$GC,7330,-1.69,-116.8,763.2,-9.3,311,7335,0.00,2.70,0.00,0.000,4,0.000,0.071,2516,3353,3559,0,0,0,0,0,0
$GC,7359,-1.69,-116.8,766.0,-10.0,311,7364,0.00,2.60,0.00,0.000,6,0.000,0.043,2516,1793,3558,0,0,0,0,0,0
$GC,7616,-1.76,-116.8,789.9,-9.3,318,7617,0.12,0.00,0.00,0.000,6,0.073,0.000,2472,1792,3557,0,0,0,0,0,0
$GC,7859,-1.76,-116.8,817.7,-11.4,324,7863,0.00,2.83,0.00,0.000,4,0.000,0.077,2472,181,3556,0,0,0,0,0,0
$GC,7884,-1.67,-116.8,820.7,-13.0,324,7889,0.15,2.70,0.00,0.000,6,0.120,0.046,2502,1795,3556,0,0,0,0,0,0
$GC,8144,-1.67,-116.8,845.8,-9.3,331,8148,0.00,2.83,0.00,0.000,4,0.000,0.073,2502,183,3554,0,0,0,0,0,0
$GC,8177,-1.67,-116.8,848.9,-9.6,331,8181,0.00,2.67,0.00,0.000,6,0.000,0.046,2502,1796,3554,0,0,0,0,0,0
$GC,8428,-1.67,-116.8,868.4,-7.4,337,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1795,3552,0,0,0,0,0,0
$GC,8670,-1.67,-116.8,885.4,-6.9,343,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1796,3552,0,0,0,0,0,0
$STATE,8912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8912,begin apogee
$GC,8917,-0.31,0.0,901.1,6.4,349,9016,1.38,0.00,94.65,1.213,6,0.094,0.000,2802,1630,3105,0,0,0,0,0,0
$STATE,9017,end apogee,CONTROL_FINISHED_OK
$STATE,9017,begin climb
$GC,9020,1.38,116.8,901.0,0.0,351,9135,1.52,2.90,104.78,1.183,4,0.025,0.064,3189,3229,2627,0,0,0,0,0,0
$GC,9141,0.99,140.4,898.2,8.6,354,9170,0.52,2.67,22.42,1.107,6,0.140,0.043,3089,1659,2532,0,0,0,0,0,0
$GC,9448,0.82,140.4,860.9,12.2,362,9456,0.20,2.70,0.00,0.000,4,0.131,0.084,3051,170,2523,0,0,0,0,0,0
$GC,9516,0.66,140.4,852.6,11.5,363,9521,0.17,2.47,0.00,0.000,6,0.127,0.041,3017,1645,2522,0,0,0,0,0,0
$GC,9782,0.70,169.5,829.8,8.3,370,9814,0.00,2.72,25.95,1.108,4,0.000,0.074,3017,166,2413,0,0,0,0,0,0
$GC,9872,0.70,169.5,821.4,10.6,372,9876,0.00,2.47,0.00,0.000,6,0.000,0.040,3017,1639,2410,0,0,0,0,0,0
$GC,10160,0.74,206.0,798.0,7.9,379,10196,0.00,0.00,33.65,1.106,6,0.000,0.000,3017,1640,2265,0,0,0,0,0,0
$GC,10448,0.83,215.6,771.8,9.4,386,10459,0.15,0.00,9.20,0.960,6,0.065,0.000,3071,1641,2225,0,0,0,0,0,0
$GC,10691,0.76,215.6,740.9,12.9,392,10698,0.17,2.83,0.00,0.000,4,0.119,0.068,3036,3238,2222,0,0,0,0,0,0
$GC,10727,0.82,215.6,736.4,12.0,392,10731,0.00,2.72,0.00,0.000,6,0.000,0.043,3036,1633,2221,0,0,0,0,0,0
$GC,10976,0.82,215.6,708.5,11.0,398,10980,0.00,2.60,0.00,0.000,4,0.000,0.085,3036,170,2220,0,0,0,0,0,0
$GC,11046,0.82,215.6,699.9,13.2,399,11051,0.00,2.42,0.00,0.000,6,0.000,0.041,3036,1633,2220,0,0,0,0,0,0
$GC,11305,0.82,215.6,672.9,10.1,406,11309,0.00,2.58,0.00,0.000,4,0.000,0.071,3036,167,2219,0,0,0,0,0,0
$GC,11351,0.82,215.6,667.9,12.0,407,11355,0.00,2.42,0.00,0.000,6,0.000,0.039,3036,1623,2219,0,0,0,0,0,0
$GC,11634,0.84,229.9,641.9,9.2,414,11654,0.00,2.90,13.62,0.979,4,0.000,0.067,3036,3230,2166,0,0,0,0,0,0
$GC,11668,0.87,249.1,638.4,8.9,414,11694,0.10,2.72,19.17,0.995,6,0.087,0.041,3072,1627,2089,0,0,0,0,0,0
$GC,11965,0.87,249.1,603.6,12.3,422,11969,0.00,2.60,0.00,0.000,4,0.000,0.081,3072,168,2083,0,0,0,0,0,0
$GC,11993,0.77,249.1,599.4,14.0,422,11998,0.15,2.42,0.00,0.000,6,0.124,0.036,3043,1628,2083,0,0,0,0,0,0
$GC,12249,0.77,249.1,570.2,11.6,429,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1629,2082,0,0,0,0,0,0
$GC,12491,0.77,249.1,540.7,12.1,435,12495,0.00,2.80,0.00,0.000,4,0.000,0.064,3043,3238,2081,0,0,0,0,0,0
$GC,12534,0.90,249.1,535.4,12.4,436,12539,0.10,2.70,0.00,0.000,6,0.087,0.041,3079,1631,2079,0,0,0,0,0,0
$GC,12823,0.90,249.1,497.5,13.0,443,12827,0.00,2.55,0.00,0.000,4,0.000,0.073,3079,165,2079,0,0,0,0,0,0
$GC,12897,0.81,249.1,487.4,12.6,444,12902,0.15,2.40,0.00,0.000,6,0.126,0.031,3051,1641,2079,0,0,0,0,0,0
$GC,13152,0.81,249.1,461.0,10.2,451,13156,0.00,2.72,0.00,0.000,4,0.000,0.060,3050,3226,2078,0,0,0,0,0,0
$GC,13186,0.91,249.1,457.6,10.3,451,13191,0.00,2.65,0.00,0.000,6,0.000,0.038,3050,1627,2078,0,0,0,0,0,0
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$GC,14283,0.90,249.1,328.9,12.3,477,14287,0.00,2.35,0.00,0.000,6,0.000,0.027,3069,1639,2077,0,0,0,0,0,0
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$STATE,17254,end climb,SURFACE_DEPTH_REACHED
$STATE,17254,begin surface coast
$FINISH,0.7,1.009846
$STATE,17293,end surface coast,CONTROL_FINISHED_OK
$STATE,17294,begin surface
$SM_CCo,17314,172.77,0.469,1,0,510,636.31
$SM_GC,1.42,0.00,0.00,172.77,0.000,0.000,0.469,411,1845,510,-11.31,2.12,636.31
$IRIDIUM_FIX,2157.39,-15809.32,060200,121200
$TT8_MAMPS,0.026845
$HUMID,36.92
$INTERNAL_PRESSURE,9.65268
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,23.3,5.954
$10V_AH,10.3,5.331
$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,30.400,202.775,381.950,172.775,0.000,141.553,402.970,0.000,0.750,0.000,15.337,1475.809,12943.519,662.455,2432.543,941.552,33.356,1734.920,0.000,2417.615,0.000,0.537,0.000
$DEVICE_MAMPS,158.002,85.137,1213.394,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,468.399,339.375,436.737,610.723,1080.579,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356076
$DATA_FILE_SIZE,54029,690
$CAP_FILE_SIZE,168892,0
$CFSIZE,260165632,170921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121110,173336,2209.469,-15806.700,34,2.0,34,10.0