version: 66.06
glider: 148
mission: 9
dive: 26
start: 11 13 110 4 11 33
data:
$ID,148
$MISSION,9
$DIVE,26
$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,-857937.5
$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,34
$R_STBD_OVSHOOT,45
$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
$GPS1,034636,2213.998,-15805.884,25,1.3,25,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.2
$GPS2,041040,2214.186,-15806.053,14,2.7,33,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.108,0.208
$KALMAN_X,-10784.0,0.8,150.4,17181.5,-1215.9
$KALMAN_Y,738.8,-78.5,41.2,62813.3,215.3
$MHEAD_RNG_PITCHd_Wd,17.4,57996,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,133,0.00,0.00,-111.28,0.000,2,0.000,0.000,410,1844,3423,0,0,0,0,0,0
$GC,136,-1.38,-116.8,4.1,-6.9,15,161,11.50,2.45,-2.88,0.000,4,0.160,0.044,2560,3348,3585,0,0,0,0,0,0
$GC,176,-0.39,-116.8,20.6,-38.4,20,186,1.00,2.53,0.00,0.000,6,0.094,0.021,2778,1759,3586,0,0,0,0,0,0
$GC,471,-0.97,-116.8,35.2,-4.4,58,483,0.45,2.55,0.00,0.000,4,0.035,0.028,2650,3353,3587,0,0,0,0,0,0
$GC,513,-1.19,-116.8,38.6,-7.9,61,523,0.12,2.50,0.00,0.000,6,0.029,0.023,2570,1787,3587,0,0,0,0,0,0
$GC,780,-1.07,-116.8,80.0,-16.4,86,788,0.28,0.00,0.00,0.000,6,0.102,0.000,2632,1787,3586,0,0,0,0,0,0
$GC,1048,-1.22,-116.8,110.4,-11.0,111,1053,0.12,2.53,0.00,0.000,4,0.068,0.031,2582,3355,3586,0,0,0,0,0,0
$GC,1088,-1.28,-116.8,116.4,-12.9,114,1096,0.00,2.53,0.00,0.000,6,0.000,0.024,2581,1778,3586,0,0,0,0,0,0
$GC,1357,-1.35,-116.8,146.4,-9.9,139,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1777,3587,0,0,0,0,0,0
$GC,1619,-1.44,-116.8,174.2,-9.2,164,1621,0.12,0.00,0.00,0.000,6,0.069,0.000,2531,1778,3586,0,0,0,0,0,0
$GC,1871,-1.44,-116.8,205.9,-13.1,185,1873,0.12,0.00,0.00,0.000,6,0.121,0.000,2557,1778,3587,0,0,0,0,0,0
$GC,2113,-1.44,-116.8,232.8,-10.9,191,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1777,3587,0,0,0,0,0,0
$GC,2357,-1.44,-116.8,260.1,-11.5,197,2362,0.00,2.58,0.00,0.000,4,0.000,0.044,2557,194,3586,0,0,0,0,0,0
$GC,2380,-1.44,-116.8,263.0,-12.5,197,2384,0.00,2.47,0.00,0.000,6,0.000,0.021,2557,1791,3587,0,0,0,0,0,0
$GC,2640,-1.44,-116.8,291.9,-11.1,204,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1791,3586,0,0,0,0,0,0
$GC,2883,-1.52,-116.8,318.7,-10.8,210,2887,0.00,2.50,0.00,0.000,4,0.000,0.036,2557,3348,3585,0,0,0,0,0,0
$GC,2926,-1.62,-116.8,323.5,-10.3,211,2931,0.17,2.50,0.00,0.000,6,0.053,0.027,2473,1769,3585,0,0,0,0,0,0
$GC,3215,-1.47,-116.8,365.4,-14.5,218,3222,0.32,2.60,0.00,0.000,4,0.101,0.051,2545,194,3584,0,0,0,0,0,0
$GC,3274,-1.57,-116.8,373.0,-11.4,219,3278,0.00,2.50,0.00,0.000,6,0.000,0.027,2545,1780,3583,0,0,0,0,0,0
$GC,3549,-1.64,-116.8,397.0,-8.6,226,3550,0.15,0.00,0.00,0.000,6,0.063,0.000,2493,1781,3582,0,0,0,0,0,0
$GC,3791,-1.56,-116.8,423.6,-10.9,232,3792,0.15,0.00,0.00,0.000,6,0.114,0.000,2525,1781,3580,0,0,0,0,0,0
$GC,4034,-1.56,-116.8,447.9,-10.2,238,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1781,3579,0,0,0,0,0,0
$GC,4277,-1.56,-116.8,474.2,-10.9,244,4282,0.00,2.60,0.00,0.000,4,0.000,0.048,2525,3349,3577,0,0,0,0,0,0
$GC,4306,-1.56,-116.8,477.2,-11.0,244,4311,0.00,2.55,0.00,0.000,6,0.000,0.034,2526,1780,3576,0,0,0,0,0,0
$GC,4561,-1.56,-116.8,504.1,-10.5,251,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1780,3575,0,0,0,0,0,0
$GC,4804,-1.56,-116.8,529.3,-10.4,257,4809,0.00,2.65,0.00,0.000,4,0.000,0.054,2526,3349,3573,0,0,0,0,0,0
$GC,4829,-1.56,-116.8,531.9,-11.2,257,4833,0.00,2.55,0.00,0.000,6,0.000,0.038,2525,1785,3572,0,0,0,0,0,0
$GC,5088,-1.56,-116.8,558.0,-10.0,264,5092,0.00,2.75,0.00,0.000,4,0.000,0.070,2525,191,3569,0,0,0,0,0,0
$GC,5148,-1.63,-116.8,564.2,-10.6,265,5153,0.00,2.60,0.00,0.000,6,0.000,0.038,2525,1788,3568,0,0,0,0,0,0
$GC,5418,-1.63,-116.8,588.6,-9.1,272,5423,0.00,2.78,0.00,0.000,4,0.000,0.067,2525,187,3567,0,0,0,0,0,0
$GC,5446,-1.63,-116.8,591.7,-10.1,272,5450,0.00,2.62,0.00,0.000,6,0.000,0.041,2525,1781,3566,0,0,0,0,0,0
$GC,5700,-1.63,-116.8,615.5,-9.3,279,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1782,3564,0,0,0,0,0,0
$GC,5946,-1.69,-116.8,638.9,-9.7,285,5948,0.10,0.00,0.00,0.000,6,0.085,0.000,2489,1782,3562,0,0,0,0,0,0
$GC,6187,-1.69,-116.8,665.5,-10.8,291,6192,0.00,2.78,0.00,0.000,4,0.000,0.072,2489,194,3560,0,0,0,0,0,0
$GC,6224,-1.69,-116.8,669.8,-11.0,291,6230,0.00,2.62,0.00,0.000,6,0.000,0.043,2489,1776,3559,0,0,0,0,0,0
$GC,6475,-1.69,-116.8,696.2,-10.6,298,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1777,3557,0,0,0,0,0,0
$GC,6718,-1.69,-116.8,720.8,-9.7,304,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1777,3556,0,0,0,0,0,0
$GC,6961,-1.69,-116.8,742.4,-9.1,310,6966,0.00,2.75,0.00,0.000,4,0.000,0.072,2489,191,3554,0,0,0,0,0,0
$GC,6994,-1.69,-116.8,746.0,-11.6,310,6998,0.00,2.62,0.00,0.000,6,0.000,0.042,2489,1787,3554,0,0,0,0,0,0
$GC,7245,-1.69,-116.8,772.2,-10.6,316,7249,0.00,2.80,0.00,0.000,4,0.000,0.072,2489,185,3552,0,0,0,0,0,0
$GC,7309,-1.69,-116.8,780.1,-11.9,317,7314,0.00,2.62,0.00,0.000,6,0.000,0.044,2489,1777,3551,0,0,0,0,0,0
$GC,7573,-1.69,-116.8,809.5,-11.2,324,7577,0.00,2.78,0.00,0.000,4,0.000,0.073,2489,194,3550,0,0,0,0,0,0
$GC,7592,-1.69,-116.8,811.9,-12.6,324,7597,0.00,2.62,0.00,0.000,6,0.000,0.043,2489,1785,3550,0,0,0,0,0,0
$GC,7856,-1.69,-116.8,840.9,-10.8,331,7860,0.00,2.80,0.00,0.000,4,0.000,0.074,2489,189,3548,0,0,0,0,0,0
$GC,7885,-1.69,-116.8,844.4,-12.5,331,7890,0.00,2.65,0.00,0.000,6,0.000,0.044,2489,1778,3548,0,0,0,0,0,0
$GC,8141,-1.69,-116.8,869.5,-9.6,338,8146,0.00,2.78,0.00,0.000,4,0.000,0.074,2489,186,3547,0,0,0,0,0,0
$GC,8160,-1.69,-116.8,871.6,-10.5,338,8164,0.00,2.62,0.00,0.000,6,0.000,0.042,2489,1769,3547,0,0,0,0,0,0
$GC,8424,-1.69,-116.8,895.5,-8.9,345,8428,0.00,2.75,0.00,0.000,4,0.000,0.074,2489,194,3546,0,0,0,0,0,0
$GC,8462,-1.69,-116.8,899.2,-10.0,345,8468,0.00,2.60,0.00,0.000,6,0.000,0.044,2489,1765,3546,0,0,0,0,0,0
$STATE,8506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8507,begin apogee
$GC,8512,-0.31,0.0,903.6,9.4,347,8610,1.42,0.00,93.47,1.210,6,0.094,0.000,2799,1641,3105,0,0,0,0,0,0
$STATE,8610,end apogee,CONTROL_FINISHED_OK
$STATE,8610,begin climb
$GC,8613,1.38,116.8,905.0,0.0,349,8728,1.52,2.75,105.07,1.181,4,0.026,0.060,3194,3230,2626,0,0,0,0,0,0
$GC,8765,0.96,116.8,899.8,13.1,352,8773,0.60,2.65,0.00,0.000,6,0.142,0.043,3081,1667,2621,0,0,0,0,0,0
$GC,9030,0.81,117.2,873.5,10.0,359,9037,0.17,2.72,0.00,0.000,4,0.127,0.087,3047,162,2617,0,0,0,0,0,0
$GC,9214,0.63,117.2,854.8,10.7,363,9219,0.20,2.45,0.00,0.000,6,0.127,0.039,3008,1639,2614,0,0,0,0,0,0
$GC,9503,0.68,154.7,831.9,7.8,370,9545,0.00,2.67,32.95,1.128,4,0.000,0.074,3008,163,2474,0,0,0,0,0,0
$GC,9584,0.68,154.8,824.5,10.0,371,9588,0.00,2.47,0.00,0.000,6,0.000,0.040,3008,1631,2472,0,0,0,0,0,0
$GC,9836,0.77,170.2,801.6,9.1,377,9857,0.12,2.67,15.18,1.058,4,0.074,0.074,3053,165,2411,0,0,0,0,0,0
$GC,9910,0.63,170.2,792.9,13.0,378,9915,0.22,2.45,0.00,0.000,6,0.120,0.040,3009,1629,2409,0,0,0,0,0,0
$GC,10167,0.73,190.3,769.6,8.8,385,10191,0.00,2.65,19.48,1.070,4,0.000,0.074,3009,169,2329,0,0,0,0,0,0
$GC,10207,0.76,212.7,765.7,8.7,386,10236,0.10,2.45,22.10,1.063,6,0.089,0.039,3044,1623,2236,0,0,0,0,0,0
$GC,10498,0.76,212.7,733.5,11.1,393,10502,0.00,2.60,0.00,0.000,4,0.000,0.073,3044,164,2229,0,0,0,0,0,0
$GC,10571,0.76,212.7,723.9,13.1,394,10576,0.00,2.42,0.00,0.000,6,0.000,0.039,3044,1614,2228,0,0,0,0,0,0
$GC,10825,0.76,212.7,697.4,10.3,401,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1615,2227,0,0,0,0,0,0
$GC,11070,0.76,212.7,671.7,10.6,407,11075,0.00,2.83,0.00,0.000,4,0.000,0.062,3044,3242,2225,0,0,0,0,0,0
$GC,11100,0.76,212.7,668.5,11.7,407,11104,0.00,2.75,0.00,0.000,6,0.000,0.043,3044,1617,2224,0,0,0,0,0,0
$GC,11354,0.76,217.6,643.2,9.7,414,11359,0.00,2.58,0.00,0.000,4,0.000,0.082,3044,169,2224,0,0,0,0,0,0
$GC,11388,0.76,217.6,639.7,12.0,414,11392,0.00,2.40,0.00,0.000,6,0.000,0.038,3045,1621,2223,0,0,0,0,0,0
$GC,11637,0.76,217.6,614.7,10.1,420,11638,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1621,2223,0,0,0,0,0,0
$GC,11881,0.76,217.6,589.5,10.2,426,11885,0.00,2.78,0.00,0.000,4,0.000,0.061,3044,3233,2223,0,0,0,0,0,0
$GC,11895,0.76,219.1,588.0,9.9,426,11906,0.00,2.72,4.15,0.662,6,0.000,0.040,3044,1599,2211,0,0,0,0,0,0
$GC,12167,0.76,219.1,560.9,10.0,433,12171,0.00,2.50,0.00,0.000,4,0.000,0.077,3044,166,2211,0,0,0,0,0,0
$GC,12255,0.76,219.1,550.9,10.9,435,12260,0.00,2.35,0.00,0.000,6,0.000,0.032,3044,1609,2210,0,0,0,0,0,0
$GC,12543,0.78,228.9,523.5,9.4,442,12560,0.00,2.58,10.85,0.882,4,0.000,0.064,3044,170,2171,0,0,0,0,0,0
$GC,12578,0.78,228.9,519.7,10.6,442,12582,0.00,2.33,0.00,0.000,6,0.000,0.030,3044,1599,2171,0,0,0,0,0,0
$GC,12828,0.79,244.0,496.4,9.1,448,12849,0.00,2.88,15.15,0.894,4,0.000,0.059,3044,3233,2110,0,0,0,0,0,0
$GC,12886,0.92,244.0,490.2,11.4,449,12894,0.10,2.75,0.00,0.000,6,0.080,0.040,3087,1607,2107,0,0,0,0,0,0
$GC,13157,0.92,244.0,454.7,13.3,456,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1607,2105,0,0,0,0,0,0
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$STATE,17248,end climb,SURFACE_DEPTH_REACHED
$STATE,17249,begin surface coast
$FINISH,0.8,1.010488
$STATE,17294,end surface coast,CONTROL_FINISHED_OK
$STATE,17294,begin surface
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$SM_GC,1.49,0.00,0.00,162.60,0.000,0.000,0.468,412,1779,510,-11.31,0.25,636.31
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$TT8_MAMPS,0.026845
$HUMID,37.08
$INTERNAL_PRESSURE,9.65268
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,23.3,6.474
$10V_AH,10.4,5.718
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.200,192.500,400.900,162.600,0.000,129.194,307.858,515.433,0.750,0.000,35.579,1457.923,12948.763,655.808,2439.281,1398.360,33.368,1747.257,0.000,2420.342,0.000,0.537,0.000
$DEVICE_MAMPS,159.536,87.438,1210.326,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
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$SENSOR_SECS,471.125,356.599,444.142,635.106,1124.319,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355896
$DATA_FILE_SIZE,54157,693
$CAP_FILE_SIZE,177596,0
$CFSIZE,260165632,170696704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131110,090407,2216.188,-15805.424,31,1.1,31,10.0