version: 66.06
glider: 148
mission: 11
dive: 22
start: 5 24 112 0 24 13
data:
$ID,148
$MISSION,11
$DIVE,22
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,440
$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,100
$T_MISSION,240
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$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,380
$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,-897084.25
$T_RSLEEP,2
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2850
$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
$GPS1,001436,2234.329,-15811.938,38,1.9,44,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.8
$GPS2,002320,2234.308,-15812.031,13,1.3,13,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,0.167
$KALMAN_X,-41019.3,4584.7,-26.5,16545.9,-4366.9
$KALMAN_Y,-28878.7,2153.9,-103.7,7976.5,-1180.8
$MHEAD_RNG_PITCHd_Wd,39.9,28537,-17.5,-10.000
$D_GRID,300
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,108,0.00,0.00,-89.55,0.000,2,0.000,0.000,413,1840,3196,0,0,0,0,0,0
$GC,111,-1.27,-146.0,3.1,-3.7,12,135,11.80,2.55,-4.60,0.000,4,0.152,0.052,2663,265,3448,0,0,0,0,0,0
$GC,151,0.38,-146.0,20.2,-45.6,17,161,1.88,2.50,0.00,0.000,6,0.146,0.022,3023,1830,3448,0,0,0,0,0,0
$GC,424,0.76,-146.0,85.6,-20.9,43,433,0.38,2.58,0.00,0.000,4,0.100,0.047,3107,268,3449,0,0,0,0,0,0
$GC,540,0.84,-146.0,104.5,-13.9,54,545,0.12,2.45,0.00,0.000,6,0.117,0.021,3133,1843,3450,0,0,0,0,0,0
$GC,803,0.84,-146.0,134.7,-10.3,78,807,0.00,2.60,0.00,0.000,4,0.000,0.041,3133,264,3450,0,0,0,0,0,0
$GC,845,0.84,-146.0,139.7,-10.9,81,851,0.00,2.45,0.00,0.000,6,0.000,0.021,3134,1837,3450,0,0,0,0,0,0
$GC,1112,0.84,-146.0,165.6,-9.7,106,1116,0.00,2.58,0.00,0.000,4,0.000,0.042,3134,269,3450,0,0,0,0,0,0
$GC,1212,0.78,-146.0,176.7,-10.8,115,1217,0.00,2.40,0.00,0.000,6,0.000,0.021,3134,1823,3450,0,0,0,0,0,0
$GC,1492,0.78,-146.0,204.5,-10.5,139,1496,0.00,2.55,0.00,0.000,4,0.000,0.042,3133,269,3450,0,0,0,0,0,0
$GC,1602,0.68,-146.0,216.4,-10.3,141,1607,0.28,2.38,0.00,0.000,6,0.025,0.021,3070,1812,3450,0,0,0,0,0,0
$GC,1872,0.76,-146.0,251.7,-13.0,148,1877,0.20,2.55,0.00,0.000,4,0.094,0.042,3114,267,3450,0,0,0,0,0,0
$GC,1940,0.66,-146.0,259.3,-9.9,149,1944,0.00,2.35,0.00,0.000,6,0.000,0.021,3114,1778,3450,0,0,0,0,0,0
$GC,2204,0.57,-146.0,280.7,-7.7,156,2209,0.17,2.50,0.00,0.000,4,0.051,0.047,3037,270,3451,0,0,0,0,0,0
$GC,2290,0.71,-146.0,290.8,-11.8,157,2296,0.68,2.33,0.00,0.000,6,0.038,0.023,3105,1760,3451,2,0,0,0,0,0
$STATE,2415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2415,begin apogee
$GC,2422,-0.31,0.0,300.3,7.4,161,2541,0.90,0.00,115.47,0.660,6,0.019,0.000,2846,2006,2850,0,0,0,0,0,0
$STATE,2541,end apogee,CONTROL_FINISHED_OK
$STATE,2541,begin climb
$GC,2544,1.27,146.0,317.9,0.0,164,2672,1.77,2.53,119.07,0.660,4,0.100,0.032,3218,3514,2253,0,0,0,0,0,0
$GC,2762,2.52,261.2,313.3,4.7,169,2871,1.23,2.55,96.88,0.654,6,0.065,0.029,3497,1948,1784,0,0,0,0,0,0
$GC,3135,2.83,333.9,288.9,6.6,178,3208,0.25,2.78,62.42,0.644,4,0.035,0.058,3598,378,1487,0,0,0,0,0,0
$GC,3318,2.83,333.9,263.8,16.2,182,3326,1.60,2.47,0.00,0.000,6,0.011,0.028,3566,1908,1487,5,0,0,0,0,0
$GC,3610,2.92,333.9,226.8,12.5,189,3615,0.00,2.58,0.00,0.000,4,0.000,0.049,3565,372,1481,0,0,0,0,0,0
$GC,3773,2.99,333.9,208.6,11.0,192,3781,1.60,2.47,0.00,0.000,6,0.004,0.025,3625,1917,1481,5,0,0,0,0,0
$GC,4050,2.99,333.9,168.1,16.1,211,4055,0.12,2.55,0.00,0.000,4,0.106,0.044,3599,370,1478,0,0,0,0,0,0
$GC,4210,2.99,333.9,144.2,12.9,226,4219,0.00,2.42,0.00,0.000,6,0.000,0.025,3599,1874,1478,0,0,0,0,0,0
$GC,4476,2.99,333.9,112.9,12.7,251,4480,0.00,2.47,0.00,0.000,4,0.000,0.049,3598,370,1476,0,0,0,0,0,0
$GC,4658,2.99,333.9,85.2,15.0,268,4662,0.00,2.33,0.00,0.000,6,0.000,0.026,3598,1854,1477,0,0,0,0,0,0
$GC,4925,2.99,333.9,50.0,12.8,292,4930,0.00,2.45,0.00,0.000,4,0.000,0.046,3598,365,1476,0,0,0,0,0,0
$GC,5055,2.99,333.9,32.1,12.3,303,5064,0.00,2.33,0.00,0.000,6,0.000,0.023,3599,1826,1476,0,0,0,0,0,0
$STATE,5297,end climb,SURFACE_DEPTH_REACHED
$STATE,5297,begin surface coast
$FINISH,0.6,1.018960
$STATE,5329,end surface coast,CONTROL_FINISHED_OK
$STATE,5329,begin surface
$SM_CCo,5353,36.45,0.445,0,0,1299,380.21
$SM_GC,1.63,0.00,0.00,36.45,0.000,0.000,0.445,414,1832,1299,-11.67,-0.51,380.21
$IRIDIUM_FIX,2225.34,-15809.31,180801,000003
$TT8_MAMPS,0.026845
$HUMID,62.24
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,9
$24V_AH,23.6,3.374
$10V_AH,9.9,2.380
$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,35.975,64.925,393.850,36.450,0.000,60.792,64.872,221.075,2.250,0.000,14.696,711.670,2693.868,432.673,1524.584,559.455,33.319,1045.090,0.000,1529.818,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,57.525,659.620,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,232.368,240.359,308.668,480.622,845.176,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356048
$DATA_FILE_SIZE,25707,346
$CAP_FILE_SIZE,75669,0
$CFSIZE,260165632,171417600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,12,0,0,0
$GPS,240512,015513,2234.278,-15812.058,12,1.7,30,10.0