version: 66.06
glider: 148
mission: 11
dive: 28
start: 5 24 112 11 33 56
data:
$ID,148
$MISSION,11
$DIVE,28
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,640
$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,166
$T_MISSION,340
$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,130
$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,-897250.88
$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,2990
$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,1830
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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,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
$GPS1,112631,2232.175,-15813.221,38,1.7,38,10.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.0
$GPS2,113302,2232.171,-15813.297,15,1.3,15,10.0
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,0.087
$KALMAN_X,-47028.5,433.1,-601.0,25124.8,-3047.5
$KALMAN_Y,-32110.5,259.0,-308.9,9361.1,-1687.5
$MHEAD_RNG_PITCHd_Wd,59.0,32868,-19.0,-10.040
$D_GRID,500
$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,-1.34,-126.5,0.0,0.0,0,93,0.00,0.00,-74.78,0.000,2,0.000,0.000,414,1867,3234,0,0,0,0,0,0
$GC,98,-1.34,-126.5,3.3,-5.6,10,122,12.50,2.42,-2.47,0.000,4,0.171,0.038,2691,3370,3369,0,0,0,0,0,0
$GC,138,0.20,-126.5,20.7,-42.8,15,148,1.65,2.53,0.00,0.000,6,0.123,0.027,3025,1818,3370,0,0,0,0,0,0
$GC,413,0.54,-126.5,82.5,-20.5,41,421,0.35,2.55,0.00,0.000,4,0.105,0.039,3102,252,3372,0,0,0,0,0,0
$GC,485,0.54,-126.5,95.5,-14.7,48,489,0.00,2.42,0.00,0.000,6,0.000,0.020,3102,1798,3372,0,0,0,0,0,0
$GC,747,0.54,-126.5,129.0,-12.0,72,752,0.00,2.55,0.00,0.000,4,0.000,0.041,3102,249,3373,0,0,0,0,0,0
$GC,850,0.54,-126.5,140.9,-11.8,81,854,0.00,2.40,0.00,0.000,6,0.000,0.020,3102,1805,3373,0,0,0,0,0,0
$GC,1113,0.54,-126.5,170.5,-11.8,105,1117,0.00,2.55,0.00,0.000,4,0.000,0.041,3102,243,3373,0,0,0,0,0,0
$GC,1212,0.54,-126.5,183.7,-12.9,114,1222,0.00,2.42,0.00,0.000,6,0.000,0.020,3102,1786,3374,0,0,0,0,0,0
$GC,1478,0.54,-126.5,214.2,-11.1,131,1482,0.00,2.53,0.00,0.000,4,0.000,0.043,3102,251,3374,0,0,0,0,0,0
$GC,1569,0.42,-126.5,224.7,-11.4,133,1573,0.00,2.35,0.00,0.000,6,0.000,0.021,3102,1774,3374,0,0,0,0,0,0
$GC,1857,0.36,-126.5,251.1,-8.8,140,1862,0.15,2.53,0.00,0.000,4,0.058,0.044,3042,244,3375,0,0,0,0,0,0
$GC,1960,0.46,-126.5,263.4,-12.7,142,1967,0.52,2.38,0.00,0.000,6,0.038,0.021,3087,1755,3375,1,0,0,0,0,0
$GC,2241,0.40,-126.5,289.2,-8.8,149,2245,0.00,2.47,0.00,0.000,4,0.000,0.046,3087,250,3375,0,0,0,0,0,0
$GC,2317,0.40,-126.5,296.7,-9.6,150,2321,0.00,2.35,0.00,0.000,6,0.000,0.023,3087,1748,3375,0,0,0,0,0,0
$GC,2576,0.32,-126.5,320.2,-8.9,157,2581,0.12,2.50,0.00,0.000,4,0.066,0.048,3031,250,3375,0,0,0,0,0,0
$GC,2633,0.43,-126.5,327.2,-13.1,158,2641,0.98,2.33,0.00,0.000,6,0.023,0.025,3080,1727,3375,3,0,0,0,0,0
$GC,2911,0.35,-126.5,351.9,-8.6,165,2916,0.00,2.47,0.00,0.000,4,0.000,0.053,3080,255,3375,0,0,0,0,0,0
$GC,2972,0.35,-126.5,357.6,-8.8,166,2976,0.00,2.33,0.00,0.000,6,0.000,0.025,3080,1720,3374,0,0,0,0,0,0
$GC,3242,0.26,-126.5,377.6,-7.2,173,3247,0.15,2.47,0.00,0.000,4,0.058,0.057,3016,259,3373,0,0,0,0,0,0
$GC,3373,0.39,-126.5,392.2,-10.7,175,3382,2.92,2.33,0.00,0.000,6,0.008,0.028,3070,1708,3372,9,0,0,0,0,0
$GC,3673,0.33,-126.5,415.7,-7.9,183,3677,0.00,2.47,0.00,0.000,4,0.000,0.061,3070,256,3371,0,0,0,0,0,0
$GC,3765,0.33,-126.5,424.4,-9.3,185,3770,0.00,2.33,0.00,0.000,6,0.000,0.031,3070,1697,3370,0,0,0,0,0,0
$GC,4050,0.26,-126.5,449.0,-9.1,192,4055,0.10,2.50,0.00,0.000,4,0.079,0.066,3023,261,3368,0,0,0,0,0,0
$GC,4189,0.36,-126.5,466.7,-12.9,195,4201,5.15,2.33,0.00,0.000,6,0.005,0.035,3063,1683,3367,17,0,0,0,0,0
$GC,4476,0.36,-126.5,493.7,-9.1,202,4480,0.00,2.45,0.00,0.000,4,0.000,0.067,3063,261,3365,0,0,0,0,0,0
$GC,4532,0.36,-126.5,499.3,-8.9,203,4536,0.00,2.30,0.00,0.000,6,0.000,0.035,3063,1666,3365,0,0,0,0,0,0
$STATE,4539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4539,begin apogee
$GC,4546,-0.31,0.0,500.3,9.1,203,4652,0.55,0.00,102.38,0.861,6,0.031,0.000,2906,1908,2849,0,0,0,0,0,0
$STATE,4653,end apogee,CONTROL_FINISHED_OK
$STATE,4653,begin climb
$GC,4655,1.34,126.5,513.4,0.0,206,4771,1.75,2.67,106.53,0.845,4,0.098,0.051,3275,3480,2332,0,0,0,0,0,0
$GC,4862,2.30,202.6,508.8,6.0,210,4939,0.93,2.65,66.00,0.830,6,0.044,0.039,3496,1916,2023,0,0,0,0,0,0
$GC,5208,2.56,252.5,484.3,7.4,219,5261,0.20,2.72,44.85,0.818,4,0.042,0.054,3581,3476,1818,0,0,0,0,0,0
$GC,5300,2.64,252.5,473.9,11.7,221,5305,0.00,2.72,0.00,0.000,6,0.000,0.044,3581,1886,1813,0,0,0,0,0,0
$GC,5583,2.64,252.5,437.0,13.3,228,5587,0.00,2.78,0.00,0.000,4,0.000,0.073,3581,321,1811,0,0,0,0,0,0
$GC,5853,2.64,252.5,393.6,16.8,233,5858,0.00,2.53,0.00,0.000,6,0.000,0.030,3581,1853,1810,0,0,0,0,0,0
$GC,6102,2.64,252.5,358.2,14.1,240,6107,0.00,2.67,0.00,0.000,4,0.000,0.061,3581,316,1807,0,0,0,0,0,0
$GC,6354,2.64,252.5,321.3,14.0,245,6358,0.00,2.47,0.00,0.000,6,0.000,0.029,3581,1833,1806,0,0,0,0,0,0
$GC,6617,2.64,252.5,289.0,12.0,252,6621,0.00,2.58,0.00,0.000,4,0.000,0.058,3581,323,1804,0,0,0,0,0,0
$GC,6790,2.64,252.5,265.8,12.6,255,6794,0.00,2.42,0.00,0.000,6,0.000,0.028,3581,1824,1804,0,0,0,0,0,0
$GC,7040,2.65,258.4,240.7,9.7,261,7044,0.00,2.55,0.00,0.000,4,0.000,0.052,3581,320,1803,0,0,0,0,0,0
$GC,7189,2.65,258.4,224.0,12.2,264,7194,0.00,2.38,0.00,0.000,6,0.000,0.026,3581,1805,1802,0,0,0,0,0,0
$GC,7443,2.73,258.4,197.5,10.2,272,7448,0.00,2.50,0.00,0.000,4,0.000,0.049,3581,317,1801,0,0,0,0,0,0
$GC,7607,2.73,258.4,179.8,11.3,288,7611,0.00,2.28,0.00,0.000,6,0.000,0.023,3581,1771,1802,0,0,0,0,0,0
$GC,7870,2.88,291.2,155.3,8.3,312,7914,0.15,2.50,31.35,0.594,4,0.054,0.053,3633,324,1661,0,0,0,0,0,0
$GC,8185,2.80,291.2,108.4,15.9,342,8194,1.45,2.28,0.00,0.000,6,0.010,0.023,3602,1742,1661,4,0,0,0,0,0
$GC,8453,2.89,291.2,77.0,11.2,367,8457,0.00,2.38,0.00,0.000,4,0.000,0.048,3602,317,1659,0,0,0,0,0,0
$GC,8582,2.89,291.2,62.5,11.1,378,8586,0.00,2.22,0.00,0.000,6,0.000,0.022,3601,1730,1659,0,0,0,0,0,0
$GC,8850,3.06,328.9,35.6,8.0,402,8891,0.22,2.42,33.15,0.480,4,0.042,0.046,3672,322,1508,0,0,0,0,0,0
$GC,9020,2.93,328.9,7.2,16.8,425,9029,0.28,2.22,0.00,0.000,6,0.088,0.025,3629,1703,1508,0,0,0,0,0,0
$STATE,9036,end climb,SURFACE_DEPTH_REACHED
$STATE,9036,begin surface coast
$FINISH,0.8,1.019014
$STATE,9062,end surface coast,CONTROL_FINISHED_OK
$STATE,9063,begin surface
$SM_CCo,9087,43.00,0.457,0,0,1300,380.21
$SM_GC,1.48,0.00,0.00,43.00,0.000,0.000,0.457,414,1871,1300,-11.85,1.16,380.21
$IRIDIUM_FIX,2225.34,-15814.52,180801,090942
$TT8_MAMPS,0.027612
$HUMID,63.23
$INTERNAL_PRESSURE,9.34016
$TCM_TEMP,22.20
$XPDR_PINGS,4
$24V_AH,23.4,3.965
$10V_AH,9.9,2.919
$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,43.200,113.750,384.250,43.000,0.000,29.132,40.286,193.491,1.000,0.000,16.731,992.283,5494.298,441.623,2050.300,546.147,33.345,1338.309,0.000,2033.733,0.000,0.538,0.000
$DEVICE_MAMPS,171.041,72.865,860.574,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.061,248.325,324.766,463.351,813.940,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356040
$DATA_FILE_SIZE,32121,431
$CAP_FILE_SIZE,111733,0
$CFSIZE,260165632,171114496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,34,0,0,0
$GPS,240512,140757,2231.811,-15813.446,69,1.8,70,10.0