version: 66.06
glider: 148
mission: 11
dive: 30
start: 5 24 112 16 58 33
data:
$ID,148
$MISSION,11
$DIVE,30
$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,-897302.56
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,164752,2231.641,-15813.560,9,2.4,28,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.6
$GPS2,165740,2231.597,-15813.649,13,2.5,32,10.0
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,0.087
$KALMAN_X,-51392.2,-1538.6,712.9,29552.0,-2855.9
$KALMAN_Y,-34240.3,-1380.5,443.2,11323.8,-1493.2
$MHEAD_RNG_PITCHd_Wd,59.1,34054,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.34,-126.5,0.0,0.0,0,94,0.00,0.00,-74.82,0.000,2,0.000,0.000,413,1918,3277,0,0,0,0,0,0
$GC,97,-1.34,-126.5,3.8,-5.9,10,114,12.18,0.00,-1.55,0.000,6,0.159,0.000,2690,1918,3369,0,0,0,0,0,0
$GC,381,-0.21,-126.5,123.3,-38.2,40,394,1.23,2.75,0.00,0.000,4,0.134,0.035,2935,226,3371,0,0,0,0,0,0
$GC,634,0.31,-126.5,180.7,-18.7,65,644,0.77,2.55,0.00,0.000,6,0.070,0.021,3051,1849,3371,1,0,0,0,0,0
$GC,908,0.41,-126.5,209.4,-10.3,85,913,0.12,2.70,0.00,0.000,4,0.123,0.044,3077,235,3373,0,0,0,0,0,0
$GC,1038,0.41,-126.5,225.8,-10.9,87,1044,0.00,2.47,0.00,0.000,6,0.000,0.021,3077,1822,3373,0,0,0,0,0,0
$GC,1289,0.41,-126.5,250.0,-9.8,94,1293,0.00,2.62,0.00,0.000,4,0.000,0.044,3077,239,3374,0,0,0,0,0,0
$GC,1397,0.41,-126.5,262.7,-12.0,96,1401,0.00,2.45,0.00,0.000,6,0.000,0.021,3077,1798,3374,0,0,0,0,0,0
$GC,1665,0.41,-126.5,291.3,-10.3,103,1669,0.00,2.58,0.00,0.000,4,0.000,0.046,3077,241,3374,0,0,0,0,0,0
$GC,1768,0.41,-126.5,302.6,-10.1,105,1773,0.00,2.47,0.00,0.000,6,0.000,0.023,3077,1804,3374,0,0,0,0,0,0
$GC,2041,0.41,-126.5,327.4,-8.9,112,2046,0.00,2.60,0.00,0.000,4,0.000,0.048,3077,239,3374,0,0,0,0,0,0
$GC,2132,0.41,-126.5,336.2,-8.3,114,2137,0.00,2.42,0.00,0.000,6,0.000,0.024,3077,1781,3373,0,0,0,0,0,0
$GC,2420,0.41,-126.5,358.4,-7.0,121,2424,0.00,2.58,0.00,0.000,4,0.000,0.051,3077,241,3372,0,0,0,0,0,0
$GC,2588,0.41,-126.5,371.3,-8.1,124,2592,0.00,2.42,0.00,0.000,6,0.000,0.026,3077,1765,3371,0,0,0,0,0,0
$GC,2843,0.34,-126.5,390.0,-7.5,131,2847,0.00,2.58,0.00,0.000,4,0.000,0.057,3077,245,3370,0,0,0,0,0,0
$GC,2890,0.34,-126.5,394.4,-8.9,132,2894,0.00,2.42,0.00,0.000,6,0.000,0.027,3077,1755,3369,0,0,0,0,0,0
$GC,3174,0.26,-126.5,418.8,-8.9,139,3179,0.12,2.60,0.00,0.000,4,0.067,0.062,3024,243,3368,0,0,0,0,0,0
$GC,3318,0.37,-126.5,436.6,-12.4,142,3330,4.22,2.42,0.00,0.000,6,0.005,0.031,3067,1740,3367,14,0,0,0,0,0
$GC,3600,0.37,-126.5,462.5,-9.1,149,3605,0.00,2.58,0.00,0.000,4,0.000,0.067,3067,246,3366,0,0,0,0,0,0
$GC,3679,0.37,-126.5,470.4,-9.9,150,3684,0.00,2.42,0.00,0.000,6,0.000,0.034,3066,1730,3365,0,0,0,0,0,0
$GC,3931,0.31,-126.5,491.8,-8.5,156,3936,0.00,2.58,0.00,0.000,4,0.000,0.067,3067,245,3363,0,0,0,0,0,0
$STATE,4008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4008,begin apogee
$GC,4016,-0.31,0.0,500.1,10.5,157,4126,4.22,0.00,102.47,0.860,6,0.006,0.000,2904,1893,2850,12,0,0,0,0,0
$STATE,4127,end apogee,CONTROL_FINISHED_OK
$STATE,4127,begin climb
$GC,4131,1.34,126.5,512.5,0.0,160,4248,1.75,2.75,106.88,0.842,4,0.098,0.050,3272,3489,2332,0,0,0,0,0,0
$GC,4430,2.25,194.8,504.7,6.4,166,4498,0.88,2.67,59.10,0.828,6,0.043,0.038,3483,1905,2055,0,0,0,0,0,0
$GC,4769,2.51,221.1,476.7,8.6,175,4801,0.22,2.80,23.98,0.795,4,0.039,0.056,3569,3489,1946,0,0,0,0,0,0
$GC,4876,2.62,221.1,463.7,12.2,177,4881,0.00,2.75,0.00,0.000,6,0.000,0.043,3569,1880,1943,0,0,0,0,0,0
$GC,5146,2.62,221.1,434.3,10.8,184,5151,0.00,2.75,0.00,0.000,4,0.000,0.071,3569,320,1941,0,0,0,0,0,0
$GC,5416,2.62,221.1,395.1,15.3,189,5422,0.00,2.55,0.00,0.000,6,0.000,0.029,3569,1875,1939,0,0,0,0,0,0
$GC,5666,2.62,221.1,362.8,12.2,196,5670,0.00,2.70,0.00,0.000,4,0.000,0.061,3569,321,1937,0,0,0,0,0,0
$GC,5820,2.63,223.4,347.1,9.9,199,5825,0.00,2.50,0.00,0.000,6,0.000,0.028,3569,1852,1936,0,0,0,0,0,0
$GC,6089,2.64,233.7,321.8,9.5,206,6105,0.00,2.70,10.57,0.677,4,0.000,0.058,3569,325,1897,0,0,0,0,0,0
$GC,6338,2.64,233.7,288.5,15.2,211,6342,0.00,2.45,0.00,0.000,6,0.000,0.028,3570,1835,1896,0,0,0,0,0,0
$GC,6606,2.64,233.7,254.9,12.3,218,6610,0.00,2.58,0.00,0.000,4,0.000,0.054,3569,322,1894,0,0,0,0,0,0
$GC,6740,2.64,233.7,238.9,12.4,220,6746,0.00,2.40,0.00,0.000,6,0.000,0.025,3569,1823,1894,0,0,0,0,0,0
$GC,6991,2.74,246.7,213.8,9.3,227,7010,0.00,2.58,12.57,0.619,4,0.000,0.049,3570,320,1843,0,0,0,0,0,0
$GC,7288,2.81,246.7,177.0,13.5,246,7301,4.65,2.33,0.00,0.000,6,0.003,0.025,3631,1794,1842,15,0,0,0,0,0
$GC,7556,2.81,246.7,139.0,13.1,271,7561,0.15,2.50,0.00,0.000,4,0.108,0.051,3599,316,1841,0,0,0,0,0,0
$GC,7810,2.81,246.7,110.4,10.2,295,7814,0.00,2.30,0.00,0.000,6,0.000,0.023,3599,1777,1840,0,0,0,0,0,0
$GC,8076,2.89,246.7,86.1,10.5,319,8080,0.00,2.40,0.00,0.000,4,0.000,0.046,3599,319,1840,0,0,0,0,0,0
$GC,8289,2.89,246.7,61.5,10.1,338,8293,0.00,2.25,0.00,0.000,6,0.000,0.022,3599,1766,1840,0,0,0,0,0,0
$GC,8557,2.98,255.4,35.7,9.6,362,8571,0.15,2.42,8.35,0.430,4,0.058,0.045,3659,318,1809,0,0,0,0,0,0
$GC,8746,2.81,255.4,5.6,17.2,389,8754,0.38,2.28,0.00,0.000,6,0.109,0.025,3600,1735,1809,1,0,0,0,0,0
$STATE,8761,end climb,SURFACE_DEPTH_REACHED
$STATE,8761,begin surface coast
$FINISH,0.5,1.009321
$STATE,8794,end surface coast,CONTROL_FINISHED_OK
$STATE,8794,begin surface
$SM_CCo,8818,72.20,0.462,0,0,1299,380.21
$SM_GC,1.51,0.00,0.00,72.20,0.000,0.000,0.462,416,1920,1299,-11.85,2.54,380.21
$IRIDIUM_FIX,2223.01,-15813.21,180801,161641
$TT8_MAMPS,0.026845
$HUMID,62.60
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,22.00
$XPDR_PINGS,7
$24V_AH,23.4,4.173
$10V_AH,9.9,3.109
$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,43.900,101.775,323.925,72.200,0.000,59.373,68.873,244.543,1.750,0.000,34.922,943.395,5433.306,441.682,2016.852,644.779,33.335,1289.574,0.000,1975.896,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,71.331,859.807,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,267.792,219.759,284.975,418.796,732.620,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356044
$DATA_FILE_SIZE,32169,396
$CAP_FILE_SIZE,108138,0
$CFSIZE,260165632,171008000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,43,0,0,0
$GPS,240512,192801,2231.257,-15813.940,35,1.7,35,10.0