version: 66.06
glider: 148
mission: 11
dive: 33
start: 5 25 112 1 5 4
data:
$ID,148
$MISSION,11
$DIVE,33
$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,-897400.44
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,30
$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
$GPS1,005422,2230.106,-15814.916,52,1.8,68,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.2
$GPS2,010408,2230.078,-15815.020,11,1.0,11,10.0
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,0.139
$KALMAN_X,-60757.4,110.5,-692.1,36341.9,-1533.9
$KALMAN_Y,-40061.5,51.7,-416.4,13768.9,-891.0
$MHEAD_RNG_PITCHd_Wd,45.2,37706,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.34,-126.5,0.0,0.0,0,92,0.00,0.00,-74.45,0.000,2,0.000,0.000,414,1886,3299,0,0,0,0,0,0
$GC,97,-1.34,-126.5,4.2,-8.5,10,122,12.20,2.45,-1.10,0.000,4,0.160,0.038,2690,3399,3370,0,0,0,0,0,0
$GC,288,-0.36,-126.5,80.4,-37.1,30,302,1.08,2.60,0.00,0.000,6,0.122,0.031,2907,1786,3371,0,0,0,0,0,0
$GC,559,0.25,-126.5,155.7,-23.1,55,568,0.62,2.55,0.00,0.000,4,0.112,0.024,3038,3393,3372,0,0,0,0,0,0
$GC,614,0.25,-126.5,164.5,-10.8,60,622,0.00,2.62,0.00,0.000,6,0.000,0.028,3038,1789,3372,0,0,0,0,0,0
$GC,882,0.42,-126.5,191.9,-9.4,85,887,0.20,2.55,0.00,0.000,4,0.113,0.040,3079,220,3373,0,0,0,0,0,0
$GC,990,0.42,-126.5,203.2,-9.7,93,994,0.00,2.47,0.00,0.000,6,0.000,0.020,3079,1805,3373,0,0,0,0,0,0
$GC,1265,0.42,-126.5,228.4,-9.2,100,1269,0.00,2.60,0.00,0.000,4,0.000,0.043,3079,221,3374,0,0,0,0,0,0
$GC,1367,0.42,-126.5,239.1,-10.0,102,1371,0.00,2.40,0.00,0.000,6,0.000,0.021,3079,1754,3374,0,0,0,0,0,0
$GC,1642,0.42,-126.5,260.9,-7.6,109,1646,0.00,2.53,0.00,0.000,4,0.000,0.044,3079,219,3374,0,0,0,0,0,0
$GC,1721,0.42,-126.5,267.8,-8.3,110,1725,0.00,2.42,0.00,0.000,6,0.000,0.021,3079,1761,3374,0,0,0,0,0,0
$GC,1971,0.42,-126.5,284.6,-6.7,116,1975,0.00,2.58,0.00,0.000,4,0.000,0.046,3079,215,3374,0,0,0,0,0,0
$GC,2062,0.42,-126.5,292.4,-9.1,118,2066,0.00,2.38,0.00,0.000,6,0.000,0.023,3079,1732,3374,0,0,0,0,0,0
$GC,2348,0.42,-126.5,320.0,-10.1,125,2353,0.00,2.53,0.00,0.000,4,0.000,0.049,3079,212,3374,0,0,0,0,0,0
$GC,2405,0.42,-126.5,326.2,-10.8,126,2409,0.00,2.38,0.00,0.000,6,0.000,0.024,3079,1718,3374,0,0,0,0,0,0
$GC,2683,0.42,-126.5,353.4,-9.4,133,2687,0.00,2.53,0.00,0.000,4,0.000,0.053,3079,215,3373,0,0,0,0,0,0
$GC,2767,0.34,-126.5,361.8,-10.0,134,2772,0.00,2.38,0.00,0.000,6,0.000,0.026,3079,1705,3372,0,0,0,0,0,0
$GC,3019,0.27,-126.5,383.1,-8.5,141,3024,0.12,2.53,0.00,0.000,4,0.066,0.057,3027,218,3371,0,0,0,0,0,0
$GC,3076,0.38,-126.5,389.4,-11.2,142,3084,1.85,2.35,0.00,0.000,6,0.009,0.027,3069,1690,3370,6,0,0,0,0,0
$GC,3354,0.38,-126.5,412.5,-8.0,149,3358,0.00,2.50,0.00,0.000,4,0.000,0.061,3069,221,3369,0,0,0,0,0,0
$GC,3438,0.38,-126.5,420.1,-9.8,150,3443,0.00,2.33,0.00,0.000,6,0.000,0.029,3069,1682,3369,0,0,0,0,0,0
$GC,3688,0.38,-126.5,441.1,-8.5,157,3692,0.00,2.50,0.00,0.000,4,0.000,0.063,3068,226,3367,0,0,0,0,0,0
$GC,3792,0.38,-126.5,450.8,-9.0,159,3796,0.00,2.33,0.00,0.000,6,0.000,0.031,3068,1666,3366,0,0,0,0,0,0
$GC,4065,0.38,-126.5,473.4,-8.2,166,4069,0.00,2.47,0.00,0.000,4,0.000,0.066,3068,227,3364,0,0,0,0,0,0
$GC,4131,0.38,-126.5,479.2,-8.5,167,4135,0.00,2.33,0.00,0.000,6,0.000,0.033,3068,1657,3364,0,0,0,0,0,0
$STATE,4392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4392,begin apogee
$GC,4399,-0.31,0.0,500.7,8.4,174,4504,0.60,0.00,102.62,0.854,6,0.027,0.000,2896,1806,2850,0,0,0,0,0,0
$STATE,4505,end apogee,CONTROL_FINISHED_OK
$STATE,4505,begin climb
$GC,4508,1.34,126.5,511.7,0.0,176,4624,1.80,2.67,107.10,0.840,4,0.103,0.046,3271,3362,2333,0,0,0,0,0,0
$GC,4797,2.28,223.0,509.4,4.9,182,4902,8.48,2.62,84.15,0.832,6,0.007,0.039,3492,1800,1939,25,0,0,0,0,0
$GC,5146,2.53,249.6,483.4,8.6,191,5178,0.20,2.72,24.33,0.791,4,0.042,0.051,3578,3354,1830,0,0,0,0,0,0
$GC,5258,2.61,249.6,469.6,11.5,193,5262,0.00,2.70,0.00,0.000,6,0.000,0.044,3578,1779,1825,0,0,0,0,0,0
$GC,5523,2.61,249.6,434.5,13.4,200,5527,0.00,2.75,0.00,0.000,4,0.000,0.071,3578,212,1823,0,0,0,0,0,0
$GC,5680,2.61,249.6,411.8,14.5,203,5685,0.00,2.47,0.00,0.000,6,0.000,0.029,3578,1740,1822,0,0,0,0,0,0
$GC,5945,2.61,249.6,380.2,11.8,210,5950,0.00,2.65,0.00,0.000,4,0.000,0.060,3578,212,1821,0,0,0,0,0,0
$GC,6082,2.61,249.6,361.5,13.6,213,6087,0.00,2.47,0.00,0.000,6,0.000,0.029,3578,1728,1821,0,0,0,0,0,0
$GC,6371,2.61,249.6,325.6,12.8,220,6375,0.00,2.62,0.00,0.000,4,0.000,0.058,3578,208,1819,0,0,0,0,0,0
$GC,6620,2.61,249.6,290.8,13.7,225,6625,0.00,2.42,0.00,0.000,6,0.000,0.028,3578,1705,1819,0,0,0,0,0,0
$GC,6885,2.61,249.6,263.5,10.2,232,6890,0.00,2.55,0.00,0.000,4,0.000,0.056,3578,212,1818,0,0,0,0,0,0
$GC,7001,2.61,249.6,248.7,13.4,234,7005,0.00,2.33,0.00,0.000,6,0.000,0.025,3578,1684,1817,0,0,0,0,0,0
$GC,7261,2.61,249.6,219.4,10.9,241,7266,0.00,2.50,0.00,0.000,4,0.000,0.052,3578,207,1816,0,0,0,0,0,0
$GC,7368,2.61,249.6,207.3,10.8,243,7372,0.00,2.33,0.00,0.000,6,0.000,0.024,3578,1674,1816,0,0,0,0,0,0
$GC,7636,2.72,279.4,182.8,8.4,261,7666,0.00,2.50,24.23,0.611,4,0.000,0.049,3578,210,1709,0,0,0,0,0,0
$GC,7721,2.72,279.4,174.3,10.8,269,7727,0.00,2.30,0.00,0.000,6,0.000,0.024,3578,1669,1709,0,0,0,0,0,0
$GC,7985,2.82,279.4,147.6,11.7,294,7990,0.10,2.45,0.00,0.000,4,0.074,0.048,3628,209,1707,0,0,0,0,0,0
$GC,8119,2.72,279.4,123.5,18.8,306,8127,1.23,2.30,0.00,0.000,6,0.015,0.024,3582,1645,1707,4,0,0,0,0,0
$GC,8387,2.84,279.4,86.2,13.9,331,8392,0.10,2.42,0.00,0.000,4,0.077,0.048,3637,205,1706,0,0,0,0,0,0
$GC,8515,2.73,279.4,65.3,15.0,342,8524,0.73,2.25,0.00,0.000,6,0.025,0.022,3585,1622,1706,2,0,0,0,0,0
$GC,8784,2.86,300.2,38.8,8.9,367,8810,0.12,2.38,19.55,0.476,4,0.065,0.048,3654,209,1625,0,0,0,0,0,0
$GC,8951,2.76,300.2,13.8,17.9,388,8960,0.57,2.22,0.00,0.000,6,0.039,0.022,3590,1607,1625,1,0,0,0,0,0
$STATE,9035,end climb,SURFACE_DEPTH_REACHED
$STATE,9035,begin surface coast
$FINISH,0.8,1.018369
$STATE,9089,end surface coast,CONTROL_FINISHED_OK
$STATE,9089,begin surface
$SM_CCo,9112,49.83,0.459,0,0,1299,380.21
$SM_GC,1.66,0.00,0.00,49.83,0.000,0.000,0.459,413,1866,1299,-11.85,1.84,380.21
$IRIDIUM_FIX,2220.67,-15815.38,190801,010116
$TT8_MAMPS,0.027612
$HUMID,62.75
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,21.80
$XPDR_PINGS,5
$24V_AH,23.4,4.496
$10V_AH,9.9,3.396
$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,42.725,114.400,361.975,49.825,0.000,51.455,73.792,255.557,1.250,0.000,13.286,946.476,5774.429,453.535,1909.606,667.202,33.342,1295.755,0.000,1891.499,0.000,0.538,0.000
$DEVICE_MAMPS,159.536,71.331,853.671,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,275.977,226.030,293.336,420.452,737.704,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356044
$DATA_FILE_SIZE,32061,409
$CAP_FILE_SIZE,111305,0
$CFSIZE,260165632,170840064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,38,0,0,0
$GPS,250512,033858,2230.173,-15815.072,10,2.2,29,10.0