version: 66.06
glider: 148
mission: 11
dive: 34
start: 5 25 112 3 56 22
data:
$ID,148
$MISSION,11
$DIVE,34
$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,571.30371
$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,-897434.69
$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,1790
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2840
$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
$GPS1,033858,2230.173,-15815.072,10,2.2,29,10.0
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.4
$GPS2,035528,2230.042,-15815.260,12,2.6,31,10.0
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,0.107
$KALMAN_X,-64636.7,774.7,126.6,38324.5,-2824.0
$KALMAN_Y,-42436.5,533.5,26.1,15147.6,-1751.3
$MHEAD_RNG_PITCHd_Wd,53.9,38035,-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,-74.95,0.000,2,0.000,0.000,412,1867,3285,0,0,0,0,0,0
$GC,98,-1.34,-126.5,3.6,-5.7,10,123,12.10,2.42,-1.20,0.000,4,0.155,0.036,2691,3373,3359,0,0,0,0,0,0
$GC,182,-0.24,-126.5,38.5,-38.8,21,195,1.17,2.58,0.00,0.000,6,0.117,0.032,2932,1779,3359,0,0,0,0,0,0
$GC,449,0.34,-126.5,106.3,-21.5,46,462,0.60,2.55,0.00,0.000,4,0.114,0.038,3056,207,3360,0,0,0,0,0,0
$GC,538,0.53,-126.5,123.1,-15.9,54,548,0.17,2.50,0.00,0.000,6,0.095,0.020,3098,1787,3360,0,0,0,0,0,0
$GC,805,0.53,-126.5,155.3,-12.0,79,810,0.00,2.60,0.00,0.000,4,0.000,0.043,3098,203,3361,0,0,0,0,0,0
$GC,918,0.53,-126.5,169.9,-12.3,90,922,0.00,2.42,0.00,0.000,6,0.000,0.020,3098,1777,3361,0,0,0,0,0,0
$GC,1182,0.53,-126.5,198.0,-10.2,114,1186,0.00,2.58,0.00,0.000,4,0.000,0.043,3098,206,3361,0,0,0,0,0,0
$GC,1236,0.53,-126.5,204.6,-11.0,116,1240,0.00,2.45,0.00,0.000,6,0.000,0.021,3098,1774,3361,0,0,0,0,0,0
$GC,1514,0.53,-126.5,232.0,-9.5,123,1518,0.00,2.58,0.00,0.000,4,0.000,0.044,3098,206,3361,0,0,0,0,0,0
$GC,1618,0.53,-126.5,242.6,-9.9,125,1622,0.00,2.42,0.00,0.000,6,0.000,0.021,3098,1755,3361,0,0,0,0,0,0
$GC,1891,0.47,-126.5,267.5,-9.5,132,1896,0.00,2.55,0.00,0.000,4,0.000,0.045,3098,207,3361,0,0,0,0,0,0
$GC,1972,0.47,-126.5,275.3,-9.2,133,1976,0.00,2.42,0.00,0.000,6,0.000,0.021,3098,1753,3361,0,0,0,0,0,0
$GC,2223,0.38,-126.5,297.6,-9.0,139,2228,0.12,2.58,0.00,0.000,4,0.064,0.048,3038,206,3361,0,0,0,0,0,0
$GC,2329,0.49,-126.5,310.2,-12.1,141,2336,1.05,2.38,0.00,0.000,6,0.023,0.024,3094,1720,3361,3,0,0,0,0,0
$GC,2606,0.39,-126.5,335.4,-8.6,148,2610,0.00,2.53,0.00,0.000,4,0.000,0.051,3094,211,3361,0,0,0,0,0,0
$GC,2645,0.28,-126.5,339.3,-9.9,148,2651,0.75,2.38,0.00,0.000,6,0.007,0.024,3025,1712,3360,2,0,0,0,0,0
$GC,2895,0.38,-126.5,367.6,-11.6,155,2900,0.20,2.55,0.00,0.000,4,0.097,0.054,3069,212,3360,0,0,0,0,0,0
$GC,3020,0.38,-126.5,381.3,-11.0,157,3025,0.00,2.35,0.00,0.000,6,0.000,0.027,3070,1697,3359,0,0,0,0,0,0
$GC,3272,0.38,-126.5,403.4,-8.8,163,3276,0.00,2.55,0.00,0.000,4,0.000,0.061,3070,209,3357,0,0,0,0,0,0
$GC,3323,0.38,-126.5,408.2,-9.0,164,3327,0.00,2.35,0.00,0.000,6,0.000,0.028,3070,1688,3357,0,0,0,0,0,0
$GC,3602,0.38,-126.5,430.7,-7.8,171,3607,0.00,2.55,0.00,0.000,4,0.000,0.063,3070,208,3355,0,0,0,0,0,0
$GC,3729,0.38,-126.5,441.4,-8.1,173,3733,0.00,2.38,0.00,0.000,6,0.000,0.031,3070,1680,3354,0,0,0,0,0,0
$GC,3979,0.38,-126.5,460.7,-7.7,179,3984,0.00,2.53,0.00,0.000,4,0.000,0.065,3070,208,3353,0,0,0,0,0,0
$GC,4032,0.38,-126.5,465.1,-8.3,180,4036,0.00,2.35,0.00,0.000,6,0.000,0.033,3070,1663,3352,0,0,0,0,0,0
$GC,4314,0.38,-126.5,487.4,-7.8,187,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1663,3350,0,0,0,0,0,0
$STATE,4474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4474,begin apogee
$GC,4481,-0.31,0.0,501.1,8.5,191,4586,0.60,0.00,101.93,0.852,6,0.027,0.000,2897,1856,2840,0,0,0,0,0,0
$STATE,4587,end apogee,CONTROL_FINISHED_OK
$STATE,4587,begin climb
$GC,4590,1.34,126.5,511.4,0.0,193,4708,1.80,2.67,106.95,0.840,4,0.100,0.047,3275,3412,2322,0,0,0,0,0,0
$GC,4974,2.29,219.2,501.5,5.1,201,5077,8.32,2.62,80.68,0.834,6,0.006,0.039,3492,1851,1945,25,0,0,0,0,0
$GC,5318,2.55,258.1,477.1,8.0,210,5361,0.22,2.75,34.70,0.808,4,0.040,0.053,3577,3412,1786,0,0,0,0,0,0
$GC,5445,2.66,258.1,460.4,13.8,212,5450,0.00,2.72,0.00,0.000,6,0.000,0.042,3577,1817,1780,0,0,0,0,0,0
$GC,5695,2.66,258.1,422.7,15.4,218,5699,0.00,2.72,0.00,0.000,4,0.000,0.070,3577,261,1778,0,0,0,0,0,0
$GC,5872,2.66,258.1,393.6,15.8,221,5878,0.00,2.50,0.00,0.000,6,0.000,0.030,3578,1781,1777,0,0,0,0,0,0
$GC,6122,2.66,258.1,359.3,13.1,228,6126,0.00,2.62,0.00,0.000,4,0.000,0.058,3577,261,1776,0,0,0,0,0,0
$GC,6250,2.66,258.1,342.9,12.4,230,6254,0.00,2.45,0.00,0.000,6,0.000,0.030,3577,1758,1775,0,0,0,0,0,0
$GC,6500,2.67,263.4,316.9,9.8,236,6504,0.00,2.55,0.00,0.000,4,0.000,0.058,3578,263,1774,0,0,0,0,0,0
$GC,6695,2.67,263.4,285.9,16.4,240,6699,0.00,2.38,0.00,0.000,6,0.000,0.028,3578,1734,1773,0,0,0,0,0,0
$GC,6967,2.67,263.4,249.6,12.7,247,6972,0.00,2.50,0.00,0.000,4,0.000,0.054,3578,255,1772,0,0,0,0,0,0
$GC,7117,2.67,263.4,232.7,12.5,250,7121,0.00,2.33,0.00,0.000,6,0.000,0.026,3577,1714,1772,0,0,0,0,0,0
$GC,7390,2.73,263.4,202.5,11.6,257,7394,0.00,2.42,0.00,0.000,4,0.000,0.049,3577,261,1770,0,0,0,0,0,0
$GC,7538,2.73,263.4,181.5,13.4,268,7544,0.00,2.30,0.00,0.000,6,0.000,0.025,3578,1706,1771,0,0,0,0,0,0
$GC,7801,2.88,310.4,156.2,7.5,293,7852,0.15,2.47,44.20,0.604,4,0.054,0.053,3648,257,1572,0,0,0,0,0,0
$GC,8062,2.79,310.4,119.2,16.0,318,8070,1.40,2.28,0.00,0.000,6,0.015,0.023,3600,1669,1572,4,0,0,0,0,0
$GC,8330,2.86,310.4,90.2,11.3,343,8334,0.00,2.35,0.00,0.000,4,0.000,0.048,3600,259,1569,0,0,0,0,0,0
$GC,8443,2.86,310.4,75.5,13.0,353,8447,0.00,2.20,0.00,0.000,6,0.000,0.021,3600,1660,1569,0,0,0,0,0,0
$GC,8712,2.94,310.4,43.8,11.6,377,8717,0.12,2.35,0.00,0.000,4,0.064,0.046,3653,257,1569,0,0,0,0,0,0
$GC,8835,2.85,310.4,23.3,17.7,390,8844,0.43,2.20,0.00,0.000,6,0.034,0.022,3613,1639,1569,1,0,0,0,0,0
$STATE,8983,end climb,SURFACE_DEPTH_REACHED
$STATE,8983,begin surface coast
$FINISH,0.7,1.019029
$STATE,9022,end surface coast,CONTROL_FINISHED_OK
$STATE,9022,begin surface
$SM_CCo,9045,178.55,0.449,3,0,511,571.30
$SM_GC,1.36,0.00,0.00,178.55,0.000,0.000,0.449,413,1824,511,-11.85,0.96,571.30
$IRIDIUM_FIX,2220.67,-15813.21,190801,030341
$TT8_MAMPS,0.028379
$HUMID,60.23
$INTERNAL_PRESSURE,9.26204
$TCM_TEMP,21.90
$XPDR_PINGS,7
$24V_AH,23.4,4.631
$10V_AH,9.8,3.495
$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,42.225,109.400,368.450,178.550,0.000,147.521,164.207,270.727,1.750,0.000,33.641,952.934,5829.100,601.217,1972.461,875.619,33.346,1443.048,0.000,1940.898,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,69.797,852.137,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,282.885,241.911,312.853,450.721,791.753,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,32095,419
$CAP_FILE_SIZE,115415,0
$CFSIZE,260165632,170774528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,35,0,3,0
$GPS,250512,063137,2229.874,-15815.232,34,1.2,34,10.0