version: 66.06
glider: 148
mission: 11
dive: 35
start: 5 25 112 6 38 38
data:
$ID,148
$MISSION,11
$DIVE,35
$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,-897450.06
$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,21
$R_STBD_OVSHOOT,80
$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
$GPS1,063137,2229.874,-15815.232,34,1.2,34,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.9
$GPS2,063744,2229.813,-15815.322,11,1.5,11,10.0
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,0.058
$KALMAN_X,-67501.5,901.4,583.3,40489.3,-4032.0
$KALMAN_Y,-44233.5,589.6,276.6,16207.0,-2379.2
$MHEAD_RNG_PITCHd_Wd,66.2,38418,-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,-126.5,0.0,0.0,0,123,0.00,0.00,-104.35,0.000,2,0.000,0.000,413,1825,3218,0,0,0,0,0,0
$GC,127,-1.34,-126.5,3.4,-5.2,14,152,12.00,2.42,-2.50,0.000,4,0.152,0.037,2688,3336,3359,0,0,0,0,0,0
$GC,186,-0.29,-126.5,28.3,-40.9,22,196,1.12,2.55,0.00,0.000,6,0.123,0.028,2917,1775,3359,0,0,0,0,0,0
$GC,455,0.36,-126.5,106.0,-26.8,47,465,0.70,2.55,0.00,0.000,4,0.115,0.039,3062,212,3360,0,0,0,0,0,0
$GC,565,0.55,-126.5,130.3,-15.6,57,572,0.20,2.38,0.00,0.000,6,0.108,0.019,3104,1754,3360,0,0,0,0,0,0
$GC,833,0.55,-126.5,158.9,-9.9,82,837,0.00,2.53,0.00,0.000,4,0.000,0.042,3104,214,3361,0,0,0,0,0,0
$GC,887,0.55,-126.5,164.7,-9.4,87,892,0.00,2.42,0.00,0.000,6,0.000,0.020,3104,1768,3361,0,0,0,0,0,0
$GC,1152,0.55,-126.5,186.9,-9.2,111,1156,0.00,2.55,0.00,0.000,4,0.000,0.042,3104,212,3362,0,0,0,0,0,0
$GC,1218,0.55,-126.5,194.4,-11.0,117,1222,0.00,2.40,0.00,0.000,6,0.000,0.021,3104,1762,3362,0,0,0,0,0,0
$GC,1480,0.48,-126.5,222.0,-10.5,127,1485,0.00,2.55,0.00,0.000,4,0.000,0.044,3104,211,3363,0,0,0,0,0,0
$GC,1579,0.39,-126.5,233.2,-11.5,129,1585,0.32,2.38,0.00,0.000,6,0.010,0.021,3048,1744,3363,1,0,0,0,0,0
$GC,1858,0.47,-126.5,267.5,-11.9,136,1864,0.20,2.53,0.00,0.000,4,0.098,0.044,3091,215,3363,0,0,0,0,0,0
$GC,1965,0.41,-126.5,278.3,-10.0,138,1969,0.00,2.38,0.00,0.000,6,0.000,0.022,3091,1723,3363,0,0,0,0,0,0
$GC,2239,0.33,-126.5,299.1,-7.1,145,2244,0.12,2.53,0.00,0.000,4,0.067,0.048,3033,211,3363,0,0,0,0,0,0
$GC,2315,0.45,-126.5,307.3,-12.0,146,2323,0.98,2.35,0.00,0.000,6,0.025,0.023,3087,1714,3362,3,0,0,0,0,0
$GC,2574,0.38,-126.5,326.6,-7.5,153,2578,0.00,2.50,0.00,0.000,4,0.000,0.050,3087,212,3362,0,0,0,0,0,0
$GC,2599,0.38,-126.5,328.7,-8.5,153,2603,0.00,2.35,0.00,0.000,6,0.000,0.024,3087,1701,3362,0,0,0,0,0,0
$GC,2863,0.29,-126.5,350.3,-8.3,160,2868,0.15,2.50,0.00,0.000,4,0.058,0.053,3024,217,3360,0,0,0,0,0,0
$GC,2980,0.42,-126.5,364.6,-13.5,162,2988,2.38,2.33,0.00,0.000,6,0.012,0.026,3079,1688,3360,7,0,0,0,0,0
$GC,3248,0.35,-126.5,391.6,-9.9,169,3252,0.00,2.50,0.00,0.000,4,0.000,0.058,3079,219,3358,0,0,0,0,0,0
$GC,3340,0.35,-126.5,402.2,-11.5,171,3344,0.00,2.33,0.00,0.000,6,0.000,0.027,3079,1678,3358,0,0,0,0,0,0
$GC,3629,0.26,-126.5,428.3,-9.0,178,3634,0.15,2.53,0.00,0.000,4,0.058,0.063,3017,211,3356,0,0,0,0,0,0
$GC,3729,0.39,-126.5,440.3,-12.1,180,3740,4.20,2.33,0.00,0.000,6,0.007,0.031,3073,1663,3355,13,0,0,0,0,0
$GC,4011,0.32,-126.5,463.9,-8.3,187,4015,0.00,2.47,0.00,0.000,4,0.000,0.065,3073,219,3353,0,0,0,0,0,0
$GC,4095,0.32,-126.5,472.0,-8.9,188,4100,0.00,2.30,0.00,0.000,6,0.000,0.032,3072,1655,3353,0,0,0,0,0,0
$GC,4347,0.25,-126.5,492.0,-8.0,195,4352,0.12,2.50,0.00,0.000,4,0.067,0.068,3019,218,3351,0,0,0,0,0,0
$STATE,4415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4415,begin apogee
$GC,4423,-0.31,0.0,500.5,12.3,196,4533,4.20,0.00,102.18,0.858,6,0.005,0.000,2904,1826,2840,13,0,0,0,0,0
$STATE,4533,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4537,1.34,126.5,514.1,0.0,199,4655,1.75,2.80,108.28,0.844,4,0.098,0.046,3273,3429,2323,0,0,0,0,0,0
$GC,4760,2.26,201.9,509.9,6.0,204,4841,4.38,2.67,65.62,0.831,6,0.008,0.040,3490,1850,2016,12,0,0,0,0,0
$GC,5084,2.52,245.9,486.2,7.7,212,5130,0.20,2.80,39.05,0.815,4,0.044,0.055,3568,3430,1836,0,0,0,0,0,0
$GC,5209,2.66,245.9,471.0,11.5,214,5214,0.00,2.72,0.00,0.000,6,0.000,0.044,3568,1827,1828,0,0,0,0,0,0
$GC,5460,2.66,245.9,439.1,12.8,220,5465,0.00,2.78,0.00,0.000,4,0.000,0.073,3568,263,1826,0,0,0,0,0,0
$GC,5646,2.66,245.9,411.3,15.2,224,5650,0.00,2.55,0.00,0.000,6,0.000,0.032,3568,1802,1825,0,0,0,0,0,0
$GC,5930,2.66,245.9,374.3,12.8,231,5934,0.00,2.67,0.00,0.000,4,0.000,0.060,3567,263,1822,0,0,0,0,0,0
$GC,6158,2.66,245.9,339.0,15.9,236,6162,0.00,2.50,0.00,0.000,6,0.000,0.029,3568,1792,1821,0,0,0,0,0,0
$GC,6446,2.66,245.9,305.0,10.9,243,6450,0.00,2.62,0.00,0.000,4,0.000,0.059,3568,264,1820,0,0,0,0,0,0
$GC,6715,2.66,245.9,271.2,12.0,248,6721,0.00,2.40,0.00,0.000,6,0.000,0.028,3568,1760,1819,0,0,0,0,0,0
$GC,6966,2.72,245.9,244.8,10.2,255,6970,0.00,2.55,0.00,0.000,4,0.000,0.052,3568,260,1818,0,0,0,0,0,0
$GC,7115,2.72,245.9,225.9,13.3,258,7119,0.00,2.38,0.00,0.000,6,0.000,0.026,3568,1738,1817,0,0,0,0,0,0
$GC,7369,2.82,245.9,192.8,12.1,266,7374,0.15,2.47,0.00,0.000,4,0.056,0.049,3626,260,1816,0,0,0,0,0,0
$GC,7593,2.71,245.9,162.3,14.3,288,7606,4.05,2.33,0.00,0.000,6,0.007,0.025,3577,1717,1816,13,0,0,0,0,0
$GC,7863,2.82,245.9,132.6,11.0,313,7868,0.10,2.42,0.00,0.000,4,0.077,0.055,3623,252,1815,0,0,0,0,0,0
$GC,8075,2.72,245.9,105.6,11.9,333,8085,1.60,2.30,0.00,0.000,6,0.013,0.023,3580,1712,1815,5,0,0,0,0,0
$GC,8341,2.86,252.3,80.9,9.7,358,8346,0.12,2.42,0.00,0.000,4,0.066,0.051,3636,257,1815,0,0,0,0,0,0
$GC,8516,2.75,252.3,56.9,15.5,373,8529,0.60,2.25,0.00,0.000,6,0.035,0.022,3589,1691,1815,1,0,0,0,0,0
$GC,8783,2.87,263.0,31.3,9.5,398,8805,0.10,2.42,12.38,0.452,4,0.079,0.047,3642,262,1766,0,0,0,0,0,0
$GC,8964,2.74,263.0,6.1,15.0,425,8973,0.38,2.25,0.00,0.000,6,0.060,0.021,3588,1681,1765,1,0,0,0,0,0
$STATE,8981,end climb,SURFACE_DEPTH_REACHED
$STATE,8981,begin surface coast
$FINISH,0.5,1.019019
$STATE,9015,end surface coast,CONTROL_FINISHED_OK
$STATE,9015,begin surface
$SM_CCo,9038,69.40,0.461,0,0,1289,380.21
$SM_GC,1.36,0.00,0.00,69.40,0.000,0.000,0.461,410,1880,1289,-11.87,2.54,380.21
$IRIDIUM_FIX,2223.01,-15815.38,190801,040427
$TT8_MAMPS,0.027612
$HUMID,61.97
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,21.70
$XPDR_PINGS,6
$24V_AH,23.4,4.731
$10V_AH,9.9,3.591
$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,53.125,114.300,327.500,69.400,0.000,33.103,38.459,170.359,1.500,0.000,14.753,989.247,5478.359,467.860,2025.279,515.334,33.343,1341.650,0.000,2009.249,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,72.865,857.506,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.451,251.444,325.830,474.040,832.817,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356040
$DATA_FILE_SIZE,35339,432
$CAP_FILE_SIZE,111702,0
$CFSIZE,260165632,170729472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,69,0,0,0
$GPS,250512,091119,2229.217,-15815.592,7,1.5,12,10.0