version: 66.06
glider: 148
mission: 11
dive: 36
start: 5 25 112 9 19 21
data:
$ID,148
$MISSION,11
$DIVE,36
$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,-897485.81
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,091119,2229.217,-15815.592,7,1.5,12,10.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.3
$GPS2,091828,2229.157,-15815.700,13,99.0,32,10.0
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.066
$KALMAN_X,-69854.3,619.6,250.3,42807.0,-4002.3
$KALMAN_Y,-45715.9,384.4,190.7,16763.7,-2475.6
$MHEAD_RNG_PITCHd_Wd,64.4,39748,-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,13,begin dive
$GC,15,-1.34,-126.5,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,410,1880,3241,0,0,0,0,0,0
$GC,97,-1.34,-126.5,3.4,-5.8,10,121,12.73,2.45,-2.12,0.000,4,0.177,0.041,2691,3386,3358,0,0,0,0,0,0
$GC,131,0.65,-126.5,18.5,-38.4,14,141,2.17,2.62,0.00,0.000,6,0.132,0.026,3129,1779,3359,0,0,0,0,0,0
$GC,408,0.65,-126.5,59.3,-11.8,42,413,0.00,2.58,0.00,0.000,4,0.000,0.041,3129,214,3361,0,0,0,0,0,0
$GC,484,0.65,-126.5,69.7,-12.4,48,493,0.00,2.53,0.00,0.000,6,0.000,0.020,3129,1811,3361,0,0,0,0,0,0
$GC,751,0.65,-126.5,100.3,-11.6,73,756,0.00,2.62,0.00,0.000,4,0.000,0.041,3129,214,3362,0,0,0,0,0,0
$GC,843,0.65,-126.5,113.3,-13.5,81,849,0.00,2.40,0.00,0.000,6,0.000,0.020,3129,1768,3362,0,0,0,0,0,0
$GC,1106,0.65,-126.5,140.0,-9.9,106,1110,0.00,2.55,0.00,0.000,4,0.000,0.043,3129,214,3363,0,0,0,0,0,0
$GC,1128,0.65,-126.5,142.3,-9.9,107,1134,0.00,2.42,0.00,0.000,6,0.000,0.020,3129,1775,3363,0,0,0,0,0,0
$GC,1391,0.58,-126.5,166.3,-8.7,132,1396,0.00,2.55,0.00,0.000,4,0.000,0.041,3129,214,3363,0,0,0,0,0,0
$GC,1471,0.47,-126.5,173.7,-9.3,139,1476,0.15,2.38,0.00,0.000,6,0.058,0.020,3069,1757,3363,0,0,0,0,0,0
$GC,1742,0.53,-126.5,205.0,-11.6,161,1748,0.17,2.58,0.00,0.000,4,0.102,0.043,3107,208,3364,0,0,0,0,0,0
$GC,1862,0.53,-126.5,216.9,-10.5,163,1866,0.00,2.38,0.00,0.000,6,0.000,0.020,3107,1751,3364,0,0,0,0,0,0
$GC,2126,0.44,-126.5,242.1,-9.7,170,2130,0.00,2.53,0.00,0.000,4,0.000,0.045,3107,215,3365,0,0,0,0,0,0
$GC,2202,0.36,-126.5,249.3,-9.1,171,2210,0.50,2.35,0.00,0.000,6,0.018,0.021,3042,1734,3365,1,0,0,0,0,0
$GC,2460,0.45,-126.5,274.6,-10.1,178,2465,0.20,2.53,0.00,0.000,4,0.099,0.044,3086,212,3365,0,0,0,0,0,0
$GC,2557,0.45,-126.5,282.0,-7.0,180,2561,0.00,2.35,0.00,0.000,6,0.000,0.023,3086,1712,3365,0,0,0,0,0,0
$GC,2844,0.45,-126.5,299.2,-5.9,187,2848,0.00,2.47,0.00,0.000,4,0.000,0.048,3086,215,3365,0,0,0,0,0,0
$GC,2920,0.45,-126.5,304.8,-7.6,188,2924,0.00,2.33,0.00,0.000,6,0.000,0.024,3086,1698,3365,0,0,0,0,0,0
$GC,3175,0.38,-126.5,320.5,-6.0,195,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1701,3364,0,0,0,0,0,0
$GC,3418,0.30,-126.5,338.1,-7.6,201,3423,0.12,2.50,0.00,0.000,4,0.067,0.051,3032,210,3363,0,0,0,0,0,0
$GC,3495,0.41,-126.5,346.8,-12.3,202,3503,2.60,2.38,0.00,0.000,6,0.010,0.025,3077,1704,3362,8,0,0,0,0,0
$GC,3754,0.41,-126.5,369.3,-8.5,209,3758,0.00,2.50,0.00,0.000,4,0.000,0.053,3077,212,3361,0,0,0,0,0,0
$GC,3825,0.33,-126.5,376.2,-9.9,210,3829,0.00,2.38,0.00,0.000,6,0.000,0.027,3077,1696,3361,0,0,0,0,0,0
$GC,4085,0.26,-126.5,399.0,-8.7,217,4090,0.12,2.53,0.00,0.000,4,0.067,0.058,3024,214,3360,0,0,0,0,0,0
$GC,4137,0.39,-126.5,405.3,-12.3,218,4145,3.00,2.35,0.00,0.000,6,0.008,0.028,3072,1680,3359,9,0,0,0,0,0
$GC,4421,0.33,-126.5,432.5,-9.5,225,4425,0.00,2.50,0.00,0.000,4,0.000,0.063,3072,215,3357,0,0,0,0,0,0
$GC,4472,0.33,-126.5,438.0,-10.7,226,4476,0.00,2.35,0.00,0.000,6,0.000,0.031,3072,1677,3358,0,0,0,0,0,0
$GC,4756,0.27,-126.5,463.6,-8.9,233,4761,0.10,2.53,0.00,0.000,4,0.081,0.066,3030,221,3355,0,0,0,0,0,0
$GC,4836,0.36,-126.5,473.3,-12.1,234,4848,5.45,2.35,0.00,0.000,6,0.005,0.033,3066,1666,3355,18,0,0,0,0,0
$GC,5139,0.36,-126.5,499.8,-8.5,242,5143,0.00,2.05,0.00,0.000,3,0.000,0.064,3066,458,3352,0,0,0,0,0,0
$STATE,5144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5144,begin apogee
$GC,5152,-0.31,0.0,500.5,8.4,242,5257,0.57,0.00,102.28,0.860,6,0.031,0.000,2901,1829,2840,0,0,0,0,0,0
$STATE,5258,end apogee,CONTROL_FINISHED_OK
$STATE,5258,begin climb
$GC,5261,1.34,126.5,510.9,0.0,244,5378,1.77,2.75,108.05,0.844,4,0.100,0.048,3274,3432,2323,0,0,0,0,0,0
$GC,5646,2.28,212.0,498.3,5.5,252,5738,6.32,2.65,74.88,0.835,6,0.007,0.039,3490,1859,1974,18,0,0,0,0,0
$GC,5995,2.56,266.1,474.7,7.1,261,6049,0.22,2.75,47.47,0.819,4,0.040,0.052,3574,3425,1754,0,0,0,0,0,0
$GC,6108,2.69,266.1,461.7,11.9,263,6113,0.00,2.70,0.00,0.000,6,0.000,0.042,3574,1830,1747,0,0,0,0,0,0
$GC,6369,2.69,266.1,428.2,12.9,270,6374,0.00,2.75,0.00,0.000,4,0.000,0.071,3575,266,1745,0,0,0,0,0,0
$GC,6611,2.69,266.1,391.2,16.5,275,6615,0.00,2.53,0.00,0.000,6,0.000,0.030,3574,1800,1744,0,0,0,0,0,0
$GC,6884,2.69,266.1,354.0,13.0,282,6888,0.00,2.65,0.00,0.000,4,0.000,0.058,3575,264,1742,0,0,0,0,0,0
$GC,7033,2.69,266.1,336.9,11.4,285,7038,0.00,2.50,0.00,0.000,6,0.000,0.030,3575,1792,1742,0,0,0,0,0,0
$GC,7306,2.69,266.1,307.6,11.1,292,7311,0.00,2.65,0.00,0.000,4,0.000,0.059,3574,261,1740,0,0,0,0,0,0
$GC,7460,2.69,266.1,286.4,14.6,295,7465,0.00,2.45,0.00,0.000,6,0.000,0.028,3574,1772,1739,0,0,0,0,0,0
$GC,7729,2.69,266.1,251.4,12.9,302,7733,0.00,2.58,0.00,0.000,4,0.000,0.055,3574,258,1738,0,0,0,0,0,0
$GC,7887,2.69,266.1,229.4,13.7,305,7891,0.00,2.40,0.00,0.000,6,0.000,0.025,3575,1755,1738,0,0,0,0,0,0
$GC,8153,2.77,266.1,199.5,10.9,312,8157,0.00,2.50,0.00,0.000,4,0.000,0.050,3575,262,1737,0,0,0,0,0,0
$GC,8276,2.77,266.1,184.7,12.7,324,8280,0.00,2.33,0.00,0.000,6,0.000,0.024,3575,1730,1736,0,0,0,0,0,0
$GC,8541,2.90,276.7,160.0,9.5,348,8554,0.20,2.47,7.65,0.519,4,0.045,0.047,3651,258,1710,0,0,0,0,0,0
$GC,8743,2.75,276.7,128.8,16.0,367,8752,2.12,2.33,0.00,0.000,6,0.011,0.025,3592,1712,1710,7,0,0,0,0,0
$GC,9017,2.83,276.7,98.9,11.2,393,9021,0.00,2.42,0.00,0.000,4,0.000,0.047,3592,259,1709,0,0,0,0,0,0
$GC,9086,2.83,276.7,90.0,13.3,399,9090,0.00,2.28,0.00,0.000,6,0.000,0.021,3591,1706,1709,0,0,0,0,0,0
$GC,9354,2.93,276.7,59.7,11.6,423,9359,0.15,2.42,0.00,0.000,4,0.058,0.047,3654,260,1709,0,0,0,0,0,0
$GC,9520,2.80,276.7,34.3,13.5,437,9530,0.50,2.28,0.00,0.000,6,0.041,0.022,3600,1689,1709,1,0,0,0,0,0
$STATE,9799,end climb,SURFACE_DEPTH_REACHED
$STATE,9799,begin surface coast
$FINISH,0.6,1.000307
$STATE,9844,end surface coast,CONTROL_FINISHED_OK
$STATE,9844,begin surface
$SM_CCo,9868,53.10,0.455,0,0,1289,380.21
$SM_GC,1.48,0.00,0.00,53.10,0.000,0.000,0.455,412,1883,1289,-11.86,2.63,380.21
$IRIDIUM_FIX,2220.67,-15817.55,190801,060632
$TT8_MAMPS,0.027612
$HUMID,62.83
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,22.10
$XPDR_PINGS,7
$24V_AH,23.4,4.834
$10V_AH,9.9,3.699
$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,52.150,123.775,340.325,53.100,0.000,38.204,38.309,200.680,1.750,0.000,35.150,1087.436,6017.483,435.769,2240.267,570.823,33.341,1336.776,0.000,2200.551,0.000,0.537,0.000
$DEVICE_MAMPS,177.177,71.331,859.807,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.184,289.445,373.489,560.236,983.632,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,38140,486
$CAP_FILE_SIZE,117882,0
$CFSIZE,260165632,170663936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,62,0,0,0
$GPS,250512,120636,2228.816,-15815.948,67,1.8,72,10.0