version: 66.06
glider: 148
mission: 11
dive: 67
start: 5 28 112 10 15 4
data:
$ID,148
$MISSION,11
$DIVE,67
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,320
$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,120
$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,-900944
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3000
$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,1740
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,102
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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
$GPS1,100927,2224.204,-15834.853,8,99.0,27,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.6
$GPS2,101413,2224.194,-15834.890,10,1.6,16,10.0
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.085,-0.219
$KALMAN_X,-137785.6,-3446.2,839.6,81522.6,1442.1
$KALMAN_Y,-72521.2,-325.8,367.3,34912.1,492.0
$MHEAD_RNG_PITCHd_Wd,191.2,67207,-19.8,-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,17,-1.38,-116.8,0.0,0.0,0,122,0.00,0.00,-102.90,0.000,2,0.000,0.000,415,1647,3194,0,0,0,0,0,0
$GC,126,-1.38,-116.8,3.1,-4.7,14,151,11.95,2.42,-1.62,0.000,4,0.153,0.048,2692,166,3280,0,0,0,0,0,0
$GC,462,-0.12,-116.8,133.0,-41.3,50,475,2.17,2.33,0.00,0.000,6,0.088,0.018,2963,1696,3280,3,0,0,0,0,0
$GC,730,0.23,-116.8,182.3,-15.5,75,735,0.35,2.47,0.00,0.000,4,0.102,0.041,3041,177,3281,0,0,0,0,0,0
$GC,992,0.33,-116.8,219.2,-14.4,90,999,0.88,2.38,0.00,0.000,6,0.018,0.019,3070,1730,3281,2,0,0,0,0,0
$GC,1259,0.33,-116.8,244.9,-9.4,97,1264,0.00,2.55,0.00,0.000,4,0.000,0.045,3070,170,3282,0,0,0,0,0,0
$GC,1362,0.33,-116.8,256.5,-11.2,99,1367,0.00,2.38,0.00,0.000,6,0.000,0.021,3070,1707,3281,0,0,0,0,0,0
$GC,1636,0.33,-116.8,283.2,-9.7,106,1640,0.00,2.53,0.00,0.000,4,0.000,0.050,3070,178,3281,0,0,0,0,0,0
$GC,1725,0.33,-116.8,291.2,-8.5,108,1729,0.00,2.35,0.00,0.000,6,0.000,0.021,3070,1688,3280,0,0,0,0,0,0
$GC,2013,0.33,-116.8,317.7,-10.1,115,2018,0.00,2.53,0.00,0.000,4,0.000,0.051,3070,177,3280,0,0,0,0,0,0
$GC,2157,0.33,-116.8,334.7,-11.4,118,2161,0.00,2.33,0.00,0.000,6,0.000,0.024,3070,1674,3279,0,0,0,0,0,0
$GC,2436,0.27,-116.8,358.8,-8.0,125,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1677,3277,0,0,0,0,0,0
$GC,2679,0.20,-116.8,380.5,-9.4,131,2684,0.12,2.55,0.00,0.000,4,0.066,0.061,3016,175,3275,0,0,0,0,0,0
$GC,2772,0.35,-116.8,391.4,-12.2,133,2784,5.32,2.33,0.00,0.000,6,0.005,0.027,3070,1654,3275,17,0,0,0,0,0
$GC,3065,0.28,-116.8,418.0,-9.5,140,3069,0.00,2.53,0.00,0.000,4,0.000,0.066,3069,174,3273,0,0,0,0,0,0
$GC,3164,0.21,-116.8,429.1,-11.2,142,3176,6.72,2.35,0.00,0.000,6,0.004,0.030,3029,1640,3272,22,0,0,0,0,0
$GC,3445,0.21,-116.8,454.7,-8.4,149,3450,0.00,2.53,0.00,0.000,4,0.000,0.066,3029,176,3269,0,0,0,0,0,0
$GC,3586,0.31,-116.8,466.6,-8.3,152,3606,11.62,2.35,0.00,0.000,6,0.004,0.034,3065,1625,3269,38,0,0,0,0,0
$GC,3874,0.24,-116.8,484.1,-6.4,159,3878,0.00,2.47,0.00,0.000,4,0.000,0.068,3065,182,3266,0,0,0,0,0,0
$GC,4019,0.24,-116.8,498.7,-10.3,162,4023,0.00,2.33,0.00,0.000,6,0.000,0.035,3065,1613,3265,0,0,0,0,0,0
$STATE,4030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4030,begin apogee
$GC,4037,-0.31,0.0,500.0,10.4,162,4135,0.52,0.00,92.47,0.867,6,0.029,0.000,2896,1789,2799,0,0,0,0,0,0
$STATE,4136,end apogee,CONTROL_FINISHED_OK
$STATE,4136,begin climb
$GC,4140,1.38,116.8,513.6,0.0,165,4250,1.88,0.00,100.95,0.850,6,0.100,0.000,3292,1789,2321,0,0,0,0,0,0
$GC,4510,2.46,219.4,506.4,4.1,174,4611,1.02,2.83,88.62,0.846,4,0.053,0.067,3540,238,1904,0,0,0,0,0,0
$GC,4663,2.54,219.4,490.7,13.5,177,4668,0.00,2.55,0.00,0.000,6,0.000,0.031,3540,1782,1901,0,0,0,0,0,0
$GC,4929,2.66,219.4,458.1,12.3,184,4937,0.15,2.70,0.00,0.000,4,0.059,0.063,3596,231,1895,0,0,0,0,0,0
$GC,5138,2.60,219.4,425.4,15.7,188,5146,2.72,2.53,0.00,0.000,6,0.006,0.031,3562,1782,1893,9,0,0,0,0,0
$GC,5406,2.68,219.4,395.9,10.3,195,5411,0.10,2.67,0.00,0.000,4,0.079,0.060,3610,229,1890,0,0,0,0,0,0
$GC,5616,2.60,219.4,363.1,17.0,199,5624,3.00,2.47,0.00,0.000,6,0.008,0.030,3564,1761,1889,9,0,0,0,0,0
$GC,5879,2.70,219.4,329.1,11.8,206,5885,0.10,2.62,0.00,0.000,4,0.079,0.058,3627,226,1887,0,0,0,0,0,0
$GC,6034,2.58,219.4,307.0,15.6,209,6042,2.95,2.42,0.00,0.000,6,0.010,0.028,3561,1741,1886,9,0,0,0,0,0
$GC,6307,2.72,219.4,273.3,12.7,216,6312,0.12,2.58,0.00,0.000,4,0.066,0.055,3618,221,1885,0,0,0,0,0,0
$GC,6530,2.62,219.4,240.2,11.6,220,6539,2.45,2.40,0.00,0.000,6,0.009,0.025,3574,1736,1884,8,0,0,0,0,0
$GC,6828,2.75,219.4,211.9,11.3,228,6833,0.10,2.50,0.00,0.000,4,0.077,0.051,3618,226,1883,0,0,0,0,0,0
$GC,7000,2.75,219.4,186.0,13.7,238,7004,0.00,2.33,0.00,0.000,6,0.000,0.024,3617,1717,1882,0,0,0,0,0,0
$GC,7268,2.75,219.4,156.5,10.5,262,7272,0.00,2.50,0.00,0.000,4,0.000,0.049,3618,215,1882,0,0,0,0,0,0
$GC,7539,2.75,219.4,121.4,12.3,288,7544,0.00,2.33,0.00,0.000,6,0.000,0.022,3618,1700,1881,0,0,0,0,0,0
$GC,7802,2.75,219.4,92.0,10.9,312,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1702,1881,0,0,0,0,0,0
$GC,8060,2.75,223.3,69.4,9.8,336,8064,0.00,2.45,0.00,0.000,4,0.000,0.047,3618,219,1881,0,0,0,0,0,0
$GC,8379,2.83,283.8,32.3,6.5,365,8434,0.00,2.28,50.25,0.490,6,0.000,0.021,3618,1706,1643,0,0,0,0,0,0
$STATE,8639,end climb,SURFACE_DEPTH_REACHED
$STATE,8639,begin surface coast
$FINISH,0.5,1.009216
$STATE,8684,end surface coast,CONTROL_FINISHED_OK
$STATE,8684,begin surface
$SM_CCo,8708,57.53,0.457,0,0,1249,380.21
$SM_GC,1.44,0.00,0.00,57.53,0.000,0.000,0.457,414,1708,1249,-11.90,-0.90,380.21
$IRIDIUM_FIX,2216.01,-15833.99,220801,101021
$TT8_MAMPS,0.027612
$HUMID,65.19
$INTERNAL_PRESSURE,9.3597
$TCM_TEMP,22.20
$XPDR_PINGS,155
$24V_AH,23.5,8.778
$10V_AH,9.9,6.721
$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,67.275,84.075,332.300,57.525,0.000,0.000,0.000,0.000,38.750,0.000,17.934,940.333,5191.895,429.188,2074.573,203.465,33.355,1304.577,0.000,2043.656,0.000,0.539,0.000
$DEVICE_MAMPS,153.400,68.263,867.477,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,277.842,231.922,303.242,471.653,828.482,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,32066,411
$CAP_FILE_SIZE,190501,0
$CFSIZE,260165632,169320448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,117,0,0,0
$GPS,280512,124252,2223.299,-15836.238,39,2.5,58,10.0