version: 66.06
glider: 148
mission: 11
dive: 72
start: 5 29 112 2 36 6
data:
$ID,148
$MISSION,11
$DIVE,72
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$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,140
$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,-901833.5
$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,3100
$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,1720
$C_ROLL_CLIMB,1760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,95
$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
$GPS1,023044,2220.794,-15840.436,29,1.6,29,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.7
$GPS2,023516,2220.802,-15840.488,15,3.4,34,9.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,0.062
$KALMAN_X,-150913.2,12.1,69.6,82353.1,-1916.0
$KALMAN_Y,-70224.2,36.8,151.3,26182.6,-442.7
$MHEAD_RNG_PITCHd_Wd,64.4,65471,-18.9,-9.524
$D_GRID,400
$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,15,-1.32,-116.8,0.0,0.0,0,122,0.00,0.00,-103.93,0.000,2,0.000,0.000,412,1732,3192,0,0,0,0,0,0
$GC,125,-1.32,-116.8,3.4,-5.0,14,150,12.43,2.42,-1.65,0.000,4,0.152,0.036,2806,3255,3280,0,0,0,0,0,0
$GC,160,0.28,-116.8,16.6,-31.6,18,177,9.48,2.50,0.00,0.000,6,0.025,0.029,3155,1713,3280,26,0,0,0,0,0
$GC,442,0.28,-116.8,52.1,-9.8,48,446,0.00,2.50,0.00,0.000,4,0.000,0.043,3155,170,3281,0,0,0,0,0,0
$GC,463,0.28,-116.8,53.8,-9.8,49,467,0.00,2.30,0.00,0.000,6,0.000,0.018,3156,1690,3281,0,0,0,0,0,0
$GC,730,0.20,-116.8,75.3,-8.0,73,734,0.00,2.47,0.00,0.000,4,0.000,0.042,3156,173,3280,0,0,0,0,0,0
$GC,846,0.06,-116.8,85.9,-8.8,83,851,0.32,2.30,0.00,0.000,6,0.010,0.018,3079,1691,3280,1,0,0,0,0,0
$GC,1112,0.19,-116.8,118.8,-13.6,107,1117,0.25,2.47,0.00,0.000,4,0.096,0.040,3137,165,3280,0,0,0,0,0,0
$GC,1130,0.30,-116.8,121.8,-14.0,108,1135,0.12,2.30,0.00,0.000,6,0.115,0.018,3164,1696,3280,0,0,0,0,0,0
$GC,1392,0.13,-116.8,142.2,-6.4,132,1394,0.15,0.00,0.00,0.000,6,0.056,0.000,3097,1699,3280,0,0,0,0,0,0
$GC,1647,0.13,-116.8,165.9,-10.3,156,1652,0.15,2.50,0.00,0.000,4,0.103,0.042,3131,164,3280,0,0,0,0,0,0
$GC,1709,0.05,-116.8,172.2,-10.3,161,1715,0.00,2.33,0.00,0.000,6,0.000,0.018,3131,1686,3280,0,0,0,0,0,0
$GC,1974,-0.06,-116.8,197.6,-10.6,186,1979,0.17,2.47,0.00,0.000,4,0.053,0.044,3057,171,3280,0,0,0,0,0,0
$GC,2067,0.08,-116.8,211.6,-15.2,189,2075,0.80,2.28,0.00,0.000,6,0.027,0.019,3116,1675,3280,2,0,0,0,0,0
$GC,2361,-0.03,-116.8,238.1,-8.0,196,2365,0.00,2.45,0.00,0.000,4,0.000,0.044,3116,173,3280,0,0,0,0,0,0
$GC,2418,-0.13,-116.8,243.4,-8.4,197,2425,0.73,2.33,0.00,0.000,6,0.008,0.020,3037,1686,3280,2,0,0,0,0,0
$GC,2696,-0.03,-116.8,270.5,-9.4,204,2701,0.25,2.50,0.00,0.000,4,0.091,0.044,3096,171,3279,0,0,0,0,0,0
$GC,2726,-0.03,-116.8,273.5,-8.9,204,2731,0.00,2.30,0.00,0.000,6,0.000,0.021,3096,1678,3279,0,0,0,0,0,0
$GC,2982,-0.11,-116.8,293.5,-7.9,211,2986,0.00,2.47,0.00,0.000,4,0.000,0.048,3096,171,3279,0,0,0,0,0,0
$GC,3096,-0.11,-116.8,304.3,-9.5,213,3100,0.00,2.30,0.00,0.000,6,0.000,0.022,3096,1658,3278,0,0,0,0,0,0
$GC,3365,-0.20,-116.8,324.1,-7.0,220,3370,0.17,2.50,0.00,0.000,4,0.051,0.051,3022,167,3276,0,0,0,0,0,0
$GC,3446,-0.02,-116.8,334.0,-13.3,221,3457,4.60,2.30,0.00,0.000,6,0.008,0.023,3094,1650,3276,14,0,0,0,0,0
$GC,3701,-0.11,-116.8,355.3,-8.0,228,3705,0.00,2.45,0.00,0.000,4,0.000,0.053,3094,177,3274,0,0,0,0,0,0
$GC,3768,-0.18,-116.8,361.2,-8.6,229,3777,4.18,2.30,0.00,0.000,6,0.004,0.025,3030,1633,3274,13,0,0,0,0,0
$GC,4033,-0.08,-116.8,389.6,-11.0,236,4038,0.22,2.47,0.00,0.000,4,0.094,0.057,3080,176,3272,0,0,0,0,0,0
$GC,4047,-0.08,-116.8,391.4,-11.1,236,4051,0.00,2.28,0.00,0.000,6,0.000,0.025,3080,1630,3272,0,0,0,0,0,0
$STATE,4155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4155,begin apogee
$GC,4163,-0.31,0.0,401.0,8.6,239,4258,0.20,0.00,92.38,0.759,6,0.047,0.000,2990,1801,2800,0,0,0,0,0,0
$STATE,4259,end apogee,CONTROL_FINISHED_OK
$STATE,4259,begin climb
$GC,4261,1.32,116.8,408.6,0.0,241,4375,1.83,2.83,99.30,0.744,4,0.094,0.058,3381,184,2322,0,0,0,0,0,0
$GC,4404,1.90,178.4,405.3,6.1,244,4465,2.05,2.47,53.12,0.727,6,0.006,0.026,3543,1706,2072,5,0,0,0,0,0
$GC,4719,1.99,178.4,372.5,10.9,252,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1706,2063,0,0,0,0,0,0
$GC,4961,2.08,178.4,347.3,10.2,258,4966,0.00,2.60,0.00,0.000,4,0.000,0.057,3543,181,2060,0,0,0,0,0,0
$GC,5114,2.08,178.4,331.2,9.8,261,5118,0.00,2.45,0.00,0.000,6,0.000,0.027,3543,1694,2059,0,0,0,0,0,0
$GC,5384,2.18,178.4,305.8,9.6,268,5389,0.12,2.55,0.00,0.000,4,0.067,0.057,3599,187,2056,0,0,0,0,0,0
$GC,5489,2.05,178.4,292.5,12.5,270,5497,2.03,2.40,0.00,0.000,6,0.012,0.027,3550,1681,2056,6,0,0,0,0,0
$GC,5768,2.17,187.7,266.8,9.0,277,5781,0.10,2.60,6.05,0.542,4,0.077,0.055,3605,182,2033,0,0,0,0,0,0
$GC,5879,2.04,187.7,253.3,12.4,279,5887,1.85,2.38,0.00,0.000,6,0.012,0.025,3546,1680,2033,5,0,0,0,0,0
$GC,6153,2.20,218.9,232.1,7.8,286,6189,0.15,2.58,28.75,0.647,4,0.057,0.051,3618,184,1906,0,0,0,0,0,0
$GC,6395,2.11,218.9,199.6,15.0,291,6403,1.77,2.35,0.00,0.000,6,0.013,0.024,3563,1672,1902,5,0,0,0,0,0
$GC,6664,2.25,224.2,173.5,9.2,314,6675,0.10,2.50,4.82,0.447,4,0.075,0.048,3618,179,1885,0,0,0,0,0,0
$GC,6910,2.18,224.2,144.4,13.1,338,6919,1.50,2.35,0.00,0.000,6,0.013,0.023,3577,1654,1884,4,0,0,0,0,0
$GC,7176,2.33,262.5,123.3,7.4,363,7218,0.12,2.53,32.65,0.555,4,0.063,0.046,3633,183,1729,0,0,0,0,0,0
$GC,7265,2.33,262.5,113.8,13.0,371,7274,0.55,2.33,0.00,0.000,6,0.023,0.022,3609,1653,1727,1,0,0,0,0,0
$GC,7529,2.33,262.5,84.6,10.6,396,7533,0.00,2.45,0.00,0.000,4,0.000,0.053,3609,174,1725,0,0,0,0,0,0
$GC,7558,2.33,262.5,81.6,11.2,398,7562,0.00,2.33,0.00,0.000,6,0.000,0.021,3609,1662,1724,0,0,0,0,0,0
$GC,7826,2.41,262.5,55.4,10.2,422,7830,0.00,2.47,0.00,0.000,4,0.000,0.048,3609,177,1724,0,0,0,0,0,0
$GC,8001,2.41,262.5,34.9,13.6,437,8005,0.00,2.28,0.00,0.000,6,0.000,0.021,3609,1641,1723,0,0,0,0,0,0
$GC,8303,2.41,262.5,5.5,10.3,482,8312,0.00,2.42,0.00,0.000,4,0.000,0.045,3609,184,1723,0,0,0,0,0,0
$STATE,8319,end climb,SURFACE_DEPTH_REACHED
$STATE,8319,begin surface coast
$FINISH,0.8,1.019005
$STATE,8375,end surface coast,CONTROL_FINISHED_OK
$STATE,8376,begin surface
$SM_CCo,8402,62.97,0.448,0,0,1250,380.21
$SM_GC,1.39,0.00,0.00,62.97,0.000,0.000,0.448,410,1689,1250,-12.38,-0.88,380.21
$IRIDIUM_FIX,2213.68,-15844.37,230801,020246
$TT8_MAMPS,0.027612
$HUMID,62.32
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,22.60
$XPDR_PINGS,52
$24V_AH,23.6,9.652
$10V_AH,9.9,7.179
$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,59.350,106.850,317.075,62.975,0.000,0.000,0.000,0.000,13.000,0.000,37.265,1026.870,4714.336,448.919,2137.177,231.352,33.347,1254.229,0.000,2112.845,0.000,0.539,0.000
$DEVICE_MAMPS,151.866,62.894,758.563,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.030,329.987,420.782,671.644,1180.249,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,38394,493
$CAP_FILE_SIZE,142485,0
$CFSIZE,260165632,169140224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,84,0,0,0
$GPS,290512,045828,2221.140,-15840.200,16,5.6,35,9.9