version: 66.06
glider: 148
mission: 11
dive: 115
start: 6 26 112 12 37 18
data:
$ID,148
$MISSION,11
$DIVE,115
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,220
$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,150
$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,-920451.12
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3130
$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,1640
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2940
$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,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,123006,2248.126,-15758.013,46,1.7,47,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.4
$GPS2,123626,2248.106,-15757.920,10,1.8,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.248,-0.075
$KALMAN_X,1859.8,1658.5,1096.0,-1474.7,1078.8
$KALMAN_Y,-24.7,286.3,580.2,-638.7,-216.9
$MHEAD_RNG_PITCHd_Wd,243.0,6761,-17.5,-10.000
$D_GRID,300
$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,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.75,0.000,2,0.000,0.000,413,1617,3239,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.8,-7.7,10,120,12.73,2.47,-5.18,0.000,4,0.157,0.033,2846,3207,3535,0,0,0,0,0,0
$GC,243,-0.60,-146.0,58.2,-30.3,27,252,0.68,2.53,0.00,0.000,6,0.108,0.033,2991,1637,3537,0,0,0,0,0,0
$GC,506,-0.18,-146.0,118.3,-21.3,52,511,0.43,2.35,0.00,0.000,4,0.110,0.047,3084,166,3538,0,0,0,0,0,0
$GC,527,0.10,-146.0,122.9,-18.3,53,533,0.30,2.22,0.00,0.000,6,0.097,0.018,3150,1629,3538,0,0,0,0,0,0
$GC,791,0.01,-146.0,148.6,-9.9,78,795,0.00,2.47,0.00,0.000,4,0.000,0.028,3149,3209,3538,0,0,0,0,0,0
$GC,827,-0.14,-146.0,152.3,-9.6,81,832,0.22,2.50,0.00,0.000,6,0.038,0.026,3055,1634,3537,0,0,0,0,0,0
$GC,1090,0.02,-146.0,189.7,-14.3,105,1095,0.32,2.33,0.00,0.000,4,0.095,0.041,3130,176,3538,0,0,0,0,0,0
$GC,1139,-0.07,-146.0,195.6,-11.5,109,1143,0.00,2.22,0.00,0.000,6,0.000,0.019,3130,1648,3538,0,0,0,0,0,0
$GC,1421,-0.16,-146.0,224.1,-9.8,118,1426,0.15,2.42,0.00,0.000,4,0.061,0.027,3063,3210,3538,0,0,0,0,0,0
$GC,1492,-0.16,-146.0,232.4,-11.9,119,1497,0.12,2.47,0.00,0.000,6,0.110,0.028,3092,1652,3539,0,0,0,0,0,0
$GC,1751,-0.16,-146.0,259.5,-10.2,126,1755,0.00,2.38,0.00,0.000,4,0.000,0.045,3092,174,3539,0,0,0,0,0,0
$GC,1784,-0.16,-146.0,263.1,-10.8,126,1788,0.00,2.28,0.00,0.000,6,0.000,0.021,3092,1654,3539,0,0,0,0,0,0
$GC,2034,-0.16,-146.0,287.6,-9.7,132,2039,0.00,2.45,0.00,0.000,4,0.000,0.031,3092,3207,3539,0,0,0,0,0,0
$GC,2058,-0.16,-146.0,289.8,-9.7,132,2062,0.00,2.50,0.00,0.000,6,0.000,0.035,3092,1649,3539,0,0,0,0,0,0
$STATE,2192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2192,begin apogee
$GC,2199,-0.31,0.0,303.0,9.7,136,2315,0.12,0.00,113.15,0.673,6,0.067,0.000,3034,1649,2940,0,0,0,0,0,0
$STATE,2316,end apogee,CONTROL_FINISHED_OK
$STATE,2316,begin climb
$GC,2318,1.27,146.0,315.9,0.0,139,2446,1.65,2.70,117.05,0.664,4,0.084,0.031,3400,3252,2343,0,0,0,0,0,0
$GC,2500,1.97,291.7,313.0,3.3,143,2628,0.65,2.58,119.80,0.659,6,0.027,0.032,3578,1686,1749,0,0,0,0,0,0
$GC,2902,1.97,291.7,269.6,11.4,153,2907,0.00,2.53,0.00,0.000,4,0.000,0.036,3578,3240,1743,0,0,0,0,0,0
$GC,3025,2.10,291.9,256.7,10.0,155,3030,0.00,2.58,0.00,0.000,6,0.000,0.035,3578,1658,1738,0,0,0,0,0,0
$GC,3280,2.10,291.9,230.2,10.3,162,3284,0.00,2.47,0.00,0.000,4,0.000,0.059,3578,169,1738,0,0,0,0,0,0
$GC,3424,2.10,291.9,212.7,11.9,165,3428,0.00,2.30,0.00,0.000,6,0.000,0.026,3578,1630,1737,0,0,0,0,0,0
$GC,3685,2.10,291.9,184.6,10.5,179,3690,0.00,2.42,0.00,0.000,4,0.000,0.058,3578,161,1736,0,0,0,0,0,0
$GC,3847,2.10,291.9,165.7,11.7,195,3851,0.00,2.28,0.00,0.000,6,0.000,0.023,3578,1621,1736,0,0,0,0,0,0
$GC,4114,2.16,296.7,139.5,9.8,219,4119,0.10,2.42,0.00,0.000,4,0.074,0.049,3618,164,1735,0,0,0,0,0,0
$GC,4174,2.09,296.7,131.2,13.4,224,4183,0.12,2.28,0.00,0.000,6,0.084,0.025,3587,1612,1735,0,0,0,0,0,0
$GC,4441,2.12,328.0,105.9,8.6,249,4482,0.00,2.47,29.67,0.534,4,0.000,0.054,3586,165,1601,0,0,0,0,0,0
$GC,4549,2.20,328.0,94.1,12.0,259,4554,0.10,2.25,0.00,0.000,6,0.079,0.021,3630,1615,1601,0,0,0,0,0,0
$GC,4816,2.20,328.0,60.6,12.7,283,4821,0.00,2.38,0.00,0.000,4,0.000,0.051,3630,164,1599,0,0,0,0,0,0
$GC,4870,2.20,328.0,52.1,14.2,287,4878,0.08,2.22,0.00,0.000,6,0.084,0.023,3609,1588,1599,0,0,0,0,0,0
$GC,5145,2.20,328.0,22.7,10.4,317,5153,0.00,2.35,0.00,0.000,4,0.000,0.047,3609,171,1597,0,0,0,0,0,0
$GC,5218,2.20,328.0,14.2,10.7,328,5227,0.00,2.20,0.00,0.000,6,0.000,0.021,3609,1584,1597,0,0,0,0,0,0
$STATE,5353,end climb,SURFACE_DEPTH_REACHED
$STATE,5353,begin surface coast
$FINISH,0.4,1.023744
$STATE,5399,end surface coast,CONTROL_FINISHED_OK
$STATE,5399,begin surface
$SM_CCo,5422,25.42,0.437,0,0,1390,380.21
$SM_GC,1.19,0.00,0.00,25.42,0.000,0.000,0.437,415,1696,1390,-12.49,1.55,380.21
$IRIDIUM_FIX,2237.01,-15758.03,200901,111124
$TT8_MAMPS,0.027612
$HUMID,63.50
$INTERNAL_PRESSURE,9.65268
$TCM_TEMP,22.50
$XPDR_PINGS,16
$24V_AH,23.7,16.910
$10V_AH,9.9,11.121
$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,30.525,72.075,379.675,25.425,0.000,28.880,34.142,202.902,4.000,0.000,12.395,718.106,2780.142,404.329,1474.050,459.014,32.331,985.965,0.000,1478.534,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,146.497,672.659,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,239.245,254.135,317.547,503.593,882.450,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356116
$DATA_FILE_SIZE,28931,356
$CAP_FILE_SIZE,74613,0
$CFSIZE,260165632,171950080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260612,140911,2247.782,-15757.741,8,2.0,24,10.1