version: 66.06
glider: 148
mission: 11
dive: 117
start: 6 26 112 15 52 20
data:
$ID,148
$MISSION,11
$DIVE,117
$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,-920549.88
$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,24
$R_STBD_OVSHOOT,49
$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
$GPS1,153822,2247.394,-15757.351,13,2.3,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.4
$GPS2,155128,2247.287,-15757.236,42,4.0,61,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.227,0.127
$KALMAN_X,6553.8,2082.1,25.6,-4365.5,1460.6
$KALMAN_Y,-344.5,383.7,-131.0,-1235.6,-670.5
$MHEAD_RNG_PITCHd_Wd,289.2,6342,-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,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.22,0.000,2,0.000,0.000,417,1695,3371,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.5,-8.6,10,120,12.60,2.42,-2.70,0.000,4,0.154,0.037,2847,3211,3536,0,0,0,0,0,0
$GC,154,-0.36,-146.0,31.3,-38.6,18,167,0.98,2.55,0.00,0.000,6,0.111,0.029,3048,1620,3538,0,0,0,0,0,0
$GC,426,-0.06,-146.0,90.1,-19.0,43,431,0.28,2.53,0.00,0.000,4,0.102,0.026,3112,3221,3538,0,0,0,0,0,0
$GC,455,0.07,-146.0,95.5,-16.1,45,460,0.15,2.50,0.00,0.000,6,0.100,0.026,3146,1640,3538,0,0,0,0,0,0
$GC,723,0.01,-146.0,122.8,-10.2,69,727,0.00,2.40,0.00,0.000,4,0.000,0.043,3146,171,3539,0,0,0,0,0,0
$GC,762,-0.10,-146.0,127.8,-10.6,72,770,0.12,2.30,0.00,0.000,6,0.028,0.019,3080,1661,3539,0,0,0,0,0,0
$GC,1029,0.05,-146.0,163.8,-13.7,97,1034,0.25,2.40,0.00,0.000,4,0.097,0.039,3138,170,3539,0,0,0,0,0,0
$GC,1058,0.05,-146.0,168.2,-10.8,99,1067,0.00,2.28,0.00,0.000,6,0.000,0.021,3139,1643,3539,0,0,0,0,0,0
$GC,1325,-0.03,-146.0,191.5,-9.5,124,1329,0.00,2.42,0.00,0.000,4,0.000,0.026,3139,3210,3540,0,0,0,0,0,0
$GC,1351,-0.16,-146.0,194.1,-8.2,126,1357,0.17,2.45,0.00,0.000,6,0.049,0.027,3048,1653,3540,0,0,0,0,0,0
$GC,1615,0.02,-146.0,230.6,-14.6,136,1620,0.38,2.38,0.00,0.000,4,0.091,0.041,3130,173,3540,0,0,0,0,0,0
$GC,1720,-0.12,-146.0,241.9,-9.8,138,1725,0.12,2.25,0.00,0.000,6,0.064,0.020,3072,1644,3540,0,0,0,0,0,0
$GC,1994,-0.12,-146.0,271.9,-11.0,145,1999,0.15,2.40,0.00,0.000,4,0.106,0.044,3105,171,3540,0,0,0,0,0,0
$GC,2022,-0.12,-146.0,275.3,-10.4,145,2027,0.00,2.25,0.00,0.000,6,0.000,0.021,3105,1626,3540,0,0,0,0,0,0
$GC,2278,-0.12,-146.0,296.9,-8.4,152,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1627,3540,0,0,0,0,0,0
$STATE,2315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2315,begin apogee
$GC,2320,-0.31,0.0,300.3,8.4,153,2438,0.17,0.00,113.57,0.663,6,0.054,0.000,3040,1628,2940,0,0,0,0,0,0
$STATE,2438,end apogee,CONTROL_FINISHED_OK
$STATE,2438,begin climb
$GC,2441,1.27,146.0,312.8,0.0,156,2568,1.65,2.72,116.93,0.659,4,0.088,0.035,3402,3252,2343,0,0,0,0,0,0
$GC,2587,1.92,272.8,310.5,4.1,159,2702,0.60,2.60,105.20,0.655,6,0.027,0.032,3574,1681,1826,0,0,0,0,0,0
$GC,2980,1.92,272.8,269.2,11.3,169,2985,0.12,2.60,0.00,0.000,4,0.104,0.036,3546,3248,1820,0,0,0,0,0,0
$GC,3100,2.13,282.4,257.9,9.6,171,3114,0.20,2.65,7.65,0.531,6,0.045,0.036,3627,1648,1788,0,0,0,0,0,0
$GC,3358,2.03,282.4,222.2,13.9,177,3363,0.25,2.45,0.00,0.000,4,0.091,0.051,3568,172,1786,0,0,0,0,0,0
$GC,3467,2.03,282.4,209.8,10.7,179,3472,0.00,2.30,0.00,0.000,6,0.000,0.031,3568,1648,1785,0,0,0,0,0,0
$GC,3735,2.14,292.2,183.6,9.5,197,3757,0.10,2.47,9.45,0.530,4,0.077,0.051,3622,168,1747,0,0,0,0,0,0
$GC,3967,2.02,292.2,151.3,13.8,220,3972,0.25,2.28,0.00,0.000,6,0.092,0.029,3569,1635,1746,0,0,0,0,0,0
$GC,4231,2.15,324.0,125.8,8.5,244,4265,0.12,2.47,28.17,0.547,4,0.064,0.051,3615,161,1618,0,0,0,0,0,0
$GC,4431,2.15,324.0,101.4,13.4,263,4435,0.00,2.25,0.00,0.000,6,0.000,0.028,3615,1612,1618,0,0,0,0,0,0
$GC,4698,2.15,324.0,70.0,12.5,287,4703,0.00,2.38,0.00,0.000,4,0.000,0.048,3615,164,1615,0,0,0,0,0,0
$GC,4762,2.15,324.0,61.3,13.0,292,4766,0.00,2.22,0.00,0.000,6,0.000,0.023,3615,1603,1615,0,0,0,0,0,0
$GC,5030,2.15,324.0,31.4,12.0,316,5034,0.00,2.35,0.00,0.000,4,0.000,0.047,3615,163,1614,0,0,0,0,0,0
$GC,5092,2.08,324.0,23.5,12.0,324,5101,0.12,2.22,0.00,0.000,6,0.075,0.020,3582,1595,1614,0,0,0,0,0,0
$STATE,5294,end climb,SURFACE_DEPTH_REACHED
$STATE,5294,begin surface coast
$FINISH,0.6,1.023769
$STATE,5345,end surface coast,CONTROL_FINISHED_OK
$STATE,5345,begin surface
$SM_CCo,5368,33.67,0.446,0,0,1389,380.21
$SM_GC,1.36,0.00,0.00,33.67,0.000,0.000,0.446,415,1599,1389,-12.49,-1.16,380.21
$IRIDIUM_FIX,2237.01,-15757.16,200901,151519
$TT8_MAMPS,0.027612
$HUMID,62.28
$INTERNAL_PRESSURE,9.64291
$TCM_TEMP,22.70
$XPDR_PINGS,12
$24V_AH,23.7,17.098
$10V_AH,9.9,11.286
$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,31.450,67.500,380.975,33.675,0.000,82.893,111.243,301.509,3.000,0.000,63.739,735.620,2812.650,410.763,1545.422,691.659,33.344,993.793,0.000,1501.503,0.000,0.539,0.000
$DEVICE_MAMPS,154.167,51.389,662.688,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,244.593,262.732,330.449,516.760,907.443,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356104
$DATA_FILE_SIZE,28890,364
$CAP_FILE_SIZE,81857,0
$CFSIZE,260165632,171868160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260612,172336,2247.192,-15757.006,13,2.3,33,10.1