version: 66.06
glider: 148
mission: 11
dive: 118
start: 6 26 112 17 30 30
data:
$ID,148
$MISSION,11
$DIVE,118
$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,-920584.38
$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,3150
$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,46
$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
$GPS1,172336,2247.192,-15757.006,13,2.3,33,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.2
$GPS2,172936,2247.153,-15756.964,16,1.8,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.225,0.130
$KALMAN_X,9061.3,1564.1,-147.8,-5708.1,1696.7
$KALMAN_Y,-969.1,471.7,-585.5,-489.0,-513.3
$MHEAD_RNG_PITCHd_Wd,290.0,6541,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.43,0.000,2,0.000,0.000,415,1601,3339,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.1,-7.9,10,120,12.73,2.60,-3.40,0.000,4,0.154,0.035,2867,3223,3536,0,0,0,0,0,0
$GC,266,-0.58,-146.0,62.9,-31.4,29,279,0.73,2.55,0.00,0.000,6,0.110,0.029,3018,1626,3538,0,0,0,0,0,0
$GC,532,-0.19,-146.0,122.9,-21.3,54,537,0.38,2.33,0.00,0.000,4,0.103,0.040,3103,175,3538,0,0,0,0,0,0
$GC,560,-0.03,-146.0,127.6,-15.5,56,565,0.17,2.25,0.00,0.000,6,0.100,0.026,3142,1656,3538,0,0,0,0,0,0
$GC,823,-0.03,-146.0,154.0,-10.2,80,827,0.00,2.42,0.00,0.000,4,0.000,0.043,3142,166,3539,0,0,0,0,0,0
$GC,852,-0.03,-146.0,156.8,-10.8,82,856,0.00,2.25,0.00,0.000,6,0.000,0.019,3142,1640,3539,0,0,0,0,0,0
$GC,1118,-0.10,-146.0,182.4,-9.4,106,1123,0.00,2.45,0.00,0.000,4,0.000,0.032,3141,3205,3539,0,0,0,0,0,0
$GC,1148,-0.20,-146.0,185.8,-9.5,108,1157,0.12,2.53,0.00,0.000,6,0.025,0.027,3049,1633,3539,0,0,0,0,0,0
$GC,1412,-0.02,-146.0,224.2,-14.9,122,1417,0.40,2.35,0.00,0.000,4,0.091,0.040,3141,170,3539,0,0,0,0,0,0
$GC,1474,-0.22,-146.0,231.7,-10.3,123,1479,0.17,2.22,0.00,0.000,6,0.049,0.020,3063,1619,3539,0,0,0,0,0,0
$GC,1743,-0.12,-146.0,265.8,-12.8,130,1746,0.28,0.00,0.00,0.000,6,0.090,0.000,3124,1622,3539,0,0,0,0,0,0
$GC,1988,-0.22,-146.0,286.6,-8.4,136,1993,0.10,2.53,0.00,0.000,4,0.078,0.031,3072,3212,3539,0,0,0,0,0,0
$GC,2008,-0.22,-146.0,288.7,-9.3,136,2013,0.12,2.53,0.00,0.000,6,0.106,0.028,3101,1619,3540,0,0,0,0,0,0
$STATE,2148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2148,begin apogee
$GC,2154,-0.31,0.0,301.3,8.8,140,2270,0.00,0.00,113.53,0.663,6,0.000,0.000,3101,1713,2940,0,0,0,0,0,0
$STATE,2271,end apogee,CONTROL_FINISHED_OK
$STATE,2271,begin climb
$GC,2274,1.27,146.0,310.5,0.0,143,2400,1.42,2.50,116.75,0.656,4,0.076,0.031,3422,3210,2342,0,0,0,0,0,0
$GC,2416,1.88,296.2,308.6,3.1,146,2550,0.55,2.53,123.85,0.653,6,0.025,0.033,3586,1685,1731,0,0,0,0,0,0
$GC,2812,1.88,296.2,264.5,12.7,156,2817,0.12,2.53,0.00,0.000,4,0.106,0.036,3559,3208,1726,0,0,0,0,0,0
$GC,2907,2.04,296.2,253.5,10.6,158,2912,0.15,2.55,0.00,0.000,6,0.054,0.036,3629,1658,1721,0,0,0,0,0,0
$GC,3191,1.95,296.2,213.2,14.1,165,3196,0.25,2.47,0.00,0.000,4,0.090,0.050,3570,167,1721,0,0,0,0,0,0
$GC,3321,1.95,296.2,197.9,11.4,167,3326,0.00,2.28,0.00,0.000,6,0.000,0.031,3570,1630,1720,0,0,0,0,0,0
$GC,3585,2.04,304.8,172.3,9.6,192,3598,0.10,2.45,6.97,0.483,4,0.077,0.055,3619,163,1696,0,0,0,0,0,0
$GC,3683,1.96,304.8,158.3,14.9,201,3691,0.15,2.38,0.00,0.000,6,0.080,0.031,3582,1654,1696,0,0,0,0,0,0
$GC,3945,2.03,309.5,132.0,9.8,226,3957,0.00,2.47,5.53,0.430,4,0.000,0.047,3581,166,1677,0,0,0,0,0,0
$GC,4144,2.03,309.5,108.5,11.1,245,4149,0.00,2.28,0.00,0.000,6,0.000,0.028,3581,1648,1677,0,0,0,0,0,0
$GC,4411,2.15,324.4,82.1,9.3,269,4433,0.15,2.47,14.55,0.488,4,0.056,0.048,3629,161,1616,0,0,0,0,0,0
$GC,4503,2.15,324.4,70.9,12.8,277,4507,0.00,2.25,0.00,0.000,6,0.000,0.021,3630,1623,1616,0,0,0,0,0,0
$GC,4771,2.15,324.4,39.2,11.3,301,4775,0.00,2.42,0.00,0.000,4,0.000,0.056,3630,161,1614,0,0,0,0,0,0
$GC,4852,2.15,324.4,27.7,15.2,308,4861,0.00,2.28,0.00,0.000,6,0.000,0.021,3630,1614,1614,0,0,0,0,0,0
$STATE,5015,end climb,SURFACE_DEPTH_REACHED
$STATE,5017,begin surface coast
$FINISH,0.7,1.023759
$STATE,5050,end surface coast,CONTROL_FINISHED_OK
$STATE,5050,begin surface
$SM_CCo,5072,27.30,0.439,0,0,1389,380.21
$SM_GC,1.35,0.00,0.00,27.30,0.000,0.000,0.439,414,1617,1389,-12.59,-0.65,380.21
$IRIDIUM_FIX,2239.35,-15759.32,200901,151524
$TT8_MAMPS,0.027612
$HUMID,62.91
$INTERNAL_PRESSURE,9.64291
$TCM_TEMP,22.40
$XPDR_PINGS,16
$24V_AH,23.7,17.183
$10V_AH,9.9,11.366
$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,31.050,62.875,381.175,27.300,0.000,24.835,35.136,162.820,4.000,0.000,33.868,687.385,2565.267,401.410,1407.726,406.058,33.326,957.135,0.000,1385.132,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,194.818,662.688,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,227.651,231.440,305.635,462.438,812.825,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356144
$DATA_FILE_SIZE,25835,339
$CAP_FILE_SIZE,70471,0
$CFSIZE,260165632,171843584
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260612,185620,2247.483,-15756.771,8,1.5,9,10.1