version: 66.06
glider: 148
mission: 11
dive: 119
start: 6 26 112 19 6 8
data:
$ID,148
$MISSION,11
$DIVE,119
$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,-920619.94
$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,26
$R_STBD_OVSHOOT,53
$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
$GPS1,185620,2247.483,-15756.771,8,1.5,9,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.9
$GPS2,190516,2247.465,-15756.695,13,2.4,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.256,0.042
$KALMAN_X,11429.7,1007.7,-150.3,-7055.0,1810.1
$KALMAN_Y,-792.1,191.0,-694.1,295.0,-33.5
$MHEAD_RNG_PITCHd_Wd,269.3,7260,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.88,0.000,2,0.000,0.000,413,1619,3089,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.0,-4.8,9,120,12.85,2.55,-8.52,0.000,4,0.158,0.038,2866,3210,3538,0,0,0,0,0,0
$GC,219,-0.55,-146.0,44.8,-31.6,25,232,0.77,2.55,0.00,0.000,6,0.110,0.028,3026,1623,3539,0,0,0,0,0,0
$GC,485,-0.19,-146.0,108.1,-20.0,50,490,0.35,2.35,0.00,0.000,4,0.102,0.045,3105,169,3540,0,0,0,0,0,0
$GC,536,-0.12,-146.0,117.1,-15.3,54,545,0.00,2.28,0.00,0.000,6,0.000,0.019,3105,1644,3540,0,0,0,0,0,0
$GC,803,-0.05,-146.0,149.7,-12.1,79,808,0.15,2.45,0.00,0.000,4,0.112,0.027,3138,3210,3540,0,0,0,0,0,0
$GC,822,-0.05,-146.0,152.8,-11.8,80,828,0.00,2.50,0.00,0.000,6,0.000,0.025,3138,1627,3540,0,0,0,0,0,0
$GC,1085,-0.05,-146.0,178.9,-9.9,105,1090,0.00,2.35,0.00,0.000,4,0.000,0.042,3137,174,3540,0,0,0,0,0,0
$GC,1124,-0.11,-146.0,183.3,-10.0,108,1133,0.00,2.28,0.00,0.000,6,0.000,0.020,3138,1646,3541,0,0,0,0,0,0
$GC,1394,-0.18,-146.0,207.8,-8.5,128,1399,0.12,2.45,0.00,0.000,4,0.065,0.025,3077,3214,3540,0,0,0,0,0,0
$GC,1415,-0.18,-146.0,210.0,-10.0,128,1420,0.15,2.53,0.00,0.000,6,0.103,0.027,3112,1633,3541,0,0,0,0,0,0
$GC,1679,-0.18,-146.0,236.4,-10.2,135,1684,0.00,2.38,0.00,0.000,4,0.000,0.044,3112,167,3541,0,0,0,0,0,0
$GC,1755,-0.27,-146.0,244.0,-9.6,136,1759,0.00,2.22,0.00,0.000,6,0.000,0.020,3112,1629,3541,0,0,0,0,0,0
$GC,2014,-0.27,-146.0,265.7,-8.2,143,2018,0.00,2.47,0.00,0.000,4,0.000,0.029,3112,3210,3541,0,0,0,0,0,0
$GC,2038,-0.33,-146.0,267.8,-8.7,143,2043,0.15,2.53,0.00,0.000,6,0.057,0.028,3029,1630,3541,0,0,0,0,0,0
$STATE,2295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2296,begin apogee
$GC,2302,-0.31,0.0,301.8,13.6,150,2419,0.28,0.00,113.95,0.663,6,0.097,0.000,3080,1629,2940,0,0,0,0,0,0
$STATE,2419,end apogee,CONTROL_FINISHED_OK
$STATE,2419,begin climb
$GC,2422,1.27,146.0,312.8,0.0,153,2548,1.52,2.67,116.60,0.659,4,0.082,0.034,3421,3245,2343,0,0,0,0,0,0
$GC,2581,1.84,275.2,310.3,4.0,156,2696,0.52,2.58,107.15,0.654,6,0.026,0.033,3581,1684,1817,0,0,0,0,0,0
$GC,2960,1.84,275.2,269.8,11.6,166,2965,0.15,2.58,0.00,0.000,4,0.098,0.058,3548,171,1811,0,0,0,0,0,0
$GC,3220,1.93,275.2,240.8,10.5,171,3225,0.00,2.35,0.00,0.000,6,0.000,0.023,3548,1659,1810,0,0,0,0,0,0
$GC,3476,2.09,309.5,218.8,8.4,178,3512,0.22,2.55,29.05,0.605,4,0.043,0.048,3624,168,1676,0,0,0,0,0,0
$GC,3642,1.97,309.5,194.9,16.5,184,3647,0.20,2.35,0.00,0.000,6,0.098,0.024,3581,1651,1676,0,0,0,0,0,0
$GC,3907,2.04,309.5,164.1,11.5,208,3911,0.00,2.45,0.00,0.000,4,0.000,0.048,3580,169,1673,0,0,0,0,0,0
$GC,4014,2.04,309.5,150.4,11.6,218,4019,0.00,2.33,0.00,0.000,6,0.000,0.029,3580,1655,1673,0,0,0,0,0,0
$GC,4281,2.11,309.5,120.7,12.1,243,4286,0.12,2.47,0.00,0.000,4,0.064,0.054,3646,161,1671,0,0,0,0,0,0
$GC,4465,1.98,309.5,90.2,15.0,260,4473,0.28,2.30,0.00,0.000,6,0.078,0.028,3581,1621,1671,0,0,0,0,0,0
$GC,4733,2.12,326.9,64.5,9.2,285,4759,0.12,2.45,15.15,0.476,4,0.065,0.054,3644,174,1606,0,0,0,0,0,0
$GC,4853,2.00,326.9,47.2,14.9,295,4861,0.22,2.28,0.00,0.000,6,0.075,0.021,3589,1620,1606,0,0,0,0,0,0
$GC,5134,2.10,340.5,18.3,9.4,329,5159,0.00,2.45,12.85,0.434,4,0.000,0.047,3589,169,1550,0,0,0,0,0,0
$GC,5230,2.20,340.5,6.9,12.4,343,5239,0.12,2.25,0.00,0.000,6,0.028,0.021,3652,1607,1550,0,0,0,0,0,0
$STATE,5252,end climb,SURFACE_DEPTH_REACHED
$STATE,5252,begin surface coast
$FINISH,0.6,1.023747
$STATE,5292,end surface coast,CONTROL_FINISHED_OK
$STATE,5292,begin surface
$SM_CCo,5315,29.35,0.444,0,0,1389,380.21
$SM_GC,1.34,0.00,0.00,29.35,0.000,0.000,0.444,411,1611,1389,-12.60,-0.85,380.21
$IRIDIUM_FIX,2237.01,-15754.99,200901,191951
$TT8_MAMPS,0.027612
$HUMID,62.56
$INTERNAL_PRESSURE,9.63314
$TCM_TEMP,22.40
$XPDR_PINGS,11
$24V_AH,23.7,17.276
$10V_AH,9.9,11.450
$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,31.350,67.925,394.750,29.350,0.000,50.813,119.764,170.363,2.750,0.000,34.958,711.958,2733.288,416.486,1499.547,526.742,33.317,1018.815,0.000,1478.345,0.000,0.538,0.000
$DEVICE_MAMPS,158.002,58.292,662.688,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,236.068,246.265,315.381,489.509,856.246,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,28867,352
$CAP_FILE_SIZE,74944,0
$CFSIZE,260165632,171794432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260612,203630,2247.767,-15756.494,36,1.3,37,10.1