version: 66.06
glider: 148
mission: 11
dive: 120
start: 6 26 112 20 51 19
data:
$ID,148
$MISSION,11
$DIVE,120
$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,-920633.56
$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,3170
$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,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,2900
$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
$GPS1,203630,2247.767,-15756.494,36,1.3,37,10.1
$_CALLS,3
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.2
$GPS2,205025,2247.823,-15756.355,11,1.7,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.253,-0.059
$KALMAN_X,14132.9,336.3,-63.4,-8595.3,1812.0
$KALMAN_Y,-444.0,-23.3,-415.4,544.8,603.7
$MHEAD_RNG_PITCHd_Wd,246.7,8129,-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,-74.30,0.000,2,0.000,0.000,410,1612,3333,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.7,-7.1,10,120,12.98,2.58,-2.80,0.000,4,0.157,0.035,2887,3224,3496,0,0,0,0,0,0
$GC,224,-0.62,-146.0,48.3,-29.1,25,237,0.70,2.58,0.00,0.000,6,0.105,0.029,3033,1626,3498,0,0,0,0,0,0
$GC,489,-0.28,-146.0,105.8,-17.0,50,495,0.30,2.35,0.00,0.000,4,0.105,0.044,3100,164,3498,0,0,0,0,0,0
$GC,571,-0.22,-146.0,116.1,-12.9,57,576,0.10,2.28,0.00,0.000,6,0.132,0.019,3121,1641,3498,0,0,0,0,0,0
$GC,837,-0.22,-146.0,145.5,-11.2,81,841,0.00,2.45,0.00,0.000,4,0.000,0.034,3121,3216,3498,0,0,0,0,0,0
$GC,876,-0.29,-146.0,150.5,-10.5,84,885,0.00,2.55,0.00,0.000,6,0.000,0.028,3121,1631,3498,0,0,0,0,0,0
$GC,1143,-0.29,-146.0,178.6,-10.9,109,1147,0.00,2.35,0.00,0.000,4,0.000,0.041,3120,171,3499,0,0,0,0,0,0
$GC,1181,-0.29,-146.0,183.0,-10.9,112,1185,0.00,2.22,0.00,0.000,6,0.000,0.018,3121,1632,3499,0,0,0,0,0,0
$GC,1439,-0.29,-146.0,207.9,-9.6,130,1443,0.00,2.45,0.00,0.000,4,0.000,0.025,3121,3214,3499,0,0,0,0,0,0
$GC,1458,-0.29,-146.0,210.0,-9.8,130,1462,0.00,2.55,0.00,0.000,6,0.000,0.026,3121,1614,3499,0,0,0,0,0,0
$GC,1723,-0.29,-146.0,234.1,-9.0,137,1727,0.00,2.35,0.00,0.000,4,0.000,0.044,3121,163,3499,0,0,0,0,0,0
$GC,1788,-0.40,-146.0,240.4,-9.9,138,1793,0.17,2.22,0.00,0.000,6,0.051,0.020,3051,1612,3499,0,0,0,0,0,0
$GC,2053,-0.26,-146.0,272.2,-12.8,145,2055,0.28,0.00,0.00,0.000,6,0.094,0.000,3111,1615,3499,0,0,0,0,0,0
$GC,2296,-0.26,-146.0,294.0,-8.9,151,2300,0.00,2.38,0.00,0.000,4,0.000,0.047,3111,167,3499,0,0,0,0,0,0
$GC,2320,-0.26,-146.0,296.3,-9.8,151,2324,0.00,2.22,0.00,0.000,6,0.000,0.022,3111,1600,3499,0,0,0,0,0,0
$STATE,2375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2375,begin apogee
$GC,2381,-0.31,0.0,301.1,8.8,153,2497,0.00,0.00,113.38,0.663,6,0.000,0.000,3111,1744,2900,0,0,0,0,0,0
$STATE,2497,end apogee,CONTROL_FINISHED_OK
$STATE,2498,begin climb
$GC,2500,1.27,146.0,309.8,0.0,156,2623,1.48,0.00,116.97,0.655,6,0.074,0.000,3444,1746,2303,0,0,0,0,0,0
$GC,2868,1.78,263.4,296.9,4.6,165,2976,0.43,2.55,97.90,0.650,4,0.029,0.039,3573,3246,1824,0,0,0,0,0,0
$GC,3001,1.86,263.4,285.0,11.4,168,3006,0.00,2.67,0.00,0.000,6,0.000,0.035,3573,1628,1819,0,0,0,0,0,0
$GC,3283,1.86,263.4,254.5,10.6,175,3288,0.00,2.42,0.00,0.000,4,0.000,0.059,3573,174,1816,0,0,0,0,0,0
$GC,3441,1.86,263.4,235.6,12.2,178,3445,0.00,2.30,0.00,0.000,6,0.000,0.023,3573,1631,1816,0,0,0,0,0,0
$GC,3705,1.86,264.0,209.1,10.0,185,3709,0.00,2.42,0.00,0.000,4,0.000,0.056,3573,170,1813,0,0,0,0,0,0
$GC,3834,1.86,264.0,194.2,12.1,191,3839,0.00,2.28,0.00,0.000,6,0.000,0.023,3573,1619,1813,0,0,0,0,0,0
$GC,4098,1.92,266.6,167.3,9.9,215,4102,0.00,2.40,0.00,0.000,4,0.000,0.049,3573,175,1811,0,0,0,0,0,0
$GC,4185,1.92,266.6,157.7,11.0,223,4189,0.00,2.22,0.00,0.000,6,0.000,0.022,3573,1602,1811,0,0,0,0,0,0
$GC,4451,2.01,272.5,131.8,9.7,247,4465,0.15,2.42,6.40,0.450,4,0.053,0.049,3645,167,1787,0,0,0,0,0,0
$GC,4672,1.85,272.5,97.8,14.9,268,4680,0.30,2.22,0.00,0.000,6,0.078,0.024,3574,1581,1787,0,0,0,0,0,0
$GC,4940,2.02,321.8,74.7,7.7,293,4990,0.15,2.35,43.20,0.508,4,0.056,0.051,3646,174,1586,0,0,0,0,0,0
$GC,5114,1.91,321.8,51.0,14.3,308,5119,0.28,2.20,0.00,0.000,6,0.087,0.021,3585,1585,1586,0,0,0,0,0,0
$GC,5391,2.01,326.4,22.2,9.8,338,5400,0.00,2.33,4.75,0.344,4,0.000,0.046,3585,174,1569,0,0,0,0,0,0
$GC,5466,2.01,326.4,13.6,11.8,349,5474,0.00,2.17,0.00,0.000,6,0.000,0.019,3585,1575,1568,0,0,0,0,0,0
$STATE,5549,end climb,SURFACE_DEPTH_REACHED
$STATE,5549,begin surface coast
$FINISH,0.5,1.011134
$STATE,5590,end surface coast,CONTROL_FINISHED_OK
$STATE,5590,begin surface
$SM_CCo,5613,37.55,0.446,0,0,1349,380.21
$SM_GC,1.26,0.00,0.00,37.55,0.000,0.000,0.446,414,1715,1349,-12.68,2.12,380.21
$IRIDIUM_FIX,2239.35,-15754.99,200901,202036
$TT8_MAMPS,0.027612
$HUMID,62.36
$INTERNAL_PRESSURE,9.63314
$TCM_TEMP,22.40
$XPDR_PINGS,27
$24V_AH,23.7,17.380
$10V_AH,9.9,11.541
$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,30.050,66.675,382.600,37.550,0.000,87.905,116.522,357.918,6.750,0.000,12.981,741.726,3054.149,406.885,1496.479,795.210,33.331,999.400,0.000,1499.377,0.000,0.539,0.000
$DEVICE_MAMPS,157.235,101.244,662.688,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,247.304,253.477,329.207,504.137,884.969,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356124
$DATA_FILE_SIZE,28860,368
$CAP_FILE_SIZE,81505,0
$CFSIZE,260165632,171745280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260612,222636,2247.903,-15756.193,8,1.2,26,10.1