version: 66.06
glider: 148
mission: 11
dive: 121
start: 6 26 112 22 39 2
data:
$ID,148
$MISSION,11
$DIVE,121
$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,-920651.88
$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,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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,222636,2247.903,-15756.193,8,1.2,26,10.1
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.0
$GPS2,223807,2247.955,-15756.095,11,1.3,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.255,-0.047
$KALMAN_X,16590.2,-355.1,134.0,-10112.1,1782.9
$KALMAN_Y,-493.4,-100.9,314.6,189.0,487.2
$MHEAD_RNG_PITCHd_Wd,249.5,8628,-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,-75.05,0.000,2,0.000,0.000,414,1716,3338,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.1,-8.2,10,121,12.98,2.55,-2.72,0.000,4,0.157,0.048,2886,168,3497,0,0,0,0,0,0
$GC,432,-0.51,-146.0,120.4,-27.9,45,441,0.82,2.28,0.00,0.000,6,0.120,0.020,3053,1643,3499,0,0,0,0,0,0
$GC,702,-0.28,-146.0,164.2,-14.0,70,707,0.25,0.00,0.00,0.000,6,0.104,0.000,3111,1646,3500,0,0,0,0,0,0
$GC,963,-0.28,-146.0,191.8,-9.7,95,967,0.00,2.40,0.00,0.000,4,0.000,0.043,3111,173,3500,0,0,0,0,0,0
$GC,991,-0.28,-146.0,194.4,-10.1,97,995,0.00,2.22,0.00,0.000,6,0.000,0.019,3111,1641,3500,0,0,0,0,0,0
$GC,1258,-0.28,-146.0,220.6,-9.8,108,1262,0.00,2.40,0.00,0.000,4,0.000,0.044,3111,173,3501,0,0,0,0,0,0
$GC,1301,-0.28,-146.0,225.2,-11.0,109,1305,0.00,2.22,0.00,0.000,6,0.000,0.019,3111,1625,3500,0,0,0,0,0,0
$GC,1589,-0.28,-146.0,252.2,-8.9,116,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1627,3500,0,0,0,0,0,0
$GC,1832,-0.28,-146.0,274.3,-9.0,122,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1627,3500,0,0,0,0,0,0
$GC,2075,-0.28,-146.0,294.7,-8.4,128,2079,0.00,2.40,0.00,0.000,4,0.000,0.053,3111,167,3500,0,0,0,0,0,0
$GC,2094,-0.28,-146.0,296.4,-8.8,128,2098,0.00,2.25,0.00,0.000,6,0.000,0.023,3111,1611,3500,0,0,0,0,0,0
$STATE,2156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2157,begin apogee
$GC,2163,-0.31,0.0,301.8,8.3,130,2279,0.00,0.00,114.05,0.666,6,0.000,0.000,3111,1737,2899,0,0,0,0,0,0
$STATE,2280,end apogee,CONTROL_FINISHED_OK
$STATE,2280,begin climb
$GC,2283,1.27,146.0,309.8,0.0,133,2409,1.45,2.55,117.18,0.659,4,0.074,0.034,3438,3256,2303,0,0,0,0,0,0
$GC,2416,1.81,277.3,307.2,3.9,136,2534,0.50,2.62,109.07,0.650,6,0.026,0.033,3586,1677,1768,0,0,0,0,0,0
$GC,2825,1.81,277.3,261.3,11.9,146,2830,0.10,2.58,0.00,0.000,4,0.120,0.035,3564,3250,1763,0,0,0,0,0,0
$GC,2922,1.97,285.2,251.1,9.6,148,2934,0.15,2.62,6.68,0.501,6,0.054,0.035,3625,1661,1736,0,0,0,0,0,0
$GC,3210,1.87,285.2,211.6,13.7,155,3215,0.22,2.47,0.00,0.000,4,0.090,0.049,3574,167,1734,0,0,0,0,0,0
$GC,3377,1.87,285.2,191.1,11.1,161,3383,0.00,2.35,0.00,0.000,6,0.000,0.023,3574,1658,1734,0,0,0,0,0,0
$GC,3640,1.94,285.2,165.1,10.2,186,3645,0.00,2.47,0.00,0.000,4,0.000,0.053,3574,160,1732,0,0,0,0,0,0
$GC,3726,1.94,285.2,155.1,11.6,194,3730,0.00,2.33,0.00,0.000,6,0.000,0.027,3574,1645,1732,0,0,0,0,0,0
$GC,3997,2.02,293.4,128.2,9.6,219,4011,0.15,2.45,7.80,0.472,4,0.057,0.054,3629,166,1703,0,0,0,0,0,0
$GC,4170,1.92,293.4,103.2,14.0,235,4176,0.20,2.28,0.00,0.000,6,0.098,0.021,3586,1627,1703,0,0,0,0,0,0
$GC,4438,2.05,326.7,78.9,8.5,260,4476,0.12,2.45,30.27,0.507,4,0.064,0.047,3647,163,1566,0,0,0,0,0,0
$GC,4621,1.93,326.7,52.9,15.4,276,4626,0.25,2.25,0.00,0.000,6,0.090,0.021,3591,1609,1566,0,0,0,0,0,0
$GC,4896,2.01,326.7,23.2,10.1,305,4905,0.00,2.40,0.00,0.000,4,0.000,0.045,3591,168,1563,0,0,0,0,0,0
$GC,4971,2.09,326.7,14.9,11.5,316,4980,0.10,2.25,0.00,0.000,6,0.031,0.021,3651,1608,1563,0,0,0,0,0,0
$STATE,5054,end climb,SURFACE_DEPTH_REACHED
$STATE,5054,begin surface coast
$FINISH,0.7,1.023672
$STATE,5091,end surface coast,CONTROL_FINISHED_OK
$STATE,5091,begin surface
$SM_CCo,5113,33.92,0.443,0,0,1349,380.21
$SM_GC,1.34,0.00,0.00,33.92,0.000,0.000,0.443,415,1612,1349,-12.68,-0.79,380.21
$IRIDIUM_FIX,2241.69,-15754.99,200901,222210
$TT8_MAMPS,0.027612
$HUMID,61.57
$INTERNAL_PRESSURE,9.63314
$TCM_TEMP,22.40
$XPDR_PINGS,32
$24V_AH,23.7,17.483
$10V_AH,9.9,11.623
$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,30.275,52.875,385.050,33.925,0.000,54.141,71.361,378.251,8.000,0.000,17.695,671.809,2686.497,402.421,1394.241,691.529,33.367,952.718,0.000,1388.470,0.000,0.539,0.000
$DEVICE_MAMPS,157.235,106.613,665.756,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,223.642,225.194,297.153,456.434,801.687,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356244
$DATA_FILE_SIZE,25751,334
$CAP_FILE_SIZE,73094,0
$CFSIZE,260165632,171720704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,000558,2248.023,-15755.793,8,99.0,28,10.1