version: 66.06
glider: 148
mission: 11
dive: 125
start: 6 27 112 10 48 7
data:
$ID,148
$MISSION,11
$DIVE,125
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,450
$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,-920751.62
$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,3200
$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,17
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2860
$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
$GPS1,103855,2247.092,-15755.991,101,1.6,101,10.1
$_CALLS,1
$_XMS_NAKs,33
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.8
$GPS2,104713,2247.124,-15755.905,11,1.9,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260,0.009
$KALMAN_X,26962.4,-153.3,-518.9,-19701.0,3748.2
$KALMAN_Y,-427.5,169.8,129.3,-1496.9,246.2
$MHEAD_RNG_PITCHd_Wd,261.9,8024,-17.5,-10.000
$D_GRID,600
$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,-74.60,0.000,2,0.000,0.000,416,1687,3263,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.9,-7.4,10,119,13.10,2.38,-3.40,0.000,4,0.155,0.035,2916,3197,3457,0,0,0,0,0,0
$GC,154,-0.47,-146.0,26.7,-33.6,18,163,0.82,2.58,0.00,0.000,6,0.107,0.028,3092,1618,3458,0,0,0,0,0,0
$GC,431,-0.23,-146.0,77.8,-15.6,44,436,0.25,2.35,0.00,0.000,4,0.106,0.047,3148,167,3460,0,0,0,0,0,0
$GC,493,-0.23,-146.0,86.5,-11.6,49,497,0.00,2.22,0.00,0.000,6,0.000,0.018,3148,1627,3460,0,0,0,0,0,0
$GC,759,-0.23,-146.0,112.4,-9.0,73,763,0.00,2.47,0.00,0.000,4,0.000,0.025,3148,3214,3460,0,0,0,0,0,0
$GC,799,-0.35,-146.0,116.5,-8.2,76,808,0.08,2.55,0.00,0.000,6,0.033,0.028,3054,1639,3460,0,0,0,0,0,0
$GC,1062,-0.07,-146.0,156.7,-17.5,101,1071,0.55,2.38,0.00,0.000,4,0.094,0.041,3178,170,3460,0,0,0,0,0,0
$GC,1117,-0.29,-146.0,163.2,-8.6,106,1124,0.17,2.25,0.00,0.000,6,0.048,0.019,3094,1643,3460,0,0,0,0,0,0
$GC,1380,-0.21,-146.0,190.7,-11.1,131,1385,0.25,2.42,0.00,0.000,4,0.092,0.041,3153,169,3461,0,0,0,0,0,0
$GC,1418,-0.31,-146.0,194.5,-8.9,134,1422,0.00,2.22,0.00,0.000,6,0.000,0.019,3153,1645,3461,0,0,0,0,0,0
$GC,1702,-0.44,-146.0,215.8,-7.4,146,1707,0.20,2.45,0.00,0.000,4,0.046,0.023,3076,3204,3461,0,0,0,0,0,0
$GC,1736,-0.44,-146.0,219.0,-9.6,146,1741,0.12,2.53,0.00,0.000,6,0.106,0.028,3104,1634,3461,0,0,0,0,0,0
$GC,1986,-0.44,-146.0,242.9,-9.6,152,1991,0.00,2.40,0.00,0.000,4,0.000,0.044,3104,167,3462,0,0,0,0,0,0
$GC,2038,-0.44,-146.0,248.6,-10.0,153,2042,0.00,2.22,0.00,0.000,6,0.000,0.020,3104,1618,3462,0,0,0,0,0,0
$GC,2316,-0.44,-146.0,272.4,-8.2,160,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1621,3461,0,0,0,0,0,0
$GC,2559,-0.44,-146.0,292.4,-8.4,166,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1621,3462,0,0,0,0,0,0
$GC,2803,-0.44,-146.0,314.1,-9.0,172,2807,0.00,2.40,0.00,0.000,4,0.000,0.048,3104,175,3461,0,0,0,0,0,0
$GC,2859,-0.44,-146.0,319.5,-9.7,173,2863,0.00,2.22,0.00,0.000,6,0.000,0.023,3104,1608,3462,0,0,0,0,0,0
$GC,3132,-0.44,-146.0,343.1,-8.7,180,3137,0.00,2.58,0.00,0.000,4,0.000,0.033,3104,3224,3461,0,0,0,0,0,0
$GC,3149,-0.50,-146.0,344.4,-8.6,180,3154,0.00,2.62,0.00,0.000,6,0.000,0.031,3104,1610,3461,0,0,0,0,0,0
$GC,3419,-0.50,-146.0,364.9,-7.3,187,3423,0.00,2.40,0.00,0.000,4,0.000,0.056,3104,167,3460,0,0,0,0,0,0
$GC,3484,-0.57,-146.0,370.4,-8.5,188,3489,0.12,2.25,0.00,0.000,6,0.067,0.025,3051,1610,3459,0,0,0,0,0,0
$GC,3755,-0.47,-146.0,399.4,-11.1,195,3760,0.20,2.62,0.00,0.000,4,0.100,0.036,3095,3219,3458,0,0,0,0,0,0
$GC,3784,-0.53,-146.0,402.6,-9.2,195,3789,0.00,2.65,0.00,0.000,6,0.000,0.035,3095,1603,3458,0,0,0,0,0,0
$GC,4040,-0.53,-146.0,423.5,-8.1,202,4044,0.00,2.42,0.00,0.000,4,0.000,0.063,3095,172,3456,0,0,0,0,0,0
$GC,4074,-0.53,-146.0,426.3,-8.9,202,4078,0.00,2.25,0.00,0.000,6,0.000,0.027,3095,1604,3456,0,0,0,0,0,0
$GC,4324,-0.53,-146.0,446.2,-8.0,208,4328,0.00,2.45,0.00,0.000,4,0.000,0.063,3095,166,3455,0,0,0,0,0,0
$GC,4352,-0.53,-146.0,449.0,-9.5,208,4356,0.00,2.30,0.00,0.000,6,0.000,0.029,3095,1605,3455,0,0,0,0,0,0
$GC,4608,-0.53,-146.0,470.0,-8.2,215,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1605,3453,0,0,0,0,0,0
$GC,4851,-0.60,-146.0,488.9,-7.8,221,4856,0.10,2.67,0.00,0.000,4,0.081,0.044,3047,3212,3451,0,0,0,0,0,0
$GC,4871,-0.60,-146.0,490.9,-9.5,221,4876,0.10,2.67,0.00,0.000,6,0.120,0.042,3068,1598,3451,0,0,0,0,0,0
$GC,5137,-0.60,-146.0,515.4,-9.4,228,5141,0.00,2.50,0.00,0.000,4,0.000,0.075,3069,162,3449,0,0,0,0,0,0
$GC,5202,-0.60,-146.0,522.2,-10.1,229,5206,0.00,2.30,0.00,0.000,6,0.000,0.034,3069,1595,3449,0,0,0,0,0,0
$GC,5466,-0.60,-146.0,546.4,-9.2,236,5470,0.00,2.67,0.00,0.000,4,0.000,0.048,3068,3220,3448,0,0,0,0,0,0
$GC,5491,-0.60,-146.0,548.8,-9.9,236,5496,0.00,2.72,0.00,0.000,6,0.000,0.044,3069,1592,3448,0,0,0,0,0,0
$GC,5751,-0.60,-146.0,571.0,-8.3,243,5755,0.00,2.50,0.00,0.000,4,0.000,0.079,3069,166,3446,0,0,0,0,0,0
$GC,5816,-0.60,-146.0,576.9,-8.3,244,5820,0.00,2.33,0.00,0.000,6,0.000,0.037,3069,1590,3446,0,0,0,0,0,0
$GC,6081,-0.60,-146.0,598.0,-8.1,251,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1590,3444,0,0,0,0,0,0
$STATE,6117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6118,begin apogee
$GC,6124,-0.31,0.0,601.3,8.1,252,6244,0.28,0.00,117.12,0.944,6,0.096,0.000,3129,1695,2860,0,0,0,0,0,0
$STATE,6245,end apogee,CONTROL_FINISHED_OK
$STATE,6245,begin climb
$GC,6247,1.27,146.0,607.5,0.0,255,6380,1.55,2.75,123.57,0.922,4,0.077,0.057,3472,3253,2263,0,0,0,0,0,0
$GC,6399,1.59,243.6,602.7,5.5,258,6498,0.30,2.72,85.95,0.905,6,0.031,0.048,3593,1681,1865,0,0,0,0,0,0
$GC,6738,1.46,243.6,559.2,13.6,267,6746,0.32,2.70,0.00,0.000,4,0.093,0.080,3519,168,1857,0,0,0,0,0,0
$GC,6891,1.46,243.6,542.0,11.4,270,6895,0.00,2.45,0.00,0.000,6,0.000,0.034,3518,1653,1857,0,0,0,0,0,0
$GC,7164,1.57,243.6,514.5,10.2,277,7169,0.10,2.62,0.00,0.000,4,0.077,0.069,3562,167,1854,0,0,0,0,0,0
$GC,7223,1.49,243.6,506.9,13.9,278,7228,0.17,2.42,0.00,0.000,6,0.100,0.039,3524,1653,1854,0,0,0,0,0,0
$GC,7497,1.57,243.6,478.4,10.2,285,7501,0.00,2.60,0.00,0.000,4,0.000,0.066,3524,163,1852,0,0,0,0,0,0
$GC,7559,1.64,243.6,471.1,12.3,286,7564,0.12,2.42,0.00,0.000,6,0.067,0.031,3572,1646,1852,0,0,0,0,0,0
$GC,7828,1.64,243.6,435.7,13.3,293,7832,0.00,2.58,0.00,0.000,4,0.000,0.063,3572,161,1851,0,0,0,0,0,0
$GC,7912,1.54,243.6,423.6,14.5,294,7918,0.17,2.40,0.00,0.000,6,0.100,0.030,3535,1636,1851,0,0,0,0,0,0
$GC,8163,1.62,243.6,396.7,10.4,301,8168,0.00,2.55,0.00,0.000,4,0.000,0.062,3534,164,1850,0,0,0,0,0,0
$GC,8300,1.62,243.6,382.0,10.9,304,8304,0.00,2.33,0.00,0.000,6,0.000,0.028,3534,1606,1850,0,0,0,0,0,0
$GC,8589,1.73,271.9,357.0,8.7,311,8618,0.17,2.55,22.77,0.765,4,0.053,0.061,3587,161,1750,0,0,0,0,0,0
$GC,8731,1.62,271.9,337.7,14.7,314,8736,0.15,2.33,0.00,0.000,6,0.109,0.028,3556,1595,1750,0,0,0,0,0,0
$GC,9016,1.62,271.9,305.4,11.1,321,9020,0.00,2.45,0.00,0.000,4,0.000,0.058,3556,163,1747,0,0,0,0,0,0
$GC,9034,1.62,271.9,303.0,11.3,321,9038,0.00,2.30,0.00,0.000,6,0.000,0.027,3555,1600,1746,0,0,0,0,0,0
$GC,9300,1.69,271.9,274.6,10.6,328,9304,0.00,2.42,0.00,0.000,4,0.000,0.056,3555,161,1746,0,0,0,0,0,0
$GC,9437,1.69,271.9,258.5,10.9,331,9441,0.00,2.28,0.00,0.000,6,0.000,0.025,3555,1596,1746,0,0,0,0,0,0
$GC,9725,1.79,283.6,230.9,9.5,338,9742,0.15,2.47,10.95,0.622,4,0.058,0.054,3598,159,1703,0,0,0,0,0,0
$GC,9864,1.79,283.6,211.6,14.3,341,9868,0.00,2.25,0.00,0.000,6,0.000,0.025,3598,1580,1703,0,0,0,0,0,0
$GC,10129,1.79,283.6,180.8,11.5,357,10133,0.00,2.38,0.00,0.000,4,0.000,0.051,3598,162,1701,0,0,0,0,0,0
$GC,10177,1.79,283.6,174.6,13.2,361,10181,0.00,2.22,0.00,0.000,6,0.000,0.024,3598,1577,1701,0,0,0,0,0,0
$GC,10444,1.79,283.6,144.0,11.0,385,10449,0.00,2.38,0.00,0.000,4,0.000,0.049,3598,154,1700,0,0,0,0,0,0
$GC,10514,1.79,283.6,134.2,12.4,391,10520,0.00,2.20,0.00,0.000,6,0.000,0.022,3598,1568,1700,0,0,0,0,0,0
$GC,10778,1.79,283.6,102.8,12.8,416,10782,0.00,2.35,0.00,0.000,4,0.000,0.054,3598,154,1700,0,0,0,0,0,0
$GC,10859,1.79,283.6,92.1,12.2,423,10864,0.00,2.20,0.00,0.000,6,0.000,0.021,3598,1572,1700,0,0,0,0,0,0
$GC,11128,1.79,283.6,64.0,11.4,448,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1575,1700,0,0,0,0,0,0
$GC,11392,1.79,283.6,35.5,10.6,473,11396,0.00,2.33,0.00,0.000,4,0.000,0.049,3598,161,1700,0,0,0,0,0,0
$GC,11533,1.79,283.6,17.7,12.0,492,11542,0.00,2.17,0.00,0.000,6,0.000,0.021,3598,1574,1700,0,0,0,0,0,0
$STATE,11653,end climb,SURFACE_DEPTH_REACHED
$STATE,11653,begin surface coast
$FINISH,0.6,1.001664
$STATE,11701,end surface coast,CONTROL_FINISHED_OK
$STATE,11701,begin surface
$SM_CCo,11724,54.65,0.459,0,0,1310,380.21
$SM_GC,1.60,0.00,0.00,54.65,0.000,0.000,0.459,413,1724,1310,-12.82,2.37,380.21
$IRIDIUM_FIX,2239.35,-15757.16,210901,070720
$TT8_MAMPS,0.027612
$HUMID,62.60
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,22.00
$XPDR_PINGS,5
$24V_AH,23.5,17.990
$10V_AH,9.9,12.085
$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,32.475,151.050,360.375,54.650,0.000,26.154,36.020,306.181,1.250,0.000,12.927,1156.513,7866.915,478.790,2092.455,681.408,33.351,1370.044,0.000,2086.048,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,80.535,944.177,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.311,287.645,364.479,525.792,925.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356108
$DATA_FILE_SIZE,41591,518
$CAP_FILE_SIZE,135651,0
$CFSIZE,260165632,171405312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,140606,2247.018,-15756.322,45,1.1,56,10.1