version: 66.06
glider: 148
mission: 11
dive: 128
start: 6 27 112 21 17 50
data:
$ID,148
$MISSION,11
$DIVE,128
$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,-920871.31
$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,1620
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,32
$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
$GPS1,210928,2246.348,-15756.987,24,99.0,43,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.4
$GPS2,211658,2246.380,-15756.874,13,99.0,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.245,-0.085
$KALMAN_X,34106.3,38.3,-360.6,-28859.2,3006.8
$KALMAN_Y,-1272.1,-408.7,-292.1,-1034.5,1046.4
$MHEAD_RNG_PITCHd_Wd,240.8,5919,-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,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,-74.28,0.000,2,0.000,0.000,412,1724,3235,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.6,-6.5,10,121,13.18,2.38,-4.03,0.000,4,0.156,0.032,2917,3220,3458,0,0,0,0,0,0
$GC,291,-0.67,-146.0,59.8,-25.7,32,304,0.62,2.60,0.00,0.000,6,0.104,0.030,3049,1610,3459,0,0,0,0,0,0
$GC,562,-0.33,-146.0,113.4,-17.9,57,567,0.32,2.35,0.00,0.000,4,0.098,0.044,3122,161,3460,0,0,0,0,0,0
$GC,631,-0.33,-146.0,122.7,-11.9,63,636,0.00,2.25,0.00,0.000,6,0.000,0.018,3122,1644,3460,0,0,0,0,0,0
$GC,894,-0.33,-146.0,152.0,-10.2,87,898,0.00,2.40,0.00,0.000,4,0.000,0.025,3122,3186,3460,0,0,0,0,0,0
$GC,920,-0.33,-146.0,154.7,-10.5,89,924,0.00,2.55,0.00,0.000,6,0.000,0.028,3122,1607,3460,0,0,0,0,0,0
$GC,1183,-0.33,-146.0,182.0,-9.2,113,1187,0.00,2.47,0.00,0.000,4,0.000,0.024,3122,3187,3461,0,0,0,0,0,0
$GC,1211,-0.33,-146.0,184.5,-8.7,115,1216,0.00,2.50,0.00,0.000,6,0.000,0.028,3122,1618,3461,0,0,0,0,0,0
$GC,1500,-0.33,-146.0,212.4,-9.5,133,1504,0.00,2.38,0.00,0.000,4,0.000,0.044,3122,167,3462,0,0,0,0,0,0
$GC,1543,-0.41,-146.0,216.8,-10.0,134,1547,0.00,2.22,0.00,0.000,6,0.000,0.019,3122,1628,3462,0,0,0,0,0,0
$GC,1830,-0.41,-146.0,239.3,-7.5,141,1834,0.00,2.42,0.00,0.000,4,0.000,0.025,3122,3184,3462,0,0,0,0,0,0
$GC,1865,-0.54,-146.0,241.8,-7.5,141,1870,0.17,2.50,0.00,0.000,6,0.048,0.028,3044,1630,3462,0,0,0,0,0,0
$GC,2115,-0.35,-146.0,270.9,-12.3,147,2120,0.32,2.38,0.00,0.000,4,0.095,0.043,3118,173,3462,0,0,0,0,0,0
$GC,2198,-0.46,-146.0,278.5,-8.9,148,2202,0.00,2.20,0.00,0.000,6,0.000,0.020,3119,1614,3462,0,0,0,0,0,0
$GC,2453,-0.54,-146.0,298.6,-7.8,155,2458,0.15,2.53,0.00,0.000,4,0.057,0.029,3055,3192,3462,0,0,0,0,0,0
$GC,2470,-0.54,-146.0,300.1,-8.4,155,2475,0.12,2.55,0.00,0.000,6,0.107,0.030,3084,1616,3462,0,0,0,0,0,0
$GC,2740,-0.54,-146.0,327.2,-10.1,162,2744,0.00,2.38,0.00,0.000,4,0.000,0.051,3083,174,3462,0,0,0,0,0,0
$GC,2847,-0.54,-146.0,340.1,-11.5,164,2851,0.00,2.22,0.00,0.000,6,0.000,0.022,3083,1599,3462,0,0,0,0,0,0
$GC,3116,-0.54,-146.0,365.5,-9.3,171,3121,0.00,2.55,0.00,0.000,4,0.000,0.034,3084,3197,3461,0,0,0,0,0,0
$GC,3137,-0.54,-146.0,367.6,-10.0,171,3141,0.00,2.60,0.00,0.000,6,0.000,0.032,3083,1604,3461,0,0,0,0,0,0
$GC,3401,-0.54,-146.0,389.7,-8.3,178,3405,0.00,2.40,0.00,0.000,4,0.000,0.059,3083,173,3460,0,0,0,0,0,0
$GC,3481,-0.54,-146.0,397.8,-10.4,179,3485,0.00,2.22,0.00,0.000,6,0.000,0.026,3083,1583,3459,0,0,0,0,0,0
$GC,3731,-0.54,-146.0,421.1,-9.3,185,3736,0.00,2.62,0.00,0.000,4,0.000,0.038,3084,3194,3458,0,0,0,0,0,0
$GC,3776,-0.62,-146.0,424.9,-8.3,186,3781,0.00,2.62,0.00,0.000,6,0.000,0.036,3084,1597,3458,0,0,0,0,0,0
$GC,4064,-0.62,-146.0,449.9,-8.5,193,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1597,3456,0,0,0,0,0,0
$GC,4307,-0.62,-146.0,471.5,-8.9,199,4311,0.00,2.45,0.00,0.000,4,0.000,0.071,3084,166,3454,0,0,0,0,0,0
$GC,4356,-0.62,-146.0,476.1,-9.9,200,4360,0.00,2.28,0.00,0.000,6,0.000,0.031,3083,1586,3454,0,0,0,0,0,0
$GC,4638,-0.62,-146.0,502.1,-9.0,207,4642,0.00,2.45,0.00,0.000,4,0.000,0.069,3083,171,3452,0,0,0,0,0,0
$GC,4675,-0.62,-146.0,505.8,-8.9,207,4681,0.00,2.28,0.00,0.000,6,0.000,0.032,3083,1582,3452,0,0,0,0,0,0
$GC,4927,-0.62,-146.0,526.4,-8.0,214,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1583,3450,0,0,0,0,0,0
$GC,5169,-0.62,-146.0,545.2,-7.7,220,5174,0.00,2.47,0.00,0.000,4,0.000,0.073,3083,164,3449,0,0,0,0,0,0
$GC,5207,-0.62,-146.0,548.5,-8.2,220,5212,0.00,2.30,0.00,0.000,6,0.000,0.035,3084,1576,3449,0,0,0,0,0,0
$GC,5458,-0.62,-146.0,567.7,-7.6,227,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1576,3447,0,0,0,0,0,0
$GC,5701,-0.62,-146.0,586.6,-7.8,233,5705,0.00,2.45,0.00,0.000,4,0.000,0.074,3083,174,3445,0,0,0,0,0,0
$GC,5729,-0.62,-146.0,589.2,-8.7,233,5733,0.00,2.30,0.00,0.000,6,0.000,0.038,3084,1576,3445,0,0,0,0,0,0
$STATE,5865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5865,begin apogee
$GC,5873,-0.31,0.0,600.0,7.9,237,5993,0.22,0.00,117.50,0.943,6,0.099,0.000,3133,1653,2860,0,0,0,0,0,0
$STATE,5994,end apogee,CONTROL_FINISHED_OK
$STATE,5994,begin climb
$GC,5996,1.27,146.0,606.5,0.0,240,6130,1.50,2.72,124.40,0.920,4,0.070,0.078,3473,174,2263,0,0,0,0,0,0
$GC,6162,1.43,202.4,600.9,7.4,243,6219,0.15,2.42,49.97,0.896,6,0.058,0.035,3530,1626,2033,0,0,0,0,0,0
$GC,6500,1.43,202.4,567.8,10.3,252,6505,0.00,2.60,0.00,0.000,4,0.000,0.073,3529,167,2024,0,0,0,0,0,0
$GC,6644,1.43,202.4,550.5,11.7,255,6648,0.00,2.42,0.00,0.000,6,0.000,0.034,3530,1631,2023,0,0,0,0,0,0
$GC,6923,1.43,202.4,522.0,10.1,262,6927,0.00,2.55,0.00,0.000,4,0.000,0.070,3530,171,2020,0,0,0,0,0,0
$GC,7061,1.43,202.4,505.5,12.0,265,7066,0.00,2.38,0.00,0.000,6,0.000,0.031,3530,1623,2020,0,0,0,0,0,0
$GC,7346,1.44,211.8,477.7,9.6,272,7359,0.00,2.58,6.82,0.701,4,0.000,0.065,3530,178,1996,0,0,0,0,0,0
$GC,7531,1.44,211.8,457.6,11.7,276,7535,0.00,2.33,0.00,0.000,6,0.000,0.029,3530,1612,1995,0,0,0,0,0,0
$GC,7818,1.53,232.8,431.3,9.0,283,7846,0.00,2.53,20.73,0.815,4,0.000,0.061,3530,172,1908,0,0,0,0,0,0
$GC,7957,1.53,232.8,416.1,11.2,286,7961,0.00,2.30,0.00,0.000,6,0.000,0.028,3530,1591,1908,0,0,0,0,0,0
$GC,8241,1.63,245.3,389.3,9.4,293,8259,0.10,2.50,12.10,0.748,4,0.075,0.060,3577,164,1858,0,0,0,0,0,0
$GC,8372,1.54,245.3,372.0,13.1,295,8378,0.20,2.30,0.00,0.000,6,0.099,0.028,3534,1583,1857,0,0,0,0,0,0
$GC,8623,1.64,255.2,347.6,9.5,302,8639,0.10,2.50,9.70,0.696,4,0.078,0.059,3582,167,1818,0,0,0,0,0,0
$GC,8669,1.52,255.2,341.8,14.5,303,8674,0.25,2.28,0.00,0.000,6,0.092,0.028,3528,1575,1817,0,0,0,0,0,0
$GC,8959,1.68,293.1,316.7,8.3,310,9002,0.15,2.50,34.25,0.743,4,0.057,0.058,3593,170,1664,0,0,0,0,0,0
$GC,9097,1.61,293.1,298.7,14.2,313,9102,0.20,2.25,0.00,0.000,6,0.096,0.027,3551,1562,1662,0,0,0,0,0,0
$GC,9385,1.70,293.1,267.8,10.6,320,9388,0.00,2.35,0.00,0.000,4,0.000,0.055,3550,170,1659,0,0,0,0,0,0
$GC,9459,1.70,293.1,259.1,11.5,321,9463,0.00,2.20,0.00,0.000,6,0.000,0.025,3551,1557,1659,0,0,0,0,0,0
$GC,9718,1.80,293.1,231.4,10.4,328,9720,0.17,0.00,0.00,0.000,6,0.050,0.000,3620,1560,1657,0,0,0,0,0,0
$GC,9962,1.70,293.1,198.4,13.6,334,9967,0.22,2.35,0.00,0.000,4,0.092,0.050,3571,167,1657,0,0,0,0,0,0
$GC,10082,1.70,293.1,184.4,11.3,345,10091,0.00,2.20,0.00,0.000,6,0.000,0.022,3571,1557,1657,0,0,0,0,0,0
$GC,10349,1.80,301.7,158.6,9.6,370,10361,0.00,2.70,7.47,0.515,4,0.000,0.031,3571,3225,1630,0,0,0,0,0,0
$GC,10393,1.96,301.7,153.4,10.7,374,10399,0.22,2.80,0.00,0.000,6,0.040,0.034,3660,1533,1627,0,0,0,0,0,0
$GC,10660,1.79,301.7,112.3,15.1,399,10665,0.30,2.28,0.00,0.000,4,0.089,0.048,3590,165,1627,0,0,0,0,0,0
$GC,10791,1.79,301.7,95.4,12.0,411,10795,0.00,2.15,0.00,0.000,6,0.000,0.021,3590,1557,1627,0,0,0,0,0,0
$GC,11060,1.89,311.6,69.1,9.5,435,11076,0.00,2.38,10.20,0.471,4,0.000,0.054,3590,167,1588,0,0,0,0,0,0
$GC,11175,1.89,311.6,56.8,11.4,445,11179,0.00,2.12,0.00,0.000,6,0.000,0.021,3590,1544,1588,0,0,0,0,0,0
$GC,11444,1.97,311.6,29.2,10.9,469,11453,0.15,2.35,0.00,0.000,4,0.055,0.051,3661,167,1587,0,0,0,0,0,0
$GC,11502,1.80,311.6,21.1,15.3,477,11511,0.30,2.12,0.00,0.000,6,0.079,0.021,3591,1524,1587,0,0,0,0,0,0
$STATE,11673,end climb,SURFACE_DEPTH_REACHED
$STATE,11673,begin surface coast
$FINISH,0.7,1.023766
$STATE,11751,end surface coast,CONTROL_FINISHED_OK
$STATE,11751,begin surface
$SM_CCo,11776,34.17,0.451,0,0,1309,380.21
$SM_GC,1.87,0.00,0.00,34.17,0.000,0.000,0.451,415,1669,1309,-12.81,1.41,380.21
$IRIDIUM_FIX,2237.01,-15754.99,210901,181804
$TT8_MAMPS,0.027612
$HUMID,61.69
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.5,18.395
$10V_AH,9.9,12.415
$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,32.025,144.650,393.150,34.175,0.000,29.048,36.570,231.401,1.000,0.000,34.876,1169.779,7810.949,471.822,2189.426,616.338,33.350,1401.541,0.000,2153.777,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,105.079,942.643,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.352,283.351,362.476,524.791,921.890,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356108
$DATA_FILE_SIZE,41623,516
$CAP_FILE_SIZE,134161,0
$CFSIZE,260165632,171229184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280612,003606,2246.080,-15757.327,40,1.4,45,10.1