version: 66.06
glider: 148
mission: 11
dive: 130
start: 6 28 112 4 15 5
data:
$ID,148
$MISSION,11
$DIVE,130
$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,-920918.19
$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,3250
$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,20
$R_STBD_OVSHOOT,33
$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
$GPS1,040655,2246.032,-15757.526,50,1.4,50,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.8
$GPS2,041413,2245.994,-15757.455,21,1.4,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260,-0.001
$KALMAN_X,38170.8,351.0,313.3,-34899.6,1530.3
$KALMAN_Y,-2097.3,158.8,62.2,-1846.4,-659.6
$MHEAD_RNG_PITCHd_Wd,259.7,4720,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.53,0.000,2,0.000,0.000,410,1682,3199,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-7.0,10,122,13.57,2.45,-4.57,0.000,4,0.160,0.038,2967,3219,3457,0,0,0,0,0,0
$GC,281,-0.81,-146.0,54.1,-21.7,31,291,0.45,2.62,0.00,0.000,6,0.091,0.029,3068,1611,3458,0,0,0,0,0,0
$GC,544,-0.56,-146.0,102.5,-15.8,56,546,0.28,0.00,0.00,0.000,6,0.099,0.000,3127,1611,3459,0,0,0,0,0,0
$GC,798,-0.56,-146.0,131.0,-11.0,80,799,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1611,3460,0,0,0,0,0,0
$GC,1052,-0.56,-146.0,156.9,-10.1,104,1056,0.00,2.38,0.00,0.000,4,0.000,0.044,3127,162,3460,0,0,0,0,0,0
$GC,1080,-0.56,-146.0,159.4,-10.6,106,1084,0.00,2.28,0.00,0.000,6,0.000,0.018,3127,1658,3460,0,0,0,0,0,0
$GC,1348,-0.56,-146.0,186.1,-9.5,131,1353,0.00,2.38,0.00,0.000,4,0.000,0.025,3127,3186,3461,0,0,0,0,0,0
$GC,1394,-0.69,-146.0,190.1,-7.7,135,1399,0.12,2.50,0.00,0.000,6,0.061,0.028,3038,1629,3461,0,0,0,0,0,0
$GC,1679,-0.40,-146.0,231.6,-15.1,147,1686,0.60,2.38,0.00,0.000,4,0.093,0.042,3155,166,3461,0,0,0,0,0,0
$GC,1752,-0.60,-146.0,238.2,-7.4,148,1757,0.15,2.22,0.00,0.000,6,0.054,0.019,3088,1634,3462,0,0,0,0,0,0
$GC,2013,-0.60,-146.0,263.3,-9.9,155,2015,0.15,0.00,0.00,0.000,6,0.104,0.000,3120,1636,3462,0,0,0,0,0,0
$GC,2256,-0.67,-146.0,282.7,-7.9,161,2260,0.00,2.42,0.00,0.000,4,0.000,0.048,3120,174,3463,0,0,0,0,0,0
$GC,2307,-0.77,-146.0,287.0,-8.1,162,2312,0.15,2.22,0.00,0.000,6,0.058,0.021,3053,1619,3462,0,0,0,0,0,0
$GC,2587,-0.64,-146.0,318.5,-11.5,169,2589,0.25,0.00,0.00,0.000,6,0.094,0.000,3108,1622,3462,0,0,0,0,0,0
$GC,2830,-0.71,-146.0,338.2,-7.9,175,2834,0.00,2.40,0.00,0.000,4,0.000,0.052,3108,174,3462,0,0,0,0,0,0
$GC,2892,-0.79,-146.0,343.9,-8.9,176,2897,0.12,2.25,0.00,0.000,6,0.065,0.023,3052,1622,3462,0,0,0,0,0,0
$GC,3162,-0.69,-146.0,372.9,-10.6,183,3167,0.20,2.55,0.00,0.000,4,0.100,0.034,3097,3194,3461,0,0,0,0,0,0
$GC,3202,-0.82,-146.0,376.5,-8.0,183,3208,0.12,2.58,0.00,0.000,6,0.063,0.035,3029,1624,3461,0,0,0,0,0,0
$GC,3452,-0.65,-146.0,403.1,-10.7,190,3457,0.32,2.45,0.00,0.000,4,0.100,0.061,3102,173,3460,0,0,0,0,0,0
$GC,3528,-0.72,-146.0,409.7,-8.3,191,3532,0.00,2.28,0.00,0.000,6,0.000,0.026,3101,1615,3459,0,0,0,0,0,0
$GC,3789,-0.79,-146.0,428.6,-7.4,198,3794,0.10,2.58,0.00,0.000,4,0.078,0.040,3051,3191,3458,0,0,0,0,0,0
$GC,3809,-0.79,-146.0,430.6,-8.6,198,3814,0.12,2.58,0.00,0.000,6,0.108,0.036,3079,1618,3458,0,0,0,0,0,0
$GC,4075,-0.79,-146.0,453.4,-8.6,205,4079,0.00,2.47,0.00,0.000,4,0.000,0.070,3079,170,3456,0,0,0,0,0,0
$GC,4094,-0.79,-146.0,455.4,-9.3,205,4098,0.00,2.28,0.00,0.000,6,0.000,0.030,3079,1608,3456,0,0,0,0,0,0
$GC,4362,-0.79,-146.0,477.7,-8.3,212,4367,0.00,2.62,0.00,0.000,4,0.000,0.043,3079,3202,3454,0,0,0,0,0,0
$GC,4387,-0.79,-146.0,479.7,-8.7,212,4392,0.00,2.65,0.00,0.000,6,0.000,0.041,3079,1609,3454,0,0,0,0,0,0
$GC,4647,-0.79,-146.0,499.5,-7.7,219,4651,0.00,2.50,0.00,0.000,4,0.000,0.075,3079,169,3452,0,0,0,0,0,0
$GC,4685,-0.79,-146.0,502.8,-8.2,219,4690,0.00,2.30,0.00,0.000,6,0.000,0.032,3079,1607,3452,0,0,0,0,0,0
$GC,4936,-0.79,-146.0,522.1,-7.8,226,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1607,3450,0,0,0,0,0,0
$GC,5178,-0.79,-146.0,541.9,-8.1,232,5183,0.00,2.53,0.00,0.000,4,0.000,0.072,3079,161,3449,0,0,0,0,0,0
$GC,5216,-0.79,-146.0,545.3,-9.4,232,5221,0.00,2.35,0.00,0.000,6,0.000,0.035,3080,1605,3448,0,0,0,0,0,0
$GC,5466,-0.79,-146.0,565.7,-8.2,239,5470,0.00,2.67,0.00,0.000,4,0.000,0.050,3079,3205,3447,0,0,0,0,0,0
$GC,5486,-0.79,-146.0,567.5,-8.8,239,5491,0.00,2.67,0.00,0.000,6,0.000,0.046,3079,1615,3447,0,0,0,0,0,0
$GC,5750,-0.79,-146.0,589.2,-8.2,246,5755,0.00,2.55,0.00,0.000,4,0.000,0.081,3080,164,3445,0,0,0,0,0,0
$GC,5794,-0.79,-146.0,593.2,-8.5,247,5798,0.00,2.38,0.00,0.000,6,0.000,0.038,3079,1613,3444,0,0,0,0,0,0
$STATE,5875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5875,begin apogee
$GC,5882,-0.31,0.0,600.3,8.3,249,6003,0.45,0.00,117.60,0.943,6,0.094,0.000,3178,1613,2860,0,0,0,0,0,0
$STATE,6003,end apogee,CONTROL_FINISHED_OK
$STATE,6003,begin climb
$GC,6006,1.27,146.0,605.3,0.0,252,6141,1.55,2.67,125.65,0.920,4,0.067,0.076,3529,173,2262,0,0,0,0,0,0
$GC,6173,1.17,152.0,597.8,9.7,256,6186,0.10,2.45,6.45,0.699,6,0.122,0.035,3507,1641,2239,0,0,0,0,0,0
$GC,6457,1.32,207.0,576.4,7.5,263,6513,0.12,2.67,48.40,0.894,4,0.066,0.072,3557,171,2014,0,0,0,0,0,0
$GC,6629,1.22,207.0,554.9,13.8,266,6634,0.20,2.42,0.00,0.000,6,0.097,0.035,3514,1631,2013,0,0,0,0,0,0
$GC,6881,1.30,208.7,529.3,9.9,272,6885,0.00,2.58,0.00,0.000,4,0.000,0.076,3514,166,2007,0,0,0,0,0,0
$GC,7018,1.30,208.7,514.2,12.0,275,7022,0.00,2.38,0.00,0.000,6,0.000,0.031,3514,1618,2006,0,0,0,0,0,0
$GC,7307,1.42,226.0,487.0,9.2,282,7331,0.17,2.60,17.17,0.821,4,0.051,0.066,3579,161,1936,0,0,0,0,0,0
$GC,7452,1.28,226.0,467.0,14.7,285,7457,0.22,2.35,0.00,0.000,6,0.097,0.031,3530,1601,1936,0,0,0,0,0,0
$GC,7732,1.29,237.0,440.2,9.5,292,7748,0.00,2.55,10.57,0.754,4,0.000,0.064,3530,172,1894,0,0,0,0,0,0
$GC,7806,1.29,237.0,432.2,10.8,293,7810,0.00,2.30,0.00,0.000,6,0.000,0.029,3530,1596,1893,0,0,0,0,0,0
$GC,8067,1.38,249.9,407.7,9.4,300,8087,0.00,2.50,13.02,0.759,4,0.000,0.061,3530,164,1840,0,0,0,0,0,0
$GC,8148,1.38,249.9,399.0,11.4,301,8152,0.00,2.30,0.00,0.000,6,0.000,0.028,3530,1585,1839,0,0,0,0,0,0
$GC,8399,1.49,265.6,375.3,9.3,307,8420,0.17,2.53,14.52,0.748,4,0.051,0.061,3600,168,1776,0,0,0,0,0,0
$GC,8523,1.34,265.6,357.9,14.6,309,8528,0.28,2.28,0.00,0.000,6,0.097,0.028,3542,1574,1776,0,0,0,0,0,0
$GC,8780,1.43,280.4,333.6,9.3,316,8800,0.00,2.50,14.30,0.716,4,0.000,0.059,3542,164,1715,0,0,0,0,0,0
$GC,8865,1.43,280.4,324.2,12.1,317,8871,0.00,2.25,0.00,0.000,6,0.000,0.026,3542,1557,1715,0,0,0,0,0,0
$GC,9116,1.51,281.9,298.8,9.9,324,9121,0.15,2.40,0.00,0.000,4,0.056,0.057,3593,164,1712,0,0,0,0,0,0
$GC,9161,1.41,281.9,293.2,13.3,325,9166,0.17,2.22,0.00,0.000,6,0.107,0.026,3557,1552,1712,0,0,0,0,0,0
$GC,9449,1.41,281.9,261.6,10.9,332,9453,0.00,2.35,0.00,0.000,4,0.000,0.055,3556,160,1710,0,0,0,0,0,0
$GC,9553,1.41,281.9,249.3,11.7,334,9557,0.00,2.20,0.00,0.000,6,0.000,0.024,3556,1547,1710,0,0,0,0,0,0
$GC,9831,1.50,281.9,221.0,10.1,341,9835,0.00,2.33,0.00,0.000,4,0.000,0.053,3556,165,1710,0,0,0,0,0,0
$GC,9874,1.50,281.9,216.4,11.5,342,9878,0.00,2.17,0.00,0.000,6,0.000,0.023,3556,1551,1710,0,0,0,0,0,0
$GC,10138,1.61,287.4,191.3,9.7,352,10151,0.17,2.38,6.65,0.526,4,0.052,0.051,3611,167,1688,0,0,0,0,0,0
$GC,10282,1.52,287.4,169.9,14.7,366,10291,0.12,2.15,0.00,0.000,6,0.081,0.021,3579,1525,1688,0,0,0,0,0,0
$GC,10547,1.52,287.4,140.4,11.1,391,10551,0.00,2.25,0.00,0.000,4,0.000,0.049,3579,164,1687,0,0,0,0,0,0
$GC,10587,1.52,287.4,135.3,11.6,394,10596,0.00,2.12,0.00,0.000,6,0.000,0.021,3579,1518,1687,0,0,0,0,0,0
$GC,10855,1.60,303.7,110.4,9.2,419,10876,0.00,2.28,16.15,0.531,4,0.000,0.048,3579,163,1620,0,0,0,0,0,0
$GC,10903,1.60,303.7,104.6,11.7,423,10908,0.00,2.10,0.00,0.000,6,0.000,0.021,3579,1514,1620,0,0,0,0,0,0
$GC,11166,1.72,307.8,79.2,9.8,448,11180,0.17,2.30,4.72,0.387,4,0.055,0.048,3628,159,1605,0,0,0,0,0,0
$GC,11241,1.63,307.8,70.5,13.6,454,11245,0.12,2.08,0.00,0.000,6,0.107,0.021,3601,1501,1605,0,0,0,0,0,0
$GC,11505,1.63,307.8,42.1,10.3,478,11509,0.00,2.22,0.00,0.000,4,0.000,0.047,3600,158,1604,0,0,0,0,0,0
$GC,11553,1.63,307.8,36.4,12.5,482,11556,0.00,2.05,0.00,0.000,6,0.000,0.021,3600,1504,1604,0,0,0,0,0,0
$STATE,11837,end climb,SURFACE_DEPTH_REACHED
$STATE,11838,begin surface coast
$FINISH,0.6,1.023729
$STATE,11876,end surface coast,CONTROL_FINISHED_OK
$STATE,11876,begin surface
$SM_CCo,11901,36.03,0.449,0,0,1309,380.21
$SM_GC,1.28,0.00,0.00,36.03,0.000,0.000,0.449,417,1695,1309,-13.04,2.15,380.21
$IRIDIUM_FIX,2237.01,-15754.99,220901,000036
$TT8_MAMPS,0.027612
$HUMID,61.65
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.5,18.639
$10V_AH,9.9,12.634
$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,33.825,148.575,395.225,36.025,0.000,24.613,37.573,220.165,0.500,0.000,35.033,1186.422,7941.132,517.513,2114.914,609.960,33.357,1396.354,0.000,2087.716,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,80.535,943.410,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.712,298.811,377.161,535.047,939.367,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,41596,529
$CAP_FILE_SIZE,136483,0
$CFSIZE,260165632,171098112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280612,073524,2245.713,-15758.187,23,1.2,40,10.1