version: 66.06
glider: 148
mission: 11
dive: 132
start: 6 28 112 11 21 13
data:
$ID,148
$MISSION,11
$DIVE,132
$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,-920957.88
$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,3280
$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,1600
$C_ROLL_CLIMB,1580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,37
$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
$GPS1,111357,2245.148,-15758.687,25,2.8,44,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.5
$GPS2,112019,2245.152,-15758.607,11,1.9,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,0.015
$KALMAN_X,43113.0,-61.4,-160.3,-40928.4,2233.6
$KALMAN_Y,-2767.8,247.6,101.5,-2859.1,-284.2
$MHEAD_RNG_PITCHd_Wd,263.2,2395,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.30,0.000,2,0.000,0.000,409,1673,3203,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.3,-5.4,10,120,14.25,2.42,-4.60,0.000,4,0.175,0.036,2998,3201,3456,0,0,0,0,0,0
$GC,246,-0.92,-146.0,44.6,-18.6,29,255,0.32,2.62,0.00,0.000,6,0.088,0.029,3073,1594,3458,0,0,0,0,0,0
$GC,509,-0.65,-146.0,92.2,-15.2,54,514,0.25,2.33,0.00,0.000,4,0.104,0.041,3130,160,3458,0,0,0,0,0,0
$GC,551,-0.57,-146.0,98.8,-13.4,57,557,0.12,2.25,0.00,0.000,6,0.119,0.018,3156,1626,3459,0,0,0,0,0,0
$GC,815,-0.57,-146.0,124.4,-9.3,82,824,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1629,3459,0,0,0,0,0,0
$GC,1081,-0.65,-146.0,146.4,-7.8,107,1085,0.00,2.40,0.00,0.000,4,0.000,0.024,3156,3170,3460,0,0,0,0,0,0
$GC,1121,-0.83,-146.0,149.6,-6.4,110,1131,0.20,2.58,0.00,0.000,6,0.020,0.028,3037,1588,3460,0,0,0,0,0,0
$GC,1383,-0.54,-146.0,186.7,-14.9,135,1388,0.52,2.30,0.00,0.000,4,0.094,0.041,3155,165,3460,0,0,0,0,0,0
$GC,1450,-0.76,-146.0,193.2,-7.4,141,1455,0.17,2.17,0.00,0.000,6,0.049,0.018,3083,1603,3460,0,0,0,0,0,0
$GC,1734,-0.66,-146.0,221.2,-10.3,153,1739,0.22,2.38,0.00,0.000,4,0.093,0.042,3132,166,3461,0,0,0,0,0,0
$GC,1775,-0.75,-146.0,224.9,-9.2,153,1780,0.00,2.10,0.00,0.000,6,0.000,0.019,3132,1561,3461,0,0,0,0,0,0
$GC,2025,-0.84,-146.0,245.5,-8.2,160,2030,0.15,2.53,0.00,0.000,4,0.058,0.026,3072,3161,3461,0,0,0,0,0,0
$GC,2069,-0.84,-146.0,249.7,-9.5,161,2074,0.12,2.58,0.00,0.000,6,0.104,0.033,3100,1567,3461,0,0,0,0,0,0
$GC,2358,-0.84,-146.0,274.4,-8.3,168,2362,0.00,2.30,0.00,0.000,4,0.000,0.047,3099,167,3461,0,0,0,0,0,0
$GC,2386,-0.84,-146.0,277.3,-9.7,168,2390,0.00,2.15,0.00,0.000,6,0.000,0.021,3100,1578,3462,0,0,0,0,0,0
$GC,2647,-0.84,-146.0,299.4,-8.7,175,2651,0.00,2.35,0.00,0.000,4,0.000,0.048,3099,164,3462,0,0,0,0,0,0
$GC,2671,-0.84,-146.0,301.9,-9.6,175,2675,0.00,2.17,0.00,0.000,6,0.000,0.021,3100,1570,3461,0,0,0,0,0,0
$GC,2930,-0.84,-146.0,323.2,-8.0,182,2934,0.00,2.55,0.00,0.000,4,0.000,0.030,3100,3168,3461,0,0,0,0,0,0
$GC,2969,-0.96,-146.0,326.4,-8.4,182,2975,0.12,2.60,0.00,0.000,6,0.063,0.032,3023,1573,3461,0,0,0,0,0,0
$GC,3219,-0.76,-146.0,356.3,-12.2,189,3225,0.38,2.33,0.00,0.000,4,0.088,0.053,3110,174,3460,0,0,0,0,0,0
$GC,3312,-0.85,-146.0,364.6,-7.6,191,3316,0.00,2.15,0.00,0.000,6,0.000,0.023,3110,1560,3461,0,0,0,0,0,0
$GC,3601,-0.93,-146.0,384.8,-6.8,198,3606,0.15,2.62,0.00,0.000,4,0.057,0.035,3049,3173,3459,0,0,0,0,0,0
$GC,3657,-0.93,-146.0,390.1,-10.2,199,3662,0.12,2.65,0.00,0.000,6,0.106,0.035,3077,1560,3459,0,0,0,0,0,0
$GC,3933,-0.93,-146.0,413.8,-8.7,206,3937,0.00,2.38,0.00,0.000,4,0.000,0.063,3077,164,3458,0,0,0,0,0,0
$GC,3994,-0.93,-146.0,420.2,-10.1,207,3999,0.00,2.20,0.00,0.000,6,0.000,0.027,3077,1569,3457,0,0,0,0,0,0
$GC,4264,-0.93,-146.0,444.6,-9.0,214,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1571,3455,0,0,0,0,0,0
$GC,4506,-0.93,-146.0,466.3,-8.9,220,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1572,3454,0,0,0,0,0,0
$GC,4750,-0.93,-146.0,487.7,-8.8,226,4754,0.00,2.42,0.00,0.000,4,0.000,0.069,3076,170,3452,0,0,0,0,0,0
$GC,4771,-0.93,-146.0,489.5,-8.9,226,4775,0.00,2.22,0.00,0.000,6,0.000,0.034,3077,1549,3452,0,0,0,0,0,0
$GC,5036,-0.93,-146.0,511.7,-8.3,233,5040,0.00,2.67,0.00,0.000,4,0.000,0.045,3077,3166,3451,0,0,0,0,0,0
$GC,5055,-0.93,-146.0,513.7,-9.6,233,5059,0.00,2.67,0.00,0.000,6,0.000,0.043,3077,1550,3450,0,0,0,0,0,0
$GC,5321,-0.93,-146.0,536.0,-8.4,240,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1550,3448,0,0,0,0,0,0
$GC,5564,-0.93,-146.0,556.3,-8.2,246,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1550,3447,0,0,0,0,0,0
$GC,5806,-0.93,-146.0,574.8,-7.5,252,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1550,3446,0,0,0,0,0,0
$GC,6050,-0.93,-146.0,593.8,-7.8,258,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1550,3444,0,0,0,0,0,0
$STATE,6129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6129,begin apogee
$GC,6134,-0.31,0.0,600.5,8.1,260,6255,0.60,0.00,117.85,0.943,6,0.087,0.000,3210,1550,2860,0,0,0,0,0,0
$STATE,6256,end apogee,CONTROL_FINISHED_OK
$STATE,6256,begin climb
$GC,6260,1.27,146.0,604.7,0.0,263,6390,1.52,0.00,125.68,0.920,6,0.061,0.000,3557,1550,2264,0,0,0,0,0,0
$GC,6616,1.22,170.0,580.5,8.9,272,6644,0.00,2.50,20.83,0.858,4,0.000,0.081,3557,171,2167,0,0,0,0,0,0
$GC,6779,1.08,170.0,563.3,11.0,275,6784,0.20,2.30,0.00,0.000,6,0.101,0.035,3516,1568,2164,0,0,0,0,0,0
$GC,7041,1.15,224.6,543.7,7.5,282,7097,0.00,2.53,49.33,0.886,4,0.000,0.071,3515,163,1943,0,0,0,0,0,0
$GC,7159,1.21,224.6,532.5,10.9,284,7164,0.12,2.33,0.00,0.000,6,0.066,0.032,3565,1574,1941,0,0,0,0,0,0
$GC,7414,1.21,224.6,502.7,11.9,291,7418,0.00,2.47,0.00,0.000,4,0.000,0.067,3566,161,1937,0,0,0,0,0,0
$GC,7477,1.10,224.6,494.4,13.6,292,7482,0.22,2.30,0.00,0.000,6,0.100,0.031,3519,1571,1936,0,0,0,0,0,0
$GC,7747,1.21,238.4,468.4,9.4,299,7767,0.10,2.50,12.85,0.786,4,0.077,0.064,3565,161,1886,0,0,0,0,0,0
$GC,7844,1.15,238.4,455.6,14.3,301,7849,0.17,2.25,0.00,0.000,6,0.102,0.030,3528,1544,1885,0,0,0,0,0,0
$GC,8127,1.23,238.4,425.5,10.6,308,8131,0.00,2.40,0.00,0.000,4,0.000,0.062,3527,160,1882,0,0,0,0,0,0
$GC,8171,1.23,238.4,420.4,13.1,309,8175,0.00,2.25,0.00,0.000,6,0.000,0.028,3527,1551,1882,0,0,0,0,0,0
$GC,8458,1.34,253.7,392.1,9.3,316,8479,0.17,2.45,14.20,0.757,4,0.053,0.062,3577,174,1824,0,0,0,0,0,0
$GC,8569,1.28,253.7,378.8,11.9,318,8573,0.00,2.20,0.00,0.000,6,0.000,0.028,3577,1534,1824,0,0,0,0,0,0
$GC,8837,1.28,253.7,349.3,10.9,325,8841,0.00,2.35,0.00,0.000,4,0.000,0.059,3577,166,1821,0,0,0,0,0,0
$GC,8904,1.20,253.7,340.9,13.5,326,8909,0.17,2.17,0.00,0.000,6,0.104,0.026,3539,1526,1821,0,0,0,0,0,0
$GC,9169,1.29,253.7,314.0,10.1,333,9173,0.00,2.33,0.00,0.000,4,0.000,0.058,3539,161,1820,0,0,0,0,0,0
$GC,9201,1.36,253.7,310.4,10.9,333,9206,0.15,2.17,0.00,0.000,6,0.058,0.025,3585,1524,1820,0,0,0,0,0,0
$GC,9458,1.36,253.7,280.0,12.3,340,9462,0.00,2.33,0.00,0.000,4,0.000,0.057,3586,161,1819,0,0,0,0,0,0
$GC,9547,1.29,253.7,267.4,13.7,342,9552,0.12,2.15,0.00,0.000,6,0.115,0.025,3560,1518,1818,0,0,0,0,0,0
$GC,9836,1.35,253.7,236.6,10.1,349,9840,0.00,2.28,0.00,0.000,4,0.000,0.054,3560,161,1818,0,0,0,0,0,0
$GC,9859,1.35,253.7,233.9,10.4,349,9863,0.00,2.15,0.00,0.000,6,0.000,0.024,3560,1528,1818,0,0,0,0,0,0
$GC,10118,1.44,265.8,208.7,9.4,356,10135,0.12,2.35,10.52,0.601,4,0.064,0.053,3605,172,1775,0,0,0,0,0,0
$GC,10263,1.37,265.8,189.3,14.1,363,10272,0.10,2.12,0.00,0.000,6,0.087,0.023,3579,1507,1775,0,0,0,0,0,0
$GC,10530,1.37,265.8,162.3,10.3,388,10534,0.00,2.25,0.00,0.000,4,0.000,0.051,3579,164,1773,0,0,0,0,0,0
$GC,10613,1.37,265.8,151.8,12.1,396,10616,0.00,2.08,0.00,0.000,6,0.000,0.021,3579,1505,1773,0,0,0,0,0,0
$GC,10877,1.37,265.8,124.7,10.0,420,10881,0.00,2.25,0.00,0.000,4,0.000,0.048,3579,154,1773,0,0,0,0,0,0
$GC,10943,1.37,265.8,116.8,11.5,426,10947,0.00,2.08,0.00,0.000,6,0.000,0.021,3579,1505,1773,0,0,0,0,0,0
$GC,11206,1.44,265.8,90.2,10.2,450,11210,0.00,2.22,0.00,0.000,4,0.000,0.054,3579,158,1772,0,0,0,0,0,0
$GC,11269,1.44,265.8,83.4,11.3,456,11273,0.00,2.03,0.00,0.000,6,0.000,0.026,3579,1498,1773,0,0,0,0,0,0
$GC,11537,1.61,313.0,61.4,7.8,480,11587,0.22,0.00,42.55,0.512,6,0.045,0.000,3639,1501,1581,0,0,0,0,0,0
$GC,11853,1.54,313.0,21.7,13.9,514,11862,0.12,2.25,0.00,0.000,4,0.106,0.044,3613,163,1578,0,0,0,0,0,0
$GC,11934,1.54,313.0,12.2,11.1,526,11942,0.00,2.05,0.00,0.000,6,0.000,0.020,3613,1503,1578,0,0,0,0,0,0
$STATE,12004,end climb,SURFACE_DEPTH_REACHED
$STATE,12005,begin surface coast
$FINISH,0.6,1.019710
$STATE,12057,end surface coast,CONTROL_FINISHED_OK
$STATE,12057,begin surface
$SM_CCo,12080,33.62,0.450,0,0,1309,380.21
$SM_GC,1.53,0.00,0.00,33.62,0.000,0.000,0.450,412,1659,1309,-13.19,1.67,380.21
$IRIDIUM_FIX,2237.01,-15800.20,220901,070756
$TT8_MAMPS,0.027612
$HUMID,61.81
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,22.20
$XPDR_PINGS,6
$24V_AH,23.5,18.882
$10V_AH,9.9,12.855
$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,34.150,135.300,393.800,33.625,0.000,24.286,44.338,173.469,1.500,0.000,17.555,1183.286,8158.417,512.868,2067.153,572.835,33.357,1368.006,0.000,2065.910,0.000,0.537,0.000
$DEVICE_MAMPS,174.876,81.302,942.643,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.074,302.573,387.581,562.670,987.901,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356112
$DATA_FILE_SIZE,41602,545
$CAP_FILE_SIZE,131059,0
$CFSIZE,260165632,170983424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280612,144425,2245.073,-15759.042,36,1.8,36,10.1