version: 66.06
glider: 148
mission: 11
dive: 134
start: 6 28 112 18 29 43
data:
$ID,148
$MISSION,11
$DIVE,134
$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,-920988.62
$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,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,25
$R_STBD_OVSHOOT,42
$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
$GPS1,181830,2244.905,-15759.516,109,1.4,109,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.1
$GPS2,182849,2244.875,-15759.433,8,1.1,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.217,0.052
$KALMAN_X,47367.6,-64.2,155.0,-46897.2,1637.7
$KALMAN_Y,-3631.0,-404.9,-315.7,-1441.1,-396.6
$MHEAD_RNG_PITCHd_Wd,273.4,997,-20.9,-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,15,-1.43,-105.4,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,411,1670,3256,0,0,0,0,0,0
$GC,96,-1.48,-143.7,4.0,-7.6,10,121,13.43,2.42,-3.28,0.000,4,0.159,0.034,2951,3186,3448,0,0,0,0,0,0
$GC,224,-1.09,-143.7,43.5,-24.1,25,237,0.43,2.60,0.00,0.000,6,0.104,0.029,3040,1585,3449,0,0,0,0,0,0
$GC,490,-0.84,-143.7,98.7,-18.9,50,495,0.25,2.33,0.00,0.000,4,0.106,0.041,3096,170,3450,0,0,0,0,0,0
$GC,571,-0.84,-143.7,111.3,-13.8,57,575,0.00,2.20,0.00,0.000,6,0.000,0.018,3097,1622,3450,0,0,0,0,0,0
$GC,839,-0.84,-143.7,145.3,-12.6,81,843,0.00,2.40,0.00,0.000,4,0.000,0.041,3096,164,3450,0,0,0,0,0,0
$GC,886,-0.84,-143.7,152.3,-13.7,85,890,0.00,2.15,0.00,0.000,6,0.000,0.018,3096,1588,3450,0,0,0,0,0,0
$GC,1154,-0.84,-143.7,183.0,-10.6,109,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1590,3451,0,0,0,0,0,0
$GC,1430,-0.84,-143.7,212.9,-10.3,127,1435,0.00,2.35,0.00,0.000,4,0.000,0.044,3096,164,3451,0,0,0,0,0,0
$GC,1468,-0.90,-143.7,217.1,-11.2,127,1473,0.00,2.17,0.00,0.000,6,0.000,0.019,3096,1588,3451,0,0,0,0,0,0
$GC,1719,-0.99,-143.7,242.4,-10.2,134,1724,0.12,2.35,0.00,0.000,4,0.066,0.044,3044,173,3452,0,0,0,0,0,0
$GC,1748,-0.91,-143.7,246.5,-13.4,134,1753,0.17,2.12,0.00,0.000,6,0.110,0.019,3080,1562,3452,0,0,0,0,0,0
$GC,2008,-0.91,-143.7,273.3,-10.2,141,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1564,3452,0,0,0,0,0,0
$GC,2254,-0.98,-145.6,297.5,-9.9,147,2258,0.00,2.53,0.00,0.000,4,0.000,0.029,3080,3163,3452,0,0,0,0,0,0
$GC,2268,-1.08,-145.6,299.2,-10.1,147,2273,0.15,2.58,0.00,0.000,6,0.054,0.030,3006,1561,3452,0,0,0,0,0,0
$GC,2538,-0.94,-145.6,337.1,-14.4,154,2543,0.28,2.30,0.00,0.000,4,0.106,0.049,3069,168,3452,0,0,0,0,0,0
$GC,2608,-1.00,-145.6,345.9,-10.5,155,2612,0.00,2.15,0.00,0.000,6,0.000,0.023,3069,1547,3452,0,0,0,0,0,0
$GC,2868,-1.08,-146.0,371.1,-9.7,162,2870,0.10,0.00,0.00,0.000,6,0.080,0.000,3026,1549,3451,0,0,0,0,0,0
$GC,3112,-1.08,-146.0,400.4,-12.0,168,3116,0.00,2.35,0.00,0.000,4,0.000,0.062,3026,175,3451,0,0,0,0,0,0
$GC,3144,-1.02,-146.0,404.5,-12.4,168,3149,0.15,2.12,0.00,0.000,6,0.110,0.027,3058,1530,3450,0,0,0,0,0,0
$GC,3395,-1.08,-146.0,426.4,-8.5,174,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1530,3449,0,0,0,0,0,0
$GC,3639,-1.08,-146.0,447.9,-8.9,180,3644,0.00,2.33,0.00,0.000,4,0.000,0.067,3058,180,3447,0,0,0,0,0,0
$GC,3672,-1.08,-146.0,451.3,-9.7,180,3676,0.00,2.12,0.00,0.000,6,0.000,0.029,3058,1523,3447,0,0,0,0,0,0
$GC,3923,-1.15,-146.0,474.8,-9.6,186,3928,0.12,2.67,0.00,0.000,4,0.068,0.044,3007,3152,3445,0,0,0,0,0,0
$GC,3944,-1.15,-146.0,477.2,-10.7,186,3949,0.10,2.65,0.00,0.000,6,0.121,0.041,3028,1563,3445,0,0,0,0,0,0
$GC,4209,-1.15,-146.0,505.1,-10.5,193,4213,0.00,2.42,0.00,0.000,4,0.000,0.075,3028,168,3443,0,0,0,0,0,0
$GC,4269,-1.15,-146.0,512.0,-11.7,194,4273,0.00,2.17,0.00,0.000,6,0.000,0.033,3028,1520,3443,0,0,0,0,0,0
$GC,4538,-1.15,-146.0,539.6,-10.4,201,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1521,3441,0,0,0,0,0,0
$GC,4780,-1.15,-146.0,566.1,-11.0,207,4784,0.00,2.35,0.00,0.000,4,0.000,0.071,3028,168,3439,0,0,0,0,0,0
$GC,4829,-1.15,-146.0,571.7,-12.6,208,4833,0.00,2.17,0.00,0.000,6,0.000,0.035,3028,1511,3439,0,0,0,0,0,0
$STATE,5113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5113,begin apogee
$GC,5121,-0.31,0.0,603.7,11.1,215,5241,0.80,0.00,116.22,0.937,6,0.082,0.000,3209,1563,2860,0,0,0,0,0,0
$STATE,5241,end apogee,CONTROL_FINISHED_OK
$STATE,5241,begin climb
$GC,5244,1.48,146.0,608.6,0.0,218,5381,1.73,2.55,124.55,0.917,4,0.056,0.074,3607,169,2263,0,0,0,0,0,0
$GC,5448,1.30,146.0,592.9,13.5,223,5453,0.20,2.33,0.00,0.000,6,0.110,0.035,3566,1565,2259,0,0,0,0,0,0
$GC,5736,1.31,152.5,564.7,9.6,230,5748,0.00,2.47,5.18,0.641,4,0.000,0.070,3565,168,2239,0,0,0,0,0,0
$GC,5810,1.31,152.5,556.8,11.3,231,5814,0.00,2.33,0.00,0.000,6,0.000,0.032,3565,1576,2238,0,0,0,0,0,0
$GC,6069,1.33,163.4,532.1,9.3,238,6085,0.00,2.53,10.98,0.789,4,0.000,0.068,3565,166,2194,0,0,0,0,0,0
$GC,6201,1.33,163.4,517.3,12.3,240,6207,0.00,2.30,0.00,0.000,6,0.000,0.036,3565,1574,2192,0,0,0,0,0,0
$GC,6452,1.40,176.6,494.0,9.2,247,6472,0.00,2.47,13.32,0.800,4,0.000,0.065,3565,168,2138,0,0,0,0,0,0
$GC,6539,1.40,176.6,485.2,10.9,248,6544,0.00,2.25,0.00,0.000,6,0.000,0.028,3565,1557,2137,0,0,0,0,0,0
$GC,6789,1.49,188.5,461.5,9.2,255,6806,0.15,2.45,11.27,0.768,4,0.059,0.064,3619,164,2090,0,0,0,0,0,0
$GC,6932,1.34,188.5,441.9,14.8,258,6937,0.22,2.25,0.00,0.000,6,0.104,0.028,3573,1551,2089,0,0,0,0,0,0
$GC,7215,1.40,189.5,413.3,9.9,265,7220,0.00,2.38,0.00,0.000,4,0.000,0.061,3573,164,2086,0,0,0,0,0,0
$GC,7383,1.40,189.5,393.3,12.2,268,7387,0.00,2.22,0.00,0.000,6,0.000,0.027,3573,1548,2086,0,0,0,0,0,0
$GC,7639,1.49,198.5,368.8,9.4,275,7656,0.12,2.45,9.38,0.700,4,0.067,0.060,3625,167,2049,0,0,0,0,0,0
$GC,7788,1.37,198.5,348.0,15.4,278,7793,0.22,2.20,0.00,0.000,6,0.103,0.026,3578,1535,2048,0,0,0,0,0,0
$GC,8066,1.45,198.5,319.3,10.1,285,8071,0.00,2.35,0.00,0.000,4,0.000,0.059,3578,163,2046,0,0,0,0,0,0
$GC,8132,1.45,198.5,311.9,10.9,286,8136,0.00,2.17,0.00,0.000,6,0.000,0.025,3578,1529,2046,0,0,0,0,0,0
$GC,8396,1.57,209.8,286.7,9.3,293,8413,0.17,2.38,10.80,0.662,4,0.050,0.057,3638,169,2004,0,0,0,0,0,0
$GC,8474,1.44,209.8,277.5,12.6,294,8479,0.22,2.15,0.00,0.000,6,0.105,0.024,3592,1524,2003,0,0,0,0,0,0
$GC,8734,1.52,209.8,250.1,10.2,301,8738,0.00,2.30,0.00,0.000,4,0.000,0.054,3592,165,2000,0,0,0,0,0,0
$GC,8882,1.52,209.8,233.1,10.9,304,8886,0.00,2.12,0.00,0.000,6,0.000,0.022,3591,1528,2000,0,0,0,0,0,0
$GC,9164,1.63,215.1,205.0,9.7,311,9177,0.17,2.35,5.45,0.502,4,0.049,0.051,3652,164,1983,0,0,0,0,0,0
$GC,9313,1.50,215.1,186.2,14.3,322,9317,0.20,2.10,0.00,0.000,6,0.105,0.023,3610,1518,1982,0,0,0,0,0,0
$GC,9578,1.59,232.5,161.2,8.9,346,9607,0.00,2.30,17.27,0.583,4,0.000,0.050,3609,158,1909,0,0,0,0,0,0
$GC,9733,1.59,232.5,143.5,11.5,361,9738,0.00,2.12,0.00,0.000,6,0.000,0.021,3609,1531,1909,0,0,0,0,0,0
$GC,9997,1.69,232.5,116.0,10.3,386,10002,0.15,2.30,0.00,0.000,4,0.055,0.055,3675,162,1908,0,0,0,0,0,0
$GC,10201,1.54,232.5,86.9,14.2,405,10206,0.28,2.05,0.00,0.000,6,0.096,0.021,3616,1493,1908,0,0,0,0,0,0
$GC,10466,1.68,256.7,63.7,8.5,429,10493,0.12,2.25,21.77,0.502,4,0.065,0.046,3678,158,1812,0,0,0,0,0,0
$GC,10607,1.55,256.7,43.9,15.0,441,10616,0.25,2.08,0.00,0.000,6,0.081,0.020,3619,1486,1812,0,0,0,0,0,0
$GC,10894,1.66,256.7,13.2,11.3,478,10903,0.10,2.25,0.00,0.000,4,0.078,0.049,3672,163,1811,0,0,0,0,0,0
$STATE,10959,end climb,SURFACE_DEPTH_REACHED
$STATE,10959,begin surface coast
$FINISH,2.9,1.023717
$STATE,10967,end surface coast,CONTROL_FINISHED_OK
$STATE,10967,begin surface
$SM_CCo,10994,69.18,0.460,0,0,1309,380.21
$SM_GC,1.72,0.00,0.00,69.18,0.000,0.000,0.460,416,1601,1309,-13.17,0.03,380.21
$IRIDIUM_FIX,2234.68,-15803.24,220901,181819
$TT8_MAMPS,0.027612
$HUMID,60.27
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.5,19.121
$10V_AH,9.9,13.065
$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,33.525,124.775,346.200,69.175,0.000,46.773,73.841,286.568,0.750,0.000,16.508,1093.077,7363.968,491.477,2007.539,724.870,33.358,1330.597,0.000,1994.183,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,166.439,937.274,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.895,268.129,347.470,496.899,872.931,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356092
$DATA_FILE_SIZE,38309,489
$CAP_FILE_SIZE,126694,0
$CFSIZE,260165632,170868736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280612,213516,2244.998,-15800.051,9,99.0,28,10.1