version: 66.06
glider: 148
mission: 11
dive: 39
start: 5 25 112 17 47 32
data:
$ID,148
$MISSION,11
$DIVE,39
$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,420
$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,130
$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,-897573.19
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2990
$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,1740
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2840
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,174006,2228.536,-15816.056,37,1.1,37,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.9
$GPS2,174637,2228.492,-15816.136,33,1.1,33,10.0
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.107
$KALMAN_X,-76402.0,-290.3,303.8,49474.9,-3139.0
$KALMAN_Y,-49119.7,-119.5,105.0,19531.7,-1865.9
$MHEAD_RNG_PITCHd_Wd,53.8,41160,-18.9,-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,16,-1.34,-126.5,0.0,0.0,0,93,0.00,0.00,-74.85,0.000,2,0.000,0.000,414,1830,3236,0,0,0,0,0,0
$GC,98,-1.34,-126.5,3.3,-5.1,10,122,12.15,2.35,-2.12,0.000,4,0.158,0.038,2688,3295,3359,0,0,0,0,0,0
$GC,138,0.26,-126.5,21.5,-43.9,15,148,1.75,2.55,0.00,0.000,6,0.125,0.027,3039,1733,3359,0,0,0,0,0,0
$GC,413,0.59,-126.5,79.3,-18.0,41,425,0.32,2.55,0.00,0.000,4,0.106,0.041,3111,174,3361,0,0,0,0,0,0
$GC,452,0.69,-126.5,87.3,-14.7,44,462,0.10,2.40,0.00,0.000,6,0.093,0.019,3137,1706,3361,0,0,0,0,0,0
$GC,718,0.69,-126.5,112.1,-8.8,69,722,0.00,2.53,0.00,0.000,4,0.000,0.051,3137,173,3362,0,0,0,0,0,0
$GC,796,0.62,-126.5,119.6,-9.2,76,800,0.00,2.40,0.00,0.000,6,0.000,0.019,3136,1723,3362,0,0,0,0,0,0
$GC,1059,0.55,-126.5,140.7,-7.7,100,1064,0.12,2.58,0.00,0.000,4,0.065,0.044,3083,171,3363,0,0,0,0,0,0
$GC,1123,0.64,-126.5,147.9,-12.2,105,1129,0.20,2.38,0.00,0.000,6,0.101,0.019,3126,1706,3362,0,0,0,0,0,0
$GC,1391,0.56,-126.5,173.9,-9.6,130,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1709,3363,0,0,0,0,0,0
$GC,1656,0.47,-126.5,196.6,-8.9,155,1661,0.15,2.53,0.00,0.000,4,0.057,0.044,3064,176,3364,0,0,0,0,0,0
$GC,1696,0.62,-126.5,202.0,-13.6,158,1702,0.28,2.38,0.00,0.000,6,0.104,0.020,3122,1706,3364,0,0,0,0,0,0
$GC,1948,0.51,-126.5,221.7,-7.1,165,1952,0.00,2.53,0.00,0.000,4,0.000,0.045,3122,175,3364,0,0,0,0,0,0
$GC,2004,0.39,-126.5,226.5,-7.9,166,2009,0.32,2.35,0.00,0.000,6,0.028,0.020,3047,1706,3364,1,0,0,0,0,0
$GC,2280,0.48,-126.5,253.5,-9.3,173,2285,0.22,2.55,0.00,0.000,4,0.096,0.044,3096,172,3364,0,0,0,0,0,0
$GC,2311,0.48,-126.5,256.2,-8.2,173,2315,0.00,2.35,0.00,0.000,6,0.000,0.021,3096,1686,3364,0,0,0,0,0,0
$GC,2566,0.41,-126.5,275.6,-8.1,180,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1690,3364,0,0,0,0,0,0
$GC,2811,0.33,-126.5,297.9,-9.1,186,2816,0.15,2.55,0.00,0.000,4,0.058,0.049,3026,170,3365,0,0,0,0,0,0
$GC,2973,0.51,-126.5,318.3,-13.4,189,2982,2.65,2.38,0.00,0.000,6,0.011,0.022,3094,1681,3364,8,0,0,0,0,0
$GC,3239,0.42,-126.5,336.1,-6.2,196,3243,0.00,2.50,0.00,0.000,4,0.000,0.051,3094,178,3364,0,0,0,0,0,0
$GC,3311,0.32,-126.5,340.8,-5.5,197,3319,1.85,2.35,0.00,0.000,6,0.006,0.024,3027,1666,3363,6,0,0,0,0,0
$GC,3576,0.43,-126.5,363.2,-8.8,204,3581,0.25,2.50,0.00,0.000,4,0.095,0.054,3085,180,3362,0,0,0,0,0,0
$GC,3633,0.36,-126.5,368.0,-7.8,205,3637,0.00,2.33,0.00,0.000,6,0.000,0.025,3085,1654,3362,0,0,0,0,0,0
$GC,3908,0.28,-126.5,386.7,-6.9,212,3913,0.15,2.53,0.00,0.000,4,0.058,0.058,3023,171,3360,0,0,0,0,0,0
$GC,3988,0.42,-126.5,395.2,-10.2,213,3998,3.75,2.35,0.00,0.000,6,0.008,0.027,3079,1646,3360,12,0,0,0,0,0
$GC,4244,0.35,-126.5,412.1,-6.2,220,4248,0.00,2.53,0.00,0.000,4,0.000,0.061,3079,173,3358,0,0,0,0,0,0
$GC,4276,0.35,-126.5,414.5,-6.9,220,4281,0.00,2.33,0.00,0.000,6,0.000,0.028,3079,1640,3358,0,0,0,0,0,0
$GC,4527,0.28,-126.5,431.7,-6.9,226,4532,0.12,2.50,0.00,0.000,4,0.065,0.064,3020,181,3356,0,0,0,0,0,0
$GC,4557,0.45,-126.5,434.6,-10.7,226,4566,2.67,2.33,0.00,0.000,6,0.011,0.028,3084,1629,3356,8,0,0,0,0,0
$GC,4817,0.35,-126.5,455.5,-7.9,233,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1631,3355,0,0,0,0,0,0
$GC,5061,0.25,-126.5,474.5,-7.8,239,5066,0.17,2.53,0.00,0.000,4,0.052,0.068,3012,181,3353,0,0,0,0,0,0
$GC,5119,0.41,-126.5,481.2,-12.7,240,5131,5.18,2.33,0.00,0.000,6,0.006,0.032,3076,1620,3352,17,0,0,0,0,0
$GC,5396,0.34,-126.5,504.6,-8.1,247,5400,0.00,2.50,0.00,0.000,4,0.000,0.070,3076,176,3351,0,0,0,0,0,0
$GC,5435,0.28,-126.5,508.2,-9.9,247,5444,4.30,2.33,0.00,0.000,6,0.004,0.033,3028,1612,3351,14,0,0,0,0,0
$GC,5729,0.34,-126.5,537.4,-9.9,255,5734,0.17,2.53,0.00,0.000,4,0.104,0.072,3065,175,3349,0,0,0,0,0,0
$GC,5763,0.34,-126.5,540.7,-8.8,255,5767,0.00,2.33,0.00,0.000,6,0.000,0.035,3065,1606,3349,0,0,0,0,0,0
$GC,6015,0.34,-126.5,559.4,-7.4,261,6019,0.00,2.50,0.00,0.000,4,0.000,0.073,3065,183,3347,0,0,0,0,0,0
$GC,6040,0.34,-126.5,561.4,-8.4,261,6044,0.00,2.33,0.00,0.000,6,0.000,0.036,3065,1600,3347,0,0,0,0,0,0
$GC,6301,0.28,-126.5,580.9,-7.6,268,6305,0.00,2.50,0.00,0.000,4,0.000,0.074,3065,179,3345,0,0,0,0,0,0
$GC,6324,0.28,-126.5,583.3,-9.9,268,6328,0.00,2.33,0.00,0.000,6,0.000,0.037,3065,1600,3345,0,0,0,0,0,0
$STATE,6540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6540,begin apogee
$GC,6546,-0.31,0.0,600.8,8.1,274,6652,0.57,0.00,102.47,0.950,6,0.027,0.000,2897,1779,2839,0,0,0,0,0,0
$STATE,6653,end apogee,CONTROL_FINISHED_OK
$STATE,6653,begin climb
$GC,6657,1.34,126.5,611.0,0.0,276,6775,1.80,2.80,109.43,0.933,4,0.101,0.055,3273,3370,2323,0,0,0,0,0,0
$GC,6994,2.26,226.0,604.6,4.7,283,7108,15.70,2.67,87.80,0.926,6,0.002,0.045,3273,1809,1917,52,1,0,0,0,0
$STATE,7112,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,7126,356.12,0.851,14,0,510,571.30
$SM_GC,1.57,11.60,0.00,0.00,0.028,0.000,0.000,417,1805,496,-11.78,0.14,574.98
$IRIDIUM_FIX,2220.67,-15757.62,190801,151550
$TT8_MAMPS,0.027612
$HUMID,68.11
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,19.10
$XPDR_PINGS,6
$24V_AH,23.4,5.216
$10V_AH,9.9,3.969
$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,66.725,93.475,299.700,356.125,0.000,23.959,34.223,182.998,1.500,0.000,35.122,835.525,8845.279,792.615,1177.174,478.569,33.356,1462.288,0.000,1145.958,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,73.632,950.313,851.370,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,192.936,142.281,188.346,233.265,409.788,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356048
$DATA_FILE_SIZE,22517,286
$CAP_FILE_SIZE,102652,8
$CFSIZE,260165632,170524672
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,118,0,14,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,250512,210430,2228.356,-15816.669,40,1.6,40,10.0