version: 66.06
glider: 148
mission: 11
dive: 42
start: 5 26 112 0 23 29
data:
$ID,148
$MISSION,11
$DIVE,42
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,133
$T_MISSION,270
$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,140
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-897836
$T_RSLEEP,5
$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,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,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
$GPS1,001352,2228.132,-15817.326,38,2.0,38,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.6
$GPS2,002235,2228.146,-15817.427,25,1.9,26,10.0
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,0.140
$KALMAN_X,-82207.8,-398.2,-567.7,54055.3,-1086.5
$KALMAN_Y,-51541.8,-83.9,-77.7,21456.8,-505.1
$MHEAD_RNG_PITCHd_Wd,46.2,43130,-18.2,-10.025
$D_GRID,400
$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,12,begin dive
$GC,15,-1.31,-136.2,0.0,0.0,0,92,0.00,0.00,-74.53,0.000,2,0.000,0.000,415,1748,3249,0,0,0,0,0,0
$GC,95,-1.31,-136.3,3.5,-6.0,10,120,12.12,2.55,-2.67,0.000,4,0.156,0.037,2695,3327,3399,0,0,0,0,0,0
$GC,144,0.09,-136.3,22.9,-41.0,16,153,1.52,2.60,0.00,0.000,6,0.128,0.027,3000,1730,3399,0,0,0,0,0,0
$GC,416,0.56,-136.3,92.9,-22.5,42,429,0.47,2.53,0.00,0.000,4,0.107,0.038,3103,171,3400,0,0,0,0,0,0
$GC,483,0.63,-136.3,105.2,-15.4,48,488,0.10,2.45,0.00,0.000,6,0.127,0.020,3123,1738,3400,0,0,0,0,0,0
$GC,745,0.63,-136.3,138.9,-12.8,72,750,0.00,2.55,0.00,0.000,4,0.000,0.042,3123,178,3400,0,0,0,0,0,0
$GC,776,0.63,-136.3,143.4,-13.8,74,786,0.00,2.42,0.00,0.000,6,0.000,0.020,3123,1729,3400,0,0,0,0,0,0
$GC,1037,0.63,-136.3,175.0,-11.5,99,1041,0.00,2.53,0.00,0.000,4,0.000,0.042,3123,178,3401,0,0,0,0,0,0
$GC,1097,0.57,-136.3,182.5,-12.9,104,1102,0.00,2.40,0.00,0.000,6,0.000,0.020,3123,1723,3401,0,0,0,0,0,0
$GC,1356,0.57,-136.3,208.0,-9.2,123,1360,0.00,2.55,0.00,0.000,4,0.000,0.044,3123,179,3401,0,0,0,0,0,0
$GC,1423,0.46,-136.3,214.2,-9.3,124,1428,0.15,2.38,0.00,0.000,6,0.057,0.019,3060,1714,3401,0,0,0,0,0,0
$GC,1689,0.56,-136.3,243.4,-11.0,131,1691,0.22,0.00,0.00,0.000,6,0.095,0.000,3110,1717,3401,0,0,0,0,0,0
$GC,1932,0.49,-136.3,262.5,-7.7,137,1936,0.00,2.53,0.00,0.000,4,0.000,0.046,3110,178,3401,0,0,0,0,0,0
$GC,2008,0.40,-136.3,270.1,-10.4,138,2013,0.40,2.35,0.00,0.000,6,0.015,0.021,3049,1687,3402,1,0,0,0,0,0
$GC,2264,0.49,-136.3,301.8,-12.1,145,2269,0.22,2.50,0.00,0.000,4,0.096,0.047,3098,174,3401,0,0,0,0,0,0
$GC,2330,0.41,-136.3,309.9,-11.7,146,2334,0.00,2.35,0.00,0.000,6,0.000,0.024,3098,1670,3401,0,0,0,0,0,0
$GC,2600,0.34,-136.3,335.6,-9.1,153,2605,0.15,2.53,0.00,0.000,4,0.058,0.051,3036,174,3401,0,0,0,0,0,0
$GC,2634,0.51,-136.3,339.8,-12.4,153,2645,0.80,2.35,0.00,0.000,6,0.031,0.024,3097,1663,3401,2,0,0,0,0,0
$GC,2889,0.43,-136.3,359.8,-7.3,160,2893,0.00,2.47,0.00,0.000,4,0.000,0.054,3097,181,3399,0,0,0,0,0,0
$GC,2941,0.35,-136.3,363.9,-8.1,161,2949,1.23,2.30,0.00,0.000,6,0.004,0.025,3039,1646,3399,4,0,0,0,0,0
$GC,3222,0.44,-136.3,391.2,-10.0,168,3227,0.20,2.50,0.00,0.000,4,0.099,0.058,3083,183,3397,0,0,0,0,0,0
$GC,3271,0.44,-136.3,396.0,-9.7,169,3275,0.00,2.33,0.00,0.000,6,0.000,0.027,3083,1644,3397,0,0,0,0,0,0
$STATE,3348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3348,begin apogee
$GC,3354,-0.31,0.0,402.4,7.6,171,3470,0.65,0.00,108.82,0.760,6,0.025,0.000,2882,1834,2839,0,0,0,0,0,0
$STATE,3470,end apogee,CONTROL_FINISHED_OK
$STATE,3470,begin climb
$GC,3474,1.31,136.3,418.3,0.0,174,3599,1.83,2.53,113.15,0.751,4,0.100,0.035,3267,3328,2282,0,0,0,0,0,0
$GC,3716,2.21,203.3,408.8,6.7,179,3792,9.35,2.53,57.53,0.737,6,0.005,0.035,3471,1800,2011,29,0,0,0,0,0
$GC,4072,2.52,255.9,382.4,7.4,188,4125,0.25,2.65,46.53,0.728,4,0.036,0.045,3563,3319,1795,0,0,0,0,0,0
$GC,4190,2.63,255.9,369.5,11.6,190,4194,0.00,2.58,0.00,0.000,6,0.000,0.038,3563,1781,1789,0,0,0,0,0,0
$GC,4446,2.63,255.9,340.3,11.5,197,4450,0.00,2.70,0.00,0.000,4,0.000,0.064,3563,219,1786,0,0,0,0,0,0
$GC,4636,2.63,255.9,314.0,14.2,201,4640,0.00,2.42,0.00,0.000,6,0.000,0.027,3563,1718,1785,0,0,0,0,0,0
$GC,4915,2.63,255.9,275.8,14.1,208,4919,0.00,2.55,0.00,0.000,4,0.000,0.056,3563,214,1782,0,0,0,0,0,0
$GC,5037,2.63,255.9,258.1,13.6,210,5041,0.00,2.38,0.00,0.000,6,0.000,0.025,3563,1697,1783,0,0,0,0,0,0
$GC,5293,2.69,255.9,225.1,12.9,217,5297,0.00,2.50,0.00,0.000,4,0.000,0.052,3563,211,1781,0,0,0,0,0,0
$GC,5404,2.69,255.9,211.3,11.7,219,5408,0.00,2.30,0.00,0.000,6,0.000,0.025,3563,1669,1780,0,0,0,0,0,0
$GC,5668,2.82,288.6,187.3,8.4,234,5701,0.15,2.53,27.10,0.614,4,0.054,0.051,3626,206,1662,0,0,0,0,0,0
$GC,5825,2.72,288.6,163.1,16.8,249,5834,1.75,2.33,0.00,0.000,6,0.014,0.025,3582,1644,1662,5,0,0,0,0,0
$GC,6089,2.79,288.6,131.8,11.2,274,6093,0.00,2.40,0.00,0.000,4,0.000,0.048,3581,212,1658,0,0,0,0,0,0
$GC,6272,2.86,288.6,110.9,12.1,291,6281,0.90,2.20,0.00,0.000,6,0.011,0.022,3645,1628,1658,2,0,0,0,0,0
$GC,6543,2.76,288.6,74.3,13.0,316,6548,0.25,2.35,0.00,0.000,4,0.092,0.053,3588,210,1658,0,0,0,0,0,0
$GC,6631,2.76,288.6,64.1,10.8,323,6635,0.00,2.20,0.00,0.000,6,0.000,0.021,3588,1619,1658,0,0,0,0,0,0
$GC,6899,2.85,288.6,37.4,10.4,347,6903,0.10,2.35,0.00,0.000,4,0.077,0.047,3647,212,1658,0,0,0,0,0,0
$GC,6931,2.76,288.6,33.3,14.4,349,6936,0.35,2.17,0.00,0.000,6,0.053,0.022,3589,1616,1658,1,0,0,0,0,0
$STATE,7206,end climb,SURFACE_DEPTH_REACHED
$STATE,7206,begin surface coast
$FINISH,0.6,1.018965
$STATE,7250,end surface coast,CONTROL_FINISHED_OK
$STATE,7251,begin surface
$SM_CCo,7275,45.17,0.451,0,0,1289,380.21
$SM_GC,1.49,0.00,0.00,45.17,0.000,0.000,0.451,413,1745,1289,-11.85,0.14,380.21
$IRIDIUM_FIX,2220.67,-15818.41,190801,232342
$TT8_MAMPS,0.027612
$HUMID,62.60
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,22.40
$XPDR_PINGS,48
$24V_AH,23.6,5.520
$10V_AH,9.9,4.241
$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,46.025,93.100,353.125,45.175,0.000,23.889,32.799,291.501,12.000,0.000,28.058,857.125,4196.076,435.954,1721.240,641.142,33.340,1135.537,0.000,1711.863,0.000,0.539,0.000
$DEVICE_MAMPS,156.468,78.234,760.097,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,267.486,256.967,326.885,496.816,872.964,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,31967,398
$CAP_FILE_SIZE,95972,0
$CFSIZE,260165632,170409984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,44,0,0,0
$GPS,260512,022706,2228.287,-15817.440,54,1.9,54,10.0